A robot gripper library

Abstract

The utility model provides a kind of robot clamp store, including robot and clamp store;Clamp store includes support frame and multiple for clamping different model electric drive shell's clamp;Clamp includes clamp main structure frame, flange interface, fixed end lateral positioning frame, movable end lateral positioning frame and movable end opening and closing drive mechanism;The arm end of robot is equipped with the quick-change disc mechanism matched with flange interface, after the flange interface of one clamp of the quick-change disc mechanism of robot and is docked and locked, robot is grabbed corresponding model electric drive shell by clamp, and is automatically handled between each station.The utility model is matched by clamp store and quick-change disc mechanism, and robot can quickly switch corresponding clamp to adapt different model electric drive shell, greatly improves the efficiency of switching type, and flexible adaptation ability is strong, reduces production switching cost.

Description

Technical Field

[0001] This utility model relates to the field of intelligent manufacturing technology, specifically a robot fixture library. Background Technology

[0002] Currently, components such as conductive rings, oil distribution plates, bearing outer rings, and locating pins of electric drive system housings are typically press-fitted one by one at independent workstations by manual or semi-automatic equipment. Existing equipment is mostly machine-specific or part-specific, lacking universal fixtures and quick-change mechanisms. Changeovers require manual replacement of the entire tooling set, resulting in low efficiency and insufficient flexibility. Conductive rings, oil distribution plates, and bearing outer rings require multiple clamping and handling operations between multiple machines, leading to lengthy processes, accumulated errors, and significant cycle time losses. Different electric drive housing models are equipped with dedicated robots (multi-axis manipulators), resulting in high configuration costs and large space requirements. Utility Model Content

[0003] In order to overcome the shortcomings of the prior art, the purpose of this utility model is to provide a robot gripper library.

[0004] To achieve the above objectives, the technical solution adopted by this utility model to solve its technical problem is: a robot fixture library, comprising a robot and a fixture library; The clamping unit includes a support frame and multiple clamps for holding different types of electric drive housings. The support frame has multiple parallel clamping positions, and each clamping position has a clamping positioning pin at its front and rear ends. The clamps include a main clamping frame, a flange interface, a fixed-end lateral positioning frame, a movable-end lateral positioning frame, and a movable-end opening and closing drive mechanism. The bottom surface of the main clamping frame has clamping positioning holes that match the clamping positioning pins. The flange interface is fixedly installed at one end of the main clamping frame, and the fixed-end lateral positioning frame is fixedly installed at the other end of the main clamping frame. The movable-end lateral positioning frame is slidably installed on the double-sided slide rail assembly of the main clamping frame. The movable-end opening and closing drive mechanism is used to drive the movable-end lateral positioning frame to move along the main clamping frame to achieve clamping and releasing of the electric drive housing. The robot's arm end is equipped with a quick-change disc mechanism that matches the flange interface. After the robot's quick-change disc mechanism is docked and locked with the flange interface of a clamp, the robot uses the clamp to grab the corresponding model of electric drive housing and automatically transports it between workstations.

[0005] Furthermore, each fixture has two positioning components and one support component on its fixed end side positioning frame and movable end side positioning frame, which are compatible with the outer peripheral structure of the electric drive housing of the corresponding clamping model.

[0006] Furthermore, the opening and closing drive mechanism of the movable end is a linear cylinder.

[0007] Furthermore, the main structure frame of the clamp is provided with a first limiting mechanism and a second limiting mechanism for restricting the movement position of the movable end lateral positioning frame; when the movable end lateral positioning frame abuts against the first limiting mechanism, the electric drive housing is clamped; when the movable end lateral positioning frame abuts against the second limiting mechanism, the electric drive housing is released.

[0008] Furthermore, the main structure frame of the fixture is provided with a baffle plate and a swing cylinder for controlling the opening and closing of the baffle plate at the end corresponding to each fixture placement position; when the baffle plate is in the closed state, the baffle plate covers the end face of the flange interface; when the baffle plate is in the open state, the baffle plate is located below the flange interface.

[0009] The beneficial effects of this utility model are: through the cooperation of the fixture library and the quick-change mechanism, the robot can quickly switch the corresponding fixture to adapt to different models of electric drive housings, which greatly improves the changeover efficiency, has strong flexible adaptability, and reduces production changeover costs. Attached Figure Description

[0010] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0011] Figure 1 This is a schematic diagram of a model of electric drive housing placed horizontally on a tray.

[0012] Figure 2 This is a top view of one embodiment of the multi-station flexible automatic pressing device of this utility model.

[0013] Figure 3 This is a structural schematic diagram of one embodiment of the fixture library of this utility model.

[0014] Figure 4 This is a cross-sectional view of one embodiment of the clamp of this utility model.

[0015] Figure 5 This is a structural schematic diagram of one embodiment of the robot of this utility model.

[0016] Figure 6 This is a structural schematic diagram of one embodiment of the automatic pressing unit of this utility model.

[0017] Figure 7 This is a structural schematic diagram of one embodiment of the electric cylinder servo pressing mechanism and electric cylinder positioning mechanism of this utility model.

[0018] Figure 8 This is a structural schematic diagram of one embodiment of the multi-station pressure head mechanism and pressure head displacement mechanism of this utility model.

[0019] Figure 9 This is a top view schematic diagram of one embodiment of the multi-station pressure head mechanism of this utility model.

[0020] Figure 10 This is a bottom view schematic diagram of one embodiment of the multi-station pressure head mechanism of this utility model.

[0021] Figure 11 This is a structural schematic diagram of one embodiment of the shell positioning reaction force support mechanism of this utility model.

[0022] Figure 12 This is a structural schematic diagram of one embodiment of the reaction support mechanism of this utility model.

[0023] Figure 13 This is a cross-sectional view of one embodiment of the reaction force support mechanism of this utility model.

[0024] Figure 14 This is a structural schematic diagram of one embodiment of the clamping mechanism of this utility model.

[0025] Figure 15 This is a schematic diagram of one embodiment of the component feeding slide mechanism of this utility model.

[0026] The numbers and letters in the diagram represent the names of the corresponding components: 10-Electric drive housing; 20-Line conveyor unit; 30-Robot; 31-Quick change tray mechanism; 40-Fixture library; 41-Fixture; 411-Flange interface; 412-Fixture main structure frame; 413-Fixed end lateral positioning frame; 414-Moving end lateral positioning frame; 415-Moving end opening and closing drive mechanism; 416-First limit mechanism; 417-Second limit mechanism; 418-Baffle plate; 419-Swing cylinder; 43-Support frame; 431-Fixture positioning pin; 50 - Automatic pressing unit; 51-Rigid structural frame; 511-Upper platform; 512-Middle platform; 513-Lower platform; 52-Electric cylinder servo press-fitting mechanism; 53-Electric cylinder positioning mechanism; 531-First base plate; 532-First X-axis guide rail assembly; 533-First X-axis servo drive mechanism; 534-First X-axis translation plate; 535-First Y-axis guide rail assembly; 536-First Y-axis servo drive mechanism; 537-First Y-axis translation plate; 54-Multi-station pressure head mechanism; 541-Pressure head mounting base; 5411-Annular wall; 542-Pressure head module; 5421-Pressure rod; 5422-Z-direction guide mechanism; 5423-Z-direction lifting drive mechanism; 5424-Pressure head; 5425-Conductive ring pressure head; 5426-Intermediate shaft bearing outer ring pressure head; 5427-Oil distribution plate pressure head; 5428-Differential bearing outer ring pressure head; 5429-Positioning pin pressure head; 55-Pressure head displacement mechanism; 551-Second base plate; 552-Second X-axis guide rail assembly; 553-Second X-axis servo drive mechanism; 554-Second X-axis translation plate; 555-Second Y-axis guide rail assembly; 556-Second Y-axis servo drive mechanism; 56-Shell positioning reaction force support mechanism; 561-Base plate; 562-Shell positioning mechanism; 5621-Universal positioning seat; 5622-Optional positioning rod; 563-Shell support mechanism; 5631-Universal support seat; 5632-Optional support rod; 564-Reaction force support mechanism; 5641-Reaction force lifting mechanism; 5642-Reaction force column; 5643-Optional reaction force top block; 5644-Reaction force base; 5645-Guide seat; 5646-Sloping fork tooth; 5647-Linear drive mechanism; 5648-X-axis servo translation mechanism; 5649-Y-axis servo translation mechanism; 57-Clamping mechanism; 571-Horizontal fixing plate; 572-Vertical mounting plate; 573-Reinforcing plate; 574-Vertical guide rail; 575-Clamping plate; 576-Clamping drive mechanism; 58-Component feeding slide mechanism; 581-Mounting side plate; 582-Horizontal guide rail; 583-Feeding translation plate; 584-Horizontal lead screw; 585-Feeding servo motor; 586-Component tray; 587-Universal placement seat; 588-Component specification tray; 71-Indenter Tool Library; 72-Regulation Disc Tool Library; 73-Positioning Support Reaction Tool Library; 80-Slide sorting unit. Detailed Implementation

[0027] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0028] like Figure 1 The diagram shows a type of electric drive housing 10 placed horizontally on a tray with one end facing upwards. When the robot uses a gripper to grasp the electric drive housing, the gripper is positioned and clamped against the outer peripheral sidewall structure of the electric drive housing.

[0029] like Figures 3-5 As shown, one embodiment of this utility model is as follows: a robotic gripper library, comprising a robot 30 and a gripper library 40. The gripper library 40 is equipped with multiple grippers 41 for holding different models of electric drive housings. Each gripper 41 has a flange interface 411 at its end. The end of the robot 30's arm is equipped with a quick-change disc mechanism 31 that matches the flange interface 411. After the robot's quick-change disc mechanism 31 is engaged and locked with the flange interface 411 of the gripper, the robot 30 uses the gripper 41 to grasp the corresponding model of electric drive housing 10 and automatically transports it between workstations. The gripper library 40 includes a support frame 43, on which multiple parallel gripper placement positions are provided. Each gripper placement position has gripper positioning at its front and rear ends. Pin 431; The clamp 41 includes a clamp main structure frame 412, a flange interface 411, a fixed end lateral positioning frame 413, a movable end lateral positioning frame 414, and a movable end opening and closing drive mechanism 415. The bottom surface of the clamp main structure frame 412 is provided with a clamp positioning hole that matches the clamp positioning pin 431. The flange interface 411 is fixedly installed at one end of the clamp main structure frame 412, and the fixed end lateral positioning frame 413 is fixedly installed at the other end of the clamp main structure frame 412. The movable end lateral positioning frame 414 is slidably installed on the double-sided slide rail assembly of the clamp main structure frame. The movable end opening and closing drive mechanism 415 is used to drive the movable end lateral positioning frame 414 to translate along the clamp main structure frame 412 to realize the clamping and release of the electric drive housing 10.

[0030] The beneficial effects of adopting the above technical solution are: the multi-position design of the fixture library can realize the centralized storage and precise positioning of multiple types of fixtures. The fixtures are matched with positioning pins and positioning holes to ensure the positioning accuracy when the robot grasps the fixtures; the lateral positioning frame of the movable end moves through the double-sided slide rail group and cooperates with the linear drive mechanism to achieve stable clamping and release, which is adapted to the outer peripheral structure of the corresponding electric drive housing, improving the clamping reliability and versatility.

[0031] like Figure 3 , Figure 4 As shown, in some other embodiments of this utility model, each clamp has two positioning elements and one support element on its fixed end side positioning frame 413 and movable end side positioning frame 414, which cooperate with the outer peripheral structure of the electric drive housing of the corresponding clamping model. The beneficial effect of adopting the above technical solution is that the combined design of two positioning elements and one support element can form a three-point positioning support for the electric drive housing from the side and bottom, fit the outer peripheral structure of the housing, ensure the stability and positioning accuracy during clamping, avoid the housing from shifting or falling off during transportation, and ensure the accuracy of subsequent pressing processes.

[0032] like Figure 3 , Figure 4As shown, in some other embodiments of this utility model, the movable end opening and closing drive mechanism 415 is a linear cylinder. The beneficial effects of adopting the above technical solution are: the linear cylinder drive has a rapid response and stable power output, which can realize the rapid opening and closing of the movable end lateral positioning frame, and improve the efficiency of clamping and releasing.

[0033] like Figure 4 As shown, in some other embodiments of this utility model, the main structure frame 412 of the clamp is provided with a first limiting mechanism 416 and a second limiting mechanism 417 for limiting the movement position of the movable end lateral positioning frame; when the movable end lateral positioning frame 414 abuts against the first limiting mechanism 416, the electric drive housing is clamped; when the movable end lateral positioning frame 414 abuts against the second limiting mechanism 417, the electric drive housing is released. The beneficial effects of adopting the above technical solution are: the first limiting mechanism and the second limiting mechanism clearly define the end point of the travel of the movable end lateral positioning frame, ensuring that the clamping force is stable and consistent during clamping, and that the opening size during release meets the housing loading and unloading requirements, avoiding problems such as insecure clamping or housing collisions caused by travel deviation, and improving the stability and safety of the clamp operation.

[0034] like Figure 3 As shown, in some other embodiments of this utility model, a baffle plate 418 and a swing cylinder 419 for controlling the opening and closing of the baffle plate 418 are provided at the end of the main fixture frame 412 corresponding to each fixture placement position. When the baffle plate 418 is in the closed state, the baffle plate 418 covers the end face of the flange interface 411. When the baffle plate 418 is in the open state, the baffle plate 418 is located below the flange interface 411. The beneficial effects of adopting the above technical solution are: the baffle plate is closed when the fixture is not in use, which can effectively prevent dust, debris and other contaminants from polluting the end face of the flange interface and ensure the docking accuracy of the flange interface and the robot quick-change plate mechanism; when in use, it is automatically opened by the swing cylinder, which does not affect the docking operation and improves the protection and docking reliability of the equipment.

[0035] like Figures 2-15 As shown, one embodiment of this utility model is: a multi-station flexible automatic pressing device for electric drive housing components, comprising: The line conveying unit 20 is used to convey the electric drive housing 10 to the pressing waiting area, and to continue to convey the qualified electric drive housing after pressing to the next process position. The robot fixture library includes a robot 30 and a fixture library 40. The fixture library 40 is equipped with multiple fixtures 41 for clamping different models of electric drive housings. Each fixture 41 has a flange interface 411 at its end. The end of the robot arm is equipped with a quick-change plate mechanism 31 that matches the flange interface 411. After the robot's quick-change plate mechanism 31 is docked and locked with the flange interface 411 of the fixture, the robot 30 can grab the corresponding model of electric drive housing 10 through the fixture 41 and automatically transport it between workstations. The automatic pressing unit 50 includes a rigid structural frame 51, an electric cylinder servo pressing mechanism 52, an electric cylinder positioning mechanism 53, a multi-station pressing head mechanism 54, a pressing head positioning mechanism 55, a housing positioning reaction force support mechanism 56, a clamping mechanism 57, and a component feeding slide mechanism 58. The electric cylinder servo pressing mechanism 52 is located on the upper layer of the rigid structural frame 51 and outputs vertically downward pressing power. The electric cylinder positioning mechanism 53 drives the electric cylinder servo pressing mechanism 52 to translate horizontally along the X and Y directions. The multi-station pressing head mechanism 54 is located in the middle layer of the rigid structural frame 51 and includes a pressing head mounting base 541 and multiple pressing head modules 542. The pressure head module 542 is mounted on the pressure head mounting base 541. Each pressure head module 542 can be individually driven to move its own pressure head 5424 relative to the pressure head mounting base 541. The pressure head displacement mechanism 55 is used to drive the pressure head mounting base 541 and multiple pressure head modules 542 to move synchronously in the horizontal direction along the X and Y directions. The housing positioning reaction force support mechanism 56 is located at the bottom of the rigid structure frame 51. The housing positioning reaction force support mechanism 56 is used to position and support the electric drive housing 10 and to provide rigid reaction force support directly below the pressing position of the electric drive housing component. The pressing mechanism 57 is used to press the electric drive housing 10 from above. The component feeding slide mechanism 58 is used to transport the component to be pressed from the rigid structure frame to the bottom of the multi-station pressure head mechanism. The slide sorting unit 80 is used to transport the press-fitted defective electric drive housings to the rework station.

[0036] The robot selects a fixture compatible with the electric drive housing from the fixture library, moves the electric drive housing from the production line conveyor unit to the housing positioning reaction support mechanism of the automatic pressing unit, and the pressing mechanism clamps the electric drive housing. The component feeding slide mechanism feeds the component in. During pressing, the corresponding pressing head module grips the corresponding component from the component feeding slide mechanism, and the pressing head displacement mechanism moves the corresponding pressing head to the corresponding position above the electric drive housing. The electric cylinder displacement mechanism also moves the electric cylinder servo pressing mechanism to the corresponding pressing head. The corresponding reaction support mechanism is positioned to provide rigid reaction support for the pressing position of the electric drive housing. The electric cylinder servo pressing mechanism then applies vertically downward pressing force to the corresponding pressing head module, completing the pressing of the component. The automatic pressing unit then sequentially presses the components at designated positions on the electric drive housing. Finally, the robot automatically sorts the qualified and unqualified electric drive housing parts.

[0037] The beneficial effects of adopting the above technical solution are: each unit operates in coordination through a unified control system, constructing a fully automated process from conveying, gripping, pressing to sorting, reducing manual intervention, reducing labor intensity, avoiding errors caused by manual operation, improving production consistency, forming an integrated and closed-loop pressing execution structure, supporting flexible assembly of electric drive housings of multiple models and controllable operation throughout the process.

[0038] In some embodiments of this utility model, the electric cylinder servo pressing mechanism 52 includes a servo motor, a ball screw, a piston rod, a force sensor, and a displacement encoder. The servo motor drives the ball screw and piston rod to generate linear thrust. The force sensor is used to detect the real-time load during the pressing process, and the displacement encoder is used to provide feedback on the real-time stroke data during the pressing process. The beneficial effects of adopting the above technical solution are: the servo motor and ball screw work together to achieve precise control of the linear thrust, meeting the pressing force requirements of different components; the real-time detection and feedback of the force sensor and displacement encoder realize force-displacement dual closed-loop control of the pressing process, facilitating the control system to monitor the pressing process, promptly identify abnormalities and stop the machine, and prevent unqualified products from being shipped out. The control system can call the corresponding pressing curve according to the process requirements of different parts and automatically record the data of the entire pressing process, ensuring the stability and consistency of pressing depth, pressing force, and assembly posture.

[0039] like Figure 6As shown, in some other embodiments of this utility model, the rigid structural frame 51 of the automatic pressing unit includes an upper platform 511, a middle platform 512, and a bottom platform 513 distributed vertically at intervals. The middle of the upper platform 511 and the middle of the middle platform 512 are vertically connected. The beneficial effects of adopting the above technical solution are: the three-layer platform structure realizes the layered layout of the electric cylinder servo pressing mechanism, the multi-station pressing head mechanism, and the housing positioning reaction force support mechanism, resulting in high space utilization; the vertically connected middle structure ensures the vertical transmission of pressing force, avoids force offset loss, and improves pressing accuracy; the rigid structural frame has high overall strength, can resist the reaction force during the pressing process, and ensures the long-term stability of the equipment.

[0040] like Figure 6 , Figure 7 As shown, in some other embodiments of this utility model, the electric cylinder displacement mechanism 53 includes a first base plate 531, a first X-axis guide rail assembly 532, a first X-axis servo drive mechanism 533, a first X-axis translation plate 534, a first Y-axis guide rail assembly 535, a first Y-axis servo drive mechanism 536, and a first Y-axis translation plate 537. The first base plate 531 is fixedly mounted on the upper platform 511. The guide rail of the first X-axis guide rail assembly 532 is fixed to the upper surface of the first base plate 531 along the X-axis direction. The first X-axis translation plate 534 is mounted on the upper platform 511. On the slider of the X-axis guide rail assembly 532, a first X-axis servo drive mechanism 533 drives a first X-axis translation plate 534 to translate along the X-axis. The guide rail of the first Y-axis guide rail assembly 535 is fixedly mounted on the first X-axis translation plate 534 along the Y-axis. A first Y-axis translation plate 537 is mounted on the slider of the first Y-axis guide rail assembly 535. A first Y-axis servo drive mechanism 536 drives the first Y-axis translation plate 537 to translate along the Y-axis. The body of the electric cylinder servo pressing mechanism 52 is vertically fixed on the first Y-axis translation plate 537. The beneficial effect of adopting the above technical solution is that the X-axis and Y-axis servo drive mechanisms, in conjunction with the guide rail assembly, achieve high-precision translation of the electric cylinder servo pressing mechanism in the horizontal direction with small positioning error.

[0041] like Figures 8-10As shown, in some other embodiments of this utility model, the pressure head displacement mechanism 55 includes a second base plate 551, a second X-axis guide rail assembly 552, a second X-axis servo drive mechanism 553, a second X-axis translation plate 554, a second Y-axis guide rail assembly 555, and a second Y-axis servo drive mechanism 556. The second base plate 551 is fixedly mounted on the middle platform 512. The guide rail of the second X-axis guide rail assembly 552 is fixedly mounted on the upper surface of the second base plate 551 along the X-axis direction. The second X-axis translation plate 554 is mounted on the slider of the second X-axis guide rail assembly 552. The second X-axis servo drive mechanism 553 is used to drive the second X-axis translation plate 554 to translate along the X-axis direction. The guide rail of the second Y-axis guide rail assembly 555 is fixedly mounted on the second X-axis translation plate 554 along the Y-axis direction. The pressure head mounting seat 541 is mounted on the slider of the second Y-axis guide rail assembly 555. The second Y-axis servo drive mechanism 553 is used to drive the pressure head mounting seat 541 to translate along the Y-axis direction. The beneficial effects of adopting the above technical solution are: the pressure head displacement mechanism is linked with the guide rail assembly through servo drive to realize high-precision translation of the multi-station pressure head mechanism, and can quickly move the corresponding pressure head module to the target pressing position.

[0042] In some other embodiments of this utility model, the pressure head mounting base 541 has a vertically upward extending annular wall 5411 in the middle. Each pressure head module 542 is arranged in a ring along the annular wall. Each pressure head module 542 includes a pressure rod 5421, a Z-direction guide mechanism 5422, a Z-direction lifting drive mechanism 5423, and a pressure head 5424. The slide rail of the Z-direction guide mechanism 5422 is fixedly connected to the pressure rod 5421. The slider of the Z-direction guide mechanism 5422 is fixedly installed on the outer wall surface of the annular wall 5411. The Z-direction lifting drive mechanism 5423 drives the pressure rod 5421 to move up and down, raising pressure heads other than those to be pressed, and releasing the pressure heads to be pressed, allowing them to fall to the corresponding pressing position on the electric drive housing. Each pressure head 5424 is detachably connected to the bottom end of the pressure rod 5421 via a quick-locking structure. Each pressure head 5424 has a guide structure that matches the corresponding part to be pressed. The beneficial effects of adopting the above technical solution are: the Z-axis guiding mechanism ensures the straightness of the lifting and lowering movement of the pressure rod and avoids pressure head deviation; the quick locking structure facilitates the quick replacement of the pressure head and adapts to different models of pressed parts; the special guiding structure on the pressure head can pre-position the pressed parts, ensuring that the parts do not deviate during the pressing process, and improving the pressing accuracy and success rate.

[0043] like Figures 11-13As shown, in some other embodiments of this utility model, the shell positioning reaction force support mechanism 56 is installed on the bottom platform 513. The shell positioning reaction force support mechanism 56 includes a base plate 561 and a plurality of shell positioning mechanisms 562, a plurality of shell support mechanisms 563, and a plurality of reaction force support mechanisms 564 installed on the surface of the base plate. The shell positioning mechanism 562 includes a universal positioning seat 5621 and a plurality of optional positioning rods 5622. The universal positioning seat 5621 is provided with a plurality of mating structures for mating with the corresponding optional positioning rods 5622. The shell support mechanism 563 includes a universal positioning seat 5621 and a plurality of optional positioning rods 5622. The system uses a support base 5631 and multiple optional support rods 5632. The universal support base 5631 has multiple mating structures for inserting the corresponding optional support rods 5632. Each reaction force support mechanism 564 is located directly below the position of the component to be pressed into the electric drive housing. The reaction force support mechanism 564 includes a reaction force lifting mechanism 5641, a reaction force column 5642, and multiple optional reaction force blocks 5643. The reaction force lifting mechanism 5641 is used to drive the reaction force column 5642 to move up and down. The reaction force column 5642 has mating structures for inserting the optional reaction force blocks 5643. The beneficial effects of adopting the above technical solution are: the combined design of the universal positioning base, support base, and optional rods can quickly adapt to the positioning and support requirements of different models of electric drive housings by changing the optional rods, without having to replace the entire positioning support mechanism; the reaction force support mechanism accurately corresponds to the position below the pressing position, and the reaction force requirements of pressing different components can be adapted by selecting the reaction force blocks.

[0044] like Figures 11-13 As shown, in some other embodiments of this utility model, the reaction lifting mechanism 5641 includes a reaction base 5644, a guide seat 5645, an inclined fork tooth 5646, and a linear drive mechanism 5647. The guide seat 5645 is vertically mounted on the reaction base 5644. The guide seat 5645 has a vertical through hole for inserting the reaction column 5642. The guide seat 5645 also has a lateral insertion port for horizontally inserting the inclined fork tooth 5646. The lower part of the reaction column 5642 has a tangential surface for engaging with the inclined fork tooth 5646. The linear drive mechanism 5647 drives the inclined fork tooth 5646 to move vertically towards the reaction column 5642. The inclined surface of the inclined fork tooth 5646 pushes the reaction column 5642 upward, and the root of the inclined surface of the inclined fork tooth 5646 also has a horizontal surface. The beneficial effects of adopting the above technical solution are: the inclined fork tooth realizes the vertical lifting of the reaction column through horizontal translation, which has high transmission efficiency and accurate positioning; the horizontal plane at the root of the inclined plane can form a stable support for the reaction column after lifting, ensuring that the reaction column does not sink during the pressing process and ensuring the stability of the reaction support; the through hole design of the guide seat plays a guiding role for the reaction column, avoiding deviation during the lifting process and improving the accuracy of the reaction support.

[0045] like Figures 11-13As shown, in some other embodiments of this utility model, an X-axis servo translation mechanism 5648 and a Y-axis servo translation mechanism 5649 are further provided between the reaction base 5644 and the base plate 561 of one or more reaction support mechanisms 564. The beneficial effects of adopting the above technical solution are: the X-axis and Y-axis servo translation mechanisms can adjust the horizontal position of the reaction support mechanism, enabling it to accurately correspond to the pressing position of different models of electric drive housings, further enhancing the equipment's flexible adaptability, meeting the production needs of multiple models in compact spaces, and improving changeover efficiency.

[0046] like Figure 14 As shown, in some other embodiments of this utility model, the clamping mechanism 57 includes a horizontal fixing plate 571, a vertical mounting plate 572, a reinforcing plate 573, a vertical guide rail 574, a clamping plate 575, and a clamping drive mechanism 576. The horizontal fixing plate 571 is fixedly installed on one side of the lower surface of the middle platform 512. The vertical mounting plate 572 is vertically fixedly connected to the horizontal fixing plate 571. The reinforcing plate 573 is connected between the horizontal fixing plate 571 and the vertical mounting plate 572. The vertical guide rail 574 is vertically fixedly installed on the lateral surface of the vertical mounting plate 572. The clamping plate 575 is installed on the slider of the vertical guide rail 574. The clamping drive mechanism 576 is used to drive the clamping plate 575 to move up and down. The beneficial effects of adopting the above technical solution are: the horizontal fixing plate, the vertical mounting plate and the reinforcing plate form a stable support structure, ensuring the overall rigidity of the pressing mechanism; the vertical guide rail guides the pressing plate to rise and fall smoothly, the pressing drive mechanism provides a stable pressing force, and the electric drive housing is fixed from above, avoiding the housing from moving during the pressing process, thus ensuring the pressing accuracy and safety.

[0047] like Figure 15As shown, in some other embodiments of this utility model, the component feeding slide mechanism 58 includes a mounting side plate 581, horizontal guide rails 582, a feeding translation plate 583, a horizontal lead screw 584, a feeding servo motor 585, and a component tray 586. The mounting side plate 581 is vertically fixed to the inner side of the column of the rigid structural frame located below the middle platform. Two horizontal guide rails 582 are fixedly installed on the inner side of the mounting side plate 581, which are arranged vertically and horizontally. The feeding translation plate 583 is mounted on the sliders on the two horizontal guide rails 582. The horizontal lead screw 584 is horizontally mounted on the two horizontal guide rails 582. The horizontal guide rails 582 are positioned such that the feeding translation plate 583 is fixedly connected to the nut of the horizontal lead screw 584. The feeding servo motor 585 drives the lead screw of the horizontal lead screw 584 to rotate. The component tray 586 is vertically arranged with the feeding translation plate 583. Multiple universal placement seats 587 are spaced apart on the component tray 586. Optional component specification plates 588 are inserted and connected to the universal placement seats 587. Different models of components are equipped with component specification plates 588 that match their structure. The component tray 586 is also equipped with a sensor for detecting whether the component is in place. The beneficial effects of adopting the above technical solution are: the servo motor and the horizontal lead screw work together to achieve high-precision horizontal translation of the component tray, accurately conveying the component to be pressed to below the pressing head; the combination design of the universal placement seat and the optional component specification plate can adapt to the placement requirements of different models of components; the in-place sensor can detect whether the component is in place in real time, avoiding missing parts during pressing, and improving production reliability and product qualification rate.

[0048] like Figure 2 As shown, in some other embodiments of this utility model, a press head tool library 71 for placing different types of press heads, a specification plate tool library 72 for placing different types of component specification plates, and a positioning support and reaction tool library 73 for placing optional support rods, optional positioning rods, and optional reaction force blocks are also provided near the automatic pressing unit. Each tool library has a positioning structure that matches different types of optional tools and a detection sensor for detecting whether they are in place. The control system is linked with the tool availability information of each tool library. Before pressing, it checks whether the tools not in the tool library are consistent with the model being produced. If they are inconsistent, an alarm signal is issued.

[0049] like Figure 10As shown, in some other embodiments of this utility model, in the press-fitting of the electric drive housing component, the press head 5424 used includes a conductive ring press head 5425, an intermediate shaft bearing outer ring press head 5426, an oil distribution plate press head 5427, a differential bearing outer ring press head 5428, and a locating pin press head 5429. The conductive ring press head 5425, the intermediate shaft bearing outer ring press head 5426, the oil distribution plate press head 5427, and the differential bearing outer ring press head 5428 have a guiding structure or clamping structure that matches the corresponding pressed component. The locating pin press head 5429 is connected to an automatic locating pin feeding device. The specific structure of the automatic locating pin feeding device can be obtained from the prior art and will not be described in detail here.

[0050] In some other embodiments of this utility model, the line conveying unit 20 mainly includes a conveyor line. The electric drive housing is placed with its end face facing up on a housing tray with a positioning structure and conveyed along the conveyor line to the pressing and waiting area. A stop device for preventing the housing tray from continuing to be conveyed is provided in the pressing and waiting area. A lifting and positioning mechanism is provided below the conveyor line in the pressing and waiting area. The lifting and positioning mechanism lifts the housing tray upward and removes it from the conveyor line and performs precise positioning so that the robot can accurately grasp the electric drive housing with a gripper.

[0051] In some other embodiments of this utility model, the slide sorting unit 80 mainly includes a sorting flow table, a linear guide rail is provided on the sorting flow table, and a placement tray for placing unqualified electric drive housings is installed on the slider of the linear guide rail. The placement tray is driven by a linear drive mechanism to transport the unqualified electric drive housings to the designated workstation.

[0052] The above embodiments are only for illustrating the technical concept and features of this utility model. Their purpose is to enable those skilled in the art to understand the content of this utility model and implement it. They should not be used to limit the protection scope of this utility model. All equivalent changes or modifications made in accordance with the spirit and essence of this utility model should be covered within the protection scope of this utility model.

Claims

1. A robot gripper library, characterized in that, Including robots and fixture libraries; The clamping unit includes a support frame and multiple clamps for holding different types of electric drive housings. The support frame has multiple parallel clamping positions, and each clamping position has a clamping positioning pin at its front and rear ends. The clamps include a main clamping frame, a flange interface, a fixed-end lateral positioning frame, a movable-end lateral positioning frame, and a movable-end opening and closing drive mechanism. The bottom surface of the main clamping frame has clamping positioning holes that match the clamping positioning pins. The flange interface is fixedly installed at one end of the main clamping frame, and the fixed-end lateral positioning frame is fixedly installed at the other end of the main clamping frame. The movable-end lateral positioning frame is slidably installed on the double-sided slide rail assembly of the main clamping frame. The movable-end opening and closing drive mechanism is used to drive the movable-end lateral positioning frame to move along the main clamping frame to achieve clamping and releasing of the electric drive housing. The robot's arm end is equipped with a quick-change disc mechanism that matches the flange interface. After the robot's quick-change disc mechanism is docked and locked with the flange interface of a clamp, the robot uses the clamp to grab the corresponding model of electric drive housing and automatically transports it between workstations.

2. The robot gripper library according to claim 1, characterized in that, Each fixture has two positioning components and one support component on its fixed end side positioning frame and movable end side positioning frame, which are designed to match the outer peripheral structure of the electric drive housing of the corresponding clamping model.

3. The robot gripper library according to claim 1, characterized in that, The opening and closing drive mechanism of the movable end is a linear cylinder.

4. The robot gripper library according to claim 3, characterized in that, The main structure frame of the clamp is provided with a first limiting mechanism and a second limiting mechanism for restricting the movement position of the movable end lateral positioning frame; when the movable end lateral positioning frame abuts against the first limiting mechanism, the electric drive housing is clamped; when the movable end lateral positioning frame abuts against the second limiting mechanism, the electric drive housing is released.

5. The robot gripper library according to claim 1, characterized in that, The main structure frame of the fixture is equipped with a baffle plate and a swing cylinder for controlling the opening and closing of the baffle plate at the end corresponding to each fixture placement position; when the baffle plate is in the closed state, the baffle plate covers the end face of the flange interface; when the baffle plate is in the open state, the baffle plate is located below the flange interface.

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