Manipulator for gradually processing copper and aluminum

Abstract

The invention relates to a manipulator for gradually processing copper and aluminum, which is applied to the field of metal processing devices. The manipulator comprises a multi-shaft mechanical arm, a mechanical clamping jaw mounted at the front end of the mechanical arm, and a controller for controlling the mechanical arm and the mechanical clamping jaw to operate; the mechanical clamping jaw is provided with a plurality of sets of cooling structures in one-to-one correspondence with the single clamping jaws, the cooling structures are communicated with a cooling circulating pump through pipelines, the pipelines of the cooling structures are provided with flow regulating valves, the mechanical clamping jaw is provided with a temperature sensor, and the temperature sensor, the cooling circulating pump and the flow regulating valves are all electrically connected with a controller. By the adoption of the controller, the cooling circulating pump, the flow regulating valve, the temperature sensor and the cooling structure, large deformation caused by high temperature in the machining process of the copper-aluminum workpiece is avoided, meanwhile, the situation that the copper-aluminum workpiece is deformed or damaged due to the fact that the mechanical clamping jaw applies large pressure to the copper-aluminum workpiece after the copper-aluminum workpiece expands can be avoided, and the machining quality of the copper-aluminum workpiece is improved. And the yield of finished workpieces is increased.

Description

Technical Field

[0001] The present invention relates to a manipulator, in particular to a manipulator for copper and aluminum gradual processing applied in the field of metal processing devices. Background Art

[0002] According to relevant data, China's new energy vehicle sales in 2021 were 3.521 million units. From January to May 2022, the production and sales volume reached 176.65 units, an increase of 49.59% month-on-month. Taking the Xiaopeng G3 model as an example, the number of hard copper busbars on a car is as high as 14. In the next five years, new energy vehicles will exceed 10 million units. The production and processing market of copper-aluminum busbar connectors for new energy vehicles alone will be infinitely huge. With the continuous breakthroughs in technology, the amount of copper and aluminum busbars used in energy storage equipment is also immeasurable.

[0003] However, with the diversification of new energy vehicles and related energy storage equipment designs, the complexity and difficulty have increased accordingly. In particular, the automotive industry is changing too quickly, and ordinary copper-aluminum busbar production processes cannot meet the changes in cost, timeliness, and difficulty brought about by rapid changes, resulting in low pass rates and low processing efficiency in copper-aluminum busbar processing.

[0004] To solve the above problems, the Chinese patent CN115382951B specification discloses a multifunctional copper-aluminum bar processing machine, comprising: a bending device, which includes a plurality of bending manipulators for bending the copper-aluminum bar; a clamping device for clamping and fixing the copper-aluminum bar; an auxiliary clamping device for auxiliary clamping the copper-aluminum bar; a camera device for acquiring images of the copper-aluminum bar after processing; a control computer, which is connected to the copper-aluminum bar processing machine to control the working procedures of the copper-aluminum bar processing machine; a central control module is provided in the control computer, which is used to control the auxiliary clamping device to start for auxiliary clamping and determine the clamping position when it is determined that the copper-aluminum bar at the unbent position does not meet the standard, so as to avoid the situation where the average curvature of the copper-aluminum bar at the unbent position after processing is too large, on the one hand, improving the qualified rate of copper-aluminum bar processing, on the other hand, improving the efficiency of copper-aluminum bar processing.

[0005] The processing of copper and aluminum workpieces (such as copper and aluminum bars) also includes a processing method of gradually processing the copper and aluminum workpieces, which can be specifically understood as a processing method that generates friction for a long time (such as milling, etc.). During the gradual processing, the copper and aluminum workpieces are often affected by friction and generate higher temperatures. The prior art also uses automated mechanical fixtures (such as manipulators) to clamp the copper and aluminum workpieces during automated processing, which is convenient for moving and fixing the copper and aluminum workpieces. If the temperature generated by the copper and aluminum workpieces is too high, it may cause the copper and aluminum workpieces to expand and deform significantly, affecting the accuracy (precision) of the processing. At the same time, since the mechanical fixture clamps the copper and aluminum workpieces, and the copper and aluminum workpieces themselves are soft in texture, when the copper and aluminum workpieces expand, the mechanical fixture often exerts greater pressure on the copper and aluminum workpieces, causing the copper and aluminum workpieces to be deformed or damaged under pressure, further resulting in an increase in defective parts of the processed finished products and a decrease in the yield rate, which has a very adverse effect on the gradual processing of the copper and aluminum workpieces. Summary of the invention

[0006] In view of the above-mentioned prior art, the technical problem to be solved by the present invention is how to provide a copper and aluminum gradual processing robot that can timely cool down mechanical fixtures and copper and aluminum workpieces and can change the cooling effect in real time according to actual processing conditions, so as to achieve the purpose of improving the yield rate of finished products obtained by gradual processing of copper and aluminum workpieces.

[0007] In order to solve the above problems, the present invention provides a copper and aluminum processing robot, comprising a multi-axis robot arm, a mechanical gripper installed at the front end of the robot arm, and a controller for controlling the operation of the robot arm and the mechanical gripper; The mechanical clamp is provided with a plurality of cooling structures corresponding to a single clamp, and the cooling structure is embedded in a single clamp of the mechanical clamp; The cooling structure is connected to a cooling circulation pump through a pipeline, and the cooling circulation pump is used to transport the cooling medium into the cooling structure through one end thereof and output it from the other end of the cooling structure to form a circulating flow; A flow regulating valve is provided on the pipeline of the cooling structure, and the flow regulating valve is used to adjust the flow rate and flow velocity of the cooling medium in the cooling structure; A temperature sensor is installed on the mechanical gripper, and the temperature sensor, the cooling circulation pump and the flow regulating valve are all electrically connected to the controller.

[0008] In the above-mentioned copper and aluminum gradual processing robot, when the mechanical clamp holds the copper and aluminum workpiece for processing, the copper and aluminum workpiece will generate heat as the processing progresses. The temperature sensor detects the heat and converts the detection result into an electrical signal and transmits it to the controller. At this time, the controller controls the cooling circulation pump to start. The cooling circulation pump transports the cooling medium to the cooling structure through the pipeline, and is discharged from the other end after passing through the cooling structure, and flows back to the cooling circulation pump, forming an automatic circulation cooling effect, thereby being able to cool the mechanical clamp and the copper and aluminum workpiece in contact with the mechanical clamp, avoiding large deformation of the copper and aluminum workpiece due to high temperature during the processing, and also avoiding the mechanical clamp from applying large pressure to the copper and aluminum workpiece after the copper and aluminum workpiece expands, causing deformation or damage to the copper and aluminum workpiece; In this way, during the gradual processing of copper and aluminum workpieces, the use of the processing robot can always achieve a stable and effective clamping effect, avoid a series of adverse conditions caused by excessively high temperatures of the copper and aluminum workpieces, and increase the yield rate of the finished workpieces.

[0009] As a further supplement to the present application, a single clamp of the mechanical clamp includes a first clamp block and a second clamp block, the first clamp block is rotatably mounted on a mounting seat of the mechanical arm through a fixed block, and the second clamp block is rotatably connected to an end of the first clamp block away from the fixed block through a rotating joint; The cooling structure includes a cooling circulation cavity provided in the first clamp block and the second clamp block, the cooling circulation cavities in the first clamp block and the second clamp block are connected through a flow pipe, the cooling circulation cavity in the first clamp block is respectively connected to the output end and the input end of the cooling circulation pump through two cooling circulation pipes, and the two cooling circulation cavities in the second clamp block are connected to each other; The flow regulating valve is installed on the pipe connecting the cooling circulation pipe and the cooling circulation pump.

[0010] Through the arrangement of the cooling circulation pipe, the flow pipe and the cooling circulation cavity, the cooling circulation pump first transports the cooling medium to one of the cooling circulation cavities on the first clamp block through one of the cooling circulation pipes, and the cooling medium further enters one of the cooling circulation cavities in the second clamp block through one of the flow pipes, and enters another flow pipe after flowing through another cooling circulation cavity on the second clamp block, and then enters another cooling circulation cavity on the first clamp block through another flow pipe, and finally flows out through another cooling circulation pipe, and flows along the pipeline to the cooling circulation pump to enter the next cycle, so as to achieve the purpose of circulating cooling of the first clamp block and the second clamp block by the cooling medium, that is, to realize the automatic circulating cooling effect of the mechanical gripper; In addition, when the temperature detected by the temperature sensor on the mechanical gripper is too high, the controller controls the flow regulating valve to open while controlling the cooling circulation pump to start, and controls the cooling circulation pump to accelerate, so that the flow rate of the cooling medium in the cooling circulation pipe is accelerated and the flow rate is increased, thereby absorbing more heat per unit time, so that the first clamping block, the second clamping block and the copper and aluminum workpieces are cooled quickly. Otherwise, the cooling circulation pump slows down or stops running, and the flow regulating valve adjusts the flow rate to become smaller or stops, thereby achieving the effect of automatically adapting to rapid or slow cooling as the temperature changes. This can not only improve the real-time and efficient cooling of the copper and aluminum processing robot when it is working, but also reduce unnecessary energy consumption, achieving the operating effect of energy saving and emission reduction.

[0011] As a further supplement to the present application, the temperature sensor is fixed on the second clamping block, and the temperature sensor is embedded in the second clamping block or in the inner surface of the copper-aluminum workpiece clamped by the second clamping block, so that the temperature sensor can be closer to the heat source and the temperature detection is more timely and accurate.

[0012] As another improvement of the present application, a mounting groove is provided on the surface of the second clamping block that is in contact with the copper-aluminum workpiece, a pressure sensor is fixedly embedded in the mounting groove, the pressure sensor is in contact with the surface of the copper-aluminum workpiece, and the pressure sensor is electrically connected to the controller.

[0013] Through the setting of the pressure sensor, when the temperature of the copper and aluminum workpieces rises rapidly, the heat exchange of the cooling medium requires a certain amount of time. At this time, the copper and aluminum workpieces expand and deform and squeeze the pressure sensor. The pressure sensor transmits the received pressure signal to the controller. When the pressure exceeds the preset pressure, the controller controls the mechanical clamp to open a certain distance, thereby reducing the pressure of the mechanical clamp on the copper and aluminum workpieces, thereby avoiding the phenomenon that the copper and aluminum workpieces are still damaged due to untimely cooling, and further improving the yield rate of finished products obtained after gradual processing of the copper and aluminum workpieces.

[0014] As another improvement supplement of the present application, an expansion pressing plate is fixed at the opening of the mounting groove, and the expansion pressing plate is located between the pressure sensor and the copper-aluminum workpiece. The expansion pressing plate has a certain elasticity. The expansion pressing plate is used to isolate the pressure sensor and the copper-aluminum workpiece, which can prevent the heat and vibration force generated by the copper-aluminum workpiece during the processing from being directly transmitted to the pressure sensor, causing a certain impact on the pressure sensor, resulting in a large error in the detection result of the pressure sensor. While it is beneficial to protect the pressure sensor, it is also beneficial to reduce the deviation of the detection result and ensure the stable and effective clamping effect of the mechanical clamp.

[0015] As another improvement supplement of the present application, the expansion pressing plate is made of a memory alloy material. When the expansion pressing plate is heated, it deforms toward the side close to the pressure sensor and squeezes the pressure sensor. The use of memory alloy to make the expansion pressing plate can make the deformation direction of the expansion pressing plate controllable, thereby producing a controllable pressure effect on the pressure sensor, avoiding deviations in detection results caused by overpressure, unstable pressure conduction, and inaccurate direction. At the same time, it is also beneficial to quickly absorb heat from part of the copper and aluminum workpieces and the second clamp, and has a certain auxiliary effect on rapid cooling.

[0016] As another improvement of the present application, a heat pipe is fixedly embedded on the second clamp, one end of the heat pipe is located on the surface of the second clamp that is in contact with the copper-aluminum workpiece and is located in the same plane as the surface of the second clamp, and the other end of the heat pipe is located in the cooling circulation chamber. Through the setting of the heat pipe, the heat on the second clamp and the copper-aluminum workpiece can be quickly absorbed and quickly released to the cooling medium in the cooling circulation chamber, thereby achieving a more efficient heat dissipation effect, which is more conducive to quickly cooling the copper-aluminum workpiece and the second clamp, improving the cooling speed, and avoiding the situation of untimely cooling.

[0017] As a supplement to another improvement of the present application, an expansion ring is provided at the end fixing sleeve of the heat pipe, and a special-shaped hole is opened in the expansion ring. The cross-section of the special-shaped hole is polygonal or irregular, and the side wall portion of the special-shaped hole is in contact with the surrounding side of the heat pipe, and there is a gap between the other portion of the side wall of the special-shaped hole and the surrounding side of the heat pipe. By arranging an expansion ring at one end of the heat pipe, when the expansion ring absorbs heat and expands, the contact area between the expansion ring and the surrounding side of the heat pipe can be increased, thereby achieving faster heat conduction. When the heat is not high, the contact area between the heat pipe and the expansion ring is small, which can reduce the work done by the heat pipe, thereby using the heat pipe according to actual conditions, reducing fatigue damage to the heat pipe, and extending the service life of the heat pipe.

[0018] The invention provides a copper and aluminum gradual processing robot, which has the following beneficial effects When the mechanical clamps clamp the copper and aluminum workpieces for processing, the copper and aluminum workpieces will generate heat as the processing progresses. The temperature sensor detects the heat and converts the detection result into an electrical signal and transmits it to the controller. At this time, the controller controls the cooling circulation pump to start. The cooling circulation pump transports the cooling medium to the cooling structure through the pipeline, and the cooling medium is discharged from the other end after passing through the cooling structure and flows back to the cooling circulation pump. Specifically, the cooling circulation pump first transports the cooling medium to one of the cooling circulation cavities on the first clamping block through one of the cooling circulation pipes, and the cooling medium further enters one of the cooling circulation cavities in the second clamping block through one of the flow pipes, and flows through the second clamping block. After entering another cooling circulation cavity, it enters another flow pipe, and then enters another cooling circulation cavity on the first clamping block through another flow pipe, and finally flows out through another cooling circulation pipe, and flows along the pipeline to the cooling circulation pump to enter the next circulation, so as to achieve the purpose of circulating cooling of the first clamping block and the second clamping block by the cooling medium, that is, to achieve the automatic circulation cooling effect of the mechanical clamping jaws, so as to cool the mechanical clamping jaws and the copper and aluminum workpieces in contact with the mechanical clamping jaws, avoid large deformation of the copper and aluminum workpieces due to high temperature during the processing, and also avoid the mechanical clamping jaws from exerting large pressure on the copper and aluminum workpieces after the copper and aluminum workpieces expand, resulting in deformation or damage of the copper and aluminum workpieces; In this way, in the process of gradually processing the copper and aluminum workpieces, the processing manipulator can always play a stable and effective clamping effect, and can avoid a series of adverse conditions caused by the excessive temperature of the copper and aluminum workpieces, and increase the yield rate of the finished workpieces; In addition, when the temperature detected by the temperature sensor on the mechanical gripper is too high, the controller controls the flow regulating valve to open while controlling the cooling circulation pump to start, and controls the cooling circulation pump to accelerate, so that the flow rate of the cooling medium in the cooling circulation pipe is accelerated and the flow rate is increased, thereby absorbing more heat per unit time, so that the first clamping block, the second clamping block and the copper and aluminum workpieces are cooled quickly. Otherwise, the cooling circulation pump slows down or stops running, and the flow regulating valve adjusts the flow rate to become smaller or stops, thereby achieving the effect of automatically adapting to rapid or slow cooling as the temperature changes. This can not only improve the real-time and efficient cooling of the copper and aluminum processing robot when it is working, but also reduce unnecessary energy consumption, achieving the operating effect of energy saving and emission reduction. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is an overall structural diagram of the first implementation method of this application; Figure 2 This is a schematic diagram of the structure of the mechanical arm and mechanical gripper of the first embodiment of the present application; Figure 3 This is a schematic diagram of the mechanical gripper structure of the first embodiment of the present application; Figure 4 This is a structural diagram of a single clamping jaw according to the first embodiment of the present application; Figure 5 This is a cross-sectional view of a single clamping jaw according to the first embodiment of the present application; Figure 6 This is a diagram showing the separation of the expansion tablet and the pressure sensor according to the second embodiment of the present application; Figure 7 A cross-sectional view of a single clamping jaw according to the third embodiment of the present application; Figure 8 This is an enlarged view of the heat pipe and expansion ring of the third embodiment of the present application.

[0020] Description of the numbers in the figure: 100, mechanical arm; 101, mounting base; 200, mechanical gripper; 300, cooling circulation pump; 400, flow control valve; 500, controller; 1. First clamping block; 11. Fixed block; 2. Second clamping block; 21. Mounting groove; 3. Cooling circulation pipe; 4. Flow pipe; 5. Cooling circulation cavity; 6. Temperature sensor; 7. Expansion pressing piece; 8. Pressure sensor; 9. Heat pipe; 91. Expansion ring; 92. Special-shaped hole. DETAILED DESCRIPTION

[0021] The following is a detailed description of three implementation methods of the present application in conjunction with the accompanying drawings.

[0022] The first implementation method: The present invention provides a mechanical arm for copper and aluminum processing. Figure 1-Figure 5 , including a multi-axis robot arm 100, a mechanical gripper 200 installed at the front end of the robot arm 100, and a controller 500 for controlling the operation of the robot arm 100 and the mechanical gripper 200; The mechanical gripper 200 is provided with a plurality of cooling structures corresponding to a single gripper one by one, and the cooling structures are embedded in a single gripper of the mechanical gripper 200; The cooling structure is connected to a cooling circulation pump 300 through a pipeline, and the cooling circulation pump 300 is used to transport the cooling medium into the cooling structure through one end thereof and output it from the other end of the cooling structure to form a circulating flow; A flow regulating valve 400 is provided on the pipeline of the cooling structure, and the flow regulating valve 400 is used to adjust the flow rate and flow velocity of the cooling medium in the cooling structure; A temperature sensor 6 is installed on the mechanical gripper 200 . The temperature sensor 6 , the cooling circulation pump 300 and the flow regulating valve 400 are all electrically connected to the controller 500 .

[0023] Based on the above structure, during the process of the mechanical gripper 200 clamping the copper and aluminum workpiece for processing, the copper and aluminum workpiece will generate heat as the processing (processing method that generates friction) gradually proceeds. The temperature sensor 6 detects the heat and converts the detection result into an electrical signal and transmits it to the controller 500. At this time, the controller 500 controls the cooling circulation pump 300 to start. The cooling circulation pump 300 transports the cooling medium to the cooling structure through a pipeline, and discharges it from the other end after passing through the cooling structure, and flows back to the cooling circulation pump 300, forming an automatic circulation cooling effect, thereby being able to cool the mechanical gripper 200 and the copper and aluminum workpiece in contact with the mechanical gripper 200, avoiding large deformation (expansion deformation) of the copper and aluminum workpiece due to high temperature during the processing, and also avoiding the mechanical gripper 200 from applying a large pressure to the copper and aluminum workpiece after the copper and aluminum workpiece expands, causing deformation or damage to the copper and aluminum workpiece; In this way, during the gradual processing of copper and aluminum workpieces, the use of the processing robot can always achieve a stable and effective clamping effect, avoid a series of adverse conditions caused by excessively high temperatures of the copper and aluminum workpieces, and increase the yield rate of the finished workpieces.

[0024] Figure 3-Figure 5 The single clamp of the mechanical clamp 200 is shown to include a first clamp block 1 and a second clamp block 2. The first clamp block 1 is rotatably mounted on a mounting seat 101 of a mechanical arm 100 via a fixed block 11, and the second clamp block 2 is rotatably connected to an end of the first clamp block 1 away from the fixed block 11 via a rotating joint. The cooling structure includes a cooling circulation cavity 5 opened in the first clamp block 1 and the second clamp block 2. The cooling circulation cavity 5 in the first clamp block 1 and the second clamp block 2 are connected through a flow pipe 4. The cooling circulation cavity 5 in the first clamp block 1 is respectively connected to the output end and the input end of the cooling circulation pump 300 through two cooling circulation pipes 3. The two cooling circulation cavities 5 in the second clamp block 2 are connected to each other. The flow regulating valve 400 is installed on the pipe connecting the cooling circulation pipe 3 and the cooling circulation pump 300 .

[0025] Through the arrangement of the cooling circulation pipe 3, the flow pipe 4 and the cooling circulation cavity 5, the cooling circulation pump 300 first transports the cooling medium to one of the cooling circulation cavities 5 on the first clamping block 1 through one of the cooling circulation pipes 3, and the cooling medium further enters one of the cooling circulation cavities 5 in the second clamping block 2 through one of the flow pipes 4, and enters another flow pipe 4 after flowing through another cooling circulation cavity 5 on the second clamping block 2, and then enters another cooling circulation cavity 5 on the first clamping block 1 through another flow pipe 4, and finally flows out through another cooling circulation pipe 3, and flows along the pipeline to the cooling circulation pump 300 to enter the next cycle, so as to achieve the purpose of circulating cooling of the first clamping block 1 and the second clamping block 2 by the cooling medium, that is, to achieve the automatic circulating cooling effect of the mechanical clamp 200; In addition, when the temperature detected by the temperature sensor 6 on the mechanical clamp 200 is too high, the controller 500 controls the flow regulating valve 400 to open while controlling the cooling circulation pump 300 to start, and controls the cooling circulation pump 300 to accelerate, so that the flow rate of the cooling medium in the cooling circulation pipe 3 is accelerated and the flow rate is increased, thereby absorbing more heat per unit time, so that the first clamp 1 and the second clamp 2 and the copper and aluminum workpieces are cooled quickly. On the contrary (when the temperature does not exceed the preset temperature), the cooling circulation pump 300 slows down or does not operate, and the flow regulating valve 400 adjusts the flow rate to become smaller or stop, thereby achieving the effect of automatically adapting to rapid or slow cooling as the temperature changes, which can not only improve the real-time and efficient cooling of the copper and aluminum processing robot when it is working, but also reduce unnecessary energy consumption (such as when the heat is not high, the cooling medium does not require a faster flow rate and a larger flow rate), thereby achieving the operating effect of energy saving and emission reduction.

[0026] Figure 4 It is shown that the temperature sensor 6 is fixed on the second clamping block 2, and the temperature sensor 6 is embedded in the second clamping block 2 or in the inner surface of the copper-aluminum workpiece clamped by the second clamping block 2, so that the temperature sensor 6 can be closer to the heat source (copper-aluminum workpiece), and the temperature detection is more timely and accurate.

[0027] Second implementation method: Figure 6 Another copper and aluminum processing robot is shown, which is different from Example 1 in that: The surface of the second clamping block 2 that is in contact with the copper-aluminum workpiece is provided with a mounting groove 21 , in which a pressure sensor 8 is fixedly embedded. The pressure sensor 8 is in contact with the surface of the copper-aluminum workpiece, and the pressure sensor 8 is electrically connected to the controller 500 .

[0028] Through the setting of the pressure sensor 8, when the temperature of the copper-aluminum workpiece rises rapidly, the heat exchange of the cooling medium requires a certain amount of time. At this time, the copper-aluminum workpiece expands and deforms and squeezes the pressure sensor 8. The pressure sensor 8 transmits the received pressure signal to the controller 500. When the pressure exceeds the preset pressure (that is, the pressure that will cause the copper-aluminum workpiece to be squeezed, deformed or damaged by the second clamping block 2), the controller 500 controls the mechanical clamp 200 to open a certain distance, thereby reducing the pressure of the mechanical clamp 200 on the copper-aluminum workpiece, thereby avoiding the phenomenon that the copper-aluminum workpiece is still damaged due to untimely cooling, and further improving the yield rate of the finished products obtained after gradual processing of the copper-aluminum workpiece.

[0029] Figure 6 It is shown that an expansion pressing sheet 7 is fixed at the opening of the mounting groove 21. The expansion pressing sheet 7 is located between the pressure sensor 8 and the copper-aluminum workpiece. The expansion pressing sheet 7 has a certain elasticity. The expansion pressing sheet 7 is used to isolate the pressure sensor 8 from the copper-aluminum workpiece, which can prevent the heat and vibration force generated by the copper-aluminum workpiece during the processing from being directly transmitted to the pressure sensor 8, causing a certain impact on the pressure sensor 8, resulting in a large error in the detection result of the pressure sensor 8. While it is beneficial to protect the pressure sensor 8, it is also beneficial to reduce the deviation of the detection result, ensuring the stable and effective clamping effect of the mechanical clamp 200.

[0030] Figure 6 It is shown that the expansion pressing plate 7 is made of a memory alloy material. When the expansion pressing plate 7 is heated, it deforms toward the side close to the pressure sensor 8 and squeezes the pressure sensor 8. The expansion pressing plate 7 is made of a memory alloy, so that the deformation direction of the expansion pressing plate 7 can be controlled, and a controllable pressure effect can be generated on the pressure sensor 8, thereby avoiding deviations in detection results caused by overpressure, unstable pressure conduction, and inaccurate direction. At the same time, it is also beneficial to quickly absorb heat from part of the copper and aluminum workpieces and the second clamp 2, and has a certain auxiliary effect on rapid cooling.

[0031] The third implementation method: Figure 7 Another copper and aluminum processing robot is shown, which is based on Example 1 or Example 2, and the difference between it and Example 1 or Example 2 is: A heat pipe 9 is fixedly embedded on the second clamping block 2, one end of the heat pipe 9 is located on the surface of the second clamping block 2 that is in contact with the copper-aluminum workpiece and is located in the same plane as the surface of the second clamping block 2, and the other end of the heat pipe 9 is located in the cooling circulation chamber 5. Through the arrangement of the heat pipe 9, the heat on the second clamping block 2 and the copper-aluminum workpiece can be quickly absorbed and quickly released to the cooling medium in the cooling circulation chamber 5, thereby achieving a more efficient heat dissipation effect, which is more conducive to quickly cooling the copper-aluminum workpiece and the second clamping block 2, improving the cooling speed, and avoiding the situation of untimely cooling.

[0032] Figure 8 It is shown that the end of the heat pipe 9 is fixedly sleeved with an expansion ring 91, and a special-shaped hole 92 is opened in the expansion ring 91. The cross-section of the special-shaped hole 92 is polygonal or irregular. The side wall portion of the special-shaped hole 92 fits the circumference of the heat pipe 9, and there is a gap between the other part of the side wall of the special-shaped hole 92 and the circumference of the heat pipe 9. By arranging the expansion ring 91 at one end of the heat pipe 9, when the expansion ring 91 absorbs heat and expands, the contact area between the expansion ring 91 and the circumference of the heat pipe 9 can be increased, thereby achieving faster heat conduction. When the heat is not high, the contact area between the heat pipe 9 and the expansion ring 91 is small, which can reduce the work done by the heat pipe 9, so that the heat pipe 9 is used according to actual conditions, fatigue damage of the heat pipe 9 is reduced, and the service life of the heat pipe 9 is extended.

[0033] It should be noted that in order to achieve better use effects, in actual use, technical personnel in this field can choose to use a combination of any one or more embodiments of Example 1, Example 2 or Example 3 according to actual use needs to form a copper and aluminum processing robot that is more in line with actual needs.

[0034] In view of current practical needs, the above-mentioned implementation mode adopted in this application is not limited to the scope of protection. Various changes made within the knowledge scope of technical personnel in this field without departing from the concept of this application still fall within the scope of protection of the present invention.

Claims

1. A copper and aluminum processing robot, comprising a multi-axis robot arm (100), a mechanical gripper (200) mounted at the front end of the robot arm (100), and a controller (500) for controlling the operation of the robot arm (100) and the mechanical gripper (200), characterized in that: The mechanical clamp (200) is provided with a plurality of cooling structures corresponding one to one with a single clamp, and the cooling structure is embedded in a single clamp of the mechanical clamp (200); The cooling structure is connected to a cooling circulation pump (300) through a pipeline, and the cooling circulation pump (300) is used to transport the cooling medium into the cooling structure through one end thereof and output it from the other end of the cooling structure to form a circulating flow; A flow regulating valve (400) is provided on the pipeline of the cooling structure, and the flow regulating valve (400) is used to regulate the flow rate and flow velocity of the cooling medium in the cooling structure; A temperature sensor (6) is installed on the mechanical gripper (200), and the temperature sensor (6), the cooling circulation pump (300) and the flow regulating valve (400) are all electrically connected to the controller (500).

2. A copper and aluminum processing robot according to claim 1, characterized in that: The single clamp of the mechanical clamp (200) comprises a first clamp block (1) and a second clamp block (2), wherein the first clamp block (1) is rotatably mounted on a mounting seat (101) of the mechanical arm (100) via a fixed block (11), and the second clamp block (2) is rotatably connected to an end of the first clamp block (1) away from the fixed block (11) via a rotating joint; The cooling structure comprises cooling circulation chambers (5) provided in the first clamping block (1) and the second clamping block (2); the cooling circulation chambers (5) in the first clamping block (1) and the second clamping block (2) are connected via a flow pipe (4); the cooling circulation chamber (5) in the first clamping block (1) is connected to an output end and an input end of a cooling circulation pump (300) respectively via two cooling circulation pipes (3); and the two cooling circulation chambers (5) in the second clamping block (2) are connected to each other; The flow regulating valve (400) is installed on a pipeline connecting the cooling circulation pipe (3) and the cooling circulation pump (300).

3. A copper and aluminum processing robot according to claim 2, characterized in that: The temperature sensor (6) is fixed on the second clamping block (2); the temperature sensor (6) is embedded in the second clamping block (2) or in the inner surface of the copper-aluminum workpiece clamped by the second clamping block (2).

4. A copper and aluminum processing robot according to claim 2, characterized in that: A mounting groove (21) is provided on the surface of the second clamping block (2) that is in contact with the copper-aluminum workpiece. A pressure sensor (8) is fixedly embedded in the mounting groove (21). The pressure sensor (8) is in contact with the surface of the copper-aluminum workpiece. The pressure sensor (8) is electrically connected to the controller (500).

5. A copper and aluminum processing robot according to claim 4, characterized in that: An expansion pressing sheet (7) is fixed at the opening of the installation groove (21); the expansion pressing sheet (7) is located between the pressure sensor (8) and the copper-aluminum workpiece; and the expansion pressing sheet (7) has a certain elasticity.

6. A copper and aluminum processing robot according to claim 5, characterized in that: The expansion pressing sheet (7) is made of a memory alloy material, and when the expansion pressing sheet (7) is heated, it deforms towards a side close to the pressure sensor (8) and squeezes the pressure sensor (8).

7. A copper and aluminum processing robot according to claim 2, characterized in that: A heat pipe (9) is fixedly embedded on the second clamping block (2), one end of the heat pipe (9) is located on the surface of the second clamping block (2) that is bonded to the copper-aluminum workpiece and is located in the same plane as the surface of the second clamping block (2), and the other end of the heat pipe (9) is located in the cooling circulation cavity (5).

8. A copper and aluminum processing robot according to claim 7, characterized in that: The end fixing sleeve of the heat pipe (9) is provided with an expansion ring (91), and a special-shaped hole (92) is provided in the expansion ring (91). The cross section of the special-shaped hole (92) is polygonal or irregular, and a side wall portion of the special-shaped hole (92) is in contact with the periphery of the heat pipe (9), and another portion of the side wall of the special-shaped hole (92) is spaced from the periphery of the heat pipe (9).

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