Flat wire hairpin type grabbing manipulator

Abstract

The utility model relates to the technical field of flat wire hairpin, in particular to a flat wire hairpin type grabbing manipulator which comprises a manipulator body. The mechanical arm body comprises a first mechanical joint fixed to the upper side face of the rotary disc, a first motor fixed in a bottom concave part of the first mechanical joint, a second motor fixed in an upper concave part of the first mechanical joint, a second mechanical joint movably arranged at one end of the mechanical joint, and a mechanical arm movably arranged at the upper end of the second mechanical joint. The first mechanical joint, the second mechanical joint, the mechanical arm and the supporting arm are fixed to the upper side face of the mechanical arm, the third motor is fixed to the tail end of the mechanical arm, the supporting arm is movably arranged at the front end of the mechanical arm, the fourth motor is fixed to the tail end of the supporting arm, the fifth motor is fixed to the upper side face of the front end of the supporting arm, and the installation base is connected with an output shaft of the fifth motor. And under the driving action of the first motor, the second motor, the third motor, the fourth motor and the fifth motor, rotating driving of all connecting joints is achieved, and the requirement for follow-up multi-angle machining operation is met.

Description

Technical Field

[0001] The utility model relates to the technical field of flat wire hairpin grabbing, in particular to a flat wire hairpin grabbing manipulator. Background Art

[0002] At present, in the production of new energy vehicle motors, in order to improve the efficiency of motor products, flat wire hairpins are beginning to be used instead of round electromagnetic wires. In the production equipment of flat wire hairpins in the past, the flat wire hairpins were usually clamped by a robot.

[0003] For example, the existing open patent (publication number CN 114750197 A) discloses a clamping manipulator for flat wire hairpinning in flat electromagnetic wire motor stator production equipment, which includes: first and second clamping jaw assemblies, horizontal adjustment mechanism and rotation adjustment mechanism; the first and second clamping jaw assemblies and horizontal adjustment mechanism are integrally driven by the rotation adjustment mechanism to rotate; the horizontal adjustment mechanism is connected to the first clamping jaw assembly or the second clamping jaw assembly in a transmission manner and adjusts the distance between the two; the first clamping jaw assembly includes: a first clamping jaw and a first clamping jaw arm, and the first clamping jaw is installed on the first clamping jaw arm; the second clamping jaw assembly includes: a second clamping jaw, a rotating unit and a second clamping jaw arm, and the second clamping jaw is installed on the second clamping jaw arm through the rotating unit, and the rotating unit drives the second clamping jaw to rotate and adjusts the angle between the first and second clamping jaws. Aiming at the structural characteristics of the flat wire hairpinning, the present invention is provided with first and second clamping jaw assemblies, which can respectively realize the stable clamping of the two hairpinning arms.

[0004] The above-mentioned manipulator has limited angle adjustment, resulting in a small gripping operation range and low practicality. Therefore, the utility model proposes a flat wire hairpin type gripping manipulator to improve the above-mentioned problem. Utility Model Content

[0005] The utility model aims to provide a flat wire hairpin-type gripping manipulator to solve the problems of limited angle adjustment and low practicality of the existing flat wire gripping manipulators mentioned in the above background technology.

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a flat wire hairpin-type grasping robot, comprising a robot body; the robot body comprises a machine base, a base fixed to the bottom of the machine base, a control box fixed to the periphery of the machine base, a turntable movably arranged on the upper side of the base, a mechanical joint 1 fixed to the upper side of the turntable, a motor 1 fixed in a recess at the bottom of the mechanical joint 1, a motor 2 fixed in a recess at the upper part of the mechanical joint 1, a mechanical joint 2 movably arranged at an end of the mechanical joint 1, a robot arm movably arranged at the upper end of the mechanical joint 2, a motor 3 fixed to the end of the robot arm, a support arm movably arranged at the front end of the robot arm, a motor 4 fixed to the end of the support arm, a motor 5 fixed to the upper side of the front end of the support arm, and a mounting base connected to the output shaft of the motor 5.

[0007] Preferably, the mounting base is movably embedded in the lower side of the front end of the support arm, and the mounting base is fixed to the external working structure.

[0008] Preferably, the output shaft of the first motor penetrates through the first mechanical joint and the turntable, and the end of the output shaft of the first motor is connected to the transmission structure inside the machine base.

[0009] Preferably, the second motor and the third motor are respectively connected to the transmission structures at the ends of the second mechanical joint through the shaft rods, and a bearing seat for installing the shaft rods is arranged at the end of the outer side of the second mechanical joint.

[0010] Preferably, the fourth motor is movably connected to the front end of the robotic arm through the shaft rod, and the end of the support arm is bent.

[0011] Preferably, the control box is connected to the first motor, the second motor, the third motor, the fourth motor and the fifth motor, and the control box is connected to the built-in power supply of the machine base.

[0012] Compared with the prior art, the beneficial effects of the present utility model are:

[0013] The present utility model forms the main structure of the manipulator by setting the first mechanical joint, the second mechanical joint, the robotic arm and the support arm, and under the driving action of the first motor, the second motor, the third motor, the fourth motor and the fifth motor, realizes the rotational drive of each connection node. Under the linkage action of the above structure, the manipulator can be adjusted in multiple directions to meet subsequent multi-angle processing operations;

[0014] Among them, the mounting base rotates relative to the end of the support arm under the action of the output shaft of the fifth motor, thereby driving the position change of the working structure fixed thereto. When the fourth motor is started, its output shaft drives the shaft rod to rotate, and the shaft rod is fixed to the end of the robotic arm, resulting in the output shaft of the fourth motor receiving the reaction force of the torsion, driving the support arm to rotate relative to the robotic arm. The working principles of the first motor, the second motor and the third motor are similar, and are respectively used for the rotation of the first mechanical joint and the turntable relative to the machine base, the rotation of the second mechanical joint relative to the first mechanical joint, and the rotation of the robotic arm relative to the second mechanical joint. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a schematic side view of the overall structure of the present utility model;

[0016] Figure 2 is a schematic installation view of the first mechanical joint and the second mechanical joint in the present utility model;

[0017] Figure 3 is a schematic installation view of the first motor and the second motor in the present utility model.

[0018] In the figure: 1. Manipulator body; 11. Machine base; 12. Base; 13. Control box; 14. Turntable; 15. First mechanical joint; 16. First motor; 17. Second motor; 18. Second mechanical joint; 19. Robot arm; 110. Third motor; 111. Support arm; 112. Fourth motor; 113. Mounting seat; 114. Fifth motor. Detailed implementation manners

[0019] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0020] Embodiment

[0021] Please refer to Figures 1-3 , in the figure: This embodiment is a preferred implementation manner in the technical solution of the present invention. A flat wire hairpin type grasping manipulator includes a manipulator body 1; the manipulator body 1 includes a machine base 11, a base 12 fixed to the bottom of the machine base 11, a control box 13 fixed to the periphery of the machine base 11, a turntable 14 movably arranged on the upper side of the base 12, a first mechanical joint 15 fixed to the upper side of the turntable 14, a first motor 16 fixed in the bottom recess of the first mechanical joint 15, a second motor 17 fixed in the upper recess of the first mechanical joint 15, a second mechanical joint 18 movably arranged at the end of the first mechanical joint 15, a robot arm 19 movably arranged at the upper end of the second mechanical joint 18, a third motor 110 fixed to the end of the robot arm 19, a support arm 111 movably arranged at the front end of the robot arm 19, a fourth motor 112 fixed to the end of the support arm 111, a fifth motor 114 fixed to the upper side of the front end of the support arm 111, and a mounting seat 113 connected to the output shaft of the fifth motor 114;

[0022] It should be noted that: in the flat wire hairpin type grasping manipulator involved in the present application, the first mechanical joint 15, the second mechanical joint 18, the robot arm 19 and the support arm 111 are set to form the main structure of the manipulator, and under the driving action of the first motor 16, the second motor 17, the third motor 110, the fourth motor 112 and the fifth motor 114, the rotational drive of each connection node is realized. Under the linkage action of the above structure, the manipulator can be adjusted in multiple directions to meet subsequent multi-angle processing operations.

[0023] Among them, such as Figure 1As shown, the mounting base 113 is movably embedded in the lower front side of the support arm 111, and the mounting base 113 is fixed to the external operation structure; the fourth motor 112 is movably connected to the front end of the robotic arm 19 via a shaft, and the end of the support arm 111 is bent.

[0024] It should be noted that: the mounting base 113 rotates relative to the end of the support arm 111 under the action of the output shaft of the fifth motor 114, thereby driving the change in the position of the operation structure fixed thereto. When the fourth motor 112 is started, its output shaft drives the shaft to rotate, and the shaft is fixed to the end of the robotic arm 19, resulting in the output shaft of the fourth motor 112 receiving the reaction force of the torque, driving the support arm 111 to rotate relative to the robotic arm 19. The bent setting of the end of the support arm 111 facilitates the installation of the mounting base 113 and the fifth motor 114.

[0025] The control box 13 is connected to the first motor 16, the second motor 17, the third motor 110, the fourth motor 112, and the fifth motor 114, and the control box 13 is connected to the built-in power supply of the machine base 11.

[0026] It should be noted that: the first motor 16, the second motor 17, the third motor 110, the fourth motor 112, and the fifth motor 114 are connected to or disconnected from the built-in power supply of the machine base 11 under the action of the control elements in the control box 13, so as to realize the start-stop control of the first motor 16, the second motor 17, the third motor 110, the fourth motor 112, and the fifth motor 114. This control technology is a relatively conventional and mature technology at present, and will not be further described in detail here.

[0027] As shown in Figure 2 and Figure 3 the output shaft of the first motor 16 passes through the first mechanical joint 15 and the turntable 14, and the end of the output shaft of the first motor 16 is connected to the transmission structure inside the machine base 11; the second motor 17 and the third motor 110 are respectively connected to the transmission structures at the ends of the second mechanical joint 18 via shafts, and bearing seats for shaft installation are provided at the outer side ends of the second mechanical joint 18.

[0028] It should be noted that: the operating principles of the first motor 16, the second motor 17, and the third motor 110 are similar, and are respectively used for the rotation of the first mechanical joint 15 and the turntable 14 relative to the machine base 11, the rotation of the second mechanical joint 18 relative to the first mechanical joint 15, and the rotation of the robotic arm 19 relative to the second mechanical joint 18.

[0029] In the description of this specification, the descriptions referring to terms such as "one embodiment", "example", "specific example", etc. mean that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present utility model. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in a suitable manner in any one or more embodiments or examples.

[0030] The preferred embodiments of the present utility model disclosed above are only used to help illustrate the present utility model. The preferred embodiments do not describe all the details in detail, nor do they limit the present utility model to the specific embodiments described. Obviously, many modifications and variations can be made according to the content of this specification. These embodiments are selected and specifically described in this specification in order to better explain the principles and practical applications of the present utility model, so that those skilled in the art can well understand and utilize the present utility model. The present utility model is only limited by the claims and their full scope and equivalents.

Claims

1. A flat-wire hairpin-type grasping manipulator, comprising a manipulator body (1); characterized in that: The robot body (1) comprises a base (11), a base (12) fixed at the bottom of the base (11), a control box (13) fixed at the peripheral side of the base (11), a turntable (14) movably arranged on the upper side of the base (12), a mechanical joint (15) fixed on the upper side of the turntable (14), a motor (16) fixed in a recess at the bottom of the mechanical joint (15), a motor (17) fixed in a recess at the top of the mechanical joint (15), and a control box (13) movably arranged on the mechanical joint (15). A mechanical joint 2 (18) at the end of a joint 1 (15), a mechanical arm (19) movably arranged at the upper end of the mechanical joint 2 (18), a motor 3 (110) fixed at the end of the mechanical arm (19), a support arm (111) movably arranged at the front end of the mechanical arm (19), a motor 4 (112) fixed at the end of the support arm (111), a motor 5 (114) fixed to the upper side of the front end of the support arm (111), and a mounting seat (113) connected to the output shaft of the motor 5 (114).

2. A flat wire hairpin grabbing manipulator according to claim 1, characterized in that: The mounting seat (113) is movably embedded in the lower side surface of the front end of the support arm (111), and the mounting seat (113) is fixed to the external operating structure.

3. A flat wire hairpin grabbing manipulator according to claim 1, characterized in that: The output shaft of the motor 1 (16) passes through the mechanical joint 1 (15) and the turntable (14), and the end of the output shaft of the motor 1 (16) is connected to the transmission structure inside the machine base (11).

4. The flat wire hairpin grabbing manipulator according to claim 1, characterized in that: The motor 2 (17) and the motor 3 (110) are respectively connected to the transmission structure at the end of the mechanical joint 2 (18) via a shaft, and a bearing seat for shaft installation is provided at the end of the outer side of the mechanical joint 2 (18).

5. The flat wire hairpin grabbing manipulator according to claim 1, characterized in that: The motor 4 (112) is movably connected to the front end of the mechanical arm (19) via a shaft, and the end of the support arm (111) is bent.

6. The flat wire hairpin grabbing manipulator according to claim 1, characterized in that: The control box (13) is connected to motor one (16), motor two (17), motor three (110), motor four (112) and motor five (114), and the control box (13) is connected to a built-in power supply of the machine base (11).

Images