CN108818600A - A kind of new energy motor inserting-coil grabbing device and its robot gripping apparatus - Google Patents
A kind of new energy motor inserting-coil grabbing device and its robot gripping apparatus Download PDFInfo
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- CN108818600A CN108818600A CN201810696322.2A CN201810696322A CN108818600A CN 108818600 A CN108818600 A CN 108818600A CN 201810696322 A CN201810696322 A CN 201810696322A CN 108818600 A CN108818600 A CN 108818600A
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- new energy
- gripping apparatus
- robot
- energy motor
- clamping jaw
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of new energy motor inserting-coil grabbing device and its robot gripping apparatus, which includes robot gripping apparatus, and the robot gripping apparatus includes stationary jaw, movable jaw and actuator, further includes：Vision system, for obtaining the axially and radially photo of new energy motor, according to treated, photo calculates the position deviation with new energy motor standard position；And robot, position deviation for being calculated according to the vision system adjusts the position of the robot gripping apparatus, reach the crawl position of new energy motor, wherein, the robot gripping apparatus when grabbing new energy motor the stationary jaw close to new energy motor front end, it is directed at the flange position of new energy motor, the actuator driven movable jaw clamps new energy motor, to grab new energy motor inserting-coil.The present invention is corrected automatically by robot to reach correct crawl position by vision system, and can adapt to the offline crawl for various sizes of motor product.
Description
Technical field
The present invention relates to new energy field of motor manufacturing more particularly to a kind of new energy motor inserting-coil grabbing devices and new energy
Source motor inserting-coil robot gripping apparatus.
Background technique
It is increasing for the throughput requirements of motor with flourishing for new-energy automobile, because emerging motor produces
Unified standard has not yet been formed in industry, leads to the various in style of new energy motor, and new energy motor (new-energy automobile motor) produces
Product are in mass production, because positioning caused by the assembly of the irregular and motor of motor shape station in front is inaccurate,
Lead to not automate offline motor, general finished product motor inserting-coil is by the way of manually lifting or a production line is intelligently suitable
Answer the motor of a kind, will cause in this way the increase of human cost, efficiency it is low etc..
It needs to be accurately positioned the object being crawled when existing robot gripping apparatus grabs, otherwise gripping apparatus can not judge object
The position of body causes crawl to fail；Even if some gripping apparatus can only grab fixation using the position of vision system judgment object
The compatibility of the object of shape, gripping apparatus is small；Structure is complicated for some gripping apparatus, and cost price is larger.
The example of existing vision guide robot gripping apparatus is as follows：
207058571 U of Chinese patent literature CN discloses a kind of automobile component vision guide handgrip, including robot,
Machine handgrip and the control centre controlled for system, the machine handgrip includes that the hand connecting with robot arm grabs shape branch
Frame, bracket are equipped with vision-based detection mechanism, mechanical positioning mechanism, workpiece grabbing mechanism, and control centre is in vision-based detection mechanism
Guidance is lower to control workpiece grabbing mechanism grabbing workpiece.The handgrip can accurately grab automobile component, accelerate the speed of robot pickup
Degree.
The 3D vision that Chinese patent literature CN106625676A discloses a kind of automobile intelligent manufacture automatic charging is accurate
Localization method is guided, components take pictures using camera to acquire image, by image procossing, in conjunction with visual detection algorithm meter
Position and angular deviation of the part under fixed coordinate system are calculated, then by changing position and angle information to robot transmission, is repaired
The track of positive robot, guided robot reaches correct operating position, to realize that robot is corrected automatically in the grip of track
Material.It is high to the crawl precision of components, does not need to be accurately positioned components.
204976669 U of Chinese patent literature CN discloses a kind of robot gripper positioned by visual identity,
Including a mounting plate, mounting plate is equipped with first through hole and the second through-hole, and a connecting seat is equipped at first through hole, logical second
A video camera is equipped at hole；The pedestal of attachment base passes through first through hole and fixes on a mounting board, and top is connected to robot
Arm, bottom are equipped with finger cylinder；The body of video camera is fixed on the top surface of mounting plate by a fixed frame, and camera is set
It is placed in the second through-hole；Lower mouth outer rim along the second through-hole is equipped with a bezel, which is fixed on the bottom surface of mounting plate.Benefit
Vision positioning is carried out with video camera, scope of application expanded is applicable to the various situations that need to be positioned.
The existing offline gripping apparatus of motor product may be only available for more a kind or can only using by the way of manually offline,
And it offline for the automation of a kind is also required to motor carrying out precise positioning.
Summary of the invention
One of the objects of the present invention is to provide a kind of new energy motor inserting-coil grabbing devices, are existed with solving new energy motor
The problem of motor is subjected to precise positioning is needed when automating offline.
Another object of the present invention is to provide a kind of new energy motor inserting-coil grabbing devices, to adapt to for different sizes
Motor product offline crawl.
The object of the invention is also to provide a kind of new energy motor inserting-coil robot gripping apparatus.
For this purpose, one aspect of the present invention provides a kind of new energy motor inserting-coil grabbing device, including robot gripping apparatus, it is described
Robot gripping apparatus includes stationary jaw, movable jaw and actuator, further includes：Vision system, for obtaining new energy motor
Axially and radially photo, the position deviation with new energy motor standard position is calculated according to treated photo；And machine
People, position deviation for being calculated according to the vision system adjust the position of the robot gripping apparatus, reach new energy
The crawl position of source motor, wherein robot gripping apparatus stationary jaw when grabbing new energy motor is electric close to new energy
Machine front end is directed at the flange position of new energy motor, and the actuator driven movable jaw clamps new energy motor, new to grab
Power motor is offline.
Further, above-mentioned robot gripping apparatus further includes robot connecting plate, Huan Qiangpan robot side ontology, changes rifle disk work
Have side ontology, gripping apparatus bottom plate, vision light source, vision mounting bracket, camera and visual sensor bracket, wherein the machine
People's connecting plate and Huan Qiangpan robot side ontology link together, and the vision mounting bracket is fixed on robot connecting plate,
In the top of vision mounting bracket, the camera is fixed on visual sensor bracket the visual sensor bracket, described to change
It Qiang Pan robot side ontology and changes rifle disc tool side ontology division is realized by control, the gripping apparatus bottom plate and change rifle disc tool side
Ontology connection, the vision light source is in the lower section of vision mounting bracket.
Further, above-mentioned actuator be cylinder, the robot gripping apparatus further include linear guide, cylinder connector and
Air cylinder support, wherein the air cylinder support is fixed on gripping apparatus bottom plate, and the cylinder is connect with air cylinder support, and the cylinder is logical
It crosses cylinder connector to connect with the movable jaw, the guiding of the movable jaw relies on linear guide, and the linear guide is fixed
On gripping apparatus bottom plate, the stationary jaw is fixed on gripping apparatus bottom plate.
Further, above-mentioned robot gripping apparatus further includes left clamping jaw tooling and right clamping jaw tooling, wherein the left clamping jaw work
Dress is connected on stationary jaw, and the right clamping jaw tooling is connected on movable jaw, allows the seam allowance of the left clamping jaw tooling and new
The flange seam allowance of power motor is aligned, and picks up new energy motor by the left clamping jaw tooling and right clamping jaw tooling.
According to another aspect of the present invention, a kind of grab according to new energy motor inserting-coil described above is provided to fill
It sets, further includes displacement sensor, for detecting the telescopic displacement of movable jaw, wherein the robot is also used to according to
The signal that displacement sensor provides judges the crawl position of the movable jaw.
Further, upper displacement sensors are connected between gripping apparatus bottom plate and movable jaw by hinge stent.
According to another aspect of the invention, a kind of new energy motor inserting-coil robot gripping apparatus, including robot are provided
Connecting plate, Huan Qiangpan robot side ontology change rifle disc tool side ontology, gripping apparatus bottom plate, vision light source, vision mounting bracket, phase
Machine and visual sensor bracket, wherein the robot connecting plate and Huan Qiangpan robot side ontology link together, institute
It states vision mounting bracket to be fixed on robot connecting plate, the visual sensor bracket is in the top of vision mounting bracket, institute
It states camera to be fixed on visual sensor bracket, Huan Qiangpan robot side ontology and changes rifle disc tool side ontology and pass through control
Realize division, the gripping apparatus bottom plate connect with rifle disc tool side ontology is changed, the vision light source in the lower section of vision mounting bracket,
It further include stationary jaw, movable jaw, linear guide, cylinder connector, displacement sensor, cylinder and air cylinder support, wherein
The air cylinder support is fixed on gripping apparatus bottom plate, and the cylinder is connect with air cylinder support, and the cylinder passes through cylinder connector and institute
Movable jaw connection is stated, the guiding of the movable jaw relies on linear guide, and the linear guide is fixed on gripping apparatus bottom plate, institute
It states stationary jaw to be fixed on gripping apparatus bottom plate, institute's displacement sensors are connected to gripping apparatus bottom plate by hinge stent and activity is pressed from both sides
It further include left clamping jaw tooling and right clamping jaw tooling between pawl, wherein the left clamping jaw tooling is connected on stationary jaw, described
Right clamping jaw tooling is connected on movable jaw, picks up new energy motor by the left clamping jaw tooling and right clamping jaw tooling.
Further, above-mentioned cylinder is self-locking air cylinder of dying.
The present invention also provides a kind of new energy motor inserting-coil grabbing devices, including according to new energy electricity described above
Machine is offline to use robot gripping apparatus.
The present invention has the following technical effects：
(1) present invention is used using vision system cooperation robot gripping apparatus, can be automatic by robot by vision system
It corrects to reach correct crawl position, needs motor carrying out precise positioning to solve new energy motor when automating offline
The problem of；
(2) clamping jaw has displacement sensor, can control the flexible displacement of clamping jaw, gripping apparatus is enable to be applicable in the electricity of multi items
The crawl of machine；
(3) clamping jaw clamping motor is pushed using locking cylinder, structure is simple, and cylinder band is died self-lock ability, guarantees gas source
In the case where interruption, the safety of workpiece is clamped.
Other than objects, features and advantages described above, there are also other objects, features and advantages by the present invention.
Below with reference to figure, the present invention is described in further detail.
Detailed description of the invention
The accompanying drawings constituting a part of this application is used to provide further understanding of the present invention, and of the invention shows
Examples and descriptions thereof are used to explain the present invention for meaning property, does not constitute improper limitations of the present invention.In the accompanying drawings：
Fig. 1 is the structural block diagram of new energy motor inserting-coil grabbing device according to an embodiment of the invention；
Fig. 2 is the structural schematic diagram according to the new energy motor inserting-coil robot gripping apparatus of one embodiment of the invention；
Fig. 3 shows the lateral structure of new energy motor inserting-coil according to an embodiment of the invention robot gripping apparatus；
Fig. 4 shows the plan structure of new energy motor inserting-coil according to an embodiment of the invention robot gripping apparatus；With
And
Fig. 5 shows new energy motor inserting-coil according to an embodiment of the invention robot gripping apparatus in crawl new energy electricity
Working condition when machine.
Description of symbols
1, robot connecting plate；2, Huan Qiangpan robot side ontology；
3, rifle disc tool side ontology is changed；4, gripping apparatus bottom plate；
5, new energy motor；6, left clamping jaw；
7, right clamping jaw tooling；8, right clamping jaw；
9, linear guide；10, left clamping jaw tooling；
11, cylinder connector；12, vision light source；
13, vision mounting bracket；14, camera；
15, visual sensor bracket；16, displacement sensor；
17, hinge stent；18, cylinder；
19, air cylinder support；100, robot gripping apparatus；
200, vision system；300, robot.
Specific embodiment
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
Fig. 1 to 5 is shown according to some embodiments of the present invention.
As shown in Figure 1, new energy motor inserting-coil grabbing device of the invention includes robot gripping apparatus 100, vision system
200 and robot 300.
Wherein, vision system 200 is used to obtain the axially and radially photo of new energy motor, according to treated photo meter
Calculate the position deviation with new energy motor standard position.
Wherein, robot 300 is for adjusting the robot according to the position deviation that the vision system is calculated
The position of gripping apparatus reaches the crawl position of new energy motor.
Wherein, the robot gripping apparatus includes stationary jaw, movable jaw and actuator, in crawl new energy motor
Shi Suoshu stationary jaw is directed at the flange position of new energy motor, the actuator driven activity close to new energy motor front end
Clamping jaw clamps new energy motor, to grab new energy motor inserting-coil.
According to the present invention, the camera of vision system axially and radially taking pictures respectively along new energy motor, vision system
Photo is handled, the position deviation with normal place, the result that six-shaft industrial robot is calculated according to vision system are calculated
The position of gripping apparatus is adjusted, the crawl position of new energy motor is reached.
In the present invention, it is used using vision system cooperation robot gripping apparatus, has position for the new energy motor of placement
Error can be corrected automatically by robot to reach correct crawl position by vision system.
In the present invention, actuator is preferably cylinder, can also be with linear actuators such as linear motor, electric cylinders, oil cylinders.
In the present invention, the stationary jaw of robot gripping apparatus and floating holder can changing according to the shape of new energy motor
Become and makees adaptability modification.
Again as shown in Figure 1, displacement sensor is additionally provided on robot gripping apparatus of the invention, for detecting movable jaw
Telescopic displacement, wherein the robot is also used to judge the movable jaw according to the signal that institute's displacement sensors provide
Crawl position.
According to the present invention, the movable jaw of robot gripping apparatus has displacement sensor, can control the flexible displacement of clamping jaw,
Gripping apparatus is set to be applicable in the crawl of the new energy motor of multi items.
In the present invention, for various sizes of new energy motor product, gripping apparatus reaches crawl position, according to displacement sensing
The signal that device provides judges that fixture grabs new energy motor position.In addition, pushing clamping jaw to clamp new energy electricity using locking cylinder
Machine, structure is simple, and cylinder band is died self-lock ability, in the case where guaranteeing that gas source interrupts, clamps the safety of workpiece.
New energy motor inserting-coil of the invention is carried out with robot gripping apparatus and its course of work below with reference to Fig. 2 to Fig. 5
Explanation.
In conjunction with referring to Fig. 2 to Fig. 5, the robot gripping apparatus further includes robot connecting plate 1, Huan Qiangpan robot side ontology
2, rifle disc tool side ontology 3, gripping apparatus bottom plate 4, vision light source 12, vision mounting bracket 13, camera 14 and visual sensor are changed
Bracket 15 further includes left clamping jaw (stationary jaw) 6, right clamping jaw (movable jaw) 8, linear guide 9, cylinder connector 11, Yi Jiqi
Jar support 19 further includes left clamping jaw tooling 10 and right clamping jaw tooling 7.
Wherein, robot connecting plate 1 and Huan Qiangpan robot side ontology 2 link together, and vision mounting bracket 13 is fixed
On robot connecting plate 1, visual sensor bracket 15 is installed in the top of vision mounting bracket 13, vision light source 12 in vision
The lower section of bracket 13, camera 14 are fixed on visual sensor bracket 15, Huan Qiangpan robot side ontology 2 and change rifle disc tool side
Ontology 3 can realize division by control, and change that rifle disk 3 connect is gripping apparatus bottom plate 4 with second.
Air cylinder support 19 is fixed on gripping apparatus bottom plate 4, and cylinder 18 is connect with air cylinder support 19, and cylinder 18 passes through cylinder connector
11 connect with right clamping jaw 8, and the guiding leaning linear guide 9 of right clamping jaw 8, linear guide 9 is fixed on gripping apparatus bottom plate 4, and left clamping jaw 6 is solid
It is scheduled on gripping apparatus bottom plate 4, displacement sensor 16 is connected between gripping apparatus bottom plate 4 and right clamping jaw 8 by hinge stent 17.
Left clamping jaw tooling 10 is connected on left clamping jaw 6, and right clamping jaw tooling 7 is connected on right clamping jaw 8, passes through left clamping jaw tooling
10 pick up new energy motor 5 with right clamping jaw tooling 7.
Preferably, in conjunction with referring to Fig. 3 and Fig. 4, vision mounting bracket 13 has outwardly extending outstanding relative to gripping apparatus bottom plate 4
Arm 131, cantilever portion plate in a ring, vision light source 12 also in a ring, annular inner hole of the camera 14 through vision light source 12
Acquisition image downwards.The pick-up position of camera 14 is ahead of motor crawl position.
Preferably, in conjunction with referring to Fig. 2 and Fig. 3, left clamping jaw 6 is the soldering part of an entirety, including 61 He of c-type plateType
Reinforce ledges 62, wherein c-type plate is sticked in the inside of left clamping jaw 6, has the mounting portion for installing left clamping jaw tooling 10, should
Mounting portion has lateral fluting 61a, and motor motor shaft 51 when being crawled is maintained in the lateral fluting, in order to motor crawl
Smooth release afterwards.
Wherein, which is connected on gripping apparatus bottom plate 4.There is evacuation new energy outside motor auxiliary using c-type plate
Function can adapt to more motor contour structures.
According to the present invention, the stationary jaw of robot gripping apparatus is directed at the method for new energy motor close to new energy motor front end
Blue position, cylinder are shunk, and clamping jaw clamps, and grab new energy motor inserting-coil.
Workflow of the invention is as follows：
Axially and radially the taking pictures respectively along new energy motor 5 of camera 14 on robot gripping apparatus, vision system control
Piece is handled, and the position deviation with normal place is calculated, and six-shaft industrial robot is adjusted according to the result that vision system calculates
The position of gripping apparatus allows the seam allowance of left clamping jaw tooling 10 to be aligned with the flange seam allowance of new energy motor 5, and cylinder 18 is shunk, and pulls right
Clamping jaw 8 acts, and so that right clamping jaw tooling 7 is clamped the rear end of new energy motor 5, the display displacement of displacement sensor 16 is correct, robot
Gripping apparatus picks up new energy motor 5, completes new energy motor inserting-coil.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (9)
1. a kind of new energy motor inserting-coil grabbing device, including robot gripping apparatus, the robot gripping apparatus includes stationary jaw, work
Dynamic clamping jaw and actuator, which is characterized in that further include：
Vision system calculates and new energy for obtaining the axially and radially photo of new energy motor according to treated photo
The position deviation of motor standard position；And
Robot, position deviation for being calculated according to the vision system adjust the position of the robot gripping apparatus,
The crawl position of new energy motor is reached,
Wherein, robot gripping apparatus stationary jaw when grabbing new energy motor is aligned close to new energy motor front end
The flange position of new energy motor, the actuator driven movable jaw clamps new energy motor, to grab under new energy motor
Line.
2. new energy motor inserting-coil grabbing device according to claim 1, which is characterized in that the robot gripping apparatus also wraps
It includes robot connecting plate (1), Huan Qiangpan robot side ontology (2), change rifle disc tool side ontology (3), gripping apparatus bottom plate (4), vision
Light source (12), vision mounting bracket (13), camera (14) and visual sensor bracket (15), wherein the robot connection
Plate (1) and Huan Qiangpan robot side ontology (2) link together, and the vision mounting bracket (13) is fixed on robot connecting plate
(1) on, for the visual sensor bracket (15) in the top of vision mounting bracket (13), the camera (14) is fixed on vision biography
On sensor bracket (15), Huan Qiangpan robot side ontology (2) passes through control realization point with rifle disc tool side ontology (3) is changed
It closes, the gripping apparatus bottom plate (4) connect with rifle disc tool side ontology (3) is changed, and the vision light source (12) is in vision mounting bracket
(13) lower section.
3. new energy motor inserting-coil grabbing device according to claim 2, which is characterized in that the actuator is cylinder
(18), the robot gripping apparatus further includes linear guide (9), cylinder connector (11) and air cylinder support (19), wherein described
Air cylinder support (19) is fixed on gripping apparatus bottom plate (4), and the cylinder (18) connect with air cylinder support (19), and the cylinder (18) is logical
It crosses cylinder connector (11) to connect with the movable jaw (8), the guiding of the movable jaw (8) relies on linear guide (9), described
Linear guide (9) is fixed on gripping apparatus bottom plate (4), and the stationary jaw (6) is fixed on gripping apparatus bottom plate (4).
4. new energy motor inserting-coil grabbing device according to claim 3, which is characterized in that the robot gripping apparatus also wraps
Include left clamping jaw tooling (10) and right clamping jaw tooling (7), wherein the left clamping jaw tooling (10) is connected on stationary jaw (6), institute
Right clamping jaw tooling (7) is stated to be connected on movable jaw (8), allow the left clamping jaw tooling (10) seam allowance and new energy motor (5)
The alignment of flange seam allowance, new energy motor (5) are picked up by the left clamping jaw tooling (10) and right clamping jaw tooling (7).
5. a kind of new energy motor inserting-coil grabbing device according to any one of claim 1 to 4, which is characterized in that also
Including displacement sensor, for detecting the telescopic displacement of movable jaw, wherein the robot is also used to be passed according to the displacement
The signal that sensor provides judges the crawl position of the movable jaw.
6. new energy motor inserting-coil grabbing device according to claim 5, which is characterized in that institute's displacement sensors (16)
It is connected between gripping apparatus bottom plate (4) and movable jaw (8) by hinge stent (17).
7. a kind of new energy motor inserting-coil robot gripping apparatus, which is characterized in that
Including robot connecting plate (1), Huan Qiangpan robot side ontology (2), change rifle disc tool side ontology (3), gripping apparatus bottom plate
(4), vision light source (12), vision mounting bracket (13), camera (14) and visual sensor bracket (15), wherein the machine
Device people connecting plate (1) Huan Qiangpan robot side ontology (2) links together, and the vision mounting bracket (13) is fixed on robot
On connecting plate (1), the visual sensor bracket (15) is fixed in the top of vision mounting bracket (13), the camera (14)
On visual sensor bracket (15), Huan Qiangpan robot side ontology (2) passes through control in fact with rifle disc tool side ontology (3) is changed
Existing division, the gripping apparatus bottom plate (4) are changed rifle disk (3) with second and are connect, and the vision light source (12) is in vision mounting bracket (13)
Lower section,
It further include stationary jaw (6), movable jaw (8), linear guide (9), cylinder connector (11), displacement sensor (16), gas
Cylinder (18) and air cylinder support (19), wherein the air cylinder support (19) is fixed on gripping apparatus bottom plate (4), the cylinder (18)
It is connect with air cylinder support (19), the cylinder (18) is connect by cylinder connector (11) with the movable jaw (8), the activity
The guiding of clamping jaw (8) relies on linear guide (9), and the linear guide (9) is fixed on gripping apparatus bottom plate (4), the stationary jaw
(6) it is fixed on gripping apparatus bottom plate (4), institute's displacement sensors (16) are connected to gripping apparatus bottom plate (4) by hinge stent (17)
Between movable jaw (8),
It further include left clamping jaw tooling (10) and right clamping jaw tooling (7), wherein the left clamping jaw tooling (10) is connected to stationary jaw
(6) on, the right clamping jaw tooling (7) is connected on movable jaw (8), passes through the left clamping jaw tooling (10) and right clamping jaw tooling
(7) new energy motor (5) are picked up.
8. new energy motor inserting-coil robot gripping apparatus according to claim 7, which is characterized in that the cylinder (18) is
It dies self-locking air cylinder.
9. a kind of new energy motor inserting-coil grabbing device, which is characterized in that including new energy motor according to claim 7
It is offline to use robot gripping apparatus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810696322.2A CN108818600B (en) | 2018-06-29 | 2018-06-29 | New forms of energy motor grabbing device that rolls off production line and robot gripping apparatus thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810696322.2A CN108818600B (en) | 2018-06-29 | 2018-06-29 | New forms of energy motor grabbing device that rolls off production line and robot gripping apparatus thereof |
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| Publication Number | Publication Date |
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| CN108818600A true CN108818600A (en) | 2018-11-16 |
| CN108818600B CN108818600B (en) | 2022-08-09 |
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| CN201810696322.2A Active CN108818600B (en) | 2018-06-29 | 2018-06-29 | New forms of energy motor grabbing device that rolls off production line and robot gripping apparatus thereof |
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| CN111843412A (en) * | 2020-06-28 | 2020-10-30 | 大连理工大学 | Improved locking device and method for automatic assembly of tiny parts |
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| CN114193502A (en) * | 2022-01-26 | 2022-03-18 | 江苏贺颖智能科技有限公司 | Special end effector for charging gun grabbing robot |
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| CN110647103B (en) * | 2019-08-20 | 2023-03-07 | 辽宁成大生物股份有限公司 | Method for controlling operation of cell factory |
| CN110640765A (en) * | 2019-08-20 | 2020-01-03 | 辽宁成大生物股份有限公司 | Operating system |
| CN110647103A (en) * | 2019-08-20 | 2020-01-03 | 辽宁成大生物股份有限公司 | Method for controlling operation of cell factory |
| CN110562741A (en) * | 2019-10-21 | 2019-12-13 | 苏州和自兴智能科技有限公司 | Machine vision fused separating type station robot and production platform |
| CN111453411A (en) * | 2020-04-17 | 2020-07-28 | 华兴源创(成都)科技有限公司 | Liquid crystal display module transmission alignment method and system |
| CN111843412A (en) * | 2020-06-28 | 2020-10-30 | 大连理工大学 | Improved locking device and method for automatic assembly of tiny parts |
| CN111843412B (en) * | 2020-06-28 | 2022-03-29 | 大连理工大学 | Improved locking device and method for automatic assembly of tiny parts |
| CN113175919A (en) * | 2021-05-17 | 2021-07-27 | 力野精密工业（深圳）有限公司 | Automobile hardware transfer mold photogrammetry device and method |
| CN114193502B (en) * | 2022-01-26 | 2022-11-11 | 江苏贺颖智能科技有限公司 | Special end effector for charging gun grabbing robot |
| CN114193502A (en) * | 2022-01-26 | 2022-03-18 | 江苏贺颖智能科技有限公司 | Special end effector for charging gun grabbing robot |
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