Manipulator and its double-bearing inner ring raceway grinder

Abstract

The utility model discloses a manipulator and double bearing inner raceway grinding machine, wherein the manipulator comprises a main mounting connecting piece, a main transmission shaft, a double bearing inner raceway clamping front end, the end of the main transmission shaft extends outward to form an installation section, the rear end of the main mounting connecting piece is mounted on the installation section of the main transmission shaft, a turn-back connecting piece extending inward is connected between the double bearing inner raceway clamping front end and the front end of the main mounting connecting piece, and the double bearing inner raceway clamping front end is provided with a positioning plug-in head for clamping and positioning two bearing rings. After the grinding machine adopts the manipulator of the utility model, interference phenomenon can be avoided, and the initial installation of two bearing inner rings can also be realized.

Description

Technical Field

[0001] This utility model relates to the field of bearing component processing technology, and in particular to a robotic arm and its dual-bearing inner ring raceway grinding machine. Background Technology

[0002] When machining the raceway of the bearing inner ring, grinding is required on a grinding machine. Currently, most grinding machines mainly use robotic arms to load and unload workpieces during grinding. For a single robotic arm, there is no need to consider interference issues. However, for grinding machines with dual robotic arms—a loading robotic arm and a unloading robotic arm—due to limited installation space, the loading and unloading robotic arms need to be installed in the same location, one inside and the other outside. During loading and unloading, due to limited space, the robotic arm in the inner position may interfere with the operation of the robotic arm in the outer position. Therefore, it is necessary to consider how to optimize and improve the structure of the robotic arm in the outer position to avoid interference between the two.

[0003] In addition, for grinding machines that process two bearing inner rings simultaneously, the robot arm also needs to consider how to clamp the two bearing inner rings at the same time. Utility Model Content

[0004] This disclosure aims to address at least one of the technical problems existing in the prior art or related technologies.

[0005] To this end, a first aspect of this disclosure provides a robotic arm, including a main mounting connector, a main drive shaft, and a double bearing inner ring clamping front end. The end of the main drive shaft extends outward to form a mounting section. The rear end of the main mounting connector is mounted on the mounting section of the main drive shaft. An inwardly extending folding connector is connected between the double bearing inner ring clamping front end and the front end of the main mounting connector. The double bearing inner ring clamping front end has a positioning insert head for clamping and positioning two bearing rings.

[0006] In one feasible implementation, the distance by which the mounting section extends outward is approximately equal to the distance by which the folding connector extends inward, and the two extension directions are parallel to each other.

[0007] In one feasible implementation, the rear end of the main mounting connector is provided with a mounting hole for the fitting mounting section, and the rear end of the main mounting connector is also provided with an adjustment slot in the radial direction of the mounting hole. The adjustment slot is radially connected to the mounting hole, and the rear end of the main mounting connector is also provided with an adjustment hole, which is connected to the adjustment slot.

[0008] In one feasible implementation, the folding connector includes a first connector and a second connector, both of which are right-angle connectors. One straight edge of the first connector is installed and connected to the front end of the main mounting connector and can achieve installation position adjustment. The other straight edge of the first connector is installed and connected to one straight edge of the second connector and can achieve installation position adjustment. The other straight edge of the second connector is installed and connected to the front end of the double bearing inner ring clamping device.

[0009] In one feasible implementation, the front end of the main mounting connector is provided with an inlay groove to accommodate one of the straight edge segments of the first connector. The straight edge segment is provided with a plurality of first connecting round holes arranged in a line. The front end of the main mounting connector is provided with first elongated holes arranged in a line, and the first elongated holes are corresponding to the first connecting round holes.

[0010] In one feasible implementation, the other straight edge of the first connector is provided with an installation guide groove on the outer side, and the straight edge is provided with a plurality of second connecting round holes arranged in a line; one of the straight edges of the second connector is provided with a guide rail on the inner side to be fitted into the installation guide groove, and the straight edge is provided with a second elongated hole, and the second connecting round hole and the second elongated hole are provided correspondingly.

[0011] In one feasible implementation, the front end of the double bearing inner ring clamping includes a mounting plate and positioning insert heads mounted at both ends of the mounting plate. The mounting plate is used for mounting and connecting the other straight edge section of the second connector. The positioning insert head includes a mounting part mounted at the end of the mounting plate and a positioning insert part protruding from the mounting part. The positioning insert part is configured with a conical front end and a cylindrical positioning section.

[0012] A second aspect of this disclosure also provides a dual-bearing inner ring raceway grinding machine, including the aforementioned robotic arm, and of course also including a base, a grinding wheel mounted on the base, a drive mechanism, etc.

[0013] Beneficial effects: The technical solution of this utility model constructs an installation section by extending outward from the end, so as to protrude and avoid interference from the inner robot arm located in the same installation position. When clamping the workpiece at the front end, the inward extending folding connector is used to fold back to make up for the aforementioned outward extension distance, so that the workpiece can be operated at the same position at the front end as the inner robot arm.

[0014] This invention, through the dual configuration of the positioning insert head, can simultaneously position and clamp two bearing inner rings, thus satisfying the simultaneous loading and unloading operation of two bearing inner rings. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Fig. 1 This is one of the three-dimensional structural schematic diagrams disclosed herein;

[0017] Fig. 2 This is the second of the three-dimensional structural schematic diagrams disclosed herein.

[0018] The annotations in the attached figures are explained as follows:

[0019] Main mounting connector 1, mounting hole 101, adjusting slot 102, adjusting hole 103, insert groove 104, first elongated hole 105; main drive shaft 2, mounting section 21; double bearing inner ring clamping front end 3, mounting plate 31, positioning insert head 32, mounting part 321, positioning insert part 322; folding connector 4, first connector 41, first connecting round hole 411, mounting guide groove 412, second connecting round hole 413, second connector 42, guide rail 421, second elongated hole 422, bearing ring 5. 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] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0022] In this utility model, unless otherwise explicitly specified and limited, the terms "connection," "fixing," etc., should be interpreted broadly. For example, "fixing" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0023] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," such descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features.

[0024] Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0025] This disclosure discloses a robotic arm, primarily adapted to grinding machines used for machining the inner raceway of bearings, specifically referring to a robotic arm positioned on the outer edge. This is achieved through the following concept: the outer robotic arm extends outward from its rear mounting position to avoid interference with a robotic arm positioned further inward at the same mounting position. Simultaneously, the front end of the outer robotic arm extends inward to compensate for the outward extension from the mounting position. After this inward extension, the workpiece initially mounted at the front end of the outer robotic arm can be transferred to an electromagnetic clamp at the same fixed position. It should be noted that the workpiece is initially clamped from the feed trough to the front end of the robotic arm, and then transferred and fixed to the electromagnetic clamp upon reaching it. At this point, both the inner and outer robotic arms perform workpiece clamping, fixing, and unloading on the same electromagnetic clamp.

[0026] This disclosure achieves workpiece clamping and fixation at the electromagnetic clamp by extending outward to avoid interference, while simultaneously extending inward backward.

[0027] The following detailed description uses specific embodiments. In this embodiment, reference is made to... Figs. 1-2The robotic arm includes a main mounting connector 1, a main drive shaft 2, and a double bearing inner ring clamping front end 3. The end of the main drive shaft 2 extends outward to form a mounting section 21. The rear end of the main mounting connector 1 is mounted on the mounting section 21 of the main drive shaft 2. An inwardly extending folding connector 4 connects the double bearing inner ring clamping front end 3 and the front end of the main mounting connector 1. The double bearing inner ring clamping front end 3 has a positioning insert head 32 for clamping and positioning two bearing rings 5.

[0028] The main drive shaft 2 is driven by the grinding machine's drive mechanism to perform corresponding actions, such as rotation, up-and-down movement, and inward and outward movement. In this embodiment, the mounting section 21 adopts a structure integrally formed with the main drive shaft 2, mainly to avoid weakening its strength by using threads, riveting, or other methods.

[0029] Meanwhile, in this embodiment, the outward extension distance of the mounting section 21 is equivalent to the inward extension distance of the folding connector 4, and the two extension directions are parallel to each other. The outward extension is canceled out by the inward extension distance, thereby ensuring that the inner robotic arm front end and the outer robotic arm front end are in the same position for clamping and fixing the workpiece on the electromagnetic fixture. There is no need to open up additional operating space for the outer robotic arm front end, which is of great significance for the compact grinding machine and is conducive to the miniaturization design of the grinding machine.

[0030] In this embodiment, the positioning insertion head 32 is configured to simultaneously mount two bearing inner rings 5. It should be noted that the positioning insertion head 32 and the front end 3 of the double bearing inner ring clamping mechanism are symmetrically arranged. Only under the premise of symmetrical arrangement can it be clamped and fixed to the electromagnetic clamp, because the two clamping and fixing positions on the electromagnetic clamp are also symmetrically arranged.

[0031] Specifically, in this embodiment, the following optimizations and designs were also made: the rear end of the main mounting connector 1 is provided with a mounting hole 101 for the fitting mounting section 21, and the rear end of the main mounting connector 1 is also provided with an adjustment slot 102 in the radial direction of the mounting hole 101. The adjustment slot 102 is radially connected to the mounting hole 101. The rear end of the main mounting connector 1 is also provided with an adjustment hole 103, which is connected to the adjustment slot 102.

[0032] In this embodiment, an adjustment slot 102 and an adjustment hole 103 are additionally provided. During actual installation and connection, an adjusting screw is screwed into the adjustment hole 103. As the adjusting screw is screwed in, the gap of the adjustment slot 102 narrows. At this time, the installation segment 21 located in the installation hole 101 is gradually tightened and securely installed in the installation hole 101. The setting of the adjustment slot 102 enables the rear end of the main installation connector 1 to have contractile elasticity at the adjustment slot 102, which can achieve tightening of the installation segment 21 under the action of external force. Compared with conventional technology that only uses the installation hole 101 to achieve the installation connection with the installation segment 21, the tightening installation connection method in this disclosure is obviously adjustable in tightness and more secure after installation and connection.

[0033] In this embodiment, the folding connector 4 includes a first connector 41 and a second connector 42. Both the first connector 41 and the second connector 42 are right-angle connectors. One straight edge of the first connector 41 is installed and connected to the front end of the main mounting connector 1 and can realize the installation position adjustment. The other straight edge of the first connector 41 is installed and connected to one straight edge of the second connector 42 and can realize the installation position adjustment. The other straight edge of the second connector 42 is installed and connected to the front end 3 of the double bearing inner ring clamping device.

[0034] In this embodiment, two right-angle connectors are used to construct the folded-back connector 4. Compared to a conventional single Z-shaped connector, the folded-back connector 4 of this disclosure allows for adjustment of the installation position to match the initial assembly of workpieces of different sizes. A conventional single Z-shaped connector is not adjustable and cannot be adjusted when the size of the workpiece changes. In this disclosure, after the other straight edge of the first connector 41 overlaps and connects with one straight edge of the second connector 42, and since both the first connector 41 and the second connector 42 are right-angle connectors, they can form an inward fold and extension.

[0035] One straight edge segment of the first connector 41 is installed and connected to the front end of the main mounting connector 1, enabling adjustment of the installation position. In this embodiment, the installation position adjustment is achieved using the following structure: A recessed groove 104 is provided on the inner side of the front end of the main mounting connector 1 to accommodate one straight edge segment of the first connector 41. The recessed groove 104 prevents the straight edge segment from protruding outwards from the inner side of the front end of the main mounting connector 1. This straight edge segment has multiple first connecting round holes 411 arranged in a line. The front end of the main mounting connector 1 has first elongated holes 105 arranged in a line, with the elongated holes 105 corresponding to the first connecting round holes 411. By selecting a suitable first connecting round hole 411 and screwing a screw into both the first connecting round hole 411 and the first elongated hole 105, the installation connection can be achieved. When the installation position needs to be changed, the screw is unscrewed, and a suitable first connecting round hole 411 is selected for screwing in the screw, and the installation connection is repeated. During this process, due to the provision of the first elongated hole 105, the installation position can be adjusted within the area covered by the first elongated hole 105. It should be noted that in this embodiment, two first elongated holes 105 and two first connecting round holes 411 are provided, with each first elongated hole 105 corresponding to one first connecting round hole 411, which enables more precise adjustment.

[0036] The other straight edge of the first connector 41 is mounted to one of the straight edges of the second connector 42 and can be adjusted in installation position. In this embodiment, the installation position adjustment is mainly achieved by the following structure: the other straight edge of the first connector 41 is provided with an installation guide groove 412 on its outer side, and the straight edge is provided with a plurality of second connecting round holes 413 arranged in a line; one of the straight edges of the second connector 42 is provided with a guide rail 421 on its inner side to be fitted into the installation guide groove 412, and the straight edge is provided with a second elongated hole 422, and the second connecting round holes 413 and the second elongated holes 422 are correspondingly arranged. The guide rail 421 matches the installation guide groove 412 to form a guiding installation, which also further improves the stability of the installation. After the plurality of second connecting round holes 413 and the second elongated holes 422 are correspondingly arranged, the installation position can also be adjusted by screwing in the screws and selecting the appropriate second connecting round hole 413.

[0037] In this embodiment, the double bearing inner ring clamping front end 3 includes a mounting plate 31 and positioning insert heads 32 mounted at both ends of the mounting plate 31. The mounting plate 31 is used for mounting and connecting the other straight edge section of the second connecting member 42. The positioning insert head 32 includes a mounting part 321 mounted at the end of the mounting plate 31 and a positioning insert part 322 protruding from the mounting part 321. The positioning insert part 322 has a conical front end and a cylindrical positioning section, wherein the conical front end forms a guide insertion, and the cylindrical positioning section is inserted into the bearing inner ring. It should be noted that the positioning insert heads 32 are symmetrically located at both ends of the mounting plate 31. After assembly, the mounting plate 31 and the other straight edge section of the second connecting member 42 are basically perpendicularly connected. In this disclosure, the axial length of the positioning insert part 322 is much smaller than the axial length of the mounting part 321. The purpose of this design is to initially mount the bearing inner ring and avoid excessive insertion of the bearing inner ring, which would make it difficult for the bearing inner ring to be removed from the positioning insert part 322.

[0038] This disclosure also provides a double-bearing inner ring raceway grinding machine equipped with the aforementioned robotic arm. In addition to the aforementioned robotic arm, it also includes structural components such as a base, a grinding wheel mounted on the base, and a drive mechanism. The assembly of these components together constitutes the double-bearing inner ring raceway grinding machine.

[0039] The above description is only a preferred embodiment of the present utility model and does not limit the patent scope of the present utility model. All equivalent structural transformations made under the inventive concept of the present utility model using the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. A robotic arm, characterized in that, The device includes a main mounting connector, a main drive shaft, and a double bearing inner ring clamping front end. The end of the main drive shaft extends outward to form a mounting section. The rear end of the main mounting connector is mounted on the mounting section of the main drive shaft. An inwardly extending folding connector connects the double bearing inner ring clamping front end and the front end of the main mounting connector. The double bearing inner ring clamping front end has a positioning insert head for clamping and positioning two bearing rings.

2. The robotic arm as described in claim 1, characterized in that, The distance the installation section extends outward is roughly the same as the distance the folding connector extends inward, and the two extension directions are parallel to each other.

3. The robotic arm as described in claim 1, characterized in that, The rear end of the main mounting connector has a mounting hole for the fitting mounting section. The rear end of the main mounting connector also has an adjustment slot in the radial direction of the mounting hole. The adjustment slot is radially connected to the mounting hole. The rear end of the main mounting connector also has an adjustment hole, which is connected to the adjustment slot.

4. The robotic arm as described in claim 1, characterized in that, The folding connector includes a first connector and a second connector. Both the first connector and the second connector are right-angle connectors. One straight edge of the first connector is installed and connected to the front end of the main mounting connector and can realize the installation position adjustment. The other straight edge of the first connector is installed and connected to one straight edge of the second connector and can realize the installation position adjustment. The other straight edge of the second connector is installed and connected to the front end of the double bearing inner ring clamp.

5. The robotic arm as described in claim 4, characterized in that, The front end of the main mounting connector is provided with an inlay groove to fit one of the straight edge segments of the first connector. The straight edge segment is provided with a plurality of first connecting round holes arranged in a line. The front end of the main mounting connector is provided with first elongated holes arranged in a line, and the first elongated holes are provided corresponding to the first connecting round holes.

6. The robotic arm as described in claim 4, characterized in that, The other straight edge of the first connector is provided with an installation guide groove on the outer side, and the straight edge is provided with a plurality of second connecting round holes arranged in a line; one of the straight edges of the second connector is provided with a guide rail on the inner side to be fitted into the installation guide groove, and the straight edge is provided with a second elongated hole, and the second connecting round hole and the second elongated hole are provided correspondingly.

7. The robotic arm as described in claim 4, characterized in that, The inner ring clamping front end of the dual bearing includes a mounting plate and positioning insert heads mounted at both ends of the mounting plate. The mounting plate is used for mounting and connecting the other straight edge section of the second connector. The positioning insert head includes a mounting part mounted at the end of the mounting plate and a positioning insert part protruding from the mounting part. The positioning insert part is configured with a conical front end and a cylindrical positioning section.

8. A double-bearing inner ring raceway grinding machine, characterized in that, The robotic arm included in any one of claims 1-7.

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