A grasping mechanism for a diesel engine

Abstract

The present invention provides a grasping mechanism for a diesel engine. The diesel engine is equipped with a bottom adapter plate and a top adapter plate. The grasping mechanism includes a jaw device and a control device. The jaw device includes a substrate, a horizontal grasping device, a horizontal alignment device, and a vertical grasping device. The horizontal grasping device is arranged on the substrate in a horizontally switchable manner between a horizontal open state and a horizontal clamping state along the horizontal direction for grasping the bottom adapter plate. The horizontal alignment device is arranged on the substrate and connected to the horizontal grasping device to drive the horizontally clamped horizontal grasping device to move relative to the substrate to an alignment position. The vertical grasping device is movably arranged on the substrate between a vertical open position and a vertical clamping position in the vertical direction and is located above the horizontal grasping device for grasping the top adapter plate after the horizontal grasping device moves to the alignment position. The control device is electrically connected to the horizontal grasping device, the horizontal alignment device, and the vertical grasping device respectively.

Description

Technical Field

[0001] The present invention relates to the field of diesel engines, and particularly to a grasping mechanism for a diesel engine. Background Art

[0002] In the process of the cylinder block of a diesel engine being flipped during the production (assembly) process, in the existing production process of diesel engines, the grasping of the diesel engine is carried out manually. After the cylinder block of the diesel engine is manually installed on the clamping jaws, the flipping action is then realized, which has problems such as low efficiency and low safety.

[0003] Therefore, a grasping mechanism for a diesel engine is needed to at least partially solve the above problems. Summary of the Invention

[0004] A series of simplified concepts are introduced in the Summary of the Invention section, which will be further described in detail in the Detailed Description section. The Summary of the Invention section of the present invention does not mean to attempt to define the key features and essential technical features of the claimed technical solution, nor does it mean to attempt to determine the protection scope of the claimed technical solution.

[0005] The present invention provides a grasping mechanism for a diesel engine. Bottom adapter plates for grasping are installed at the bottoms of both axial ends of the diesel engine, and top adapter plates for grasping are installed at the tops of both axial ends of the diesel engine. The grasping mechanism includes:

[0006] Two mirror - arranged jaw devices, and the jaw device includes:

[0007] A substrate;

[0008] A horizontal grasping device, which is arranged on the substrate in a horizontally open state and a horizontally clamped state that can be switched relative to the substrate in the horizontal direction for grasping the bottom adapter plate of the diesel engine. The horizontal grasping device includes a horizontal locking assembly for preventing the horizontal grasping device in the horizontally clamped state from switching to the horizontally open state;

[0009] A horizontal alignment device, which is arranged on the substrate and connected to the horizontal grasping device to drive the horizontal grasping device in the horizontally clamped state to move relative to the substrate to an alignment position; and

[0010] A vertical gripping device, which is movably arranged on the substrate between a vertical open position and a vertical clamping position in the vertical direction relative to the substrate, is located above the horizontal gripping device, and is used to grip the top adapter plate of the diesel engine after the horizontal gripping device moves to the alignment position. The vertical gripping device includes a vertical locking assembly for preventing the vertical gripping device located at the vertical clamping position from moving to the vertical open position; and

[0011] A control device, which is electrically connected to the horizontal gripping device, the horizontal alignment device and the vertical gripping device respectively.

[0012] The gripping mechanism for a diesel engine according to the present invention realizes the automatic gripping of the cylinder block, saves manpower and improves production efficiency. The horizontal alignment process can eliminate the position deviation when the pallet enters the station. The gripping mechanism is provided with a plurality of mechanical locking members in its structure, and at the same time, program interlocking and sensor detection are added, which can prevent the diesel engine from being unclawed due to accidental factors and improve the safety of the gripping mechanism during the automatic operation process.

[0013] Optionally, the horizontal gripping device further includes:

[0014] A left door, which is movably arranged on the substrate in the horizontal direction relative to the substrate and is used to grip the bottom adapter plate of the diesel engine from the left side;

[0015] A right door, which is movably arranged on the substrate in the horizontal direction relative to the substrate and is used to grip the bottom adapter plate of the diesel engine from the right side; and

[0016] A horizontal gripping drive device, which is electrically connected to the control device and mechanically connected to the left door and the right door to drive the left door and the right door to approach or move away from each other according to the instructions of the control device;

[0017] Wherein, in the horizontal clamping state, the left door and the right door approach each other; in the horizontal open state, the left door and the right door move away from each other.

[0018] Optionally, the left door has a left bottom clamping part and a left bearing part, and the right door has a right bottom clamping part and a right bearing part. As the left door and the right door approach each other, the left bottom clamping part and the right bottom clamping part respectively abut against two opposite outer sides of the bottom adapter plate from both sides, and the left bearing part and the right bearing part respectively move below the bottom surface of the bottom adapter plate.

[0019] Optionally, the horizontal grasping device further includes a horizontal grasping sensor electrically connected to the control device, and the horizontal grasping sensor is used to sense whether the horizontal grasping device is in the horizontal clamping state.

[0020] Optionally, the horizontal locking assembly includes:

[0021] A horizontal locking shaft, one end of the horizontal locking shaft is fixed to one of the left door and the right door, so that the other end of the horizontal locking shaft extends beyond the other of the left door and the right door in the horizontal clamping state, and the horizontal locking shaft has a locking notch;

[0022] A horizontal locking lock piece, the horizontal locking lock piece is movable between a horizontal locking position and a horizontal unlocking position relative to the horizontal grasping device, and the horizontal locking lock piece located at the horizontal locking position is at least partially located in the locking notch to prevent the left door and the right door from moving away from each other; and

[0023] A horizontal locking lock piece driving device, the horizontal locking lock piece driving device is electrically connected to the control device and connected to the horizontal locking lock piece, so as to drive the horizontal locking lock piece to move to the horizontal locking position after the horizontal clamping device is in the horizontal clamping state.

[0024] Optionally, the horizontal locking assembly further includes a horizontal locking sensor electrically connected to the control device, and the horizontal locking sensor is used to sense whether the horizontal locking lock piece is in the horizontal locking position.

[0025] Optionally, the horizontal alignment device includes:

[0026] An alignment driving device, the alignment driving device is electrically connected to the control device and mechanically connected to the horizontal grasping device, so as to drive the horizontal grasping device in the horizontal clamping state to move relative to the substrate according to the instruction of the control device;

[0027] An alignment detection member, the alignment detection member is arranged on the substrate and electrically connected to the control device, and is used to detect whether the horizontal grasping device is in the alignment position; and

[0028] An alignment locking assembly, the alignment locking assembly is arranged on one of the substrate and the horizontal grasping device, and is movably connected to the other of the substrate and the horizontal grasping device, and is used to prevent the horizontal grasping device in the alignment position from moving relative to the substrate.

[0029] Optionally, the alignment detection member includes:

[0030] A first alignment sensor for sensing whether the horizontal gripping device is in a first alignment position; and

[0031] A second alignment sensor for sensing whether the horizontal gripping device is in the alignment position, the second alignment sensor and the first alignment sensor being spaced apart along the horizontal direction;

[0032] The alignment locking assembly includes:

[0033] A first limiting member disposed on one of the substrate and the horizontal gripping device and movably connected to the other of the substrate and the horizontal gripping device, the first limiting member being movable relative to the substrate between a first unlocking position and a first locking position, the first limiting member connecting the substrate and the horizontal gripping device in the first locking position; and

[0034] A second limiting member disposed on one of the substrate and the horizontal gripping device and movably connected to the other of the substrate and the horizontal gripping device, the second limiting member being movable relative to the substrate between a second unlocking position and a second locking position, the second limiting member connecting the substrate and the horizontal gripping device in the second locking position;

[0035] Wherein, after the alignment driving device drives the horizontal gripping device to move along a first horizontal direction to the first alignment position, the second limiting member moves from the second unlocking position to the second locking position;

[0036] After the alignment driving device drives the horizontal gripping device to move from the first alignment position to the alignment position, the first limiting member moves from the first unlocking position to the first locking position to, together with the second limiting member, prevent the horizontal gripping device from leaving the alignment position.

[0037] Optionally, the second limiting member is disposed on the horizontal gripping device, and when the horizontal gripping device moves between the first alignment position and the alignment position, the second limiting member moves together with the horizontal gripping device.

[0038] Optionally, the vertical gripping device further includes a vertical gripping driving device electrically connected to the control device and mechanically connected to the vertical gripping device to drive the vertical gripping device to move between the vertical open position and the vertical clamping position according to an instruction of the control device.

[0039] Optionally, the vertical gripping device further includes a left pressing portion, a left top clamping portion, a right pressing portion, and a right top clamping portion. When moving to the vertical clamping position along with the vertical gripping device, the left pressing portion and the right pressing portion abut against the top surface of the top adapter plate from above, and the left top clamping portion and the right top clamping portion respectively abut against two opposite outer side surfaces of the top adapter plate.

[0040] Optionally, at least one of the left top clamping portion and the right top clamping portion includes an inner side surface that slopes from the inner upper side to the outer lower side.

[0041] Optionally, the vertical gripping device further includes a vertical gripping sensor electrically connected to the control device, and the vertical gripping sensor is used to detect whether the vertical gripping device is located at the vertical clamping position.

[0042] Optionally, the vertical locking assembly includes:

[0043] A vertical limiting member, which is provided on one of the substrate and the vertical gripping device and is movably connected to the other of the substrate and the vertical gripping device. The vertical limiting member is movable relative to the substrate between a vertical unlocking position and a vertical locking position, and the vertical limiting member connects the substrate and the vertical gripping device at the vertical locking position;

[0044] A vertical limiting member driving device, which is electrically connected to the control device and mechanically connected to the vertical limiting member to drive the vertical limiting member to move to the vertical locking position when the vertical gripping device is located at the vertical clamping position; and

[0045] A vertical limiting detection member, which includes a vertical locking sensor electrically connected to the control device, and the vertical locking sensor senses whether the vertical limiting member is located at the vertical locking position. Description of the Drawings

[0046] The following drawings of the present invention are used as part of the present invention to understand the present invention. The embodiments of the present invention shown in the drawings and their descriptions are used to explain the principles of the present invention. In the drawings:

[0047] Figure 1 Is a perspective view of a gripping mechanism for a diesel engine according to the present invention, in which the diesel engine block is shown to facilitate understanding of the relative position relationship between the gripping mechanism for the diesel engine and the diesel engine block;

[0048] Figure 2 Is a front view of the jaw device of the gripping mechanism for a diesel engine according to the present invention;

[0049] Figure 3 Stereogram of the horizontal grasping device of the grasping mechanism for a diesel engine according to the present invention, wherein the horizontal grasping device is in a horizontally open state and the horizontal locking lock piece is in the horizontal unlocking position;

[0050] Figure 4 Stereogram of the horizontal grasping device of the grasping mechanism for a diesel engine according to the present invention, wherein the horizontal grasping device is in a horizontally clamped state and the horizontal locking lock piece is in the horizontal locking position;

[0051] Figure 5 is Figure 4 An enlarged view of part A in another angle;

[0052] Figure 6 Partial stereogram of the horizontal locking lock piece of the grasping mechanism for a diesel engine according to the present invention being in the horizontal locking position;

[0053] Figure 7 Stereogram of the vertical limiting member of the grasping mechanism for a diesel engine according to the present invention;

[0054] Figure 8 Stereogram of the top jaw of the grasping mechanism for a diesel engine according to the present invention;

[0055] Figure 9 Stereogram of the bottom jaw of the grasping mechanism for a diesel engine according to the present invention;

[0056] Figure 10 Stereogram of the second limiting member of the grasping mechanism for a diesel engine according to the present invention; and

[0057] Figure 11 Schematic diagram of the alignment process, wherein Figure 11 (a) is the position of the horizontal grasping device before alignment, Figure 11 (b) is the horizontal grasping device located at the first alignment position, Figure 11 (c) is the horizontal grasping device located at the alignment position.

[0058] Explanation of reference numerals:

[0059] 100: Jaw device

[0060] 1: Diesel engine

[0061] 2: Bottom adapter plate

[0062] 3: Top adapter plate

[0063] 4: Tray

[0064] 10: Substrate

[0065] 20: Horizontal grasping device

[0066] 21: Horizontal grasping cylinder

[0067] 22: Horizontal grasping sensor

[0068] 24: Left door

[0069] 25: Right door

[0070] 26: Bottom gripper

[0071] 27: Left bottom clamping part

[0072] 28: Bottom bearing part

[0073] 30: Horizontal alignment device

[0074] 31: Horizontal alignment cylinder

[0075] 32: Second alignment sensor

[0076] 33: First alignment sensor

[0077] 40: Horizontal locking assembly

[0078] 41: Horizontal locking cylinder

[0079] 42: Horizontal locking sensor

[0080] 44: Horizontal locking shaft

[0081] 45: Horizontal shaft locking part

[0082] 46: Horizontal locking lock piece

[0083] 47: Horizontal lock piece locking part

[0084] 50: Second limiting member

[0085] 51: Second limiting cylinder

[0086] 53: Second limiting shaft rod

[0087] 55: Second limiting sensor

[0088] 60: Vertical limiting member

[0089] 61: Vertical limiting cylinder

[0090] 63: Vertical limiting shaft rod

[0091] 65: Vertical limiting sensor

[0092] 70: Vertical grasping device

[0093] 71, 72: Vertical grasping cylinder

[0094] 73: Inner side

[0095] 74: Vertical grasping sensor

[0096] 76: Top jaw

[0097] 77: Left top clamping part

[0098] 78: Left top pressing part

[0099] 79: Top member

[0100] 80: First limiting member Detailed implementation manners

[0101] In the following description, a large number of specific details are given to provide a more thorough understanding of the present invention. However, it is obvious to those skilled in the art that the embodiments of the present invention can be implemented without one or more of these details. In other examples, in order to avoid confusion with the embodiments of the present invention, some well-known technical features in the art are not described.

[0102] Now, exemplary embodiments according to the present invention will be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many different forms and should not be construed as being limited only to the embodiments set forth herein. It should be understood that these embodiments are provided so that the disclosure of the present invention is thorough and complete, and the concept of these exemplary embodiments is fully conveyed to those of ordinary skill in the art. In the drawings, for the sake of clarity, the same reference numerals are used to represent the same elements, and thus their descriptions will be omitted.

[0103] The following will be described in detail in conjunction with specific implementation manners.

[0104] The present invention provides a grasping mechanism for a diesel engine, which is mainly used for automatically grasping a diesel engine cylinder block to complete the production and assembly of the diesel engine.

[0105] As Figure 1 shown, a preferred embodiment of the grasping mechanism for a diesel engine according to the present invention includes two mirror-image arranged jaw devices 100 for grasping a diesel engine (specifically, a diesel engine cylinder block) (one of the jaw devices is not shown). Since the structures of the two jaw devices 100 are mirror-symmetrical and their functions are exactly the same, only one of the jaw devices 100 will be described herein. The jaw device 100 is arranged on the bracket (not shown) of the grasping mechanism.

[0106] After the diesel engine 1 enters the station, the relative positional relationship between the diesel engine 1 on the tray 4 and the jaw device 100 is as Figure 1As shown. The outer shape of the diesel engine 1 is generally cylindrical, having a horizontal axial axis A1. In this article, the direction along the axis A1 is referred to as the front-back direction, and the direction perpendicular to A1 in the horizontal plane is referred to as the left-right direction. Figure 1 In Figure 1 , the D1 direction is called left (also referred to as the first horizontal direction), the D2 direction is called right (also referred to as the second horizontal direction), the D3 direction is called front (also referred to as the third horizontal direction), and the D4 direction is called back (also referred to as the fourth horizontal direction).

[0107] As Figure 1 shown, a top adapter plate 3 for grasping and a bottom adapter plate 2 are respectively installed at the front end and the rear end of the diesel engine 1. Specifically, the diesel engine 1 has four top adapter plates 3 and two bottom adapter plates 2. The top adapter plate 3 and the bottom adapter plate 2 are configured as cuboid structures. The top adapter plate 3 and the bottom adapter plate 2 are firmly installed to the diesel engine 1. The gripper device 100 has a generally left-right symmetric structure. Two bottom grippers 26 of the gripper device 100 are used to grasp the bottom adapter plate 2. Two top grippers 76 of the gripper device 100 are used to grasp the top adapter plate 3.

[0108] As Figure 1 and Figure 2 shown, the gripper device 100 includes a base plate 10, a horizontal grasping device 20, a horizontal alignment device 30, a vertical grasping device 70, and a control device (not shown). The horizontal grasping device 20, the horizontal alignment device 30, and the vertical grasping device 70 are all provided on the base plate 10 and are all movable relative to the base plate 10. The control device is electrically connected to the horizontal grasping device 20, the horizontal alignment device 30, and the vertical grasping device 70 respectively. When the diesel engine 1 enters the station, the relative position relationship between the diesel engine 1 and the gripper device 100 is that the axial axis A1 of the diesel engine 1 is perpendicular to the base plate 10 of the gripper device 100.

[0109] In a preferred embodiment of the present invention, when the diesel engine 1 enters the station, the in-station detection sensor senses that the diesel engine enters the station, and a pair of gripper devices 100 automatically descend to the grasping working position to prepare to grasp the diesel engine 1. The steps for the gripper device 100 to grasp the diesel engine 1 include:

[0110] Step S10: The control device controls the horizontal grasping device 20 to move to clamp the bottom adapter plate 2 of the diesel engine 1 in the horizontal left-right direction. This step can also be called the bottom grasping step;

[0111] Step S20: The gripper device 100 rises, the diesel engine 1 is separated from the tray 4, and the control device controls the horizontal alignment device 30 to work to align the relative positions of the horizontal grasping devices 20 of a pair of gripper devices 100. This step can also be called the alignment step;

[0112] Step S30: The control device controls the vertical gripping device 70 to move to the vertical clamping position and clamp the top adapter plate 3 of the diesel engine 1 in the vertical direction. This step can also be referred to as the top gripping step.

[0113] Hereinafter, the horizontal gripping device 20 and step S10 will be introduced first.

[0114] The horizontal gripping device 20 includes a horizontal gripping cylinder 21, a horizontal gripping sensor 22, a left door 24, a right door 25, and two bottom jaws 26.

[0115] The horizontal gripping cylinder 21 is the driving device of the horizontal gripping device 20. The horizontal gripping cylinder 21 is connected to the left door 24 and the right door 25 through a connecting member. The horizontal gripping cylinder 21 can drive the left door 24 and the right door 25 to approach each other or separate from each other according to a control signal. In this article, the horizontal gripping cylinder 21 driving the left door 24 and the right door 25 to approach each other is also referred to as the horizontal gripping cylinder 21 retracting, and the horizontal gripping cylinder 21 driving the left door 24 and the right door 25 to separate from each other is also referred to as the horizontal gripping cylinder 21 extending. The horizontal gripping cylinder 21 can be configured as a multiple-effect cylinder. It can be understood that the driving device of the horizontal gripping device 20 can also be configured as other power devices, such as an electric motor.

[0116] The left door 24 and the right door 25 are gripping components. The left door 24 and the right door 25 are movably arranged on the substrate 10 and move left and right relative to the substrate 10. A pair of opposite bottom jaws 26 are arranged on the left door 24 and the right door 25. As Figure 9 shown, the bottom jaw 26 of the left door 24 includes a left bottom clamping portion 27 and a left bearing portion 28. When the left door 24 and the right door 25 approach each other, the left bottom clamping portion 27 is used to abut against the left outer surface of the bottom adapter plate 2 from the left side, and the left bearing portion 28 extends from the left side under the bottom surface of the bottom adapter plate 2, so that the bottom adapter plate 2 can be gripped from the lower left. The bottom jaw 26 located on the right door 25 also has a similar structure, having a right bottom clamping portion and a right bearing portion, so that the bottom adapter plate 2 can be gripped from the lower right. The state where the left door 24 and the right door 25 approach each other horizontally and grip the bottom adapter plate 2 is called the horizontal clamping state, as Figure 4 shown. The state where the left door 24 and the right door 25 separate from each other horizontally and disengage from the bottom adapter plate 2 is called the horizontal open state, as Figure 3 shown. That is to say, the horizontal gripping device 20 is switchably arranged on the substrate 10 between the horizontal open state and the horizontal clamping state in the horizontal direction relative to the substrate 10.

[0117] The horizontal grasping device 20 further includes a horizontal grasping sensor 22. The horizontal grasping sensor 22 is used to sense whether the left door 24 and the right door 25 are in a horizontally clamped state. The horizontal grasping sensor 22 is configured as a proximity switch and is provided on the left door 24. When the left door 24 and the right door 25 approach each other horizontally and are in a horizontally clamped state, the horizontal grasping sensor 22 generates a horizontal clamping signal. It can be understood that the horizontal grasping sensor 22 can also be provided at other characteristic positions (such as the right door) that can sense the horizontally clamped state of the left door 24 and the right door 25, or other sensors based on other principles can be used to sense the horizontally clamped state of the left door 24 and the right door 25 (such as using a photoelectric switch, a laser range finder, etc.).

[0118] The horizontal grasping device 20 further includes a horizontal locking assembly 40. The horizontal locking assembly 40 is used to fix the relative positions between the left door 24 and the right door 25 in the horizontally clamped state to prevent the left door 24 and the right door 25 from separating from each other. The horizontal locking assembly 40 includes a horizontal locking shaft 44, a horizontal locking lock piece 46, a horizontal locking cylinder 41, and a horizontal locking sensor 42. As Figure 3 and Figure 4 shown, the horizontal locking shaft 44 extends in the horizontal left - right direction. The left end of the horizontal locking shaft 44 is fixed to the left door, and the right end extends beyond the right door 25 in the horizontally clamped state (as Figure 4 shown), and the horizontal locking shaft 44 has a horizontal shaft locking portion 45. The horizontal shaft locking portion 45 can be set, for example, as the notch 45 as Figure 3 shown. In the horizontally clamped state, as Figure 4 shown, the notch 45 extends beyond the right door 25 (to the right side of the right door 25).

[0119] As Figure 5 and Figure 6 shown, the horizontal locking lock piece 46 is located on the right side of the right door 25. The horizontal locking lock piece 46 has a horizontal lock piece locking portion 47 that cooperates with the notch 45. The horizontal locking cylinder 41 is a driving device for the horizontal locking lock piece 46. The horizontal locking cylinder 41 is connected to the horizontal locking lock piece 46 through a connecting member, so that the horizontal locking lock piece 46 can move vertically between a horizontal locking position and a horizontal unlocking position. In this article, the horizontal locking cylinder 41 driving the horizontal locking lock piece 46 to move upward to the horizontal locking position is also referred to as the horizontal locking cylinder 41 extending, and the horizontal locking cylinder 41 driving the horizontal locking lock piece 46 to move downward to the horizontal unlocking position is also referred to as the horizontal locking cylinder 41 retracting.

[0120] When the left door 24 and the right door 25 are in the horizontal clamping state, the horizontal grasping sensor 22 generates a horizontal clamping signal. The control device detects this horizontal clamping signal and then controls the horizontal locking cylinder 41 to drive the horizontal locking lock piece 46 to move upward from the horizontal unlocking position to the horizontal locking position, so that the horizontal lock piece locking part 47 moves into the notch 45, thereby clamping the horizontal locking shaft 44 relative to the right door 25, making the relative position between the left door 24 and the right door 25 in the horizontal clamping state fixed, that is, preventing the horizontal grasping device 20 in the horizontal clamping state from switching to the horizontal opening state. The horizontal locking sensor 42 is used to sense whether the horizontal locking lock piece 46 is in the horizontal locking position. The horizontal locking sensor 42 can be configured as a proximity switch. When the horizontal locking lock piece 46 is in the horizontal locking position, the horizontal locking sensor 42 generates a horizontal locking signal.

[0121] It can be understood that the horizontal locking shaft 44 can also be arranged on the right door 25 and can extend beyond the left door 24. It can be understood that the horizontal lock piece locking part 47 and the horizontal shaft locking part 45 can also adopt other locking structures. For example, the horizontal lock piece locking part 47 is configured as a shaft rod, and the horizontal shaft locking part 45 is configured as a through hole.

[0122] According to the above description, the implementation method of step S10 can already be understood. The following introduces the horizontal alignment device 30 and step S20.

[0123] Affected by the installation accuracy of the diesel engine 1 installed on the pallet 4 and the station position accuracy of the pallet 4, it cannot be guaranteed that the diesel engine 1 is in an ideal alignment position after entering the station. This results in that after step S10 (the bottom adapter plate 2 of the diesel engine 1 is grasped by the horizontal grasping device 20), the center lines of the respective horizontal grasping devices 20 of the two jaw devices 100 are not on the same straight line, as Figure 11 shown in (a).

[0124] Figure 11 is a schematic diagram of the two jaw devices 100 seen from above. In the figure, the D1 direction is to the left, the D2 direction is to the right, the D3 direction is to the front, and the D4 direction is to the rear. Figure 11 Only for illustrating the alignment process, unnecessary structures are simplified, and the size ratio is not accurate either. Since the two jaw devices 100 are arranged in mirror symmetry, for the convenience of reading, in Figure 11 , in the jaw device 100 on the D3 direction side, the alignment position is indicated, and in the jaw device 100 on the D4 direction side, the specific components of the horizontal alignment device 30 at the corresponding position are shown.

[0125] Such as Figure 11As shown, two jaw devices 100 are arranged in mirror image, and the diesel engine cylinder block held by the bottom adapter plate is located in the dotted box area Q. The horizontal gripping device 20 of the jaw device 100 in front of the diesel engine cylinder block in the figure (represented by the left door 24 and the right door 25, and at this time the relative positions between the left door 24 and the right door 25 have been fixed, that is, the horizontal gripping device 20 is in a horizontally locked state) has a central axis L1, and the horizontal gripping device 20 of the jaw device 100 behind the diesel engine cylinder block (represented by the left door 24 and the right door 25) has a central axis L2. The alignment process is to align L1 and L2 to be on the same straight line (as Figure 11 shown in (c)), and this straight line is in the same vertical plane as the flipping axis of the jaw device 100. That is to say, alignment is to center the horizontal gripping devices 20 of the two jaw devices 100. The alignment position is P2, and the alignment position P2 is set with reference to the substrate 10. When the right edge of the right door 25 is at the P2 position, the horizontal gripping device 20 is at the alignment position. When the right edge of the right door 25 is at the P2 position, the left edge of the left door 24 is at the P3 position. After alignment, to prevent the horizontal gripping device 20 from shifting, a first limiting member 80 (such as a pin member) is arranged at the P3 position, and a second limiting member 50 (such as a pin member) is arranged at the P2 position. The horizontal gripping device 20 is restricted to the alignment position with reference to the substrate 10, that is, between the P3 position and the P2 position, by the first limiting member 80 and the second limiting member 50.

[0126] The following introduces the steps S20 of the alignment process.

[0127] Taking Figure 11 (a) as the initial alignment state, in an embodiment of the present invention, the control device controls the left door 24 and the right door 25 to move leftward together to the first alignment position P1. The P1 position ensures that the P2 position on the right is vacated so that the second limiting member 50 can move into place. For example, the second limiting member 50 can be a shaft rod 50 arranged on the substrate 10. When the left door 24 and the right door 25 move to the P1 position, the P2 position is vacated, and the shaft rod 50 extends from the substrate 10 towards the diesel engine 1 and extends beyond the substrate 10, as Figure 11 shown in (b). To automatically achieve this process, a first alignment sensor 33 (such as a proximity switch) can be arranged at the P1 position to sense whether the horizontal gripping device 20 is at the first alignment position P1. When the horizontal gripping device 20 is at the first alignment position P1, the first alignment sensor 33 generates a first alignment signal. After the control device receives the first alignment signal, it controls the second limiting member 50 (such as the shaft rod) to extend.

[0128] Then, the control device controls the left door 24 and the right door 25 to move rightward together. When they abut against the shaft rod 50, the horizontal gripping device 20 can no longer move rightward. At this time, similar to the shaft rod 50, the first limiting member 80 (such as a shaft rod) extends from the substrate 10 and abuts against the left door 24, thereby moving the horizontal gripping device 20 in the horizontally locked state relative to the substrate 10 to the alignment position and restricting it at the alignment position.

[0129] Furthermore, a second limit sensor 55 (such as a proximity switch) can be arranged at the alignment position P2 to sense whether the second limiting member 50 extends. When the second limiting member 50 extends, the second limit sensor 55 generates a second limit signal. After receiving the second limit signal, the control device controls the left door 24 and the right door 25 to move rightward together.

[0130] Furthermore, a second alignment sensor 32 (such as a proximity switch) can be arranged at the alignment position P2 to sense whether the horizontal gripping device 20 is located at the first alignment position P1. When the horizontal gripping device 20 is located at the alignment position P2, the second alignment sensor 32 generates a second alignment signal. After receiving the second alignment signal, the control device controls the first limiting member 80 (such as a shaft rod) to extend.

[0131] Furthermore, a first limit sensor (such as a proximity switch) can be arranged at the first alignment position P1 to sense whether the first limiting member 80 extends. When the first limiting member 80 extends, the first limit sensor generates a first limit signal.

[0132] The extension of the above-mentioned first limiting member 80 (such as a shaft rod) from the substrate 10 can also be referred to as moving from the first unlocking position to the first locking position. The first limiting member 80 connects the substrate 10 and the horizontal gripping device 20 at the first locking position. The extension of the above-mentioned second limiting member 50 (such as a shaft rod) from the substrate 10 can also be referred to as moving from the second unlocking position to the second locking position. The second limiting member 80 connects the substrate 10 and the horizontal gripping device 20 at the second locking position.

[0133] The first alignment sensor 33 and the second alignment sensor 32 can be collectively referred to as an alignment detection member. The alignment detection member is arranged on the substrate 10 and electrically connected to the control device for sensing whether the horizontal gripping device 20 is located at the alignment position. The first alignment sensor 33 and the second alignment sensor 32 are arranged on the substrate 10 and are spaced apart in the horizontal left-right direction.

[0134] Specifically, in a preferred embodiment of the present invention, the horizontal alignment cylinder 31 serves as an alignment driving device. The horizontal alignment cylinder 31 is connected to the right door 25 through a connecting member to drive the horizontally gripping device 20 in a horizontally clamped state to move relative to the substrate 10 according to the instructions of the control device. The horizontal alignment cylinder 31 first drives the horizontally gripping device 20 to move along the first horizontal direction D1 to the first alignment position P1, and then drives the horizontally gripping device 20 to move along the second horizontal direction D2 to the alignment position P2. In this text, the horizontal alignment cylinder 31 driving the horizontally gripping device 20 to move along the second horizontal direction D2 is also referred to as the horizontal alignment cylinder 31 retracting, and the horizontal alignment cylinder 31 driving the horizontally gripping device 20 to move along the first horizontal direction D1 is also referred to as the horizontal alignment cylinder 31 extending.

[0135] In another embodiment of the present invention, the difference in the components related to those described in the above step S20 is that the first limiting member 80 and the second limiting member 50 serving as an alignment locking assembly are provided on the horizontally gripping device 20, and their shafts extend from the horizontally gripping device 20 towards the substrate 10 to be inserted into the limiting holes (or limiting structures) preset at positions P3 and P2 in the substrate 10. In the above description of step S20, the first limiting member 80 and the second limiting member 50 are provided on the substrate 10, and their shafts extend from the substrate 10 towards the horizontally gripping device 20. Therefore, the alignment locking assembly can be provided on one of the substrate 10 and the horizontally gripping device 20 and movably connected to the other of the substrate 10 and the horizontally gripping device 20 to prevent the horizontally gripping device 20 located at the alignment position from moving relative to the substrate 10.

[0136] When the second limiting member 50 is provided on the horizontally gripping device 20, when the horizontally gripping device 20 moves between the first alignment position P1 and the alignment position P2, the second limiting member 50 moves together with the horizontally gripping device 20. It can be understood that in this case, to ensure that the second limiting shaft 53 can continue to move to the right after extending, the limiting component on the substrate 10 that cooperates with the second limiting shaft 53 should be configured to allow the second limiting shaft 53 to have a certain degree of left - right mobility, such as an elongated hole elongated in the left - right direction, spaced positioning components in the left - right direction, or elastic contact materials, etc.

[0137] In a preferred embodiment of the present invention, as Figure 10As shown, the second limiting member 50 includes a second limiting cylinder 51, a second limiting shaft rod 53, and a second limiting sensor 55. The second limiting cylinder 51 is the driving device of the second limiting member 50 and is used to drive the second limiting shaft rod 53 to move between a second unlocking position and a second locking position. In this text, the second limiting cylinder 51 driving the second limiting shaft rod 53 to move to the second unlocking position is also referred to as the second limiting cylinder 51 retracting, and the second limiting cylinder 51 driving the second limiting shaft rod 53 to move to the second locking position is also referred to as the second limiting cylinder 51 extending.

[0138] The first limiting member 80 has a structure similar to that of the second limiting member 50. The first limiting member 80 includes a first limiting cylinder, a first limiting shaft rod, and a first limiting sensor. The first limiting cylinder is the driving device of the first limiting member and is used to drive the first limiting shaft rod to move between a first unlocking position and a first locking position. In this text, the first limiting cylinder driving the first limiting shaft rod to move to the first unlocking position is also referred to as the first limiting cylinder retracting, and the first limiting cylinder driving the first limiting shaft rod to move to the first locking position is also referred to as the first limiting cylinder extending.

[0139] According to the above description, the implementation manner of step S20 can already be understood. The following introduces the vertical gripping device 70 and step S30.

[0140] The vertical gripping device 70 includes vertical gripping cylinders 71 and 72, a top member 79, and a vertical gripping sensor 74. The top member 79 includes a pair of opposite top jaws 76. As Figure 8 shown, the top jaw 76 located in the upper left includes a left top clamping portion 77 and a left pressing portion 78. The top jaw 76 located in the upper right also has a similar structure.

[0141] The vertical gripping cylinders 71 and 72 are the driving devices of the vertical gripping device 70. The vertical gripping cylinders 71 and 72 are connected to the top member 79 through connecting components to drive the top member 79 to move relative to the substrate 10 between a vertical opening position and a vertical clamping position according to the instructions of the control device. In this text, the vertical gripping cylinders 71 and 72 driving the top member 79 to move downward to the vertical clamping position is also referred to as the vertical gripping cylinders 71 and 72 retracting, and the vertical gripping cylinders 71 and 72 driving the top member 79 to move upward to the vertical opening position is also referred to as the vertical gripping cylinders 71 and 72 extending. In the vertical clamping position, the vertical gripping device 70 grips the diesel engine 1.

[0142] In step S20, when the gripper device 100 rises, the left bearing part 28 and the right bearing part support the bottom adapter plate 2 from below, and the left bottom clamping part 27 and the right bottom clamping part clamp the bottom adapter plate 2 from both left and right sides. In step S30, the vertical gripping cylinders 71 and 72 retract, and the top member 79 moves downward. The left top clamping part 77 is used to abut against the left outer surface of the top adapter plate 3, and the left pressing part 78 abuts against the top surface of the top adapter plate 3 from above. As Figure 8 shown, the left top clamping part 77 includes an inner side surface 73 that slopes from the inner upper part to the outer lower part. The lower the top member 79 moves, the closer the inner side surface 73 abuts against the left outer surface of the top adapter plate 3, and the closer the left pressing part 78 abuts against the top surface of the top adapter plate 3, so that the top adapter plate 3 can be clamped from the upper left. The top gripper 76 located in the upper right also has a similar structure, with a right top clamping part and a right pressing part, so that the top adapter plate 3 can be clamped from the upper right.

[0143] Preferably, after detecting the first limit signal, the control device controls the vertical gripping cylinders 71 and 72 to retract.

[0144] The vertical gripping sensor 74 is arranged on the substrate 10. The vertical gripping sensor 74 can be configured as a proximity switch for sensing whether the vertical gripping device 70 is in the vertical clamping position. When the vertical gripping device 70 is in the vertical clamping position, the vertical gripping sensor 74 generates a vertical clamping signal.

[0145] The vertical gripping device 70 further includes a vertical limit member 60. The vertical limit member 60 is used to limit the top member 79 in the vertical clamping position, that is, to prevent the top member 79 in the vertical clamping position from moving to the vertical opening position. The structure and function of the vertical limit member 60 are similar to those of the first limit member 80 and the second limit member 50. The vertical limit member 60 can be arranged on one of the substrate 10 and the vertical gripping device 70 and is movably connected to the other of the substrate 10 and the vertical gripping device 70. The vertical limit member 60 is movable between a vertical unlocking position and a vertical locking position relative to the substrate 10, and the vertical limit member 60 connects the substrate 10 and the vertical gripping device 70 in the vertical locking position.

[0146] As Figure 7 shown, the vertical limit member 60 includes a vertical limit cylinder 61, a vertical limit shaft 63, and a vertical limit sensor 65.

[0147] The vertical limit cylinder 61 is a driving device for the vertical limit member 60, and is used to drive the vertical limit shaft rod 63 to move between a vertical unlocking position and a vertical locking position. In this text, the vertical limit cylinder 61 driving the vertical limit shaft rod 63 to move to the vertical unlocking position is also referred to as the vertical limit cylinder 61 retracting, and the vertical limit cylinder 61 driving the vertical limit shaft rod 63 to move to the vertical locking position is also referred to as the vertical limit cylinder 61 extending.

[0148] Preferably, the control device controls the vertical limit cylinder 61 to extend after detecting the vertical clamping signal.

[0149] Furthermore, a vertical limit sensor 65 (such as a proximity switch) can be provided at the vertical locking position to sense whether the vertical limit member 60 extends. When the vertical limit member 60 extends, the vertical limit sensor 65 generates a vertical limit signal.

[0150] So far, the grasping mechanism and grasping method for a diesel engine according to the preferred embodiment of the present invention have been introduced. The following briefly summarizes the automatic grasping process again:

[0151] 1. The tray 4 carries the diesel engine 1 (with the bottom adapter plate 2 and the top adapter plate 3) into the station, and the in-station sensor generates an in-station signal;

[0152] 2. A pair of mirror-image gripper devices 100 descend;

[0153] 3. The horizontal grasping cylinder 21 retracts, and the horizontal grasping sensor 22 generates a horizontal clamping signal;

[0154] 4. The horizontal locking cylinder 41 extends, and the horizontal locking sensor 42 generates a horizontal locking signal;

[0155] 5. The gripper device 100 ascends, so that the diesel 1 is separated from the tray 4;

[0156] 6. The horizontal alignment cylinder 31 extends, and the first alignment sensor 33 generates a first alignment signal;

[0157] 7. The second limit cylinder 51 extends, and the second limit sensor 55 generates a second limit signal;

[0158] 8. The horizontal alignment cylinder 31 retracts, and the second alignment sensor 32 generates a second alignment signal;

[0159] 9. The first limit cylinder extends, and the first limit sensor generates a first limit signal;

[0160] 10. The vertical grasping cylinders 71 and 72 retract simultaneously, and the vertical grasping sensor 74 generates a vertical grasping signal;

[0161] 11. The vertical limit cylinder 61 extends, and the vertical limit sensor 65 generates a vertical limit signal.

[0162] It can be understood that in the present invention, as the driving device of multiple components, the cylinder can also adopt other power devices, such as an electric motor; multiple sensors configured as proximity switches can also adopt sensors of other principles, such as photoelectric sensors, laser ranging sensors, etc.; multiple sensors configured as proximity switches can select the feature detection part according to the actual situation and determine the installation position based on this feature detection part; multiple locking / limiting components adopting a pin structure can also adopt pin components of other structures or locking / limiting components of other structures, such as a slot structure, a snap structure, etc.; for multiple components that act based on the relative movement or relative position relationship change between two components, their structures can be set in reverse, and the same technical effects can also be achieved; in the present invention, all driving devices and sensors are electrically connected to the control device.

[0163] The grasping mechanism for a diesel engine according to the present invention realizes the automatic grasping of the cylinder block, saves manpower, and improves production efficiency. The horizontal alignment process can eliminate the position deviation when the pallet enters the station. The grasping mechanism is provided with multiple mechanical locking members in its structure, and at the same time, program interlocking and sensing sensors are added, which can prevent the situation of the diesel engine's pawl detachment caused by accidental factors and improve the safety of the grasping mechanism during the automatic operation process.

[0164] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field of the present invention. The terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0165] The terms "first", "second", etc. appearing herein are only used for description and cannot be understood as limiting the quantity or relative importance of technical features. Terms such as "component" appearing herein can represent both a single part and a combination of multiple parts. Terms such as "connection", "installation", "setting", etc. appearing herein can represent that one component is directly attached to another component, or can also represent that one component is attached to another component through an intermediate member. Features described in one embodiment herein can be applied to another embodiment alone or in combination with other features, unless the feature is not applicable or otherwise stated in that other embodiment.

[0166] The present invention has been described through the above embodiments. However, it should be understood that the above embodiments are only for illustrative and explanatory purposes, and are not intended to limit the present invention to the scope of the described embodiments. In addition, those skilled in the art can understand that the present invention is not limited to the above embodiments, and more variations and modifications can be made according to the teachings of the present invention, and these variations and modifications all fall within the scope of protection required by the present invention. The scope of protection of the present invention is defined by the appended claims and their equivalent scope.

Claims

1. A grasping mechanism for a diesel engine, wherein bottom adapter plates for grasping are installed at the bottoms of both axial ends of the diesel engine, and top adapter plates for grasping are installed at the tops of both axial ends of the diesel engine, and it is characterized in that, The grasping mechanism includes: A control device; and Two mirror - set jaw devices, and the jaw device includes: A substrate; A horizontal grasping device, electrically connected to the control device, and the horizontal grasping device is arranged on the substrate in a horizontally open state and a horizontally clamped state in a switchable manner along the horizontal direction for grasping the bottom adapter plate of the diesel engine. The horizontal grasping device includes; A left door for grasping the bottom adapter plate of the diesel engine from the left side; A right door for grasping the bottom adapter plate of the diesel engine from the right side; and A horizontal locking assembly for preventing the horizontal grasping device in the horizontally clamped state from switching to the horizontally open state. The horizontal locking assembly includes: A horizontal locking shaft, one end of the horizontal locking shaft is fixed to one of the left door and the right door, so that the other end of the horizontal locking shaft extends beyond the other of the left door and the right door in the horizontally clamped state, and the horizontal locking shaft has a locking notch; A horizontal locking lock piece, the horizontal locking lock piece is movable between a horizontally locked position and a horizontally unlocked position relative to the horizontal grasping device. The horizontal locking lock piece at the horizontally locked position is at least partially located in the locking notch to prevent the left door and the right door from moving away from each other; and A horizontal locking lock piece driving device, the horizontal locking lock piece driving device is electrically connected to the control device and connected to the horizontal locking lock piece to drive the horizontal locking lock piece to move to the horizontally locked position after the horizontal clamping device is in the horizontally clamped state; A horizontal alignment device, electrically connected to the control device, and the horizontal alignment device is arranged on the substrate and connected to the horizontal grasping device to drive the horizontal grasping device in the horizontally clamped state to move relative to the substrate to an alignment position. The horizontal alignment device includes: An alignment driving device, the alignment driving device is electrically connected to the control device and mechanically connected to the horizontal grasping device to drive the horizontal grasping device in the horizontally clamped state to move relative to the substrate according to the instruction of the control device; An alignment detection member, the alignment detection member is arranged on the substrate and electrically connected to the control device for detecting whether the horizontal grasping device is located at the alignment position; and An alignment locking assembly, the alignment locking assembly is arranged on one of the substrate and the horizontal grasping device and movably connected to the other of the substrate and the horizontal grasping device for preventing the horizontal grasping device at the alignment position from moving relative to the substrate; and A vertical gripping device, electrically connected to the control device, is movably disposed on the substrate between a vertical open position and a vertical clamping position in the vertical direction relative to the substrate, and is located above the horizontal gripping device. After the horizontal gripping device moves to the alignment position, it is used to grip the top adapter plate of the diesel engine. The vertical gripping device includes a vertical locking assembly for preventing the vertical gripping device in the vertical clamping position from moving to the vertical open position.

2. The gripping mechanism according to claim 1, wherein the left door is movably disposed on the substrate relative to the substrate in the horizontal direction; the right door is movably disposed on the substrate relative to the substrate in the horizontal direction; the horizontal gripping device further includes a horizontal gripping driving device, which is electrically connected to the control device and mechanically connected to the left door and the right door to drive the left door and the right door to approach or move away from each other according to the instructions of the control device; wherein, in the horizontal clamping state, the left door and the right door approach each other; in the horizontal open state, the left door and the right door move away from each other.

3. The grasping mechanism according to claim 2, wherein The left door has a left bottom clamping portion and a left bearing portion, and the right door has a right bottom clamping portion and a right bearing portion. As the left door and the right door approach each other, the left bottom clamping portion and the right bottom clamping portion respectively abut against two opposite outer sides of the bottom adapter plate from both sides, and the left bearing portion and the right bearing portion respectively move below the bottom surface of the bottom adapter plate.

4. The gripping mechanism according to claim 1, characterized in that, The horizontal gripping device further includes a horizontal gripping sensor electrically connected to the control device, and the horizontal gripping sensor is used to sense whether the horizontal gripping device is in the horizontal clamping state.

5. The grasping mechanism according to claim 1, characterized in that, The horizontal locking assembly further includes a horizontal locking sensor electrically connected to the control device, and the horizontal locking sensor is used to sense whether the horizontal locking lock piece is in the horizontal upper locking position.

6. The gripping mechanism according to claim 1, wherein the alignment detection member includes: a first alignment sensor for sensing whether the horizontal gripping device is in the first alignment position; and a second alignment sensor for sensing whether the horizontal gripping device is in the alignment position, and the second alignment sensor and the first alignment sensor are spaced apart in the horizontal direction; the alignment locking assembly includes: a first limiting member, which is disposed on one of the substrate and the horizontal gripping device and is movably connected to the other of the substrate and the horizontal gripping device. The first limiting member is movable between a first unlocking position and a first locking position relative to the substrate, and the first limiting member connects the substrate and the horizontal gripping device in the first locking position; and A second limiting member, the second limiting member is provided on one of the substrate and the horizontal gripping device and is movably connected to the other of the substrate and the horizontal gripping device. The second limiting member is movable relative to the substrate between a second unlocking position and a second locking position. The second limiting member connects the substrate and the horizontal gripping device in the second locking position; Wherein, after the alignment driving device drives the horizontal gripping device to move along the first horizontal direction to the first alignment position, the second limiting member moves from the second unlocking position to the second locking position; After the alignment driving device drives the horizontal gripping device to move from the first alignment position to the alignment position, the first limiting member moves from the first unlocking position to the first locking position to prevent the horizontal gripping device from leaving the alignment position together with the second limiting member.

7. The grasping mechanism according to claim 6, wherein The second limiting member is provided on the horizontal gripping device. When the horizontal gripping device moves between the first alignment position and the alignment position, the second limiting member moves together with the horizontal gripping device.

8. The grasping mechanism according to claim 1, characterized in that, The vertical gripping device further includes a vertical gripping driving device, the vertical gripping driving device is electrically connected to the control device and mechanically connected to the vertical gripping device to drive the vertical gripping device to move between the vertical open position and the vertical clamping position according to the instruction of the control device.

9. The grasping mechanism according to claim 1, characterized in that, The vertical gripping device further includes a left pressing part, a left top clamping part, a right pressing part and a right top clamping part. When moving to the vertical clamping position along with the vertical gripping device, the left pressing part and the right pressing part abut against the top surface of the top adapter plate from above, and the left top clamping part and the right top clamping part respectively abut against two opposite outer side surfaces of the top adapter plate.

10. The gripping mechanism according to claim 9, characterized in that, At least one of the left top clamping part and the right top clamping part includes an inner side surface inclined from the inner upper part to the outer lower part.

11. The grasping mechanism according to claim 1, characterized in that, The vertical gripping device further includes a vertical gripping sensor electrically connected to the control device, and the vertical gripping sensor is used to detect whether the vertical gripping device is located at the vertical clamping position.

12. The grasping mechanism according to any one of claims 1 to 11, characterized in that, The vertical locking assembly includes: A vertical limiting member, the vertical limiting member is provided on one of the substrate and the vertical gripping device and is movably connected to the other of the substrate and the vertical gripping device. The vertical limiting member is movable relative to the substrate between a vertical unlocking position and a vertical locking position. The vertical limiting member connects the substrate and the vertical gripping device in the vertical locking position; A vertical limiting member driving device, the vertical limiting member driving device is electrically connected to the control device and mechanically connected to the vertical limiting member to drive the vertical limiting member to move to the vertical locking position when the vertical gripping device is located at the vertical clamping position; and Vertical limit detection member, the vertical limit detection member includes a vertical locking sensor electrically connected to the control device, and the vertical locking sensor senses whether the vertical limit member is in the vertical locking position.

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