阅读说明：本技术 一种轴承套圈自动上下料装置 (Automatic loading and unloading device for bearing ring ) 是由 杜三明 张宏 张永振 贺甜甜 刘建 岳赟 傅丽华 郑晓猛 张镝 于 2019-10-30 设计创作，主要内容包括：本发明涉及一种轴承套圈自动上下料装置：包括X轴位移机构、Y轴位移机构、Z轴位移机构、机械臂、机械爪、驱动机构和料架,所述料架设置在机床安装平台左端一侧,X轴位移机构设置在机床安装平台左端另一侧,Y轴位移机构设置在X轴位移机构上,Y轴位移机构上端设置有承载平板,所述的Z轴位移机构设置在Y轴位移机构的承载平板上,所述机械臂设置在Z轴位移机构上,机械爪设置在机械臂下端,用以驱动机械爪抓取轴承套圈的驱动机构设置在机械臂上端。本发明通过设计三轴联动控制的机械爪以及与机械爪相配合的料架,可实现在同一工位上轴承套圈的上下料,机械爪的结构简单易控,工作效率高。(The invention relates to an automatic loading and unloading device for a bearing ring, which comprises: the mechanical arm comprises an X-axis displacement mechanism, a Y-axis displacement mechanism, a Z-axis displacement mechanism, a mechanical arm, a mechanical claw, a driving mechanism and a material rack, wherein the material rack is arranged on one side of the left end of a machine tool mounting platform, the X-axis displacement mechanism is arranged on the other side of the left end of the machine tool mounting platform, the Y-axis displacement mechanism is arranged on the X-axis displacement mechanism, a bearing flat plate is arranged at the upper end of the Y-axis displacement mechanism, the Z-axis displacement mechanism is arranged on the bearing flat plate of the Y-axis displacement mechanism, the mechanical arm is arranged on the Z-axis displacement mechanism, and the mechanical claw is arranged at the lower end of the mechanical arm and used for driving the mechanical claw. According to the invention, through designing the mechanical claw controlled by three-axis linkage and the material rest matched with the mechanical claw, the loading and unloading of the bearing ring on the same station can be realized, the structure of the mechanical claw is simple and easy to control, and the working efficiency is high.)

1. An automatic unloader that goes up of bearing ring: comprises an X-axis displacement mechanism (1), a Y-axis displacement mechanism (2), a Z-axis displacement mechanism, a mechanical arm (4), a mechanical claw (5), a driving mechanism (6) and a material rack (7), the material rack (7) is arranged on one side of the left end of the machine tool mounting platform (8), the X-axis displacement mechanism (1) is arranged on the other side of the left end of the machine tool mounting platform (8), the Y-axis displacement mechanism (2) is arranged on the X-axis displacement mechanism (1), the upper end of the Y-axis displacement mechanism (2) is provided with a bearing flat plate (201), the Z-axis displacement mechanism is arranged on a bearing flat plate (201) of the Y-axis displacement mechanism (2), the mechanical arm (4) is arranged on the Z-axis displacement mechanism, the mechanical claw (5) is arranged at the lower end of the mechanical arm (4), a driving mechanism (6) for driving the mechanical claw (5) to grab the bearing ring is arranged at the upper end of the mechanical arm (4);

the Z-axis displacement mechanism is composed of a bracket (301), a Z-direction guide rod (302), a Z-direction lead screw nut pair (303) and a Z-axis driving motor (304), the bracket (301) is integrally of a rectangular box structure with one side open, the opening side of the bracket is adjacent to the material rack (7) and is parallel to the X axis of the machine tool mounting platform (8), the bottom surface of the bracket (301) is fixedly connected with a bearing flat plate (201) on the Y axis displacement mechanism, parallel Z-direction guide rods (302) are arranged inside the opening side of the guide rod, a Z-direction lead screw and nut pair (303) is arranged between the Z-direction guide rods (302), the lower end of a screw rod of the Z-direction screw rod nut pair (303) is arranged on the bottom surface inside the bracket (301) through a shaft seat, the upper end of the screw rod is arranged in the upper end surface of the bracket (301) in a penetrating way through a bearing, the upper end of the screw rod also penetrates through the upper end surface of the bracket and is fixedly connected with a Z-axis driving motor (304) through a shaft coupling, the Z-axis driving motor (304) is arranged on the upper end surface of the bracket (301) through a motor base;

the whole mechanical arm (4) is a rectangular plate, the middle of the bottom surface of the mechanical arm is fixedly connected with a nut connecting plate of the Z-direction lead screw nut pair (303), and two sides of the bottom surface of the mechanical arm run on the Z-direction guide rod (302) through sliding blocks respectively;

gripper (5) constitute by bottom plate (501), fixing base (502), sliding seat (503) and claw body (504), bottom plate (501) whole be the circular slab, bottom plate (501) rear end face links firmly with arm (4), bottom plate (501) preceding terminal surface radially is provided with three T type groove of partition circumference, one of them T type groove is located bottom plate (501) preceding terminal surface upper portion and is on a parallel with the Z axle, is provided with detachable fixing base (502) in two other T type grooves, sliding seat (503) set up in the T type groove on bottom plate (501) preceding terminal surface upper portion and through actuating mechanism (6) operation in this T type groove, fixing base (502), sliding seat (503) on all be provided with the cylinder type claw body (504) of perpendicular to bottom plate terminal surface.

2. The automatic loading and unloading device for the bearing rings as claimed in claim 1 is characterized in that: the material rest (7) comprises a base (701), support plates (702), an upper material bin (703) and a lower material bin (704), wherein the base (701) is fixedly arranged on one side of the left end of a machine tool mounting platform (8), the support plates (702) with the side surfaces parallel to an X axis of the mounting platform (8) are arranged on the left side of the upper end surface of the base (701) at intervals, the upper end of the same side surface of the two support plates (702) parallel to the X axis of the mounting platform (8) is provided with the upper material bin (703), and the lower end of the two support plates is provided with the lower material; the whole upper storage bin (703) is of a rectangular box-type structure with an opening at the upper part, one side surface of the upper storage bin (703) is fixedly connected with the support plate (702), the bottom surface of the upper storage bin is provided with an inclined plane with the right end inclined downwards, the left end surface of the upper storage bin (703) is provided with a feeding hole, and the right end of one side surface of the upper storage bin (703) adjacent to the mechanical claw 4 is provided with a; the whole lower material bin (704) is also of a rectangular box structure with an opening at the upper part, one side surface of the lower material bin is fixedly connected with the supporting plate (702), the bottom surface of the lower material bin is provided with an inclined surface with a downward inclined left end, the left end surface of the lower material bin (704) is provided with a discharge hole, and the right end of one side surface of the lower material bin (704) adjacent to the mechanical claw (5) is provided with a feed hole.

3. The automatic loading and unloading device for the bearing rings as claimed in claim 1 is characterized in that: the driving mechanism (6) is a driving oil cylinder, the cylinder body of the driving oil cylinder is fixed at the upper end of the mechanical arm (4), and the piston rod end of the driving oil cylinder is fixedly connected with the movable seat of the mechanical claw (5).

4. The automatic loading and unloading device for the bearing rings as claimed in claim 1 is characterized in that: the whole fixed seat (502) of the mechanical claw (5) is a T-shaped block matched with a T-shaped groove of the bottom plate (501), a threaded through hole is formed in the middle of the mechanical claw (5), the mechanical claw is fastened in the T-shaped groove through a countersunk head bolt arranged in the threaded through hole, and threaded holes for mounting the claw body (504) are formed in the end face, located outside the T-shaped groove, of the mechanical claw at intervals.

5. The automatic loading and unloading device for the bearing rings as claimed in claim 1 is characterized in that: the whole body 503 of the movable seat of the mechanical claw (5) is a T-shaped block which is in clearance fit with a T-shaped groove of the bottom plate (501), a threaded hole for installing the claw body (504) is also formed in the end face of the mechanical claw positioned outside the T-shaped groove, and a threaded hole for connecting the driving mechanism (6) is formed in the upper end face of the mechanical claw.

6. The automatic loading and unloading device for the bearing rings as claimed in claim 1 is characterized in that: the claw body (504) of gripper (5) comprises body (541), holding ring (542) and protection ring (543), body (541) be the cylinder, its one end coaxial be provided with be used for connecting fixing base (502) or movable seat (503) screw rod (544), the other end coaxial is provided with mandrel (545), the other end of mandrel (545) is equipped with the internal thread, installs fastening bolt in the internal thread, holding ring (542) pass mandrel (545) cover and establish on body (541), protection ring (543) cover is established on mandrel (545) and is compressed tightly with the terminal surface of holding ring (542) through the fastening bolt of mandrel (545) tip.

Technical Field

The invention relates to machining equipment of a bearing ring, in particular to an automatic loading and unloading device of the bearing ring.

Background

In the grinding process of the bearing ring, the ultra-precision grinding process of the ring roller path has a decisive role in ensuring the consistency of the ring roller path. At present, the super-finishing grinding processing of the ring raceway in China mostly adopts the processing mode of assembly line, two processes of fine grinding and super-finishing are accomplished on different equipment respectively, wherein must go up unloading and twice clamping through twice, and certain positioning error must exist among the secondary clamping process, this uniformity that just causes ring raceway surface overall dimension is relatively poor, even through the super precision, this inconsistent phenomenon also can't thoroughly be eliminated, thereby influence the whole quality after the bearing assembly, the whole uniformity of the bearing of producing is poor, seriously influence the result of use.

In order to change the situation, an automatic grinding machine for a bearing ring roller path is developed, when the bearing ring roller path is finely ground and superfinished, a workpiece is clamped at one time by an electromagnetic centerless clamp, the grinding processing consistency of the bearing ring roller path is well improved, but due to the structural characteristics of the machine tool, an upper blanking device and a lower blanking device on the existing production line are only positioned on the same side of a main shaft of the machine tool, while the upper blanking device on the existing production line is basically positioned on two sides of the main shaft, the workpiece is fed from one side and is blanked from the other side, and the workpiece cannot be; also there is the last unloader who is located the main shaft with one side, and it is mostly utilizing gravity to make the lasso fall into the unloading of lasso in the mode completion of installation position positioning disk through the rolling groove is automatic, and this kind of mode is when the lasso model changes, need change the positioning disk of installation position, and the change process is loaded down with trivial details, and is inefficient, simultaneously, also does not benefit to the structural layout of my company's research and development lathe.

Disclosure of Invention

The invention aims to provide an automatic bearing ring feeding and discharging device which adopts a mechanical claw grabbing mode to realize full-automatic feeding and discharging of a bearing ring raceway automatic grinding machine.

In order to achieve the purpose, the invention adopts the following technical scheme:

an automatic unloader that goes up of bearing ring: the automatic bearing ring picking device comprises an X-axis displacement mechanism, a Y-axis displacement mechanism, a Z-axis displacement mechanism, a mechanical arm, a mechanical claw, a driving mechanism and a material rack, wherein the material rack is arranged on one side of the left end of a machine tool mounting platform;

the Z-axis displacement mechanism is composed of a support, Z-direction guide rods, a Z-direction lead screw nut pair and a Z-axis driving motor, the whole support is of a rectangular box structure with an opening on one side, the opening side of the support is adjacent to the material rack and parallel to the X axis of the machine tool mounting platform 8, the bottom surface of the support is fixedly connected with a bearing plate on the Y-axis displacement mechanism, parallel Z-direction guide rods are arranged inside the opening side of the support, the Z-direction lead screw nut pair is arranged between the Z-direction guide rods, the lower end of a lead screw of the Z-direction lead screw nut pair is mounted on the bottom surface inside the support through a shaft seat, the upper end of the lead screw is arranged in the upper end surface of the support in a penetrating mode through a bearing, the upper end of the lead screw further penetrates;

the whole mechanical arm is a rectangular plate, the middle part of the bottom surface of the mechanical arm is fixedly connected with a nut connecting plate of a Z-direction lead screw nut pair, and two sides of the bottom surface of the mechanical arm respectively run on a Z-direction guide rod through sliders;

the gripper constitute by bottom plate, fixing base, sliding seat and the claw body, the whole circular slab that is of bottom plate, bottom plate rear end face links firmly with the arm, the terminal surface radially is provided with the three T type groove of partition circumference before the bottom plate, one of them T type groove is located terminal surface upper portion before the bottom plate and is on a parallel with the Z axle, is provided with the detachable fixing base in two other T type grooves, the sliding seat set up before the bottom plate in the T type groove on terminal surface upper portion and through actuating mechanism operation in this T type groove, fixing base, sliding seat on all be provided with the cylinder type claw body of perpendicular to bottom plate terminal surface.

The material rest comprises a base, supporting plates, an upper material bin and a lower material bin, wherein the base is fixedly arranged on one side of the left end of a machine tool mounting platform, the left side of the upper end surface of the base is provided with the supporting plates with the side surfaces parallel to an X axis of the mounting platform at intervals, the upper end of the same side surface of the two supporting plates parallel to the X axis of the mounting platform is provided with the upper material bin, and the lower end of the two supporting plates is provided with the; the whole upper storage bin is of a rectangular box-type structure with an opening at the upper part, one side surface of the upper storage bin is fixedly connected with the supporting plate, the bottom surface of the upper storage bin is provided with an inclined surface with the right end inclined downwards, the left end surface of the upper storage bin is provided with a feeding hole, and the right end of one side surface of the upper storage bin adjacent to the mechanical claw is provided with a discharging hole; the whole lower feed bin is also of a rectangular box structure with an opening at the upper part, one side surface of the lower feed bin is fixedly connected with the supporting plate, the bottom surface of the lower feed bin is an inclined surface with a downward inclined left end, the left end surface of the lower feed bin is provided with a discharge hole, and the right end of one side surface of the lower feed bin adjacent to the mechanical claw is provided with a feed hole.

The driving mechanism is a driving oil cylinder, a cylinder body of the driving oil cylinder is fixed at the upper end of the mechanical arm, and a piston rod end of the driving oil cylinder is fixedly connected with a movable seat of the mechanical claw.

The whole fixed seat of the mechanical claw is a T-shaped block matched with a T-shaped groove of the bottom plate, a threaded through hole is formed in the middle of the fixed seat and is fastened in the T-shaped groove through a countersunk head bolt arranged in the threaded through hole, and threaded holes for mounting the claw body are formed in the end face, located outside the T-shaped groove, of the mechanical claw at intervals.

The whole movable seat of the mechanical claw is a T-shaped block in clearance fit with the T-shaped groove of the bottom plate, a threaded hole for mounting the claw body is also formed in the end face of the movable seat outside the T-shaped groove, and a threaded hole for connecting a driving mechanism is formed in the upper end face of the movable seat.

The claw body of gripper comprises body, holding ring and protection ring, the body be the cylinder, its one end is coaxial to be provided with the screw rod that is used for connecting fixing base or sliding seat, the other end is coaxial to be provided with the mandrel, the other end of mandrel is equipped with the internal thread, installs fastening bolt in the internal thread, the holding ring passes the mandrel cover and establishes on the body, the protection ring cover is established on the mandrel and is compressed tightly with the terminal surface of holding ring through the fastening bolt of mandrel tip.

The invention has the beneficial effects that: according to the invention, through designing the mechanical claw controlled by three-axis linkage and the material rest matched with the mechanical claw, the loading and unloading of the bearing ring on the same station can be realized, the digital control is facilitated, the structure of the mechanical claw is simple and easy to control, the position of the claw body can be quickly adjusted according to different types of the ring, and the working efficiency is high.

Drawings

Fig. 1 is a top view of the overall structure of the present invention on a machine tool mounting platform.

Fig. 2 is a side view of the present invention on a machine tool mounting platform.

Fig. 3 is a left side view of the stack.

Fig. 4 is a front view of the robot arm and the gripper.

Fig. 5 is a right side view of the robot arm and the gripper.

Fig. 6 is a front view of the connection between the fixing base and the claw body.

In the figure, the device comprises an X-axis displacement mechanism 1, an X-axis displacement mechanism 2, a Y-axis displacement mechanism 201, a bearing flat plate 301, a bracket 302, a Z-direction guide rod 303, a Z-direction lead screw nut pair 304, a Z-axis drive motor 4, a mechanical arm 5, a mechanical claw 501, a bottom plate 502, a fixed seat 503, a movable seat 504, a claw body 541, a body 542, a positioning ring 543, a protection ring 544, a screw rod 545, a mandrel 6, a drive mechanism 7, a material rack 701, a base 702, a support plate 703, an upper material bin 704 and a lower material bin.

Detailed Description

The invention is described in further detail below with reference to the drawings.

An automatic unloader that goes up of bearing ring: the mechanical arm device comprises an X-axis displacement mechanism 1, a Y-axis displacement mechanism 2, a Z-axis displacement mechanism, a mechanical arm 4, a mechanical claw 5, a driving mechanism 6 and a material rest 7, wherein the material rest 7 is arranged on one side of the left end of a machine tool mounting platform 8, the X-axis displacement mechanism 1 is arranged on the other side of the left end of the machine tool mounting platform 8, the Y-axis displacement mechanism 2 is arranged on the X-axis displacement mechanism 1, a bearing flat plate 201 is arranged at the upper end of the Y-axis displacement mechanism 2, the Z-axis displacement mechanism is arranged on the bearing flat plate 201 of the Y-axis displacement mechanism 2, the mechanical arm 4 is arranged on the Z-axis displacement mechanism, the mechanical claw 5 is arranged at the lower end of the mechanical arm 4, and the driving mechanism 6 for driving the mechanical claw;

the Z-axis displacement mechanism is composed of a support 301, Z-direction guide rods 302, a Z-direction lead screw nut pair 303 and a Z-axis driving electric mechanism 304, the whole support 301 is of a rectangular box structure with an opening at one side, the opening side of the support 301 is adjacent to the material rest 7 and is parallel to the X axis of the machine tool mounting platform 8, the bottom surface of the support 301 is fixedly connected with a bearing plate 201 on the Y-axis displacement mechanism, the parallel Z-direction guide rods 302 are arranged inside the opening side of the support, the Z-direction lead screw nut pair 303 is arranged between the Z-direction guide rods 302, the lower end of a lead screw of the Z-direction lead screw nut pair 303 is mounted on the bottom surface inside the support 301 through a shaft seat, the upper end of the lead screw is arranged in the upper end surface of the support 301 through a bearing, the upper end of the lead screw further penetrates through the upper end;

the whole mechanical arm 4 is a rectangular plate, the middle of the bottom surface of the mechanical arm is fixedly connected with a nut connecting plate of the Z-direction lead screw nut pair 303, and two sides of the bottom surface of the mechanical arm respectively run on the Z-direction guide rod 302 through sliding blocks;

the gripper 5 constitute by bottom plate 501, fixing base 502, sliding seat 503 and claw body 504, bottom plate 501 whole be the circular slab, bottom plate 501 rear end face links firmly with arm 4, the terminal surface radially is provided with the three T type groove of partition circumference before the bottom plate 501, one of them T type groove is located bottom plate 501 preceding terminal surface upper portion and is on a parallel with the Z axle, be provided with detachable fixing base 502 in two other T type grooves, sliding seat 503 set up in the T type groove on bottom plate 501 preceding terminal surface upper portion and move in this T type groove through actuating mechanism 6, fixing base 502, sliding seat 503 on all be provided with the cylinder type claw body 504 of perpendicular to bottom plate terminal surface.

The material rest 7 comprises a base 701, supporting plates 702, an upper material bin 703 and a lower material bin 704, wherein the base 701 is fixedly arranged on one side of the left end of a machine tool mounting platform 8, the supporting plates 702 with the side surfaces parallel to the X axis of the mounting platform 8 are arranged on the left side of the upper end surface of the base 701 at intervals, the upper end of the same side surface of the two supporting plates 702 parallel to the X axis of the mounting platform 8 is provided with the upper material bin 703, and the lower end of the same side surface is provided with the lower; the whole upper storage bin 703 is of a rectangular box-type structure with an opening at the upper part, one side surface of the upper storage bin is fixedly connected with the support plate 702, the bottom surface of the upper storage bin is provided with an inclined surface with the right end inclined downwards, the left end surface of the upper storage bin 703 is provided with a feeding hole, and the right end of one side surface of the upper storage bin 703 adjacent to the mechanical claw 4 is provided with a discharging hole; the whole lower silo 704 is also of a rectangular box structure with an open upper portion, one side surface of the lower silo 704 is fixedly connected with the supporting plate 702, the bottom surface of the lower silo 704 is an inclined surface with a downward inclined left end, a discharge hole is formed in the left end surface of the lower silo 704, and a feed hole is formed in the right end of one side surface, adjacent to the mechanical claw 4, of the lower silo 704.

The driving mechanism 6 is a driving oil cylinder, the cylinder body of the driving oil cylinder is fixed at the upper end of the mechanical arm 4, and the piston rod end of the driving oil cylinder is fixedly connected with the movable seat of the mechanical claw 5.

The whole fixed seat 502 of the gripper 5 is a T-shaped block matched with a T-shaped groove of the bottom plate 501, a threaded through hole is arranged in the middle of the T-shaped block and is fastened in the T-shaped groove through a countersunk head bolt arranged in the threaded through hole, and threaded holes for mounting the gripper body 504 are arranged on the end surface of the T-shaped block outside the T-shaped groove at intervals.

The whole movable seat 503 of the gripper 5 is a T-shaped block in clearance fit with the T-shaped groove of the bottom plate 501, a threaded hole for mounting the gripper body 504 is also arranged on the end surface of the gripper outside the T-shaped groove, and a threaded hole for connecting the driving mechanism 6 is arranged on the upper end surface of the gripper.

The claw body 504 of the mechanical claw 5 is composed of a body 541, a positioning ring 542 and a protection ring 543, the body 541 is a cylinder, one end of the body 541 is coaxially provided with a screw 544 for connecting the fixed seat 502 or the movable seat 503, the other end of the body is coaxially provided with a spindle 545, the other end of the spindle 545 is provided with an internal thread, a fastening bolt is installed in the internal thread, the positioning ring 542 penetrates through the spindle 545 to be sleeved on the body 541, and the protection ring 543 is sleeved on the spindle 545 and is pressed with the end face of the positioning ring 542 through the fastening bolt at the end of the.

The present invention is not described in detail in the prior art.