Gripping tool, gripping device and dismounting apparatus

Abstract

The application provides a grabbing tool, a grabbing device and a dismounting equipment, which comprises a connecting component and at least two claw bodies, the at least two claw bodies are sequentially arranged around the connecting component, the claw body is movably connected with the connecting component, the claw body has a contraction state and an expansion state, the contraction state is that the claw body is contracted towards the vertical center line direction of the connecting component, so that the grabbing tool can enter and exit the center hole of a workpiece, the expansion state is that the claw body is expanded towards the circumference of the grabbing tool, so that the claw body can abut against the hole wall of the center hole of the workpiece and be connected with the workpiece together, and the claw body is movable and can be switched between the contraction state and the expansion state. The grabbing stability is ensured, local plastic deformation of the hole wall of the workpiece is avoided, lossless grabbing of the workpiece can be realized, after the workpiece is grabbed, the workpiece can be dismounted by driving the grabbing tool to move along the axial direction of the workpiece, and the direct recycling rate of the workpiece is improved.

Description

Technical Field

[0001] This application relates to the field of motor recycling technology, and in particular to a gripping tool, gripping device and dismantling equipment. Background Technology

[0002] The motor mainly consists of two parts: the housing and the stator and the rotor. The stator is inserted into the housing by interference fit, and the rotor is inserted into the center hole of the stator by transition fit. The stator and the rotor are magnetically attracted together.

[0003] In the field of motor recycling, the disassembly of motor stators and rotors is a critical but technically complex process.

[0004] Currently, most mainstream motor stator and rotor disassembly equipment on the market uses mechanical ejection technology, such as applying axial thrust to the rotor through a cylinder or lead screw-driven top plate to achieve separation. However, during the ejection process, the rotor is constantly subjected to axial pressure from the top plate, which easily damages the mating surfaces between the rotor and the top plate, affecting the direct recycling and reuse rate of the rotor. Utility Model Content

[0005] This application provides a gripping tool, a gripping device, and a disassembly equipment to solve the problems existing in related technologies. The technical solution is as follows: In a first aspect, embodiments of this application provide a gripping tool for gripping a workpiece to be disassembled, the workpiece having a central hole, comprising: Connecting components; and At least two claws are arranged sequentially around the connecting member. The claws are movably connected to the connecting member. The claws have a contracted state and an expanded state. In the contracted state, the claws contract towards the vertical centerline of the connecting member so that the gripping tool can enter and exit the center hole of the workpiece. In the expanded state, the claws expand circumferentially towards the gripping tool so that the claws can abut against the wall of the center hole of the workpiece and connect with the workpiece. The claws are movable and can switch between the contracted state and the expanded state.

[0006] In one embodiment, the claw body is provided with a first elastic contact member, which is used to abut against the wall of the center hole of the workpiece.

[0007] In one embodiment, the first elastic contact component is provided with a first arcuate surface, the curvature of which is adapted to the curvature of the center hole wall of the workpiece.

[0008] In one embodiment, the first elastic contact member is disposed on the side of the claw body facing the central hole wall of the workpiece.

[0009] In one embodiment, the first elastic contact component is detachably connected to the claw body.

[0010] In one embodiment, the grabbing tool further includes: A slide block, which is vertically movable and sleeved on the connecting component; At least two first links, the first end of the first link being pivotally connected to the slide block, and the second end of the first link being connected to the corresponding claw body; A fixing seat, the fixing seat being disposed on the connecting member, the fixing seat being located below the slide; and At least two second links, the first end of the second link being pivotally connected to the fixed seat, and the second end of the second link being connected to the corresponding claw body; When an upward force is applied to the slide, the gripping tool switches from the expanded state to the retracted state; When the slide is released, the gripping tool switches from the retracted state to the expanded state under the action of gravity; or, when downward pressure is applied to the slide, the gripping tool switches from the retracted state to the expanded state.

[0011] In one embodiment, there are two sets of fixed seats and two sets of second connecting rods. The two sets of fixed seats are arranged vertically spaced apart along the connecting component, and each second connecting rod in each set is pivotally connected to the corresponding fixed seat and the claw body.

[0012] Secondly, embodiments of this application provide a grasping device, including: The aforementioned scraping tools; and A drive module, the output end of which is connected to the connecting component, is used to drive the gripping tool to move in and out of the center hole of the workpiece.

[0013] In one embodiment, the connecting component is detachably connected to the output end of the drive mechanism; And / or, the drive module includes: Transverse drive mechanism; and A lifting drive mechanism is provided on the output end of the transverse drive mechanism. The lifting drive mechanism can move laterally with the output end of the transverse drive mechanism. The output end of the lifting drive mechanism is connected to the connecting component, and the connecting component can move up and down with the output end of the lifting drive mechanism.

[0014] Thirdly, embodiments of this application provide a disassembly device, including the aforementioned gripping tool.

[0015] The advantages or beneficial effects of the above technical solutions include at least the following: This invention relates to a gripping tool with a radially variable claw structure. Through a mechanical conversion mechanism between a contracted state and an expanded state, it solves the problem of indentation defects caused by traditional ejection and overcomes the common interference problem when gripping a central hole. In the contracted state, the claw converges towards the vertical centerline of the connecting component to form a compact profile smaller than the diameter of the central hole of the workpiece (such as a rotor or stator), ensuring smooth insertion of the gripping tool into the central hole of the workpiece. In the expanded state, the claw expands uniformly circumferentially to form full contact with the wall of the central hole of the workpiece. By utilizing the circumferential force distribution characteristics, the gripping stress is dispersed, preventing local stress concentration that could lead to deformation of the central hole of the workpiece. This ensures gripping stability and avoids local plastic deformation of the central hole wall of the workpiece, enabling non-destructive gripping of the workpiece. After gripping the workpiece, the workpiece can be disassembled by driving the gripping tool to move along the axial direction of the workpiece, which helps to improve the direct recycling rate of the workpiece. In summary, this gripping tool cleverly utilizes the center hole of the workpiece as the force application reference surface, transforming the traditional axial ejection force into a radial expansion holding force. During disassembly, the workpiece is separated from other components (such as separating the stator and rotor) through the synchronous axial movement of the gripping tool and the workpiece, completely avoiding direct contact pressure between the top plate and the workpiece end face, and fundamentally eliminating the risk of workpiece end face damage.

[0016] The above overview is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of this application will become readily apparent from the accompanying drawings and the following detailed description. Attached Figure Description

[0017] In the accompanying drawings, unless otherwise specified, the same reference numerals throughout the various drawings denote the same or similar parts or elements. These drawings are not necessarily drawn to scale. It should be understood that these drawings depict only some embodiments disclosed in this application and should not be construed as limiting the scope of this application.

[0018] Figure 1 This is a three-dimensional structural diagram of the grasping tool of this utility model; Figure 2 This is a three-dimensional structural diagram of the gripping device of this utility model; Figure 3 This is a three-dimensional structural diagram of the disassembly device of this utility model; Figure 4 for Figure 3 A magnified view of section A in the image.

[0019] Figure Labels 1. Gripping tool; 11. Connecting component; 12. Claw body; 13. First elastic contact component; 131. Arc-shaped surface; 14. Slide; 15. First connecting rod; 16. Fixed base; 17. Second connecting rod; 18. Pull ring; 2. Drive module; 21. Lateral drive mechanism; 211. Guide component; 212. Sliding component; 22. Lifting drive mechanism. Detailed Implementation

[0020] In the following description, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the spirit or scope of this application. Therefore, the drawings and description are considered to be exemplary in nature and not restrictive.

[0021] See Figure 1 In a first aspect, a preferred embodiment of the present invention provides a gripping tool 1, which is used to grip a workpiece to be disassembled. The workpiece has a central hole. The gripping tool 1 includes: Connecting component 11; and At least two claw bodies 12 are arranged sequentially around the connecting member 11. The claw bodies 12 are movably connected to the connecting member 11. The claw bodies 12 have a contracted state and an expanded state. In the contracted state, the claw bodies 12 contract towards the vertical centerline of the connecting member 11 so that the gripping tool 1 can enter and exit the center hole of the workpiece. In the expanded state, the claw bodies 12 expand circumferentially towards the gripping tool 1 so that the claw bodies 12 can abut against the wall of the center hole of the workpiece and connect with the workpiece. The claw bodies 12 are movable and can switch between the contracted state and the expanded state.

[0022] The gripping tool 1 of this invention adopts a radially variable claw body 12 structure. Through a mechanical conversion mechanism between a contracted state and an expanded state, it solves the problem of indentation defects caused by traditional ejection and overcomes the common interference problem when gripping the center hole. In the contracted state, the claw body 12 converges towards the vertical centerline of the connecting component 11 to form a compact profile smaller than the diameter of the center hole of the workpiece (such as a rotor or stator), ensuring the smooth insertion of the gripping tool 1 into the center hole of the workpiece. In the expanded state, the claw body 12 expands uniformly in the circumference to form full contact with the wall of the center hole of the workpiece. The force distribution characteristics in the circumferential direction are used to disperse the gripping stress and prevent local stress concentration from causing deformation of the center hole of the workpiece. This ensures gripping stability and avoids local plastic deformation of the center hole wall of the workpiece, enabling non-destructive gripping of the workpiece. After gripping the workpiece, the workpiece can be disassembled by driving the gripping tool 1 to move along the axial direction of the workpiece, which is conducive to improving the direct recycling rate of the workpiece. In summary, the gripping tool 1 cleverly utilizes the center hole of the workpiece as the force application reference surface, transforming the traditional axial ejection force into a radial expansion holding force. During the disassembly process, the workpiece is separated from other components (such as separating the stator and rotor or separating the outer casing from the stator) through the synchronous axial movement of the gripping tool 1 and the workpiece. This completely avoids the direct contact pressure between the top plate and the end face of the workpiece, fundamentally eliminating the risk of workpiece end face damage.

[0023] It can be understood that the workpiece can be a stator, rotor, or other structure with a central hole. When the workpiece is a stator, the gripping tool 1 is applied to the disassembly equipment and works in coordination with other structures in the disassembly equipment to separate the stator from the outer casing. When the workpiece is a rotor, the gripping tool 1 is applied to the disassembly equipment and works in coordination with other structures in the disassembly equipment to separate the rotor from the stator.

[0024] See Figure 1In one embodiment, the claw body 12 is provided with a first elastic contact component 13, which is used to abut against the wall of the center hole of the workpiece. Firstly, the introduction of the first elastic contact component 13 allows the claw body 12 to adapt to different dimensional tolerance changes through elastic deformation during the expansion position, ensuring a tight fit with the wall of the center hole of the workpiece, thus improving gripping stability and avoiding surface damage caused by rigid contact. Secondly, the cushioning properties of the elastic material of the first elastic contact component 13 effectively absorb vibrations and impacts during the gripping process, preventing micro-deformation or scratches on the workpiece due to rigid collisions during handling. Thirdly, by compensating for manufacturing errors and assembly gaps through the deformation of the first elastic contact component 13, the machining accuracy requirements of the center hole of the workpiece can be reduced, improving the compatibility of the gripping tool 1. Scope of application; In addition, the first elastic contact component 13 increases the actual contact area between the claw body 12 and the central hole wall of the workpiece. By uniformly distributing the load through elastic pressure, the risk of local stress concentration is further reduced, ensuring that the central hole wall of the workpiece is not damaged by pressure. Furthermore, the controllable friction coefficient of the first elastic contact component 13 not only ensures sufficient static friction to prevent slippage during gripping, but also reduces adhesion during release, making the workpiece picking and placing process smoother and more reliable. This structure innovatively combines rigid positioning with flexible contact, achieving non-destructive gripping operation of the workpiece while maintaining mechanical precision, which is conducive to further improving the direct recycling rate of the workpiece.

[0025] In one embodiment, the first elastic contact component 13 can be a structure made of an elastic material, such as any one of rubber, polyurethane, etc.

[0026] Of course, in other embodiments, the first elastic contact member 13 may also be a floating contact head supported by a spring, for example, a radially retractable contact head is provided in the claw body 12, with a compression spring or disc spring configured inside to provide adaptive clamping force.

[0027] Of course, in other embodiments, the first elastic contact component 13 can also be an airbag-type contact structure, for example, an inflatable airbag is integrated on the surface of the claw body 12, and the contact pressure is adjusted by air pressure, which is suitable for fragile workpieces.

[0028] See Figure 1In one embodiment, the first elastic contact member 13 is provided with a first arc-shaped surface 131, the curvature of which is adapted to the curvature of the center hole wall of the workpiece. Due to the precise matching design of the first arc-shaped surface 131 with the arc of the workpiece's central hole wall, the claw 12 can achieve complete contact with the inner wall of the workpiece in the expanded state. By increasing the effective contact area, the concentrated stress of traditional point or line contact is transformed into uniformly distributed radial pressure, significantly reducing the pressure per unit area. The combination design of this arc-shaped contact surface and elastic material forms a dual protection mechanism. On the one hand, it ensures uniform pressure transmission through geometric adaptation, and on the other hand, it automatically compensates for machining tolerances and assembly deviations by utilizing the deformation characteristics of the elastic material, avoiding local overpressure. When the claw 12 expands in a controlled manner, the first arc-shaped surface 131 expands synchronously along the circumference of the workpiece's central hole wall, forming a wrapping flexible clamping, which provides sufficient friction while preventing surface scratches caused by relative sliding. This structure is particularly suitable for disassembling high-precision motor workpieces. Its arc adaptation design not only ensures the stability of gripping, but also achieves non-destructive protection of thin-walled workpiece structures through the stress dispersion principle, improving disassembly quality while reducing the cost of workpiece reprocessing.

[0029] In one embodiment, the first elastic contact component 13 is disposed on the side of the claw body 12 facing the central hole wall of the workpiece, so that the first elastic contact component 13 is closer to the workpiece, ensuring that it can form a buffer contact with the central hole wall of the workpiece as soon as the claw body 12 expands. The contact pressure is automatically adjusted by the compression deformation of the material itself, which not only provides sufficient static friction to prevent the workpiece from slipping, but also avoids plastic deformation of the inner wall caused by overpressure. In addition, this single-sided arrangement facilitates the replacement and maintenance of the first elastic contact component 13, and the hardness or thickness of the contact component material can be quickly adjusted according to different workpiece materials and sizes, which significantly improves the tool's adaptability to working conditions.

[0030] In one embodiment, the first elastic contact component 13 is detachably connected to the claw body 12. The detachable connection allows for quick replacement of the matching first elastic contact component 13 according to the center hole diameter, material characteristics, or surface treatment requirements of the workpiece, which significantly improves the versatility and adaptability of the gripping tool 1. In addition, when the first elastic contact component 13 is worn, it only needs to be replaced separately instead of scrapping the entire gripping tool 1.

[0031] In one embodiment, the first elastic contact component 13 can be detachably connected to the claw body 12 by fasteners such as screws or bolts.

[0032] Of course, in other embodiments, the first elastic contact component 13 can also be detachably connected to the claw body 12 by means of snap-fit, magnetic connection or other means.

[0033] See Figure 1In one embodiment, the grabbing tool 1 further includes: The slide 14 is vertically movable and sleeved on the connecting component 11; At least two first links 15, the first end of the first link 15 is pivotally connected to the slide block 14, and the second end of the first link 15 is connected to the corresponding claw body 12; Fixing seat 16, the fixing seat 16 is disposed on the connecting member 11, and the fixing seat 16 is located below the slide 14; and At least two second links 17, the first end of the second link 17 is pivotally connected to the fixed seat 16, and the second end of the second link 17 is connected to the corresponding claw body 12; When an upward force is applied to the slide 14, the gripping tool 1 switches from the expanded state to the retracted state; When the slide 14 is released, the gripping tool 1 switches from a retracted state to an expanded state under the influence of gravity; or, when downward pressure is applied to the slide 14, the gripping tool 1 switches from a retracted state to an expanded state. Thus, the coordinated operation of the connecting component 11, the slide 14, the fixed seat 16, and the linkage mechanism composed of the first link 15 and the second link 17 enables the claw body 12 to switch between the retracted and expanded states. The connecting component 11, as the core load-bearing structure, ensures stable docking with the drive module. The vertical arrangement of the slide 14 and the fixed seat 16, along with the first link 15 and the second link 17, forms a double-pivot linkage mechanism, allowing the claw body 12 to precisely switch between radial retraction and expansion. Furthermore, the gripping tool 1 uses gravity or simple force to achieve state switching; when the slide 14 is released or subjected to downward pressure, the claw body 12… The claw 12 expands outward through the linkage of the first link 15 and the second link 17 until it contacts the center hole wall of the workpiece. At this point, the reaction force on the claw 12 is transmitted to the slide 14 along the first link 15, forming a downward component force. This component force, together with the weight of the slide 14 itself or the external downward pressure, keeps the slide 14 in a stable downward state, thereby maintaining the expansion posture of the claw 12. At the same time, because the pivot point layout of the first link 15 and the second link 17 forms a structure that passes through the center or is close to the dead point, the claw 12 needs to overcome a certain lever arm after expanding to the correct position to move in the opposite direction. Thus, without external force actively lifting the slide 14, the claw 12 can maintain its expansion posture. In this situation, the claw 12 remains in an expanded state due to the mechanical self-locking effect, ensuring gripping stability. Furthermore, the radial constraint of the workpiece's central hole wall on the claw 12 further restricts the possibility of retraction of the linkage mechanism, forming a two-way mechanical balance. Only when a specific upward force is applied to break this balance will the claw 12 disengage from the self-locking state and retract. This design cleverly utilizes the mechanical characteristics of the mechanism to achieve reliable gripping, preventing accidental release without the need for additional locking devices. When lifting the slide 14, the linkage mechanism drives the claw 12 to retract synchronously, reducing driving complexity and improving operational reliability. Additionally, each claw 12 revolves around the vertical centerline. The force is evenly distributed and synchronously controlled by multiple links to ensure uniform contact with the central hole wall of the workpiece during expansion, avoiding stress concentration on one side. In addition, the vertical sliding design of the slide 14 along the connecting component 11 makes the force transmission path clear and controllable, forming a stable kinematic pair structure in conjunction with the reference positioning function of the fixed seat 16. This gripping tool 1 integrates gripping force and reset force into the same mechanical system, and can achieve bidirectional state switching without additional elastic elements. It simplifies the structure and improves durability, making it particularly suitable for high-frequency automated operation scenarios. Its combination of active expansion and passive contraction mode ensures gripping reliability and optimizes energy consumption efficiency.

[0034] See Figure 1 In one embodiment, the slide 14 is provided with a pull ring 18 for hand operation to facilitate lifting the slide 14.

[0035] See Figure 1 In one embodiment, there are two sets of fixed seats 16 and two sets of second connecting rods 17. The two sets of fixed seats 16 are arranged vertically apart along the connecting member 11. Each second connecting rod 17 in each set is pivotally connected to the corresponding fixed seat 16 and claw body 12. Thus, by arranging the double fixed seats 16 along the axial direction of the connecting component 11 to form two force transmission nodes, they together with the claw body 12 to form a stable triangular support system, significantly enhancing the structural rigidity of the gripping tool 1 during radial expansion. Simultaneously, the synchronous pivoting action of the two sets of second connecting rods 17 ensures that the claw body 12 remains parallel and guided during movement, avoiding the deflection or jamming phenomena easily caused by traditional single-link structures. In summary, this double-link mechanism distributes the gripping force evenly across the two fixed seats 16 through mechanical distribution, reducing the load on individual pivot points and improving the overall torsional resistance. Especially when disassembling large or heavy workpieces, the double support point design effectively suppresses the vibration and deformation of the claw body 12, ensuring consistent contact between the first elastic contact component 13 and the central hole wall of the workpiece. Furthermore, this structure also improves the controllability of the gripping posture by increasing motion constraint points, making the trajectory of the claw body 12 more precise during contraction / expansion transitions.

[0036] See Figure 2 Secondly, a preferred embodiment of the present invention provides a gripping device, comprising: The aforementioned scraping tool 1; and The drive module is connected to the connecting component 11 at its output end. The drive module is used to drive the gripping tool 1 to move in and out of the center hole of the workpiece.

[0037] The gripping device of this invention, through the linkage between the drive module and the gripping tool 1, ensures that the gripping tool 1 can accurately enter and exit the center hole of the workpiece when it needs to be disassembled. The gripping tool 1 adopts a radially variable claw body 12 structure, which solves the problem of indentation defects caused by traditional ejection and overcomes the common interference problem when gripping the center hole through a mechanical conversion mechanism between the contracted and expanded states. In the contracted state, the claw body 12 converges towards the vertical center line of the connecting component 11 to form a center smaller than the workpiece (such as a rotor or stator). The compact profile of the hole diameter ensures the smooth insertion of the gripping tool 1 into the center hole of the workpiece. In the expanded state, the claw body 12 expands uniformly in the circumference to form full contact with the wall of the center hole of the workpiece. The force distribution characteristics in the circumferential direction realize the dispersion of gripping stress, preventing local stress concentration that could cause deformation of the center hole of the workpiece. This ensures gripping stability and avoids local plastic deformation of the center hole wall of the workpiece, enabling non-destructive gripping of the workpiece. After gripping the workpiece, the workpiece can be disassembled by driving the gripping tool 1 to move along the axial direction of the workpiece, which helps to improve the direct recycling rate of the workpiece.

[0038] In one embodiment, the connecting component 11 is detachably connected to the output end of the drive module. This detachable connection allows the gripping tool 1 to be quickly separated from or assembled from the drive module, facilitating the replacement of gripping tools 1 with suitable ones for different workpiece specifications, significantly improving the equipment's versatility and production line flexibility. Secondly, this design achieves mechanical and functional decoupling through modular interfaces (such as flanges, quick-change clips, or threaded connections), ensuring reliable power transmission and simplifying maintenance procedures. When the gripping tool 1 wears out or requires process adjustments, it can be replaced independently, reducing downtime and maintenance costs. Thirdly, the detachable structure optimizes the flexibility of equipment layout, allowing for rapid adjustment of the spatial relative position of the drive module and the gripping tool 1 according to production needs, adapting to diverse production line configurations. Simultaneously, the standardized interface design facilitates the serialization of the gripping tool 1, forming a library of gripping tools 1 covering different workpiece models.

[0039] In one implementation, the drive module includes: Transverse drive mechanism; and A lifting drive mechanism is located at the output end of the transverse drive mechanism. The lifting drive mechanism can move laterally with the output end of the transverse drive mechanism. The output end of the lifting drive mechanism is connected to a connecting component 11, which can move up and down with the output end of the lifting drive mechanism. In this way, the lifting drive mechanism controls the precise vertical movement of the gripping tool 1, ensuring that the gripping tool 1 is accurately positioned along the workpiece axis and that the workpiece can be accurately gripped. Meanwhile, the transverse drive mechanism drives the lifting drive mechanism to move laterally, enabling the transfer of the workpiece to the designated unloading position.

[0040] See Figure 3 In one embodiment, the lateral drive mechanism includes: A guide component, which is horizontally mounted on the body of the disassembly equipment, i.e., the guide component is arranged laterally; and A sliding component is slidably mounted on a guide component and connected to a lifting drive mechanism. Thus, by pushing the sliding component to move, the gripping tool can be moved laterally, thereby realizing the transfer of the workpiece. In one embodiment, the lateral drive mechanism further includes: The motor is mounted on the body of the disassembly equipment. A lead screw, rotatably mounted on the machine body, is connected to the output shaft of the motor and can rotate with the output shaft of the motor; and The nut is fitted onto the lead screw and can move with the rotation of the lead screw. The nut is connected to the sliding component to drive the gripping tool 1 to move laterally.

[0041] Of course, in other embodiments, commonly used linear drive mechanisms such as cylinders, hydraulic cylinders, and linear motors can be used to replace the aforementioned motors, lead screws, and nuts.

[0042] In one embodiment, the lifting drive mechanism is a cylinder. The cylinder, as a drive source, features a simple structure and rapid response, enabling quick lifting of the gripping tool 1 to meet the high efficiency requirements of automated production lines. Secondly, the smooth characteristics of pneumatic transmission effectively buffer the impact force when the gripping tool 1 contacts the stator, preventing damage to precision parts from rigid collisions. Thirdly, the adjustable thrust of the cylinder allows it to adaptively adjust the output force according to the weight of stators of different specifications, ensuring sufficient clamping force without causing stator deformation due to overload during gripping. Furthermore, this design fully leverages the high standardization of pneumatic components, facilitating maintenance and replacement while maintaining controllable costs. The compact structure of the cylinder also helps optimize the overall equipment layout and reduce space occupation. In addition, the inherent overload protection function of the pneumatic system can automatically release pressure in abnormal situations, providing passive safety protection for the gripping device.

[0043] Of course, in other embodiments, the lifting drive mechanism can also be any of the following linear drive mechanisms: hydraulic cylinder, linear motor, motor and linear drive module (such as lead screw and nut pair, gear and rack mechanism).

[0044] Thirdly, a preferred embodiment of the present invention provides a disassembly device, including the aforementioned gripping tool 1.

[0045] The disassembly device of this utility model, by employing the aforementioned gripping tool 1, also uses a radially variable claw body 12 structure. Through a mechanical conversion mechanism between a contracted state and an expanded state, it solves the problem of indentation defects caused by traditional ejection and overcomes the common interference problem when gripping the center hole. In the contracted state, the claw body 12 converges towards the vertical centerline of the connecting component 11 to form a compact profile smaller than the diameter of the center hole of the workpiece (such as a rotor or stator), ensuring the smooth insertion of the gripping tool 1 into the center hole of the workpiece. In the expanded state, the claw body 12 expands uniformly in the circumference to form full contact with the wall of the center hole of the workpiece. By utilizing the circumferential force distribution characteristics, the gripping stress is dispersed, preventing local stress concentration that could cause deformation of the center hole of the workpiece. This ensures gripping stability and avoids local plastic deformation of the center hole wall of the workpiece, enabling non-destructive gripping of the workpiece. After gripping the workpiece, the workpiece can be disassembled by driving the gripping tool 1 to move along the axial direction of the workpiece, which is beneficial to improving the direct recycling rate of the workpiece.

[0046] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of those different embodiments or examples.

[0047] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0048] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various variations or substitutions within the technical scope disclosed in this application, and these should all be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A gripping tool, said gripping tool being used to grip a workpiece to be disassembled, the workpiece having a central hole, characterized in that, include: Connecting components; as well as At least two claws are arranged sequentially around the connecting member. The claws are movably connected to the connecting member. The claws have a retracted state and an expanded state. In the retracted state, the claws retract towards the vertical centerline of the connecting member so that the gripping tool can enter and exit the center hole of the workpiece. In the expanded state, the claws expand circumferentially towards the gripping tool so that the claws can abut against the wall of the center hole of the workpiece and connect with the workpiece. The claws are movable and can switch between the retracted state and the expanded state. The crawling tool also includes: A slide block, which is vertically movable and sleeved on the connecting component; At least two first links, the first end of the first link being pivotally connected to the slide block, and the second end of the first link being connected to the corresponding claw body; A fixing seat, the fixing seat being disposed on the connecting member, the fixing seat being located below the slide; and At least two second links, the first end of the second link being pivotally connected to the fixed seat, and the second end of the second link being connected to the corresponding claw body; When an upward force is applied to the slide, the gripping tool switches from the expanded state to the retracted state; When the slide is released, the gripping tool switches from the retracted state to the expanded state under the action of gravity; or, when downward pressure is applied to the slide, the gripping tool switches from the retracted state to the expanded state.

2. The grasping tool according to claim 1, characterized in that, The claw body is provided with a first elastic contact component, which is used to abut against the wall of the center hole of the workpiece.

3. The grasping tool according to claim 2, characterized in that, The first elastic contact component is provided with a first arc-shaped surface, and the curvature of the first arc-shaped surface is adapted to the curvature of the center hole wall of the workpiece.

4. The grasping tool according to claim 2, characterized in that, The first elastic contact component is located on the side of the claw body facing the central hole wall of the workpiece.

5. The grasping tool according to claim 2, characterized in that, The first elastic contact component is detachably connected to the claw body.

6. The grasping tool according to any one of claims 1-5, characterized in that, There are two sets of fixed seats and two sets of second connecting rods. The two sets of fixed seats are arranged vertically apart along the connecting component. Each second connecting rod in each set is pivotally connected to the corresponding fixed seat and the claw body.

7. A gripping device, characterized in that, include: The grasping tool according to any one of claims 1-6; as well as A drive module, the output end of which is connected to the connecting component, is used to drive the gripping tool to move in and out of the center hole of the workpiece.

8. The gripping device according to claim 7, characterized in that, The connecting component is detachably connected to the output end of the drive module. And / or, the drive module includes: Transverse drive mechanism; and A lifting drive mechanism is provided on the output end of the transverse drive mechanism. The lifting drive mechanism can move laterally with the output end of the transverse drive mechanism. The output end of the lifting drive mechanism is connected to the connecting component, and the connecting component can move up and down with the output end of the lifting drive mechanism.

9. Disassembling equipment, characterized in that, Includes the gripping tool according to any one of claims 1-6.

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