An adaptive fixture for inner and outer rings of large bearings with two-dimensional compensation function

Abstract

The present invention discloses a large-scale bearing inner and outer ring adaptive fixture with two-dimensional compensation function, including an X-direction compensation servo motor, a Y-direction compensation servo motor, a clamping claw linkage servo drive mechanism, a suspension arm mechanism, a floating electromagnetic suction cup mechanism, and a pneumatic lifting vacuum suction cup mechanism. The three suspension arm mechanisms are evenly distributed around the central workpiece, and spur gears are arranged in the center of the three suspension arm mechanisms. A vertical rotating body is installed in the spur gears, and the rotating body is driven by an X-direction compensation servo motor and a Y-direction compensation servo motor respectively. The suspension arm mechanism is driven by a clamping claw linkage servo drive mechanism, and each suspension arm mechanism is provided with a pair of floating electromagnetic suction cup mechanisms, a pair of pneumatic lifting vacuum suction cup mechanisms and a clamping claw. The fixture has an adaptive adjustment function; it has an X-direction compensation servo motor and a Y-direction compensation servo motor, and the fixture has a two-dimensional compensation function, and can fine-tune the workpiece to achieve precise positioning of the workpiece.

Description

Technical Field

[0001] The invention relates to a large-scale bearing inner and outer ring adaptive fixture, in particular to a large-scale bearing inner and outer ring adaptive fixture with a two-dimensional compensation function. Background Art

[0002] The inner and outer rings of large bearings are cylindrical or conical, large in size and heavy in weight. Currently, the inner and outer rings of large bearings are mostly transported manually, which is inefficient and labor-intensive. The workpieces are fixed for lifting by slings, slings or wire rope hooks. The workpieces are lifted manually on and off the machine tools, which is inefficient and limits the type of lathes. The highest precision processing equipment cannot be used, and the quality improvement is slow. Different processing machine tools require different auxiliary lifting devices, which are costly and large in number, and are not conducive to management and application. The placement of manually lifted workpieces is relatively random, and the position cannot be fixed, let alone centered.

[0003] Therefore, it is necessary to provide a fixture that can adapt to various sizes of workpieces. Summary of the invention

[0004] In order to solve the problem that existing fixtures cannot be adapted due to different sizes of large bearings, the present invention provides an adaptive fixture for inner and outer rings of large bearings with a two-dimensional compensation function, which can adapt to all workpiece sizes without replacing the fixture, thereby achieving precise positioning of the workpiece.

[0005] The present invention provides the following technical solutions:

[0006] A large-scale bearing inner and outer ring adaptive fixture with a two-dimensional compensation function comprises an X-direction compensation servo motor, a Y-direction compensation servo motor, a clamping claw linkage servo drive mechanism, an arm mechanism, a floating electromagnetic suction cup mechanism and a pneumatic lifting vacuum suction cup mechanism; three arm mechanisms are evenly distributed around a central workpiece, spur gears are arranged in the centers of the three arm mechanisms, a vertical rotating body is installed in the spur gears, and the rotating body is driven by an X-direction compensation servo motor and a Y-direction compensation servo motor respectively, the arm mechanism is driven by a clamping claw linkage servo drive mechanism, a pair of floating electromagnetic suction cup mechanisms, a pair of pneumatic lifting vacuum suction cup mechanisms and a clamping claw are arranged on each arm mechanism, the workpiece is grasped and placed by the electromagnetic suction cup sucking the upper end face of the workpiece, and the workpiece is clamped or tightened according to the workpiece type; the vacuum suction cup sucks the workpiece partition or container.

[0007] Furthermore, the boom mechanism includes a ball screw, a screw nut, and a bearing seat. Both ends of the ball screw are fixed on the bearing seat, and the ball screw is sleeved with a screw nut.

[0008] Furthermore, one end of the ball screw is connected to the connecting shaft, one end of the connecting shaft is installed with a bevel gear, the bevel gear is meshed with the spur gear, the spur gear is meshed with the bevel gear on the opposite side, and the bevel gear is connected to the clamp linkage servo drive mechanism through the shaft.

[0009] Furthermore, the floating electromagnetic suction cup mechanism includes a clamping jaw mounting seat, a floating guide shaft, a spring floating member and an electromagnetic suction cup, the floating guide shaft is installed at the bottom of the clamping jaw mounting seat, the spring floating member is installed on the floating guide shaft, and the electromagnetic suction cup is installed at the bottom of the floating guide shaft.

[0010] Furthermore, the pneumatic lifting vacuum suction cup mechanism includes a vacuum suction cup cylinder, a floating spring and a vacuum suction cup. The lower part of the piston rod of the vacuum suction cup cylinder is sleeved with a floating spring, and the vacuum suction cup is installed at the bottom of the vacuum suction cup cylinder.

[0011] Furthermore, a linear guide rail is provided at the bottom of the boom mechanism, and the linear guide rail is slidably matched with a guide rail slider below, and the guide rail slider is installed on a clamping claw mounting seat.

[0012] Furthermore, the screw nut is fixed on a screw nut seat, the screw nut seat is connected to a clamping jaw mounting seat via a guide rail slider, and the clamping jaw is mounted on the clamping jaw mounting seat.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] (1) There are three boom mechanisms. The clamp adopts a three-claw type, which can be driven by one motor. The three clamps are linked by bevel gears. The clamp has an adaptive adjustment function and can adjust itself according to the size of the workpiece. It has high efficiency and can adapt to all workpiece sizes without changing the clamp.

[0015] (2) It has an X-axis compensation servo motor and a Y-axis compensation servo motor. The fixture has a two-dimensional compensation function, which can fine-tune the workpiece to achieve precise positioning of the workpiece. The workpiece is grasped and placed mainly by the electromagnetic suction cup to absorb the upper end face of the workpiece, supplemented by external or internal clamping of the clamping jaws. On the one hand, it avoids deformation of the workpiece caused by excessive clamping or external support force. On the other hand, it can realize the self-centering function, greatly improving the repeatability of workpiece positioning, and reducing the space and cost investment of secondary positioning.

[0016] (3) The fixture structure is compactly designed, and the three boom mechanisms are evenly distributed around the central workpiece, which does not take up space and can maximize the use of loading and unloading space to avoid interference with processing equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of the present invention.

[0018] Figure 2It is a side view of the present invention.

[0019] Figure 3 It is a cross-sectional view of the present invention.

[0020] Figure 4 This is the outer diameter clamping principle diagram of the present invention.

[0021] Figure 5 This is a schematic diagram of the inner diameter expansion principle of the present invention.

[0022] Figure 6 It is a schematic diagram of the vacuum suction cup sucking the partition of the present invention.

[0023] In the figure:

[0024] 10. Workpiece; 20. Partition.

[0025] 100. X-axis compensation servo motor, 200. Y-axis compensation servo motor, 300. Gripper linkage servo drive mechanism, 400. Hanging arm mechanism, 500. Floating electromagnetic suction cup mechanism, 600. Pneumatic lifting vacuum suction cup mechanism; 700. Linear guide rail; 800. Guide rail slider; 900. Gripper.

[0026] 401, ball screw, 402, screw nut, 403, bearing seat, 404, connecting shaft, 405, bevel gear, 406, spur gear meshing, 407, screw nut seat, 408, rotating body;

[0027] 501, clamping jaw mounting seat; 502, floating guide shaft; 503, spring floating member; 504, electromagnetic chuck;

[0028] 601. Vacuum suction cup cylinder, 602. Floating spring, 603. Vacuum suction cup. Implementation

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] See also Figure 1-3A large-scale bearing inner and outer ring adaptive fixture with a two-dimensional compensation function of the present invention comprises an X-direction compensation servo motor 100, a Y-direction compensation servo motor 200, a clamping claw linkage servo drive mechanism 300, an arm mechanism 400, a floating electromagnetic suction cup mechanism 500, and a pneumatic lifting vacuum suction cup mechanism 600. The three arm mechanisms are evenly distributed around the central workpiece. A spur gear 406 is arranged in the center of the three arm mechanisms. A vertical rotating body 408 is installed in the spur gear 406. The rotating body 408 is driven by the X-direction compensation servo motor 100 and the Y-direction compensation servo motor 200 respectively. The arm mechanism 400 is driven by a clamping claw linkage servo drive mechanism 300. A pair of floating electromagnetic suction cup mechanisms 500, a pair of pneumatic lifting vacuum suction cup mechanisms 600 and a clamping claw 900 are arranged on each arm mechanism.

[0031] The floating electromagnetic suction cup mechanism 500 includes a clamping jaw mounting seat 501, a floating guide shaft 502, a spring floating member 503 and an electromagnetic suction cup 504. The floating guide shaft 502 is installed at the bottom of the clamping jaw mounting seat 501, the spring floating member 503 is installed on the floating guide shaft 502, and the electromagnetic suction cup 504 is installed at the bottom of the floating guide shaft 502.

[0032] Three groups of electromagnetic chucks suck the upper end surface of the workpiece. Each group has two electromagnetic chucks, which can take into account the two working states of clamping the outer diameter of the workpiece and tightening the inner diameter of the workpiece.

[0033] The pneumatic lifting vacuum suction cup mechanism 600 includes a vacuum suction cup cylinder 601 , a floating spring 602 and a vacuum suction cup 603 . The floating spring 602 is sleeved on the lower part of the piston rod of the vacuum suction cup cylinder 601 , and the vacuum suction cup 603 is installed at the bottom of the vacuum suction cup cylinder 601 .

[0034] A linear guide rail 700 is provided at the bottom of the boom mechanism, and the linear guide rail 700 is slidably matched with a guide rail slider 800 below, and the guide rail slider 800 is installed on the clamping claw mounting seat 501.

[0035] The boom mechanism 400 includes a ball screw 401 , a screw nut 402 , and a bearing seat 403 . Both ends of the ball screw 401 are fixed on the bearing seat 403 , and the ball screw 401 is sleeved with a screw nut 402 .

[0036] One end of the ball screw 401 is connected to the connecting shaft 404, and one end of the connecting shaft 404 is installed with a bevel gear 405, which meshes with a spur gear 406, and a vertical rotating body 408 is installed in the spur gear 406, and the rotating body 408 is connected to the X-direction compensation servo motor 100 and the Y-direction compensation servo motor 200, and the spur gear 406 meshes with the bevel gear 405 on the opposite side, and the bevel gear 405 is connected to the clamping claw linkage servo drive mechanism 300 through the shaft. The three clamping claws are linked by the bevel gear.

[0037] The screw nut 402 is fixed on the screw nut seat 407 . The screw nut seat 407 is connected to the clamping jaw mounting seat 501 through the guide rail slider 800 . The clamping jaw 900 is installed on the clamping jaw mounting seat 501 .

[0038] The fixture adopts ball screw and linear guide, with large clamping load and high repeatability.

[0039] The arm and jaws of the fixture are made of titanium alloy, which can reduce the weight to the maximum extent and ensure that the overall weight of the fixture does not exceed 200kg, but the strength is improved. Through structural design, the overall rigidity is strengthened to ensure that the workpiece will not be deformed excessively during the grasping process. The fixture's lightweight and high-strength composite material is light in weight and can minimize the load of the adaptive fixture. The adaptive fixture moves more freely without any posture restrictions.

[0040] The boom mechanism has three jaws, which are of three-jaw type. The three jaws are linked by bevel gears and driven by ball screws. The clamping force is large and stable. It can be driven by one motor, with simple control and good centering effect, which can reduce weight, improve efficiency and reduce costs.

[0041] Figure 4 and Figure 5 The workpiece 10 is grasped and placed mainly by the electromagnetic suction cup 504 sucking the upper end surface of the workpiece, supplemented by the external support or internal clamping of the clamping jaws 900. On the one hand, it can avoid deformation of the workpiece due to excessive clamping or external support force, and on the other hand, it can be self-centering. The electromagnetic suction cup 504 has a floating function, which can avoid hard contact during the process of picking and placing the workpiece, and has better tolerance. The electromagnetic suction cup 504 fits better with the surface of the workpiece, and the suction force is greater, more uniform, and more stable.

[0042] Figure 6 The vacuum suction cup 603 is mainly used to suck the workpiece partition 20 or container. It has a floating function, which is conducive to better fit of the suction cup surface, increasing suction and stability. It is also equipped with a cylinder lifting function. When sucking the partition 20 or container, the cylinder retracts, and the vacuum suction cup does not affect the gripper's pick-up and placement process of the workpiece. When sucking the partition or container, the cylinder is pushed out and the suction cup extends out of the clamping claw surface. The clamping claw and the electromagnetic suction cup do not affect the action of the vacuum suction cup.

[0043] The two-dimensional compensation mechanism is mainly used to eliminate the manufacturing error of the clamp body, the adaptive clamp action error and the repeated cumulative error. The two-dimensional compensation mechanism automatically performs fine-tuning compensation in the X and Y directions according to the position deviation fed back by the external sensor to ensure that the center point of the workpiece falls at the specified center point position with an error of no more than ±0.2mm.

[0044] The servo compensation motor is a mechanism used to adjust the servo system error, which can achieve fast and accurate position control and speed control.

[0045] The present invention sets servo compensation mechanisms in two directions at the center of the three boom mechanisms, namely, an X-direction compensation servo motor 100 and a Y-direction compensation servo motor 200.

[0046] Control principle:

[0047] 1) Input the relevant dimension information of the workpiece at the front end, and define the inner and outer rings and related dimensions.

[0048] 2) The control system automatically adjusts the gripping position of the gripper according to the diameter, weight, type and other information of the workpiece, and ensures that there is enough clearance between the gripper and the workpiece to avoid collision.

[0049] 3) When the adaptive clamp presses down, the electromagnetic chuck will receive a signal when it contacts the workpiece surface. The pressing distance of the adaptive clamp can be set according to the needs to ensure that the electromagnetic chuck has a certain floating amount, but does not exceed the floating limit value of the operation.

[0050] 4) After the adaptive clamp is pressed into place, it will receive a signal that the electromagnetic suction cup is in place. The electromagnetic suction cup is energized to generate suction, and the mechanical sensor generates a suction value. The minimum suction value is set. As long as the suction value is greater than the minimum value, it proves that the suction cup is in place. If the suction value is less than the minimum value in the middle, an alarm will be triggered and the surface suction cup will fail.

[0051] 5) The clamp clamps or holds the workpiece according to the workpiece type. The servo motor calculates the clamp moving distance and torque value, the displacement composite setting value, and the torque is greater than the set minimum value, indicating that the clamp is in place.

[0052] 6) The adaptive fixture is lifted upward. If the electromagnetic chuck and servo parameters are lower than the preset values ​​during the process, an alarm will be triggered. Otherwise, it will move to the destination station according to the preset path.

[0053] 7) Receive the coordinate information of the workpiece center fed back by the workpiece position sensor. If the coordinate is within the preset value and its error range, the gripper will put the workpiece down. If it exceeds the preset coordinate and its error range, compensation correction is performed in the X and Y directions according to the coordinate, realizing a two-dimensional compensation function.

[0054] 8) When clamping the partition or workpiece container, the vacuum suction cup cylinder is pushed out and a position signal is given. The clamp drives the vacuum suction cup to move to the corresponding set position point according to the size of the partition. The adaptive fixture is pressed down, and the vacuum suction cup contacts the workpiece and obtains the first contact position signal. The adaptive fixture is pressed down again by the preset value and obtains the second in-place signal. The solenoid valve opens, the vacuum suction cup sucks the partition, the pressure gauge displays the pressure value, the surface suction is completed, and the adaptive fixture removes the partition and puts it in the target position.

[0055] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A large bearing inner and outer ring adaptive fixture with two-dimensional compensation function, characterized by: The invention comprises an X-direction compensation servo motor (100), a Y-direction compensation servo motor (200), a gripper linkage servo drive mechanism (300), an arm mechanism (400), a floating electromagnetic suction cup mechanism (500) and a pneumatic lifting vacuum suction cup mechanism (600); the three arm mechanisms are evenly distributed around a central workpiece, a spur gear (406) is arranged at the center of the three arm mechanisms, a vertical rotating body (408) is installed in the spur gear (406), and the rotating body (408) is respectively driven by the X-direction compensation servo motor (100) and the Y-direction compensation servo motor (200). ) and a Y-direction compensation servo motor (200), the arm mechanism (400) is driven by a clamping claw linkage servo drive mechanism (300), each arm mechanism is provided with a pair of floating electromagnetic suction cup mechanisms (500), a pair of pneumatic lifting vacuum suction cup mechanisms (600) and a clamping claw (900), the workpiece (10) is grasped and placed by the electromagnetic suction cup (504) sucking the upper end surface of the workpiece, and the clamping claw (900) externally supports or internally clamps the workpiece according to the type of the workpiece; the vacuum suction cup (603) sucks the workpiece partition (20) or the container; The floating electromagnetic suction cup mechanism (500) comprises a clamping jaw mounting seat (501), a floating guide shaft (502), a spring floating member (503) and an electromagnetic suction cup (504); the floating guide shaft (502) is mounted on the bottom of the clamping jaw mounting seat (501); the spring floating member (503) is mounted on the floating guide shaft (502); and the electromagnetic suction cup (504) is mounted on the bottom of the floating guide shaft (502); The pneumatic lifting vacuum suction cup mechanism (600) comprises a vacuum suction cup cylinder (601), a floating spring (602) and a vacuum suction cup (603); the floating spring (602) is sleeved on the lower part of the piston rod of the vacuum suction cup cylinder (601); and the vacuum suction cup (603) is installed at the bottom of the vacuum suction cup cylinder (601).

2. The large-scale bearing inner and outer ring adaptive fixture with two-dimensional compensation function according to claim 1 is characterized in that: The boom mechanism (400) comprises a ball screw (401), a screw nut (402), and a bearing seat (403); both ends of the ball screw (401) are fixed on the bearing seat (403); and the ball screw (401) is sleeved with a screw nut (402).

3. The large-scale bearing inner and outer ring adaptive fixture with two-dimensional compensation function according to claim 2 is characterized in that: One end of the ball screw (401) is connected to a connecting shaft (404), one end of the connecting shaft (404) is mounted with a bevel gear (405), the bevel gear (405) meshes with a spur gear (406), the spur gear (406) meshes with a bevel gear (405) on the opposite side, and the bevel gear (405) is connected to a clamping claw linkage servo drive mechanism (300) via a shaft.

4. The large-scale bearing inner and outer ring adaptive fixture with two-dimensional compensation function according to claim 1 is characterized in that: A linear guide rail (700) is provided at the bottom of the boom mechanism, and the linear guide rail (700) is slidably matched with a guide rail slider (800) below, and the guide rail slider (800) is mounted on a clamping claw mounting seat (501).

5. The large-scale bearing inner and outer ring adaptive fixture with two-dimensional compensation function according to claim 2 is characterized in that: The screw nut (402) is fixed on a screw nut seat (407); the screw nut seat (407) is connected to a clamping jaw mounting seat (501) via a guide rail slider (800); and a clamping jaw (900) is mounted on the clamping jaw mounting seat (501).

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