A manipulator for machining an internal combustion engine rocker arm

Abstract

The present invention discloses a manipulator for machining an internal combustion engine rocker arm, which relates to the field of robotic arms and includes a placement 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 robotic arm is arranged on the top of the placement table, a second robotic arm is arranged on the top of the first robotic arm, a third robotic arm is arranged on the top of the second robotic arm, and an air extractor I is arranged on the outer surface of the third robotic arm. It further includes: a clamping unit using air suspension technology, which clamps the internal combustion engine rocker arm to be machined; an anti-inertia unit, which is used to provide a reverse force to protect the internal combustion engine rocker arm during rotational movement and prevent it from flying out due to inertia; a protection unit, which is applicable to prevent the internal combustion engine rocker arm from falling when the anti-inertia unit fails; and a guiding unit, which is applicable to guide the internal combustion engine rocker arm into a specific machining device when the clamping unit is restricted by space.

Description

Technical Field

[0001] The present invention relates to the technical field of robotic arms, and particularly to a manipulator for machining an internal combustion engine rocker arm. Background Art

[0002] The internal combustion engine rocker arm is a key component in the engine valve train. It is usually made of high-quality steel or aluminum alloy and has a shape similar to 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. During operation, as the camshaft rotates, the raised part of it pushes one end of the rocker arm, causing the rocker arm to swing around the axis, and then driving the other end to press down or lift the valve, precisely controlling the opening and closing time and the lift of the valve, ensuring sufficient intake and smooth exhaust of the engine, and playing a crucial role in maintaining good power output, fuel economy, and stable operation of the engine.

[0003] During the machining process of the internal combustion engine rocker arm, an industrial robot is required. The manipulator of the industrial robot is used to clamp it and place it into various machining equipment. However, since the robotic arm occupies a certain space, if the machining space is relatively narrow, it will be difficult to place the internal combustion engine rocker arm into the machining equipment, and placing it from a long distance will cause damage to the outer surface of the internal combustion engine rocker arm. Summary of the Invention

[0004] In view of the deficiencies of the prior art, the technical solution adopted by the present invention to solve its technical problems is: A manipulator for machining an internal combustion engine rocker arm according to the present invention includes a placement table with a moving device at the bottom. The moving device can drive the entire manipulator and the internal combustion engine rocker arm on the manipulator to move. A first robotic arm is provided at the top of the placement table, a second robotic arm is provided at the top of the first robotic arm, a third robotic arm is provided at the top of the second robotic arm, and an air extractor I is provided on the outer surface of the third robotic arm. The manipulator further includes:

[0005] A clamping unit using air suspension technology that clamps the internal combustion engine rocker arm to be machined;

[0006] An anti-inertia unit for providing a reverse force to protect the internal combustion engine rocker arm during rotational movement and prevent it from flying out due to inertia;

[0007] A protection unit applicable to preventing the internal combustion engine rocker arm from falling when the anti-inertia unit fails;

[0008] A guiding unit applicable to guiding the internal combustion engine rocker arm into a specific machining device when the clamping unit is restricted by space;

[0009] An inner plate is provided on the inner wall of the placement table. Damping springs are evenly provided on the outer surface of the inner plate. The end of the damping spring away from the inner plate is fixedly connected with a buffer layer, so as to reduce the impact force generated during the movement of the manipulator.

[0010] The first robotic arm, the second robotic arm, and the third robotic arm can all achieve independent rotation and extension.

[0011] Preferably, the guiding unit includes a support block. A servo motor I is arranged on the outer surface of the support block. The output end of the servo motor I is fixedly connected with a rotating block. 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 electric wires. An extension mechanism is fixedly connected to the outer surface of the electromagnetic plates;

[0012] When the guiding unit is not working, the rotating block and the extension mechanism face downward, and the power supply also transmits electric energy to the electromagnetic plates through electric wires.

[0013] Preferably, the extension mechanism includes a second air extractor. The outer surface of the second air extractor is fixedly connected with an outer layer guide rail. A first magnetic block is arranged inside the outer layer guide rail. The outer surface of the first magnetic block is fixedly connected with a middle layer guide rail. A second magnetic block is arranged on the inner wall of the middle layer guide rail. The outer surface of the second magnetic block is fixedly connected with an inner layer guide rail. The bottom of the inner layer guide rail is fixedly connected with a bottom air storage plate. Air outlet plates are evenly arranged on the outer surface of the bottom air storage plate. The air outlet direction of the air outlet plates is opposite to the downward sliding direction of the internal combustion engine rocker arm;

[0014] The outer surface of the first magnetic block is slidably connected with the inner wall of the outer layer guide rail. The outer surface of the second magnetic block is slidably connected with the inner wall of the middle layer guide rail. Air outlet holes II are arranged on the outer surfaces of the first magnetic block and the second toothed block. Air outlet holes I are arranged on the outer surfaces of the outer layer guide rail, the middle layer guide rail, and the inner layer guide rail.

[0015] Preferably, the outer surface of the support block is fixedly connected with the top of the second robotic arm. The outer surface of the second air extractor is fixedly connected with the outer surface of the electromagnetic plate.

[0016] Preferably, the protection unit includes a support rod. The top of the support rod is fixedly connected with a circular ring guide rail. The output end of the circular ring guide rail is fixedly connected with a sliding block. The sliding block slides along the inner wall of the circular ring guide rail according to the position of the robotic hand. A monitor I for locking the internal combustion engine rocker arm is arranged on the top of the sliding block. A servo motor II is fixedly connected to the inner wall of the sliding block. The output end of the servo motor II is fixedly connected with a first rotating shaft. A first support plate is fixedly connected to the end of the first rotating shaft away from the servo motor II. A collection net is arranged on the first support plate;

[0017] When the monitor I detects that an object is falling, it will drive the servo motor II to drive the collection net to rotate from the vertical state to the horizontal state.

[0018] Preferably, the bottom of the support rod is fixedly connected with the outer surface of the first robotic arm.

[0019] Preferably, the clamping unit includes a second support plate. An air connection plate is fixedly connected to the outer surface of the second support plate. A first air pipe is fixedly connected to the outer surface of the air connection plate. A clamping arm with an air outlet groove I on its outer surface is fixedly connected to one end of the air connection plate away from the first air pipe. A micro motor is arranged at one end of the clamping arm away from the air connection plate. An output end of the micro motor is fixedly connected to a rotating arm with an air outlet groove II on its outer surface. The rotating arm and the clamping arm cooperate to let out air so that the internal combustion engine rocker arm is suspended in the air by the airflow. A second air pipe is fixedly connected to the outer surface of the clamping arm;

[0020] The outer surface of the second support plate is fixedly connected to the top of the third robotic arm. One end of the second air pipe away from the clamping arm is fixedly connected to the outer surface of the rotating arm. One end of the first air pipe away from the air connection plate is fixedly connected to a first air extractor.

[0021] 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. 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. A third air pipe is fixedly connected to the outer surface of the circular plate. A rotating mechanism is arranged on the inner wall of the circular plate.

[0022] Preferably, the rotating mechanism includes a circular ring. Tooth blocks meshing with the gear are evenly arranged on the outer surface of the circular ring. Side blocks adapted to the inner wall of the circular plate are symmetrically arranged on both sides of the circular ring, so that the circular ring can rotate in the circular plate. An air inlet is arranged on the side block close to the third air pipe. The gas in the third air pipe can enter the circular ring through the air inlet. An air outlet block is arranged on the outer surface of the circular ring.

[0023] Preferably, the outer surface of the support frame is fixedly connected to the outer surface of the first air extractor. The outer surface of the side block is slidably connected to the inner wall of the circular plate.

[0024] The beneficial effects of the present invention are as follows:

[0025] 1. By setting damping springs and buffer layers, when the overall manipulator moves and collides with other machines or objects, the damping springs will absorb part of the impact force, so that the rocker arm on the placement table generates smaller fluctuations.

[0026] 2. By providing a guiding unit in the present invention, the power supply will stop supplying power to the electromagnet plate, so that the first magnet block and the second magnet block will not be adsorbed by the electromagnet plate. Then, the middle guide rail and the bottom guide rail will slide downward, thus forming a track for the downward sliding of the internal combustion engine rocker arm. Meanwhile, the second air extractor will introduce air flow into the outer guide rail, and part of the air flow will flow out through the first air outlet hole, forming a high-pressure air flow layer, which enables the internal combustion engine rocker arm placed on the outer track to slide downward without high-friction contact with the outer guide rail, the middle guide rail and the inner guide rail, thus avoiding the outer wall damage of the internal combustion engine rocker arm caused by friction.

[0027] 3. By providing a clamping unit in the present invention, the first air extractor will introduce gas into the clamping arm through the first air pipe and flow out from the first air outlet groove, making the internal combustion engine rocker arm in a suspended state, avoiding the mechanical damage to the surface of the rocker arm in the traditional clamping method. This method does not involve the contact of other media and will not introduce impurities or pollutants, ensuring the cleanliness of the rocker arm. The micro motor will drive the rotating arm to rotate outward, thus facilitating the internal combustion engine rocker arm to enter the clamping arm. After entering, the rotating arm will rotate inward, and further eject air flow through the second air outlet groove, thereby controlling the suspension of the internal combustion engine rocker arm.

[0028] 4. By providing an anti-inertia unit in the present invention, the driver will drive the second rotating shaft and the gear to rotate according to the moving direction of the internal combustion engine rocker arm, thereby driving the toothed block and the ring engaged with the gear to rotate in the circular plate, and making the air outlet block rotate to the direction where the internal combustion engine rocker arm moves or stops to generate inertia force. When the internal combustion engine rocker arm is about to stop moving, the first air extractor will also introduce gas into the side block through the third air pipe and the air inlet, and flow out from the air outlet block. The impact force of the air flow will offset the inertia force, thus preventing the inertia force from driving the internal combustion engine rocker arm to fly out of the clamping unit.

[0029] 5. By providing a protection unit in the present invention, during the processing, if there are foreign objects flying in the factory, they will block the air outlet block, thus making the anti-inertia unit ineffective. The sliding block will rotate together with the internal combustion engine rocker arm driven by the clamping unit, so that the collection net is always below the internal combustion engine rocker arm. If the second monitor in the clamping unit cannot detect the internal combustion engine rocker arm, the second servo motor will drive the first rotating shaft and the first support plate to rotate, so that the collection net is in a horizontal state, thus protecting the internal combustion engine rocker arm from falling to the ground. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 is the structural schematic diagram of the present invention.

[0031] Figure 2 is the bottom view of the structure of the present invention.

[0032] Figure 3 is the cross-sectional view of the structure of the present invention.

[0033] Figure 4 It is a schematic structural diagram of the guiding unit of the present invention.

[0034] Figure 5 It is a schematic structural diagram of the stretching mechanism of the present invention.

[0035] Figure 6 It is Figure 5 an enlarged view of part A in

[0036] Figure 7 It is a schematic structural diagram of the protection unit of the present invention.

[0037] Figure 8 It is a schematic structural diagram of the clamping unit of the present invention.

[0038] Figure 9 It is a schematic structural diagram of the anti-inertia unit of the present invention.

[0039] Figure 10 It is a sectional structural view of the anti-inertia unit of the present invention.

[0040] Figure 11 It is a schematic structural diagram of the rotating mechanism of the present invention.

[0041] In the figure: 1. Placing table; 2. First robotic arm; 3. Second robotic arm; 4. Third robotic arm; 5. Guiding unit; 6. Clamping unit; 7. First air extractor; 8. Anti-inertia unit; 9. Protection unit; 10. Moving device; 11. Inner plate; 12. Damping spring; 13. Buffer layer; 51. Support block; 52. First servo motor; 53. Rotating block; 54. Power supply; 55. Electromagnetic plate; 56. Electric wire; 57. Stretching mechanism; 571. Second air extractor; 572. Outer layer guide rail; 573. First magnetic block; 574. Middle layer guide rail; 575. Second magnetic block; 576. Inner layer guide rail; 577. First air outlet; 578. Second air outlet; 579. Bottom air storage plate; 5710. Air outlet plate; 91. Support rod; 93. Ring guide rail; 94. Sliding block; 95. First monitor; 96. Second servo motor; 97. First rotating shaft; 98. First support plate; 99. Collection net; 61. Second support plate; 62. Air receiving plate; 63. First air pipe; 64. Clamping arm; 65. First air outlet groove; 66. Micro motor; 67. Rotating arm; 68. Second air outlet groove; 69. Second air pipe; 610. Second monitor; 81. Support frame; 82. Driver; 83. Support column; 84. Circular plate; 85. Third air pipe; 86. Second rotating shaft; 87. Gear; 88. Rotating mechanism; 881. Ring; 882. Tooth block; 883. Side block; 884. Air outlet block; 885. Air inlet. Detailed implementation manners

[0042] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. The embodiments of the present invention are given for purposes of illustration and description, and are not exhaustive or limit the present invention to the disclosed form. Many modifications and variations are obvious to those of ordinary skill in the art. The embodiments are selected and described to better illustrate the principles and practical applications of the present invention, and enable those of ordinary skill in the art to understand the present invention and design various embodiments with various modifications suitable for specific purposes.

[0043] Embodiment 1, using Figures 1-11 A manipulator for machining an internal combustion engine rocker arm according to an embodiment of the present invention will be described as follows.

[0044] As Figures 1-3 shown, a manipulator for machining an internal combustion engine rocker arm of the present invention includes a placement table 1 provided with a moving device 10 at the bottom. The moving device uses a moving wheel with a braking member in the prior art to realize the movement of the manipulator and is driven by a motor to operate. The moving device 10 can drive the overall manipulator and the internal combustion engine rocker arm on the manipulator to move. A first robotic arm 2 is provided on the top of the placement table 1, a second robotic arm 3 is provided on the top of the first robotic arm 2, a third robotic arm 4 is provided on the top of the second robotic arm 3, and an air extractor 7 is provided on the outer surface of the third robotic arm 4. It further includes:

[0045] A clamping unit 6 using air suspension technology that will clamp the internal combustion engine rocker arm to be machined;

[0046] An anti-inertia unit 8 for providing a reverse force to protect the internal combustion engine rocker arm during rotational movement and prevent it from flying out due to inertia;

[0047] A protection unit 9 suitable for preventing the internal combustion engine rocker arm from falling when the anti-inertia unit 8 fails;

[0048] A guiding unit 5 suitable for guiding the internal combustion engine rocker arm into a specific processing device when the clamping unit 6 is restricted by space;

[0049] When the present invention is working, the robotic arm will drive the clamping unit 6 to move to the internal combustion engine rocker arm to be machined and clamp it. Then, the moving device 10 will drive the overall manipulator to move, thereby driving the internal combustion engine rocker arm to move to the vicinity of the processing equipment. If the space is restricted, it will be transmitted through the guiding unit 5. During the movement, both the anti-inertia unit 8 and the protection unit 9 will protect the internal combustion engine rocker arm.

[0050] The inner wall of the placement table 1 is provided with an inner plate 11, and damping springs 12 are uniformly arranged on the outer surface of the inner plate 11. One end of the damping spring 12 away from the inner plate 11 is fixedly connected with a buffer layer 13, so as to reduce the impact force generated by the impact when the manipulator moves;

[0051] When the overall manipulator moves and collides with other machinery or objects, the damping spring 12 will absorb part of the impact force, so that the robotic arm on the placement table 1 generates less fluctuation.

[0052] The first robotic arm 2, the second robotic arm 3, and the third robotic arm 4 can all achieve independent rotation and extension. The telescoping and rotation of the above-mentioned robotic arms adopt multi-degree-of-freedom multi-arms under the existing technology, which can achieve stable telescoping and rotation, and will not be elaborated here.

[0053] As Figure 4 shown, the guiding unit 5 includes a support block 51. A servo motor 52 is arranged on the outer surface of the support block 51. The output end of the servo motor 52 is fixedly connected with a rotating block 53. 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. An extension mechanism 57 is fixedly connected to the outer surface of the electromagnetic plates 55;

[0054] When using the clamping unit 6 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, it will cause the internal combustion engine rocker arm to not be able to be put in. At this time, the servo motor 52 will drive the rotating block 53 to rotate a certain angle and face the processing equipment.

[0055] When the guiding unit 5 is not working, the rotating block 53 and the extension mechanism 57 face downward, and the power supply 54 will also transmit electric energy to the electromagnetic plates 55 through the wires 56.

[0056] As Figures 5-6 shown, the extension mechanism 57 includes a second air extractor 571. An outer layer guide rail 572 is fixedly connected to the outer surface of the second air extractor 571. A first magnetic block 573 is arranged inside the outer layer guide rail 572. A middle layer guide rail 574 is fixedly connected to the outer surface of the first magnetic block 573. A second magnetic block 575 is arranged on the inner wall of the middle layer guide rail 574. An inner layer guide rail 576 is fixedly connected to the outer surface of the second magnetic block 575. A bottom air storage plate 579 is fixedly connected to the bottom of the inner layer guide rail 576. Air outlet plates 5710 are evenly arranged on the outer surface of the bottom air storage plate 579. The direction of air outlet of the air outlet plates 5710 is opposite to the downward sliding direction of the internal combustion engine rocker arm;

[0057] The power supply 54 will stop supplying power to the electrified magnetic plate 55, so that the magnetic block one 573 and the magnetic block two 575 are not adsorbed by the electrified magnetic plate 55. The middle layer guide rail 574 and the bottom layer guide rail will slide downward, thus forming a track for the downward sliding of the internal combustion engine rocker arm. At the same time, the air pump two 571 will introduce air flow into the outer layer guide rail 572, and part of the air flow will flow out through the air outlet one 577, forming a high-pressure air flow layer, so that the internal combustion engine rocker arm placed on the outer layer track slides downward without high-friction contact with the outer layer guide rail 572, the middle layer guide rail 574 and the inner layer guide rail 576, avoiding the outer wall damage of the internal combustion engine rocker arm caused by friction. 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 to the downward sliding direction of the internal combustion engine rocker arm, so as to reduce the sliding speed of the internal combustion engine rocker arm, so that it does not generate a large impact force when entering the processing equipment and avoid damage caused by impact.

[0058] The outer surface of the magnetic block one 573 is slidably connected to the inner wall of the outer layer guide rail, the outer surface of the magnetic block two 575 is slidably connected to the inner wall of the middle layer guide rail 574, the outer surfaces of the magnetic block one 573 and the tooth block 882 two are provided with air outlet two 578, and the outer surfaces of the outer layer guide rail 572, the middle layer guide rail 574 and the inner layer guide rail 576 are provided with air outlet one 577.

[0059] The outer surface of the support block 51 is fixedly connected to the top of the second robotic arm 3, and the outer surface of the air pump two 571 is fixedly connected to the outer surface of the electrified magnetic plate 55.

[0060] As Figure 7 shown, the protection unit 9 includes a support rod 91. The top of the support rod 91 is fixedly connected with a circular ring guide rail 93. The output end of the circular ring guide rail 93 is fixedly connected with a sliding block 94. The sliding block 94 will slide along the inner wall of the circular ring guide rail 93 according to the position of the robotic arm. The top of the sliding block 94 is provided with a monitor one 95 for locking the internal combustion engine rocker arm. The inner wall of the sliding block 94 is fixedly connected with a servo motor two 96. The output end of the servo motor two 96 is fixedly connected with a rotating shaft one 97. One end of the rotating shaft one 97 away from the servo motor two 96 is fixedly connected with a support plate one 98. A collecting net 99 is arranged on the support plate one 98;

[0061] When the monitor one 95 detects that an object is falling, it will drive the servo motor two 96 to drive the collecting net 99 to rotate from the vertical state to the horizontal state.

[0062] If there is foreign matter flying in the factory, it will block the air outlet block 884, causing the anti-inertia unit 8 to fail. When the sliding block 94 rotates along with the internal combustion engine rocker arm driven by the clamping unit 6, the collection net 99 will always be below the internal combustion engine rocker arm. If the monitor two 610 in the clamping unit 6 fails to detect the internal combustion engine rocker arm, the servo motor two 96 will drive the rotating shaft one 97 and the support plate one 98 to rotate, so that the collection net 99 is in a horizontal state, protecting the internal combustion engine rocker arm from falling to the ground.

[0063] The bottom of the support rod 91 is fixedly connected to the outer surface of the first robotic arm 2.

[0064] The specific working process is as follows:

[0065] During operation, when using the clamping unit 6 to clamp the internal combustion engine rocker arm, it will drive the internal combustion engine rocker arm to move to various processing equipment. If the space of the processing equipment is limited, the internal combustion engine rocker arm cannot be placed. At this time, the servo motor one 52 will drive the rotating block 53 to rotate a certain angle and face the processing equipment. Then the power supply 54 will stop supplying power to the electromagnetic plate 55, so that the magnetic block one 573 and the magnetic block two 575 are not adsorbed by the electromagnetic plate 55. The middle layer guide rail 574 and the bottom layer guide rail will slide downward, forming a track for the internal combustion engine rocker arm to slide downward. The air flow will flow out through the air outlet one 577, forming a high-pressure air flow layer to make the internal combustion engine rocker arm placed on the outer layer track slide downward. The air flow in the bottom air outlet plate 5710 will flow out from the air outlet plate 5710, in the opposite direction to the sliding direction of the internal combustion engine rocker arm, so as to reduce the sliding speed of the internal combustion engine rocker arm.

[0066] Embodiment two, use Figures 1-11 A description is given below of a manipulator for machining an internal combustion engine rocker arm according to an embodiment of the present invention.

[0067] As Figure 8 As shown in the figure, a manipulator for machining an internal combustion engine rocker arm according to the present invention, on the basis of Embodiment one, the clamping unit 6 includes a support plate two 61. The outer surface of the support plate two 61 is fixedly connected with an air connection plate 62. The outer surface of the air connection plate 62 is fixedly connected with an air pipe one 63. One end of the air connection plate 62 away from the air pipe one 63 is fixedly connected with a clamping arm 64 provided with an air outlet groove one 65 on its outer surface. One end of the clamping arm 64 away from the air connection plate is provided with a micro motor 66. The output end of the micro motor 66 is fixedly connected with a rotating arm 67 provided with an air outlet groove two 68 on its outer surface. The rotating arm 67 and the clamping arm 64 cooperate to make the internal combustion engine rocker arm suspended in the air by the air flow. The outer surface of the clamping arm 64 is fixedly connected with an air pipe two 69;

[0068] When the first robotic arm 2, the second robotic arm 3, and the third robotic arm 4 drive the overall clamping unit 6 to move to the raw material of the internal combustion engine rocker arm, the internal combustion engine rocker arm will enter the clamping arm 64. Then, the first air extractor 7 will pass gas into the clamping arm 64 through the first air pipe 63 and flow out from the first air outlet groove 65, making the internal combustion engine rocker arm in a suspended state, avoiding mechanical damage to the rocker arm surface in the traditional clamping method. This method does not involve contact with other media and will not introduce impurities or pollutants, ensuring the cleanliness of the rocker arm. The micro motor 66 will drive the rotating arm 67 to rotate outward, facilitating the entry of the internal combustion engine rocker arm into the clamping arm 64. After entry, the rotating arm 67 will rotate inward and further eject air flow through the second air outlet groove 68 to control the suspension of the internal combustion engine rocker arm.

[0069] The outer surface of the second support plate 61 is fixedly connected to the top of the third robotic arm 4. One end of the second air pipe 69 away from the clamping arm 64 is fixedly connected to the outer surface of the rotating arm 67. One end of the first air pipe 63 away from the air connection plate 62 is fixedly connected to the first air extractor 7.

[0070] As Figures 9-10 shown, the anti-inertia unit 8 includes a support frame 81. A driver 82 is fixedly connected to the outer surface of the support frame 81. The output end of the driver 82 is fixedly connected to a second rotating shaft 86. A gear 87 is fixedly connected to the outer surface of the second rotating shaft 86. A support column 83 is fixedly connected to the bottom of the support frame 81. A circular plate 84 is fixedly connected to the bottom of the support column 83. A third air pipe 85 is fixedly connected to the outer surface of the circular plate 84. A rotating mechanism 88 is arranged on the inner wall of the circular plate 84.

[0071] 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. However, inertial forces will exist at the start 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 second rotating shaft 86 and the gear 87 to rotate according to the moving direction of the internal combustion engine rocker arm.

[0072] As Figure 11 shown, the rotating mechanism 88 includes a ring 881. Tooth blocks 882 meshing with the gear 87 are evenly arranged on the outer surface of the ring 881. Side blocks 883 adapted to the inner wall of the circular plate 84 are symmetrically arranged on both sides of the ring 881, enabling the ring 881 to rotate in the circular plate 84. An air inlet 885 is arranged on the side block 883 closer to the third air pipe 85. The gas in the third air pipe 85 can enter the ring 881 through the air inlet 885. An air outlet block 884 is arranged on the outer surface of the ring 881.

[0073] The tooth block 882 and the circular ring 881 rotate within the circular plate 84, causing the air outlet block 884 to rotate in the direction where 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 air pump 7 also passes gas through the air inlet 885 on the air pipe three 85 and the side block 883 and flows out from the air outlet block 884. The impact force of the air flow will cancel out the inertial force, thereby preventing the inertial force from driving the internal combustion engine rocker arm to fly out of the clamping unit 6.

[0074] The outer surface of the support frame 81 is fixedly connected to the outer surface of the air pump 7, and the outer surface of the side block 883 is slidably connected to the inner wall of the circular plate 84.

[0075] The specific working process is as follows:

[0076] During operation, the internal combustion engine rocker arm enters the clamping arm 64. Then, the air pump 7 passes gas through the air pipe one 63 into the clamping arm 64 and flows out from the air outlet groove one 65, causing the internal combustion engine rocker arm to be in a suspended state. The micro-motor 66 drives the rotating arm 67 to rotate outward, facilitating the entry of the internal combustion engine rocker arm into the clamping arm 64. After entry, the rotating arm 67 rotates inward and further ejects air flow through the air outlet groove two 68 to control the suspension of the internal combustion engine rocker arm. The driver 82 drives the rotation of the rotating shaft two 86 and the gear 87 according to the moving direction of the internal combustion engine rocker arm, thereby driving the tooth block 882 and the circular ring 881 engaged with the gear 87 to rotate within the circular plate 84 and causing the air outlet block 884 to rotate in the direction where 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 air pump 7 also passes gas through the air pipe three 85 and the air inlet 885 on the side block 883 and flows out from the air outlet block 884. The impact force of the air flow will cancel out the inertial force.

[0077] Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art and related fields without creative efforts shall fall within the scope of protection of the present invention. The structures, devices, and operation methods not specifically described and explained in the present invention, unless otherwise specified and limited, are implemented according to the conventional means in the art.

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, 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; 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 source also transmits electrical energy to the electromagnetic plate through the wires; 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 2 to drive the collection net to rotate from a vertical state to a horizontal state; The clamping unit comprises a second support plate, an outer surface of the second support 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 air 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.

2. The robot for machining rocker arms of internal combustion engines according to claim 1, 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.

3. The robot for machining rocker arms of internal combustion engines according to claim 2, 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.

4. The robot for machining rocker arms of internal combustion engines according to claim 1, characterized in that: The bottom of the support rod is fixedly connected to the outer surface of the first mechanical arm.

5. 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.

6. The robot for machining rocker arms of internal combustion engines according to claim 5, 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.

7. The robot for machining rocker arms of internal combustion engines according to claim 6, 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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