An engine block automatic clamping and changing system and method

Abstract

This invention provides an automatic clamping and changeover system and method for engine housings. By setting up a fixture library and a lifting device, it can store and transfer fixture components of various specifications. By setting up a changeover robot, it can automatically disassemble and assemble the fixture components on the final assembly pallet, improving the efficiency of changeover. During the changeover process, only the fixture components on the final assembly pallet need to be replaced, which is quick and easy, and the fixture components are small in size and occupy little storage space. By setting up the final assembly pallet, the engine housing can be rotated around a first axis and a second axis by a preset angle, and can be locked after rotation, so that the engine housing can be rotated to the optimal assembly angle, which can be adapted to the operator, making it convenient for the operator to perform installation operations and improving the convenience and accuracy of installation operations. At the same time, different angles can be switched by rotation to adapt to various workstations.

Description

Technical Field

[0001] This application relates to the field of engine housing assembly equipment technology, and in particular to an automatic engine housing clamping and changing system and method. Background Technology

[0002] During engine assembly, after the left and right housings are joined, the housing needs to be changed from a horizontal to a vertical position to facilitate the assembly of the left and right covers and cylinder heads. Since the fixtures cannot accommodate both positions, a final assembly pallet is required. During final assembly, the engine housing is clamped onto the final assembly pallet for transport on the conveyor line, passing through different workstations where operators perform various operations. Because different engine housing models have different mounting hole positions and sizes, during the final assembly stage, when changing production lines to assemble different engine housing sizes, different final assembly pallets or fixtures need to be used to accommodate the different engine housing sizes.

[0003] In existing technologies, the final assembly pallet is usually supported on one side. When changing the clamps, the entire clamping mechanism connected to the final assembly pallet support frame needs to be replaced. The clamping mechanism to be replaced has a complex structure, is heavy and bulky, and usually requires manual labor in conjunction with a hoisting mechanism to complete the replacement. After replacement, the clamping mechanism occupies a large storage space, which is inconvenient for replacement and storage. At the same time, when clamping the engine block, the hoisting mechanism usually needs to lift the engine block, first align the engine block with the clamping mechanism on one side, and then manually lock it from the other side, which makes the clamping process of the engine block slow and inefficient. Summary of the Invention

[0004] To address the aforementioned technical problems, this application provides an automatic clamping and changing system and method for engine housings.

[0005] A first aspect of this application provides an automatic clamping and changing system for engine housings, including a conveyor line, a lifting device, a fixture library, a changing robot, a tightening mechanism, a clamping robot, and a final assembly pallet; the final assembly pallet is disposed on the conveyor line and is capable of flowing and positioning on the conveyor line; the lifting device, the changing robot, the tightening mechanism, and the clamping robot are sequentially arranged on one side of the conveyor line along the flow direction of the final assembly pallet; the fixture library is disposed at the top of the lifting device; The final assembly pallet includes a housing fixing assembly, which includes two opposing clamping assemblies, each with a locating pin assembly. The engine housing has clamping and locating holes. When the engine housing is mounted on the final assembly pallet, the locating pin assembly can be inserted into the clamping and locating holes to position and clamp the engine housing. The clamping robot is used to transfer the engine housing onto the final assembly pallet. The changing robot is used to automatically disassemble and assemble the clamping assemblies on the final assembly pallet. The clamping magazine is used to store and transport the clamping assemblies. The lifting device is used to transfer the clamping assemblies between the changing robot and the clamping magazine. The tightening mechanism is used to drive the clamping assemblies closer together or further apart, thereby clamping or releasing the engine housing.

[0006] In some embodiments of this application, the assembly pallet further includes a pallet base plate, a slewing bearing, a first rotating plate, a first rotating positioning assembly, a support frame, a rotating drive assembly, and a second rotating positioning assembly; the slewing bearing is disposed on the pallet base plate; the first rotating plate is disposed on the slewing bearing; the pallet base plate is provided with a plurality of spaced-apart first positioning holes; the first rotating positioning assembly is disposed below the first rotating plate and includes a first positioning pin; the first positioning pin can be inserted into the first positioning hole to restrict the rotation of the first rotating plate around a first axis; the support frame is disposed on the first rotating plate; the housing fixing assembly is disposed between two support frames and is provided with a second positioning hole; the rotating drive assembly is disposed on one side of the support frame and is drively connected to the housing fixing assembly; the second rotating positioning assembly is disposed on the support frame and includes a second positioning pin; the second positioning pin can be inserted into the second positioning hole to restrict the rotation of the housing fixing assembly around a second axis.

[0007] In some embodiments of this application, the first rotary positioning assembly further includes a positioning post, a first elastic element, a connecting pin, a first lever, and a first lever mounting block; the positioning post is disposed on the first rotary plate; the first elastic element and the first positioning pin are sequentially disposed within the positioning post from top to bottom along the axial direction; the connecting pin passes radially through the positioning post, with one end sequentially passing through the side wall of the positioning post and the first positioning pin before connecting to one end of the first lever; the first lever mounting block is disposed on the first rotary plate; the middle part of the first lever is hinged to the first lever mounting block via a hinge shaft; when the free end of the first lever is pressed, the first lever rotates around the hinge shaft and drives the first positioning pin to overcome the elastic force of the elastic element and move upward through the connecting pin, so that the bottom end of the first positioning pin disengages from the first positioning hole, thereby releasing the rotation restriction on the first rotary plate.

[0008] In some embodiments of this application, the housing fixing assembly further includes a second rotating plate, a third rotating plate, connecting arms, a first clamping assembly, and a second clamping assembly; the second rotating plate is disposed on a support frame on one side and is drively connected to the rotation drive assembly; the third rotating plate is rotatably disposed on a support frame on the other side and is coaxially disposed with the second rotating plate; guide assemblies extending along a first horizontal direction are provided on the opposite sides of the second rotating plate and the third rotating plate; there are two connecting arms, which are spaced apart and arranged in parallel, and the two ends of each connecting arm are slidably disposed on the guide assembly by sliders; the first clamping assembly is disposed between the first ends of the two connecting arms; the second clamping assembly is disposed between the second ends of the two connecting arms; there are two clamping assemblies, which are respectively disposed on the two connecting arms in a one-to-one correspondence, for cooperating with the positioning holes of the engine housing to achieve positioning and clamping.

[0009] In some embodiments of this application, the first clamping assembly includes a bidirectional lead screw, a thrust bearing, a stop block, and a limiting block; the limiting block is fixedly disposed on the side of the second rotating plate facing the third rotating plate, and a first U-shaped groove extending along a first horizontal direction is formed in the middle of the limiting block, with the opening of the first U-shaped groove facing the third rotating plate; a first nut seat is provided at the first end of each connecting arm; the bidirectional lead screw extends along the first horizontal direction, and its shaft passes through the first first nut seat, the first U-shaped groove of the limiting block, and the second first nut seat in sequence, and forms a threaded transmission engagement with the two first nut seats; there are two thrust bearings and two stop blocks, each sleeved on the bidirectional lead screw and symmetrically disposed on both sides of the limiting block; each stop block is sleeved on the bidirectional lead screw, and each stop block abuts against the outer end face of the two thrust bearings.

[0010] In some embodiments of this application, the connecting arm is provided with a third positioning pin and a fourth positioning pin spaced apart along a second horizontal direction; a positioning assembly is also provided between the third positioning pin and the fourth positioning pin; the positioning assembly includes a second lead screw and a second nut seat; the second nut seat is disposed on the connecting arm; the second lead screw is sleeved in the second nut seat and forms a threaded transmission engagement with the second nut seat; a stop pin is provided on one end of the second lead screw facing the outer wall of the connecting arm.

[0011] In some embodiments of this application, the clamping assembly includes a clamping plate and a positioning pin assembly disposed on the clamping plate; the clamping plate is provided with a second U-shaped groove, a third U-shaped groove, and a fourth U-shaped groove with downward openings, and corresponding one-to-one with the positions of the third positioning pin, the positioning assembly, and the fourth positioning pin.

[0012] In some embodiments of this application, the second rotary positioning assembly further includes a pin seat, a second elastic element, and a second lever; the pin seat is disposed on the support frame; the pin seat has an axially penetrating through hole; within the through hole, the inner wall of the pin seat protrudes inward to form a stop portion; one end of the pin seat away from the support frame forms an inclined end face; the second positioning pin is a stepped pin; the second positioning pin is disposed within the through hole, and its two ends respectively extend out from both ends of the pin seat; the second elastic element is sleeved on the second positioning pin, and its two ends respectively abut against the stop portion and the... The second positioning pin has a stepped end face; the second lever is disposed in the second positioning pin along the radial direction of the second positioning pin; a groove is formed on the side of the lever facing the pin seat; the side wall of the pin seat with an inclined end face is engaged in the groove; when the free end of the second lever is pressed, the second lever rotates around the inclined end face of the pin seat and drives the second positioning pin to move away from the second positioning hole against the elastic force of the second elastic element, so that the end of the second positioning pin disengages from the second positioning hole, thereby releasing the rotation restriction on the housing fixing assembly.

[0013] In some embodiments of this application, the type-changing robot includes a robot body and a tightening mechanism and a type-changing clamping assembly disposed at the end of the robot body; the clamping robot includes a robot body and a clamping assembly disposed at the end of the robot body; the fixture library includes a fixture transfer robot and shelf assemblies arranged on both sides of the fixture transfer robot; the fixture transfer robot includes a robot body and a transfer clamping assembly disposed at the end of the robot body.

[0014] A second aspect of this application provides a method for automatically clamping and changing an engine housing using the aforementioned automatic engine housing clamping and changing system, characterized in that the installation method includes the following steps: Step S1: The clamp transfer robot grips the appropriate clamp assembly to be installed from the shelf assembly and transfers it to the lifting device. Step S2: The lifting device lowers the fixture assembly to be installed to a preset position. Step S3: The tightening mechanism of the changing robot screws the second lead screw of the positioning assembly on the connecting arm to release the fixture assembly to be disassembled mounted on the connecting arm; Step S4: The changing gripper of the changing robot grips the fixture assembly to be disassembled, detaches it from the connecting arm, and transfers it to the lifting device. Step S5: The shape-changing gripping assembly of the shape-changing robot grips the fixture assembly to be installed and installs it onto the connecting arm; Step S6: The tightening mechanism of the changing robot screws the second lead screw of the positioning assembly on the connecting arm to fix the clamp assembly; Step S7: Replace the clamp assembly on the other side according to steps S3 to S6; Step S8: After the model change is completed, the final assembly pallet flows along the conveyor line to the clamping station, where the clamping and holding components of the clamping robot hold the engine housing and transfer it to the final assembly pallet. Step S9: The tightening mechanism screws the bidirectional lead screw of the first clamping assembly, so that the connecting arm near the end of the first clamping assembly moves closer to each other, thereby driving the two clamping assemblies to move closer to each other and clamping the engine box. In step S10, the tightening mechanism screws on the second clamping assembly, causing the connecting arms near the end of the second clamping assembly to move closer together, thereby bringing the two clamping assemblies closer together and further clamping the engine housing.

[0015] Compared with the prior art, the present invention has the following advantages and beneficial effects: The automatic clamping and changing system and method for engine housing of this application, by setting up a fixture library and a lifting device, can realize the storage and transfer of fixture components of various specifications; by setting up a changing robot, it can automatically disassemble and assemble the fixture components of the final assembly pallet, improving the efficiency of changing; during the changing process, only the fixture components of the final assembly pallet need to be replaced, which is quick and the fixture components are small in size and occupy little storage space; by setting up the final assembly pallet, the engine housing can be rotated around the first axis and the second axis by a preset angle, and can be locked after rotation, so that the engine housing can be rotated to the optimal assembly angle, which can be adapted to the operator, making it convenient for the operator to perform installation operations and improving the convenience and accuracy of installation operations; at the same time, different angles can be switched by rotation to adapt to various workstations.

[0016] It should be understood that the above general description and the following detailed description are merely exemplary and explanatory, and do not limit this document. Attached Figure Description

[0017] The accompanying drawings, which form part of this document, are used to provide a further understanding of the document. The illustrative embodiments and descriptions herein are used to explain the document and do not constitute an undue limitation thereof. In the drawings: Figure 1 This is a schematic diagram of the structure of an automatic clamping and changing system for engine housing provided in an exemplary embodiment of this application; Figure 2 This is a schematic diagram of the structure of the assembly pallet provided in an exemplary embodiment of this application; Figure 3 This is a schematic diagram of the structure of the assembly pallet provided in an exemplary embodiment of this application; Figure 4 This is a front view of the assembly tray provided in an exemplary embodiment of this application; Figure 5 yes Figure 4 Sectional view at point AA; Figure 6 This is a schematic diagram of the structure of a pallet base provided in an exemplary embodiment of this application; Figure 7 This is a side view of the assembly tray provided in an exemplary embodiment of this application; Figure 8 yes Figure 7 Sectional view at CC; Figure 9 yes Figure 8 Enlarged view at point A in the middle; Figure 10 This is a top view of the assembly pallet provided in an exemplary embodiment of this application; Figure 11 This is a schematic diagram of the structure of the second rotary positioning component provided in an exemplary embodiment of this application; Figure 12 This is a front view of the second rotary positioning component provided in an exemplary embodiment of this application; Figure 13 yes Figure 12 Sectional view at point DD; Figure 14 This is a schematic diagram of the structure of a lifting device provided in an exemplary embodiment of this application; Figure 15 This is a top view of the fixture library provided in an exemplary embodiment of this application; Figure 16 This is a schematic diagram of the structure of a transfer clamping assembly provided in an exemplary embodiment of this application; Figure 17 This is a schematic diagram of the structure of a change-of-type clamping assembly provided in an exemplary embodiment of this application; Figure 18 This is a schematic diagram of the structure of a replacement clamping assembly provided in an exemplary embodiment of this application; Figure 19 This is a schematic diagram of the structure of a clamping and holding assembly provided in an exemplary embodiment of this application; Figure 20 This is a side view of a clamping assembly provided in an exemplary embodiment of this application; Figure 21 This is a schematic diagram of the tightening mechanism provided in an exemplary embodiment of this application.

[0018] In the picture: 1. Conveyor line; 2. Lifting device; 3. Fixture magazine; 4. Changing robot; 5. Tightening mechanism; 6. Clamping robot; 8. Assembly pallet; 21. Lifting assembly; 22. Support plate; 31. Grip transfer robot; 311. Transfer gripping assembly; 3111. Transfer gripping support plate; 3112. Transfer gripping drive unit; 3113. Transfer gripper; 3114. Transfer positioning assembly; 32. Shelf assembly; 42. Change-out gripping assembly; 421. First change-out support; 422. First change-out drive unit; 423. Second change-out support; 424. Second change-out... Drive unit; 425, changing gripper; 426, pull rod; 51, tightening bracket; 52, tightening drive unit; 53, tightening assembly; 61, clamping assembly; 611, clamping support; 612, clamping drive unit; 613, first clamping gripper assembly; 614, second clamping gripper assembly; 6141, receiving hole; 615, crankshaft clamping assembly; 6151, crankshaft clamping drive unit; 6152, crankshaft gripper; 81. Pallet base plate; 82. Slewing bearing; 83. First rotating plate; 84. First rotating positioning assembly; 85. Support frame; 86. Rotary drive assembly; 87. Second rotating positioning assembly; 88. Box fixing assembly; 89. Bearing frame; 811. First positioning hole; 841. First positioning pin; 842. Positioning post; 843. First elastic element; 844. Connecting pin; 845. First lever; 846. First lever mounting block; 847. Handle; 871. Second positioning pin; 872. Pin seat; 8721. Inclined end face; 873. Second elastic element; 874. Second lever; 875. Fastening screw; 881. Second rotating plate; 8811. Second Positioning hole; 882, third rotating plate; 883, connecting arm; 8831, third positioning pin; 8832, fourth positioning pin; 8833, positioning assembly; 8833a, second lead screw; 8833b, second nut seat; 8834, limiting shaft; 884, first clamping assembly; 8841, double-acting lead screw; 8842, thrust bearing; 8843, stop block; 8844, limiting block; 8845, first nut seat; 885, second clamping assembly; 886, clamping assembly; 8861, clamping plate; 8862, positioning pin assembly; 8863, second U-groove; 8864, third U-groove; 8865, fourth U-groove; 887, guide assembly; 888, limiting assembly. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be arbitrarily combined with each other.

[0020] During engine assembly, after the left and right housings are joined, the housing needs to be changed from a horizontal to a vertical position to facilitate the assembly of the left and right covers and cylinder heads. Since the fixtures cannot accommodate both positions, a final assembly pallet is required. During final assembly, the engine housing is clamped onto the final assembly pallet for transport on the conveyor line, passing through different workstations where operators perform various operations. Because different engine housing models have different mounting hole positions and sizes, during the final assembly stage, when changing production lines to assemble different engine housing sizes, different final assembly pallets or fixtures need to be used to accommodate the different engine housing sizes.

[0021] In existing technologies, the final assembly pallet is usually supported on one side. When changing the clamps, the entire clamping mechanism connected to the final assembly pallet support frame needs to be replaced. The clamping mechanism to be replaced has a complex structure, is heavy and bulky, and usually requires manual labor in conjunction with a hoisting mechanism to complete the replacement. After replacement, the clamping mechanism occupies a large storage space, which is inconvenient for replacement and storage. At the same time, when clamping the engine block, the hoisting mechanism usually needs to lift the engine block, first align the engine block with the clamping mechanism on one side, and then manually lock it from the other side, which makes the clamping process of the engine block slow and inefficient.

[0022] Based on this, exemplary embodiments of this application provide an automatic clamping and changeover system and method for engine housings. By setting up a fixture library and a lifting device, it is possible to store and transfer fixture components of various specifications. By setting up a changeover robot, it is possible to automatically disassemble and assemble the fixture components on the final assembly pallet, improving the efficiency of changeover. During the changeover process, only the fixture components on the final assembly pallet need to be replaced, which is quick and easy, and the fixture components are small in size and occupy little storage space. By setting up the final assembly pallet, the engine housing can be rotated around a first axis and a second axis by a preset angle, and can be locked after rotation, so that the engine housing can be rotated to the optimal assembly angle, which can be adapted to the operator, making it convenient for the operator to perform installation operations and improving the convenience and accuracy of installation operations. At the same time, different angles can be switched by rotation to adapt to various workstations.

[0023] Example 1: An exemplary embodiment of this application provides an automatic clamping and changing system for engine housings, such as... Figure 1 As shown, the system includes a conveyor line 1, a lifting device 2, a fixture library 3, a shape-changing robot 4, a tightening mechanism 5, a clamping robot 6, and a final assembly pallet 8. The final assembly pallet 8 is set on the conveyor line 1 and can be moved and positioned on the conveyor line 1. The lifting device 2, the shape-changing robot 4, the tightening mechanism 5, and the clamping robot 6 are arranged sequentially on one side of the conveyor line 1 along the flow direction of the final assembly pallet 8. The fixture library 3 is set at the top of the lifting device 2.

[0024] The final assembly pallet 8 includes a housing fixing assembly 88, which includes two clamping assemblies 886 arranged opposite each other. A positioning pin assembly 8862 is provided on the clamping assembly 886. A clamping positioning hole is provided on the engine housing. When the engine housing is installed on the final assembly pallet 8, the positioning pin assembly 8862 can be inserted into the clamping positioning hole to achieve positioning and clamping of the engine housing. A clamping robot 6 is used to transfer the engine housing onto the final assembly pallet 8. A changeover robot 4 is used to automatically disassemble and assemble the clamping assemblies 886 on the final assembly pallet 8. A clamping magazine 3 is used to store and transfer the clamping assemblies 886. A lifting device 2 is used to transfer the clamping assemblies 886 between the changeover robot 4 and the clamping magazine 3. A tightening mechanism 5 is used to drive the clamping assemblies closer to or further apart, achieving clamping or releasing of the engine housing.

[0025] By setting up a fixture library 3 and a lifting device 4, it is possible to store and transfer fixture components 886 of various specifications; by setting up a changeover robot 4, it is possible to automatically disassemble and assemble the fixture components 886 on the final assembly pallet 8, thereby improving the efficiency of changeover; during the changeover process, only the fixture components 886 on the final assembly pallet 8 need to be replaced, which is quick and easy, and the fixture components 886 are small in size and occupy little storage space.

[0026] During the final assembly of the engine housing, after the engine housing is clamped on the final assembly pallet 8, it flows on the conveyor line 1, passing through different workstations in sequence, and the operators perform corresponding operations on different surfaces of the engine housing.

[0027] like Figures 2 to 13 As shown, the assembly pallet 8 includes, in addition to the aforementioned box fixing assembly 88, a pallet base plate 81, a slewing bearing 82, a first rotating plate 83, a first rotating positioning assembly 84, a support frame 85, a rotating drive assembly 86, and a second rotating positioning assembly 87.

[0028] A slewing bearing 82 is mounted on a tray base plate 81; a first rotating plate 83 is mounted on the slewing bearing 82; the tray base plate 81 has a plurality of spaced-apart first positioning holes 811; a first rotating positioning assembly 84 is located below the first rotating plate 83 and includes a first positioning pin 841; the first positioning pin 841 can be inserted into the first positioning hole 811 to restrict the rotation of the first rotating plate 83 around a first axis. Preferably, as follows... Figure 6 As shown, four first positioning holes 811 are provided on the pallet base plate 81 around the mounting axis of the slewing bearing. The four first positioning holes 811 are evenly distributed at 90°, 180°, 270°, and 360°, allowing the first rotating plate 83 to rotate freely around the first axis and lock at the aforementioned four angular positions. Of course, the pallet base plate 81 can also be provided with first positioning holes 811 at other angular positions. The number and position of the first positioning holes 811 are set according to the overall assembly requirements of the engine housing. For example, the first axis extends vertically. The pallet base plate 81 is also provided with multiple lifting holes so that the lifting mechanism on the conveyor line can extend into the lifting holes to lift the final assembly pallet 8 to a preset position, thereby achieving lifting and positioning of the final assembly pallet 8. The first rotating plate 83 is also provided with a support frame 89, in which the parts required during the final assembly process can be placed for use at each final assembly station.

[0029] In this application, by setting a slewing bearing 82, the engine housing on the assembly tray 8 can be rotated around the first axis to a preset angle, which makes it convenient for operators to operate on multiple surfaces of the engine housing and improves the accuracy of operation.

[0030] Support frames 85 are mounted on the first rotating plate 83. There are two support frames 85, positioned opposite each other at both ends of the first rotating plate 83, forming the support frame for the engine housing fixing assembly 88. In the prior art, the engine housing is usually suspended on one side of the assembly tray 8, resulting in greater stress on the supporting side. The suspended side of the engine housing will sag, affecting not only the service life of the assembly tray but also reducing the operational accuracy during assembly. In this application, by setting two symmetrically arranged support frames 85, the forces on both ends of the assembly tray 8 are balanced, ensuring the operational accuracy of the engine housing assembly.

[0031] The housing fixing assembly 88 is disposed between two support frames 85 and is provided with a second positioning hole 8811. A rotary drive assembly 86 is disposed on one side of the support frame 85 and is drive-connected to the housing fixing assembly 88. Exemplarily, the rotary drive assembly 86 includes a reducer, with a rotating shaft connecting its two ends. A handwheel is mounted at the end of the rotating shaft. Preferably, the transmission ratio between the handwheel and the reducer is 1:60. When the operator rotates the handwheel, the housing fixing assembly 88 can rotate around a second axis extending along a second horizontal direction. The second horizontal direction is along the length of the assembly pallet 8, and the first horizontal direction is perpendicular to the second horizontal direction.

[0032] The second rotary positioning component 87 is mounted on the support frame 85 and includes a second positioning pin 871. The second positioning pin 871 can be inserted into the second positioning hole 8811 to restrict the rotation of the housing fixing component 88 along the second axis. Thus, the assembly tray 8 allows the engine housing to rotate around the first and second axes by a preset angle and locks after rotation, enabling the engine housing to rotate to the optimal assembly angle. This adapts to the operator, facilitating installation operations and improving convenience and accuracy. Furthermore, it allows for switching between different angles through rotation, adapting to various work positions.

[0033] like Figures 7 to 9 As shown, the first rotary positioning assembly 84 further includes a positioning post 842, a first elastic element 843, a connecting pin 844, a first lever 845, and a first lever mounting block 846. The positioning post 842 is disposed on the bottom surface of the first rotating plate 83. The first elastic element 843 and the first positioning pin 841 are sequentially disposed from top to bottom within the positioning post 842 along its axial direction. Preferably, the first elastic element 843 is a spring. The connecting pin 844 passes radially through the positioning post 842, with one end sequentially passing through the side wall of the positioning post 842 and the first positioning pin 841 before connecting to one end of the first lever 845. The side wall of the positioning post 842 is provided with an elongated hole that radially penetrates the side wall of the positioning post 842 to provide movement space for the connecting pin 844 to move in the axial direction of the positioning post 842. The first lever mounting block 846 is disposed on the bottom surface of the first rotating plate 83; the middle part of the first lever 845 is hinged to the first lever mounting block 846 via a hinge shaft; thus, when the free end of the first lever 845 is pressed, the first lever 845 can rotate around the hinge shaft and drive the first positioning pin 841 to overcome the elastic force of the elastic element and move upward through the connecting pin 844, so that the bottom end of the first positioning pin 841 disengages from the first positioning hole 811, thereby releasing the rotation restriction on the first rotating plate 83.

[0034] A handle 847 is also provided on the free end of the first lever 845 to facilitate the operator to press the first lever 845. During final assembly, when it is necessary to rotate the engine housing along the first axis by a preset angle, the handle 847 can be pressed to disengage the bottom end of the first positioning pin 841 from the first positioning hole 811, applying force to the housing fixing assembly 88, causing it to rotate around the first axis to the preset angle. Under the drive of the elastic force of the first elastic element 843, the first positioning pin 841 can be inserted into the first positioning hole 811, thereby restricting the rotation of the first rotating rotor 83 around the first axis.

[0035] Preferably, there are two first levers 845 and two first lever mounting blocks 846. The two first levers 845 are respectively set on both sides of the positioning post 842, and their free ends extend in opposite directions. The two first levers 845 are set at a 180° angle, so that the handles 847 can be pressed on both sides of the assembly tray 8 to adjust the rotation angle of the engine box in the first axis direction.

[0036] The housing fixing assembly 88 includes a second rotating plate 881, a third rotating plate 882, a connecting arm 883, a first clamping assembly 884, a second clamping assembly 885, and a clamping assembly 886. The second rotating plate 881 is mounted on a support frame 85 on one side and is connected to the rotation drive assembly 86. The third rotating plate 882 is rotatably mounted on the support frame 85 on the other side and is coaxially arranged with the second rotating plate 881. Guide assemblies 887 extending along a first horizontal direction are provided on the opposite sides of the second rotating plate 881 and the third rotating plate 882; preferably, the guide assembly 887 is a slide rail assembly. There are two connecting arms 883, extending along a second horizontal direction, spaced apart and parallel to each other. The two ends of each connecting arm 883 are slidably mounted on the guide assembly 887 via sliders.

[0037] like Figure 8 As shown, the connecting arm 883 is provided with a third positioning pin 8831 and a fourth positioning pin 8832 spaced apart along the second horizontal direction; each of the third positioning pins 8831 and the fourth positioning pin 8832 has a locking block formed on one end facing the other connecting arm 883, and a space for locking clamp assembly 886 is formed between the end face of the locking block and the connecting arm 883 on which it is mounted. A positioning component 8833 is also provided between the third positioning pin 8831 and the fourth positioning pin 8832. For example, as shown... Figure 5As shown, the positioning assembly 8833 includes a second lead screw 8833a and a second nut seat 8833b; the second nut seat 8833b is fixedly mounted on the connecting arm 883; the second lead screw 8833a is sleeved inside the second nut seat 8833b and forms a threaded transmission engagement with the second nut seat 8833b; one end of the second lead screw 8833a facing the other connecting arm 883 forms a locking block, and a space for the clamping fixture assembly 886 is formed between the end face of the locking block and the connecting arm 883 on which it is mounted. A stop pin is provided on one end of the second lead screw 8833a facing the outer wall of the connecting arm 883 to prevent the second lead screw 8833a from coming out of the second nut seat 8833b; and this end forms a connecting section adapted to the tightening device and capable of being drivenly connected to the tightening device. When the clamp assembly 886 is installed on the connecting arm 883, the second lead screw 8833a can be tightened by the tightening device to press the clamp assembly 886 to fix the clamp assembly 886.

[0038] Two clamping assemblies 886 are provided, each corresponding to one of the two connecting arms 883, for engaging with the positioning holes of the engine housing to achieve positioning and clamping. Each clamping assembly 886 includes a clamping plate 8861 and a positioning pin assembly 8862 mounted on the clamping plate 8861. Depending on the specifications of the engine housing being adapted, the shape of the clamping plate 8861 can vary, and the position of the positioning pin assembly 8862 on the clamping plate 8861 can also vary to accommodate positioning holes of different engine housing sizes. Preferably, the positioning pin assembly 8862 includes a positioning pin and a rubber tube wrapped around the outside of the positioning pin, with the end of the positioning pin extending beyond the rubber tube. This not only positions the engine housing but also protects it from wear or impact. The clamping plate 8861 is provided with a second U-shaped groove 8863, a third U-shaped groove 8864 and a fourth U-shaped groove 8865 with the opening facing downward and corresponding one-to-one with the positions of the third positioning pin 8831, the positioning component 8833 and the fourth positioning pin 8832. When the clamp assembly 886 is installed onto the connecting arm 883, the robot can clamp the clamp plate 8861 so that the openings of the second U-shaped groove 8863, the third U-shaped groove 8864, and the fourth U-shaped groove 8865 face the third positioning pin 8831, the fourth positioning pin 8832, and the positioning component 8833 of the connecting arm 883. The clamp assembly 886 is then locked onto the third positioning pin 8831, the fourth positioning pin 8832, and the positioning component 8833 of the connecting arm 883. Then, the tightening device screws the second lead screw 8833a of the positioning component 8833, so that the second lead screw 8833a presses the clamp plate 8861, thereby realizing the rapid assembly of the clamp assembly 886.

[0039] Similarly, when it is necessary to replace the clamp assembly 886 so that the assembly pallet 8 can be adapted to other sizes of engine housings, the clamp assembly 886 can be released by the screwing device. Then the robot arm transfers the clamp assembly 886 that needs to be removed to the clamp library, clamps the clamp assembly 886 to be replaced, and installs it on the connecting arm 883, so as to realize the quick removal and replacement of the clamp assembly 886.

[0040] In the existing technology, when it is necessary to adapt to engine housings of different specifications, it is usually necessary to replace all the housing fixing components. The replacement parts are numerous, heavy and bulky, making replacement inconvenient and storage difficult, and requiring a large amount of storage space.

[0041] In this application, not only can the clamping assembly 886 be quickly disassembled and assembled, but the clamping assembly 886 is also small in size and weight, making replacement quick and convenient. The space required to store the clamping assembly 886 is also small. With the same storage space, compared with the prior art, this application can store more specifications of clamping assemblies 886 and adapt to more specifications of engine housings. At the same time, the disassembly and assembly process of the clamping assembly 886 is fully automated, requiring no manual intervention, which can ensure installation accuracy and improve installation efficiency.

[0042] like Figure 2 and 3 As shown, the first clamping assembly 884 is disposed between the first ends of the two connecting arms 883, and is used to drive the two connecting arms 883 to move closer or further away from each other along the guide assembly 887; the second clamping assembly 885 is disposed between the second ends of the two connecting arms 883, and is used to drive the two connecting arms 883 to move closer or further away from each other along the guide assembly 887.

[0043] The first clamping assembly 884 includes a bidirectional lead screw 8841, a thrust bearing 8842, a stop block 8843, and a limiting block 8844. The limiting block 8844 is fixedly disposed on the side of the second rotating plate 881 facing the third rotating plate 882. A first U-shaped groove extending along the first horizontal direction is formed in the middle of the limiting block 8844, and the opening of the first U-shaped groove faces the third rotating plate 882. A first nut seat 8845 is provided at the first end of each connecting arm 883. The two helical directions of the bidirectional lead screw 8841 are opposite, and the bidirectional lead screw 8841 extends along the first horizontal direction. The rod extends, its body sequentially passing through the first first nut seat 8845, the first U-shaped groove of the limiting block 8844, and the second first nut seat 8845, forming a threaded transmission engagement with both first nut seats 8845; there are two thrust bearings 8842 and two stop blocks 8843, with the two thrust bearings 8842 respectively sleeved on the double-acting screw 8841 and symmetrically arranged on both sides of the limiting block 8844; the two stop blocks 8843 are respectively sleeved on the double-acting screw 8841, and the two stop blocks 8843 abut against the outer end faces of the two thrust bearings 8842. Both ends of the double-acting screw 8841 form connecting sections that can be transmitted to the tightening device. Thus, by rotating the double-acting screw 8841 through the tightening device, the two connecting arms 883 can be brought closer or moved further apart to achieve clamping or release of the engine housing.

[0044] Preferably, the second clamping assembly 885 includes a threaded shaft with a stop provided on it; one end of the threaded shaft is threaded and the other end is unthreaded, forming a smooth shaft. One end of the smooth shaft forms a connecting section that can be connected to the tightening device for transmission. In this way, the tightening device can drive the threaded shaft to rotate, causing the two connecting arms 883 to move closer or further apart, so as to achieve clamping or releasing of the engine housing.

[0045] A limiting component 888 is also provided below the guide component 887; the limiting component 888 is located in the middle of the two connecting arms 883 to limit the minimum distance between the two connecting arms 883. A limiting shaft 8834 is provided on the first end and the second end of the connecting arm 883 to limit the minimum distance between the two connecting arms 883.

[0046] like Figures 11 to 13 As shown, the second rotating plate 881 is provided with a plurality of second positioning holes 8811. Preferably, the second positioning holes 8811 are distributed around the second axis and are set at 0°, 45°, 90°, 135° and 180°, so that the second rotating plate 881 can rotate freely around the second axis and be locked at the above five angle positions, so that the engine box can rotate freely around the second axis and be locked at the above five angle positions.

[0047] The second rotary positioning assembly 87 includes a second positioning pin 871, a pin seat 872, a second elastic element 873, and a second lever 874. The pin seat 872 is mounted on a support frame 85, with one end penetrating through the support frame 85. A through hole is provided in the pin seat 872, extending axially. Inside the through hole, the inner wall of the pin seat 872 protrudes inward to form a stop portion. The end of the pin seat 872 facing away from the support frame 85 forms an axially inclined end face 8721. The second positioning pin 871 is a stepped pin. The second positioning pin 871 is mounted in the through hole, with both ends extending out of the pin seat 872. The second elastic element 873 is sleeved on the second positioning pin 871 and located inside the through hole, with its two ends abutting against the stop portion and the stepped end face of the second positioning pin 871.

[0048] The second lever 874 is arranged radially through the second positioning pin 871; a groove is formed on the side of the lever facing the pin seat 872; the side wall of the pin seat 872 with an inclined end face 8721 is engaged in the groove. A fastening screw 875 is also provided on the end of the second positioning pin 871 away from the support frame 85 to fasten the second lever 874.

[0049] When the free end of the second lever 874 is pressed, the second lever 874 can rotate around the inclined end face 8721 of the pin seat 872, rotating from a position near the support frame 85 to a position opposite to it. During the rotation, it can drive the second positioning pin 871 to overcome the elastic force of the second elastic element 873 and move away from the second positioning hole 8811, so that the end of the second positioning pin 871 disengages from the second positioning hole 8811, thereby releasing the rotation restriction on the housing fixing assembly 88. After releasing the rotation restriction on the housing fixing assembly 88, the engine housing can be rotated around the second axis to a preset position, and then the second lever 874 is inserted into the second positioning hole 8811, causing the engine housing to rotate around the second axis and locking the engine housing.

[0050] By setting a slewing bearing 82, the first rotating plate 83 can rotate around the first axis by a preset angle; by setting a first rotating positioning component 84, the first rotating plate 83 can be locked after rotating around the first axis by a preset angle; by setting a rotating drive component 86, the housing fixing component 88 can rotate around the second axis; by setting a second rotating positioning component 87, the housing fixing component 88 can be locked after rotating around the second axis by a preset angle; thus, the assembly tray 8 allows the engine housing to rotate around the first and second axes by a preset angle and can be locked after rotation, so that the engine housing can be rotated to the optimal assembly angle, which can be adapted to the operator, making it convenient for the operator to perform installation operations and improving the convenience and accuracy of installation operations; at the same time, different angles can be switched by rotation to adapt to various work positions.

[0051] like Figure 14 As shown, the lifting device 2 includes a lifting frame and a lifting assembly 21 capable of moving up and down along the lifting frame. The lifting assembly 21 includes a support plate 22, on which a positioning pin is provided. Preferably, the clamping plate 8861 is also provided with at least two storage positioning holes, the positions and dimensions of which are adapted to the positioning pins on the support plate 22 of the lifting device, so as to achieve positioning and fixing of the clamping assembly 886 during the transfer of the clamping assembly 886.

[0052] Preferably, there are two support plates 22, and two clamping assemblies 886 can be provided on each support plate 22. In this way, one support plate 22 can carry the clamping assembly 886 to be installed, and the other support plate 22 can carry the clamping assembly 886 to be disassembled.

[0053] like Figure 15 As shown, the fixture storage 3 includes a fixture transfer robot 31 and shelf assemblies 32 arranged on both sides of the fixture transfer robot 31. The shelf assembly 32 has multiple partitions, and the partitions are provided with positioning pins that are compatible with the storage positioning holes on the clamping plate 8861, so as to realize the positioning and fixing of the fixture assembly 886.

[0054] The gripper transfer robot 31 includes a robot body and a transfer gripping assembly 311 disposed at the end of the robot body. For example... Figure 16As shown, the transfer clamping assembly 311 includes a transfer clamping support plate 3111, a transfer clamping drive unit 3112 disposed on the transfer clamping support plate 3111, a transfer gripper 3113 disposed at the end of the transfer clamping drive unit 3112, and a transfer positioning assembly 3114 disposed on the transfer clamping support plate 3111. The transfer clamping drive unit 3112 is a gripper cylinder, and there are two transfer grippers 3113. Under the drive of the transfer clamping drive unit 3112, they can be opened and closed to clamp or release the clamping assembly 886. The transfer positioning assembly 3114 includes a bushing, a transfer positioning post, a spring, and a connecting rod connecting the two transfer positioning posts. The bushing is disposed on the transfer clamping support plate 3111, the transfer positioning post is movably sleeved in the bushing, the end of the transfer positioning post is connected to the connecting rod, the spring is sleeved on the transfer positioning post, and its two ends abut against the end face of the bushing and the connecting rod, respectively. During the clamping process of the clamping assembly 886, the connecting rod first contacts the upper surface of the clamping assembly 886. The clamping transfer robot 31 continues to move, compressing the spring, causing one end of the transfer positioning post to extend out of the transfer clamping support plate 3111. The sensor set on the transfer clamping support plate 3111 senses the transfer positioning post. At this time, the transfer gripper 3113 moves to the appropriate clamping position. The control system controls the transfer clamping drive unit 3112 to move, so that the transfer gripper 3113 clamps the clamping assembly 886. Preferably, the clamping end face of the clamping assembly 886 is provided with a groove for easy clamping, and the side of the transfer gripper 3113 facing the clamping space is provided with a clamping block. The clamping block cooperates with the groove to achieve stable clamping of the clamping assembly 886.

[0055] like Figure 21 As shown, the tightening mechanism 5 includes a tightening bracket 51, a tightening drive unit 52 and a tightening assembly 53 disposed on the tightening bracket 51; wherein, the tightening drive unit 52 is preferably a motor, the output end of which is connected to the tightening assembly 53 for transmission, and can drive the tightening assembly 53 to rotate, and the end of the tightening assembly 53 can be connected to the part to be tightened for transmission.

[0056] Preferably, the tightening mechanism 5 includes a torque sensor, which is disposed between the tightening drive unit 52 and the tightening assembly 53, and can detect the tightening torque of the tightening mechanism 5 in real time.

[0057] Two tightening mechanisms 5 are arranged side by side at intervals along the direction of the conveyor line. The two tightening mechanisms 5 can tighten the first clamping component 884 and the second clamping component 885 respectively.

[0058] The shape-changing robot 4 includes a robot body, a tightening mechanism 5 disposed at the end of the robot body, and a shape-changing clamping assembly 42. A bracket is connected to the end of the robot body, and both the tightening mechanism 5 and the shape-changing clamping assembly 42 are mounted on the bracket. The shape-changing clamping assembly 42 can clamp a clamping fixture assembly 886. After the clamping fixture assembly 886 is installed onto the connecting arm 883, the tightening mechanism 5 of the shape-changing robot 4 can screw the second lead screw 8833a of the positioning assembly 8833 on the connecting arm 883 to fix the clamping fixture assembly 886.

[0059] like Figure 17 As shown, the shape-changing clamping assembly 42 includes a first shape-changing support 421, a first shape-changing drive unit 422, a second shape-changing support 423, a second shape-changing drive unit 424, a shape-changing gripper 425, and a pull rod 426. The first shape-changing support 421 is mounted on a bracket, and the first shape-changing drive unit 422 is mounted on the first shape-changing support 421. Preferably, the first shape-changing drive unit 422 is a rotary cylinder. The second shape-changing support 423 is connected to the output end of the first shape-changing drive unit 422. The second shape-changing drive unit 424 and the pull rod 426 are both mounted on the second shape-changing support 423. Preferably, the second shape-changing drive unit 424 is a gripper cylinder. The shape-changing gripper 425 is mounted on the second shape-changing drive unit 424, thus realizing the clamping and releasing of the clamping assembly 886. Each second changing drive unit 424 is provided with two changing jaws 425, which together form a clamping space for clamping the clamping assembly 886. Each changing jaw 425 has a clamping groove 4251 facing the clamping space. When clamping the clamping assembly 886, both ends of the clamping plate 8861 can be engaged in the clamping groove 4251 to achieve a stable clamping of the clamping assembly 886. Preferably, the clamping groove 4251 has an inclined sidewall to facilitate the release of the clamping assembly 886, allowing it to disengage from the clamping groove 4251.

[0060] The end of the pull rod 426 is hook-shaped. When it is necessary to disassemble the clamp assembly 886, the tightening mechanism 5 on the changeover robot 4 is used to screw the second screw 8833a of the positioning component 8833 on the connecting arm 883 to release the clamp assembly 886 to be disassembled on the connecting arm 883. Then, the pull rod 426 is used to hook the clamp assembly 886 upward, so that the clamp assembly 886 is freed from the restriction of the third positioning pin 8831, the fourth positioning pin 8832, and the positioning component 8833 on the connecting arm 883. After that, the clamp assembly 886 is clamped by the changeover clamping component 42 and transferred to the bearing plate 22 of the lifting device 2.

[0061] The clamping robot 6 includes a robot body and a clamping assembly 61 disposed at the end of the robot body. For example... Figure 19 and 20As shown, the clamping assembly 61 includes a clamping support 611, a clamping drive unit 612, a first clamping jaw assembly 613, a second clamping jaw assembly 614, and a crankshaft clamping assembly 615; wherein, the clamping drive unit 612 is preferably a cylinder, which is disposed on the clamping support 611 and its extended end is connected to the second clamping jaw assembly 614, and can drive the second clamping jaw assembly 614 to slide along the guide rail on the clamping support 611 so as to clamp or release the engine housing. The crankshaft clamping assembly 615 includes a crankshaft clamping drive unit 6151 and a crankshaft gripper 6152. The crankshaft clamping drive unit 6151 is preferably a cylinder, which is mounted on the second clamping gripper assembly 614. The crankshaft gripper 6152 is connected to the extended end of the crankshaft clamping drive unit 6151, allowing the crankshaft gripper 6152 to slide along a guide rail. The second clamping gripper assembly 614 has a receiving hole 6141, and one end of the crankshaft gripper 6152 extends into the receiving hole 6141. When the clamping assembly 61 clamps the engine block, the crankshaft of the engine block can extend into the receiving hole 6141. The crankshaft clamping drive unit 6151 drives the crankshaft gripper 6152 to clamp the crankshaft of the engine block, preventing the engine block from falling off.

[0062] Example 2: An exemplary embodiment of this application provides a method for automatically clamping and changing an engine housing using the automatic engine housing clamping and changing system as described in Embodiment 1. The installation method includes the following steps: In step S1, the engine housing to be assembled is transported to the designated changeover station; the control system identifies the model of the engine housing and transmits the model information to the fixture transfer robot 31; the final assembly pallet 8 flows to the changeover station on the conveyor line 1; according to the obtained model information of the engine housing, the fixture transfer robot 31 transfers the clamping assembly 311 to pick up the matching fixture assembly 886 to be installed from the shelf assembly 32 and transfers it to the support plate 22 of the lifting device 2; Step S2: The lifting device 2 lowers the fixture assembly 886 to be installed to a preset position so that the changing robot arm 4 can hold the fixture assembly 886 to be installed. Step S3: The tightening mechanism 5 of the changing robot 4 screws the second lead screw 8833a of the positioning component 8833 on the connecting arm 883, releasing the clamping component 886 to be disassembled installed on the connecting arm 883. In step S4, the pull rod 426 of the changing gripper assembly 42 of the changing robot 4 hooks onto the bottom of the fixture assembly 886 to be disassembled. The changing robot 4 moves the pull rod 426 upward, causing the fixture assembly 886 to be disassembled to be released from the constraints of the third positioning pin 8831, the fourth positioning pin 8832, and the positioning assembly 8833 on the connecting arm 883. Then, the changing gripper 425 of the changing gripper assembly 42 clamps the fixture assembly 886 to be disassembled, causing it to detach from the connecting arm 883 and transfer it to the support plate 22 of the lifting device 2. The positioning pin on the support plate 22 is inserted into the storage positioning hole on the disassembled fixture assembly 886, thereby achieving the positioning and fixing of the fixture assembly 886.

[0063] In step S5, the changing gripping assembly 42 of the changing robot 4 grips the fixture assembly 886 to be installed and installs it onto the connecting arm 883. During the installation process, the openings of the second U-shaped groove 8863, the third U-shaped groove 8864, and the fourth U-shaped groove 8865 on the clamping plate 8861 of the fixture assembly 886 face the third positioning pin 8831, the fourth positioning pin 8832, and the positioning assembly 8833 of the fixture assembly 886, so that the clamping plate 8861 is engaged with the third positioning pin 8831, the fourth positioning pin 8832, and the positioning assembly 8833. In step S6, the tightening mechanism 5 of the changing robot 4 screws the second lead screw 8833a of the positioning component 8833 on the connecting arm 883 to fix the clamping assembly 886; thus, the changing of one side of the clamping assembly 886 is realized.

[0064] Step S7: Replace the fixture assembly 886 on the other side according to steps S3 to S6; thus, the fixture assembly 886 on the other side is replaced.

[0065] In step S8, after the model change is completed, the final assembly pallet 8 is transferred to the clamping station along the conveyor line 1. The clamping and holding assembly 61 of the clamping robot 6 clamps the engine housing and transfers it to the final assembly pallet 8. For example, in order to adapt to the clamping position of the engine housing, the clamping robot 6 first clamps the engine housing and places the engine housing on a support frame, then clamps the engine housing from the opposite direction and transfers the engine housing to the final assembly pallet 8.

[0066] In step S9, the tightening mechanism 5 moves towards the side closer to the engine housing, causing the tightening assembly 52 to engage with the bidirectional lead screw 8841 of the first clamping assembly 884. The bidirectional lead screw 8841 of the first clamping assembly 884 is tightened, causing the connecting arm 883 near one end of the first clamping assembly 884 to move closer together, which in turn causes the two clamping assemblies 886 to move closer together, so that the positioning pin assembly 8862 on the clamping assembly 886 is inserted into the clamping positioning hole on the engine housing, clamping and fixing the engine housing. In step S10, the tightening mechanism 5 screws the second clamping assembly 885, causing the connecting arm 883 near one end of the second clamping assembly 885 to move closer together, which in turn causes the two clamping assemblies 886 to move closer together, further clamping the engine box.

[0067] In this way, it is possible to quickly and conveniently replace the clamping assembly 886 on the final assembly pallet 8. During the changeover process, only the clamping assembly 886 of the final assembly pallet needs to be replaced. The clamping assembly 886 is small in size and occupies little storage space.

[0068] In this application, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that an article or device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such an article or device. Without further limitation, an element defined by the phrase "comprising..." does not exclude the presence of other identical elements in the article or device that includes said element.

[0069] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.

[0070] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if these modifications and variations fall within the scope of the claims of this application and their equivalents, the intent of this application also includes these modifications and variations.

Claims

1. An engine block automatic clamping and changeover system, characterized by, The assembly includes a conveyor line (1), a lifting device (2), a fixture storage (3), a shape-changing robot (4), a tightening mechanism (5), a clamping robot (6), and an assembly pallet (8). The assembly pallet (8) is mounted on the conveyor line (1) and can be moved and positioned on the conveyor line (1). The lifting device (2), the shape-changing robot (4), the tightening mechanism (5), and the clamping robot (6) are arranged sequentially on one side of the conveyor line (1) along the flow direction of the assembly pallet (8). The fixture storage (3) is located at the top of the lifting device (2). The assembly pallet (8) includes a housing fixing assembly (88), which includes two clamping assemblies (886) arranged opposite to each other. The clamping assemblies (886) are provided with positioning pin assemblies (8862). The engine housing is provided with clamping positioning holes. When the engine housing is installed on the assembly pallet (8), the positioning pin assembly (8862) can be inserted into the clamping positioning holes to realize the positioning and clamping of the engine housing. The clamping robot (6) is used to transfer the engine housing to the assembly pallet (8). The changing robot (4) is used to automatically disassemble and assemble the clamping assemblies (886) of the assembly pallet (8). The clamping library (3) is used to store and transfer the clamping assemblies (886). The lifting device (2) is used to transfer the clamping assemblies (886) between the changing robot (4) and the clamping library (3). The tightening mechanism (5) is used to drive the clamping assemblies to move closer or further away from each other to realize the clamping or release of the engine housing.

2. The automatic clamping and changing system for engine housings according to claim 1, characterized in that, The assembly pallet (8) further includes a pallet base plate (81), a slewing bearing (82), a first rotating plate (83), a first rotating positioning assembly (84), a support frame (85), a rotating drive assembly (86), and a second rotating positioning assembly (87); the slewing bearing (82) is disposed on the pallet base plate (81); the first rotating plate (83) is disposed on the slewing bearing (82); the pallet base plate (81) is provided with a plurality of spaced first positioning holes (811); the first rotating positioning assembly (84) is disposed below the first rotating plate (83) and includes a first positioning pin (841); the first positioning pin (841) can be inserted into the first positioning hole ( In 811), the first rotating plate (83) is restricted from rotating about the first axis; the support frame (85) is disposed on the first rotating plate (83); the box fixing assembly (88) is disposed between the two support frames (85) and is provided with a second positioning hole (8811); the rotation drive assembly (86) is disposed on one side of the support frame (85) and is connected to the box fixing assembly (88) in a transmission manner; the second rotation positioning assembly (87) is disposed on the support frame (85) and includes a second positioning pin (871); the second positioning pin (871) can be inserted into the second positioning hole (8811) in order to restrict the rotation of the box fixing assembly (88) about the second axis.

3. The engine block automatic clamping and changeover system of claim 2, wherein The first rotary positioning assembly (84) further includes a positioning post (842), a first elastic element (843), a connecting pin (844), a first lever (845), and a first lever mounting block (846); the positioning post (842) is disposed on the first rotary plate (83); The first elastic element (843) and the first positioning pin (841) are arranged sequentially from top to bottom along the axial direction inside the positioning post (842); the connecting pin (844) passes through the radial direction of the positioning post (842), and one end of it passes through the side wall of the positioning post (842) and the first positioning pin (841) in sequence before being connected to one end of the first lever (845); the first lever mounting block (846) is arranged on the first rotating plate (83); the middle part of the first lever (845) is hinged to the first lever mounting block (846) through a hinge shaft; when the free end of the first lever (845) is pressed, the first lever (845) rotates around the hinge shaft and drives the first positioning pin (841) to overcome the elastic force of the elastic element and move upward, so that the bottom end of the first positioning pin (841) disengages from the first positioning hole (811) to release the rotation restriction on the first rotating plate (83).

4. The automatic clamping and changing system for engine housings according to claim 2, characterized in that, The housing fixing assembly (88) further includes a second rotating plate (881), a third rotating plate (882), a connecting arm (883), a first clamping assembly (884), and a second clamping assembly (885); the second rotating plate (881) is mounted on a support frame (85) on one side and is connected to the rotation drive assembly (86); the third rotating plate (882) is rotatably mounted on a support frame (85) on the other side and is coaxially arranged with the second rotating plate (881); guide assemblies extending along the first horizontal direction are provided on the opposite sides of the second rotating plate (881) and the third rotating plate (882). 887); There are two connecting arms (883), which are spaced apart and arranged in parallel. The two ends of each connecting arm (883) are slidably mounted on the guide assembly (887) by a slider; the first clamping assembly (884) is disposed between the first ends of the two connecting arms (883); the second clamping assembly (885) is disposed between the second ends of the two connecting arms (883); There are two clamping assemblies (886), which are respectively disposed on the two connecting arms (883) in a one-to-one correspondence, for cooperating with the positioning holes of the engine housing to achieve positioning and clamping.

5. The automatic clamping and changing system for engine housings according to claim 4, characterized in that, The first clamping assembly (884) includes a bidirectional lead screw (8841), a thrust bearing (8842), a stop block (8843), and a limiting block (8844); the limiting block (8844) is fixedly disposed on the side of the second rotating plate (881) facing the third rotating plate (882), and a first U-shaped groove extending along the first horizontal direction is opened in the middle of the limiting block (8844), with the opening of the first U-shaped groove facing the third rotating plate (882); a first nut seat (8845) is provided at the first end of each connecting arm (883); the bidirectional lead screw (8841) extends along the first horizontal direction, and its shaft is sequentially The first U-shaped groove passes through the first first nut seat (8845), the limiting block (8844), and the second first nut seat (8845), and forms a threaded transmission engagement with the two first nut seats (8845); there are two thrust bearings (8842) and two stop blocks (8843); the two thrust bearings (8842) are respectively sleeved on the double-acting screw (8841) and symmetrically arranged on both sides of the limiting block (8844); the two stop blocks (8843) are respectively sleeved on the double-acting screw (8841) and the two stop blocks (8843) respectively abut against the outer end face of the two thrust bearings (8842).

6. The engine block automatic clamping and changeover system of claim 5, wherein, The connecting arm (883) is provided with a third positioning pin (8831) and a fourth positioning pin (8832) spaced apart along the second horizontal direction; a positioning assembly (8833) is also provided between the third positioning pin (8831) and the fourth positioning pin (8832); the positioning assembly (8833) includes a second lead screw (8833a) and a second nut seat (8833b); the second nut seat (8833b) is provided on the connecting arm (883); the second lead screw (8833a) is sleeved in the second nut seat (8833b) and forms a threaded transmission engagement with the second nut seat (8833b); a stop pin is provided on one end of the second lead screw (8833a) facing the outer wall of the connecting arm (883).

7. The automatic clamping and changing system for engine housings according to claim 6, characterized in that, The clamp assembly (886) includes a clamping plate (8861) and a positioning pin assembly (8862) disposed on the clamping plate (8861); the clamping plate (8861) is provided with a second U-shaped groove (8863), a third U-shaped groove (8864) and a fourth U-shaped groove (8865) with downward openings and corresponding one-to-one with the positions of the third positioning pin (8831), the positioning assembly (8833) and the fourth positioning pin (8832).

8. The automatic clamping and changing system for engine housings according to claim 2, characterized in that, The second rotary positioning assembly (87) further includes a pin seat (872), a second elastic element (873), and a second lever (874); the pin seat (872) is disposed on the support frame (85); the pin seat (872) has an axially penetrating through hole; within the through hole, the inner wall of the pin seat (872) protrudes inward to form a stop portion; one end of the pin seat (872) away from the support frame (85) forms an inclined end face (8721); the second positioning pin (871) is a stepped pin; the second positioning pin (871) is disposed within the through hole, and both ends extend out from the two ends of the pin seat (872); the second elastic element (873) is sleeved on the second positioning pin (871), and its two ends abut against the stop portion and the second positioning pin (871) respectively. On the stepped end face of the second positioning pin (871), the second lever (874) is arranged to pass through the second positioning pin (871) in the radial direction of the second positioning pin (871); a groove is formed on the side of the lever facing the pin seat (872); the side wall of the pin seat (872) with an inclined end face (8721) is engaged in the groove; when the free end of the second lever (874) is pressed, the second lever (874) rotates around the inclined end face (8721) of the pin seat (872) and drives the second positioning pin (871) to overcome the elastic force of the second elastic element (873) and move away from the second positioning hole (8811), so that the end of the second positioning pin (871) disengages from the second positioning hole (8811) to release the rotation restriction on the housing fixing assembly (88).

9. The engine block automatic clamping and changeover system of claim 1, wherein, The type-changing robot (4) includes a robot body, a tightening mechanism (5) disposed at the end of the robot body, and a type-changing clamping assembly (42); the clamping robot (6) includes a robot body and a clamping assembly (61) disposed at the end of the robot body; the fixture library (3) includes a fixture transfer robot (31) and shelf assemblies (32) arranged on both sides of the fixture transfer robot (31); the fixture transfer robot (31) includes a robot body and a transfer clamping assembly (311) disposed at the end of the robot body.

10. A method for automatically clamping and changing an engine housing using the automatic engine housing clamping and changing system as described in any one of claims 1 to 9, characterized in that, The installation method includes the following steps: Step S1, the clamp transfer robot (31) picks up the matching clamp assembly (886) to be installed from the shelf assembly (32) and transfers it to the lifting device (2); Step S2, the lifting device (2) lowers the fixture assembly (886) to the preset position; Step S3, the tightening mechanism (5) of the changing robot (4) screws the second lead screw (8833a) of the positioning component (8833) on the connecting arm (883) to release the fixture component (886) to be disassembled on the connecting arm (883). In step S4, the changing gripping assembly (42) of the changing robot (4) grips the fixture assembly (886) to be disassembled, disengaging it from the connecting arm (883) and transferring it to the lifting device (2); Step S5, the changing gripping assembly (42) of the changing robot (4) grips the fixture assembly (886) to be installed and installs it onto the connecting arm (883); Step S6, the tightening mechanism (5) of the changing robot (4) screws the second lead screw (8833a) of the positioning component (8833) on the connecting arm (883) and fixes the clamping assembly (886). Step S7, replace the clamp assembly on the other side (886) according to steps S3 to S6. In step S8, the final assembly pallet (8) after the model change is completed flows along the conveyor line (1) to the clamping station, where the clamping and holding assembly (61) of the clamping robot (6) clamps the engine housing and transfers it onto the final assembly pallet (8). Step S9, the tightening mechanism (5) screws the bidirectional lead screw (8841) of the first clamping assembly (884) so ​​that the connecting arm (883) near the end of the first clamping assembly (884) moves closer to each other, causing the two clamping assemblies (886) to move closer to each other and clamp the engine box. In step S10, the tightening mechanism (5) screws the second clamping assembly (885) so that the connecting arm (883) near the end of the second clamping assembly (885) moves closer to each other, causing the two clamping assemblies (886) to move closer to each other and further clamp the engine box.

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