Rotor conducting bar self-adaptive grabbing device and grabbing method thereof

Abstract

The invention discloses a self-adaptive grabbing device for a rotor guide bar. The self-adaptive grabbing device comprises a pre-positioning assembly and a grabbing assembly, the pre-positioning assembly is used for moving the conducting bar in the first direction and the second direction and realizing pre-positioning of the conducting bar in the first direction, the second direction and the third direction, so that the conducting bar can be grabbed by the grabbing device; the grabbing assembly is used for grabbing the guide bars and specifically structurally comprises a two-finger translation manipulator, a clamping jaw and a clamping block. A pair of movable blocks are symmetrically arranged at the bottom of the two-finger translation manipulator, the clamping jaws are connected with the pair of movable blocks of the two-finger translation manipulator, and clamping blocks which are rotatably connected are further arranged at the ends, away from the two-finger translation manipulator, of the clamping jaws and used for clamping guide bars. Meanwhile, the invention further provides a grabbing method using the grabbing device. The problem that in the current production process, the efficiency of manual grabbing action is low is solved, different guide bars are grabbed through the grabbing assembly, and the problem of adjusting and matching of clamps for grabbing the guide bars of various angles in parallel production is solved.

Description

Technical Field

[0001] The present application relates to the technical field of motor assembly equipment and accessory processing, and more specifically, to a rotor bar adaptive grasping device and a grasping method thereof. Background Art

[0002] In the early stage of the production process of motor rotor guide bar finishing, the motor guide bar finishing operation was mainly completed manually. The guide bars were placed on a trolley as a whole. During processing, the trolley carrying the guide bars was manually pushed to the worker's operating position, and then the guide bars were taken out one by one manually to complete the guide bar finishing operation. The work was simple and repetitive, and the efficiency was low. The processing dust and noise seriously affected the physical and mental health of employees.

[0003] Therefore, in order to improve processing efficiency and improve the working environment of employees, an intelligent processing method is urgently needed to replace manual labor. In the process of automatic robot grasping and finishing, it is urgent to solve the technology of adaptive grasping and positioning of guide bars with different cross-sectional sizes. This grasping device technically solves the parallel production process of rectangular guide bars and trapezoidal guide bars. The grasping device does not need to replace the clamping jaws, adaptive angle adjustment, and pre-positioning requirements, laying a technical foundation for the implementation of intelligent finishing workstations. Summary of the invention

[0004] In order to solve the above technical problems, the present application provides a rotor guide bar adaptive gripping device, which can realize the adaptive clamping angle change problem in the face of guide bars with different shapes through precise positioning of the guide bars and the cooperation of mechanical claws and movable clamping blocks without replacing the clamping claws.

[0005] The present application provides a rotor bar adaptive grasping device, and the specific technical scheme is as follows, including: a pre-positioning component, a grasping component; The pre-positioning assembly is used to move the guide bar in the first direction and the second direction, and to achieve pre-positioning of the guide bar in the first direction, the second direction, and the third direction so that the guide bar can be grasped by the grasping device; The grabbing assembly is used to grab the guide bar, and its specific structure includes: a two-finger translation manipulator, a clamping claw, and a clamping block; The two-finger translation manipulator is symmetrically provided with a pair of movable blocks at the bottom, and the clamping jaws are respectively connected with a pair of movable blocks of the two-finger translation manipulator. The clamping jaws are away from one end of the two-finger translation manipulator and are also provided with rotatably connected clamping blocks for clamping the guide bar.

[0006] Preferably, the grabbing assembly is further provided with a third directional positioning stop; The third direction positioning stopper is arranged at the bottom of the two-finger translation manipulator and along the central axis of the two-finger translation manipulator.

[0007] Preferably, the clamping block is rotatably connected to the clamping jaw via a core shaft, and the clamping block performs angular rotation around the core shaft.

[0008] Preferably, the clamp is a right-angle structure, formed by a first short side and a first long side being vertically connected to each other; The first short side of the first gripper is connected to the movable block on the two-finger translation manipulator; The first long side of the first clamping jaw is connected to the clamping block via the core shaft.

[0009] Preferably, the distance between the back side of the clamp block and the clamping claw is Y, the length of the clamp block is L, the distance between the center of the core shaft and the back side of the clamp block is X, and the maximum adjustment angle of the clamp block will be determined by the Y, L, and X values.

[0010] Preferably, a contact piece is further provided on the inner side surface of the clamping block, and the contact piece is made of a flexible material and contacts the guide bar.

[0011] Preferably, the contact piece is a strip-shaped structure, and a plurality of mutually parallel mounting grooves are provided on the clamping surface of the clamping block for mounting the contact piece.

[0012] Preferably, after the contact piece is installed, its surface is higher than the clamping surface of the clamp block by a distance h, and it is ensured that under the condition of maximum clamping force, the compression and deformation of the contact piece is less than the protruding height h.

[0013] Preferably, the specific structure of the pre-positioning component includes: a base, a first direction centering unit, and a second direction moving unit; The base is used to provide a mounting frame for the first direction centering unit and the second direction moving unit, and a second direction stopper is provided on the base; The first direction centering unit is a symmetrical structure, and the center of the guide bar is moved to a fixed position through synchronous movement to achieve pre-positioning in the first direction; The second direction moving unit is used to push the guide bar onto the base, and is provided with a second direction stop position to achieve pre-positioning in the second direction.

[0014] At the same time, the present application also provides a rotor bar adaptive grasping method using the above rotor bar adaptive grasping device, and the specific grasping steps are as follows: (1) Pre-positioning the guide bar, placing the guide bar on the pre-positioning assembly, moving and positioning the guide bar in the first direction and the second direction, and realizing pre-positioning of the guide bar in the first, second and third directions, so that the grabbing assembly can grab the guide bar in the third direction; (2) Guide bar grasping, in the grasping assembly, the two-finger translation manipulator drives the clamping claw to move synchronously by moving in the center, so that the clamping block can clamp the guide bar; When the guide bar is a special-shaped guide bar, the rotatable clamping block is adjusted so that the angle between the clamping block and the clamping claw fits with the outer surface of the guide bar, which facilitates clamping.

[0015] The rotor bar adaptive gripping device provided by the present invention is firstly provided with a clamping block and a clamping claw with a rotatable angle. It can be seen that compared with the prior art, the gripping device in the embodiment of the present invention can realize the automated operation of bar finishing, solve the technical difficulties of manual gripping in the current parallel production process of rectangular bars and trapezoidal bars, and has the adaptive function of quickly gripping various trapezoidal bars and the ability of precise positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present application 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 application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 A schematic diagram of the structure of a grabbing device provided in an embodiment of the present invention; Figure 2 It is a schematic diagram of the structure of the grabbing device grabbing the trapezoidal guide bar; Figure 3 It is a schematic diagram of the structure of the grabbing device grabbing the rectangular guide bar; Figure 4 It is a schematic diagram of the clamping block structure; Figure 5 This is a schematic diagram of the structure of the clamp block from the perspective of A; Figure 6 It is a schematic diagram of the structure of the pre-positioning component; Figure 7 This is a cross-sectional view of the pre-positioning component.

[0018] Figure numerals: 1. pre-positioning component; 2. grabbing component; 3. two-finger translational manipulator; 4. clamping claw; 5. clamping block; 6. third direction positioning stop; 7. core shaft; 8. contact piece; 9. base; 10. first direction centering unit; 11. second direction moving unit. DETAILED DESCRIPTION

[0019] In order to enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below. Obviously, the described embodiments are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0020] It should be noted that when an element is referred to as being "fixed on" or "set on" another element, it can be directly on the other element or indirectly set on the other element; when an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0021] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0022] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, "multiple" and "several" mean two or more, unless otherwise clearly and specifically defined.

[0023] It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the conditions under which this application can be implemented. Therefore, they have no substantive technical significance. Any structural modification, change in proportional relationship or adjustment of size should still fall within the scope of the technical content disclosed in this application without affecting the effects and purposes that can be achieved by this application.

[0024] This specific embodiment of the present invention is written in a progressive manner.

[0025] like Figures 1 to 6 As shown, an embodiment of the present invention provides a rotor bar adaptive grasping device, which mainly includes two functional unit components, specifically: a pre-positioning component 1 and a grasping component 2; In this embodiment, the grabbing of the guide bar is mainly completed in two steps, and therefore corresponds to two functional components. The pre-positioning component 1 is used to move the guide bar in the first direction and the second direction through the moving component, and realize the pre-positioning of the guide bar in the first direction, the second direction, and the third direction so that the guide bar can be grabbed by the grabbing device; And as Figures 1 to 3 As shown, in this embodiment, the grabbing assembly 2 is driven by a functional unit such as a robotic arm to grab the guide bar, and its specific structure includes: a two-finger translational manipulator 3, a gripper 4, and a clamping block 5; As a power supply part for the grasping action, the two-finger translation manipulator 3 is symmetrically provided with a pair of movable blocks at its bottom, which can move in a central direction along the first direction under power drive; The number of the clamping jaws 4 is also one group, which is connected to the movable block of the two-finger translation manipulator 3. Under the driving action of the two-finger translation manipulator 3, the clamping jaws 4 move in the center to realize the action of the clamping jaws 4; Different from the prior art, in the present technical solution, the end of the clamping jaw 4 away from the two-finger translation manipulator 3 is also provided with a rotatably connected clamping block 5 for clamping the guide bar; Due to the adjustable clamping angle, Figure 2 As shown, when the guide bar is in a trapezoidal shape, the clamping block 5 is rotated to achieve the fit with the outer surface of the guide bar, thereby increasing the stability of the clamping and realizing the automatic adjustment of the guide bar grabbing device; In this embodiment, the first direction, the second direction, and the third direction are X, Y, and Z directions, respectively. In other embodiments, other moving directions may be flexibly selected, and this is not specifically limited in the present technical solution.

[0026] Preferably, the grabbing assembly 2 in this embodiment is further limited as follows: Figures 1 to 3 As shown, in this embodiment, the grab assembly 2 is further provided with a third direction positioning stop 6; The third direction positioning stopper 6 is specifically arranged at the bottom of the two-finger translation manipulator 3 and along the central axis of the two-finger translation manipulator 3, so that the guide bar cross section can provide a stop reference surface in the third direction when the guide bar is clamped, which is used to determine the coordinates in the third direction.

[0027] Preferably, the clamping block 5 in this embodiment is further limited as follows: Figures 1 to 4 As shown, the clamping block 5 is rotatably connected to the clamping jaw 4 through a core shaft 7, and the clamping block 5 is angularly rotated around the core shaft 7 to achieve adaptive adjustment of the outer surface of the guide bar with different outer dimensions.

[0028] Preferably, the clamping jaw 4 in this embodiment is further limited as follows: Figures 1 to 3 As shown, in this embodiment, the clamping jaw 4 is specifically a right-angle structure, formed by a first short side and a first long side being vertically connected to each other; The first short side of the first gripper 4 is connected to the movable block on the two-finger translation manipulator 3; The first long side of the first clamping jaw 4 is connected to the clamping block 5 via the core shaft 7; Through such a long and short side design, sufficient clamping space can be provided for the guide bar to be clamped in the third direction, thereby improving the adaptability of the guide bar clamping and being able to adapt to different types of guide bars.

[0029] Preferably, the clamp block 5 in this embodiment is further defined, such as Figures 1 to 5 As shown, in this embodiment, the distance between the back side of the clamp block 5 and the clamp jaw 4 is Y, the length of the clamp block 5 is L, the distance between the center of the core shaft and the back side of the clamp block is X, and the maximum adjustment angle of the clamp block 5 will be determined by the Y, L, and X values.

[0030] Preferably, the clamping block 5 in this embodiment is further limited as follows: Figure 4 and Figure 5 As shown, in the present embodiment, in order to make the clamping block 5 clamp the guide bar more firmly and ensure the clamping force, a contact piece 8 is further provided on the inner side of the clamping block 5. The contact piece 8 is made of a flexible material and contacts the guide bar. Since the contact piece 8 is made of a flexible material, it is possible to avoid damage to the guide bar during the clamping process, while increasing the friction force of the clamping part to ensure that the guide bar is firmly clamped. In the present embodiment, the flexible material of the contact piece 8 is specifically a polyamide block material, and other flexible materials with the same function may also be used in other embodiments.

[0031] Furthermore, the contact member 8 in this embodiment is further defined as follows: Figure 4 and Figure 5 As shown, the contact piece 8 is a strip-shaped structure, and a plurality of mutually parallel mounting grooves are provided on the clamping surface of the clamping block 5 for mounting the contact piece 8. By providing a plurality of the contact pieces 8, the clamping capacity of the guide bar can be increased and the clamping stability can be maintained.

[0032] Furthermore, the contact member 8 in this embodiment is further defined as follows: Figure 4 and Figure 5As shown, after the contact piece 8 is installed, its surface is higher than the clamping surface of the clamp block 5 by a distance h, and it is ensured that under the condition of maximum clamping force, the compression and deformation of the contact piece 8 is less than the protruding height value h, so that the contact piece 8 is always kept in contact with the conductor bar to avoid damage to the outer surface of the conductor bar.

[0033] Preferably, the structure of the pre-positioning component 1 in this embodiment is further limited, such as Figure 1 As shown, the specific structure of the pre-positioning component 1 includes: a base 9, a first direction centering unit 10, and a second direction moving unit 11; The base 9 is used to provide a mounting frame for the first direction centering unit 10 and the second direction moving unit 11, and a second direction stopper is provided on the base 9; The first direction centering unit 10 is a symmetrical structure, and the center of the guide bar is moved to a fixed position through synchronous movement to achieve pre-positioning in the first direction. The two sides of the first direction centering unit 10 can move synchronously toward or away from the center, so as to achieve positioning of the guide bar with the center, and ensure that the distances from the two end surfaces of the guide bar to the center are equal; The second direction moving unit 11 is used to push the guide bar onto the base 9, and is provided with a second direction stop position. Specifically in the present embodiment, the second direction moving unit 11 is a double-axis cylinder, which pushes the guide bar to the second direction stop position through its second direction movement, thereby achieving pre-positioning of the guide bar in the second direction.

[0034] At the same time, this embodiment also discloses a rotor bar adaptive grasping method including the above rotor bar adaptive grasping device. In this embodiment, the rotor bar adaptive grasping method. The specific grasping steps are as follows: (1) Pre-positioning of the guide bar, such as Figure 1 As shown, the guide bar is placed on the pre-positioning component 1, and the guide bar is specifically moved and positioned in the first direction and the second direction by the first direction centering unit 10 and the second direction moving unit 11, and moved to the second direction stop position, so that the grabbing component 2 can conveniently grab the guide bar in the third direction; (2) Guide bar grabbing, such as Figures 1 to 3 As shown, in the grabbing assembly 2, the two-finger translation manipulator 3 drives the clamping claw 4 to move by centering, so that the clamping block 5 can clamp the guide bar; And as Figure 2 As shown, when the guide bar is a special-shaped guide bar, the rotatable clamping block 5 is adjusted so that the angle between the clamping block 5 and the clamping claw 4 fits the outer surface of the guide bar, which facilitates clamping.

[0035] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A rotor bar adaptive gripping device, characterized in that: include: Pre-positioning components, grabbing components; The pre-positioning assembly is used to move the guide bar in the first direction and the second direction, and to achieve pre-positioning of the guide bar in the first direction, the second direction, and the third direction so that the guide bar can be grasped by the grasping device; The grabbing assembly is used to grab the guide bar, and its specific structure includes: a two-finger translation manipulator, a clamping claw, and a clamping block; The two-finger translation manipulator is symmetrically provided with a pair of movable blocks at the bottom, and the clamping jaws are respectively connected with a pair of movable blocks of the two-finger translation manipulator. The clamping jaws are away from one end of the two-finger translation manipulator and are also provided with rotatably connected clamping blocks for clamping the guide bar.

2. The rotor bar adaptive gripping device according to claim 1, characterized in that: The grabbing assembly is also provided with a third-direction positioning stopper; The third direction positioning stopper is arranged at the bottom of the two-finger translation manipulator and along the central axis of the two-finger translation manipulator.

3. The rotor bar adaptive gripping device according to claim 2, characterized in that: The clamping block is rotatably connected to the clamping jaw via a core shaft, and the clamping block performs angular rotation around the core shaft.

4. The rotor bar adaptive gripping device according to claim 3, characterized in that: The clamp is specifically a right-angle structure, formed by a first short side and a first long side being vertically connected to each other; The first short side of the first gripper is connected to the movable block on the two-finger translation manipulator; The first long side of the first clamping jaw is connected to the clamping block via the core shaft.

5. The rotor bar adaptive gripping device according to claim 4, characterized in that: The distance between the back side of the clamp block and the clamping claw is Y, the length of the clamp block is L, the distance between the center of the mandrel and the back side of the clamp block is X, and the maximum adjustment angle of the clamp block will be determined by the Y, L, and X values.

6. The rotor bar adaptive gripping device according to claim 1, characterized in that: The inner side surface of the clamping block is also provided with a contact piece, and the contact piece is made of a flexible material and contacts the guide bar.

7. The rotor bar adaptive gripping device according to claim 6, characterized in that: The contact piece is a strip-shaped structure, and a plurality of mutually parallel mounting grooves are provided on the clamping surface of the clamping block for mounting the contact piece.

8. The rotor bar adaptive gripping device according to claim 7, characterized in that: After the contact piece is installed, its surface is higher than the clamping surface of the clamp block by a distance h, and it is ensured that under the condition of maximum clamping force, the compression and deformation of the contact piece is less than the protruding height value h.

9. The rotor bar adaptive gripping device according to any one of claims 1 to 8, characterized in that: The specific structure of the pre-positioning component includes: a base, a first direction centering unit, and a second direction moving unit; The base is used to provide a mounting frame for the first direction centering unit and the second direction moving unit, and a second direction stopper is provided on the base; The first direction centering unit is a symmetrical structure, and the center of the guide bar is moved to a fixed position through synchronous movement to achieve pre-positioning in the first direction; The second direction moving unit is used to push the guide bar onto the base, and is provided with a second direction stop position to achieve pre-positioning in the second direction.

10. A rotor bar adaptive grasping method, comprising grasping the rotor bar adaptive grasping device according to any one of claims 1 to 9, wherein: The specific crawling steps are as follows: (1) Pre-positioning the guide bar, placing the guide bar on the pre-positioning assembly, moving and positioning the guide bar in the first direction and the second direction, and realizing pre-positioning of the guide bar in the first, second and third directions, so that the grabbing assembly can grab the guide bar in the third direction; (2) Guide bar grasping, in the grasping assembly, the two-finger translation manipulator drives the clamping claw to move synchronously by moving in the center, so that the clamping block can clamp the guide bar; When the guide bar is a special-shaped guide bar, the rotatable clamping block is adjusted so that the angle between the clamping block and the clamping claw fits with the outer surface of the guide bar, which facilitates clamping.

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