Paw type grabbing mechanism for bearing

Abstract

The invention discloses a claw type grabbing mechanism for a bearing, and relates to the technical field of grabbing mechanisms, and adopts the technical scheme that the claw type grabbing mechanism comprises an air cylinder, a mounting plate is fixedly connected to the lower end of the air cylinder, an electric telescopic rod is fixedly connected to the lower end of the mounting plate, a positioning mechanism is arranged at the bottom of the electric telescopic rod, and the electric telescopic rod can drive the positioning mechanism to move up and down; in the bearing grabbing process, a positioning mechanism arranged at the bottom can be driven by an electric telescopic rod to move downwards to enter a bearing inner ring, then only the positioning mechanism needs to be started, and positioning blocks arranged on the two sides can be driven by the positioning mechanism to extend outwards so as to abut against the bearing inner ring; the bearing can be positioned to be coaxial with the positioning shell in the stretching process of the positioning block, so that the bearing does not need to be positioned in the subsequent grabbing process, convenience and rapidness are achieved, the positioning mechanism can fix the bearing from the interior through the positioning block and is matched with the interior and the exterior of the grabbing mechanism, and the stability in the grabbing process can be effectively improved.

Description

Technical Field

[0001] The invention relates to the technical field of grasping mechanisms, and in particular to a claw-type grasping mechanism for bearings. Background Art

[0002] The gripper-type grasping mechanism is a mechanical device widely used in the fields of automation and robotics. It is particularly suitable for grasping and transporting workpieces such as bearings. The mechanism is usually composed of multiple components. The gripper adopts a flexible design to achieve accurate grasping of workpieces of different shapes and sizes, ensuring that damage is avoided during transportation. By adopting electric, pneumatic or hydraulic drive, the gripper can open and close quickly and accurately to adapt to various industrial needs. When grasping bearings, the clamping force and stability of the gripper are crucial, which can effectively prevent the bearings from slipping or deforming during transportation. This grasping mechanism is commonly found in production lines, warehousing systems and automated assembly, which can significantly improve labor productivity, reduce the burden of manual operation, and promote the progress of industrial automation. In short, the gripper-type grasping mechanism is favored by various industries for its simple structure, strong reliability and wide applicability.

[0003] After searching, the invention patent of Chinese patent number CN118143723A discloses a hand-claw type grasping mechanism for bearings, including a fixed support assembly and a tapered roller body, the upper end of the fixed support assembly is fixedly installed with a driving assembly, one end of the driving assembly is fixedly installed with a clamping assembly, the upper end of the clamping assembly is fixedly connected with a movable assembly, and the clamping assembly includes a mounting member. The present invention avoids the situation that the material cannot be grasped by the iron clamp when grasping the material manually by setting the coordination of the first connecting block and the second connecting block. The first connecting block, the second connecting block and the first spring telescopic rod resist the tapered roller body, the second connecting block moves toward the mounting member, and the first spring telescopic rod gives an elastic force to the second connecting block, so as to better grasp the tapered roller body, so as to make the grasping of the tapered roller more stable, while reducing the labor cost and improving the work efficiency. Compared with the prior art, the invention patent with Chinese patent number CN118143723A solves the problem that the tapered roller is generally transferred by manually grabbing the material with iron clamps from one workstation to another. Manually grabbing the material with iron clamps increases labor costs and has low efficiency. At the same time, due to limited manpower, there will be a problem of not being able to clamp the material.

[0004] However, in actual use of the above device, the bearing needs to be transported to a predetermined position before the mechanism clamps the bearing, and the positioning accuracy is required to be high. If the bearing deviates from the predetermined position by a certain distance, it is easy to cause insufficient contact between the clamping piece and the bearing, thereby reducing the clamping stability of the mechanism. Therefore, a claw-type grasping mechanism for bearings is proposed. Summary of the invention

[0005] The purpose of the present invention is to solve the problem that the bearing needs to be transported to a predetermined position before the mechanism clamps the bearing, and the positioning accuracy is required to be high. If the bearing deviates from the predetermined position by a certain distance, it is easy to cause insufficient contact between the clamping piece and the bearing, thereby reducing the clamping stability of the mechanism. A claw-type grasping mechanism for bearings is proposed to solve the problem.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] A claw-type grasping mechanism for bearings, comprising a cylinder, a mounting plate fixedly connected to the lower end of the cylinder, an electric telescopic rod fixedly connected to the lower end of the mounting plate, a positioning mechanism provided at the bottom of the electric telescopic rod, the electric telescopic rod can drive the positioning mechanism to move up and down, and the positioning mechanism drives the positioning blocks provided on both sides to extend outward;

[0008] A gripping mechanism is provided at the bottom of the mounting plate, and the gripping mechanism can drive the clamping plates provided on both sides to close inward to clamp the outer ring of the bearing. A chuck is provided at the bottom of the clamping plate, and the chuck is an arc-shaped structure. A transmission mechanism is fixedly connected to the rear end of the cylinder, and the transmission mechanism can drive the cylinder to move. A support rod is fixedly connected to the bottom of the transmission mechanism, and a rotating mechanism is provided at the lower end of the support rod, and the rotating mechanism can drive the support rod to rotate.

[0009] The above technical solution further includes:

[0010] The positioning mechanism includes a positioning shell fixedly connected to the bottom of the electric telescopic rod, a positioning frame fixedly connected inside the positioning shell, a fourth motor is arranged on the upper part of the positioning frame, a positioning assembly is arranged at the output end of the fourth motor, and positioning blocks are fixedly connected on both sides of the positioning assembly.

[0011] The positioning assembly includes a worm arranged at the output end of the fourth motor, the worm is rotatably connected to the positioning frame, fourth gears are symmetrically meshed and connected on both sides of the worm, the fourth gear is rotatably connected to the positioning frame, the fourth gear is fixedly connected to a worm wheel, the worm wheel is meshed and connected to a transmission rack, the transmission rack is slidably connected to the positioning frame, and a positioning block is fixedly connected to the side of the transmission rack away from the positioning frame.

[0012] The gripping mechanism comprises a gripping shell fixedly connected to the bottom of the mounting plate, a third motor is arranged on one side of the gripping shell, and a gripping assembly is arranged at an output end of the third motor.

[0013] The grabbing assembly includes a fifth gear disposed at the output end of the third motor, the fifth gear is meshedly connected with the third gear, second screw rods are fixedly connected at both sides of the third gear, and the second screw rods are threadedly connected with a clamping plate.

[0014] The bottom of the clamping shell is fixedly connected to a limit rod, and both sides of the limit rod are slidably connected to clamping plates.

[0015] The transmission mechanism comprises a transmission groove fixedly connected to the upper end of the support rod, a second motor is arranged on one side of the transmission groove, and a transmission assembly is arranged on the output end of the second motor.

[0016] The transmission assembly includes a first screw rod arranged at the output end of the second motor, the first screw rod is rotatably connected to the transmission groove, the first screw rod is threadedly connected to a transmission member, the transmission member is slidably connected to the transmission groove, and the transmission member is fixedly connected to a cylinder on the side away from the transmission groove.

[0017] The rotating mechanism comprises a rotating base arranged at the lower side of the supporting rod, a first motor is arranged inside the rotating base, and a rotating assembly is arranged at the output end of the first motor.

[0018] The rotating assembly includes a first gear disposed at the output end of the first motor, the first gear is meshedly connected with a second gear, the second gear is rotationally connected to a rotating base, and the second gear is fixedly connected to a support rod at a side away from the rotating base.

[0019] The present invention has the following beneficial effects:

[0020] 1. In the present invention, during the bearing grabbing process, the positioning mechanism arranged at the bottom can be driven to move downward by the electric telescopic rod to enter the inner ring of the bearing, and then the positioning mechanism only needs to be started, and the positioning blocks arranged on both sides can be driven to extend outward through the positioning mechanism, so as to support the inner ring of the bearing. During the extension of the positioning blocks, the bearing can be positioned to be coaxial with the positioning shell, so that the subsequent grabbing process does not need to position the bearing again, which is convenient and quick. In addition, the positioning mechanism can also provide fixation for the bearing from the inside through the positioning blocks, and cooperate with the inside and outside of the grabbing mechanism, which can also effectively improve the stability during the grabbing process.

[0021] 2. In the present invention, after the grasping is completed, the fixedly connected cylinder can be driven to move through the transmission mechanism, thereby driving the grasped bearing to move, and the movement mode of the ball screw ensures the stability of the moving process and the accuracy of the moving distance. The bearing is driven to rotate through the rotating mechanism set at the bottom, and the bearing can be moved to another processing table efficiently and stably. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A schematic diagram of the structure of a claw-type grasping mechanism for bearings proposed by the present invention;

[0023] Figure 2 It is a schematic diagram of the internal structure of the rotating mechanism in the present invention;

[0024] Figure 3 It is a schematic diagram of the transmission mechanism structure in the present invention;

[0025] Figure 4 It is an overall schematic diagram of the positioning mechanism and the grasping mechanism in the present invention;

[0026] Figure 5 It is a schematic diagram of the grabbing mechanism in the present invention;

[0027] Figure 6 It is a schematic diagram of the interior of the grabbing mechanism in the present invention;

[0028] Figure 7 It is a schematic diagram of the positioning mechanism in the present invention;

[0029] Figure 8 It is a schematic diagram of the interior of the positioning mechanism in the present invention;

[0030] Fig. 9 It is a schematic diagram of the structure of the positioning component in the present invention.

[0031] In the figure: 1. cylinder; 2. mounting plate; 3. clamping plate; 4. electric telescopic rod; 5. transmission groove; 6. support rod; 7. rotating base; 8. first motor; 9. first gear; 10. second gear; 11. second motor; 12. first screw rod; 13. transmission member; 14. positioning shell; 15. clamping shell; 16. third motor; 17. chuck; 18. third gear; 19. second screw rod; 20. limit rod; 21. positioning block; 22. positioning frame; 23. transmission rack; 24. fourth motor; 25. worm; 26. worm wheel; 27. fourth gear; 28. fifth gear. DETAILED DESCRIPTION

[0032] 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.

[0033] Embodiment 1

[0034] like Figure 1-Figure 9 As shown, a claw-type grasping mechanism for bearings includes a cylinder 1, a mounting plate 2 is fixedly connected to the lower end of the cylinder 1, an electric telescopic rod 4 is fixedly connected to the lower end of the mounting plate 2, a positioning mechanism is arranged at the bottom of the electric telescopic rod 4, the electric telescopic rod 4 can drive the positioning mechanism to move up and down, and the positioning mechanism drives the positioning blocks 21 arranged on both sides to extend outward;

[0035] A gripping mechanism is provided at the bottom of the mounting plate 2, and the gripping mechanism can drive the clamping plates 3 provided on both sides to close inward to clamp the outer ring of the bearing. A clamping head 17 is provided at the bottom of the clamping plate 3, and the clamping head 17 is an arc-shaped structure. A transmission mechanism is fixedly connected to the rear end of the cylinder 1, and the transmission mechanism can drive the cylinder 1 to move. A support rod 6 is fixedly connected to the bottom of the transmission mechanism, and a rotating mechanism is provided at the lower end of the support rod 6, and the rotating mechanism can drive the support rod 6 to rotate;

[0036] The positioning mechanism includes a positioning housing 14 fixedly connected to the bottom of the electric telescopic rod 4, a positioning frame 22 is fixedly connected inside the positioning housing 14, a fourth motor 24 is arranged on the upper part of the positioning frame 22, a positioning assembly is arranged at the output end of the fourth motor 24, and the positioning assembly includes a worm 25 arranged at the output end of the fourth motor 24, the worm 25 is rotationally connected to the positioning frame 22, and the worm 25 is symmetrically meshed with fourth gears 27 on both sides, and the fourth gear 27 is rotationally connected to the positioning frame 22, and the fourth gear 27 is fixedly connected to the worm wheel 26, and the worm wheel 26 is meshed with a transmission rack 23, and the transmission rack 23 is slidably connected to the positioning frame 22, and the transmission rack 23 is fixedly connected to the positioning frame 22. A positioning block 21 is fixedly connected to the side of the transmission rack 23 away from the positioning frame 22;

[0037] The gripping mechanism includes a clamping shell 15 fixedly connected to the bottom of the mounting plate 2, a third motor 16 is arranged on one side of the clamping shell 15, a gripping assembly is arranged at the output end of the third motor 16, the gripping assembly includes a fifth gear 28 arranged at the output end of the third motor 16, the fifth gear 28 is meshingly connected with the third gear 18, second screw rods 19 are fixedly connected on both sides of the third gear 18, the second screw rod 19 is threadedly connected with the clamping plate 3, a limiting rod 20 is fixedly connected to the bottom of the clamping shell 15, and the clamping plates 3 are slidably connected on both sides of the limiting rod 20.

[0038] In this embodiment, when in use, the mounting plate 2 is first driven downward by the cylinder 1, and stops moving when it approaches the bearing, and then the electric telescopic rod 4 provided at the bottom of the mounting plate 2 is started, and the positioning housing 14 is driven downward by the electric telescopic rod 4, so that the positioning housing 14 enters the inner ring of the bearing, and then the fourth motor 24 is started, and the worm 25 is driven to rotate by the fourth motor 24, and the rotation of the worm 25 drives the worm gear 26 meshing on both sides to rotate, and the rotation of the worm gear 26 can drive the fourth gear 27 fixedly connected to rotate, and the rotation of the fourth gear 27 can drive the transmission rack 23 meshing to move, thereby driving the positioning blocks 21 on both sides to move outward and extend, and the positioning block 21 can push the bearing to move to be coaxial with the positioning housing 14 during the extension process, so as to quickly position the bearing, and at the same time, the inner ring of the bearing is supported and fixed by the positioning block 21, thereby ensuring the stability of the bearing during the grasping process;

[0039] After the fixation is completed, the third motor 16 is started, and the fifth gear 28 is driven to rotate by the third motor 16. The rotation of the fifth gear 28 can drive the meshing third gear 18 to rotate, and the rotation of the third gear 18 can rotate the second screw rod 19 fixedly connected on both sides. The rotation of the second screw rod 19 can drive the threaded clamping plate 3 to move, thereby closing inward and driving the chuck 17 set at the bottom to clamp the outer ring of the bearing. During the movement of the clamping plate 3, the limit rod 20 can limit the clamping plate 3 to ensure the stability of the clamping plate 3 during the movement. The positioning block 21 provides fixation for the bearing from the inside, and cooperates with the chuck 17 inside and outside, which can also effectively improve the gripping effect.

[0040] Embodiment 2

[0041] like Figure 1-Figure 9 As shown, the transmission mechanism includes a transmission groove 5 fixedly connected to the upper end of the support rod 6, a second motor 11 is arranged on one side of the transmission groove 5, a transmission assembly is arranged on the output end of the second motor 11, and the transmission assembly includes a first screw rod 12 arranged on the output end of the second motor 11, the first screw rod 12 is rotatably connected to the transmission groove 5, the first screw rod 12 is threadedly connected to a transmission member 13, the transmission member 13 is slidably connected to the transmission groove 5, and the transmission member 13 is fixedly connected to the cylinder 1 on the side away from the transmission groove 5;

[0042] The rotating mechanism includes a rotating base 7 arranged on the lower side of the support rod 6, a first motor 8 is arranged inside the rotating base 7, a rotating assembly is arranged at the output end of the first motor 8, the rotating assembly includes a first gear 9 arranged at the output end of the first motor 8, the first gear 9 is meshed and connected with a second gear 10, the second gear 10 is rotatably connected to the rotating base 7, and the second gear 10 is fixedly connected to the support rod 6 on the side away from the rotating base 7.

[0043] In this embodiment, after the grabbing is completed, the cylinder 1 is started to drive the bearing to rise, and then the second motor 11 is started. The first screw rod 12 is driven to rotate by the second motor 11. The rotation of the first screw rod 12 drives the threaded transmission member 13 to move, and then drives the fixedly connected cylinder 1 to move. The movement of the ball screw ensures the stability of the moving process and the accuracy of the moving distance. The first motor 8 set inside the rotating base 7 can be started to drive the first gear 9 to rotate. The rotation of the first gear 9 drives the meshing second gear 10 to rotate, which can drive the support rod 6 and the grabbing mechanism set above the support rod 6 to rotate. Through the cooperation of the transmission mechanism and the rotating mechanism, the bearing can be efficiently and stably moved to another processing table.

[0044] 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 claw-type gripping mechanism for a bearing, comprising a cylinder (1), characterized in that: The lower end of the cylinder (1) is fixedly connected to a mounting plate (2), the lower end of the mounting plate (2) is fixedly connected to an electric telescopic rod (4), a positioning mechanism is provided at the bottom of the electric telescopic rod (4), the electric telescopic rod (4) can drive the positioning mechanism to move up and down, and the positioning mechanism drives the positioning blocks (21) provided on both sides to extend outwards; A gripping mechanism is provided at the bottom of the mounting plate (2), and the gripping mechanism can drive the clamping plates (3) provided on both sides to close inward to clamp the outer ring of the bearing. A chuck (17) is provided at the bottom of the clamping plate (3), and the chuck (17) is an arc-shaped structure. A transmission mechanism is fixedly connected to the rear end of the cylinder (1), and the transmission mechanism can drive the cylinder (1) to move. A support rod (6) is fixedly connected to the bottom of the transmission mechanism, and a rotating mechanism is provided at the lower end of the support rod (6), and the rotating mechanism can drive the support rod (6) to rotate.

2. A claw-type grasping mechanism for bearings according to claim 1, characterized in that: The positioning mechanism comprises a positioning housing (14) fixedly connected to the bottom of the electric telescopic rod (4); a positioning frame (22) is fixedly connected inside the positioning housing (14); a fourth motor (24) is arranged on the top of the positioning frame (22); a positioning assembly is arranged at the output end of the fourth motor (24); and positioning blocks (21) are fixedly connected on both sides of the positioning assembly.

3. A claw-type grasping mechanism for bearings according to claim 2, characterized in that: The positioning assembly comprises a worm (25) arranged at the output end of a fourth motor (24), the worm (25) being rotationally connected to the positioning frame (22), fourth gears (27) being symmetrically meshed on both sides of the worm (25), the fourth gear (27) being rotationally connected to the positioning frame (22), the fourth gear (27) being fixedly connected to a worm wheel (26), the worm wheel (26) being meshedly connected to a transmission rack (23), the transmission rack (23) being slidably connected to the positioning frame (22), and a positioning block (21) being fixedly connected to a side of the transmission rack (23) away from the positioning frame (22).

4. A claw-type grasping mechanism for bearings according to claim 1, characterized in that: The gripping mechanism comprises a gripping shell (15) fixedly connected to the bottom of the mounting plate (2), a third motor (16) is arranged on one side of the gripping shell (15), and a gripping assembly is arranged at the output end of the third motor (16).

5. A claw-type grasping mechanism for bearings according to claim 4, characterized in that: The grabbing assembly comprises a fifth gear (28) arranged at the output end of the third motor (16), the fifth gear (28) being meshingly connected to the third gear (18), the second screw rod (19) being fixedly connected to both sides of the third gear (18), and the second screw rod (19) being threadedly connected to the clamping plate (3).

6. A claw-type grasping mechanism for bearings according to claim 5, characterized in that: The bottom of the clamping shell (15) is fixedly connected to a limit rod (20), and both sides of the limit rod (20) are slidably connected to clamping plates (3).

7. A claw-type gripping mechanism for bearings according to claim 1, characterized in that: The transmission mechanism comprises a transmission groove (5) fixedly connected to the upper end of a support rod (6), a second motor (11) is arranged on one side of the transmission groove (5), and a transmission assembly is arranged at the output end of the second motor (11).

8. A claw-type grasping mechanism for bearings according to claim 7, characterized in that: The transmission assembly comprises a first screw rod (12) arranged at the output end of the second motor (11), the first screw rod (12) being rotatably connected to the transmission groove (5), the first screw rod (12) being threadedly connected to a transmission member (13), the transmission member (13) being slidably connected to the transmission groove (5), and the transmission member (13) being fixedly connected to a cylinder (1) on a side away from the transmission groove (5).

9. The claw-type grasping mechanism for bearings according to claim 1, characterized in that: The rotating mechanism comprises a rotating base (7) arranged at the lower side of the support rod (6), a first motor (8) is arranged inside the rotating base (7), and a rotating assembly is arranged at the output end of the first motor (8).

10. A claw-type grasping mechanism for a bearing according to claim 9, characterized in that: The rotating assembly comprises a first gear (9) arranged at the output end of a first motor (8), the first gear (9) being meshedly connected with a second gear (10), the second gear (10) being rotationally connected to a rotating base (7), and the second gear (10) being fixedly connected to a support rod (6) at a side away from the rotating base (7).

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