Engine cylinder cover grabbing device

Abstract

The utility model relates to an engine cylinder cover grabbing device, and belongs to the technical field of cylinder cover grabbing and transferring. The positioning pressure head is arranged on the rack, the clamping mechanism is used for holding a workpiece to be grabbed, the clamping mechanism comprises a left lifting rod, a right lifting rod and a driving mechanism, and the driving mechanism is used for driving the left lifting rod and the right lifting rod to be matched with each other to clamp or loosen the workpiece; the positioning pressing head is matched with a positioning hole in a workpiece to be grabbed, the positioning pressing head is arranged on the machine frame in a lifting mode, and the device further comprises a pressing head self-locking mechanism used for locking the positioning pressing head. The pressing head self-locking mechanism comprises a clamping groove, a pressing block and a pressing driving cylinder which drives the pressing block to be matched with the clamping groove in an inserted mode to lock the positioning pressing head. The engine cylinder cover assembling device is simple in structure, convenient to operate, stable in workpiece grabbing and safe in the transferring process, manual participation is not needed, stable and safe transferring of workpieces is achieved, and therefore the engine cylinder cover assembling efficiency is improved.

Description

Technical Field

[0001] The utility model relates to a grabbing device for an engine cylinder cover, belonging to the technical field of grabbing and transporting cylinder covers. Background Art

[0002] Diesel engines are mainly used in heavy-duty vehicles, large buses, engineering machinery, ships, generator sets, etc., and the production and processing of engines are becoming more and more specialized and automated. In the existing engine assembly, it is necessary to use external moving parts such as manipulators to grab the engine cylinder head on the cylinder head production line and transfer it to the assembly station of the engine cylinder body on the cylinder body production line for assembly. The technology of external moving parts is very mature and its transfer process is easy to do, but how to ensure the stability of workpiece grasping requires a grasping device to complete. Not only should the workpiece be prevented from shaking during the transfer process, but also the requirements of workpiece grasping stability and grasping accuracy should be ensured. In addition, due to the direction problem of the cylinder head production line and the cylinder body production line, sometimes the grasped engine cylinder head needs to be flipped 90 degrees or 180 degrees to be fully and accurately assembled for the subsequent engine. The existing grasping device uses a clamp to clamp the workpiece, but the workpiece will shake if it is directly flipped after being grasped by the existing grasping device. Most of the existing workpieces are flipped and placed at the corresponding assembly station of the cylinder body with manual assistance. This method not only has low workpiece assembly efficiency and high labor costs, but also has safety hazards in manual assistance. Summary of the invention

[0003] The utility model aims at the deficiencies in the prior art and provides an engine cylinder cover grabbing device.

[0004] The utility model solves the above-mentioned technical problems with the following technical solutions: an engine cylinder head grasping device, comprising a frame, a positioning pressure head arranged on the frame and a clamping mechanism for clamping a workpiece to be grasped, the clamping mechanism comprising a left lifting rod, a right lifting rod, and a driving mechanism for driving the left lifting rod and the right lifting rod to cooperate with each other to clamp or release the workpiece; the positioning pressure head is adapted to the positioning hole on the workpiece to be grasped, the positioning pressure head is liftably arranged on the frame, and further comprises a pressure head self-locking mechanism for locking the positioning pressure head.

[0005] The beneficial effect of the utility model is that when the grasping device grasps the workpiece, the positioning pressure head acts on the positioning hole on the top of the workpiece, that is, it is inserted and matched with the positioning hole on the engine cylinder head of the workpiece. The liftable positioning pressure head can also avoid hard collision between the positioning pressure head and the positioning hole of the workpiece. After positioning, the left and right lifting rods hold the workpiece tightly under the action of the driving mechanism, and then can move upward under the drive of the external moving part to lift the workpiece and transfer it to the assembly line for assembly. The straight up and down moving positioning pressure head will maintain the insertion and matching state with the positioning hole on the workpiece under the action of itself and the gravity of the workpiece. However, when the workpiece is flipped, the positioning pressure head will retreat due to the gravity of the workpiece, and the positioning pressure head will be separated from the positioning hole of the workpiece. In this case, the workpiece will often shake if it is only held tightly by the lifting rod. Therefore, it is necessary to start the pressure head self-locking mechanism to lock the position of the positioning pressure head after the workpiece is clamped and before the workpiece is flipped, so that it will not move in the axial direction, thereby ensuring the stability and safety of the workpiece during clamping and transfer. In short, the utility model has a simple structure, is easy to operate, can stably grasp workpieces, and has a safe transfer process, and does not require manual intervention, thereby achieving stable and safe transfer of workpieces, thereby improving the assembly efficiency of the engine cylinder head.

[0006] On the basis of the above technical solution, the present invention can also be improved as follows.

[0007] Furthermore, the pressure head self-locking mechanism includes a slot, a clamping block and a clamping drive cylinder that drives the clamping block to be inserted into the slot and lock the positioning pressure head. The positioning pressure head is arranged on the frame through a lifting rod, the slot is arranged on the lifting rod, and the clamping drive cylinder is arranged on the frame. One end of the clamping block is provided with a clamping angle matched with the slot, and the other end is connected to the piston rod of the clamping drive cylinder.

[0008] The beneficial effect of adopting the above-mentioned further scheme is that the pressure head self-locking mechanism specifically adopts a pressure drive cylinder to drive the pressure block to move, so that the clamping corner of the pressure block can enter the clamping groove of the lifting rod, thereby locking the position of the lifting rod on the frame, and cooperating with the clamping mechanism to achieve overall fixation of the clamped workpiece, so as to avoid the positioning pressure head from retreating and loosening the workpiece and causing the workpiece to shake when the workpiece needs to be flipped, thereby improving the stability and safety of workpiece assembly and transfer.

[0009] Furthermore, the clamping grooves are symmetrically arranged on the front and rear sides of the lifting rod, or the clamping grooves are symmetrically arranged on the left and right sides of the lifting rod.

[0010] The beneficial effect of adopting the above further scheme is that each lifting rod is provided with a pair of card slots, and the clamping block is provided with two clamping angles corresponding to the pair of card slots. The insertion and matching stability of the clamping block and the pair of card slots on the lifting rod is better, and the stability of the self-locking of the positioning pressure head is further improved.

[0011] Furthermore, the clamping block is of a U-shaped structure, two clamping angles are provided and are respectively arranged on the inner side of the open end of the clamping block, and the closed end of the clamping block is connected to the piston rod of the clamping drive cylinder.

[0012] The beneficial effect of adopting the above further solution is that the U-shaped clamping block can be matched more accurately and can also achieve better synchronization with the clamping angles of the two clamping slots.

[0013] Furthermore, the clamping block is connected to the piston rod of the clamping drive cylinder via a connecting mechanism; the connecting mechanism includes a clamping connecting block and / or a clamping connecting rod.

[0014] The beneficial effect of adopting the above-mentioned further scheme is that a suitable connecting mechanism can be selected according to the number of clamping blocks. For example, when there are two clamping blocks, a clamping connecting block or a clamping connecting rod can be selected, and the two clamping blocks are respectively connected to the clamping connecting block or the clamping connecting rod, and the clamping connecting block or the clamping connecting rod is connected to the piston rod of the clamping drive cylinder; if there are more than two clamping blocks, such as four blocks, the piston rod of the clamping drive cylinder can also be connected to the clamping connecting block, and the four clamping blocks are respectively connected to the clamping connecting block through the clamping connecting rod, so as to realize the synchronous action of the clamping block and the card slot insertion cooperation on the lifting rod to lock the lifting rod.

[0015] Furthermore, the frame is provided with a track for guiding the movement of the pressing block.

[0016] The beneficial effect of adopting the above further scheme is that, in order to ensure the lateral drive of the clamping block so that its clamping corner can be smoothly inserted into the clamping slot to achieve the locking of the lifting rod, a track can also be set to guide the movement of the clamping block, and the radial force of the clamping drive cylinder can be reduced, thereby extending the service life of the clamping drive cylinder.

[0017] Furthermore, the positioning pressure head is connected to the lifting rod through a pressure head mounting plate.

[0018] The beneficial effect of adopting the above-mentioned further scheme is that the positioning pressure head is arranged on the pressure head mounting plate, and the pressure head mounting plate is provided with a through hole for installing the positioning pressure head, which is convenient for adjusting the position and number of the positioning pressure head according to the position and number of the positioning holes on different engine cylinder heads, and can be suitable for grasping more engine cylinder heads; of course, it is also possible to change the type by directly replacing the pressure head mounting plate, and replace the position and number of the positioning pressure head that matches the workpiece; in addition, the positioning pressure head can be lifted and lowered by driving the pressure head mounting plate, and there can be at least two lifting rods, and there is no need to equip each positioning pressure head with a lifting rod. When multiple positioning pressure heads are needed, the number of lifting rods can be reduced, reducing costs and reducing weight.

[0019] Furthermore, the clamping slot is an oblique slot, and the clamping angle is an oblique angle matching the oblique slot.

[0020] The beneficial effect of adopting the above-mentioned further scheme is that when the clamping block is pushed into the clamping slot of the lifting rod by the action of the clamping drive cylinder, due to the inclined setting of the contact surface of the clamping slot and the clamping corner, the force generated by the pressure of the lifting rod on the clamping block to push the clamping block back is smaller than the friction force exerted on the clamping block, so the clamping block will not retreat and the self-locking effect is better.

[0021] Furthermore, the frame is provided with a guide sleeve for the lifting rod to move up and down.

[0022] The beneficial effect of adopting the above further solution is that the up and down movement of the lifting rod is guided and limited by the guide sleeve.

[0023] Furthermore, a linear bearing is provided between the lifting rod and the guide sleeve.

[0024] The beneficial effect of adopting the above further solution is that it can provide support and guidance for the lifting rod in linear motion, making the movement of the lifting rod more stable and reliable, reducing the friction and wear between the lifting rod and the guide sleeve, and extending the service life of each component.

[0025] Furthermore, at least two left lifting rods are provided, and both left lifting rods are arranged on the left module. The driving mechanism drives the left lifting rod to move left and right through the left module.

[0026] The beneficial effect of adopting the above-mentioned further scheme is that, in order to more stably hold and transfer the engine cylinder head, more than one left lifting rod can be set. In order to realize the synchronous action of all left lifting rods to clamp and release the workpiece, all left lifting rods can be installed on a left module, and the driving mechanism only needs to drive the left module to realize the synchronous drive of the action of the left lifting rod under the left module.

[0027] Furthermore, at least two right lifting rods are provided, and both of the right lifting rods are arranged on the right module. The driving mechanism drives the right lifting rod to move left and right through the right module.

[0028] The beneficial effect of adopting the above-mentioned further scheme is that in order to more stably hold and transfer the engine cylinder head, more than one right lifting rod can be set. In order to realize the synchronous action of all right lifting rods to realize the clamping and loosening of the workpiece, all right lifting rods can be installed on a right module. The driving mechanism only needs to drive the right module to realize the action drive of the right lifting rod under the right module.

[0029] Furthermore, the driving mechanism includes a left rod driving cylinder for driving the left lifting rod to move left and right and a right rod driving cylinder for driving the right lifting rod to move left and right, and the left rod driving cylinder and the right rod driving cylinder are respectively arranged on the frame.

[0030] The beneficial effect of adopting the above further scheme is that if the piston rod of the left rod driving cylinder is connected to the left lifting rod, or the piston rod of the left rod driving cylinder is connected to the left lifting rod through the left module, the action driving of the left lifting rod is realized by the left rod driving cylinder; if the piston rod of the right rod driving cylinder is connected to the right lifting rod, or the piston rod of the right rod driving cylinder is connected to the right lifting rod through the right module, the action driving of the right lifting rod is realized by the right rod driving cylinder.

[0031] Furthermore, the rack is provided with a slide rail for guiding the left module and the right module, and the left module and the right module are respectively provided with a slider adapted to the slide rail.

[0032] The beneficial effect of adopting the above further scheme is that the left and right movement of the lifting rod can be guided and limited through the cooperation of the slide rail and the slider, and at the same time, the radial force of the left rod driving cylinder and the right rod driving cylinder of the driving mechanism can be reduced, thereby extending the service life of the left rod driving cylinder and the right rod driving cylinder.

[0033] Furthermore, the clamping parts of the left lifting rod and the right lifting rod are both L-shaped structures, and the L-shaped structure includes a vertical part and a horizontal part connected to the lower part of the vertical part.

[0034] The beneficial effect of adopting the above further solution is that the vertical portion of the lifting rod can limit the outer edge of the workpiece engine cylinder head, and the horizontal portion can support the bottom of the engine cylinder head, so as to hold the workpiece more stably.

[0035] Furthermore, protective blocks are provided at the clamping parts of the left lifting rod and the right lifting rod.

[0036] The beneficial effect of adopting the above further scheme is that the left lifting rod and the right lifting rod can cooperate to hold the workpiece for transfer, and the addition of the protective block can protect the workpiece engine cylinder head, avoiding wear of the workpiece and the lifting rod when the lifting rod is clamped, thereby ensuring the assembly quality of the engine cylinder head.

[0037] Furthermore, the frame is also provided with a connecting frame for connecting with an external moving component.

[0038] The beneficial effect of adopting the above further scheme is that the grasping device needs to be moved under the action of an external moving part, such as moving from a production line to an assembly position for assembly. The external moving part can be a robot, and the connecting frame facilitates accurate connection and positioning of the robot and the grasping device. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 This is a schematic diagram of the main structure of the utility model;

[0040] Figure 2 This is a perspective three-dimensional structural diagram of the utility model;

[0041] Figure 3 This is a schematic diagram of the structure of the utility model when viewed from above;

[0042] Figure 4 This is a schematic diagram of the structure of the utility model from angle 2;

[0043] Figure 5 This is a schematic diagram of the cross-sectional structure of the connection part between the lifting rod and the frame of the utility model;

[0044] Figure 6 It is a schematic diagram of the cross-sectional structure of the pressing drive cylinder on the frame of the utility model;

[0045] Figure 7 This is a schematic diagram of the cooperation structure between the pressing block and the lifting rod located below the frame of the utility model;

[0046] Figure 8 This is a schematic diagram of the structure of a clamping drive cylinder driving multiple clamping blocks according to the utility model;

[0047] Fig. 9 This is a schematic diagram of the structure of the clamping block and the lifting rod in the matching state of the clamping groove of the utility model;

[0048] In the figure, 1, frame; 2, positioning pressure head; 3, left lifting rod; 4, left module; 5, left rod driving cylinder; 6, right lifting rod; 7, right module; 8, right rod driving cylinder; 9, lifting rod; 10, slot; 11, clamping block; 12, clamping driving cylinder; 13, clamping connecting block; 14, clamping connecting rod; 15, track; 16, pressure head mounting plate; 17, guide sleeve; 18, linear bearing; 19, slide rail; 20, protective block; 21, connecting frame. DETAILED DESCRIPTION

[0049] The principles and features of the present invention are described below in conjunction with examples. The examples are only used to explain the present invention and are not used to limit the scope of the present invention.

[0050] like Figure 1-Figure 9As shown, an engine cylinder head grasping device includes a frame 1, a positioning pressure head 2 arranged on the frame 1 and a clamping mechanism for clamping a workpiece to be grasped, the clamping mechanism includes a left lifting rod 3, a right lifting rod 6, and a driving mechanism for driving the left lifting rod 3 and the right lifting rod 6 to cooperate with each other to clamp or release the workpiece; the positioning pressure head 2 is adapted to the positioning hole on the workpiece to be grasped, the positioning pressure head 2 can be lifted and lowered on the frame 1, and also includes a pressure head self-locking mechanism for locking the positioning pressure head 2.

[0051] The pressure head self-locking mechanism includes a slot 10, a clamping block 11, and a clamping drive cylinder 12 that drives the clamping block 11 to be inserted and matched with the slot 10 to lock the positioning pressure head 2. The positioning pressure head 2 is arranged on the frame 1 through the lifting rod 9, the slot 10 is arranged on the lifting rod 9, and the clamping drive cylinder 12 is arranged on the frame 1. One end of the clamping block 11 is provided with a clamping angle that matches the slot 10, and the other end is connected to the piston rod of the clamping drive cylinder 12. The pressure head self-locking mechanism specifically adopts the method of driving the clamping block 11 to move by the clamping drive cylinder 12, so that the clamping angle of the clamping block 11 can enter the slot 10 of the lifting rod 9, so as to lock the position of the lifting rod 9 on the frame 1, and cooperate with the clamping mechanism to realize the overall fixation of the clamped workpiece, so as to avoid the situation that the positioning pressure head 2 retreats and loosens the workpiece when the workpiece needs to be turned over, causing the workpiece to shake, thereby improving the stability and safety of workpiece assembly and transfer.

[0052] The clamping grooves 10 are symmetrically arranged on the front and rear sides of the lifting rod 9, or the clamping grooves 10 are symmetrically arranged on the left and right sides of the lifting rod 9. Each lifting rod 9 has a pair of clamping grooves 10, and the pressing block 11 has two clamping angles corresponding to the pair of clamping grooves 10. The clamping block 11 and the pair of clamping grooves 10 on the lifting rod 9 have better insertion and matching stability, further improving the self-locking stability of the positioning pressure head 2.

[0053] The clamping block 11 is in a U-shaped structure, and the clamping angles are provided with two and are respectively arranged at the inner side of the open end of the clamping block 11, and the closed end of the clamping block 11 is connected to the piston rod of the clamping drive cylinder 12. The U-shaped clamping block 11 is more accurately matched, and can also make the synchronization with the clamping angles of the two clamping slots 10 better.

[0054] The clamping block 11 is connected to the piston rod of the clamping drive cylinder 12 through a connecting mechanism; the connecting mechanism includes a clamping connecting block 13 and / or a clamping connecting rod 14. A suitable connecting mechanism can be selected according to the number of the clamping blocks 11. For example, when there are two clamping blocks 11, a clamping connecting block 13 or a clamping connecting rod 14 can be selected, and the two clamping blocks 11 are respectively connected to the clamping connecting block 13 or the clamping connecting rod 14, and the clamping connecting block 13 or the clamping connecting rod 14 is connected to the piston rod of the clamping drive cylinder 12; if there are more than two clamping blocks 11, such as four, the piston rod of the clamping drive cylinder 12 can also be connected to the clamping connecting block 13, and the four clamping blocks 11 are respectively connected to the clamping connecting block 13 through the clamping connecting rod 14, so that the clamping block 11 can be synchronously moved and inserted into the slot 10 on the lifting rod 9 to lock the lifting rod 9.

[0055] The frame 1 is provided with a track 15 for guiding the movement of the clamping block 11. In order to ensure that the clamping block 11 is driven transversely so that its clamping angle can be smoothly inserted into the clamping slot 10 to lock the lifting rod 9, a track 15 for guiding the movement of the clamping block 11 can also be provided, and the radial force of the clamping drive cylinder 12 can also be reduced, thereby extending the service life of the clamping drive cylinder 12.

[0056] The positioning ram 2 is connected to the lifting rod 9 through the ram mounting plate 16. The positioning ram 2 is arranged on the ram mounting plate 16, and there is a through hole for installing the positioning ram 2 on the ram mounting plate 16, which is convenient for adjusting the position and number of the positioning ram 2 according to the position and number of the positioning holes on different engine cylinder heads, and can be suitable for grabbing more engine cylinder heads; of course, it is also possible to change the type by directly replacing the ram mounting plate 16, and replace the position and number of the positioning ram 2 that matches the workpiece; in addition, the lifting drive of the positioning ram 2 can be realized by driving the ram mounting plate 16, and the lifting rod 9 can be at least two, and each positioning ram 2 does not need to be equipped with a lifting rod 9. When multiple positioning rams 2 are needed, the number of lifting rods 9 can be reduced, reducing costs and reducing weight.

[0057] The clamping groove 10 is an oblique groove, and the clamping angle is an oblique angle matched with the oblique groove. When the clamping block 11 is pushed into the clamping groove 10 of the lifting rod 9 by the clamping driving cylinder 12, due to the inclined setting of the contact surface of the clamping groove 10 and the clamping angle, the pressure of the lifting rod 9 on the clamping block 11, which pushes the clamping block 11 to retreat, is smaller than the friction force on the clamping block 11, so the clamping block 11 will not retreat, and the self-locking effect is better.

[0058] The frame 1 is provided with a guide sleeve 17 for the up and down movement of the lifting rod 9. The up and down movement of the lifting rod 9 is guided and limited by the guide sleeve 17.

[0059] A linear bearing 18 is provided between the lifting rod 9 and the guide sleeve 17. It can provide support and guidance for the lifting rod 9 in linear motion, making the movement of the lifting rod 9 more stable and reliable, reducing the friction and wear between the lifting rod 9 and the guide sleeve 17, and extending the service life of each component.

[0060] At least two left lifting rods 3 are provided, and the left lifting rods 3 are all arranged on the left module 4. The driving mechanism drives the left lifting rod 3 to move left and right through the left module 4. In order to more stably hold and transfer the engine cylinder head, more than one left lifting rod 3 can be provided. In order to realize the synchronous action of all left lifting rods 3 to clamp and release the workpiece, all left lifting rods 3 can be installed on one left module 4. The driving mechanism only needs to drive the left module 4 to realize the synchronous drive of the action of the left lifting rod 3 under the left module 4.

[0061] At least two right lifting rods 6 are provided, and the right lifting rods 6 are all arranged on the right module 7. The driving mechanism drives the right lifting rod 6 to move left and right through the right module 7. In order to more stably hold and transfer the engine cylinder head, more than one right lifting rod 6 can be provided. In order to realize the synchronous action of all right lifting rods 6 to realize the clamping and loosening of the workpiece, all right lifting rods 6 can be installed on one right module 7. The driving mechanism only needs to drive the right module 7 to realize the action driving of the right lifting rod 6 under the right module 7.

[0062] The driving mechanism includes a left rod driving cylinder 5 for driving the left lifting rod 3 to move left and right, and a right rod driving cylinder 8 for driving the right lifting rod 6 to move left and right, and the left rod driving cylinder 5 and the right rod driving cylinder 8 are respectively arranged on the frame 1. If the piston rod of the left rod driving cylinder 5 is connected to the left lifting rod 3, or the piston rod of the left rod driving cylinder 5 is connected to the left lifting rod 3 through the left module 4, the left lifting rod 3 is driven by the left rod driving cylinder 5; if the piston rod of the right rod driving cylinder 8 is connected to the right lifting rod 6, or the piston rod of the right rod driving cylinder 8 is connected to the right lifting rod 6 through the right module 7, the right lifting rod 6 is driven by the right rod driving cylinder 8.

[0063] The frame 1 is provided with a slide rail 19 for guiding the left module 4 and the right module 7, and the left module 4 and the right module 7 are respectively provided with a slider adapted to the slide rail 19. The cooperation between the slide rail 19 and the slider can guide and limit the left and right movement of the lifting rod, and at the same time can reduce the radial force of the left rod driving cylinder 5 and the right rod driving cylinder 8 of the driving mechanism, thereby extending the service life of the left rod driving cylinder 5 and the right rod driving cylinder 8.

[0064] The clamping parts of the left lifting rod 3 and the right lifting rod 6 are both L-shaped structures, and the L-shaped structure includes a vertical part and a horizontal part connected to the lower part of the vertical part. The vertical part of the lifting rod can limit the outer edge of the workpiece engine cylinder head, and the horizontal part can support the bottom of the engine cylinder head, so as to hold the workpiece more stably.

[0065] The clamping parts of the left lifting rod 3 and the right lifting rod 6 are both provided with a protective block 20. The left lifting rod 3 and the right lifting rod 6 can cooperate to hold the workpiece tightly for transfer. The addition of the protective block 20 can protect the workpiece engine cylinder head, avoid wearing the workpiece and the lifting rod when the lifting rod is held tightly, thereby ensuring the assembly quality of the engine cylinder head.

[0066] The frame 1 is also provided with a connecting frame 21 for connecting with an external moving part. The grabbing device needs to be moved under the action of the external moving part, such as moving from a production line to an assembly position for assembly. The external moving part can be a manipulator, and the connecting frame 21 facilitates the manipulator to accurately connect and position the grabbing device.

[0067] The gripping device is provided with four positioning pressure heads 2, and the four positioning pressure heads 2 are correspondingly inserted into the corresponding positioning holes such as bolt through holes on the engine cylinder head of the workpiece. The left lifting rod 3 and the right lifting rod 6 on the left and right sides will hold the workpiece, i.e., the engine cylinder head, under the action of the driving mechanism. The external moving parts such as the gripper or the manipulator can be connected to the gripping device through the connecting frame 21. The gripping device as a whole moves upward under the drive of the external moving parts to lift the workpiece. At this time, the clamping driving cylinder 12 can use the cylinder to push the clamping connecting block 13, thereby driving the clamping connecting rod 14 to drive the clamping corner of the clamping block 11 into the clamping groove 10 of the lifting rod 9, locking the position of the lifting rod 9 and the positioning pressure head 2, thereby realizing the overall fixation of the workpiece. When the workpiece is grasped, transferred or flipped during transportation, the positioning pressure head 2 can be prevented from retreating under the action of the gravity of the workpiece, loosening the bolt through hole of the workpiece, and causing the workpiece to shake. The gripping device is provided with four lifting rods 9 and There are four clamping blocks 11. When the clamping block 11 is pushed into the clamping groove 10 of the lifting rod 9 by the clamping drive cylinder 12, the inclined setting of the contact surface between the two components makes the force generated by the pressure of the lifting rod 9 on the clamping block 11 to push the clamping block 11 back is less than the friction force on the clamping block 11, and the clamping block 11 will not retreat, thereby realizing the self-locking function; when lifting, the lifting rod can also support the workpiece from below, which is used to overcome the gravity of the engine cylinder head during the entire transfer process; the left rod driving cylinder 5 and the right rod driving cylinder 8 respectively drive the left lifting rod 3 and the right lifting rod 6 to move along the slide rail 19 through the left module 4 and the right module 7 until the protective block 20 of the lifting rod contacts the workpiece, and the left rod driving cylinder 5 and the right rod driving cylinder 8 stop moving to achieve the clamping of the workpiece. When different types of workpieces need to be replaced, the positioning pressure head 2, the left lifting rod 3 and the right lifting rod 6 can be replaced to achieve the effect of adapting to different models. The utility model has a simple structure and is easy to operate. Whether lifting a workpiece or turning over a workpiece, the cooperation between the positioning pressure head 2 and the lifting rod can ensure the stability and safety of the workpiece during clamping, transfer or transportation, thereby avoiding shaking of the workpiece.

[0068] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An engine cylinder head grabbing device, characterized in that: The invention comprises a frame (1), a positioning pressure head (2) arranged on the frame (1), and a clamping mechanism for clamping a workpiece to be grasped, wherein the clamping mechanism comprises a left lifting rod (3), a right lifting rod (6), and a driving mechanism for driving the left lifting rod (3) and the right lifting rod (6) to cooperate with each other to clamp or release the workpiece; the positioning pressure head (2) is matched with a positioning hole on the workpiece to be grasped, the positioning pressure head (2) is arranged on the frame (1) in a liftable manner, and further comprises a pressure head self-locking mechanism for locking the positioning pressure head (2).

2. The engine cylinder head gripping device according to claim 1, characterized in that: The pressure head self-locking mechanism comprises a card slot (10), a clamping block (11) and a clamping drive cylinder (12) for driving the clamping block (11) to be inserted and matched with the card slot (10) to lock the positioning pressure head (2); the positioning pressure head (2) is arranged on the frame (1) through a lifting rod (9); the card slot (10) is arranged on the lifting rod (9); the clamping drive cylinder (12) is arranged on the frame (1); one end of the clamping block (11) is provided with a clamping angle matched with the card slot (10); the other end is connected to the piston rod of the clamping drive cylinder (12).

3. The engine cylinder head gripping device according to claim 2, characterized in that: The clamping grooves (10) are symmetrically arranged on the front and rear sides of the lifting rod (9), or the clamping grooves (10) are symmetrically arranged on the left and right sides of the lifting rod (9).

4. The engine cylinder head gripping device according to claim 3, characterized in that: The clamping block (11) has a U-shaped structure, and two clamping angles are provided and are respectively arranged on the inner side of the open end of the clamping block (11), and the closed end of the clamping block (11) is connected to the piston rod of the clamping drive cylinder (12).

5. The engine cylinder head gripping device according to claim 2, characterized in that: The pressing block (11) is connected to the piston rod of the pressing drive cylinder (12) via a connecting mechanism; the connecting mechanism comprises a pressing connecting block (13) and / or a pressing connecting rod (14).

6. The engine cylinder head gripping device according to claim 2, characterized in that: The positioning pressure head (2) is connected to the lifting rod (9) via a pressure head mounting plate (16); and / or the clamping groove (10) is an oblique groove, and the clamping angle is an oblique angle matching the oblique groove.

7. The engine cylinder head gripping device according to claim 1, characterized in that: At least two left lifting rods (3) are provided, and the left lifting rod (3) is arranged on the left module (4), and the driving mechanism drives the left lifting rod (3) to move left and right through the left module (4); and / or at least two right lifting rods (6) are provided, and the right lifting rod (6) is arranged on the right module (7), and the driving mechanism drives the right lifting rod (6) to move left and right through the right module (7).

8. The engine cylinder head gripping device according to any one of claims 1 to 7, characterized in that: The driving mechanism comprises a left rod driving cylinder (5) for driving the left lifting rod (3) to move left and right, and a right rod driving cylinder (8) for driving the right lifting rod (6) to move left and right. The left rod driving cylinder (5) and the right rod driving cylinder (8) are respectively arranged on the frame (1).

9. The engine cylinder head gripping device according to any one of claims 1 to 7, characterized in that: The clamping parts of the left lifting rod (3) and the right lifting rod (6) are both L-shaped structures, and the L-shaped structure includes a vertical part and a horizontal part connected to the lower part of the vertical part; and / or the clamping parts of the left lifting rod (3) and the right lifting rod (6) are both provided with protective blocks (20).

10. The engine cylinder head gripping device according to any one of claims 1 to 7, characterized in that: The frame (1) is also provided with a connecting frame (21) for connecting with an external moving component.

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