CN108818600B - New forms of energy motor grabbing device that rolls off production line and robot gripping apparatus thereof - Google Patents
New forms of energy motor grabbing device that rolls off production line and robot gripping apparatus thereof Download PDFInfo
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- CN108818600B CN108818600B CN201810696322.2A CN201810696322A CN108818600B CN 108818600 B CN108818600 B CN 108818600B CN 201810696322 A CN201810696322 A CN 201810696322A CN 108818600 B CN108818600 B CN 108818600B
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- clamping jaw
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- motor
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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
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- 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
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- 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
Abstract
The invention discloses a new energy motor offline gripping device and a robot gripper thereof, wherein the gripping device comprises a robot gripper, the robot gripper comprises a fixed clamping jaw, a movable clamping jaw and an actuator, and the gripping device also comprises: the vision system is used for acquiring axial and radial photos of the new energy motor and calculating the position deviation from the standard position of the new energy motor according to the processed photos; and the robot is used for adjusting the position of the robot gripping apparatus according to the position deviation calculated by the vision system and reaching the gripping position of the new energy motor, wherein when the robot gripping apparatus grips the new energy motor, the fixed clamping jaw is close to the front end of the new energy motor and is aligned to the flange position of the new energy motor, and the actuator drives the movable clamping jaw to clamp the new energy motor so as to grip the new energy motor to be off-line. The invention enables the robot to automatically correct to achieve a correct grabbing position through the vision system, and can adapt to offline grabbing of motor products with different sizes.
Description
Technical Field
The invention relates to the field of new energy motor manufacturing, in particular to a new energy motor offline gripping device and a new energy motor offline robot gripper.
Background
With the vigorous development of new energy vehicles, the demand for the output of motors is increasingly greater, as the emerging motor industry does not form a unified standard, the variety of new energy motors is various, when the new energy motor (motor for new energy vehicles) products are produced in batches, the motors cannot be automatically taken off line because the shapes of the motors are irregular and the positioning of the motors caused by the assembly of front stations is inaccurate, the general finished motor is taken off line and is manually hoisted or a production line intelligently adapts to the motors of one variety, so that the increase of labor cost and the low efficiency are caused.
When the existing robot gripping apparatus grips, the gripped object needs to be accurately positioned, otherwise the gripping apparatus cannot judge the position of the object, so that the gripping fails; some grippers can only grip objects with fixed shapes even if the position of the object is judged by using a vision system, and the compatibility of the grippers is small; some grippers are complex in structure and high in cost.
An example of an existing vision-guided robotic gripper is as follows:
chinese patent document CN 207058571U discloses a vision-guided gripper for automobile components, which includes a robot, a robot gripper, and a control center for system control, where the robot gripper includes a gripper-shaped support connected with a robot arm, the support is provided with a vision detection mechanism, a mechanical positioning mechanism, and a workpiece gripping mechanism, and the control center controls the workpiece gripping mechanism to grip a workpiece under the guidance of the vision detection mechanism. The gripper can accurately grip automobile parts and quicken the robot pick-up speed.
Chinese patent document CN106625676A discloses a three-dimensional visual accurate guiding and positioning method for automatic feeding in automobile intelligent manufacturing, which comprises the steps of taking pictures of parts by a camera to acquire images, calculating the position and angle deviation of the parts under a fixed coordinate system by combining with a visual detection algorithm through image processing, transmitting the position and angle information to a robot, correcting the track of the robot, guiding the robot to reach the correct working position, and realizing automatic track correction, grabbing and feeding by the robot. The grabbing precision of the part grabbing device is high, and the part does not need to be accurately positioned.
Chinese patent document CN 204976669U discloses a robot gripper for positioning by visual recognition, which includes a mounting plate, on which a first through hole and a second through hole are provided, a connecting seat is provided at the first through hole, and a camera is provided at the second through hole; the base body of the connecting base penetrates through the first through hole and is fixed on the mounting plate, the top of the base body is connected with the robot arm, and the bottom of the base body is provided with a finger cylinder; the camera body of the camera is fixed on the top surface of the mounting plate through a fixing frame, and the camera of the camera is arranged in the second through hole; and a light gathering ring is arranged along the outer edge of the lower opening of the second through hole and fixed on the bottom surface of the mounting plate. The camera is used for visual positioning, so that the application range is expanded, and the method is suitable for various situations needing positioning.
The existing motor finished product offline gripper can only be suitable for one variety or only adopt a manual offline mode, and the motor also needs to be accurately positioned for the automatic offline of one variety.
Disclosure of Invention
One of the purposes of the invention is to provide a new energy motor offline gripping device to solve the problem that the motor needs to be accurately positioned when the new energy motor is automatically offline.
The invention further aims to provide the new energy motor offline gripping device which is suitable for offline gripping of motor products with different sizes.
The invention also aims to provide the robot gripper for the new energy motor offline.
Therefore, the invention provides a new energy motor offline gripping device on one hand, which comprises a robot gripper, wherein the robot gripper comprises a fixed clamping jaw, a movable clamping jaw and an actuator, and further comprises: the vision system is used for acquiring axial and radial photos of the new energy motor and calculating the position deviation from the standard position of the new energy motor according to the processed photos; and the robot is used for adjusting the position of the robot gripping apparatus according to the position deviation calculated by the vision system and reaching the gripping position of the new energy motor, wherein when the robot gripping apparatus grips the new energy motor, the fixed clamping jaw is close to the front end of the new energy motor and is aligned to the flange position of the new energy motor, and the actuator drives the movable clamping jaw to clamp the new energy motor so as to grip the new energy motor to be off-line.
Further, above-mentioned robot gripping apparatus still includes the robot connecting plate, trades rifle dish robot side body, trades rifle dish instrument side body, gripping apparatus bottom plate, vision light source, vision installing support, camera and vision sensor support, wherein, the robot connecting plate with trade rifle dish robot side body and link together, the vision installing support is fixed on the robot connecting plate, the vision sensor support is in the top of vision installing support, the camera is fixed on the vision sensor support, trade rifle dish robot side body and trade rifle dish instrument side body and realize deciliter through control, the gripping apparatus bottom plate with trade rifle dish instrument side body coupling, the vision light source is in the below of vision installing support.
Further, the above-mentioned executor is the cylinder, robot gripping apparatus still includes linear guide, cylinder joint and cylinder support, wherein, cylinder support fixes on the gripping apparatus bottom plate, the cylinder is connected with cylinder support, the cylinder pass through the cylinder joint with the activity clamping jaw is connected, the direction of activity clamping jaw relies on linear guide, linear guide fixes on the gripping apparatus bottom plate, fixed clamping jaw fixes on the gripping apparatus bottom plate.
Further, above-mentioned robot gripping apparatus still includes left clamping jaw frock and right clamping jaw frock, wherein, left side clamping jaw frock is connected on fixed clamping jaw, right clamping jaw frock is connected on the activity clamping jaw, lets the tang of left side clamping jaw frock aligns with the flange tang of new forms of energy motor, through left side clamping jaw frock and right clamping jaw frock have pressed from both sides the new forms of energy motor.
According to another aspect of the invention, there is provided a new energy motor offline gripping device as described above, further comprising a displacement sensor for detecting telescopic displacement of the movable clamping jaw, wherein the robot is further configured to determine the gripping position of the movable clamping jaw according to a signal given by the displacement sensor.
Furthermore, the displacement sensors are respectively connected between the gripping apparatus bottom plate and the movable clamping jaws through hinged supports.
According to another aspect of the invention, the robot gripper for new energy motor offline comprises a robot connecting plate, a gun plate replacing robot side body, a gun plate replacing tool side body, a gripper bottom plate, a visual light source, a visual mounting bracket, a camera and a visual sensor bracket, wherein the robot connecting plate and the gun plate replacing robot side body are connected together, the visual mounting bracket is fixed on the robot connecting plate, the visual sensor bracket is arranged above the visual mounting bracket, the camera is fixed on the visual sensor bracket, the gun plate replacing robot side body and the gun plate replacing tool side body are separated and combined through control, the gripper bottom plate is connected with the gun plate replacing tool side body, the visual light source is arranged below the visual mounting bracket, and the robot gripper further comprises a fixed clamping jaw, a movable clamping jaw, a linear guide rail, a cylinder joint and a linear guide rail, Displacement sensor, cylinder and cylinder support, wherein, cylinder support fixes on the gripping apparatus bottom plate, cylinder and cylinder leg joint, the cylinder pass through cylinder joint with the activity clamping jaw is connected, the direction of activity clamping jaw relies on linear guide, linear guide fixes on the gripping apparatus bottom plate, fixed clamping jaw is fixed on the gripping apparatus bottom plate, displacement sensor passes through the hinge support and connects respectively between gripping apparatus bottom plate and activity clamping jaw, still includes left clamping jaw frock and right clamping jaw frock, wherein, left clamping jaw frock is connected on fixed clamping jaw, right clamping jaw frock is connected on the activity clamping jaw, through left clamping jaw frock and right clamping jaw frock clamp up the new forms of energy motor.
Further, the cylinder is a gas-cut self-locking cylinder.
The invention also provides a new energy motor offline gripping device which comprises the robot gripper for new energy motor offline described above.
The invention has the following technical effects:
(1) the robot gripping device is used by matching the vision system with the robot gripping apparatus, so that the robot can automatically correct to reach a correct gripping position through the vision system, and the problem that the motor needs to be accurately positioned when a new energy motor is automatically off-line is solved;
(2) the clamping jaw is provided with a displacement sensor, and the telescopic displacement of the clamping jaw can be controlled, so that the gripping apparatus can be suitable for gripping various motors;
(3) the clamping jaw clamping motor is pushed by the locking cylinder, the structure is simple, the cylinder has the air-break self-locking capacity, and the safety of clamping a workpiece is ensured under the condition that an air source is interrupted.
In addition to the objects, features and advantages described above, other objects, features and advantages of the present invention are also provided. The present invention will be described in further detail below with reference to the drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a block diagram of a new energy motor offline gripping device according to an embodiment of the invention;
fig. 2 is a schematic structural view of a robot gripper for new energy motor offline according to an embodiment of the present invention;
fig. 3 shows a lateral structure of a new energy motor off-line robotic gripper according to an embodiment of the invention;
fig. 4 shows a top view of a new energy motor off-line robotic gripper according to an embodiment of the invention; and
fig. 5 shows an operating state of the robot gripper for taking off the new energy motor according to an embodiment of the present invention.
Description of the reference numerals
1. A robot connecting plate; 2. A gun plate changing robot side body;
3. a tool side body for changing the gun plate; 4. A gripper base plate;
5. a new energy motor; 6. Fixing the clamping jaw;
7. a right clamping jaw tool; 8. A movable clamping jaw;
9. a linear guide rail; 10. A left clamping jaw tool;
11. a cylinder joint; 12. A visual light source;
13. a vision mounting bracket; 14. A camera;
15. a vision sensor mount; 16. A displacement sensor;
17. a hinged support; 18. A cylinder;
19. a cylinder support; 100. A robotic gripper;
200. a vision system; 300. A robot.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
Fig. 1 to 5 show some embodiments according to the invention.
As shown in fig. 1, the new energy motor offline gripping device of the present invention includes a robot gripper 100, a vision system 200, and a robot 300.
The vision system 200 is configured to obtain axial and radial photographs of the new energy motor, and calculate a position deviation from a standard position of the new energy motor according to the processed photographs.
The robot 300 is configured to adjust the position of the robot gripper according to the position deviation calculated by the vision system, and reach the gripping position of the new energy motor.
The robot gripping apparatus comprises a fixed clamping jaw, a movable clamping jaw and an actuator, wherein when the robot gripping apparatus grips the new energy motor, the fixed clamping jaw is close to the front end of the new energy motor and aligns to the flange position of the new energy motor, and the actuator drives the movable clamping jaw to clamp the new energy motor so as to grip the new energy motor to be off-line.
According to the invention, the cameras of the vision system take pictures respectively along the axial direction and the radial direction of the new energy motor, the vision system processes the pictures and calculates the position deviation from the standard position, and the six-axis industrial robot adjusts the position of the gripping tool according to the result calculated by the vision system to reach the gripping position of the new energy motor.
In the invention, the vision system is adopted to be matched with the robot gripping apparatus for use, the robot can automatically correct the position error of the placed new energy motor through the vision system so as to achieve the correct gripping position.
In the present invention, the actuator is preferably an air cylinder, and may be a linear actuator such as a linear motor, an electric cylinder, or an oil cylinder.
In the invention, the fixed clamping jaw and the movable clamp of the robot gripping apparatus can be adaptively modified according to the change of the shape of the new energy motor.
As shown in fig. 1, the robot gripper of the present invention is further provided with a displacement sensor for detecting the telescopic displacement of the movable gripping jaw, wherein the robot is further configured to determine the gripping position of the movable gripping jaw according to a signal given by the displacement sensor.
According to the invention, the movable clamping jaw of the robot gripping apparatus is provided with the displacement sensor, and the telescopic displacement of the clamping jaw can be controlled, so that the gripping apparatus can be suitable for gripping various new energy motors.
According to the invention, for new energy motor products with different sizes, the gripping apparatus reaches the gripping position, and the gripping position of the new energy motor by the fixture is judged according to the signal given by the displacement sensor. In addition, the locking cylinder is adopted to push the clamping jaw to clamp the new energy motor, the structure is simple, the cylinder has the air-off self-locking capacity, and the safety of clamping a workpiece is guaranteed under the condition that an air source is interrupted.
The robot gripper for new energy motor offline and the working process thereof according to the present invention will be described with reference to fig. 2 to 5.
With reference to fig. 2 to 5, the robot gripper further includes a robot connecting plate 1, a robot side body 2 for changing a gun tray, a tool side body 3 for changing a gun tray, a gripper bottom plate 4, a visual light source 12, a visual mounting bracket 13, a camera 14, a visual sensor bracket 15, a fixed clamping jaw 6, a movable clamping jaw 8, a linear guide rail 9, a cylinder joint 11, a cylinder bracket 19, a left clamping jaw tooling 10, and a right clamping jaw tooling 7.
Wherein, robot connecting plate 1 links together with trade rifle dish robot side body 2, and vision installing support 13 is fixed on robot connecting plate 1, and vision sensor support 15 is in the top of vision installing support 13, and vision light source 12 is in the below of vision installing support 13, and camera 14 is fixed on vision sensor support 15, trades rifle dish robot side body 2 and trades rifle dish instrument side body 3 and can realize deciliter through control, what be connected with trades rifle dish instrument side body 3 is gripping apparatus bottom plate 4.
The air cylinder support 19 is fixed on the gripping apparatus bottom plate 4, the air cylinder 18 is connected with the air cylinder support 19, the air cylinder 18 is connected with the movable clamping jaw 8 through the air cylinder joint 11, the guide of the movable clamping jaw 8 is close to the linear guide rail 9, the linear guide rail 9 is fixed on the gripping apparatus bottom plate 4, the fixed clamping jaw 6 is fixed on the gripping apparatus bottom plate 4, and the displacement sensor 16 is respectively connected between the gripping apparatus bottom plate 4 and the movable clamping jaw 8 through the hinge support 17.
Left clamping jaw frock 10 is connected on fixed clamping jaw 6, and right clamping jaw frock 7 is connected on activity clamping jaw 8, presss from both sides new forms of energy motor 5 through left clamping jaw frock 10 and right clamping jaw frock 7.
Preferably, with combined reference to fig. 3 and 4, the vision mounting bracket 13 has a cantilevered portion 131 extending outwardly relative to the gripper base plate 4, the cantilevered portion having an annular plate shape, the vision light source 12 also having an annular shape, and the camera 14 captures images downwardly through an annular inner bore of the vision light source 12. The image capture position of the camera 14 is ahead of the motor grip position.
Preferably, with combined reference to figures 2 and 3, the fixed jaw 6 is a one-piece welded part comprising a C-shaped plate 61 and
the type strengthening rib frame 62, wherein, the C template pastes and establishes the inboard at fixed clamping jaw 6, has the installation department that is used for installing left clamping jaw frock 10, and this installation department has side direction fluting 61a, and motor shaft 51 keeps in this side direction fluting when the motor is snatched to smooth release after the motor snatchs.
Wherein the fixed jaw 6 is connected to the gripper base plate 4. The C-shaped plate has the function of avoiding the external auxiliary parts of the new energy motor, and can adapt to more motor appearance structures.
According to the invention, the fixed clamping jaw of the robot gripper is close to the front end of the new energy motor and is aligned with the flange position of the new energy motor, the cylinder contracts, the clamping jaw clamps, and the new energy motor is gripped to be taken off the line.
The working process of the invention is as follows:
the camera 14 on the robot gripper takes pictures respectively along the axial direction and the radial direction of the new energy motor 5, the vision system processes the pictures, the position deviation between the pictures and a standard position is calculated, the six-axis industrial robot adjusts the position of the gripper according to the calculation result of the vision system, the spigot of the left clamping jaw tool 10 is aligned with the flange spigot of the new energy motor 5, the air cylinder 18 contracts, the movable clamping jaw 8 is pulled to move, the right clamping jaw tool 7 clamps the rear end of the new energy motor 5, the displacement sensor 16 displays correct displacement, the robot gripper grabs the new energy motor 5, and the new energy motor is taken off the line.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. The utility model provides a new forms of energy motor grabbing device that rolls off production line, includes the robot gripping apparatus, the robot gripping apparatus includes fixed clamping jaw, activity clamping jaw and executor, its characterized in that still includes:
the vision system is used for acquiring axial and radial photos of the new energy motor and calculating the position deviation from the standard position of the new energy motor according to the processed photos; and
the robot is used for adjusting the position of the robot gripping apparatus according to the position deviation calculated by the vision system to reach the gripping position of the new energy motor,
the fixed clamping jaw (6) is an integral welding part and comprises a C-shaped plate (61) and
a type reinforcing rib frame (62), wherein the C-shaped plate (61) is arranged on the inner side of the fixed clamping jaw (6) and is provided with a mounting part for mounting a left clamping jaw tool (10), the mounting part is provided with a lateral groove (61 a), a motor shaft (51) is kept in the lateral groove when the motor is grabbed, so that the motor can be smoothly released after being grabbed,
wherein when the robot gripper grabs the new energy motor, the fixed clamping jaw is close to the front end of the new energy motor and is aligned to the flange position of the new energy motor, the actuator drives the movable clamping jaw to clamp the new energy motor so as to grab the new energy motor to be off-line,
the robot gripping apparatus further comprises a robot connecting plate (1), a gun changing disc robot side body (2), a gun changing disc tool side body (3), a gripping apparatus bottom plate (4), a visual light source (12), a visual mounting support (13), a camera (14) and a visual sensor support (15), wherein the robot connecting plate (1) and the gun changing disc robot side body (2) are connected together, the visual mounting support (13) is fixed on the robot connecting plate (1), the visual mounting support (13) is provided with a cantilever part (131) extending outwards relative to the gripping apparatus bottom plate (4), the visual sensor support (15) is arranged above the cantilever part (131) of the visual mounting support (13), the camera (14) is fixed on the visual sensor support (15), and the gun changing disc robot side body (2) and the gun changing disc tool side body (3) are combined and separated through control, the gripper bottom plate (4) is connected with the gun changing disc tool side body (3), the visual light source (12) is arranged below the cantilever part (131) of the visual mounting bracket (13), wherein the image capturing position of the camera is ahead of the motor capturing position,
the robot gripping apparatus further comprises a left clamping jaw tool (10) and a right clamping jaw tool (7), wherein the left clamping jaw tool (10) is connected to the fixed clamping jaw (6), the right clamping jaw tool (7) is connected to the movable clamping jaw (8), and the spigot of the left clamping jaw tool (10) is aligned to the flange spigot of the new energy motor (5), so that the new energy motor (5) is clamped by the left clamping jaw tool (10) and the right clamping jaw tool (7).
2. The new energy motor offline gripping device according to claim 1, wherein the actuator is an air cylinder (18), the robot gripper further comprises a linear guide rail (9), an air cylinder joint (11) and an air cylinder bracket (19), wherein the air cylinder bracket (19) is fixed on the gripper base plate (4), the air cylinder (18) is connected with the air cylinder bracket (19), the air cylinder (18) is connected with the movable clamping jaw (8) through the air cylinder joint (11), the movable clamping jaw (8) is guided by the linear guide rail (9), the linear guide rail (9) is fixed on the gripper base plate (4), and the fixed clamping jaw (6) is fixed on the gripper base plate (4).
3. The new energy motor offline gripping device as claimed in claim 1 or 2, further comprising a displacement sensor for detecting the telescopic displacement of the movable clamping jaw, wherein the robot is further configured to judge the gripping position of the movable clamping jaw according to a signal given by the displacement sensor.
4. The new energy motor offline gripping device according to claim 3, wherein the displacement sensor (16) is respectively connected between the gripper base plate (4) and the movable clamping jaw (8) through a hinged support (17).
5. A robot gripping apparatus for new energy motor offline is characterized in that,
the robot comprises a robot connecting plate (1), a gun changing plate robot side body (2), a gun changing plate tool side body (3), a gripper bottom plate (4), a visual light source (12), a visual mounting support (13), a camera (14) and a visual sensor support (15), wherein the robot connecting plate (1) and the gun changing plate robot side body (2) are connected together, the visual mounting support (13) is fixed on the robot connecting plate (1), the visual mounting support (13) is provided with a cantilever part (131) which extends outwards relative to the gripper bottom plate (4), the visual sensor support (15) is arranged above the cantilever part (131) of the visual mounting support (13), the camera (14) is fixed on the visual sensor support (15), and the gun changing plate robot side body (2) and the gun changing plate tool side body (3) are combined and separated through control, the gripper bottom plate (4) is connected with the gun changing plate tool side body (3), the visual light source (12) is arranged below the cantilever part (131) of the visual mounting bracket (13), the image capturing position of the camera (14) is ahead of the motor capturing position,
the automatic gripper is characterized by further comprising a fixed clamping jaw (6), a movable clamping jaw (8), a linear guide rail (9), an air cylinder joint (11), a displacement sensor (16), an air cylinder (18) and an air cylinder support (19), wherein the air cylinder support (19) is fixed on the gripper bottom plate (4), the air cylinder (18) is connected with the air cylinder support (19), the air cylinder (18) is connected with the movable clamping jaw (8) through the air cylinder joint (11), the movable clamping jaw (8) is guided by the linear guide rail (9), the linear guide rail (9) is fixed on the gripper bottom plate (4), the fixed clamping jaw (6) is fixed on the gripper bottom plate (4), and the displacement sensor (16) is respectively connected between the gripper bottom plate (4) and the movable clamping jaw (8) through a hinged support (17),
the novel energy-saving clamp is characterized by further comprising a left clamping jaw tool (10) and a right clamping jaw tool (7), wherein the left clamping jaw tool (10) is connected to the fixed clamping jaw (6), the right clamping jaw tool (7) is connected to the movable clamping jaw (8), a spigot of the left clamping jaw tool (10) is aligned to a flange spigot of the new energy motor (5), and the new energy motor (5) is clamped by the left clamping jaw tool (10) and the right clamping jaw tool (7),
the fixed clamping jaw (6) is an integral welding part and comprises a C-shaped plate (61) and
the C-shaped plate (61) is arranged on the inner side of the fixed clamping jaw (6), an installation part for installing the left clamping jaw tool (10) is arranged, the installation part is provided with a lateral groove (61 a), and a motor shaft (51) is kept in the lateral groove when the motor is grabbed, so that the motor can be smoothly released after being grabbed.
6. The robot gripper for new energy motors to be taken off line as claimed in claim 5, characterized in that the cylinder (18) is a gas-cut self-locking cylinder.
7. A new energy motor offline gripping device is characterized by comprising the new energy motor offline robot gripper according to claim 5.
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 |
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| 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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| CN108818600A CN108818600A (en) | 2018-11-16 |
| CN108818600B true CN108818600B (en) | 2022-08-09 |
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| CN204711668U (en) * | 2015-05-22 | 2015-10-21 | 宁夏巨能机器人系统有限公司 | A kind of bent axle grabbing device of improvement |
| CN204935641U (en) * | 2015-08-26 | 2016-01-06 | 北京机械工业自动化研究所 | A kind of feeding robot paw |
| JP6802033B2 (en) * | 2016-10-20 | 2020-12-16 | 黒崎播磨株式会社 | Plate holding device, holding structure and holding method |
| CN207172101U (en) * | 2017-08-25 | 2018-04-03 | 苏州工业园区耐斯达自动化技术有限公司 | Quick fixture replacing device |
| CN107962584A (en) * | 2017-12-14 | 2018-04-27 | 江苏中天科技股份有限公司 | A kind of robot gripper device for batten gripping |
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2018
- 2018-06-29 CN CN201810696322.2A patent/CN108818600B/en active Active
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