Gripping robot

Abstract

The present invention provides a clamping manipulator for flat wire hairpinning in a flat electromagnetic wire motor stator production device, which comprises: a first and a second clamping jaw assembly, a horizontal adjustment mechanism and a rotation adjustment mechanism; the first and the second clamping jaw assembly and the horizontal adjustment mechanism are integrally driven by the rotation adjustment mechanism to rotate; the horizontal adjustment mechanism is transmission-connected with the first clamping jaw assembly or the second clamping jaw assembly, and adjusts the distance between the two; the first clamping jaw assembly comprises: a first clamping jaw and a first clamping jaw arm, and the first clamping jaw is installed on the first clamping jaw arm; the second clamping jaw assembly comprises: a second clamping jaw, a rotation unit and a second clamping jaw arm, and the second clamping jaw is installed on the second clamping jaw arm through the rotation unit, and the rotation unit adjusts the angle between the first and the second clamping jaws by driving the second clamping jaw to rotate. Aiming at the structural characteristics of the flat wire hairpinning, the present invention is provided with a first and a second clamping jaw assembly, and the two can respectively realize the stable clamping of the two hairpinning arms.

Description

Technical Field

[0001] The invention relates to a robot, in particular to a robot suitable for clamping flat wire hairpins on motor stator production equipment. Background Art

[0002] At present, in the production of new energy vehicle motors, in order to improve the efficiency of motor products, flat wire hairpins are beginning to be used instead of round electromagnetic wires. In the previous production equipment of flat wire hairpins, the manipulator that clamps the flat wire hairpins usually adopts an outside-in insertion structure, which is large in size. In addition, since the flat wire hairpin is made of bent flat wire, it is also necessary to propose further solutions for how to achieve a stable clamping of the flat wire hairpin. Summary of the invention

[0003] The present invention aims to provide a clamping robot which inserts a flat wire clip from the inner hole of a profiling die, omitting the folding device of previous production equipment, and has a small size, saving space, making the layout of the motor stator production line more reasonable, so as to overcome the shortcomings of the prior art.

[0004] In order to solve the above technical problems, the technical solution of the present invention is:

[0005] A clamping manipulator comprises: a first clamping jaw assembly, a second clamping jaw assembly, a horizontal adjustment mechanism and a rotation adjustment mechanism;

[0006] The first clamping jaw assembly, the second clamping jaw assembly and the horizontal adjustment mechanism are integrally driven by the rotation adjustment mechanism to rotate; the horizontal adjustment mechanism is transmission-connected to the first clamping jaw assembly or the second clamping jaw assembly, and adjusts the distance between the two;

[0007] The first clamp assembly includes: a first clamp and a first clamp arm, and the first clamp is installed on the first clamp arm; the second clamp assembly includes: a second clamp, a rotating unit and a second clamp arm, and the second clamp is installed on the second clamp arm through the rotating unit, and the rotating unit adjusts the angle between the first clamp and the second clamp by driving the second clamp to rotate.

[0008] As an improvement of the clamping robot of the present invention, the rotation adjustment mechanism is a DD motor, and the first clamping jaw assembly, the second clamping jaw assembly, and the horizontal adjustment mechanism are integrally mounted on a turntable of the DD motor.

[0009] As an improvement of the clamping robot of the present invention, the horizontal adjustment mechanism includes: a first cylinder, a slide rail and a slider; the first cylinder and the slide rail are arranged on the rotation adjustment mechanism, the first cylinder is arranged horizontally, and drives the first clamping jaw assembly or the second clamping jaw assembly to slide along the slide rail through the slider.

[0010] As an improvement of the clamping robot of the present invention, both sides of the top of the first clamping jaw assembly or the second clamping jaw assembly slide along two parallel slide rails through sliders.

[0011] As an improvement of the clamping robot of the present invention, a limit block is further provided at the end of the slide rail.

[0012] As an improvement of the clamping robot of the present invention, the second clamping jaw is located below the first clamping jaw.

[0013] As an improvement of the clamping robot of the present invention, the first clamping jaw and the second clamping jaw both include: a first clamping finger, a second clamping finger and a second cylinder; the second cylinder drives the first clamping finger and the second clamping finger to perform a clamping action, there are two first clamping fingers, the two first clamping fingers are arranged up and down, and the second clamping finger is arranged relative to the gap between the two first clamping fingers.

[0014] As an improvement of the clamping robot of the present invention, the ends of the first clamping finger and the second clamping finger are bent inward.

[0015] As an improvement of the clamping robot of the present invention, the first clamping finger and the second clamping finger are further provided with an extension portion extending inward, and the bent ends of the first clamping finger and the second clamping finger and the extension portion enclose a clamping space.

[0016] As an improvement of the clamping robot of the present invention, a supporting portion is further provided on the first clamping jaw arm, and the supporting portion is located above the first clamping jaw, and a vertically arranged positioning groove is further provided on the supporting portion.

[0017] Compared with the prior art, the present invention has the following beneficial effects: the present invention is provided with a first clamping jaw assembly and a second clamping jaw assembly in view of the structural characteristics of the flat wire hairpin, and the two can respectively realize the stable clamping of the two hairpin arms. At the same time, the present invention can also adjust the angle and distance between the first clamping jaw and the second clamping jaw to adapt to the clamping of flat wire hairpins of different sizes and shapes. In addition, the present invention can also realize the overall rotation of the first clamping jaw assembly and the second clamping jaw assembly, so as to facilitate the adjustment of the angle when the wire is subsequently inserted. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 A three-dimensional schematic diagram of an embodiment of a clamping robot of the present invention;

[0020] Figure 2 for Figure 1 An enlarged schematic diagram of the part indicated by the circle in the middle;

[0021] Figure 3 It is a partial bottom view of an embodiment of a clamping robot of the present invention. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0023] like Figure 1 As shown, an embodiment of the present invention provides a clamping manipulator, which is suitable for clamping a flat wire hairpin 100 in a motor stator. The clamping manipulator of this embodiment includes: a first clamping jaw assembly 10, a second clamping jaw assembly 20, a horizontal adjustment mechanism 30 and a rotation adjustment mechanism 40.

[0024] The first clamping jaw assembly 10, the second clamping jaw assembly 20, and the horizontal adjustment mechanism 30 are integrally driven to rotate by the rotation adjustment mechanism 40. In this way, the first clamping jaw assembly 10 and the second clamping jaw assembly 20 can be integrally rotated by the rotation adjustment mechanism 40, so as to facilitate the adjustment of the angle during the subsequent insertion of the wire.

[0025] In one embodiment, the rotation adjustment mechanism 40 is a DD motor, which is fixed on a base plate 50. The first clamping jaw assembly 10, the second clamping 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 rotation accuracy, so that when plugging in the wire, the rotation angle of the first clamping jaw assembly 10 and the second clamping jaw assembly 20 can be accurately controlled.

[0026] The horizontal adjustment mechanism 30 is connected to the first clamping jaw assembly 10 or the second clamping jaw assembly 20 in a transmission manner and adjusts the distance between the two. In this way, the distance between the two clamping jaw assemblies can be adjusted to adapt to the clamping of flat wire hairpins 100 of different sizes.

[0027] In one embodiment, the horizontal adjustment mechanism 30 includes: a first cylinder 31 , a slide rail 32 and a slide block 33 .

[0028] The first cylinder 31 and the slide rail 32 are arranged on the rotation adjustment mechanism 40. When the rotation adjustment mechanism 40 is a DD motor, in order to facilitate the installation and fixation of the slide rail 32, a radially extending extension is further arranged on the turntable of the DD motor, and the first cylinder 31 and the slide rail 32 are fixed on the turntable and its extension.

[0029] The first cylinder 31 is arranged horizontally, and drives the first clamping jaw assembly 10 or the second clamping jaw assembly 20 to slide along the slide rail 32 through the slider 33. In this way, when the first cylinder 31 is working, it can drive the clamping jaw assembly connected thereto to move closer to or away from the other clamping jaw assembly, so as to adjust the distance between the two clamping jaw assemblies.

[0030] In order to ensure the stability of the first clamping jaw assembly 10 or the second clamping jaw assembly 20 during horizontal adjustment, the two sides of the top of the first clamping jaw assembly 10 or the second clamping jaw assembly 20 slide along two parallel slide rails 32 through the sliders 33. In addition, in order to adjust and limit the first clamping jaw assembly 10 or the second clamping jaw assembly 20, a limit block 34 is also provided at the end of the slide rail 32.

[0031] The first clamping jaw assembly 10 is used to clamp and fix one arm of the flat wire hairpin 100 , and the second clamping jaw assembly is used to clamp and fix the other arm of the flat wire hairpin 100 , thereby achieving a stable clamping of the flat wire hairpin 100 .

[0032] like Figure 2 As shown, the first clamping jaw assembly 10 includes: a first clamping jaw 11 and a first clamping jaw arm 12. The first clamping jaw 11 is mounted on the lower end of the first clamping jaw arm 12, and the upper end of the first clamping jaw arm 12 is connected to the rotation adjustment mechanism 40.

[0033] The second clamping jaw assembly 20 includes: a second clamping jaw 21, a rotating unit 22 and a second clamping jaw arm 23. The second clamping jaw 21 is mounted on the lower end of the second clamping jaw arm 23 through the rotating unit 22, and the upper end of the second clamping jaw arm 23 is connected to the rotating adjustment mechanism 40. The rotating unit 22 can be a rotating motor, which drives the second clamping jaw 21 to rotate and adjusts the angle between the first clamping jaw 11 and the second clamping jaw 21. In this way, by adjusting the angle between the first clamping jaw 11 and the second clamping jaw 21, and adjusting the spacing of the horizontal adjustment mechanism 30, it can well adapt to the clamping of flat wire hairpins 100 of different sizes.

[0034] Since the second clamping jaw 21 can rotate relative to the first clamping jaw 11, in order to avoid interference between the two, the second clamping jaw 21 is located below the first clamping jaw 11. Accordingly, the length of the second clamping jaw arm 23 is greater than the length of the first clamping jaw arm 12. In this way, there is a height difference between the first clamping jaw 11 and the second clamping jaw 21, and when the second clamping jaw 21 rotates, it will not collide with the first clamping jaw 11.

[0035] Furthermore, the first clamping jaw 11 and the second clamping jaw 21 are both cylinder clamping jaws, and both include: a first clamping finger 110, a second clamping finger 111 and a second cylinder 112. The second cylinder 112 drives the first clamping finger 110 and the second clamping finger 111 to perform a clamping action. In order to achieve stable clamping, the first clamping finger 110 is provided in two, the two first clamping fingers 110 are arranged up and down, and the second clamping finger 111 is arranged relative to the gap between the two first clamping fingers 110. In this way, when the first clamping finger 110 and the second clamping finger 111 are in motion, the two first clamping fingers 110 can prevent the flat wire hairpin 100 from tilting, thereby playing a stable clamping role.

[0036] like Figure 3 As shown, considering that the flat wire hairpin 100 is formed by bending a flat wire, its force-bearing area is relatively small. Therefore, in order to facilitate clamping, the ends of the first clamping finger 110 and the second clamping finger 111 are bent inwardly. Further, the first clamping finger 110 and the second clamping finger 111 are also provided with an extension portion 113 extending inwardly, and the bent ends of the first clamping finger 110 and the second clamping finger 111 and the extension portion 113 form a clamping space. In this way, under the limiting effect of the bent ends and the extension portion 113, the first clamping jaw 11 and the second clamping jaw 21 can clamp the two arms of the flat wire hairpin 100 at any angle and prevent them from being separated.

[0037] After the flat wire hairpin 100 is clamped, in order to prevent it from shaking, a support portion 121 is further provided on the first clamp arm 12, and the support portion 121 is located above the first clamp 111, and a vertical positioning groove 122 is further provided on the support portion 121. In this way, one arm of the flat wire hairpin 100 in the clamped state can be stably accommodated against the positioning groove 122.

[0038] In summary, the present invention is based on the structural characteristics of the flat wire hairpin, and is provided with a first clamping jaw assembly and a second clamping jaw assembly, which can respectively realize the stable clamping of the two hairpin arms. At the same time, the present invention can also adjust the angle and distance between the first clamping jaw and the second clamping jaw to adapt to the clamping of flat wire hairpins of different sizes and shapes. In addition, the present invention can also realize the overall rotation of the first clamping jaw assembly and the second clamping jaw assembly, so as to facilitate the adjustment of the angle when the wire is subsequently inserted.

[0039] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0040] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A clamping manipulator, characterized in that: The clamping manipulator is suitable for clamping flat wire hairpins in motor stators, and comprises: a first clamping jaw assembly, a second clamping jaw assembly, a horizontal adjustment mechanism, and a rotation adjustment mechanism; The first clamping jaw assembly, the second clamping jaw assembly and the horizontal adjustment mechanism are integrally driven by the rotation adjustment mechanism to rotate; the horizontal adjustment mechanism is transmission-connected to the first clamping jaw assembly or the second clamping jaw assembly, and adjusts the distance between the two; The first clamping jaw assembly is used to clamp and fix one arm of the flat wire hairpin, and the second clamping jaw assembly is used to clamp and fix the other arm of the flat wire hairpin; the second clamping jaw is located below the first clamping jaw; the first clamping jaw assembly includes: a first clamping jaw and a first clamping jaw arm, and the first clamping jaw is installed on the first clamping jaw arm; the second clamping jaw assembly includes: a second clamping jaw, a rotating unit and a second clamping jaw arm, and 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; The first clamping jaw and the second clamping jaw both include: a first clamping finger, a second clamping finger and a second cylinder; the second cylinder drives the first clamping finger and the second clamping finger to perform a clamping action, there are two first clamping fingers, the two first clamping fingers are arranged up and down, and the second clamping finger is arranged relative to the gap between the two first clamping fingers.

2. The gripping robot according to claim 1, characterized in that: The rotation adjustment mechanism is a DD motor, and the first clamping jaw assembly, the second clamping jaw assembly, and the horizontal adjustment mechanism are integrally mounted on a turntable of the DD motor.

3. The gripping robot according to claim 1, characterized in that: The horizontal adjustment mechanism includes: a first cylinder, a slide rail and a slider; the first cylinder and the slide rail are arranged on the rotation adjustment mechanism, the first cylinder is arranged horizontally, and drives the first clamping jaw assembly or the second clamping jaw assembly to slide along the slide rail through the slider.

4. The gripping robot according to claim 3, characterized in that: The two sides of the top of the first clamping jaw assembly or the second clamping jaw assembly slide along two parallel slide rails through the sliding blocks.

5. The gripping robot according to claim 3, characterized in that: A limiting block is also arranged at the end of the slide rail.

6. The gripping robot according to claim 2, characterized in that: The ends of the first clamping finger and the second clamping finger are bent inward.

7. The gripping robot according to claim 6, characterized in that: The first clamping finger and the second clamping finger are also provided with an extension portion extending inwardly, and the bent ends of the first clamping finger and the second clamping finger and the extension portion enclose a clamping space.

8. The gripping robot according to claim 1, characterized in that: The first clamping jaw arm is also provided with a supporting portion, which is located above the first clamping jaw and has a vertically arranged positioning groove.

Images