CN214922205U - Three-dimensional grabbing mechanism suitable for bearing bush - Google Patents
Three-dimensional grabbing mechanism suitable for bearing bush Download PDFInfo
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- CN214922205U CN214922205U CN202120533620.7U CN202120533620U CN214922205U CN 214922205 U CN214922205 U CN 214922205U CN 202120533620 U CN202120533620 U CN 202120533620U CN 214922205 U CN214922205 U CN 214922205U
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Abstract
The utility model provides a three-dimensional grabbing mechanism suitable for bearing bushes, which comprises a bracket 1, an actuator 2, a displacement mechanism, a driving device and a computer 11; the actuator 2 is connected with a displacement mechanism, the displacement mechanism is arranged on the bracket 1, the computer 11 is respectively connected with the bracket 1 and the actuator 2, and the driving device is connected with the actuator 2; the actuator 2 comprises an actuator main body 21, grabbing equipment and a traction chain 9, wherein the grabbing equipment is arranged on the actuator main body 21, the actuator main body 21 is connected with a displacement mechanism through the traction chain 9, and the grabbing equipment is connected with a driving device; the grabbing equipment can grab the workpiece under the driving of the driving device, and the displacement mechanism can drive the actuator 2 to displace. The utility model discloses can realize snatching fast and removing of work piece, and structural design simplifies reliably, and the operation is stable, compares with the manipulator of present often using, has bigger workspace and better stability, can realize that the executor snatchs the effect of work piece automatically, has improved degree of automation.
Description
Technical Field
The utility model relates to a grabbing device field specifically relates to a three-dimensional mechanism that snatchs suitable for axle bush.
Background
The technical route of the bearing bush spraying process mainly comprises the following steps in sequence: surface cleaning, surface treatment, preheating, spraying, heating and curing and the like. The grabbing and carrying of the bearing bush are involved in the machining process, and manual carrying can cause pollution and even damage to the machined surface of the workpiece, so that the spraying robot with high automation degree becomes the first choice of the spraying machining process.
The spraying robot mainly comprises a robot body, a computer and a corresponding control system. The spraying robot body for automatic spraying of the bearing bush in the current market mostly uses a manipulator. The automatic spraying mechanism of the manipulator has high manufacturing cost, high maintenance cost, difficult maintenance, limited working space and large system programming difficulty, and the technical index of the manipulator is directly related to the manufacturing cost.
Patent document with publication number CN210910018U discloses a bearing bush gripping device, relating to the field of bearing bush manufacturing. At present, the bearing bush needs to go through different processes in the production process, and the gesture of bearing bush is different between the different processes, needs to change the gesture according to the process, generally is the manual work with the bearing bush transmission and revise the gesture between the different processes, not only efficiency is met, and the cost of labor is high. The utility model discloses a be equipped with elevating system on the support, the last mechanism that snatchs that is equipped with of elevating system, snatch the mechanism and include that two at least slip settings are at the holder on elevating system, the holder slides and carries out the centre gripping to the axle bush, and elevating system drives the axle bush and removes, makes axle bush transportation and gesture correction, compares manual work and has not only saved the cost of labor to the operating efficiency improves. But this utility model can only realize the action of snatching of Z axle direction, can't carry out nimble removal and classification when snatching the work piece.
SUMMERY OF THE UTILITY MODEL
To the defect among the prior art, the utility model aims at providing a three-dimensional mechanism that snatchs suitable for axle bush.
According to the utility model provides a three-dimensional grabbing mechanism suitable for axle bush, including support, executor, displacement mechanism, drive arrangement and computer;
the actuator is connected with a displacement mechanism, the displacement mechanism is arranged on the bracket, the computer is respectively connected with the bracket and the actuator, and the driving device is connected with the actuator;
the actuator comprises an actuator body, grabbing equipment and a traction chain, wherein the grabbing equipment is arranged on the actuator body, the actuator body is connected with a displacement mechanism through the traction chain, and the grabbing equipment is connected with a driving device.
Preferably, the gripping device comprises an actuator gripper, a sucker, a swing rod and an actuator rotating device;
the actuator rotating device is connected with the actuator main body and is coaxially arranged with the traction chain, the actuator rotating device is connected with one end of the swing rod, the other end of the swing rod is connected with the actuator gripper, one or more suckers are arranged on the inner side of the actuator gripper, and the suckers are connected with the driving device.
Preferably, one or more swing rods are arranged, and the grippers of the actuator are correspondingly connected with the swing rods one by one;
the actuator gripper is internally provided with a rotating shaft and is vertically connected with the oscillating bar through the rotating shaft.
Preferably, a laser sensor is arranged on the actuator gripper.
Preferably, a gyroscope stabilizer is arranged between the actuator rotating device and the actuator main body;
and a damping dynamic shock absorber is arranged on the actuator body.
Preferably, the actuator further comprises a displacement adjusting device, a balancing weight and a gravity sensor;
the displacement adjusting device and the gravity sensor are both arranged on the actuator main body, and the displacement adjusting device is connected with the balancing weight.
Preferably, the displacement mechanism comprises a first displacement device, a second displacement device and a traction device;
the first displacement device, the second displacement device and the traction device are all arranged on the bracket, the second displacement device is connected with the traction device, and the traction device is connected with the traction chain;
the support is provided with a track and a track cross bar which are perpendicular to each other, the first displacement device is arranged on the track, the second displacement device is arranged on the track cross bar, and the track cross bar is connected with the first displacement device.
Preferably, a camera detector is arranged on the bracket;
the driving device comprises a pneumatic device.
Compared with the prior art, the utility model discloses following beneficial effect has:
1. the utility model discloses simple structure, convenient operation can realize snatching fast and removing of work piece, and structural design simplifies reliably, and the operation is stable, compares with the manipulator of present often using, has bigger workspace and better stability.
2. The utility model discloses a constitute feedback system's technological means through camera detector and computer, can realize that the executor snatchs the effect of work piece automatically, improved degree of automation.
3. The utility model discloses a through displacement adjusting device, balancing weight and gravity sensor adjust the centrobaric technological means of executor, can the real-time detection executor the focus position and adjust it, effectively reduced the skew condition of executor focus.
4. The utility model discloses a laser sensor detects the technological means of work piece size, can make executor automatic adjustment gesture to the gesture of adaptation snatchs the work piece, has realized the adaptation of this mechanism to the work piece of unidimensional not.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
fig. 1 is a schematic structural view of the present invention;
fig. 2 is a schematic view of the structure of the present invention;
fig. 3 is a schematic structural diagram of an actuator according to the present invention;
fig. 4 is a schematic side view of the middle actuator of the present invention.
The figures show that:
bracket 1 drag chain 9 laser sensor 17
Displacement adjusting device 18 of actuator 2 pneumatic device 10
Damping dynamic damper 20 of gripper 12 of camera detector 4 actuator
Detailed Description
The present invention will be described in detail with reference to the following embodiments. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that various changes and modifications can be made by one skilled in the art without departing from the spirit of the invention. These all belong to the protection scope of the present invention.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
The utility model provides a three-dimensional grabbing mechanism suitable for bearing bushes, as shown in figures 1 and 2, comprising a bracket 1, an actuator 2, a displacement mechanism, a driving device and a computer 11; the actuator 2 is connected with a displacement mechanism, the displacement mechanism is arranged on the support 1, the computer 11 is respectively connected with the support 1 and the actuator 2, and the driving device is connected with the actuator 2; the actuator 2 comprises an actuator main body 21, grabbing equipment and a traction chain 9, wherein the grabbing equipment is arranged on the actuator main body 21, the actuator main body 21 is connected with a displacement mechanism through the traction chain 9, and the grabbing equipment is connected with a driving device; the grabbing equipment can grab a workpiece under the driving of the driving device, and the displacement mechanism can drive the actuator 2 to displace. The utility model discloses well support 1's size can be improved according to the operating mode, consequently the utility model discloses working space can be far more than the spraying robot.
The to-be-solved technical problem of the utility model is, to the defect that prior art exists, a three-dimensional mechanism that snatchs suitable for axle bush is provided, realizes snatching and categorizing the not batch of unidimensional axle bush in three-dimensional space, easy operation, the structure is reliable.
As shown in fig. 3 and 4, the gripping device comprises an actuator gripper 12, a suction cup 13, a swing link 14 and an actuator rotating device 15; the actuator rotating device 15 is connected with the actuator main body 21 and is coaxially arranged with the traction chain 9, the actuator rotating device 15 is connected with one end of a swing rod 14, the other end of the swing rod 14 is connected with an actuator gripper 12, one or more suckers 13 are arranged on the inner side of the actuator gripper 12, and the suckers 13 are connected with a driving device; the actuator rotating device 15 can drive the swing rod 14 to rotate around the traction chain 9, and the suction cup 13 can grab a workpiece under the driving of the driving device.
One or more swing rods 14 are arranged, and the actuator grippers 12 are correspondingly connected with the swing rods 14 one by one; the actuator hand grab 12 is internally provided with a rotating shaft, and the actuator hand grab 12 is vertically connected with the swing rod 14 through the rotating shaft. Preferably, a pair of actuator grippers 12 are connected to the actuator body 21 through two pairs of upper and lower swing rods 14, and a plurality of suction cups 13 are fixedly connected to the actuator grippers 12, and are used for conveying air by the air pressure device 10, so that the function of gripping workpieces by air pressure is realized.
The actuator gripper 12 is provided with a laser sensor 17; the laser sensor 17 is able to detect the size of the workpiece and send this information to the computer 11. The angle and distance between the suction cups 13 are adjusted to be suitable for workpieces with different sizes by adjusting the gripper 12 and the swing rod 14 of the actuator through the control of the computer 11.
A gyroscope stabilizer 16 is arranged between the actuator rotating device 15 and the actuator main body 21; the actuator body 21 is provided with a damping dynamic vibration absorber 20. The gyro stabilizer 16 can keep the actuator 2 stable during movement, and the damping dynamic vibration absorber 20 can effectively reduce vibration caused by external interference.
The actuator 2 further comprises a displacement adjusting device 18, a balancing weight 19 and a gravity sensor 22; the displacement adjusting device 18 and the gravity sensor 22 are both arranged on the actuator main body 21, and the displacement adjusting device 18 is connected with the balancing weight 19.
The displacement mechanism comprises a first displacement device 3, a second displacement device 6 and a traction device 5; the first displacement device 3, the second displacement device 6 and the traction device 5 are all arranged on the support 1, the second displacement device 6 is connected with the traction device 5, and the traction device 5 is connected with the traction chain 9; the support 1 is provided with a track 8 and a track cross bar 7 which are perpendicular to each other, the first displacement device 3 is arranged on the track 8, the second displacement device 6 is arranged on the track cross bar 7, and the track cross bar 7 is connected with the first displacement device 3; the first displacement device 3 can drive the track cross bar 7 to reciprocate along the track 8, the second displacement device 6 can drive the actuator 2 to reciprocate along the track cross bar 7, and the traction device 5 can drive the actuator 2 to reciprocate along the vertical direction. Preferably, the drag chain 9 is fixedly connected with the drag device 5, and the drag device 5 is fixedly connected with the second displacement device 6.
The bracket 1 is provided with a camera detector 4; preferably, the driving means comprises a pneumatic device 10.
Before the work is carried out, an installation step is required, and the installation step comprises the following steps:
1) assembling actuator parts: two pairs of oscillating bars 14, a gyroscope stabilizer 16, a laser sensor 17, a displacement adjusting device 18, a balancing weight 19, a damping dynamic damper 20 and a gravity sensor 22 are arranged on an actuator main body 21, the position of an actuator hand grip 12 is determined before the oscillating bars 14 are arranged, the oscillating bars 14 are arranged together when being arranged, then a suction cup 13 is arranged on the actuator hand grip 12, and finally an actuator rotating device 15 and a traction chain 9 are assembled on the actuator main body 21.
2) And (3) overall assembling: after the support 1 is installed, a track 8 is laid at the corresponding position of the support 1, camera detectors 4 are installed on two sides of the support 1, a first displacement device 3, a traction device 5, a second displacement device 6 and a track cross bar 7 are matched to be assembled on the track 8, an actuator 2 is connected to the traction device 5 through a traction chain 9, and a computer 11 and an air pressure device 10 are connected.
Based on the utility model discloses a further improvement, especially improvement in the aspect of the software, the computer can be when control executor 2 removes, and gravity sensor 22 real-time detection executor 2's focus changes and sends this information to computer 11, and computer 11 receives this information and handles it, and computer 11 control displacement adjusting device 18 changes position and distance between balancing weight 19 and the executor main part 21 for the focus of executor 2 keeps near the equilibrium point of executor 2. The gravity sensor 22 can also calculate the coating thickness of the workpieces of different spraying batches by detecting the mass of the workpieces, and the computer 11 collects and analyzes the data to control the actuator 2 to automatically classify the sprayed workpieces.
The camera detector is able to detect the position of the workpiece and send this information to the computer 11; the computer 11 controls the actuator 2 to automatically perform the grasping action.
The utility model provides a three-dimensional mechanism of snatching suitable for axle bush has realized bigger workspace, not only has the function that automatic positioning snatchs the axle bush, can adapt to not unidimensional axle bush, and automated inspection axle bush coating thickness is classified the axle bush, and structural design simplifies reliably, moves stably easy operation.
The foregoing description of the specific embodiments of the invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by those skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (8)
1. The three-dimensional grabbing mechanism suitable for the bearing bush is characterized by comprising a support (1), an actuator (2), a displacement mechanism, a driving device and a computer (11);
the actuator (2) is connected with a displacement mechanism, the displacement mechanism is arranged on the bracket (1), the computer (11) is respectively connected with the bracket (1) and the actuator (2), and the driving device is connected with the actuator (2);
the actuator (2) comprises an actuator main body (21), grabbing equipment and a drag chain (9), wherein the grabbing equipment is arranged on the actuator main body (21), the actuator main body (21) is connected with a displacement mechanism through the drag chain (9), and the grabbing equipment is connected with a driving device.
2. The three-dimensional grabbing mechanism for bearing shells according to claim 1, wherein the grabbing device comprises an actuator gripper (12), a suction cup (13), a swing rod (14) and an actuator rotating device (15);
the actuator rotating device (15) is connected with the actuator main body (21) and is coaxially arranged with the traction chain (9), the actuator rotating device (15) is connected with one end of the swing rod (14), the other end of the swing rod (14) is connected with the actuator gripper (12), one or more suckers (13) are arranged on the inner side of the actuator gripper (12), and the suckers (13) are connected with the driving device.
3. The three-dimensional grabbing mechanism suitable for the bearing bushes according to claim 2, wherein the number of the swing rods (14) is one or more, and the actuator grippers (12) are connected with the swing rods (14) in a one-to-one correspondence manner;
the inside of executor tongs (12) is provided with the pivot, and executor tongs (12) are connected through pivot and pendulum rod (14) vertical.
4. The three-dimensional grabbing mechanism for bearing shells as claimed in claim 2, wherein the actuator gripper (12) is provided with a laser sensor (17).
5. The three-dimensional grabbing mechanism for bearing shells according to claim 2, wherein a gyroscope stabilizer (16) is arranged between the actuator rotating device (15) and the actuator main body (21);
and a damping dynamic damper (20) is arranged on the actuator main body (21).
6. The three-dimensional grabbing mechanism for bearing shells according to claim 1, wherein the actuator (2) further comprises a displacement adjusting device (18), a balancing weight (19) and a gravity sensor (22);
the displacement adjusting device (18) and the gravity sensor (22) are both arranged on the actuator main body (21), and the displacement adjusting device (18) is connected with the balancing weight (19).
7. The three-dimensional grabbing mechanism for bearing shells according to claim 1, wherein the displacement mechanism comprises a first displacement device (3), a second displacement device (6) and a traction device (5);
the first displacement device (3), the second displacement device (6) and the traction device (5) are all arranged on the support (1), the second displacement device (6) is connected with the traction device (5), and the traction device (5) is connected with the traction chain (9);
the support (1) is provided with a track (8) and a track cross bar (7) which are perpendicular to each other, the first displacement device (3) is arranged on the track (8), the second displacement device (6) is arranged on the track cross bar (7), and the track cross bar (7) is connected with the first displacement device (3).
8. The three-dimensional grabbing mechanism suitable for bearing shells according to claim 1, wherein a camera detector (4) is arranged on the bracket (1);
the drive means comprises pneumatic means (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120533620.7U CN214922205U (en) | 2021-03-15 | 2021-03-15 | Three-dimensional grabbing mechanism suitable for bearing bush |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120533620.7U CN214922205U (en) | 2021-03-15 | 2021-03-15 | Three-dimensional grabbing mechanism suitable for bearing bush |
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| Publication Number | Publication Date |
|---|---|
| CN214922205U true CN214922205U (en) | 2021-11-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202120533620.7U Active CN214922205U (en) | 2021-03-15 | 2021-03-15 | Three-dimensional grabbing mechanism suitable for bearing bush |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112894862A (en) * | 2021-03-15 | 2021-06-04 | 宁波环甬润保涂层科技有限公司 | Three-dimensional grabbing mechanism and method suitable for bearing bush |
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2021
- 2021-03-15 CN CN202120533620.7U patent/CN214922205U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112894862A (en) * | 2021-03-15 | 2021-06-04 | 宁波环甬润保涂层科技有限公司 | Three-dimensional grabbing mechanism and method suitable for bearing bush |
| CN112894862B (en) * | 2021-03-15 | 2024-05-14 | 宁波环甬润保涂层科技有限公司 | Three-dimensional grabbing mechanism and method suitable for bearing bush |
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