A material loading and unloading conveyor for bearing housing production

Abstract

This invention discloses a loading and unloading conveying device for bearing housing production, belonging to the technical field of bearing housing production equipment. It aims to solve the problems of low loading and unloading efficiency, poor positioning accuracy, and low automation in traditional bearing housing manufacturing. The device includes a clamping device, a gripping device, a flipping device, bearing housing fixtures, a first robotic arm, and a controller. The clamping device is located within the flipping device, enabling stable clamping and precise 180° rotation of the bearing housing. The gripping device comes in two forms: a robotic arm and a propulsion mechanism, adapting to different efficiency requirements. The bearing housing fixtures enable simultaneous placement and positioning of multiple bearing housings, working in conjunction with the gripping device to complete batch loading. The controller serves as the core, realizing the linkage control of all devices. This device can achieve fully automated loading and unloading of bearing housings from the first to the second process, processing multiple bearing housings in a single batch. It features high positioning accuracy, stable clamping, and significantly improves the degree of automation and processing efficiency, making it suitable for batch production of various bearing housings.

Description

Technical Field

[0001] This invention belongs to the technical field of bearing housing production equipment, specifically relating to a material loading and unloading conveying device for bearing housing production. It is suitable for fully automatic material loading and unloading operations in the bearing housing production process and can realize batch gripping, flipping, positioning and transfer of bearing housings. Background Technology

[0002] Bearing housings are core components in mechanical equipment, widely used in metallurgy, mining, chemical engineering, and construction machinery. The degree of automation and efficiency in their production directly affects the cycle time of the entire equipment manufacturing production line. In the traditional production process of bearing housings, from the completion of the first processing step to the material loading stage of the second step, manual or semi-automatic loading and unloading methods are mostly used, which have many technical drawbacks: 1. Manual loading and unloading requires operators to manually remove the bearing housings processed in the first process and place them on the processing table for the second process. Some bearing housings need to be rotated 180° for secondary processing after processing. Manual rotation is not only labor-intensive, but also prone to rotation angle deviation, resulting in low positioning accuracy in the second process and affecting the processing quality of the bearing housings. At the same time, manual operation can only operate one bearing housing at a time, resulting in extremely low loading and unloading efficiency, which cannot meet the needs of batch production. In addition, manual operation poses a safety hazard of hand injury from machine tools.

[0003] 2. Existing semi-automatic loading and unloading equipment mostly uses a single robotic arm to grasp and transfer bearing seats. Although the method of the robotic arm grasping the bearing seats one by one improves the level of automation to a certain extent, the grasping efficiency is still low. Moreover, the existing equipment lacks a dedicated clamping device and a flipping device, resulting in poor clamping stability of the bearing seats. During the transfer and flipping process, the bearing seats are prone to falling off or shifting. At the same time, the flipping angle of the flipping device cannot be precisely controlled, often resulting in incomplete or excessive flipping, requiring manual adjustment, thus failing to achieve truly fully automatic operation.

[0004] 3. Existing bearing housing tooling is mostly a simple storage chassis without a dedicated limiting mechanism. When the bearing housing is placed, it is easy for the position to shift, resulting in the failure of the robotic arm to grasp it. In addition, there is a lack of linkage design between the tooling and the loading and unloading equipment, which makes it impossible to realize the synchronous loading of batches of bearing housings, further limiting the improvement of loading and unloading efficiency.

[0005] 4. The existing loading and unloading conveying devices are independent of each other, and there is no unified controller to achieve linkage control. There is a time difference in the action connection of each device, and there is a lack of accurate positioning detection devices. It is impossible to sense the working status of the device and the position information of the bearing seat in real time, resulting in low fault tolerance, high equipment failure rate and high maintenance cost in the entire loading and unloading process.

[0006] To address the aforementioned technical issues, there is an urgent need to develop a high degree of automation, fast gripping efficiency, strong clamping stability, and high positioning accuracy for the production of bearing housings. This would enable fully automated, batch loading and unloading operations of bearing housings from the first to the second process, thereby improving the production efficiency and quality of bearing housings. Summary of the Invention

[0007] To address the shortcomings of the existing technology, this invention provides a material handling and conveying device for bearing housing production. This device solves the technical problems of low gripping efficiency, poor clamping stability, low positioning accuracy, and low automation in the traditional bearing housing loading and unloading process. It enables batch gripping, precise flipping, stable clamping, and fully automatic transfer of bearing housings, thereby improving the automation level and processing efficiency of bearing housing production.

[0008] The lateral direction mentioned in this specification refers to the horizontal direction parallel to the axis of the flipping shaft (330); the 180° lateral rotation refers to the clamping device (100) being rotated 180° in the vertical plane with the flipping shaft (330) as the rotation center.

[0009] To achieve the above-mentioned objectives, the present invention adopts the following technical solution: An up-and-down material conveying device for bearing housing production, comprising a clamping device 100, a grasping device 200, a flipping device 300, a bearing housing tooling 400, a first robotic arm 500, a controller 600, a first positioning device 700 and a second positioning device 800; the clamping device 100 is arranged inside the flipping device 300, and under the drive of the flipping device 300, the clamping device 100 can achieve a 180° lateral rotation; the grasping device 200 can transfer the bearing housing 900 from the bearing housing tooling 400 to the clamping device 100, and the grasping device 200 has two implementation forms, namely a second robotic arm 210 and a propulsion mechanism 220, which are adapted to different production efficiency and cost requirements; the first robotic arm 500 is a robotic arm device with six or more degrees of freedom, which is relatively independently arranged, and transfers the bearing housing 900 from the clamping device 100 to the processing table of the second process through a grasping action; the clamping device 100 consists of a clamping hand 110 and a clamping drive 120, and the clamping hand 110 is controlled by the clamping drive 120 to expand and contract to complete the clamping and release of the bearing housing 900; the first positioning device 700 is arranged on the flipping device 300 and is electrically connected to the controller 600 for sensing the flipping posture and flipping angle of the flipping device 300; the second positioning device 800 consists of multiple limit sensors 810, is electrically connected to the controller 600, and is arranged inside the clamping hand 110 for sensing the clamping position of the bearing housing 900; the bearing housing tooling 400 can synchronously place and limit 4 bearing housings 900, and corresponds one-to-one with the number of clamping hands 110 of the clamping device 100; the controller 600 is electrically connected to the clamping device 100, the grasping device 200, the flipping device 300, the first robotic arm 500, the first positioning device 700 and the second positioning device 800. As the core of the whole device, it realizes the linkage control and action connection of each device.

[0010] Further, the clamping hand 110 includes a clamping rod 111 and an elastic clamping head 112. The elastic clamping head 112 is fixedly arranged at the front end position of the clamping rod 111. The clamping rod 111 is a deformed structure of a rack, which is integrally formed and combined by a rack body 1111 and a grasping rod 1112. The rack body 1111 is传动连接 to the power output end of the clamping drive 120. The clamping drive 120 drives the clamping rod 111 to achieve lateral contraction and expansion through rack transmission, and further drives the elastic clamping head 112 to complete the clamping of the bearing housing 900; the elastic clamping head 112 is made of rubber or soft plastic material, and the end face in contact with the bearing housing 900 is provided with anti-slip lines, which can effectively increase the longitudinal friction force between the clamping and the bearing housing 900, and avoid the bearing housing 900 from falling off or shifting during the clamping, flipping and transfer processes, and improve the clamping stability.

[0011] It should be noted that there is an error in the original text where "齿条本体1111与夹紧驱动120的动力输出端传动连接" is incomplete. I have translated it as "传动连接" according to the context, but it may need to be further corrected according to the accurate technical content.Furthermore, the clamping drive 120 can be implemented in two ways: a mechanical transmission structure using a motor 130 and a gear 140, or a pneumatic drive structure. If a mechanical transmission structure using a motor 130 and a gear 140 is adopted, the output end of the motor 130 is fixedly connected to the gear 140, and the gear 140 meshes with the rack body 1111 of the clamping rod 111. The motor 130 drives the clamping rod 111 to achieve lateral movement through the rack and pinion transmission. If a pneumatic drive structure is adopted, the clamping drive 120 includes a pneumatic pump 121 and a pneumatic drive rod 122. The pneumatic pump 121 is connected to the pneumatic drive rod 122, and the pneumatic drive rod 122 is fixedly connected to the clamping rod 111 of the clamping hand 110. The pneumatic pump 121 provides power to the pneumatic drive rod 122, enabling the extension and retraction of the pneumatic drive rod 122, which in turn drives the clamping hand 110 to complete the expansion and contraction actions. Both structures can achieve precise control of the clamping hand 110 and are adaptable to different air source and power conditions in the production site.

[0012] Furthermore, the flipping device 300 includes a flipping drive 310, a flipping table 320, and a flipping shaft 330. The flipping drive 310 is electrically connected to the controller 600, and the output end of the flipping drive 310 is axially fixedly connected to the flipping shaft 330. The flipping shaft 330 is set horizontally at the axial center of the flipping table 320 and passes through the entire flipping table 320. The flipping drive 310 is a servo motor, which can achieve precise angle control. The flipping shaft 330 drives the flipping table 320 to achieve a 180° horizontal rotation, which in turn drives the clamping device 100 set inside the flipping table 320 to complete synchronous rotation, thereby realizing a 180° vertical flipping of the bearing seat 900 to meet the processing posture requirements of the second process.

[0013] Furthermore, the first positioning device 700 can be implemented in two forms: a gyroscope or a position sensor. If it is a gyroscope, it is directly installed on the side wall of the flipping platform 320. By sensing the angular velocity, rotation angle, and spatial attitude of the flipping platform 320, it transmits the flipping signal to the controller 600 in real time. When the flipping platform 320 rotates to 180°, the controller 600 sends a stop signal, and the flipping drive 310 stops rotating, realizing non-contact precise positioning of the flipping device 300. If it is a position sensor, a contact limit switch is used and set at the end point of the rotation stroke of the flipping device 300. When the flipping platform 320 rotates to 180° and contacts the position sensor, the position sensor sends a sensing signal to the controller 600. The controller 600 drives the flipping drive 310 to stop, realizing contact-type positioning detection of the flipping device 300. Both positioning methods can achieve precise positioning and stopping of the flipping device 300, and the positioning accuracy error can be controlled within ±0.5°.

[0014] Furthermore, the second positioning device 800 consists of four limit sensors 810, which correspond one-to-one with the four limit mechanisms 410 of the single-row tooling. Each limit sensor 810 is respectively set in the inner clamping area of ​​the clamping hand 110. The limit sensor 810 adopts a diffuse reflection photoelectric sensor, and the detection distance can be adjusted to 2cm. When the bearing seat 900 is transferred to the clamping area of ​​the clamping hand 110 and approaches the limit sensor 810 to within 2cm, the limit sensor 810 sends a sensing signal to the controller 600. The controller 600 immediately drives the clamping drive 120 to move, causing the clamping hand 110 to retract and complete the clamping of the bearing seat 900, thereby achieving precise clamping and positioning of the bearing seat 900 and avoiding the problem of insecure clamping caused by the positional deviation of the bearing seat 900.

[0015] Furthermore, the gripping device 200 is implemented in two forms: a second robotic arm 210 and a propulsion mechanism 220. Both forms can realize the transfer of the bearing housing 900 from the bearing housing fixture 400 to the clamping device 100, adapting to different production efficiency and equipment cost requirements. 1. When the gripping device 200 is the second robotic arm 210, the second robotic arm 210 is a robotic arm device with six degrees of freedom or more, and is electrically connected to the controller 600. The execution end of the second robotic arm 210 is equipped with a robotic hand 211. The gripping structure of the robotic hand 211 is the same as that of the clamping hand 110, which can realize the precise gripping of a single bearing seat 900. The controller 600 pre-sets the gripping path. The second robotic arm 210 grips the four bearing seats 900 on the bearing seat fixture 400 one by one according to the preset path, and transfers them to the gripping area of ​​the four clamping hands 110 of the clamping device 100 in sequence. After each bearing seat 900 is in place, the second positioning device 800 triggers the clamping action. The advantage of this form is that the gripping accuracy is extremely high and there is no risk of mechanical collision. It is suitable for small-batch, high-precision bearing seat 900 production scenarios with high gripping accuracy requirements. The disadvantage is that the efficiency of gripping one by one is relatively low and the equipment purchase cost is high.

[0016] 2. When the gripping device 200 is a propulsion mechanism 220, the propulsion mechanism 220 is located at the bottom of the bearing housing fixture 400 and consists of a drive motor 221, a drive gear 222, and a drive rack 223. The drive motor 221 is electrically connected to the controller 600, and the output shaft of the drive motor 221 is fixedly connected to the drive gear 222. The drive gear 222 and the drive rack 223 are meshed together, and the drive rack 223 is fixedly connected to the bottom of the bearing housing fixture 400. The controller 600 drives the drive motor 221 to rotate, and through the meshing transmission of the gear and rack, drives the bearing housing fixture 400 to move linearly in the horizontal direction toward the clamping device 100. Since the position of the limiting mechanism 410 of the bearing housing fixture 400 corresponds one-to-one with the position of the clamping hand 110 of the clamping device 100, when... When the tooling moves to the designated position, the four bearing seats 900 simultaneously enter the clamping area of ​​the corresponding clamping hand 110. The second positioning device 800 is triggered synchronously, and the clamping device 100 achieves synchronous clamping of the four bearing seats 900. The advantage of this form is that it can realize the one-time transfer of a batch of bearing seats 900, improving the loading and unloading efficiency by 3 to 4 times. The equipment has a simple structure and low cost, and is suitable for the production of large batches of standardized bearing seats 900. In order to avoid collisions between the limiting mechanism 410 of the bearing seat tooling 400 and the clamping device 100 and the flipping device 300 during the advancement process, the height of the limiting mechanism 410 is set to 1cm, and the vertical gap between the flipping device 300, the clamping device 100 and the base of the bearing seat tooling 400 is set to be greater than 2cm, thus completely avoiding the risk of collision from the mechanical structure.

[0017] Furthermore, the bearing housing fixture 400 is implemented in two forms: a basic fixture and a tracked fixture. Both enable the synchronous placement and positioning of four bearing housings 900 in a single row, and are compatible with the clamping device 100 and the gripping device 200. 1. The basic tooling includes a limiting mechanism 410 and a base 420. The base 420 is a rectangular metal plate with good structural strength and stability. The limiting mechanism 410 consists of multiple fixing pins 411. All fixing pins 411 are vertically fixed on the upper surface of the base 420. Four limiting mechanisms 410 are arranged in a single row. Each limiting mechanism 410 is equipped with four fixing pins 411. The four fixing pins 411 are distributed in a rectangle and correspond one-to-one with the mounting holes of the bearing seat 900. By fitting the bearing seat 900 onto the fixing pins 411, the bearing seat 900 can be precisely limited, preventing positional deviation during placement and advancement. The basic tooling has a simple structure and low processing cost. It is compatible with the grasping form of the advancement mechanism 220 or the second robotic arm 210 and is suitable for production scenarios with fixed processing stations.

[0018] 2. The tracked tooling includes a track base 430, a limiting mechanism 410, a transmission belt 440, a transmission wheel 450, and a tooling drive 460. The track base 430 is constructed by sequentially splicing multiple rectangular steel plates, which are movably connected by a track connection. Each rectangular steel plate is provided with a row of four limiting mechanisms 410, which are consistent with the limiting mechanism 410 structure of the basic tooling. The transmission belt 440 is fixedly connected to the outer wall of the track base 430 and is also sleeved on the outer side of the transmission wheel 450. The output end of the tooling drive 460 is connected to the transmission wheel 450. The 50 is fixedly connected, and the tooling drive 460 is a geared motor that is electrically connected to the controller 600. When a row of bearing seats 900 are clamped synchronously by the clamping device 100, the controller 600 drives the tooling drive 460 to rotate, which in turn drives the transmission wheel 450 to rotate. This, in turn, drives the track base 430 to move in a cyclical manner through the transmission belt 440, moving the next rectangular steel plate with bearing seats 900 to the designated loading position. This achieves continuous batch loading of bearing seats 900, further improving loading and unloading efficiency. It is suitable for large-scale production scenarios of bearing seats 900 in assembly lines.

[0019] Furthermore, the first robotic arm 500 is a robotic arm device with six degrees of freedom or more, electrically connected to the controller 600. Its execution end is equipped with a dedicated robotic hand 211. The gripping structure of the robotic hand 211 is the same as that of the clamping hand 110, with an elastic gripping head 112, which can stably grasp the bearing seat 900. After the flipping device 300 completes a 180° flip and is accurately positioned, the controller 600 drives the first robotic arm 500 to move according to a preset path. First, it grabs the bearing seat 900 on the first clamping hand 110, transfers it to the first processing table of the second process and completes the positioning. Then, it returns sequentially to grab the bearing seats 900 on the second to fourth clamping hands 110, and transfers them to the corresponding processing tables. After all four bearing seats 900 have been loaded, the first robotic arm 500 returns to the initial position, and the entire device enters the next cycle of loading and unloading operations. The movement path of the first robotic arm 500 can be freely set by the controller 600, adapting to the layout of different specifications of machine tool processing tables, and has strong versatility.

[0020] Furthermore, the controller 600 is a PLC programmable logic controller, serving as the core component for receiving all sensing signals, sending drive signals, and implementing internal control strategies. It is electrically connected to the clamping device 100, gripping device 200, flipping device 300, first robotic arm 500, first positioning device 700, and second positioning device 800. The controller 600 has a built-in preset control program and action logic, enabling precise linkage and action coordination among the various devices. The specific control logic and action sequence are as follows: 1. Material preparation: Place the four bearing seats 900 that have been processed in the first process on the four limit mechanisms 410 of the bearing seat fixture 400 to complete the initial limit of the bearing seats 900. After the controller 600 receives the material preparation start signal, it enters the working state.

[0021] 2. Bearing seat transfer: If the gripping device 200 is the second robotic arm 210, the controller 600 drives the second robotic arm 210 to grip the bearing seats 900 on the bearing seat fixture 400 one by one according to the preset path, and transfer them to the clamping area of ​​the clamping hand 110 of the clamping device 100 in sequence; if the gripping device 200 is the pushing mechanism 220, the controller 600 drives the drive motor 221 of the pushing mechanism 220 to rotate, driving the bearing seat fixture 400 to move horizontally, and synchronously transferring the four bearing seats 900 to the clamping area of ​​the clamping hand 110 of the clamping device 100.

[0022] 3. Precise clamping: When the bearing housing 900 enters the clamping area of ​​the clamping hand 110 and approaches the limit sensor 810 to 2cm, the limit sensor 810 of the second positioning device 800 sends a sensing signal to the controller 600. The controller 600 immediately drives the clamping drive 120 to move, causing the clamping hand 110 to retract, and the bearing housing 900 is stably clamped through the elastic clamping head 112.

[0023] 4. 180° rotation: The controller 600 drives the rotation drive 310 of the rotation device 300 to rotate, which in turn drives the rotation shaft 330 and the rotation table 320 to rotate 180° laterally. At the same time, the first positioning device 700 senses the rotation angle of the rotation device 300 in real time. When the rotation reaches 180°, the first positioning device 700 sends a positioning signal to the controller 600. The controller 600 then drives the rotation drive 310 to stop rotating, thus achieving precise rotation positioning of the bearing seat 900.

[0024] 5. Secondary loading: The controller 600 drives the first robotic arm 500 to move along the preset path, sequentially grabbing the four bearing seats 900 on the clamping device 100 and transferring them to the corresponding processing table of the second process, thus completing the secondary loading of the bearing seats 900.

[0025] 6. Reset Cycle: After all four bearing seats 900 have been loaded, the controller 600 drives the first robotic arm 500 to return to the initial position. At the same time, it drives the clamping drive 120 to move, causing the clamping hand 110 to expand and reset. The flipping drive 310 drives the flipping device 300 to rotate 180° in the opposite direction to reset. If it is a tracked fixture, the controller 600 drives the fixture drive 460 to move, causing the track base 430 to move and send the next row of bearing seats 900 to the designated position. The entire device then enters the next cycle of loading and unloading operations.

[0026] In addition, the controller 600 is equipped with a touch screen and operation buttons. Operators can freely set the motion parameters of each device, adjust the gripping path and flipping angle through the touch screen. At the same time, the screen can display the working status and fault information of each device in real time, which is convenient for operators to monitor and operate in real time. When a device malfunctions, the controller 600 can immediately issue an alarm signal and control all devices to stop operating, thereby improving the operational safety and maintenance convenience of the device.

[0027] Compared with the prior art, the present invention has the following significant advantages: 1. This invention realizes fully automated loading and unloading of bearing housing 900 from the first process to the second process. The entire process does not require manual intervention, which not only greatly reduces the labor intensity of operators, but also eliminates the safety hazards of manual operation and improves the operational safety of bearing housing 900 production process. At the same time, the device can complete the batch processing of 4 bearing housings 900 at a time. Compared with the traditional manual single-piece operation and robotic arm grabbing method, the loading and unloading efficiency is increased by 3 to 4 times, which can effectively meet the production needs of large batch of bearing housings 900.

[0028] 2. The present invention is equipped with a dedicated clamping device 100. The clamping hand 110 consists of a clamping rod 111 and an elastic clamping head 112. The elastic clamping head 112 is made of rubber or soft plastic and has anti-slip texture, which can effectively increase the longitudinal friction between the bearing seat 900 and the bearing seat 900, so as to achieve stable clamping of the bearing seat 900. At the same time, in conjunction with the limit sensor 810 of the second positioning device 800, the bearing seat 900 can be accurately clamped and positioned, avoiding the bearing seat 900 from falling off or shifting during clamping, flipping and transfer. The clamping stability and positioning accuracy are greatly improved.

[0029] 3. The flipping device 300 of the present invention can achieve a precise 180° lateral rotation. In conjunction with the gyroscope or position sensor of the first positioning device 700, the flipping angle can be sensed in real time, and the positioning accuracy error is controlled within ±0.5°, so as to achieve precise flipping positioning of the bearing seat 900. This avoids the problems of incomplete or excessive flipping in the traditional flipping method, ensures the processing positioning accuracy of the second process, and improves the processing quality of the bearing seat 900.

[0030] 4. The gripping device 200 and bearing housing fixture 400 of the present invention are provided in multiple forms, which can be freely selected according to the efficiency requirements, cost budget and processing scenario of the production site: the second robotic arm 210 is adapted to high precision and small batch production, and the propulsion mechanism 220 is adapted to high efficiency and large batch production; the basic fixture is adapted to fixed processing station, and the tracked fixture is adapted to assembly line processing scenario. The device has strong versatility and adaptability, and can meet the production needs of different types of bearing housings 900.

[0031] 5. This invention achieves coordinated control of all devices through the controller 600. The actions of each device are precisely linked without time difference. The controller 600 can receive the sensing signals of each positioning device in real time, realizing accurate monitoring and closed-loop control of the entire loading and unloading process. The device has a high fault tolerance rate and a low equipment failure rate. At the same time, the controller 600 is equipped with a touch screen display, which can display the equipment status and fault information in real time, which is convenient for operators to monitor and maintain, and reduces the maintenance cost of the device.

[0032] 6. The overall mechanical structure of the present invention is reasonably designed. A reasonable gap is provided between the propulsion mechanism 220 and the bearing seat tooling 400, which avoids the risk of collision during the propulsion process from the mechanical structure. Each device adopts a standardized and modular design, which is convenient for disassembly, replacement and upgrading. When it is necessary to adapt to different specifications of bearing seats 900, only the corresponding bearing seat tooling 400 and the elastic clamping head 112 of the clamping hand 110 need to be replaced. There is no need to make major modifications to the entire device, and the modification cost is low. Attached Figure Description

[0033] Figure 1 This is a mechanical structure diagram of the loading and unloading conveying device for bearing housing production according to the present invention. Figure 2 This is an assembly structure diagram of the flipping device and the first positioning device of the present invention. Figure 3 This is a mechanical structure diagram of the clamping device of the present invention. Figure 4 This is a partial mechanical structure diagram of the clamping rod and the elastic clamping head of the present invention. Figure 5 This is a schematic diagram of the limiting mechanism and base structure of the bearing housing tooling of the present invention. Figure 6 This is a schematic diagram of the mechanical structure of the gripping device in the robotic arm solution. Figure 7 Schematic diagram of the clamping device drive structure in a mechanical drive scheme Figure 8 Schematic diagram of the drive structure of the clamping device in the pneumatic drive scheme Figure 9 This is a schematic diagram of the assembly structure of the propulsion mechanism and the bearing housing tooling of the present invention. Figure 10 This is a schematic diagram of the tracked bearing housing tooling of the present invention. Detailed Implementation

[0034] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. These embodiments are only used to explain the present invention and are not intended to limit the scope of protection of the present invention in any way.

[0035] First Embodiment This embodiment provides a material handling and conveying device for bearing housing production. The gripping device 200 adopts the form of a second robotic arm 210, the bearing housing tooling 400 adopts a basic tooling, the first positioning device 700 adopts a gyroscope, and the clamping drive 120 adopts a mechanical transmission structure of a motor 130 and a gear 140.

[0036] The device includes a clamping device 100, a gripping device 200, a flipping device 300, a bearing seat fixture 400, a first robotic arm 500, a controller 600, a first positioning device 700, and a second positioning device 800. The clamping device 100 is located inside the flipping table 320 of the flipping device 300 and consists of clamping hands 110 and clamping drives 120. There are four clamping hands 110, which correspond one-to-one with the four limiting mechanisms 410 of the single row of fixtures. Each clamping hand 110... Each of the components includes a clamping rod 111 and an elastic clamping head 112. The elastic clamping head 112 is made of rubber and has anti-slip texture on its end face. The clamping rod 111 is a rack and pinion deformed structure, which is integrally formed by the rack body 1111 and the gripping rod 1112. The clamping drive 120 adopts a mechanical transmission structure of a motor 130 and a gear 140. The output end of the motor 130 is fixedly connected to the gear 140, and the gear 140 is meshed with the rack body 1111 of the clamping rod 111.

[0037] The gripping device 200 is the second robotic arm 210, which adopts a six-degree-of-freedom robotic arm. The execution end is equipped with a robotic hand 211. The gripping structure of the robotic hand 211 is the same as that of the clamping hand 110. The bearing seat fixture 400 is a basic fixture, including a limiting mechanism 410 and a base 420. The base 420 is a stainless steel rectangular plate. The limiting mechanism 410 is composed of fixing pins 411. Four limiting mechanisms 410 are arranged in a single row. Each limiting mechanism 410 has four fixing pins 411 to achieve precise limiting of the four bearing seats 900.

[0038] The flipping device 300 includes a flipping drive 310, a flipping table 320, and a flipping shaft 330. The flipping drive 310 is a servo motor and is axially connected to the flipping shaft 330, which passes through the flipping table 320. The first positioning device 700 is a gyroscope installed on the side wall of the flipping table 320 to sense the flipping angle in real time. The second positioning device 800 consists of four diffuse reflection photoelectric sensors, which are set inside the clamping hand 110 and the detection distance is adjustable to 2cm.

[0039] The first robotic arm 500 is a six-degree-of-freedom robotic arm, which is electrically connected to the controller 600; the controller 600 is a PLC programmable logic controller with a 10-inch touch screen display, which is electrically connected to all devices and has a built-in preset control program.

[0040] The working process of this embodiment is as follows: 1. The operator places the four bearing seats 900 that have been processed in the first process onto the fixing pins 411 of the four limit mechanisms 410 of the basic tooling to complete the initial limit and sends a feeding start signal through the operation button of the controller 600.

[0041] 2. The controller 600 drives the second robotic arm 210 to move according to the preset path. The robotic arm 211 grabs the bearing seats 900 in the tooling one by one and transfers them to the clamping areas of the four clamping hands 110 of the clamping device 100.

[0042] 3. When the bearing housing 900 approaches the limit sensor 810 by 2cm, the limit sensor 810 sends a signal to the controller 600. The controller 600 drives the motor 130 of the clamping drive 120 to rotate. Through the meshing transmission of the gear 140 and the rack body 1111, the clamping rod 111 is driven to retract, and the elastic clamping head 112 achieves stable clamping of the bearing housing 900.

[0043] 4. The controller 600 drives the flip drive 310 to rotate, which in turn drives the flip shaft 330 and the flip table 320 to rotate. The gyroscope transmits the flip angle signal to the controller 600 in real time. When the flip reaches 180°, the controller 600 drives the flip drive 310 to stop rotating.

[0044] 5. The controller 600 drives the first robotic arm 500 to move along the preset path, sequentially grabbing 4 clamped bearing seats 900 and transferring them to the 4 processing tables of the second process to complete the secondary loading.

[0045] 6. After the material is loaded, the controller 600 drives the first robotic arm 500 to return to the initial position, the clamping drive 120 drives the clamping hand 110 to expand and reset, and the flipping drive 310 drives the flipping device 300 to rotate 180° in the opposite direction and reset, waiting for the loading signal of the next cycle.

[0046] Second Embodiment The difference between this embodiment and the first embodiment lies in the way the bearing housing 900 enters the clamping device 100. This embodiment can further improve the efficiency of entering the clamping device 100. The main differences in the mechanical mechanism include: 1. The mechanical structure of the gripping device 200 is different. The gripping device 200 is a propulsion mechanism 220, which is set at the bottom of the bearing seat fixture 400. It consists of a drive motor 221, a drive gear 222, and a drive rack 223. The drive motor 221 is electrically connected to the controller 600. The drive gear 222 meshes with the drive rack 223. The drive rack 223 is fixedly connected to the fixture base. The height of the limiting mechanism 410 is 1cm. The vertical clearance between the flipping device 300, the clamping device 100, and the fixture base is 3cm to avoid collision.

[0047] 2. Driving method of clamping drive 120. The clamping drive 120 adopts a pneumatic drive structure, including a pneumatic pump 121 and a pneumatic drive rod 122. The pneumatic pump 121 is connected to the pneumatic drive rod 122, and the pneumatic drive rod 122 is fixedly connected to the clamping rod 111. The clamping hand 110 is driven to move by the extension and retraction of the pneumatic drive rod 122.

[0048] In this embodiment, the operation process of the gripping device 200 is as follows: The controller 600 drives the drive motor 221 of the propulsion mechanism 220 to rotate. Through the meshing transmission of the drive gear 222 and the drive rack 223, the gripping device 200 is driven to move horizontally, and the four bearing seats 900 are synchronously transferred to the clamping area of ​​the four clamping hands 110 of the clamping device 100. The four limit sensors 810 of the second positioning device 800 send signals synchronously. The controller 600 drives the pneumatic pump 121 of the clamping drive 120 to work, and the pneumatic drive rod 122 retracts, driving the four clamping hands 110 to clamp synchronously, realizing the one-time batch transfer of the four bearing seats 900. The loading and unloading efficiency is increased by 4 times compared with Embodiment 1.

[0049] Third Embodiment This embodiment provides a material handling and conveying device for bearing housing production, which is suitable for the production scenario of assembly line and continuous bearing housing 900. Based on embodiment 2, the bearing housing tooling 400 is further improved into a tracked tooling to achieve higher automation and continuous operation.

[0050] The overall structure of the device is basically the same as that of Embodiment 2, with the core improvement being the structural form of the bearing housing tooling 400: The bearing housing fixture 400 is a tracked fixture, including a track base 430, a limiting mechanism 410, a transmission belt 440, a transmission wheel 450, and a fixture drive 460. The track base 430 is composed of 10 rectangular steel plates spliced ​​together in sequence. The rectangular steel plates are movably connected by a track connection. Each rectangular steel plate is provided with a row of 4 limiting mechanisms 410, which is consistent with the limiting mechanism 410 structure of the basic fixture. The transmission belt 440 is fixedly connected to the outer wall of the track base 430. The transmission belt 440 is also sleeved on the outside of two transmission wheels 450. One of the transmission wheels 450 is fixedly connected to the output end of the fixture drive 460. The fixture drive 460 is a geared motor and is electrically connected to the controller 600.

[0051] The difference between the working process of this embodiment and that of embodiment 2 lies in the feeding process of the bearing housing: After a row of bearing seats 900 are clamped synchronously by the clamping device 100 and the subsequent flipping and loading processes are completed, the controller 600 drives the tooling drive 460 to rotate, which in turn drives the transmission wheel 450 to rotate. This, in turn, drives the track base 430 to move in a cyclical manner through the transmission belt 440, precisely moving the next rectangular steel plate with bearing seats 900 to the designated loading position, waiting for the next push from the propulsion mechanism 220.

[0052] The advantage of this embodiment is that the cyclic movement of the tracked tooling replaces the reciprocating linear motion of the basic tooling, achieving continuous and uninterrupted feeding of the bearing housing 900. Operators can continuously place the bearing housing 900 to be processed at one end of the track base 430, while the other end continuously provides the device with workpieces to be gripped, forming a fully automated, assembly-line operation process. This further improves overall production efficiency and is particularly suitable for large-scale, high-cycle bearing housing 900 production lines.

[0053] Fourth embodiment This embodiment is a variation of the above embodiment, mainly adjusting the material of the elastic clamping head 112 and the specifications of the clamping rod 111 to adapt to the production of bearing seats 900 of different specifications and materials: 1. When the bearing housing 900 is made of cast iron and has a rough surface, the elastic clamping head 112 is made of soft plastic to avoid scratching the surface of the bearing housing 900 during clamping. 2. When the bearing housing 900 is made of stainless steel with a smooth surface, the elastic clamping head 112 is made of highly elastic rubber and the density of the anti-slip texture is increased to improve longitudinal friction and prevent the clamping head from falling off. 3. When the outer diameter of the bearing housing 900 is large, the gripping rod 1112 of the clamping rod 111 is replaced with an extended structure to ensure effective contact between the elastic clamping head 112 and the bearing housing 900. 4. When the bearing housing 900 is heavy, replace the power source of the clamping drive 120 with a high-power motor or a high-pressure pneumatic pump to increase the clamping force of the clamping hand 110.

[0054] The device in this embodiment only requires replacing part of the structure of the elastic clamping head 112 and the clamping rod 111 to adapt to the production of bearing seats 900 of different specifications and materials, with low modification cost and strong versatility.

Claims

1. A material loading and unloading conveying device for bearing housing production, characterized in that, The system includes a clamping device (100), a gripping device (200), a flipping device (300), a bearing housing fixture (400), a first robotic arm (500), and a controller (600). The clamping device (100) is located inside the flipping device (300). Under the drive of the flipping device (300), the clamping device (100) can rotate 180° laterally. The gripping device (200) can transfer the bearing housing (900) from the bearing housing fixture (400) to the clamping device (100). The first robotic arm (500) mechanically... The mechanism is relatively independent. Through the gripping action, the bearing seat (900) is transferred from the clamping device (100) to the processing table. The clamping device (100) consists of a clamping hand (110) and a clamping drive (120). The clamping hand (110) is controlled by the clamping drive (120) to expand and contract, so as to complete the clamping and releasing of the bearing seat (900). The controller (600) is electrically connected to the clamping device (100), the gripping device (200), the flipping device (300), and the first robotic arm (500) to realize the linkage control of each device.

2. The bearing housing production loading and unloading conveying device according to claim 1, characterized in that, It also includes a first positioning device (700), which is disposed on the flipping device (300) and electrically connected to the controller (600) to sense the flipping posture and flipping angle of the flipping device (300) and realize the precise positioning and stopping of the flipping device (300).

3. The bearing housing production loading and unloading conveying device according to claim 2, characterized in that, It also includes a second positioning device (800), which consists of multiple limit sensors (810). All limit sensors (810) are electrically connected to the controller (600). Each limit sensor (810) is respectively set on the inner side of the clamping hand (110). When the corresponding limit sensor (810) senses that the bearing seat (900) enters the clamping area of ​​the clamping hand (110), the limit sensor (810) sends a sensing signal to the controller (600), and the controller (600) drives the clamping hand (110) to complete the clamping action.

4. The bearing housing production loading and unloading conveying device according to claim 3, characterized in that, The clamping hand (110) includes a clamping rod (111) and an elastic clamping head (112). The elastic clamping head (112) is fixedly disposed at the front end of the clamping rod (111). The clamping rod (111) is controlled by the clamping drive (120) to achieve lateral contraction and expansion, thereby driving the elastic clamping head (112) to complete the clamping of the bearing seat (900).

5. The bearing housing production loading and unloading conveying device according to claim 3, characterized in that, The flipping device (300) includes a flipping drive (310), a flipping table (320), and a flipping shaft (330). The flipping drive (310) is electrically connected to the controller (600). The output end of the flipping drive (310) is axially fixedly connected to the flipping shaft (330). The flipping shaft (330) is set horizontally at the axial center of the flipping table (320) and passes through the entire flipping table (320). The flipping drive (310) drives the flipping table (320) to achieve a 180° horizontal rotation through the flipping shaft (330).

6. The bearing housing production loading and unloading conveying device according to claim 3, characterized in that, The gripping device (200) is a second robotic arm (210). The second robotic arm (210) is electrically connected to the controller (600). The execution end of the second robotic arm (210) is equipped with a robotic hand (211). The robotic hand (211) is used to precisely grip the bearing seat (900) on the bearing seat fixture (400) and transfer it to the clamping area of ​​the clamping device (100).

7. The bearing housing production loading and unloading conveying device according to claim 3, characterized in that, The gripping device (200) is a propulsion mechanism (220), which is located at the bottom of the bearing housing fixture (400). The propulsion mechanism (220) consists of a drive motor (221), a drive gear (222), and a drive rack (223). The drive motor (221) is electrically connected to the controller (600). The output shaft of the drive motor (221) is fixedly connected to the drive gear (222). The drive gear (222) and the drive rack (223) are meshed with each other. The drive rack (223) is fixedly connected to the bottom of the bearing housing fixture (400). The drive motor (221) drives the bearing housing fixture (400) to move linearly in the horizontal direction through the gear and rack transmission.

8. The bearing housing production loading and unloading conveying device according to claim 7, characterized in that, The bearing housing fixture (400) includes a limiting mechanism (410) and a base (420). The limiting mechanism (410) is composed of multiple fixing pins (411). All fixing pins (411) are vertically fixed on the upper surface of the base (420) to fix the placement position of the bearing housing (900) and achieve precise positioning of the bearing housing (900).

9. The bearing housing production loading and unloading conveying device according to claim 7, characterized in that, The bearing housing fixture (400) includes a track base (430), a limiting mechanism (410), a transmission belt (440), a transmission wheel (450), and a fixture drive (460). The track base (430) is composed of multiple rectangular steel plates spliced ​​together in sequence. The rectangular steel plates are movably connected to each other by a track connection. The transmission belt (440) is fixedly connected to the outer side wall of the track base (430). The transmission belt (440) is also sleeved on the outer side of the transmission wheel (450). The output end of the fixture drive (460) is fixedly connected to the transmission wheel (450). The fixture drive (460) drives the transmission wheel (450) to rotate, and then drives the track base (430) to achieve cyclic movement through the transmission belt (440).

10. A material conveying device for bearing housing production according to claim 8 or 9, characterized in that, Each row of the bearing housing fixture (400) is provided with 4 limiting mechanisms (410), and each limiting mechanism (410) is provided with 4 fixing pins (411). A single limiting mechanism (410) can accurately place a bearing housing (900), and a single row of fixtures can place 4 bearing housings (900) at one time. The number of clamping hands (110) of the clamping device (100) corresponds one-to-one with the number of single row limiting mechanisms (410), so as to realize the synchronous clamping of 4 bearing housings (900).

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