CN215968817U

CN215968817U - Gripping device for rotor robot

Info

Publication number: CN215968817U
Application number: CN202122412081.4U
Authority: CN
Inventors: 史康云; 李保强; 王文朋; 马连辉; 李凯; 徐勇军; 刘永坤
Original assignee: SIPPR Engineering Group Co Ltd
Current assignee: SIPPR Engineering Group Co Ltd
Priority date: 2021-10-08
Filing date: 2021-10-08
Publication date: 2022-03-08
Anticipated expiration: 2031-10-08

Abstract

The utility model discloses a grabbing device for a rotor robot, which comprises a connecting unit, wherein the connecting unit is provided with a first connecting piece, a second connecting piece and a third connecting piece; the left grabbing unit and the right grabbing unit are identical in structure and symmetrically arranged on two sides of the third connecting piece; the structure of the left/right grabbing unit comprises a buffering part and a magnetic grabbing part, the inner end of the buffering part is connected with the third connecting piece on the same side, and the outer end of the buffering part is connected with the magnetic grabbing part on the same side. The utility model has the advantages that the utility model can grab the rotors with different sizes, and is suitable for occasions of carrying various rotors; two rotors can be grabbed simultaneously, and the working efficiency is improved; impact between the magnetic type gripping device and the rotor in the gripping and releasing processes can be relieved; can closely laminate with the rotor terminal surface, realize reliable and stable snatching, appear not hard up, drop in avoiding handling.

Description

Gripping device for rotor robot

Technical Field

The utility model relates to a gripping device for a rotor robot.

Background

With the rapid development of automation and intellectualization, the assembly of the rotor is gradually changed from the original manual assembly mode to an efficient, automatic and intelligent assembly mode. In the automatic assembly process of the rotor, a large number of robots are used for the transportation among all processes and the realization process of all processes. At present, most rotor clamping jaws are designed in a non-standard mode according to specific sizes, one type of clamping jaw can only adapt to a rotor with a specific size, and most clamping jaws can only grab one rotor at a time. When the factory product is updated and the iteration is changed, the clamping jaw design needs to be carried out again, so that the cost is increased, and the time for changing the production is increased.

Disclosure of Invention

The utility model aims to provide a grabbing device for a rotor robot.

In order to achieve the purpose, the utility model can adopt the following technical scheme:

the gripping device for the rotor robot comprises

A connection unit having a first connection member for connecting with the rotor robot, a second connection member for connecting the first connection member with the third connection member, and a third connection member;

the left grabbing unit and the right grabbing unit are identical in structure and symmetrically arranged on two sides of the third connecting piece;

wherein the structure of the left/right grabbing unit comprises

The inner end of the buffer part is connected with the third connecting piece at the same side, and the outer end of the buffer part is connected with the magnetic suction grabbing part at the same side; the buffer part is used for buffering and restricting the magnetic attraction grabbing part, and the magnetic attraction grabbing part is used for grabbing the rotor.

Preferably, also comprises

The front photographing unit and the rear photographing unit are identical in structure, symmetrically arranged in front of and behind the third connecting piece and used for acquiring size and position information of a rotor to be grabbed;

wherein the front/back photographing unit comprises

The top end of the connecting plate is fixedly connected with the first connecting piece;

and the CCD vision component is connected with the bottom end of the connecting plate.

Preferably, the buffering part is provided with a fixed disc, the fixed disc is connected with the side wall of the third connecting piece at the same side, a plurality of buffering holes are uniformly distributed on the third connecting piece at intervals, a plurality of guide holes are formed in the fixed disc at positions corresponding to the plurality of buffering holes, the aperture of each guide hole is smaller than that of each buffering hole, a buffering shaft is slidably sleeved in each guide hole, the inner end of each buffering shaft extends into each buffering hole, the outer end of each buffering shaft extends out of each guide hole, and the inner end of each buffering shaft is provided with a baffle plate with a diameter larger than that of each guide hole;

the magnetic suction grabbing part is provided with a fixed base plate and a magnetic suction type grabbing device, the outer end of the buffer shaft is connected with the inner end of the fixed base plate, and a return spring is sleeved on the buffer shaft between each fixed plate and the fixed base plate; the magnetic type gripping device is arranged on the outer end face of the fixed base plate.

Preferably, the magnetic type grabbing device is composed of a plurality of electromagnets, and the electromagnets are distributed on the outer end face of the fixed base plate in a matrix mode.

Preferably, the magnetic-type gripping device is composed of a plurality of electromagnets which are uniformly arranged on the outer end face of the fixed base disc, a plurality of electromagnets arranged along the outer peripheral face of the fixed base disc form a first gripping unit, and a plurality of electromagnets arranged along the inner peripheral face of the fixed base disc form a second gripping unit.

Preferably, the magnetic type gripping device is composed of a plurality of electromagnets, and the electromagnets are distributed on the outer end face of the fixed base plate in a multi-ring shape.

Preferably, the first connecting piece is a connecting disc, the second connecting piece is a fixing rib plate, and the third connecting piece is a connecting cylinder.

The utility model has the advantages that the utility model can grab the rotors with different sizes, and is suitable for occasions of carrying various rotors; two rotors can be grabbed simultaneously, the carrying time is saved, and the working efficiency is improved; impact between the magnetic type gripping device and the rotor in the gripping and releasing processes can be relieved, and damage to the surface of the rotor in the carrying process is prevented; can closely laminate with the rotor terminal surface, realize reliable and stable snatching, appear not hard up, drop in avoiding handling.

Drawings

Fig. 1 is a schematic structural view of the present invention.

Fig. 2 is a schematic diagram of the distribution of the electromagnets of the grasping unit of the present invention.

FIG. 3 is a longitudinal sectional view of the buffer portion and the magnetic grasping portion.

Fig. 4 is a schematic view of the working state of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly. In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations. In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature.

In addition, the meaning of "and/or" appearing throughout is to include three juxtapositions, exemplified by "A and/or B," including either the A or B arrangement, or both A and B satisfied arrangement. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.

As shown in FIGS. 1 to 4, a grasping apparatus for a rotor robot according to the present invention comprises

The connecting unit is provided with a connecting disc 11, a fixing rib plate 12 and a connecting cylinder 13, wherein the connecting disc 11 is used for being connected with the rotor robot, and the fixing rib plate 12 is used for connecting the connecting disc 11 and the connecting cylinder 13;

the left grabbing unit and the right grabbing unit are identical in structure and symmetrically arranged on two sides of the connecting cylinder 13; wherein the structure of the left/right grabbing unit comprises

The inner end of the buffer part is connected with the connecting cylinder 13 at the same side, and the outer end of the buffer part is connected with the magnetic-attraction grabbing part at the same side; the buffer part is used for buffering and restraining the magnetic suction grabbing part, and the magnetic suction grabbing part is used for grabbing the rotor;

the front photographing unit and the rear photographing unit are identical in structure and symmetrically arranged in front of and behind the connecting cylinder 13 and are used for acquiring size and position information of a rotor to be grabbed; wherein the front/rear photographing units are structured to include

The top end of the connecting plate 21 is fixedly connected with the fixed rib plate 12;

the CCD visual component is connected with the bottom end of the connecting plate 21 and consists of a CCD camera 22 and a visual light source 23;

the buffer part is provided with a fixed disc 31, the fixed disc 31 is connected with the side wall of the connecting cylinder 13 at the same side, a plurality of buffer holes are uniformly distributed on the connecting cylinder 13 at intervals, a plurality of guide holes are arranged on the fixed disc 31 at positions corresponding to the plurality of buffer holes, a sleeve 32 is arranged in each guide hole, a buffer shaft 33 is inserted into each sleeve 32, and the buffer shaft 33 extends out of the bottom of the sleeve 32; the bottom of the sleeve 32 is provided with a baffle 34, the outer diameter of the baffle 34 is larger than the diameter of the hole of the sleeve 32, and the baffle 34 is fixedly connected with the buffer shaft 33 through a bolt to form a limiting mechanism only limited by the buffer shaft 33 to move towards the inner side of the buffer hole;

the magnetic suction grabbing part is provided with a fixed base disc 41 and a magnetic suction type grabbing device, the outer end of each buffer shaft 33 is connected with the inner end of the fixed base disc 41, a return spring 35 is sleeved on each buffer shaft 33 between each fixed disc 31 and the fixed base disc 41, and forms a buffer mechanism with the buffer part to buffer and restrain the magnetic suction grabbing part together, and meanwhile, the end face of the magnetic suction grabbing part is enabled to be tightly attached to the end face of a rotor when the rotor is grabbed, so that the rotor is grabbed stably and reliably while the buffer effect is achieved;

the magnetic suction type grabbing device is arranged on the outer end face of the fixed base disc 41 and is composed of a plurality of electromagnets 42 which are evenly arranged on the outer end face of the fixed base disc 41, a plurality of electromagnets 42 arranged along the outer peripheral face of the fixed base disc 41 form a first grabbing unit, a plurality of electromagnets 42 arranged along the inner peripheral face of the fixed base disc 41 form a second grabbing unit, and the first grabbing unit and the second grabbing unit are annularly distributed on the outer end face of the fixed base disc 41; the power on and power off of the grabbing unit are independently controlled by a control system of the rotor robot, so that the grabbing of rotors with different sizes is realized.

The working process is as follows:

step 1, connecting the connecting disc 11 with a rotor robot.

And 2, acquiring the size and position information of the rotor to be grabbed through the front photographing unit and the rear photographing unit, calculating a moving path through an external rotor robot, and moving the device to a specified position.

And 3, the control system is communicated with the corresponding grabbing unit to grab the first rotor, the buffer part can slow down the impact between the magnetic type grabbing device and the rotor in the grabbing process, and meanwhile, the rotor is tightly attached to the grabbing unit, so that reliable and stable grabbing is realized.

And 4, repeating the steps 1-2, and grabbing the second rotor to realize grabbing of rotors with different sizes.

And 5, moving the grabbing device to a specified installation position by the rotor robot, controlling the grabbing unit to lose power by the control system, releasing the first rotor and the second rotor, and completing rotor carrying.

And 6, repeating the steps 2-5 to realize the purpose of carrying the rotor again.

Claims

1. A grabbing device for rotor robot, characterized by includes

wherein the structure of the left/right grabbing unit comprises

2. The grasping apparatus for a rotor robot according to claim 1, further comprising

wherein the front/back photographing unit comprises

3. The grasping apparatus for a rotor robot according to claim 2, wherein the buffer section has a fixed disk, the fixed disk is connected to the side wall of the third connecting member on the same side, the third connecting member is provided with a plurality of buffer holes at intervals, the fixed disk is provided with a plurality of guide holes at positions corresponding to the plurality of buffer holes, the diameter of each guide hole is smaller than that of each buffer hole, each guide hole is slidably sleeved with a buffer shaft, the inner end of each buffer shaft extends into the corresponding buffer hole, the outer end of each buffer shaft extends out of the corresponding guide hole, and the inner end of each buffer shaft is provided with a baffle plate having a diameter larger than that of the corresponding guide hole;

4. The grasping apparatus for a rotor robot according to claim 3, wherein the magnetic grasping apparatus is composed of a plurality of electromagnets arranged in a matrix form on an outer end surface of the fixed base.

5. The grasping apparatus for a rotor robot according to claim 3, wherein the magnetic grasping apparatus is constituted by a plurality of electromagnets evenly disposed on an outer end surface of a fixed base, a plurality of electromagnets disposed along an outer circumferential surface of the fixed base constitute a first grasping unit, and a plurality of electromagnets disposed along an inner circumferential surface of the fixed base constitute a second grasping unit.

6. The grasping apparatus for a rotor robot according to claim 3, wherein the magnetic grasping apparatus is composed of a plurality of electromagnets distributed in a multi-ring shape on the outer end face of the fixed base.

7. The grasping apparatus for a rotor robot according to claim 4, 5, or 6, wherein the first connecting member is a connecting plate, the second connecting member is a fixing rib plate, and the third connecting member is a connecting cylinder.