Automatic bearing bush cross-stitch device and bearing bush positioning system

Abstract

The invention discloses an automatic bearing bush cross-stitch device and a bearing bush positioning system, and relates to the technical field of bearing bush cross-stitch. A mechanical arm is installed above a working platform, and the end of the mechanical arm is connected with a mechanical arm head; the elastic piece is arranged in the mechanical arm head, a connecting buckle is arranged at the end of the mechanical arm head, the tile scraping piece is connected with the mechanical arm head through the connecting buckle, the tile scraping piece comprises a connecting part, and a limiting groove matched with the connecting buckle is formed in a side arm of the connecting part; the elastic piece can push the connecting part to be away from the mechanical arm head, and then the connecting buckle clings to the limiting groove inner arm.

Description

Technical Field

[0001] The invention relates to the field of bearing shoe pattern picking, in particular to an automatic bearing shoe pattern picking device and a bearing shoe positioning system. Background Art

[0002] The guide bearing of a hydro-turbine generator is a crucial component, primarily bearing the mechanical imbalance of the rotor and the unilateral magnetic pull caused by rotor eccentricity. Its primary function is to prevent shaft wobble. The main benefits of the guide bearing's patterning include improving contact conditions, creating small oil-retaining pits, and enhancing lubrication, all of which are crucial for the stable operation of the turbine.

[0003] Nowadays, the embroidery process for bearing bushes is still manual, and the quality of on-site embroidery relies on self-evaluation by professionals. It is difficult to judge whether the embroidery of bearing bushes meets the technical standards. In addition, manual embroidery takes a long time. On average, it takes 2 hours to complete each batch of bushes, and the results are uneven. Summary of the Invention

[0004] Therefore, the technical problem to be solved by the present invention is that the existing bearing bushing picking process takes a long time and the results are uneven.

[0005] The above technical problem is solved by the following technical solution: The present invention provides an automatic bearing shoe embroidery device, which includes a mechanical arm installed above a working platform, and a mechanical arm head is connected to the end of the mechanical arm;

[0006] An elastic member is provided inside the robotic arm head, and a connecting buckle is provided at the end of the robotic arm head.

[0007] A scraper shoe component is connected to the robot arm head via the connecting buckle, and the scraper shoe component includes a connecting portion, and a side arm of the connecting portion is provided with a limiting groove adapted to the connecting buckle;

[0008] The elastic member can push the connecting portion away from the robotic arm head, thereby enabling the connecting buckle to be tightly attached to the inner arm of the limiting groove.

[0009] In a preferred embodiment of the automatic bearing shoe embroidery device of the present invention: a guide column is provided on the end surface of the connecting portion;

[0010] The elastic member is provided with a contact near the end of the guide post;

[0011] The end surface of the guide column is provided with an inserting interface, and the inserting interface is adapted to the contact.

[0012] In a preferred embodiment of the automatic bearing shoe embroidery device of the present invention: the limiting groove includes a first notch and a positioning groove, and a movable groove connecting the first notch and the positioning groove;

[0013] The first notch passes through the end surface of the connecting portion;

[0014] The horizontal portion of the cross section of the connecting buckle is perpendicular to the vertical portion.

[0015] In a preferred embodiment of the automatic bearing shoe embroidery device of the present invention: the connecting buckle enters the inner side of the movable groove along the first notch;

[0016] The connecting buckle rotates along the inner track of the moving groove to a position corresponding to the positioning groove;

[0017] The elastic member can push the scraper member to move along the axis of the connecting portion, thereby enabling the horizontal portion of the connecting buckle to be snapped into the inner side of the positioning groove.

[0018] In a preferred embodiment of the automatic bearing shoe embroidery device of the present invention: the shoe scraper further comprises a support frame provided at the bottom of the connecting portion, and a roller provided inside the support frame;

[0019] The outer arm of the drum is provided with a scraper and a cleaning brush.

[0020] In a preferred embodiment of the automatic bearing shoe embroidery device of the present invention: a tool holder is mounted on the upper surface of the working platform, and a grinding piece is placed on the tool holder;

[0021] The grinding piece and the scraping piece can be alternately connected to the robot arm head.

[0022] In a preferred embodiment of the automatic bearing shoe embroidery device of the present invention: a positioning hole is opened on the upper surface of the tool holder, so that the scraping shoe component and the grinding component can be placed in a fixed position on the tool holder.

[0023] In a preferred embodiment of the automatic bearing shoe embroidery device of the present invention: a clamping member is mounted on the upper surface of the workbench, the clamping member includes a fixed shoe groove, the fixed shoe groove is a rectangular structure with an open top, and the interior of the fixed shoe groove is filled with hot melt adhesive;

[0024] A heating plate is provided on the inner side of the bottom of the fixed tile groove.

[0025] The beneficial effects of the present invention are: the scraper member connected to the end of the robotic arm head is driven by the robotic arm to move, thereby adjusting the processing position corresponding to the scraper member, so as to drive the scraper member to perform pattern processing on the bearing shell; the robotic arm head and the scraper are connected by a connecting buckle, thereby ensuring that the scraper is easier to disassemble.

[0026] Therefore, the technical problem to be solved by the present invention is: how to accurately locate the position of the bearing during the bearing processing process.

[0027] The above technical problem is solved by the following technical solution: The present invention provides a bearing positioning system, which includes a clamping member for dynamically curing and releasing the bearing through the hot melt adhesive;

[0028] The scanning and positioning module is equipped with a laser scanner to generate a three-dimensional model of the bearing in real time, and uses an algorithm to filter the hot melt adhesive interference signal to accurately locate the bearing surface.

[0029] The beneficial effects of the present invention are: the hot melt adhesive evenly wraps the bearing, avoiding local stress concentration and improving the fixing accuracy; it supports the rapid adaptation of bearings of various specifications, and the processing mode can be switched by adjusting parameters through software. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following is a brief introduction to the drawings of the embodiments of the present invention. Obviously, the drawings described below only relate to some embodiments of the present invention and are not intended to limit the present invention. Among them:

[0031] Figure 1 A schematic diagram of the three-dimensional structure of the cross-stitch device is shown;

[0032] Figure 2 A schematic diagram of the connection structure between the tool holder and the scraper element is shown;

[0033] Figure 3 shows a schematic structural diagram of a robotic arm;

[0034] Figure 4 Shown Figure 3 A local enlarged view of point A;

[0035] Figure 5 A schematic diagram of the exploded structure of the elastic member and the connecting buckle is shown;

[0036] Figure 6 Shown Figure 5 A partial enlarged view of point B;

[0037] Figure 7 A partial cross-sectional view of the robot arm head is shown. DETAILED DESCRIPTION

[0038] In order to enable those skilled in the art to better understand the present invention, the present invention is further described in detail below with reference to specific embodiments and the accompanying drawings.

[0039] The terms used in the present invention are those commonly used in the art in view of the functions of the present invention, but these terms may vary according to the intentions of those skilled in the art, precedents, or new technologies in the art. In addition, specific terms may be selected by the applicant, and in such cases, their detailed meanings will be described in the detailed description of the present invention. Therefore, the terms used in the specification should not be understood as simple names, but rather as the meanings of the terms and the overall description of the present invention.

[0040] Reference Figure 1 This embodiment provides an automatic bearing shoe picking device, including a working platform for supporting a robotic arm 11, and the robotic arm 11 is composed of multiple components such as a robotic arm base and a robotic arm middle section, and each component is driven by a robotic arm motor, so that the robotic arm 11 can bend and rotate along multiple angles, and satisfy the requirement of keeping the shape of the robotic arm fixed in an appropriate position, and have a certain supporting capacity.

[0041] A robotic arm head 12 is provided at one end of the robotic arm 11 away from the work platform, and the robotic arm 11 and the robotic arm head 12 are connected via a robotic arm motor, so that the robotic arm head 12 located at the end of the robotic arm 11 can rotate along the axis direction.

[0042] The end of the robot arm head 12 away from the robot arm 11 is connected to a connecting buckle 14 by a bolt, and the vertical projection of the connecting buckle 14 along the end face of the robot arm head 12 does not completely coincide with the robot arm head 12; the connecting buckle 14 is composed of a vertical part and a horizontal part, and the cross-section of the connecting buckle 14 is preferably an L-shaped structure.

[0043] Specifically, the vertical portion of the connecting buckle 14 is connected to the connecting portion 21 provided at the end of the scraper member 2, and the connecting buckle 14 and the connecting portion 21 are connected and fixed by bolts.

[0044] Furthermore, a limiting slot 211 is provided on the side arm of the connecting part 21, and the limiting slot 211 is adapted to the connecting buckle 14; during the connection between the connecting part 21 and the robotic arm head 12, the connecting buckle 14 is inserted into the limiting slot 211, and then the connecting buckle 14 is rotated so that the connecting part 21 can move synchronously.

[0045] It should be noted that the positive projection of the limit groove 211 along its end face is a "concave"-shaped structure, in which the heights of the slots on both sides of the limit groove 211 are not uniform; and the elastic member 13 is arranged inside the robotic arm head 12, one end of the elastic member 13 is connected to the inner arm of the robotic arm head 12, and the other end of the elastic member 13 is provided with a contact, and the contact is divided into a power connection contact and a signal connection contact.

[0046] Specifically, the end of the connecting portion 21 close to the robotic arm head 12 is provided with a guide column 212, and the end of the guide column 212 is provided with an insertion interface for contact matching; when the guide column 212 is inserted into the interior of the robotic arm head 12, the insertion interface at the end of the guide column 212 is adapted to the elastic member 131, and as the guide column 212 continues to extend, the elastic member 13 is gradually compressed, so that the elastic member 13 is in a compressed state.

[0047] During the connection process between the connecting part 21 and the robotic arm head 12, the connecting buckle 14 is inserted into the limiting groove 211, and the moving angle is rotated so that the connecting buckle 14 moves to the corresponding positioning groove position, and then the elastic part 13 releases the elastic potential energy, pushing the connecting part 21 to move away from the robotic arm head 12, so that the connecting buckle 14 is completely stuck in the positioning groove, and the side arm of the connecting buckle 14 conflicts with the arm inside the positioning groove, thereby fixing the position of the connecting buckle 14 and the connecting part 21; and then when the robotic arm head 12 moves, the scraper part 2 will also move synchronously with the robotic arm head 12.

[0048] As an optional embodiment, it includes a guide column 212 arranged on the end face of the connecting part 21, and a plug interface 2121 is provided at the end of the guide column 212 close to the robot arm head 12, and the plug interfaces 2121 are distributed in a circular array; the number of the plug interfaces 2121 is at least four, and two groups of the plug interfaces 2121 are power connection ports, and the other two groups of the plug interfaces 2121 are signal source plug interfaces.

[0049] A limiting groove 211 is provided on the side arm of the connecting part 21, and the limiting groove 211 includes a first notch 2111 and a positioning groove 2113. The first notch 2111 and the positioning groove 2113 are connected through a movable groove 2112. The projection of the limiting groove 211 in the front view direction is a "concave"-shaped structure, and its internal channel near the end of the first notch 2111 passes through the end of the connecting part 21, and the positioning groove 2113 does not pass through the end face of the connecting part 21 in the vertical direction.

[0050] In this embodiment, the connecting buckle 14 is a rectangular frame structure with an open side and through both ends, and the top position of the connecting buckle 14 is connected and fixed to the bottom of the robotic arm head 12 by bolts, and the side arms of the connecting buckle 14 extend outward to protrude from the position of the end of the robotic arm head 12.

[0051] In this embodiment, the elastic member 13 is preferably a spring, and the elastic member 13 includes a spring located in the middle and connecting plates located at both ends of the spring; one end of the connecting plate is fixed to the inner side of the robotic arm head 12 by bolts, and the other end of the connecting plate is arranged on the contact 131, and the contact 131 is connected to the power line and signal line inside the robotic arm 11.

[0052] Specifically, when the robot arm head 12 is connected to the scraper element 2, the position of the robot arm head 12 is adjusted by the robot arm 11 so that the robot arm head 12 corresponds to the connecting portion 21. At the same time, during the connection process, it is necessary to ensure that the positions of the plug interface 2121 and the contact 131 correspond to each other to ensure that the power interface and the signal interface are well connected. Then, the robot arm head 12 is controlled to move downward so that the depth of the connecting portion 21 immersed in the interior of the robot arm head 12 gradually increases. During the downward movement of the robot arm head 12, the elastic member 13 is gradually compressed. During the downward movement of the robot arm head 12, the connecting buckle 14 is pressed against the connecting portion 2121. The robot arm 12 enters the inner side of the movable groove 2112 through the first notch 2111, and then the robot arm head 12 drives the connecting buckle 14 to rotate, so that the connecting buckle 14 rotates to the position corresponding to the positioning groove 2113; when the connecting buckle 14 is located inside the positioning groove 2113, the connecting buckle 14 has space to move, and the elastic part 13 releases elastic potential energy to push the scraper part 2 to move away from the robot arm head 12, thereby moving the connecting buckle 14 to the inside of the positioning groove 2113. At this time, the side arm of the connecting buckle 14 conflicts with the inner arm of the positioning groove 2113, and the rotation of the robot arm head 12 can drive the connecting part 21 to rotate synchronously.

[0053] In an embodiment provided in the present application, the scraper member 2 also includes a support frame 22 and a roller 23, and the support frame 22 is installed at the bottom position of the connecting part 21, and the roller 23 includes a motor, a pulley transmission member and a rotating roller; when the robotic arm head 12 is connected to the connecting part 21, the opening and closing state of the roller 23 can be controlled by the control system.

[0054] Furthermore, the outer arm of the rotating roller of the drum 23 is also provided with a scraper 231, and the scraper 231 is in the shape of a dovetail; the scraper 231 provided on the outer side of the rotating roller can complete the embroidery processing of the inside of the bearing; and the mechanized processing equipment ensures the high efficiency of the embroidery processing of the bearing and the quality of the bearing processing.

[0055] In order to further avoid some iron filings remaining inside the bearing, the outer arm of the rotating roller is also provided with a cleaning brush 232, and the cleaning brush 232 rotates synchronously with the rotating roller; it can clean the iron filings generated by the bearing processing, thereby ensuring the quality of the bearing processing.

[0056] In this embodiment, in order to further improve the quality of bearing processing, a tool holder 15 is installed on the surface of the work platform, and the tool holder 15 can effectively support the grinding piece 3 and the scraping piece 2; and a positioning hole is opened on the surface of the tool holder 15, and the position of the grinding piece 3 and the scraping piece 2 can be effectively fixed through the positioning hole to ensure that the position of the robot arm head 12 is fixed each time it is installed.

[0057] Specifically, the structure of the grinding piece 3 is different from that of the scraping piece 2 mainly in the rotating roller. The grinding piece 3 is mainly used to process the inner diameter of the bearing before the pattern picking operation so that the inner diameter of the bearing meets the corresponding size of the turbine.

[0058] In this embodiment, the device for clamping the bearing includes a fixed bearing groove 41, and the interior of the fixed bearing groove 41 is filled with a new type of hot melt adhesive. After heating, the viscosity with the metal decreases, and it is easy to peel off. After solidification, the viscosity with the metal increases, and it is better fixed. The main function is to fix the bearing so that the bearing will not move during the pattern picking process.

[0059] When installing the bearing, the bearing is placed inside the hot melt adhesive 42, and then the hot melt adhesive 42 is quickly solidified by the refrigerator to ensure that the bearing is fixed inside the fixed groove 41; when the processing is completed, the heating plate 43 is started to heat the hot melt adhesive 42 into liquid, and then the bearing can be taken out from the hot melt adhesive 42.

[0060] Reference Figure 1 This embodiment provides a bearing positioning system, including a clamping member 4 for dynamically curing and releasing the bearing through hot melt adhesive 42; a scanning positioning module equipped with a laser scanner to generate a three-dimensional model of the bearing in real time, and filter the hot melt adhesive interference signal through an algorithm to accurately locate the bearing surface.

[0061] It should be noted that the heating plate is started to heat the hot melt adhesive in the fixed bearing groove to a liquid state; the bearing is placed vertically in the center of the groove, and the cooling device is started to solidify the hot melt adhesive to form a uniform coating.

[0062] Furthermore, the robotic arm drives the laser scanner to move along the bearing surface to generate a three-dimensional model and eliminate the hot melt adhesive signal; the host computer calculates the polishing / embroidery path based on the model data and synchronously calibrates the robotic arm coordinates.

[0063] The robotic arm picks up the polished part from the tool holder and performs surface treatment according to the planned path; after completion, it switches to the tile scraping part, performs the pattern picking operation, and removes debris in real time with a cleaning brush.

[0064] When in use, first assemble the various components of the device to the corresponding positions of the work platform, start the computer, and send instructions to the robotic arm 11 to automatically correct the positions of each rotating joint. After the robotic arm 11 completes the instructions, it sends instructions to heat the hot melt glue in the fixed tile groove 41 into liquid, and put the bearing shoe into the center position inside the fixed tile groove 41. The computer sends instructions to cool the hot melt glue in the fixed tile groove into a solid state.

[0065] After the bearing shoe is fixed, the feedback signal is sent to the computer, and the computer sends an instruction to let the robot arm 11 use the laser to automatically scan the bearing shoe. The program setting is: when the instruction is issued, the robot arm will automatically scan the hot melt glue plane of the fixed shoe groove. Because the refractive index of the laser hitting the hot melt glue is different from that hitting the bearing shoe, the computer can filter out part of the hot melt glue signal, directly receive the bearing shoe signal, and project the shoe surface model onto the computer software model. The staff can choose the pattern area independently. After receiving the bearing shoe model, the computer inputs the corresponding turbine shaft diameter. At this time, the robot arm 11 will pick up the grinding part 3, control the grinding part 3 positioning device to release, and start the grinding part 3 motor after reaching the top of the bearing shoe. Then, the bearing shoe surface is polished according to the turbine shaft diameter data to make the bearing shoe and the turbine shaft fit better. After polishing, the robot arm 11 places the grinding part 3 on the fixed position of the tool holder 15, and then picks up the scraping shoe 2, and scrapes the bearing shoe through the brush 232 on the scraping shoe 2. Cleaning is carried out. After cleaning, the scraper 2 is placed in the fixed position of the tool holder 15. The robot arm 11 reads the tile surface model again through the laser. If the tile surface model does not meet the requirements of the turbine main shaft bearing, the tile surface will continue to be polished. If it meets the requirements, the robot arm will pick up the scraper 2 again and use the scraper 2 to pick the bearing bearing. After the picking operation is completed, the robot arm 11 uses the brush to clean the tile surface again. When the tile surface is more than 5mm away, the robot arm places the scraper 2 in the fixed position of the tool holder 15 after cleaning. Then, the tile surface model information is read by the laser. If the tile surface does not meet the requirements, the robot arm continues to pick up the scraper 2 and pick the parts that do not meet the requirements. When the tile surface meets the requirements, the robot arm 11 returns to its initial position. The computer gives a command to heat the fixed tile groove. When the hot melt adhesive becomes liquid, the heating stops and the staff is prompted. The staff takes out the tile and the picking operation is completed.

[0066] Finally, it should be pointed out that the methods and devices described in detail above are merely embodiments, and those skilled in the art can modify these embodiments in different ways without departing from the scope of the present invention.

[0067] It is important to note that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. An automatic bearing shoe picking device, characterized by: include, A robotic arm (11) is installed above the work platform, and the end of the robotic arm (11) is connected to a robotic arm head (12); An elastic member (13) is arranged inside the robotic arm head (12), and a connecting buckle (14) is provided at the end of the robotic arm head (12). A scraper tile member (2) is connected to the robot arm head (12) via the connecting buckle (14), the scraper tile member (2) comprises a connecting portion (21), and a side arm of the connecting portion (21) is provided with a limiting groove (211) adapted to the connecting buckle (14); The elastic member (13) can push the connecting portion (21) away from the robotic arm head (12), thereby enabling the connecting buckle (14) to be closely attached to the inner arm of the limiting groove (211).

2. The automatic bearing shoe streaking device according to claim 1, characterized in that: The end surface of the connecting portion (21) is provided with a guide column (212); The elastic member (13) is provided with a contact (131) near the end of the guide column (212); The end surface of the guide column (212) is provided with an inserting interface (2121), and the inserting interface (2121) is adapted to the contact (131).

3. The automatic bearing shoe streaking device according to claim 2, characterized in that: The limiting groove (211) comprises a first notch (2111) and a positioning groove (2113), and a movable groove (2112) connecting the first notch (2111) and the positioning groove (2113); The first notch (2111) passes through the end surface of the connecting portion (21); The horizontal portion of the cross section of the connecting buckle (14) is perpendicular to the vertical portion.

4. The automatic bearing shoe embroidery device according to claim 3, characterized in that: The connecting buckle (14) enters the inner side of the movable groove (2112) along the first notch (2111); The connecting buckle (14) rotates along the inner track of the moving groove (2112) to a position corresponding to the positioning groove (2113); The elastic member (13) can push the scraper member (2) to move along the axial direction of the connecting portion (21), thereby enabling the horizontal portion of the connecting buckle (14) to be snapped into the inner side of the positioning groove (2113).

5. The automatic bearing shoe embroidery device according to claim 4, characterized in that: The scraper element (2) further comprises a support frame (22) arranged at the bottom of the connecting portion (21), and a roller (23) arranged inside the support frame (22); The outer circumferential arm of the roller (23) is provided with a scraper (231) and a cleaning brush (232).

6. The automatic bearing shoe embroidery device according to claim 5, characterized in that: Also includes, A tool support (15) is mounted on the upper surface of the work platform, and a grinding piece (3) is placed on the tool support (15); The grinding piece (3) and the scraping piece (2) can be alternately connected to the robot arm head (12).

7. The automatic bearing shoe embroidery device according to claim 6, characterized in that: A positioning hole is provided on the upper surface of the tool holder (15), so that the scraping tile member (2) and the grinding member (3) can be positioned at a fixed position on the tool holder (15).

8. The automatic bearing shoe embroidery device according to claim 7, characterized in that: Also includes, A clamping member (4) is mounted on the upper surface of the workbench, wherein the clamping member (4) comprises a fixed tile groove (41), wherein the fixed tile groove (41) is a rectangular structure with an open top, and the interior of the fixed tile groove (41) is filled with hot melt adhesive (42); A heating plate (43) is provided on the inner side of the bottom of the fixed tile groove (41).

9. A bearing positioning system, characterized in that: include, A clamping member (4) for dynamically curing and releasing the bearing bushing via hot melt adhesive (42); The scanning and positioning module is equipped with a laser scanner to generate a three-dimensional model of the bearing in real time, and uses an algorithm to filter the hot melt adhesive interference signal to accurately locate the bearing surface.

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