Manipulator for machining rocker arm of internal combustion engine

Abstract

The invention discloses a mechanical arm for internal combustion engine rocker arm machining, and relates to the field of mechanical arms, the mechanical arm comprises a placing table with the bottom provided with a moving device, the moving device can drive the whole mechanical arm and an internal combustion engine rocker arm on the mechanical arm to move, and the top of the placing table is provided with a first mechanical arm; a second mechanical arm is arranged at the top of the first mechanical arm, a third mechanical arm is arranged at the top of the second mechanical arm, a first air exhauster is arranged on the outer surface of the third mechanical arm, and the internal combustion engine rocker arm machining device further comprises a clamping unit adopting the airflow suspension technology and used for clamping a to-be-machined internal combustion engine rocker arm. The anti-inertia unit is used for providing an opposite force to protect the rocker arm of the internal combustion engine in rotating movement, and the rocker arm is prevented from flying out due to inertia; the protection unit is suitable for preventing the rocker arm of the internal combustion engine from falling off when the anti-inertia unit fails; and the guide unit is suitable for guiding the internal combustion engine rocker arm to enter a specific machining device when the clamping unit is limited by space.

Description

Technical Field

[0001] The invention relates to the technical field of mechanical arms, in particular to a mechanical arm for machining rocker arms of internal combustion engines. Background Art

[0002] The rocker arm of an internal combustion engine is a key component in the engine valve mechanism. It is usually made of high-quality steel or aluminum alloy and is shaped like a lever. It is located on the engine cylinder head, with one end in contact with the camshaft and the other end connected to the valve. When working, the camshaft rotates, and its raised part pushes one end of the rocker arm, causing the rocker arm to swing around the axis, thereby driving the other end to press down or lift up the valve, accurately controlling the opening and closing time and lift size of the valve, ensuring sufficient engine intake and smooth exhaust, and playing a vital role in maintaining good engine power output, fuel economy and stable operation.

[0003] In the process of processing the rocker arm of the internal combustion engine, an industrial robot is needed. The industrial robot's manipulator clamps the rocker arm and places it into various processing equipment. However, since the manipulator occupies a certain space, if the processing space is relatively small, it will be difficult to place the rocker arm of the internal combustion engine into the processing equipment. Placing it in from a long distance will cause damage to the outer surface of the rocker arm of the internal combustion engine. Summary of the invention

[0004] In view of the deficiencies of the prior art, the technical solution adopted by the present invention to solve the technical problems is as follows: a manipulator for processing an internal combustion engine rocker arm of the present invention comprises a placing table with a moving device at the bottom, the moving device can drive the overall manipulator and the internal combustion engine rocker arm on the manipulator to move, a first manipulator arm is arranged on the top of the placing table, a second manipulator arm is arranged on the top of the first manipulator arm, a third manipulator arm is arranged on the top of the second manipulator arm, an air extractor 1 is arranged on the outer surface of the third manipulator arm, and further comprises: The clamping unit using air flow suspension technology will clamp the internal combustion engine rocker arm to be processed; The anti-inertia unit is used to provide reverse force to protect the rocker arm of the internal combustion engine in rotation and prevent it from flying out due to inertia; The protection unit is used to prevent the rocker arm of the internal combustion engine from falling off when the anti-inertia unit fails; The guide unit is suitable for guiding the rocker arm of the internal combustion engine into a specific processing device when the clamping unit is limited by space; The inner wall of the placement table is provided with an inner plate, and the outer surface of the inner plate is evenly provided with damping springs, and the damping spring is fixedly connected with a buffer layer at one end away from the inner plate, so that the manipulator can reduce the impact force generated by the collision when moving; The first robotic arm, the second robotic arm and the third robotic arm can all achieve independent rotation and extension.

[0005] Preferably, the guide unit comprises a support block, a servo motor 1 is arranged on the outer surface of the support block, a rotating block is fixedly connected to the output end of the servo motor 1, a power supply is arranged on the outer surface of the rotating block, electromagnetic plates are symmetrically arranged on both sides of the rotating block, the electromagnetic plates are connected to the power supply through wires, and an extension mechanism is fixedly connected to the outer surface of the electromagnetic plates; When the guide unit is not working, the rotating block and the extension mechanism are facing downward, and the power supply also transmits electrical energy to the electromagnetic board through the wires.

[0006] Preferably, the extension mechanism comprises an air pump 2, the outer surface of the air pump 2 is fixedly connected to an outer guide rail, a magnetic block 1 is arranged inside the outer guide rail, the outer surface of the magnetic block 1 is fixedly connected to a middle guide rail, a magnetic block 2 is arranged on the inner wall of the middle guide rail, the outer surface of the magnetic block 2 is fixedly connected to an inner guide rail, the bottom of the inner guide rail is fixedly connected to a bottom air storage plate, the outer surface of the bottom air storage plate is evenly provided with air outlet plates, and the air outlet direction of the air outlet plates is opposite to the downward direction of the rocker arm of the internal combustion engine; The outer surface of the magnetic block one is slidably connected to the inner wall of the outer guide rail, the outer surface of the magnetic block two is slidably connected to the inner wall of the middle guide rail, the outer surfaces of the magnetic block one and the gear block two are provided with air outlet two, and the outer surfaces of the outer guide rail, the middle guide rail and the inner guide rail are provided with air outlet one.

[0007] Preferably, the outer surface of the support block is fixedly connected to the top of the second mechanical arm, and the outer surface of the second vacuum pump is fixedly connected to the outer surface of the electromagnetic plate.

[0008] Preferably, the protection unit comprises a support rod, the top of the support rod is fixedly connected with a circular guide rail, the output end of the circular guide rail is fixedly connected with a sliding block, the sliding block will slide along the inner wall of the circular guide rail according to the position of the manipulator, the top of the sliding block is provided with a monitor 1 for locking the rocker arm of the internal combustion engine, the inner wall of the sliding block is fixedly connected with a servo motor 2, the output end of the servo motor 2 is fixedly connected with a rotating shaft 1, the end of the rotating shaft 1 away from the servo motor 2 is fixedly connected with a support plate 1, and a collection net is provided on the support plate 1; When the monitor detects that an object is falling, it will drive the servo motor to drive the collection net to rotate from a vertical state to a horizontal state.

[0009] Preferably, the bottom of the support rod is fixedly connected to the outer surface of the first mechanical arm.

[0010] Preferably, the clamping unit comprises a second supporting plate, an outer surface of the second supporting plate is fixedly connected to an air receiving plate, an outer surface of the air receiving plate is fixedly connected to an air pipe, an end of the air receiving plate away from the air pipe is fixedly connected to a clamping arm with an air outlet groove 1 on the outer surface, an end of the clamping arm away from the receiving plate is provided with a micro motor, an output end of the micro motor is fixedly connected to a rotating arm with an air outlet groove 2 on the outer surface, the rotating arm and the clamping arm cooperate to discharge air so that the rocker arm of the internal combustion engine is suspended in the air by the airflow, and the outer surface of the clamping arm is fixedly connected to the second air pipe; The outer surface of the second support plate is fixedly connected to the top of the third mechanical arm, the end of the second air pipe away from the clamping arm is fixedly connected to the outer surface of the rotating arm, and the end of the first air pipe away from the air receiving plate is fixedly connected to the first vacuum pump.

[0011] Preferably, the anti-inertia unit includes a support frame, a driver is fixedly connected to the outer surface of the support frame, an output end of the driver is fixedly connected to a second rotating shaft, an outer surface of the second rotating shaft is fixedly connected to a gear, a support column is fixedly connected to the bottom of the support frame, a circular plate is fixedly connected to the bottom of the support column, an air pipe three is fixedly connected to the outer surface of the circular plate, and a rotating mechanism is provided on the inner wall of the circular plate.

[0012] Preferably, the rotating mechanism includes a circular ring, the outer surface of which is evenly provided with tooth blocks meshing with gears, and side blocks adapted to the inner wall of the circular plate are symmetrically provided on both sides of the circular ring, so that the circular ring can rotate in the circular plate, and an air inlet is provided on the side block close to the side of the air pipe three, and the gas in the air pipe three can enter the circular ring through the air inlet, and an air outlet block is provided on the outer surface of the circular ring.

[0013] Preferably, the outer surface of the support frame is fixedly connected to the outer surface of the vacuum pump 1, and the outer surface of the side block is slidably connected to the inner wall of the circular plate.

[0014] The beneficial effects of the present invention are as follows: 1. The present invention provides a damping spring and a buffer layer so that when the entire robot moves and collides with other machines or objects, the damping spring absorbs part of the impact force, thereby causing smaller fluctuations in the robot arm on the placement table.

[0015] 2. The present invention sets a guide unit, and the power supply stops providing power to the electromagnetic plate, so that the magnetic block 1 and the magnetic block 2 are not adsorbed by the electromagnetic plate, and the middle guide rail and the bottom guide rail slide downward to form a track to facilitate the downward sliding of the rocker arm of the internal combustion engine. At the same time, the air pump 2 introduces air into the outer guide rail, and part of the air flow flows out through the air outlet 1 to form a high-pressure air flow layer, so that the rocker arm of the internal combustion engine placed on the outer track slides downward, and does not produce high-friction contact with the outer guide rail, the middle guide rail and the inner guide rail, thereby avoiding friction to damage the outer wall of the rocker arm of the internal combustion engine.

[0016] 3. The present invention sets a clamping unit, and the vacuum fan 1 will pass the gas into the clamping arm through the air pipe 1 and flow out from the air outlet groove 1, so that the rocker arm of the internal combustion engine is in a suspended state, avoiding the mechanical damage to the surface of the rocker arm caused by the traditional clamping method. This method does not involve contact with other media and will not introduce impurities or pollutants, thereby ensuring the cleanliness of the rocker arm. The micro motor will drive the rotating arm to rotate outward, thereby facilitating the internal combustion engine rocker arm to enter the clamping arm. After entering, the rotating arm will rotate inward, and further spray air through the air outlet groove 2, thereby controlling the suspension of the internal combustion engine rocker arm.

[0017] 4. The present invention sets an anti-inertia unit, and the driver will drive the rotating shaft 2 and the gear to rotate according to the direction of movement of the internal combustion engine rocker arm, thereby driving the tooth block and the ring meshing with the gear to rotate in the circular plate, and rotating the air outlet block to the direction of the inertial force generated by the movement or stop of the internal combustion engine rocker arm. When the internal combustion engine rocker arm is about to stop moving, the air pump 1 will also allow gas to enter through the air pipe 3 and the air inlet on the side block, and flow out from the air outlet block. The impact force of the airflow will offset the inertial force, thereby preventing the inertial force from driving the internal combustion engine rocker arm to fly out of the clamping unit.

[0018] 5. The present invention sets a protection unit. During the processing, if any foreign matter flies in the factory, it will block the air outlet block, thereby making the anti-inertia unit invalid. The sliding block will rotate along with the movement of the internal combustion engine rocker arm by the clamping unit, so that the collecting net is always under the internal combustion engine rocker arm. If the monitor 2 in the clamping unit cannot detect the internal combustion engine rocker arm, the servo motor 2 will drive the rotating shaft 1 and the supporting plate 1 to rotate, so that the collecting net is in a horizontal state, thereby protecting the internal combustion engine rocker arm from falling to the ground. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a structural schematic diagram of the present invention.

[0020] Figure 2 It is a bottom view of the structure of the present invention.

[0021] Figure 3 It is a structural cross-sectional view of the present invention.

[0022] Figure 4 It is a structural schematic diagram of the guide unit of the present invention.

[0023] Figure 5 It is a structural schematic diagram of the extension mechanism of the present invention.

[0024] Figure 6 yes Figure 5 Enlarged view of point A in the middle.

[0025] Figure 7 It is a structural schematic diagram of the protection unit of the present invention.

[0026] Figure 8 It is a structural schematic diagram of the clamping unit of the present invention.

[0027] Fig. 9 It is a structural schematic diagram of the anti-inertia unit of the present invention.

[0028] Fig.10 It is a structural cross-sectional view of the anti-inertia unit of the present invention.

[0029] Fig.11 It is a structural schematic diagram of the rotating mechanism of the present invention.

[0030] In the figure: 1, placing table; 2, first mechanical arm; 3, second mechanical arm; 4, third mechanical arm; 5, guiding unit; 6, clamping unit; 7, vacuum pump 1; 8, anti-inertia unit; 9, protection unit; 10, moving device; 11, inner plate; 12, damping spring; 13, buffer layer; 51, support block; 52, servo motor 1; 53, rotating block; 54, power supply; 55, electromagnetic plate; 56, wire; 57, extension mechanism; 571, vacuum pump 2; 572, outer guide rail; 573, magnetic block 1; 574, middle guide rail; 575, magnetic block 2; 576, inner guide rail; 577, air outlet 1; 578, air outlet 2; 579, bottom air storage plate; 5710 , air outlet plate; 91, support rod; 93, circular guide rail; 94, sliding block; 95, monitor one; 96, servo motor two; 97, rotating shaft one; 98, support plate one; 99, collecting net; 61, support plate two; 62, air receiving plate; 63, air pipe one; 64, clamping arm; 65, air outlet slot one; 66, micro motor; 67, rotating arm; 68, air outlet slot two; 69, air pipe two; 610, monitor two; 81, support frame; 82, driver; 83, support column; 84, circular plate; 85, air pipe three; 86, rotating shaft two; 87, gear; 88, rotating mechanism; 881, circular ring; 882, gear block; 883, side block; 884, air outlet block; 885, air inlet. DETAILED DESCRIPTION

[0031] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. The embodiments of the present invention are provided for the purpose of illustration and description, and are not intended to be exhaustive or to limit the present invention to the disclosed forms. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments are selected and described in order to better illustrate the principles and practical applications of the present invention, and to enable those of ordinary skill in the art to understand the present invention and thereby design various embodiments with various modifications suitable for specific uses.

[0032] Example 1, using Figure 1-Figure 11 A robot for machining a rocker arm of an internal combustion engine according to an embodiment of the present invention is described below.

[0033] like Figure 1-Figure 3 As shown, a manipulator for machining an internal combustion engine rocker arm of the present invention comprises a placing table 1 with a moving device 10 at the bottom, the moving device adopts a moving wheel with a brake member in the prior art to realize the movement of the manipulator, and is driven by a motor. The moving device 10 can drive the entire manipulator and the internal combustion engine rocker arm on the manipulator to move, a first manipulator arm 2 is arranged on the top of the placing table 1, a second manipulator arm 3 is arranged on the top of the first manipulator arm 2, a third manipulator arm 4 is arranged on the top of the second manipulator arm 3, and an air pump 7 is arranged on the outer surface of the third manipulator arm 4, and further comprises: The clamping unit 6 using air flow suspension technology will clamp the internal combustion engine rocker arm to be processed; The anti-inertia unit 8 is used to provide a reverse force to protect the rocker arm of the internal combustion engine in rotation and prevent it from flying out due to inertia; The protection unit 9 is used to prevent the rocker arm of the internal combustion engine from falling off when the anti-inertia unit 8 fails; The guide unit 5 is suitable for guiding the rocker arm of the internal combustion engine into a specific processing device when the clamping unit 6 is limited by space; When the present invention is working, the robot arm will drive the clamping unit 6 to move to the internal combustion engine rocker arm to be processed and clamp it. Then the moving device 10 will drive the entire robot arm to move, thereby driving the internal combustion engine rocker arm to move to the processing equipment. If the space is limited, it will be transferred through the guide unit 5. During the movement, the anti-inertia unit 8 and the protection unit 9 will protect the internal combustion engine rocker arm.

[0034] The inner wall of the placement table 1 is provided with an inner plate 11, and the outer surface of the inner plate 11 is evenly provided with a damping spring 12, and the damping spring 12 is fixedly connected with a buffer layer 13 at one end away from the inner plate 11, so that the manipulator can reduce the impact force generated by the collision when moving; When the entire robot moves and collides with other machines or objects, the damping spring 12 will absorb part of the impact force, thereby causing the robot arm on the placement table 1 to produce smaller fluctuations.

[0035] The first robotic arm 2, the second robotic arm 3 and the third robotic arm 4 can all achieve independent rotation and extension. The extension and rotation of the above robotic arms adopt the multi-freedom multi-arm under the existing technology, which can achieve stable extension and rotation, and will not be elaborated here.

[0036] like Figure 4 As shown, the guide unit 5 includes a support block 51, a servo motor 52 is arranged on the outer surface of the support block 51, a rotating block 53 is fixedly connected to the output end of the servo motor 52, a power supply 54 is arranged on the outer surface of the rotating block 53, electromagnetic plates 55 are symmetrically arranged on both sides of the rotating block 53, the electromagnetic plates 55 are connected to the power supply 54 through wires 56, and an extension mechanism 57 is fixedly connected to the outer surface of the electromagnetic plates 55; When the clamping unit 6 is used to clamp the internal combustion engine rocker arm, it will drive the internal combustion engine rocker arm to move to various processing equipment. Since the clamping unit 6 and the anti-inertia unit 8 occupy a certain space, if the space of the processing equipment is limited, the internal combustion engine rocker arm cannot be placed in. At this time, the servo motor 52 will drive the rotating block 53 to rotate a certain angle and face the processing equipment.

[0037] When the guide unit 5 is not working, the rotating block 53 and the extending mechanism 57 are facing downward, and the power supply 54 also transmits electrical energy to the electromagnetic plate 55 through the wire 56.

[0038] like Figure 5-Figure 6 As shown, the extension mechanism 57 includes an air pump 571, the outer surface of the air pump 571 is fixedly connected to an outer guide rail 572, a magnetic block 573 is arranged inside the outer guide rail 572, the outer surface of the magnetic block 573 is fixedly connected to a middle guide rail 574, the inner wall of the middle guide rail 574 is provided with a magnetic block 575, the outer surface of the magnetic block 575 is fixedly connected to an inner guide rail 576, the bottom of the inner guide rail 576 is fixedly connected to a bottom gas storage plate 579, the outer surface of the bottom gas storage plate 579 is evenly provided with gas outlet plates 5710, and the gas outlet direction of the gas outlet plate 5710 is opposite to the downward direction of the rocker arm of the internal combustion engine; The power supply 54 will stop providing power to the electromagnetic plate 55, so that the magnetic block 1 573 and the magnetic block 2 575 will not be adsorbed by the electromagnetic plate 55, and the middle guide rail 574 and the bottom guide rail will slide downward, thereby forming a track to facilitate the downward sliding of the internal combustion engine rocker arm. At the same time, the vacuum fan 2 571 will introduce air into the outer guide rail 572, and part of the air flow will flow out through the air outlet 1 577 to form a layer of high-pressure air flow layer, so that the internal combustion engine rocker arm placed on the outer track slides downward, and does not produce high-friction contact with the outer guide rail 572, the middle guide rail 574 and the inner guide rail 576, thereby avoiding friction to cause damage to the outer wall of the internal combustion engine rocker arm. Finally, when the internal combustion engine rocker arm slides to the bottom, the air flow in the bottom air outlet plate 5710 will flow out from the air outlet plate 5710, in the opposite direction of the internal combustion engine rocker arm's downward movement, thereby reducing the speed at which the internal combustion engine rocker arm slides downward, so that it does not produce a large impact force when it enters the processing equipment, thereby avoiding collision and damage.

[0039] The outer surface of magnet block 1 573 is slidably connected to the inner wall of the outer guide rail, the outer surface of magnet block 2 575 is slidably connected to the inner wall of the middle guide rail 574, the outer surfaces of magnet block 1 573 and tooth block 882 are provided with air outlet hole 2 578, and the outer surfaces of the outer guide rail 572, the middle guide rail 574 and the inner guide rail 576 are provided with air outlet hole 1 577.

[0040] The outer surface of the support block 51 is fixedly connected to the top of the second mechanical arm 3 , and the outer surface of the second vacuum pump 571 is fixedly connected to the outer surface of the electromagnetic plate 55 .

[0041] like Figure 7 As shown, the protection unit 9 includes a support rod 91, a circular guide rail 93 is fixedly connected to the top of the support rod 91, a sliding block 94 is fixedly connected to the output end of the circular guide rail 93, the sliding block 94 will slide along the inner wall of the circular guide rail 93 according to the position of the manipulator, a monitor 95 for locking the rocker arm of the internal combustion engine is arranged on the top of the sliding block 94, a servo motor 96 is fixedly connected to the inner wall of the sliding block 94, a rotating shaft 97 is fixedly connected to the output end of the servo motor 96, a support plate 98 is fixedly connected to the end of the rotating shaft 97 away from the servo motor 96, and a collecting net 99 is arranged on the support plate 98; When the monitor 1 95 detects that an object has fallen, the servo motor 2 96 will be driven to drive the collection net 99 to rotate from a vertical state to a horizontal state.

[0042] If any foreign matter flies in the factory, it will block the air outlet block 884, thereby making the anti-inertia unit 8 ineffective. The sliding block 94 will rotate along with the movement of the internal combustion engine rocker arm by the clamping unit 6, so that the collecting net 99 is always under the internal combustion engine rocker arm. If the monitor 2 610 in the clamping unit 6 cannot detect the internal combustion engine rocker arm, the servo motor 2 96 will drive the rotating shaft 1 97 and the support plate 1 98 to rotate, so that the collecting net 99 is in a horizontal state, thereby protecting the internal combustion engine rocker arm from falling to the ground.

[0043] The bottom of the support rod 91 is fixedly connected to the outer surface of the first mechanical arm 2 .

[0044] The specific workflow is as follows: During operation, when the clamping unit 6 is used to clamp the internal combustion engine rocker arm, the internal combustion engine rocker arm will be driven to move to various processing equipment. If the space of the processing equipment is limited, the internal combustion engine rocker arm cannot be placed in. At this time, the servo motor 52 will drive the rotating block 53 to rotate a certain angle and face the processing equipment. Then the power supply 54 will stop providing power to the electromagnetic plate 55, so that the magnetic block 1 573 and the magnetic block 2 575 are not adsorbed by the electromagnetic plate 55, and the middle guide rail 574 and the bottom guide rail will slide downward to form a track to facilitate the downward sliding of the internal combustion engine rocker arm. The airflow will flow out through the air outlet 577 to form a layer of high-pressure airflow layer, so that the internal combustion engine rocker arm placed on the outer track will slide downward, and the airflow in the bottom air outlet plate 5710 will flow out from the air outlet plate 5710, which is opposite to the direction of the internal combustion engine rocker arm sliding downward, thereby reducing the speed of the internal combustion engine rocker arm sliding downward.

[0045] Embodiment 2, use Figure 1-Figure 11 A robot for machining a rocker arm of an internal combustion engine according to an embodiment of the present invention is described below.

[0046] like Figure 8 As shown in the figure, a manipulator for processing rocker arms of internal combustion engines of the present invention, on the basis of the first embodiment, a clamping unit 6 comprises a second support plate 61, an outer surface of the second support plate 61 is fixedly connected with an air receiving plate 62, an outer surface of the air receiving plate 62 is fixedly connected with an air pipe 63, an end of the air receiving plate 62 away from the air pipe 63 is fixedly connected with a clamping arm 64 with an air outlet groove 65 on the outer surface, an end of the clamping arm 64 away from the receiving plate is provided with a micro motor 66, an output end of the micro motor 66 is fixedly connected with a rotating arm 67 with an air outlet groove 68 on the outer surface, the rotating arm 67 and the clamping arm 64 cooperate to discharge air so that the rocker arm of the internal combustion engine is suspended in the air by the airflow, and an outer surface of the clamping arm 64 is fixedly connected with a second air pipe 69; When the first robot arm 2, the second robot arm 3 and the third robot arm 4 drive the overall clamping unit 6 to move to the internal combustion engine rocker arm raw material, the internal combustion engine rocker arm will enter the clamping arm 64, and then the vacuum pump 7 will pass the gas into the clamping arm 64 through the air pipe 63 and flow out from the air outlet groove 65, so that the internal combustion engine rocker arm is in a suspended state, avoiding the mechanical damage to the rocker arm surface caused by the traditional clamping method. This method does not involve contact with other media, will not introduce impurities or pollutants, and ensures the cleanliness of the rocker arm. The micro motor 66 will drive the rotating arm 67 to rotate outward, thereby facilitating the internal combustion engine rocker arm to enter the clamping arm 64. After entering, the rotating arm 67 will rotate inward and further spray air through the air outlet groove 68, thereby controlling the suspension of the internal combustion engine rocker arm.

[0047] The outer surface of the support plate 2 61 is fixedly connected to the top of the third robot arm 4, the end of the air pipe 2 69 away from the clamping arm 64 is fixedly connected to the outer surface of the rotating arm 67, and the end of the air pipe 1 63 away from the air receiving plate 62 is fixedly connected to the vacuum pump 1 7.

[0048] like Figure 9-10 As shown, the anti-inertia unit 8 includes a support frame 81, the outer surface of the support frame 81 is fixedly connected to a driver 82, the output end of the driver 82 is fixedly connected to a rotating shaft 86, the outer surface of the rotating shaft 86 is fixedly connected to a gear 87, the bottom of the support frame 81 is fixedly connected to a support column 83, the bottom of the support column 83 is fixedly connected to a circular plate 84, the outer surface of the circular plate 84 is fixedly connected to an air pipe 3 85, and the inner wall of the circular plate 84 is provided with a rotating mechanism 88.

[0049] After the clamping unit 6 clamps and suspends the internal combustion engine rocker arm, it will drive the internal combustion engine rocker arm to move, but there will be inertial force at the beginning and end of the movement, and this inertial force may cause the internal combustion engine rocker arm to flow out of the clamping unit 6. The driver 82 will drive the rotating shaft 2 86 and the gear 87 to rotate according to the direction of movement of the internal combustion engine rocker arm.

[0050] like Fig.11 As shown, the rotating mechanism 88 includes a circular ring 881, the outer surface of which is evenly provided with tooth blocks 882 meshing with the gear 87, and side blocks 883 adapted to the inner wall of the circular plate 84 are symmetrically provided on both sides of the circular ring 881, so that the circular ring 881 can rotate in the circular plate 84, and an air inlet 885 is provided on the side block 883 close to the side of the air pipe three 85, and the gas in the air pipe three 85 can enter the circular ring 881 through the air inlet 885, and an air outlet block 884 is provided on the outer surface of the circular ring 881.

[0051] The gear block 882 and the ring 881 rotate in the circular plate 84, and cause the air outlet block 884 to rotate to the direction in which the internal combustion engine rocker arm moves or stops to generate inertial force. When the internal combustion engine rocker arm is about to stop moving, the vacuum pump 7 will also allow gas to enter through the air pipe 3 85 and the air inlet 885 on the side block 883, and the gas will flow out from the air outlet block 884. The impact force of the airflow will offset the inertial force, thereby preventing the inertial force from driving the internal combustion engine rocker arm to fly out of the clamping unit 6.

[0052] The outer surface of the support frame 81 is fixedly connected to the outer surface of the vacuum pump 7, and the outer surface of the side block 883 is slidably connected to the inner wall of the circular plate 84.

[0053] The specific workflow is as follows: During operation, the rocker arm of the internal combustion engine enters the clamping arm 64, and then the air pump 7 will pass the gas into the clamping arm 64 through the air pipe 63 and flow out from the air outlet slot 65, so that the rocker arm of the internal combustion engine is in a suspended state, and the micro motor 66 will drive the rotating arm 67 to rotate outward, so as to facilitate the rocker arm of the internal combustion engine to enter the clamping arm 64. After entering, the rotating arm 67 will rotate inward and further spray air through the air outlet slot 68, so as to control the suspension of the rocker arm of the internal combustion engine. The driver 82 will The direction in which the engine rocker arm moves drives the rotating shaft 2 86 and the gear 87 to rotate, thereby driving the tooth block 882 and the ring 881 meshing with the gear 87 to rotate in the circular plate 84, and causing the air outlet block 884 to rotate to the direction in which the engine rocker arm moves or stops to generate an inertial force. When the engine rocker arm is about to stop moving, the vacuum pump 1 7 will also allow gas to enter through the air pipe 3 85 and the air inlet 885 on the side block 883, and the gas will flow out from the air outlet block 884, and the impact force of the air flow will offset the inertial force.

[0054] Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field and related fields without creative work should fall within the scope of protection of the present invention. The structures, devices and operating methods not specifically described and explained in the present invention are implemented according to the conventional means in the field unless otherwise specified and limited.

Claims

1. A manipulator for processing an internal combustion engine rocker arm, comprising a placing table with a moving device at the bottom, the moving device drives the overall manipulator and the internal combustion engine rocker arm on the manipulator to move, a first manipulator arm is arranged on the top of the placing table, a second manipulator arm is arranged on the top of the first manipulator arm, a third manipulator arm is arranged on the top of the second manipulator arm, the first manipulator arm, the second manipulator arm and the third manipulator arm can realize independent rotation and extension; the outer surface of the third manipulator arm is provided with an air pump 1, characterized in that, Also includes: A clamping unit for clamping the internal combustion engine rocker arm to be processed, an anti-inertia unit for providing a reverse force to protect the internal combustion engine rocker arm in rotation, a protection unit for ensuring the normal operation of the anti-inertia unit, and a guide unit for assisting the clamping unit to guide the internal combustion engine rocker arm into the processing device; The inner wall of the placing table is provided with an inner plate, and the outer surface of the inner plate is evenly provided with damping springs, and one end of the damping spring away from the inner plate is fixedly connected with a buffer layer.

2. The robot for machining rocker arms of internal combustion engines according to claim 1, characterized in that: The guide unit comprises a support block, a servo motor 1 is arranged on the outer surface of the support block, a rotating block is fixedly connected to the output end of the servo motor 1, a power supply is arranged on the outer surface of the rotating block, electromagnetic plates are symmetrically arranged on both sides of the rotating block, the electromagnetic plates are connected to the power supply through wires, and an extension mechanism is fixedly connected to the outer surface of the electromagnetic plates; When the guide unit is not working, the rotating block and the extension mechanism are downward, and the power supply also transmits electrical energy to the electromagnetic plate through the wires.

3. The robot for machining rocker arms of internal combustion engines according to claim 2, characterized in that: The extension mechanism includes an air pump 2, the outer surface of the air pump 2 is fixedly connected to an outer guide rail, a magnetic block 1 is arranged inside the outer guide rail, the outer surface of the magnetic block 1 is fixedly connected to a middle guide rail, a magnetic block 2 is arranged on the inner wall of the middle guide rail, the outer surface of the magnetic block 2 is fixedly connected to an inner guide rail, the bottom of the inner guide rail is fixedly connected to a bottom air storage plate, the outer surface of the bottom air storage plate is evenly provided with air outlet plates, and the air outlet direction of the air outlet plate is opposite to the downward direction of the rocker arm of the internal combustion engine; The outer surface of the magnetic block one is slidably connected to the inner wall of the outer guide rail, the outer surface of the magnetic block two is slidably connected to the inner wall of the middle guide rail, the outer surfaces of the magnetic block one and the gear block two are provided with air outlet two, and the outer surfaces of the outer guide rail, the middle guide rail and the inner guide rail are provided with air outlet one.

4. The robot for machining rocker arms of internal combustion engines according to claim 3, characterized in that: The outer surface of the support block is fixedly connected to the top of the second mechanical arm, and the outer surface of the second vacuum pump is fixedly connected to the outer surface of the electromagnetic plate.

5. The robot for machining rocker arms of internal combustion engines according to claim 1, characterized in that: The protection unit comprises a support rod, a circular guide rail is fixedly connected to the top of the support rod, a sliding block is fixedly connected to the output end of the circular guide rail, the sliding block slides along the inner wall of the circular guide rail according to the position of the manipulator, a monitor 1 for locking the rocker arm of the internal combustion engine is arranged on the top of the sliding block, a servo motor 2 is fixedly connected to the inner wall of the sliding block, a rotating shaft 1 is fixedly connected to the output end of the servo motor 2, a support plate 1 is fixedly connected to the end of the rotating shaft 1 away from the servo motor 2, and a collection net is arranged on the support plate 1; When the monitor detects that an object is falling, it will drive the servo motor to drive the collection net to rotate from a vertical state to a horizontal state.

6. The robot for machining rocker arms of internal combustion engines according to claim 5, characterized in that: The bottom of the support rod is fixedly connected to the outer surface of the first mechanical arm.

7. The robot for machining rocker arms of internal combustion engines according to claim 1, characterized in that: The clamping unit comprises a second supporting plate, an outer surface of the second supporting plate is fixedly connected to an air receiving plate, an outer surface of the air receiving plate is fixedly connected to an air pipe, an end of the air receiving plate away from the air pipe is fixedly connected to a clamping arm with an air outlet groove 1 on the outer surface, an end of the clamping arm away from the receiving plate is provided with a micro motor, an output end of the micro motor is fixedly connected to a rotating arm with an air outlet groove 2 on the outer surface, the rotating arm and the clamping arm cooperate to discharge air so that the rocker arm of the internal combustion engine is suspended in the air by the airflow, and the outer surface of the clamping arm is fixedly connected to the second air pipe; The outer surface of the second support plate is fixedly connected to the top of the third mechanical arm, the end of the second air pipe away from the clamping arm is fixedly connected to the outer surface of the rotating arm, and the end of the first air pipe away from the air receiving plate is fixedly connected to the first vacuum pump.

8. The robot for machining rocker arms of internal combustion engines according to claim 1, characterized in that: The anti-inertia unit includes a support frame, a driver is fixedly connected to the outer surface of the support frame, a second rotating shaft is fixedly connected to the output end of the driver, a gear is fixedly connected to the outer surface of the second rotating shaft, a support column is fixedly connected to the bottom of the support frame, a circular plate is fixedly connected to the bottom of the support column, an air pipe three is fixedly connected to the outer surface of the circular plate, and a rotating mechanism is provided on the inner wall of the circular plate.

9. The robot for machining a rocker arm of an internal combustion engine according to claim 8, characterized in that: The rotating mechanism includes a circular ring, the outer surface of which is evenly provided with tooth blocks meshing with gears, and side blocks adapted to the inner wall of the circular plate are symmetrically provided on both sides of the circular ring, so that the circular ring can rotate in the circular plate, and an air inlet is provided on the side block close to the air pipe three, and the gas in the air pipe three can enter the circular ring through the air inlet, and an air outlet block is provided on the outer surface of the circular ring.

10. The robot for machining rocker arms of internal combustion engines according to claim 9, characterized in that: The outer surface of the support frame is fixedly connected to the outer surface of the first air pump, and the outer surface of the side block is slidably connected to the inner wall of the circular plate.

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