Barrel-shaped part grabbing equipment and grabbing method

Abstract

The invention relates to the technical field of cylindrical part assembling, in particular to cylindrical part grabbing equipment and a grabbing method, and relates to the technical field of cylindrical part assembling. According to the cylindrical part grabbing equipment and the grabbing method, grabbing and positioning are carried out with the end face of a cylindrical part as a positioning reference, and the axis verticality of the cylindrical part in the grabbing process can be better guaranteed. A cylindrical part grabbing device comprises a rack, a lifting control mechanism and a bearing block which is installed on the rack and used for supporting a cylindrical part so that the cylindrical part can be vertically placed. A sliding block horizontally installed on the rack in a sliding mode is arranged above the bearing block, the lower portion of the sliding block is vertically connected with the sliding block in a sliding mode, and the lifting control mechanism is installed on the sliding block and connected with the lifting block. The lifting block is provided with a horizontal positioning face used for being in abutting fit with the upper end face of the cylindrical part vertically placed on the bearing block, and a grabbing mechanism is installed on the lifting block. And the bearing block is mounted on the rack through a self-adaptive mechanism. According to the invention, the manufacturing cost of equipment is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of cylindrical parts assembly, in particular to a cylindrical parts grabbing device and a grabbing method. Background Art

[0002] The stator core is a cylindrical part and an important part of the motor (such as an electric motor or a generator). Its main function is to provide a magnetic circuit and support the stator winding. The stator winding of the stator core, especially the flat copper wire stator winding, is currently mainly assembled by a robot. In order to ensure assembly accuracy and quality, in some assembly processes, such as when assembling the stator winding, it is necessary to ensure that the verticality of the axis of the stator core to be grasped is within a small range, generally not exceeding ±0.02mm.

[0003] For the occasions where the verticality of the axis is required to be high, the traditional way to grab cylindrical parts is to place the cylindrical parts on a supporting workbench, and use the grabbing mechanism to center and grab the fixed cylindrical parts with the side (outer side or inner side) of the cylindrical parts as the positioning reference. This traditional method not only requires the grabbing mechanism to have a high vertical centering accuracy after installation, but also the cylindrical parts are prone to skew during the grabbing process. It not only requires high manufacturing and installation accuracy of the grabbing mechanism, but also has high manufacturing and maintenance costs for the grabbing equipment, and it is difficult to ensure the verticality of the axis of the cylindrical parts. In addition, this method requires that the side of the cylindrical part used as the positioning reference has a high coaxiality with the cylindrical part. For cylindrical parts, it is more difficult to ensure that its side has a high coaxiality with its axis than to ensure that its end face has a high perpendicularity with its axis. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a cylindrical part grasping device and grasping method which uses the end face of the cylindrical part as a positioning reference for grasping and positioning, and can better ensure the verticality of the axis of the cylindrical part during the grasping process.

[0005] The technical solution adopted by the present invention to solve the technical problem is: a cylindrical part grabbing device, comprising a frame, a lifting control mechanism and a bearing block installed on the frame to support the cylindrical part so that the cylindrical part is placed vertically;

[0006] A slider is provided above the bearing block and is horizontally slidably mounted on the frame. A lifting block is provided below the slider and is vertically slidably connected to the slider so as to be able to rise and fall. The lifting control mechanism is installed on the slider and connected to the lifting block to control the lifting of the lifting block. The lifting block is provided with a horizontal positioning surface for abutting and cooperating with the upper end surface of a cylindrical part vertically placed on the bearing block. A grabbing mechanism for cooperating with the inner side surface or the outer side surface of the cylindrical part is installed on the lifting block.

[0007] The bearing block is mounted on the frame through an adaptive mechanism so as to be adaptively adjusted during the contact between the horizontal positioning surface and the upper end surface of the cylindrical part, so that the upper end surface of the cylindrical part fits with the horizontal positioning surface.

[0008] Furthermore, the adaptive mechanism includes a compressible cylindrical spring supported and arranged below the bearing block.

[0009] Furthermore, the upper end surface of the bearing block is provided with a cylindrical part clamping groove adapted to the outer diameter of the cylindrical part.

[0010] Furthermore, a bearing block limit seat is installed on the frame, and a bearing block limit seat is provided with a vertically arranged bearing block limit cavity opening upward, the bearing block limit cavity is circular, and a convex ring portion is provided on the outer side surface of the lower end of the bearing block, and the lower end of the bearing block is vertically plugged into the bearing block limit cavity through the convex ring portion, and the outer side surface of the convex ring portion is an arc-shaped surface.

[0011] Furthermore, a limiting block for preventing the convex ring portion from swinging out of the bearing block limiting cavity is provided above the convex ring portion.

[0012] Furthermore, the slider is provided with three positioning points, each positioning point is formed by a positioning column arranged on the slider, and the three positioning points form the horizontal positioning surface.

[0013] Furthermore, it also includes a horizontal driving mechanism, which is connected to the slider to drive the slider to slide horizontally.

[0014] A method for grasping a cylindrical part, the method using the above-mentioned cylindrical part grasping device, comprises the following steps:

[0015] Taking one end face of the cylindrical part as a positioning reference surface, the positioning reference surface is processed to ensure its perpendicularity to the axis of the cylindrical part;

[0016] Place the cylindrical part on the bearing block with one end serving as the positioning reference surface facing upward;

[0017] The lifting control mechanism is used to control the lifting block to slide downward so that the horizontal positioning surface fits the upper end surface of the cylindrical part;

[0018] After the horizontal positioning surface is in contact with the upper end surface of the cylindrical part, the grabbing mechanism moves to cooperate with the inner side surface or the outer side surface of the cylindrical part to grab and fix the cylindrical part;

[0019] The slide block is pushed to slide horizontally to move the cylindrical part to an assembly position.

[0020] The beneficial effects of the present invention are as follows: the cylindrical part grasping device and grasping method of the present invention use one end face of the cylindrical part for positioning and grasping. During grasping, the upper end face of the cylindrical part is adaptively adjusted to fit with the horizontal positioning face through the support block to ensure the coaxiality of the cylindrical part during the grasping process. It is easier to obtain the horizontal positioning face on the device, and it is also easier to ensure the high verticality of the end face of the cylindrical part and the axis of the cylindrical part. The grasping mechanism only needs to provide a force to prevent the cylindrical part from falling. Therefore, the requirements for the manufacturing and installation accuracy of the grasping mechanism are reduced, the manufacturing cost of the equipment is reduced, and it is easier to better ensure the verticality of the axis of the cylindrical part during the grasping process. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the structure of the present invention;

[0022] Figure 2 yes Figure 1 A top view of

[0023] Figure 3 It is an installation structure diagram of the bearing block;

[0024] Figure 4 It is an installation structure diagram of the bearing block;

[0025] Figure 5 It is a schematic diagram of the use of the present invention;

[0026] As shown in the figure: frame 1, bearing block 2, lifting control mechanism 3, grabbing mechanism 4, bearing block limit seat 5, columnar spring 6, lifting block 7, cylindrical part 8, horizontal driving mechanism 9, slider 11, guide rail 12, base plate 13, cylindrical part slot 21, ball head 22, convex ring part 23, bearing block limit cavity 51, limit block 52, horizontal positioning surface 71, positioning column 72. DETAILED DESCRIPTION

[0027] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0028] like Figures 1 to 4As shown, a cylindrical part grabbing device of the present invention comprises a frame 1, a lifting control mechanism 3 and a bearing block 2 installed on the frame 1 to support the cylindrical part so that the cylindrical part is placed vertically. A slider 11 is provided above the bearing block 2 and is horizontally slidably installed on the frame 1, so that the slider 11 can slide horizontally relative to the frame, and a lifting block 7 is provided below the slider 11 and is vertically slidably connected with it through a guide rail 12 so that it can be lifted up and down. The lifting control mechanism 3 is installed on the slider 11 and connected to the lifting block 7 to control the lifting of the lifting block 7. The lifting block 7 is provided with a horizontal positioning surface 71 for abutting and matching with the upper end surface of the cylindrical part vertically placed on the bearing block 2, and a grabbing mechanism 4 for matching with the inner side or outer side surface of the cylindrical part is installed on the lifting block 7. The bearing block 2 is installed on the frame 1 through an adaptive mechanism so that it can be adaptively adjusted during the abutment process between the horizontal positioning surface 71 and the upper end surface of the cylindrical part, so that the upper end surface of the cylindrical part fits the horizontal positioning surface 71.

[0029] The lifting control mechanism 3 generally adopts a hydraulic cylinder or a pneumatic cylinder. In some embodiments, the lifting control mechanism 3 also adopts a motor, and the motor drives the lifting block 7 to rise and fall by means of a gear rack.

[0030] The gripping mechanism 4 adopts various existing chuck-type gripping mechanisms, such as: an electric three-claw chuck, a pneumatic two-claw chuck, and the specific structure is not described here.

[0031] The cylindrical part grasping device of the present invention uses an end face of the cylindrical part as a positioning reference surface, and the verticality of the positioning reference surface and the axis of the cylindrical part is ensured to meet the requirements through grinding before clamping. The verticality of the positioning reference surface and the axis of the cylindrical part is specifically set according to the verticality requirements of the axis of the cylindrical part during the grasping process. For a cylindrical part, it is easier to ensure that its end face has a high verticality with its axis than to ensure that its side face has a high coaxiality with its axis. Therefore, using the end face of the cylindrical part for clamping and positioning is also more convenient for part processing.

[0032] The specific use process of the cylindrical parts grabbing device of the present invention is as follows: Figure 4As shown, when in use, the cylindrical part 8 is first placed vertically on the bearing block 2, with one end of the cylindrical part serving as the positioning reference surface facing upward. Then, the horizontal driving mechanism is used to drive the slider 11 to slide horizontally, so that the slider 11 drives the grabbing mechanism 4 to move horizontally to just above the cylindrical part 8, so that the grabbing mechanism 4 can grab the cylindrical part 8. Then, the lifting control mechanism 3 is started, and the lifting block 7 is pushed downward by the lifting control mechanism 3. During the downward movement of the lifting block 7, the horizontal positioning surface 71 and the grabbing mechanism 4 move downward together, so that the horizontal positioning surface 71 gradually abuts against the upper end surface of the cylindrical part 8, and the grabbing mechanism 4 gradually moves to the grabbing position. Since the supporting block 2 is installed on the frame 1 through an adaptive mechanism, after the horizontal positioning surface 71 contacts the upper end surface of the cylindrical part 8, as the lifting block 7 continues to move downward, the supporting block 2 will be adaptively swung and adjusted, so that the upper end surface of the cylindrical part 8 gradually becomes horizontal and finally fits with the horizontal positioning surface 71, and then the cylindrical part is grasped and fixed by the grasping mechanism 4 and the outer side surface of the cylindrical part is closed or opened and clamped on the inner side surface of the cylindrical part. Figure 4 The cylindrical part is grasped and fixed by opening and clamping the grasping mechanism on the inner side of the cylindrical part. Finally, the horizontal driving mechanism is used to drive the slider 11 to slide horizontally to grasp the cylindrical part to the assembly position, and the lifting control mechanism 3 controls the lifting block 7 to slide down to assemble the cylindrical part 8 to other parts. During the grasping process, the grasping device of the present invention ensures the coaxiality of the cylindrical part during the grasping process by abutting and matching the horizontal positioning surface 71 with the upper end surface (positioning reference surface) of the cylindrical part. It is easier to obtain the horizontal positioning surface on the device, and it is also easier to ensure the high verticality of the end surface of the cylindrical part and the axis of the cylindrical part. The limiting effect of the horizontal positioning surface prevents the cylindrical part from tilting during the grasping process. The grasping mechanism 4 only needs to provide a force to prevent the cylindrical part from falling. Therefore, the manufacturing and installation accuracy requirements of the grasping mechanism are reduced, the manufacturing cost of the equipment is reduced, and it is easier and better to ensure the verticality of the axis of the cylindrical part during the grasping process.

[0033] The adaptive mechanism can adopt the existing universal hinge structure. Figure 3 As shown, specifically, a spherical ball head 22 is provided at the lower end of the bearing block 2, and the ball head 22 rotates with the spherical groove of the frame 1 to form a universal joint structure. Figure 4As shown, in one embodiment of the present invention, the adaptive mechanism includes a compressible cylindrical spring 6 supported and arranged below the bearing block 2. The cylindrical spring 6 can be one or more, and can be arranged as needed. The cylindrical spring 6 can not only be compressed, but also bend and deform in all directions within a certain range. Therefore, when the horizontal positioning surface 71 contacts the upper end surface of the cylindrical part 8, the cylindrical spring 6 can not only produce compression deformation to make the bearing block 2 descend, but also produce adaptive bending deformation according to the force condition of the bearing block 2 to deflect the bearing block 2, so that the upper end surface of the cylindrical part 8 gradually becomes horizontal and finally fits with the horizontal positioning surface 71. The cylindrical spring 6 can keep the bearing block 2 in a horizontal state when the cylindrical part is not placed, so it is more convenient to place the cylindrical part. In addition, the cylindrical spring 6 can be compressed, and it can also avoid crushing the equipment or cylindrical parts due to excessive downward travel of the lifting block 7 during the clamping process.

[0034] like Figure 4 As shown, the upper end surface of the carrier block 2 of the present invention is provided with a cylindrical part clamping groove 21 adapted to the outer diameter of the cylindrical part, so as to facilitate the positioning and placement of the cylindrical part and facilitate the subsequent positioning and grasping of the grasping mechanism 4.

[0035] Furthermore, if Figure 4 As shown, a bearing block limiting seat 5 is installed on the frame 1, and a bearing block limiting cavity 51 which is vertically arranged and opens upward is provided on the bearing block limiting seat 5, and the bearing block limiting cavity 51 is circular, and a convex ring portion 23 is provided on the outer side surface of the lower end of the bearing block 2, and the lower end of the bearing block 2 is vertically plugged and matched with the bearing block limiting cavity 51 through the convex ring portion 23, and the outer side surface of the convex ring portion 23 is an arc surface. The outer side surface of the convex ring portion 23 is an arc surface, so that the bearing block 2 can deflect to a certain extent in the bearing block limiting cavity 51 through its convex ring portion 23, and the bearing block limiting seat 5 can limit the horizontal displacement of the bearing block, especially in conjunction with the cylindrical part slot 21, it can ensure that the position change of the cylindrical part in the process of adaptive adjustment of the bearing block 2 is within a very small range, so that the slider and the grabbing mechanism grab the cylindrical part at the same position each time, which is more convenient to control the slider through automatic control technology and more convenient to locate and grab the cylindrical part.

[0036] like Figure 4 As shown, a limiting block 52 is provided above the convex ring portion 23 to prevent the convex ring portion 23 from swinging out of the bearing block limiting cavity 51 .

[0037] The horizontal positioning surface 71 can be formed by a larger plane, such as the lower end surface of the lifting block 7. It is difficult to ensure the flatness of a larger plane. To this end, in the present invention, three positioning points are provided on the slider 11, each of which is formed by a positioning column 72 provided on the slider 11, and the three positioning points form the horizontal positioning surface 71.

[0038] The present invention is further provided with a horizontal driving mechanism 9, which is connected to the slider 11 to drive the slider 11 to slide horizontally. The horizontal driving mechanism 9 generally adopts a hydraulic cylinder.

[0039] The bearing block can be set in a fixed form, that is, the position of the bearing block on the frame is fixed and cannot be adjusted. Of course, it can also be set in a horizontal sliding structure, such as: Figure 5 As shown, a base plate 13 is provided on the frame and is horizontally slidably connected thereto, and a bearing block is mounted on the base plate so that the bearing block can be moved out of the frame 1 when placing the cylindrical parts.

[0040] The present invention also provides a method for grasping a cylindrical part, the method using the above-mentioned cylindrical part grasping device, comprising the following steps:

[0041] Step 1: Using one end face of the cylindrical part as a positioning reference surface, the positioning reference surface is processed to ensure that the verticality thereof with the axis of the cylindrical part meets the requirements;

[0042] Step 2: Place the cylindrical part on the bearing block 2, with one end serving as the positioning reference surface facing upward;

[0043] Step 3: Use the lifting control mechanism 3 to control the lifting block 7 to slide downward, so that the horizontal positioning surface 71 fits with the upper end surface of the cylindrical part;

[0044] Step 4: After the horizontal positioning surface 71 is in contact with the upper end surface of the cylindrical part, the grasping mechanism 4 moves to cooperate with the inner side surface or the outer side surface of the cylindrical part to grasp and fix the cylindrical part;

[0045] Step 5: Push the slider 11 to slide horizontally to move the cylindrical part to the assembly position.

[0046] The method of the present invention uses the end face of the cylindrical part as a positioning reference and uses the above-mentioned cylindrical part grasping device to grasp the cylindrical part by end face positioning, which reduces the processing difficulty of the cylindrical part and makes it easier to ensure the verticality of the axis of the cylindrical part during the grasping process.

Claims

1. A cylindrical parts grasping device, characterized in that: It comprises a frame (1), a lifting control mechanism (3), and a bearing block (2) installed on the frame (1) to support a cylindrical part so that the cylindrical part is placed vertically; A slider (11) is provided above the bearing block (2) and is horizontally slidably mounted on the frame (1); a lifting block (7) is provided below the slider (11) and is vertically slidably connected to the slider (11) so as to be able to be lifted up and down; the lifting control mechanism (3) is installed on the slider (11) and is connected to the lifting block (7) so as to control the lifting of the lifting block (7); the lifting block (7) is provided with a horizontal positioning surface (71) for abutting and cooperating with the upper end surface of a cylindrical part vertically placed on the bearing block (2); and a grabbing mechanism (4) is installed on the lifting block (7) for cooperating with the inner side surface or the outer side surface of the cylindrical part; The bearing block (2) is mounted on the frame (1) via an adaptive mechanism so as to be adaptively adjusted during the abutment process between the horizontal positioning surface (71) and the upper end surface of the cylindrical part, so that the upper end surface of the cylindrical part fits the horizontal positioning surface (71).

2. A cylindrical parts grasping device as claimed in claim 1, characterized in that: The adaptive mechanism comprises a compressible cylindrical spring (6) supported and arranged below the bearing block (2).

3. A cylindrical parts grasping device as claimed in claim 2, characterized in that: The upper end surface of the bearing block (2) is provided with a cylindrical part clamping groove (21) adapted to the outer diameter of the cylindrical part.

4. A cylindrical parts grasping device as claimed in claim 2 or 3, characterized in that: A bearing block limiting seat (5) is installed on the frame (1), and a bearing block limiting cavity (51) which is vertically arranged and opens upward is provided on the bearing block limiting seat (5), and the bearing block limiting cavity (51) is circular, and a convex ring portion (23) is provided on the outer side surface of the lower end of the bearing block (2), and the lower end of the bearing block (2) is vertically plugged into the bearing block limiting cavity (51) through the convex ring portion (23), and the outer side surface of the convex ring portion (23) is an arc surface.

5. A cylindrical parts grasping device as claimed in claim 4, characterized in that: A limiting block (52) for preventing the convex ring portion (23) from swinging out of the bearing block limiting cavity (51) is provided above the convex ring portion (23).

6. A cylindrical parts grasping device as claimed in claim 1, characterized in that: The slider (11) is provided with three positioning points, each positioning point is formed by a positioning column (72) arranged on the slider (11), and the three positioning points form the horizontal positioning surface (71).

7. A cylindrical parts grasping device as claimed in claim 1, characterized in that: It also comprises a horizontal driving mechanism (9), wherein the horizontal driving mechanism (9) is connected to the slider (11) to drive the slider (11) to slide horizontally.

8. A method for grasping a cylindrical part, the method using a cylindrical part grasping device as claimed in any one of claims 1 to 7, characterized in that: The following steps are involved: Taking one end face of the cylindrical part as a positioning reference surface, the positioning reference surface is processed to ensure its perpendicularity to the axis of the cylindrical part; Placing the cylindrical part on the bearing block (2) with one end serving as the positioning reference surface facing upward; The lifting control mechanism (3) is used to control the lifting block (7) to slide downward, so that the horizontal positioning surface (71) is in contact with the upper end surface of the cylindrical part; After the horizontal positioning surface (71) is in contact with the upper end surface of the cylindrical part, the grasping mechanism (4) moves to cooperate with the inner side surface or the outer side surface of the cylindrical part to grasp and fix the cylindrical part; The slide block (11) is pushed to slide horizontally to move the cylindrical part to the assembly position.

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