A gripper mechanism

Abstract

The utility model discloses a kind of gripper mechanisms, it is related to the technical field of automatic assembly, including frame, tensioning assembly one, tensioning assembly two, tensioning assembly three, bearing outer ring clamp jaw one, bearing outer ring clamp jaw two, tensioning assembly four, tensioning assembly five and tensioning assembly six.The frame is connected with robot, and tensioning assembly one, two, three are set on the lower mounting plate of frame, for picking up un-assembled shafting;Bearing outer ring clamp jaw one, two are set on the upper mounting plate of frame, for picking up bearing outer ring;Tensioning assembly four, five, six are set on the upper mounting plate of frame, for picking up assembled shafting.The gripper mechanism can complete the picking of multiple parts in combination station, improve the automation degree and production efficiency of assembly line, reduce manual labor intensity and the risk of knocking product.

Description

Technical Field

[0001] This utility model belongs to the field of automated assembly technology, and specifically relates to a gripper mechanism. Background Technology

[0002] On automated assembly lines for automotive transmissions, motors, and reducers, it is often necessary to simultaneously handle the gripping, transporting, and positioning of three types of components: the pre-assembly shaft system, the bearing outer ring, and the post-assembly shaft system. Traditional solutions typically employ multiple robots or end effectors to perform the work in stages. The bearing outer ring is a thin-walled ring, which is easily deformed if internal support is used; therefore, external parallel grippers or three-finger grippers are often used to clamp the outer circle. The shaft system (including bearings, gears, seals, and other components) before and after assembly is larger and heavier, and cannot withstand radial clamping force after assembly. Therefore, internal support tensioning fixtures are still required, but with adjustable tension, greater stroke, and positioning detection capabilities.

[0003] The existing technology has the following problems: (1) An assembly line requires at least three different end effectors, and the robot frequently changes fixtures, resulting in a large cycle time loss; (2) Multiple fixtures bring additional quick-change discs and pneumatic / cable circuits, resulting in a bulky structure and high maintenance requirements; (3) The fixtures are scattered, making it difficult to grab multiple parts at once in a limited space, resulting in a long production line layout and complex logistics path; (4) Existing composite grippers often only integrate two types of functions (such as bearing outer ring + pre-assembly shaft system), which cannot meet the three-stage process requirements of "unassembled - outer ring - assembled".

[0004] Therefore, the market urgently needs a gripper mechanism that can integrate "three types and six groups" of gripping units on the same end effector, can be directly connected to a six-axis robot, has a compact structure, and can quickly switch working conditions, so as to achieve "one machine with multiple functions, one gripping, and synchronous transportation", thereby significantly improving the automation level and cycle efficiency of the assembly line. Utility Model Content

[0005] In view of the above-mentioned deficiencies of the prior art, the technical problem to be solved by this utility model is to provide a gripper mechanism that is structurally reasonable, easy to operate, low in cost, highly efficient, highly accurate, safe and reliable, and multifunctional.

[0006] To achieve the above objectives, this utility model provides a gripper mechanism, including a frame, tensioning component one, tensioning component two, tensioning component three, bearing outer ring gripper one, bearing outer ring gripper two, tensioning component four, tensioning component five, and tensioning component six;

[0007] The frame is connected to the robot; the frame includes a lower mounting plate, an upper mounting plate, a connecting plate, a flange, and guide shafts; the frame is connected to the robot via the flange to achieve multi-directional movement trajectories; the upper end of the connecting plate is connected to the upper mounting plate, and the lower end is connected to the lower mounting plate; four guide shafts are placed horizontally in the middle, with both ends locked to the upper and lower mounting plates respectively, to enhance the overall stability and structural strength of the frame, ensuring that no deformation or shaking occurs when gripping heavier workpieces, and guaranteeing the accuracy and safety of the gripping and handling process.

[0008] The tensioning component is mounted on the lower mounting plate;

[0009] The second tensioning component is mounted on the lower mounting plate;

[0010] The tensioning assembly three is mounted on the lower mounting plate;

[0011] The three sets of tensioning components mentioned above are used to grip the unassembled shaft system;

[0012] The bearing outer ring clamp is mounted on the upper mounting plate;

[0013] The bearing outer ring clamp two is mounted on the upper mounting plate;

[0014] The two sets of bearing outer ring grippers mentioned above are used to grip the bearing outer ring;

[0015] The tensioning component four is mounted on the upper mounting plate;

[0016] The tensioning component five is mounted on the upper mounting plate;

[0017] The tensioning component six is ​​mounted on the upper mounting plate;

[0018] The three sets of tensioning components mentioned above are used to grip the assembled shaft system.

[0019] Preferably, the tensioning assembly includes a cylinder mounting base, a shim block, a cylinder, a sensing plate, a positioning seat, a pull rod, a tension sleeve, a spring, a spring pressure plate, a cylinder connector, a pull rod connector, a limit nut, a limit nut, a sensor bracket, a sensor bracket, a mounting bracket, an in-situ sensor, a working position sensor, and a diffuse reflection sensor.

[0020] The cylinder mounting base is directly locked onto the lower mounting plate. A shim is positioned above the cylinder mounting base. The cylinder is mounted on the shim. The shim has a sensor plate at its upper end and a cylinder connector at its lower end. A pull rod connector is embedded within the cylinder connector and can slide unidirectionally within it. The pull rod is screwed into the pull rod connector for fixation. A spring is fitted onto the pull rod. A spring pressure plate passes through the pull rod and is positioned above the spring. Two limit nuts are screwed onto the spring pressure plate to fix its position. The limit nuts are screwed onto the pull rod connector to... Adjust the length and fix the position. The expansion sleeve 1 passes through the tie rod 1 and is installed below the cylinder mounting seat 1. The positioning seat 1 passes through the expansion sleeve 1 and is installed below the cylinder mounting seat 1. Sensor bracket 1 and sensor bracket 2 are respectively set on the adjacent sides of cylinder 1. The in-situ sensor 1 and the working position sensor 1 are respectively installed on sensor bracket 1 and sensor bracket 2 to sense the working position and in-situ position of cylinder 1 and transmit signals. Mounting bracket 1 is set on one side of cylinder mounting seat 1. Diffuse reflection sensor 1 is installed on mounting bracket 1 to detect the presence or absence of shaft system.

[0021] Preferably, the tensioning assembly two includes a cylinder mounting base two, a shim two, a cylinder two, a sensing plate two, a positioning base two, a pull rod two, a tension sleeve two, a spring two, a spring pressure plate two, a cylinder connector two, a pull rod connector two, a limit nut three, a limit nut four, a sensor bracket three, a sensor bracket four, a mounting bracket two, a mounting bracket three, a home sensor two, a working position sensor two, and a through-beam sensor one;

[0022] The cylinder mounting base 2 is directly locked onto the lower mounting plate. The shim 2 is positioned above the cylinder mounting base 2. The cylinder 2 is mounted on the shim 2. The upper end of the shim 2 is equipped with a sensing plate 2, and the lower end with a cylinder connector 2. The pull rod connector 2 is embedded within the cylinder connector 2 and can slide unidirectionally within it. The pull rod 2 is screwed into the pull rod connector 2 for fixation. A spring 2 is fitted onto the pull rod 2. A spring pressure plate 2 passes through the pull rod 2 and is positioned above the spring 2. Two limit nuts 4 are screwed onto the spring pressure plate 2 to fix its position. A limit nut 3 is screwed onto the pull rod connector 2 to adjust its length and fixation. Positioning: Expansion sleeve 2 passes through tie rod 2 and is installed below cylinder mounting seat 2; positioning seat 2 passes through expansion sleeve 2 and is installed below cylinder mounting seat 2; sensor bracket 3 and sensor bracket 4 are respectively set on adjacent sides of cylinder 2; in-situ sensor 2 and working position sensor 2 are respectively installed on sensor bracket 3 and sensor bracket 4, used to sense the working position and in-situ position of cylinder 2 and transmit signals; mounting bracket 2 and mounting bracket 3 are set on one side of cylinder mounting seat 2; through-beam sensor 1 is installed on mounting bracket 2 and mounting bracket 3, used to detect the presence or absence of shaft system.

[0023] Preferably, the tensioning assembly three includes a cylinder mounting base three, a shim three, a cylinder three, a sensing plate three, a positioning base three, a pull rod three, a tension sleeve three, a spring three, a spring pressure plate three, a cylinder connector three, a pull rod connector three, a limit nut five, a limit nut six, a sensor bracket five, a sensor bracket six, a mounting bracket four, a home sensor three, a working position sensor three, and a diffuse reflection sensor two;

[0024] The tensioning component three is mounted on the lower mounting plate of the frame, and its structure is the same as that of the tensioning component one.

[0025] Preferably, the bearing outer ring gripper includes a floating cylinder, a gripper, a mounting bracket, a diffuse reflection sensor, an in-situ magnetic switch, and a working magnetic switch.

[0026] The bearing outer ring gripper is set on the lower mounting plate of the frame. The floating cylinder is directly mounted on the lower mounting plate. The grippers are evenly distributed on the floating cylinder. The mounting bracket is set on one side of the floating cylinder. The diffuse reflection sensor is installed on the mounting bracket to detect the presence or absence of the outer ring. The in-situ magnetic switch and the working magnetic switch are embedded on one side of the floating cylinder to detect the clamping and loosening state of the grippers.

[0027] Preferably, the bearing outer ring gripper two includes a floating cylinder two, a gripper two, a mounting bracket six, a diffuse reflection sensor four, an in-situ magnetic switch two, and a working position magnetic switch two;

[0028] The second bearing outer ring gripper is mounted on the lower mounting plate of the frame. Its structure is the same as that of the first bearing outer ring gripper, and it is used to grip the outer ring of the bearing.

[0029] Preferably, the tensioning assembly four includes a cylinder mounting base four, a shim four, a cylinder four, a sensing plate four, a positioning base four, a tie rod four, a tension sleeve four, a spring four, a spring pressure plate four, a cylinder connector four, a tie rod connector four, a limit nut seven, a limit nut eight, a sensor bracket seven, a sensor bracket eight, a mounting bracket seven, an in-situ sensor four, a working position sensor four, and a diffuse reflection sensor five;

[0030] The tensioning component four is mounted on the upper mounting plate of the frame, and its structure is the same as that of the tensioning component one.

[0031] Preferably, the tensioning assembly five includes a cylinder mounting base five, a shim five, a cylinder five, a sensing plate five, a positioning base five, a pull rod five, a tension sleeve five, a spring five, a spring pressure plate five, a cylinder connector five, a pull rod connector five, a limit nut nine, a limit nut ten, a sensor bracket nine, a sensor bracket ten, a mounting bracket eight, a home sensor five, a working position sensor five, and a diffuse reflection sensor six;

[0032] The tensioning component four is mounted on the upper mounting plate of the frame, and its structure is the same as that of the tensioning component one.

[0033] Preferably, the tensioning assembly six includes a cylinder mounting base six, a shim six, a cylinder six, a sensing plate six, a positioning base six, a tie rod six, a tension sleeve six, a spring six, a spring pressure plate six, a cylinder connector six, a tie rod connector six, a limit nut eleven, a limit nut twelve, a sensor bracket eleven, a sensor bracket twelve, a mounting bracket nine, a mounting bracket ten, a home sensor six, a working position sensor six, and a through-beam sensor two;

[0034] The tensioning component six is ​​mounted on the upper mounting plate of the frame, and its structure is the same as that of the tensioning component two.

[0035] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0036] This utility model's gripper mechanism can grip the outer ring of bearings, the pre-assembly shaft system, and the post-assembly shaft system within a combined workstation, eliminating the need for frequent changes to the end effector and improving the automation level and production efficiency of the assembly line. Using a fully automatic gripper for gripping the outer ring of bearings and loading / unloading shaft systems reduces manual intervention and labor intensity, while also avoiding the risk of product damage that may occur during manual operation, thus improving product quality. The overall structure is compact, integrating multiple gripping components, enabling the gripping of multiple parts at once within a limited space, shortening the production line layout and optimizing the logistics path. The rational design of each component structure, employing multiple sensors for status detection and feedback, ensures the accuracy and reliability of the gripping action.

[0037] The following will further explain the concept, specific structure and technical effects of this utility model in conjunction with the accompanying drawings, so as to fully understand the purpose, features and effects of this utility model. Attached Figure Description

[0038] Figure 1 This is a front view schematic diagram of the overall structure of this utility model;

[0039] Figure 2 This is a top view of the overall structure of this utility model;

[0040] Figure 3 This is an axonometric schematic diagram of the overall structure of this utility model;

[0041] Figure 4 This is an axonometric schematic diagram of the frame of this utility model;

[0042] Figure 5 This is an isometric schematic diagram of the tensioning component of this utility model;

[0043] Figure 6 This is a cross-sectional schematic diagram of the tensioning component of this utility model;

[0044] Figure 7This is an isometric view of the tensioning component two of this utility model;

[0045] Figure 8 This is a cross-sectional schematic diagram of the tensioning component two of this utility model;

[0046] Figure 9 This is an isometric schematic diagram of the tensioning component three of this utility model;

[0047] Figure 10 This is a cross-sectional schematic diagram of the tensioning component three of this utility model;

[0048] Figure 11 This is a schematic diagram of the bearing outer ring clamp of this utility model;

[0049] Figure 12 This is a schematic diagram of the bearing outer ring clamp two of this utility model;

[0050] Figure 13 This is an isometric schematic diagram of the tensioning component four of this utility model;

[0051] Figure 14 This is a cross-sectional schematic diagram of the tensioning component four of this utility model;

[0052] Figure 15 This is an isometric schematic diagram of the tensioning component five of this utility model;

[0053] Figure 16 This is a cross-sectional schematic diagram of the tensioning component five of this utility model;

[0054] Figure 17 This is an isometric view of the tensioning component six of this utility model;

[0055] Figure 18 This is a cross-sectional schematic diagram of the tensioning component six of this utility model.

[0056] Figure label:

[0057] 1. Frame; 2. Tensioning assembly one; 3. Tensioning assembly two; 4. Tensioning assembly three; 5. Bearing outer ring clamp one; 6. Bearing outer ring clamp two; 7. Tensioning assembly four; 8. Tensioning assembly five; 9. Tensioning assembly six;

[0058] 1-1 Lower mounting plate; 1-2 Upper mounting plate; 1-3 Connecting plate; 1-4 Flange; 1-5 Guide shaft;

[0059] 2-1. Cylinder mounting base 1; 2-2. Elevating block 1; 2-3. Cylinder 1; 2-4. Sensor plate 1; 2-5. Positioning seat 1; 2-6. Tie rod 1; 2-7. Expansion sleeve 1; 2-8. Spring 1; 2-9. Spring pressure plate 1; 2-10. Cylinder connector 1; 2-11. Tie rod connector 1; 2-12. Limit nut 1; 2-13. Limit nut 2; 2-14. Sensor bracket 1; 2-15. Sensor bracket 2; 2-16. Mounting bracket 1; 2-17. In-situ sensor 1; 2-18. Working position sensor 1; 2-19. Diffuse reflection sensor 1;

[0060] 3-1. Cylinder mounting base two; 3-2. Elevating block two; 3-3. Cylinder two; 3-4. Sensor plate two; 3-5. Positioning seat two; 3-6. Pull rod two; 3-7. Expansion sleeve two; 3-8. Spring two; 3-9. Spring pressure plate two; 3-10. Cylinder connector two; 3-11. Pull rod connector two; 3-12. Limit nut three; 3-13. Limit nut four; 3-14. Sensor bracket three; 3-15. Sensor bracket four; 3-16. Mounting bracket two; 3-17. Mounting bracket three; 3-18. In-situ sensor two; 3-19. Working position sensor two; 3-20. Through-beam sensor one;

[0061] 4-1. Cylinder mounting base three; 4-2. Elevating block three; 4-3. Cylinder three; 4-4. Sensor plate three; 4-5. Positioning seat three; 4-6. Tie rod three; 4-7. Expansion sleeve three; 4-8. Spring three; 4-9. Spring pressure plate three; 4-10. Cylinder connector three; 4-11. Tie rod connector three; 4-12. Limit nut five; 4-13. Limit nut six; 4-14. Sensor bracket five; 4-15. Sensor bracket six; 4-16. Mounting bracket four; 4-17. In-situ sensor three; 4-18. Working position sensor three; 4-19. Diffuse reflection sensor two;

[0062] 5-1. Floating cylinder 1; 5-2. Gripper 1; 5-3. Mounting bracket 5; 5-4. Diffuse reflection sensor 3; 5-5. In-situ magnetic switch 1; 5-6. Working position magnetic switch 1;

[0063] 6-1. Floating cylinder II; 6-2. Gripper II; 6-3. Mounting bracket VI; 6-4. Diffuse reflection sensor IV; 6-5. In-situ magnetic switch II; 6-6. Working position magnetic switch II;

[0064] 7-1. Cylinder mounting base four; 7-2. Elevating block four; 7-3. Cylinder four; 7-4. Sensor plate four; 7-5. Positioning seat four; 7-6. Tie rod four; 7-7. Expansion sleeve four; 7-8. Spring four; 7-9. Spring pressure plate four; 7-10. Cylinder connector four; 7-11. Tie rod connector four; 7-12. Limit nut seven; 7-13. Limit nut eight; 7-14. Sensor bracket seven; 7-15. Sensor bracket eight; 7-16. Mounting bracket seven; 7-17. In-situ sensor four; 7-18. Working position sensor four; 7-19. Diffuse reflection sensor five;

[0065] 8-1. Cylinder mounting base five; 8-2. Elevating block five; 8-3. Cylinder five; 8-4. Sensor five; 8-5. Positioning seat five; 8-6. Pull rod five; 8-7. Expansion sleeve five; 8-8. Spring five; 8-9. Spring pressure plate five; 8-10. Cylinder connector five; 8-11. Pull rod connector five; 8-12. Limit nut nine; 8-13. Limit nut ten; 8-14. Sensor bracket nine; 8-15. Sensor bracket ten; 8-16. Mounting bracket eight; 8-17. In-situ sensor five; 8-18. Working position sensor five; 8-19. Diffuse reflection sensor six;

[0066] 9-1. Cylinder mounting base six; 9-2. Elevating block six; 9-3. Cylinder six; 9-4. Sensor plate six; 9-5. Positioning seat six; 9-6. Pull rod six; 9-7. Expansion sleeve six; 9-8. Spring six; 9-9. Spring pressure plate six; 9-10. Cylinder connector six; 9-11. Pull rod connector six; 9-12. Limit nut eleven; 9-13. Limit nut twelfth; 9-14. Sensor bracket eleven; 9-15. Sensor bracket twelfth; 9-16. Mounting bracket nine; 9-17. Mounting bracket ten; 9-18. In-situ sensor six; 9-19. Working position sensor six; 9-20. Through-beam sensor two. Detailed Implementation

[0067] The following description, with reference to the accompanying drawings, illustrates several preferred embodiments of the present invention to make its technical content clearer and easier to understand. The present invention can be embodied in many different forms, and the scope of protection of the present invention is not limited to the embodiments mentioned herein.

[0068] In the accompanying drawings, components with the same structure are indicated by the same numerical designation, and components with similar structures or functions are indicated by similar numerical designations. The dimensions and thicknesses of each component shown in the drawings are arbitrary, and this invention does not limit the dimensions and thicknesses of each component. To make the illustrations clearer, the thickness of some components has been appropriately exaggerated in the drawings.

[0069] like Figures 1-18As shown, in a preferred embodiment, the present invention provides a gripper mechanism, including a frame 1, a tensioning component 1 2, a tensioning component 2 3, a tensioning component 3 4, a bearing outer ring gripper 1 5, a bearing outer ring gripper 2 6, a tensioning component 4 7, a tensioning component 5 8, and a tensioning component 6 9.

[0070] Structure and installation of frame 1:

[0071] In the frame 1, one end of flange 1-4 is directly connected to the robot, and the multi-directional movement of the gripper mechanism is realized through the robot's drive to meet the gripping and handling needs of different workstations; the other end is connected to connecting plate 1-3, which serves to connect and support upper mounting plate 1-2 and lower mounting plate 1-1; the upper end of connecting plate 1-3 is provided with upper mounting plate 1-2, and the lower end is provided with lower mounting plate 1-1, which provide mounting platforms for each gripping component; four guide shafts 1-5 are horizontal in the middle, and their ends are locked to upper mounting plate 1-2 and lower mounting plate 1-1 respectively by bolts and other fasteners. The guide shafts 1-5 are made of high-strength alloy material, which can effectively enhance the overall rigidity and stability of frame 1, and ensure that frame 1 will not deform significantly even when gripping heavy shafts, thus ensuring gripping accuracy.

[0072] Structure, installation and working principle of tensioning component 12:

[0073] The tensioning component 2 is mounted on the frame 1 and is directly bolted to the lower mounting plate 1-1 by the cylinder mounting base 2-1, ensuring the installation of the tensioning component 2. The shim block 2-2 is mounted on the cylinder mounting base 2-1 by screws, and its height can be selected and adjusted according to actual needs to ensure that the cylinder 2-3 is in the optimal working position. The cylinder 2-3 is bolted to the shim block 2-2. The cylinder 2-3 is a high-precision pneumatic cylinder with fast response speed and stable output force. The upper end of the shim block 2-2 is equipped with a sensing plate 2-4 by screws. The sensing plate 2-4 is made of metal and can be accurately detected by the sensor. The lower end is equipped with a cylinder connector 2-10, which is connected to the piston rod of cylinder 2-3 to transmit the power of the cylinder. A pull rod connector 2-11 is embedded in the cylinder connector 2-10 and can slide unidirectionally within it. A clearance fit is used between the two to ensure flexible movement of the pull rod connector 2-11. One end of the pull rod 2-6 is screwed into the pull rod connector 2-11 and secured with a nut to ensure reliable connection. A spring 2-8 is fitted onto the pull rod 2-6. The spring 2-8 is made of high-strength spring steel and has good elasticity and fatigue life. A spring pressure plate 2-9 passes through the pull rod 2-6 and is positioned above the spring 2-8. Spring 2-9 evenly transmits the elastic force of spring 2-8 to pull rod 2-6; two limiting nuts 2-13 are screwed above spring pressure plate 2-9, and tightening the limiting nuts 2-13 fixes the position of spring pressure plate 2-9, thereby adjusting the preload of spring 2-8; limiting nut 2-12 is screwed below pull rod joint 2-11 to adjust the extension length of pull rod 2-6 and fix pull rod joint 2-11 in a suitable position; expansion sleeve 2-7 passes through pull rod 2-6 and is installed below cylinder mounting seat 2-1. Expansion sleeve 2-7 is made of a highly elastic material and can expand radially when subjected to axial force; positioning seat 2... -5 passes through the expansion sleeve 2-7 and is installed below the cylinder mounting base 2-1. The lower end of the positioning base 2-5 is provided with a positioning boss, which can cooperate with the end face or inner hole of the shaft system to achieve accurate positioning of the shaft system. The sensor bracket 2-14 and the sensor bracket 2-15 are respectively set on the adjacent sides of the cylinder 2-3 by screws, providing a stable mounting base for the sensor. The in-situ sensor 2-17 and the working position sensor 2-18 are respectively installed on the sensor bracket 2-14 and the sensor bracket 2-15. They are photoelectric sensors that can accurately sense the position of the sensing element 2-4, thereby detecting the working position and in-situ position of the cylinder 2-3 and transmitting signals to the control system.Mounting bracket 2-16 is screwed onto one side of cylinder mounting seat 2-1. Diffuse reflection sensor 2-19 is mounted on mounting bracket 2-16. Diffuse reflection sensor 2-19 can emit and receive reflected light. When a shaft system is present, the intensity of the reflected light changes, thereby detecting the presence or absence of the shaft system and feeding the signal back to the control system.

[0074] When tensioning assembly 2 is working, before gripping the shaft system, cylinder 2-3 is in a retracted state, and sensing plate 2-4 is within the sensing range of in-situ sensor 2-17. In-situ sensor 2-17 sends a signal indicating that cylinder 2-3 is in its original position. When it is necessary to grip the shaft system, the gripper mechanism moves above the shaft system under the drive of the robot and slowly descends. The positioning boss of positioning seat 2-5 contacts and positions the shaft system. At this time, diffuse reflection sensor 2-19 detects the shaft system and sends a signal. After receiving the signal, the control system controls cylinder 2-3 to extend. The piston rod pushes cylinder connector 2-10 and pull rod connector 2-11 downward, thereby driving pull rod 2-6 downward. When pull rod 2-6 moves downward, expansion sleeve 2-7 is radially expanded by the force of cylinder mounting seat 2-1 and pull rod 2-6, tightly adhering to the shaft system. The inner wall firmly grips the shaft system; simultaneously, the pull rod 2-6 moves downward to compress the spring 2-8, and the spring 2-8 generates an upward elastic force on the spring pressure plate 2-9, which acts as a buffer to prevent the pull rod 2-6 from moving excessively; when the cylinder 2-3 extends to the working position, the sensing plate 2-4 moves into the sensing range of the working position sensor 2-18, and the working position sensor 2-18 sends a signal indicating that the tensioning assembly 2 has completed the tensioning action and can be transported; when it is necessary to lower the shaft system, the control system controls the cylinder 2-3 to retract, the piston rod drives the relevant components to move upward, the tension sleeve 2-7 loses axial force and returns to its original state, releasing the shaft system, and at the same time, the spring 2-8 pushes the spring pressure plate 2-9 and the pull rod 2-6 to reset, and the sensing plate 2-4 returns to the sensing range of the original position sensor 2-17, completing one gripping and lowering action.

[0075] Structure, installation and working principle of tensioning component 2.3:

[0076] The tensioning component 2 3 is mounted on the frame 1 and is directly locked to the lower mounting plate 1-1 by bolts via the cylinder mounting seat 2 3-1; the shim block 2 3-2 is mounted above the cylinder mounting seat 2 3-1 by screws, and the cylinder 2 3-3 is mounted on the shim block 2 3-2 by bolts; the upper end of the shim block 2 3-2 is provided with a sensing plate 2 3-4 by screws, and the lower end is provided with a cylinder connector 2 3-10; the pull rod connector 2 3-11 is embedded in the cylinder connector 2 3-10 and can slide unidirectionally within it; one end of the pull rod 2 3-6 is screwed into the pull rod connector 2 3-11 and fixed by a nut; the spring 2 3-8 is sleeved on the pull rod 2 3-6, and the spring pressure plate 2 3-9 passes through the pull rod 2 3-6 and is positioned above the spring 2 3-8; two limit nuts 4 3-13 are screwed above the spring pressure plate 2 3-9 to fix the position of the spring pressure plate 2 3-9; the limit nut 3- 12 is screwed below the tie rod joint 3-11 to adjust the length and fix the position of the tie rod 3-6; the expansion sleeve 3-7 passes through the tie rod 3-6 and is installed below the cylinder mounting seat 3-1; the positioning seat 3-5 passes through the expansion sleeve 3-7 and is installed below the cylinder mounting seat 3-1; the sensor bracket 3-14 and the sensor bracket 4-15 are respectively set on the adjacent sides of the cylinder 3-3 with screws; the in-situ sensor 3-18 and the working position sensor 3-19 are respectively installed on the sensor bracket 3-14 and the sensor bracket 4-15; the mounting bracket 2-16 and the mounting bracket 3-17 are set on one side of the cylinder mounting seat 3-1; the transmitter and receiver of the through-beam sensor 3-20 are respectively installed on the mounting bracket 2-16 and the mounting bracket 3-17 to detect the presence or absence of the shaft system.

[0077] The working principle of tensioning component 2 (3) is basically the same as that of tensioning component 1 (2), the difference being that it uses a through-beam sensor 3-20 to detect the presence or absence of a shaft system. The transmitter of the through-beam sensor 3-20 emits a light beam, and the receiver receives the light beam. When a shaft system is present, the shaft system blocks the light beam, and the receiver cannot receive the light beam, thus emitting a signal indicating the presence of a shaft system; when no shaft system is present, the receiver can receive the light beam, emitting a signal indicating the absence of a shaft system. This detection method has higher accuracy and anti-interference capabilities, making it particularly suitable for complex working environments.

[0078] Structure, installation and working principle of tensioning component 3.4:

[0079] The tensioning component 3 4 is mounted on the lower mounting plate 1-1 of the frame 1, and its structure is the same as that of tensioning component 1 2, which will not be described again here. Tensioning component 3 4 works in conjunction with tensioning components 1 2 and 2 3 to grip the shaft system before assembly from different positions and angles, improving the stability and reliability of the gripping. Because the three tensioning components act simultaneously, the gripping force is evenly distributed, preventing the shaft system from tilting or falling during the gripping process and ensuring that the shaft system can be transported smoothly.

[0080] Structure, installation and working principle of bearing outer ring clamp 5:

[0081] The bearing outer ring gripper 5 is mounted on the lower mounting plate 1-1 of the frame 1. The floating cylinder 5-1 is directly mounted on the lower mounting plate 1-1 by bolts. The floating cylinder 5-1 has a certain axial and radial floating range, which can automatically compensate for the position deviation of the bearing outer ring during the gripping process. The gripper 5-2 is evenly mounted on the output end of the floating cylinder 5-1 by bolts. The gripping surface of the gripper 5-2 is made of wear-resistant material and has an arc-shaped groove that matches the outer circle of the bearing outer ring, which can increase the contact area with the bearing outer ring, improve the gripping stability, and avoid damage to the bearing outer ring. The mounting bracket 5-3 is mounted on one side of the floating cylinder 5-1 by screws. The diffuse reflection sensor 5-4 is mounted on the mounting bracket 5-3 to detect the presence or absence of the bearing outer ring. The in-situ magnetic switch 5-5 and the working magnetic switch 5-6 are embedded on the side of the floating cylinder 5-1. They are magnetic switches that can detect the clamping and loosening state of the gripper 5-2 according to the position of the piston in the cylinder and the magnetic ring.

[0082] When the bearing outer ring gripper 5 is working, before gripping the bearing outer ring, the floating cylinder 5-1 is in a relaxed state, the gripper 5-2 opens, and the in-situ magnetic switch 5-5 sends a signal indicating that the gripper is in its original position. When the gripper mechanism moves above the bearing outer ring under the robot's drive, the diffuse reflection sensor 5-4 detects the bearing outer ring and sends a signal. After receiving the signal, the control system controls the floating cylinder 5-1 to move, causing the gripper 5-2 to close and clamp the bearing outer ring. When the gripper 5-2 is clamped to the working position, the working position magnetic switch 5-6 sends a signal indicating that the bearing outer ring has been gripped and can be moved. When it is necessary to lower the bearing outer ring, the control system controls the floating cylinder 5-1 to reset, the gripper 5-2 opens, and the in-situ magnetic switch 5-5 sends a signal again, completing one gripping and lowering action. During the gripping process, the floating function of the floating cylinder 5-1 can adapt to the slight positional deviation of the bearing outer ring, ensuring that the gripper 5-2 can accurately clamp the bearing outer ring and avoid excessive pressure on the bearing outer ring, which could lead to deformation.

[0083] Structure, installation, and working principle of bearing outer ring clamp 26:

[0084] The second bearing outer ring gripper 6 is mounted on the lower mounting plate 1-1 of the frame 1, and its structure is the same as that of the first bearing outer ring gripper 5, which will not be described again here. The second bearing outer ring gripper 6 works simultaneously with the first bearing outer ring gripper 5, allowing for the simultaneous gripping of two bearing outer rings, thus improving work efficiency. In practical applications, the two bearing outer ring grippers can be controlled independently or synchronously, depending on specific production needs. When one bearing outer ring gripper malfunctions, the other can continue operating, improving equipment reliability and production continuity.

[0085] Structure, installation, and working principle of tensioning components 4.7, 5.8, and 6.9:

[0086] Tensioning components 4 (7), 5 (8), and 6 (9) are mounted on the upper mounting plate 1-2 of frame 1. Tensioning components 4 (7) and 5 (8) have the same structure as tensioning component 1 (2), and tensioning component 6 (9) has the same structure as tensioning component 2 (3). These three sets of tensioning components work together to grip the assembled shaft system. Since the assembled shaft system is usually heavier and more complex than the unassembled shaft system, the three tensioning components need to work together to provide sufficient gripping force and stability, ensuring that the shaft system does not loosen or fall during transport.

[0087] The entire collaborative working process of the gripper mechanism:

[0088] On an automated assembly line, when the "pre-assembly shaft system - bearing outer ring - post-assembly shaft system" gripping and transporting operation is required, the robot moves the gripper mechanism to the corresponding workstation. First, tensioning components 1-2, 2-3, and 3-4 work together to grip the pre-assembly shaft system and transport it to the assembly station. Then, bearing outer ring grippers 1-5 and 2-6 simultaneously grip the bearing outer ring and transport it to the assembly station for assembly with the shaft system. After assembly, tensioning components 4-7, 5-8, and 6-9 work together to grip the assembled shaft system and transport it to the next workstation. Throughout the process, sensors continuously monitor the working status of each component and the presence or absence of workpieces, feeding signals back to the control system. The control system coordinates the actions of each component based on the feedback signals, ensuring the automation, efficiency, and accuracy of the entire operation.

[0089] The gripper mechanism of this utility model, through reasonable structural design and component layout, realizes the integration of multiple gripping functions on the same end effector. It can complete the gripping and handling of multiple parts in the combined workstation without frequent fixture changes, which significantly improves the automation level and production efficiency of the assembly line. At the same time, the fully automatic operation reduces the intensity of manual labor, reduces the risk of product collisions, and improves product quality.

[0090] The preferred embodiments of this utility model have been described in detail above. It should be understood that those skilled in the art can make numerous modifications and variations based on the concept of this utility model without creative effort. Therefore, all technical solutions that can be obtained by those skilled in the art based on the concept of this utility model through logical analysis, reasoning, or limited experimentation on the basis of existing technology should be within the scope of protection defined by the claims.

Claims

1. A gripper mechanism, characterized in that, Including frame (1), tensioning component one (2), tensioning component two (3), tensioning component three (4), bearing outer ring clamp one (5), bearing outer ring clamp two (6), tensioning component four (7), tensioning component five (8) and tensioning component six (9); The frame (1) is connected to the robot; the frame (1) includes a lower mounting plate (1-1), an upper mounting plate (1-2), a connecting plate (1-3), a flange (1-4), and guide shafts (1-5); the frame (1) is connected to the robot through the flange (1-4); the upper end of the connecting plate (1-3) is connected to the upper mounting plate (1-2), and the lower end is connected to the lower mounting plate (1-1); four guide shafts (1-5) are horizontal in the middle, and their two ends are locked to the upper mounting plate (1-2) and the lower mounting plate (1-1) respectively; The tensioning component 1 (2) is mounted on the lower mounting plate (1-1); The tensioning component 2 (3) is mounted on the lower mounting plate (1-1); The tensioning component three (4) is mounted on the lower mounting plate (1-1); The three sets of tensioning components mentioned above are used to grip the unassembled shaft system; The bearing outer ring clamp (5) is mounted on the upper mounting plate (1-2); The bearing outer ring clamp two (6) is mounted on the upper mounting plate (1-2); The two sets of bearing outer ring grippers mentioned above are used to grip the bearing outer ring; The tensioning component four (7) is mounted on the upper mounting plate (1-2); The tensioning component five (8) is mounted on the upper mounting plate (1-2); The tensioning component six (9) is mounted on the upper mounting plate (1-2); The three sets of tensioning components mentioned above are used to grip the assembled shaft system.

2. The gripper mechanism as described in claim 1, characterized in that, The tensioning assembly 1 (2) includes cylinder mounting base 1 (2-1), shim block 1 (2-2), cylinder 1 (2-3), sensing plate 1 (2-4), positioning seat 1 (2-5), pull rod 1 (2-6), tension sleeve 1 (2-7), spring 1 (2-8), spring pressure plate 1 (2-9), cylinder connector 1 (2-10), pull rod connector 1 (2-11), limit nut 1 (2-12), limit nut 2 (2-13), sensor bracket 1 (2-14), sensor bracket 2 (2-15), mounting bracket 1 (2-16), in-situ sensor 1 (2-17), working position sensor 1 (2-18), and diffuse reflection sensor 1 (2-19).

3. The gripper mechanism as described in claim 1, characterized in that, The tensioning assembly 2 (3) includes cylinder mounting seat 2 (3-1), shim block 2 (3-2), cylinder 2 (3-3), sensing plate 2 (3-4), positioning seat 2 (3-5), pull rod 2 (3-6), expansion sleeve 2 (3-7), spring 2 (3-8), spring pressure plate 2 (3-9), cylinder connector 2 (3-10), pull rod connector 2 (3-11), limit nut 3 (3-12), limit nut 4 (3-13), sensor bracket 3 (3-14), sensor bracket 4 (3-15), mounting bracket 2 (3-16), mounting bracket 3 (3-17), in-situ sensor 2 (3-18), working position sensor 2 (3-19), and through-beam sensor 1 (3-20).

4. The gripper mechanism as described in claim 1, characterized in that, The tensioning assembly three (4) includes cylinder mounting seat three (4-1), shim block three (4-2), cylinder three (4-3), sensing plate three (4-4), positioning seat three (4-5), pull rod three (4-6), tension sleeve three (4-7), spring three (4-8), spring pressure plate three (4-9), cylinder connector three (4-10), pull rod connector three (4-11), limit nut five (4-12), limit nut six (4-13), sensor bracket five (4-14), sensor bracket six (4-15), mounting bracket four (4-16), in-situ sensor three (4-17), working position sensor three (4-18), and diffuse reflection sensor two (4-19).

5. The gripper mechanism as described in claim 1, characterized in that, The bearing outer ring gripper 1 (5) includes a floating cylinder 1 (5-1), gripper 1 (5-2), mounting bracket 5 (5-3), diffuse reflection sensor 3 (5-4), in-situ magnetic switch 1 (5-5), and working position magnetic switch 1 (5-6).

6. The gripper mechanism as described in claim 1, characterized in that, The bearing outer ring clamp two (6) includes a floating cylinder two (6-1), a clamp two (6-2), a mounting bracket six (6-3), a diffuse reflection sensor four (6-4), an in-situ magnetic switch two (6-5), and a working position magnetic switch two (6-6).

7. The gripper mechanism as described in claim 1, characterized in that, The tensioning assembly four (7) includes cylinder mounting base four (7-1), shim block four (7-2), cylinder four (7-3), sensing plate four (7-4), positioning seat four (7-5), pull rod four (7-6), tension sleeve four (7-7), spring four (7-8), spring pressure plate four (7-9), cylinder connector four (7-10), pull rod connector four (7-11), limit nut seven (7-12), limit nut eight (7-13), sensor bracket seven (7-14), sensor bracket eight (7-15), mounting bracket seven (7-16), in-situ sensor four (7-17), working position sensor four (7-18), and diffuse reflection sensor five (7-19).

8. The gripper mechanism as described in claim 1, characterized in that, The tensioning assembly five (8) includes cylinder mounting seat five (8-1), shim block five (8-2), cylinder five (8-3), sensing plate five (8-4), positioning seat five (8-5), pull rod five (8-6), tension sleeve five (8-7), spring five (8-8), spring pressure plate five (8-9), cylinder connector five (8-10), pull rod connector five (8-11), limit nut nine (8-12), limit nut ten (8-13), sensor bracket nine (8-14), sensor bracket ten (8-15), mounting bracket eight (8-16), in-situ sensor five (8-17), working position sensor five (8-18), and diffuse reflection sensor six (8-19).

9. The gripper mechanism as described in claim 1, characterized in that, The tensioning assembly six (9) includes a cylinder mounting seat six (9-1), a shim six (9-2), a cylinder six (9-3), a sensing plate six (9-4), a positioning seat six (9-5), a pull rod six (9-6), a tension sleeve six (9-7), a spring six (9-8), a spring pressure plate six (9-9), a cylinder connector six (9-10), a pull rod connector six (9-11), a limit nut eleven (9-12), a limit nut twelfth (9-13), a sensor bracket eleven (9-14), a sensor bracket twelfth (9-15), a mounting bracket nine (9-16), a mounting bracket ten (9-17), a home sensor six (9-18), a working sensor six (9-19), and a through-beam sensor two (9-20).

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