Iron core grabbing device

Abstract

The utility model discloses an iron core grabbing device which comprises a machine frame, and the machine frame is provided with a conveying mechanism which is provided with an X-axis moving assembly capable of doing rectilinear motion in the horizontal direction, a Y-axis moving assembly capable of doing rectilinear motion in the direction perpendicular to the X-axis moving assembly and a Z-axis moving assembly capable of doing lifting rectilinear motion, and the X-axis moving assembly, the Y-axis moving assembly and the Z-axis moving assembly are connected with one another; and the grabbing mechanism is carried on the Z-axis moving assembly, the grabbing mechanism comprises a 2D camera, a laser range finder and an electric clamping jaw with the adjustable rotation angle, and the 2D camera and the laser range finder can assist the electric clamping jaw to grab the iron core at the accurate angle and distance. According to the utility model, the conveying mechanism and the grabbing mechanism are connected with each other, and meanwhile, the position of the electric clamping jaw can be randomly changed, so that the time cost and the labor cost for manually replacing different clamps to adapt to iron cores of different models are reduced; in addition, through the 2D camera and the laser range finder, grabbing is more accurate.

Description

Technical Field

[0001] The utility model relates to the technical field of core conveying in the electric drive industry, and particularly relates to a core grasping device. Background Art

[0002] In the electric drive industry, the conveying of cores is very important. In the core production line, there are often cores of different models. Traditionally, a three-axis manipulator is used to grasp, move and position the cores on the production line. When docking cores of different models, the tooling fixture is manually replaced to adapt to the grasping requirements of different models of cores. This involves manually loosening the fixture fixing device, removing the original fixture, and installing a fixture suitable for the new model of core, and then fixing it again. Although this manual replacement of the fixture provides a certain degree of adaptability and flexibility, it also has disadvantages such as long operation time, low production efficiency, and possible human errors.

[0003] Therefore, it is an important research to design a grasping device that can quickly adjust the fixture to adapt to cores of different models. Summary of the Utility Model

[0004] The technical problem to be solved by the utility model is how to design a grasping device that can quickly adjust the fixture to adapt to cores of different models.

[0005] To solve the above technical problem, the utility model provides a core grasping device, which includes a frame, and the frame is provided with:

[0006] A conveying mechanism, including an X-axis moving component that can move linearly along the horizontal direction, a Y-axis moving component that can move linearly in a direction perpendicular to the X-axis moving component, and a Z-axis moving component that can move linearly up and down; and

[0007] A grasping mechanism, mounted on the Z-axis moving component, the grasping mechanism includes a 2D camera, a laser rangefinder, and an electric gripper with an adjustable rotation angle, and the 2D camera and the laser rangefinder can assist the electric gripper to accurately grasp the core.

[0008] Further, the frame includes a cross beam and several vertical columns fixed to the ground at the same height, and the cross beam is fixed at the top of the columns and encloses a rectangular structure.

[0009] Further, the X-axis moving component and the Y-axis moving component are both fixed to the cross beam, and among them, two groups of X-axis moving components are arranged in parallel and move synchronously.

[0010] Further, the end parts of the two groups of the X-axis moving components are respectively connected with the Y-axis moving component and the first driving motor. The Y-axis moving component is arranged in parallel with the first driving motor, and the first driving motor can drive the two groups of the X-axis moving components to perform horizontal synchronous linear motion.

[0011] Further, a second driving motor is arranged at one end of the Y-axis moving component, and the second driving motor can drive the Y-axis moving component to perform horizontal linear motion.

[0012] Further, the grasping mechanism is fixed to the Z-axis moving component through a fixing plate, and a fixing member is vertically arranged on the fixing plate.

[0013] Further, a speed reducer is arranged on the fixing member, and a servo motor is connected to the top of the speed reducer; the 2D camera is arranged in an extending manner on the horizontal plane of the fixing member, and a laser rangefinder is arranged below the 2D camera in the vertical direction.

[0014] Further, an electric gripper is arranged on the side of the fixing member facing away from the servo motor, and the servo motor can drive the electric gripper to change the angle.

[0015] Further, a first clamping plate and a second clamping plate for grasping the iron core are arranged at the end of the electric gripper.

[0016] Further, a third driving motor is arranged at the top of the Z-axis moving component in the vertical direction, and the third driving motor drives the Z-axis moving component to perform lifting linear motion.

[0017] Compared with the prior art, the present utility model has the following beneficial effects:

[0018] With the present utility model, through the interconnected three-dimensional space conveying mechanism and the grasping mechanism, at the same time, the electric gripper can change positions arbitrarily, reducing the time cost and labor cost of manual replacement of different jigs to adapt to different types of iron cores; in addition, through the 2D camera and the laser rangefinder, the grasping is made more accurate. Description of the Drawings

[0019] Figure 1 It is a schematic diagram of the overall structure disclosed in the embodiment of the present utility model;

[0020] Figure 2 It is a partial structural schematic diagram of the X-axis moving component disclosed in the embodiment of the present utility model;

[0021] Figure 3 It is a partial structural schematic diagram of the Y-axis moving component disclosed in the embodiment of the present utility model;

[0022] Figure 4This is a partial structural schematic diagram of the grasping mechanism disclosed in the embodiments of the present utility model.

[0023] In the figure:

[0024] 000, frame; 001, cross beam; 002, column;

[0025] 110, X-axis moving component; 111, first driving motor; 120, Y-axis moving component; 121, second driving motor; 130, Z-axis moving component; 131, third driving motor;

[0026] 201, fixed plate; 202, fixing piece; 203, speed reducer; 204, 2D camera; 205, laser rangefinder; 206, electric gripper; 207, first clamping plate; 208, second clamping plate. Specific embodiments

[0027] To make the technical solutions and technical effects of the present utility model clearer, the technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments. Obviously, the described embodiments are part of the embodiments of the present utility model, rather than all of the embodiments.

[0028] The present utility model aims to provide an iron core grasping device for grasping iron cores of different models and achieving precise grasping. Refer to Figure 1 , which mainly includes a frame 000 that bears the entire device. The frame 000 includes a cross beam 001 and several columns 002 of equal height that are vertically fixed to the ground. The cross beam 001 is fixed on the top of the columns 002 and encloses a rectangular structure. A conveying mechanism and a grasping mechanism that can move in three-dimensional space are arranged on the frame 000, and the following is a specific introduction to them:

[0029] Conveyor mechanism: The conveyor mechanism includes an X-axis moving component 110 that can move linearly in the horizontal direction, a Y-axis moving component 120 that can move linearly in a direction perpendicular to the X-axis moving component 110, and a Z-axis moving component 130 that can move linearly up and down. Further, both the X-axis moving component 110 and the Y-axis moving component 120 are fixed to the crossbeam 001. Among them, due to the relatively heavy grasping mechanism, two groups of X-axis moving components 110 are arranged in parallel and move synchronously. The end parts of the two groups of X-axis moving components 110 are respectively connected to a Y-axis moving component 120 and a first driving motor 111. The Y-axis moving component 120 and the first driving motor 111 are arranged in parallel. The first driving motor 111 can drive the two groups of X-axis moving components 110 to move horizontally and synchronously in a straight line. One end of the Y-axis moving component 120 is provided with a second driving motor 121, and the second driving motor 121 can drive the Y-axis moving component 120 to move horizontally in a straight line. At the top end of the Z-axis moving component 130 in the vertical direction, a third driving motor 131 is provided, and the third driving motor 131 drives the Z-axis moving component 130 to move up and down in a straight line. The conveyor mechanism assists in grasping the iron core from the original position to the required position.

[0030] Grasping mechanism: The grasping mechanism is mounted on the Z-axis moving component 130. The grasping mechanism includes a 2D camera 204, a laser rangefinder 205, and an electric gripper 206 with an adjustable rotation angle. The 2D camera 204 and the laser rangefinder 205 can assist the electric gripper 206 to accurately grasp the iron core. Specifically, the grasping mechanism is fixed to the Z-axis moving component 130 through a fixing plate 201. A fixing member 202 is vertically provided on the fixing plate 201. A speed reducer 203 is provided on the fixing member 202, and a servo motor 203 is connected to the top of the speed reducer 203; a 2D camera 204 is horizontally extended on the fixing member 202, and a laser rangefinder 205 is provided below the 2D camera 204 in the vertical direction. Among them, the 2D camera 204 is convenient for detecting the angle of the iron core so that the electric gripper 206 can change the angle to adapt to the iron core; the laser rangefinder 205 is convenient for detecting the distance from the iron core to the manipulator. An electric gripper 206 is provided on one side of the fixing member 202 facing away from the servo motor 203, and the servo motor 203 can drive the electric gripper 206 to change the angle. At the end of the electric gripper 206, a first clamping plate 207 and a second clamping plate 208 for grasping the iron core are provided, that is, the manipulator. According to the required accuracy of the production line, the number of 2D cameras 204 and laser rangefinders 205 can be appropriately increased. For example, according to the production rhythm required by the production line, an array structure of multiple present utility models can be designed to meet the production capacity. The advantage of this is that the grasping accuracy of the iron core is greatly improved, and the production quality of the product is improved.

[0031] In use, when changing the iron core type, the utility model performs simple and rapid electric control operations. The 2D camera 204 takes pictures to detect the angle of the iron core, adjusts the rotation angle of the electric gripper 206 to position the angle of the iron core, and the conveying mechanism with three-dimensional linear motion is used to grab the iron core from the original position to the required position. The distance detected by the laser rangefinder 205 enables the manipulator to accurately grab the iron core.

[0032] Although the embodiments of the present utility model have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present utility model. The scope of the present utility model is defined by the appended claims and their equivalents.

Claims

1. An iron core gripping device, comprising a frame (000), characterized in that, The frame (000) is provided with: a conveying mechanism, including an X-axis moving component (110) that can move linearly in the horizontal direction, a Y-axis moving component (120) that can move linearly in a direction perpendicular to the X-axis moving component (110), and a Z-axis moving component (130) that can move linearly up and down; and a grasping mechanism mounted on the Z-axis moving component (130), the grasping mechanism including a 2D camera (204), a laser rangefinder (205), and an electric gripper (206) with an adjustable rotation angle, and the 2D camera (204) and the laser rangefinder (205) can assist the electric gripper (206) to accurately grasp the iron core.

2. The iron core gripping device according to claim 1, characterized in that, The frame (000) includes a cross beam (001) and several vertical columns (002) of the same height fixed to the ground, and the cross beam (001) is fixed at the top of the columns (002) and encloses a rectangular structure.

3. The core gripping device according to claim 2, characterized in that, The X-axis moving component (110) and the Y-axis moving component (120) are both fixed to the cross beam (001), and among them, two groups of the X-axis moving components (110) are arranged in parallel and move synchronously.

4. The iron core gripping device according to claim 1, wherein, The ends of the two groups of the X-axis moving components (110) are respectively connected with the Y-axis moving component (120) and a first driving motor (111), the Y-axis moving component (120) is arranged in parallel with the first driving motor (111), and the first driving motor (111) can drive the two groups of the X-axis moving components (110) to move horizontally and synchronously in a straight line.

5. The iron core grasping device according to claim 1, characterized in that, One end of the Y-axis moving component (120) is provided with a second driving motor (121), and the second driving motor (121) can drive the Y-axis moving component (120) to move horizontally in a straight line.

6. The iron core grasping device according to claim 1, wherein The grasping mechanism is fixed to the Z-axis moving component (130) through a fixing plate (201), and a fixing member (202) is vertically arranged on the fixing plate (201).

7. The iron core grasping device according to claim 6, wherein A speed reducer (203) is arranged on the fixing member (202), and a servo motor (203) is connected to the top of the speed reducer (203); the 2D camera (204) is arranged on the horizontal plane extending from the fixing member (202), and the laser rangefinder (205) is arranged below the 2D camera (204) in the vertical direction.

8. The iron core grasping device according to claim 7, characterized in that, The electric gripper (206) is arranged on one side of the fixing member (202) facing away from the servo motor (203), and the servo motor (203) can drive the electric gripper (206) to change the angle.

9. The iron core gripping device according to claim 8, characterized in that, The ends of the electric gripper (206) are provided with a first clamping plate (207) and a second clamping plate (208) for grasping the iron core.

10. The iron core grasping device according to claim 1, characterized in that, A third driving motor (131) is arranged at the top end of the Z-axis moving component (130) in the vertical direction, and the third driving motor (131) drives the Z-axis moving component (130) to move up and down in a straight line.

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