A claw pole parts automatic positioning and grasping execution device and robot

Abstract

The present invention relates to the technical field of manufacturing equipment, and in particular to an automatic positioning and grasping execution device for claw-pole parts, comprising a connecting flange, a connecting rod, and a support frame, wherein one end of the connecting flange is connected to the connecting rod, and the other end is fixedly connected to the support frame, and the support frame is provided with a sliding positioning mechanism and a clamping and releasing mechanism that forms a connecting rod system movement with the sliding positioning mechanism. The automatic positioning and grasping execution device for claw-pole parts has the characteristics of compact structure, easy installation, and two-in-one position positioning and circumferential positioning; the present invention also provides a robot, including the above-mentioned automatic positioning and grasping execution device for claw-pole parts.

Description

Technical Field

[0001] The present invention relates to the technical field of manufacturing equipment, and in particular to an automatic positioning and grasping execution device and a robot for claw pole parts. Background Art

[0002] Claw pole parts are parts with complex shapes and high production requirements. Currently, the main manufacturing method for claw pole parts is forging. Typical forging equipment such as presses can quickly achieve the forming of more complex parts by cooperating with molds. At the same time, it also has a significant effect on improving the micro-grains of metal parts. It is the main means of producing parts with complex shapes and high-strength performance requirements. In order to further improve the production efficiency of the press, it is necessary to match it with loading and unloading equipment, and this electromechanical coupling automation device naturally becomes the focus and difficulty of forging equipment research and development.

[0003] At present, the claw pole parts feeding used in presses mainly adopts two methods: manual feeding and robot feeding. In the process of manual feeding, workers need to take out the workpiece on the mold and put it into the next station when the slide of the press is lifted. The disadvantages of this method are obvious. The workers' work efficiency is slow and the labor intensity is high. The positioning of the claw pole in the mold mainly depends on the workers' naked eye observation and judgment, and there are many unsafe factors in the heavy machinery working environment such as multi-station presses. Another way is to use robots. Robot technology has been very mature in today's development. The robots currently used in presses mainly include swing crossbar manipulators, parallel four-link manipulators, six-degree-of-freedom robots, etc. No matter what kind of robot is used, it needs a robot claw that can grab the claw pole parts.

[0004] Claw-pole parts have claws, so when they are placed in the mold, they need not only position positioning but also circumferential positioning. Currently, there are two main types of grippers: magnetic and mechanical. However, conventional grippers can only achieve position positioning but not circumferential positioning of parts. Therefore, additional claw-pole part rotation positioning devices are required, which undoubtedly increases the complexity of the part transfer system and lengthens the feeding path. Too many processes may also affect the production cycle and reduce production efficiency. In view of the problems with the current claw-pole part feeding mechanical grippers, a more compact and efficient claw-pole part clamping gripper is needed that can achieve both part clamping and circumferential positioning of claw-pole parts. Summary of the invention

[0005] The technical problem to be solved by the present invention is: in order to solve the problem that the current conventional grippers can only realize position positioning but cannot realize circumferential positioning of parts, it is necessary to add additional claw-pole part rotation positioning devices, which undoubtedly increases the complexity of the part conveying system and prolongs the feeding path. Too many processes may also affect the production rhythm and reduce production efficiency. In view of the problems existing in the current mechanical grippers for claw-pole part feeding, the present invention provides a claw-pole part automatic positioning and grasping execution device, comprising a connecting flange, a connecting rod, and a support frame, one end of the connecting flange is connected to the connecting rod, and the other end is fixedly connected to the support frame, and the support frame is provided with a sliding positioning mechanism and a clamping and placing mechanism that forms a connecting rod system movement with the sliding positioning mechanism, which effectively solves the above-mentioned existing problems.

[0006] A claw pole part automatic positioning and grasping execution device comprises a connecting flange, a connecting rod, and a support frame. One end of the connecting flange is connected to the connecting rod, and the other end is fixedly connected to the support frame. The support frame is provided with a sliding positioning mechanism and a clamping and placing mechanism that forms a connecting rod system movement with the sliding positioning mechanism.

[0007] Specifically, the sliding positioning mechanism includes a slide mounting plate and a first side support plate and a second side support plate fixedly connected to the support frame. The slide mounting plate is arranged on the upper ends of the first side support plate and the second side support plate to form a cavity therewith. A linear motor stator and a linear motion plate slidingly connected to the slide mounting plate are installed on the inner side of the slide mounting plate. The linear motion plate is also provided with a linear motor mover which cooperates with the linear motor stator to drive the linear motion plate to move linearly and position relative to the slide mounting plate.

[0008] Specifically, the clamping mechanism includes a stator claw that is hingedly connected to the support frame and can be clamped or loosened, and a T-shaped extension rod with one end fixedly connected to the linear motion plate. The other end of the T-shaped extension rod is provided with a support rod, and the other end of the support rod is connected to the stator claw through a hinge shaft. A stator winding is also provided on the inner side of the stator claw.

[0009] Specifically, a hinge shaft is further provided at the connecting end of the support rod and the stator claw, and the support rod and the stator claw are hingedly connected via the hinge shaft.

[0010] Specifically, the stator claw is respectively surrounded by a first stator claw and a second stator claw which are semicircular in shape as a whole. A first claw rotating shaft is provided at the connecting end of the first stator claw and the support frame, and the first stator claw is hinged to the support frame through the first claw rotating shaft; a second claw rotating shaft is provided at the connecting end of the second stator claw and the support frame, and the second stator claw is hinged to the support frame through the second claw rotating shaft.

[0011] Specifically, a guide slide mechanism is further provided between the slide mounting plate and the linear motion plate, and the guide slide mechanism comprises a guide rail mounted on the slide mounting plate and a slider that cooperates with the guide rail to slide the linear motion plate.

[0012] Specifically, the support rod includes a first support rod hinged to the first stator claw and a second support rod hinged to the second stator claw.

[0013] Specifically, the stator winding includes a first claw winding wound inside the first stator claw and a second claw winding wound inside the second stator claw.

[0014] A robot comprises the claw pole parts automatic positioning and grasping execution device as described in any one of the above items.

[0015] The beneficial effects of the present invention are as follows: the present invention provides an automatic positioning and grasping execution device for claw-pole parts, comprising a connecting flange, a connecting rod, and a support frame, one end of the connecting flange is connected to the connecting rod, and the other end is fixedly connected to the support frame, and the support frame is provided with a sliding positioning mechanism and a clamping and releasing mechanism that forms a connecting rod system movement with the sliding positioning mechanism. The automatic positioning and grasping execution device for claw-pole parts has the characteristics of compact structure, easy installation, and two-in-one position positioning and circumferential positioning.

[0016] Compared with the prior art, the present invention has the following advantages:

[0017] 1. It can be installed on various robot end effectors to realize functions, with a high degree of modularity.

[0018] 2. The shape characteristics of the claw pole parts are used to achieve circumferential positioning, and the structure is simple.

[0019] 3. It has good adaptability to claw pole parts of different specifications, no need to adjust the claws frequently, and is easy to use.

[0020] The present invention also provides a robot, comprising the above-mentioned claw pole part automatic positioning and grasping execution device.

[0021] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0022] Figure 1 It is a schematic diagram of the structure of the present invention.

[0023] Figure 2 It is a side view of the opening direction of the present invention.

[0024] Figure 3 It is a top view of the present invention.

[0025] Figure 4 It is a cross-sectional view of the present invention when clamping a claw pole component.

[0026] Figure 5 This is a schematic diagram of the connection between the present invention and the robot.

[0027] In the figure: 1. connecting flange, 2. connecting rod, 3. support frame, 5. slide mounting plate, 6. guide rail, 7. slider, 8. linear motion plate, 9. linear motor stator, 10. linear motor mover, 11. T-shaped extension rod, 12. support rod, 13. hinge shaft, 14. stator claw, 15. stator winding, 17. claw pole part fixing table, 18. claw pole part, 19. robot, 41. first side support plate, 42. second side support plate, 121. first support rod, 122. second support rod, 141. first stator claw, 142. second stator claw, 151. first claw winding, 152. second claw winding, 161. first claw rotating shaft, 162. second claw rotating shaft. DETAILED DESCRIPTION

[0028] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention.

[0029] Embodiment 1:

[0030] A claw pole part automatic positioning and grasping execution device comprises a connecting flange 1, a connecting rod 2, and a support frame 3. One end of the connecting flange 1 is connected to the connecting rod 2, and the other end is fixedly connected to the support frame 3. The support frame 3 is provided with a sliding positioning mechanism and a clamping mechanism for the movement of the connecting rod system formed with the sliding positioning mechanism; the sliding positioning mechanism comprises a slide mounting plate 5 and a first side support plate 41 and a second side support plate 42 fixedly connected to the support frame 3. The slide mounting plate 5 is arranged at the upper ends of the first side support plate 41 and the second side support plate 42 to form a cavity with them. A linear motor stator 9 and a linear motion plate 8 slidably connected to the slide mounting plate 5 are installed on the inner side. The linear motion plate 8 is also provided with a linear motor mover 10 that cooperates with the linear motor stator 9 to drive the linear motion plate 8 to move linearly and position relative to the slide mounting plate 5; the clamping mechanism includes a stator claw 14 that can be clamped or loosened and is hingedly connected to the support frame 3, and a T-shaped extension rod 11 that is fixedly connected to the linear motion plate 8 at one end, and a support rod 12 is provided at the other end of the T-shaped extension rod 11, and the other end of the support rod 12 is connected to the stator claw 1 through a hinge shaft 13. 4 is connected, and a stator winding 15 is also provided on the inner side of the stator claw 14; a hinge shaft 13 is also provided at the connecting end of the support rod 12 and the stator claw 14, and the support rod 12 and the stator claw 14 are hinged by the hinge shaft 13, and the stator claw 14 is respectively surrounded by a first stator claw 141 and a second stator claw 142 which are in a semicircular shape as a whole, and a first claw rotating shaft 161 is provided at the connecting end of the first stator claw 141 and the support frame 3, and the first stator claw 141 is hinged to the support frame 3 through the first claw rotating shaft 161; a second stator claw 142 is provided at the connecting end of the second stator claw 142 and the support frame 3, and the second stator claw 142 is hinged to the support frame 3 through the first claw rotating shaft 161. The claw 142 is hinged to the support frame 3 through the second claw rotating shaft 162, and a sliding guide mechanism is also provided between the slide mounting plate 5 and the linear motion plate 8. The sliding guide mechanism includes a guide rail 6 installed on the slide mounting plate 5 and a slider 7 that cooperates with the guide rail 6 to slide the linear motion plate 8. The support rod 12 includes a first support rod 121 hinged to the first stator claw 141 and a second support rod 122 hinged to the second stator claw 142. The stator winding 15 includes a first claw winding 151 wound on the inner side of the first stator claw 141 and a second claw winding 152 wound on the inner side of the second stator claw 142.

[0031] Embodiment 2:

[0032] A robot comprises the claw pole parts automatic positioning and grasping execution device as described in any one of the above items.

[0033] Specific principle implementation method of the present invention:

[0034] In the initial state, the linear motor stator 9 and the linear motor mover 10 control the movement of the T-shaped extension rod 11, and stop and maintain when the support rod 121 and the second support rod 122 are parallel. The position at this time is also the maximum opening position of the first stator claw 141 and the second stator claw 142.

[0035] The claw pole part 18 is placed on the claw pole part fixing table 17 by the front feeding device. The fixing table limits the translational freedom of the claw pole part so that the claw pole part can rotate around its own axis. The robot 19 matched with the present invention moves the present invention to the position as shown in the figure through the connecting flange 1. Figure 4 The first claw winding 151 and the second claw winding 152 now form a motor stator coil, and the claw pole part 18 is restricted on the rotating shaft to form a rotor. The first claw winding 151 and the second claw winding 152 are supplied with a controlled alternating current to control the rotation of the claw pole part 18. When the claw pole part 18 rotates to the required phase, it stops rotating and the winding is de-energized.

[0036] After that, the linear motor mover 10 pulls the T-shaped extension rod 11 to move linearly. Due to the movement of the connecting rod, the first stator claw 141 and the second stator claw 142 rotate around the first claw rotating shaft 161 and the second claw rotating shaft 162 respectively. The distance between the first stator claw 141 and the second stator claw is reduced, and the claw pole part 18 is clamped. The robot 19 can control the designated position of the present invention to move in space, and the claw pole part 18 is transported to the desired position. The linear motor 10 pushes the T-shaped extension rod 11 to move linearly, and the first stator claw 14-1 and the second stator claw 14-2 release the parts, and the claw pole part 18 is placed at the designated position. After the equipment is initialized, wait for the next step.

[0037] Based on the above ideal embodiments of the present invention, the relevant staff can make various changes and modifications without departing from the technical concept of the present invention through the above description. The technical scope of the present invention is not limited to the contents of the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A claw pole part automatic positioning and grasping execution device, comprising a connecting flange (1), a connecting rod (2), and a support frame (3), wherein one end of the connecting flange (1) is connected to the connecting rod (2), and the other end is fixedly connected to the support frame (3), characterized in that: The support frame (3) is provided with a sliding positioning mechanism and a clamping mechanism for forming a linkage system movement with the sliding positioning mechanism, the sliding positioning mechanism comprises a slide mounting plate (5) and a first side support plate (41) and a second side support plate (42) fixedly connected to the support frame (3), the slide mounting plate (5) is arranged at the upper ends of the first side support plate (41) and the second side support plate (42) to form a cavity therewith, a linear motor stator (9) and a linear motion plate (8) slidably connected to the slide mounting plate (5) are installed on the inner side of the slide mounting plate (5), and the linear motion plate (8) A linear motor mover (10) is also provided on the support frame (3) and cooperates with the linear motor stator (9) to drive the linear motion plate (8) to move linearly relative to the slide mounting plate (5) and to position the linear motion plate (8). The clamping mechanism comprises a stator claw (14) which is hingedly connected to the support frame (3) and can be clamped or loosened, and a T-shaped extension rod (11) with one end fixedly connected to the linear motion plate (8). The other end of the T-shaped extension rod (11) is provided with a support rod (12), and the other end of the support rod (12) is connected to the stator claw (14). The inner side of the stator claw (14) is also provided with a stator winding (15).

2. The claw pole component automatic positioning and grasping execution device according to claim 1, characterized in that: The connecting end of the support rod (12) and the stator claw (14) is also provided with a hinge shaft (13), and the support rod (12) and the stator claw (14) are hingedly connected via the hinge shaft (13).

3. The claw pole component automatic positioning and grasping execution device according to claim 1, characterized in that: The stator claw (14) is respectively formed by a first stator claw (141) and a second stator claw (142) which are in a semicircular shape as a whole; a first claw rotating shaft (161) is provided at a connection end between the first stator claw (141) and the support frame (3); the first stator claw (141) is hinged to the support frame (3) via the first claw rotating shaft (161); a second claw rotating shaft (162) is provided at a connection end between the second stator claw (142) and the support frame (3); the second stator claw (142) is hinged to the support frame (3) via the second claw rotating shaft (162).

4. The claw pole component automatic positioning and grasping execution device according to claim 2, characterized in that: A guide mechanism is also provided between the slide mounting plate (5) and the linear motion plate (8), and the guide mechanism comprises a guide rail (6) mounted on the slide mounting plate (5) and a slider (7) cooperating with the guide rail (6) to slide the linear motion plate (8).

5. The claw pole component automatic positioning and grasping execution device according to claim 2, characterized in that: The support rod (12) comprises a first support rod (121) hingedly connected to the first stator claw (141) and a second support rod (122) hingedly connected to the second stator claw (142).

6. The claw pole component automatic positioning and grasping execution device according to claim 2, characterized in that: The stator winding (15) includes a first claw winding (151) wound inside the first stator claw (141) and a second claw winding (152) wound inside the second stator claw (142).

7. A robot, characterized in that: It comprises an automatic positioning and grasping execution device for claw pole parts as described in any one of claims 1 to 6.

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