Multifunctional robot clamp

Abstract

The invention discloses a multifunctional robot clamp which comprises a mounting plate (1), the mounting plate (1) is connected with a robot six-axis flange plate, and a cylinder gasket adsorption assembly (2), a cylinder body grabbing assembly (3) and a simulated cylinder cover grabbing assembly (4) are arranged on the mounting plate (1). According to the invention, assembly of several parts can be completed without replacing the clamping jaw, and the device has the advantages of high production efficiency and low integrated design cost.

Description

Technical Field

[0001] The present invention relates to a fixture, in particular to a multi-functional robot fixture. Background Art

[0002] The simulated cylinder head process is a typical process introduced in the engine production line to improve the deformation of cylinder bores. The simulated cylinder head is connected to the cylinder block through process bolts, and a process cylinder gasket also needs to be assembled between the simulated cylinder head and the cylinder block. After the assembly is completed, finish machining is carried out, and finally, disassembly is performed. With the continuous improvement of production automation, the simulated cylinder head currently mostly adopts the methods of automatic assembly and disassembly. The process selection of assembly and disassembly directly affects the process investment and production efficiency.

[0003] At present, there are two methods for automatic assembly and disassembly of the simulated cylinder head: one is to use a truss manipulator to grasp the simulated cylinder head and the process cylinder gasket to complete the assembly and disassembly of the cylinder block. Using a truss manipulator for assembly requires the arrangement of roller conveyors, has specific requirements for the incoming posture of workpieces, has poor expandability, and the simulated cylinder head has a large number of transfers, occupying a large space, which is not conducive to centralized production; the other is to use a robot to grasp the simulated cylinder head and the process cylinder gasket to complete the assembly and disassembly of the cylinder block. This solution can effectively solve various defects of the truss mechanical assembly solution. However, due to the large differences in the shapes of several assembled parts, it is currently necessary to replace the robot gripper to achieve this. This method requires manual replacement of the gripper, with relatively low production efficiency and high investment costs. Summary of the Invention

[0004] The purpose of the present invention is to provide a multi-functional robot fixture to solve the technical problems in the prior art. It can complete the assembly of several parts without replacing the gripper, and has the advantages of high production efficiency and low integrated design cost.

[0005] The present invention provides a multi-functional robot fixture, including a mounting plate, the mounting plate is connected to the six-axis flange of the robot, and a cylinder gasket adsorption component, a cylinder block grasping component, and a simulated cylinder head grasping component are arranged on the mounting plate.

[0006] In the foregoing multi-functional robot fixture, preferably, the cylinder block grasping component includes a first cylinder block clamping cylinder, a second cylinder block clamping cylinder, a third cylinder block clamping cylinder, and a fourth cylinder block clamping cylinder. Four cylinder block clamping cylinder mounting holes are opened on the mounting plate. The first cylinder block clamping cylinder, the second cylinder block clamping cylinder, the third cylinder block clamping cylinder, and the fourth cylinder block clamping cylinder are respectively inserted into the four cylinder block clamping cylinder mounting holes and then respectively connected to the mounting plate through bolts.

[0007] In the aforementioned multi-functional robot fixture, preferably, four cylinder clamping and releasing detection components are provided on the top surface of the mounting plate. The four cylinder clamping and releasing detection components are respectively arranged beside the four cylinder clamping cylinder mounting holes. The structures of the four cylinder clamping and releasing detection components are the same, and each of them includes a second mounting plate, a cylinder clamping position detector, and a cylinder releasing position detector. The second mounting plate is fixed on the top of the mounting plate, and both the cylinder clamping position detector and the cylinder releasing position detector are fixed on the second mounting plate.

[0008] In the aforementioned multi-functional robot fixture, preferably, the simulated cylinder head grasping component includes a first simulated cylinder head clamping cylinder, a second simulated cylinder head clamping cylinder, a third simulated cylinder head clamping cylinder, and a fourth simulated cylinder head clamping cylinder. Four simulated cylinder head clamping cylinder mounting holes are formed on the mounting plate. The first simulated cylinder head clamping cylinder, the second simulated cylinder head clamping cylinder, the third simulated cylinder head clamping cylinder, and the fourth simulated cylinder head clamping cylinder are respectively inserted into the four simulated cylinder head clamping cylinder mounting holes and then respectively connected to the mounting plate by bolts.

[0009] In the aforementioned multi-functional robot fixture, preferably, four simulated cylinder head clamping and releasing detection components are provided on the top surface of the mounting plate. The four simulated cylinder head clamping and releasing detection components are respectively arranged beside the four simulated cylinder head clamping cylinder mounting holes. The structures of the four simulated cylinder head clamping and releasing detection components are the same, and each of them includes a third mounting plate, a simulated cylinder head clamping position detector, and a simulated cylinder head releasing position detector. The third mounting plate is fixed on the top of the mounting plate, and both the simulated cylinder head clamping position detector and the simulated cylinder head releasing position detector are fixed on the third mounting plate.

[0010] In the aforementioned multi-functional robot fixture, preferably, the cylinder gasket adsorption component includes eight vacuum suction heads. The eight vacuum suction heads are all fixed on the mounting plate, and the eight vacuum suction heads are arranged in a 2*4 manner.

[0011] In the aforementioned multi-functional robot fixture, preferably, a cylinder gasket ejecting component is further provided on the mounting plate. The cylinder gasket ejecting component includes a first elastic ejector pin, a second elastic ejector pin, a third elastic ejector pin, and a fourth elastic ejector pin. The structures of the first elastic ejector pin, the second elastic ejector pin, the third elastic ejector pin, and the fourth elastic ejector pin are exactly the same, and each of them includes a guide sleeve, a spring, and an ejector rod. The lower end of the guide sleeve is fixedly connected to the top surface of the mounting plate by bolts. A through hole is formed at the top end of the guide sleeve. The ejector rod is inserted into and slidably connected with the guide sleeve. The upper end of the ejector rod penetrates through the through hole at the top end of the guide sleeve, and the lower end of the ejector rod penetrates through the mounting plate. The spring is sleeved on the ejector rod, and a convex platform is formed in the middle of the ejector rod.

[0012] In the aforementioned multi-functional robot fixture, preferably, two driving cylinders are installed at the bottom of the mounting plate, the telescopic ends of the two driving cylinders are arranged oppositely, and a fork is installed at the telescopic end of each of the two driving cylinders.

[0013] Compared with the prior art, the present invention includes a mounting plate, the mounting plate is connected to the six-axis flange of the robot, and a cylinder gasket adsorption component, a cylinder block grasping component, and a simulated cylinder head grasping component are provided on the mounting plate. By integrating the cylinder gasket adsorption component, the cylinder block grasping component, and the simulated cylinder head grasping component together, the robot can grasp the cylinder block and place it at the assembly station without replacing the gripper, and then grasp the process cylinder gasket and assemble it with the cylinder block, and grasp the simulated cylinder head and assemble it with the cylinder block; the present invention can also be used to disassemble the simulated cylinder head and the process cylinder gasket from the cylinder block, greatly reducing the labor intensity of workers and improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 is the bottom view of the present invention;

[0015] Figure 2 is the first axonometric view of the present invention;

[0016] Figure 3 is the bottom view of the present invention;

[0017] Figure 4 is the second axonometric view of the present invention;

[0018] Figure 5 is the third axonometric view of the present invention;

[0019] Figure 6 is the cross-sectional view of the cylinder gasket ejection component;

[0020] Figure 7 is the axonometric view of the present invention grasping the cylinder block;

[0021] Figure 8 is the axonometric view of the present invention grasping the simulated cylinder head;

[0022] Figure 9 is the axonometric view of the present invention adsorbing the process cylinder gasket.

[0023] Description of reference numerals: mounting plate 1, circular through-hole 101, flange connection hole 102, gasket adsorption assembly 2, first vacuum chuck 201, second vacuum chuck 202, third vacuum chuck 203, fourth vacuum chuck 204, fifth vacuum chuck 205, sixth vacuum chuck 206, seventh vacuum chuck 207, eighth vacuum chuck 208, cylinder block grasping assembly 3, first cylinder block clamping cylinder 301, second cylinder block clamping cylinder 302, third cylinder block clamping cylinder 303, fourth cylinder block clamping cylinder 304, simulated cylinder head grasping assembly 4, first simulated cylinder head clamping cylinder 401, second simulated cylinder head clamping cylinder 402, third simulated cylinder head clamping cylinder 403, fourth simulated cylinder head clamping cylinder 404, cylinder block clamping and releasing detection assembly 5, second mounting plate 501, cylinder block clamping position detector 502, cylinder block release position detector 503, simulated cylinder head clamping and releasing detection assembly 6, third mounting plate 601, simulated cylinder head clamping position detector 602, simulated cylinder head release position detector 603, first elastic ejector pin 701, second elastic ejector pin 702, third elastic ejector pin 703, fourth elastic ejector pin 704, guide sleeve 705, compression spring 706, ejector rod 707, boss 708, drive cylinder 8, fork 9, U-shaped insertion rod 901, rectangular connecting plate 10, through-hole 101, flange connection hole 102, cylinder block 11, first circular induction sheet 12, second circular induction sheet 13, third circular induction sheet 14, fourth circular induction sheet 15, air jet nozzle 16, process gasket 17, simulated cylinder head 18, process bolt 19. Detailed implementation mode

[0024] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions from beginning to end. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation of the present invention.

[0025] Embodiments of the present invention: As Figures 1-9 shown, a multifunctional robot fixture includes a mounting plate 1, the mounting plate 1 is connected to the six-axis flange of the robot, and the mounting plate 1 is provided with a gasket adsorption assembly 2, a cylinder block grasping assembly 3, and a simulated cylinder head grasping assembly 4.

[0026] Specifically, a rectangular connecting plate 10 is fixedly installed on the top surface of the mounting plate 1 by bolts. A circular through-hole 101 is provided at the center position of the rectangular connecting plate 10, and a circle of flange connection holes 102 is provided around the circular through-hole 101. The flange connection holes 102 are in one-to-one correspondence with the mounting holes on the six-axis flange of the robot. The six-axis flange of the robot is fixedly connected to the rectangular connecting plate 10 using bolt assemblies, thus realizing the connection between the mounting plate 1 and the robot. It should be noted that the robot is a prior art and can be purchased. The robot is not shown in the figure, and the working principle of the robot will not be elaborated in this embodiment.

[0027] Through the cylinder body grasping component 3 on the mounting plate 1 of the present invention, the grasping and releasing of the cylinder body 11 can be achieved, and with the cooperation of the robot, the cylinder body 11 can be moved to the assembly station. Through the cylinder gasket adsorption component 2 on the mounting plate 1, the process cylinder gasket 17 can be adsorbed and released, and with the cooperation of the robot, the process cylinder gasket 17 can be assembled or disassembled with the cylinder body 11. Through the simulated cylinder head grasping component 4 on the mounting plate 1, the grasping and releasing of the simulated cylinder head 18 can be achieved, and with the cooperation of the robot, the simulated cylinder head 18 can be assembled or disassembled with the cylinder body 11. All work can be completed without replacing the gripper, greatly improving the work efficiency.

[0028] Furthermore, the cylinder body grasping component 3 includes a first cylinder body clamping cylinder 301, a second cylinder body clamping cylinder 302, a third cylinder body clamping cylinder 303, and a fourth cylinder body clamping cylinder 304. Four cylinder body clamping cylinder mounting holes are provided on the mounting plate 1. The first cylinder body clamping cylinder 301, the second cylinder body clamping cylinder 302, the third cylinder body clamping cylinder 303, and the fourth cylinder body clamping cylinder 304 are respectively plugged into the four cylinder body clamping cylinder mounting holes and then respectively connected to the mounting plate 1 by bolts.

[0029] Please refer to Figure 3 , a first mounting portion is formed on the front side of the mounting plate 1, a second mounting portion is formed on the rear side of the mounting plate 1, a third mounting portion is formed on the left side of the mounting plate 1, and a fourth mounting portion is formed on the right side of the mounting plate 1. The first mounting portion and the second mounting portion are symmetric structures, and the third mounting portion and the fourth mounting portion are symmetric structures. The first cylinder body clamping cylinder 301 and the second cylinder body clamping cylinder 302 are located on the first mounting portion, and the third cylinder body clamping cylinder 303 and the fourth cylinder body clamping cylinder 304 are located on the second mounting portion. During operation, the first cylinder body clamping cylinder 301 and the third cylinder body clamping cylinder 303 clamp the front and rear ends of the left side surface of the cylinder body 11, the second cylinder body clamping cylinder 302 clamps the front end of the right side surface of the cylinder body 11, and the fourth cylinder body clamping cylinder 304 clamps the rear side surface of the cylinder body 11. In this way, the cylinder body 11 is limited and clamped in three directions to prevent the cylinder body 11 from falling off during the movement process.

[0030] The first clamping cylinder 301 of the cylinder block, the second clamping cylinder 302 of the cylinder block, the third clamping cylinder 303 of the cylinder block, and the fourth clamping cylinder 304 of the cylinder block all adopt lever-type clamping cylinders. The specific model can be selected as kosmek WCE 1001-2SCD and can be directly purchased. The first clamping cylinder 301 of the cylinder block, the second clamping cylinder 302 of the cylinder block, the third clamping cylinder 303 of the cylinder block, and the fourth clamping cylinder 304 of the cylinder block are respectively connected to the air source through air pipes. An electromagnetic valve is provided on each air pipe, and each electromagnetic valve is electrically connected to the PLC programmable controller. The working state of the electromagnetic valve is controlled by the PLC programmable controller to change the working state of each clamping cylinder. The PLC programmable controller is a prior art and is not shown in the figure. The robot is also electrically connected to the PLC programmable controller.

[0031] Further, four cylinder block clamping and releasing detection components 5 are provided on the top surface of the mounting plate 1. The four cylinder block clamping and releasing detection components 5 are respectively arranged beside the four cylinder block clamping cylinder mounting holes. The structures of the four cylinder block clamping and releasing detection components 5 are the same. They all include a second mounting plate 501, a cylinder block clamping position detector 502, and a cylinder block release position detector 503. The second mounting plate 501 is fixed on the top of the mounting plate 1, and the cylinder block clamping position detector 502 and the cylinder block release position detector 503 are both fixed on the second mounting plate 501.

[0032] The second mounting plate 501 can be fixed to the mounting plate 1 through bolt assemblies or directly welded to the mounting plate 1. The second mounting plate 501 is perpendicular to the top surface of the mounting plate 1. A waist-shaped hole is vertically opened on the second mounting plate 501. The cylinder block clamping position detector 502 and the cylinder block release position detector 503 pass through the waist-shaped hole and are clamped and fixed on the second mounting plate 501 through nuts. The axes of the cylinder block clamping position detector 502 and the cylinder block release position detector 503 are both parallel to the mounting plate 1. The cylinder block release position detector 503 is located above the cylinder block clamping position detector 502.

[0033] In this embodiment, both the cylinder block clamping position detector 502 and the cylinder block release position detector 503 adopt proximity switches, and both the cylinder block clamping position detector 502 and the cylinder block release position detector 503 are electrically connected to the PLC programmable controller. To improve the induction effect, a first circular induction sheet 12 and a second circular induction sheet 13 are provided at the top of the cylinder rods of the first cylinder block clamping cylinder 301, the second cylinder block clamping cylinder 302, the third cylinder block clamping cylinder 303, and the fourth cylinder block clamping cylinder 304. The first circular induction sheet 12 is located above the second circular induction sheet 13. When the clamping cylinder is in the clamping state, the second circular induction sheet 13 is aligned with the cylinder block clamping position detector 502, and the first circular induction sheet 12 is in the area between the cylinder block clamping position detector 502 and the cylinder block release position detector 503. The cylinder block clamping position detector 502 sends a signal to the PLC programmable controller, and the PLC programmable controller can determine that the clamping cylinder is in the clamping state at this time.

[0034] When the cylinder rod moves upward and the clamping cylinder changes from the locked state to the released state, when the cylinder rod moves upward to the highest position, the first circular induction sheet 12 is aligned with the cylinder block release position detector 503, and the second circular induction sheet 13 is in the area between the cylinder block clamping position detector 502 and the cylinder block release position detector 503. The cylinder block release position detector 503 sends a signal to the PLC programmable controller, and the PLC programmable controller can determine that the clamping cylinder is in the released state at this time.

[0035] The simulated cylinder head grasping assembly 4 includes a first simulated cylinder head clamping cylinder 401, a second simulated cylinder head clamping cylinder 402, a third simulated cylinder head clamping cylinder 403, and a fourth simulated cylinder head clamping cylinder 404. Four simulated cylinder head clamping cylinder mounting holes are provided on the mounting plate 1. The first simulated cylinder head clamping cylinder 401, the second simulated cylinder head clamping cylinder 402, the third simulated cylinder head clamping cylinder 403, and the fourth simulated cylinder head clamping cylinder 404 are respectively inserted into the four simulated cylinder head clamping cylinder mounting holes and then respectively connected to the mounting plate 1 by bolts.

[0036] Preferably, the first simulated cylinder head clamping cylinder 401 and the second simulated cylinder head clamping cylinder 402 are arranged on the third mounting portion, and the third simulated cylinder head clamping cylinder 403 and the fourth simulated cylinder head clamping cylinder 404 are arranged on the fourth mounting portion.

[0037] The first clamping cylinder 401 of the simulated cylinder head, the second clamping cylinder 402 of the simulated cylinder head, the third clamping cylinder 403 of the simulated cylinder head, and the fourth clamping cylinder 404 of the simulated cylinder head also select lever-type clamping cylinders of the model kosmek WCE 1001-2SCD. The first clamping cylinder 401 of the simulated cylinder head, the second clamping cylinder 402 of the simulated cylinder head, the third clamping cylinder 403 of the simulated cylinder head, and the fourth clamping cylinder 404 of the simulated cylinder head are also connected to the air source using air pipes, and solenoid valves are provided on the air pipes. All solenoid valves are electrically connected to the PLC programmable controller. The clamping and release states of the first clamping cylinder 401 of the simulated cylinder head, the second clamping cylinder 402 of the simulated cylinder head, the third clamping cylinder 403 of the simulated cylinder head, and the fourth clamping cylinder 404 of the simulated cylinder head can be controlled through the PLC programmable controller.

[0038] Furthermore, four simulated cylinder head clamping and releasing detection components 6 are provided on the top surface of the mounting plate 1. The four simulated cylinder head clamping and releasing detection components 6 are respectively arranged beside the four simulated cylinder head clamping cylinder mounting holes. The structures of the four simulated cylinder head clamping and releasing detection components 6 are the same. They all include a third mounting plate 601, a simulated cylinder head clamping position detector 602, and a simulated cylinder head release position detector 603. The third mounting plate 601 is fixed to the top of the mounting plate 1, and the simulated cylinder head clamping position detector 602 and the simulated cylinder head release position detector 603 are both fixed to the third mounting plate 601.

[0039] The simulated cylinder head clamping position detector 602 and the simulated cylinder head release position detector 603 also adopt proximity switches. Third circular induction sheets 14 and fourth circular induction sheets 15 are provided at the upper ends of the cylinder rods of the first clamping cylinder 401 of the simulated cylinder head, the second clamping cylinder 402 of the simulated cylinder head, the third clamping cylinder 403 of the simulated cylinder head, and the fourth clamping cylinder 404 of the simulated cylinder head. The third circular induction sheet 14 is located above the fourth circular induction sheet 15. The simulated cylinder head clamping position detector 602 is located below the simulated cylinder head release position detector 603. The simulated cylinder head clamping position detector 602 and the simulated cylinder head release position detector 603 are both electrically connected to the PLC programmable controller. The working principle is the same as that of the cylinder block clamping and releasing detection component 5.

[0040] Furthermore, the cylinder gasket adsorption component 2 includes eight vacuum suction heads, and the eight vacuum suction heads are all fixed to the mounting plate 1 and arranged in a 2*4 manner.

[0041] In this embodiment, the eight vacuum suction heads are respectively a first vacuum suction head 201, a second vacuum suction head 202, a third vacuum suction head 203, a fourth vacuum suction head 204, a fifth vacuum suction head 205, a sixth vacuum suction head 206, a seventh vacuum suction head 207, and an eighth vacuum suction head 208. The first vacuum suction head 201, the second vacuum suction head 202, the third vacuum suction head 203, and the fourth vacuum suction head 204 are arranged in a straight line and are located on the left side of the mounting plate 1. The fifth vacuum suction head 205, the sixth vacuum suction head 206, the seventh vacuum suction head 207, and the eighth vacuum suction head 208 are arranged in a straight line and are located on the right side of the mounting plate 1. The eight vacuum suction heads are respectively connected to a negative pressure device through air pipes. The negative pressure device is a prior art and is not shown in the figure. The negative pressure device is electrically connected to a PLC programmable controller.

[0042] Furthermore, a cylinder gasket ejecting assembly is also provided on the mounting plate 1. The cylinder gasket ejecting assembly includes a first elastic ejector pin 701, a second elastic ejector pin 702, a third elastic ejector pin 703, and a fourth elastic ejector pin 704. The structures of the first elastic ejector pin 701, the second elastic ejector pin 702, the third elastic ejector pin 703, and the fourth elastic ejector pin 704 are completely the same. They all include a guide sleeve 705, a spring 706, and an ejector rod 707. The lower end of the guide sleeve 705 is fixedly connected to the top surface of the mounting plate 1 by bolts. A through hole is provided at the top end of the guide sleeve 705. The ejector rod 707 is inserted and slidably connected to the guide sleeve 705. The upper end of the ejector rod 707 passes through the top end of the guide sleeve 705, and the lower end of the ejector rod 707 passes through the mounting plate 1. The spring 706 is sleeved on the ejector rod 707, and a boss 708 is formed in the middle of the ejector rod 707.

[0043] A thread is formed at the upper end of the ejector rod 707, and an adjusting nut 709 is installed at this end. By changing the position of the adjusting nut 709 on the ejector rod 707, the height of the lower end of the ejector rod 707 can be adjusted. The upper end of the spring 706 abuts against the inner wall of the top end of the guide sleeve 705, and the lower end of the spring 706 abuts against the boss 708.

[0044] When disassembling the simulation cylinder head 18, in order to prevent the process cylinder gasket 17 from sticking to the simulation cylinder head 18, the process cylinder gasket 17 can be pressed against the cylinder block 11 through the first elastic ejector pin 701, the second elastic ejector pin 702, the third elastic ejector pin 703, and the fourth elastic ejector pin 704, so that the simulation cylinder head 18 can be smoothly disassembled.

[0045] Even further, two driving cylinders 8 are installed at the bottom of the mounting plate 1. The telescopic ends of the two driving cylinders 8 are arranged oppositely, and a fork 9 is installed at the telescopic end of each of the two driving cylinders 8.

[0046] The fork levers 9 on the two driving cylinders 8 are arranged oppositely, and the structures of the two fork levers 9 are exactly the same. Each fork lever 9 is provided with five U-shaped inserting rods 901, and the U-shaped inserting rods 901 on the two fork levers 9 are opposite to each other one by one.

[0047] Preferably, a jet nozzle 16 is installed at the bottom of the mounting plate 1, and the top surface of the cylinder block 11 can be purged through the jet nozzle 16 to prevent dust from falling on it.

[0048] The assembling process is as follows: The PLC programmable controller controls the robot to work. The robot moves the present invention to the cylinder block station. After positioning, the PLC programmable controller controls the cylinder block first clamping cylinder 301, the cylinder block second clamping cylinder 302, the cylinder block third clamping cylinder 303 and the cylinder block fourth clamping cylinder 304 to clamp the cylinder block 11. After clamping, the second circular induction sheets 13 on the cylinder block first clamping cylinder 301, the cylinder block second clamping cylinder 302, the cylinder block third clamping cylinder 303 and the cylinder block fourth clamping cylinder 304 are aligned with the cylinder block clamping position detector 502. The four cylinder block clamping position detectors 502 send in-place signals to the PLC programmable controller, indicating that the workpiece has been clamped. The PLC programmable controller controls the robot to move the cylinder block 11 to the assembling station. After arriving, the cylinder block first clamping cylinder 301, the cylinder block second clamping cylinder 302, the cylinder block third clamping cylinder 303 and the cylinder block fourth clamping cylinder 304 release the cylinder block 11. At this time, the first circular induction sheet 12 should be aligned with the cylinder block release position detector 503. The four cylinder block release position detectors 503 send in-place signals to the PLC programmable controller, indicating that the fixture has been loosened and the next action can be executed.

[0049] The PLC programmable controller controls the robot to move the present invention to the process cylinder gasket station. After arriving, the PLC programmable controller controls the negative pressure device to work. The ends of the first vacuum suction head 201, the second vacuum suction head 202, the third vacuum suction head 203, the fourth vacuum suction head 204, the fifth vacuum suction head 205, the sixth vacuum suction head 206, the seventh vacuum suction head 207 and the eighth vacuum suction head 208 generate negative pressure to adsorb the process cylinder gasket 17. Then the PLC programmable controller controls the robot to transfer the process cylinder gasket 17 to the assembling station. Before placing the process cylinder gasket 17, the PLC programmable controller controls the jet nozzle 16 to jet air to purge the surface of the cylinder block 11 to prevent dust or sundries. Then the process cylinder gasket 17 is placed on the cylinder block 11. Then the PLC programmable controller controls the negative pressure device to stop working, and the eight vacuum suction heads stop adsorbing the process cylinder gasket 17.

[0050] The PLC programmable logic controller controls the robot to rotate the present invention by 90° and move it to the simulated cylinder head station. After arriving, the PLC programmable logic controller controls the first clamping cylinder 401, the second clamping cylinder 402, the third clamping cylinder 403, and the fourth clamping cylinder 404 of the simulated cylinder head to clamp the side surface of the simulated cylinder head 18. At the same time, the PLC programmable logic controller controls the cylinder rods of the two driving cylinders 8 to extend, so that the two fork levers 9 move towards each other. The U-shaped insertion rods 901 on the two fork levers 9 clamp the process bolt 19 to prevent the process bolt 19 from not being able to enter the threaded hole of the cylinder block 11 during the assembly of the simulated cylinder head 18. At this time, the fourth circular induction piece 15 is aligned with the simulated cylinder head clamping position detector 602, and the simulated cylinder head clamping position detector 602 sends an in-place signal to the PLC programmable logic controller, indicating that the workpiece has been clamped. The PLC programmable logic controller controls the robot to move the simulated cylinder head 18 to the assembly station and connect it to the cylinder block 11 and the process cylinder gasket 17. When the process bolt 19 on the simulated cylinder head 18 is connected to the threaded hole on the cylinder block 11, the PLC programmable logic controller controls the two driving cylinders 8 to contract, and the two fork levers 9 move away from each other. The U-shaped insertion rods 901 on the fork levers 9 are separated from the process bolt 19, and then the robot makes the simulated cylinder head 18 continue to fall in place. After being installed in place, the PLC programmable logic controller releases the simulated cylinder head 18 by the first clamping cylinder 401, the second clamping cylinder 402, the third clamping cylinder 403, and the fourth clamping cylinder 404 of the simulated cylinder head. At this time, the third circular induction piece 14 is aligned with the simulated cylinder head release position detector 603, and the simulated cylinder head release position detector 603 sends an in-place signal to the PLC programmable logic controller, indicating that the workpiece has been released. At this time, the assembled product can be transported to the tightening station.

[0051] The disassembly process is as follows: After the process bolt 19 is loosened, the product enters the disassembly station. The PLC programmable controller controls the simulated cylinder head grasping component 4 to grasp the simulated cylinder head 18. The grasping principle is the same as that during assembly and will not be elaborated here. Since the first elastic ejector pin 701, the second elastic ejector pin 702, the third elastic ejector pin 703, and the fourth elastic ejector pin 704 are provided on the mounting plate 1, and the process cylinder gasket 17 has four protruding points, the ejector rods 707 on the first elastic ejector pin 701, the second elastic ejector pin 702, the third elastic ejector pin 703, and the fourth elastic ejector pin 704 are in contact with the protruding points. When grasping the simulated cylinder head 18, the four ejector pins 704 all compress the springs 706. When the simulated cylinder head 18 is separated from the cylinder block 11, under the action of the four ejector rods 707, the process cylinder gasket 17 is pressed on the cylinder block 11 and does not move, so that it can be smoothly separated from the simulated cylinder head 18, preventing the process bolt 19 from hanging the process cylinder gasket 17 during the disassembly of the simulated cylinder head 18. At this time, the cylinder rod of the driving cylinder 8 extends, causing the two fork levers 9 to move towards each other. The U-shaped insertion rods 901 on the two fork levers 9 clamp the process bolt 19, and then the robot transports the simulated cylinder head 18 to the storage station.

[0052] The disassembly of the process cylinder gasket 17 and the cylinder block 11 is the reverse process of installation and will not be elaborated here.

[0053] The structure, features, and function effects of the present invention have been described in detail based on the embodiments shown in the drawings. The above are only the preferred embodiments of the present invention, but the present invention is not limited to the scope defined by the drawings. Any changes made according to the concept of the present invention, or modified into equivalent embodiments with equivalent changes, still within the spirit covered by the specification and the drawings, shall be within the protection scope of the present invention.

Claims

1. A multifunctional robot fixture, comprising a mounting plate (1), wherein the mounting plate (1) is connected to a six-axis flange of the robot, and characterized in that: The mounting plate (1) is provided with a cylinder gasket adsorption component (2), a cylinder body grabbing component (3) and a simulated cylinder head grabbing component (4).

2. The multifunctional robot fixture according to claim 1, characterized in that: The cylinder body grasping assembly (3) comprises a first cylinder body clamping cylinder (301), a second cylinder body clamping cylinder (302), a third cylinder body clamping cylinder (303) and a fourth cylinder body clamping cylinder (304); four cylinder body clamping cylinder mounting holes are provided on the mounting plate (1); the first cylinder body clamping cylinder (301), the second cylinder body clamping cylinder (302), the third cylinder body clamping cylinder (303) and the fourth cylinder body clamping cylinder (304) are respectively plug-connected to the four cylinder body clamping cylinder mounting holes and are respectively connected to the mounting plate (1) via bolts.

3. The multifunctional robot fixture according to claim 2, characterized in that: Four cylinder clamping and loosening detection assemblies (5) are arranged on the top surface of the mounting plate (1), and the four cylinder clamping and loosening detection assemblies (5) are respectively arranged beside the four cylinder clamping cylinder mounting holes. The four cylinder clamping and loosening detection assemblies (5) have the same structure, and they all include a second mounting plate (501), a cylinder clamping position detector (502) and a cylinder release position detector (503). The second mounting plate (501) is fixed on the top of the mounting plate (1), and the cylinder clamping position detector (502) and the cylinder release position detector (503) are both fixed on the second mounting plate (501).

4. The multifunctional robot fixture according to claim 1, characterized in that: The simulated cylinder head gripping assembly (4) comprises a simulated cylinder head first clamping cylinder (401), a simulated cylinder head second clamping cylinder (402), a simulated cylinder head third clamping cylinder (403) and a simulated cylinder head fourth clamping cylinder (404); four simulated cylinder head clamping cylinder mounting holes are provided on the mounting plate (1); the simulated cylinder head first clamping cylinder (401), the simulated cylinder head second clamping cylinder (402), the simulated cylinder head third clamping cylinder (403) and the simulated cylinder head fourth clamping cylinder (404) are respectively plug-connected to the four simulated cylinder head clamping cylinder mounting holes and are respectively connected to the mounting plate (1) via bolts.

5. The multifunctional robot fixture according to claim 4, characterized in that: Four simulated cylinder head clamping and loosening detection assemblies (6) are arranged on the top surface of the mounting plate (1), and the four simulated cylinder head clamping and loosening detection assemblies (6) are respectively arranged beside four simulated cylinder head clamping cylinder mounting holes. The four simulated cylinder head clamping and loosening detection assemblies (6) have the same structure, and they all include a third mounting plate (601), a simulated cylinder head clamping position detector (602) and a simulated cylinder head release position detector (603). The third mounting plate (601) is fixed to the top of the mounting plate (1), and the simulated cylinder head clamping position detector (602) and the simulated cylinder head release position detector (603) are both fixed on the third mounting plate (601).

6. The multifunctional robot fixture according to claim 1, characterized in that: The cylinder gasket adsorption assembly (2) comprises eight vacuum suction heads, the eight vacuum suction heads are all fixed on the mounting plate (1), and the eight vacuum suction heads are arranged in a 2*4 manner.

7. The multifunctional robot fixture according to claim 6, characterized in that: The mounting plate (1) is also provided with a cylinder gasket ejection assembly, the cylinder gasket ejection assembly comprising a first elastic ejector pin (701), a second elastic ejector pin (702), a third elastic ejector pin (703) and a fourth elastic ejector pin (704), the first elastic ejector pin (701), the second elastic ejector pin (702), the third elastic ejector pin (703) and the fourth elastic ejector pin (704) having the same structure, and all comprising a guide sleeve (705), a spring (706) and an ejector rod (707), the guide sleeve The lower end of the guide sleeve (705) is fixedly connected to the top surface of the mounting plate (1) by means of bolts; a through hole is formed at the top end of the guide sleeve (705); the push rod (707) is plugged into and slidably connected to the guide sleeve (705); the upper end of the push rod (707) passes through the through hole at the top end of the guide sleeve (705); the lower end of the push rod (707) passes through the mounting plate (1); the spring (706) is sleeved on the push rod (707); and a boss (708) is formed in the middle of the push rod (707).

8. The multifunctional robot fixture according to claim 1, characterized in that: Two driving cylinders (8) are installed at the bottom of the mounting plate (1), the telescopic ends of the two driving cylinders (8) are arranged opposite to each other, and a shift fork (9) is installed at each telescopic end of the two driving cylinders (8).

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