CN111376301A - Clamping jaw mechanism for carrying large-sized bearing - Google Patents
Clamping jaw mechanism for carrying large-sized bearing Download PDFInfo
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- CN111376301A CN111376301A CN202010344434.9A CN202010344434A CN111376301A CN 111376301 A CN111376301 A CN 111376301A CN 202010344434 A CN202010344434 A CN 202010344434A CN 111376301 A CN111376301 A CN 111376301A
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- Prior art keywords
- clamping jaw
- bottom plate
- clamping
- bearing
- plate
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to the technical field of carrying equipment, and relates to a clamping jaw mechanism for carrying a large-sized bearing, which comprises a clamping jaw frame, wherein an upper fixed disc of the clamping jaw frame is provided with a rotary cylinder, and the piston rod end of the rotary cylinder is provided with a rotary disc; the bottom plate bottom surface of clamping jaw frame is three group's line rails of 120 interval arrangement, every group respectively sliding fit sets up the clamping jaw connecting block on the line rail, install clamping jaw, connecting rod on the clamping jaw connecting block, cooperate every clamping jaw connecting block to set up a bottom plate guide way respectively on the bottom plate, the bottom plate guide way is parallel with corresponding line rail, and the connecting rod passes the bottom plate guide way and stretches into the corresponding carousel inslot that sets up on the rotary disk. The mechanism device can realize stable grabbing and carrying of large-scale bearing parts, and the grabbing mode is small in bearing stress and not easy to damage; in addition, the clamping jaw mechanism can be adjusted to grab the radius, adapts to more various large-scale bearings, increases the flexibility of frock.
Description
Technical Field
The invention belongs to the technical field of carrying equipment, and relates to a clamping jaw mechanism for carrying a large bearing.
Background
The large bearing is a vital part in large mechanical equipment as a transmission part, and has high requirements on processing precision, and the manufacturing and measurement of the existing large bearing are gradually changed from manual to automatic. In the automatic process, in order to realize the carrying of the large-sized bearing, a clamping jaw mechanism is needed to be capable of grabbing the large-sized bearing from a material channel, conveying the large-sized bearing to a measuring station point for measurement, and grabbing blanking after the measurement is finished, so that the automation from the manufacturing to the measurement is realized.
Some existing clamping jaw mechanisms clamp the bearing by using a V-shaped block, and the surface of the bearing is damaged by friction force grabbing, so that the precision of the bearing is influenced. In addition, CN 106826880A discloses a mechanical clamping jaw applied to a bearing ring, which can only grab a small bearing ring, but cannot be applied to large and heavy bearing grabbing.
Disclosure of Invention
Aiming at the problems, the invention provides the clamping jaw mechanism for carrying the large-scale bearing, the mechanism device can realize stable grabbing and carrying of large-scale bearing parts, and the grabbing mode has small stress on the bearing and is not easy to damage; in addition, the clamping jaw mechanism can be adjusted to grab the radius, adapts to more various large-scale bearings, increases the flexibility of frock.
According to the technical scheme of the invention: the utility model provides a gripper mechanism for carrying large bearing which characterized in that: the clamping jaw clamping device comprises a clamping jaw frame, wherein a rotary cylinder is installed on an upper fixed disc of the clamping jaw frame, and a rotary disc is installed at the end of a piston rod of the rotary cylinder;
three groups of wire rails are arranged on the bottom surface of a bottom plate of the clamping jaw frame at intervals of 120 degrees, each group of wire rails is respectively provided with a clamping jaw connecting block in a sliding fit manner, a clamping jaw and a connecting rod are mounted on each clamping jaw connecting block, a bottom plate guide groove is respectively arranged on the bottom plate in a fit manner, each clamping jaw connecting block is matched with each clamping jaw connecting block, the bottom plate guide groove is parallel to the corresponding wire rail, the connecting rod penetrates through the bottom plate guide groove and extends into a rotary disc groove correspondingly arranged on the rotary disc, a bearing is mounted on a rod body of the connecting rod arranged in the rotary disc groove, a limiting rod is fixed on the upper surface;
the rotary disc groove and the bottom plate guide groove are arranged in a mutually crossed manner, and the connecting rod is arranged at the crossed position of the rotary disc groove and the bottom plate guide groove;
the upper fixed disc is provided with a proximity switch corresponding to each connecting rod.
As a further improvement of the invention, the lower ends of the clamping jaws are provided with bottom surface stop blocks.
As a further improvement of the invention, the bearing is limited and fixed on the connecting rod through the pressing cover.
As a further improvement of the invention, a limit stop is respectively arranged on the bottom plate corresponding to the outer end of each linear rail.
As a further improvement of the invention, the clamping jaw frame further comprises a side surface connecting plate and a protective plate, wherein the side surface connecting plate and the protective plate are arranged in a staggered mode and enclose a closed space with the upper fixing plate and the bottom plate.
As a further improvement of the invention, the top surface of the clamping jaw frame is provided with a robot connecting plate.
As a further development of the invention, the working surfaces of the clamping jaws are provided with clamping blocks.
As a further improvement of the invention, the proximity switch is fixedly connected to the upper fixing disc through a bracket.
The invention has the technical effects that: the clamping jaw mechanism is reasonable and ingenious in structural design, when the clamping jaw mechanism is used, large-sized bearing parts can be stably grabbed and carried, the grabbing mode is small in bearing stress and not prone to damage, the grabbing radius can be adjusted by the clamping jaw mechanism, the clamping jaw mechanism can adapt to various large-sized bearings, and the flexibility of the tool is effectively improved.
Drawings
Fig. 1 is a perspective view of the present invention.
Fig. 2 is a perspective view of the present invention.
FIG. 3 is an isometric cross-sectional view of the present invention.
Figure 4 is a horizontal cross-sectional view of the jaw frame of the present invention.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings.
In the drawings 1-4, the robot connecting plate comprises a robot connecting plate 1, an upper fixed plate 2, a side connecting plate 3, a protective plate 4, a bottom plate 5, a bottom plate guide groove 5-1, a rotary cylinder 6, a rotary disk 7, a rotary disk groove 7-1, a proximity switch 8, a limiting rod 9, a linear rail 10, a connecting rod 11, a clamping jaw connecting block 12, a clamping jaw 13, a bottom surface stop block 14, a clamping block 15, a bearing 16, a pressing cover 17, a large bearing 18 and the like.
As shown in fig. 1 to 4, the invention relates to a clamping jaw mechanism for carrying a large bearing, which comprises a clamping jaw frame, wherein an upper fixed disk 2 of the clamping jaw frame is provided with a rotary cylinder 6, and a piston rod end of the rotary cylinder 6 is provided with a rotary disk 7; the bottom surface of a bottom plate 5 of the clamping jaw frame is provided with three groups of wire rails 10 at intervals of 120 degrees, each group of wire rails 10 is respectively provided with a clamping jaw connecting block 12 in a sliding fit manner, a clamping jaw 13 and a connecting rod 11 are arranged on each clamping jaw connecting block 12, each bottom plate 5 is provided with a bottom plate guide groove 5-1 in a fit manner, each bottom plate guide groove 5-1 is parallel to the corresponding wire rail 10, each connecting rod 11 penetrates through the corresponding bottom plate guide groove 5-1 and extends into a corresponding rotary disc groove 7-1 arranged on a rotary disc 7, each connecting rod 11 is arranged on a rod body in the corresponding rotary disc groove 7-1 and is provided with a bearing 16, a limiting rod 9 is fixed on the upper surface of the bottom plate 5, and each limiting rod 9 extends into a limiting; the turntable groove 7-1 and the bottom plate guide groove 5-1 are arranged in a mutually crossed manner, and the connecting rod 11 is arranged at the crossed position of the turntable groove 7-1 and the bottom plate guide groove 5-1; the upper fixed disc 2 is provided with a proximity switch 8 corresponding to each connecting rod 11.
As shown in fig. 2, the lower end of the clamping jaw 13 is provided with a bottom stop 14 to realize convenient and quick clamping of a large bearing to be clamped during work.
As shown in fig. 3, the bearing 16 is fixed on the connecting rod 11 in a limited manner through a pressing cover 17, so that the bearing 16 is fixed on the connecting rod 11 in a limited manner, and the outer surface of the bearing 16 is in rolling contact with the inner wall of the turntable groove 7-1.
One end of the limiting rod 9 is arranged in a limiting groove of the rotating disc 7 to limit the rotating range of the rotating disc 7. The bottom plate guide groove 5-1 and the turntable groove 7-1 are in a cross shape. The three proximity switches 8 are all arranged at different positions of the bracket sliding groove, one proximity switch 8 is arranged above the connecting rod 11 in a clamping jaw loosening state, one proximity switch 8 is arranged above the connecting rod 11 in a complete furling state of the clamping jaw 13, and the other proximity switch 8 is arranged above the driving rod in a state that the clamping jaw clamps the corresponding large-scale bearing.
As shown in fig. 2, a limit stop is respectively disposed on the bottom plate 5 corresponding to the outer end of each wire rail 10 to limit the movement of the jaw connecting block 12 along the wire rail 10.
The clamping jaw frame further comprises a side face connecting plate 3 and a protection plate 4, wherein the side face connecting plate 3 and the protection plate 4 are arranged in a staggered mode, and enclose a closed space with the upper fixing plate 2 and the bottom plate 5.
As shown in fig. 1 and 3, a robot connecting plate 1 is mounted on the top surface of the clamping jaw frame, and the robot connecting plate 1 is used for being fixedly connected with a manipulator when in use and being adjusted in position by the manipulator.
As shown in fig. 2, the working surface of the clamping jaw 13 is provided with a clamping block 15, and the clamping block 15 can be effectively attached to the surface of the large bearing to be clamped when in operation.
As shown in fig. 3, the proximity switch 8 is fixedly connected to the upper fixing plate 2 through a bracket, in the specific production, the bracket comprises a vertical plate body and a horizontal plate body which are fixedly connected, and the proximity switch 8 is installed in a groove formed on the horizontal plate body.
As shown in fig. 1-4, when in use, the robot connecting plate 1 is fixedly connected with a manipulator and the position of the robot connecting plate is adjusted by the manipulator; when the clamping device is ready to be grabbed, the rotary cylinder 6 rotates to enable the connecting rod 11 to be aligned with the proximity switch 8 on the outermost side, and the clamping jaw 13 is on the outermost side and is in a loosening state; when grabbing, the rotary cylinder 6 rotates to drive the rotary disk 7 to rotate, the rotary disk 7 drives the connecting rod 11 to slide in the rotary disk groove 7-1, the connecting rod 11 moves to the position of the appointed proximity switch 8 along the bottom plate guide groove 5-1 under stress, the proximity switch 8 receives signal feedback, the rotary cylinder 6 stops rotating, the claw tip of the clamping jaw 13 drags the step of the large bearing at the moment, the side surface is clamped by the clamping block 15, and the clamping jaw mechanism clamps the large bearing 18 at the moment; the manipulator controls the whole body to move to a designated position, the rotary cylinder 6 rotates in the opposite direction, the clamping jaw 13 is driven to move in the opposite direction to loosen the part, and the carrying is completed.
Claims (8)
1. The utility model provides a gripper mechanism for carrying large bearing which characterized in that: the clamping jaw clamping device comprises a clamping jaw frame, wherein an upper fixed disc (2) of the clamping jaw frame is provided with a rotary cylinder (6), and a piston rod end of the rotary cylinder (6) is provided with a rotary disc (7);
three groups of line rails (10) are arranged on the bottom surface of the bottom plate (5) of the clamping jaw frame at intervals of 120 degrees, a clamping jaw connecting block (12) is respectively arranged on each group of line rails (10) in a sliding fit manner, clamping jaws (13) and connecting rods (11) are mounted on the clamping jaw connecting blocks (12), a bottom plate guide groove (5-1) is formed in the bottom plate (5) in a matched mode with each clamping jaw connecting block (12), the bottom plate guide groove (5-1) is parallel to a corresponding linear rail (10), the connecting rods (11) penetrate through the bottom plate guide grooves (5-1) and extend into corresponding rotary disc grooves (7-1) formed in the rotary disc (7), bearings (16) are mounted on rod bodies of the connecting rods (11) arranged in the rotary disc grooves (7-1), limiting rods (9) are fixed on the upper surface of the bottom plate (5), and the limiting rods (9) extend into limiting grooves formed in the edges of the rotary disc (7);
the turntable groove (7-1) and the bottom plate guide groove (5-1) are arranged in a mutually crossed manner, and the connecting rod (11) is arranged at the crossed position of the turntable groove (7-1) and the bottom plate guide groove (5-1);
the upper fixed disc (2) is provided with a proximity switch (8) corresponding to each connecting rod (11).
2. A jaw mechanism for handling large bearings according to claim 1, characterised in that: and a bottom surface stop block (14) is arranged at the lower end of the clamping jaw (13).
3. A jaw mechanism for handling large bearings according to claim 1, characterised in that: the bearing (16) is limited and fixed on the connecting rod (11) through a pressing cover (17).
4. A jaw mechanism for handling large bearings according to claim 1, characterised in that: and the bottom plate (5) is provided with a limit stop corresponding to the outer end of each linear rail (10) respectively.
5. A jaw mechanism for handling large bearings according to claim 1, characterised in that: the clamping jaw frame further comprises a side face connecting plate (3) and a protection plate (4), wherein the side face connecting plate (3) and the protection plate (4) are arranged in a staggered mode, and a closed space is enclosed by the side face connecting plate, the protection plate and the upper fixing plate (2) and the bottom plate (5).
6. A jaw mechanism for handling large bearings according to claim 1, characterised in that: and a robot connecting plate (1) is arranged on the top surface of the clamping jaw frame.
7. A jaw mechanism for handling large bearings according to claim 1, characterised in that: the working surface of the clamping jaw (13) is provided with a clamping block (15).
8. A jaw mechanism for handling large bearings according to claim 1, characterised in that: the proximity switch (8) is fixedly connected to the upper fixed disc (2) through a support.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010344434.9A CN111376301A (en) | 2020-04-27 | 2020-04-27 | Clamping jaw mechanism for carrying large-sized bearing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010344434.9A CN111376301A (en) | 2020-04-27 | 2020-04-27 | Clamping jaw mechanism for carrying large-sized bearing |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111376301A true CN111376301A (en) | 2020-07-07 |
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ID=71214354
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010344434.9A Pending CN111376301A (en) | 2020-04-27 | 2020-04-27 | Clamping jaw mechanism for carrying large-sized bearing |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111376301A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112873192A (en) * | 2021-01-11 | 2021-06-01 | 广州大学 | Mechanical arm for clamping reinforced grinding workpiece |
| CN113707448A (en) * | 2021-10-13 | 2021-11-26 | 苏州智伟信自动化科技有限公司 | Turntable mechanism |
| CN115157305A (en) * | 2022-06-21 | 2022-10-11 | 广州市富尔菱自动化系统有限公司 | Robot snatchs rubber basket anchor clamps |
Citations (7)
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|---|---|---|---|---|
| DE102011117881A1 (en) * | 2011-11-08 | 2013-05-08 | Sms Meer Gmbh | Chuck of a machine tool for machining a tubular, rotating workpiece |
| CN108271532A (en) * | 2018-01-19 | 2018-07-13 | 西南大学 | A kind of multijaw Pneumatic nondestructive fruit and vegetable picking machinery hand of apery picking action |
| CN108621178A (en) * | 2018-04-25 | 2018-10-09 | 东莞市翔实信息科技有限公司 | Clamping device, mechanical paw and the method for carrying implemented by the mechanical paw |
| CN108724238A (en) * | 2018-06-26 | 2018-11-02 | 贵州航天电器股份有限公司 | A kind of three claw robot driven by rotary cylinder |
| CN108789474A (en) * | 2018-05-23 | 2018-11-13 | 苏州江锦自动化科技有限公司 | Screwing type manipulator and loading and unloading robot |
| CN209080911U (en) * | 2018-10-18 | 2019-07-09 | 昆山佰奥智能装备股份有限公司 | Cross carrying mechanism |
| CN212146495U (en) * | 2020-04-27 | 2020-12-15 | 无锡富瑞德测控仪器股份有限公司 | Clamping jaw mechanism for carrying large-sized bearing |
-
2020
- 2020-04-27 CN CN202010344434.9A patent/CN111376301A/en active Pending
Patent Citations (7)
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|---|---|---|---|---|
| DE102011117881A1 (en) * | 2011-11-08 | 2013-05-08 | Sms Meer Gmbh | Chuck of a machine tool for machining a tubular, rotating workpiece |
| CN108271532A (en) * | 2018-01-19 | 2018-07-13 | 西南大学 | A kind of multijaw Pneumatic nondestructive fruit and vegetable picking machinery hand of apery picking action |
| CN108621178A (en) * | 2018-04-25 | 2018-10-09 | 东莞市翔实信息科技有限公司 | Clamping device, mechanical paw and the method for carrying implemented by the mechanical paw |
| CN108789474A (en) * | 2018-05-23 | 2018-11-13 | 苏州江锦自动化科技有限公司 | Screwing type manipulator and loading and unloading robot |
| CN108724238A (en) * | 2018-06-26 | 2018-11-02 | 贵州航天电器股份有限公司 | A kind of three claw robot driven by rotary cylinder |
| CN209080911U (en) * | 2018-10-18 | 2019-07-09 | 昆山佰奥智能装备股份有限公司 | Cross carrying mechanism |
| CN212146495U (en) * | 2020-04-27 | 2020-12-15 | 无锡富瑞德测控仪器股份有限公司 | Clamping jaw mechanism for carrying large-sized bearing |
Non-Patent Citations (1)
| Title |
|---|
| 刘龙江: "机电一体化技术 第3版", 31 August 2019, 北京理工大学出版社, pages: 215 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112873192A (en) * | 2021-01-11 | 2021-06-01 | 广州大学 | Mechanical arm for clamping reinforced grinding workpiece |
| CN113707448A (en) * | 2021-10-13 | 2021-11-26 | 苏州智伟信自动化科技有限公司 | Turntable mechanism |
| CN115157305A (en) * | 2022-06-21 | 2022-10-11 | 广州市富尔菱自动化系统有限公司 | Robot snatchs rubber basket anchor clamps |
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