CN111070226A

CN111070226A - Hollow part centering grabbing device with conical necking

Info

Publication number: CN111070226A
Application number: CN201911346221.3A
Authority: CN
Inventors: 华洪良; 廖振强; 陈勇将; 张建梅; 陈艾; 丁海毅
Original assignee: Changzhou Institute of Technology
Current assignee: Changzhou Institute of Technology
Priority date: 2019-12-24
Filing date: 2019-12-24
Publication date: 2020-04-28

Abstract

The invention provides a conical necking hollow part centering gripping device which comprises an outer conical sleeve, a central shaft, a pull rod and a rubber sleeve, wherein the pull rod is arranged in the central shaft and is coaxially arranged with the central shaft, and axial relative motion can be generated between the pull rod and the central shaft; when the pull rod moves upwards relative to the central shaft, the pull rod and the central shaft respectively apply axial pressure to the rubber sleeve, so that the rubber sleeve generates expansion deformation; the upper end of the outer taper sleeve is sleeved on the central shaft, and the lower end of the outer taper sleeve is provided with a clamping cavity with a shape matched with the shape of the tapered necking hollow part. The device center pin and pull rod rely on the expanded mode of rubber sleeve to exert axial tension to the object of being grabbed for the object of being grabbed the surface is spacing and fixed by outer taper sleeve, and the balanced atress realization is grabbed simultaneously to the object of being grabbed the inside and outside wall of being grabbed.

Description

Hollow part centering grabbing device with conical necking

Technical Field

The invention relates to the technical field of tool fixtures, in particular to a centering grabbing device for a conical necking hollow part.

Background

In the field of mechanical engineering, there are a large number of parts that contain hollow features of conical constrictions. The following difficulties are involved in the automatic grasping of parts having a hollow feature with a conical constriction: 1. the tapered necking part is easy to grip and slip, so that the grip is unreliable; 2. due to the large-range movement of the mechanical arm, position errors of parts are easily generated in the process of moving the mechanical arm, and the reliability of the automatic operation of the robot is adversely affected.

The prior art has a method for clamping and fixing a certain hole-shaped component by adopting an elastic expansion principle, for example: patent No. CN201410735953 discloses an inflation clamping device, and a section of thick bamboo 6 is a hollow part in this patent, stretches into an inflation clamping device and inside a section of thick bamboo 6, adopts excellent core 3 and inflation cover 1 cooperation, struts inflation cover 1 through excellent core 3, realizes the centre gripping. Patent No. CN201810596533 discloses a clamping device and a method of clamping a drilling tool, in which a drill bit 7b can be pushed into an opening 17 by means of a resilient clamping element 16. The clamping device 13 is pressurized and the elastic clamping element 16 thereby expands and presses against the inner periphery of the opening 17 to achieve fixation of the drill bit 7 b. The fixing modes all adopt elastic elements, damage to the hole wall can be avoided, however, acting force is only applied to the inner hole, part fixing is achieved by applying expansion force to the inner wall surface of the hollow part in a single direction, and for thin-wall parts, the part is easily torn and damaged due to the fact that the part fixing mode is achieved by applying the expansion force in the single direction. In addition, the unidirectional force cannot accurately ensure the central stability of the clamped component.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: in order to overcome the defects in the prior art, the invention provides the centering grabbing device for the conical necking hollow part, which can realize the reliable grabbing of the part with the conical necking hollow characteristic and effectively reduce the position error of the part generated in the process of moving the random arm, so that the reliability of the robot automatic part grabbing operation is improved.

The technical scheme adopted for solving the technical problems is as follows: a conical necking hollow part centering gripping device comprises an outer conical sleeve, a central shaft, a pull rod and a rubber sleeve, wherein the central shaft is of a hollow structure, the pull rod is arranged in the central shaft and is coaxially installed with the central shaft, and axial relative motion can be generated between the pull rod and the central shaft; when the pull rod moves upwards relative to the central shaft, the pull rod and the central shaft respectively apply axial pressure to the rubber sleeve, so that the rubber sleeve generates expansion deformation; the outer taper sleeve is sleeved on the central shaft, the lower end of the outer taper sleeve is provided with a clamping cavity of which the shape is matched with the shape of the tapered necking hollow part, axial relative motion can be generated between the outer taper sleeve and the central shaft, and the axial relative motion can be generated between the outer taper sleeve and the central shaft.

The device center pin and pull rod rely on the expanded mode of rubber sleeve to exert axial tension to being grabbed the object of grabbing for it is spacing and fixed by outer taper sleeve to be grabbed the object surface of grabbing, can provide the mode of grabbing of interior outer wall surface balance atress for hollow part, improves the part and grabs the stress state of grabbing the operation in-process, reduces part operation and warp.

Further, in order to facilitate the fixation of the rubber sleeve, a first step surface is arranged at the end part of the central shaft, a second step surface is arranged at the end part of the pull rod, and the upper end surface and the lower end surface of the rubber sleeve are respectively connected with the first step surface and the second step surface, so that the rubber sleeve is clamped between the central shaft and the pull rod, and the rubber sleeve is convenient to be stressed and expanded up and down.

Further, in order to make the rubber sleeve expand outward fast when being stressed, the inboard of first step face still is equipped with first guide sleeve portion, still be equipped with second guide sleeve portion on the second step face, first guide sleeve portion and second guide sleeve portion extend in opposite directions, and the external diameter is the same, and the external diameter matches with the hole of rubber sleeve, makes the both ends cover of rubber sleeve on first guide sleeve portion and second guide sleeve portion, forms the cavity between middle part and the pull rod, can effectually guarantee that rubber sleeve middle part inflation is opened when upper and lower atress.

Furthermore, in order to enable the rubber sleeve to be smoothly sleeved on the first guide sleeve part and the second guide sleeve part when the rubber sleeve is installed, the end parts of the first guide sleeve part and the second guide sleeve part are respectively provided with a first conical guide surface and a second conical guide surface. The first guide sleeve part and the second guide sleeve part can be more easily inserted into the inner hole of the rubber sleeve through the two conical guide surfaces.

Furthermore, because the end part of the pull rod is inserted into the cavity of the tapered necking hollow part, the shape of the pull head is a tapered surface or a spherical surface in order to avoid the edges of the end part from scratching the inside of the part.

The invention has the beneficial effects that:

1. the reliable grasping of parts with the hollow characteristics of the conical necking can be realized;

2. and position errors of parts generated in the process of random mechanical arm movement can be effectively reduced, so that the reliability of robot automatic part grasping operation is improved.

Drawings

The invention is further illustrated by the following figures and examples.

FIG. 1 is a schematic structural diagram of the preferred embodiment of the present invention.

FIG. 2 is a schematic structural view of a tapered hollow part.

Fig. 3 is a schematic structural view of a first embodiment of the center shaft and the tie rod.

Fig. 4 is a schematic structural view of a second embodiment of the central shaft and the tie rod.

Fig. 5 is a schematic structural view of the spherical slider.

In the figure: 1. the outer taper sleeve 11, the clamping cavity 2, the central shaft 21, the first step surface 22, the first guide sleeve part 23, the first guide surface 3, the pull rod 31, the second step surface 32, the second guide sleeve part 33, the second guide surface 34, the pull head 4, the rubber sleeve 5, the tapered necking hollow part 51, the cavity 52, the tapered part 53 and the port part.

Detailed Description

The present invention will now be described in detail with reference to the accompanying drawings. This figure is a simplified schematic diagram, and merely illustrates the basic structure of the present invention in a schematic manner, and therefore it shows only the constitution related to the present invention.

As shown in fig. 1, the centering and holding device for a tapered hollow part of the invention is used for holding a tapered hollow part 5, and comprises an outer taper sleeve 1, a central shaft 2, a pull rod 3 and a rubber sleeve 4, wherein the central shaft 2 is of a hollow structure, the pull rod 3 is arranged inside the central shaft 2 and is coaxially installed with the central shaft 2, and axial relative motion can be generated between the pull rod 3 and the central shaft 2; one end of the pull rod 3 extends out of the central shaft 2, the end part of the pull rod is provided with a pull head 34, the rubber sleeve 4 is sleeved on one end of the pull rod 3 extending out of the central shaft 2, the upper end and the lower end of the rubber sleeve 4 are respectively connected with the end surface of the central shaft 2 and the end surface of the pull head 34, when the pull rod 3 moves upwards relative to the central shaft 2, the pull rod 3 and the central shaft 2 respectively apply axial pressure on the rubber sleeve 4, and the rubber sleeve 4 is enabled to generate expansion deformation; the upper end of the outer taper sleeve 1 is sleeved on the central shaft 2, the lower end of the outer taper sleeve 1 is provided with a clamping cavity 11 with the shape matched with the shape of the tapered necking hollow part 5, and the outer taper sleeve 1 and the central shaft 2 can generate axial relative motion.

As shown in fig. 2, the tapered hollow part 5 is a thin-walled part, and has a cavity 51 therein, and the outer wall of the tapered hollow part at least includes a tapered portion 52, and the tapered portion 52 may have a port portion 53 at the upper end thereof and may have another shape, such as a cylindrical shape, at the lower portion thereof.

The clamping of the rubber sleeve 4 between the central shaft 2 and the pull rod 3 can be achieved in a number of configurations, two different solutions being given below.

The first scheme is as follows: as shown in fig. 3, a first step surface 21 is provided at an end of the central shaft 2, a second step surface 31 is provided at an end of the pull rod 3, and the upper and lower end surfaces of the rubber sleeve 4 are respectively connected with the first step surface 21 and the second step surface 31, so that the rubber sleeve 4 is clamped between the central shaft 2 and the pull rod 3.

Scheme II:

as shown in fig. 4, this embodiment is different from the first embodiment in that, in addition to the first embodiment, the clamping structure is further optimized, the first guide sleeve portion 22 is further provided on the inner side of the first step surface 21, the second guide sleeve portion 32 is further provided on the second step surface 31, and the first guide sleeve portion 22 and the second guide sleeve portion 32 extend in the opposite direction and have the same outer diameter. The ends of the first and second guide sleeve

portions

22 and 32 are provided with tapered first and

second guide surfaces

23 and 33, respectively.

As shown in fig. 4 and 5, since the end of the pull rod 3 is inserted into the cavity 51 of the tapered hollow part 5, the outer shape of the slider 34 is a tapered surface or a spherical surface in order to avoid the corner of the end from scratching the inside of the part.

The clamping principle is as follows:

the central shaft 2 is a hollow structure, and the pull rod 3 and the central shaft 2 are coaxially arranged and can generate axial relative motion. The rubber sleeve 4 is a hollow cylinder structure, and two cylindrical end faces of the rubber sleeve 4 are respectively connected with the lower end face of the central shaft 2 and the lower head of the pull rod 3. When the pull rod 3 moves upward relative to the central shaft 2, the pull rod 3 and the central shaft 2 respectively apply axial pressure to the rubber sleeve 4, so that the rubber sleeve 4 generates expansion deformation. The gripping of the inner wall surface of the tapered necking hollow part 5 is realized by the expansion deformation of the rubber sleeve 4.

After the holding action of the inner wall surface of the part is finished, the held part is prevented from shaking during the movement of the mechanical arm. The outer taper sleeve 1 can further move axially downwards along the central shaft 2, and the outer conical surface of the part to be grasped is restrained and fixed through the inner conical surface of the outer taper sleeve 1, so that the conical necking hollow part 5 is centered and grasped.

In light of the foregoing description of preferred embodiments in accordance with the invention, it is to be understood that numerous changes and modifications may be made by those skilled in the art without departing from the scope of the invention. The technical scope of the present invention is not limited to the contents of the specification, and must be determined according to the scope of the claims.

Claims

1. The utility model provides a toper throat hollow part is held device with heart which characterized in that: the taper sleeve comprises an outer taper sleeve (1), a central shaft (2), a pull rod (3) and a rubber sleeve (4), wherein the central shaft (2) is of a hollow structure, the pull rod (3) is arranged in the central shaft (2) and is coaxially mounted with the central shaft (2), and axial relative motion can be generated between the pull rod and the central shaft; one end of the pull rod (3) extends out of the central shaft (2), the end part of the pull rod is provided with a pull head (34), the rubber sleeve (4) is sleeved on one end of the pull rod (3) extending out of the central shaft (2), the upper end and the lower end of the rubber sleeve (4) are respectively connected with the end surface of the central shaft (2) and the end surface of the pull head (34), and when the pull rod (3) moves upwards relative to the central shaft (2), the pull rod (3) and the central shaft (2) respectively apply axial pressure on the rubber sleeve (4), so that the rubber sleeve (4) generates expansion deformation; the upper end of the outer taper sleeve (1) is sleeved on the central shaft (2), and the lower end of the outer taper sleeve (1) is provided with a clamping cavity (11) with the shape matched with the shape of the tapered necking hollow part (5).

2. The tapered necking hollow member centering and gripping device of claim 1, wherein: the end part of the central shaft (2) is provided with a first step surface (21), the end part of the pull rod (3) is provided with a second step surface (31), and the upper end surface and the lower end surface of the rubber sleeve (4) are respectively connected with the first step surface (21) and the second step surface (31).

3. The tapered necking hollow member centering and gripping device of claim 2, wherein: the inner side of the first step surface (21) is also provided with a first guide sleeve part (22), the second step surface (31) is also provided with a second guide sleeve part (32), the first guide sleeve part (22) and the second guide sleeve part (32) extend oppositely, and the outer diameters of the first guide sleeve part and the second guide sleeve part are the same.

4. A tapered necking hollow part centering gripping device according to claim 3, wherein: the end parts of the first guide sleeve part (22) and the second guide sleeve part (32) are respectively provided with a first conical guide surface (23) and a second conical guide surface (33).

5. The tapered necking hollow member centering and gripping device of claim 1, wherein: the shape of the slider (34) is a conical surface or a spherical surface.