Clamp for clamping stator on industrial robot

Abstract

The utility model discloses a clamp for clamping a stator on an industrial robot, which is characterized in that a working chamber is arranged in a mounting base body, and connecting arms are formed on the mounting base body on two sides of the working chamber; a first cylinder is fixed on the inner wall of the working chamber; a fourth connecting rod is vertically fixed to the output end of the first air cylinder, transmission structures are hinged to the two ends of the fourth connecting rod, and the two transmission structures are oppositely arranged to clamp the stator; the transmission structure comprises a first connecting rod, a second connecting rod, a third connecting rod and a clamping piece assembly, the clamping piece assembly can clamp a stator in the direction perpendicular to the axis of the stator due to the arrangement of the transmission structure, clamping between a traditional air cylinder clamping jaw and the stator is mostly inclined clamping, and the clamping efficiency is greatly improved. Compared with a traditional air cylinder clamping jaw, the clamping stability of the structure is higher, and damage to the surface of the stator is small. The stator clamping device is simple in structure, can stably clamp the stator, is simple in transmission structure, and facilitates automatic stator machining, feeding and conveying.

Description

Technical Field

[0001] This utility model belongs to the field of industrial processing equipment technology, specifically relating to a clamp for stator clamping on an industrial robot. Background Technology

[0002] The stator is the stationary part of the electric motor. It consists of three parts: the stator core, the stator windings, and the frame. The stator's main function is to generate a rotating magnetic field, while the rotor's main function is to be cut by magnetic lines of force within this rotating magnetic field, thereby generating (outputting) current. The stator and rotor work together. Before assembly, the inner and outer walls of the stator core need to be ground and deburred to meet surface roughness requirements. Because the stator core has several mounting holes along its circumference, stator machining requires multiple processes. During stator machining, the stator needs to be transferred between these processes; therefore, obtaining a fixture for holding the stator in an industrial robot is crucial. Utility Model Content

[0003] To solve at least one of the above-mentioned technical problems, this utility model provides a clamp for stator gripping on an industrial robot, comprising:

[0004] The mounting base has a working chamber inside, and the mounting base on both sides of the working chamber forms connecting arms; a first cylinder is fixed to the inner wall of the working chamber.

[0005] The output end of the first cylinder is vertically fixed with a fourth connecting rod, and both ends of the fourth connecting rod are hinged with transmission structures. The two transmission structures are arranged opposite to each other to clamp the stator.

[0006] The transmission structure includes a first connecting rod, a second connecting rod, a third connecting rod, and a clamping assembly. The middle part of the first connecting rod is rotatably connected to the connecting arm via a first hinge shaft. The second end of the second connecting rod is rotatably connected to the connecting arm via a second hinge shaft. The second end of the first connecting rod is rotatably connected to the first end of the third connecting rod via a third connecting shaft. The second end of the third connecting rod is rotatably connected to the fourth connecting rod via a fourth connecting shaft. The first end of the first connecting rod is rotatably connected to the clamping assembly via a fifth connecting shaft. The first end of the second connecting rod is rotatably connected to the clamping assembly via a sixth connecting shaft.

[0007] The fifth connecting shaft is always parallel to the first straight line where the first connecting rod is located, and to the second straight line where the sixth connecting shaft and the second connecting rod are located.

[0008] The axis of the first cylinder is parallel or collinear with the axis of the stator.

[0009] Through the above technical solution, the above transmission structure of this utility model can enable the clamping component to clamp the stator in a direction perpendicular to the axis of the stator. Traditional cylinder clamps clamp the stator at an angle. Compared with traditional cylinder clamps, the clamping stability of this structure is higher and the damage to the stator surface is smaller.

[0010] As a preferred technical solution, the clamping assembly includes a clamping base, on which an arc-shaped groove is provided to fit the outer wall of the stator.

[0011] Through the above technical solution, the arc-shaped slot can be matched with the outer wall of the stator to achieve clamping; preferably, the inner wall of the arc-shaped slot is provided with a number of axially parallel protrusions, which can increase static friction.

[0012] As a preferred embodiment of the above-mentioned technical solution, a frustum-shaped groove is formed at the bottom of the clamping base, and the frustum-shaped groove is connected to the arc-shaped slot. The axes of the arc-shaped slot and the frustum-shaped groove are parallel to or collinear with the axis of the first cylinder.

[0013] Preferably, it also includes a three-axis robotic arm, the end of which is fixed with a second cylinder, and the output end of the second cylinder is fixedly mounted on a base.

[0014] Through the above technical solution, the above-mentioned frustum groove is designed to cooperate with the second cylinder. During clamping, the second cylinder and the first cylinder cooperate to achieve clamping. The design of the frustum groove can facilitate the positioning and clamping of the stator.

[0015] Preferably, the clamping base located on one side of the truncated cone groove is also provided with an arc-shaped groove, which can facilitate clamping parallel to the stator axis or clamping perpendicular to the stator axis.

[0016] The fifth connecting shaft, the first connecting rod, and the third connecting shaft are not collinear.

[0017] Compared with the prior art, the advantages of this utility model are: the utility model has a simple structure, can stably clamp the stator, and has a simple transmission structure, which facilitates the processing, feeding and conveying of automated stators. Attached Figure Description

[0018] Figure 1 This is a cross-sectional schematic diagram of the present invention;

[0019] Figure 2 This is a cross-sectional schematic diagram of the present invention in use;

[0020] Figure 3 A perspective view of the clamping component base according to one embodiment;

[0021] Figure 4A perspective view of the clamping component base in the second embodiment;

[0022] Figure label:

[0023] 1 Mounting base; 2 Working chamber; 3 Connecting arm; 4 First cylinder; 5 Fourth connecting rod; 6 First connecting rod; 7 Second connecting rod; 8 Third connecting rod; 9 First hinge shaft; 10 Second hinge shaft; 11 Third connecting shaft; 12 Fourth connecting shaft; 13 Fifth connecting shaft; 14 Sixth connecting shaft; 15 Clamping assembly; 16 Clamping base; 17 Arc-shaped slot; 18 Frustum groove; 19 Second cylinder; 20 Three-axis robotic arm; 21 Arc-shaped slot. Detailed Implementation

[0024] To enable those skilled in the art to better understand this utility model and to more clearly define the scope of protection claimed by this utility model, the present utility model is described in detail below with reference to certain specific embodiments. It should be noted that the following are only some specific embodiments of the present utility model concept, and are only a part of the embodiments of this utility model. The specific and direct description of related structures is only for the convenience of understanding this utility model, and the specific features do not necessarily or directly limit the scope of implementation of this utility model.

[0025] Referring to the accompanying drawings, this utility model adopts the following technical solution: a clamp for holding a stator on an industrial robot, comprising:

[0026] Mounting base 1, the mounting base 1 has a working chamber 2 inside, the mounting base 1 on both sides of the working chamber 2 forms connecting arms 3; a first cylinder 4 is fixed to the inner wall of the working chamber 2;

[0027] The output end of the first cylinder 4 is vertically fixed with a fourth connecting rod 5. Both ends of the fourth connecting rod 5 are hinged with transmission structures, and the two transmission structures are arranged opposite to each other to clamp the stator.

[0028] The transmission structure includes a first connecting rod 6, a second connecting rod 7, a third connecting rod 8, and a clamping assembly 15. The middle part of the first connecting rod 6 is rotatably connected to the connecting arm 3 via a first hinge shaft 9. The second end of the second connecting rod 7 is rotatably connected to the connecting arm 3 via a second hinge shaft 10. The second end of the first connecting rod 6 is rotatably connected to the first end of the third connecting rod 8 via a third connecting shaft 11. The second end of the third connecting rod 8 is rotatably connected to the fourth connecting rod 5 via a fourth connecting shaft 12. The first end of the first connecting rod 6 is rotatably connected to the clamping assembly 15 via a fifth connecting shaft 13. The first end of the second connecting rod 7 is rotatably connected to the clamping assembly 15 via a sixth connecting shaft 14.

[0029] The fifth connecting shaft 13 is always parallel to the first straight line where the first connecting rod 6 is located, and to the second straight line where the sixth connecting shaft 14 and the second connecting rod 7 are located.

[0030] The axis of the first cylinder 4 is parallel or collinear with the axis of the stator.

[0031] Through the above technical solution, the above transmission structure of this utility model can enable the clamping component 15 to clamp the stator in a direction perpendicular to the axis of the stator. Traditional cylinder clamps clamp the stator at an angle. Compared with traditional cylinder clamps, the clamping stability of this structure is higher and the damage to the stator surface is smaller.

[0032] As a preferred technical solution, the clamping assembly 15 includes a clamping base 16, on which an arc-shaped slot 17 is provided to fit the outer wall of the stator.

[0033] Through the above technical solution, the arc-shaped groove 17 can be configured to cooperate with the outer wall of the stator to achieve clamping; preferably, the inner wall of the arc-shaped groove 17 is provided with a number of axially parallel protrusions, and the number of protrusions can increase static friction.

[0034] As a preferred embodiment of the above-mentioned technical solution, a frustum-shaped groove 18 is formed at the bottom of the clamping base 16, and the frustum-shaped groove 18 is connected to the arc-shaped slot 17. The axes of the arc-shaped slot 17 and the frustum-shaped groove 18 are parallel to or collinear with the axis of the first cylinder 4.

[0035] Preferably, it also includes a three-axis robotic arm 20, the end of which is fixed with a second cylinder 19, and the output end of the second cylinder 19 is fixedly mounted on the base 1.

[0036] Through the above technical solution, the above-mentioned frustum groove 18 is set in conjunction with the second cylinder 19. When clamping, the second cylinder 19 and the first cylinder 4 cooperate to achieve clamping. The setting of the frustum groove 18 can facilitate the positioning and clamping of the stator.

[0037] Preferably, an arc-shaped groove 21 is also provided on the clamping base located on one side of the frustum groove 18, which can facilitate clamping parallel to the stator axis or clamping perpendicular to the stator axis.

[0038] The fifth connecting shaft 13, the first connecting rod 6, and the third connecting shaft 11 are not collinear.

[0039] Compared with the prior art, the advantages of this utility model are: the utility model has a simple structure, can stably clamp the stator, and has a simple transmission structure, which facilitates the processing, feeding and conveying of automated stators.

[0040] The technical solution of this utility model has been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the protection scope of this utility model is obviously not limited to these specific embodiments. Without departing from the principle of this utility model, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the protection scope of this utility model.

Claims

1. A gripper for holding a stator on an industrial robot, characterised in that: The utility model relates to a kind of mechanical arm, including: Mounting matrix (1), the working chamber (2) is opened in the mounting matrix (1), and the mounting matrix (1) forms connecting arm (3) on the both sides of working chamber (2);The inner wall of the working chamber (2) is fixed with first cylinder (4); The output end of the first cylinder (4) is vertically fixed with fourth connecting rod (5), and the both ends of the fourth connecting rod (5) are hinged with transmission structure, and two transmission structures are oppositely arranged to hold stator; The transmission structure includes first connecting rod (6), second connecting rod (7), third connecting rod (8) and clamp component (15), the middle part of the first connecting rod (6) is rotatably connected with connecting arm (3) by first hinged shaft (9), the second end of the second connecting rod (7) is rotatably connected with connecting arm (3) by second hinged shaft (10), the second end of the first connecting rod (6) is rotatably connected with the first end of the third connecting rod (8) by third connecting shaft (11), the second end of the third connecting rod (8) is rotatably connected with the fourth connecting rod (5) by fourth connecting shaft (12), the first end of the first connecting rod (6) is rotatably connected with clamp component (15) by fifth connecting shaft (13), and the first end of the second connecting rod (7) is rotatably connected with clamp component (15) by sixth connecting shaft (14); The fifth connecting shaft (13) and the first straight line where the first connecting rod (6) is located, and the second straight line where the sixth connecting shaft (14) and the second connecting rod (7) are located are always parallel; The axis of the first cylinder (4) is parallel or collinear with the axis of stator.

2. A gripper for stator gripping on an industrial robot according to claim 1, characterized in that: The clamp component (15) includes clamp matrix (16), and the arc-shaped clamping groove (17) is opened on the clamp matrix (16) to adapt the outer wall of stator.

3. A gripper for holding a stator on an industrial robot according to claim 2, characterized in that: The bottom of the clamp matrix (16) is provided with a circular truncated cone groove (18), and the circular truncated cone groove (18) is communicated with the arc-shaped clamping groove (17).

4. A gripper for holding a stator on an industrial robot according to claim 3, characterized in that: The axis of the arc-shaped clamping groove (17) and the circular truncated cone groove (18) is parallel or collinear with the axis of the first cylinder (4).

5. A gripper for holding a stator on an industrial robot according to claim 1, characterized in that: It further includes three-axis mechanical arm (20), and the end of the three-axis mechanical arm (20) is fixed with second cylinder (19), and the output end of the second cylinder (19) is fixedly installed with mounting matrix (1).

6. A gripper for holding a stator on an industrial robot according to claim 1, characterized in that: The fifth connecting shaft (13), the first connecting rod (6) and the third connecting shaft (11) are not collinear.

7. A gripper for holding a stator on an industrial robot according to claim 2, characterized in that: A plurality of axially parallel protruding strips are provided on the inner wall of the arc-shaped clamping groove (17).

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