A mold clamping gripper with floating function

Abstract

The present invention discloses a box closing gripper with floating function, including an electric cylinder, an electric cylinder mounting plate, a gripper, a gripper mounting plate, and a latch guide rod; the gripper mounting plate is located at the front end of the electric cylinder and is connected to the electric cylinder through a joint bearing, and a plurality of floating mechanisms are arranged between the gripper mounting plate and the electric cylinder mounting plate, so that the gripper can produce plane floating, wherein the gripper cooperates with the cylindrical pair of the latch guide rod, and the latch guide rod can cooperate with the hole shaft on the tray where the pulley shaft system is placed, so that the gripper moves with the latch guide rod and floats in the plane, so as to realize the precise positioning of the end cover and the pulley shaft system. By setting the floating mechanism and the joint bearing, the end cover can be put into the box in a plane floating manner, so as to realize the precise closing of the pulley shaft system and the end cover, prevent the lip from being damaged during the press-fitting process, and greatly reduce the unqualified rate of box closing and press-fitting.

Description

Technical Field

[0001] The invention relates to the technical field of intelligent grippers, and in particular to a box closing gripper with a floating function. Background Art

[0002] End cover assembly is the most difficult step in CVT transmission assembly, and its assembly quality directly affects the overall performance of the transmission. Figure 1 The structure of the end cover and the pulley shaft system has a pressing force at the bearing when the end cover 100 and the pulley shaft system 200 are assembled.

[0003] When the end cover and the pulley shaft are assembled, the press-fitting force and precision are relatively high. In addition, there is a high-pressure oil nozzle on the end cover, and there is a lip in the high-pressure oil nozzle to prevent damage to the lip during the press-fitting process.

[0004] In the process of implementing the present invention, the inventors found that the use of a floating gripper can achieve high-precision process requirements. Summary of the invention

[0005] In order to overcome the defects of the prior art, the object of the present invention is to provide a box closing gripper with a floating function to achieve accurate box closing of the end cover and the pulley shaft system.

[0006] To this end, the present invention proposes a box-closing gripper with a floating function, comprising an electric cylinder, an electric cylinder mounting plate, a gripper, a gripper mounting plate, and a latch guide rod; the gripper mounting plate is located at the front end of the electric cylinder and is connected to the electric cylinder through a joint bearing, and a plurality of floating mechanisms are provided between the gripper mounting plate and the electric cylinder mounting plate, so that the gripper can produce a planar floating, wherein the gripper cooperates with the cylindrical pair of the latch guide rod, and the latch guide rod can cooperate with the hole shaft on the tray where the pulley shaft system is placed, so that the gripper floats in the plane as the latch guide rod moves, so as to realize the precise positioning of the pulley shaft system and the end cover.

[0007] Furthermore, the floating mechanism includes a plane floating guide rod, a pair of retaining sleeves, a ball mounting seat, and a plurality of balls. The ball mounting seat is a circular ring structure. The outer circumference of the ball mounting seat is fixedly connected to the gripper mounting plate, and the inner circumference of the ball mounting seat is matched with the plane floating guide rod with a large clearance. The plane floating guide rod is fixedly connected to the electric cylinder mounting plate, so that the gripper mounting plate can float relative to the plane of the electric cylinder mounting plate.

[0008] Among them, a pair of retaining sleeves are fixedly connected to the planar floating guide rod and are respectively located on both axial sides of the ball mounting seat. The ball is arranged between the ball mounting seat and the retaining sleeve, so that the ball mounting seat and the gripper mounting plate can float stably.

[0009] Furthermore, a tightening nut is provided at the end of the planar floating guide rod, and the tightening nut is used for axially limiting the gripper mounting plate.

[0010] Furthermore, cage members for limiting the balls are respectively provided on the retaining sleeve and the ball mounting seat.

[0011] Furthermore, a bushing mating with the planar floating guide rod is provided on the electric cylinder mounting plate.

[0012] Furthermore, a pin cylinder is provided at the lower end of the electric cylinder mounting plate, and a positioning hole opposite to the pin cylinder is provided on the gripper mounting plate.

[0013] Furthermore, a reaction force mechanism is provided in the middle of the gripper mounting plate. The reaction force mechanism includes a driving shaft reaction force rod, a driven shaft reaction force rod and a connecting block. The gripper is connected to the front ends of the driving shaft reaction force rod and the driven shaft reaction force rod, and the connecting block is connected to the electric cylinder through the spherical plain bearing.

[0014] Furthermore, a plurality of springs are further provided between the gripper mounting plate and the electric cylinder, and the plurality of springs are arranged around the spherical plain bearing.

[0015] The casing closing gripper with a floating function provided by the present invention enables the end cover to enter the casing in a planar floating manner by arranging a floating mechanism and a spherical plain bearing, realizes the precise casing closing of the belt pulley shafting and the end cover, prevents damage to the lip during the press-fitting process, and greatly reduces the rejection rate of casing closing and press-fitting.

[0016] In addition to the purposes, features and advantages described above, the present invention has other purposes, features and advantages. The present invention will be further described in detail below with reference to the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings forming a part of this application are used to provide a further understanding of the present invention. The schematic embodiments and descriptions thereof of the present invention are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings:

[0018] Figure 1 is a schematic structural diagram of the assembled end cover and belt pulley shafting of the present invention;

[0019] Figure 2 is a schematic structural diagram of the casing closing gripper with a floating function of the present invention;

[0020] Figure 3 is a partial enlarged view of the casing closing gripper with a floating function of the present invention;

[0021] Figure 4 is a cross-sectional view of the floating mechanism in the casing closing gripper with a floating function of the present invention;

[0022] Figure 5 It is a schematic structural diagram of the joint bearing in the natural state of the box closing gripper with floating function of the present invention;

[0023] Figure 6 It is a schematic structural diagram of the joint bearing in the press-fit state in the closing gripper with floating function of the present invention.

[0024] Description of Reference Numerals

[0025] 1. Plane floating guide rod; 2. Spherical bearing; 3. Spring; 4. Active shaft reaction rod; 5. Driven shaft reaction rod; 6. Electric cylinder; 7. Pin guide rod; 8. Bushing; 9. Retaining sleeve; 10. Ball mounting seat; 11. Ball; 12. Tightening nut; 13. Electric cylinder mounting plate; 14. Gripper mounting plate; 15. Gripper; 16. Pin cylinder; 17. Retaining frame; 100. End cover; 200. Pulley shaft system. DETAILED DESCRIPTION

[0026] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0027] like Figure 2 , Figure 3 As shown, the box closing gripper with floating function of the present invention includes an electric cylinder 6, an electric cylinder mounting plate 13, a gripper 15, a gripper mounting plate 14, and a latch guide rod 7. The latch guide rod 7 cooperates with the cylindrical pair of the gripper 15, and the latch guide rod 7 can cooperate with a tray (not shown in the figure) on which the pulley shaft system 200 is placed, thereby achieving the purpose of precise positioning of the box closing; wherein, a servo mechanism for driving the movement of the electric cylinder mounting plate 13 is provided at the rear end thereof, which is used to move the electric cylinder mounting plate 13, the gripper 15 and other mechanisms to the box closing position.

[0028] The gripper 15 is a suction cup gripper, which is installed at the front end of the gripper mounting plate 14. The electric cylinder 6 is installed on the electric cylinder mounting plate 13. The gripper mounting plate 14 is located at the front end of the electric cylinder 6. The electric cylinder 6 and the gripper mounting plate 14 are provided with joint bearings 2, and multiple groups of floating mechanisms are provided between the gripper mounting plate 14 and the electric cylinder mounting plate 13. Through the joint bearings 2 and the floating mechanisms, the gripper 15 can float in the plane as the latch guide rod 7 moves, thereby aligning the end cover 100 with the pulley shaft system 200, thereby achieving precise positioning and closing of the box.

[0029] Specifically, Figure 4 As shown, the floating mechanism includes a plane floating guide rod 1, a pair of retaining sleeves 9, a ball mounting seat 10, a ball 11, and a tightening nut 12. The upper part of the plane floating guide rod 1 is fixedly connected to the electric cylinder mounting plate 13 through a shaft sleeve 8.

[0030] The ball mounting seat 10 is of an annular structure, its outer circumference is fixedly connected to the gripper mounting plate 14, the inner circumference of the ball mounting seat 10 has a large clearance fit with the planar floating guide rod 1 coaxially, and retaining sleeves 9 are respectively provided at both axial ends of the ball mounting seat 10. The retaining sleeves 9 are fixedly connected to the planar floating guide rod 1, and a number of balls 11 are provided between the ball mounting seat 10 and the retaining sleeves 9. Among them, the end of the planar floating guide rod 1 is axially limited by a jam nut 12 for axially limiting the gripper mounting plate 14.

[0031] During the process of closing the mold, when the positions of the end cover 100 and the pulley shafting 200 are not completely aligned, the pin guide rod 7 cooperates with the tray, and the pin guide rod 7 generates a horizontal force on the gripper mounting plate 14. Due to the gap between the ball mounting seat 10 and the planar floating guide rod 1, the balls 11 roll within the retaining sleeve 9, and the ball mounting seat 10 moves relative to the planar floating guide rod 1 and the electric cylinder mounting plate 13, facilitating the alignment of the positions of the end cover and the pulley shafting 200.

[0032] As Figure 2 shown, retaining cages 17 are provided both inside the retaining sleeve 9 and the ball mounting seat 10. The retaining cages are used to limit the balls so that the balls move between the retaining sleeve 9 and the ball mounting seat 10.

[0033] Specifically, as Figure 3 shown, the middle part of the gripper mounting plate 14 has a reaction force mechanism. The reaction force mechanism is movably connected to the electric cylinder 6 through a spherical plain bearing 2. Among them, the reaction force mechanism includes a driving shaft reaction force rod 4, a driven shaft reaction force rod 5 and a connecting block. The front ends of the driving shaft reaction force rod 4 and the driven shaft reaction force rod 5 are connected to the gripper 15, and the connecting block is connected to the electric cylinder 6 through the spherical plain bearing 2. Thus, the reaction force mechanism and the gripper 15 at its front end can be tilted according to the position of the pulley shafting to move to a suitable mold closing position.

[0034] Among them, as Figure 5 、 Figure 6 shown, four groups of springs 3 are provided between the gripper mounting plate 14 and the electric cylinder 6. The four groups of springs 3 are arranged on the connecting block and are located around the spherical plain bearing 2. The springs 3 have a reset function. Under normal circumstances, the springs 3 are used to keep the reaction force mechanism and the gripper in the vertical position direction, facilitating the alignment of the positions of the end cover 100 and the pulley shafting 200.

[0035] Specifically, a pin cylinder 16 is provided at the lower end of the electric cylinder mounting plate 13, and a positioning hole opposite to the pin cylinder is provided on the gripper mounting plate 14. When the gripper grabs the end cover, the pin cylinder 16 is used to insert and fix the electric cylinder mounting plate 13 and the gripper mounting plate 14 with a pin, thereby releasing the floating function and performing a rigid connection, so that the gripper mounting plate 14 and the gripper 15 mounted thereon cannot float in a plane, and thus can move downward to accurately grab the end cover 100.

[0036] It should be noted that the workpiece of the present invention is grasped by using ball bearings and spherical plain bearings, and other methods such as C&M purchased parts and Schunk floating mechanisms can also be used.

[0037] The working principle and process of the present invention will be briefly described below with reference to the accompanying drawings.

[0038] First, the electric cylinder mounting plate 13 and the gripper mounting plate 14 are fixed by inserting pins with the pin cylinder 16, thereby releasing the floating function and making a rigid connection. Once the freedom of movement of the gripper is restricted and fixed, it can move downward to accurately grasp the workpiece.

[0039] Then, the servo drives the gripper 15 to move to the mold closing position. The pin cylinder 16 unlocks the pins, and the pin guide rod 7 moves downward and inserts into the accurate position of the tray. At this time, the connection between the gripper and the upper electric cylinder shows a floating effect. Among them, the gripper 15, the gripper mounting plate 14, and the spherical plain bearing 2 tilt according to the position of the pulley shaft system 200. At the same time, the gripper mounting plate 14 and the ball mounting seat 10 perform planar floating, so that the gripper moves to the accurate mold closing position.

[0040] Finally, the gripper 15 moves downward along the pin guide rod 7. At this time, the position guided by the pin guide rod 7 is used to ensure the accurate position of the mold closing.

[0041] Among them, during the mold closing process, since part of the contact surface of the reaction force on the rear side of the end cover is a rough surface, the reaction forces of the active shaft reaction rod 4 and the driven shaft reaction rod 5 need angular floating. At this time, a structure of a spherical plain bearing 2 and a spring 3 is used at the connection between the reaction force mechanism and the electric cylinder. The spherical plain bearing 2 has the ability of angular deflection, and the spring 3 can make the reaction force part reset in time.

[0042] When the electric cylinder 6 moves downward, the active shaft reaction rod 4 and the driven shaft reaction rod 5 contact the end cover together to achieve the effect of reaction force support. The gripper and the electric cylinder 6 perform planar floating and slide directly along the guide rod to the position of the pulley shaft system bearing. The output force and displacement of the electric cylinder are used to accurately close the mold of the end cover and the pulley shaft system.

[0043] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A mold clamping gripper with floating function, characterized in that, It includes an electric cylinder (6), an electric cylinder mounting plate (13), a gripper (15), a gripper mounting plate (14), and a pin guide rod (7); The gripper mounting plate (14) is located at the front end of the electric cylinder (6) and is connected to the electric cylinder (6) through a spherical plain bearing (2). A plurality of floating mechanisms are provided between the gripper mounting plate (14) and the electric cylinder mounting plate (13) so that the gripper (15) can generate planar floating. The floating mechanism includes a planar floating guide rod (1), a pair of retaining sleeves (9), a ball mounting seat (10), and several balls (11). The ball mounting seat (10) is of an annular structure. The outer circumference of the ball mounting seat (10) is fixedly connected to the gripper mounting plate (14). The inner circumference of the ball mounting seat (10) has a large clearance fit with the planar floating guide rod (1). The planar floating guide rod (1) is fixedly connected to the electric cylinder mounting plate (13) so that the gripper mounting plate (14) can perform planar floating relative to the electric cylinder mounting plate (13). Among them, a pair of the retaining sleeves (9) are fixedly connected to the planar floating guide rod (1) and are respectively located on both axial sides of the ball mounting seat (10). The balls (11) are arranged between the ball mounting seat (10) and the retaining sleeves (9) so that the ball mounting seat (10) and the gripper mounting plate (14) can float smoothly. A locking nut (12) is provided at the end of the planar floating guide rod (1), and the locking nut (12) is used for axially limiting the gripper mounting plate (14). Among them, the gripper (15) has a cylindrical pair fit with the pin guide rod (7), and the pin guide rod (7) can be in hole-shaft fit with the hole on the tray for placing the pulley shaft system (200) so that the gripper (15) can perform planar floating as the pin guide rod (7) moves to achieve precise positioning of the pulley shaft system (200) and the end cover (100). An insertion pin cylinder (16) is provided at the lower end of the electric cylinder mounting plate (13), and a positioning hole opposite to the insertion pin cylinder (16) is provided on the gripper mounting plate (14).

2. The casing gripper with floating function according to claim 1, characterized in that, Retaining cages (17) for limiting the balls (11) are respectively provided on the retaining sleeves (9) and the ball mounting seat (10).

3. The mold-closing gripper with a floating function according to claim 1, characterized in that A bushing (8) mating with the planar floating guide rod (1) is provided on the electric cylinder mounting plate (13).

4. The mold clamping gripper with floating function according to claim 1, characterized in that, An insertion pin cylinder (16) is provided at the lower end of the electric cylinder mounting plate (13), and a positioning hole opposite to the insertion pin cylinder (16) is provided on the gripper mounting plate (14).

5. The casing gripping tool with a floating function according to claim 1, characterized in that, A reaction force mechanism is provided in the middle of the gripper mounting plate (14). The reaction force mechanism includes a driving shaft reaction force rod (4), a driven shaft reaction force rod (5), and a connecting block. The gripper (15) is connected to the front ends of the driving shaft reaction force rod (4) and the driven shaft reaction force rod (5), and the connecting block is connected to the electric cylinder (6) through the spherical plain bearing (2).

6. The flanging gripper with floating function according to claim 1, wherein, A plurality of springs (3) are further provided between the gripper mounting plate (14) and the electric cylinder (6), and the plurality of springs (3) are arranged around the spherical plain bearing (2).

Images