Mechanical arm work hand

Abstract

The utility model discloses a kind of work grippers for mechanical arm, the work gripper is installed on mechanical arm by flange, for clamping stator, work gripper includes claw disc and multiple clamping claws, the upper surface of claw disc is connected with flange, multiple clamping claws are evenly installed on the lower surface of claw disc along annular arrangement;Clamping claw includes seat body, frame body, supporting assembly and clamping assembly, seat body is evenly installed on the lower surface of claw disc along annular arrangement, frame body is installed on the outside of seat body, supporting assembly and clamping assembly are installed on frame body from bottom to top, and the working end of supporting assembly and clamping assembly is adapted with seat body.Gripper can automatically grab stator sheet, replace manual handling, can greatly reduce the labor intensity and use cost of worker, and reduce the risk that stator sheet is easily damaged by manual intervention, ensure product quality, while avoiding stator sheet to the safety threat of worker.This gripper handles stator sheet stably, efficiency is higher, greatly meet the industrial production demand.

Description

Technical Field

[0001] This utility model relates to the field of stator gripper technology, and in particular to a working gripper for a robotic arm. Background Technology

[0002] The generator stator core is the core component of the stator, made of stacked silicon steel sheets. Its structure and material properties directly affect the generator's performance. Silicon steel sheets are typically 0.5mm thick, with an insulating coating on the surface. They are stacked to form a single core, with internal slots to embed the stator windings. In terms of material type, stator cores commonly use non-oriented silicon steel sheets, such as B50A250 and B30AHV1500. These silicon steel sheets generally have a silicon content below 2.8% (low-silicon steel), possessing both mechanical strength and magnetic properties, making them suitable for high-speed motor operation. In terms of manufacturing process, the stator core requires stamping, stacking, and pressing steps: first, the silicon steel sheets are stamped into specific slot shapes (such as oblique slot designs to reduce harmonic interference) using a punch press; then, the insulating silicon steel sheets are stacked layer by layer, ensuring slot alignment; finally, they are pressed and fixed using hydraulic equipment. During the stamping process, the distance between the punch and the die must be controlled (usually 5%-6% of the steel plate thickness), and special lubricating oil must be used to ensure that the edges of the silicon steel sheet are smooth and the insulation layer is intact.

[0003] In the processing of silicon steel sheets for generator stator cores (hereinafter referred to as stator sheets), the stator sheets need to be moved back and forth, such as picking up and placing punched circular stator sheet blanks on a punch press, and stacking and packaging the stator sheets. These tasks are generally done by hand, and larger stator sheets require two workers to work together to handle them. This results in high labor intensity and costs for workers, and the edges of the stator sheets can easily scratch them. Furthermore, workers may accidentally damage the stator sheets, affecting quality. While the use of robotic arms to replace manual labor is being considered, a suitable gripper for the robotic arm is lacking. Utility Model Content

[0004] The purpose of this invention is to provide a working gripper for a robotic arm to solve the problem of lacking a gripper compatible with the robotic arm when using a robotic arm to replace manual handling of stator laminations.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: A working gripper for a robotic arm is mounted on the robotic arm via a flange for clamping a stator. The gripper includes a jaw disk and multiple jaws. The upper surface of the jaw disk is connected to the flange, and the multiple jaws are arranged in a ring and evenly mounted on the lower surface of the jaw disk. The jaw includes a base, a frame, a support assembly, and a clamping assembly. The base is arranged in a ring and evenly mounted on the lower surface of the jaw disc. The frame is mounted on the outside of the base. The support assembly and the clamping assembly are mounted on the frame from bottom to top, and the working ends of the support assembly and the clamping assembly are adapted to the base.

[0006] A further technical solution is: the support assembly includes a first electric cylinder and a support plate, the first electric cylinder is mounted on the frame, the support plate is slidably mounted in the seat, and the power output end of the first electric cylinder is connected to the support plate.

[0007] A further technical solution is that the inner end of the tray has a wedge-shaped structure.

[0008] A further technical solution is: the clamping assembly includes a second electric cylinder and a clamping plate, the second electric cylinder is mounted on the frame, the clamping plate is slidably mounted in the seat, and the power output end of the second electric cylinder is connected to the clamping plate.

[0009] A further technical solution is that the cross-section of the clamping plate is a T-shaped structure.

[0010] A further technical solution is that the base has an L-shaped structure.

[0011] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects: This invention proposes a working gripper for a robotic arm. The gripper can automatically grasp stator laminations, replacing manual handling. This significantly reduces worker workload and operating costs, minimizes the risk of damage to the stator laminations due to human intervention, ensures product quality, and avoids safety threats posed by the stator laminations to workers. The gripper provides stable and consistent stator lamination handling with high efficiency, greatly meeting the needs of industrial production. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the structure of a working gripper for a robotic arm according to the present invention.

[0013] Figure 2 This is a schematic diagram of the working gripper of this utility model during operation.

[0014] Figure 3 This utility model Figure 2 A structural diagram from another perspective.

[0015] Figure 4 This utility model Figure 1 A structural diagram from another perspective.

[0016] Reference numerals: 1. Flange; 2. Working gripper; 3. Claw plate; 4. Clamping claw; 5. Base; 6. Frame; 7. Support assembly; 8. Clamping assembly; 9. First electric cylinder; 10. Pallet; 11. Second electric cylinder; 12. Clamping plate. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can typically be arranged and designed in various different configurations.

[0018] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0019] It should be noted that, where there is no conflict, the embodiments and features in the embodiments of this utility model can be combined with each other.

[0020] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0021] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this utility model is in use, or the orientation or positional relationship commonly understood by those skilled in the art. They are only used for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first," "second," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0022] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances. Example

[0023] This implementation example Figure 1 , Figure 2 , Figure 3 , Figure 4 As shown, a working gripper for a robotic arm is mounted on the robotic arm via a flange 1 for clamping a stator. The working gripper 2 includes a jaw disc 3 and multiple jaws 4. The upper surface of the jaw disc 3 is connected to the flange 1, and the multiple jaws 4 are arranged in a ring and evenly mounted on the lower surface of the jaw disc 3. The chuck 4 includes a base 5, a frame 6, a support component 7, and a clamping component 8. The base 5 is arranged in a ring and evenly installed on the lower surface of the chuck disk 3. The frame 6 is installed on the outside of the base 5. The support component 7 and the clamping component 8 are installed on the frame 6 from bottom to top, and the working ends of the support component 7 and the clamping component 8 are adapted to the base 5.

[0024] The support component 7 on the gripper 4 is used for lifting. After lifting, the clamping component 8 clamps the stator laminations in the circumferential direction to complete the stator lamination removal. The robotic arm moves with the working gripper 2 to transport the material. When unloading, the clamping component 8 and the support component 7 release the stator laminations in sequence.

[0025] Preferably, the support assembly 7 includes a first electric cylinder 9 and a support plate 10. The first electric cylinder 9 is mounted on the frame 6, and the support plate 10 is slidably mounted in the seat 5. The power output end of the first electric cylinder 9 is connected to the support plate 10.

[0026] The stator laminations are usually placed on the table. After the robotic arm brings the working gripper 2 to the position, the first electric cylinder 9 is activated to push out the pallet 10, which lifts the stator laminations in the circumferential direction, thus completing the material lifting work.

[0027] Preferably, the inner end of the tray 10 has a wedge-shaped structure.

[0028] The wedge-shaped support plate 10 facilitates its mating with the stator laminations.

[0029] Preferably, the clamping assembly 8 includes a second electric cylinder 11 and a clamping plate 12. The second electric cylinder 11 is mounted on the frame 6, and the clamping plate 12 is slidably mounted in the base 5. The power output end of the second electric cylinder 11 is connected to the clamping plate 12.

[0030] After the material is unloaded, the second electric cylinder 11 is activated to push out the clamping plate 12, clamping the stator laminations circumferentially, thus completing the clamping process. Overall, the material unloading is achieved.

[0031] Preferably, the cross-section of the clamping plate 12 is a T-shaped structure.

[0032] Preferably, the base 5 has an L-shaped structure.

[0033] The working process of this utility model is as follows: Before material handling, the first electric cylinder 9 and the second electric cylinder 11 control the retraction of the pallet 10 and the clamping plate 12 respectively. The stator laminations are generally placed on the table. After the robotic arm with the working gripper 2 arrives at the table, the first electric cylinder 9 starts to push out the pallet 10, lifting the stator laminations in the circumferential direction, which completes the material handling operation. After material handling is completed, the second electric cylinder 11 starts to push out the clamping plate 12, clamping the stator laminations in the circumferential direction, which completes the material clamping operation. Overall, the material handling is achieved by the robotic arm moving with the working gripper 2 for transportation. When unloading, the clamping component 8 and the supporting component 7 release the stator laminations in sequence.

[0034] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A working gripper for a robotic arm, the working gripper (2) being mounted on the robotic arm via a flange (1) for clamping a stator, characterized in that: The working gripper (2) includes a claw disc (3) and multiple jaws (4). The upper surface of the claw disc (3) is connected to the flange (1), and the multiple jaws (4) are arranged in a ring and evenly installed on the lower surface of the claw disc (3). The claw (4) includes a base (5), a frame (6), a support component (7), and a clamping component (8). The base (5) is arranged in a ring and evenly installed on the lower surface of the claw disk (3). The frame (6) is installed on the outside of the base (5). The support component (7) and the clamping component (8) are installed on the frame (6) from bottom to top, and the working ends of the support component (7) and the clamping component (8) are adapted to the base (5).

2. The robotic arm gripper according to claim 1, characterized in that: The supporting component (7) includes a first electric cylinder (9) and a tray (10). The first electric cylinder (9) is mounted on the frame (6), and the tray (10) is slidably mounted in the seat (5). The power output end of the first electric cylinder (9) is connected to the tray (10).

3. The robotic arm gripper according to claim 2, characterized in that: The inner end of the tray (10) has a wedge-shaped structure.

4. The robotic arm gripper according to claim 1, characterized in that: The clamping assembly (8) includes a second electric cylinder (11) and a clamping plate (12). The second electric cylinder (11) is mounted on the frame (6), and the clamping plate (12) is slidably mounted in the seat (5). The power output end of the second electric cylinder (11) is connected to the clamping plate (12).

5. The robotic arm gripper according to claim 4, characterized in that: The cross-section of the clamp (12) is a T-shaped structure.

6. The robotic arm gripper according to claim 1, characterized in that: The seat (5) has an L-shaped structure.

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