CN114750197A - Clamping manipulator - Google Patents
Clamping manipulator Download PDFInfo
- Publication number
- CN114750197A CN114750197A CN202210382529.9A CN202210382529A CN114750197A CN 114750197 A CN114750197 A CN 114750197A CN 202210382529 A CN202210382529 A CN 202210382529A CN 114750197 A CN114750197 A CN 114750197A
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- Prior art keywords
- clamping
- clamping jaw
- jaw assembly
- jaw
- adjusting mechanism
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 230000007246 mechanism Effects 0.000 claims abstract description 37
- 230000005540 biological transmission Effects 0.000 claims abstract description 4
- 230000000712 assembly Effects 0.000 description 3
- 238000000429 assembly Methods 0.000 description 3
- 230000000670 limiting effect Effects 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
Images
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
- B25J15/08—Gripping heads and other end effectors having finger members
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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
- B25J15/0028—Gripping heads and other end effectors with movable, e.g. pivoting gripping jaw surfaces
-
- 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
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
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
Technical Field
The invention relates to a manipulator, in particular to a manipulator suitable for clamping flat wires on motor stator production equipment to send out a card.
Background
At present, in the production of new energy automobile motors, flat wire hairpins are used to replace circular electromagnetic wires in order to improve the efficiency of motor products. In the conventional production equipment for the flat wire hairpin, a manipulator for clamping the flat wire hairpin is generally in an outward-inward insertion structure, so that the size is large. In addition, since the flat wire hairpin is formed by bending a flat wire, it is necessary to provide a further solution to how to achieve stable clamping of the flat wire hairpin.
Disclosure of Invention
The invention aims to provide a clamping manipulator which is used for inserting a flat wire from an inner hole of a profiling mold to clamp the flat wire, omits a folding device of the conventional production equipment, has smaller volume, saves space, and ensures that the layout of a motor stator production line is more reasonable so as to overcome the defects in the prior art.
In order to solve the technical problem, the technical scheme of the invention is as follows:
a clamping robot, comprising: 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 comprises: the clamping device comprises a first clamping jaw and a first clamping jaw arm, wherein the first clamping jaw is installed on the first clamping jaw arm; the second jaw assembly comprises: second clamping jaw, rotary unit and second clamping jaw arm, the second clamping jaw passes through rotary unit install in on the second clamping jaw arm, rotary unit adjusts through drive second clamping jaw rotation angle between first clamping jaw and the second clamping jaw.
As an improvement of the clamping manipulator of the invention, the rotary adjusting mechanism is a DD motor, and the first clamping jaw assembly, the second clamping jaw assembly and the horizontal adjusting mechanism are integrally mounted on a turntable of the DD motor.
As an improvement of the gripping robot of the present invention, the horizontal adjustment mechanism includes: the first cylinder, the sliding rail and the sliding block; the first air cylinder and the sliding rail are arranged on the rotary adjusting mechanism, the first air cylinder is horizontally arranged and drives the first clamping jaw assembly or the second clamping jaw assembly to slide along the sliding rail through the sliding block.
As an improvement of the clamping manipulator, two sides of the top of the first clamping jaw assembly or the second clamping jaw assembly respectively slide along two parallel sliding rails through sliding blocks.
As an improvement of the clamping manipulator, the end part of the sliding rail is also provided with a limiting block.
As an improvement of the clamping manipulator, the second clamping jaw is positioned below the first clamping jaw.
As an improvement of the gripping robot of the present invention, the first jaw and the second jaw each comprise: the clamping device comprises a first clamping finger, a second clamping finger and a second air cylinder; the second cylinder drives the first clamping fingers and the second clamping fingers to perform clamping action, the number of the first clamping fingers is two, the two first clamping fingers are arranged up and down, and the second clamping fingers and the gaps between the two first clamping fingers are arranged oppositely.
In an improvement of the gripping robot of the present invention, the first gripping finger and the second gripping finger are provided with end portions bent inward.
As an improvement of the clamping manipulator, the first clamping finger and the second clamping finger are further provided with extending parts extending inwards, and the bent ends and the extending parts of the first clamping finger and the second clamping finger enclose a clamping space.
As an improvement of the clamping manipulator, the first clamping jaw arm is further provided with a supporting part, the supporting part is positioned above the first clamping jaw, and a positioning groove which is vertically arranged is further arranged on the supporting part.
Compared with the prior art, the invention has the beneficial effects that: aiming at the structural characteristics of the flat wire hairpin, the flat wire hairpin is provided with the first clamping jaw component and the second clamping jaw component which can respectively realize the stable clamping of the two hairpin arms. Meanwhile, the angle and the distance between the first clamping jaw and the second clamping jaw can be adjusted to adapt to clamping of flat wire hairpins with different sizes and shapes. In addition, the invention can realize the integral rotation of the first clamping jaw assembly and the second clamping jaw assembly so as to facilitate the angle adjustment during subsequent wire plugging.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic perspective view of a clamping robot according to an embodiment of the present invention;
FIG. 2 is an enlarged schematic view of the portion of FIG. 1 shown circled;
fig. 3 is a partial bottom view of an embodiment of a clamping robot in accordance with the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, an embodiment of the present invention provides a clamping robot, which is suitable for clamping a flat wire hairpin 100 in a motor stator. The clamping robot of this embodiment includes: a first jaw assembly 10, a second jaw assembly 20, a horizontal adjustment mechanism 30, and a rotational adjustment mechanism 40.
The first jaw assembly 10, the second jaw assembly 20, and the horizontal adjustment mechanism 30 are integrally driven to rotate by the rotation adjustment mechanism 40. Thus, by rotating the adjusting mechanism 40, the integral rotation of the first clamping jaw assembly 10 and the second clamping jaw assembly 20 can be realized, so that the angle adjustment during subsequent wire plugging can be facilitated.
In one embodiment, the rotation adjustment mechanism 40 is a DD motor that is affixed to a substrate 50. The first jaw assembly 10, the second jaw assembly 20 and the horizontal adjustment mechanism 30 are integrally mounted on a turntable of the DD motor. The DD motor has a high rotational accuracy, so that the rotational angles of the first jaw assembly 10 and the second jaw assembly 20 can be precisely controlled during plugging.
The horizontal adjusting mechanism 30 is in transmission connection with the first clamping jaw assembly 10 or the second clamping jaw assembly 20 and adjusts the distance between the two clamping jaw assemblies. Thus, the distance between the two clamping jaw assemblies can be adjusted to adapt to clamping of flat wire hairpins 100 of different sizes.
In one embodiment, the leveling mechanism 30 includes: a first cylinder 31, a slide rail 32 and a slider 33.
Wherein, the first cylinder 31 and the slide rail 32 are provided on the rotation adjustment mechanism 40. When the rotation adjusting mechanism 40 is a DD motor, in order to facilitate the installation and fixation of the slide rail 32, a turntable of the DD motor is further provided with an extending portion extending radially, and the first cylinder 31 and the slide rail 32 are fixed on the turntable and the extending portion thereof.
The first cylinder 31 is disposed horizontally and drives the first jaw assembly 10 or the second jaw assembly 20 to slide along the slide rail 32 via the slider 33. Thus, when the first cylinder 31 works, it can drive the clamping jaw assembly connected with the first cylinder to approach or leave the other clamping jaw assembly, so as to realize the adjustment of the distance between the two clamping 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, two sides of the top of the first clamping jaw assembly 10 or the second clamping jaw assembly 20 respectively slide along two parallel slide rails 32 through slide blocks 33. In addition, in order to adjust and limit the position of the first clamping jaw assembly 10 or the second clamping jaw assembly 20, a limit block 34 is further provided at the end of the slide rail 32.
The first clamping jaw assembly 10 is used for clamping one arm of the fixed flat wire hairpin 100, and the second clamping assembly is used for clamping the other arm of the fixed flat wire hairpin 100, so that the stable clamping of the flat wire hairpin 100 can be realized.
As shown in fig. 2, the first jaw assembly 10 includes: a first jaw 11 and a first jaw arm 12. The first jaw 11 is mounted on the lower end of the first jaw arm 12, and the upper end of the first jaw arm 12 is connected to 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 jaw 21 is attached to a lower end of a second jaw arm 23 via a rotating unit 22, and an upper end of the second jaw arm 23 is connected to a rotation adjusting mechanism 40. The rotating unit 22 may be a rotating motor that adjusts the angle between the first jaw 11 and the second jaw 21 by driving the second jaw 21 to rotate. In this way, the clamping of the flat wire hairpins 100 with different sizes can be well adapted through the adjustment of the angle between the first clamping jaw 11 and the second clamping jaw 21 and the adjustment of the distance between the horizontal adjusting mechanisms 30.
Since the second jaw 21 can rotate relative to the first jaw 11, the second jaw 21 is located below the first jaw 11 in order to avoid interference between the two. Accordingly, the length of the second gripper arm 23 is greater than the length of the first gripper arm 12. Thus, there is a height difference between the first jaw 11 and the second jaw 21, and the second jaw 21 does not collide with the first jaw 11 when it rotates.
Further, the first jaw 11 and the second jaw 21 are both cylinder type jaws, both comprising: a first clamping finger 110, a second clamping finger 111, and a second cylinder 112. The second cylinder 112 drives the first gripper finger 110 and the second gripper finger 111 to perform a gripping operation. In order to achieve stable clamping, the first clamping fingers 110 are provided in two, two first clamping fingers 110 are arranged up and down, and the second clamping finger 111 is provided opposite to the gap between the two first clamping fingers 110. Thus, when the first clamping finger 110 and the second clamping finger 111 are operated, the two first clamping fingers 110 can prevent the flat wire hairpin 100 from tilting, thereby playing a role in stably clamping.
As shown in fig. 3, the flat-wire hairpin 100 has a relatively small force-bearing area considering that the hairpin is formed by bending a flat wire. Therefore, to facilitate the clamping, the end portions of the first and second clamping fingers 110 and 111 are bent inward. Furthermore, the first clamping finger 110 and the second clamping finger 111 are further provided with an extending portion 113 extending inwards, and the bent ends of the first clamping finger 110 and the second clamping finger 111 and the extending portion 113 enclose a clamping space. Thus, under the limiting action of the bent end and the extending part 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 the flat wire hairpin from being separated.
After clamping the flat-wire hairpin 100, in order to avoid the flat-wire hairpin from shaking, the first jaw arm 12 is further provided with a supporting portion 121, and the supporting portion 121 is located above the first jaw 111 and is further provided with a positioning groove 122 vertically arranged thereon. In this way, one arm of the flat-wire hairpin 100 in the clamped state can be securely received against the positioning groove 122.
In summary, the invention is provided with the first clamping jaw component and the second clamping jaw component aiming at the structural characteristics of the flat wire hairpin, and the first clamping jaw component and the second clamping jaw component can respectively realize the stable clamping of the two hairpin arms. Meanwhile, the angle and the distance between the first clamping jaw and the second clamping jaw can be adjusted to adapt to clamping of flat wire hairpins with different sizes and shapes. In addition, the invention can realize the integral rotation of the first clamping jaw assembly and the second clamping jaw assembly so as to facilitate the angle adjustment during subsequent wire plugging.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (10)
1. A clamping robot, characterized in that the clamping robot 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 clamping device comprises a first clamping jaw and a first clamping jaw arm, wherein the first clamping jaw is installed on the first clamping jaw arm; the second jaw assembly comprises: 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 through driving the second clamping jaw to rotate.
2. The clamping robot of claim 1, wherein said rotational adjustment mechanism is a DD motor, and said first jaw assembly, said second jaw assembly, and said horizontal adjustment mechanism are integrally mounted on a turntable of said DD motor.
3. The clamping robot of claim 1, wherein the leveling mechanism comprises: the first cylinder, the sliding rail and the sliding block; the first air cylinder and the sliding rail are arranged on the rotary adjusting mechanism, the first air cylinder is horizontally arranged and drives the first clamping jaw assembly or the second clamping jaw assembly to slide along the sliding rail through the sliding block.
4. The clamping manipulator according to claim 3, wherein two sides of the top of the first clamping jaw assembly or the second clamping jaw assembly slide along two parallel slide rails respectively through sliding blocks.
5. The clamping manipulator of claim 3, wherein the end of the slide rail is further provided with a stop block.
6. The clamping robot of claim 1, wherein said second jaw is positioned below said first jaw.
7. The clamping robot of claim 1, wherein said first jaw and said second jaw each comprise: the clamping device comprises a first clamping finger, a second clamping finger and a second air cylinder; the second cylinder drives the first clamping fingers and the second clamping fingers to perform clamping action, the number of the first clamping fingers is two, the two first clamping fingers are arranged up and down, and the second clamping fingers and the gaps between the two first clamping fingers are arranged oppositely.
8. The clamping robot of claim 7, wherein ends of the first and second clamping fingers are bent inward.
9. The clamping manipulator according to claim 8, wherein the first clamping finger and the second clamping finger are further provided with extending portions extending inwards, and the bent ends and the extending portions of the first clamping finger and the second clamping finger enclose a clamping space.
10. The clamping robot of claim 1 wherein said first gripper arm further comprises a support portion, said support portion being disposed above said first gripper arm and further comprising a vertically disposed positioning slot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210382529.9A CN114750197A (en) | 2022-04-13 | 2022-04-13 | Clamping manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210382529.9A CN114750197A (en) | 2022-04-13 | 2022-04-13 | Clamping manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114750197A true CN114750197A (en) | 2022-07-15 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210382529.9A Pending CN114750197A (en) | 2022-04-13 | 2022-04-13 | Clamping manipulator |
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| Country | Link |
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| CN (1) | CN114750197A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116885907A (en) * | 2023-06-30 | 2023-10-13 | 深圳市金岷江智能装备有限公司 | Wire clamping device and motor processing equipment |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN211729156U (en) * | 2019-12-31 | 2020-10-23 | 深圳市中基自动化有限公司 | Manipulator for feeding and discharging |
| WO2021093611A1 (en) * | 2019-11-15 | 2021-05-20 | 中车大同电力机车有限公司 | Electric locomotive wheel drive unit assembly manipulator |
| CN213859307U (en) * | 2020-09-25 | 2021-08-03 | 广州市鑫笙机器人设备有限公司 | Robot gripper with adjustable interval |
| CN215395292U (en) * | 2020-07-24 | 2022-01-04 | 广东正业科技股份有限公司 | Mechanical arm |
| CN217345535U (en) * | 2022-04-13 | 2022-09-02 | 江苏本格自动化科技有限公司 | Clamping manipulator |
-
2022
- 2022-04-13 CN CN202210382529.9A patent/CN114750197A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021093611A1 (en) * | 2019-11-15 | 2021-05-20 | 中车大同电力机车有限公司 | Electric locomotive wheel drive unit assembly manipulator |
| CN211729156U (en) * | 2019-12-31 | 2020-10-23 | 深圳市中基自动化有限公司 | Manipulator for feeding and discharging |
| CN215395292U (en) * | 2020-07-24 | 2022-01-04 | 广东正业科技股份有限公司 | Mechanical arm |
| CN213859307U (en) * | 2020-09-25 | 2021-08-03 | 广州市鑫笙机器人设备有限公司 | Robot gripper with adjustable interval |
| CN217345535U (en) * | 2022-04-13 | 2022-09-02 | 江苏本格自动化科技有限公司 | Clamping manipulator |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116885907A (en) * | 2023-06-30 | 2023-10-13 | 深圳市金岷江智能装备有限公司 | Wire clamping device and motor processing equipment |
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