Clamping mechanism for robot to automatically grab bearing

Abstract

The utility model discloses a clamping mechanism for automatically grabbing a bearing by a robot, which belongs to the technical field of bearing clamping and comprises a mounting frame, the bottom end of the mounting frame is connected with a Y-shaped guide frame through a mounting shaft, guide rails are distributed at the bottom end of the Y-shaped guide frame, and an inner diameter clamping jaw and an outer diameter clamping jaw which are symmetrically distributed are slidably mounted on the guide rails. The mounting shaft is sleeved with an upper Y-shaped plate capable of driving the inner diameter clamping jaw to move, the mounting shaft is further sleeved with a lower Y-shaped plate capable of driving the outer diameter clamping jaw to move, an air cylinder powered by the upper Y-shaped plate and the lower Y-shaped plate is mounted on the side face of the mounting frame, and a fixing base fixed to the bottom end of the mounting frame is mounted at the top end of the mounting shaft; according to the mechanism, bearings with different inner diameters and outer diameters can be stably grabbed through simple structural design, the grabbing efficiency and precision are improved, the damage risk of the bearings is reduced, and meanwhile the requirements for universality and reliability in industrial automatic production are met.

Description

Technical Field

[0001] A robotic automatic bearing gripping mechanism is disclosed. This utility model belongs to the field of bearing gripping technology, specifically relating to the field of robotic automatic bearing gripping technology. Background Technology

[0002] In modern industrial production, especially in bearing manufacturing, assembly, and related machinery manufacturing, precise gripping and handling of bearings are often required. Traditional bearing gripping methods rely heavily on manual operation, which is not only inefficient but also prone to inaccuracies due to human error, thus affecting product quality and production schedule. Furthermore, manual operation presents challenges such as high labor intensity and safety risks. With the continuous improvement of industrial automation, using robots for bearing gripping has become an inevitable trend. However, some existing automatic gripping devices have structural design flaws, failing to flexibly adapt to the gripping needs of bearings of different sizes, resulting in poor versatility. In addition, some clamping mechanisms cause significant damage to bearings during the gripping process, failing to meet the protection requirements of high-precision bearings. Therefore, developing a clamping mechanism capable of efficiently, accurately, and safely gripping bearings of different sizes is of significant practical importance. Utility Model Content

[0003] The technical problem to be solved by this utility model is to overcome the existing defects and provide a robot automatic bearing gripping mechanism. This mechanism can stably grip bearings with different inner and outer diameters through a simple structural design, improve gripping efficiency and accuracy, reduce the risk of damage to the bearings, and at the same time meet the requirements of versatility and reliability in industrial automated production.

[0004] To achieve the above objectives, this utility model provides the following technical solution:

[0005] A robotic automatic bearing gripping mechanism includes a mounting frame. A Y-shaped guide frame is connected to the bottom of the mounting frame via a mounting shaft. Guide rails are distributed at the bottom of the Y-shaped guide frame. Symmetrically distributed inner and outer diameter grippers are slidably mounted on the guide rails. An upper Y-shaped plate, capable of moving the inner diameter grippers, is sleeved on the outside of the mounting shaft. A lower Y-shaped plate, capable of moving the outer diameter grippers, is also sleeved on the outside of the mounting shaft. A cylinder, providing power to the upper and lower Y-shaped plates, is mounted on the side of the mounting frame.

[0006] As a preferred technical solution of this utility model, a fixing seat is installed at the top of the mounting shaft and fixed to the bottom of the mounting frame. A connecting hole is installed on the side of the mounting frame, and a fixing hole is opened on the surface of the mounting frame. U-shaped seats one connected to the bottom of the cylinder are installed on both sides of the mounting frame, and U-shaped seats two connected to the top of the cylinder are installed on the surfaces of the upper Y-shaped plate and the lower Y-shaped plate.

[0007] As a preferred technical solution of this utility model, the inner diameter gripper includes a mouth-shaped frame that is sleeved on the outside of the Y-shaped guide frame. A guide rail seat that is slidably installed on the guide rail is installed inside the mouth-shaped frame. A connecting shaft is installed at the top of the mouth-shaped frame. An arc-shaped guide hole is opened on the upper Y-shaped plate at the position corresponding to the connecting shaft. A bearing is sleeved on the connecting shaft inside the arc-shaped guide hole. A through hole is opened on the lower Y-shaped plate at the position corresponding to the connecting shaft.

[0008] As a preferred technical solution of this utility model, an L-shaped plate is provided below the mouth-shaped frame, the top of the L-shaped plate is fixed to the bottom of the mouth-shaped frame by a connecting plate, an L-shaped pad is installed on the surface of the L-shaped plate corresponding to the outer diameter gripper, and a fixing plate is installed at the bottom of the L-shaped plate to support the L-shaped pad.

[0009] As a preferred technical solution of this utility model, the outer diameter gripper includes a second orifice frame sleeved on the outside of the Y-shaped guide frame. A second connecting shaft is installed at the top of the second orifice frame. An arc-shaped guide hole is opened on the lower Y-shaped plate at the position corresponding to the second connecting shaft. A second bearing is sleeved on the outside of the second connecting shaft inside the arc-shaped guide hole. A second guide rail seat that is slidably installed on the guide rail is installed inside the second orifice frame.

[0010] As a preferred embodiment of this utility model, the bottom structure of the second lip frame is symmetrically arranged with the bottom structure of the first lip frame.

[0011] Compared with the prior art, the beneficial effects of this utility model are:

[0012] High versatility: Through the sliding design of the inner diameter gripper (5) and the outer diameter gripper (8) on the guide rail (106), and the cooperation between the upper Y-shaped plate (6) and the lower Y-shaped plate (7) and the cylinder (3), the distance between the grippers can be flexibly adjusted to adapt to the gripping of bearings with different inner and outer diameters, which greatly improves the versatility of the clamping mechanism.

[0013] High gripping accuracy: The design of the arc-shaped guide hole one (601) and the arc-shaped guide hole two (701) enables the gripper to move precisely along a specific trajectory during the movement, thereby ensuring the accuracy of the gripping position of the bearing and improving the gripping accuracy.

[0014] Protecting the bearing: The setting of buffer structures such as L-shaped shims (508) can effectively reduce friction and damage to the bearing surface during the gripping process, thus meeting the protection requirements of high-precision bearings.

[0015] Simple and reliable structure: The entire clamping mechanism has a simple and clear structural design, and the connection and cooperation between various components are tight. It achieves complex gripping actions through a simple cylinder drive, which has high reliability and stability, is easy to maintain and repair, and reduces the use cost in industrial production. Attached Figure Description

[0016] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0017] Figure 2 This is a schematic diagram of the three-dimensional bottom structure of this utility model;

[0018] Figure 3 This is a three-dimensional side view of the present invention;

[0019] 1-Mounting bracket; 101-Fixed seat; 102-Mounting shaft; 103-Y-type guide frame; 104-Connecting hole; 105-Fixed hole; 106-Guide rail; 2-U-shaped seat one; 3-Cylinder; 4-U-shaped seat two; 5-Inner diameter gripper; 501-Mouth frame one; 502-Guide rail seat one; 503-Connecting shaft one; 504-Bearing one; 505-Connecting plate one; 506-L-shaped plate one; 507-Fixed plate one; 508-L-shaped gasket one; 6-Upper Y-shaped plate; 601-Arc-shaped guide hole one; 7-Lower Y-shaped plate; 701-Arc-shaped guide hole two; 702-Through hole; 8-Outer diameter gripper; 801-Mouth frame two; 802-Guide rail seat two; 803-Connecting shaft two; 804-Bearing two. Detailed Implementation

[0020] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0021] Please see Figure 1-3 This utility model provides a technical solution:

[0022] Overall structural framework

[0023] The robot's automatic bearing gripping mechanism mainly includes a mounting frame 1, which serves as the basic support component of the entire mechanism. Its bottom end is connected to a Y-shaped guide frame 103 via a mounting shaft 102. A fixing seat 101, which is fixed to the bottom end of the mounting frame 1, is installed at the top end of the mounting shaft 102. This design ensures the stability of the connection between the mounting shaft 102 and the mounting frame 1. The side of the mounting frame 1 is provided with a connection hole 104, which facilitates connection with external robot arms and other equipment to realize the movement and operation of the entire mechanism. The surface of the mounting frame 1 is provided with fixing holes 105, which can be used to install other auxiliary components or perform additional fixing operations.

[0024] The bottom end of the Y-shaped guide frame 103 is provided with guide rails 106. Symmetrically distributed inner diameter grippers 5 and outer diameter grippers 8 are slidably mounted on the guide rails 106. This structural design allows the inner diameter grippers 5 and outer diameter grippers 8 to move flexibly on the guide rails 106, thereby adapting to the gripping needs of bearings of different sizes.

[0025] Powertrain system

[0026] The mounting bracket 1 has cylinders 3 installed on its side to provide power to the upper Y-shaped plate 6 and the lower Y-shaped plate 7. U-shaped seats 2 connected to the bottom of the cylinders 3 are installed on both sides of the mounting bracket 1. U-shaped seats 4 connected to the top of the cylinders 3 are installed on the surfaces of the upper Y-shaped plate 6 and the lower Y-shaped plate 7. Through the extension and retraction of the cylinders 3, the upper Y-shaped plate 6 and the lower Y-shaped plate 7 can perform corresponding movements. When the cylinders 3 extend, they push the upper Y-shaped plate 6 and the lower Y-shaped plate 7 to move in a specific direction; when the cylinders 3 retract, the upper Y-shaped plate 6 and the lower Y-shaped plate 7 move in the opposite direction. This power transmission method is simple and efficient, and can quickly and accurately control the movement of the grippers.

[0027] Inner diameter gripper structure

[0028] The inner diameter gripper 5 includes a jaw frame 501 fitted around the Y-shaped guide frame 103. Inside the jaw frame 501 is a guide rail seat 502 that slides on the guide rail 106. The guide rail seat 502 ensures the stability and smoothness of the jaw frame 501 sliding on the guide rail 106. A connecting shaft 503 is installed at the top of the jaw frame 501. An arc-shaped guide hole 601 is provided on the upper Y-shaped plate 6 at the position corresponding to the connecting shaft 503. A bearing 504 is fitted onto the connecting shaft 503 inside the arc-shaped guide hole 601. A through hole 702 is provided on the lower Y-shaped plate 7 at the position corresponding to the connecting shaft 503. When the cylinder 3 drives the upper Y-shaped plate... When the template 6 moves, the connecting shaft 503 moves within the arc-shaped guide hole 601. Due to the special shape of the arc-shaped guide hole 601, the orifice frame 501 can move linearly along the guide rail 106, thereby enabling the inner diameter gripper 5 to grip bearings of different inner diameters.

[0029] An L-shaped plate 506 is provided below the mouth-shaped frame 501. The top of the L-shaped plate 506 is fixed to the bottom of the mouth-shaped frame 501 by a connecting plate 505. An L-shaped pad 508 is installed on the surface of the L-shaped plate 506 corresponding to the outer diameter gripper 8. The L-shaped pad 508 can buffer and protect the bearing during the gripping process, reducing damage to the bearing surface. A fixing plate 507 is installed at the bottom of the L-shaped plate 506 to support the L-shaped pad 508. The fixing plate 507 ensures the stability of the L-shaped pad 508 during operation.

[0030] Outer diameter gripper structure

[0031] The outer diameter gripper 8 includes a two-hole frame 801 sleeved on the outside of the Y-shaped guide frame 103. A connecting shaft 803 is installed at the top of the two-hole frame 801. An arc-shaped guide hole 701 is opened on the lower Y-shaped plate 7 at the position corresponding to the connecting shaft 803. A bearing 804 is sleeved on the outside of the connecting shaft 803 inside the arc-shaped guide hole 701. A guide rail seat 802 that slides on the guide rail 106 is installed inside the two-hole frame 801. When the cylinder 3 drives the lower Y-shaped plate 7 to move, the connecting shaft 803 moves in the arc-shaped guide hole 701, thereby causing the two-hole frame 801 to move linearly along the guide rail 106, realizing the gripping operation of the outer diameter gripper 8 on bearings of different outer diameters.

[0032] The bottom structure of the second jaw frame 801 is symmetrically arranged with the bottom structure of the first jaw frame 501. This symmetrical structure design ensures the balance and stability of the entire clamping mechanism when gripping bearings of different sizes, and can better adapt to the gripping needs under various working conditions.

[0033] When using

[0034] When it is necessary to grip the bearing, first adjust the position of the upper Y-shaped plate 6 and the lower Y-shaped plate 7 by controlling the extension and retraction of the cylinder 3 according to the inner and outer diameter of the bearing. For example, if you want to grip the bearing with a smaller inner diameter, control the cylinder 3 to move the upper Y-shaped plate 6 closer to the bearing. As the upper Y-shaped plate 6 moves, the connecting shaft 503 moves in the arc-shaped guide hole 601. Due to the guiding effect of the arc-shaped guide hole 601, the orifice frame 501 drives the inner diameter gripper 5 to move along the guide rail 106 towards the inner diameter of the bearing until the inner diameter gripper 5 can stably hold the inner diameter of the bearing.

[0035] To grip a bearing with a large outer diameter, control cylinder 3 to move the lower Y-shaped plate 7 away from the bearing. The movement of the lower Y-shaped plate 7 drives the connecting shaft 803 to move within the arc-shaped guide hole 701, thereby causing the orifice frame 801 to move the outer diameter gripper 8 along the guide rail 106 away from the bearing center until the outer diameter gripper 8 can stably hold the outer diameter of the bearing.

[0036] During the clamping process, the L-shaped liner-508 and other buffer structures can contact the bearing surface to reduce damage to the bearing. After the bearing is clamped, the bearing is moved to the designated position by an external robot arm or other equipment connected to the mounting frame 1. Then, the cylinder 3 is controlled to reverse, causing the inner diameter gripper 5 and the outer diameter gripper 8 to release the bearing, thus completing one gripping and handling operation.

[0037] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A robot automatic grabbing bearing clamping mechanism, comprising a mounting frame (1), the bottom end of the mounting frame (1) is connected with a Y-shaped guide frame (103) through a mounting shaft (102), characterized in that: The bottom end of the Y-shaped guide frame (103) is provided with guide rails (106), symmetrical inner diameter clamping jaws (5) and outer diameter clamping jaws (8) are slidingly installed on the guide rails (106), the outer part of the mounting shaft (102) is sleeved with an upper Y-shaped plate (6) capable of moving the inner diameter clamping jaw (5), the outer part of the mounting shaft (102) is also sleeved with a lower Y-shaped plate (7) capable of moving the outer diameter clamping jaw (8), and the side surface of the mounting frame (1) is provided with a cylinder (3) for the upper Y-shaped plate (6) and the lower Y-shaped plate (7) to pass through power.

2. A robotic automatic bearing gripping mechanism according to claim 1, wherein: The top end of the mounting shaft (102) is provided with a fixed seat (101) fixed at the bottom end of the mounting frame (1), the side surface of the mounting frame (1) is provided with a connecting hole (104), the surface of the mounting frame (1) is provided with a fixed hole (105), and the two side surfaces of the mounting frame (1) are provided with U-shaped seats one (2) connected with the bottom end of the cylinder (3). The surfaces of the upper Y-shaped plate (6) and the lower Y-shaped plate (7) are provided with U-shaped seats two (4) connected with the top end of the cylinder (3).

3. A robotic automatic bearing gripping mechanism according to claim 1, wherein: The inner diameter clamping jaw (5) comprises a mouth-shaped frame one (501) sleeved outside the Y-shaped guide frame (103), the inner part of the mouth-shaped frame one (501) is provided with a guide rail seat one (502) slidingly installed on the guide rail (106), the top end of the mouth-shaped frame one (501) is provided with a connecting shaft one (503), the position corresponding to the connecting shaft one (503) on the upper Y-shaped plate (6) is provided with an arc-shaped guide hole one (601), the connecting shaft one (503) inside the arc-shaped guide hole one (601) is sleeved with a bearing one (504), and the position corresponding to the connecting shaft one (503) on the lower Y-shaped plate (7) is provided with a through hole (702).

4. A robotically automated bearing gripping mechanism as set forth in claim 3, characterized in that: The lower part of the mouth-shaped frame one (501) is provided with an L-shaped plate one (506), the top end of the L-shaped plate one (506) is fixed to the bottom end of the mouth-shaped frame one (501) through a connecting plate one (505), the surface of the L-shaped plate one (506) corresponding to the outer diameter clamping jaw (8) is provided with an L-shaped gasket one (508), and the bottom end of the L-shaped plate one (506) is provided with a fixed plate one (507) supporting the L-shaped gasket one (508).

5. A robotic automatic bearing gripping mechanism according to claim 1, wherein: The outer diameter clamping jaw (8) comprises a mouth-shaped frame two (801) sleeved outside the Y-shaped guide frame (103), the top end of the mouth-shaped frame two (801) is provided with a connecting shaft two (803), the position corresponding to the connecting shaft two (803) on the lower Y-shaped plate (7) is provided with an arc-shaped guide hole two (701), the outer part of the connecting shaft two (803) inside the arc-shaped guide hole two (701) is sleeved with a bearing two (804), and the inner part of the mouth-shaped frame two (801) is provided with a guide rail seat two (802) slidingly installed on the guide rail (106).

6. A robotically automated bearing gripping mechanism as set forth in claim 5, characterized in that: The bottom end structure of the mouth-shaped frame two (801) is symmetrically arranged with the bottom end structure of the mouth-shaped frame one (501).

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