Grabbing mechanism and robot

Abstract

The utility model discloses a grabbing mechanism and a robot, and belongs to the technical field of motors. The grabbing mechanism comprises a mounting frame; the first grabbing module comprises a first mounting plate, a telescopic part and two first clamping jaw parts, the first mounting plate is arranged on the mounting frame, the two first clamping jaw parts are arranged on the first mounting plate at intervals in the first direction, one end of the telescopic part is connected with one first clamping jaw part, and the other end of the telescopic part is connected with the other first clamping jaw part; the telescopic piece is used for enabling the two first clamping jaw parts to be close to or away from each other; and the second grabbing module comprises a second mounting plate and a plurality of clamping jaw cylinders, the second mounting plate is arranged on the mounting frame, the multiple clamping jaw cylinders are arranged on the second mounting plate at intervals in the second direction, and each clamping jaw cylinder is provided with at least two second clamping jaw parts capable of moving in the radial direction. According to the utility model, the housing and the stator of the motor can be grabbed at the same time, and automatic assembly of the motor is facilitated.

Description

Technical Field

[0001] The utility model relates to the technical field of motors, in particular to a grasping mechanism and a robot. Background Art

[0002] A motor, also called an electric motor, is an electromagnetic device that converts or transmits electrical energy according to the law of electromagnetic induction. Its main function is to generate driving torque as a power source for various machines. The motor includes a housing, a stator, and a rotor.

[0003] At present, the degree of automated assembly of motors in the new energy market is getting higher and higher. The assembly robots on the production line can only grab the corresponding shell or stator separately, and cannot take into account the functions of grabbing the shell and the stator. This not only increases the number of assembly robots on the production line, but also prolongs the assembly cycle of the motor, which is not conducive to the mass production of the motor.

[0004] Therefore, it is urgent to provide a grasping mechanism and a robot to solve the above problems. Utility Model Content

[0005] The utility model aims to provide a grasping mechanism and a robot, which can grasp the housing and the stator of a motor and are helpful for the automatic assembly of the motor.

[0006] In order to achieve the above objectives, the following technical solutions are provided:

[0007] Grasping mechanism, including:

[0008] Mounting frame;

[0009] A first gripping module comprises a first mounting plate, a telescopic member and two first clamping claws, wherein the first mounting plate is arranged on the mounting frame, and the two first clamping claws are arranged on the first mounting plate at intervals along a first direction, one end of the telescopic member is connected to one of the first clamping claws, and the other end of the telescopic member is connected to the other of the first clamping claws, and the telescopic member is used to make the two first clamping claws approach or move away from each other;

[0010] The second gripping module includes a second mounting plate and a plurality of gripper cylinders, wherein the second mounting plate is arranged on the mounting frame, and the plurality of gripper cylinders are arranged on the second mounting plate at intervals along a second direction, and the gripper cylinders have at least two second gripper parts that can move radially.

[0011] As an optional solution for the gripping mechanism, the first gripping module further includes a guide rail and a slide seat, wherein the guide rail is disposed on the first mounting plate and extends along the first direction, and the slide seat is disposed at the bottom of the first clamping claw portion and is slidably connected to the guide rail.

[0012] As an optional solution for the gripping mechanism, the first gripping module also includes a first stroke limiter and a second stroke limiter, the first stroke limiter and the second stroke limiter are arranged on the first mounting plate at intervals along the first direction, and the slide seat is located between the first stroke limiter and the second stroke limiter.

[0013] As an optional solution for the grasping mechanism, the first grasping module also includes two position detection sensors, the side wall of the first mounting plate is provided with a Z-shaped connecting plate, the two position detection sensors are arranged on the Z-shaped connecting plate at intervals along the first direction, and the side wall of the slide seat is provided with a column, which is used to shield the position detection sensor.

[0014] As an optional solution for the grabbing mechanism, the Z-shaped connecting plate is provided with a strip hole extending along the first direction.

[0015] As an optional solution for the grasping mechanism, the mounting frame includes a first mounting frame, a second mounting frame and a third mounting frame connected in sequence, the first mounting plate is arranged on the first mounting frame, the second mounting plate is arranged on the second mounting frame, and the third mounting frame is used to connect the rotating robotic arm of the robot.

[0016] As an optional solution of the grabbing mechanism, the first mounting bracket extends along the first direction, the second mounting bracket extends along the second direction, and the first direction is perpendicular to the second direction.

[0017] As an optional solution of the gripping mechanism, the first gripping module further includes a base plate having a positioning pin, and a connecting hole is provided on the top of each of the first clamping claw parts, and a fastener passes through the connecting hole to be connected to the base plate.

[0018] As an optional scheme of the grasping mechanism, the inner wall surface of the first clamping claw portion is provided with a positioning strip with a first limiting step portion, and the side surface of the substrate is provided with a second limiting step portion, and the second limiting step portion abuts against the first limiting step portion.

[0019] A robot comprises a rotating mechanical arm and a grasping mechanism as described in any one of the above items, wherein a mounting frame of the grasping mechanism is connected to the rotating mechanical arm.

[0020] Compared with the prior art, the utility model has the following beneficial effects:

[0021] The gripping mechanism provided by the utility model comprises a first gripping module for gripping the outer shell of the motor, and under the action of the telescopic member, the two first clamping claws can be clamped on the outer wall of the outer shell for transportation. The second gripping module is used to grip the stator of the motor, wherein the interior of the stator is hollow, and the clamping claw cylinder has at least two second clamping claws that can move radially, and after the second clamping claws are inserted into the inner cavity of the stator, they are radially moved so as to abut against the inner wall surface of the stator for transportation. The first gripping module and the second gripping module are respectively mounted on the mounting frame, and after the mounting frame is set on the rotating mechanical arm of the robot, the first gripping module or the second gripping module can be switched by rotation, so that the robot with the gripping mechanism can grip both the outer shell and the stator of the motor, shortening the assembly cycle of the motor and facilitating the mass production of the motor.

[0022] The robot provided by the utility model has a mounting frame of a grasping mechanism connected to a rotating mechanical arm, which can grasp the housing and the stator of the motor and is helpful for the automatic assembly of the motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments of the present invention. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the contents of the embodiments of the present invention and these drawings without paying any creative work.

[0024] Figure 1 It is a schematic diagram of the assembly of the grabbing mechanism in the first perspective in the embodiment of the utility model;

[0025] Figure 2 for Figure 1 A local enlarged schematic diagram of point A in FIG.

[0026] Figure 3 It is a schematic diagram of the assembly of the grabbing mechanism in the second viewing angle in the embodiment of the utility model;

[0027] Figure 4 for Figure 3 A local enlarged schematic diagram of point B in FIG.

[0028] Figure 5 It is a structural schematic diagram of the first grabbing module in an embodiment of the utility model.

[0029] Reference numerals:

[0030] 100, mounting frame; 200, first grabbing module; 300, second grabbing module; 400, quick-change plate; 500, self-reflective photoelectric sensor;

[0031] 101, a first mounting frame; 102, a second mounting frame; 103, a third mounting frame;

[0032] 201, first mounting plate; 202, telescopic member; 203, first clamping claw; 2031, connecting hole; 204, guide rail; 205, slide seat; 2051, column; 206, first travel limiter; 207, second travel limiter; 208, position detection sensor; 209, Z-shaped connecting plate; 2091, strip hole; 2010, base plate; 20101, positioning pin; 2011, fastener; 2012, positioning pressure strip;

[0033] 301. Second mounting plate; 302. Clamping cylinder; 3021. Second clamping part. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Generally, the components of the embodiments of the utility model described and shown in the drawings here can be arranged and designed in various different configurations.

[0035] In the description of the present utility model, it should be noted that the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate the orientation or position relationship based on the orientation or position relationship shown in the accompanying drawings, or the orientation or position relationship in which the utility model product is usually placed when in use. They are only for the convenience of describing the present utility model 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 cannot be understood as a limitation on the present utility model. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance. In the description of the present utility model, unless otherwise specified, "multiple" means two or more.

[0036] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0037] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0038] In order to grasp the housing and stator of the motor and facilitate the automatic assembly of the motor, this embodiment provides a grasping mechanism and a robot. Figures 1 to 5 The specific contents of this embodiment are described in detail. It should be noted that the first direction mentioned in this embodiment is Figure 1 The X direction in this embodiment is Figure 1 The Y direction in this embodiment is Figure 1 The Z direction in .

[0039] The grabbing mechanism in this embodiment includes a mounting frame 100, a first grabbing module 200 and a second grabbing module 300. The first grabbing module 200 includes a first mounting plate 201, a telescopic member 202 and two first clamping claws 203. The first mounting plate 201 is arranged on the mounting frame 100. The two first clamping claws 203 are arranged on the first mounting plate 201 at intervals along the first direction. One end of the telescopic member 202 is connected to one of the first clamping claws 203, and the other end of the telescopic member 202 is connected to the other first clamping claw 203. The telescopic member 202 is used to make the two first clamping claws 203 approach or move away from each other. The second grabbing module 300 includes a second mounting plate 301 and a plurality of clamping claw cylinders 302. The second mounting plate 301 is arranged on the mounting frame 100. The plurality of clamping claw cylinders 302 are arranged on the second mounting plate 301 at intervals along the second direction for simultaneously grabbing multiple stators. The clamping claw cylinder 302 has at least two second clamping claws 3021 that can move radially. Exemplarily, the telescopic member 202 includes a telescopic cylinder, which is connected to the first clamping jaw portion 203 via a floating joint. Each clamping jaw cylinder 302 is vertically arranged along the third direction.

[0040] The grabbing mechanism provided by the utility model comprises a first grabbing module 200 for grabbing the outer shell of the motor, and under the action of the telescopic member 202, the two first clamping claws 203 can be clamped on the outer wall of the outer shell for transportation. The second grabbing module 300 is used to grab the stator of the motor, wherein the interior of the stator is hollow, and the clamping claw cylinder 302 has at least two second clamping claws 3021 that can move radially. After the second clamping claws 3021 are inserted into the inner cavity of the stator, they are radially moved so that the second clamping claws 3021 abut against the inner wall surface of the stator for transportation. The first grabbing module 200 and the second grabbing module 300 are respectively installed on the installation frame 100, and after the installation frame 100 is set on the rotating mechanical arm of the robot, the first grabbing module 200 or the second grabbing module 300 can be switched by rotation, so that the robot with the grabbing mechanism can grab both the outer shell and the stator of the motor, shortening the assembly cycle of the motor and facilitating the mass production of the motor.

[0041] Furthermore, if Figure 1 Combination Figure 5 As shown, the first grabbing module 200 further includes a guide rail 204 and a slide 205. The guide rail 204 is disposed on the first mounting plate 201 and extends along the first direction. The slide 205 is disposed at the bottom of the first clamping jaw portion 203 and is slidably connected to the guide rail 204. By adding the guide rail 204 and the slide 205, the first clamping jaw portion 203 can be slidably disposed on the first mounting plate 201, thereby reducing the movement resistance of the first clamping jaw portion 203.

[0042] Furthermore, the first gripping module 200 further includes a first stroke limiter 206 and a second stroke limiter 207, which are spaced apart along the first direction on the first mounting plate 201, and the slide 205 is located between the first stroke limiter and the second stroke limiter. The spacing between the first stroke limiter 206 and the second stroke limiter 207 is designed according to actual use needs, and by adding the first stroke limiter 206 and the second stroke limiter 207, the movable stroke range of the first clamping claw portion 203 on the slide 205 can be limited.

[0043] Optionally, the first gripping module 200 further includes two position detection sensors 208, a Z-shaped connecting plate 209 is provided on the side wall of the first mounting plate 201, and the two position detection sensors 208 are arranged on the Z-shaped connecting plate 209 at intervals along the first direction, and a column 2051 is provided on the side wall of the slide 205, and the column 2051 is used to shield the position detection sensor 208. The position information of the two position detection sensors 208 has been calibrated in advance in the PLC controller, and when the column 2051 shields the corresponding position detection sensor 208, the controller can know the position of the first clamping claw part 203 on the first mounting plate 201. The two position detection sensors 208 can be used to determine whether the first gripping module 200 is tightened and loosened in place, and the extension or retraction position of the cylinder can be detected more accurately.

[0044] Optionally, a strip hole 2091 extending along the first direction is provided on the Z-shaped connecting plate 209. A threaded column is provided on the position detection sensor 208, and the position detection sensor 208 is mounted on the strip hole 2091 through a nut. Since the strip hole 2091 extends along the first direction, it is convenient for an operator to adjust the position detection sensor 208 along the first direction.

[0045] Furthermore, the mounting frame 100 includes a first mounting frame 101, a second mounting frame 102, and a third mounting frame 103 connected in sequence, a first mounting plate 201 is arranged on the first mounting frame 101, a second mounting plate 301 is arranged on the second mounting frame 102, and the third mounting frame 103 is used to connect the rotating mechanical arm of the robot. The first mounting frame 101, the second mounting frame 102, and the third mounting frame 103 form a triangular stable structure, which improves the overall structural strength of the mounting frame 100.

[0046] Exemplarily, the first mounting frame 101 extends along a first direction, the second mounting frame 102 extends along a second direction, and the first direction is perpendicular to the second direction. The mounting frame 100 is a right triangle structure, and a quick-change plate 400 is provided on the third mounting frame 103. The quick-change plate 400 is detachably connected to the rotating mechanical arm of the robot. This function can better meet the assembly requirements of more different models of motors.

[0047] Further, the first gripping module 200 further includes a base plate 2010 having a positioning pin 20101, and a connection hole 2031 is provided at the top of each first clamping claw portion 203, and a fastener 2011 passes through the connection hole 2031 and is connected to the base plate 2010. The base plate 2010 can be replaced for different shells to meet the requirements of compatibility with different shells. Optionally, the fastener 2011 can be, but is not limited to, a bolt or a screw.

[0048] Furthermore, a positioning strip 2012 with a first limiting step is provided on the inner wall of the first clamping jaw 203, and a second limiting step is provided on the side of the substrate 2010, and the second limiting step abuts against the first limiting step. The positioning strip 2012 can limit the substrate 2010 by the misaligned cooperation between the first limiting step and the second limiting step.

[0049] Alternatively, if Figure 1 Combination Figure 3 As shown, a self-reflective photoelectric sensor 500 is installed on both the first mounting plate 201 and the second mounting plate 301 to detect whether the gripping claw of the gripping module has grasped an object. The self-reflective photoelectric sensor 500, also known as a reflective photoelectric sensor or a mirror-reflective photoelectric sensor, is a sensor that uses optical principles to detect, measure and judge object properties or environmental conditions. Its working principle is mainly based on the photoelectric effect and reflection principle. A beam of light is generated by a built-in light emitting diode (LED) or laser or other emitting light source. The light is reflected by the object to be measured and received by the photosensitive element, and then processed by the relevant circuit to obtain the required information.

[0050] This embodiment also provides a robot, which includes a rotating robotic arm and the grasping mechanism mentioned above. The mounting frame 100 of the grasping mechanism is connected to the rotating robotic arm, and can grasp the housing and stator of the motor, which is helpful for the automated assembly of the motor.

[0051] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described here, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention is described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A gripping mechanism, characterized in that: include: Mounting frame (100); A first grabbing module (200), comprising a first mounting plate (201), a telescopic member (202) and two first clamping claws (203), wherein the first mounting plate (201) is arranged on the mounting frame (100), and the two first clamping claws (203) are arranged on the first mounting plate (201) at intervals along a first direction, one end of the telescopic member (202) is connected to one of the first clamping claws (203), and the other end of the telescopic member (202) is connected to the other of the first clamping claws (203), and the telescopic member (202) is used to make the two first clamping claws (203) move closer to or farther from each other; The second gripping module (300) comprises a second mounting plate (301) and a plurality of gripper cylinders (302), wherein the second mounting plate (301) is arranged on the mounting frame (100), and the plurality of gripper cylinders (302) are arranged on the second mounting plate (301) at intervals along a second direction, and the gripper cylinder (302) has at least two second gripper parts (3021) that can move radially.

2. The gripping mechanism according to claim 1, characterized in that: The first gripping module (200) further comprises a guide rail (204) and a slide seat (205), wherein the guide rail (204) is arranged on the first mounting plate (201) and extends along the first direction, and the slide seat (205) is arranged at the bottom of the first clamping claw portion (203) and is slidably connected to the guide rail (204).

3. The gripping mechanism according to claim 2, characterized in that: The first grabbing module (200) further comprises a first stroke limiter (206) and a second stroke limiter (207), wherein the first stroke limiter (206) and the second stroke limiter (207) are arranged on the first mounting plate (201) at intervals along the first direction, and the slide seat (205) is located between the first stroke limiter (206) and the second stroke limiter (207).

4. The gripping mechanism according to claim 2, characterized in that: The first grabbing module (200) further comprises two position detection sensors (208); a Z-shaped connecting plate (209) is provided on the side wall of the first mounting plate (201); the two position detection sensors (208) are spaced apart on the Z-shaped connecting plate (209) along the first direction; a column (2051) is provided on the side wall of the slide seat (205); the column (2051) is used to shield the position detection sensor (208).

5. The gripping mechanism according to claim 4, characterized in that: The Z-shaped connecting plate (209) is provided with a strip-shaped hole (2091) extending along the first direction.

6. The gripping mechanism according to claim 1, characterized in that: The mounting frame (100) comprises a first mounting frame (101), a second mounting frame (102) and a third mounting frame (103) which are connected in sequence, the first mounting plate (201) being arranged on the first mounting frame (101), the second mounting plate (301) being arranged on the second mounting frame (102), and the third mounting frame (103) being used for connecting a rotating mechanical arm of a robot.

7. The gripping mechanism according to claim 6, characterized in that: The first mounting frame (101) extends along the first direction, the second mounting frame (102) extends along the second direction, and the first direction is perpendicular to the second direction.

8. The gripping mechanism according to claim 1, characterized in that: The first gripping module (200) further comprises a base plate (2010) having a positioning pin (20101), and a connecting hole (2031) is provided at the top of each of the first clamping claw portions (203), and a fastener (2011) passes through the connecting hole (2031) to be connected to the base plate (2010).

9. The gripping mechanism according to claim 8, characterized in that: The inner wall surface of the first clamping claw portion (203) is provided with a positioning pressure strip (2012) with a first limiting step, and the side surface of the base plate (2010) is provided with a second limiting step, and the second limiting step is in contact with the first limiting step.

10. A robot, characterized in that It comprises a rotating mechanical arm and a grasping mechanism as claimed in any one of claims 1 to 9, wherein a mounting frame (100) of the grasping mechanism is connected to the rotating mechanical arm.

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