WO2022247138A1 - Box-closing gripper having floating function - Google Patents
Box-closing gripper having floating function Download PDFInfo
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- WO2022247138A1 WO2022247138A1 PCT/CN2021/127264 CN2021127264W WO2022247138A1 WO 2022247138 A1 WO2022247138 A1 WO 2022247138A1 CN 2021127264 W CN2021127264 W CN 2021127264W WO 2022247138 A1 WO2022247138 A1 WO 2022247138A1
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- gripper
- mounting plate
- floating
- electric cylinder
- guide rod
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- 230000007246 mechanism Effects 0.000 claims abstract description 23
- 238000006243 chemical reaction Methods 0.000 claims description 31
- 238000000034 method Methods 0.000 abstract description 9
- 230000008569 process Effects 0.000 abstract description 7
- 238000009434 installation Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
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- 230000007547 defect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/02—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for connecting objects by press fit or for detaching same
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/10—Aligning parts to be fitted together
Definitions
- the latch guide rod 7 cooperates with the pallet, and the latch guide rod 7 generates a force in the horizontal direction on the gripper mounting plate 14, because the ball mounting seat There is a gap between 10 and the plane floating guide rod 1, so that the ball 11 rolls in the holding sleeve 9, and the ball mounting seat 10 moves relative to the plane floating guide rod 1 and the electric cylinder mounting plate 13, which is convenient for the end cover and the pulley shaft system 200 position alignment.
- both the retaining sleeve 9 and the ball mounting seat 10 are provided with a cage 17 , and the cage is used to limit the position of the balls so that the balls can move between the retaining sleeve 9 and the ball mounting seat 10 .
- the spring 3 has a reset function. Under normal circumstances, the spring 3 is used to achieve the angular floating of the reaction force mechanism and the gripper in the vertical position direction, so as to facilitate the alignment of the end cover 100 and the pulley shafting 200.
- the grasping of the workpiece in the present invention is achieved by using balls and joint bearings, and other methods such as purchased parts from C&M and floating mechanisms from Xiong Ke can also be used.
- the servo drives the grabber 15 to move to the closing position, the pin cylinder 16 unbolts the pin, and the pin guide rod 7 moves downwards and inserts it into the exact position of the tray.
- the gripper is connected to the electric cylinder above to present a floating effect; wherein, The gripper 15, the gripper mounting plate 14, and the joint bearing 2 are tilted according to the position of the pulley shaft system 200, and at the same time, the gripper mounting plate 14 and the ball mounting seat 10 are floating in a plane, so that the gripper moves to the accurate closing position .
- the gripper 15 will move down along the latch guide rod 7, and at this time, the position guided by the latch guide rod 7 is used, thereby ensuring the precise position of the closing box.
- the reaction forces of the driving shaft reaction force rod 4 and the driven shaft reaction force rod 5 need to have angular floating.
- the structure of joint bearing 2 and spring 3 is used at the connection between the reaction force mechanism and the electric cylinder.
- the joint bearing 2 has the ability of angular deflection, and the spring 3 can reset the reaction force part in time.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
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Abstract
Disclosed in the present invention is a box-closing gripper having a floating function, the box-closing gripper comprising an electric cylinder, an electric cylinder mounting plate, a gripper, a gripper mounting plate, and a bolt guide rod, wherein the gripper mounting plate is located at the front end of the electric cylinder and is connected to the electric cylinder by means of a joint bearing; multiple floating mechanisms are provided between the gripper mounting plate and the electric cylinder mounting plate, such that the gripper can generate planar floating; and the gripper fits with a cylindrical pair of the bolt guide rod, and the bolt guide rod can be in hole-shaft fit with a tray on which a belt pulley shafting is placed, such that the gripper implements planar floating as the bolt guide rod moves, so as to achieve accurate positioning of an end cover and the belt pulley shafting. By means of providing the floating mechanisms and the joint bearing, the end cover can fit into a box in a planar floating manner, so as to achieve accurate box-closing of the belt pulley shafting and the end cover to prevent a lip from being damaged during a press-fitting process, thereby greatly reducing the reject ratio of box-closing press-fitting.
Description
本发明涉及智能抓具技术领域，具体涉及一种带浮动功能的合箱抓具。The invention relates to the technical field of intelligent grabs, in particular to a box closing grab with a floating function.
端盖合箱是CVT变速器装配最为困难的一步，其装配质量的好坏直接影响着变速器的整体性能。图1为端盖与带轮轴系的结构，端盖100与带轮轴系200在合箱时轴承处有压装力。Closing the end cover is the most difficult step in the assembly of a CVT transmission, and the quality of its assembly directly affects the overall performance of the transmission. Fig. 1 shows the structure of the end cover and the pulley shaft system. When the end cover 100 and the pulley shaft system 200 are combined, there is a pressing force at the bearing.
对于端盖与带轮轴系进行合箱时，压装力与精度等要求比较高。而且在端盖上也有高压油嘴，高压油嘴中有唇口，为了防止在压装过程中损坏唇口。When the end cover and the pulley shafting are combined, the requirements for pressing force and precision are relatively high. Moreover, there is also a high-pressure oil nozzle on the end cover, and there is a lip in the high-pressure oil nozzle, in order to prevent damage to the lip during the press-fitting process.
在实施本发明的过程中，本发明人发现采用带浮动的抓具可以达到高精度的工艺要求。In the process of implementing the present invention, the inventors found that the use of the floating gripper can meet the high-precision process requirements.
发明内容Contents of the invention
为克服现有技术的缺陷，本发明的目的在于提供一种带浮动功能的合箱抓具，以实现端盖与带轮轴系的精准合箱。In order to overcome the defects of the prior art, the purpose of the present invention is to provide a box-closing gripper with a floating function, so as to realize the precise box-closing of the end cover and the pulley shafting.
为此，本发明提出了一种带浮动功能的合箱抓具，包括电缸、电缸安装板、抓具、抓具安装板、以及插销导杆；所述抓具安装板位于所述电缸前端并通过关节轴承与所述电缸连接，而所述抓具安装板与电缸安装板之间设有多组浮动机构，使所述抓具能产生平面浮动，其中，所述抓具与所述插销导杆圆柱副配合，并且所述插销导杆能与放置带轮轴系的托盘上孔轴配合，使所述抓具随所述插销导杆移动而平面浮动，以实现所述带轮轴系与端盖的精准定位。For this reason, the present invention proposes a kind of box-closing gripper with floating function, including an electric cylinder, an electric cylinder mounting plate, a gripper, a gripper mounting plate, and a latch guide rod; The front end of the cylinder is connected to the electric cylinder through a joint bearing, and multiple sets of floating mechanisms are arranged between the gripper mounting plate and the electric cylinder mounting plate, so that the gripper can float in a plane, wherein the gripper Cooperate with the cylinder pair of the pin guide rod, and the pin guide rod can cooperate with the hole shaft on the tray where the pulley shafting is placed, so that the gripper will float on the plane with the movement of the pin guide rod, so as to realize the pulley pulley. Precise positioning of wheel shafting and end caps.
进一步，所述浮动机构包括平面浮动导杆、一对保持套、滚珠安装座、以及若干滚珠，所述滚珠安装座为圆环结构，所述滚珠安装座外圆周与所述抓具安装板固定连接，所述滚珠安装座内圆周与所述平面浮动导杆大间隙配合，所述平面浮动导杆与所述电缸安装板固定连接，使所述抓具安装板能相对于所述电缸安装板平面浮动。Further, the floating mechanism includes a plane floating guide rod, a pair of retaining sleeves, a ball mounting seat, and several balls, the ball mounting seat is a ring structure, and the outer circumference of the ball mounting seat is fixed to the gripper mounting plate connection, the inner circumference of the ball mounting seat fits with the plane floating guide rod with a large gap, and the plane floating guide rod is fixedly connected with the electric cylinder mounting plate, so that the gripper mounting plate can move relative to the electric cylinder The mounting plate floats flat.
其中，一对所述保持套与所述平面浮动导杆固定连接，并分别位于所述滚珠安装座的轴向两侧，所述滚珠设置在所述滚珠安装座与所述保持套之间，使所述滚珠安装座和所述抓具安装板能平稳的浮动。Wherein, a pair of the retaining sleeves are fixedly connected with the planar floating guide rods, and are respectively located on both axial sides of the ball mounting seat, and the balls are arranged between the ball mounting seat and the retaining sleeve, Make the ball mounting seat and the gripper mounting plate float smoothly.
进一步，所述平面浮动导杆末端设有并紧螺母，所述并紧螺母用于对所述抓具安装板进行轴向限位。Further, a parallel nut is provided at the end of the plane floating guide rod, and the parallel nut is used for axially limiting the gripper installation plate.
进一步，所述保持套和所述滚珠安装座上分别设有对所述滚珠进行限位的保持架。Further, the retaining sleeve and the ball installation seat are respectively provided with cages for limiting the position of the balls.
进一步，所述电缸安装板上设有与所述平面浮动导杆相配合的轴套。Further, the electric cylinder mounting plate is provided with a shaft sleeve matched with the plane floating guide rod.
进一步，所述电缸安装板下端设有插销气缸，所述抓具安装板上设有与所述插销气缸相对的定位孔。Further, the lower end of the electric cylinder mounting plate is provided with a pin cylinder, and the gripper mounting plate is provided with a positioning hole opposite to the pin cylinder.
进一步，所述抓具安装板中部具有反力机构，所述反力机构包括主动轴反力杆、从动轴反力杆和连接块，所述抓具与所述主动轴反力杆、所述从动轴反力杆前端连接，所述连接块通过所述关节轴承与所述电缸连接。Further, there is a reaction force mechanism in the middle of the gripper mounting plate, and the reaction mechanism includes a driving shaft reaction rod, a driven shaft reaction rod and a connecting block, and the gripper is connected to the driving shaft reaction rod, the The front end of the reaction force rod of the driven shaft is connected, and the connection block is connected with the electric cylinder through the joint bearing.
进一步，所述抓具安装板与所述电缸之间还设有多个弹簧，所述多个弹簧布置在所述关节轴承的四周。Further, a plurality of springs are arranged between the gripper installation plate and the electric cylinder, and the plurality of springs are arranged around the joint bearing.
本发明提供的带浮动功能的合箱抓具，通过设置浮动机构和关节轴承，使端盖可以采用平面浮动的方式入箱，实现带轮轴系与端盖的精准合箱，防止在压装过程中损坏唇口，大幅减少了合箱压装的不合格率。The box-closing gripper with floating function provided by the present invention, by setting the floating mechanism and the joint bearing, the end cover can be put into the box in a plane floating manner, so as to realize the precise box-closing of the pulley shaft system and the end cover, and prevent the The damaged lip in the center greatly reduces the unqualified rate of box-fitting and press-fitting.
除了上面所描述的目的、特征和优点之外，本发明还有其它的目的、特征和优点。下面将参照图，对本发明作进一步详细的说明。In addition to the objects, features and advantages described above, the present invention has other objects, features and advantages. Hereinafter, the present invention will be described in further detail with reference to the drawings.
构成本申请的一部分的说明书附图用来提供对本发明的进一步理解，本发明的示意性实施例及其说明用于解释本发明，并不构成对本发明的不当限定。在附图中：The accompanying drawings constituting a part of this application are used to provide a further understanding of the present invention, and the schematic embodiments and descriptions of the present invention are used to explain the present invention, and do not constitute an improper limitation of the present invention. In the attached picture:
图1为本发明被组装的端盖和带轮轴系的结构示意图；Fig. 1 is the structural representation of the assembled end cover and pulley shafting of the present invention;
图2为本发明的带浮动功能的合箱抓具的结构示意图；Fig. 2 is the structure schematic diagram of the box-closing gripper with floating function of the present invention;
图3为本发明的带浮动功能的合箱抓具的局部放大图；Fig. 3 is a partial enlarged view of the box-closing gripper with floating function of the present invention;
图4为本发明的带浮动功能的合箱抓具中浮动机构的剖视图；Fig. 4 is the cross-sectional view of the floating mechanism in the box-closing gripper with floating function of the present invention;
图5为本发明的带浮动功能的合箱抓具中关节轴承自然状态下的结构示意图；Fig. 5 is a schematic structural view of the joint bearing in the natural state of the box-closing gripper with floating function of the present invention;
图6为本发明的带浮动功能的合箱抓具中关节轴承压装状态下的结构示意图。Fig. 6 is a schematic diagram of the structure of the joint bearing in the press-fit state of the box-closing gripper with floating function of the present invention.
附图标记说明Explanation of reference signs
1、平面浮动导杆；2、关节轴承；3、弹簧；4、主动轴反力杆；5、从动轴反力杆；6、电缸；7、插销导杆；8、轴套；9、保持套；10、滚珠安装座；11、滚珠；12、并紧螺母；13、电缸安装板；14、抓具安装板；15、抓具；16、插销气缸；17、保持架；100、端盖；200、带轮轴系。1. Plane floating guide rod; 2. Joint bearing; 3. Spring; 4. Driving shaft reaction rod; 5. Driven shaft reaction rod; 6. Electric cylinder; 7. Pin guide rod; 8. Bushing; 9 , retaining sleeve; 10, ball mounting seat; 11, ball; 12, parallel nut; 13, electric cylinder mounting plate; 14, gripper mounting plate; 15, gripper; 16, pin cylinder; , End cover; 200, pulley shafting.
需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合。下面将参考附图并结合实施例来详细说明本发明。It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and examples.
如图2、图3所示，本发明的带浮动功能的合箱抓具，包括电缸6、电缸安装板13、抓具15、抓具安装板14、以及插销导杆7，所述插销导杆7与所述抓具15圆柱副配合，并且插销导杆7能与放置带轮轴系200的托盘(图中未示出)上相配合，进而达到精准定位合箱目的；其中，电缸安装板13后端设有带动其移动的伺服机构，用于将电缸安装板13、抓具15等机构移动至合箱位置。As shown in Fig. 2 and Fig. 3, the box-closing gripper with floating function of the present invention includes an electric cylinder 6, an electric cylinder mounting plate 13, a gripper 15, a gripper mounting plate 14, and a latch guide rod 7. The pin guide rod 7 cooperates with the gripper 15 cylinder pairs, and the pin guide rod 7 can cooperate with the pallet (not shown in the figure) on which the pulley shafting 200 is placed, so as to achieve the purpose of precise positioning and box closing; wherein, the electric The rear end of the cylinder mounting plate 13 is provided with a servo mechanism that drives it to move, and is used to move mechanisms such as the electric cylinder mounting plate 13 and the gripper 15 to the closing position.
抓具15为吸盘式抓具，其安装在抓具安装板14前端，电缸6安装在电缸安装板13上，抓具安装板14位于电缸6下端，电缸6与抓具安装板14设有关节轴承2，并且所述抓具安装板14与电缸安装板13之间设有多组浮动机构，通过关节轴承2和浮动机构，可以让抓具15随所述插销导杆7移动而平面浮动，进而使端盖100与带轮轴系200位置对齐，进而达到精准定位合箱。The gripper 15 is a suction cup gripper, which is installed on the front end of the gripper mounting plate 14, the electric cylinder 6 is installed on the electric cylinder mounting plate 13, the gripper mounting plate 14 is located at the lower end of the electric cylinder 6, and the electric cylinder 6 and the gripper mounting plate 14 is provided with joint bearing 2, and multiple sets of floating mechanisms are arranged between the gripper mounting plate 14 and the electric cylinder mounting plate 13, through the joint bearing 2 and the floating mechanism, the gripper 15 can be moved along with the latch guide rod 7 The plane floats while moving, so that the position of the end cover 100 is aligned with the pulley shaft system 200, thereby achieving precise positioning and box closing.
具体地，如图4所示，浮动机构包括平面浮动导杆1、一对保持套9、滚珠安装座10、滚珠11、以及并紧螺母12，平面浮动导杆1上部通过轴套8与电缸安装板13进行固定连接。Specifically, as shown in Figure 4, the floating mechanism includes a plane floating guide rod 1, a pair of retaining sleeves 9, a ball mounting seat 10, a ball 11, and a tightening nut 12. The cylinder mounting plate 13 is fixedly connected.
滚珠安装座10为圆环结构，其外圆周与抓具安装板14固定连接，滚珠安装座10内圆周与平面浮动导杆1同轴2毫米间隙配合，滚珠安装座10的轴向两端分别设有保持套9，保持套9与平面浮动导杆1固定连接，滚珠安装座10与保持套9之间设有若干滚珠11。其中，所述平面浮动导杆1末端通过并紧螺母12进行轴向限位，用于对所述抓具安装板14进行轴向限位。The ball mounting seat 10 is a ring structure, its outer circumference is fixedly connected with the gripper mounting plate 14, the inner circumference of the ball mounting seat 10 is coaxial with the plane floating guide rod 1 with a gap of 2 mm, and the axial ends of the ball mounting seat 10 are respectively A retaining sleeve 9 is provided, and the retaining sleeve 9 is fixedly connected with the plane floating guide rod 1 , and several balls 11 are arranged between the ball mounting seat 10 and the retaining sleeve 9 . Wherein, the end of the planar floating guide rod 1 is axially limited by a parallel nut 12 for axially limiting the gripper mounting plate 14 .
在合箱过程中，当端盖100与带轮轴系200位置不完全对齐时，插销导杆7与托盘配合，插销导杆7对抓具安装板14产生水平方向的作用力，由于滚珠安装座10与平面浮动导杆1之间具有间隙，使滚珠11在保持套9内发生滚动，滚珠安装座10相对于平面浮动导杆1和电缸安装板13发生移动，方便端盖与带轮轴系200位置对齐。During the closing process, when the position of the end cover 100 and the pulley shaft system 200 are not completely aligned, the latch guide rod 7 cooperates with the pallet, and the latch guide rod 7 generates a force in the horizontal direction on the gripper mounting plate 14, because the ball mounting seat There is a gap between 10 and the plane floating guide rod 1, so that the ball 11 rolls in the holding sleeve 9, and the ball mounting seat 10 moves relative to the plane floating guide rod 1 and the electric cylinder mounting plate 13, which is convenient for the end cover and the pulley shaft system 200 position alignment.
如图2所示，保持套9和滚珠安装座10内均设有保持架17，保持架用于对滚珠进行限位，使滚珠在保持套9与滚珠安装座10之间运动。As shown in FIG. 2 , both the retaining sleeve 9 and the ball mounting seat 10 are provided with a cage 17 , and the cage is used to limit the position of the balls so that the balls can move between the retaining sleeve 9 and the ball mounting seat 10 .
具体地，如图3所示，所述抓具安装板14中部具有反力机构，反力机构通过关节轴承2与电缸6活动连接，其中，所述反力机构包括主动轴反力杆4、从动轴反力杆5和连接块，主动轴反力杆4和从动轴反力杆5前端与抓具15连接，连接块通过关节轴承2与电缸6连接，进而使反力机构以及其前端的抓具15可以根据带轮轴系位置发生倾斜，以移动至合适的合箱位置。Specifically, as shown in FIG. 3 , there is a reaction force mechanism in the middle of the gripper mounting plate 14, which is movably connected with the electric cylinder 6 through a joint bearing 2, wherein the reaction force mechanism includes a driving shaft reaction force rod 4 , driven shaft reaction force rod 5 and connection block, the front end of driving shaft reaction force rod 4 and driven shaft reaction force rod 5 is connected with gripper 15, the connection block is connected with electric cylinder 6 through joint bearing 2, and then the reaction force mechanism And the grabber 15 at its front end can be tilted according to the position of the pulley shafting, so as to move to a suitable closing position.
其中，如图5、图6所示，所述抓具安装板14与所述电缸6之间设有四组弹簧3，四组弹簧3设置在连接块上，且四组弹簧3位于关节轴承2的四周，弹簧3具有复位功能，正常情况下使用弹簧3以达到反力机构和抓具在竖直位置方向可以角度浮动，方便端盖100与带轮轴系200位置对齐。Wherein, as shown in Fig. 5 and Fig. 6, four groups of springs 3 are arranged between the gripper mounting plate 14 and the electric cylinder 6, the four groups of springs 3 are arranged on the connecting block, and the four groups of springs 3 are located on the joints. Around the bearing 2, the spring 3 has a reset function. Under normal circumstances, the spring 3 is used to achieve the angular floating of the reaction force mechanism and the gripper in the vertical position direction, so as to facilitate the alignment of the end cover 100 and the pulley shafting 200.
具体地，所述电缸安装板13下端设有插销气缸16，所述抓具安装板14上设有与插销气缸相对的定位孔，当抓具在抓取端盖时，使用插销气缸16将电缸安装板13与抓具安装板14插销固定，从而将浮动功能解除，进行硬性连接，使抓具安装板14及安装在其上的抓具15不能平面浮动，从而可以向下移动，准确抓取端盖100。Specifically, the lower end of the electric cylinder mounting plate 13 is provided with a pin cylinder 16, and the gripper mounting plate 14 is provided with a positioning hole opposite to the pin cylinder. The electric cylinder mounting plate 13 and the gripper mounting plate 14 are fixed with bolts, so that the floating function is released, and a rigid connection is made, so that the gripper mounting plate 14 and the gripper 15 installed on it cannot float in a plane, so that they can move downwards accurately. Grasp the end cap 100 .
需要说明的是，本发明工件的抓取是利用滚珠与关节轴承实现的，也可利用C&M的外购件、熊克的浮动机构等其他方式。It should be noted that the grasping of the workpiece in the present invention is achieved by using balls and joint bearings, and other methods such as purchased parts from C&M and floating mechanisms from Xiong Ke can also be used.
下面结合附图简述本发明的工作原理和工作过程。The working principle and working process of the present invention will be briefly described below in conjunction with the accompanying drawings.
首先，使用插销气缸16将电缸安装板13与抓具安装板14插销固定，从而将浮动功能解除，进行硬性连接；一旦抓具自由度限制固定好后，即可向下移动，准确抓取工件。First, use the bolt cylinder 16 to fix the electric cylinder mounting plate 13 and the gripper mounting plate 14 with bolts, so as to release the floating function and make a rigid connection; artifact.
然后，伺服带动抓具15移动到合箱位置，插销气缸16解开插销，插销导杆7往下运动***托盘的准确位置中，这时抓具与上面的电缸连接呈现浮动效果；其中，抓具15、抓具安装板14、以及关节轴承2根据带轮轴系200的位置发生倾斜，同时，抓具安装板14和滚珠安装座10发生平面浮动，使抓具移动至准确的合箱位置。Then, the servo drives the grabber 15 to move to the closing position, the pin cylinder 16 unbolts the pin, and the pin guide rod 7 moves downwards and inserts it into the exact position of the tray. At this time, the gripper is connected to the electric cylinder above to present a floating effect; wherein, The gripper 15, the gripper mounting plate 14, and the joint bearing 2 are tilted according to the position of the pulley shaft system 200, and at the same time, the gripper mounting plate 14 and the ball mounting seat 10 are floating in a plane, so that the gripper moves to the accurate closing position .
最后，抓具15会顺着插销导杆7往下运动，此时使用插销导杆7导向的位置，从而保证了合箱的精准位置。Finally, the gripper 15 will move down along the latch guide rod 7, and at this time, the position guided by the latch guide rod 7 is used, thereby ensuring the precise position of the closing box.
其中，在进行合箱过程中，由于端盖上侧反力部分接触面为毛坯面，主动轴反力杆4与从动轴反力杆5这俩部分反力需要有角向浮动。此时反力机构与电缸连接处使用了关节轴承2与弹簧3的结构，关节轴承2具有角向偏转的能力，而弹簧3可以让反力部分及时复位。Among them, in the process of box closing, since the contact surface of the reaction force part on the upper side of the end cover is the blank surface, the reaction forces of the driving shaft reaction force rod 4 and the driven shaft reaction force rod 5 need to have angular floating. At this time, the structure of joint bearing 2 and spring 3 is used at the connection between the reaction force mechanism and the electric cylinder. The joint bearing 2 has the ability of angular deflection, and the spring 3 can reset the reaction force part in time.
电缸6在往下移动时主动轴反力杆4与从动轴反力杆5一起和端盖接触已达到反力支撑的效果。抓具与电缸6进行平面浮动顺着导杆直接滑到带轮轴系轴承位置中。使用电缸输出力与位移，将端盖与带轮轴系进行精准合箱。When the electric cylinder 6 moves down, the driving shaft reaction force rod 4 and the driven shaft reaction force rod 5 contact the end cover together and have reached the effect of reaction force support. The gripper and the electric cylinder 6 carry out plane floating along the guide rod and slide directly into the pulley shaft bearing position. Use the output force and displacement of the electric cylinder to precisely fit the end cover and the pulley shaft system.
以上所述仅为本发明的优选实施例而已，并不用于限制本发明，对于本领域的技术人员来说，本发明可以有各种更改和变化。凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.
Claims (8)
- 一种带浮动功能的合箱抓具，其特征在于，包括电缸(6)、电缸安装板(13)、抓具(15)、抓具安装板(14)、以及插销导杆(7)；A box-closing gripper with a floating function, characterized in that it comprises an electric cylinder (6), an electric cylinder mounting plate (13), a gripper (15), a gripper mounting plate (14), and a latch guide rod (7 );所述抓具安装板(14)位于所述电缸(6)前端并通过关节轴承(2)与所述电缸(6)连接，而所述抓具安装板(14)与电缸安装板(13)之间设有多组浮动机构，使所述抓具(15)能产生平面浮动，The gripper mounting plate (14) is located at the front end of the electric cylinder (6) and is connected to the electric cylinder (6) through a joint bearing (2), and the gripper mounting plate (14) is connected to the electric cylinder mounting plate (13) are provided with multiple sets of floating mechanisms, so that the gripper (15) can produce plane floating,其中，所述抓具(15)与所述插销导杆(7)圆柱副配合，并且所述插销导杆(7)能与放置带轮轴系(200)的托盘上孔轴配合，使所述抓具(15)随所述插销导杆(7)移动而平面浮动，以实现所述带轮轴系(200)与端盖(100)的精准定位。Wherein, the gripper (15) cooperates with the cylinder pair of the pin guide rod (7), and the pin guide rod (7) can cooperate with the hole shaft on the pallet where the pulley shaft system (200) is placed, so that the The gripper (15) floats along with the movement of the pin guide rod (7), so as to realize the precise positioning of the pulley shaft system (200) and the end cover (100).
- 根据权利要求1所述的带浮动功能的合箱抓具，其特征在于，所述浮动机构包括平面浮动导杆(1)、一对保持套(9)、滚珠安装座(10)、以及若干滚珠(11)，所述滚珠安装座(10)为圆环结构，所述滚珠安装座(10)外圆周与所述抓具安装板(14)固定连接，所述滚珠安装座(10)内圆周与所述平面浮动导杆(1)2毫米间隙配合，所述平面浮动导杆(1)与所述电缸安装板(13)固定连接，使所述抓具安装板(14)能相对于所述电缸安装板(13)平面浮动；The box-closing grabber with floating function according to claim 1, characterized in that, the floating mechanism includes a plane floating guide rod (1), a pair of retaining sleeves (9), a ball mounting seat (10), and several The ball (11), the ball mounting seat (10) is a ring structure, the outer circumference of the ball mounting seat (10) is fixedly connected with the gripper mounting plate (14), and the inside of the ball mounting seat (10) The circumference is matched with the 2 mm clearance of the plane floating guide rod (1), and the plane floating guide rod (1) is fixedly connected with the electric cylinder mounting plate (13), so that the gripper mounting plate (14) can be relatively floating on the plane of the electric cylinder mounting plate (13);其中，一对所述保持套(9)与所述平面浮动导杆(1)固定连接，并分别位于所述滚珠安装座(10)的轴向两侧，所述滚珠(11)设置在所述滚珠安装座(10)与所述保持套(9)之间，使所述滚珠安装座(10)和所述抓具安装板(14)能平稳的浮动。Wherein, a pair of retaining sleeves (9) are fixedly connected with the plane floating guide rod (1), and are respectively located on both axial sides of the ball mounting seat (10), and the balls (11) are arranged on the Between the ball mounting seat (10) and the retaining sleeve (9), the ball mounting seat (10) and the gripper mounting plate (14) can float smoothly.
- 根据权利要求2所述的带浮动功能的合箱抓具，其特征在于，所述平面浮动导杆(1)末端设有并紧螺母(12)，所述并紧螺母(12)用于对所述抓具安装板(14)进行轴向限位。The box-closing gripper with floating function according to claim 2, characterized in that, the end of the plane floating guide rod (1) is provided with a tightening nut (12), and the tightening nut (12) is used for The gripper mounting plate (14) is axially limited.
- 根据权利要求2所述的带浮动功能的合箱抓具，其特征在于，所述保持套(9)和所述滚珠安装座(10)上分别设有对所述滚珠(11)进行限位的保持架(17)。The box-closing gripper with floating function according to claim 2, characterized in that, the retaining sleeve (9) and the ball mounting seat (10) are respectively provided with a position-limiting device for the ball (11). cage (17).
- 根据权利要求2所述的带浮动功能的合箱抓具，其特征在于，所述电缸安装板(13)上设有与所述平面浮动导杆(1)相配合的轴套(8)。The box-closing gripper with floating function according to claim 2, characterized in that, the electric cylinder mounting plate (13) is provided with a shaft sleeve (8) matched with the plane floating guide rod (1) .
- 根据权利要求1所述的带浮动功能的合箱抓具，其特征在于，所述电缸安装板(13)下端设有插销气缸(16)，所述抓具安装板(14)上设有与所述插销气缸(16)相对的定位孔。The box-closing gripper with floating function according to claim 1, characterized in that, the lower end of the electric cylinder mounting plate (13) is provided with a pin cylinder (16), and the gripper mounting plate (14) is provided with A positioning hole opposite to the bolt cylinder (16).
- 根据权利要求1所述的带浮动功能的合箱抓具，其特征在于，所述抓具安装板(14)中部具有反力机构，所述反力机构包括主动轴反力杆(4)、从动轴反力杆(5)和 连接块，所述抓具(15)与所述主动轴反力杆(4)、所述从动轴反力杆(5)前端连接，所述连接块通过所述关节轴承(2)与所述电缸(6)连接。The box-closing gripper with floating function according to claim 1, characterized in that, the middle part of the gripper mounting plate (14) has a reaction force mechanism, and the reaction force mechanism includes a driving shaft reaction force rod (4), The driven shaft reaction rod (5) and the connecting block, the gripper (15) is connected with the front end of the driving shaft reaction rod (4) and the driven shaft reaction rod (5), and the connecting block It is connected with the electric cylinder (6) through the joint bearing (2).
- 根据权利要求1所述的带浮动功能的合箱抓具，其特征在于，所述抓具安装板(14)与所述电缸(6)之间还设有多个弹簧(3)，所述多个弹簧(3)布置在所述关节轴承(2)的四周。The box-closing gripper with floating function according to claim 1, characterized in that, a plurality of springs (3) are also arranged between the gripper mounting plate (14) and the electric cylinder (6), so that The plurality of springs (3) are arranged around the joint bearing (2).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110592215.7A CN113134727A (en) | 2021-05-28 | 2021-05-28 | Box closing gripping apparatus with floating function |
| CN202110592215.7 | 2021-05-28 |
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| Publication Number | Publication Date |
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| WO2022247138A1 true WO2022247138A1 (en) | 2022-12-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| PCT/CN2021/127264 WO2022247138A1 (en) | 2021-05-28 | 2021-10-29 | Box-closing gripper having floating function |
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| CN (1) | CN113134727A (en) |
| WO (1) | WO2022247138A1 (en) |
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| CN113134727A (en) * | 2021-05-28 | 2021-07-20 | 安徽巨一科技股份有限公司 | Box closing gripping apparatus with floating function |
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| JPH11333638A (en) * | 1998-05-29 | 1999-12-07 | Machine Engineering:Kk | Work feeding device |
| CN108500961A (en) * | 2018-06-07 | 2018-09-07 | 上海天永智能装备股份有限公司 | A kind of robot cylinder cap turns line detent mechanism |
| CN208496232U (en) * | 2018-06-06 | 2019-02-15 | 天永机械电子（太仓）有限公司 | A kind of floating type grasping mechanism for engine cylinder cover cylinder body mould assembling |
| CN209206882U (en) * | 2018-09-03 | 2019-08-06 | 坤泰车辆***（常州）有限公司 | Gearbox mould closer |
| KR20200023020A (en) * | 2018-08-24 | 2020-03-04 | 현대자동차주식회사 | Bolt supplying apparatus and control method of the same |
| CN113134727A (en) * | 2021-05-28 | 2021-07-20 | 安徽巨一科技股份有限公司 | Box closing gripping apparatus with floating function |
| CN215146459U (en) * | 2021-05-28 | 2021-12-14 | 安徽巨一科技股份有限公司 | Box closing gripping apparatus with floating function |
-
2021
- 2021-05-28 CN CN202110592215.7A patent/CN113134727A/en active Pending
- 2021-10-29 WO PCT/CN2021/127264 patent/WO2022247138A1/en active Application Filing
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11333638A (en) * | 1998-05-29 | 1999-12-07 | Machine Engineering:Kk | Work feeding device |
| CN208496232U (en) * | 2018-06-06 | 2019-02-15 | 天永机械电子（太仓）有限公司 | A kind of floating type grasping mechanism for engine cylinder cover cylinder body mould assembling |
| CN108500961A (en) * | 2018-06-07 | 2018-09-07 | 上海天永智能装备股份有限公司 | A kind of robot cylinder cap turns line detent mechanism |
| KR20200023020A (en) * | 2018-08-24 | 2020-03-04 | 현대자동차주식회사 | Bolt supplying apparatus and control method of the same |
| CN209206882U (en) * | 2018-09-03 | 2019-08-06 | 坤泰车辆***（常州）有限公司 | Gearbox mould closer |
| CN113134727A (en) * | 2021-05-28 | 2021-07-20 | 安徽巨一科技股份有限公司 | Box closing gripping apparatus with floating function |
| CN215146459U (en) * | 2021-05-28 | 2021-12-14 | 安徽巨一科技股份有限公司 | Box closing gripping apparatus with floating function |
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| CN113134727A (en) | 2021-07-20 |
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