Robot gripper for motor assembly

Abstract

The utility model relates to the technical field of motor assembling and machining, and provides a robot gripper for motor assembling, which comprises a connecting flange, a cross beam, a gripper body and a limiting mechanism, the cross beam is fixedly mounted at the tail end of the connecting flange, the gripper body is mounted on the side wall of the cross beam, and the gripper body comprises a track fixedly mounted on the cross beam. A pair of clamping arms is arranged on the rail in a sliding mode, the inner side walls of the clamping arms are connected with a rotating disc through connecting rods, the rotating disc is rotationally installed on a cross beam, V-shaped profiling blocks are fixedly installed at the tail ends of the clamping arms, buffering patches are installed on the V-shaped profiling blocks, and a limiting mechanism is fixedly installed at the upper end of the cross beam. The limiting mechanism is provided with a guide rod through a fixing base, a pair of floating plates are arranged on the guide rod in a sliding mode, circumferential clamping pieces are installed at the tail ends of the floating plates, the circumferential clamping pieces are provided with steps, and a robot claw grabs a rotor part through a chip mounting finger and completes circumferential positioning of an end cover and grabbing and positioning of a rotor at the same time.

Description

Technical Field

[0001] The utility model relates to the technical field of engine assembly, in particular to a robot gripper for motor assembly. Background Art

[0002] The new energy flat wire motor is one of the important products in the new energy industry. In its automated production and assembly process, there are processes of stator-rotor assembly and gluing of the rear end cover. Both processes require robots to grab the corresponding components and products to complete. The stator-rotor assembly process requires the robot to grab the stator components and rotor components from different conveyor lines and place them on the assembly press equipment for assembly. The assembly process requires the robot to grab the stator components and rotor components at a certain angle and accurately place them on the positioning tooling of the assembly press equipment. After the assembly press equipment is pressed, the robot's air gripper will return the stator-rotor assembly components to the conveyor line. The gluing of the rear end cover requires the robot to grab the rear end cover and cooperate with the gluing equipment to complete it.

[0003] The process described above places high demands on the robot gripper. The existing gripping manipulator has the following technical problems:

[0004] For example, the loading and unloading mechanism of a winding machine with publication number CN 217239274U adopts a mechanical clamp that can only clamp one rotor or one stator. When grabbing the stator or rotor parts, the circumferential positioning of the end cover cannot be achieved, and the end cover cannot be compatible at the same time. When grabbing the rotor part, the rear end cover will rotate relative to the motor shaft. The rotation of the electric end cover causes the glue to be applied to the wrong place. The existing robot gripper cannot clamp the rotor and the stator at the same time to prevent the rotation of the end cover. Utility Model Content

[0005] The utility model aims to provide a robot gripper for motor assembly, which can solve the technical problem that the existing robot gripper cannot be applied to a variety of parts including a rotor, a stator and a rear end cover.

[0006] To achieve the above-mentioned purpose, the utility model proposes a motor assembly robot gripper, comprising a connecting flange, a crossbeam, a gripper body and a limiting mechanism, wherein the end of the connecting flange is fixedly mounted with the crossbeam;

[0007] The side wall of the crossbeam is provided with a gripper body, the gripper body comprises a track fixedly installed on the crossbeam, a pair of clamping arms are slidably arranged on the track, the inner side wall of the clamping arm is connected to a rotating disk through a connecting rod, the rotating disk is rotatably installed on the crossbeam, a V-shaped profiling block is fixedly installed at the end of the clamping arm, and a buffer patch is installed on the V-shaped profiling block;

[0008] A limiting mechanism is fixedly installed on the upper end of the cross beam, and a guide rod is arranged on the limiting mechanism through a fixed seat. A pair of floating plates are slidably arranged on the guide rod, and a circumferential clamp is installed at the end of the floating plate, and a step is formed on the circumferential clamp.

[0009] It is further configured that one end of the connecting rod is hingedly installed below the clamping arm, and the other end of the connecting rod is hingedly connected to the rotating disk.

[0010] It is further configured that a clamping cylinder is installed between the clamping arms.

[0011] It is further configured that the V-shaped profiling block is installed at the end of the clamping arm through a mounting plate, the connecting plate is located on the inner side wall of the clamping arm, and the V-shaped profiling block is installed at one end of the mounting plate.

[0012] It is further configured that the V-shaped profiling block is provided with an inclined surface, and a buffer patch is fixedly mounted on the inclined surface.

[0013] It is further configured that the buffer patch is made of polyurethane material.

[0014] It is further configured that a connecting bracket is fixedly installed on the upper end of the beam, a bearing plate is installed on the end of the connecting bracket, a fixing seat is installed in the center of the bearing plate, a pair of guide rods are fixedly installed through the fixing seat, and the floating plate is slidably installed on the guide rods through an oil-free bushing.

[0015] It is further configured that a pair of limit baffles are fixedly installed at both ends of the guide rod, a pair of convex baffles are fixedly installed at both ends of the bearing plate, the movable range is between the limit baffle and the convex baffle, and a spring is installed between the limit baffle and the floating plate.

[0016] It is further configured that the track is arranged in two rows along the length direction of the beam, a slide is fixedly installed at the lower end of the clamping arm, a guide block is fixedly installed at the lower end of the slide, a guide groove is provided on the guide block, and the clamping arm slides on the track through the cooperation between the guide groove and the track.

[0017] It is further configured that a distance sensor is installed on one side of the clamping arm, and the distance sensor is installed on the slide plate through a connecting plate.

[0018] Beneficial effects of one or more of the above technical solutions:

[0019] (1) The robot gripper grasps the rotor component through the patch fingers and simultaneously positions the front end cover circumferentially through the patch of the axis limit mechanism to prevent the front end cover from rotating relative to the rotor component during the process of grasping and carrying the rotor component.

[0020] (2) The V-shaped profiling block and the buffer patch are designed as a double-layer combination of profiling and V-shape, which can not only achieve the fit clamping of cylindrical parts with different diameters, but also the fit grabbing of irregular shaped parts. The buffer patch is made of polyurethane material, which can reduce the situation where the clamping force is too strong and the parts are left with clamping marks. At the same time, it can also play a buffering role during clamping, and the fast clamping action will not cause bumps to the parts.

[0021] (3) The movement of the clamping arm will drive the rotating disk to rotate through the connecting rod. The connecting rod and the rotating disk form a crank double-link structure to ensure the synchronization of the clamping movement, which can effectively ensure that the axis of the clamped part is in the center of the clamping claw each time, and avoid the situation of unbalanced clamping. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The drawings in the specification, which constitute a part of the present application, are used to provide a further understanding of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute a limitation on the present application.

[0023] Figure 1 It is a structural schematic diagram of the utility model.

[0024] Figure 2 It is a structural schematic diagram of the limiting mechanism of the utility model.

[0025] Figure 3 It is a structural schematic diagram of the gripper body of the utility model.

[0026] Figure 4 It is a structural schematic diagram of the V-shaped profiling block of the utility model.

[0027] Figure 5 It is a schematic diagram of the structure of the utility model after grabbing the rotor.

[0028] Figure 6 It is a schematic diagram of the structure of the utility model after grabbing the stator.

[0029] Figure 7 for Figure 5 A partial enlarged view of point A in the middle.

[0030] In the figure, 1 is a connecting flange; 2 is a crossbeam;

[0031] 3 gripper body; 31 track; 32 clamping arm; 33 connecting rod; 34 rotating disk; 35 clamping cylinder; 36 connecting plate; 37 slide plate; 38 guide block; 39 guide groove; 310 distance sensor; 311 mounting plate;

[0032] 4V-shaped profiling block; 41 buffer patch; 42 inclined surface;

[0033] 5 limiting mechanism; 51 fixing seat; 52 guide rod; 53 floating plate; 54 circumferential clamping piece; 55 step; 56 connecting bracket; 57 bearing plate; 58 oil-free bushing; 59 limiting baffle; 510 convex baffle; 511 spring;

[0034] 6 rotor; 7 stator; 8 end cover; DETAILED DESCRIPTION

[0035] The following is combined with Figure 1 , describing the specific implementation of this embodiment.

[0036] Reference Figure 1 A robot gripper for motor assembly comprises a connecting flange 1, a crossbeam 2, a gripper body 3 and a limiting mechanism 5, wherein the crossbeam 2 is fixedly mounted at the end of the connecting flange 1;

[0037] Reference Figure 1 , Figure 2 and Figure 3 A gripper body 3 is installed on the side wall of the crossbeam 2. The gripper body 3 includes a track 31 fixedly installed on the crossbeam 2. A pair of clamping arms 32 are slidably arranged on the track 31. The inner wall of the clamping arm 32 is connected to a rotating disk 34 through a connecting rod 33. The rotating disk 34 is rotatably installed on the crossbeam 2. A V-shaped profiling block 4 is fixedly installed on the end of the clamping arm 32. A buffer patch 41 is installed on the V-shaped profiling block 4.

[0038] Reference Figure 7 A limiting mechanism 5 is fixedly installed on the upper end of the cross beam 2. The limiting mechanism 5 is provided with a guide rod 52 through a fixed seat 51. A pair of floating plates 53 are slidably provided on the guide rod 52. A circumferential clamping piece 54 is installed at the end of the floating plate 53. The circumferential clamping piece 54 is provided with a step 55.

[0039] One end of the connecting rod 33 is hingedly installed under the clamping arm 32, and the other end of the connecting rod 33 is hingedly installed with the rotating disk 34. A group of connecting rods 33 and a rotating disk 34 form a crank double-link structure. The movement of the clamping arm 32 will drive the connecting disk to rotate through the connecting rod 33. The crank double-link structure ensures the synchronization of the clamping movement, and can effectively ensure that the axis of the clamped part is in the center of the clamp each time, which can avoid the situation of unbalanced clamping.

[0040] A clamping cylinder 35 is installed between the clamping arms 32, and both ends of the clamping cylinder 35 are respectively connected to the clamping arms 32 on both sides. The clamping cylinder 35 drives the two clamping arms 32 to clamp and release. The clamping cylinder 35 is an existing cylinder, and the cylinder includes a push rod and a cylinder body. The ends of the push rod and the cylinder body are respectively fixedly connected to the two clamping walls.

[0041] Reference Figure 4 The V-shaped profiling block 4 is installed at the end of the clamping arm 32 through the mounting plate 311. The mounting plate 311 is located on the inner wall of the clamping arm 32, and the V-shaped profiling block 4 is installed at one end of the mounting plate 311.

[0042] The V-shaped profiling block 4 has an inclined surface 42, on which a buffer patch 41 is fixedly installed. The buffer patch 41 is made of polyurethane material. Both ends of the buffer patch 41 made of polyurethane are fixed on the inclined surfaces 42. The middle of the buffer patch 41 is bulged. The buffer patch 41 is respectively arranged on the two inclined surfaces 42. When the inclined surface 42 contacts the clamped rotor 6, the bulged part in the middle of the buffer patch 41 is squeezed, and the buffer patch 41 is deformed to achieve the profiling function. The V-shaped profiling block 4 mainly plays a role in fully fitting with the supported part. , and clamping stability. The connecting plate 36 is used to connect the V-shaped profiling block 4 with the left and right clamping arms 32. The V-shaped profiling block 4 and the buffer patch 41 are designed in combination of profiling and V-shape, which can not only realize the fitting clamping of cylindrical parts with different diameters, but also realize the fitting grasping of irregular shaped parts. The buffer patch 41 is made of polyurethane material, which can reduce the situation where the clamping force is too strong and the clamping marks on the parts are generated. At the same time, it can also play a buffering role during clamping, and the fast clamping action will not cause bumps to the parts.

[0043] Reference Figure 2 A connecting bracket 56 is fixedly installed on the upper end of the crossbeam 2, a bearing plate 57 is installed on the end of the connecting bracket 56, a fixing seat 51 is installed in the center of the bearing plate 57, a pair of guide rods 52 are fixedly installed through the fixing seat 51, and the floating plate 53 is slidably installed on the guide rod 52 through an oil-free bushing 58, wherein the oil-free bushing 58 adopts an existing bushing.

[0044] A pair of limit baffles 59 are fixedly installed at both ends of the guide rod 52, and a pair of convex baffles 510 are fixedly installed at both ends of the bearing plate 57. The movable range is between the limit baffle 59 and the convex baffle 510. A spring 511 is installed between the limit baffle 59 and the floating plate 53. The two ends of the spring 511 are respectively fixed on the floating plate 53 and the limit baffle 59. When clamping and grasping, the circumferential clip 54 contacts the end cover 8 and moves a small distance. The circumferential clip 54 and the floating plate 53 move to compress the springs 511 on both sides. After the grasping is stable, the spring 511 force acts on the floating plate 53 and the circumferential clip 54, and then acts on the clamped parts, thereby realizing adaptive positioning with floating amount.

[0045] Reference Figure 3 The track 31 is arranged in two rows along the length direction of the beam 2 to ensure the stable sliding of the clamping wall. A slide plate 37 is fixedly installed at the lower end of the clamping arm 32, and a guide block 38 is fixedly installed at the lower end of the slide plate 37. The guide block 38 has a guide groove 39, wherein the spacing of the guide grooves 39 is greater than the cross-sectional width of the track 31, and the cross-sectional shape of the guide groove 39 is the same as the cross-sectional shape of the track 31. The clamping arm 32 slides on the track 31 through the cooperation between the guide groove 39 and the track 31.

[0046] A distance sensor 310 is installed on one side of the clamping arm 32. The distance sensor 310 is installed on the slide plate 37 through the connecting plate 36. A distance sensor 310 is installed on one side of the left movable clamping arm 32. An existing infrared ranging sensor can be used. A conventional detection method is adopted. The infrared emission direction of the infrared ranging sensor is opposite to the direction in which the clamping arms 32 approach each other. An infrared receiving board can be set in the emission direction. Infrared is emitted to the mechanical parts or wall on one side of the clamping arm 32. The detection data of the infrared ranging sensor is greater than a certain value, indicating that the clamping arm 32 is clamped in place. Whether the clamping claw is clamped in place is detected for safety detection.

[0047] The posture of the robot gripper when grasping is described as follows:

[0048] Reference Figure 5 First, the rotor 6 is grasped, and the V-shaped profiling block 4 at the end of the clamping arm 32 partially clamps the rotor 6 core to locate the axis, refer to Figure 2 and Figure 6 The floating plate 53 of the limiting mechanism 5 slides between the convex baffle 510 and the limiting baffle 59, and the step 55 at the end of the floating plate 53 contacts the gear-shaped arc surface of the side wall of the end cover 8. Under the elastic force of the spring 511, the floating plates 53 are clamped close to each other, and the step 55 abuts on the gear-shaped arc surface of the side wall of the end cover 8. After the step 55 of the circumferential clip 54 of the limiting mechanism 5 abuts against the end cover 8, damping is provided along the circumference of the end cover 8 to limit the circumferential rotation of the end cover 8, thereby realizing the circumferential grasping and positioning of the axis and the end cover 8.

[0049] Reference Figure 6 The stator 7 component is grasped by the V-shaped structure of the patch finger to clamp and position the stator 7 shell. During the grasping process, attention should be paid to the grasping angle and position, and protruding parts such as the water nozzle on the stator 7 shell should be reasonably avoided.

[0050] Although the above describes the specific implementation methods of the utility model in combination with the accompanying drawings, it is not intended to limit the scope of protection of the utility model. Technical personnel in the relevant field should understand that on the basis of the technical solution of the utility model, various modifications or deformations that can be made by technical personnel in this field without creative work are still within the scope of protection of the utility model.

Claims

1. A robot gripper for motor assembly, characterized in that: It includes a connecting flange, a crossbeam, a gripper body and a limiting mechanism, wherein the crossbeam is fixedly mounted at the end of the connecting flange; The side wall of the crossbeam is provided with a gripper body, the gripper body comprises a track fixedly installed on the crossbeam, a pair of clamping arms are slidably arranged on the track, the inner side wall of the clamping arm is connected to a rotating disk through a connecting rod, the rotating disk is rotatably installed on the crossbeam, a V-shaped profiling block is fixedly installed at the end of the clamping arm, and a buffer patch is installed on the V-shaped profiling block; A limiting mechanism is fixedly installed on the upper end of the cross beam, and a guide rod is arranged on the limiting mechanism through a fixed seat. A pair of floating plates are slidably arranged on the guide rod, and a circumferential clamp is installed at the end of the floating plate, and a step is formed on the circumferential clamp.

2. The motor assembly robot gripper according to claim 1, characterized in that: One end of the connecting rod is hingedly installed below the clamping arm, and the other end of the connecting rod is hingedly connected to the rotating disk.

3. The motor assembly robot gripper according to claim 1, characterized in that: A clamping cylinder is installed between the clamping arms.

4. The motor assembly robot gripper according to claim 1, characterized in that: The V-shaped profiling block is installed at the end of the clamping arm through a mounting plate, the connecting plate is located on the inner side wall of the clamping arm, and the V-shaped profiling block is installed at one end of the mounting plate.

5. The motor assembly robot gripper according to claim 1, characterized in that: The V-shaped profiling block is provided with an inclined surface, and a buffer patch is fixedly mounted on the inclined surface.

6. The motor assembly robot gripper according to claim 1, characterized in that: The buffer patch is made of polyurethane material.

7. The motor assembly robot gripper according to claim 1, characterized in that: A connecting bracket is fixedly installed on the upper end of the crossbeam, a bearing plate is installed on the end of the connecting bracket, a fixing seat is installed in the center of the bearing plate, a pair of guide rods are fixedly installed through the fixing seat, and the floating plate is slidably installed on the guide rods through an oil-free bushing.

8. The motor assembly robot gripper according to claim 7, characterized in that: A pair of limit baffles are fixedly installed at both ends of the guide rod, a pair of convex baffles are fixedly installed at both ends of the bearing plate, the movable range of the floating plate is between the limit baffle and the convex baffle, and a spring is installed between the limit baffle and the floating plate.

9. The motor assembly robot gripper according to claim 1, characterized in that: The track is arranged in two rows along the length direction of the beam, a slide is fixedly installed at the lower end of the clamping arm, a guide block is fixedly installed at the lower end of the slide, a guide groove is provided on the guide block, and the clamping arm slides on the track through the cooperation between the guide groove and the track.

10. The motor assembly robot gripper according to claim 1 or 9, characterized in that: A distance sensor is installed on one side of the clamping arm, and the distance sensor is installed on the slide plate through a connecting plate.

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