A discharging manipulator of an automatic line for fine grinding of inner diameter of compressor piston

Abstract

The present application relates to the technical field of compressor piston full-automatic processing, and particularly relates to a compressor piston inner diameter fine grinding automatic line discharging mechanical hand, which comprises a longitudinal lifting module, a rotating module, a translation module and a mechanical claw module, the buffer pad of the anti-skid structure of the mechanical hand is improved, so that the force exerted by the mechanical claw module and the deformation amount of the buffer pad are balanced, the deformation of the buffer pad is no longer completely dependent on the force exerted by the mechanical claw module, and then the clamping friction of the mechanical claw module to the compressor piston and the stress deformation amount of the compressor piston are balanced, the quality of the compressor piston grasped by the mechanical claw module is improved, and the machining precision of the inner ring of the compressor piston is prevented from being damaged.

Description

Technical Field

[0001] This invention relates to the field of fully automated processing technology for compressor pistons, and in particular to an automated feeder for precision grinding of the inner diameter of compressor pistons. Background Technology

[0002] When mass-producing compressor pistons, robotic arms are required for automated loading and unloading. The precision grinding process of the compressor piston inner diameter requires automatic unloading after grinding on a piston inner diameter machine. Currently, compressor piston production lines commonly use general-purpose robotic arms, which can easily damage the precision of the compressor piston inner ring when gripping the precision-machined piston.

[0003] For example, Chinese utility model patent application number 202422909643.X specifically discloses a robotic gripper for compressor pistons. Through the anti-slip structure of the piston's inner hole, it clamps tightly with the inner wall of the compressor piston, which can prevent damage to the piston's inner hole and increase friction, making the piston clamping more reliable. This device can switch to different work positions by rotating the front end of the robotic arm. Each work position can clamp one piston, and multiple work positions can clamp multiple pistons. The robotic arm can transfer multiple pistons at one time, which can greatly improve the working efficiency of the robotic arm, reduce auxiliary time, and has a simple structure, low cost, convenient and quick use, and high working efficiency.

[0004] Although the above technical solution uses a nylon anti-slip structure as the anti-slip structure between the robotic gripper and the piston inner hole, ensuring the robotic gripper's gripping effect on the piston while avoiding damage to the machining accuracy of the piston inner hole, the contact area between the anti-slip structure and the piston inner ring depends entirely on the deformation of the pressure-pressed part during gripping. In other words, the friction between the anti-slip structure and the piston is directly proportional to the deformation of the pressure-pressed part of the anti-slip structure and also to the opening force of the robotic gripper. However, the greater the opening force of the robotic gripper, the greater the deformation of the piston inner ring. Therefore, there is an urgent need for a robotic gripper structure that can still achieve a sufficiently large deformation of the pressure-pressed part even when the force applied by the robotic gripper is relatively small.

[0005] Furthermore, when the existing robotic gripper releases the compressor piston, the piston falls directly, greatly affecting its stability. Summary of the Invention

[0006] To address the above problems, this invention provides an automated feeder for precision grinding of the inner diameter of a compressor piston. The invention improves the buffer pad of the anti-slip structure of the robot, balancing the force applied by the robotic gripper module with the deformation of the buffer pad. This balances the clamping friction of the robotic gripper module on the compressor piston with the force deformation of the compressor piston, thereby improving the gripping quality of the robotic gripper module and preventing damage to the machining accuracy of the compressor piston's inner ring.

[0007] To achieve the above objectives, the present invention provides the following technical solution: An automated feeder for precision grinding of compressor piston inner diameter includes: Vertical lifting module, rotating module, translation module and mechanical gripper module; The vertical lifting module is vertically arranged and connected to the rotating module. The vertical lifting module drives the rotating module, the translation module and the mechanical claw module to be raised and lowered. The rotating module is connected to the translation module, and the rotating module drives the translation module and the mechanical claw module to rotate and swing 90°. The translation module is connected to the mechanical gripper module, and the translation module drives the mechanical gripper module to translate and grasp the compressor piston. The mechanical gripper module includes a pneumatic gripper, a gripping block, and a buffer pad. The gripping block is installed on the gripper fingers of the pneumatic gripper. The pneumatic gripper drives the gripping block to open and close. The gripping blocks are symmetrically arranged. The buffer pad is installed on the outer wall of the gripping block. The buffer pad is made of elastic compressible material. When the gripping block is open, the buffer pad is compressed and abuts against the inner ring of the compressor piston.

[0008] As an improvement, the outer wall of the clamping block is provided with a mounting groove with a convex cross-section, and the buffer pad is set in the same shape as the mounting groove, and the buffer pad is installed inside the mounting groove.

[0009] As an improvement, the part of the buffer pad that contacts the inner wall of the compressor piston is provided with several sets of arc-shaped grooves. The arc-shaped grooves are arranged at equal intervals along the length of the buffer pad. When the buffer pad and the compressor piston are in elastic compression contact, the arc-shaped grooves expand.

[0010] As an improvement, a set of V-shaped grooves is provided at the contact part between the buffer pad and the inner sidewall of the compressor piston. The V-shaped grooves are arranged parallel to the length direction of the buffer pad, and symmetrical release grooves are provided on both sides below the V-shaped grooves. When the buffer pad and the compressor piston are in elastic compression contact, the V-shaped grooves expand.

[0011] As an improvement, the longitudinal lifting module includes a mounting plate, a first lifting device, a connecting plate, and a second lifting device; The mounting plate is vertically connected to the external equipment; The first lifting device is vertically mounted on the mounting plate, and the first lifting device is set to push upwards vertically; The second lifter is mounted on the pushing end of the first lifter via the connecting plate, and the second lifter is set to push vertically upward.

[0012] As an improvement, the rotating module includes a mounting base and a rotator; The mounting base is installed on the pushing end of the second lifter; The rotator is mounted on the mounting base, and the rotator's rotating platform is installed and connected to the translation module.

[0013] As an improvement, a horizontal conveying module is provided directly below the mechanical claw module, the conveying module including a conveyor belt and a positioning component; The conveyor belt is configured for horizontal circulating rotation; The positioning components are arranged in several groups at equal intervals along the conveying direction of the conveyor belt. The positioning components are fitted and positioned with the compressor piston that is gripped and placed by the mechanical claw module.

[0014] As an improvement, the positioning component includes a positioning post, a spring, and a spring element; The positioning post is conical in shape and is vertically installed on the conveyor belt. The positioning post has several spring slots evenly distributed around its circumference. The spring piece and the spring piece groove are arranged in a one-to-one correspondence. The spring piece is slidably installed in the spring piece groove. The spring piece is arranged in a trapezoidal shape. When the compressor piston is fitted with the positioning column, the inclined side of the spring piece abuts and cooperates with the compressor piston for support. The spring is disposed in the spring slot and abuts against the positioning post and the spring.

[0015] As an improvement, the mechanical gripper module also includes an elastic rod assembly. When the mechanical gripper module grips the compressor piston and engages with the positioning assembly, the elastic rod assembly is inserted into the positioning assembly, squeezing the spring sheet to extend out from the spring sheet groove to support the compressor piston.

[0016] As an improvement, the elastic rod assembly includes a guide seat, an elastic rod, a hinge rod, and a buffer. The guide seat is mounted on the pneumatic gripper, the guide seat is located between the gripper fingers, and a bushing is mounted on the guide seat; The elastic rod passes through the bushing, and the buffer is sleeved on the elastic rod. The buffer abuts between the bushing and the disc portion on the elastic rod. The hinge rods are symmetrically arranged on both sides of the elastic rod, and the hinge rods connect the clamping block and the elastic rod; When the pneumatic gripper opens the clamping block, the hinge rod drives the elastic rod to extend and insert into the positioning assembly, squeezing the spring piece out of the spring piece groove.

[0017] The beneficial effects of this invention are as follows: (1) The present invention improves the buffer pad of the anti-slip structure of the robot arm so that the force applied by the robot claw module and the deformation of the buffer pad are balanced. It no longer relies entirely on the force applied by the robot claw module to cause the buffer pad to deform. In this way, the clamping friction of the robot claw module on the compressor piston and the force deformation of the compressor piston are balanced, improving the gripping quality of the robot claw module on the compressor piston and avoiding damage to the machining accuracy of the inner ring of the compressor piston. (2) By setting the conveying module and the mechanical claw module to cooperate, the compressor piston grasped by the mechanical claw module is directly transferred to the positioning component of the conveying module for transfer and conveying. When the positioning component is engaged with the compressor piston, the inner ring of the compressor piston will slide down along the inclined side of the spring piece, so that when the mechanical claw module is released, the compressor piston will not fall directly, but will slide down slowly, thus ensuring the engagement and positioning effect of the compressor piston. (3) By setting an elastic rod assembly on the mechanical claw module, the present invention utilizes the cooperation between the elastic rod assembly and the positioning assembly to ensure that the mechanical claw module's gripping and releasing action of the compressor piston is closely connected with the positioning assembly's buffering and limiting action of the compressor piston, thereby ensuring the protection and stability of the compressor piston during the transfer process and ensuring the machining accuracy of the inner ring of the compressor piston.

[0018] In summary, this invention has the advantages of high stability in gripping and transferring compressor pistons, good positioning effect, and good protection effect, and is especially suitable for the loading and unloading technology field in the fully automatic processing of compressor pistons. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the three-dimensional structure of the compressor piston of the present invention; Figure 2 This is a schematic diagram of the cooperation structure between the unloading robot and the conveying trough of the present invention; Figure 3 This is a schematic diagram of the three-dimensional structure of the conveying trough of the present invention; Figure 4 This is a schematic diagram of the three-dimensional structure of the unloading robot of the present invention. Figure 1 ; Figure 5 This is a schematic diagram of the three-dimensional structure of the unloading robot of the present invention. Figure 2 ; Figure 6This is a schematic diagram of the three-dimensional structure of the mechanical claw module of the present invention. Figure 1 ; Figure 7 for Figure 6 Enlarged schematic diagram of the structure at point A in the middle; Figure 8 This is a schematic diagram of the mating structure of the clamping block and the buffer pad of the present invention; Figure 9 This is a schematic diagram of the three-dimensional structure of the buffer pad of the present invention. Figure 1 ; Figure 10 This is a schematic diagram of the three-dimensional structure of the clamping block of the present invention; Figure 11 This is a schematic diagram of the three-dimensional structure of the buffer pad of the present invention. Figure 2 ; Figure 12 This is a schematic cross-sectional view of the buffer pad structure of the present invention; Figure 13 This is a cross-sectional view of the mechanical claw module of the present invention; Figure 14 This is a schematic diagram of the three-dimensional structure of the mechanical claw module of the present invention. Figure 2 ; Figure 15 This is a schematic diagram of the three-dimensional structure of the elastic rod of the present invention; Figure 16 This is a three-dimensional structural diagram of the positioning component of the present invention; Figure 17 This is a cross-sectional view of the positioning component of the present invention; Figure 18 This is a schematic diagram of the three-dimensional structure of the positioning column of the present invention; Figure 19 This is a schematic diagram of the three-dimensional structure of the spring sheet of the present invention.

[0020] Numbering on the map: Compressor piston 10, conveying groove 100, sensor 101, longitudinal lifting module 1, mounting plate 11, first lifter 12, connecting plate 13, second lifter 14, rotating module 2, mounting base 21, rotator 22, translation module 3, mechanical claw module 4, pneumatic gripper 41, gripper finger 411, clamping block 42, mounting groove 421, buffer pad 43, arc-shaped groove 431, V-shaped groove 432, release groove 433, elastic rod assembly 44, guide seat 441, elastic rod 442, hinge rod 443, buffer 444, bushing 445, disc part 446, conveying module 5, conveyor belt 51, positioning assembly 52, positioning post 521, limit pin 5211, concave hole 5212, spring 522, waist-shaped limit groove 5221, spring 523, spring groove 524. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0023] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0024] Example 1: like Figures 1-10 As shown, an automatic feeder for precision grinding of compressor piston inner diameter includes: Vertical lifting module 1, rotating module 2, translation module 3, and mechanical claw module 4; The vertical lifting module 1 is vertically arranged and connected to the rotating module 2. The vertical lifting module 1 drives the rotating module 2, the translation module 3 and the mechanical claw module 4 to be raised and lowered. The rotating module 2 is connected to the translation module 3, and the rotating module 2 drives the translation module 3 and the mechanical claw module 4 to rotate and swing 90°. The translation module 3 is connected to the mechanical claw module 4. The translation module 3 drives the mechanical claw module 4 to translate and grasp the compressor piston 10. The compressor piston 10 of the present invention is one of the components of the compressor piston. The mechanical gripper module 4 includes a pneumatic gripper 41, gripping blocks 42, and a buffer pad 43. The gripping blocks 42 are respectively mounted on the gripper fingers 411 of the pneumatic gripper 41. The gripping blocks 42 of the pneumatic gripper 41 are openable and symmetrically arranged. The buffer pad 43, made of elastic compressible material, is installed on the outer wall of each gripping block 42. When the gripping blocks 42 are open, the buffer pad 43 abuts and compresses against the inner ring of the compressor piston 10. The pneumatic gripper 41 is a conventional pneumatic component, and the gripper fingers 411 and the gripping blocks 42 are connected by threads. The components are connected. The clamping block 42 is an iron-based alloy component, and the buffer pad 43 can be made of nylon, rubber, silicone, or a composite material of the three. The outer wall of the clamping block 42 has a mounting groove 421 with a convex cross section. The buffer pad 43 is set in the same shape as the mounting groove 421. The buffer pad 43 is installed inside the mounting groove 421. After the buffer pad 43 is installed inside the mounting groove 421, it can be connected by external threaded fasteners, or the buffer pad 43 and the mounting groove 421 can be interference-fitted so that the buffer pad 43 is embedded in the mounting groove 421.

[0025] Furthermore, the contact area between the buffer pad 43 and the inner wall of the compressor piston 10 is provided with several sets of arc-shaped grooves 431. These arc-shaped grooves 431 are equidistantly arranged along the length of the buffer pad 43. When the buffer pad 43 and the compressor piston 10 are in elastic compression contact, the arc-shaped grooves 431 expand. When the mechanical claw module 4 expands, causing the buffer pad 43 to elastically compress and contact the inner ring of the compressor piston 10, the arc-shaped grooves 431 will be compressed and expand, forming a compression fit with the inner ring of the compressor piston 10. This increases the friction between the buffer pad 43 and the compressor piston 10, while also reducing the force on the buffer pad 43 through the deformation of the arc-shaped grooves 431, balancing the deformation of the buffer pad 43 and the expansion force of the mechanical claw module 4, thus preventing deformation of the compressor piston 10.

[0026] The longitudinal lifting module 1 includes a mounting plate 11, a first lifting device 12, a connecting plate 13, and a second lifting device 14. The mounting plate 11 is vertically connected to the external equipment, and the mounting plate 11 and the external equipment are connected by threaded connectors; The first lifting device 12 is vertically mounted on the mounting plate 11 via a threaded connector. The first lifting device 12 is vertically upward pushing and is preferably a cylinder. The second lifting device 14 is installed on the pushing end of the first lifting device 12 through the connecting plate 13. The second lifting device 14 and the connecting plate 13 are connected by threaded fasteners. The second lifting device 14 is set to push vertically upward. The second lifting device 14 is preferably a cylinder.

[0027] Furthermore, the rotating module 2 includes a mounting base 21 and a rotator 22; The mounting base 21 is installed on the pushing end of the second lifting device 14, and the mounting base 21 and the second lifting device 14 are connected by threaded fasteners. The rotator 22 is mounted on the mounting base 21 by threaded fasteners. The rotating table 221 of the rotator 22 is connected to the translation module 3 by threaded fasteners. The rotator 22 is preferably a rotary cylinder, which is a conventional pneumatic component. The translation module 3 is preferably a cylinder.

[0028] In addition, a horizontal conveying module 5 is provided directly below the mechanical claw module 4. The conveying module 5 includes a conveyor belt 51 and a positioning component 52. The conveyor belt 51 is configured to rotate horizontally in a circular manner, and the conveyor belt 51 is a conventional rotary roller driven conveyor belt. The positioning components 52 are arranged in several groups at equal intervals along the conveying direction of the conveyor belt 51. The positioning components 52 are fitted and positioned in conjunction with the compressor piston 10 gripped and placed by the mechanical claw module 4.

[0029] Specifically, initially, the first lifter 12 in the longitudinal lifting module 1 is in a pushing state, and both the translation module 3 and the mechanical gripper module 4 are horizontally positioned. An inclined conveying groove 100 is provided next to the mechanical gripper module 4. The compressor piston 10, having undergone inner ring precision grinding, is conveyed to the mechanical gripper module 4 via the conveying groove 100. A sensor 101 (the compressor piston 10 is a metal component, and the sensor 101 is a metal sensor) is provided at the inclined lower end of the conveying groove 100. When the compressor piston 10 rolls to the inclined lower end of the conveying groove 100, the sensor 101 senses the compressor piston 10 and sends a command to the controller. After receiving the command, the controller controls the translation module 3 to push horizontally, causing the clamping block 42 and buffer pad 43 in the mechanical gripper module 4 to penetrate into the inner hole of the compressor piston 10. Then, the mechanical gripper module 4... The pneumatic gripper 41 opens, causing the buffer pad 43 on the gripper block 42 to elastically press against the inner wall of the compressor piston 10. At this time, the gripper block 42 completes the gripping of the compressor piston 10. Then, the second lifter 14 pushes, causing the compressor piston 10 to disengage from the conveyor trough 100. At the same time, the translation module 3 drives the mechanical claw module 4 to translate and reset. Then, the rotator 22 drives the compressor piston 10 to rotate 90°, so that the compressor piston 10, which was originally in a horizontal state, becomes the compressor piston 10 in a vertical state. Finally, the first lifter 12 retracts, so that the compressor piston 10 fits into the positioning component 52 directly below. The mechanical claw module 4 retracts, so that the gripper block 42 closes, completing the release of the compressor piston 10. Then, all components return to their initial state, while the conveyor belt 51 drives the compressor piston 10 to be horizontally conveyed through the positioning component 52.

[0030] Example 2: Referring to Example 1, the difference between Example 2 and Example 1 lies in the following: like Figures 11-12 As shown, a set of V-shaped grooves 432 are provided at the contact portion between the buffer pad 43 and the inner sidewall of the compressor piston 10. The V-shaped grooves 432 are arranged parallel to the length direction of the buffer pad 43, and symmetrical release grooves 433 are provided on both sides below the V-shaped grooves 432. When the buffer pad 43 and the compressor piston 10 are in elastic compression contact, the V-shaped grooves 432 expand.

[0031] It should be noted that, in parallel with the arc-shaped groove 431 in Embodiment 1, a V-shaped groove 432 can also be provided on the buffer pad 43. When the buffer pad 43 elastically presses against the inner ring of the compressor piston 10, the V-shaped groove 432 deforms and fits against the inner ring of the compressor piston 10 to increase friction. At the same time, when the V-shaped groove 432 deforms, the release groove 433 serves as a deformation compensation area, making the deformation of the buffer pad 43 more stable, thereby further reducing the expansion and pressing force of the mechanical claw module 4 on the buffer pad 43. Moreover, compared with Embodiment 1, the contact surface between the buffer pad 43 and the inner ring of the compressor piston 10 in Embodiment 2 is larger and the stability is higher.

[0032] Example 3: Referring to Example 1, the difference between Example 3 and Example 1 lies in the following: like Figures 13-19 As shown, the positioning component 52 includes a positioning post 521, a spring piece 522, and a spring member 523; The positioning post 521 is a conical plastic part. The positioning post 521 is vertically installed on the conveyor belt 51. The bottom of the positioning post 521 is connected to the conveyor belt 51 through a threaded connector. The positioning post 521 has a number of spring grooves 524 evenly distributed in the circumferential direction. The number of spring grooves 524 are combined to form a cross-shaped groove. The spring piece 522 is provided in a one-to-one correspondence with the spring piece groove 524. The spring piece 522 is slidably installed in the spring piece groove 524. A part of the bottom of the spring piece 522 is inserted into the spring piece groove 524. The spring piece 522 is trapezoidal. When the compressor piston 10 is fitted with the positioning post 521, the inclined side of the spring piece 522 abuts against and supports the compressor piston 10. The inclined side of the spring piece 522 is made of the same material as the buffer pad 43, while the rest of the spring piece 522 is made of the same material as the positioning post 521. Two sets of waist-shaped limiting grooves 5221 are provided on the body of the spring piece 522. The positioning post 521 is provided with a limiting pin 5211 that is correspondingly inserted and engaged with the waist-shaped limiting groove 5221. When the spring piece 522 slides, the spring piece 522 is limited by the waist-shaped limiting groove 5221 and the limiting pin 5211. The spring element 523 is disposed in the spring plate groove 524. The spring element 523 abuts against the positioning post 521 and the spring plate 522. The spring element 523 is used to drive the spring plate 522 to retract.

[0033] Furthermore, the mechanical claw module 4 also includes an elastic rod assembly 44. When the mechanical claw module 4 grips the compressor piston 10 and engages with the positioning assembly 52, the elastic rod assembly 44 is inserted into the positioning assembly 52, squeezing the spring piece 522 out of the spring piece groove 524 to support the compressor piston 10.

[0034] Furthermore, the elastic rod assembly 44 includes a guide seat 441, an elastic rod 442, a hinge rod 443, and a buffer member 444; The guide seat 441 is mounted on the pneumatic gripper 41, and the guide seat 441 is located between the gripper fingers 411. A bushing 445 is mounted on the guide seat 441. The elastic rod 442 passes through the bushing 445, and the buffer 444 is sleeved on the elastic rod 442. The buffer 444 abuts against the bushing 445 and the disc portion 446 on the elastic rod 442. The hinge rod 443 is symmetrically arranged on both sides of the elastic rod 442, and the hinge rod 443 connects the clamping block 42 and the elastic rod 442; When the pneumatic gripper 41 drives the clamping block 42 to open, the hinge rod 443 drives the elastic rod 442 to extend out of the clamping block 42, so that the elastic rod 442 is inserted into the positioning component 52, and the spring piece 522 is squeezed out of the spring piece groove 524.

[0035] Specifically, when the mechanical claw module 4 opens and causes the clamping block 42 to open, so that the buffer pad 43 and the inner ring of the compressor piston 10 complete elastic compression contact, the included angle between the hinge rods 443 gradually changes from an acute angle to a flat angle, causing the elastic rod 442 to slide outward along the bushing 445. The elastic rod 442 extends outward between the clamping blocks 42, passes through the compressor piston 10, and extends out of the compressor piston 10. A conical concave hole 5212 is provided at the center of the positioning post 521. When the mechanical claw module 4 grabs the compressor piston 10 and fits it around the positioning post 521, the elastic rod 442 will press against the inner ring of the compressor piston 10 before the clamping block 443 opens. The compressor piston 10 is inserted into the recess 5212. Through the contact between the elastic rod 442 and the spring piece 522, the spring piece 522 slides out of the positioning post 521. Then, as the compressor piston 10 is inserted, the inclined side of the spring piece 522 will form a support with the lower edge of the compressor piston 10. When the mechanical claw module 4 drives the clamping block 42 to close and release the compressor piston 10, the elastic rod 442 will also gradually retract. The compressor piston 10 will gradually and slowly slide down along the inclined side of the gradually retracting spring piece 522, so that the compressor piston 10 is inserted into the positioning post 521.

[0036] Furthermore, during subsequent processing, when the conveyor belt 51 drives the compressor piston 10 to the next workstation via the positioning component 52, the compressor piston 10 needs to be gripped again for loading. In this state, a conventional gripping robot can only load the compressor piston 10 by gripping the outer ring of the compressor piston 10. However, in this state, the outer ring of the compressor piston 10 has been finished and is not suitable for loading by gripping the outer ring. With the cooperation of the mechanical claw module 4 and the positioning component 52, when the clamping block 42 of the mechanical claw module 4 is opened, the extension of the elastic rod 442 allows the spring piece 522 to slide out. The extension of the spring piece 522 will cause the compressor piston 10 to contact the inclined side of the spring piece 522, causing the compressor piston 10 to gradually slide up along the inclined side and be gripped by the clamping block 42.

[0037] Work process: Step 1: The compressor piston 10, after completing the inner ring precision grinding, rolls to the inclined lower end of the conveying groove 100 and is sensed by the sensor 101. The sensor 101 sends a command to the controller. Step 2: After receiving the instruction, the controller controls the translation module 3 to push horizontally, so that the clamping block 42 and the buffer pad 43 in the mechanical claw module 4 enter the inner hole of the compressor piston 10. Then, the pneumatic gripper 41 in the mechanical claw module 4 opens, causing the buffer pad 43 on the clamping block 42 to elastically squeeze and abut against the inner wall of the compressor piston 10. At this time, the clamping block 42 completes the clamping of the compressor piston 10. Step 3: The second lifting device 14 pushes the compressor piston 10 away from the conveying groove 100. At the same time, the translation module 3 drives the mechanical claw module 4 to translate and reset. Then, the rotator 22 drives the compressor piston 10 to rotate 90°, so that the compressor piston 10, which was originally in a horizontal state, becomes the compressor piston 10 in a vertical state. Step 4: The first lifting device 12 is retracted, allowing the compressor piston 10 to fit onto the positioning component 52 directly below. The mechanical claw module 4 retracts, causing the clamping block 42 to close, thus releasing the compressor piston 10. Afterward, all components return to their initial state, while the conveyor belt 51 drives the compressor piston 10 to be horizontally transported to the next work station via the positioning component 52.

[0038] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An automatic feeder for precision grinding of the inner diameter of a compressor piston, characterized in that, include: The vertical lifting module (1), the rotating module (2), the translation module (3), and the mechanical claw module (4); The vertical lifting module (1) is vertically arranged and connected to the rotating module (2). The vertical lifting module (1) drives the rotating module (2), the translation module (3) and the mechanical claw module (4) to be raised and lowered. The rotating module (2) is connected to the translation module (3), and the rotating module (2) drives the translation module (3) and the mechanical claw module (4) to rotate and swing 90°. The translation module (3) is connected to the mechanical claw module (4), and the translation module (3) drives the mechanical claw module (4) to translate and grasp the compressor piston (10). The mechanical gripper module (4) includes a pneumatic gripper (41), a gripper block (42), and a buffer pad (43). The gripper block (42) is installed on the gripper fingers (411) of the pneumatic gripper (41). The pneumatic gripper (41) drives the gripper block (42) to open and close. The gripper blocks (42) are symmetrically arranged. The buffer pad (43) is installed on the outer side wall of the gripper block (42). The buffer pad (43) is made of elastic compressible material. When the gripper block (42) is opened, the buffer pad (43) is compressed against the inner ring of the compressor piston (10). A horizontal conveying module (5) is provided directly below the mechanical claw module (4). The conveying module (5) includes a conveyor belt (51) and a positioning component (52). The positioning component (52) includes a positioning post (521), a spring piece (522), and a spring element (523). The positioning post (521) is tapered and is vertically installed on the conveyor belt (51). The positioning post (521) has a number of spring slots (524) evenly distributed in the circumferential direction. The spring piece (522) and the spring piece groove (524) are arranged in a one-to-one correspondence. The spring piece (522) is slidably installed in the spring piece groove (524). The spring piece (522) is arranged in a trapezoidal shape. When the compressor piston (10) is fitted with the positioning post (521), the inclined side of the spring piece (522) abuts against and supports the compressor piston (10). The spring member (523) is disposed in the spring slot (524), and the spring member (523) abuts against the positioning post (521) and the spring piece (522); The mechanical claw module (4) also includes an elastic rod assembly (44). When the mechanical claw module (4) grips the compressor piston (10) and engages with the positioning assembly (52), the elastic rod assembly (44) is inserted into the positioning assembly (52) and the spring piece (522) is squeezed out from the spring piece groove (524) to support the compressor piston (10). The elastic rod assembly (44) includes a guide seat (441), an elastic rod (442), a hinge rod (443), and a buffer (444). The guide seat (441) is mounted on the pneumatic gripper (41), the guide seat (441) is located between the gripper fingers (411), and a bushing (445) is mounted on the guide seat (441). The elastic rod (442) passes through the bushing (445), and the buffer (444) is sleeved on the elastic rod (442). The buffer (444) abuts against the disc portion (446) on the bushing (445) and the elastic rod (442). The hinge rod (443) is symmetrically arranged on both sides of the elastic rod (442), and the hinge rod (443) connects the clamping block (42) and the elastic rod (442). When the pneumatic gripper (41) drives the clamping block (42) to open, the elastic rod (442) is driven to extend and insert into the positioning assembly (52) through the hinge rod (443), and the spring piece (522) is squeezed to extend out of the spring piece groove (524).

2. The automatic feeder robot for precision grinding of compressor piston inner diameter according to claim 1, characterized in that: The outer wall of the clamping block (42) is provided with a mounting groove (421) with a convex cross section. The buffer pad (43) is set in the same shape as the mounting groove (421) and is installed inside the mounting groove (421).

3. The automatic feeder for precision grinding of compressor piston inner diameter according to claim 2, characterized in that: The buffer pad (43) and the inner sidewall of the compressor piston (10) are provided with a number of arc-shaped grooves (431). The arc-shaped grooves (431) are arranged at equal intervals along the length of the buffer pad (43). When the buffer pad (43) and the compressor piston (10) are in elastic compression contact, the arc-shaped grooves (431) expand.

4. The automatic feeder robot for precision grinding of compressor piston inner diameter according to claim 2, characterized in that: A set of V-shaped grooves (432) is provided at the contact part between the buffer pad (43) and the inner side wall of the compressor piston (10). The V-shaped grooves (432) are arranged parallel to the length direction of the buffer pad (43), and symmetrical release grooves (433) are provided on both sides below the V-shaped grooves (432). When the buffer pad (43) and the compressor piston (10) are in elastic compression contact, the V-shaped grooves (432) expand.

5. The automatic feeder for precision grinding of compressor piston inner diameter according to claim 1, characterized in that: The longitudinal lifting module (1) includes a mounting plate (11), a first lifting device (12), a connecting plate (13), and a second lifting device (14). The mounting plate (11) is vertically connected to the external equipment; The first lifting device (12) is vertically installed on the mounting plate (11), and the first lifting device (12) is set to push vertically upward; The second lifter (14) is installed on the pushing end of the first lifter (12) via the connecting plate (13), and the second lifter (14) is set to push vertically upward.

6. The automatic feeder for precision grinding of compressor piston inner diameter according to claim 5, characterized in that: The rotating module (2) includes a mounting base (21) and a rotator (22); The mounting base (21) is installed on the pushing end of the second lifter (14); The rotator (22) is mounted on the mounting base (21), and the rotator (22)'s rotating platform (221) is connected to the translation module (3).

7. The automatic feeder robot for precision grinding of compressor piston inner diameter according to claim 1, characterized in that: The conveyor belt (51) is configured to rotate horizontally in a circular manner; The positioning components (52) are arranged in several groups at equal intervals along the conveying direction of the conveyor belt (51). The positioning components (52) are fitted and positioned with the compressor piston (10) gripped and placed by the mechanical claw module (4).

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