Bearing machining mechanical arm

Abstract

The invention relates to the technical field of bearing machining equipment, in particular to a bearing machining mechanical arm which comprises a vertical driving assembly and a horizontal driving assembly installed on the vertical driving assembly. The movable arm is mounted on the horizontal driving assembly; the clamping jaw is mounted at one end of the movable arm; the driving assembly is installed on the movable arm and the horizontal driving assembly and used for controlling the clamping jaw to be opened and closed; a clamping station and a releasing station are formed in the process that the driving assembly slides on the horizontal driving assembly along with the movable arm. The device has the advantages of being simple in structure and low in equipment cost.

Description

Technical Field

[0001] This application relates to the technical field of bearing processing equipment, and in particular to a bearing processing robotic arm. Background Technology

[0002] Bearing manufacturing is a complex and delicate process involving numerous steps, with the forging operation in the rough machining stage being particularly crucial. Through multiple forging processes, the bearing is initially shaped, establishing its basic shape and dimensions, laying a solid foundation for subsequent precision machining. Currently, in the bearing rough machining process, the transfer and handling of materials between multiple forging steps are generally done manually. While this traditional operating mode offers some flexibility, it also presents the most significant safety risks. Throughout the rough machining process, the castings used for forging remain at high temperatures, posing a significant potential threat to the operators.

[0003] With the development of industrial automation technology, robotic arms are increasingly being applied to various production scenarios, theoretically effectively solving the safety hazards associated with manual operation. However, for most machine shops, the high cost of using robotic arms remains a significant obstacle. The purchase price of robotic arms is substantial, and the installation, commissioning, daily maintenance, and training of professional operators also require substantial investment. This prevents many relatively small-scale machine shops with limited profit margins from introducing robotic arms to replace manual operations in the rough machining of bearings due to economic factors. Summary of the Invention

[0004] To address the aforementioned technical problems, this application provides a bearing processing robotic arm.

[0005] This application provides a bearing processing robotic arm, which adopts the following technical solution: A bearing processing robotic arm, comprising: Vertical drive components, and A horizontal drive assembly is mounted on the vertical drive assembly; The movable arm is mounted on the horizontal drive assembly; A gripper is mounted on one end of the movable arm; A drive assembly, mounted on the movable arm and the horizontal drive assembly, is used to control the opening and closing of the gripper; The drive assembly forms a clamping station and a release station as the movable arm slides on the horizontal drive assembly.

[0006] In one embodiment, the gripper includes a movable seat slidably mounted on the movable arm, a clamping rod rotatably mounted on the movable arm, a connecting rod whose two ends are respectively rotatably connected to the movable seat and the clamping rod, and a transmission rod connected to the drive assembly.

[0007] In one embodiment: the drive assembly includes a gripper drive fixed to the transmission rod, an energy storage component for pushing the gripper drive, a reset spring for resetting the gripper drive, and a linkage component for controlling the movement of the energy storage component and the drive component. In the initial state, the energy storage component is engaged with the movable arm. When the movable arm moves to the clamping position on the horizontal drive assembly, the linkage component releases the engagement between the energy storage component and the movable arm. The energy storage component releases and drives the gripper drive to move, controlling the gripper to complete the clamping action, and the gripper drive is engaged with the movable arm. Before the movable arm moves to the release position on the horizontal drive assembly, the linkage component drives the energy storage component to move and re-store energy. When the movable arm moves to the release position on the horizontal drive assembly, the linkage component releases the engagement between the gripper drive and the movable arm. The reset spring drives the gripper drive to reset, controlling the gripper to complete the release. During the resetting process of the movable arm, the gripper drive and the energy storage component move synchronously with the movable arm.

[0008] In one embodiment: the gripper drive includes a fixed block fixedly mounted on the transmission rod, a first slider movably mounted on the fixed block, and a first elastic member that keeps the first slider extending out of the fixed block, and the movable arm is provided with a first wedge-shaped locking block for engaging the first slider.

[0009] In one embodiment: the energy storage component includes a movable block slidably mounted on the transmission rod, a second slider movably mounted on the movable block, a second elastic member for keeping the second slider extended out of the movable block, and an energy storage spring mounted between the movable block and the movable arm, wherein the movable arm is provided with a second wedge-shaped locking block for engaging the second slider.

[0010] In one embodiment: a transmission spring is provided between the fixed block and the movable block, and when the device is in the clamping position, the elastic force of the energy storage spring is greater than that of the reset spring.

[0011] In one embodiment: the linkage includes a first unlocking member for compressing a first slider, a second unlocking member for compressing a second slider, and a reset member for resetting an energy storage member, wherein the first unlocking member, the second unlocking member, and the reset member are all mounted on the horizontal drive assembly.

[0012] In one embodiment: the second unlocking element is movably mounted on the horizontal drive assembly, and when the movable arm is reset on the horizontal drive assembly, the second slider pushes the second unlocking element to move.

[0013] In one embodiment, the second unlocking element is connected to the horizontal drive component via a flexible hinge.

[0014] In summary, this application has the following advantages: it completes the clamping and releasing actions by simply driving the gripper to move horizontally and vertically, thus completing the clamping and releasing of the bearing casting. The drive is simple and the equipment cost is low. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the bearing processing robotic arm in this embodiment; Figure 2 This is a schematic diagram of the gripper structure in the bearing processing robot arm of this embodiment; Figure 3 This is a cross-sectional view of the bearing processing robot arm in this embodiment; Figure 4 This is a schematic diagram of the drive assembly in the bearing processing robotic arm of this embodiment; Figure 5 This is a schematic diagram of the gripper drive component in the bearing processing robotic arm of this embodiment; Figure 6 This is a schematic diagram of the energy storage component in the bearing processing robotic arm of this embodiment; Figure 7 This is a schematic diagram of the horizontal drive assembly in the bearing processing robotic arm of this embodiment; Figure 8 yes Figure 7 Enlarged view of part A; Figure 9 This is a state diagram of the clamping station in the bearing processing robot arm of this embodiment.

[0016] In the diagram, 100 is the vertical drive assembly; 200 is the horizontal drive assembly; 300 is the movable arm; 310 is the guide rod; 400 is the gripper; 410 is the movable seat; 420 is the linkage rod; 430 is the clamping rod; 440 is the transmission rod; 500 is the drive assembly; 510 is the gripper drive component; 511 is the fixed block; 512 is the first slider; 513 is the first elastic component; 514 is the first wedge-shaped locking block; 520 is the energy storage component; 521 is the movable block; 522 is the second slider; 523 is the second elastic component; 524 is the second wedge-shaped locking block; 530 is the return spring; 540 is the linkage component; 541 is the first unlocking component; 542 is the second unlocking component; 543 is the return component; 544 is the elastic hinge; 550 is the energy storage spring; and 560 is the transmission spring. Detailed Implementation

[0017] To further illustrate the technical means and effects of the present invention in achieving its intended purpose, the following detailed description of the specific implementation methods, structures, features, and effects of the present invention, in conjunction with the accompanying drawings and preferred embodiments, is provided below.

[0018] In the description of this application, it should be understood that the terms "upper", "lower", "left", "right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0019] A bearing processing robotic arm, such as Figure 1 and Figure 3 As shown, the system includes a vertical drive assembly 100, a horizontal drive assembly 200, a movable arm 300, a gripper 400, and a drive assembly 500. The vertical drive assembly 100 is used to drive the horizontal drive assembly 200 to move up and down. The movable arm 300 is mounted on the horizontal drive assembly 200 to realize the horizontal movement of the movable arm 300. In this embodiment, both the vertical drive assembly 100 and the horizontal drive assembly 200 adopt a high-precision screw and slider structure to ensure that the robotic arm can be placed in the accurate processing position when feeding materials.

[0020] In this embodiment, since the movable arm 300 is relatively long, the drive motor and lead screw between the horizontal drive assembly 200 and the movable arm 300 are installed at one end of the movable arm 300, the gripper 400 is installed at the other end of the movable arm 300, and multiple sliders that cooperate with the lead screw are provided and installed on the horizontal drive assembly 200.

[0021] like Figure 2 As shown, the gripper 400 includes a movable seat 410 slidably mounted on the movable arm 300, a gripping rod 430 rotatably mounted on the movable arm 300, a connecting rod 420 whose two ends are respectively rotatably connected to the movable seat 410 and the gripping rod 430, and a transmission rod 440 connected to the drive assembly 500. There are two gripping rods 430 arranged symmetrically, and the opening and closing of the gripper 400 is achieved by the synchronous rotation of the two gripping rods 430 on the movable arm 300.

[0022] like Figure 3 , Figure 4 and Figure 7 As shown, the drive assembly 500 is mounted on the movable arm 300 and the horizontal drive assembly 200 to control the opening and closing of the gripper 400. During the sliding motion of the movable arm 300 on the horizontal drive assembly 200, the drive assembly 500 forms a clamping position and a releasing position. In this embodiment, the drive assembly 500 includes a gripper drive member 510 fixed to the transmission rod 440, an energy storage member 520 for pushing the gripper drive member 510, a reset spring 530 for resetting the gripper drive member 510, and a linkage member 540 for controlling the movement of the energy storage member 520 and the drive member.

[0023] For details, please refer to the appendix. Figure 4 and Figure 5The gripper drive component 510 includes a fixed block 511 fixedly mounted on the transmission rod 440, a first slider 512 movably mounted on the fixed block 511, and a first elastic member 513 that keeps the first slider 512 extending out of the fixed block 511. The movable arm 300 is provided with a first wedge-shaped locking block 514 for engaging the first slider 512. To achieve the installation of the fixed block 511, a threaded section can be provided on the transmission rod 440, and the fixed block 511 can be fixed by two bolts installed on the threaded section.

[0024] A guide rod 310 is also provided on the inner side wall of the movable arm 300. The fixed block 511 is slidably installed on the guide rod 310. The return spring 530 is sleeved on the guide rod 310 and one end abuts against the fixed block 511. When the fixed block 511 is not under any other force, the gripper 400 is controlled to open by the tendency force of the return spring 530.

[0025] The first slider 512 extends under the action of the first elastic member 513. During the clamping process of the fixed block 511 driving the transmission rod 440 to control the gripper 400, the first slider 512 can compress the first elastic member 513 and contract through the wedge-shaped surface of the first wedge-shaped locking block 514, allowing the gripper drive member 510 to pass through the first wedge-shaped locking block 514. However, when the fixed block 511 is only subjected to the tendency force of the return spring 530, the first slider 512 will abut against the first wedge-shaped locking block 514 to form a locking with the movable arm 300, keeping the gripper 400 in a clamping position. Preferably, the first wedge-shaped locking block 514 can be designed to be position-adjustable, so that the opening size required for the gripper 400 to clamp can be adjusted by adjusting the first wedge-shaped locking block 514.

[0026] See attached document Figure 4 and Figure 6 The structure of the energy storage component 520 is similar to that of the gripper drive component 510. It includes a movable block 521 slidably mounted on the transmission rod 440, a second slider 522 movably mounted on the movable block 521, a second elastic member 523 that keeps the second slider 522 extending out of the movable block 521, and an energy storage spring 550 installed between the movable block 521 and the movable arm 300. The movable arm 300 is provided with a second wedge-shaped locking block 524 for locking the second slider 522.

[0027] The movable block 521 is synchronously slidably mounted on the guide rod 310, and the energy storage spring 550 is sleeved on the guide rod 310, with one end of the energy storage spring 550 abutting against the movable block 521 and the other end abutting against the movable arm 300. When the movable block 521 is engaged with the second wedge-shaped locking block 524 by the second slider 522, the energy storage spring 550 is in a compressed state. Therefore, when the second slider 522 is compressed and released from the locking state, the movable block 521 will move towards the fixed block 511 under the action of the energy storage spring 550.

[0028] A transmission spring 560 is sleeved on the guide rod 310 between the fixed block 511 and the movable block 521. It should be noted that, preferably, when the movable block 521 is engaged with the second wedge-shaped block 524 by the second slider 522, the transmission spring 560 is in a natural state without force, or the tendency force formed by its compression is less than that of the return spring 530. In this way, it is ensured that the gripper 400 can open to the maximum extent.

[0029] Furthermore, when the energy storage spring 550 is released, the movable block 521 pushes the return spring 530 against the fixed block 511. During this process, the return spring 530 compresses while moving the fixed block 511, and the force released by the energy storage spring 550 can drive the fixed block 511, allowing the first slider 512 to engage with the movable arm 300 via the first wedge-shaped locking block 514. In other words, when in the clamping position, the elastic force of the energy storage spring 550 is greater than that of the return spring 530.

[0030] In addition, to ensure the stability of the clamping, that is, to prevent the fixed block 511 from moving slightly when the movable block 521 is reset, which would cause the clamping to become unstable, the side of the first wedge-shaped locking block 514 used for locking can be set as a stepped structure.

[0031] See attached document Figure 7 and attached Figure 8 The linkage 540 includes a first unlocking member 541 for compressing the first slider 512, a second unlocking member 542 for compressing the second slider 522, and a reset member 543 for resetting the energy storage member 520. The first unlocking member 541, the second unlocking member 542 and the reset member 543 are all installed on the horizontal drive assembly 200, and the reset member 543 is located between the first unlocking member 541 and the second unlocking member 542.

[0032] Both the first unlocking member 541 and the second unlocking member 542 are wedge-shaped. The wedge-shaped surface on one side pushes the first slider 512 and the second slider 522 to compress and release the jamming.

[0033] In addition, since the second unlocking member 542 needs to pass through the second slider 522 again when the horizontal drive assembly 200 is reset, in order to enable it to pass through normally and not compress the second slider 522 again, in this embodiment the second unlocking member 542 is movably installed on the horizontal drive assembly 200, so that when the movable arm 300 is reset on the horizontal drive assembly 200, the second slider 522 can push the second unlocking member 542 to move in the opposite direction.

[0034] Specifically, the second unlocking member 542 is connected to the horizontal drive assembly 200 via an elastic hinge 544. When the second unlocking member 542 resets and passes the second slider 522, the second unlocking member 542 can be driven to flip. After passing the second slider 522, it is reset by the torsion spring on the elastic hinge 544.

[0035] In addition, to prevent the second unlocking member 542 and the reset member 543 from contacting the first slider 512, the length of the first slider 512 is designed to be smaller than that of the second slider 522, so that the second unlocking member 542 and the reset member 543 can only contact the second slider 522 and not the first slider 512.

[0036] Working principle: In the initial state, such as Figure 3 and Figure 4 As shown, the energy storage component 520 is engaged with the movable arm 300, and the gripper drive component 510 keeps the gripper 400 in the open state under the action of the return spring 530.

[0037] like Figure 9 As shown, when the movable arm 300 moves to the clamping position on the horizontal drive assembly 200, the second unlocking member 542 releases the energy storage member 520 from engaging with the movable arm 300. The energy storage member 520 releases and drives the gripper drive member 510 to move and control the gripper 400 to complete the clamping action, and the gripper drive member 510 completes engagement with the movable arm 300.

[0038] Before the movable arm 300 continues to move on the horizontal drive assembly 200 to the release station, the reset component 543 will drive the energy storage component 520 to move and re-store energy until the energy storage component 520 and the movable arm 300 are re-engaged.

[0039] When the movable arm 300 moves to the release position on the horizontal drive assembly 200, the second unlocking member 542 will release the clamping connection between the gripper drive member 510 and the movable arm 300, and the reset spring 530 will drive the gripper drive member 510 to reset, controlling the gripper 400 to open and complete the release.

[0040] Finally, during the reset process of the movable arm 300, the gripper drive unit 510 and the energy storage unit 520 move and reset synchronously with the movable arm 300.

[0041] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. A bearing processing robotic arm, characterized in that, include: Vertical drive assembly (100), and A horizontal drive assembly (200) is mounted on the vertical drive assembly (100). The movable arm (300) is mounted on the horizontal drive assembly (200); A gripper (400) is mounted on one end of the movable arm (300); A drive assembly (500), mounted on the movable arm (300) and the horizontal drive assembly (200), is used to control the opening and closing of the gripper (400); The drive assembly (500) forms a clamping station and a release station as the movable arm (300) slides on the horizontal drive assembly (200).

2. The bearing processing robotic arm according to claim 1, characterized in that: The gripper (400) includes a movable seat (410) slidably mounted on the movable arm (300), a clamping rod (430) rotatably mounted on the movable arm (300), a connecting rod (420) whose two ends are rotatably connected to the movable seat (410) and the clamping rod (430) respectively, and a transmission rod (440) connected to the drive assembly (500).

3. The bearing processing robotic arm according to claim 2, characterized in that: The drive assembly (500) includes a gripper drive (510) fixed to the transmission rod (440), an energy storage component (520) for pushing the gripper drive (510), a reset spring (530) for resetting the gripper drive (510), and a linkage component (540) for controlling the movement of the energy storage component (520) and the drive component. In the initial state, the energy storage component (520) is engaged with the movable arm (300). When the movable arm (300) moves to the clamping position on the horizontal drive assembly (200), the linkage component (540) releases the engagement between the energy storage component (520) and the movable arm (300), and the energy storage component (520) releases, driving the gripper drive (510) to move and control the gripper (400) to complete the clamping. The action is performed, and the gripper drive (510) engages with the movable arm (300); before the movable arm (300) moves to the release position on the horizontal drive assembly (200), the linkage (540) drives the energy storage component (520) to move and re-store energy; when the movable arm (300) moves to the release position on the horizontal drive assembly (200), the linkage (540) releases the gripper drive (510) from the movable arm (300), and the reset spring (530) drives the gripper drive (510) to reset, controlling the gripper (400) to complete the release; during the reset process of the movable arm (300), the gripper drive (510) and the energy storage component (520) move synchronously with the movable arm (300).

4. The bearing processing robotic arm according to claim 3, characterized in that: The gripper drive (510) includes a fixed block (511) fixedly mounted on the transmission rod (440), a first slider (512) movably mounted on the fixed block (511), and a first elastic member (513) that keeps the first slider (512) extending out of the fixed block (511). The movable arm (300) is provided with a first wedge-shaped locking block (514) for engaging the first slider (512).

5. The bearing processing robotic arm according to claim 4, characterized in that: The energy storage component (520) includes a movable block (521) slidably mounted on the transmission rod (440), a second slider (522) movably mounted on the movable block (521), a second elastic element (523) that keeps the second slider (522) extending out of the movable block (521), and an energy storage spring (550) mounted between the movable block (521) and the movable arm (300). The movable arm (300) is provided with a second wedge-shaped locking block (524) for engaging the second slider (522).

6. The bearing processing robotic arm according to claim 5, characterized in that: A transmission spring (560) is provided between the fixed block (511) and the movable block (521). When the device is in the clamping position, the elastic force of the energy storage spring (550) is greater than that of the reset spring (530).

7. The bearing processing robotic arm according to claim 5 or 6, characterized in that: The linkage (540) includes a first unlocking member (541) for compressing the first slider (512), a second unlocking member (542) for compressing the second slider (522), and a reset member (543) for resetting the energy storage member (520). The first unlocking member (541), the second unlocking member (542) and the reset member (543) are all mounted on the horizontal drive assembly (200).

8. The bearing processing robotic arm according to claim 7, characterized in that: The second unlocking member (542) is movably mounted on the horizontal drive assembly (200). When the movable arm (300) is reset on the horizontal drive assembly (200), the second slider (522) pushes the second unlocking member (542) to move.

9. The bearing processing robotic arm according to claim 8, characterized in that: The second unlocking component (542) is connected to the horizontal drive assembly (200) via a flexible hinge (544).

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