Industrial manipulator and winding stripping and stator slot cleaning tool

Abstract

The present invention relates to the technical field of manipulators, and in particular to an industrial manipulator and a winding stripping and stator slot cleaning tool, comprising an industrial manipulator, a conveying mechanism is provided on one side of the industrial manipulator, the conveying mechanism is used to transport a motor stator equipped with windings, and a baking oven is further provided at the end of the conveying mechanism; it also comprises a cutting component and a cleaning component, and a second track and a third track are further provided on a support seat; the cutting component is connected to a second locking seat, which is slidably connected in the second track, and the cutting component is used to cut one end of the winding; the cleaning component is connected to a third locking seat, which is slidably connected in the third track, and the cleaning component is used to clean the residual winding in the inner slot of the motor stator; the present invention solves the problem that the connection relationship between the existing industrial manipulator and the clamping claw is a fixed connection mode.

Description

Technical Field

[0001] The invention relates to the technical field of manipulators, and in particular to an industrial manipulator and a winding stripping and stator slot cleaning tool. Background Art

[0002] At present, in the process of repairing the motor stator winding, in addition to ensuring that the wire embedding process and the whole machine assembly process meet the requirements, it is also necessary to pay attention to the complete removal of the original winding that seems insignificant; in the prior art, the usual way to remove the winding is: first use a shearing tool to cut off one end of the winding, and then use an industrial manipulator to directly pull the winding out from the other end of the motor stator; among them, the relevant technology of the industrial manipulator is disclosed in the Chinese patent library; for example, the announcement number CN113547533A discloses an adjustable multi-angle industrial mechanical The hand holding device includes a head frame, a transverse slide groove is installed on the inner side of the head frame, and an adjusting slider is connected to the middle part of the transverse slide groove, two groups of adjusting frames are connected to the outer side of the adjusting slider, and the adjusting slider is connected to the connecting frame through the two groups of adjusting frames, the inner side of the bottom end of the adjusting slider is fixedly connected to the connecting rod, and the connecting rod passes through the connecting plate and is connected to the spiral rotating rod, the outer side of the spiral rotating rod is wrapped with a tube body shell, the spiral rotating rod passes through the transverse positioning shaft and is connected to the telescopic rod, and an angle adjustment extension mechanism is installed on the right end of the telescopic rod.

[0003] For another example, announcement number CN220331283U discloses an industrial manipulator clamping arm, including a manipulator clamping arm base body and a manipulator assembly shell, wherein a first axis arm, a second axis arm and a third axis arm are sequentially arranged above the manipulator clamping arm base body, and the manipulator assembly shell is connected to the bottom of the third axis arm through an assembly frame, a transmission shaft is arranged at the center position of the interior of the manipulator assembly shell, a limit block is arranged at the bottom end of the transmission shaft, and the upper end of the transmission shaft is embedded and installed in the interior of a fixed seat, guide rods are arranged on both sides of the fixed seat, and guide slides are arranged on the guide rods.

[0004] However, the above two prior arts (CN113547533A, CN220331283U) have the problem that the industrial manipulator and the gripper are fixedly connected, which makes it difficult to modularize the industrial manipulator and the gripper, thereby making it difficult to replace the gripper with a new one or load other tools. Summary of the invention

[0005] In view of this, the purpose of the present invention is to provide an industrial robot and a winding stripping and stator slot cleaning tool to solve the problem that the connection relationship between the existing industrial robot and the clamping claw is a fixed connection.

[0006] In the first aspect, the present invention discloses an industrial robot arm, comprising a robot arm body, the robot arm is slidably arranged on a base plate through a mobile base, and the base plate is provided with a first driving source for driving the mobile base to slide on the base, and a supporting platform is installed on the base plate; the execution end of the robot arm is connected to a hanging carrier, and an electromagnet is provided on the flange of the hanging carrier; the flange is detachably connected to a locking seat of a pulling member through a plug-in hole, and a first track is provided on the supporting seat, and the locking seat of the pulling member is placed in the corresponding track in a longitudinal sliding manner, and a hook plate is provided in the track, and the hook plate limits the vertical movement of the locking seat through a positioning hole; the pulling member comprises a bearing ring body, and the bearing ring body has more than two clamping claws in a ring array, and the clamping claws are used to bite one end of the winding; an electric telescopic rod is provided on the other side of the bearing ring body, and the telescopic shaft of the electric telescopic rod is fixedly connected to the bearing ring body; a lifting arm is fixedly connected to the outer cylinder wall of the electric telescopic rod, and the end of the lifting arm is connected to the locking seat.

[0007] Specifically, the clamping claw includes a carrier, on which two transmission gears are connected, and the two transmission gears mesh with each other to form a linkage; one of the transmission gears is meshed and connected to a threaded shaft, and the threaded shaft is concentrically connected to an output shaft of a motor fixed on the carrier; a push arm is fixedly connected to the single transmission gear, and the end of the push arm is connected to a rotary arm, and the rotary arm is connected to a pulling arm, and the free end of the pulling arm is connected to the carrier, and the end of the rotary arm is fixedly connected to a conical column; the carrier is fixedly connected to the carrying ring body.

[0008] As an optimization of the industrial robot, the industrial robot also includes at least one longitudinal positioning mechanism, which is connected to one side of the corresponding track; the single longitudinal positioning mechanism includes an insert arm, which is connected to the adjacent side of the track through a first elastic component, a positioning plate is formed at one end of the insert arm, and a wedge block is formed at the other end of the insert arm; the slope surface of the wedge block is located at the end of the wedge block away from the positioning plate, and the locking seat is provided with a number of locking holes equal to the positioning plate; the positioning plate and the wedge block can slide through adjacent side walls of the track respectively; when the first elastic component is in a natural state, the ends of the positioning plate and the wedge block are both placed on the inner side of the track; after the hanging carrier slides into the track and forms a pressure against the wedge block, when the flange and the locking seat move on the track, the locking seat and the positioning plate are not in contact; when the hanging carrier and the wedge block are not in pressure contact, the end of the positioning plate is used to form a plug-in fit with the adjacent locking hole.

[0009] In the second aspect, the present invention discloses a winding stripping and stator slot cleaning tool, including an industrial robot, a conveying mechanism is provided on one side of the industrial robot, the conveying mechanism is used to transport the motor stator equipped with the winding, and a baking oven is further provided at the end of the conveying mechanism; it also includes a cutting component and a cleaning component, and a second track and a third track are provided on the support seat; the cutting component is connected to a second locking seat, which is slidably connected in the second track, and the cutting component is used to cut one end of the winding; the cleaning component is connected to a third locking seat, which is slidably connected in the third track, and the cleaning component is used to clean the residual winding in the inner slot of the motor stator.

[0010] Specifically, the conveying mechanism includes a transport machine bed, on the left and right sides of which are rotatably connected screw shafts, respectively, and a servo for rotating the screw shafts is installed on the transport machine bed; a carrying pallet is slidably connected to the transport machine bed, and a threaded hole for matching with the screw shaft is formed at the bottom of the carrying pallet; a stator tooling pallet is fixedly installed on the carrying pallet, and the stator tooling pallet is used to load the motor stator and windings.

[0011] Specifically, the cutting component includes an arc seat, which is connected to a second locking seat; a driving motor is fixedly connected to the arc seat, and the output shaft of the driving motor is transferred to the center of the arc seat through a disc bearing, and a cutter is fixedly connected to the end of the output shaft of the driving motor.

[0012] Specifically, the cleaning component includes a servo motor, the servo motor is connected to the third locking seat, and the output shaft of the servo motor is connected to the brush body.

[0013] The beneficial effects of the present invention are:

[0014] The present invention is combined with an industrial manipulator, and under the action of a hook plate and a track, the locking seat of the pulling component and the hanging carrier of the robot arm can be separated and combined at any time; compared with the prior art, the problem of the fixed connection between the existing industrial manipulator and the clamping claws is solved, so that the industrial manipulator and the clamping claws are modularized with each other, so as to facilitate the industrial manipulator to replace other tools or perform maintenance; on the other hand, by combining multiple clamping claws to clamp multiple points of the winding at the same time, and combining the robot arm and the electric telescopic rod, the winding can be effectively pulled out of the slot of the motor stator quickly. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the three-dimensional structure of an industrial robot.

[0016] Figure 2 This is a schematic diagram of the installation of the track and hook plate.

[0017] Figure 3 It is a schematic diagram of the three-dimensional structure of the pulling component.

[0018] Figure 4 It is a schematic diagram of the three-dimensional structure of a single clamping claw.

[0019] Figure 5 This is a first-person perspective diagram of the industrial robot in use.

[0020] Figure 6 It is a schematic diagram of the installation structure of the longitudinal positioning mechanism.

[0021] Figure 7 This is a usage diagram of the longitudinal positioning mechanism in the first situation.

[0022] Figure 8 This is a usage diagram of the longitudinal positioning mechanism in the second situation.

[0023] Fig. 9 It is a schematic diagram of the overall structure of the present invention.

[0024] Fig.10 It is a schematic diagram of the three-dimensional structure of the conveying mechanism.

[0025] Fig.11 It is a schematic diagram of the local three-dimensional structure of the present invention.

[0026] Fig.12 Schematic diagram of the three-dimensional structure of the optimized cutting component.

[0027] Fig.13 A schematic diagram of the local structure of the water spray unit.

[0028] Fig.14 It is a schematic diagram of the three-dimensional structure of the second driving source.

[0029] Fig.15 This is a diagram showing the usage status of the second driving source.

[0030] In the figure, 1, mechanical arm body; 2, base plate; 3, guide groove; 4, hanging carrier; 5, flange; 6, supporting platform; 7, track; 8, hook plate; 9, bearing ring; 10, electric telescopic rod; 11, lifting arm; 12, locking seat; 13, plug hole; 14, alignment hole; 15, carrier; 16, transmission gear; 17, threaded shaft; 18, push arm; 19, swing arm; 20, pull arm; 21, cone column; 22, plug arm; 23, first elastic component; 24, positioning plate; 25, wedge block; 26, lock hole; 27, transport machine tool; 28, screw shaft; 29, steering gear; 3 0. Carrying tray; 31. Stator tooling tray; 32. Motor stator; 33. Baking oven; 34. Arc seat; 35. Driving motor; 36. Cutter; 37. Water storage tank; 38. Vacuum chamber; 39. Water outlet pipe; 40. Nozzle; 41. Water supply pipe; 42. One-way valve; 43. Piston rod; 44. Rotor; 45. Semi-arc strip; 46. Outer arc protrusion; 47. Limiting groove; 48. Ring sleeve; 49. Slider; 50. Stop rod; 51. Stop column; 52. Slide rail; 53. Drag block; 54. Second elastic component; 55. Belt; 56. Servo motor; 57. Brush body. DETAILED DESCRIPTION

[0031] In order to clearly understand the technical solution of the present application, an industrial robot and a winding stripping and stator slot cleaning tool provided by the present application will be described in detail below in combination with specific embodiments and drawings.

[0032] The terms used in the following embodiments are only for the purpose of describing specific embodiments, and are not intended to be used as limitations to the present application. As used in the specification and claims of the present application, the singular expressions "one", "a kind of", "above", "the" and "this" are intended to also include expressions such as "one or more", unless there is a clear indication to the contrary in the context. It should also be understood that in the following embodiments of the present application, "at least one", "one or more" refer to one, two or more than two.

[0033] References to "one embodiment" or "some embodiments" etc. described in this specification mean that a particular feature, structure or characteristic described in conjunction with the embodiment is included in one or more embodiments of the present application. Thus, the phrases "one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. appearing in different places in this specification do not necessarily all refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways. Example 1

[0034] This embodiment provides an industrial robot, such as Figure 1 , which shows a schematic diagram of the three-dimensional structure of an industrial manipulator. As can be seen from the figure, the industrial manipulator includes a manipulator body 1, and the manipulator body 1 directly adopts a manipulator that can be purchased on the market, such as the model RM65-75-RML63; the manipulator is arranged above one side of a substrate 2, and the movable base of the manipulator is slidably connected with the guide groove 3 arranged on the substrate 2, and the substrate 2 is provided with a first driving source (such as an electric telescopic cylinder, etc.) for driving the movable base to slide in the guide groove 3; a hanging carrier 4 is fixedly installed on the execution end of the manipulator, and a flange 5 is formed on the front edge of the hanging carrier 4 (the interior of the flange 5 is inlaid with an existing product electromagnet, which will not be repeated here), and the flange 5 is used to form a detachable connection with the pulling member; a support platform 6 is installed on the substrate 2 and on one side of the guide groove 3, and a track 7 is fixedly connected to the table top of the support platform 6, and the rail edges on both sides of the track 7 are used to form a sliding adaptation with the two side walls of the hanging carrier 4; continue to refer to Figure 2 The installation diagram of the track 7 and the hook plate 8 is shown in the figure. The root of the hook plate 8 is fixedly connected to the middle slideway of the corresponding track 7. A pulling member is provided on the opposite side of the hook portion of the hook plate 8. The specific structure of the pulling member is as follows.

[0035] Further integration Figure 3 ,in, Figure 3 The figure shows a three-dimensional structural schematic diagram of a pulling member, which includes a bearing ring body 9, on which three clamping claws are arranged in a circular array (of course, in actual installation, the number of clamping claws may not be limited to three), and the clamping claws are used to bite one end of the winding; an electric telescopic rod 10 is arranged on the other side of the bearing ring body 9, and the telescopic shaft of the electric telescopic rod 10 is fixedly connected to the bottom of the bearing ring body 9; a lifting arm 11 is fixedly connected to the outer cylinder wall of the electric telescopic rod 10, and a locking seat 12 is connected to the end of the lifting arm 11 (the locking seat 12 is connected to the energized electromagnet Produce magnetic adsorption); A plug-in hole 13 and an alignment hole 14 are respectively formed on the front and rear sides of the locking seat 12, the plug-in hole 13 is used to form a plug-in fit with the flange 5 of the hanging carrier 4, and the alignment hole 14 is used to form a plug-in fit with the hook portion of the hook plate 8, and the left and right sides of the locking seat 12 are respectively in sliding contact with the left and right side walls of the track 7; the present invention can limit the lateral movement of the locking seat 12 through the arrangement of the track 7, and can limit the vertical movement of the locking seat 12 through the arrangement of the hook plate 8, thereby indirectly realizing the limitation of the lateral and vertical movement of the entire pulling member.

[0036] Specifically, refer to Figure 4, which shows a schematic diagram of the three-dimensional structure of a single clamping claw. It can be seen from the figure that the clamping claw includes a carrier 15, and the left and right sides of the placement portion of the carrier 15 are rotatably connected with transmission gears 16, and the two transmission gears 16 are meshed with each other to form a linkage; a threaded shaft 17 is provided on one side of one of the transmission gears 16, and the threaded shaft 17 is meshed with the corresponding transmission gear 16, and the threaded shaft 17 is concentrically connected to the output shaft of the motor fixed on the carrier 15; a push arm 18 is fixedly connected to the center of the single transmission gear 16, and the end of the push arm 18 is rotatably connected to a rotary arm 19, and the arm body of the rotary arm 19 is rotatably connected to a pulling arm 20, and the free end of the pulling arm 20 is rotatably connected to the adjacent side of the placement portion of the carrier 15, and the end of the rotary arm 19 is fixedly connected to a cone column 21 by bolts or the like; the hanging portion of the carrier 15 is connected to the carrying ring body 9 by welding or other fixing methods.

[0037] The working principle of the industrial manipulator (used in conjunction with its own pulling components) is as follows:

[0038] First, after one end of the winding has been cut, an industrial robot is required to pull the winding out from the other end of the motor stator 32; specifically, refer to Figure 5 , as shown in the figure, first, the controller is used to adjust the angles and positions of the joints of the robot arm until the hanging carrier 4 on the robot arm slides into the track 7, and the hanging carrier 4 is continued to be driven by the robot arm to move, so that the flange 5 of the hanging carrier 4 is gradually inserted into the insertion hole 13 of the locking seat 12 (at this time, the hook plate 8 is inserted into the alignment hole 14); then, when the flange 5 is completely inserted into the insertion hole 13, the electromagnet in the flange 5 is energized by the controller, and the hanging carrier 4 and the locking seat 12 are adsorbed together, and the robot arm is adjusted again at this time, and the hanging carrier 4 and the locking seat 12 are moved along the a2 direction by the robot arm until the alignment hole 14 of the locking seat 12 is separated from the hook plate 8; finally, the locking seat 12 and other components of the pulling member are driven by the robot arm to move toward the end of the winding that has not been sheared, and continue as shown in the figure. Figure 3 As shown in , after each clamping claw is respectively opposite to the adjacent end of the winding, the electric telescopic rod 10 is started to further fine-tune the position of each clamping claw, and the motor is started synchronously. The motor drives the corresponding threaded shaft 17 to rotate, and the rotating threaded shaft 17 links the corresponding two transmission gears 16 to rotate in the directions of b1 and b2 respectively, so that the two transmission gears 16 respectively link the corresponding push arm 18, the rotary arm 19, and the pull arm 20 to move, and the two cone columns 21 are driven by the corresponding rotary arm 19 to move in the directions of c1 and c2 respectively, so that the two cone columns 21 are inserted into the winding in an embracing manner; the mechanical arm is used again to drive the pulling member to move in the direction away from the winding, so as to pull the winding out of the slot of the motor stator 32.

[0039] Second, after the winding is pulled out from the other end of the motor stator 32, the pulling member needs to be put back to its original position; specifically, continue to adjust the position and angle of the robot arm, such as Figure 5 As shown, the hanging carrier 4 and the locking seat 12 are slid into the track 7 and moved along the direction a1 until the hook portion of the hook plate 8 of the locking seat 12 is plugged and adapted with the alignment hole 14 of the locking seat 12; at this time, the electromagnet is powered off, the flange 5 and the locking seat 12 are separated from the adsorption, and the flange 5 can be pulled out of the locking seat 12 by the robot arm again, thereby completing the return of the pulling component.

[0040] The present invention is combined with an industrial manipulator, and under the action of the hook plate 8 and the track 7, the locking seat 12 of the pulling member and the hanging carrier 4 of the robot arm can be separated and combined at any time; compared with the prior art, the problem of the fixed connection between the existing industrial manipulator and the clamping claw is solved, so that the industrial manipulator and the clamping claw are modularized with each other, so as to facilitate the industrial manipulator to replace other tools or perform maintenance; on the other hand, by combining multiple clamping claws to clamp multiple points of the winding at the same time, and combining the robot arm and the electric telescopic rod 10, the winding can be effectively pulled out of the slot of the motor stator 32 quickly.

[0041] In the present invention, in addition to limiting the lateral movement and vertical movement of the pulling member, the longitudinal movement of the pulling member can also be limited; for this purpose, as an optimization solution, refer to Figure 6 , which is a schematic diagram of the installation structure of the longitudinal positioning mechanism. It can be seen from the figure that the present invention further designs a longitudinal positioning mechanism. The number of the longitudinal positioning mechanisms of the present invention is two, and the two longitudinal positioning mechanisms are respectively connected to the left and right sides of the track 7. The specific structure of the longitudinal positioning mechanism is as follows.

[0042] Continue to see Figure 6The single longitudinal positioning mechanism includes an insert arm 22, which is connected to the adjacent side of the track 7 through a first elastic component 23 (such as a spring), a positioning plate 24 is formed at one end of the insert arm 22, and a wedge block 25 is formed at the other end of the insert arm 22; the slope surface of the wedge block 25 is located at the end of the wedge block 25 away from the positioning plate 24, and locking holes 26 are respectively provided on the left and right sides of the locking seat 12; the positioning plate 24 and the wedge block 25 are respectively slidable through the adjacent side walls of the track 7; at the same time, it is defined that: when the first elastic component 23 is in a natural state, the positioning plate 2 4. The ends of the wedge blocks 25 are placed on the inner side of the track 7; after the hanging carrier 4 is slidably placed in the track 7 and presses against the wedge blocks 25, when the flange 5 and the locking seat 12 move on the track 7, the locking seat 12 will not contact the positioning plate 24 (the first elastic component 23 is in a stretched state at this time); on the contrary, when the hanging carrier 4 no longer presses against the wedge blocks 25, the end of the positioning plate 24 can be used to form an insertion fit with the adjacent locking hole 26 (the first elastic component 23 returns to a natural state at this time), thereby indirectly realizing the longitudinal limitation of the entire pulling member.

[0043] The working principle of the longitudinal positioning mechanism is as follows:

[0044] First case, refer to Figure 7 , which shows the use state diagram of the longitudinal positioning mechanism in the first situation. It can be seen from the figure that when the pulling member needs to be restored to its original position, first, the flange 5 of the hanging carrier 4 carries the locking seat 12 to move in the track 7 along the direction a1. As the hanging carrier 4 gradually moves, the hanging carrier 4 pushes the two wedge blocks 25 to move in the directions d1 and d2 respectively. The movement of the wedge blocks 25 correspondingly drives the insertion arm 22 and the positioning plate 24 to move in the direction d1 or d2; until the alignment hole 14 on the locking seat 12 is plugged into the hook plate 8, it extends outward (d1 or d2 direction) is opposite to the locking hole 26 on the locking seat 12; then, the electromagnet is powered off by the controller to pull out the flange 5 of the hanging carrier 4 from the plug-in hole 13 on the locking seat 12; thereafter, once the flange 5 is separated from the plug-in hole 13, the locking seat 12 can be moved out of the track 7; after the locking seat 12 is separated from the track 7, under the action of the first elastic component 23, the wedge block 25 and the positioning plate 24 return to their original positions, so that the restored positioning plate 24 is inserted into the locking seat 12, thereby realizing the longitudinal positioning of the locking seat 12.

[0045] In the second case, refer to Figure 8, which shows the use state diagram of the longitudinal positioning mechanism in the second situation. It can be seen from the figure that when the pulling member needs to be connected with the locking seat 12, first, the flange 5 of the hanging carrier 4 moves in the track 7 along the a1 direction. As the hanging carrier 4 gradually moves, the hanging carrier 4 pushes the two wedge blocks 25 to move in the d1 and d2 directions respectively. The movement of the wedge blocks 25 correspondingly drives the insert arm 22 and the positioning plate 24 to move in the d1 direction or the d2 direction; until the flange 5 of the hanging carrier 4 is inserted into the plug hole 13 on the locking seat 12, the electromagnet is energized by the controller, and the locking seat 12 and the flange 5 are adsorbed; then, after the locking seat 12 and the hanging carrier 4 are moved out of the track 7, the principle is the same as the first situation, so that the wedge blocks 25 and the positioning plates 24 are restored to their original positions.

[0046] This embodiment provides a winding stripping and stator slot cleaning tool, refer to Fig. 9 , which is a schematic diagram of the overall structure of the present invention. It can be seen from the figure that the present invention includes the industrial robot in Example 1, and a conveying mechanism is provided on one side of the industrial robot, which is used to transport the motor stator 32 equipped with windings; the specific structure of the conveying mechanism is as follows.

[0047] refer to Fig.10 , which shows a schematic diagram of the three-dimensional structure of the conveying mechanism. It can be seen from the figure that the conveying mechanism includes a conveying machine bed 27, and the left and right sides of the conveying machine bed 27 are rotatably connected with screw shafts 28 respectively, and the conveying machine bed 27 is equipped with a steering gear 29 for rotating the screw shaft 28; a carrying pallet 30 is slidably connected to the conveying machine bed 27, and a threaded hole for matching with the screw shaft 28 is formed at the bottom of the carrying pallet 30; a stator tooling pallet 31 is fixed on the carrying pallet 30 by bolts or the like.

[0048] Among them, a baking oven 33 is further provided at the end of the conveying mechanism (the existing technology can be used), and the baking oven 33 is used to heat and soften the winding, so that the pulling member can more easily pull the winding out of the motor stator 32; before pulling the winding in the motor stator 32, it is necessary to first cut one end of the winding; for this purpose, the present invention further designs a cutting member, and a second locking seat 12 is connected to the cutting member, and the locking seat 12 is slidably connected to the second track 7 on the support platform 6. The track 7 is also provided with a hook plate 8 and a longitudinal positioning mechanism, which will not be repeated here. The cutting member is used to cut one end of the winding; the specific structure of the cutting member is as follows.

[0049] refer to Fig.11, which shows a partial three-dimensional structural schematic diagram of the present invention. It can be seen from the figure that the cutting member includes an arc seat 34, the bottom of which is connected to another second locking seat 12; a driving motor 35 is fixedly connected to the arc seat 34, and the output shaft of the driving motor 35 is rotatably connected to the center of the arc seat 34 through a disc bearing, and the end of the output shaft of the driving motor 35 is connected to a cutter 36 by a keyway and a flat key. When in use, the hanging carrier 4 on the mechanical arm is matched with the locking seat 12 below the cutting member, so as to move the cutting member to one end of the winding to be cut, and then the driving motor 35 is started, and the driving motor 35 drives the cutter 36 to rotate, and the rotating cutter 36 is used to cut the winding.

[0050] Since the cutter 36 will inevitably generate heat during the process of cutting the winding, the service life of the cutter 36 will be reduced over time. Therefore, the present invention further optimizes the design of the cutting component, and the specific solution is as follows.

[0051] refer to Fig.12 As shown, it is a schematic diagram of the three-dimensional structure of the optimized cutting component. It can be seen from the figure that the cutting component also includes a water spray unit, which is arranged on one side of the arc seat 34. The water spray unit is used to intermittently spray water to cool the rotating cutter 36; the more specific structure of the water spray unit is as follows.

[0052] Combination Figure 12-13 ,in, Fig.13 What is shown is a schematic diagram of the partial structure of the water spray unit. It can be seen from the above two figures that the water spray unit includes a water storage tank 37, a vacuum chamber 38 is provided on one side of the water storage tank 37, the injection port of the vacuum chamber 38 is connected to a water outlet pipe 39, the end of the water outlet pipe 39 is connected to a nozzle 40, the nozzle 40 is fixedly connected to the water storage tank 37, and the nozzle 40 is arranged opposite to the cutter 36; a water supply pipe 41 is connected to the injection port of the vacuum chamber 38, the other end of the water supply pipe 41 is connected to the water storage tank 37, and a one-way valve 42 is installed on the water supply pipe 41, and the one-way valve 42 only allows water in the water storage tank 37 to enter the vacuum chamber 38; a piston rod 43 is slidably connected in the vacuum chamber 38, and the piston rod 43 is connected to a second driving source, and the second driving source is used to drive the piston rod 43 to reciprocate in the vacuum chamber 38. When the water spray unit is in use, the second driving source is first used to drive the piston rod 43 to move back and forth in the vacuum chamber 38. When the piston rod 43 moves toward the inside of the vacuum chamber 38, the water in the vacuum chamber 38 flows through the water outlet pipe 39 under the pressure of the piston rod 43 and is sprayed out from the nozzle 40, thereby cooling the cutter 36 that is performing the cutting operation; and when the piston rod 43 moves toward the outside of the vacuum chamber 38, the water in the water tank 37 flows through the return pipe and enters the vacuum chamber 38, thereby completing the water replenishment operation.

[0053] Specifically, as one of the implementations of the second driving source, combined with Fig.12 , Fig.14 ,in, Fig.14 What is shown is a schematic diagram of the three-dimensional structure of the second driving source, which includes a rotating wheel 44, which is rotatably connected to the arc seat 34 and is arranged concentrically with the arc seat 34; a through hole is formed in the middle of the rotating wheel 44, and the output shaft of the driving motor 35 can movably pass through the through hole; a semi-arc bar 45 is fixedly connected to one side of the arc seat 34, and the semi-arc bar 45 is arranged concentrically with the arc seat 34, and the two ends of the semi-arc bar 45 are formed with outer arc protrusions 46; a limited row groove 47 is formed on the output shaft of the driving motor 35 along the length direction, and the output shaft of the driving motor 35 is slidably sleeved with a ring sleeve 48, and a slider 49 is formed on the inner wall of the ring sleeve 48, and the slider 49 is slidably connected to the limited row groove 47; a blocking rod 50 is fixedly connected to the outer wall of the ring sleeve 48, The blocking rod 50 is opposite to the two outer arc protrusions 46 and can form a contact adaptation; two blocking columns 51 are provided at equal angles on the outer edge of the rotating wheel 44, and the blocking rod 50 is opposite to the two blocking columns 51 and can form a contact adaptation; the blocking columns 51 are cross-distributed with the outer arc protrusions 46; a slide rail 52 is provided on one side of the rotating wheel 44, and the slide rail 52 is fixedly connected to the arc seat 34, and the nozzle 40, the water storage tank 37, and the vacuum chamber 38 are all fixedly connected to the slide rail 52; a drag block 53 is slidably connected to the slide rail 52, and the drag block 53 is connected to the slide rail 52 through a second elastic component 54 (such as a spring, etc.); a belt 55 is connected to the drag block 53, and the other end of the belt 55 is wrapped around the rotating wheel 44 and is fixedly connected to the rotating wheel 44; the drag block 53 is fixedly connected to the piston rod 43.

[0054] The working principle of the second driving source is as follows:

[0055] like Fig.12 As shown in FIG. 1 , first, under the driving action of the driving motor 35, the output shaft of the driving motor 35 drives the blocking rod 50 to rotate along the direction e1. During the rotational movement, the blocking rod 50 first contacts the first blocking column 51 on the rotating wheel 44 and pushes the rotating wheel 44 to rotate along the direction e1. At this time, the belt 55 moves along the direction f1 under the pull of the rotating wheel 44. Then, referring to FIG. Fig.15In the diagram of the use state of the second driving source shown in FIG, the rotating blocking rod 50 gradually contacts the first outer arc protrusion 46 on the semi-arc bar 45, thereby forcing the blocking rod 50 to move along the g1 direction on the output shaft of the driving motor 35 until the blocking rod 50 is out of contact with the blocking column 51. Driven by the second elastic component 54, the dragging block 53 pulls the belt 55 to move along f2 to restore to the original position, and the rotating wheel 44 is driven by the belt 55 to restore to the original position along the e2 direction; after the blocking rod 50 is out of contact with the first outer arc protrusion 46, it continues to contact the second blocking column 51 and the second outer arc protrusion 46 in sequence, which will not be repeated here; finally, during the reciprocating motion of the dragging block 53, the piston rod 43 is driven to reciprocate in the vacuum chamber 38. The present invention further combines the water spraying unit and the driving unit on the basis of the original cutting component, so that the cutter 36 can be synchronously linked with the water spraying unit to spray water to cool the cutter 36 while cutting the winding.

[0056] After the windings in the motor stator 32 are pulled out, the inner slots of the motor stator 32 need to be cleaned. For this purpose, the present invention further designs a cleaning component. Fig.11 A third locking seat 12 is connected to the cleaning component, and the locking seat 12 is slidably connected to the third track 7 on the supporting platform 6. The track 7 is also provided with a hook plate 8 and a longitudinal positioning mechanism, which are not described here. The cleaning component is used to clean the residual winding in the inner slot of the motor stator 32; specifically, the cleaning component includes a servo motor 56, the bottom of the servo motor 56 is connected to the third locking seat 12, and the output shaft of the servo motor 56 is connected to a brush body 57.

Claims

1. An industrial robot, Features: The invention comprises a mechanical arm body (1), wherein the mechanical arm is slidably arranged on a base plate (2) via a movable base, and the base plate (2) is provided with a first driving source for driving the movable base to slide on the base, and a supporting platform (6) is installed on the base plate (2); the execution end of the mechanical arm is connected to a hanging carrier (4), and an electromagnet is arranged on a flange (5) of the hanging carrier (4); the flange (5) is detachably connected to a locking seat (12) of a pulling member via a plug hole (13), and a first track (7) is arranged on the supporting seat, and the locking seat (12) of the pulling member is placed in the corresponding track (7) in a longitudinal sliding manner. A hook plate (8) is provided in the track (7), and the hook plate (8) limits the vertical movement of the locking seat (12) through the alignment hole (14); the pulling member comprises a bearing ring body (9), and the bearing ring body (9) has more than two clamping claws in a circular array, and the clamping claws are used to bite one end of the winding; an electric telescopic rod (10) is provided on the other side of the bearing ring body (9), and the telescopic shaft of the electric telescopic rod (10) is fixedly connected to the bearing ring body (9); a lifting arm (11) is fixedly connected to the outer cylinder wall of the electric telescopic rod (10), and the end of the lifting arm (11) is connected to the locking seat (12).

2. The industrial robot according to claim 1, Features: The clamping claw comprises a carrier (15), and two transmission gears (16) are connected to the carrier (15), and the two transmission gears (16) mesh with each other and form a linkage; one of the transmission gears (16) meshes with a threaded shaft (17), and the threaded shaft (17) is coaxially connected to an output shaft of a motor fixed to the carrier (15); a push arm (18) is fixedly connected to the single transmission gear (16), and the end of the push arm (18) is connected to a rotary arm (19), and the rotary arm (19) is connected to a pull arm (20), and the free end of the pull arm (20) is connected to the carrier (15), and the end of the rotary arm (19) is fixedly connected to a cone column (21); the carrier (15) is fixedly connected to the bearing ring body (9).

3. The industrial robot according to claim 1, Features: The invention also comprises at least one longitudinal positioning mechanism, which is connected to one side of the corresponding track (7); the single longitudinal positioning mechanism comprises an insert arm (22), which is connected to the adjacent side of the track (7) via a first elastic component (23); a positioning plate (24) is formed at one end of the insert arm (22), and a wedge block (25) is formed at the other end of the insert arm (22); the slope surface of the wedge block (25) is located at the end of the wedge block (25) away from the positioning plate (24); the locking seat (12) is provided with locking holes (26) of the same number as the positioning plate (24); the positioning plate (24), The wedge blocks (25) are respectively slidably connected through adjacent side walls of the track (7); when the first elastic component (23) is in a natural state, the ends of the positioning plate (24) and the wedge blocks (25) are both placed on the inner side of the track (7); after the hanging carrier (4) is slidably placed in the track (7) and forms a pressing force on the wedge blocks (25), when the flange (5) and the locking seat (12) move on the track (7), the locking seat (12) and the positioning plate (24) are not in contact; when the hanging carrier (4) and the wedge blocks (25) are not in pressing contact, the end of the positioning plate (24) is used to form an insertion fit with the adjacent locking hole (26).

4. A winding stripping and stator slot cleaning tool, Features: The industrial robot comprises the industrial robot described in any one of claims 1 to 3, wherein a conveying mechanism is provided on one side of the industrial robot, the conveying mechanism is used to transport a motor stator (32) equipped with a winding, and a baking oven (33) is further provided at the end of the conveying mechanism; the industrial robot also comprises a cutting member and a cleaning member, and a second track (7) and a third track (7) are provided on the support seat; the cutting member is connected to a second locking seat (12), the locking seat (12) is slidably connected in the second track (7), and the cutting member is used to cut one end of the winding; the cleaning member is connected to a third locking seat (12), the locking seat (12) is slidably connected in the third track (7), and the cleaning member is used to clean the residual winding in the inner slot of the motor stator (32).

5. The winding stripping and stator slot cleaning tool according to claim 4, Features: The conveying mechanism comprises a conveyor bed (27), wherein the left and right sides of the conveyor bed (27) are rotatably connected to screw shafts (28), and a steering gear (29) for rotating the screw shafts (28) is installed on the conveyor bed (27); a carrying tray (30) is slidably connected to the conveyor bed (27), and a threaded hole for matching with the screw shafts (28) is formed at the bottom of the carrying tray (30); and a stator tooling tray (31) is fixedly installed on the carrying tray (30), and the stator tooling tray (31) is used to load the motor stator (32) and windings.

6. The winding stripping and stator slot cleaning tool according to claim 4, Features: The cutting member comprises an arc seat (34), the arc seat (34) being connected to the second locking seat (12); a driving motor (35) being fixedly connected to the arc seat (34), an output shaft of the driving motor (35) being transferred to the center of the arc seat (34) via a disc bearing, and a cutting knife (36) being fixedly connected to the end of the output shaft of the driving motor (35).

7. The winding stripping and stator slot cleaning tool according to claim 4, Features: The cleaning component comprises a servo motor (56), the servo motor (56) is connected to the third locking seat (12), and the output shaft of the servo motor (56) is connected to a brush body (57).

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