CN212169508U

CN212169508U - Assembly unit and running-in equipment for brake assembly of robot joint

Info

Publication number: CN212169508U
Application number: CN202020086786.4U
Authority: CN
Inventors: 安然; 彭俊才
Original assignee: Foshan Feixi Robot Technology Co ltd
Current assignee: Foshan Feixi Robot Technology Co ltd
Priority date: 2020-01-14
Filing date: 2020-01-14
Publication date: 2020-12-18
Anticipated expiration: 2030-01-14

Abstract

The utility model relates to an assembly unit for articulated brake assembly of robot and be used for articulated brake assembly running-in equipment of robot for the assembly unit of the articulated brake assembly of installation robot includes the inflation cover and supports the head, it establishes to support the head insert in the inflation cover, be equipped with on the inflation cover and be used for supporting tight inflation portion with brake assembly's a solid fixed cylinder, support the head can for the inflation cover moves in the axial direction, works as support the head move to with when the inflation portion corresponds, the inflation portion is by outside extrusion on the brake assembly. In the using process, the supporting head is moved in the axial direction, the tight or loose state switching between the expansion sleeve and the fixed cylinder is realized, and the assembling and disassembling processes of the brake assembly are rapidly completed. The assembly process is simplified, and the assembly efficiency is improved.

Description

Assembly unit and running-in equipment for brake assembly of robot joint

Technical Field

The utility model relates to a robot brake subassembly makes the field, especially relates to an assembly unit that is used for articulated brake assembly of robot and is used for articulated brake assembly running-in equipment of robot.

Background

The brake assembly is used as a brake unit, after production and manufacture are completed, the roughness of the surface of a brake part in the brake assembly is unstable, and if the brake assembly is directly put into use, the situation that the brake torque output is unstable and accurate brake cannot be realized exists. Therefore, after the production and the manufacture of the common brake assembly are finished, the brake assembly needs to be subjected to running-in, so that the roughness of the brake part tends to be stable, and the stability of the braking process is guaranteed. And in order to ensure that the running-in process is reliably carried out, the brake assembly needs to be reliably fixed. Therefore, in general running-in equipment, the assembly process of the brake assembly is complex, and the assembly speed is slow.

SUMMERY OF THE UTILITY MODEL

Based on this, it is necessary to provide an assembling unit for a brake assembly of a robot joint and a brake assembly running-in apparatus for a robot joint to simplify an assembling process and improve assembling efficiency.

The supporting head is inserted into the expansion sleeve, an expansion portion used for radially abutting against and fixing the brake assembly is arranged on the expansion sleeve, the supporting head can move in the axial direction relative to the expansion sleeve, and when the supporting head moves to the expansion portion, the expansion portion is outwards extruded by the supporting head and abuts against a fixing cylinder of the brake assembly.

The scheme provides an assembly unit for a brake component of a robot joint, in the using process, the support head is moved in the axial direction, the expansion sleeve and the fixing barrel are switched in a tight or loose state, and the assembly and disassembly processes of the brake component are completed quickly. The assembly process is simplified, and the assembly efficiency is improved. Specifically, when the brake assembly needs to be assembled on running-in equipment for a running-in process, the position of the supporting head in the expansion sleeve is adjusted firstly, so that the expansion part is not extruded outwards. And then inserting the expansion part of the expansion sleeve into the fixed cylinder, and further moving the support head in the axial direction, so that the support head extrudes the expansion part outwards and tightly abuts against the fixed cylinder, and the fixing process is completed. And after the running-in is finished, moving the supporting head so that the expansion part retracts to be separated from the fixed cylinder, and then extracting the expansion sleeve from the fixed cylinder to finish the disassembly process.

In one embodiment, the support head is a truncated cone-shaped structure, the outer diameter of the first end of the support head is larger than the original inner diameter of the expansion part, and the outer diameter of the second end of the support head is smaller than the original inner diameter of the expansion part.

In one embodiment, the support head is an ellipsoidal structure.

In one embodiment, the expansion sleeve is a tapered sleeve, the support head is a cylindrical structure, and the outer diameter of the support head is larger than the minimum inner diameter of the tapered sleeve and smaller than the maximum inner diameter of the tapered sleeve.

In one embodiment, the assembly unit for the brake assembly of the robot joint further comprises an auxiliary rod, the expansion sleeve further comprises an adjusting portion, the adjusting portion and the expansion portion are sequentially arranged in the axial direction of the expansion sleeve, one end of the auxiliary rod is connected with the supporting head, the other end of the auxiliary rod penetrates through the expansion sleeve and penetrates out of the adjusting portion, and the auxiliary rod and the adjusting portion are matched to form a locking mechanism.

In one embodiment, the inner wall of the adjusting portion is provided with an internal thread, the auxiliary rod is provided with an external thread at a position corresponding to the adjusting portion, and the external thread and the internal thread are matched to form the locking mechanism.

The utility model provides a brake subassembly running-in equipment for robot joint, includes thumb wheel, motor and foretell assembly unit for robot joint's brake subassembly, the thumb wheel with the main shaft of motor is connected, the thumb wheel is used for cooperating with brake disc of brake subassembly, drives the brake disc for the solid fixed cylinder rotates.

According to the scheme, the brake component running-in equipment for the robot joint is provided, the poking wheel is matched with the brake disc of the brake component in the using process, and the main shaft of the motor drives the brake disc to rotate through the poking wheel. And when the expansion sleeve is tightly abutted against the fixed cylinder, the rotation process of the fixed cylinder and the friction plate of the brake assembly is limited. When the motor rotates, the brake disc can rotate relative to the fixed cylinder, so that the brake disc and the friction plate fixed on the fixed cylinder rotate relatively, and the brake disc and the friction plate are in running-in. The assembling unit for the brake component of the robot joint in any embodiment is adopted to realize the rapid installation of the brake component on the brake component running-in equipment for the robot joint, so that the assembling process is simplified, and the assembling efficiency is improved.

In one embodiment, the brake component running-in device for the robot joint further comprises a supporting device, the supporting device comprises a longitudinal supporting piece, an axial guiding piece and an axial positioning component, a guiding groove is formed in the axial guiding piece and is arranged along the axial direction of the expansion sleeve, one end of the longitudinal supporting piece is in sliding fit with the guiding groove, the other end of the longitudinal supporting piece is connected with the expansion sleeve and is used for preventing the expansion sleeve from rotating in the circumferential direction and adjusting the axial displacement of the expansion sleeve, and the axial positioning component is used for controlling the displacement of the longitudinal supporting piece in the guiding groove.

In one embodiment, the axial positioning component comprises a fixed piece and a movable piece, the fixed piece is fixed relative to the axial guide piece in the axial direction of the expansion sleeve, the movable piece is movably matched with the fixed piece in the axial direction of the expansion sleeve to form a first position and a second position, the movable piece pushes the longitudinal support piece in the first position to enable the expansion portion to be inserted into the fixed cylinder of the brake component, and the movable piece pulls the longitudinal support piece back to enable the expansion portion to be withdrawn from the fixed cylinder in the second position.

In one embodiment, the movable part comprises a bolt and a matching rod, a groove is formed in the end face of one end of the matching rod, threads matched with the bolt are formed in the side wall of the groove, the other end of the matching rod is movably matched with the fixing part in the axial direction of the expansion sleeve, through holes distributed in the axial direction of the expansion sleeve are formed in the longitudinal support part, and the bolt penetrates through the through holes to be assembled in the groove so that the longitudinal support part is fixed with the movable rod.

Drawings

FIG. 1 is a top view of a brake assembly running-in apparatus for a robot joint according to the present embodiment;

FIG. 2 is a cross-sectional view taken along line A-A of FIG. 1;

FIG. 3 is an enlarged view of a portion of FIG. 2 at B;

fig. 4 is a partial enlarged view of fig. 2 at B in another embodiment.

Description of reference numerals:

10. a brake assembly break-in device for a robot joint; 11. a thumb wheel; 12. a motor; 13. mounting a platform; 14. a coupling; 15. a support device; 151. a longitudinal support; 152. an axial guide; 153. An axial positioning assembly; 1531. a fixing member; 1532. a bolt; 1533. a mating rod; 16. a supporting seat; 20. An assembly unit for a brake assembly of a robot joint; 21. an expansion sleeve; 211. an expansion part; 212. an adjustment section; 22. a support head; 221. a first end; 222. a second end; 23. an auxiliary lever; 231. an external thread; 30. A brake assembly; 31. and (4) fixing the cylinder.

Detailed Description

In order to make the above objects, features and advantages of the present invention more comprehensible, embodiments of the present invention are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention can be embodied in many different forms other than those specifically described herein, and it will be apparent to those skilled in the art that similar modifications can be made without departing from the spirit and scope of the invention, and it is therefore not to be limited to the specific embodiments disclosed below.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

In one embodiment, as shown in fig. 1 and 2, a brake assembly break-in apparatus 10 for a robotic joint is provided for performing a break-in process between a brake disc and a friction plate in a brake assembly 30 so that the brake assembly 30 is more stable when placed into service.

Generally, the brake assembly 30 includes at least a friction plate and a brake disc, and the braking process is performed by a friction force between the friction plate and the brake disc. And the friction plate and the brake disc are generally sleeved on a fixed cylinder 31 of the brake assembly 30 (see fig. 3). When not braking, the friction plate and the brake disc rotate together with the fixed cylinder 31. During braking, the brake disc is stopped by the striker, and the friction plate continues to rotate by inertia following the fixed cylinder 31. Therefore, the friction plate and the brake disc move relatively, a dynamic friction force is formed between the friction plate and the brake disc, and the friction plate and the fixed cylinder 31 gradually stop rotating under the action of the friction force.

Therefore, if the friction coefficient between the friction plate and the brake disc is unstable, the braking process is unstable. In this regard, the brake assembly 30 is installed on the brake assembly running-in apparatus 10 for a robot joint to run in before being put into actual use, so that the friction coefficient between the friction plate and the brake disc tends to be stable. Specifically, the brake assembly running-in device 10 for the robot joint generally comprises different components which respectively act on a friction plate and a brake disc to drive the brake disc to rotate and run in relative to the friction plate. For example, as shown in fig. 1 and 2, the brake assembly running-in device 10 for the robot joint is provided with a thumb wheel 11 and a motor 12. The thumb wheel 11 is connected with the main shaft of the motor 12, and the thumb wheel 11 is used for matching with the brake disc of the brake assembly 30. So that when the motor 12 is started, the thumb wheel 11 can drive the brake disc of the brake assembly 30 to rotate. As shown in fig. 3, the fixing cylinder 31 of the brake assembly 30 is fixed by the assembly unit 20 of the brake assembly for a robot joint, i.e., the friction plates of the brake assembly 30 are indirectly fixed. And then the brake disc rotates relative to the friction plate, so that the brake disc and the friction plate are gradually worn in.

Specifically, as shown in fig. 3 and 4, in one embodiment, the assembly cell 20 of the brake assembly for a robot joint includes an expansion shell 21 and a support head 22. The support head 22 is inserted in the expansion sleeve 21. The expansion sleeve 21 is provided with an expansion part 211 which is used for tightly abutting against the fixed cylinder 31 of the brake component 30. The support head 22 can move in the axial direction relative to the expansion sleeve 21, and when the support head 22 moves to the expansion part 211 in the axial direction, the expansion part 211 is pressed outwards by the support head to be tightly pressed against the fixed cylinder 31. So that the expansion sleeve 21 can restrict the rotation of the fixed cylinder 31, thereby indirectly restricting the rotation of the friction plates connected to the fixed cylinder 31.

Further specifically, as shown in fig. 3, in one embodiment, the support head 22 has a truncated cone shape, the first end 221 of the support head 22 has an outer diameter larger than the original inner diameter of the expansion portion 211, and the second end 222 of the support head 22 has an outer diameter smaller than the original inner diameter of the expansion portion 211. The original inner diameter refers to an inner diameter of the expansion part 211 when it is not pressed and expanded outward by the support head 22. The support head 22 is movable in the axial direction relative to the expansion sleeve 21 so that the first end 221 can be gradually moved toward the expansion portion 211 to press the expansion portion 211 outward into abutment with the fixed cylinder 31 of the brake assembly 30.

In the using process, the supporting head 22 is moved in the axial direction, so that the tight state or the loose state between the expansion sleeve 21 and the fixed cylinder 31 is switched, and the assembling and disassembling processes of the brake assembly 30 are completed quickly. The assembly process is simplified, and the assembly efficiency is improved.

Specifically, when the brake assembly 30 needs to be assembled to a running-in device for a running-in process, the position of the support head 22 in the expansion sleeve 21 is adjusted so that the expansion portion 211 is not pressed outward, so that the expansion portion 211 can be inserted into the fixed cylinder 31. Then, the expansion part 211 of the expansion sleeve 21 is inserted into the fixed cylinder 31, and the support head 22 is moved in the axial direction along with the insertion, so that the first end 221 is gradually moved toward the expansion part 211 until the support head 22 presses the expansion part 211 outwards against the fixed cylinder 31, and the assembly process between the fixed cylinder 31 and the expansion sleeve 21 is completed. And the brake disc of the brake assembly 30 is driven by the thumb wheel 11 to rotate along with the operation of the motor 12, so that the running-in process between the friction plate and the brake disc is realized. After the running-in is finished, the supporting head 22 is moved, so that the second end 222 moves towards the expansion part 211, so that the expansion part 211 is retracted and separated from the fixed cylinder 31, and then the expansion sleeve 21 is drawn out of the fixed cylinder 31, and the disassembly process is finished.

Specifically, in one embodiment, as shown in fig. 3, after the expansion part 211 is inserted into the fixed cylinder 31, the first end 221 of the support head 22 is located in the fixed cylinder 31, and the second end 222 of the support head 22 is located outside the fixed cylinder 31. Therefore, when the support head 22 is further drawn out relative to the fixed cylinder 31, the first end 221 gradually approaches the expansion part 211, and the expansion part 211 is pressed, so that the expansion part 211 is tightly pressed against the fixed cylinder 31. Alternatively, in one embodiment, as shown in fig. 4, the support head is an ellipsoidal structure. When the expansion part 211 is inserted into the fixed cylinder 31, the part with the larger diameter of the ellipsoidal structure is positioned outside the fixed cylinder 31. Then, when the ellipsoidal structure is pushed into the fixed cylinder 31 and the portion of the ellipsoidal structure having a larger diameter gradually moves toward the expanded portion 211, the expanded portion 211 can be pressed outward and brought into contact with the fixed cylinder 31.

Furthermore, since the support head 22 has an ellipsoidal structure, when the space capacity of the fixed cylinder 31 is allowed during use, the part having a large diameter of the ellipsoidal structure may be inserted into the fixed cylinder 31 first, and then the expansion part 211 may be inserted into the fixed cylinder 31. Then, the ellipsoidal structure is moved, so that the part with the larger diameter of the ellipsoidal structure gradually moves toward the direction of the expansion part 211, and the expansion part 211 can be pressed outward to abut against the fixed cylinder 31.

In summary, when the supporting head 22 is of the ellipsoidal structure, the supporting head 22 can be flexibly moved in two directions along the axial direction as long as the expansion sleeve 21 can be expanded outwards to extrude the fixing cylinder 31.

Alternatively, in one embodiment, the expansion sleeve 21 is a tapered sleeve (not shown), the support head 22 is a cylindrical structure, and the outer diameter of the support head 22 is larger than the minimum inner diameter of the tapered sleeve and smaller than the maximum inner diameter of the tapered sleeve. When the expansion portion 211 of the expansion sleeve 21 is inserted into the fixed cylinder 31, the support head 22 can be moved in the axial direction based on the fact that the outer diameter of the support head 22 is larger than the minimum inner diameter of the tapered sleeve and smaller than the maximum inner diameter of the tapered sleeve. When the support head 22 moves to a certain position, the support head 22 abuts against the expansion sleeve 21, so that the expansion sleeve 21 is pressed in the fixed cylinder 31. When the brake assembly 30 needs to be removed, the supporting head 22 is moved to the part with the larger inner diameter of the conical sleeve, so that the conical sleeve is separated from the fixed cylinder 31.

Further, as shown in fig. 3, in one embodiment, the assembly unit 20 for the brake assembly of the robot joint further includes an auxiliary lever 23. The expansion sleeve 21 further comprises an adjusting portion 212, and the adjusting portion 212 and the expansion portion 211 are sequentially arranged in the axial direction of the expansion sleeve 21. One end of the auxiliary rod 23 is connected with the support head 22, the other end of the auxiliary rod 23 passes through the expansion sleeve 21 and penetrates out of the adjusting part 212, and the auxiliary rod 23 and the adjusting part 212 are matched to form a locking mechanism. An operator can indirectly adjust the axial displacement of the support head 22 in the expansion sleeve 21 through the auxiliary rod 23, so that the abutting and disengaging states between the expansion part 211 and the fixed cylinder 31 are switched. And after the supporting head 22 moves to the target position in the expansion sleeve 21, the locking mechanism formed by the cooperation between the auxiliary rod 23 and the adjusting part 212 can fix the relative position between the supporting head 22 and the expansion sleeve 21.

In one embodiment, as shown in fig. 3 and 4, the inner wall of the adjusting portion 212 is provided with an internal thread, and the auxiliary rod 23 is provided with an external thread 231 at a position corresponding to the adjusting portion 212, and the external thread 231 is matched with the internal thread. The external thread 231 on the auxiliary rod 23 is matched with the internal thread on the adjusting part 212 to form the locking mechanism.

In the above embodiment, the position of the support head 22 abutting against the expansion portion 211 can be adjusted by adjusting the engagement position between the auxiliary lever 23 and the adjustment portion 212 by rotating the auxiliary lever 23. Then, the auxiliary rod 23 is screwed into the adjustment portion 212, and the support head 22 is adjusted to a target position, and the expansion sleeve 21 is pushed and expanded against the fixed cylinder 31. When the operator does not actively rotate the auxiliary lever 23, the relative position between the auxiliary lever 23 and the adjusting portion 212 is fixed, thereby ensuring that the expansion sleeve 21 and the fixed cylinder 31 are always in the abutting and pressing state.

In other embodiments, the locking mechanism may be formed by a latch or the like between the auxiliary rod 23 and the adjusting portion 212.

Specifically, as shown in fig. 3, when the support head 22 is a circular truncated cone, the auxiliary rod 23 may be connected to the second end 222. Before the assembly between the expansion shell 21 and the fixed cylinder 31, the support head 22 can be adjusted to extend out of the expansion shell 21 (i.e., the left side of the expansion shell 21 shown in fig. 3). After the expansion part 211 is inserted into the fixed cylinder 31, the auxiliary rod 23 is rotated to pull the support head 22 toward the adjustment part 212 (i.e., toward the right side of the expansion sleeve 21 shown in fig. 3), so that the expansion part 211 is gradually pressed and deformed outward, and finally the expansion part 211 is pressed against the fixed cylinder 31.

Of course, the above assembly unit 20 for the brake assembly of the robot joint may alternatively be applied to other brake assembly running-in devices for the robot joint.

Further, in another embodiment, as shown in fig. 1 and 2, the brake assembly running-in apparatus for a robot joint 10 further includes a mounting platform 13. The electric motor 12 is arranged on the mounting platform 13, and the expansion sleeve 21 is arranged in a form fixed in the circumferential direction of the brake disc relative to the mounting platform 13, so that the expansion sleeve 21 is fixed in the circumferential direction of the brake disc relative to the stator of the electric motor 12. Furthermore, after the expansion sleeve 21 abuts against the fixed cylinder 31, when the main shaft of the motor 12 drives the dial wheel 11 to rotate, the brake disc rotates and runs in relative to the friction plate.

More specifically, in one embodiment, as shown in fig. 1 and 2, a coupling 14 is provided between the thumb wheel 11 and the spindle of the motor 12. For transmitting the rotation of the main shaft of the motor 12 to the thumb wheel 11.

Further, in one embodiment, as shown in fig. 2 and 3, the brake assembly running-in apparatus 10 for a robot joint further includes a supporting device 15. The support means 15 comprise a longitudinal support 151, an axial guide 152 and an axial positioning assembly 153. The axial guide member 152 is provided with a guide groove, and the guide groove is arranged along the axial direction of the expansion sleeve 21. One end of the longitudinal support member 151 is slidably fitted in the guide groove, and the other end of the longitudinal support member 151 is connected to the expansion sleeve 21 for preventing the expansion sleeve 21 from rotating in the circumferential direction and adjusting the displacement of the expansion sleeve 21 in the axial direction.

Specifically, when the brake assembly running-in apparatus for a robot joint 10 includes the mounting platform 13, the longitudinal guide may be mounted on the mounting platform 13 so as to indirectly prevent the expansion shell 21 from rotating in the circumferential direction.

And the axial positioning assembly 153 is used for controlling the displacement of the longitudinal support 151 in the guide groove. Before the expansion part 211 is inserted into the fixed cylinder 31, the longitudinal supporter 151 is slid along the guide groove so that the expansion part 211 is inserted into the fixed cylinder 31. When the expansion part 211 is inserted into the fixed cylinder 31, the axial positioning assembly 153 limits the movement of the longitudinal support 151 in the guide groove, thereby indirectly defining the relative position between the expansion part 211 and the fixed cylinder 31. The expansion part 211 can be pressed in the fixed cylinder 31 all the time in the running-in process, and the normal running-in process is ensured.

Further, when the expansion shell 21 includes the adjustment portion 212, as shown in fig. 2 and 3, the longitudinal support 151 may be connected to the adjustment portion 212 to limit the rotation of the expansion shell 21 in the circumferential direction.

More specifically, in one embodiment, as shown in fig. 2 and 3, the axial positioning assembly 153 includes a stationary member 1531 and a movable member. The fixing element 1531 is fixed relative to the axial guide element 152 in the axial direction of the expansion shell 21.

Specifically, when the brake assembly running-in apparatus 10 for a robot joint includes the mounting platform 13, the fixing member 1531 may also be mounted on the mounting platform 13, so that the relative positions of the fixing member 1531 and the axial guide member 152 in the axial direction of the expansion sleeve 21 are fixed.

Further, the movable member is movably fitted in the axial direction of the expansion sleeve 21 with respect to the fixed member 1531 to have a first position and a second position. In the first position, the movable member pushes the longitudinal support member 151 so that the expansion portion 211 is inserted into the fixing cylinder 31 of the brake assembly 30, so that the brake assembly 30 is quickly mounted on the brake assembly running-in apparatus 10 for a robot joint. In the second position, the movable member pulls back the longitudinal support member 151, so that the expansion portion 211 is withdrawn from the fixed cylinder 31, thereby quickly removing the brake assembly 30 from the brake assembly running-in apparatus for a robot joint 10.

Further specifically, as shown in fig. 2, in one embodiment, the movable members include a bolt 1532 and a mating bar 1533. The end face of one end of the matching rod 1533 is provided with a groove, and the side wall of the groove is provided with a thread matched with the bolt 1532. The other end of the engaging rod 1533 is movably engaged with the fixing member 1531 in the axial direction of the expansion sleeve 21, so as to switch between the first position and the second position. The longitudinal support member 151 is provided with through holes distributed along the axial direction of the expansion sleeve 21, and the bolt 1532 is fitted into the groove through the through holes, so that the longitudinal support member 151 is fixed to the movable member.

Further, the position of engagement between the engagement lever 1533 and the fixing member 1531 determines the relative position between the expansion portion 211 and the fixed tube 31. As shown in fig. 2, when it is required to assemble the brake assembly 30 to the brake assembly running-in apparatus 10 for a robot joint, the position between the engagement rod 1533 and the fixing member 1531 is adjusted such that the engagement rod 1533 is moved in a direction to approach the thumb wheel 11, thereby inserting the expansion portion 211 into the fixing barrel 31. Then, the supporting head 22 is moved in the axial direction, so that the expansion part 211 is pressed against the fixed cylinder 31, and the relative position between the engaging rod 1533 and the fixing member 1531 is locked, thereby ensuring reliable contact between the expansion part 211 and the fixed cylinder 31.

After the running-in process is finished, the support head 22 is moved first so that the expansion part 211 is retracted out of the fixed cylinder 31. Then, the locking state between the engaging rod 1533 and the fixing member 1531 is unlocked, and the engaging rod 1533 is adjusted in a direction away from the thumb wheel 11, so that the expansion portion 211 is drawn out of the fixing cylinder 31, thereby completing the disassembling process of the brake assembly 30.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. The assembly unit is characterized by comprising an expansion sleeve and a support head, wherein the support head is inserted into the expansion sleeve, an expansion part used for radially abutting and fixing the brake assembly is arranged on the expansion sleeve, the support head can move in the axial direction relative to the expansion sleeve, and when the support head moves to the expansion part, the expansion part is outwards extruded by the support head so as to abut against a fixing cylinder of the brake assembly.

2. The assembly unit of claim 1, wherein the support head is of a truncated cone shape, an outer diameter of a first end of the support head is larger than an original inner diameter of the expansion portion, and an outer diameter of a second end of the support head is smaller than the original inner diameter of the expansion portion.

3. The fitting unit of a brake assembly for a robot joint according to claim 1, wherein the support head has an ellipsoidal structure.

4. The assembly cell of claim 1, wherein the expansion shell is a tapered sleeve and the support head is a cylindrical structure, the support head having an outer diameter greater than the smallest inner diameter of the tapered sleeve and less than the largest inner diameter of the tapered sleeve.

5. The assembly unit of claim 1, further comprising an auxiliary rod, wherein the expansion sleeve further comprises an adjusting portion, the adjusting portion and the expansion portion are sequentially arranged in the axial direction of the expansion sleeve, one end of the auxiliary rod is connected with the supporting head, the other end of the auxiliary rod penetrates through the expansion sleeve and penetrates out of the adjusting portion, and the auxiliary rod and the adjusting portion are matched to form a locking mechanism.

6. The assembly unit of claim 5, wherein the inner wall of the adjusting part is provided with an internal thread, and the auxiliary rod is provided with an external thread at a position corresponding to the adjusting part, and the external thread and the internal thread are matched to form the locking mechanism.

7. A brake component running-in device for a robot joint is characterized by comprising a thumb wheel, a motor and the assembly unit of any one of claims 1 to 6 for the brake component of the robot joint, wherein the thumb wheel is connected with a main shaft of the motor, and the thumb wheel is used for being matched with a brake disc of the brake component to drive the brake disc to rotate relative to the fixed cylinder.

8. The brake assembly running-in device for the robot joint as claimed in claim 7, further comprising a support device, wherein the support device comprises a longitudinal support member, an axial guide member and an axial positioning assembly, the axial guide member is provided with a guide groove, the guide groove is arranged along the axial direction of the expansion sleeve, one end of the longitudinal support member is slidably fitted in the guide groove, the other end of the longitudinal support member is connected with the expansion sleeve and used for preventing the expansion sleeve from rotating in the circumferential direction and adjusting the displacement of the expansion sleeve in the axial direction, and the axial positioning assembly is used for controlling the displacement of the longitudinal support member in the guide groove.

9. The brake assembly running-in apparatus for a robot joint as claimed in claim 8, wherein the axial positioning assembly includes a fixed member and a movable member, the fixed member is fixed relative to the axial guide member in the axial direction of the expansion sleeve, the movable member is movably fitted relative to the fixed member in the axial direction of the expansion sleeve to have a first position in which the movable member pushes the longitudinal support member so that the expansion portion is inserted into the fixed cylinder of the brake assembly, and a second position in which the movable member pulls back the longitudinal support member so that the expansion portion is withdrawn from the fixed cylinder.

10. The brake assembly running-in device for the robot joint as claimed in claim 9, wherein the movable member includes a bolt and a fitting rod, a groove is formed in an end face of one end of the fitting rod, threads matched with the bolt are formed in a side wall of the groove, the other end of the fitting rod is movably fitted with the fixed member in an axial direction of the expansion sleeve, through holes are formed in the longitudinal support member and distributed in the axial direction of the expansion sleeve, and the bolt is connected with the through holes and the groove so that the longitudinal support member is fixed to the movable member.