CN114750197A - gripping manipulator - Google Patents

Abstract

The invention provides a clamping manipulator for a flat wire hairpin in flat electromagnetic wire motor stator production equipment, which comprises: the clamping device comprises a first clamping jaw assembly, a second clamping jaw assembly, a horizontal adjusting mechanism and a rotary adjusting mechanism; the first clamping jaw assembly, the second clamping jaw assembly and the horizontal adjusting mechanism are integrally driven by the rotary adjusting mechanism to rotate; the horizontal adjusting mechanism is in transmission connection with the first clamping jaw assembly or the second clamping jaw assembly and adjusts the distance between the first clamping jaw assembly and the second clamping jaw assembly; the first jaw assembly includes: the first clamping jaw is mounted on the first clamping jaw arm; the second jaw assembly includes: the second clamping jaw is installed on the second clamping jaw arm through the rotating unit, and the rotating unit adjusts the angle between the first clamping jaw and the second clamping jaw by driving the second clamping jaw to rotate. Aiming at the structural characteristics of the flat wire hairpin, the invention is provided with the first clamping jaw component and the second clamping jaw component which can respectively realize the stable clamping of two hairpin arms.

Description

gripping manipulator

technical field

The invention relates to a manipulator, in particular to a manipulator suitable for clamping flat wire hairpins on motor stator production equipment.

Background technique

At present, in the production of new energy vehicle motors, in order to improve the efficiency of motor products, flat wire hairpins have been used instead of circular magnet wires. In the previous production equipment for flat wire issuance, the manipulator for clamping the flat wire issuance usually adopts the structure of inserting from the outside to the inside, and the volume is relatively large. In addition, since the flat wire hairpin is formed by bending the flat wire, it is also necessary to propose a further solution for how to realize the stable clamping of the flat wire hairpin.

SUMMARY OF THE INVENTION

The present invention aims to provide a clamping manipulator, which inserts the flat wire hairpin from the inner hole of the profiling mold, omits the folding device of the previous production equipment, has a small volume, saves space, and makes the layout of the motor stator production line more reasonable, so as to overcome the problem of deficiencies in the prior art.

For solving the above-mentioned technical problems, the technical scheme of the present invention is:

A clamping manipulator, comprising: a first clamping jaw assembly, a second clamping jaw assembly, a level adjustment mechanism and a rotation adjustment mechanism;

The first clamping jaw assembly, the second clamping jaw assembly, and the horizontal adjustment mechanism are integrally driven by the rotation adjustment mechanism to rotate; the horizontal adjustment mechanism is drivingly connected with the first clamping jaw assembly or the second clamping jaw assembly , and adjust the distance between them;

The first jaw assembly includes: a first jaw and a first jaw arm, the first jaw is mounted on the first jaw arm; the second jaw assembly includes: a second jaw , a rotating unit and a second gripper arm, the second gripper is mounted on the second gripper arm through the rotation unit, and the rotation unit drives the second gripper to rotate to adjust the first gripper The angle between the jaw and the second jaw.

As an improvement of the clamping manipulator of the present invention, the rotation adjustment mechanism is a DD motor, and the first clamping jaw assembly, the second clamping jaw assembly, and the level adjustment mechanism are integrally mounted on the turntable of the DD motor.

As an improvement of the clamping manipulator of the present invention, the horizontal adjustment mechanism includes: a first cylinder, a slide rail and a slider; the first cylinder and the slide rail are arranged on the rotation adjustment mechanism, and the first cylinder is arranged horizontally , and drive the first jaw assembly or the second jaw assembly to slide along the slide rail through the slider.

As an improvement of the clamping manipulator of the present invention, the two sides of the top of the first clamping jaw assembly or the second clamping jaw assembly are respectively slid along two parallel slide rails by means of sliders.

As an improvement of the clamping manipulator of the present invention, a limit block is also provided at the end of the slide rail.

As an improvement of the clamping manipulator of the present invention, the second clamping jaw is located below the first clamping jaw.

As an improvement of the clamping manipulator of the present invention, the first clamping jaw and the second clamping jaw each include: a first clamping finger, a second clamping finger and a second air cylinder; the second air cylinder drives the first clamping finger and the second air cylinder. The second gripping finger performs the gripping action, the number of the first gripping fingers is two, the two first gripping fingers are arranged up and down, and the second gripping finger is arranged opposite to the gap between the two first gripping fingers.

As an improvement of the gripping manipulator of the present invention, the ends of the first gripping finger and the second gripping finger are bent inwardly.

As an improvement of the gripping manipulator of the present invention, the first gripping finger and the second gripping finger are further provided with extension parts extending inwardly, and the curved ends and the extending parts of the first gripping finger and the second gripping finger surround into a holding space.

As an improvement of the gripping manipulator of the present invention, the first gripper arm is further provided with a support portion, the support portion is located above the first gripper, and a vertically arranged positioning groove is also provided on the support portion.

Compared with the prior art, the beneficial effects of the present invention are: the present invention is provided with a first clamping claw assembly and a second clamping claw assembly according to the structural characteristics of the flat wire hairpin, which can respectively realize the stability of the two hairpin arms. Clamp. At the same time, the present invention can also adjust the angle and distance between the first clamping jaw and the second clamping jaw, so as to adapt to the clamping of flat wire hairpins of different sizes and shapes. In addition, the present invention can also realize the integral rotation of the first clamping jaw assembly and the second clamping jaw assembly, so as to facilitate the adjustment of the angle during subsequent wire insertion.

Description of drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments described in the present invention. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without any creative effort.

FIG. 1 is a three-dimensional schematic diagram of an embodiment of a clamping manipulator of the present invention;

Fig. 2 is the enlarged schematic diagram of the part shown in the circle in Fig. 1;

FIG. 3 is a partial bottom view of an embodiment of the gripping manipulator of the present invention.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

As shown in FIG. 1 , an embodiment of the present invention provides a clamping manipulator, which is suitable for clamping a flat wire hairpin 100 in a motor stator. The clamping manipulator of this embodiment includes: a first clamping jaw assembly 10 , a second clamping jaw assembly 20 , a horizontal adjustment mechanism 30 and a rotation adjustment mechanism 40 .

The first clamping jaw assembly 10 , the second clamping jaw assembly 20 , and the horizontal adjustment mechanism 30 are integrally driven by the rotation adjustment mechanism 40 to rotate. In this way, by rotating the adjusting mechanism 40, the entire rotation of the first gripper jaw assembly 10 and the second gripper jaw assembly 20 can be achieved, so as to facilitate the adjustment of the angle during subsequent wire insertion.

In one embodiment, the rotation adjustment mechanism 40 is a DD motor, and the DD motor is fixed on a base plate 50 . The first clamping jaw assembly 10 , the second clamping jaw assembly 20 and the level adjusting mechanism 30 are integrally mounted on the turntable of the DD motor. The DD motor has high rotation accuracy, so that the rotation angles of the first clamping jaw assembly 10 and the second clamping jaw assembly 20 can be precisely controlled during wire insertion.

The level adjustment mechanism 30 is in driving connection with the first clamping jaw assembly 10 or the second clamping jaw assembly 20, and adjusts the distance therebetween. In this way, the distance between the two clamping jaw assemblies can be adjusted to accommodate the clamping of the flat wire hairpin 100 of different sizes.

In one embodiment, the level adjustment mechanism 30 includes: a first air cylinder 31 , a sliding rail 32 and a sliding block 33 .

Wherein, the first cylinder 31 and the slide rail 32 are arranged on the rotation adjusting mechanism 40 . When the rotation adjustment mechanism 40 is a DD motor, in order to facilitate the installation and fixation of the slide rail 32, the turntable of the DD motor is also provided with a radially extending extension portion, and the first cylinder 31 and the slide rail 32 are fixed to the turntable and its extension portion. superior.

The first air cylinder 31 is arranged horizontally, and drives the first clamping jaw assembly 10 or the second clamping jaw assembly 20 to slide along the slide rail 32 through the slider 33 . In this way, when the first air cylinder 31 is working, it can drive the gripper jaw assembly that is drivingly connected with it to approach or move away from another set of gripper jaw assemblies, so as to realize the adjustment of the distance between the two sets of gripper jaw assemblies.

In order to ensure the stability of the first clamping jaw assembly 10 or the second clamping jaw assembly 20 during horizontal adjustment, the two sides of the top of the first clamping jaw assembly 10 or the second clamping jaw assembly 20 are respectively arranged along two parallel The slide rail 32 slides. In addition, in order to adjust and limit the first clamping jaw assembly 10 or the second clamping jaw assembly 20 , the end of the slide rail 32 is further provided with a limiting block 34 .

The first clamping jaw assembly 10 is used for clamping and fixing one arm of the flat wire hairpin 100 , and the second clamping assembly is used for clamping the other arm of the flat wire hairpin 100 , so that a stable clamping of the flat wire hairpin 100 can be realized. hold.

As shown in FIG. 2 , the first clamping jaw assembly 10 includes: a first clamping jaw 11 and a first clamping jaw arm 12 . The first clamping jaw 11 is mounted on the lower end of the first clamping jaw arm 12 , and the upper end of the first clamping jaw arm 12 is connected with the rotation adjusting mechanism 40 .

The second jaw assembly 20 includes a second jaw 21 , a rotation unit 22 and a second jaw arm 23 . The second clamping jaw 21 is mounted on the lower end of the second clamping jaw arm 23 through the rotating unit 22 , and the upper end of the second clamping jaw arm 23 is connected with the rotation adjusting mechanism 40 . The rotating unit 22 can be a rotating motor, which can adjust the angle between the first clamping jaw 11 and the second clamping jaw 21 by driving the second clamping jaw 21 to rotate. In this way, by adjusting the angle between the first clamping jaw 11 and the second clamping jaw 21 and adjusting the spacing of the horizontal adjustment mechanism 30 , the clamping of the flat wire hairpin 100 of different sizes can be well adapted.

Since the second clamping jaw 21 can rotate relative to the first clamping jaw 11 , in order to avoid interference between the two, the second clamping jaw 21 is located below the first clamping jaw 11 . Correspondingly, the length of the second gripper arm 23 is greater than the length of the first gripper arm 12 . In this way, there is a height difference between the first clamping jaw 11 and the second clamping jaw 21 , and when the second clamping jaw 21 rotates, it will not collide with the first clamping jaw 11 .

Further, the first clamping jaw 11 and the second clamping jaw 21 are both cylinder type clamping jaws, both of which include: a first clamping finger 110 , a second clamping finger 111 and a second air cylinder 112 . The second air cylinder 112 drives the first clamping finger 110 and the second clamping finger 111 to perform clamping action. In order to achieve stable clamping, two first clamping fingers 110 are provided, the two first clamping fingers 110 are arranged up and down, and the gaps between the second clamping fingers 111 and the two first clamping fingers 110 are arranged opposite to each other. In this way, when the first gripping finger 110 and the second gripping finger 111 move, the two first gripping fingers 110 can prevent the flat wire hairpin 100 from being tilted, thereby playing a stable gripping effect.

As shown in FIG. 3 , considering that the flat wire hairpin 100 is formed by bending a flat wire, its force bearing area is relatively small. Therefore, in order to facilitate clamping, the ends of the first clamping finger 110 and the second clamping finger 111 are bent inwardly. Further, the first clamping finger 110 and the second clamping finger 111 are also provided with an extension portion 113 extending inwardly, and the curved ends of the first clamping finger 110 and the second clamping finger 111 and the extension portion 113 enclose a clamping space . In this way, under the limiting action of the curved end and the extension portion 113 , the first clamping jaw 11 and the second clamping jaw 21 can clamp the two arms of the flat wire hairpin 100 at any angle, and can prevent them from disengaging.

After the flat wire hairpin 100 is clamped, in order to prevent it from shaking, the first clamping claw arm 12 is further provided with a supporting portion 121, the supporting portion 121 is located above the first clamping claw 111, and a vertical setting is also provided on the supporting portion 121. the positioning groove 122. In this way, one arm of the flat wire hairpin 100 in the clamped state can be stably received against the positioning groove 122 .

To sum up, according to the structural characteristics of the flat wire hairpin, the present invention is provided with a first clamping claw assembly and a second clamping claw assembly, which can respectively achieve stable clamping of the two hairpin arms. At the same time, the present invention can also adjust the angle and distance between the first clamping jaw and the second clamping jaw, so as to adapt to the clamping of flat wire hairpins of different sizes and shapes. In addition, the present invention can also realize the integral rotation of the first clamping jaw assembly and the second clamping jaw assembly, so as to facilitate the adjustment of the angle during subsequent wire insertion.

It will be apparent to those skilled in the art that the present invention is not limited to the details of the above-described exemplary embodiments, but that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments are to be regarded in all respects as illustrative and not restrictive, and the scope of the invention is to be defined by the appended claims rather than the foregoing description, which are therefore intended to fall within the scope of the claims. All changes within the meaning and scope of the equivalents of , are included in the present invention. Any reference signs in the claims shall not be construed as limiting the involved claim.

In addition, it should be understood that although this specification is described in terms of embodiments, not each embodiment only includes an independent technical solution, and this description in the specification is only for the sake of clarity, and those skilled in the art should take the specification as a whole , the technical solutions in each embodiment can also be appropriately combined to form other implementations that can be understood by those skilled in the art.

Claims (10)

1. A clamping manipulator, characterized in that the clamping manipulator comprises: a first clamping jaw assembly, a second clamping jaw assembly, a horizontal adjustment mechanism and a rotation adjustment mechanism; The first clamping jaw assembly, the second clamping jaw assembly, and the horizontal adjustment mechanism are integrally driven by the rotation adjustment mechanism to rotate; the horizontal adjustment mechanism is drivingly connected with the first clamping jaw assembly or the second clamping jaw assembly , and adjust the distance between them; The first jaw assembly includes: a first jaw and a first jaw arm, the first jaw is mounted on the first jaw arm; the second jaw assembly includes: a second jaw , a rotating unit and a second gripper arm, the second gripper is mounted on the second gripper arm through the rotation unit, and the rotation unit drives the second gripper to rotate to adjust the first gripper The angle between the jaw and the second jaw. 2 . The clamping manipulator according to claim 1 , wherein the rotation adjustment mechanism is a DD motor, and the first clamping jaw assembly, the second clamping jaw assembly and the level adjustment mechanism are integrally mounted on the DD. 3 . on the turntable of the motor. 3 . The clamping manipulator according to claim 1 , wherein the level adjustment mechanism comprises: a first cylinder, a slide rail and a slider; the first cylinder and the slide rail are arranged on the rotation adjustment mechanism. 4 . , the first air cylinder is arranged horizontally, and drives the first clamping jaw assembly or the second clamping jaw assembly to slide along the slide rail through the slider. 4 . The clamping manipulator according to claim 3 , wherein the two sides of the top of the first clamping jaw assembly or the second clamping jaw assembly are slid along two parallel slide rails respectively by means of sliders. 5 . 5 . The clamping manipulator according to claim 3 , wherein a limit block is further provided at the end of the slide rail. 6 . 6 . The clamping manipulator according to claim 1 , wherein the second clamping jaw is located below the first clamping jaw. 7 . 7. The clamping manipulator according to claim 1, wherein the first clamping jaw and the second clamping jaw each comprise: a first clamping finger, a second clamping finger and a second air cylinder; the second air cylinder The first clamping finger and the second clamping finger are driven to perform clamping action, the first clamping finger is two, the two first clamping fingers are arranged up and down, and the second clamping finger and the two first clamping fingers are between The gap between them is set relative to each other. 8 . The clamping manipulator according to claim 7 , wherein the ends of the first clamping finger and the second clamping finger are bent inwardly. 9 . 9 . The clamping manipulator according to claim 8 , wherein the first clamping finger and the second clamping finger are further provided with extension parts extending inwardly, and the first clamping finger and the second clamping finger The curved ends and extensions of the fingers enclose a clamping space. 10 . The clamping manipulator according to claim 1 , wherein a support portion is further provided on the first gripper arm, the support portion is located above the first gripper, and a support portion is further provided thereon. 11 . Vertical positioning slot.

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