CN102705384B - Manipulator mechanism on sorting and matching machine for ball bearing internal and external lantern rings - Google Patents
Manipulator mechanism on sorting and matching machine for ball bearing internal and external lantern rings Download PDFInfo
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- CN102705384B CN102705384B CN201210220135.XA CN201210220135A CN102705384B CN 102705384 B CN102705384 B CN 102705384B CN 201210220135 A CN201210220135 A CN 201210220135A CN 102705384 B CN102705384 B CN 102705384B
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Abstract
The invention relates to a manipulator mechanism on a sorting and matching machine for ball bearing internal and external lantern rings, which relates to a manipulator and is used for solving the problem that the sorting and matching machine of the ball spring internal and external lantern rings requires a matching manipulator. A finger slide seat is arranged in a finger chute; a finger installing plate and a finger cylinder support plate are vertical to the finger slide seat and a finger bottom plate; a finger cylinder is installed on the finger cylinder support plate; a piston on the finger cylinder is connected with an external pull block; the external pull block is connected with an internal pull block through a pin; a front arm and a rear arm are hinged with the internal pull block through arm shafts; two fingers are symmetrically arranged along the shaft axis of the finger cylinder and are respectively hinged with the front arm and the rear arm through two finger shafts; the two fingers are respectively hinged with the finger installing plate through two rotary shafts; an external vertical plate is arranged on the end face outside a finger base; a part taking cylinder is installed on the external vertical plate; and a piston rod of the part taking cylinder is connected with the external end face of the finger slide seat. The manipulator mechanism provided by the invention is used on the sorting and matching machine for the ball bearing internal and external lantern rings.
Description
Technical field
The present invention relates to a kind of mechanism hand, be specifically related to a kind of for the manipulator mechanism on collar sorting assemble machine inside and outside ball bearing.
Background technique
During ball bearing assembling trap (supporting), need to assemble according to the requirement of the gap (oil clearance) of the size of inner sleeve channel dimensions, overcoat channel dimensions, ball ball, ball ball and inner sleeve, overcoat and the grade of bearing etc., so ball bearing inside and outside cover channel dimensions separation accuracy and speed are most important.The inside and outside cover sorting of existing ball bearing and trap all adopt manual type, exist sorting and trap speed slower, the difficult quality guarantee of the inside and outside cover of bearing of sorting, the problem of low precision.The disadvantage that the inside and outside collar sorting assemble machine of ball bearing exists artificial separation and the inside and outside cover of trap ball bearing is solved, and for collar sorting assemble machine inside and outside making ball bearing, can realize automatic sorting and trap, just need to have supporting manipulator mechanism.Therefore, the present invention is to be the supporting device of collar sorting assemble machine inside and outside ball bearing.
Summary of the invention
The object of the invention is, for needing to have the problem of supporting manipulator mechanism on collar sorting assemble machine inside and outside solution ball bearing, provides a kind of for the manipulator mechanism on collar sorting assemble machine inside and outside ball bearing.
The present invention includes mechanical arm, pillar and mechanism hand, mechanism hand by hand seat, finger slide, finger base plate, finger mounted plate, finger cylinder supports plate, finger cylinder, outside pulling block, pin, inner side pulling block, arm axle, forearm, rear arm, outer cant board, pickup cylinder, two fingers, two finger axles, two rotating shafts and two slideway baffle plates, the described at hand front of seat is provided with finger chute, that points chute both sides at hand arranges respectively a slideway baffle plate on seat, finger slide is arranged in finger chute, and finger slide can slide along finger chute, finger base plate with point that slide is vertical to be arranged, finger mounted plate be arranged in parallel with finger cylinder supports plate front and back, and finger mounted plate and finger cylinder supports plate are all perpendicular to finger slide and the setting of finger base plate, finger cylinder is arranged on finger cylinder supports plate, piston on finger cylinder is connected with outside pulling block, outside pulling block is connected with inner side pulling block by pin, forearm and rear arm are hinged by arm axle and inner side pulling block, two fingers are symmetrical arranged to point the shaft axis of cylinder, and two fingers are hinged by two finger axles and forearm and rear arm respectively, two fingers are hinged by two rotating shafts and finger mounted plate respectively, outer cant board is arranged on the end of hand chassis outer side, pickup cylinder is arranged on outer cant board, and the piston rod of pickup cylinder is connected with the outside end face of finger slide, in one side of mechanical arm, lower end surface is respectively equipped with mechanical arm upper groove and mechanical arm low groove, on the upper-end surface of the opposite side of mechanical arm, pillar is installed, and mechanism hand is arranged on pillar.
The present invention has following beneficial effect: the present invention is to be the supporting mechanism of collar sorting assemble machine inside and outside ball bearing, when ball bearing sorting, the present invention sends into after (outward) collar in the bearing after sorting can being captured in the storage silo on memory unit inside and outside ball bearing on the trap on collar sorting assemble machine is passed a bridge, therefore, the present invention is the important mechanism in the sorting trap work of ball bearing.
Accompanying drawing explanation
Fig. 1 is the overall structure plan view of manipulator mechanism of the present invention;
Fig. 2 is the plan view of mechanism hand;
Fig. 3 is the I partial enlarged drawing of Fig. 1;
Fig. 4 is the stereogram of mechanism hand.
Fig. 5 is that manipulator mechanism is arranged on the inside and outside collar sorting assemble machine of ball bearing, and mechanical arm motor 11 and reinforced shaft 12 position connection diagrams on mechanical arm 1 and the inside and outside collar sorting assemble machine of ball bearing.
Embodiment
Embodiment one: present embodiment is described in conjunction with Fig. 1, present embodiment comprises mechanical arm 1, pillar 2 and mechanism hand 3, mechanism hand 3 by hand seat 3-1, finger slide 3-2, finger base plate 3-3, finger mounted plate 3-4, finger cylinder supports plate 3-5, finger cylinder 3-6, outside pulling block 3-7, pin 3-8, inner side pulling block 3-9, arm axle 3-10, forearm 3-11, rear arm 3-12, outer cant board 3-17, pickup cylinder 3-18, two finger 3-13, two finger axle 3-14, two rotating shaft 3-15 and two slideway baffle plate 3-16, the front of described at hand seat 3-1 is provided with finger chute 3-1-1, on the at hand seat 3-1 of finger chute 3-1-1 both sides, a slideway baffle plate 3-16 is set respectively, finger slide 3-2 is arranged in finger chute 3-1-1, and finger slide 3-2 can slide along finger chute 3-1-1, finger base plate 3-3 and vertical setting of finger slide 3-2, finger base plate 3-3 is fixedly connected with finger slide 3-2, finger mounted plate 3-4 be arranged in parallel with finger cylinder supports plate 3-5 front and back, and finger mounted plate 3-4 and finger cylinder supports plate 3-5 all arrange perpendicular to finger slide 3-2 and finger base plate 3-3, finger mounted plate 3-4 is all fixedly connected with finger base plate 3-3 with finger slide 3-2 with finger cylinder supports plate 3-5, finger cylinder 3-6 is arranged on finger cylinder supports plate 3-5, piston on finger cylinder 3-6 is connected with outside pulling block 3-7, outside pulling block 3-7 is connected with inner side pulling block 3-9 by pin 3-8, forearm 3-11 and rear arm 3-12 are hinged by arm axle 3-10 and inner side pulling block 3-9, two finger 3-13 are symmetrical arranged to point the shaft axis of cylinder 3-6, and two finger 3-13 are hinged by two finger axle 3-14 and forearm 3-11 and rear arm 3-12 respectively, two finger 3-13 are hinged by two rotating shaft 3-15 and finger mounted plate 3-4 respectively, outer cant board 3-17 is arranged on the at hand end in seat 3-1 outside, outer cant board 3-17 with at hand seat a 3-1 be fixedly connected with, pickup cylinder 3-18 is arranged on outer cant board 3-17, and the piston rod of pickup cylinder 3-18 is connected with the outside end face of finger slide 3-2, in one side of mechanical arm 1, lower end surface is respectively equipped with mechanical arm upper groove 1-1 and mechanical arm low groove 1-2, mechanical arm upper groove 1-1 is used for installing the 3rd thrust-bearing 9 on the inside and outside collar sorting assemble machine of ball bearing, mechanical arm low groove 1-2 is used for installing the second thrust-bearing 7 on the inside and outside collar sorting assemble machine of ball bearing, see Fig. 5, pillar 2 is installed on the upper-end surface of the opposite side of mechanical arm 1, mechanism hand 3 is arranged on pillar 2, and the finger 3-13 on mechanism hand 3 is towards the inner side of mechanical arm 1.
Embodiment two: present embodiment is described in conjunction with Fig. 1, the center that is positioned at mechanical arm upper groove 1-1 and mechanical arm low groove 1-2 on the mechanical arm 1 of present embodiment is provided with reinforced shaft mounting hole 1-3, and reinforced shaft mounting hole 1-3 is used for installing the reinforced shaft on the inside and outside collar sorting assemble machine of ball bearing.Other composition and annexation are identical with embodiment one.
Installation of the present invention: during use, mechanical arm 1 is connected with the reinforced shaft 12 on collar sorting assemble machine inside and outside ball bearing by connecting element, reinforced shaft 12 on the inside and outside collar sorting assemble machine of ball bearing is connected with the mechanical arm motor 11 on the inside and outside collar sorting assemble machine of ball bearing, sees Fig. 5.
Working principle of the present invention:
(1), manipulator mechanism is driven the storage silo outlet port on collar sorting assemble machine inside and outside the ball bearing that mechanical arm 1 is rotated to need the bearing collar place of taking out by mechanical arm motor 11;
(2), drive pickup cylinder 3-18 and finger cylinder 3-6, the piston rod of pickup cylinder 3-18 is released, drive finger slide 3-2 and finger base plate 3-3 inwardly to advance, finger 3-13 is pushed inside and outside ball bearing in the storage silo on collar sorting assemble machine, simultaneously, piston rod on finger cylinder 3-6 is released, and finger 3-13 opens;
(3), close finger cylinder 3-6 and pickup cylinder 3-18, the piston rod of finger cylinder 3-6 is retracted, the bearing collar in storage silo on finger 3-13 clamping balls bearing internal external collar sorting assemble machine, simultaneously, the piston rod of pickup cylinder 3-18 is retracted, and finger 3-13 exits the storage silo on the inside and outside collar sorting assemble machine of ball bearing.
Claims (2)
1. one kind for the manipulator mechanism on collar sorting assemble machine inside and outside ball bearing, it is characterized in that: described manipulator mechanism comprises mechanical arm (1), pillar (2) and mechanism hand (3), mechanism hand (3) by hand seat (3-1), finger slide (3-2), finger base plate (3-3), finger mounted plate (3-4), finger cylinder supports plate (3-5), finger cylinder (3-6), outside pulling block (3-7), pin (3-8), inner side pulling block (3-9), arm axle (3-10), forearm (3-11), rear arm (3-12), outer cant board (3-17), pickup cylinder (3-18), two fingers (3-13), two finger axles (3-14), two rotating shafts (3-15) and two slideway baffle plates (3-16), the described at hand front of seat (3-1) is provided with finger chute (3-1-1), that points chute (3-1-1) both sides at hand arranges respectively a slideway baffle plate (3-16) on seat (3-1), finger slide (3-2) is arranged in finger chute (3-1-1), and finger slide (3-2) can slide along finger chute (3-1-1), finger base plate (3-3) and the vertical setting of finger slide (3-2), finger mounted plate (3-4) be arranged in parallel with finger cylinder supports plate (3-5) front and back, and finger mounted plate (3-4) and finger cylinder supports plate (3-5) all arrange perpendicular to finger slide (3-2) and finger base plate (3-3), finger cylinder (3-6) is arranged on finger cylinder supports plate (3-5), piston on finger cylinder (3-6) is connected with outside pulling block (3-7), outside pulling block (3-7) is connected with inner side pulling block (3-9) by pin (3-8), forearm (3-11) and rear arm (3-12) are hinged by arm axle (3-10) and inner side pulling block (3-9), two fingers (3-13) are symmetrical arranged to point the shaft axis of cylinder (3-6), and two fingers (3-13) are hinged with forearm (3-11) and rear arm (3-12) by two finger axles (3-14) respectively, two fingers (3-13) are hinged by two rotating shafts (3-15) and finger mounted plate (3-4) respectively, outer cant board (3-17) is arranged on the at hand end in seat (3-1) outside, pickup cylinder (3-18) is arranged on outer cant board (3-17), and the piston rod of pickup cylinder (3-18) is connected with the outside end face of finger slide (3-2), in one side of mechanical arm (1), lower end surface is respectively equipped with mechanical arm upper groove (1-1) and mechanical arm low groove (1-2), pillar (2) is installed on the upper-end surface of the opposite side of mechanical arm (1), mechanism hand (3) is arranged on pillar (2).
2. according to claim 1 for the manipulator mechanism on collar sorting assemble machine inside and outside ball bearing, it is characterized in that: the center that is positioned at mechanical arm upper groove (1-1) and mechanical arm low groove (1-2) on described mechanical arm (1) is provided with reinforced shaft mounting hole (1-3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210220135.XA CN102705384B (en) | 2012-06-29 | 2012-06-29 | Manipulator mechanism on sorting and matching machine for ball bearing internal and external lantern rings |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210220135.XA CN102705384B (en) | 2012-06-29 | 2012-06-29 | Manipulator mechanism on sorting and matching machine for ball bearing internal and external lantern rings |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102705384A CN102705384A (en) | 2012-10-03 |
| CN102705384B true CN102705384B (en) | 2014-03-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210220135.XA Expired - Fee Related CN102705384B (en) | 2012-06-29 | 2012-06-29 | Manipulator mechanism on sorting and matching machine for ball bearing internal and external lantern rings |
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| Country | Link |
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| CN (1) | CN102705384B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1883888A (en) * | 2006-06-30 | 2006-12-27 | 中国科学院光电技术研究所 | Grab and suck the difunctional underwater electric manipulator |
| CN201423656Y (en) * | 2009-04-23 | 2010-03-17 | 济南德佳机器有限公司 | Manipulator arm |
| CN102107432A (en) * | 2009-12-25 | 2011-06-29 | 索尼公司 | Grasping apparatus |
| CN102161232A (en) * | 2010-02-23 | 2011-08-24 | 郭锡南 | Label pasting and bottling grabbing dual-purpose manipulator |
| CN102514014A (en) * | 2011-11-28 | 2012-06-27 | 吉林大学 | Multipoint mechanical hand for myriametre well drill |
| CN202612420U (en) * | 2012-06-29 | 2012-12-19 | 黑龙江大学 | Manipulator mechanism for ball bearing inner and outer sleeve ring separation and combination sleeve machine |
-
2012
- 2012-06-29 CN CN201210220135.XA patent/CN102705384B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1883888A (en) * | 2006-06-30 | 2006-12-27 | 中国科学院光电技术研究所 | Grab and suck the difunctional underwater electric manipulator |
| CN201423656Y (en) * | 2009-04-23 | 2010-03-17 | 济南德佳机器有限公司 | Manipulator arm |
| CN102107432A (en) * | 2009-12-25 | 2011-06-29 | 索尼公司 | Grasping apparatus |
| CN102161232A (en) * | 2010-02-23 | 2011-08-24 | 郭锡南 | Label pasting and bottling grabbing dual-purpose manipulator |
| CN102514014A (en) * | 2011-11-28 | 2012-06-27 | 吉林大学 | Multipoint mechanical hand for myriametre well drill |
| CN202612420U (en) * | 2012-06-29 | 2012-12-19 | 黑龙江大学 | Manipulator mechanism for ball bearing inner and outer sleeve ring separation and combination sleeve machine |
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| Publication number | Publication date |
|---|---|
| CN102705384A (en) | 2012-10-03 |
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