CN118721260B - Industrial manipulator and winding stripping and stator slot cleaning tool - Google Patents
Industrial manipulator and winding stripping and stator slot cleaning tool Download PDFInfo
- Publication number
- CN118721260B CN118721260B CN202411234852.7A CN202411234852A CN118721260B CN 118721260 B CN118721260 B CN 118721260B CN 202411234852 A CN202411234852 A CN 202411234852A CN 118721260 B CN118721260 B CN 118721260B
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- locking seat
- track
- arm
- winding
- seat
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- 238000004804 winding Methods 0.000 title claims abstract description 57
- 238000004140 cleaning Methods 0.000 title claims abstract description 32
- 238000005520 cutting process Methods 0.000 claims abstract description 34
- 230000007246 mechanism Effects 0.000 claims abstract description 34
- 210000000078 claw Anatomy 0.000 claims abstract description 12
- 230000005540 biological transmission Effects 0.000 claims description 18
- 238000003780 insertion Methods 0.000 claims description 7
- 230000037431 insertion Effects 0.000 claims description 7
- 238000001035 drying Methods 0.000 claims 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 32
- 238000005507 spraying Methods 0.000 description 10
- 238000003860 storage Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- 230000001502 supplementing effect Effects 0.000 description 5
- 238000009434 installation Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000002347 injection Methods 0.000 description 2
- 239000007924 injection Substances 0.000 description 2
- 238000001179 sorption measurement Methods 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000010008 shearing Methods 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
- B25J15/0408—Connections means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/046—Revolute coordinate type
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
本发明涉及机械手的技术领域，具体涉及一种工业机械手及绕组剥离与定子线槽清理工装，包括工业机械手，工业机械手的一侧设有输送机构，输送机构用于对装有绕组的电机定子进行运输，在输送机构的末端还进一步设有烘烤箱；还包括切割构件、清扫构件，支撑座上还设有第二条轨道、第三条轨道；切割构件上连接第二个锁位座，该锁位座滑动连接在第二条轨道内，切割构件用于对绕组的一端进行切割；清扫构件上连接有第三个锁位座，该锁位座滑动连接在第三条轨道内，清扫构件用于对电机定子内槽中的残余绕组进行清扫；本发明解决现有工业机械手与夹爪连接关系为固定连接方式的问题。
The present invention relates to the technical field of manipulators, and in particular to an industrial manipulator and a winding stripping and stator slot cleaning tool, comprising an industrial manipulator, a conveying mechanism is provided on one side of the industrial manipulator, the conveying mechanism is used to transport a motor stator equipped with windings, and a baking oven is further provided at the end of the conveying mechanism; it also comprises a cutting component and a cleaning component, and a second track and a third track are further provided on a support seat; the cutting component is connected to a second locking seat, which is slidably connected in the second track, and the cutting component is used to cut one end of the winding; the cleaning component is connected to a third locking seat, which is slidably connected in the third track, and the cleaning component is used to clean the residual winding in the inner slot of the motor stator; the present invention solves the problem that the connection relationship between the existing industrial manipulator and the clamping claw is a fixed connection mode.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to an industrial manipulator and a winding stripping and stator wire slot cleaning tool.
Background
At present, in the maintenance process of a motor stator winding, besides ensuring that a coil inserting process and a complete machine assembling process meet requirements, attention is paid to thoroughly dismantling an original winding which is not obvious, in the prior art, the winding is usually dismantled in a way that one end of the winding is sheared by a shearing tool and then is directly pulled out of the other end of the motor stator by an industrial manipulator, the related technology of the industrial manipulator is disclosed in a China patent warehouse, for example, an adjustable multi-angle industrial manipulator clamping device is disclosed in a publication No. CN113547533A, and comprises a headstock, wherein the inner side of the headstock is provided with a transverse chute, the middle part of the transverse chute is connected with an adjusting slide block, the outer side of the adjusting slide block is connected with two groups of adjusting brackets, the adjusting slide block is connected with a connecting frame through two groups of adjusting brackets, the inner side of the bottom end of the adjusting slide block is fixedly connected with a connecting rod, the connecting rod penetrates through a connecting plate and is connected with a spiral rotating rod, the outer side of the spiral rotating rod penetrates through a transverse positioning shaft and is connected with a telescopic rod, and an angle adjusting mechanism is arranged at the right end of the telescopic rod.
For example, disclose an industrial robot arm in CN220331283U, including manipulator arm holder and manipulator equipment shell, the top of manipulator arm holder is equipped with first arm, second arm and third arm in proper order, the below at the third arm is established through the equipment frame connection to the manipulator equipment shell, the central point of the inside of manipulator equipment shell is equipped with the transmission shaft, the bottom of transmission shaft is equipped with the stopper, the inside at the fixing base is installed in the upper end embedding of transmission shaft, the both sides of fixing base are equipped with the guide bar, be equipped with the direction slide on the guide bar.
However, the two prior arts (CN 113547533A, CN 220331283U) have the problem that the industrial manipulator and the clamping jaw are fixedly connected, so that the industrial manipulator and the clamping jaw cannot be modularized, and the industrial manipulator is difficult to replace the clamping jaw or load other tools.
Disclosure of Invention
Therefore, the invention aims to provide an industrial manipulator and a winding stripping and stator wire slot cleaning tool, which solve the problem that the connection relation between the existing industrial manipulator and clamping jaws is a fixed connection mode.
The invention discloses an industrial manipulator which comprises a manipulator body, wherein the manipulator is arranged on a base plate in a sliding mode through a moving base, a first driving source used for driving the moving base to slide on the base plate is arranged on the base plate, a supporting platform is arranged on the base plate, a lifting carrier is connected to the execution tail end of the manipulator, an electromagnet is arranged on a flange of the lifting carrier, the flange is detachably connected with a locking seat of a drawing member through a plug hole, a first track is arranged on the supporting seat, the locking seat of the drawing member is arranged in a corresponding track in a longitudinal sliding mode, a hook plate is arranged in the track, the hook plate limits the vertical movement of the locking seat through a positioning hole, the drawing member comprises a bearing ring body, more than two clamping claws are arranged on an annular array on the bearing ring body and used for biting one end of a winding, an electric telescopic rod is arranged on the other side of the bearing ring body, a telescopic shaft of the electric telescopic rod is fixedly connected with the bearing ring body, a supporting arm is fixedly connected to the outer cylinder wall of the electric telescopic rod, and the tail end of the supporting arm is connected with the locking seat.
The clamping claw comprises a carrier, two transmission gears are connected onto the carrier in a switching mode, the two transmission gears are meshed with each other to form linkage, one transmission gear is meshed with a threaded shaft, the threaded shaft is concentrically connected with an output shaft of a motor fixed onto the carrier, a push arm is fixedly connected onto the single transmission gear, the tail end of the push arm is connected with a rotating arm in a switching mode, a pulling arm is connected onto the rotating arm in a switching mode, the free end of the pulling arm is connected with the carrier in a switching mode, the tail end of the rotating arm is fixedly connected with a conical column, and the carrier is fixedly connected with the carrier ring body.
The industrial manipulator is optimized and further comprises at least one longitudinal positioning mechanism, the longitudinal positioning mechanism is connected to one side of the corresponding track, the single longitudinal positioning mechanism comprises an inserting arm, the inserting arm is connected with the adjacent side of the track through a first elastic component, a positioning plate is formed at one end of the inserting arm, a wedge-shaped block is formed at the other end of the inserting arm, a slope surface of the wedge-shaped block is located at one end, far away from the positioning plate, of the wedge-shaped block, locking seats are provided with locking holes with the same number as the positioning plate, the positioning plate and the wedge-shaped block respectively can slide through the adjacent side walls of the track, when the first elastic component is in a natural state, the tail ends of the positioning plate and the wedge-shaped block are all arranged on the inner side of the track, after the hanging carrier is arranged in the track in a sliding mode and is pressed against the wedge-shaped block, when the flange and the locking seats move along the track, the locking seats are not contacted with the positioning plate, and the tail ends of the positioning plate are used for being in plug-in fit with the adjacent locking holes.
The invention discloses a winding stripping and stator wire slot cleaning tool which comprises an industrial manipulator, wherein a conveying mechanism is arranged on one side of the industrial manipulator and used for conveying a motor stator with a winding, a baking box is further arranged at the tail end of the conveying mechanism, the winding stripping and stator wire slot cleaning tool further comprises a cutting member and a cleaning member, a second track and a third track are further arranged on a supporting seat, the cutting member is connected with a second locking seat which is slidably connected in the second track, the cutting member is used for cutting one end of the winding, the cleaning member is connected with the third locking seat which is slidably connected in the third track, and the cleaning member is used for cleaning residual windings in an inner groove of the motor stator.
The conveying mechanism comprises a conveying machine tool, screw shafts are respectively connected to the left side and the right side of the conveying machine tool in a rotating mode, a steering engine for rotating the screw shafts is mounted on the conveying machine tool, a carrying tray is connected to the conveying machine tool in a sliding mode, threaded holes for being matched with the screw shafts are formed in the bottom of the carrying tray, a stator tool tray is fixedly mounted on the carrying tray, and the stator tool tray is used for loading a motor stator and a motor winding.
The cutting component comprises an arc-shaped seat, wherein the arc-shaped seat is connected with a second locking seat, a driving motor is fixedly connected to the arc-shaped seat, an output shaft of the driving motor is connected to the center of the arc-shaped seat in a switching mode through a disc bearing, and a cutter is fixedly connected to the tail end of the output shaft of the driving motor.
Specifically, the cleaning component comprises a servo motor, the servo motor is connected with a third locking seat, and the output shaft of the servo motor is connected with the brush body.
The invention has the beneficial effects that:
according to the invention, the industrial manipulator is combined, the locking seat of the drawing component and the lifting carrier of the mechanical arm can be separated at any time and combined at any time under the action of the hook plate and the track, compared with the prior art, the problem that the existing industrial manipulator and clamping jaws are fixedly connected is solved, so that the industrial manipulator and the clamping jaws are modularized, the industrial manipulator can conveniently replace other tools or maintain the tools, on the other hand, the winding can be effectively pulled out of a groove of a motor stator rapidly by combining a plurality of clamping claws to clamp a plurality of points of the winding at the same time and combining the mechanical arm and an electric telescopic rod.
Drawings
Fig. 1 is a schematic perspective view of an industrial robot.
Fig. 2 is a schematic view of the installation of the rail and hook plate.
Fig. 3 is a schematic perspective view of the drawing member.
Fig. 4 is a schematic perspective view of a single gripper jaw.
Fig. 5 is a schematic view of a first view of an industrial robot in a use state.
Fig. 6 is a schematic view of the mounting structure of the longitudinal positioning mechanism.
Fig. 7 is a view showing a state of use of the first-case longitudinal positioning mechanism.
Fig. 8 is a view showing a state of use of the second-case longitudinal direction positioning mechanism.
Fig. 9 is a schematic diagram of the overall structure of the present invention.
Fig. 10 is a schematic perspective view of the conveying mechanism.
Fig. 11 is a schematic view of a partial perspective structure of the present invention.
Fig. 12 is a schematic perspective view of an optimized cutting member.
Fig. 13 is a partial structural schematic view of the water spraying unit.
Fig. 14 is a schematic perspective view of the second driving source.
Fig. 15 is a state diagram of the use of the second drive source.
In the figure, 1, a mechanical arm body; 2, a base plate, 3, a guide groove, 4, a lifting carrier, 5, a flange, 6, a supporting platform, 7, a track, 8, a hook plate, 9, a bearing ring body, 10, an electric telescopic rod, 11, a supporting arm, 12, a locking seat, 13, a plug hole, 14, a positioning hole, 15, a carrying platform, 16, a transmission gear, 17, a threaded shaft, 18, a push arm, 19, a rotating arm, 20, a pull arm, 21, a conical column, 22, a plug arm, 23, a first elastic component, 24, a locating plate, 25, a wedge block, 26, a lock hole, 27, a conveying machine tool, 28, a screw shaft, 29, a steering engine, 30, a carrying tray, 31, a stator tool tray, 32, a motor stator, 33, a baking box, 34, an arc seat, 35, a driving motor, 36, a cutter, 37, a water storage tank, 38, a vacuum cavity, 39, a water outlet pipe, 40, a nozzle, 41, a water supplementing pipe, 42, a one-way valve, 43, a piston rod, 44, 45, a half arc bar, 46, an outer protrusion, 47, a sliding block, a 27, a moving ring, a sliding block, 48, a sliding rail, a 55, a sliding rail, a servo block, a 55, a sliding rail, a sliding block, a 55.
Detailed Description
In order to clearly understand the technical scheme of the application, the industrial manipulator and the winding stripping and stator wire slot cleaning tool provided by the application are described in detail below with reference to specific embodiments and drawings.
The terminology used in the following examples is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the specification and claims of the present application, the singular forms "a," "an," "the," and "the" are intended to include, for example, "one or more" such forms of expression, unless the context clearly indicates to the contrary. It should also be understood that in the following embodiments of the present application, "at least one", "one or more" means one, two or more than two.
Reference in the specification to "one embodiment" or "some embodiments" or the like means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in various places throughout this specification are not necessarily all referring to the same embodiment, but mean "one or more, but not all, embodiments" unless expressly specified otherwise. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.
Example 1
The embodiment provides an industrial manipulator, as shown in fig. 1, which is a schematic three-dimensional structure of the industrial manipulator, wherein the industrial manipulator comprises a manipulator body 1, the manipulator body 1 is a commercially available manipulator, for example, model RM65-75-RML63, the manipulator is arranged above one side of a base plate 2, a moving base of the manipulator and a guide groove 3 arranged on the base plate 2 form sliding connection, a first driving source (for example, an electric telescopic cylinder and the like) for driving the moving base to slide in the guide groove 3 is arranged on the base plate 2, a hanging carrier 4 is fixedly arranged on the executing end of the manipulator, a flange 5 (an existing product electromagnet is embedded in the flange 5 and is not repeated here) is formed on the front edge of the hanging carrier 4, the flange 5 is used for forming detachable connection with a drawing member, a support platform 6 is arranged on one side of the base plate 2 and on the table top of the guide groove 3, two side edges of the support platform 6 are used for forming sliding connection with guide grooves 3, two side edges of the guide rails 7 are used for forming sliding connection with the guide grooves 3, a specific hook plate 8 is arranged in the guide plate 8, and a specific hook plate 8 is continuously arranged in the guide plate 8, and the hook plate 8 is correspondingly arranged in the guide plate 8.
With further reference to fig. 3, fig. 3 shows a schematic perspective structure of a drawing member, where the drawing member includes a carrying ring 9, three clamping claws are disposed on the carrying ring 9 in an annular array manner (of course, in actual installation, the number of the clamping claws may not be limited to three), the clamping claws are used for biting one end of a winding, an electric telescopic rod 10 is disposed on the other side of the carrying ring 9, a telescopic shaft of the electric telescopic rod 10 is fixedly connected with the bottom of the carrying ring 9, a lifting arm 11 is fixedly connected to an outer cylinder wall of the electric telescopic rod 10, a locking seat 12 (the locking seat 12 generates magnetic adsorption with an electrified electromagnet) is connected to an end of the lifting arm 11, a plug hole 13 and an alignment hole 14 are respectively formed through front and rear sides of the locking seat 12, the plug hole 13 is used for forming plug-in fit with a flange 5 of a lifting carrier 4, the alignment hole 14 is used for forming plug-in fit with a hook portion of a hook plate 8, left and right sides of the locking seat 12 are respectively formed in sliding contact fit with left and right side walls of a rail 7, the locking seat 12 can be limited by the arrangement of the rail 7, and the whole drawing member can be moved transversely by the locking seat 12, so that the locking seat 12 can be moved transversely and limited by the transverse movement.
Specifically, referring to fig. 4, a schematic perspective view of a single gripper jaw is shown, where the gripper jaw includes a carrier 15, two transmission gears 16 are respectively rotatably connected to left and right sides of a placement portion of the carrier 15, the two transmission gears 16 are meshed with each other to form a linkage, one side of one transmission gear 16 is provided with a threaded shaft 17, the threaded shaft 17 is meshed with a corresponding transmission gear 16, the threaded shaft 17 is concentrically connected with an output shaft of a motor fixed on the carrier 15, a push arm 18 is fixedly connected to a center of the single transmission gear 16, a tail end of the push arm 18 is rotatably connected with a radial arm 19, an arm body of the radial arm 19 is rotatably connected with a pull arm 20, a free end of the pull arm 20 is rotatably connected with an adjacent side of the placement portion of the carrier 15, a tail end of the radial arm 19 is fixedly connected with a conical column 21 by means of bolts or the like, and a hanging portion of the carrier 15 is fixedly connected with the carrier ring 9 by means of welding or the like.
The working principle of the industrial manipulator (used in cooperation with the drawing member itself) is as follows:
Firstly, after one end of the winding has been sheared, the winding is pulled out from the other end of the motor stator 32 by an industrial robot; specifically, referring to the first view angle schematic diagram of the use state of the industrial manipulator shown in fig. 5, as shown in the figure, firstly, the angle and the position of each joint of the manipulator are adjusted by using the controller until the hanging carrier 4 on the manipulator slides into the track 7, and the hanging carrier 4 is driven to move continuously by the manipulator, so that the flange 5 of the hanging carrier 4 is gradually inserted into the insertion hole 13 of the locking seat 12 (at this time, the hook plate 8 is inserted into the alignment hole 14); then, after the flange 5 is completely inserted into the inserting hole 13, the electromagnet in the flange 5 is electrified through the controller, the lifting carrier 4 and the locking seat 12 are adsorbed together, at the moment, the mechanical arm is adjusted again, the lifting carrier 4 and the locking seat 12 are moved along the direction of b1 and b2 by the mechanical arm until the alignment hole 14 of the locking seat 12 is separated from the hook plate 8, finally, the mechanical arm is utilized to drive the locking seat 12 and other parts of the drawing member to move towards one end of the winding which is not sheared, as shown in figure 3, until each clamping claw is opposite to the adjacent end of the winding respectively, the electric telescopic rod 10 is started so as to further finely adjust the position of each clamping claw, the motor is synchronously started, the motor drives the corresponding threaded shaft 17 to rotate, the rotating threaded shaft 17 drives the corresponding two transmission gears 16 to respectively rotate along the direction of b1 and b2, the corresponding push arms 18, the radial arms 19 and the pulling arms 20 are respectively moved, the two conical posts 21 respectively move along the direction of c1 and c2 under the driving action of the corresponding radial arms 19, the two conical posts 21 are inserted into the windings in a cohesive manner, and the mechanical arm drives the drawing member to move in a direction away from the windings again, so that the windings are pulled out of the slots of the motor stator 32.
Secondly, after the winding is pulled out from the other end of the motor stator 32, the drawing component is required to be replaced at the moment, specifically, the position and the angle of the mechanical arm are continuously adjusted, as shown in fig. 5, the hanging carrier 4 and the locking seat 12 are slid into the track 7 and move along the a1 direction until the hook part of the hook plate 8 of the locking seat 12 is in plug-in fit with the alignment hole 14 of the locking seat 12, at the moment, the electromagnet is powered off, the flange 5 is separated from the locking seat 12 for adsorption, and the flange 5 is pulled out from the locking seat 12 by the mechanical arm again, so that the return of the drawing component is completed.
According to the invention, the industrial manipulator is combined, under the action of the hook plate 8 and the track 7, the locking seat 12 of the drawing component and the lifting carrier 4 of the mechanical arm can be separated and combined at any time, compared with the prior art, the problem that the existing industrial manipulator and clamping jaws are fixedly connected is solved, so that the industrial manipulator and clamping jaws are modularized, other tools are convenient to replace by the industrial manipulator or maintain, on the other hand, the winding can be effectively pulled out of the groove of the motor stator 32 quickly by combining a plurality of clamping claws to clamp a plurality of points of the winding at the same time and combining the mechanical arm and the electric telescopic rod 10.
In the invention, the transverse movement and the vertical movement of the drawing member can be limited, and the longitudinal movement of the drawing member can be limited, so that as an optimization scheme, referring to fig. 6, a schematic installation structure of the longitudinal positioning mechanism is shown, and as can be seen from the figure, the invention further designs a longitudinal positioning mechanism, the number of the longitudinal positioning mechanisms is two, the two longitudinal positioning mechanisms are respectively connected to the left side and the right side of the track 7, and the specific structure of the longitudinal positioning mechanism is as follows.
With continued reference to fig. 6, the single longitudinal positioning mechanism comprises an inserting arm 22, wherein the inserting arm 22 is connected with the adjacent side of the track 7 through a first elastic component 23 (such as a spring), a positioning plate 24 is formed at one end of the inserting arm 22, a wedge block 25 is formed at the other end of the inserting arm 22, a slope surface of the wedge block 25 is positioned at one end of the wedge block 25 away from the positioning plate 24, lock holes 26 are respectively formed at the left side and the right side of the locking seat 12, the positioning plate 24 and the wedge block 25 respectively penetrate through the adjacent side walls of the track 7 in a sliding manner, meanwhile, the tail ends of the positioning plate 24 and the wedge block 25 are respectively arranged at the inner side of the track 7 when the first elastic component 23 is in a natural state, the hanging carrier 4 is arranged in the track 7 in a sliding manner and is pressed against the wedge block 25, the flange 5 and the locking seat 12 are not contacted with the positioning plate 24 when the track 7 moves (when the first elastic component 23 is in a stretching state), otherwise, the tail ends of the positioning plate 24 can be used for forming an adaptive first elastic component 23 with the adjacent lock holes 26 when the hanging carrier 4 is not pressed against the wedge block 25, and the whole longitudinal limiting member is indirectly pulled.
The working principle of the longitudinal positioning mechanism is as follows:
Referring to fig. 7, it can be seen that, in the use state of the longitudinal positioning mechanism in the first case, when the pulling member needs to be restored to its original position, the flange 5 of the lifting carrier 4 carries the locking seat 12 to move along the direction a1 in the track 7, along with the gradual movement of the lifting carrier 4, the lifting carrier 4 pushes the two wedge blocks 25 to move in the directions d1 and d2 respectively, the movement of the wedge blocks 25 correspondingly drives the inserting arm 22 and the positioning plate 24 to move in the direction d1 or d2, until the alignment hole 14 on the locking seat 12 is inserted into the hook plate 8, the positioning plate 24 extending outwards (in the direction d1 or d 2) is opposite to the locking hole 26 on the locking seat 12, then, the electromagnet is powered off by the controller, the flange 5 of the lifting carrier 4 is pulled out from the insertion hole 13 on the locking seat 12, once the flange 5 is separated from the insertion hole 13, the locking seat 12 is moved from the track 7, and after the locking seat 12 is separated from the track 7, the first elastic member 23 acts on the wedge blocks 24, and the positioning plate 24 is inserted into the locking seat 12, thereby restoring the longitudinal positioning of the locking seat 12.
In a second situation, referring to fig. 8, a usage state diagram of the longitudinal positioning mechanism in the second situation is shown, and as can be seen from the diagram, when the drawing member needs to be abutted with the locking seat 12, firstly, the flange 5 of the lifting carrier 4 moves along the a1 direction in the track 7, along with the gradual movement of the lifting carrier 4, the lifting carrier 4 pushes the two wedge blocks 25 to move along the d1 direction and the d2 direction respectively, the movement of the wedge blocks 25 correspondingly drives the inserting arm 22 and the positioning plate 24 to move along the d1 direction or the d2 direction, until the flange 5 of the lifting carrier 4 is inserted into the inserting hole 13 on the locking seat 12, the electromagnet is electrified by the controller, the locking seat 12 and the flange 5 are adsorbed, and then, after the locking seat 12 and the lifting carrier 4 are removed from the track 7, the principle is identical to that of the first situation, so that the wedge blocks 25 and the positioning plate 24 are restored to the original position.
The embodiment provides a winding stripping and stator slot cleaning tool, referring to fig. 9, which shows an overall structure schematic diagram of the invention, and as can be seen from the figure, the invention comprises an industrial manipulator in embodiment 1, wherein a conveying mechanism is arranged on one side of the industrial manipulator and is used for conveying a motor stator 32 provided with a winding, and the specific structure of the conveying mechanism is as follows.
Referring to fig. 10, there is shown a schematic perspective structure of a conveying mechanism, which includes a conveying machine tool 27, screw shafts 28 are rotatably connected to left and right sides of the conveying machine tool 27, a steering engine 29 for rotating the screw shafts 28 is mounted on the conveying machine tool 27, a carrying tray 30 is slidably connected to the conveying machine tool 27, screw holes for adapting to the screw shafts 28 are formed at the bottom of the carrying tray 30, and a stator tool tray 31 is fixedly mounted on the carrying tray 30 by bolts or the like.
The end of the conveying mechanism is further provided with a baking box 33 (which is needed by the prior art), the baking box 33 is used for heating and softening the winding so that the drawing member can more easily draw the winding out of the motor stator 32, one end of the winding needs to be cut before the winding in the motor stator 32 is drawn, therefore, the invention further designs a cutting member, a second locking seat 12 is connected to the cutting member, the locking seat 12 is slidably connected in a second track 7 on the supporting platform 6, the track 7 is also provided with a hook plate 8 and a longitudinal positioning mechanism, the details of the cutting member are omitted, the cutting member is used for cutting one end of the winding, and the specific structure of the cutting member is as follows.
Referring to fig. 11, a schematic partial perspective view of the present invention is shown, in which the cutting member includes an arc-shaped seat 34, the bottom of the arc-shaped seat 34 is connected with another second locking seat 12, a driving motor 35 is fixedly connected to the arc-shaped seat 34, an output shaft of the driving motor 35 is rotatably connected to the center of the arc-shaped seat 34 through a disc bearing, and an end of the output shaft of the driving motor 35 is connected to a cutter 36 through a key slot and a flat key in a matched and fixed manner. When the winding cutting device is used, the hanging carrier 4 on the mechanical arm is matched with the locking seat 12 below the cutting member, so that the cutting member is moved to one end of the winding to be cut, then the driving motor 35 is started, the driving motor 35 drives the cutter 36 to rotate, and the rotating cutter 36 is used for cutting the winding.
Because the cutter 36 inevitably generates heat in the winding cutting process, the service life of the cutter 36 is reduced in the long term, and for this reason, the invention further optimizes the cutting member, and the specific scheme is as follows.
Referring to fig. 12, which shows a schematic perspective view of an optimized cutting member, it can be seen that the cutting member further includes a water spraying unit disposed at one side of the arc-shaped seat 34, the water spraying unit is used for intermittently spraying water to cool the rotating cutter 36, and the water spraying unit has a more specific structure as follows.
Referring to fig. 12-13, fig. 13 shows a schematic partial structure of a water spraying unit, wherein the water spraying unit comprises a water storage tank 37, a vacuum cavity 38 is arranged at one side of the water storage tank 37, a water outlet pipe 39 is connected to an injection port of the vacuum cavity 38, a nozzle 40 is connected to the tail end of the water outlet pipe 39, the nozzle 40 is fixedly connected to the water storage tank 37, the nozzle 40 is opposite to a cutter 36, a water supplementing pipe 41 is communicated to the injection port of the vacuum cavity 38, the other end of the water supplementing pipe 41 is communicated with the water storage tank 37, a one-way valve 42 is mounted on the water supplementing pipe 41, the one-way valve 42 only allows water in the water storage tank 37 to enter the vacuum cavity 38, a piston rod 43 is connected in a sliding manner in the vacuum cavity 38, and the piston rod 43 is connected with a second driving source, and the second driving source is used for driving the piston rod 43 to reciprocate in the vacuum cavity 38. When the water spraying unit is used, the second driving source is used for driving the piston rod 43 to reciprocate in the vacuum cavity 38, when the piston rod 43 moves towards the inner side of the vacuum cavity 38, water in the vacuum cavity 38 flows through the water outlet pipe 39 and is sprayed out of the nozzle 40 under the pressing action of the piston rod 43, so that the temperature of the cutter 36 which is in cutting operation is reduced, and when the piston rod 43 moves towards the outer side of the vacuum cavity 38, water in the water storage tank 37 flows through the water return pipe and enters the vacuum cavity 38, so that water supplementing operation is completed.
Specifically, as one embodiment of the second driving source, referring to fig. 12 and 14, fig. 14 is a schematic perspective view of the second driving source, where the second driving source includes a rotating wheel 44, and the rotating wheel 44 is rotatably connected to the arc-shaped seat 34 and is concentric with the arc-shaped seat 34; the middle part of the rotating wheel 44 is provided with a through hole through which an output shaft of the driving motor 35 movably penetrates, one side of the arc seat 34 is fixedly connected with a half arc strip 45, the half arc strip 45 is concentric with the arc seat 34, two end parts of the half arc strip 45 are provided with outer arc bulges 46, a limited line groove 47 is formed on the output shaft of the driving motor 35 along the length direction, a ring sleeve 48 is sleeved on the output shaft of the driving motor 35 in a sliding way, a sliding block 49 is formed on the inner wall of the ring sleeve 48, the sliding block 49 and the limited line groove 47 form sliding connection, a stop lever 50 is fixedly connected on the outer wall of the ring sleeve 48, the stop lever 50 is opposite to the two outer arc bulges 46 and can form contact fit, two stop posts 51 are arranged on the outer edge of the rotating wheel 44 at equal angles, the stop lever 50 is opposite to the two stop posts 51 and can form contact fit, the stop posts 51 are distributed in a cross way with the outer arc bulges 46, one side of the rotating wheel 44 is provided with a sliding rail 52, the sliding rail 52 is fixedly connected with the arc seat 34, the nozzle 40, the water storage tank 37 and the vacuum chamber 38 form sliding connection with the sliding rail 52, a dragging block 53 is fixedly connected on the sliding rail 52, the sliding block 53 is connected with the sliding block 53 through the sliding block, and the other end 53 is connected with a second elastic sliding block 55 through a spring 55 and the other end part (55) and the other end part is fixedly connected with the rotating wheel 44) through a spring 55 and the other end part (55) and the other end part is fixedly connected with the sliding block 44).
The second driving source works as follows:
as shown in fig. 12, firstly, under the driving action of the driving motor 35, the output shaft of the driving motor 35 drives the stop lever 50 to rotate along the e1 direction, the stop lever 50 firstly contacts with the first baffle post 51 on the rotating wheel 44 and pushes the rotating wheel 44 to rotate along the e1 direction during the rotating movement, the belt 55 moves along the f1 direction under the pulling of the rotating wheel 44, then, referring to the using state diagram of the second driving source shown in fig. 15, the rotating stop lever 50 gradually contacts with the first outer arc protrusion 46 on the half arc strip 45, thereby forcing the stop lever 50 to move along the g1 direction on the output shaft of the driving motor 35 until the stop lever 50 is out of contact with the baffle post 51, the dragging block 53 pulls the belt 55 to move along the f2 to restore to the original position under the driving of the belt 55, the belt 55 is driven to restore to the original position along the e2 direction, the stop lever 50 continues to contact with the second baffle post 51 and the second outer arc protrusion 46 after being separated from the first outer arc protrusion 46, and the stop lever 50 is not repeated, and finally, the dragging block 53 drives the piston rod 43 to reciprocate in the vacuum chamber 38 during the reciprocating movement. According to the invention, the water spraying unit and the driving unit are further combined on the basis of the original cutting member, so that the cutting knife 36 can synchronously link the water spraying unit to spray water to cool the cutting knife 36 while cutting windings.
After the windings in the motor stator 32 are drawn, the inner groove of the motor stator 32 is required to be cleaned, for this purpose, the invention further designs a cleaning component, and for this purpose, with continued reference to fig. 11, the cleaning component is connected with a third locking seat 12, the locking seat 12 is slidingly connected in a third track 7 on the support platform 6, the track 7 is also provided with a hook plate 8 and a longitudinal positioning mechanism, which are not described herein, the cleaning component is used for cleaning the residual windings in the inner groove of the motor stator 32, specifically, the cleaning component comprises a servo motor 56, the bottom of the servo motor 56 is connected with the third locking seat 12, and the output shaft of the servo motor 56 is connected with a brush 57.
Claims (7)
1. The industrial manipulator is characterized by comprising a manipulator body (1), wherein the manipulator is arranged on a base plate (2) in a sliding manner through a moving base, a first driving source for driving the moving base to slide on the base is arranged on the base plate (2), a supporting platform (6) is arranged on the base plate (2), a lifting carrier (4) is connected to the execution tail end of the manipulator, an electromagnet is arranged on a flange (5) of the lifting carrier (4), the flange (5) is detachably connected with a locking seat (12) of a drawing member through a plug hole (13), a first track (7) is arranged on the supporting seat, the locking seat (12) of the drawing member is arranged in a corresponding track (7) in a longitudinal sliding manner, a hook plate (8) is arranged in the track (7), the hook plate (8) limits the vertical movement of the locking seat (12) through a positioning hole (14), the drawing member comprises a bearing ring body (9), more than two clamping claws are annularly arranged on the bearing ring body (9) and are used for clamping one end of a winding, an electric rod (10) is arranged on the other side of the bearing ring body (9), and the electric rod (10) is connected with a telescopic shaft (11) of the electric rod (10) in a telescopic shaft (11) fixedly connected with the telescopic supporting arm (11).
2. The industrial manipulator according to claim 1, wherein the clamping claw comprises a carrier (15), two transmission gears (16) are connected to the carrier (15) in a switching mode, the two transmission gears (16) are meshed with each other to form linkage, one transmission gear (16) is meshed with a threaded shaft (17), the threaded shaft (17) is concentrically connected with an output shaft of a motor fixed on the carrier (15), a push arm (18) is fixedly connected to the single transmission gear (16), the tail end of the push arm (18) is connected with a rotating arm (19) in a switching mode, a pulling arm (20) is connected to the rotating arm (19) in a switching mode, the free end of the pulling arm (20) is connected with the carrier (15) in a switching mode, and the tail end of the rotating arm (19) is fixedly connected with a conical column (21), and the carrier (15) is fixedly connected with the carrier ring body (9).
3. The industrial robot according to claim 1, further comprising at least one longitudinal positioning mechanism connected to one side of the corresponding rail (7), wherein the single longitudinal positioning mechanism comprises an insertion arm (22), wherein the insertion arm (22) is connected to the adjacent side of the rail (7) through a first elastic member (23), wherein a positioning plate (24) is formed at one end of the insertion arm (22), and a wedge block (25) is formed at the other end of the insertion arm (22), wherein a slope surface of the wedge block (25) is positioned at one end of the wedge block (25) away from the positioning plate (24), a lock hole (26) with the same number as the positioning plate (24) is formed on the locking seat (12), the positioning plate (24) and the wedge block (25) are respectively slidably penetrated through the adjacent side walls of the rail (7), wherein when the first elastic member (23) is in a natural state, wherein the end of the positioning plate (24) and the wedge block (25) are both placed on the inner side of the rail (7), wherein after the lifting carrier (4) is slidably placed in the rail (7) and is pressed against the wedge block (25), the flange (5) and the rail (12) are not in contact with the locking seat (24) when the locking seat (12) is not in contact with the positioning seat (24), the end of the locating plate (24) is used for forming a plug-in fit with an adjacent lock hole (26).
4. A winding stripping and stator slot cleaning tool is characterized by comprising an industrial manipulator according to any one of claims 1 to 3, wherein a conveying mechanism is arranged on one side of the industrial manipulator and used for conveying a motor stator (32) with windings, a drying oven (33) is further arranged at the tail end of the conveying mechanism, the winding stripping and stator slot cleaning tool further comprises a cutting member and a cleaning member, a second track (7) and a third track (7) are further arranged on a supporting seat, the cutting member is connected with a second locking seat (12), the locking seat (12) is slidably connected in the second track (7), the cutting member is used for cutting one end of a winding, the cleaning member is connected with a third locking seat (12), the locking seat (12) is slidably connected in the third track (7), and the cleaning member is used for cleaning residual windings in an inner groove of the motor stator (32).
5. The winding stripping and stator wire slot cleaning tool according to claim 4 is characterized in that the conveying mechanism comprises a conveying machine tool (27), screw shafts (28) are respectively connected to the left side and the right side of the conveying machine tool (27) in a rotating mode, steering gears (29) used for rotating the screw shafts (28) are arranged on the conveying machine tool (27), a carrying tray (30) is connected to the conveying machine tool (27) in a sliding mode, threaded holes matched with the screw shafts (28) are formed in the bottom of the carrying tray (30), a stator tool tray (31) is fixedly arranged on the carrying tray (30), and the stator tool tray (31) is used for loading a motor stator (32) and windings.
6. The winding stripping and stator wire slot cleaning tool as claimed in claim 4, wherein the cutting member comprises an arc-shaped seat (34), the arc-shaped seat (34) is connected with the second locking seat (12), a driving motor (35) is fixedly connected to the arc-shaped seat (34), an output shaft of the driving motor (35) is connected to the center of the arc-shaped seat (34) in a switching mode through a disc bearing, and a cutter (36) is fixedly connected to the tail end of the output shaft of the driving motor (35).
7. The winding stripping and stator slot cleaning tool as claimed in claim 4, wherein the cleaning component comprises a servo motor (56), the servo motor (56) is connected with the third locking seat (12), and the output shaft of the servo motor (56) is connected with a brush body (57).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202411234852.7A CN118721260B (en) | 2024-09-04 | 2024-09-04 | Industrial manipulator and winding stripping and stator slot cleaning tool |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202411234852.7A CN118721260B (en) | 2024-09-04 | 2024-09-04 | Industrial manipulator and winding stripping and stator slot cleaning tool |
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| CN118721260A CN118721260A (en) | 2024-10-01 |
| CN118721260B true CN118721260B (en) | 2024-12-06 |
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| CN202411234852.7A Active CN118721260B (en) | 2024-09-04 | 2024-09-04 | Industrial manipulator and winding stripping and stator slot cleaning tool |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115609567A (en) * | 2022-11-03 | 2023-01-17 | 李鑫涌 | Industrial manipulator that multi-angle clamp was got |
| CN116032079A (en) * | 2023-02-03 | 2023-04-28 | 深圳市金岷江智能装备有限公司 | Strip-shaped stator stripping device |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3610161B2 (en) * | 1996-04-01 | 2005-01-12 | 株式会社日立ハイテクインスツルメンツ | Mounting head device |
| CN209699134U (en) * | 2019-04-17 | 2019-11-29 | 郑州科技学院 | Industrial robot magic chuck |
| CN116191307B (en) * | 2023-02-09 | 2023-11-17 | 惠州市鑫湖自动化设备有限公司 | An automated paint stripping mechanism for physical wire cores |
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- 2024-09-04 CN CN202411234852.7A patent/CN118721260B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115609567A (en) * | 2022-11-03 | 2023-01-17 | 李鑫涌 | Industrial manipulator that multi-angle clamp was got |
| CN116032079A (en) * | 2023-02-03 | 2023-04-28 | 深圳市金岷江智能装备有限公司 | Strip-shaped stator stripping device |
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| CN118721260A (en) | 2024-10-01 |
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