Rotating Shaft Gripper with Floating Adjustment Mechanism

Abstract

The present invention discloses a rotor shaft gripper with a floating adjustment mechanism, which includes a grasping mechanism arranged on a mounting plate and a floating adjustment mechanism arranged between the mounting plate and a connecting plate. The floating adjustment mechanism includes a base, a housing and a floating connecting member. The interior of the housing is hollow and it is arranged on the base, and the two form a floating space with adjustable height. The floating connecting member is built in the floating space. The floating connecting member includes a connecting shaft and a chassis. The connecting shaft extends out from the top opening of the housing and is fixedly connected to the mounting plate. A centering ball is slidably embedded between the bottom center of the chassis and the base, and gaps are formed between the upper and lower surfaces of the chassis and the housing and the base respectively, so that the floating connecting member can rotate and swing around the centering ball in the floating space, and then drive the grasping mechanism to synchronously rotate and swing to grasp the rotor shaft. The present invention expands the grasping range of the gripper through the rotation and swing of the floating connecting member, eliminates the influence of the position deviation of the rotor shaft, and improves the grasping efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of machining, and particularly to a rotor shaft gripper with a floating adjustment mechanism. Background Art

[0002] When loading the motor rotor shaft, a manipulator is required for grasping and loading. Usually, a manipulator such as that shown in CN210327315 U needs to perform precise positioning before grasping the rotor shaft to ensure the accuracy of grasping. This requires a high position requirement for the rotor shaft and requires manual secondary clamping for correction, which is very time-consuming. If direct feeding is carried out using a feed box, there are deviations in the position of the rotor shaft in the feed box. After the manipulator directly grasps it, interference is likely to occur between the manipulator and the feed box, resulting in the manipulator being stuck or the gripper being unable to close directly, and unable to grasp.

[0003] In order to automatically position and calibrate the rotor shaft, most of the existing grasping mechanisms, as disclosed in the publication number CN 110757132 B, are provided with a jaw device for grasping the rotor shaft, and a micro camera is arranged on the top of the jaw device to perform positioning and identification of the rotor shaft. However, after identification by the camera, an adjustment mechanism is still required to cooperate for repeated adjustment and calibration. Although this replaces manual work, it is still not convenient enough, resulting in a very limited grasping and loading efficiency of the manipulator, which is not conducive to large-scale production. Summary of the Invention

[0004] The purpose of the present invention is to overcome the deficiencies of the prior art and provide a rotor shaft gripper with a floating adjustment mechanism.

[0005] The purpose of the present invention is achieved by the following technical solutions:

[0006] A rotor shaft gripper with a floating adjustment mechanism includes a grasping mechanism arranged on a mounting plate and a floating adjustment mechanism arranged between the mounting plate and a connecting plate. The floating adjustment mechanism includes a base, a housing, and a floating connecting piece. The base is fixedly arranged on the connecting plate. The interior of the housing is hollow and is adjustably arranged on the base, and the two form a floating space with adjustable height. The floating connecting piece is arranged inside the floating space. The floating connecting piece includes a connecting shaft and a chassis. The diameter of the connecting shaft is smaller than that of the chassis. The connecting shaft extends out from the top opening of the housing and is fixedly connected to the mounting plate. A centering ball is slidably embedded between the bottom center of the chassis and the base, and gaps are formed between the upper and lower surfaces of the chassis and the housing and the base respectively, so that the floating connecting piece can rotate and swing in the floating space with the centering ball as the center, and then drive the grasping mechanism to synchronously rotate and swing to grasp the rotor shaft.

[0007] Preferably, a set of adjusting bolts are evenly distributed on the edge of the base. The head of the adjusting bolt is embedded in the base, and the end of its rod is inserted into the shell. A limiting step surface is provided on the rod body of the adjusting bolt. The shell abuts against the limiting step surface. The limiting step surface is higher than the base and defines the distance between the shell and the base, thereby defining the height of the floating space.

[0008] Preferably, the inside of the connecting shaft is hollow and is internally provided with a shaft sleeve. A rectangular spring and an upper limiting block are slidably embedded in the shaft sleeve. The bottom of the rectangular spring is fixedly connected to the upper limiting block. The elastic force of the rectangular spring drives the upper limiting block to keep abutting against the surface of the centering bead.

[0009] Preferably, the lower surface of the upper limiting block is a concave surface matching the spherical surface of the centering bead. A lower limiting block is fixedly provided at the center of the base. The upper surface of the lower limiting block is also a concave surface matching the spherical surface of the centering bead.

[0010] Preferably, a first bearing is provided between the upper surface of the chassis and the inner wall of the shell, and a second bearing is provided between the lower surface of the chassis and the base. There is a gap between the first bearing and the inner wall of the shell.

[0011] Preferably, a first wear-resistant plate matching the first bearing is provided on the inner wall of the shell. There is a gap between the first wear-resistant plate and the first bearing. A second wear-resistant plate matching the second bearing is provided on the lower surface of the chassis.

[0012] Preferably, a set of positioning bolts are evenly distributed on the top of the outer shell. A set of jacks which are opposite to the positions of the positioning bolts and have a diameter larger than that of the positioning bolts are provided on the mounting plate.

[0013] Preferably, a return-to-normal component is further provided between the mounting plate and the connecting plate. The return-to-normal component at least includes two positioning pins and a correction cylinder which are symmetrically arranged relative to the centering bead. The positioning pins are fixedly provided at the front end of the cylinder head of the correction cylinder. The two correction cylinders are respectively fixedly provided on the connecting plate. Corresponding positioning holes matching the positioning pins are provided on the mounting plate. The two correction cylinders synchronously drive the positioning pins to move and insert into the positioning holes, so as to make the mounting plate return to normal and define the position of the mounting plate.

[0014] Preferably, the end of the positioning pin is conical, and the positioning hole is a conical hole adapted to the end of the positioning pin; a guide sleeve is provided on the connecting plate, and the cylinder head of the correction cylinder is located in the guide sleeve and drives the positioning pin to expand and contract along the guide sleeve.

[0015] Preferably, the grasping mechanism includes a gripper and a gripper cylinder. The gripper cylinder is fixedly arranged on the mounting plate. The gripper is arranged on the driving end of the gripper cylinder and is driven by the gripper cylinder to open and close. An arc-shaped cushion block is arranged on the inner wall of the gripper.

[0016] The beneficial effects of the present invention are mainly reflected in:

[0017] 1. The floating connecting piece in the floating adjustment mechanism rotates and swings in the floating space formed by the base and the housing. The floating connecting piece is connected to the grasping mechanism through the mounting plate, thereby driving the grasping mechanism to rotate and swing synchronously. Compared with the conventional fixedly arranged gripper, such movement can expand the grasping range and space of the gripper, so that the gripper can grasp the rotor shaft at any position within its moving range, eliminate the grasping failure caused by the deviation of the placement position of the rotor shaft, and eliminate the obstruction of the external packaging mechanism of the rotor shaft such as the material package or the material box to the gripper, so that the grasping can be completed without manual or machine secondary positioning of the rotor shaft before grasping, greatly simplifying the work process and improving the grasping efficiency and convenience;

[0018] 2. An adjusting bolt is provided to adjust the distance between the base and the housing, so that the height of the floating space can be adjusted by replacing adjusting bolts of different heights, and then the rotation range of the floating connecting piece can be adjusted, so that the gripper can perform grasping within a suitable rotation space, improving the adaptability between the gripper and the rotor shaft, making it more convenient, fast and accurate for the gripper to grasp the rotor shaft;

[0019] 3. A centering bead is provided for centering to define the rotation axis of the floating connecting piece, so as to facilitate the setting of the position of the returning component. Furthermore, the returning component can make the mounting plate return to the correct position and limit the position of the mounting plate through two positioning pins, that is, make the gripper return to the correct position, eliminate the influence of the floating connecting piece on the position of the rotor shaft when placing the rotor shaft, so that the gripper can accurately place the grasped rotor shaft at the corresponding discharging position, reduce the subsequent rotor shaft position calibration steps, and optimize the material taking process steps of the rotor shaft. Description of the Drawings

[0020] The technical solution of the present invention will be further described below with reference to the drawings:

[0021] Figure 1 : Schematic diagram of an embodiment of the present invention;

[0022] Figure 2 : Cross-sectional view of an embodiment of the present invention;

[0023] Figure 3 : Figure 2 Enlarged schematic diagram of part A in;

[0024] Figure 4: Cross-sectional view of the floating connecting member in the embodiment of the present invention;

[0025] Figure 5 : Cross-sectional view in another direction of the embodiment of the present invention;

[0026] Figure 6 : Schematic diagram in another direction of the embodiment of the present invention. Detailed implementation manners

[0027] The present invention will be described in detail below in conjunction with the specific implementation manners shown in the drawings. However, these implementation manners are not limited to the present invention, and any structural, method, or functional transformation made by those of ordinary skill in the art based on these implementation manners is included in the protection scope of the present invention.

[0028] In the description of the solution, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of description and simplification of the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance. And, in the description of the solution, with the operator as a reference, the direction close to the operator is the proximal end, and the direction away from the operator is the distal end.

[0029] As Figures 1 to 6 shown, the present invention discloses a rotor shaft gripper with a floating adjustment mechanism, including a gripping mechanism disposed on the mounting plate 3 and a floating adjustment mechanism disposed between the mounting plate 3 and the connecting plate 4. The floating adjustment mechanism includes a base 5, a housing 6, and a floating connecting member 7. The base 5 is fixedly disposed on the connecting plate 4. The housing 6 is hollow inside and is adjustably disposed on the base 5, and the two form a height-adjustable floating space. The floating connecting member 7 is disposed inside the floating space. The floating connecting member 7 includes a connecting shaft 701 and a chassis 702. The diameter of the connecting shaft 701 is smaller than that of the chassis 702. The connecting shaft 701 extends out from the top opening of the housing 6 and is fixedly connected to the mounting plate 3. A centering ball 8 is slidably embedded between the bottom center of the chassis 702 and the base 5, and gaps are formed between the upper and lower surfaces of the chassis 702 and the housing 6 and the base 5, so that the floating connecting member 7 can rotate and swing in the floating space with the centering ball 8 as the center, and then drive the gripping mechanism to rotate and swing synchronously to grip the rotor shaft.

[0030] As Figure 1 and Figure 6As shown, the gripping mechanism in this scheme includes a gripper 1 and a gripper cylinder 2, the gripper cylinder 2 is fixed on the mounting plate 3, the gripper 1 is arranged on the driving end of the gripper cylinder 2 and is driven by the gripper cylinder 2 to open and close, and the inner wall of the gripper 1 is provided with a pad 101 with an arc-shaped inner surface to facilitate the straightening of the rotor shaft after the gripper 1 grasps the rotor shaft.

[0031] The floating connection member 7 in the floating adjustment mechanism of the present invention rotates and deflects in the floating space formed by the base 5 and the shell 6. Since the floating connection member 7 is connected to the grasping mechanism through the mounting plate 3, the floating connection member 7 will drive the grasping mechanism to rotate and deflect synchronously. Compared with the conventional fixed grasping mechanism, such a structure can expand the grasping range and space of the grasping mechanism, so that the grasping mechanism can grasp the rotor shaft at any position within its moving range, eliminate the deviation of the placement position of the rotor shaft, and eliminate the collision obstruction of the external packaging mechanism of the rotor shaft such as the material bag or material box to the grasping mechanism, so that the grasping can be completed without manual or machine secondary positioning of the rotor shaft before grasping, which greatly simplifies the work process and improves the grasping efficiency and convenience.

[0032] Specific as Figures 2 - 4 As shown, a group of adjusting bolts 12 are evenly distributed on the edge of the base 5. The heads of the adjusting bolts 12 are embedded in the base 5, and the ends of the rods are inserted in the housing 6. The rods of the adjusting bolts 12 have a limiting step surface 1201. The housing 6 abuts against the limiting step surface 1201. The limiting step surface 1201 is higher than the base 5 and defines the distance between the housing 6 and the base 5, thereby defining the height of the floating space. The length of the limiting step surface 1201 on the adjusting bolts 12 directly affects the height of the floating space. In actual use, the adjusting bolts 12 have different length specifications. The height of the floating space between the base 5 and the housing 6 can be adjusted by replacing the adjusting bolts 12 with different heights. By adjusting the height of the floating space, the rotation range of the floating connector 7 can be adjusted, so that the grasping mechanism can grasp in a suitable rotation space, improve the adaptability between the gripper 1 and the rotor shaft, and make the gripper 1 grasp the rotor shaft more convenient, fast and accurate.

[0033] like Figure 2 , Figure 4 and Figure 5As shown, the inside of the connecting shaft 701 is hollow and is internally provided with a bushing 703. A rectangular spring 704 and an upper limit block 801 are slidably embedded in the bushing 703. The bottom of the rectangular spring 704 is fixedly connected to the upper limit block 801. The elastic force of the rectangular spring 704 drives the upper limit block 801 to keep in contact with the surface of the centering bead 8. The rectangular spring 704 enables the floating connecting member 7 to always rotate or swing around the centering bead 8.

[0034] Furthermore, the lower surface of the upper limit block 801 is a concave surface that matches the spherical surface of the centering bead 8. A lower limit block 802 is fixedly provided at the center of the base 5. The upper surface of the lower limit block 802 is also a concave surface that matches the spherical surface of the centering bead 8. The upper limit block 801 and the lower limit block 802 further limit the position of the centering bead 8 so that it will not shift, ensuring the effectiveness of the rotation and swing of the floating connecting member 7.

[0035] To facilitate the rotation of the floating connecting member 7, a first bearing 13 is provided between the upper surface of the chassis 702 and the inner wall of the housing 6, and a second bearing 14 is provided between the lower surface of the chassis 702 and the base 5. There is a gap between the first bearing 13 and the inner wall of the housing 6.

[0036] Preferably, a first wear-resistant plate 15 that matches the first bearing 13 is provided on the inner wall of the housing 6. There is a gap between the first wear-resistant plate 15 and the first bearing 13. A second wear-resistant plate 16 that matches the second bearing 14 is provided on the lower surface of the chassis 702. The first wear-resistant plate 15 and the second wear-resistant plate 16 can reduce the wear caused by the rotation and swing of the floating connecting member 7 to the housing 6 and the base 5, thereby increasing its service life.

[0037] As Figure 2 shown, the top of the connecting shaft 701 is inserted into the center of the mounting plate 3, and the two are fixedly connected by screws. A group of positioning bolts 11 are evenly distributed on the top of the housing 6. A group of jacks 301 that are opposite in position to the positioning bolts 11 and have a diameter larger than that of the positioning bolts 11 are provided on the mounting plate 3. The positioning bolts 11 are preferably three and are evenly distributed around the top of the housing 6. The setting of the positioning bolts 11 can strengthen the connection between the floating adjustment mechanism and the mounting plate 3. At the same time, the outer diameter of the jack 301 is larger than the outer diameter of the positioning bolt 11, so that the positioning bolt 11 can limit the amplitude and range of the rotation and swing of the mounting plate 3, enabling it to rotate and swing within a suitable range.

[0038] Furthermore, as Figure 2As shown, a return-to-position assembly is further provided between the mounting plate 3 and the connecting plate 4. The return-to-position assembly at least includes two positioning pins 9 and a correction cylinder 10 symmetrically arranged relative to the centering beads 8. The positioning pins 9 are fixed to the front end of the cylinder head of the correction cylinder 10. The two correction cylinders 10 are respectively fixed to the connecting plate 4. Corresponding positioning holes 302 matching the positioning pins 9 are provided on the mounting plate 3. The two correction cylinders 10 synchronously drive the positioning pins 9 to move and insert into the positioning holes 302, so as to square the mounting plate 3 and define the position of the mounting plate 3. In this solution, the centering beads 8 are provided to center the floating connecting piece 7 and define the rotation axis of the floating connecting piece 7. At the same time, it is convenient to set the position of the return-to-position assembly, so that the return-to-position assembly can square the mounting plate 3 and define the position of the mounting plate 3 through the two positioning pins 9. Since the grasping mechanism is arranged on the mounting plate 3, the mounting plate 3 will drive the gripper 1 to return to the correct position synchronously, so as to eliminate the influence of the floating connecting piece 7 on the placement position of the rotor shaft when the gripper 1 places the rotor shaft, so that the gripper 1 can accurately place the grasped rotor shaft at the corresponding feeding position, so that the subsequent rotor shaft does not need to be calibrated for its position, thereby optimizing the overall material taking process steps of the rotor shaft and improving the efficiency and accuracy of the gripper for material taking and placing.

[0039] Further, the end of the positioning pin 9 is conical, and the positioning hole 302 is a conical hole adapted to the end of the positioning pin, so that after the positioning pin 9 is inserted into the positioning hole 302, it abuts against the conical hole wall of the positioning hole 302 to define the position of the mounting plate 3.

[0040] A guide sleeve 401 is provided on the connecting plate 4. The cylinder head of the correction cylinder 10 is located in the guide sleeve 401 and drives the positioning pin 9 to expand and contract along the guide sleeve 401. The setting of the guide sleeve 401 can ensure the stability of the correction cylinder 10 driving the positioning pin 9 to move, and also improve the connection strength between the cylinder head of the correction cylinder 10 and the positioning pin 9 to avoid its fracture.

[0041] In addition, a connecting portion 402 is provided at the bottom of the connecting plate 4 for connecting and fixing with the robotic arm of the robot.

[0042] The working steps of the present invention are as follows:

[0043] First, the correction cylinder 10 drives the positioning pin 9 to retract to release the limitation on the mounting plate 3, so that the mounting plate 3 can float and swing under the action of the floating connecting piece 7, expanding the grasping range of the gripper 1;

[0044] Then, the gripper cylinder 2 drives the gripper 1 to close to grasp the rotor shaft;

[0045] Next, the correction cylinder 10 drives the positioning pin 9 to extend into the positioning hole 302 to limit the position of the mounting plate 3, so that the mounting plate 3 is corrected, and the gripper 1 is moved to the feeding position;

[0046] Finally, the gripper cylinder 2 drives the gripper 1 to release the rotor shaft, so that the rotor shaft is placed at the corresponding feeding position.

[0047] It should be understood that although this specification is described according to the embodiments, not every embodiment only contains an independent technical solution. This narrative way of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0048] The series of detailed descriptions listed above are only specific descriptions of the feasible embodiments of the present invention, and they are not intended to limit the protection scope of the present invention. Any equivalent embodiments or changes made without departing from the technical spirit of the present invention should be included in the protection scope of the present invention.

Claims

1. The rotor shaft gripper with a floating adjustment mechanism is characterized in that: It includes a grasping mechanism disposed on the mounting plate (3) and a floating adjustment mechanism disposed between the mounting plate (3) and the connecting plate (4). The floating adjustment mechanism includes a base (5), a housing (6), and a floating connecting member (7). The base (5) is fixedly provided on the connecting plate (4). The interior of the housing (6) is hollow and is adjustably disposed on the base (5), and the two form a floating space with adjustable height. The floating connecting member (7) is disposed inside the floating space. The floating connecting member (7) includes a connecting shaft (701) and a chassis (702). The diameter of the connecting shaft (701) is smaller than that of the chassis (702). The connecting shaft (701) extends out from the top opening of the housing (6) and is fixedly connected to the mounting plate (3). A centering ball (8) is slidably embedded between the bottom center of the chassis (702) and the base (5), and gaps are formed between the upper and lower surfaces of the chassis (702) and the housing (6) and the base (5), so that the floating connecting member (7) can rotate and swing in the floating space with the centering ball (8) as the center, and then drive the grasping mechanism to rotate and swing synchronously to grasp the rotor shaft; The interior of the connecting shaft (701) is hollow and is internally provided with a bushing (703). A rectangular spring (704) and an upper limit block (801) are slidably embedded in the bushing (703). The bottom of the rectangular spring (704) is fixedly connected to the upper limit block (801). The elastic force of the rectangular spring (704) drives the upper limit block (801) to keep abutting against the surface of the centering ball (8); A first bearing (13) is provided between the upper surface of the chassis (702) and the inner wall of the housing (6), and a second bearing (14) is provided between the lower surface of the chassis (702) and the base (5). There is a gap between the first bearing (13) and the inner wall of the housing (6); A first wear-resistant plate (15) matching the first bearing (13) is provided on the inner wall of the housing (6). There is a gap between the first wear-resistant plate (15) and the first bearing (13). A second wear-resistant plate (16) matching the second bearing (14) is provided on the lower surface of the chassis (702); A return-to-position assembly is further provided between the mounting plate (3) and the connecting plate (4). The return-to-position assembly at least includes two positioning pins (9) symmetrically disposed relative to the centering ball (8) and a correction cylinder (10). The positioning pins (9) are fixedly provided at the front end of the cylinder head of the correction cylinder (10). The two correction cylinders (10) are respectively fixedly provided on the connecting plate (4). Corresponding positioning holes (302) matching the positioning pins (9) are provided on the mounting plate (3). The two correction cylinders (10) synchronously drive the positioning pins (9) to move and insert into the positioning holes (302) to make the mounting plate (3) return to the correct position and limit the position of the mounting plate (3).

2. The rotor shaft gripper with a floating adjustment mechanism according to claim 1, wherein: A set of adjusting bolts (12) are evenly distributed along the edge of the base (5). The head of the adjusting bolt (12) is embedded in the base (5), and the end of its rod is inserted into the housing (6). A limiting step surface (1201) is provided on the rod body of the adjusting bolt (12). The housing (6) abuts against the limiting step surface (1201). The limiting step surface (1201) is higher than the base (5) and defines the distance between the housing (6) and the base (5), thereby defining the height of the floating space.

3. The rotor shaft gripper with a floating adjustment mechanism according to claim 2, characterized in that: The lower surface of the upper limiting block (801) is a concave surface matching the spherical surface of the centering bead (8). A lower limiting block (802) is fixedly provided at the axis of the base (5). The upper surface of the lower limiting block (802) is also a concave surface matching the spherical surface of the centering bead (8).

4. The rotor shaft gripper with a floating adjustment mechanism according to claim 1, wherein: A set of positioning bolts (11) are evenly distributed on the top of the housing (6). A set of jacks (301) which are opposite in position to the positioning bolts (11) and have a diameter larger than that of the positioning bolts (11) are provided on the mounting plate (3).

5. The rotor shaft gripper with a floating adjustment mechanism according to claim 1, characterized in that: The end of the positioning pin (9) is conical, and the positioning hole (302) is a conical hole adapted to the end of the positioning pin. A guide sleeve (401) is provided on the connecting plate (4). The cylinder head of the correction cylinder (10) is located in the guide sleeve (401) and drives the positioning pin (9) to expand and contract along the guide sleeve (401).

6. The rotor shaft gripper with a floating adjustment mechanism according to claim 1, wherein: The grasping mechanism includes a gripper (1) and a gripper cylinder (2). The gripper cylinder (2) is fixedly provided on the mounting plate (3). The gripper (1) is arranged on the driving end of the gripper cylinder (2) and is driven by the gripper cylinder (2) to open and close. An arc-shaped pad (101) is provided on the inner wall of the gripper (1).

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