CN109551505B

CN109551505B - Robot gripper

Info

Publication number: CN109551505B
Application number: CN201811602856.0A
Authority: CN
Inventors: 王辉; 段利峰; 林雪萍
Original assignee: Nari Shanghai Industrial Co ltd
Current assignee: Nari Shanghai Industrial Co ltd
Priority date: 2018-12-26
Filing date: 2018-12-26
Publication date: 2020-08-18
Anticipated expiration: 2038-12-26
Also published as: CN109551505A

Abstract

The invention relates to a robot gripper which is used for gripping magnetic steel to be inserted into an iron core, wherein a plurality of magnetic steel mounting grooves are formed in the iron core; when the robot gripper rotates 90 degrees, the gripper module corresponds to the other one-quarter magnetic steel mounting groove, and the pressing module also corresponds to the other one-quarter magnetic steel mounting groove; compared with the prior art, the invention can ensure that the assembly process of one iron core only needs 4 times of reciprocating, can effectively improve the production efficiency, greatly simplifies the operation times and the operation mode of the robot arm, and improves the safety and the operation convenience.

Description

Robot gripper

Technical Field

The invention relates to the field of robot assembly, in particular to a robot gripper.

Background

The method for assembling the magnetic steel in the iron core in the existing equipment comprises the following steps: the magnetic steel is grabbed singly, then the iron core is moved to be installed through robot positioning, the single magnetic steel is inserted into the iron core, then the circular reciprocating motion is carried out, the production efficiency is low, the robot needs to be controlled in an automatic mode in a complex and accurate mode for many times, and the manufacturing cost is high.

Disclosure of Invention

The present invention is directed to overcoming the above-mentioned shortcomings of the prior art and providing a robot gripper.

The purpose of the invention can be realized by the following technical scheme:

a robot gripper is used for gripping magnetic steel to be inserted into an iron core, a plurality of magnetic steel mounting grooves are formed in the iron core, the robot gripper comprises a connecting piece, a mounting plate, a gripper module and a pressing module, the upper end of the mounting plate is connected with a robot arm through the connecting piece, the gripper module and the pressing module are respectively mounted at the lower end of the mounting plate, the gripper module corresponds to a quarter magnetic steel mounting groove, and the pressing module corresponds to a quarter magnetic steel mounting groove; when the robot gripper rotates 90 degrees, the gripper module corresponds to the other one-quarter magnetic steel mounting groove, and the pressing module also corresponds to the other one-quarter magnetic steel mounting groove; when the robot gripper finishes 3-time 90-degree rotation from the initial position, the positions of the gripper module for 4 times cover the positions of all the magnetic steel mounting grooves, and the positions of the compaction module for 4 times cover the corresponding positions of all the magnetic steel mounting grooves.

Furthermore, the magnet steel mounting grooves are 16 and are uniformly distributed in the iron core in an octagonal shape with the apex angle of 120 degrees.

Further, the number of the gripper modules is 4, the positions of the gripper modules correspond to 4 of the 16 magnetic steel mounting grooves, the number of the pressing modules is 4, and the positions of the pressing modules correspond to 4 of the 16 magnetic steel mounting grooves.

Furthermore, the number of the gripper modules is 4, and the mounting positions of the gripper modules correspond to four parallel edges in an octagon of the magnetic steel mounting grooves.

Furthermore, compress tightly module quantity be 4, every 2 sets up side by side between 2 relative and parallel tongs modules, simultaneously, the mounted position that compresses tightly the module corresponds two diagonal edges of magnet steel mounting groove octagon.

Further, the gripper module comprises an air cylinder and a clamping jaw, wherein the upper end of the air cylinder is connected with the mounting plate, the lower end of the air cylinder is connected with the clamping jaw, and the clamping jaw is controlled to be opened or closed.

Further, the cylinder is connected with the mounting plate through a bolt.

Furthermore, the clamping end face of the clamping jaw is provided with an anti-skid groove.

Further, the pressing module comprises a support and a pressure head, the upper end of the support is connected with the mounting plate, and the lower end of the support is connected with the pressure head.

Furthermore, the bracket is provided with a long hole.

Compared with the prior art, the invention has the following advantages:

1. according to the invention, the robot gripper and the magnetic steel mounting groove on the iron core are redesigned, so that the assembly process of the iron core only needs 4 times of reciprocating, the production efficiency can be effectively improved, meanwhile, the robot gripper only needs to adjust the station during the installation, and the assembly can be completed by 90-degree rotation and up-and-down movement, so that the operation times and the operation mode of the robot arm are greatly simplified, and the safety and the operation convenience are improved.

2. The clamping module can synchronously fasten the magnetic steel in the installation process, and when the gripper module inserts one part of the magnetic steel up and down in the iron core, the clamping module can just compact the other part of the installed magnetic steel, so that the quality of production and assembly is improved.

3. According to the invention, through the two pairs of the gripper modules which are symmetrically arranged in parallel, the magnetic steel can be simultaneously clamped from the storage mechanism side by side and then moved to the iron core for assembly, the moving and control modes are simple, and the magnetic steel gripping efficiency is high.

4. The anti-skidding grooves are formed in the clamping jaw, so that the clamping jaw can firmly grab the magnetic steel.

5. The rectangular holes are formed in the support of the compression module, so that the total amount of the whole robot gripper can be reduced to a certain degree, the burden of a robot arm is reduced, and a certain energy absorption and buffering effect can be achieved when the robot gripper is in contact with the magnetic steel.

Drawings

FIG. 1 is a schematic perspective view of the present invention;

FIG. 2 is a schematic top view of the core;

FIG. 3 is a schematic perspective view of a robot gripper;

FIG. 4 is a schematic front view of a robot gripper;

FIG. 5 is a schematic bottom view of the robotic gripper;

reference numerals: 1. robot tongs, 11, connecting piece, 12, mounting panel, 13, cylinder, 14, clamping jaw, 15, support, 151, rectangular hole, 16, pressure head, 2, iron core, 21, magnet steel mounting groove, 3, magnet steel.

Detailed Description

The invention is described in detail below with reference to the figures and specific embodiments. The present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.

As shown in fig. 1, the present embodiment provides a robot gripper, which includes an iron core 2 and a robot gripper 1, wherein during assembly, the robot gripper 1 grips a magnetic steel 3 and moves to above the iron core 2 for installation.

As shown in fig. 2, the iron core 2 is a disc, 16 magnetic steel mounting grooves 21 are formed in the iron core 2, and the magnetic steel mounting grooves 21 are uniformly distributed around the disc of the iron core 2 in an octagonal shape with an apex angle of 120 degrees.

As shown in fig. 3 to 5, the robot gripper 1 includes a connection member 11, a mounting plate 12, a gripper module, and a pressing module. The upper end of the mounting plate 12 is connected with a robot arm through a connecting piece 11. The gripper module comprises an air cylinder 13 and a clamping jaw 14, the upper end of the air cylinder 13 is connected with the mounting plate 12, the lower end of the air cylinder 13 is connected with the clamping jaw 14, the air cylinder 13 controls the clamping jaw 14 to be opened or closed, and an anti-skid groove is formed in the clamping end face of the clamping jaw 14; the pressing module comprises a support 15 and a pressure head 16, the upper end of the support 15 is connected with the mounting plate 12, the lower end of the support 15 is connected with the pressure head 16, and the support 15 is provided with a strip hole 151. The bracket 15 and the cylinder 13 are connected to the mounting plate 12 by a bolt structure.

The number of the gripper modules is 4, and the mounting positions of the gripper modules correspond to four parallel edges on the octagon of the magnetic steel mounting groove 21. The number of the pressing modules is 4, every 2 pressing modules are arranged between 2 opposite and parallel gripper modules side by side, and the opening and closing directions of the clamping jaws 14 are parallel to the long edges of the magnetic steel mounting grooves 21. The mounting position of the pressing module corresponds to two diagonal edges of the octagonal shape of the magnetic steel mounting groove 21.

The working process of the embodiment is as follows:

step 1, a robot arm controls a robot gripper 1 to grip 4 pieces of magnetic steel 3 and move to the position above an iron core 2 to be installed, the robot gripper 1 moves downwards to insert the magnetic steel 3 into 4 corresponding magnetic steel installation grooves 21, a clamping jaw 14 is loosened, and the robot gripper 1 moves upwards;

step 2, the robot gripper 1 grips 4 magnetic steels 3 again and moves to the upper side of the same iron core 2, the robot arm rotates the robot gripper 1 clockwise by 90 degrees, then moves downwards to insert the magnetic steels 3 into the other 4 corresponding magnetic steel mounting grooves 21, the clamping jaw 14 is released, and the robot gripper moves upwards;

step 3, repeating the step 2 twice again, wherein when the robot gripper 1 inserts the magnetic steel 3, the positions of the two pressing heads 16 just correspond to the positions of the inserted magnetic steel 3 in the step 1 and the step 2, and the magnetic steel 3 is compacted in the iron core 2;

and 4, after the robot arm is lifted up, continuing to rotate for 90 degrees clockwise twice, and moving downwards after rotating every time, so that the magnetic steel 3 inserted in the step 3 is compacted, and all the magnetic steels 3 in all the iron cores 2 are installed.

The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.

Claims

1. A robot gripper is characterized in that a plurality of magnetic steel mounting grooves (21) are formed in an iron core (2), the robot gripper (1) comprises a connecting piece (11), a mounting plate (12), a gripper module and a pressing module, the upper end of the mounting plate (12) is connected with a robot arm through the connecting piece (11), the gripper module and the pressing module are respectively mounted at the lower end of the mounting plate (12), the gripper module corresponds to the position of one fourth of the magnetic steel mounting grooves (21), and the pressing module corresponds to the position of one fourth of the magnetic steel mounting grooves (21); after the robot gripper (1) rotates 90 degrees, the gripper module corresponds to the position of the other one-quarter magnetic steel mounting groove (21), and the pressing module also corresponds to the position of the other one-quarter magnetic steel mounting groove (21); when the robot gripper (1) completes 90-degree rotation for 3 times from the initial position, the positions of the gripper module for 4 times cover the positions of all the magnetic steel mounting grooves (21), and the positions of the compaction module for 4 times cover the corresponding positions of all the magnetic steel mounting grooves (21).

2. The robot gripper as claimed in claim 1, characterized in that the number of the magnetic steel mounting grooves (21) is 16, and the magnetic steel mounting grooves are uniformly distributed in the iron core (2) in an octagonal shape with an apex angle of 120 degrees.

3. The robotic gripper of claim 2, wherein the gripper modules are 4 in number and positioned to correspond to 4 of the 16 magnetic steel mounting slots (21), and the compression modules are 4 in number and positioned to correspond to 4 of the 16 magnetic steel mounting slots (21).

4. The robot gripper as claimed in claim 2, characterized in that the number of gripper modules is 4, and the mounting positions thereof correspond to four parallel sides of an octagon of the magnetic steel mounting groove (21).

5. The robot gripper according to claim 4, characterized in that the number of said compression modules is 4, each 2 being arranged side by side between 2 opposite and parallel gripper modules, while the mounting positions of said compression modules correspond to the two diagonal sides of the octagon of the magnetic steel mounting slot (21).

6. The robotic gripper of claim 1, wherein the gripper module comprises a cylinder (13) and a gripper jaw (14), the cylinder (13) being connected to the mounting plate (12) at an upper end thereof and to the gripper jaw (14) at a lower end thereof, and controlling the gripper jaw (14) to open or close.

7. Robot gripper according to claim 6, characterised in that the cylinder (13) is bolted to the mounting plate (12).

8. Robot gripper according to claim 6, characterized in that the gripping end surfaces of the gripping jaws (14) are provided with anti-slip grooves.

9. The robot gripper as claimed in claim 1, characterized in that said pressing module comprises a support (15) and a pressing head (16), said support (15) being connected at its upper end to the mounting plate (12) and at its lower end to the pressing head (16).

10. The robot gripper according to claim 9, characterised in that said support (15) is provided with elongated holes (151).