Quick-change enameled wire automatic packaging mechanical arm gripper

Abstract

The present application relates to the technical field of mechanical gripper, specifically to a quick-change type mechanical arm gripper for automatic enameled wire packaging, comprising a gripper replacement box, a mounting seat arranged on one side of the gripper replacement box, and a mechanical arm body fixed on the top end of the mounting seat. Through the starting of a stepping motor, the bidirectional threaded rod is driven to rotate, driving two isolation covers to open and close along the auxiliary rod synchronously and stably. In cooperation with the limiting rods on both sides of the mechanical gripper and the limiting seats on the gripper replacement box, the precise lifting and positioning of the mechanical gripper during storage can be realized, ensuring the consistency of the storage position each time, improving the accuracy of subsequent quick-change butt joint, and effectively blocking the direct settlement of the insulating paint mist, copper dust and organic solvent mist on the butt joint end face after the closure of the isolation cover, greatly reducing the contact probability of pollutants and the end face, prolonging the service life of the quick-change disc, reducing the frequency of manual cleaning and maintenance, and ensuring the continuous operation efficiency of the automatic packaging production line.

Description

Technical Field

[0001] This invention relates to the field of mechanical gripper technology, specifically a quick-change robotic arm gripper for automatic packaging of enameled wire. Background Technology

[0002] In the automated packaging process of enameled wire, the gripper mechanism mounted on the end effector of a robotic arm is typically used to grasp, transfer, and stack the wire spools, thereby improving the automation level and overall production efficiency of the packaging operation. Since enameled wire products cover a variety of diameters, the size and weight of the corresponding spools vary significantly. A single type of gripper cannot meet the packaging needs of all product specifications. When switching product batches on the production line, it is necessary to replace the robotic gripper with one of the corresponding specifications to ensure clamping stability and operational accuracy. Existing technologies generally employ a quick-change structure that combines a quick-change tray on the robotic arm side and a quick-change tray on the tool side. A built-in locking mechanism enables rapid docking and separation of the two, allowing for gripper type change without the need for complete disassembly of the end effector. This effectively shortens downtime for changeovers, ensuring the continuity of the packaging production line and its adaptability to multiple product categories.

[0003] In existing quick-change grippers, when stored and ready for use, the tool-side quick-change disc mating surfaces at the top of each gripper are mostly exposed, lacking a targeted isolation and protection structure. The enameled wire production workshop environment contains volatile insulating varnish mist, copper dust, and small amounts of organic solvent mist. These contaminants easily settle and adhere to the mating surfaces of the quick-change discs, the gas path sealing interfaces, and the electrical signal contact surfaces. Long-term accumulation can lead to decreased sealing performance, gas path leakage, poor signal contact, reduced stability of control signal transmission, and accelerated wear on the mating surfaces, reducing the repeatability and overall lifespan of the quick-change discs. Conventional manual cleaning and maintenance require periodic shutdowns, disrupting continuous production, increasing equipment maintenance costs, and failing to fully meet the long-term, stable, and efficient operation requirements of automated packaging production lines. Summary of the Invention

[0004] The purpose of this invention is to provide a quick-change robotic arm gripper for automatic packaging of enameled wire, in order to solve the problems mentioned in the background art. In the storage and standby state of existing quick-change grippers, the tool-side quick-change disc mating end face is mostly exposed, lacking an isolation and protection structure. Pollutants such as insulating varnish mist and copper dust in the enameled wire workshop are easy to settle and adhere, which will cause air circuit sealing failure, poor signal contact, and aggravate wear on mating surfaces, thereby reducing the positioning accuracy and service life of the quick-change disc.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a quick-change robotic arm gripper for automatic packaging of enameled wire, comprising a gripper replacement box, a mounting base disposed on one side of the gripper replacement box, and a robotic arm body fixed to the top of the mounting base. The gripper replacement box has several equally spaced placement holes inside. A robotic gripper is disposed inside the bottom of each placement hole. A tool-side quick-change disc is disposed at the top of each placement hole. The bottom of the tool-side quick-change disc is fixedly connected to the top of the robotic gripper. A robotic arm-side quick-change disc is mounted at the end of the front arm of the robotic arm body. A locator is fixed to the side of the front arm of the robotic arm body near the robotic arm-side quick-change disc. An isolation component is disposed on the outside of the gripper replacement box near each tool-side quick-change disc. A liquid storage tank is fixed inside the gripper replacement box.

[0006] Furthermore, two limiting rods are symmetrically fixed on both sides of the top of the mechanical gripper, and a limiting seat is fixed at the top of each limiting rod at the corresponding position of the gripper replacement box, with each limiting rod placed in the limiting seat.

[0007] Furthermore, the isolation assembly includes two isolation covers, a bidirectional threaded rod, and an auxiliary rod. The two isolation covers are symmetrically arranged on both sides of the tool-side quick-change disc. The bidirectional threaded rod is arranged on one side of the bottom end of the two isolation covers, and the auxiliary rod is arranged on the other side of the bottom end of the two isolation covers.

[0008] Furthermore, the gripper replacement box has positioning seats fixedly installed at corresponding positions at both ends of the bidirectional threaded rod and the auxiliary rod. The two ends of the bidirectional threaded rod are rotatably inserted into the positioning seats on both sides, and the two ends of the auxiliary rod are fixed on the positioning seats on both sides. A stepper motor is fixedly installed on the outer side of one of the positioning seats, and the output end of the stepper motor is coaxially and fixedly connected to one end of the bidirectional threaded rod.

[0009] Furthermore, a nut block is fixedly installed on the side of each of the two isolation covers near the bottom end of the bidirectional threaded rod, and the nut block is threaded onto the outside of the bidirectional threaded rod. A slider is fixedly installed on the side of each of the two isolation covers near the bottom end of the auxiliary rod, and the slider is slidably sleeved onto the outside of the auxiliary rod.

[0010] Furthermore, both isolation covers have an arc-shaped groove on the bottom side near the tool-side quick-change disc, both isolation covers have a liquid injection assembly at the bottom, and a receiver is embedded in the top of one of the isolation covers.

[0011] Furthermore, the injection assembly includes a piston rod and a piston cylinder. One end of the piston rod is fixed to the bottom end of the isolation cover, and the piston cylinder is fixed to the top of the gripper replacement box. The piston end of the piston rod is slidably sealed to the inside of the piston cylinder. A one-way inlet valve pipe and a one-way outlet valve pipe are fixedly connected to one end wall of the piston cylinder.

[0012] Furthermore, the inside of the gripper replacement box is surrounded by a liquid guiding pipe. One end of the liquid guiding pipe penetrates the tank wall of the liquid storage tank and extends into it for fixed connection. The other end of the liquid guiding pipe is a sealed end. The input end of the one-way liquid inlet valve pipe is connected to the inside of the side wall of the liquid guiding pipe. The output end of the one-way liquid outlet valve pipe is fixedly connected to a spring tube.

[0013] Furthermore, an elastic reservoir is fixed to one side inside the isolation cover. The end of the spring tube away from the one-way drain valve tube passes through the wall of the elastic reservoir and is sealed and fixed inside it. A discharge tube is sealed and fixed through one side wall of the elastic reservoir. A limit block is fixedly fitted on the outside of the discharge tube. One end of the limit block is fixed to the top wall of the isolation cover. A press valve is fixed through the side wall of the discharge tube. An abutment rod is slidably inserted laterally inside the limit block. One end of the abutment rod faces the pressing end of the press valve, and a stop block is fixed to the other end of the abutment rod.

[0014] Furthermore, a return spring is sleeved on the outside of the rod segment of the abutment rod near the stop block. The two ends of the return spring are respectively fixed to one side of the stop block and one side of the limiting block. A semi-circular tube is fixedly connected to the end of the discharge pipe away from the elastic reservoir. Several atomizing nozzles are fixedly connected to the bottom end of the semi-circular tube along the arc length direction.

[0015] Compared with the prior art, the beneficial effects of the present invention are: 1. The stepper motor starts the machine, which drives the bidirectional threaded rod to rotate and drive the two isolation covers to open and close synchronously and smoothly along the auxiliary rod. With the limit rods on both sides of the mechanical gripper and the limit seat on the gripper replacement box, the mechanical gripper can be accurately lifted and positioned during storage, ensuring that the storage position is consistent each time and improving the accuracy of subsequent quick-change docking. After the isolation covers are closed, they can effectively prevent the insulating paint mist, copper dust and organic solvent mist that are drifting from above and to the side from directly settling on the docking end face, greatly reducing the probability of contaminants coming into contact with the end face, extending the service life of the quick-change tray, reducing the frequency of manual cleaning and maintenance, and ensuring the continuous operating efficiency of the automated packaging production line.

[0016] 2. The opening and closing of the liquid injection component and the isolation cover are purely mechanically linked, requiring no additional power pump or electrical control device. When the isolation cover expands, it drives the piston rod to squeeze the inner cavity of the piston cylinder, injecting cleaning fluid into the elastic reservoir to complete the quantitative liquid storage. When the isolation cover closes, the piston rod moves outward synchronously to create negative pressure, automatically drawing replenishment fluid from the reservoir through the liquid guide pipe, realizing automatic circulation and replenishment of the liquid path. Before the isolation covers on both sides are fully closed, the blocks abut against each other, pushing the abutment rod to trigger the press valve to open. The cleaning fluid in the elastic reservoir is evenly sprayed onto the end face of the quick-change disc on the tool side through the semi-circular tube and the atomizing nozzle. The micro-atomized cleaning fluid softens the sticky paint and wets the dust particles already attached to the end face, preventing the dirt from drying and hardening and embedding in the micro-gap of the mating surface, reducing the risk of wear on the mating surface by dirt. Without adding additional maintenance procedures, it achieves active maintenance of the end face of the quick-change disc, extending the repeatability accuracy maintenance cycle and overall service life of the quick-change disc. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a partial cross-sectional perspective three-dimensional structural diagram of the gripper replacement box and mechanical gripper of the present invention; Figure 3 This is a three-dimensional structural diagram of the tool-side quick-change disc and isolation cover of the present invention; Figure 4 This is a three-dimensional structural diagram of the auxiliary rod and slider of the present invention; Figure 5 For the present invention Figure 3 Enlarged structural diagram at point A in the middle; Figure 6 For the present invention Figure 3 Enlarged structural diagram at point B; Figure 7 This is a partial cross-sectional three-dimensional structural schematic diagram of the mechanical gripper and isolation cover of the present invention; Figure 8 For the present invention Figure 7 Enlarged structural diagram at point C; Figure 9 This is a partial cross-sectional three-dimensional structural diagram of the isolation cover and the semi-circular tube of the present invention; Figure 10 For the present invention Figure 9 Enlarged structural diagram at point D; Figure 11 For the present invention Figure 9 Enlarged structural diagram at point E; Figure 12 This is a top view of the tool-side quick-change disc and semi-circular tube of the present invention.

[0018] In the attached diagram, the components represented by each number are as follows: 1. Gripper replacement box; 2. Robotic arm body; 3. Robotic arm side quick-change disc; 4. Positioner; 5. Placement hole; 6. Mechanical gripper; 7. Tool side quick-change disc; 8. Limiting rod; 9. Isolation cover; 10. Liquid storage tank; 11. Receiver; 12. Bidirectional threaded rod; 13. Auxiliary rod; 14. Nut block; 15. Stepper motor; 16. Slider; 17. Arc groove; 18. Piston rod; 19. Piston cylinder; 20. Main liquid guide pipe; 21. One-way liquid inlet valve pipe; 22. One-way liquid outlet valve pipe; 23. Spring tube; 24. Elastic liquid storage bladder; 25. Limiting block; 26. Discharge pipe; 27. Semi-circular tube; 28. Atomizing nozzle; 29. ​​Press valve; 30. Contact rod; 31. Stop block; 32. Return spring; 33. Positioning seat; 34. Mounting seat; 35. Limiting seat. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] Example 1: Please refer to Figures 1-6 A quick-change robotic arm gripper for automatic packaging of enameled wire includes a gripper replacement box 1, a mounting base 34 disposed on one side of the gripper replacement box 1, and a robotic arm body 2 fixed to the top of the mounting base 34. The gripper replacement box 1 has several placement holes 5 evenly spaced through it. A robotic gripper 6 is disposed inside the bottom of each placement hole 5. A tool-side quick-change disc 7 is disposed at the top of each placement hole 5. The bottom of the tool-side quick-change disc 7 is fixedly connected to the top of the robotic gripper 6. A robotic arm-side quick-change disc 3 is installed at the end of the front arm of the robotic arm body 2. A locator 4 is fixed on the side of the front arm of the robotic arm body 2 near the robotic arm-side quick-change disc 3. An isolation component is disposed on the outside of the gripper replacement box 1 near each tool-side quick-change disc 7.

[0021] Two limiting rods 8 are symmetrically fixed on both sides of the top of the mechanical gripper 6. The gripper replacement box 1 has a limiting seat 35 fixed at the top of each limiting rod 8 at the corresponding position. Each limiting rod 8 is placed in the limiting seat 35.

[0022] The isolation assembly includes two isolation covers 9, a bidirectional threaded rod 12, and an auxiliary rod 13. The two isolation covers 9 are symmetrically arranged on both sides of the tool-side quick-change disc 7. The bidirectional threaded rod 12 is located on one side of the bottom end of the two isolation covers 9, and the auxiliary rod 13 is located on the other side of the bottom end of the two isolation covers 9.

[0023] The gripper replacement box 1 has positioning seats 33 fixedly installed at corresponding positions at both ends of the bidirectional threaded rod 12 and the auxiliary rod 13. The two ends of the bidirectional threaded rod 12 are rotatably inserted into the positioning seats 33 on both sides. The two ends of the auxiliary rod 13 are fixed on the positioning seats 33 on both sides. A stepper motor 15 is fixedly installed on the outside of one of the positioning seats 33. The output end of the stepper motor 15 is coaxially fixedly connected to one end of the bidirectional threaded rod 12.

[0024] Nut blocks 14 are fixedly installed on the side of each isolation cover 9 near the bottom end of the bidirectional threaded rod 12. The nut blocks 14 are threaded onto the outside of the bidirectional threaded rod 12. Slider blocks 16 are fixedly installed on the side of each isolation cover 9 near the bottom end of the auxiliary rod 13. The sliders 16 are slidably sleeved onto the outside of the auxiliary rod 13.

[0025] A receiver 11 is embedded in the top of one of the isolation shields 9.

[0026] In this embodiment, when the mechanical gripper 6 to be replaced needs to be replaced and returned to its original position, the robotic arm body 2 drives the quick-change disc 3 on the end of the robotic arm to move synchronously with the mechanical gripper 6 to the position directly above the corresponding placement hole 5 of the gripper replacement box 1. After moving into position, the locator 4 at the end of the robotic arm completes signal alignment matching with the receiver 11 at the top of the corresponding workstation isolation cover 9. After confirming the location information of the target storage workstation, the control system triggers the start of the stepper motor 15 corresponding to that workstation. The output end of the stepper motor 15 drives the bidirectional threaded rod 12 to rotate at a constant speed under the support of the positioning seats 33 on both sides. The bidirectional threaded rod 12 drives the two isolation covers 9 to move synchronously outward through the threaded transmission cooperation with the two nut blocks 14. The slider 16 on the other side of the isolation cover 9 slides synchronously along the auxiliary rod 13, providing linear guidance and lateral support for the movement of the isolation cover 9, ensuring the synchronicity and stability of the opening and closing actions of the two isolation covers 9, and avoiding the problem of offset and jamming.

[0027] After the two isolation covers 9 are fully expanded and opened, exposing the opening of the placement hole 5 below, the robotic arm body 2 slowly lowers the robotic arm side quick-change plate 3 and the robotic gripper 6 to be replaced, extending the main body of the robotic gripper 6 into the placement hole 5. During the descent, the limiting rods 8 on both sides of the top of the robotic gripper 6 will fall into the limiting seats 35 at the top of the gripper replacement box 1. The limiting seats 35 lift and limit the limiting rods 8, thereby achieving precise positioning and stable support for the entire robotic gripper 6. This ensures that the positional accuracy of the gripper is consistent each time, avoiding the impact of gripper displacement on the accuracy of subsequent quick-change docking, and eliminating the need for additional complex alignment calibration structures.

[0028] After the mechanical gripper 6 is placed in position, the locking mechanism inside the quick-change disc 3 on the gripper side unlocks, separating it from the tool-side quick-change disc 7 at the top of the gripper 6. After separation, the robotic arm body 2 slowly lifts the quick-change disc 3 on the gripper side, gradually moving it away from the docking area of ​​the tool-side quick-change disc 7. When the quick-change disc 3 on the gripper side is raised to the preset height, the receiver 11 no longer receives the alignment signal from the positioner 4. The control system then drives the stepper motor 15 to rotate in the opposite direction. Through the transmission cooperation between the bidirectional threaded rod 12 and the nut block 14, the two isolation covers 9 move synchronously towards each other. Finally, the docking surfaces of the two isolation covers 9 fit tightly together, forming a closed protective cavity that completely covers the docking surface of the tool-side quick-change disc 7. The arc-shaped groove 17 at the bottom of the isolation cover 9 avoids the connecting shaft section of the gripper, ensuring a tight seal without interfering with the gripper structure.

[0029] The closed isolation cover 9 can effectively prevent the insulating paint mist, copper dust and organic solvent mist drifting from above and to the side from directly settling on the docking end face, greatly reducing the probability of contaminants coming into contact with the end face, reducing problems such as gas path sealing failure, poor contact of signal contacts and unstable control signal transmission caused by contaminant accumulation, extending the overall service life of the quick-change plate, greatly reducing the frequency of manual cleaning and maintenance and operation and maintenance costs, and ensuring the reliability and stability of each subsequent quick-change docking.

[0030] When a specific size mechanical gripper 6 is needed to perform packaging operations, the robotic arm body 2 moves the robotic arm side quick-change plate 3 to above the corresponding placement hole 5, repeating the above alignment and cover opening process. After the two isolation covers 9 open simultaneously, the docking end face of the tool side quick-change plate 7 is exposed. The robotic arm moves the robotic arm side quick-change plate 3 down to complete precise docking with the tool side quick-change plate 7 and lock it in place. Then, it moves the mechanical gripper 6 upward, the limit rod 8 disengages from the limit seat 35, and after the gripper completely leaves the placement hole 5, the isolation cover 9 closes simultaneously to restore the protective state. The robotic arm can then carry the replaced gripper to perform packaging operations such as gripping, transferring, and stacking enameled wire spools.

[0031] The entire process of gripper changeover and storage protection is fully automated, requiring no manual intervention. This effectively shortens the downtime of production line changeovers and ensures the continuous operation of the enameled wire packaging production line. Each storage station is equipped with an independent isolation and protection structure, which can provide independent dust and dirt protection for multiple specifications of ready-to-use grippers at the same time. This is suitable for the mass production of multiple specifications of products in the enameled wire industry. The overall structure has reliable transmission and clear control logic, which fully meets the technical definition of quick tool changeover and matching protection for robotic arms.

[0032] Example 2: Please refer to Figure 2 and Figures 7-12 This embodiment further explains Example 1, wherein a liquid storage tank 10 is fixed inside the gripper replacement box 1.

[0033] Both isolation covers 9 have arc-shaped grooves 17 on the bottom side of the quick-change disc 7 near the tool side, and both isolation covers 9 have liquid injection components at the bottom.

[0034] The liquid injection assembly includes a piston rod 18 and a piston cylinder 19. One end of the piston rod 18 is fixed to the bottom end of the isolation cover 9, and the piston cylinder 19 is fixed to the top end of the gripper replacement box 1. The piston end of the piston rod 18 is slidably sealed to the inside of the piston cylinder 19. One-way liquid inlet valve pipe 21 and one-way liquid outlet valve pipe 22 are fixedly connected to one end wall of the piston cylinder 19.

[0035] The inside of the gripper replacement box 1 is surrounded by a liquid guiding pipe 20. One end of the liquid guiding pipe 20 penetrates the tank wall of the liquid storage tank 10 and extends into it for fixed connection. The other end of the liquid guiding pipe 20 is a sealed end. The input end of the one-way liquid inlet valve pipe 21 is connected to the inside of the side wall of the liquid guiding pipe 20. The output end of the one-way liquid outlet valve pipe 22 is fixedly connected to a spring tube 23.

[0036] An elastic reservoir 24 is fixed to one side inside the isolation cover 9. The end of the spring tube 23 away from the one-way drain valve tube 22 passes through the wall of the elastic reservoir 24 and is sealed and fixed inside it. A discharge tube 26 is sealed and fixed through one side wall of the elastic reservoir 24. A limit block 25 is fixedly fitted on the outside of the discharge tube 26. One end of the limit block 25 is fixed to the top wall of the isolation cover 9. A press valve 29 is fixed through the side wall of the discharge tube 26. An abutment rod 30 is slidably inserted laterally inside the limit block 25. One end of the abutment rod 30 faces the pressing end of the press valve 29. A stop block 31 is fixed to the other end of the abutment rod 30.

[0037] A return spring 32 is sleeved on the outside of the rod section of the abutment rod 30 near the stop block 31. The two ends of the return spring 32 are fixed to one side of the stop block 31 and one side of the limit block 25, respectively. A semi-circular tube 27 is fixedly connected to the end of the discharge pipe 26 away from the elastic liquid storage bladder 24. Several atomizing nozzles 28 are fixedly connected to the bottom end of the semi-circular tube 27 along the arc length direction.

[0038] In this embodiment, the liquid injection component operates synchronously with the opening and closing of the isolation cover 9. The entire process relies on purely mechanical transmission to achieve automatic liquid storage, automatic replenishment, and quantitative atomization cleaning. No additional power pumps, electronically controlled valves, or other devices are required. The structure boasts high integration, reliable and stable operation, and is suitable for the complex working conditions of enameled wire production workshops. The cleaning liquid used is electronic-grade anhydrous isopropanol, a commonly used and compliant medium in the field of cleaning industrial precision components. It does not cause corrosion, swelling, or damage to metal end faces, rubber seals, engineering plastic bases, or electrical signal contacts. This structure employs a micro-quantitative spraying design, with a small amount of liquid sprayed per cycle. It only serves to dissolve sticky paint residue and remove entrained dust and contaminants, without negatively impacting the performance and accuracy of the quick-change disc.

[0039] When the two isolation covers 9 are driven outward by the bidirectional threaded rod 12, the piston rod 18 fixed at the bottom of the isolation cover 9 moves synchronously with the isolation cover 9 and pushes into the piston cylinder 19, squeezing the pre-stored cleaning liquid in the inner cavity of the piston cylinder 19. The cleaning liquid in the piston cylinder 19 is forced into the elastic reservoir 24 inside the isolation cover 9 through the one-way drain valve pipe 22 and the spring pipe 23. The elastic reservoir 24 expands under the action of hydraulic pressure, completing the quantitative storage of the cleaning liquid. During this process, the two isolation covers 9 move away from each other, the stops 31 at the ends of the two side abutment rods 30 do not contact each other, the press valve 29 is in the normally closed state, and the liquid in the elastic reservoir 24 is only stored in the bladder and the discharge pipe 26 and will not spray out, ensuring that there is no liquid leakage during the opening and closing process.

[0040] After the mechanical gripper 6 returns to its position, the two isolation covers 9 are driven to move in opposite directions and close. The piston rod 18 moves synchronously to the outside of the piston cylinder 19 along with the isolation covers 9, creating a negative pressure environment inside the piston cylinder 19. The clean liquid in the storage tank 10 is drawn into the piston cylinder 19 through the liquid guide pipe 20 and the one-way liquid inlet valve pipe 21, completing the automatic liquid replenishment and reserving liquid for the next liquid storage operation. The entire process does not require manual liquid replenishment or additional pumping devices. The automatic circulation and replenishment of the liquid circuit can be completed by relying on the opening and closing power of the isolation covers 9, which greatly reduces the structural complexity and operation and maintenance costs.

[0041] As the two isolation covers 9 continue to close towards each other, when they move to near the final closed position, the end faces of the opposing blocks 31 on both sides come into contact with each other. As the isolation covers 9 continue to close towards the middle, the blocks 31 are subjected to the opposing pressure, causing the contact rod 30 to slide laterally along the internal through hole of the limiting block 25. The return spring 32 is compressed and stored, and the contact rod 30 gradually moves towards one end of the pressing valve 29, eventually pressing and triggering the pressing end of the pressing valve 29, thus opening the pressing valve 29. At this time, the elastic recoil force of the elastic reservoir 24 acts on the internal cleaning liquid, and the liquid enters the discharge pipe 26 through the opened pressing valve 29, and is finally delivered to the semi-circular pipe 27. It is then atomized and sprayed out by several low-starting-pressure micro-hole atomizing nozzles 28 evenly arranged along the arc length at the bottom end of the semi-circular pipe 27, and evenly sprayed on the docking end face of the tool-side quick-change disc 7. This type of atomizing nozzle 28 has a low starting pressure threshold, which is fully compatible with the hydraulic pressure range provided by the elastic recoil force of the elastic liquid storage bladder 24; and the single spray volume is small and the spraying time is short, and the pressure decay in the bladder is limited during the effective spraying stage, which can ensure that the atomization effect of each nozzle is uniform and stable.

[0042] In this embodiment, two symmetrically arranged semicircular tubes 27 cover the two halves of the quick-change disc respectively. Compared with a single-ring tube, independent liquid supply to the two halves ensures uniform spraying pressure and volume in each area, eliminating problems such as insufficient pressure at the far end or uneven spraying. This ensures that the entire mating surface, air path sealing interface, and signal contacts of the quick-change disc are evenly covered by atomized cleaning fluid. The atomized anhydrous isopropanol can quickly soften and dissolve the insulating varnish deposits adhering to the end face, while simultaneously wetting and settling copper dust and dirt particles, breaking the adhesion between dirt and the metal end face, seals, and contact surfaces, preventing the varnish from drying and hardening, and dust from becoming embedded and aggravating wear on the mating surfaces. The cleaning fluid subsequently evaporates quickly and naturally in the closed enclosure environment, leaving no solvent residue and preventing secondary damage such as corrosion or blockage to seals and contacts. With the continuous sealing protection of the isolation cover 9, the quick-change disc end face can be kept in a clean state with low adhesion and easy cleaning, which greatly reduces the difficulty and frequency of subsequent manual deep cleaning and extends the service life and accuracy maintenance cycle of the quick-change disc.

[0043] When the two isolation covers 9 expand outwards again, the blocks 31 on both sides separate synchronously with the isolation covers 9, the mutual resistance disappears, the reset spring 32 releases its elastic force to drive the contact rod 30 to slide back to its original position along the limit block 25, the press valve 29 automatically resets and closes after losing its pressing force, blocking the liquid path, the elastic reservoir 24 stops discharging liquid, and waits for the next expansion action to complete the liquid storage, thus completing a complete work cycle. At the same time, the liquid storage tank 10 is equipped with an inspection hatch and an external liquid replenishment interface on the side wall of the gripper replacement box 1, so that the cleaning fluid can be replenished and daily maintenance can be completed without disassembling the entire box. The liquid storage tank 10 is equipped with a liquid level detection unit, which can send a reminder to the control system when the remaining liquid is insufficient, ensuring the continuous and stable operation of the cleaning function.

[0044] The entire cleaning process is fully synchronized with the opening and closing of the isolation cover 9. Each time the gripper returns to its position and the isolation cover 9 closes for protection, a quantitative cleaning of the quick-change tray end face is automatically completed. No additional control steps or manual operation are required. In addition to dustproof isolation protection, it further adds the function of active maintenance, providing dual protection for the cleanliness and performance stability of the tool-side quick-change tray 7, greatly reducing the frequency and cost of manual cleaning and maintenance, and fully adapting to the long-term continuous operation needs of automated packaging production lines.

[0045] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus.

[0046] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A quick-change robotic arm gripper for automatic packaging of enameled wire, comprising a gripper replacement box (1), a mounting base (34) disposed on one side of the gripper replacement box (1), and a robotic arm body (2) fixed to the top of the mounting base (34), characterized in that: The gripper replacement box (1) has several placement holes (5) that are evenly spaced through it. A mechanical gripper (6) is provided inside the bottom of each placement hole (5). A tool-side quick-change disc (7) is provided at the top of each placement hole (5). The bottom of the tool-side quick-change disc (7) is fixedly connected to the top of the mechanical gripper (6). A mechanical hand-side quick-change disc (3) is installed at the end of the front arm of the robotic arm body (2). A locator (4) is fixed on the side of the front arm of the robotic arm body (2) near the mechanical hand-side quick-change disc (3). An isolation component is provided on the outside of each tool-side quick-change disc (7) of the gripper replacement box (1). A liquid storage tank (10) is fixed inside the gripper replacement box (1). The isolation assembly includes two isolation covers (9), a bidirectional threaded rod (12), and an auxiliary rod (13). The two isolation covers (9) are symmetrically arranged on both sides of the tool-side quick-change disc (7). The bidirectional threaded rod (12) is arranged on one side of the bottom end of the two isolation covers (9), and the auxiliary rod (13) is arranged on the other side of the bottom end of the two isolation covers (9). Both isolation covers (9) have an arc-shaped groove (17) on one side of the tool-side quick-change disc (7) and both isolation covers (9) have a liquid injection assembly at the bottom. A receiver (11) is embedded in the top of one of the isolation covers (9). The injection assembly includes a piston rod (18) and a piston cylinder (19). One end of the piston rod (18) is fixed to the bottom end of the isolation cover (9), and the piston cylinder (19) is fixed to the top end of the gripper replacement box (1). The piston end of the piston rod (18) is slidably sealed to the inside of the piston cylinder (19). One-way inlet valve pipe (21) and one-way outlet valve pipe (22) are fixedly connected to one end wall of the piston cylinder (19).

2. The robotic arm gripper for quick-change enameled wire automatic packaging according to claim 1, characterized in that: Two limiting rods (8) are symmetrically fixed on both sides of the top of the mechanical gripper (6). The gripper replacement box (1) has a limiting seat (35) fixed at the top of each limiting rod (8) at the corresponding position. Each limiting rod (8) is placed in the limiting seat (35).

3. The robotic arm gripper for quick-change enameled wire automatic packaging according to claim 1, characterized in that: The gripper replacement box (1) has positioning seats (33) fixedly installed at corresponding positions at both ends of the bidirectional threaded rod (12) and the auxiliary rod (13). The two ends of the bidirectional threaded rod (12) are rotatably inserted into the positioning seats (33) on both sides. The two ends of the auxiliary rod (13) are fixed on the positioning seats (33) on both sides. A stepper motor (15) is fixedly installed on the outside of one of the positioning seats (33). The output end of the stepper motor (15) is coaxially fixedly connected to one end of the bidirectional threaded rod (12).

4. The robotic arm gripper for quick-change enameled wire automatic packaging according to claim 3, characterized in that: Nut blocks (14) are fixedly installed on the bottom side of each of the two isolation covers (9) near the bidirectional threaded rod (12). The nut blocks (14) are threaded onto the outside of the bidirectional threaded rod (12). Slider blocks (16) are fixedly installed on the bottom side of each of the two isolation covers (9) near the auxiliary rod (13). The sliders (16) are slidably sleeved on the outside of the auxiliary rod (13).

5. The robotic arm gripper for quick-change enameled wire automatic packaging according to claim 1, characterized in that: The gripper replacement box (1) is surrounded by a liquid guiding pipe (20). One end of the liquid guiding pipe (20) penetrates the tank wall of the liquid storage tank (10) and extends into it for fixed connection. The other end of the liquid guiding pipe (20) is a sealed end. The input end of the one-way liquid inlet valve pipe (21) is connected to the inside of the side wall of the liquid guiding pipe (20). The output end of the one-way liquid outlet valve pipe (22) is fixedly connected to a spring pipe (23).

6. The robotic arm gripper for quick-change enameled wire automatic packaging according to claim 5, characterized in that: An elastic reservoir (24) is fixed to one side inside the isolation cover (9). The end of the spring tube (23) away from the one-way drain valve tube (22) passes through the wall of the elastic reservoir (24) and is sealed and fixed inside it. A discharge tube (26) is sealed and fixed through one side wall of the elastic reservoir (24). A limit block (25) is fixedly fitted on the outside of the discharge tube (26). One end of the limit block (25) is fixed on the top wall of the isolation cover (9). A press valve (29) is fixed through the side wall of the discharge tube (26). An abutment rod (30) is slidably inserted inside the limit block (25). One end of the abutment rod (30) faces the pressing end of the press valve (29). A stop block (31) is fixed to the other end of the abutment rod (30).

7. The robotic arm gripper for quick-change enameled wire automatic packaging according to claim 6, characterized in that: The section of the abutment rod (30) near the stop block (31) is fitted with a return spring (32). The two ends of the return spring (32) are fixed to one side of the stop block (31) and one side of the limiting block (25), respectively. The end of the discharge pipe (26) away from the elastic reservoir (24) is fixedly connected to a semi-circular tube (27). The bottom end of the semi-circular tube (27) is fixedly connected to several atomizing nozzles (28) along the arc length direction.

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