Barrel-shaped part grabbing equipment

Abstract

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

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of cylindrical part assembly, in particular to a cylindrical part grabbing equipment. BACKGROUND

[0002] The stator core is a kind of cylindrical part, and it is an important component of motor (such as motor or generator), mainly providing magnetic circuit and supporting stator winding. The stator winding of the stator core, especially the flat copper wire stator winding, is mainly assembled by mechanical hand. In order to ensure the assembly precision and assembly quality, in some assembly processes, such as assembling stator winding, it is necessary to ensure that the axial verticality of the grabbed stator core is within a small range, generally not more than ±0.02mm.

[0003] For the above-mentioned occasion with high axial verticality requirement, the traditional grabbing mode of the cylindrical part is to place the cylindrical part on a supporting tooling table, and use the grabbing mechanism to grab and fix the cylindrical part by taking the side surface (outer side surface or inner side surface) of the cylindrical part as the positioning reference. This traditional mode not only requires the grabbing mechanism to have high vertical centering precision after installation, but also the cylindrical part is easy to be skewed during grabbing, which not only requires high manufacturing and installation precision of the grabbing mechanism, but also requires high manufacturing, maintenance and other costs of the grabbing equipment, and it is difficult to ensure the axial verticality of the cylindrical part. In addition, this mode requires that the side surface of the cylindrical part as the positioning reference has high coaxiality with the cylindrical part. For the cylindrical part, it is more difficult to ensure that its side surface has high coaxiality with its axis than to ensure that its end surface has high perpendicularity with its axis. SUMMARY

[0004] The technical problem to be solved by the utility model is to provide a cylindrical part grabbing equipment that takes the end surface of the cylindrical part as the positioning reference for grabbing and positioning, so as to better ensure the axial verticality of the cylindrical part during grabbing.

[0005] The technical scheme adopted by the utility model to solve its technical problem is: a cylindrical part grabbing equipment, comprising a rack, a lifting control mechanism and a bearing block installed on the rack to support the cylindrical part so that the cylindrical part is placed vertically;

[0006] A slider horizontally slidingly installed on the rack is arranged above the bearing block, a lifting block vertically slidingly connected with the slider is arranged below the slider and can be lifted and lowered, the lifting control mechanism is installed on the slider and connected with the lifting block to control the lifting of the lifting block, a horizontal positioning surface for abutting and cooperating with the upper end surface of the cylindrical part placed vertically on the bearing block is arranged on the lifting block, and a grabbing mechanism for cooperating with the inner side surface or outer side surface of the cylindrical part is installed on the lifting block.

[0007] The bearing block is installed on the rack through an adaptive mechanism to adaptively adjust during abutment between the horizontal positioning surface and the upper end surface of the cylindrical part, so that the upper end surface of the cylindrical part is attached to the horizontal positioning surface.

[0008] Further, the adaptive mechanism comprises a compressible cylindrical spring arranged below the bearing block.

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

[0010] Further, the rack is provided with a bearing block limiting seat, the bearing block limiting seat is provided with a vertically arranged bearing block limiting cavity with an upward opening, the bearing block limiting cavity is circular, the lower end of the bearing block is provided with a convex ring part, the lower end of the bearing block is vertically inserted and matched with the bearing block limiting cavity through the convex ring part, and the outer side surface of the convex ring part is an arc surface.

[0011] Further, the upper side of the convex ring part is provided with a limiting block for preventing the convex ring part from swinging out of the bearing block limiting cavity.

[0012] Further, the sliding block is provided with three positioning points, each of which is formed by a positioning column arranged on the sliding block, and the three positioning points form the horizontal positioning surface.

[0013] Further, a horizontal driving mechanism is further included, which is connected with the sliding block to drive the sliding block to horizontally slide.

[0014] The cylindrical part grabbing equipment of the utility model positions and grabs one end surface of the cylindrical part, the upper end surface of the cylindrical part is attached to the horizontal positioning surface through adaptive adjustment of the bearing block during grabbing, the coaxiality of the cylindrical part during the grabbing process is guaranteed, it is easier to obtain the horizontal positioning surface on the device, it is easier to guarantee the high perpendicularity processing of the end surface of the cylindrical part and the axis of the cylindrical part, the grabbing mechanism only needs to provide the force for preventing the cylindrical part from falling, therefore, the manufacturing and installation precision requirements of the grabbing mechanism are reduced, the manufacturing cost of the equipment is reduced, it is easier, and the axial verticality of the cylindrical part during the grabbing process can be better guaranteed. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 is a structural schematic diagram of the utility model;

[0016] Figure 2 is Figure 1 a top view of

[0017] Figure 3 is an installation structure diagram of the bearing block;

[0018] Figure 4 is a mounting structure diagram of a bearing block;

[0019] Figure 5 is a use schematic view of the utility model;

[0020] As shown in the figure: rack 1, bearing block 2, lifting control mechanism 3, grabbing mechanism 4, bearing block limiting seat 5, cylindrical spring 6, lifting block 7, cylindrical part 8, horizontal driving mechanism 9, sliding block 11, guide rail 12, base plate 13, cylindrical part clamping groove 21, ball head 22, convex ring part 23, bearing block limiting cavity 51, limiting block 52, horizontal positioning surface 71, positioning column 72. DETAILED DESCRIPTION

[0021] The utility model is further described below in combination with the drawings and examples.

[0022] As Figures 1 to 4 shown, a cylindrical part grabbing device of the utility model, including rack 1, lifting control mechanism 3 and install bearing block 2 on the rack 1 to support cylindrical part so that cylindrical part is placed vertically, the upper of bearing block 2 is equipped with horizontal sliding installation in rack 1 sliding block 11, so that sliding block 11 can be relative to the horizontal sliding of rack, the lower of sliding block 11 is equipped with lifting block 7 through guide rail 12 and its vertical sliding connection to be able to go up and down, lifting control mechanism 3 is installed on sliding block 11 and is connected with lifting block 7 to control lifting block 7 lifting, lifting block 7 is equipped with horizontal positioning surface 71 for with the upper end surface of the cylindrical part placed vertically on bearing block 2 abutting cooperation, lifting block 7 is installed with grabbing mechanism 4 for with the inside surface or outside surface of the cylindrical part cooperation. Bearing block 2 is installed on rack 1 through adaptive mechanism, to be able to in the horizontal positioning surface 71 with the upper end surface of the cylindrical part abutting process adaptive adjustment, so that the upper end surface of the cylindrical part is attached to horizontal positioning surface 71.

[0023] Lifting control mechanism 3 generally adopts hydraulic cylinder or air cylinder. In some embodiments, lifting control mechanism 3 also adopts motor, and the motor drives lifting block 7 lifting through the mode of gear rack.

[0024] Grabbing mechanism 4 adopts various chuck type grabbing mechanisms, such as electric three-chuck chuck, pneumatic two-claw chuck, and the specific structure is not described here.

[0025] The utility model discloses a cylindrical part grabbing equipment with one end face of the cylindrical part as a positioning reference surface, and the perpendicularity between the positioning reference surface and the axis of the cylindrical part is ensured to meet the requirements by grinding before clamping. The perpendicularity between the positioning reference surface and the axis of the cylindrical part is set according to the verticality requirement of the axis of the cylindrical part during the grabbing process. For the cylindrical part, it is easier to ensure the high perpendicularity between the end face and the axis than to ensure the high coaxiality between the side face and the axis, so the end face of the cylindrical part is used for clamping positioning, which is also convenient for part processing.

[0026] The specific use process of the cylindrical part grabbing equipment is shown in the drawing. Figure 4 When used, the cylindrical part 8 is first placed vertically on the bearing block 2, and one end of the cylindrical part as the positioning reference surface is upward. Then, the horizontal driving mechanism is used to drive the sliding block 11 to slide horizontally, so that the sliding block 11 drives the grabbing mechanism 4 to move horizontally to the upper side of the cylindrical part 8, so that the grabbing mechanism 4 can grab the cylindrical part 8. Then, the lifting control mechanism 3 is started, and the lifting control mechanism 3 is used to push the lifting block 7 to move downward. The lifting block 7 moves downward, and the horizontal positioning surface 71 and the grabbing mechanism 4 move downward at the same time, so that the horizontal positioning surface 71 gradually abuts against the upper end face of the cylindrical part 8, and the grabbing mechanism 4 gradually moves to the grabbing position. Since the bearing block 2 is installed on the rack 1 through the self-adaptive mechanism, after the horizontal positioning surface 71 contacts the upper end face of the cylindrical part 8, the bearing block 2 will self-adaptively swing and adjust as the lifting block 7 continues to move downward, so that the upper end face of the cylindrical part 8 gradually becomes horizontal and finally adheres to the horizontal positioning surface 71. Then, the cylindrical part is grabbed and fixed by the grabbing mechanism 4 which folds to clamp the outer side face of the cylindrical part or opens to clamp the inner side face of the cylindrical part. Figure 4 The cylindrical part is grabbed and fixed by the grabbing mechanism which opens to clamp the inner side face of the cylindrical part. Finally, the horizontal driving mechanism is used to drive the sliding block 11 to slide horizontally to grab the cylindrical part to the assembly position, and the lifting control mechanism 3 controls the lifting block 7 to slide downward, so that the cylindrical part 8 can be assembled to other parts. In the grabbing process, the horizontal positioning surface 71 of the grabbing equipment abuts against the upper end face (the positioning reference surface) of the cylindrical part to ensure the coaxiality of the cylindrical part during the grabbing process. It is easier to obtain the horizontal positioning surface on the device, it is easier to ensure the high perpendicularity between the end face of the cylindrical part and the axis of the cylindrical part, the horizontal positioning surface limits the grabbing process, so that the cylindrical part will not be skewed, and the grabbing mechanism 4 only needs to provide a force to prevent the cylindrical part from falling, so that the manufacturing and installation precision requirements of the grabbing mechanism are reduced, the manufacturing cost of the equipment is reduced, and the verticality of the axis of the cylindrical part during the grabbing process is better ensured.

[0027] The self-adaptive mechanism can adopt the existing universal hinge structure. Figure 3As shown, specifically, the lower end of the bearing block 2 is provided with a spherical ball head 22, and the ball head 22 is rotationally matched with the spherical groove of the rack 1 to form a universal hinge structure. Figure 4 As shown, in an embodiment of the utility model, the self-adaptive mechanism comprises a compressible cylindrical spring 6 which is supported below the bearing block 2. The cylindrical spring 6 can be one or more, and is arranged as required. The cylindrical spring 6 can not only be compressed, but also can be bent and deformed in all directions within a certain range. Therefore, when the horizontal positioning surface 71 is in contact with the upper end surface of the cylindrical part 8, the cylindrical spring 6 can not only produce compression deformation to make the bearing block 2 descend, but also can produce adaptive bending deformation to make the bearing block 2 deflect according to the stress condition of the bearing block 2, so that the upper end surface of the cylindrical part 8 gradually becomes horizontal and finally adheres to the horizontal positioning surface 71. The cylindrical spring 6 can keep the bearing block 2 in a horizontal state when the cylindrical part is not placed, so that the cylindrical part is more convenient to place. In addition, the cylindrical spring 6 can be compressed, and the equipment or the cylindrical part can also be prevented from being damaged due to the excessive downward stroke of the lifting block 7 in the clamping process.

[0028] As shown, Figure 4 As shown, the upper end surface of the bearing block 2 is provided with a cylindrical part clamping groove 21 which is matched with the outer diameter of the cylindrical part, so as to conveniently position and place the cylindrical part and facilitate the subsequent positioning and grabbing of the grabbing mechanism 4.

[0029] Further, as shown, Figure 4 As shown, the rack 1 is provided with a bearing block limiting seat 5, the bearing block limiting seat 5 is provided with a vertical bearing block limiting cavity 51 which is open upward, the bearing block limiting cavity 51 is circular, the lower end of the bearing block 2 is provided with a convex ring part 23, the lower end of the bearing block 2 is vertically inserted and matched with the bearing block limiting cavity 51 through the convex ring part 23, and the outer side surface of the convex ring part 23 is arc-shaped. The outer side surface of the convex ring part 23 is arc-shaped, so that the bearing block 2 can be deflected to a certain extent in the bearing block limiting cavity 51 through the convex ring part 23, and the bearing block limiting seat 5 can limit the horizontal displacement of the bearing block, especially in cooperation with the cylindrical part clamping groove 21, the position change of the cylindrical part in the self-adaptive adjustment process of the bearing block 2 can be ensured to be within a very small range, so that the position of the cylindrical part grabbed by the sliding block and the grabbing mechanism each time is at the same position, the sliding block is more convenient to control through automatic control technology, and the cylindrical part is more convenient to position and grab.

[0030] As shown, Figure 4 As shown, the upper side of the convex ring part 23 is provided with a limiting block 52 which is used for preventing the convex ring part 23 from swinging out of the bearing block limiting cavity 51.

[0031] The horizontal positioning surface 71 can be formed by a larger plane, such as the lower end surface of the lifting block 7. It is difficult to ensure the flatness of the larger plane. Therefore, in the utility model, three positioning points are arranged on the sliding block 11, each of which is formed by a positioning column 72 arranged on the sliding block 11, and the three positioning points form the horizontal positioning surface 71.

[0032] The utility model also has a horizontal driving mechanism 9, which is connected with the sliding block 11 to drive the horizontal sliding of the sliding block 11. The horizontal driving mechanism 9 generally adopts a hydraulic cylinder.

[0033] The bearing block can be arranged in a fixed form, that is, the position of the bearing block on the rack is fixed and cannot be adjusted. Of course, it can also be arranged in a horizontal sliding structure, such as: Figure 5 As shown, the rack is provided with a base plate 13 connected with it in horizontal sliding mode, and the bearing block is installed on the base plate to move the bearing block out of the rack 1 when the cylindrical part is placed.

Claims

1. A cylindrical part gripping device, characterized in that, Includes a frame (1), a lifting control mechanism (3), and a support block (2) mounted on the frame (1) to support the cylindrical part and place the cylindrical part vertically; Above the support block (2) is a slider (11) that is horizontally slidably mounted on the frame (1). Below the slider (11) is a lifting block (7) that is vertically slidably connected to it so as to be able to move up and down. The lifting control mechanism (3) is mounted on the slider (11) and connected to the lifting block (7) to control the lifting block (7) to move up and down. The lifting block (7) is provided with a horizontal positioning surface (71) for abutting and cooperating with the upper end face of the cylindrical part that is vertically placed on the support block (2). The lifting block (7) is equipped with a gripping mechanism (4) for cooperating with the inner or outer side of the cylindrical part. The bearing block (2) is mounted on the frame (1) by an adaptive mechanism so that it can adaptively adjust during the contact between the horizontal positioning surface (71) and the upper end surface of the cylindrical part, so that the upper end surface of the cylindrical part fits with the horizontal positioning surface (71).

2. The cylindrical part gripping device as described in claim 1, characterized in that, The adaptive mechanism includes a compressible cylindrical spring (6) supported below the support block (2).

3. The cylindrical part gripping device as described in claim 2, characterized in that, The upper end face of the bearing block (2) is provided with a cylindrical part slot (21) that is adapted to the outer diameter of the cylindrical part.

4. A cylindrical part gripping device as described in claim 2 or 3, characterized in that, The frame (1) is equipped with a bearing block limiting seat (5). The bearing block limiting seat (5) is provided with a vertically arranged bearing block limiting cavity (51) with an upward opening. The bearing block limiting cavity (51) is circular. The lower outer side of the bearing block (2) is provided with a protruding ring (23). The lower end of the bearing block (2) is vertically inserted into the bearing block limiting cavity (51) through the protruding ring (23). The outer side of the protruding ring (23) is an arc-shaped surface.

5. The cylindrical part gripping device as described in claim 4, characterized in that, Above the protruding ring (23) is a limiting block (52) for preventing the protruding ring (23) from swinging out of the bearing block limiting cavity (51).

6. The cylindrical part gripping device as described in claim 1, characterized in that, The slider (11) is provided with three positioning points, each of which is formed by a positioning post (72) set on the slider (11), and the three positioning points form the horizontal positioning surface (71).

7. The cylindrical part gripping device as described in claim 1, characterized in that, It also includes a horizontal drive mechanism (9), which is connected to the slider (11) to drive the slider (11) to slide horizontally.

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