WO2018095089A1

WO2018095089A1 - Sealing ring clamping device

Info

Publication number: WO2018095089A1
Application number: PCT/CN2017/099020
Authority: WO
Inventors: 祝健峰
Original assignee: 昂华（上海）自动化工程股份有限公司
Priority date: 2016-11-25
Filing date: 2017-08-25
Publication date: 2018-05-31
Also published as: CN108098284B; DE112017005961T5; CN108098284A

Abstract

Provided is a sealing ring clamping device, comprising a mounting post (1), inner clamping claws (2), a first driver (3), an inner clamp opening block (4), a second driver (5) and an intermediate block (6). The multiple inner clamping claws (2) are distributed circumferentially around the mounting post (1), both a middle portion of each of the inner clamping claws (2) and the mounting post (1) are rotationally connected, and two ends of each of the inner clamping claws (2) can rotate around a central spindle. The first driver (3) drives the inner clamp opening block (4) to reciprocate in an axial direction of the mounting post (1), and the inner clamp opening block can come into contact with one side of the inner clamping claw, so that the inner clamping claw (2) rotates around the intermediate spindle to open the other side. The opening end of the inner clamping claw (2) is located in the centre of the sealing ring, can apply an opening force from the inside towards the outside on the sealing ring when opening, and can clamp the sealing ring. The intermediate block (6) is driven by the second driver (5) and is sleeved outside an annular structure enclosed by the multiple inner clamping claws (2), and the intermediate block (6) moves axially so as to make contact with the clamped sealing ring, applying an axial pushing force on the sealing ring and pushing the sealing ring out, so that an automated assembly process is completed.

Description

Sealing ring clamping device

The present application claims priority to Chinese Patent Application No. 201611061766.6, entitled "A Sealing Ring Clamping Device", filed on November 25, 2016, the entire contents of which is incorporated herein by reference. .

Technical field

The invention relates to the field of automatic assembly technology, and more particularly to a sealing ring clamping device.

Background technique

The sealing shaft is required to be sealed on the camshaft. The sealing ring is divided into two types: opening and non-opening. The sealing ring that is not open is flexible, and the grasping and installation are difficult to control, and the automatic installation is difficult. The usual method is manual installation by workers, but manual installation is difficult to control the quality and monitoring of the product. However, the existing automated installation equipment is not stable, and the installation qualification rate is very low.

Therefore, for those skilled in the art, how to design an effective sealing ring automatic installation device is a technical problem that needs to be solved at present.

Summary of the invention

The invention provides a sealing ring clamping device, which can realize automatic clamping and placement of the sealing ring without manual operation. The specific plan is as follows:

A sealing ring clamping device comprising:

Centrally located mounting post;

a plurality of inner jaws disposed on the mounting post circumferentially, wherein a middle portion of each of the inner jaws is rotatably coupled to the mounting post;

An inner clip driven by the first driver and reciprocable along an axial direction of the mounting post, the inner clip opening block being capable of contacting one side of the inner jaw to cause the inner jaw to wrap around Rotating at the shaft to open the other side;

An intermediate block driven by the second actuator and reciprocating along the axial direction of the mounting post; the intermediate block being fitted over a plurality of annular structures surrounded by the inner jaws, capable of opening the inner jaw The pinched seal is ejected.

Optionally, further comprising a plurality of outer jaws disposed on an outer wall of the intermediate block, a middle portion of the outer jaw is rotatably coupled to the intermediate block, and the outer jaw is driven by a third driver Open the block to open.

Optionally, the inner clamping jaw is provided with an inner clamping rotating block protruding in an arc shape toward the axial center, and the inner clamping rotating block can be matched with the inner clamping rotating groove formed on the outer wall of the mounting post; The outer clamping jaw is provided with an outer clamping rotating block protruding in an arc shape toward the axial center, and the outer clamping rotating block can be matched with the outer clamping rotating groove formed on the outer wall of the intermediate block; the inner clamping jaw and The outer jaws are polymerized toward the axis by an elastic band.

Optionally, one side of the inner jaw facing away from the axial center is provided with an inner entrainment groove for limiting the elastic band; and one side of the outer clamping jaw facing away from the axial center is provided for limiting the elasticity The outer band of the belt has a groove.

Optionally, the top of the inner jaw is a sliding surface protruding away from the axial center, and the inner clamping open piece of the ring is opened by sliding downward; the outer clamping jaw The top portion is provided with a sliding surface recessed toward the axis, and the outer outer opening block of the ring shape opens the outer jaw by sliding upward.

Optionally, the mounting post includes an inner clamping rotation groove, a second sliding column and a first sliding column in order from bottom to top; the inner clamping rotating groove and the first sliding column have a diameter smaller than the second sliding a plurality of retaining grooves for avoiding the inner jaws are disposed on the second sliding column; the middle portion of the middle block is provided with an outer clamping rotating groove, and the two ends are respectively set for limiting and avoiding Slotting of the outer jaw.

Optionally, the first driver, the second driver and the third driver are both cylinders and are fixedly disposed on the connecting flange.

Optionally, the first driver is connected to the inner clip open block through a zigzag inner clip connection block; the second driver is connected to the middle block through an intermediate connection block; the third driver is connected to the The outer clip opens the outer clip connecting block that protrudes outward on the block.

Optionally, the bottom end surface of the inner jaw is close to a stepped protrusion on one side of the axis; the bottom of the outer jaw has a bent structure, and the end is provided with a stepped protrusion.

Optionally, the number of the inner jaws is eight, and the number of the outer jaws is sixteen.

The invention provides a sealing ring clamping device, which comprises a mounting post, an inner clamping jaw, a first driving device, an inner clamping opening block, a second driving device and an intermediate block. The mounting post is located at the center of the entire gripping device, and the plurality of inner jaws are circumferentially distributed around the mounting post, enclosing the inner jaws, each The middle portion of the inner clamping jaw is rotatably connected with the mounting post, and both ends of the inner clamping jaw are rotatable about the intermediate rotating shaft.

The first driver drives the inner clip opening block to reciprocate along the axial direction of the mounting post, and the inner clip open block contacts the one side of the inner jaw during the reciprocating motion, thereby rotating the inner jaw around the middle rotating shaft, The other side is open. The open end of the inner jaw is located in the middle of the sealing ring, and when the opening is opened, an inner and outer opening force can be applied to the sealing ring, and the sealing ring can be clamped.

The intermediate block is driven by the second actuator to reciprocate along the axial direction of the mounting post, and the intermediate block is fitted outside the annular structure surrounded by the plurality of inner jaws. When the sealing ring is clamped by the inner clamping jaw and transported to the corresponding assembly station, the intermediate block is axially moved to contact the clamped sealing ring, and an axial thrust is applied to the sealing ring to act on the intermediate block. The sealing ring is ejected to complete the automatic assembly process.

By adopting the sealing ring clamping device provided by the invention, the sealing ring can be automatically clamped, the sealing ring can be removed at the designated mounting position, the automatic sealing installation of the sealing is realized, and the mechanical automatic device is used to seal The installation of the circle is more standard.

DRAWINGS

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below. Obviously, the drawings in the following description are only It is a certain embodiment of the present invention, and other drawings can be obtained from those skilled in the art without any creative work.

1 is an overall structural view of a sealing ring clamping device provided by the present invention;

Figure 2 is a cross-sectional structural view taken along line A-A of Figure 1;

Figure 3 is a structural view of the mounting post;

Figure 4 is a structural view of the intermediate block;

Figure 5 is a structural view of the inner jaw;

Figure 6 is a structural view of the outer jaw.

These include:

Mounting post 1, inner claw rotating groove 101, first sliding column 102, second sliding column 103, inner jaw 2, inner clamping rotating block 201, inner clamping groove 202, first driver 3, inner clamping connecting block 301, inner Clamp open block 4, second drive 5, intermediate connection block 501, intermediate block 6, outer clamp rotation groove 601, connection flange 7, outer clamp 8, outer clamp rotation block 801, outer entrainment groove 802, third drive 9 The outer clamp connection block 901 and the outer clamp open block 10.

detailed description

The core of the invention is to provide a sealing ring clamping device, which can realize automatic clamping and placement of the sealing ring without manual operation.

In order to make those skilled in the art better understand the technical solutions of the present invention, the sealing ring clamping device of the present application will be described in detail below with reference to the accompanying drawings and specific embodiments.

As shown in FIG. 1 and FIG. 2, the overall structure and cross-sectional structural view of a sealing ring clamping device provided by the present invention are respectively provided in a specific arrangement form. The seal ring gripping device includes a structure such as a mounting post 1, an inner jaw 2, a first driver 3, an inner clip open block 4, a second driver 5, and an intermediate block 6.

The mounting post 1 is located at the center of the entire gripping device, and a plurality of inner jaws 2 are arranged annularly around the mounting post 1, and the plurality of inner jaws 2 radially surround the mounting post 1, and the mounting post 1 is surrounded by the middle. The mounting column 1 is a solid cylinder, and may also be a hollow cylinder structure, which may be set as a cylinder or as a prism. The middle portion of each of the inner jaws 2 is rotatably coupled to the mounting post 1, and both ends of the inner jaw 2 are rotatable about a rotational axis of the intermediate position, and one end of the inner gripping jaw 2 can drive the other end of the inner jaw 2 to rotate.

The inner clip opening block 4 is driven by the first driver 3, and the inner clip opening block 4 performs a reciprocating translational movement in the axial direction of the mounting post 1. The inner clip opening block 4 can be in contact with one side of the inner jaw 2 such that the inner jaw 2 rotates about its rotation axis to open the other side, as shown in FIG. 2, the inner clamp open block 4 and the inner jaw 2 The upper part of the contact makes the lower part open. When the lower end of the inner jaw 2 is opened, a pressure to the circumference of the seal ring can be applied, and the seal ring is expanded to the periphery to sandwich the seal ring.

The intermediate block 6 is driven by the second actuator 5 and is reciprocable in the axial direction of the mounting post 1. The plurality of inner jaws 2 enclose an annular structure, and the intermediate block 6 is fitted outside the annular structure surrounded by the inner jaws 2. Since the inner jaw 2 exerts a force from the center to the periphery, the seal ring is located outside the inner jaw 2, so that when the intermediate block 6 moves downward, pressure is applied to the seal ring, and the inner jaw 2 can be The sealing ring clamped by the opening action is ejected, so that the sealing ring falls to the corresponding station.

The sealing ring clamping device provided by the invention is mounted on the mechanical arm, and the movement of the entire device is driven by the mechanical arm. In use, the gripping device is first moved to the position of the sealing ring rod, and at this time, the inner clamping jaw 2 is in a closed state, the size of which is smaller than the sealing ring, and can be inserted into the sealing ring, and the first driving device 3 is moved at this time. The inner clip opening block 4 opens the inner jaw 2 to the periphery, thereby causing the plurality of inner jaws 2 to grip the seal ring from the inner side of the seal ring. Move the entire gripping device, move the sealing ring to the designated mounting station, align the position where the sealing ring needs to be placed, activate the second driver 5 to move the intermediate block 6, and move the intermediate block 6 in the axial direction to push the inner jaw 2 The sealing ring is taken out, and the sealing ring is pushed out from the inner jaw 2 to complete the placement of the sealing ring. When finished, reverse the inner jaws in the opposite step and the intermediate block 6 returns to the initial position.

In the process of moving the whole arm of the robot arm, it is also necessary to check whether the grabbing is successful through the CCD camera, check the position of the sealing ring opening, and feed back the inspection result to the robot arm; if it is not successfully grasped, return to the original The bit movement is repeated again. If a successful grip is detected, the entire gripping device is rotated according to the position of the opening of the sealing ring so that the opening faces upward, and then the subsequent placing operation is performed. By adopting the clamping device of the invention, the automatic clamping and placing of the sealing ring can be realized, and the orientation of the opening of the sealing ring is ensured, the assembly process is accurate and the error caused by the manual operation process is avoided. It also reduces the use of manpower and reduces the cost of the business.

On the basis of the above solution, the gripping device of the present invention further comprises an outer jaw 8 which is arranged similarly to the inner jaw 2 and is disposed around the outer wall of the intermediate block 6. The middle portion of the outer jaw 8 is rotatably coupled to the intermediate block 6, and one end of the outer jaw 8 is rotated to drive the other side to rotate. The outer clip opening block 10 is driven by the third actuator 9 and is reciprocally movable in the axial direction of the mounting post 1. The outer clip opening block 10 can move one end of the outer jaw 8 when moving, and the other end is opened to the periphery, and the outer jaw 8 is also provided with a retracting device, which can be closed toward the center. When the outer jaw 8 is closed toward the center, the outer circumference of the seal ring can be squeezed to return the seal ring to its original shape. When the inner jaw 2 is opened, the sealing ring is opened from the opening and the size becomes large, so that the pressing force to the center by the outer jaw 8 is restored to the original state as soon as possible after being mounted to the corresponding position. Since the outer jaw 8 is rotatably disposed on the intermediate block 6, it will be synchronously translated with the intermediate block 6, and the intermediate block 6 will move the outer jaw 8 when it moves.

With regard to the specific structure of the inner jaw 2 and the outer jaw, the present invention provides a specific implementation herein. the way. The inner clamping jaw 2 is provided with an inner clamping rotating block 201, and the inner clamping rotating block 201 is located at the middle of the inner clamping jaw 2, and the inner clamping rotating block 201 protrudes toward the axial direction of the mounting post 1, that is, the inner clamping jaw 2 The center of the annular structure is convex, and its outer surface is arc-shaped, and can be matched with the inner clamping rotating slot 101 formed on the outer wall of the mounting post 1. The inner clamping jaw 2 has the inner rotating block 201 as the rotating shaft, and the two ends are wound around the inner end. The clip rotating block 201 rotates. In order to achieve the fixing of the inner jaw 2, a groove is provided on the back surface of the inner clamping rotating block 201 for limiting the fixing belt, and the fixing belt can bind the plurality of inner clamping jaws 2 to the mounting post 1 by fixing With the binding of the belt, the inner jaw 2 can only be rotated, and cannot be swayed to both sides, achieving the effect of fixing the limit.

The outer jaw 8 is disposed in a similar manner to the inner jaw 2, and the outer jaw 8 is provided with an outer clamping rotating block 801 protruding in an arc shape in the axial direction, and the outer clamping rotating block 801 can be opened on the outer wall of the intermediate block 6. The outer clamping rotation groove 601 is matched to the connection.

The elastic band is bound to the inner jaw 2 and the outer jaw 8, and the elastic band is located on the side to be gathered, and the inner jaw 2 and the outer jaw 8 are brought together toward the center by the restoring force of the elastic band. That is, the first driver and the second driver can be controlled to open, and the elastic band is used to control the folding.

An inner entrainment groove 202 for limiting the elastic band is disposed on a side of the inner clamping jaw 2 facing away from the axial center. The inner clamping groove 202 and the recess of the limiting fixing strap are disposed on the same side, and the inner clamping groove 202 can be limited in elasticity. The belt cannot move on the inner jaw 2. Corresponding to the inner jaw 2, an outer entrainment groove 802 for limiting the elastic band is provided on the side of the outer jaw 8 facing away from the axial center, which serves the same limiting action.

On the basis of any of the above technical solutions and the combination thereof, the top of the inner jaw 2 is a sliding surface protruding away from the axial center, and the inner clamping opening block 4 is annular, and the inner clamping jaws are 2 pieces by sliding downward. open. The inner jaw 2 is not a straight rod structure, and has a peripheral convex structure. Both sides of the inner clamp opening block 4 can contact the convex sliding surface of the inner jaw 2, and can be opposed to the inner jaw 2 Sliding, pressing the sliding face toward the center, so that the other side is open.

The structure of the outer jaw 8 is opposite to that of the inner jaw 2, but the principle is similar. The top of the outer jaw 8 is provided with a sliding surface that is recessed toward the axis, and the outer clip opening block 10 has an annular structure, and the outer jaw 8 is opened by sliding upward. The sliding surfaces of the inner jaw 2 and the outer jaw 8 are both sides in the outer circumferential direction, and the sliding surface of the outer jaw 2 is actually a structure recessed toward the center, and the annular structure composed of the outer jaws 8 when the outer jaw 8 is closed In the small-sized position, when the opening is required to be opened, the outer-opening block 10 is moved upward to a position where the diameter is large, so that the top end is polymerized inward and the other side is rotated. In this article The directional expression of the top and bottom is based on the directions shown in Figures 1 and 2, and does not refer to the absolute position in space.

As shown in FIG. 3, it is an isometric structural view of the mounting column 1. The mounting post 1 includes an inner clamping rotation groove 101, a second sliding column 103, and a first sliding column 102 in order from bottom to top. The mounting post 1 is not of equal diameter, the inner clamping rotating groove 101 and the first sliding column 102 have a smaller diameter than the second sliding column 103, and the inner clamping rotating groove 101 is disposed at the end of the mounting post 1, which is an entire connecting arc. The groove structure is also possible because the inner clamping rotation groove 101 is provided as a plurality of individual small grooves because it corresponds to the installation of a plurality of inner jaws.

The second sliding column 103 has a plurality of retaining grooves for avoiding the inner jaws 2 in the axial direction. When the top of the inner jaws 2 is gathered toward the center by the inner clamping opening block 4, the inner jaws 2 are allowed to enter. In the bit slot.

As shown in FIG. 4, it is an isometric structural view of the intermediate block 6. Similarly, an outer clamping rotation groove 601 is provided in the middle of the intermediate block 6, and the two ends are respectively provided with slots for limiting and avoiding the outer jaws 8. A plurality of waist holes for weight reduction are also provided on the intermediate block 6.

Specifically, the first driver 3, the second driver 5, and the third driver 9 are all cylinders, and are fixedly disposed on the connecting flange 7, and the mounting post 1 is also fixed on the flange 7, the first driver 3, the second driver 5. The third driver 9 is located on three sides to surround the mounting post 1.

The first driver 3 is connected to the inner clip opening block 4 via a zigzag inner clip connecting block 301. Since the first driver 3 is located outside the inner jaw, it is driven by the inner clip connecting block 301 having two right angle bending structures. , the first driver 3 drives the inner clip to open the block 4 to move.

The second driver 5 is connected to the intermediate block 6 via the intermediate connection block 501. The intermediate connection block 501 and the intermediate block 6 are fixed to each other, and the movement of the second driver 5 directly drives the upper and lower reciprocating translation. Since the outer clip opening block 10 has the largest size and is located at the outermost side, the outer clip connecting block 901 extends perpendicularly to the axial direction on the outer wall thereof, and the third driver 9 is fixedly coupled with the outer clip connecting block 901, thereby driving the outer clip opening block 10 mobile.

As shown in FIG. 5 and FIG. 6, the bottom end surface of the inner jaw 2 is stepped on the side of the shaft, and the bottom of the outer jaw 8 has a bent structure, and the end is provided with a stepped projection. The inner jaw 2 applies tension from the inside to the outside of the seal ring, so that the bump is disposed on the side close to the center, and it is easier to pinch the seal ring. The height of the bump is less than or equal to the thickness of the seal ring, and can only be clamped at a time. A sealing ring. Accordingly, the outer jaw 8 applies an outward-inward pressure to the seal ring, so that the bent structure contacts the outer side of the seal ring, and a bump structure is provided at the end, so that the seal ring can be better fitted.

Specifically, the number of the inner jaws 2 is eight, and the number of the outer jaws 8 is sixteen. Of course, it is ok to specifically change the quantity according to the demand as long as the force can be uniformly applied. The inner jaw 2 is located on the inner side and the outer jaw 8 is located on the outer side, so that the plurality of outer jaws 8 constitute an annular structure larger than the inner jaw 2, and therefore the number should be larger than the inner jaw.

In use, the inner jaw 2 is closed and the entire device is fed to the rod by the robot arm. When the designated position is reached, the inner jaw 2 is opened, and the inner and outer jaws 2 grip the seal ring. The arm moves the seal to the CCD to check if the grab is successful, and checks the seal opening position and feeds it back to the arm. If the capture is detected, the opening is rotated directly above; if it is not successful, it is re-crawled. The robot arm penetrates the gripping device into the camshaft, and the intermediate block 6 pushes the seal ring out of the inner jaw 2, and the seal ring falls into the camshaft groove. The outer jaw 8 is closed to shape the seal back into a circle. After shaping, the outer jaw 8 is opened, and the gripping device exits the camshaft. An action cycle is completed, and subsequent installation operations are repeated.

In order to match the structure of the inner jaw 2, the material rod is also provided with a corresponding number of slots, and the inner jaws 2 are avoided.

The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments are obvious to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but the scope of the invention is to be accorded

Claims

A sealing ring clamping device, comprising:

Centrally located mounting post (1);

a plurality of inner jaws (2) disposed on the mounting post (1) circumferentially, and a middle portion of each of the inner jaws (2) is rotatably coupled to the mounting post (1);

An inner clamp opening (4) driven by a first actuator (3) capable of reciprocating along an axial direction of the mounting post (1), the inner clip opening block (4) being capable of interacting with the inner jaw (2) One side of the contact so that the inner jaw (2) rotates about its axis of rotation to open the other side;

An intermediate block (6) driven by the second driver (5) to reciprocate along the axial direction of the mounting post (1); the intermediate block (6) is encased in a plurality of the inner jaws (2) In addition to the annular structure, the sealing ring that is sandwiched by the inner jaw (2) can be ejected.
The sealing ring gripping device according to claim 1, further comprising a plurality of outer clamping jaws (8) disposed on an outer wall of said intermediate block (6), said outer clamping jaws (8) The middle portion is rotatably coupled to the intermediate block (6), and the outer jaw (8) is opened by the outer clip opening block (10) driven by the third actuator (9).
The sealing ring gripping device according to claim 2, wherein the inner clamping jaw (2) is provided with an inner clamping rotating block (201) protruding in an arc shape in the axial direction, the inner clamp The rotating block (201) can be matched with the inner clamping rotating groove (101) formed on the outer wall of the mounting post (1); the outer clamping jaw (8) is provided with an outer clip protruding in an arc shape toward the axial center. a rotating block (801), the outer clamping rotating block (801) being capable of matching an outer clamping rotating groove (601) formed on an outer wall of the intermediate block (6); the inner clamping jaw (2) and the outer clamp The claws (8) are polymerized toward the axis by an elastic band.
The seal ring gripping device according to claim 3, wherein one side of the inner jaw (2) facing away from the shaft center is provided with an inner entrainment groove (202) for limiting the elastic band; One side of the outer jaw (8) facing away from the shaft center is provided with an outer entrainment groove (802) for limiting the elastic band.
The seal ring gripping device according to any one of claims 2 to 4, characterized in that the top of the inner jaw (2) is a sliding surface protruding toward the axial center, and the inner clip of the ring shape The opening block (4) opens the inner jaw (2) by sliding downward; the top of the outer jaw (8) is provided with a sliding surface that is recessed toward the axis, and the outer opening of the ring is open ( 10) The outer jaw (8) is opened by sliding upward.
The sealing ring gripping device according to claim 5, wherein the mounting post (1) comprises an inner clamping rotating groove (101), a second sliding column (103) and a first sliding column in order from bottom to top. (102); the inner clamping rotation groove (101) and the first sliding column (102) have a smaller diameter than the second sliding column (103), and the second sliding column (103) is opened in the axial direction a plurality of retaining grooves for circumventing the inner jaws (2); an outer clamping rotating groove (601) is disposed at a middle portion of the intermediate block (6), and two ends are respectively provided for limiting and avoiding the outer clip Slotting of the claw (8).
The sealing ring gripping device according to claim 5, wherein the first driver (3), the second driver (5) and the third driver (9) are both cylinders and fixedly arranged On the connecting flange (7).
The sealing ring gripping device according to claim 7, wherein the first driver (3) is connected to the inner clip opening block (4) through a zigzag inner clip connecting block (301); a second driver (5) is coupled to the intermediate block (6) via an intermediate connection block (501); the third driver (9) is coupled to the outer clip of the outer clip opening block (10) Connect the block (901).
The seal ring gripping device according to claim 5, wherein the bottom end surface of the inner jaw (2) is close to a stepped projection on one side of the shaft; the bottom of the outer jaw (8) is The bent structure has a stepped bump at the end.
A seal ring gripping device according to claim 9, wherein the number of the inner jaws (2) is eight and the number of the outer jaws (8) is sixteen.