Transfer device based on manipulator

Abstract

The utility model relates to a transfer device based on a manipulator. The transfer device comprises a base, a plurality of rotating parts and a transfer assembly; the multiple rotating pieces are sequentially and rotationally connected, the first rotating piece is rotationally connected with the base, and the last rotating piece is connected with the transfer assembly. The transfer assembly comprises a large-diameter clamp and a small-diameter clamp. According to the transfer device, the mounting precision and the mounting efficiency of the motor can be improved.

Description

Technical Field

[0001] The present application relates to the field of motor manufacturing, and particularly relates to a transfer device based on a manipulator. Background Art

[0002] During the installation process of a small motor, multiple assembled parts need to be installed in the motor housing, and during this period, the motor housing and components are transferred between different workstations. The traditional transfer of components is completed manually by workers. However, during the motor installation process, strict requirements are imposed on the installation accuracy of the components. Improper placement of the components by workers during the transfer process will greatly affect the quality of the finished motor. In addition, frequent transfer of components results in high labor intensity and low transfer efficiency of workers. Summary of the Utility Model

[0003] In order to improve the installation accuracy and efficiency of the motor, the present application provides a transfer device based on a manipulator.

[0004] A transfer device based on a manipulator provided by the present application adopts the following technical solutions:

[0005] A transfer device based on a manipulator includes a base, a rotating member, and a transfer assembly. There are multiple rotating members; the multiple rotating members are sequentially rotatably connected, wherein the first rotating member is rotatably connected to the base, and the last rotating member is connected to the transfer assembly; the transfer assembly includes a large-diameter clamp and a small-diameter clamp.

[0006] Optionally, the large-diameter clamp includes a large-diameter cylinder, a first fixing plate, a second fixing plate, and large-diameter jaws; wherein the large-diameter cylinder has two piston rods that can extend in opposite directions. The cylinder body of the large-diameter cylinder is fixed on the last rotating member. The piston rods of the large-diameter cylinder are fixedly connected to the first fixing plate. The second fixing plate is detachably connected to the first fixing plate. The large-diameter jaws are fixedly connected to the second fixing plate. The opposite sides of the two large-diameter jaws are set to be arc-shaped.

[0007] Optionally, the contact surface between the first fixing plate and the second fixing plate includes an end face contact surface and a side face contact surface. The end face contact surface is perpendicular to the extending direction of the large-diameter cylinder, and the side face contact surface is parallel to the extending direction of the large-diameter cylinder. The area of the end face contact surface is larger than the area of the side face contact surface.

[0008] Optionally, the small-diameter clamp includes a small-diameter cylinder and small-diameter jaws. The small-diameter cylinder includes multiple piston rods that can radially expand and contract. The piston rods are fixedly connected to the small-diameter jaws.

[0009] Optionally, one of the rotating members is provided with an extension plate, and the extension plate is detachably connected to a connection plate for mounting the drive control device of the transfer assembly. The rotating member with the extension plate is not the first or last rotating member.

[0010] Optionally, the rotating member with the extension plate is provided with a protection plate perpendicular to the extension plate and the connection plate.

[0011] Optionally, the connection plate is a bent plate, the short bent side is connected to the extension plate, and the long bent side is for mounting the control device.

[0012] Optionally, the rotation planes of adjacent rotating members are parallel or perpendicular to each other.

[0013] In summary, the present application includes at least one of the following beneficial technical effects:

[0014] 1. Multiple rotating members and the transfer assembly with large-diameter and small-diameter jigs can achieve flexible and efficient component transfer.

[0015] 2. An extension plate and a connection plate are provided on the middle rotating member for mounting the drive control device of the transfer assembly, which is more conducive to the optimal layout of the air circuit and reduces the impact of too long air circuit pipes on the overall device. Description of the Drawings

[0016] Figure 1 is an overall structural schematic diagram of a transfer device based on a manipulator.

[0017] Figure 2 is a structural schematic diagram of the transfer assembly in a transfer device based on a manipulator.

[0018] Figure 3 is a partial structural schematic diagram of a transfer device based on a manipulator.

[0019] Description of the Reference Numerals: 100, frame; 200, base; 210, first rotating member; 220, second rotating member; 230, third rotating member; 231, extension plate; 232, protection plate; 240, fourth rotating member; 250, fifth rotating member; 260, sixth rotating member; 301, connection plate; 300, transfer assembly; 310, large-diameter jig; 311, large-diameter cylinder; 312, first fixing plate; 313, second fixing plate; 314, large-diameter jaw; 320, small-diameter jig; 321, small-diameter cylinder; 322, small-diameter jaw; 331, first contact surface; 332, second contact surface; 333, third contact surface; 334, fourth contact surface. Detailed Description of the Embodiment

[0020] The following is combined with the attached Figures 1-3, a further detailed description of the present application will be given.

[0021] The embodiment of the present application discloses a transfer device based on a manipulator.

[0022] Referring to Figure 1 , a transfer device based on a manipulator includes a base 200, a first rotating member 210, a second rotating member 220, a third rotating member 230, a fourth rotating member 240, a fifth rotating member 250, and a sixth rotating member 260.

[0023] The base 200 is fixedly installed on the frame 100 by bolts, so that a transfer device based on a manipulator is located at a suitable height. The first rotating member 210 is rotatably connected to the base 200, and the first rotating member 210 can rotate relative to the base 200 within a first rotation plane, and the first rotation plane is a horizontal plane. The second rotating member 220 is rotatably connected to the first rotating member 210, and the second rotating member 220 can rotate relative to the first rotating member 210 within a second rotation plane, and the second rotation plane is perpendicular to the first rotation plane. The third rotating member 230 is rotatably connected to the second rotating member 220, and the third rotating member 230 can rotate relative to the second rotating member 220 within a third rotation plane, and the third rotation plane coincides with the second rotation plane. The fourth rotating member 240 is rotatably connected to the third rotating member 230, and the fourth rotating member 240 can rotate relative to the third rotating member 230 within a fourth rotation plane, and the fourth rotation plane is perpendicular to the third rotation plane. The fifth rotating member 250 is rotatably connected to the fourth rotating member 240, and the fifth rotating member 250 can rotate relative to the fourth rotating member 240 within a fifth rotation plane, and the fifth rotation plane is perpendicular to the fourth rotation plane. The sixth rotating member 260 is rotatably connected to the fifth rotating member 250, and the sixth rotating member 260 can rotate relative to the fifth rotating member 250 within a sixth rotation plane, and the sixth rotation plane is perpendicular to the fifth rotation plane. The rotation of multiple rotating members is directly or indirectly driven by motors.

[0024] Referring to Figure 1 and Figure 2 , a transfer assembly 300 is provided on the sixth rotating member 260. In this embodiment, the transfer assembly 300 includes a large-diameter clamp 310 and a small-diameter clamp 320. The large-diameter clamp 310 can clamp larger-sized components, such as motor housings, finished motors, etc.; the small-diameter clamp 320 can clamp smaller-sized components, such as clutch assemblies, etc.

[0025] The transfer assembly 300 includes a large-diameter clamp 310 and a small-diameter clamp 320, and can clamp two components simultaneously, improving the transfer efficiency. Through the six-axis manipulator, the transfer assembly 300 can clamp or place parts more flexibly.

[0026] Referring to Figure 2, the large-diameter fixture 310 includes a large-diameter cylinder 311, a first fixing plate 312, a second fixing plate 313, and large-diameter jaws 314. The cylinder block of the large-diameter cylinder 311 is fixedly installed on the sixth rotating member 260. The large-diameter cylinder 311 is a two-way cylinder, and the piston rods on both sides extend in opposite directions. The piston rod is fixedly connected to the first fixing plate 312, and the second fixing plate 313 is detachably connected to the first fixing plate 312 by bolts. The large-diameter jaws 314 are fixedly connected to the second fixing plate 313. The opposite sides of the two large-diameter jaws 314 are arranged as arcs that fit the surface of the motor housing.

[0027] The contact surfaces of the first fixing plate 312 and the second fixing plate 313 are the first contact surface 331, the second contact surface 332, the third contact surface 333, and the fourth contact surface 334. The first contact surface 331 is perpendicular to the moving direction of the piston rod of the large-diameter cylinder 311, and the first contact surface 331 is parallel to the second contact surface 332; the third contact surface 333 is perpendicular to the first contact surface 331, and the third contact surface 333 is parallel to the fourth contact surface 334. Therefore, the connection between the first fixing plate 312 and the second fixing plate 313 is stepped. The areas of the first contact surface 331 and the second contact surface 332 are both larger than the third contact surface 333 or the fourth contact surface 334.

[0028] The small-diameter fixture 320 includes a small-diameter cylinder 321 and small-diameter jaws 322. The cylinder block of the small-diameter cylinder 321 is fixedly installed on the sixth rotating member 260. The small-diameter cylinder 321 is a three-jaw cylinder, and its piston rod extends radially. The small-diameter jaws 322 are fixedly connected to the piston rod of the small-diameter cylinder 321. The small-diameter jaws 322 are perpendicular to the moving direction of the piston rod of the small-diameter cylinder 321.

[0029] Referring to Figure 3 , the third rotating member 230 is provided with a mounting platform parallel to the fourth rotating plane, which is used to mount the driving motor. The driving motor drives the fourth rotating member 240 to rotate through a transmission structure such as a gear. The third rotating member 230 is also provided with an extension plate 231 perpendicular to the mounting platform. The extension plate 231 is fixedly connected to the mounting platform. The extension plate 231 is connected with a connecting plate 301. In this embodiment, the connecting plate 301 is L-shaped, its short side is detachably connected to the extension plate 231, and its long side can be used to mount the control devices of the large-diameter cylinder 311 and the small-diameter cylinder 321. The mounting platform is also fixedly connected with a protection plate 232. The protection plate 232 is a triangular plate, which is perpendicular to the mounting platform and the extension plate 231. The extension plate 231 is arranged on the side away from the driving motor. The air circuits of the large-diameter cylinder 311 and the small-diameter cylinder 321 are arranged on the side close to the driving motor.

[0030] The above are all the preferred embodiments of this application. It does not limit the protection scope of this application accordingly. Therefore, all equivalent changes made according to the structure, shape, and principle of this application should be covered within the protection scope of this application.

Claims

1. A transfer device based on a manipulator, characterized in that: It includes a base, a rotating part and a transfer assembly, wherein a plurality of the rotating parts are provided; the plurality of rotating parts are rotationally connected in sequence, wherein the first rotating part is rotationally connected to the base, and the last rotating part is connected to the transfer assembly; the transfer assembly includes a large-diameter clamp and a small-diameter clamp.

2. A transfer device based on a manipulator according to claim 1, characterized in that: The large diameter clamp includes a large diameter cylinder, a first fixed plate, a second fixed plate and a large diameter clamp; wherein the large diameter cylinder has two piston rods that can be extended in opposite directions, the cylinder body of the large diameter cylinder is fixed on the last rotating part, the piston rod of the large diameter cylinder is fixedly connected to the first fixed plate, the second fixed plate is detachably connected to the first fixed plate, the large diameter clamp is fixedly connected to the second fixed plate, and the opposite sides of the two large diameter clamps are set to an arc shape.

3. A transfer device based on a manipulator according to claim 2, characterized in that: The contact surfaces of the first fixing plate and the second fixing plate include an end contact surface and a side contact surface, the end contact surface is perpendicular to the extension direction of the large diameter cylinder, the side contact surface is parallel to the extension direction of the large diameter cylinder, and the area of ​​the end contact surface is larger than the area of ​​the side contact surface.

4. A transfer device based on a manipulator according to claim 1, characterized in that: The small-diameter clamp comprises a small-diameter cylinder and a small-diameter clamping jaw. The small-diameter cylinder comprises a plurality of radially retractable piston rods, and the piston rods are fixedly connected to the small-diameter clamping jaws.

5. A transfer device based on a manipulator according to claim 1, characterized in that: One of the rotating parts is provided with an extension plate, and the extension plate is detachably connected to a connecting plate, and the connecting plate is used to install the driving control device of the transfer component. The rotating part with the extension plate is not the first or last rotating part.

6. A transfer device based on a manipulator according to claim 5, characterized in that: The rotating member having the extension plate is provided with a protection plate, and the protection plate is perpendicular to the extension plate and the connection plate.

7. A robot-based transfer device according to claim 5, characterized in that: The connecting plate is a bent plate, the bent short side is connected to the extension plate, and the bent long side is used for installing a control device.

8. A transfer device based on a manipulator according to claim 1, characterized in that: The rotation planes of adjacent rotating members are parallel or perpendicular to each other.

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