Automatic offline carrying paw and carrying method for engine cylinder block

Abstract

The invention relates to the technical field of automobile part carrying equipment, in particular to an engine cylinder block automatic offline carrying gripper and a carrying method. Comprising a clamping jaw mounting bracket, a partition plate clamping device and a workpiece clamping device, and the upper end of the clamping jaw mounting bracket is connected with a robot; the partition plate clamping device comprises a first mounting plate connected with the lower end of the clamping jaw mounting bracket; two groups of partition plate clamping jaws are arranged on the two transverse sides of the first mounting plate; the partition plate clamping jaw is connected to the first mounting plate in a manner of moving in the vertical direction and the transverse direction; the workpiece clamping device comprises a second mounting plate fixed on the first mounting plate; two groups of workpiece clamping jaws are arranged on two longitudinal sides of the second mounting plate; and the workpiece clamping jaw is connected to the second mounting plate in a manner of moving along the longitudinal direction. The carrying gripper is simple in structure, adopts modular integrated design, has the advantages of compact structure, small size, light weight, multiple functions, high bearing capacity, unbalance loading avoidance and the like, and combines the functions of partition plate clamping and workpiece clamping.

Description

Technical Field

[0001] The invention relates to the technical field of automobile parts handling equipment, and in particular to an automatic off-line handling gripper and a handling method for an engine cylinder body. Background Art

[0002] In the automotive industry, the engine is the heart of the car and its position is particularly important. The cylinder block is an important part of the engine. After the cylinder block is processed on the production line, it will be caged and transported to the assembly department for assembly through the cage. Each cage can hold 3 layers, each layer can hold 6 workpieces, and the layers are separated by partitions. Therefore, the process of cage loading the cylinder block off the line involves the transportation of the cylinder block and the partition. During the whole process of cage loading, it is very important to ensure that the quality of all surfaces of the engine cylinder block is intact and free of bumps and scratches. In the field of mechanical processing, when the cylinder block is processed on the production line and is ready to be framed off the line, in addition to considering full manual handling and frame loading, the traditional way of taking the cylinder off the line is to arrange manual labor at the end of the roller table. The cylinder body is lifted by the end-operated lifting device and other auxiliary equipment and moved to the top of the cage for offline cage loading. Compared with direct manual handling, the offline efficiency is improved. However, in the process of using the lifting device to transport the cylinder body offline, it is easy to cause collisions between the engine cylinder body and the roller, the cylinder body and the cage, and the cylinder body and the cylinder body. There is even a risk of the lifting device not being clamped tightly, resulting in the risk of falling parts and injuring people, which can easily cause batch defects or even secondary injuries. In addition, in the process of mass production, the operators have long working hours, poor working environment, high labor intensity, time-consuming and labor-intensive, and the continuous manual operation of the lifting device is also affected by the operator's mental state, which will inevitably cause artificial bumps and scratches on the workpiece, resulting in poor outflow and causing huge production costs.

[0003] In order to solve the problems existing in the process of manually operating the sling to load the workpiece offline, a Chinese invention patent with the patent number "202110707958.4" and the name of "A Robotic Handling Gripper Made of Precision Machinery" provides a robotic handling gripper, which is used to clamp the clamping part on the plane of the clamping claw, expands the clamping area, and ensures stable clamping. When the clamping claw is clamped, the clamping part is driven to the inside of the clamping claw by the transmission belt, which improves the convenience of clamping and reduces the difficulty of clamping. For small mechanical parts, this gripper can replace manual handling, thereby reducing the labor of the operator and improving the working environment of the operator. However, there are also some problems with the robot gripper. For relatively large and heavy irregular box-type parts such as engine cylinder blocks, this plane clamping gripper is not suitable. It is also not suitable for cage partitions, which are light but thin and have a large area. It cannot integrate the handling of cylinder blocks and the grabbing of partitions, and cannot replace the workload of operators in handling partitions. Therefore, this robot handling gripper is not feasible. Summary of the invention

[0004] The purpose of the present invention is to solve the deficiencies of the above-mentioned background technology and to provide an engine cylinder body automatic off-line handling gripper and a handling method.

[0005] The technical solution of the present invention is: an automatic off-line handling gripper for an engine cylinder body, comprising:

[0006] A gripper mounting bracket, the upper end of which is connected to the robot;

[0007] A partition clamping device, the partition clamping device comprising a first mounting plate connected to the lower end of the clamp mounting bracket; two groups of partition clamps are arranged on both sides of the first mounting plate; the partition clamps are connected to the first mounting plate in a manner that they can move vertically and horizontally;

[0008] The workpiece clamping device comprises a second mounting plate fixed on a first mounting plate; two groups of workpiece clamping jaws are arranged on both longitudinal sides of the second mounting plate; the workpiece clamping jaws are connected to the second mounting plate movably in the longitudinal direction.

[0009] According to an engine cylinder body automatic offline handling gripper provided in the present application, the partition clamping device also includes a first connecting plate connected to the first mounting plate and can be moved laterally; a lifting cylinder is provided on the lateral end of the first connecting plate extending beyond the first mounting plate; a base is installed at the lower end of the lifting cylinder; the partition clamping claw includes a partition clamping block fixed on the base; the partition clamping block is a plate-like structure with a bent lower end that can be hooked on the partition.

[0010] According to an engine cylinder block automatic offline handling gripper provided by the present application, the partition clamping device also includes a first clamping structure; the first clamping structure includes a first linear bearing and a first pressure rod telescopic rod respectively disposed on the upper and lower sides of the base; the upper end of the first pressure rod telescopic rod can be vertically telescopically arranged in the first linear bearing, and the lower end of the first pressure rod telescopic rod is provided with a partition clamping rod arranged along the horizontal longitudinal direction; the lower end of the first linear bearing is fixed on the base, and a first spring connected to the first pressure rod telescopic rod is provided in the first linear bearing; the first spring applies vertical downward pressure to the first pressure rod telescopic rod when the first pressure rod telescopic rod is pressed against the partition.

[0011] According to an engine cylinder block automatic offline handling gripper provided by the present application, the partition clamping device also includes a first telescopic position detection structure; the first telescopic position detection structure includes a telescopic position detection block; the telescopic position detection block is a horizontal plate-like structure fixed to the first pressure rod telescopic rod extending from the upper end of the first linear bearing; a first detection bracket is installed on the base; the first detection bracket is installed with a first proximity sensor for detecting whether the telescopic position detection block is in place.

[0012] According to an engine cylinder body automatic offline handling gripper provided in the present application, the partition clamping device also includes a transverse driving structure; the transverse driving structure includes a transverse driving cylinder installed on a first mounting plate and a transverse guide rail arranged along a horizontal transverse direction; the first connecting plate is connected to the transverse driving cylinder and is connected to the transverse guide rail in a transversely movable manner through the transverse driving cylinder.

[0013] According to an engine cylinder block automatic offline handling gripper provided in the present application, the second mounting plate is a plate-like structure located below the first mounting plate, and a plurality of vertical connecting columns are arranged on the second mounting plate; the lower end of the connecting column is fixed to the second mounting plate, and the upper end is detachably connected to the first mounting plate through a threaded structure.

[0014] According to an engine cylinder block automatic offline handling gripper provided in the present application, the workpiece clamping device also includes a longitudinal drive structure; the longitudinal drive structure includes a longitudinal drive cylinder installed on a second mounting plate; the workpiece clamping jaw includes a workpiece clamping plate installed on the driving end of the longitudinal drive cylinder; the workpiece clamping plate is a plate-like structure arranged vertically and can extend into the workpiece crankshaft slot hole, and a clamping copper block is provided on the side of the workpiece clamping plate that contacts the side wall of the crankshaft slot hole.

[0015] According to an engine cylinder block automatic off-line handling gripper provided by the present application, the workpiece clamping device also includes a second clamping structure; the second clamping structure includes a second linear bearing and a second pressure rod telescopic rod respectively disposed on the upper and lower sides of a second mounting plate; the upper end of the second pressure rod telescopic rod is vertically telescopic and is inserted into the second linear bearing; the lower end of the second linear bearing is fixed to the second mounting plate, and a second spring connected to the second pressure rod telescopic rod is arranged in the second linear bearing; the second spring applies vertical downward pressure to the second pressure rod telescopic rod when the second pressure rod telescopic rod is pressed against the workpiece.

[0016] According to an engine cylinder block automatic offline handling gripper provided in the present application, the workpiece clamping device also includes a second telescopic position detection structure; the second telescopic position detection structure includes a second detection bracket fixed on a second mounting plate; the second detection bracket is equipped with a second proximity sensor for detecting whether the upper end of the telescopic rod of the second pressure rod is in place.

[0017] According to an engine cylinder block automatic off-line handling gripper provided in the present application, the workpiece clamping device includes a positioning structure; the positioning structure includes a plurality of positioning pins and positioning columns arranged on the lower end surface of the second mounting plate; the positioning columns are vertical columnar structures arranged at the four corners of the second mounting plate corresponding to the plane positions of the four corners of the upper surface of the workpiece; the positioning pins are vertical pin-shaped structures arranged vertically and corresponding to the pin holes on the workpiece.

[0018] According to an engine cylinder block automatic offline handling gripper provided in the present application, the workpiece clamping device includes a limiting structure; the limiting structure includes a bolt connecting plate connected to the workpiece clamping plate and a limiting plate fixed to the second mounting plate; a longitudinally adjustable limiting bolt is passed through the bolt connecting plate; the end of the limiting bolt is pressed against the side of the limiting plate when the workpiece clamping plate moves to the maximum position.

[0019] The present application also provides an automatic off-line transport method for an engine cylinder body, the transport method using the above-mentioned automatic off-line transport gripper for an engine cylinder body to operate, comprising:

[0020] When the workpiece flows to the position to be loaded into the cage, the grabbing position is determined, and the robot moves the workpiece clamping device to the top of the workpiece to be grabbed. The workpiece clamping device drives the workpiece gripper to clamp the workpiece, and moves the clamped workpiece to the top of the partition in the cage, and accurately places the workpiece on the partition.

[0021] After a layer of workpieces is placed in the cage, the robot moves the partition clamping device to the top of the partition to be grabbed, and the partition clamping device drives the partition claw to clamp the partition, transport the partition into the cage, and accurately place the partition at the set position;

[0022] This process is repeated until all workpieces to be transported are unloaded and caged.

[0023] According to an automatic off-line transportation method for an engine cylinder block provided in the present application, the method in which the workpiece clamping device drives the workpiece jaws to clamp the workpiece includes: the workpiece clamping device drives the workpiece jaws to extend into the two outermost crankshaft slot holes of the workpiece, and then drives the two groups of workpiece jaws to move longitudinally outward to expand and tension the workpiece, thereby clamping and fixing the workpiece.

[0024] According to an automatic off-line transportation method for an engine cylinder block provided in the present application, the method in which the partition clamping device drives the partition clamping claw to clamp the partition includes: after the partition clamping claw moves to the top of the partition, the partition clamping device drives the partition clamping claw to move vertically downward and insert it into the corresponding through hole on the partition, and the partition clamping device drives the partition clamping claw to move horizontally to clamp the partition, thereby completing the clamping and fixation of the partition.

[0025] The advantages of the present application are as follows: 1. The present application proposes an automatic off-line handling gripper for an engine cylinder body, which adopts a modular integrated design, combines a partition clamping structure and a workpiece clamping structure, and has the functions of both partition clamping and handling and workpiece clamping and handling. During the off-line handling of the engine cylinder body, the engine cylinder body can be quickly handled off-line without switching and replacing the device. The overall operation is simple and easy to use, which greatly improves the handling efficiency of the engine cylinder body and reduces the difficulty of off-line handling of the engine cylinder body.

[0026] At the same time, the handling gripper of the present application has the advantages of compact structure, small size, light weight, multiple functions, strong carrying capacity, symmetrical design to effectively avoid unbalanced load, etc. The design avoids the interference between the multifunctional robot gripper and the edge parts of the cage from all directions, and is more suitable for the occasions of off-line framing of the production line;

[0027] 2. The present application sets a lifting cylinder for the vertical movement of the partition clamping claw. The lifting cylinder can be used to conveniently adjust the vertical height of the partition clamping claw. After the partition clamping claw is aligned with the through hole on the lower partition in the vertical direction, the partition clamping claw can be conveniently extended into the through hole of the partition to clamp and fix the partition. The adjustment method is simple;

[0028] 3. The present application is also provided with a first clamping structure, which can clamp the partition before the partition clamping claws clamp the partition, thereby avoiding the shaking of the partition during the partition clamping process, making the partition clamping process more stable and facilitating the accurate and stable clamping of the partition;

[0029] 4. The present application is also provided with a telescopic detection block, which can detect whether the partition is pressed in place and whether the partition clamp is in place. Only when the partition clamp is in place, the partition clamp will be driven to move horizontally to clamp the partition. The telescopic detection block improves the intelligence of the partition clamping, greatly reduces the difficulty of operation, and greatly improves the operation efficiency;

[0030] 5. The lateral driving structure of the present application is very simple. By constructing a guide rail structure to drive the lateral clamping claw to move horizontally, the partition can be clamped or loosened. The overall structure is very convenient to use and can greatly improve the efficiency of grabbing and carrying the partition.

[0031] 6. The workpiece clamping device of the present application is connected to the first mounting plate through the connecting column on the second mounting plate, which is extremely convenient to install and disassemble. It can be selectively assembled and disassembled according to needs to form a modular structure, which has the advantages of compact structure, small size and light weight;

[0032] 7. The driving method of the workpiece clamp of the present application is simple. The workpiece clamp is driven by the longitudinal driving cylinder to realize the rapid clamping and loosening of the workpiece. The clamping of the workpiece of the present application is to extend the workpiece clamping plate into the crankshaft slot for expansion clamping. This clamping method is simple to operate, has extremely high clamping stability, and is convenient for rapid handling of the workpiece.

[0033] 8. The present application is also provided with a second clamping structure, which is used to stabilize the workpiece before the workpiece clamping jaws clamp the workpiece to avoid the problem of inaccurate clamping alignment caused by the shaking of the workpiece, and at the same time, it can make the entire device and the workpiece stably connected to each other, facilitating the subsequent stable clamping of the workpiece;

[0034] 9. The present application detects the extension height of the second pressure rod telescopic rod through the second proximity sensor on the second detection bracket to determine whether the workpiece clamp is in place at this time and whether the workpiece clamp can be longitudinally driven to clamp the workpiece. The second telescopic in place detection structure facilitates the operation of clamping and fixing the workpiece;

[0035] 10. The present application is provided with a plurality of positioning pins and positioning columns on the second mounting plate. The positioning pins are used to align with the pin holes on the workpiece, and the positioning columns are positioned on the positioning surface on the upper surface of the workpiece, so as to facilitate the precise positioning of the second mounting plate and the workpiece, and the workpiece clamping jaws can stably extend into the crankshaft slot hole to clamp and fix the workpiece;

[0036] 11. The present application sets a limit structure on the second mounting plate, which can limit the transitional movement of the workpiece clamping jaws, adjust the longitudinal limit distance, and make adaptive adjustments for different workpieces, so that the entire workpiece clamping jaws can adapt to the clamping of different workpieces, and can stably and accurately clamp the workpiece, and safety and stability are guaranteed;

[0037] 12. The present application also provides an operation method, which can automatically carry out offline handling of the engine cylinder body without switching the handling device. The entire handling method is simple, the handling accuracy is extremely high, and the handling efficiency can be greatly improved, which has great promotion value;

[0038] 13. The clamping and fixing method of the workpiece in the present application is very simple, making full use of the structural form of the workpiece, and clamping and fixing the workpiece by an expansion tensioning method. The clamping and fixing stability is excellent, and the workpiece can be stably fixed on the workpiece clamping jaws;

[0039] 14. The present application has a very simple method for clamping and carrying the partition. By extending the partition clamping claws into the through holes on the partition, the partition can be stably fixed on the partition clamping claws. The carrying efficiency is extremely high, and the movement of the partition at different workstations is convenient and easy to operate.

[0040] The handling gripper of the present application has a simple structure and adopts a modular integrated design. It has the advantages of compact structure, small size, light weight, multiple functions, strong load-bearing capacity, and a symmetrical design that effectively avoids unbalanced loading. The design avoids interference between the multi-functional robot gripper and the edge components of the cage from all directions. It is more suitable for offline framing of production lines. It combines the functions of partition clamping and workpiece clamping, which greatly improves the efficiency of automatic offline handling of engine cylinder blocks. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 : Schematic diagram of the handling gripper structure of the present application;

[0042] Figure 2: Schematic diagram of the structure of the partition clamping device of the present application (viewed from top);

[0043] Figure 3 : Schematic diagram of the structure of the partition clamping device of the present application (looking from above);

[0044] Figure 4 : Schematic diagram of the partition clamping of the present application;

[0045] Figure 5 : Schematic diagram of the partition structure of the present application;

[0046] Figure 6 : Schematic diagram of the workpiece clamping device structure of the present application (top view);

[0047] Figure 7 : Schematic diagram of the workpiece clamping device structure of the present application (looking from above);

[0048] Figure 8 : Schematic diagram of workpiece clamping of the present application;

[0049] Fig. 9 : A top view of the workpiece structure of the present application;

[0050] Among them: 1-claw mounting bracket; 2-first mounting plate; 3-second mounting plate; 4-first connecting plate; 5-lifting cylinder; 6-base; 7-partition clamping block; 8-first linear bearing; 9-first pressure rod telescopic rod; 10-partition clamping rod; 11-telescopic detection block; 12-first detection bracket; 13-first proximity sensor; 14-lateral drive cylinder; 15-lateral guide rail; 16-connecting column; 17-longitudinal drive cylinder; 18-workpiece clamping plate; 19-10-20-30-40-50-60-70-80-90-100-110-120-130-140-150-160-170-180-190-200-210-180-210-180-210-190-210-18 ... —Clamping copper block; 20—Second linear bearing; 21—Second pressure rod telescopic rod; 22—Second detection bracket; 23—Second proximity sensor; 24—Location pin; 25—Location column; 26—Bolt connecting plate; 27—Limiting plate; 28—Quick-change plate positioning sleeve; 29—Pipeline package mounting bracket; 30—Pipeline fixture; 31—Camera protective cover; 32—Camera mounting plate; 33—Hub; 34—Hub protective cover; 35—Valve island fixing seat; 36—Trachea connecting joint. DETAILED DESCRIPTION

[0051] The embodiments of the present invention are described in detail below, wherein the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0052] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0053] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0054] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0055] The present application relates to an automatic off-line handling gripper for engine cylinder bodies. The handling gripper of the present application is used to handle engine cylinder bodies, namely workpieces and partitions. The present application is used to carry the workpieces on the production line into a material cage, and then carry the partitions to align them on the workpieces that have been placed in the material cage, and operate in sequence until all workpieces are handled off-line. The handling gripper of the present application has the functions of both partition handling and workpiece handling, and can realize the handling operation of workpieces and partitions without switching handling tools, and the overall handling efficiency is extremely high.

[0056] Specifically, Figures 1 to 9 As shown, an engine cylinder block automatic offline handling gripper of the present application comprises a gripper mounting bracket 1, a partition clamping device and a workpiece clamping device, the upper end of the gripper mounting bracket 1 is connected to the robot, the gripper mounting bracket 1 is a columnar structure arranged vertically, and is a component directly connected to the robot, and a quick-change disk positioning sleeve 28 is arranged on the upper end of the gripper mounting bracket 1, and the quick-change disk positioning sleeve 28 can be conveniently installed on the robot and is also convenient to disassemble; the gripper mounting bracket 1 is also installed with a pipeline package module, the pipeline package module includes a pipeline package mounting bracket 29 and a pipeline fixer 30, and also includes a 3D camera installation module, the 3D camera installation module includes a camera protective cover 31 and a camera mounting plate 32, the 3D camera is used to take pictures of the placement position of the workpiece on the partition in the material cage, so as to facilitate the precise placement of the workpiece on the partition, and the camera protective cover 31 is used to protect the 3D camera to prevent the camera from being damaged by bumps;

[0057] In addition, a hub module and a valve island module are also provided on the gripper mounting bracket 1 of the present application. The hub module includes a hub 33 and a hub protection cover 34. The hub 33 is installed on the hub cover 34. The hub 33 has multiple interfaces for exchanging and sharing data; the valve island module includes a valve island fixing seat 35 and an air pipe connecting joint 36. The valve island fixing seat 35 is fixed on the gripper mounting bracket 1. The other end of the air pipe connecting joint 36 is connected to the air source and the air pipe of the robot gripper cylinder for ventilating the robot gripper action cylinder.

[0058] like Figures 1 to 4 As shown, the partition clamping device of the present application includes a first mounting plate 2 connected to the lower end of the clamp mounting bracket 1, and two groups of partition clamps are arranged on the lateral sides of the first mounting plate 2. The partition clamps can be connected to the first mounting plate 2 in a vertical and horizontal manner. That is, the two groups of partition clamps of the present application are arranged on the lateral sides of the first mounting plate 2, and the vertical lifting and lateral movement can be realized through the driving structure. The vertical lifting and lateral movement facilitates the partition clamps to be able to vertically extend into the through hole of the partition (such as Figure 5 As shown in a and b), or pulled out from the through hole, the lateral movement facilitates the clamping or loosening of the partition by the partition jaws. When the two sets of partition jaws move relative to each other in the lateral direction, the partition between the two sets of partition jaws can be clamped and fixed. When the two sets of partition jaws move away from each other, the clamped partition can be loosened.

[0059] The workpiece clamping device includes a second mounting plate 3 fixed on the first mounting plate 2, and two sets of workpiece clamping jaws are arranged on both longitudinal sides of the second mounting plate 3. The workpiece clamping jaws are connected to the second mounting plate 3 in a longitudinally movable manner. The two sets of workpiece clamping jaws are arranged on both longitudinal sides of the second mounting plate 3, and are moved in the longitudinal direction by the driving structure. When the two sets of workpiece clamping jaws extend into the crankshaft slot of the workpiece (such as Fig. 9 As shown, the crankshaft slot of the present application is Fig. 9 When the crankshaft slot hole is in the groove-shaped structure between two adjacent steps of the crankshaft hole (as shown in D, E, F and G in the figure), the workpiece can be clamped and fixed by driving the workpiece clamping jaws to move longitudinally, and vice versa, the workpiece can be loosened.

[0060] In actual operation, when the workpiece flows to the position to be loaded into the cage, the grabbing position is determined, the robot moves the workpiece clamping device to the top of the workpiece to be grabbed, the workpiece clamping device drives the workpiece gripper to clamp the workpiece, and moves the clamped workpiece to the top of the partition in the cage, and accurately places the workpiece on the partition;

[0061] After a layer of workpieces is placed in the cage, the robot moves the partition clamping device to the top of the partition to be grabbed, and the partition clamping device drives the partition claw to clamp the partition, transport the partition into the cage, and accurately place the partition at the set position;

[0062] This process is repeated until all workpieces to be transported are unloaded and caged.

[0063] In some embodiments of the present application, the structure of the above-mentioned partition clamping device is further optimized. Specifically, Figures 2 to 4 As shown, the partition clamping device also includes a first connecting plate 4 connected to the first mounting plate 2 and can be laterally moved. Two groups of partition clamps are arranged on the first mounting plate 2. Therefore, in this embodiment, two first connecting plates 4 arranged along the horizontal transverse interval are arranged on the first mounting plate 2. One end of the first connecting plate 4 is laterally slidably connected to the first mounting plate 2. A lifting cylinder 5 is arranged on the lateral end of the other end of the first connecting plate 4 that exceeds the first mounting plate 2. A base 6 is installed at the lower end of the lifting cylinder 5. The partition clamps include a partition clamping block 7 fixed on the base 6. The partition clamping block 7 is a plate-like structure with a bent lower end that can be hooked on the partition.

[0064] like Figures 2 to 4 As shown, the partition clamping device also includes a transverse driving structure, which includes a transverse driving cylinder 14 installed on the first mounting plate 2 and a transverse guide rail 15 arranged horizontally and laterally; two groups of transverse guide rails 15 are arranged on the lower end surface of the first mounting plate 2, and the two groups of transverse guide rails 15 correspond to the two first connecting plates 4 respectively, and each group of transverse guide rails 15 includes two transverse guide rails 15 extending in the transverse direction, and the two transverse guide rails 15 are distributed at the longitudinal ends of the first connecting plate 4 at intervals in the longitudinal direction. In order to facilitate the sliding connection between the first connecting plate 4 and the transverse guide rails 15, sliders are arranged at both ends of the first connecting plate 4 in this embodiment, and the first connecting plate 4 is slidably connected to the transverse guide rail 15 through the sliders; the first connecting plate 4 is connected to the transverse driving cylinder 14 and is driven by the transverse driving cylinder 14 to be laterally movable and connected to the transverse guide rail 15.

[0065] The partition clamps of this embodiment need to complete two actions to clamp the partition. One is the vertical movement of the partition clamps to facilitate the partition clamps to extend into the through holes on the partition. The other is the horizontal movement of the partition clamps. The two groups of partition clamps work together to clamp and fix the partition. Specifically, during actual use, the 3D camera on the clamp mounting bracket 1 takes a picture of the partition in the material cage to accurately obtain the actual position of the partition, and then the robot moves the entire transport gripper to the top of the partition to be grasped, and after the partition clamping block 7 is completely aligned with the through hole on the lower partition, the partition clamping block 7 is driven by the lifting cylinder 5 to move vertically downward until the partition clamping block 7 passes through the through hole on the partition and extends into the through hole, and then drives the transverse driving cylinder 14, which drives the two groups of partition clamping blocks 7 to move relative to each other. The partition clamping block 7 is hooked at the edge of the through hole, and the two groups of partition clamping blocks 7 work together to clamp and fix the partition between the two groups of partition clamping blocks 7, thereby completing the clamping and fixing of the partition;

[0066] The robot moves the entire carrying gripper and the clamped partition to the placement position, waits for the partition to be accurately aligned with the workpiece below, and then places the partition on the workpiece. The horizontal drive cylinder 14 drives the two groups of partition clamping blocks 7 to move oppositely to loosen the clamped partition. After the partition is completely loosened, the lifting cylinder 5 drives the partition clamping block 7 to be pulled out vertically from the through hole on the partition to complete the partition carrying and placement operation.

[0067] In order to avoid the problem of inaccurate alignment caused by the shaking of the partition during the partition transportation process, the partition clamping device of this embodiment also includes a first pressing structure, such as Figures 2 to 4 As shown, the first clamping structure includes a first linear bearing 8 and a first pressure rod telescopic rod 9 which are arranged on the upper and lower sides of the base 6. The first linear bearing 8 has a hollow cylindrical structure. The upper end of the first pressure rod telescopic rod 9 can be vertically telescopically arranged in the first linear bearing 8. The lower end of the first pressure rod telescopic rod 9 is provided with a partition clamping rod 10 arranged along the horizontal longitudinal direction. The lower end of the first linear bearing 8 is fixed on the base 6. A first spring connected to the first pressure rod telescopic rod 9 is provided in the first linear bearing 8. The first spring applies vertical downward pressure to the first pressure rod telescopic rod 9 when the first pressure rod telescopic rod 9 is pressed against the partition.

[0068] The base 6 is a plate-like structure fixed to the lower end of the lifting cylinder 5, and the base 6 can move vertically under the drive of the lifting cylinder 5. In actual operation, after the partition clamping block 7 completes the alignment operation with the partition through hole below, the lifting cylinder 5 drives the entire base 6 to move downward until the lower end of the partition clamping block 7 passes through the through hole, and at the same time, the partition clamping rod 10 on the first pressure rod telescopic rod 9 is pressed against the upper surface of the partition, and the partition applies a reverse force to the first pressure rod telescopic rod 9. As the base 6 moves further downward, due to the blocking effect of the partition, the first pressure rod telescopic rod 9 moves upward relative to the base 6, and the first spring in the first linear bearing 8 is in an open state, exerting downward pressure on the first pressure rod telescopic rod 9, forcing the partition to be compressed, which is convenient for the subsequent clamping and fixing of the partition by the partition clamping block 7, and the partition will not shake.

[0069] In addition, in order to obtain the opportunity for the partition clamping block 7 to move horizontally to clamp and fix the partition, the partition clamping device of this embodiment also includes a first telescopic detection structure, such as Figures 2-3 As shown, the first telescopic position detection structure includes a telescopic position detection block 11, which is a horizontal plate-like structure fixed to the first pressure rod telescopic rod 9 and extending from the upper end of the first linear bearing 8. A first detection bracket 12 is installed on the base 6, and a first proximity sensor 13 for detecting whether the telescopic position detection block 11 is in place is installed on the first detection bracket 12.

[0070] The first detection bracket 12 is a structure fixed on the base 6 and moves with the base 6, and the telescopic position detection block 11 is a structure fixed on the first pressure rod telescopic rod 9 and moves with the first pressure rod telescopic rod 9. Therefore, in actual use, by detecting the relative height of the telescopic position detection block 11 and the first detection bracket 12, it is possible to determine whether it is currently telescoped into place and whether the clamping operation of the partition can be performed.

[0071] A proximity switch mounting bracket is also provided on the first mounting plate 2, and a proximity switch sensor is installed on the proximity switch mounting bracket. The proximity switch sensor is used to detect whether there is a workpiece on the robot gripper to avoid collision.

[0072] During use, after the partition clamping block 7 completes the alignment operation with the partition through hole below, the lifting cylinder 5 drives the entire base 6 to move downward until the lower end of the partition clamping block 7 passes through the through hole. At the same time, the partition clamping rod 10 on the first pressure rod telescopic rod 9 is pressed against the upper surface of the partition, and the partition exerts a reverse force on the first pressure rod telescopic rod 9. As the base 6 moves further downward, due to the blocking effect of the partition, the first pressure rod telescopic rod 9 moves upward relative to the base 6, and the telescopic position detection block 11 moves upward relative to the first detection bracket 12 until the first proximity sensor 13 on the first detection bracket 12 senses that the telescopic position detection block 11 is at a set height position. At this time, it is judged that the current partition clamping block 7 is extended into place, and the partition can be clamped.

[0073] The partition clamping device of this embodiment performs the clamping operation on the partition as follows: the 3D camera on the clamp mounting bracket 1 takes a picture of the partition in the material cage to accurately obtain the actual position of the partition, and then the robot moves the entire transport gripper to the top of the partition to be grasped, and after the partition clamping block 7 is completely aligned with the through hole on the lower partition, the partition clamping block 7 is driven by the lifting cylinder 5 to move vertically downward until the partition clamping block 7 passes through the through hole on the partition and extends into the through hole. At the same time, the partition clamping rod 10 on the first pressure rod telescopic rod 9 is pressed against the upper surface of the partition, and the partition applies a reverse force to the first pressure rod telescopic rod 9. As the base 6 is further lowered Due to the blocking effect of the partition, the first pressure rod telescopic rod 9 moves upward relative to the base 6, and the telescopic detection block 11 moves upward relative to the first detection bracket 12, until the first proximity sensor 13 on the first detection bracket 12 senses that the telescopic detection block 11 is at a set height position, at which time it is judged that the current partition clamping block 7 is in place, and then the transverse driving cylinder 14 is driven, and the transverse driving cylinder 14 drives the two groups of partition clamping blocks 7 to move relative to each other, and the partition clamping blocks 7 are hooked at the edge of the through hole, and the two groups of partition clamping blocks 7 work together to clamp and fix the partition between the two groups of partition clamping blocks 7, thereby completing the clamping and fixing of the partition;

[0074] The robot moves the entire carrying gripper and the clamped partition to the placement position. When the partition is accurately aligned with the set position below, the partition is placed on it. The horizontal driving cylinder 14 drives the two groups of partition clamping blocks 7 to move oppositely to loosen the clamped partition. After the partition is completely loosened, the lifting cylinder 5 drives the partition clamping block 7 to be pulled out vertically from the through hole on the partition to complete the partition carrying and placement operation.

[0075] In order to facilitate the clamping and fixing of the partition, a limiting block is provided on the inner side of the partition clamping block 7 in this embodiment.

[0076] In other embodiments of the present application, the present embodiment optimizes the above-mentioned workpiece clamping device. Specifically, Figures 6 to 8 As shown, the workpiece clamping device of this embodiment includes a second mounting plate 3, which is a plate-like structure located below the first mounting plate 2. A plurality of vertical connecting columns 16 are provided on the second mounting plate 3. The lower ends of the connecting columns 16 are fixed to the second mounting plate 3, and the upper ends are detachably connected to the first mounting plate 2 via a threaded structure.

[0077] That is, when it is necessary to fix the workpiece clamping device to the partition clamping device, it is only necessary to connect the first mounting plate 2 and the second mounting plate 3 via the connecting column 16 .

[0078] The workpiece clamping device on the workpiece clamping device is only used to move in one direction, that is, longitudinal translation. Therefore, the workpiece clamping device of this embodiment includes a longitudinal driving structure, such as Figures 6 to 8 As shown, the longitudinal driving structure includes a longitudinal driving cylinder 17 installed on the second mounting plate 3, and the workpiece clamp includes a workpiece clamping plate 18 installed on the driving end of the longitudinal driving cylinder 17; a longitudinal guide rail is provided on the lower end surface of the second mounting plate 3, and a second connecting plate is slidably connected to the longitudinal guide rail, and the second connecting plate is slidably connected to the two groups of longitudinal guide rails on both sides through sliders at both ends in the horizontal direction, and the second connecting plate is fixedly connected to the telescopic end of the longitudinal driving cylinder 17, and can move longitudinally under the drive of the longitudinal driving cylinder 17; the upper end of the workpiece clamping plate 18 is fixed on the second connecting plate, and the workpiece clamping plate 18 is a plate-like structure arranged vertically and can be extended into the workpiece crankshaft slot hole, and a clamping copper block 19 is provided on the side of the workpiece clamping plate 18 that contacts the side wall of the crankshaft slot hole, and the clamping copper block 19 is a structure that is convenient for contacting the side wall of the crankshaft slot hole to avoid damage to the workpiece surface during the clamping process.

[0079] Similarly, the workpiece clamping process of this embodiment also includes a pressing process, such as Figures 6 to 8As shown, the workpiece clamping device also includes a second clamping structure, which includes a second linear bearing 20 and a second pressure rod telescopic rod 21 which are arranged on the upper and lower sides of the second mounting plate 3. The upper end of the second pressure rod telescopic rod 21 can be vertically telescopically arranged in the second linear bearing 20, and the lower end of the second linear bearing 20 is fixed on the second mounting plate 3. A second spring connected to the second pressure rod telescopic rod 21 is arranged in the second linear bearing 20. The second spring applies vertical downward pressure to the second pressure rod telescopic rod 21 when the second pressure rod telescopic rod 21 is pressed against the workpiece.

[0080] During the workpiece clamping process, the 3D camera on the clamp mounting bracket 1 takes a picture of the workpiece to be transported, accurately obtains the position of the workpiece to be transported, and the robot moves the workpiece clamping device to the top of the workpiece according to the position, so that the workpiece clamping plate 18 is aligned with the crankshaft slot hole on the lower workpiece, and the robot drives the entire device to move downward so that the workpiece clamping plate 18 is inserted downward into the two outermost crankshaft slot holes of the workpiece (i.e. Fig. 9 In the crankshaft slot hole D and crankshaft slot hole G shown in the figure, during the downward movement of the entire device, the lower end of the second pressure rod telescopic rod 21 installed on the second mounting plate 3 is pressed against the upper surface of the workpiece. As the second mounting plate 3 moves further downward, the second pressure rod telescopic rod 21 is squeezed by the workpiece and moves upward relative to the second mounting plate 3. The second spring in the second linear bearing 20 is in a tensioned state, exerting downward pressure on the second pressure rod telescopic rod 21, pressing the second pressure rod telescopic rod 21 against the surface of the workpiece.

[0081] The workpiece clamping device of this embodiment also includes a second telescopic detection structure, such as Figure 6 As shown, the second telescopic position detection structure includes a second detection bracket 22 fixed on the second mounting plate 3, and a second proximity sensor 23 for detecting whether the upper end of the second pressure rod telescopic rod 21 is in place is installed on the second detection bracket 22. After the second proximity sensor 23 detects that the upper end of the second pressure rod telescopic rod 21 moves into place, it determines that the workpiece clamping plate 18 is in place when it extends into the crankshaft slot.

[0082] Since the second detection bracket 22 is a fixed structure fixed on the second mounting plate 3, and the second pressure rod telescopic rod 21 is a movable structure passing through the second mounting plate 3, the second pressure rod telescopic rod 21 can be moved vertically relative to the second mounting plate 3. Therefore, as long as the height of the second pressure rod telescopic rod 21 relative to the second mounting plate 3 is obtained, it is possible to determine the current situation of the workpiece clamping plate 18 on the second mounting plate 3 extending into the crankshaft slot hole.

[0083] During actual judgment, during the downward movement of the workpiece clamping plate 18, the lower end of the second pressure rod telescopic rod 21 installed on the second mounting plate 3 is pressed against the upper surface of the workpiece. As the second mounting plate 3 moves further downward, the second pressure rod telescopic rod 21 moves upward relative to the second mounting plate 3 under the squeezing action of the workpiece. The second spring in the second linear bearing 20 is in a tensioned state, exerting downward pressure on the second pressure rod telescopic rod 21, pressing the second pressure rod telescopic rod 21 against the surface of the workpiece, and the upper end of the second pressure rod telescopic rod 21 moves upward until the second proximity sensor 23 installed on the second detection bracket 22 senses the second pressure rod telescopic rod 21, proving that at this time the workpiece clamping plate 18 has moved down into place in the crankshaft slot, and the workpiece clamping operation can be performed.

[0084] In addition, the workpiece clamping device of this embodiment includes a positioning structure and a limiting structure, such as Figures 6 to 8 As shown, the positioning structure includes a plurality of positioning pins 24 and positioning columns 25 arranged on the lower end surface of the second mounting plate 3. The positioning columns 25 are vertical columnar structures arranged at the four corners of the second mounting plate 3 corresponding to the four corner plane positions on the upper surface of the workpiece. The positioning pins 24 are vertically arranged and correspond to the pin holes on the workpiece. When in use, when the second mounting plate 3 moves downward under the operation of the robot, the positioning pins 24 are inserted into the corresponding pin holes on the upper surface of the workpiece (such as Fig. 9 A and B) shown in FIG. 1 , the positioning column 25 is positioned on the upper surface of the workpiece (such as Fig. 9 C) shown in the figure, the second mounting plate 3 and the workpiece are positioned. A copper block is provided at the lower end of the positioning column 25 to avoid damage to the workpiece surface.

[0085] like Figure 6 As shown, the limiting structure includes a bolt connection plate 26 connected to the workpiece clamping plate 18 and a limiting plate 27 fixed to the second mounting plate 3. A longitudinally adjustable limiting bolt is passed through the bolt connection plate 26. The end of the limiting bolt is pressed against the side of the limiting plate 27 when the workpiece clamping plate 18 moves to the maximum position. The limiting plate 27 limits the longitudinal movement position of the workpiece clamping plate 18. For different workpiece structures, it can be adapted by adjusting the screw-in position of the limiting bolt.

[0086] The method for clamping the workpiece by the workpiece clamping device of the present embodiment is as follows: the 3D camera on the clamping jaw mounting bracket 1 takes a picture of the workpiece to be transported to accurately obtain the position of the workpiece to be transported, and the robot moves the workpiece clamping device to the top of the workpiece according to the position, so that the workpiece clamping plate 18 is aligned with the crankshaft slot hole on the lower workpiece, and the robot drives the entire device to move downward so that the workpiece clamping plate 18 is inserted downward into the crankshaft slot hole of the workpiece, and the positioning pin 24 is inserted into the corresponding pin hole on the upper surface of the workpiece, and the positioning column 25 is positioned on the upper surface of the workpiece to complete the positioning between the workpiece clamping plate 18 and the workpiece; during the downward movement of the entire device, the lower end of the second pressure rod telescopic rod 21 installed on the second mounting plate 3 is pressed against the upper surface of the workpiece, and as the second mounting plate 3 moves further downward, the second pressure rod telescopic rod 21 Under the squeezing action of the workpiece, it moves upward relative to the second mounting plate 3, and the second spring in the second linear bearing 20 is in a tensioned state, exerting downward pressure on the second pressure rod telescopic rod 21, pressing the second pressure rod telescopic rod 21 against the surface of the workpiece; the upper end of the second pressure rod telescopic rod 21 moves upward until the second proximity sensor 23 installed on the second detection bracket 22 senses the second pressure rod telescopic rod 21, proving that the workpiece clamping plate 18 is now moved down into place in the crankshaft slot, and the workpiece clamping operation can be performed; the longitudinal driving cylinder 17 drives the corresponding workpiece clamping plate 18 to move longitudinally away from the workpiece clamping plate 18 on the other side until the clamping copper block 19 on the workpiece clamping plate 18 is in close contact with the side wall of the crankshaft slot, and the two groups of workpiece clamping plates 18 tension the workpiece to complete the clamping and fixing of the workpiece;

[0087] The robot drives the entire carrying gripper and the clamped workpiece to move to the placement position. After the workpiece is placed in place, the longitudinal drive cylinder 17 drives the corresponding workpiece clamping plate 18 to move longitudinally toward the workpiece clamping plate 18 on the other side until the clamping copper block 19 on the workpiece clamping plate 18 is separated from the side wall of the crankshaft slot hole. The two sets of workpiece clamping plates 18 loosen the workpiece to complete the loosening of the workpiece.

[0088] The specific operation method of the automatic off-line handling gripper of an engine cylinder body in the present application is as follows:

[0089] When the workpiece flows to the position to be loaded into the cage off the line, the 3D camera on the clamp mounting bracket 1 is used to determine the grasping position of the workpiece. The 3D camera on the clamp mounting bracket 1 takes a picture of the positioning surface of the workpiece to be transported to determine the accurate grasping position of the multifunctional robot gripper;

[0090] The robot moves the workpiece clamping device to the top of the workpiece according to the grasping position, so that the workpiece clamping plate 18 is aligned with the crankshaft slot hole on the lower workpiece, and the robot drives the entire device to move downward so that the workpiece clamping plate 18 is inserted downward into the two outermost crankshaft slot holes of the workpiece, and the positioning pin 24 is inserted into the corresponding pin hole on the upper surface of the workpiece, and the positioning column 25 is positioned on the upper surface of the workpiece to complete the positioning between the workpiece clamping plate 18 and the workpiece; during the downward movement of the entire device, the lower end of the second pressure rod telescopic rod 21 installed on the second mounting plate 3 is pressed against the upper surface of the workpiece. As the second mounting plate 3 moves further downward, the second pressure rod telescopic rod 21 moves upward relative to the second mounting plate 3 under the squeezing effect of the workpiece, and the second linear bearing 2 0 is in a tensioned state, exerting downward pressure on the second pressure rod telescopic rod 21, pressing the second pressure rod telescopic rod 21 against the surface of the workpiece; the upper end of the second pressure rod telescopic rod 21 moves upward until the second proximity sensor 23 installed on the second detection bracket 22 senses the second pressure rod telescopic rod 21, proving that the workpiece clamping plate 18 is now in position in the crankshaft slot, and the workpiece clamping operation can be performed; the longitudinal drive cylinder 17 drives the corresponding workpiece clamping plate 18 to move longitudinally away from the workpiece clamping plate 18 on the other side, until the clamping copper block 19 on the workpiece clamping plate 18 is in close contact with the side wall of the crankshaft slot, and the two groups of workpiece clamping plates 18 tension the workpiece to complete the clamping and fixing of the workpiece;

[0091] The robot carries the workpiece to the top of the cage partition, and the 3D camera on the clamp mounting bracket 1 takes a picture of the partition to determine the precise position where the workpiece should be placed. Then the robot places the workpiece to the determined position, and the longitudinal drive cylinder 17 drives the corresponding workpiece clamping plate 18 to move longitudinally toward the workpiece clamping plate 18 on the other side until the clamping copper block 19 on the workpiece clamping plate 18 is separated from the side wall of the crankshaft slot hole. The two sets of workpiece clamping plates 18 loosen the workpiece, completing the workpiece carrying and placement operation;

[0092] The robot returns to its original position and prepares for the next grabbing process. When the cage is filled with 6 workpieces, the robot is ready to grab the partition. The robot first walks to the top of the partition cage, and the 3D camera on the gripper mounting bracket 1 takes a picture of the partition to determine the precise position of the partition.

[0093] The robot moves the entire handling gripper to this position, and after the partition clamping block 7 is completely aligned with the through hole on the lower partition, the partition clamping block 7 moves vertically downward under the drive of the lifting cylinder 5 until the partition clamping block 7 passes through the through hole on the partition and extends into the through hole. At the same time, the partition clamping rod 10 on the first pressure rod telescopic rod 9 is pressed against the upper surface of the partition, and the partition exerts a reverse force on the first pressure rod telescopic rod 9. As the base 6 moves further downward, the first pressure rod telescopic rod 9 moves upward relative to the base 6 due to the obstruction of the partition, and the extension rod 9 is lifted. The retracted detection block 11 moves upward relative to the first detection bracket 12 until the first proximity sensor 13 on the first detection bracket 12 senses that the retracted detection block 11 is at a set height position. At this time, it is determined that the current partition clamping block 7 is extended into position, and then the transverse driving cylinder 14 is driven. The transverse driving cylinder 14 drives the two groups of partition clamping blocks 7 to move relative to each other. The partition clamping blocks 7 are hooked at the edge of the through hole. The two groups of partition clamping blocks 7 work together to clamp and fix the partition between the two groups of partition clamping blocks 7, thereby completing the clamping and fixing of the partition.

[0094] The robot moves the entire handling gripper and the clamped partition to the position to be placed. When the partition is accurately aligned with the set position below, the partition is placed thereon. The lateral driving cylinder 14 drives the two groups of partition clamping blocks 7 to move in opposite directions to loosen the clamped partition. After the partition is completely loosened, the lifting cylinder 5 drives the partition clamping block 7 to be vertically withdrawn from the through hole on the partition to complete the partition handling and placement operation.

[0095] The robot returns to its original position and prepares for the next grabbing process;

[0096] Repeat the above steps until all the workpieces to be transported are unloaded and caged.

[0097] like Figure 2 As shown, the horizontal direction of this application is Figure 2 The spacing direction of the two sets of lifting cylinders 5; the vertical direction of this application Figure 2 The telescopic direction of the lifting cylinder 5 in the present application; the longitudinal direction of the present application Figure 2 The extension direction of the middle partition pressing rod 10.

[0098] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. The present invention may be subject to various changes and improvements without departing from the spirit and scope of the present invention. These changes and improvements fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. An automatic off-line handling gripper for an engine cylinder body, characterized in that: include, A gripper mounting bracket (1), the upper end of the gripper mounting bracket (1) being connected to the robot; A partition clamping device, the partition clamping device comprising a first mounting plate (2) connected to the lower end of a clamp mounting bracket (1); two groups of partition clamps are arranged on both lateral sides of the first mounting plate (2); the partition clamps are connected to the first mounting plate (2) in a manner that they can move vertically and horizontally; A workpiece clamping device, comprising a second mounting plate (3) fixed on a first mounting plate (2); two groups of workpiece clamping jaws are arranged on both longitudinal sides of the second mounting plate (3); the workpiece clamping jaws are connected to the second mounting plate (3) in a longitudinally movable manner.

2. The engine cylinder automatic off-line handling gripper according to claim 1, characterized in that: The partition clamping device also includes a first connecting plate (4) connected to the first mounting plate (2) and capable of being laterally moved; a lifting cylinder (5) is provided on the lateral end of the first connecting plate (4) extending beyond the first mounting plate (2); a base (6) is installed at the lower end of the lifting cylinder (5); the partition clamping claw includes a partition clamping block (7) fixed on the base (6); the partition clamping block (7) is a plate-like structure with a bent lower end that can be hooked on the partition.

3. The engine cylinder automatic off-line handling gripper according to claim 1, characterized in that: The partition clamping device also includes a first clamping structure; the first clamping structure includes a first linear bearing (8) and a first pressure rod telescopic rod (9) respectively arranged on the upper and lower sides of the base (6); the upper end of the first pressure rod telescopic rod (9) can be vertically telescopically arranged in the first linear bearing (8), and the lower end of the first pressure rod telescopic rod (9) is provided with a partition clamping rod (10) arranged in a horizontal longitudinal direction; the lower end of the first linear bearing (8) is fixed on the base (6), and a first spring connected to the first pressure rod telescopic rod (9) is provided in the first linear bearing (8); the first spring applies vertical downward pressure to the first pressure rod telescopic rod (9) when the first pressure rod telescopic rod (9) is pressed against the partition.

4. The engine cylinder automatic off-line handling gripper according to claim 3, characterized in that: The partition clamping device also includes a first telescopic in-position detection structure; the first telescopic in-position detection structure includes a telescopic in-position detection block (11); the telescopic in-position detection block (11) is a horizontal plate-shaped structure fixed to the first pressure rod telescopic rod (9) and extending from the upper end of the first linear bearing (8); a first detection bracket (12) is installed on the base (6); and a first proximity sensor (13) for detecting whether the telescopic in-position detection block (11) is in place is installed on the first detection bracket (12).

5. The engine cylinder automatic off-line handling gripper according to claim 2, characterized in that: The partition clamping device also includes a transverse driving structure; the transverse driving structure includes a transverse driving cylinder (14) mounted on a first mounting plate (2) and a transverse guide rail (15) arranged horizontally and laterally; the first connecting plate (4) is connected to the transverse driving cylinder (14) and is connected to the transverse guide rail (15) in a transversely movable manner driven by the transverse driving cylinder (14).

6. The engine cylinder automatic off-line handling gripper according to claim 1, characterized in that: The second mounting plate (3) is a plate-like structure located below the first mounting plate (2), and a plurality of vertical connecting columns (16) are arranged on the second mounting plate (3); the lower ends of the connecting columns (16) are fixed to the second mounting plate (3), and the upper ends are detachably connected to the first mounting plate (2) via a threaded structure.

7. The engine cylinder body automatic off-line handling gripper according to claim 6, characterized in that: The workpiece clamping device also includes a longitudinal drive structure; the longitudinal drive structure includes a longitudinal drive cylinder (17) installed on the second mounting plate (3); the workpiece clamping jaw includes a workpiece clamping plate (18) installed on the drive end of the longitudinal drive cylinder (17); the workpiece clamping plate (18) is a plate-like structure arranged vertically and can be extended into the workpiece crankshaft slot hole, and a clamping copper block (19) is provided on the side of the workpiece clamping plate (18) that contacts the side wall of the crankshaft slot hole.

8. The engine cylinder body automatic off-line handling gripper according to claim 6, characterized in that: The workpiece clamping device also includes a second clamping structure; the second clamping structure includes a second linear bearing (20) and a second pressure rod telescopic rod (21) respectively arranged on the upper and lower sides of the second mounting plate (3); the upper end of the second pressure rod telescopic rod (21) is vertically telescopically arranged in the second linear bearing (20); the lower end of the second linear bearing (20) is fixed on the second mounting plate (3), and a second spring connected to the second pressure rod telescopic rod (21) is arranged in the second linear bearing (20); the second spring applies vertical downward pressure to the second pressure rod telescopic rod (21) when the second pressure rod telescopic rod (21) is pressed against the workpiece.

9. The engine cylinder automatic off-line handling gripper according to claim 8, characterized in that: The workpiece clamping device also includes a second telescopic in-position detection structure; the second telescopic in-position detection structure includes a second detection bracket (22) fixed on the second mounting plate (3); the second detection bracket (22) is mounted with a second proximity sensor (23) for detecting whether the upper end of the second pressure rod telescopic rod (21) is in position.

10. A method for automatically transporting an engine cylinder off-line, characterized in that: The handling method is operated by using an engine cylinder body automatic off-line handling gripper as described in any one of claims 1 to 9, comprising: When the workpiece flows to the position to be loaded into the cage, the grabbing position is determined, and the robot moves the workpiece clamping device to the top of the workpiece to be grabbed. The workpiece clamping device drives the workpiece gripper to clamp the workpiece, and moves the clamped workpiece to the top of the partition in the cage, and accurately places the workpiece on the partition. After a layer of workpieces is placed in the cage, the robot moves the partition clamping device to the top of the partition to be grabbed, and the partition clamping device drives the partition claw to clamp the partition, transport the partition into the cage, and accurately place the partition at the set position; This process is repeated until all workpieces to be transported are unloaded and caged.

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