A motor processing clamping robot

Abstract

This invention relates to the field of robotic arm technology and discloses a motor processing clamping robot, including a base support, a conveyor belt above the base support, a C-shaped iron core placed on the surface of the conveyor belt, a large-range moving mechanism, and a clamping mechanism. The clamping mechanism includes a groove disposed on the side of the mounting base near the feed side of the conveyor belt, a slider slidably connected to the middle of the groove, a top rod slidably connected to the middle of the slider and perpendicular to the mounting base, and an arc-shaped clamping plate that mates with the internal through hole of the C-shaped iron core at the end of the top rod near the conveyor belt. This invention achieves the capture and centering of the C-shaped iron core through an open guide deflection plate, while the arc-shaped clamping plate clamps against the inner wall of the C-shaped iron core, achieving clamping. Furthermore, the simultaneous clamping of the arc-shaped clamping plate and the guide clamping plate further centers and positions the C-shaped iron core, ensuring that its position relative to the mounting base is fixed after clamping, facilitating subsequent precise movement.

Description

Technical Field

[0001] The invention relates to the technical field of manipulators, in particular to a motor processing clamping manipulator. Background Art

[0002] A shaded-pole motor is a type of single-phase AC motor. A shaded-pole motor usually includes a C-shaped core for fixing different components and transmitting magnetic fields. During the processing, the sheet-like core materials are stacked and glued together to form a block, and then subsequently assembled.

[0003] Since one side of the iron core also includes a through hole for installing the rotor, the iron core needs to be accurately positioned during the transfer process to ensure that the subsequent assembly work can proceed normally. Conventional manipulators are only equipped with two clamping plates close to each other, which requires a camera to determine the position during the clamping process, and the manipulator also needs to move precisely to accurately clamp the iron core. This leads to high working accuracy requirements for the entire manipulator, so it needs to be improved. Summary of the invention

[0004] The present invention provides a motor processing clamping robot, which solves the problems raised in the above background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A motor processing clamping robot comprises a base bracket, a conveyor belt is arranged above the base bracket, a C-shaped iron core is placed on the surface of the conveyor belt, and also comprises a large-range moving mechanism and a clamping mechanism; the large-range moving mechanism comprises a mechanical arm assembly and a suspension bracket, the mechanical arm assembly is arranged on the side of the base bracket to drive the suspension bracket to move in a large range in space, and a mounting seat is fixedly connected to the suspension bracket; the clamping mechanism comprises a slide groove arranged on the side of the mounting seat close to the conveyor belt feeding side, a slider is slidably connected to the middle of the slide groove, a push rod is slidably connected to the middle of the slide rod and is vertically arranged on the mounting seat, and the push rod is close to the mounting seat. An arc-shaped clamping plate that cooperates with the internal through hole of the C-shaped iron core is provided at the end near the conveyor belt, a ball head is provided at the end of the top rod away from the conveyor belt, a first spring is provided between the slider and the slide groove, a second spring is provided between the ball head and the slider, both sides of the mounting seat away from the slide groove are rotatably connected with a rotating shaft, a guide clamping plate is provided at the end of the rotating shaft close to the conveyor belt, a deflection plate is provided at the end of the rotating shaft away from the conveyor belt, a transverse rod is slidably connected to the middle part of the suspension bracket, a trapezoidal top block that cooperates with the ball head is provided at one end of the transverse rod, and a push-pull bracket that cooperates with the deflection plate is provided at the other end of the transverse rod.

[0007] As a preferred technical solution of the present invention, the second spring drives the ball head to move in a direction away from the conveyor belt, the first spring drives the slider to move in a direction away from the center of the mounting seat, and the elastic coefficient of the second spring is smaller than the elastic coefficient of the first spring.

[0008] As a preferred technical solution of the present invention, the push-pull bracket is a U-shaped structure, a card slot is provided at the end of the push-pull bracket, the deflection plate passes through the connecting card slot, a lifting cylinder is provided on the side of the suspension bracket, and the piston rod of the lifting cylinder is fixedly connected to a push plate fixedly connected to the trapezoidal top block.

[0009] As a preferred technical solution of the present invention, a guide slope cooperating with the ball head is provided on the side of the trapezoidal top block close to the ball head, and a retaining edge driving the ball head to move laterally is provided on the side of the trapezoidal top block close to the conveyor belt. When the transverse shifting rod moves toward the direction of the slide slot, the trapezoidal top block is disengaged from the ball head, the spacing between the arc-shaped clamping plate and the conveyor belt is greater than the thickness of the C-shaped iron core, and the two guide clamping plates are in an open state near the side of the conveyor belt feeding. When the transverse shifting rod moves toward the direction of the rotating shaft, the trapezoidal top block pushes the ball head to move in the direction of the conveyor belt, and after the ball head moves to contact with the retaining edge of the trapezoidal top block, the trapezoidal top block and the ball head move synchronously, at this time, the spacing between the arc-shaped clamping plate and the conveyor belt is less than the thickness of the C-shaped iron core, and the two guide clamping plates are in a retracted state near the side of the conveyor belt feeding.

[0010] As a preferred technical solution of the present invention, two retaining rings are arranged at one end of the transverse rod close to the rotating shaft, the push-pull bracket is slidably connected to the transverse rod between the two retaining rings, and a buffer spring is arranged between the push-pull bracket and the retaining ring.

[0011] As a preferred technical solution of the present invention, the robotic arm assembly includes a fixed base detachably connected to a base bracket, a column is rotatably connected to the fixed base, the end of the column is rotatably connected to a deflection telescopic rod, the end of the deflection telescopic rod is rotatably connected to a suspension telescopic rod, and the end of the suspension telescopic rod is rotatably connected to a suspension bracket.

[0012] The present invention has the following benefits:

[0013] The C-shaped core is captured and centered by the opened guide deflection plate, and the arc-shaped clamping plate is pressed against the inner wall of the C-shaped core to achieve clamping. The arc-shaped clamping plate and the guide clamping plate are clamped simultaneously to center the C-shaped core again, so that the position of the C-shaped core and the mounting seat is fixed after clamping, which facilitates subsequent precise movement and reduces the precision requirements for driving each component. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] 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 of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0015] Figure 1 This is a structural schematic diagram of a motor processing clamping robot.

[0016] Figure 2 This is a front view of a motor processing clamping robot.

[0017] Figure 3 This is a schematic diagram of the structure of a C-shaped iron core in a motor processing clamping robot.

[0018] Figure 4 This is a schematic diagram of the structure of a large-range moving mechanism in a motor processing clamping robot.

[0019] Figure 5 The figure is a schematic diagram of the structure of the clamping mechanism in a motor processing clamping robot.

[0020] Figure 6 for Figure 5 A is a partial enlarged schematic diagram of the middle part.

[0021] Figure 7 for Figure 5 Front view of .

[0022] Figure 8 for Figure 5 sectional view of .

[0023] Fig. 9 It is a structural schematic diagram of the clamping mechanism after the C-shaped iron core is clamped in a motor processing clamping robot.

[0024] Fig.10 for Fig. 9 Top view of the .

[0025] Fig.11 for Fig. 9 sectional view of .

[0026] Fig.12 for Fig.11 A partial enlarged schematic diagram of B in the figure.

[0027] In the figure: 1. base bracket; 2. conveyor belt; 3. rotary drive motor; 4. supporting plate; 5. large-range moving mechanism; 6. clamping mechanism; 7. C-shaped iron core; 8. fixed base; 9. column; 10. deflection telescopic rod; 11. suspension telescopic rod; 12. suspension bracket; 13. mounting seat; 14. mechanical arm assembly; 15. rotating shaft; 16. push-pull bracket; 17. slot; 18. deflection plate; 19. transverse rod; 20. lifting cylinder; 21. trapezoidal top block; 22. push plate; 23. guide clamping plate; 24. arc clamping plate; 25. push rod; 26. slider; 27. slide groove; 28. first spring; 29. ​​guide slope; 30. second spring; 31. ball head; 32. retaining ring; 33. buffer spring. DETAILED DESCRIPTION

[0028] 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.

[0029] In one embodiment, see Figure 1-Figure 12 , a motor processing clamping manipulator, including a base bracket 1, a conveyor belt 2 is arranged above the base bracket 1, the base bracket 1 is a frame structure, which can be welded and assembled by pipes, and can be directly placed on the ground, and a ring-shaped conveyor belt 2 is arranged just above the base bracket 1, and the conveyor belt 2 rotates clockwise in this application, and a rotary drive motor 3 is arranged on the left side of the base bracket 1, and the rotary drive motor 3 drives the conveyor belt 2 to rotate by belt transmission, and a supporting plate 4 is arranged in the middle of the base bracket 1, and the supporting plate 4 can hold up the middle of the conveyor belt 2, so that the middle of the conveyor belt 2 remains in a straight state, which is convenient for subsequent clamping processing, and a C-shaped iron core 7 is placed on the left side of the conveyor belt 2 with its opening facing right, and the C-shaped iron core 7 will move to the right with the conveyor belt 2, and also includes a large-range moving mechanism 5 and a clamping mechanism 6;

[0030] The large-range moving mechanism 5 includes a mechanical arm assembly 14 and a suspension bracket 12. The mechanical arm assembly 14 can adopt some common mechanical arms. The bottom of the mechanical arm can be placed in the middle of the rear side of the base bracket 1, and the moving end of the mechanical arm is fixedly connected to the suspension bracket 12. The lower end of the suspension bracket 12 is fixedly connected to the mounting seat 13, so that the mechanical arm drives the suspension bracket 12 to move in a large range in space, so that the C-shaped iron core 7 can be transferred in different processing steps. Since the mechanical arm will drive other components to move, in order to accurately describe the position in the future, according to the attached Figure 2 Describe the positional relationship of each component;

[0031] The clamping mechanism 6 includes a slide groove 27 arranged at the left position of the middle part of the mounting seat 13. The slide groove 27 is arranged to face left and right. The middle part of the slide groove 27 is slidably connected with a slider 26. The middle part of the slider 26 is slidably connected with a vertically arranged push rod 25. The lower end of the push rod 25 is fixedly connected to the arc-shaped clamping plate 24. The concave surface of the arc-shaped clamping plate 24 is arranged to face left. A ball head 31 is arranged at the upper end of the push rod 25. A first spring 28 is arranged between the right side of the slide groove 27 and the slider 26. A second spring 30 is arranged between the ball head 31 and the slider 26 and is sleeved on the outside of the push rod 25. The first spring 28 pushes the slider 26 to the left, and the second spring 30 pushes the ball head 31 upward. The front and rear sides of the right end of the mounting seat 13 are rotatably connected with A vertically arranged rotating shaft 15, the lower end of which is fixedly connected to a guide clamping plate 23, a deflection plate 18 is arranged at the upper end of the rotating shaft 15, a fixed plate is arranged in the middle of the suspension bracket 12, and a traverse rod 19 arranged in a left-right direction is slidably connected to the fixed plate, a trapezoidal top block 21 is arranged at the left end of the traverse rod 19, a guide slope 29 is arranged at the lower right end of the trapezoidal top block 21, when the trapezoidal top block 21 moves to the right, the guide slope 29 will contact the ball head 31, thereby pushing the ball head 31 to move downward, and a retaining edge is arranged at the lower side of the trapezoidal top block 21, the second spring 30 drives the ball head 31 to move upward, the first spring 28 drives the slider 26 to move to the left, and the elastic coefficient of the second spring 30 is smaller than that of the first spring 28. Elastic coefficient, so when the trapezoidal top block 21 moves to the left, the guide slope 29 of the trapezoidal top block 21 will first contact the ball head 31. At this time, since the elastic force of the second spring 30 is small, the guide slope 29 will first drive the ball head 31 to move downward. When the ball head 31 moves to the bottom of the guide slope 29, it will interfere with the left end of the retaining edge. At this time, when the trapezoidal top block 21 continues to move to the right, the trapezoidal top block 21 will push the ball head 31 to move to the right. At this time, the top rod 25, the slider 26 and the arc-shaped clamping plate 24 move to the right synchronously. At this time, the first spring 28 is compressed. Conversely, when the trapezoidal top block 21 moves to the left, the slider 26 and the arc-shaped clamping plate 24 move to the left first. When the first spring 28 relaxes, The ball head 31 will move upward under the action of the second spring 30, and a push-pull bracket 16 arranged in a front-to-back direction is provided at the right end of the transverse rod 19. The push-pull bracket 16 is a U-shaped structure opening to the right, and a card slot 17 is provided at the front and rear ends of the push-pull bracket 16. The card slot 17 is a through hole, and the deflection plate 18 will be inserted into the inside of the card slot 17. When the transverse rod 19 is located on the left side, the front deflection plate 18 faces the left front, and the rear deflection plate 18 faces the left rear. When the transverse rod 19 moves to the right, the front deflection plate 18 faces the right front, and the rear deflection plate 18 faces the right rear. That is to say, when the transverse rod 19 moves left and right, the front and rear shafts 15 rotate synchronously in opposite directions, thereby causing the guide clamping plate 23 below to rotate synchronously in opposite directions.

[0032] In one case of the present embodiment, a lifting cylinder 20 is provided on both sides of the front and rear of the suspension bracket 12, and the piston rod of the lifting cylinder 20 extends to the left. The piston rod of the lifting cylinder 20 is fixedly connected to the front and rear ends of the push plate 22 arranged in the front and rear directions, and the middle part of the push plate 22 is fixedly connected to the trapezoidal top block 21. Therefore, the extension and contraction of the piston rod of the lifting cylinder 20 can control the left and right movement of the trapezoidal top block 21. When the piston rod of the lifting cylinder 20 is extended, the transverse rod 19 and the trapezoidal top block 21 move to the left, the slider 26 moves to the left, and the top rod 25 moves upward. The arc-shaped clamping plate 24 moves, and the distance between the lower end of the arc-shaped clamping plate 24 and the conveyor belt 2 is greater than the thickness of the C-shaped core 7, so that the C-shaped core 7 can move to the right with the conveyor belt 2. At this time, the arc-shaped clamping plate 24 will not interfere with the movement of the C-shaped core 7, and the push-pull bracket 16 pulls the deflection plate 18 to deflect to the left. At this time, the left end of the lower guide clamping plate 23 is in an open state, that is, the left end of the front guide clamping plate 23 faces the left front, and the left end of the rear guide clamping plate 23 faces the left rear. At this time, the distance between the front and rear ends of the guide clamping plate 23 is greater than the thickness of the C-shaped core 7. The front and rear width of the core 7, so when the conveyor belt 2 moves to the right, the C-shaped core 7 will move toward the center of the conveyor belt 2 along the inclined surface of the guide clamping plate 23, so as to achieve the centering effect. When the piston rod of the lifting cylinder 20 contracts, the trapezoidal top block 21 will move to the right. At this time, the slider 26 moves to the right, and the top rod 25 moves downward, so that the arc-shaped clamping plate 24 will press against the right side of the inner wall of the through hole on the left side of the C-shaped core 7. At the same time, the push-pull bracket 16 pushes the deflection plate 18 to the right. At this time, the guide clamping plate 23 below rotates, and the guide deflection plate 18 on the front side moves from It rotates counterclockwise from the top view, and the guide deflection plate 18 on the rear side rotates clockwise from the top view, so that the original right ends of the two guide deflection plates 18 are transferred to the left side and enter the inside of the gap on the right side of the C-shaped iron core 7. After the rotation is completed, the left sides of the guide deflection plates 18 are retracted and pressed against the inside of the gap on the right side of the C-shaped iron core 7. The C-shaped iron core 7 is stuck and cannot continue to move to the right. The arc-shaped clamping plate 24 on the left side continues to push the C-shaped iron core 7 to move to the right, thereby completing the clamping process of the C-shaped iron core 7 through the arc-shaped clamping plate 24 and the guide clamping plate 23.

[0033] In one case of this embodiment, two retaining rings 32 are arranged at the right end of the transverse rod 19, the push-pull bracket 16 is slidably connected to the transverse rod 19 between the two retaining rings 32, and a buffer spring 33 is arranged between the push-pull bracket 16 and the retaining ring 32. That is to say, the push-pull bracket 16 can float slightly left and right relative to the transverse rod 19, and when the push-pull bracket 16 moves to the right, the deflection plate 18 will give the push-pull bracket 16 a reaction force to the left, so that the push-pull bracket 16 moves a distance to the left relative to the transverse rod 19, so that the buffer spring 33 is compressed, and at this time the reaction force of the buffer spring 33 will be transmitted to the guide clamping plate 23, so that the guide clamping plate 23 can be pressed against the inner wall of the C-shaped iron core 7, ensuring the clamping effect.

[0034] In one case of the present embodiment, the robot arm assembly 14 includes a fixed base 8 detachably connected to the base bracket 1, and the fixed base 8 is detachably connected to the pillar in the middle of the rear side of the base bracket 1, so that the entire large-range moving mechanism 5 and the clamping mechanism 6 can be fixed on the conveyor belt 2, that is, the present robot can be directly installed in the existing assembly line, or the fixed base 8 can be directly fixed on the ground behind the base bracket 1, thereby reducing the difficulty of installing the robot arm, and the upper surface of the rear side of the fixed base 8 is rotatably connected with a vertically arranged column 9, the upper end of the column 9 is rotatably connected to the lower end of the deflection telescopic rod 10, the upper end of the deflection telescopic rod 10 is rotatably connected to the upper end of the suspension telescopic rod 11, and the lower end of the suspension telescopic rod 11 is rotatably connected to the suspension bracket 12, and the lengths of the deflection telescopic rod 10 and the suspension telescopic rod 11 can be freely adjusted, thereby cooperating with multiple rotating pairs to realize the movement of multiple degrees of freedom of the robot arm assembly 14, and also realize the movement of the suspension bracket 12 in space, and the suspension telescopic rod 11 can be kept in a vertical state during clamping.

[0035] During the implementation of this embodiment, the base bracket 1 is fixedly connected to the ground, and the left end of the conveyor belt 2 is connected to the production line of the C-shaped iron core 7, so that the C-shaped iron core 7 can keep the notch facing right and fall on the conveyor belt 2 and move along with the conveyor belt 2.

[0036] In the interception step, the mounting base 13 is moved to the upper middle part of the conveyor belt 2 by the robot arm assembly 14. At this time, the transverse rod 19 is located on the left, and the guide deflection plate 18 on the right falls on the conveyor belt 2. After the C-shaped core 7 moves to the right, the right end of the C-shaped core 7 will contact the guide deflection plate 18. Since the front and rear guide deflection plates 18 are in a V-shaped structure with an open left side, the C-shaped core 7 will move to the center position of the conveyor belt 2, thereby realizing the preliminary centering and interception steps of the C-shaped core 7.

[0037] In the clamping step, the lifting cylinder 20 is started, and the lateral rod 19 moves to the left. At this time, the trapezoidal top block 21 and the push-pull bracket 16 move to the right synchronously, and the guide deflection plate 18 rotates along the rotating shaft 15, that is, the guide deflection plate 18 rotates along the two ends on the right side of the C-shaped iron core 7, and the C-shaped iron core 7 will adaptively move to the left for a distance. At the same time, the guide inclined surface 29 of the trapezoidal top block 21 will contact the ball head 31, and the arc clamping plate 24 will move down to the C-shaped Inside the left through hole of the iron core 7, the guide clamping plate 23 has rotated to the front-to-back direction and is continuing to rotate, the retaining edge of the trapezoidal top block 21 contacts the ball head 31, and the arc clamping plate 24 will continue to move to the right, and finally the arc clamping plate 24 will press against the right inner wall of the left through hole of the C-shaped iron core 7, and the guide clamping plate 23 will press against the inner side wall of the right notch of the C-shaped iron core 7. At this time, the C-shaped iron core 7 is clamped, and the C-shaped iron core 7 can be moved by the robotic arm assembly 14.

[0038] The present invention is applicable to a motor processing clamping robot, which realizes the capture and centering of the C-shaped iron core 7 by the opened guide deflection plate 18, and at the same time, the arc-shaped clamping plate 24 presses against the inner wall of the C-shaped iron core 7 to realize the clamping process, and the arc-shaped clamping plate 24 and the guide clamping plate 23 are clamped simultaneously to once again perform the centering process on the C-shaped iron core 7, so that the position of the C-shaped iron core 7 and the mounting seat 13 is fixed after the clamping is completed, which is convenient for subsequent precise movement.

[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.

Claims

1. A motor processing clamping robot, comprising a base bracket, a conveyor belt is arranged above the base bracket, and a C-shaped iron core is placed on the surface of the conveyor belt, characterized in that: It also includes a large range of movement mechanisms and clamping mechanisms; A large-range moving mechanism comprises a mechanical arm assembly and a suspension bracket, wherein the mechanical arm assembly is arranged on the side of the base bracket to drive the suspension bracket to move in a large range in space, and a mounting seat is fixedly connected to the suspension bracket; The lifting of the ... A spring drives the sliding block to move in a direction away from the center of the mounting seat, the elastic coefficient of the second spring is smaller than the elastic coefficient of the first spring, a guide inclined surface cooperating with the ball head is provided on the side of the trapezoidal top block close to the ball head, and a retaining edge for driving the ball head to move transversely is provided on the side of the trapezoidal top block close to the conveyor belt, when the transverse shifting rod moves toward the direction of the slide slot, the trapezoidal top block disengages from the ball head, the spacing between the arc-shaped clamping plate and the conveyor belt is greater than the thickness of the C-shaped iron core, and the two guide clamping plates are in an open state on the side close to the conveyor belt feed, and when the transverse shifting rod moves toward the direction of the rotating shaft, the trapezoidal top block pushes the ball head to move in the direction of the conveyor belt, and after the ball head moves to contact with the retaining edge of the trapezoidal top block, the trapezoidal top block and the ball head move synchronously, at this time, the spacing between the arc-shaped clamping plate and the conveyor belt is smaller than the thickness of the C-shaped iron core, and the two guide clamping plates are in a retracted state on the side close to the conveyor belt feed.

2. The motor processing clamping robot according to claim 1, characterized in that: The push-pull bracket is a U-shaped structure, a slot is provided at the end of the push-pull bracket, a deflection plate passes through the connecting slot, a lifting cylinder is provided on the side of the suspension bracket, and a piston rod of the lifting cylinder is fixedly connected to a push plate fixedly connected to the trapezoidal top block.

3. The motor processing clamping robot according to claim 1, characterized in that: Two retaining rings are arranged at one end of the transverse moving rod close to the rotating shaft, the push-pull bracket is slidably connected to the transverse moving rod between the two retaining rings, and a buffer spring is arranged between the push-pull bracket and the retaining ring.

4. The motor processing clamping robot according to claim 1, characterized in that: The mechanical arm assembly includes a fixed base detachably connected to a base bracket, a column is rotatably connected to the fixed base, an end of the column is rotatably connected to a deflection telescopic rod, an end of the deflection telescopic rod is rotatably connected to a suspension telescopic rod, and an end of the suspension telescopic rod is rotatably connected to a suspension bracket.

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