Combined mechanical claw and mechanical arm for hub bearing machining

Abstract

The utility model relates to the technical field of machining, in particular to a combined mechanical claw for hub bearing machining, which comprises a rotary driver, a feeding claw and a discharging claw, the feeding claw and the discharging claw are both mounted at the output end of the rotary driver, and the rotary driver is used for driving the feeding claw or the discharging claw to rotate to a working position. The feeding claw and the discharging claw each comprise a plurality of clamping claws which can be close to or away from each other and are located on the same circumference, each clamping claw is provided with a clamping finger, the clamping fingers comprise the near clamping finger and the far clamping finger, the distance between the near clamping finger and the center of the circumference is smaller than the distance between the far clamping finger and the center of the circumference, and a distance exists between the near clamping finger and the far clamping finger in the projection direction of the center line of the circumference. The mechanical arm for hub bearing machining comprises a combined mechanical claw for hub bearing machining and further comprises a mover used for driving the combined mechanical claw for hub bearing machining to move spatially. According to the scheme, the problem that in the prior art, a mechanical claw needed for machining a small inner ring of a hub bearing cannot be universal is solved.

Description

Technical Field

[0001] The utility model relates to the technical field of machining, in particular to a combined mechanical claw and a mechanical hand for machining a wheel hub bearing. Background Art

[0002] The main function of the wheel hub bearing assembly is to bear weight. It is an indispensable part of the automobile. The wheel hub bearing assembly includes an inner ring, a small inner ring, an outer ring, rolling elements and a cage. Two rows of raceways are arranged on the outer ring, and one row of raceways are arranged on the inner ring and the small inner ring respectively. The rolling elements are located in the raceways under the action of the cage and move in the raceways when the inner ring and outer ring of the wheel hub bearing rotate relative to each other.

[0003] When the wheel hub bearing assembly is in use, it needs to be connected to the rim, brake disc and steering knuckle. Therefore, milling and drilling are required on the inner ring flange and / or outer ring flange of the wheel hub bearing. Milling is performed to ensure the accuracy of the matching surface, and drilling is performed to facilitate the connection between the inner ring or outer ring of the wheel hub bearing and the rim / brake disc / steering knuckle.

[0004] For the wheel hub bearing part serving as the inner ring, the inner ring includes an integrally formed flange section and a stepped shaft section, and both the flange section and the stepped shaft section need to be machined.

[0005] In existing machining, in order to improve machining efficiency, a machining equipment is often equipped with a set of manipulators. Two mechanical claws are installed at the output end of a set of manipulators, one of which is used for loading and clamping, that is, for clamping the workpiece to be processed and feeding it into the chuck of the machining equipment under the manipulator. This mechanical claw is called a loading claw; the other mechanical claw is used for unloading and clamping, that is, for removing the workpiece from the chuck driven by the manipulator after the process is completed (such as the mechanical claw combination device and robotic arm workstation with patent announcement number CN219726283U); during design, the loading claw and the unloading claw are fixed on a rotary drive at the same time, and the rotary drive is installed at the output end of the manipulator, so that through the rotation of the rotary drive, the loading claw and the unloading claw can be rotated to the working position, so as to realize the rapid unloading of the previous workpiece and the rapid loading of the next workpiece.

[0006] However, in the prior art, when processing products that require multiple processing steps and have different clamping positions, such as the processing of the inner ring of the wheel hub bearing, there is a large difference between the size of the flange section and the size of the shaft section of the inner ring of the wheel hub bearing. The flange section has a large outer diameter but a small axial length, while the shaft section is a product with a small outer diameter and a large axial length. When processing the flange section and the shaft section, the clamping mechanical claws required are not the same, resulting in different mechanical claws being required for loading and unloading of the same product in different processes, and the mechanical claws are not universal, which increases both the management cost of the mechanical claws and the procurement cost of the mechanical claws. Utility Model Content

[0007] The utility model aims to provide a combined mechanical claw for processing a hub bearing, so as to solve the problem in the prior art that the mechanical claws required for processing a small inner ring of a hub bearing are not universal.

[0008] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0009] A combined mechanical claw for wheel hub bearing processing includes a rotary drive, a loading claw and a unloading claw. The loading claw and the unloading claw are both installed on the output end of the rotary drive. The rotary drive is used to drive the loading claw or the unloading claw to rotate to the working position. The loading claw and the unloading claw each include a plurality of clamping claws that can approach or move away from each other and are located on the same circumference. Each clamping claw is provided with a clamping finger, and the clamping finger includes a near clamping finger and a far clamping finger. The distance between the near clamping finger and the center of the circumference is smaller than the distance between the far clamping finger and the center of the circumference. There is a spacing between the near clamping finger and the far clamping finger in the projection direction of the center line of the circumference.

[0010] The principle and advantage of this scheme are: when this scheme is adopted, both the loading claw and the unloading claw are set to have both near clamping fingers and far clamping fingers, so that both the loading claw and the unloading claw can be used to clamp the shaft section or flange section of the hub bearing. Specifically, for the loading claw or the unloading claw, the near clamping fingers and the far clamping fingers are arranged with a spacing in the center line projection direction, so that when the shaft section needs to be clamped, the shaft section of the hub bearing is clamped by using multiple near clamping fingers on the clamping claw; and when the outer periphery of the flange section of the hub bearing needs to be clamped, the flange section of the hub bearing is clamped by using multiple far clamping fingers at a farther distance. Since the distances between the near clamping finger and the far clamping finger and the center of the circle are different, it can be ensured that whether it is the flange section or the shaft section of the workpiece being clamped, it can be achieved on the basis of a short clamping jaw moving stroke, thereby ensuring the efficiency of clamping; in addition, both the loading jaws and the unloading jaws can be used for both flange section clamping and shaft section clamping, so that the same combined mechanical jaws can be used in different processing steps of the inner ring of the hub bearing. Compared with the existing technology, the mechanical jaws are made universal, which helps to reduce the management cost of the mechanical jaws and improve the practicality of the mechanical jaws.

[0011] In addition, because one combined mechanical claw can be used for different processing steps of wheel hub bearings in this solution, it is helpful to use the same combined mechanical claw for loading in two or more adjacent processes, greatly reducing equipment costs.

[0012] Preferably, as an improvement, the near clamping finger and the far clamping finger can be detachably connected to the clamping jaw to reduce maintenance costs.

[0013] Preferably, as an improvement, the distance between the distal clamping finger and the proximal clamping finger can be adjusted to meet the clamping requirements of hub bearings with different shaft segment length specifications.

[0014] Preferably, as an improvement, the clamping jaw is provided with a plurality of mounting holes, the center line of the plurality of mounting holes is parallel to the center line of the circumference, and each mounting hole can be used to fix the distal clamping finger; by selecting different mounting holes, the distal clamping finger can be installed in different positions, thereby adapting to the clamping requirements of wheel hub bearings of different specifications.

[0015] Preferably, as an improvement, an elastic ejector pin is also installed on the clamping jaw of the loading jaw, and the end of the ejector pin is located between the distal clamping finger and the proximal clamping finger; this solution can compensate for the surface dimension error of the hub bearing to a certain extent, ensuring that the workpiece can be stably pushed into the chuck of the machining equipment.

[0016] Preferably, as an improvement, the feeding claw also includes a pushing frame, which is slidably connected to the clamping claw driver of the feeding claw, the sliding direction of the pushing frame is parallel to the center line of the circle, an elastic member is provided between the pushing frame and the housing of the driver, and the near clamping finger is located between the pushing frame and the far clamping finger.

[0017] Beneficial effect: The pushing frame of the present invention is used to abut against the end face of the shaft segment of the wheel hub bearing. When in use, the loading claw inserts the workpiece into the machined chuck by clamping the shaft segment, releases the clamping of the workpiece by the near clamping fingers, and then controls the mechanical claw to approach the chuck, so that the pushing frame at the rear end of the near clamping fingers abuts against the end face of the shaft segment of the workpiece, thereby pushing the workpiece to move through the pushing frame to ensure that the workpiece can be inserted into place on the chuck.

[0018] Preferably, as an improvement, the pushing frame includes a pushing center and a plurality of pushing rods fixedly connected to the pushing center, the plurality of pushing rods are evenly distributed along the pushing center, the pushing center is opposite to the circumferential center, the pushing rods slide on the housing of the driver, and an elastic member is arranged between the pushing rods and the housing of the driver.

[0019] Beneficial effects: The arrangement of the push rod and the push center of the present invention enables the push frame to smoothly push the wheel hub bearing, and the push frame has a simple structure and is easy to implement.

[0020] Preferably, as an improvement, the loading claw and the unloading claw are at 90°.

[0021] The utility model also provides a hub bearing processing robot, which comprises a combined robot claw for hub bearing processing.

[0022] Preferably, as an improvement, it also includes a mover for driving the combined mechanical claws for wheel hub bearing processing to move in space.

[0023] Beneficial effect: By setting up the mover, multiple processes of processing the flange section and shaft section of the hub bearing can be set on the same production line, so that multiple machining stations can share one robot and reduce the production cost of the hub bearing. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic diagram of the three-dimensional structure of the first embodiment of the utility model.

[0025] Figure 2 for Figure 1 Top view (with partial section).

[0026] Figure 3 for Figure 1 Left view of .

[0027] Figure 4 This is a schematic diagram of the three-dimensional structure of the feeding claw in the first embodiment of the utility model.

[0028] Figure 5 for Figure 4 Left view of .

[0029] Figure 6 for Figure 4 main view.

[0030] Figure 7 This is a longitudinal sectional view showing the ejector structure on the feeding claw in the first embodiment of the utility model.

[0031] Figure 8 It is a schematic diagram of the three-dimensional structure of the feeding claw of the first embodiment of the utility model after clamping the shaft section of the hub bearing with the proximal clamping fingers.

[0032] Fig. 9 This is a schematic diagram of the three-dimensional structure of the feeding claw of the first embodiment of the utility model after clamping the flange section of the hub bearing with the proximal clamping fingers.

[0033] Fig.10 It is a schematic diagram of the three-dimensional structure of the second embodiment of the utility model.

[0034] Fig.11 for Fig.10 main view. DETAILED DESCRIPTION

[0035] The following is further described in detail through specific implementation methods:

[0036] The figure marks in the drawings of the specification include: rotary driver 100, rotary shaft 101, loading claw 200, unloading claw 300, clamping claw 1, driver 2, near clamping finger 11, far clamping finger 12, ejector pin 13, needle head 131, needle sleeve 132, elastic body 133, pushing frame 3, pushing rod 31, elastic member 4, mover 400, linear mover 401, lifting mover 402.

[0037] Example

[0038] Combination Figures 1 to 9 A combined mechanical claw for wheel hub bearing processing includes a rotary driver 100, a loading claw 200 and a unloading claw 300. The loading claw 200 and the unloading claw are 90 degrees apart. The loading claw 200 and the unloading claw 300 are both installed on the output end of the rotary driver 100. The rotary driver 100 is used to drive the loading claw 200 or the unloading claw to rotate to a working position. In this embodiment, the rotary driver 100 adopts a rotary cylinder. The accompanying drawings of this embodiment only show the output rotating shaft 101 of the rotary driver 100.

[0039] The loading claw 200 and the unloading claw 300 are both used to stably clamp the wheel hub bearing, so as to facilitate subsequent processing operations on the wheel hub bearing.

[0040] The loading claw 200 and the unloading claw 300 both include a plurality of jaws 1, which are always located on the same circle and evenly distributed in the circumferential direction of the circle. The plurality of jaws 1 are connected to the same driver 2, and the driver 2 is used to drive the plurality of jaws 1 to synchronously approach each other or synchronously move away from each other. In this embodiment, the number of jaws 1 of the loading claw 200 and the unloading claw 300 are both three, and the driver 2 and the jaws 1 constitute a jaw 1 cylinder.

[0041] Each clamping jaw 1 is equipped with a near clamping finger 11 and a far clamping finger 12. The distance between the near clamping finger 11 and the center of the circle is smaller than the distance between the far clamping finger 12 and the center of the circle. This design allows the near clamping finger 11 to clamp the shaft section of the hub bearing, while the far clamping finger 12 is used to clamp the flange section of the hub bearing.

[0042] The distal clamping finger 12 can also be adjusted in the axial position along the circumferential center axis on the clamping jaw 1. In order to achieve this function, the clamping jaw 1 is provided with a plurality of mounting holes, which are arranged axially, and each mounting hole can be used to fix and install the distal clamping finger 12. In this way, by selecting different mounting holes to install the distal clamping finger 12, the axial position of the distal clamping finger 12 on the clamping jaw 1 can be adjusted to adapt to hub bearings of different sizes.

[0043] The connection between the proximal clamping finger 11 and the clamping jaw 1 is threaded or screwed (in this embodiment, the proximal clamping finger 11 on the unloading jaw 300 is screwed, and the proximal clamping finger 11 on the loading jaw 200 is threaded). The axial direction of the thread of the proximal clamping finger 11 coincides with the radial direction of the circumference. Such a connection method allows the proximal clamping finger 11 to be fine-tuned in the radial direction of the circumference to better adapt to the shaft section size of the hub bearing. The specific proximal clamping finger 11 includes a threaded section and a clamping head fixed into one body. The clamping head is used to clamp the workpiece. A nut is threadedly connected to the threaded section. The threaded section is threadedly connected to the clamping jaw 1. When the length of the proximal clamping finger 11 extending out of the clamping jaw 1 is adjusted, the nut is used to move toward the clamping jaw 1 to tighten the proximal clamping finger 11.

[0044] There is a distance between the near clamping finger 11 and the far clamping finger 12 in the projection direction of the center line of the circumference.

[0045] Combination Figures 4 to 7 Compared with the unloading clamp, the loading clamp also has an elastic ejector pin 13 and a push frame 3. Specifically, an ejector pin 13 is installed on each clamping jaw 1 of the loading clamp. The end of the ejector pin 13 is located between the distal clamping finger 12 and the proximal clamping finger 11. The ejector pin 13 is used to push the flange surface of the workpiece. An elastic body 133 is arranged between the ejector pin 13 and the clamping jaw 1. The deformation direction of the elastic body 133 is parallel to the circumferential center line. The elastic body 133 is like a spring, which can compensate for the surface size error on the wheel hub bearing blank to a certain extent, and ensure that the workpiece can be stably pushed into the chuck of the machining equipment.

[0046] The ejector pin 13 is also designed as a detachable structure for easy replacement and maintenance; specifically, the ejector pin 13 includes a needle head 131 and a needle sleeve 132, the needle head 131 is slidably connected to the needle sleeve 132, the needle head 131 is used to push the workpiece, and the needle head 131 extends out of the needle sleeve 132, an elastic body 133 is installed in the needle tube, the elastic body 133 can be a spring, one end of the elastic body 133 is pressed against one end of the needle head 131 that penetrates into the needle sleeve 132, and the other end of the elastic body 133 is pressed tightly against the clamping jaw 1, and the needle sleeve 132 is fixed on the clamping jaw 1.

[0047] The push frame 3 on the loading clamp is slidably connected to the housing of the driver 2 of the loading clamp along the circumferential center line direction. An elastic member 4 is connected between the push frame 3 and the driver 2. The elastic member 4 is such as a spring. The near clamping finger 11 is located between the push frame 3 and the far clamping finger 12.

[0048] Specifically, the pushing frame 3 includes an integrally formed pushing center and three pushing rods 31 evenly distributed along the circumference of the pushing center. The pushing center is opposite to the center of the circle enclosed by the multiple clamps 1. The pushing rod 31 slides on the housing of the driver 2 along the center line of the circle. An elastic member 4 (such as a spring) is arranged between the pushing rod 31 and the housing of the driver 2.

[0049] After the loading claw 200 initially feeds the hub bearing (workpiece) onto the chuck of the processing equipment, the mechanical claw is controlled to approach the chuck, so that the push frame 3 pushes the shaft end face of the hub bearing to move, so that the hub bearing can be placed in place on the chuck. The design of the elastic member 4 can provide a certain buffering effect during the clamping process to avoid damage to the hub bearing.

[0050] When this embodiment is in use, the loading clamp is used to load the workpiece, and the unloading clamp is used to unload the processed workpiece. When the loading claw 200 and the unloading claw 300 are required to correspond to a machining equipment, if there is a processed workpiece on the chuck of the machining equipment, it is necessary to first use the unloading claw 300 to unload the workpiece, and then use the loading claw 200 to load the chuck with the workpiece to be processed.

[0051] The specific unloading method is as follows: first control the rotary drive 100 to rotate the unloading clamp to the working position (the loading claw 200 or the unloading claw 300 in the working position is aligned with the workpiece on the chuck), then the machined chuck releases its clamping of the workpiece, and the unloading claw 300 clamps the workpiece (when the flange section of the workpiece faces the unloading claw 300, the far clamping finger 12 of the unloading claw 300 clamps the flange section of the workpiece; when the axial section of the workpiece faces the unloading claw 300, the near clamping finger 11 of the unloading claw 300 clamps the axial section of the workpiece), and finally control the mechanical claw to move away from the chuck, thereby removing the workpiece from the chuck to achieve unloading.

[0052] The specific loading process is as follows: first control the rotary driver 100 to rotate the loading clamp to the working position; when it is necessary to clamp the flange section of the hub bearing for loading, use the three distal clamping fingers 12 on the loading clamp to clamp the periphery of the flange section of the workpiece (i.e., the hub bearing), and then control the mechanical claw to approach the chuck and insert the shaft section of the workpiece into the chuck. Because the inserted workpiece cannot be completely inserted into place at one time, after releasing the distal clamping fingers 12, control the loading claw 200 to move closer to the chuck, so that the elastic ejector pin 13 can push against the flange surface of the workpiece, thereby achieving complete insertion of the workpiece on the chuck and ensuring stable and accurate placement of the workpiece on the chuck.

[0053] When it is necessary to clamp the shaft section of the hub bearing for loading, the three near-clamping fingers 11 on the clamping jaw 1 are used to clamp the outer periphery of the shaft section of the workpiece (i.e., the hub bearing), and then the loading jaw 200 is controlled to approach the chuck, and the flange section of the workpiece is inserted into the chuck. Because the inserted workpiece cannot be completely inserted into place at one time, after loosening the near-clamping fingers 11, the loading jaw 200 is controlled to move closer to the chuck, so that the elastic pushing frame 3 can push against the end face of the shaft section of the workpiece, thereby achieving complete insertion of the workpiece on the chuck and ensuring that the workpiece is stably and accurately placed on the chuck.

[0054] The loading clamp and unloading clamp of the present embodiment both have a double-layer clamping structure (the far clamping finger 12 and the near clamping finger 11), so that the clamping of the same hub bearing in different directions can be achieved by using the same loading claw 200 / unloading claw 300 regardless of loading / unloading, thus achieving the unification and generalization of the mechanical claws, helping to reduce the management cost and difficulty of the mechanical claws and improving the practicality of the mechanical claws.

[0055] In addition, the arrangement of the elastic ejector pin 13 and the elastic push frame 3 of the loading claw 200 in this embodiment enables the loading claw 200 to adjust the position of the tool inserted into the chuck of the processing equipment, ensuring that the workpiece can be stably and accurately loaded onto the chuck, which helps to achieve dimensional consistency during machining, thereby ensuring the processing quality.

[0056] In addition, the loading claw 200 and the unloading claw 300 of the present embodiment can be used for clamping both the shaft section and the flange section of the hub bearing, so that one combined mechanical claw can be used for different processing steps of the hub bearing, thereby facilitating the use of the same mechanical claw for loading in two or more adjacent processes, thereby greatly reducing equipment costs.

[0057] Embodiment 2

[0058] Combination Figure 10 to Figure 11 The second embodiment of the present invention discloses a wheel hub bearing processing robot, including a wheel hub bearing processing combined mechanical claw of the first embodiment and a mover 400 for driving the wheel hub bearing processing combined mechanical claw to move in space. The mover 400 may adopt an existing truss robot body or other structures. For example, in the present embodiment, the mover 400 includes a laterally arranged linear mover 401 and a vertically arranged lifting mover 402. The lifting mover 402 is installed at the output end of the laterally arranged linear mover 401. The wheel hub bearing processing combined mechanical claw is installed at the output end of the lifting mover 402. The lifting mover 402 is used to drive the wheel hub bearing processing combined mechanical claw to move up and down; the laterally arranged linear mover 401 is used to drive the wheel hub bearing processing combined mechanical claw to move laterally, and the lateral direction is parallel to the axial direction of the wheel hub bearing after being clamped by the chuck.

[0059] In this embodiment, by setting the mover 400, multiple processes of processing the flange section and the shaft section of the hub bearing can be set on the same production line, so that multiple machining stations can share one robot and reduce the production cost of the hub bearing.

[0060] The above is only an embodiment of the utility model, and the common knowledge such as the known specific technical solutions and / or characteristics in the solution is not described in detail here. It should be pointed out that for those skilled in the art, without departing from the technical solution of the utility model, several deformations and improvements can be made, which should also be regarded as the protection scope of the utility model, and these will not affect the effect of the implementation of the utility model and the practicality of the patent. The scope of protection required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

Claims

1. A combined mechanical claw for wheel hub bearing processing, comprising a rotary drive, a loading claw and a discharging claw, wherein the loading claw and the discharging claw are both mounted on the output end of the rotary drive, and the rotary drive is used to drive the loading claw or the discharging claw to rotate to a working position, wherein the loading claw and the discharging claw each comprise a plurality of clamping claws that can approach or move away from each other and are located on the same circumference, and each clamping claw is provided with a clamping finger, characterized in that: The clamping fingers include near clamping fingers and far clamping fingers, and the distance between the near clamping fingers and the circumference center is smaller than the distance between the far clamping fingers and the circumference center.

2. The combined mechanical claw for wheel hub bearing processing according to claim 1, characterized in that: The near clamping finger and the far clamping finger can be detachably connected to the clamping claw.

3. The combined mechanical claw for wheel hub bearing processing according to claim 2, characterized in that: The distance between the distal clamping fingers and the proximal clamping fingers can be adjusted.

4. The combined mechanical claw for wheel hub bearing processing according to claim 3, characterized in that: The clamping jaw is provided with a plurality of mounting holes, the center line of the plurality of mounting holes is parallel to the center line of the circumference, and each mounting hole can be used for fixing and mounting the distal clamping finger.

5. The combined mechanical claw for wheel hub bearing processing according to claim 1, characterized in that: An elastic ejector pin is also installed on the clamping jaw of the feeding claw, and the end of the ejector pin is located between the far clamping finger and the near clamping finger.

6. The combined mechanical claw for wheel hub bearing processing according to claim 1, characterized in that: The feeding claw also includes a pushing frame, which is slidably connected to the clamping claw driver of the feeding claw, the sliding direction of the pushing frame is parallel to the circumferential center line, and an elastic member is arranged between the pushing frame and the housing of the driver.

7. The combined mechanical claw for wheel hub bearing processing according to claim 6, characterized in that: The pushing frame includes a pushing center and a plurality of pushing rods fixedly connected to the pushing center. The plurality of pushing rods are evenly distributed along the pushing center. The pushing center is directly opposite to the circumferential center. The pushing rods slide on the housing of the driver. An elastic member is arranged between the pushing rods and the housing of the driver. The near clamping finger is located between the pushing frame and the far clamping finger.

8. The combined mechanical claw for wheel hub bearing processing according to claim 1, characterized in that: The upper and lower material claws are 90 degrees apart.

9. A wheel hub bearing processing robot, characterized in that: A combined mechanical claw for processing a wheel hub bearing comprising any one of claims 1-8.

10. A wheel hub bearing processing robot according to claim 9, characterized in that: It also includes a mover for driving the combined mechanical claws used for wheel hub bearing processing to move in space.

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