Cylinder cover grabbing servo driving spline shaft overturning centering grabbing device

Abstract

The invention discloses a cylinder cover grabbing servo drive spline shaft overturning centering grabbing device, and belongs to the technical field of engine assembly.The cylinder cover grabbing servo drive spline shaft overturning centering grabbing device comprises a base, a first locking air cylinder is fixedly connected to the top of the base, a second top plate is fixedly connected to the first locking air cylinder, and a vertical guide column is fixedly connected to the second top plate; the vertical guide column is slidably connected with the base so that the first locking air cylinder can control the moving distance of the second top plate relative to the base in the direction of the vertical guide column, an adjusting block is fixedly connected to the second top plate, an elastic element is arranged on the adjusting block, and the end, away from the adjusting block, of the elastic element is connected with the base. A second top plate is arranged on the base, so that a protection fine adjustment gap is formed between the second top plate and the base, the bottom of the base is connected with a grabbing hand to grab and turn over the cylinder cover, the second top plate is connected with a grabbing frame to enable the grabbing hand to move along the grabbing frame, the base has a grabbing state and an alignment state, and in the grabbing state, the grabbing hand grabs the cylinder cover; and in the alignment state, the grabbing hand is used for assembling the cylinder cover.

Description

Technical Field

[0001] The invention belongs to the technical field of engine assembly, and in particular relates to a cylinder head grabbing servo driven spline shaft flipping and centering grabbing device. Background Art

[0002] As one of the core components of the engine, the manufacturing process of the cylinder head involves precision machining and testing technology. During the machining process, high-precision CNC machine tools, cutting tools, fixtures and other equipment are required to ensure that the dimensional accuracy and shape tolerance of the cylinder head meet the design requirements. Most of the existing cylinder head assembly will use a dedicated engine cylinder head assembly line, but the grabbing device on the existing engine cylinder head assembly line grabs and puts the cylinder head into the next assembly process for a long time, and the assembly process of the cylinder head requires high-precision socket matching. Long-term precise alignment can easily cause wear of the grabbing device and thread error, which affects the assembly efficiency and easily damages the cylinder head structure.

[0003] Therefore, it is urgent to design a cylinder head grabbing servo-driven spline shaft flipping and centering grabbing device to solve the above-mentioned problems of wear of the grabbing device and thread error. Summary of the invention

[0004] In order to solve the technical problems of wear of the grasping device and thread error mentioned in the background technology, a cylinder head grasping servo driven spline shaft flipping and centering grasping device is provided to solve the above problems.

[0005] To achieve the above-mentioned purpose, the specific technical scheme of the cylinder head grabbing and flipping device of the present invention is as follows: A cylinder head grabbing servo driven spline shaft flipping and centering grabbing device comprises a base, a first locking cylinder is fixedly connected to the top of the base, a second top plate is fixedly connected to the first locking cylinder, a vertical guide column is fixedly connected to the second top plate, the vertical guide column is slidably connected to the base, so that the first locking cylinder controls the moving distance of the second top plate relative to the base along the direction of the vertical guide column, an adjusting block is fixedly connected to the second top plate, an elastic element is provided on the adjusting block, and one end of the elastic element away from the adjusting block is connected to the base, so that a protective fine-tuning gap is formed between the second top plate and the base, a grabbing hand is connected to the bottom of the base to grab and flip the cylinder head, the second top plate is connected to the grabbing frame, so that the grabbing hand moves along the grabbing frame, and the base is provided with a grabbing state and an alignment state. In the grasping state, the first locking cylinder controls the second top plate to be located in the locking position so that the adjustment block contacts the base, thereby fixing the base and the second top plate, and the grasping hand grasps the cylinder cover; In the alignment state, the first locking cylinder controls the second top plate to be located at the fine-tuning position to separate the adjustment block from the base, thereby forming a protective fine-tuning gap between the second top plate and the base, and the gripper performs the assembly process on the cylinder cover.

[0006] Furthermore, vertical connecting plates are symmetrically arranged on both sides of the first locking cylinder, one end of the vertical connecting plate is fixed to the base, and the end of the vertical connecting plate away from the base is fixedly connected to the third top plate, and the third top plate is provided with a cylinder through hole matching the first locking cylinder to allow the piston end of the first locking cylinder to move, and the third top plate is provided with a guide through hole slidably connected to the vertical guide column, and the base is connected to the elastic element through the third top plate.

[0007] Furthermore, the adjusting block is provided with a first groove and a second groove, the first groove is fixedly connected to the second top plate, the third top plate is located in the second groove, the width of the second groove is greater than the thickness of the third top plate, a fine-tuning screw hole is provided on the second groove, a fine-tuning bolt is threaded in the fine-tuning screw hole, one end of the elastic element is connected to the fine-tuning bolt, and the end of the elastic element away from the fine-tuning bolt abuts against the third top plate, thereby forming a protective fine-tuning gap between the third top plate and the adjusting block.

[0008] Furthermore, the second top plate is slidably connected to the first top plate, and the second top plate is slidably connected to the grabbing frame through the first top plate.

[0009] Furthermore, a top slide rail is provided on the first top plate, and a pneumatic slider is slidably connected to the top slide rail. One end of the pneumatic slider away from the top slide rail is fixedly connected to the first top plate, so that the second top plate is slidably connected to the first top plate.

[0010] Furthermore, a second locking cylinder is fixedly connected to the second top plate, and a locking through hole is provided on the first top plate for the piston end of the second locking cylinder to extend into. When the base is in the grasping state, the piston end of the second locking cylinder extends into the locking through hole, thereby locking the relative position of the first top plate and the second top plate, so that the grasping hand can grasp the cylinder cover accurately; When the base is in the alignment state, the piston end of the second locking cylinder is separated from the locking through hole, so that the pneumatic slider controls the relative displacement between the second top plate and the first top plate, thereby realizing horizontal fine adjustment of the gripper during cylinder cover assembly.

[0011] Furthermore, the grabber includes a first grabber arm and a second grabber arm, a first slide rail and a second slide rail are provided at the bottom of the base, the directions of the first slide rail and the second slide rail are consistent, the first grabber arm is located on the first slide rail and slides along the first slide rail, the second grabber arm is located on the second slide rail and slides along the second slide rail, the first grabber arm and the second grabber arm are connected by a spline shaft, the first grabber arm is provided with a first gripper, the second grabber arm is provided with a second gripper, the first gripper and the second gripper are both connected to the spline shaft in a transmission manner, thereby realizing the sliding of the first grabber arm and the second grabber arm on the spline shaft and the synchronous flipping of the cylinder cover by the first gripper and the second gripper.

[0012] Furthermore, a first sliding cylinder and a second sliding cylinder are fixedly connected to the bottom of the base, the piston end of the first sliding cylinder is fixedly connected to the first grabbing arm to control the position of the first grabbing arm on the first slide rail, and the piston end of the second sliding cylinder is fixedly connected to the second grabbing arm to control the position of the second grabbing arm on the second slide rail.

[0013] Furthermore, a first rotating shaft is provided on the spline shaft, one end of the first rotating shaft is fixedly connected to the first rotating wheel, the spline shaft is transmission connected to the first gripper through the first rotating wheel, the end of the first rotating shaft away from the first rotating wheel is slidably connected to the sliding cavity, one end of the second rotating shaft is fixedly connected to the second rotating wheel, the spline shaft is transmission connected to the second gripper through the second rotating wheel, the end of the second rotating shaft away from the second rotating wheel is slidably connected to the sliding cavity, the second grabbing arm is fixedly connected to a driving motor, the output end of the driving motor is transmission connected to the second rotating shaft, and the driving motor drives the second rotating shaft to rotate, so that the second rotating shaft drives the first rotating shaft to rotate synchronously through the sliding cavity, and then the first rotating wheel and the second rotating wheel rotate synchronously.

[0014] Furthermore, a third rotating wheel is provided on the first gripper, and the third rotating wheel is connected to the first rotating wheel through a belt. A fourth rotating wheel is provided on the second gripper, and the fourth rotating wheel is connected to the second rotating wheel through a belt.

[0015] The cylinder head grabbing and turning device of the present invention has the following advantages: The present invention solves the problems of wear and thread error of the grabbing device on the existing engine cylinder head assembly line, ensures that the cylinder head is not damaged during the assembly process through precise control and fine-tuning mechanism, ensures the integrity of the structure, and improves the assembly efficiency and automation level. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic structural diagram of the cylinder head grabbing and flipping device of the present invention.

[0017] Figure 2 It is a schematic diagram of the structure of the adjustment block of the present invention.

[0018] Figure 3 It is a schematic diagram of the local explosion structure of the present invention.

[0019] Figure 4 It is a schematic diagram of the structure of the first top plate and the second top plate of the present invention.

[0020] Figure 5 It is a schematic diagram of the structure of the grabber of the present invention.

[0021] Figure 6 It is a schematic diagram of the spline shaft structure of the present invention.

[0022] Markings in the figure: 1. first top plate; 101. locking through hole; 2. second top plate; 3. third top plate; 301. cylinder through hole; 302. guide through hole; 4. base; 401. first slide rail; 402. second slide rail; 403. first sliding cylinder; 404. second sliding cylinder; 5. first locking cylinder; 6. vertical guide column; 7. adjustment block; 701. elastic element; 702. first groove; 703. second groove; 8. grabber; 801. first grabber arm; 802. second grabber arm Take the arm; 803, spline shaft; 804, first gripper; 8041, third rotating wheel; 805, second gripper; 8051, fourth rotating wheel; 806, spline transmission wheel; 8031, first rotating shaft; 8032, second rotating shaft; 8033, first rotating wheel; 8034, second rotating wheel; 8035, sliding cavity; 9, vertical connecting plate; 10, top slide rail; 11, pneumatic slider; 12, second locking cylinder; 13, driving motor; 14, belt; 100, fine-tuning screw hole; 200, fine-tuning bolt. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0024] Those skilled in the art will appreciate that, although some embodiments herein include certain features included in other embodiments but not other features, the combination of features of different embodiments is meant to be within the scope of the present invention and form different embodiments. For example, in the claims, any one of the claimed embodiments may be used in any combination.

[0025] Please refer to the attached Figure 1 To Attachment Figure 6 The cylinder head grabbing and turning device structure of the present invention is described.

[0026] The existing gripping device on the engine cylinder head assembly line takes a long time to grip and place the cylinder head into the next assembly process. The cylinder head assembly process requires high-precision socket matching. The long-term precise alignment can easily cause wear of the gripping device and thread error, thereby affecting the assembly efficiency and easily damaging the cylinder head structure.

[0027] Therefore, the present invention provides a cylinder head grab servo driven spline shaft flip centering grab device, such as Figure 1-3As shown, it includes a base 4, a first locking cylinder 5 is fixedly connected to the top of the base 4, a second top plate 2 is fixedly connected to the first locking cylinder 5, a vertical guide column 6 is fixedly connected to the second top plate 2, the vertical guide column 6 is slidably connected to the base 4, so that the first locking cylinder 5 controls the moving distance of the second top plate 2 relative to the base 4 along the direction of the vertical guide column 6, an adjusting block 7 is fixedly connected to the second top plate 2, an elastic element 701 is provided on the adjusting block 7, and the end of the elastic element 701 away from the adjusting block 7 is connected to the base 4, so that a protective fine-tuning gap is formed between the second top plate 2 and the base 4, and a grabber 8 is connected to the bottom of the base 4 to adjust the cylinder cover. The second top plate 2 is connected to the grabbing frame to enable the grabbing hand 8 to move along the grabbing frame. The base 4 is provided with a grabbing state and an alignment state. In the grabbing state, the first locking cylinder 5 controls the second top plate 2 to be located in the locking position to make the adjustment block 7 contact with the base 4, cancel the protective fine-tuning gap between the second top plate 2 and the base 4, thereby fixing the base 4 and the second top plate 2, and the grabbing hand 8 grabs the cylinder cover; in the alignment state, the first locking cylinder 5 controls the second top plate 2 to be located in the fine-tuning position to separate the adjustment block 7 from the base 4, thereby forming a protective fine-tuning gap between the second top plate 2 and the base 4, and the grabbing hand 8 performs the assembly process on the cylinder cover.

[0028] Specifically, the first locking cylinder 5 realizes the position adjustment between the base 4 and the second top plate 2 by controlling the up and down movement of the second top plate 2. When the second top plate 2 is in the locked position, the base 4 and the second top plate 2 will not be relatively displaced, so that the grabber 8 can accurately grab the cylinder cover. When the grabber 8 runs to the next assembly process, the second top plate 2 is controlled to be in the fine-tuning position. Through the combined use of the adjustment block 7 and the elastic element 701, a certain protective fine-tuning gap can be formed between the second top plate 2 and the base 4 to avoid hard contact of the cylinder cover during assembly, which may cause wear of the grabber 8 or the cylinder cover and thread error.

[0029] As a preferred example, Figure 3 As shown, vertical connecting plates 9 are symmetrically arranged on both sides of the first locking cylinder 5, one end of the vertical connecting plate 9 is fixed to the base 4, and the end of the vertical connecting plate 9 away from the base 4 is fixedly connected to the third top plate 3, and the third top plate 3 is provided with a cylinder through hole 301 matching the first locking cylinder 5 to allow the piston end of the first locking cylinder 5 to move, thereby avoiding mutual interference between the third top plate 3 and the first locking cylinder 5, and the third top plate 3 is provided with a guide through hole 302 slidably connected to the vertical guide column 6, so that the second top plate 2 can move up and down through the guide through hole 302, ensuring the stability and accuracy of the second top plate 2 during the movement, and the base 4 is connected to the elastic element 701 through the third top plate 3.

[0030] As a preferred example, Figure 2 and Figure 3As shown, the adjustment block 7 is provided with a first groove 702 and a second groove 703, the first groove 702 is fixedly connected to the second top plate 2, the third top plate 3 is located in the second groove 703, the width of the second groove 703 is greater than the thickness of the third top plate 3, the second groove 703 is provided with a fine-tuning screw hole 100, the fine-tuning screw hole 100 is threaded with a fine-tuning bolt 200, one end of the elastic element 701 is connected to the fine-tuning bolt 200, and the end of the elastic element 701 away from the fine-tuning bolt 200 abuts against the third top plate 3, so that a protective fine-tuning gap is formed between the third top plate 3 and the adjustment block 7. Specifically, the first groove 702 on the adjustment block 7 is fixedly installed with the structural edge of the second top plate 2, and the second groove 703 is provided with a movement space for the third top plate 3 to move up and down, so that the grabber 8 can leave a protective margin for the cylinder head during assembly, thereby providing buffer protection for the cylinder head.

[0031] As a preferred example, Figure 4 As shown, the first top plate 1 is slidably connected to the second top plate 2, and the second top plate 2 is slidably connected to the grab frame through the first top plate 1, so that the grab hand 8 can be displaced in the horizontal direction during assembly, which is convenient for alignment assembly.

[0032] Preferably, a top slide rail 10 is provided on the first top plate 1, and a pneumatic slider 11 is slidably connected to the top slide rail 10. One end of the pneumatic slider 11 away from the top slide rail 10 is fixedly connected to the first top plate 1, so that the second top plate 2 is slidably connected to the first top plate 1. Specifically, the pneumatic slider 11 is used to realize the translation movement between the first top plate 1 and the second top plate 2, which not only has a fast response, but also realizes high-precision control of the displacement distance, meets the high-precision assembly requirements of the cylinder head, and the use of the pneumatic slider 11 also realizes the locking function of reaching the specified position.

[0033] Preferably, a second locking cylinder 12 is fixedly connected to the second top plate 2, and a locking through hole 101 is provided on the first top plate 1 for the piston end of the second locking cylinder 12 to extend into. When the base 4 is in a grasping state, the piston end of the second locking cylinder 12 extends into the locking through hole 101, thereby locking the relative position of the first top plate 1 and the second top plate 2, so that the grabber 8 can accurately grasp the cylinder cover; when the base 4 is in an alignment state, the piston end of the second locking cylinder 12 is separated from the locking through hole 101, so that the pneumatic slider 11 controls the relative displacement between the second top plate 2 and the first top plate 1, thereby realizing horizontal fine-tuning of the grabber 8 during the assembly of the cylinder cover, which helps to realize accurate alignment and installation of the cylinder cover and improves assembly efficiency and finished product quality.

[0034] Specifically, when the base 4 is in the grasping state, the piston end of the second locking cylinder 12 extends into the locking through hole 101 on the first top plate 1, ensuring the stability of the relative position between the first top plate 1 and the second top plate 2, thereby ensuring that the grasping hand 8 can accurately and stably grasp the cylinder cover, reducing the displacement error caused by vibration or external factors, improving the grasping accuracy, and cooperating with the second top plate 2 in the grasping state. Based on the characteristic that the base 4 and the second top plate 2 will not undergo relative displacement in the grasping state, the grasping accuracy of the grasping hand 8 is further improved.

[0035] As a preferred example, Figure 3 and Figure 5 As shown, the grabber 8 includes a first grabber arm 801 and a second grabber arm 802, a first slide rail 401 and a second slide rail 402 are provided at the bottom of the base 4, the directions of the first slide rail 401 and the second slide rail 402 are consistent, the first grabber arm 801 is located on the first slide rail 401 and slides along the first slide rail 401, the second grabber arm 802 is located on the second slide rail 402 and slides along the second slide rail 402, the first grabber arm 801 and the second grabber arm 802 are connected by a spline shaft 803, the first grabber arm 801 is provided with a first gripper 804, the second grabber arm 802 is provided with a second gripper 805, the first gripper 804 and the second gripper 805 are both transmission-connected with the spline shaft 803, thereby realizing the sliding of the first grabber arm 801 and the second grabber arm 802 on the spline shaft 803 and the synchronous flipping of the cylinder head by the first gripper 804 and the second gripper 805.

[0036] Preferably, a first sliding cylinder 403 and a second sliding cylinder 404 are fixedly connected to the bottom of the base 4, and the piston end of the first sliding cylinder 403 is fixedly connected to the first grabbing arm 801 to control the position of the first grabbing arm 801 on the first slide rail 401, and the piston end of the second sliding cylinder 404 is fixedly connected to the second grabbing arm 802 to control the position of the second grabbing arm 802 on the second slide rail 402, thereby ensuring that the first grabbing arm 801 and the second grabbing arm 802 are accurately displaced in the horizontal direction.

[0037] As a preferred example, Figure 6As shown, the spline shaft 803 is provided with a first rotating shaft 8031, one end of the first rotating shaft 8031 ​​is fixedly connected to the first rotating wheel 8033, the spline shaft 803 is transmission-connected to the first gripper 804 through the first rotating wheel 8033, the end of the first rotating shaft 8031 ​​away from the first rotating wheel 8033 is slidably connected to the sliding cavity 8035, one end of the second rotating shaft 8032 is fixedly connected to the second rotating wheel 8034, the spline shaft 803 is transmission-connected to the second gripper 805 through the second rotating wheel 8034 The second grab arm 801 is connected to the second grab arm 802, and one end of the second shaft 8032 away from the second rotating wheel 8034 is slidably connected to the sliding cavity 8035. The second grab arm 802 is fixedly connected to the driving motor 13, and the output end of the driving motor 13 is transmission-connected to the second shaft 8032. The driving motor 13 drives the second shaft 8032 to rotate, so that the second shaft 8032 drives the first shaft 8031 ​​to rotate synchronously through the sliding cavity 8035, and then the first rotating wheel 8033 and the second rotating wheel 8034 rotate synchronously. Specifically, the first grab arm 801 and the second grab arm 802 are connected through the spline shaft 803, which not only serves as a connecting member, but also realizes the transmission function through the first shaft 8031 ​​and the second shaft 8032 set thereon. The first shaft 8031 ​​and the second shaft 8032 are transmission-connected to the first gripper 804 and the second gripper 805 through the first rotating wheel 8033 and the second rotating wheel 8034, respectively, to realize power transmission.

[0038] like Figure 5 As shown, the first gripper 804 is provided with a third rotating wheel 8041, and the third rotating wheel 8041 is connected to the first rotating wheel 8033 through a belt 14. The second gripper 805 is provided with a fourth rotating wheel 8051, and the fourth rotating wheel 8051 is connected to the second rotating wheel 8034 through a belt 14. Preferably, the second rotating shaft 8032 is provided with a spline transmission wheel 806, and the spline transmission wheel 806 is connected to the output end of the driving motor 13 through a belt 14. The use of a belt transmission method ensures good flexibility and elasticity during the transmission process, can mitigate impact, absorb vibration, and make the transmission process more stable.

[0039] The present invention solves the problems of wear and thread error existing in the grabbing device on the existing engine cylinder head assembly line. Through precise control and fine-tuning mechanisms, it ensures that the cylinder head is not damaged during the assembly process, ensures the integrity of the cylinder head and the device structure, and improves assembly efficiency and automation.

[0040] Obviously, the above embodiments of the present invention are only examples for clearly explaining the present invention, and are not intended to limit the implementation methods of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A cylinder head grabbing servo driven spline shaft flipping and centering grabbing device, characterized in that: The invention comprises a base, a first locking cylinder is fixedly connected to the top of the base, a second top plate is fixedly connected to the first locking cylinder, a vertical guide column is fixedly connected to the second top plate, the vertical guide column is slidably connected to the base, so that the first locking cylinder controls the moving distance of the second top plate relative to the base along the direction of the vertical guide column, an adjusting block is fixedly connected to the second top plate, an elastic element is arranged on the adjusting block, an end of the elastic element away from the adjusting block is connected to the base, so that a protective fine-tuning gap is formed between the second top plate and the base, a grabbing hand is connected to the bottom of the base to grab and flip the cylinder cover, the second top plate is connected to the grabbing frame, so that the grabbing hand moves along the grabbing frame, and the base is provided with a grabbing state and an alignment state. In the grasping state, the first locking cylinder controls the second top plate to be located in the locking position so that the adjustment block contacts the base, thereby fixing the base and the second top plate, and the grasping hand grasps the cylinder cover; In the alignment state, the first locking cylinder controls the second top plate to be located at the fine-tuning position to separate the adjustment block from the base, thereby forming a protective fine-tuning gap between the second top plate and the base, and the gripper performs the assembly process on the cylinder cover.

2. The cylinder head grabbing and turning device according to claim 1, characterized in that: Vertical connecting plates are symmetrically arranged on both sides of the first locking cylinder, one end of the vertical connecting plate is fixed to the base, and the end of the vertical connecting plate away from the base is fixedly connected to the third top plate, and the third top plate is provided with a cylinder through hole matching the first locking cylinder to allow the piston end of the first locking cylinder to move, and the third top plate is provided with a guide through hole slidably connected to the vertical guide column, and the base is connected to the elastic element through the third top plate.

3. The cylinder head grabbing and turning device according to claim 2, characterized in that: The adjusting block is provided with a first groove and a second groove, the first groove is fixedly connected to the second top plate, the third top plate is located in the second groove, the width of the second groove is greater than the thickness of the third top plate, a fine-tuning screw hole is provided on the second groove, a fine-tuning bolt is threaded in the fine-tuning screw hole, one end of the elastic element is connected to the fine-tuning bolt, and the end of the elastic element away from the fine-tuning bolt abuts against the third top plate, thereby forming a protective fine-tuning gap between the third top plate and the adjusting block.

4. The cylinder head grabbing and turning device according to claim 1, characterized in that: The second top plate is slidably connected to the first top plate, and the second top plate is slidably connected to the grabbing frame through the first top plate.

5. The cylinder head grabbing and turning device according to claim 4, characterized in that: The first top plate is provided with a top slide rail, and a pneumatic slider is slidably connected to the top slide rail. One end of the pneumatic slider away from the top slide rail is fixedly connected to the first top plate, so that the second top plate is slidably connected to the first top plate.

6. The cylinder head grabbing and turning device according to claim 5, characterized in that: The second top plate is fixedly connected with a second locking cylinder, and the first top plate is provided with a locking through hole for the piston end of the second locking cylinder to extend into. When the base is in the grasping state, the piston end of the second locking cylinder extends into the locking through hole, thereby locking the relative position of the first top plate and the second top plate, so that the grasping hand can grasp the cylinder cover accurately; When the base is in the alignment state, the piston end of the second locking cylinder is separated from the locking through hole, so that the pneumatic slider controls the relative displacement between the second top plate and the first top plate, thereby realizing horizontal fine adjustment of the gripper during cylinder cover assembly.

7. The cylinder head grabbing and turning device according to claim 1, characterized in that: The grabber includes a first grabber arm and a second grabber arm. A first slide rail and a second slide rail are provided at the bottom of the base. The directions of the first slide rail and the second slide rail are consistent. The first grabber arm is located on the first slide rail and slides along the first slide rail. The second grabber arm is located on the second slide rail and slides along the second slide rail. The first grabber arm and the second grabber arm are connected by a spline shaft. The first grabber arm is provided with a first gripper, and the second grabber arm is provided with a second gripper. Both the first gripper and the second gripper are transmission-connected to the spline shaft, thereby realizing the sliding of the first grabber arm and the second grabber arm on the spline shaft and the synchronous flipping of the cylinder cover by the first gripper and the second gripper.

8. The cylinder head grabbing and turning device according to claim 7, characterized in that: A first sliding cylinder and a second sliding cylinder are fixedly connected to the bottom of the base, the piston end of the first sliding cylinder is fixedly connected to the first grabbing arm to control the position of the first grabbing arm on the first slide rail, and the piston end of the second sliding cylinder is fixedly connected to the second grabbing arm to control the position of the second grabbing arm on the second slide rail.

9. The cylinder head grabbing and turning device according to claim 7 or 8, characterized in that: The spline shaft is provided with a first rotating shaft, one end of the first rotating shaft is fixedly connected to the first rotating wheel, the spline shaft is transmission connected to the first gripper through the first rotating wheel, the end of the first rotating shaft away from the first rotating wheel is slidably connected to the sliding cavity, one end of the second rotating shaft is fixedly connected to the second rotating wheel, the spline shaft is transmission connected to the second gripper through the second rotating wheel, the end of the second rotating shaft away from the second rotating wheel is slidably connected to the sliding cavity, the second grabbing arm is fixedly connected to a driving motor, the output end of the driving motor is transmission connected to the second rotating shaft, the driving motor drives the second rotating shaft to rotate, so that the second rotating shaft drives the first rotating shaft to rotate synchronously through the sliding cavity, and then the first rotating wheel and the second rotating wheel rotate synchronously.

10. The cylinder head grabbing and turning device according to claim 9, characterized in that: The first gripper is provided with a third rotating wheel, and the third rotating wheel is connected to the first rotating wheel through a belt. The second gripper is provided with a fourth rotating wheel, and the fourth rotating wheel is connected to the second rotating wheel through a belt.

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