Combined gripper for machining engine cylinder cover

Abstract

The invention belongs to the technical field of robots for engine manufacturing, and particularly relates to a combined gripper for engine cylinder cover machining, which comprises a mechanical arm and a mechanical gripper arranged on the mechanical arm, and the mechanical gripper is provided with two clamping plates and a gasket which are used for clamping an engine cylinder cover through a driving piece; the liquid spraying mechanism is arranged in the clamping plate; lubricating oil is sprayed to the contact area of the gasket on the mechanical gripper clamping plate and the engine cylinder cover, and a uniform and continuous oil film can be formed between the contact faces of the gasket and the cylinder cover, so that the friction coefficient between the gasket and the cylinder cover in the clamping and carrying process can be effectively reduced; scratches, strain and indentations on the surface of the cylinder cover caused by dry-state contact are avoided, meanwhile, air and water can be isolated through the oil film, and the rust-proof protection effect on the contact portion of the cylinder cover is achieved.

Description

Technical Field

[0001] This invention relates to the field of robot technology for engine manufacturing, specifically a combined gripper for machining engine cylinder heads. Background Technology

[0002] The engine cylinder head is a key housing component of the engine combustion chamber, valve mechanism, and cooling and lubrication channels. It has a complex structure, high precision requirements, and involves multi-faceted machining and multiple process flows, making it a typical irregularly shaped, multi-featured, and high-rigidity workpiece. In automated machining production lines, combined grippers integrate multiple gripping units, positioning modules, and auxiliary support structures. They can adapt to different mounting surfaces, process holes, and external contours of the cylinder head in a single operation. This allows for stable and reliable gripping in a single motion, and rapid switching of gripping postures between different processes and tooling, avoiding positioning errors, collision risks, and wasted cycle time caused by multiple clamping operations. It ensures the dimensional and positional accuracy of the cylinder head during high-speed handling and machining, while also improving the automation level and processing efficiency of the entire production line. Therefore, it has become a commonly used clamping and handling solution in flexible machining lines for engine cylinder heads.

[0003] When using a combination gripper to work with the engine cylinder head, strict control must be exercised over the contact position, clamping force, surface protection, and cleanliness. First, the gripper should only contact non-mating surfaces on the cylinder head, such as pre-designed process bosses, positioning holes, and reinforcing ribs. Directly clamping critical precision parts such as valve sealing surfaces, combustion chamber surfaces, water passage holes, and assembly reference surfaces is strictly prohibited to avoid indentations, deformation, or scratches that could affect assembly and sealing performance. Second, the clamping force must be precisely set according to the cylinder head material and wall thickness to prevent over-clamping, which could cause warping or cracking in thin-walled areas, or insufficient clamping force, which could lead to slippage or positioning misalignment during transport.

[0004] Existing combination grippers for engine cylinder head machining typically clamp the workpiece directly without applying lubricating and rust-preventive oil to the clamping contact areas. This leads to the following technical defects: Because the gripper and cylinder head are in dry, rigid contact, there is a lack of effective lubrication and buffering between the contact surfaces. The friction coefficient is high during clamping and handling, easily causing scratches, scoring, and indentations on the cylinder head surface, affecting the workpiece surface quality. Furthermore, the lack of an oil film protection results in poor rust prevention performance of the contact surfaces, increasing the risk of localized corrosion over long-term operation. Dry clamping also fails to isolate and lubricate small iron filings and dust, allowing hard impurities to embed or scratch the cylinder head reference surface under clamping force, reducing assembly accuracy and product yield. In addition, the lack of oil film lubrication exacerbates the wear of the gripper itself, affecting clamping positioning accuracy and service life, which is detrimental to the long-term stable operation of automated production lines. Therefore, a combination gripper for engine cylinder head machining is proposed to address these problems. Summary of the Invention

[0005] In order to overcome the shortcomings of the prior art and solve at least one of the technical problems mentioned in the background art, the present invention proposes a combined gripper for machining engine cylinder heads.

[0006] The technical solution adopted by the present invention to solve its technical problem is as follows: A combined gripper for machining engine cylinder heads, comprising a robotic arm and a mechanical gripper mounted on the robotic arm. The mechanical gripper is provided with two clamping plates and gaskets that are driven by a drive component to grip the engine cylinder head. It also includes a liquid spraying mechanism disposed within the clamping plates: the liquid spraying mechanism includes an electric push rod and a liquid storage box fixedly mounted within the clamping plates. A connecting plate is fixedly mounted on the output end of the electric push rod. A connecting pipe connected to the inside of the liquid storage box is provided on the connecting plate. The inside of the liquid storage box is connected to the connecting pipe via a micro-pump. One side of the clamping plate has a slot that communicates with the outside and allows the connecting plate to pass through.

[0007] Furthermore, a hollow ball head is rotatably connected to one end of the connecting tube, and an atomizing nozzle is fixedly installed on the surface of the ball head.

[0008] Furthermore, a first electromagnet is installed on the surface of the connecting pipe, and a second electromagnet is provided on the atomizing nozzle.

[0009] Furthermore, a telescopic mechanism is provided inside the clamping plate. The telescopic mechanism includes a hollow elastic block that is fixedly installed inside the clamping plate. A pressure plate for squeezing the elastic block is fixedly installed on the connecting plate. A hollow fixed frame is fixedly installed on the mechanical gripper. A telescopic rod is slidably connected inside the fixed frame by an elastic rope. A brush is provided on the telescopic rod.

[0010] Furthermore, a fixing plate is fixedly installed at the bottom of the telescopic rod, the brush is installed on the fixing plate, and a baffle is fixedly installed inside the fixing frame.

[0011] Furthermore, the pressure plate is arc-shaped, and a rolling column is rotatably connected to the top of the pressure plate.

[0012] Furthermore, a multi-stage telescopic tube is fixedly installed between the electric push rod and the connecting plate. The multi-stage telescopic tube is composed of several hollow round tubes that are slidably connected.

[0013] Furthermore, the multi-stage telescopic tube is provided with an air blowing mechanism; the several circular tubes of the multi-stage telescopic tube are sealed and slidably connected, and the several circular tubes are connected through through holes; an air inlet pipe with a one-way valve and connected to the interior is fixedly installed on the surface of the multi-stage telescopic tube, and an air outlet pipe with a one-way valve and connected to the interior is fixedly installed at the bottom of the multi-stage telescopic tube.

[0014] Furthermore, the liquid storage box is equipped with a stirring mechanism, which includes a fixed tube fixedly installed inside the liquid storage box, a sliding rod slidably connected inside the fixed tube, a first electromagnetic block installed inside the fixed tube, a second electromagnetic block installed at the top of the sliding rod, and several fan blades installed at the bottom of the sliding rod via a crossbar.

[0015] Furthermore, a support column is fixedly installed inside the liquid storage box, and a support rod that is slidably connected to the crossbar is inside the support column.

[0016] The advantages of this invention are: 1. This invention, through its designed structure, applies lubricating oil to the contact area between the gasket on the mechanical gripper's clamping plate and the engine cylinder head. This creates a uniform and continuous oil film between the gasket and cylinder head contact surfaces, effectively reducing the coefficient of friction between the gasket and cylinder head during clamping and handling. This prevents scratches, scoring, and indentations on the cylinder head surface caused by dry contact. Simultaneously, the oil film isolates air and moisture, providing rust protection to the cylinder head contact area. It also lubricates and encapsulates residual iron filings, dust, and other impurities on the contact surface, preventing these impurities from damaging the cylinder head's reference and assembly surfaces under clamping force, thus ensuring the cylinder head's machining accuracy and surface quality. Furthermore, the oil film reduces wear on the gasket itself, extending the service life of the gripper's clamping components and improving the stability and reliability of automated production lines.

[0017] 2. This invention, through its designed structure, sprays lubricating oil onto the gaskets of the mechanical gripper clamping plate and then brushes the oil onto the gasket surface. This ensures a more uniform and consistent distribution of lubricating oil on the gasket surface, avoiding localized oil accumulation, leakage, or insufficient lubrication caused by simple spraying, and ensuring that the oil film completely covers the entire clamping contact surface. Simultaneously, the brush cleans and removes residual iron filings, dust, and other impurities from the gasket surface, reducing the risk of scratches to the engine cylinder head surface and further improving the lubrication and protection effects during clamping, thus guaranteeing the cylinder head surface quality and machining accuracy.

[0018] 3. This invention utilizes a multi-stage telescopic tube installed between the electric push rod and the connecting plate. When the electric push rod moves with the connecting plate in extension and retraction, the multi-stage telescopic tube can also extend or retract in coordination with the connecting plate, thus protecting the output end of the electric push rod. Furthermore, when the multi-stage telescopic tube is extended in conjunction with the electric push rod, it draws in air through the air inlet pipe. When the multi-stage telescopic tube retracts and returns to its original position in conjunction with the electric push rod, the gas inside the multi-stage telescopic tube is blown towards the brush through the air outlet pipe, thereby blowing away residual impurities inside the brush and thus assisting in cleaning the brush.

[0019] 4. This invention, through its designed structure, enables periodic agitation of the lubricating oil within the reservoir. This allows for the remixing and homogenization of functional components that have stratified or settled due to prolonged static storage, preventing uneven distribution of effective lubricating and rust-preventing components and ensuring consistent and stable lubricating oil performance. When the thoroughly agitated lubricating oil is sprayed onto the contact area between the gripper pad and the cylinder head, it forms a uniform and reliable lubricating and rust-preventing film, ensuring stable lubrication and rust prevention during clamping. This effectively reduces the risk of scratches, scoring, and corrosion on the cylinder head surface, while extending the service life of the gripper pad and improving machining accuracy and production line reliability. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a three-dimensional structural schematic diagram of the present invention; Figure 2 This is a schematic diagram of the mechanical gripper in this invention; Figure 3 This is a cross-sectional view of the clamping plate in this invention; Figure 4 This is a schematic diagram of the structure of the liquid storage box in this invention; Figure 5 In this invention Figure 3 A schematic diagram of the structure at point A; Figure 6 This is a schematic diagram of the structure of the electric push rod in this invention; Figure 7 This is a schematic diagram of the structure of the atomizing nozzle in this invention; Figure 8 This is a partial cross-sectional view of the fixed frame in this invention; Figure 9 This is a cross-sectional view of the liquid storage box in this invention.

[0022] In the diagram: 1. Robotic arm; 2. Mechanical gripper; 3. Clamping plate; 4. Gasket; 10. Spraying mechanism; 11. Electric push rod; 12. Connecting plate; 13. Connecting pipe; 14. Liquid storage box; 15. Groove; 16. Ball head; 17. Atomizing nozzle; 18. First electromagnet; 19. Second electromagnet; 20. Telescopic mechanism; 21. Pressure plate; 22. Elastic block; 23. Fixed frame; 24. Telescopic rod; 25. Elastic rope; 26. Brush; 27. Baffle; 28. Fixed plate; 29. ​​Rolling column; 30. Multi-stage telescopic pipe; 40. Air blowing mechanism; 41. Air inlet pipe; 42. Air outlet pipe; 50. Stirring mechanism; 51. Fixed tube; 52. Slide rod; 53. First electromagnetic block; 54. Second electromagnetic block; 55. Fan blade; 56. Support column; 57. Support rod. Detailed Implementation

[0023] 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.

[0024] Please see Figure 1-9 As shown, a combined gripper for machining engine cylinder heads includes a robotic arm 1 and a mechanical gripper 2 mounted on the robotic arm 1. The mechanical gripper 2 is equipped with two clamping plates 3 and gaskets 4 that are driven by a drive component to grip the engine cylinder head. It also includes a liquid injection mechanism 10 mounted in the clamping plate 3. The liquid injection mechanism 10 includes an electric push rod 11 and a liquid storage box 14 fixedly mounted in the clamping plate 3. A connecting plate 12 is fixedly mounted on the output end of the electric push rod 11. A connecting pipe 13 is provided on the connecting plate 12 and communicates with the inside of the liquid storage box 14. The inside of the liquid storage box 14 is connected to the connecting pipe 13 through a micro liquid pump. One side of the clamping plate 3 has a slot 15 that communicates with the outside and allows the connecting plate 12 to pass through.

[0025] Specifically, a hollow ball head 16 is rotatably connected to one end of the connecting pipe 13, and an atomizing nozzle 17 is fixedly mounted on the surface of the ball head 16. A first electromagnet 18 is mounted on the surface of the connecting pipe 13, and a second electromagnet 19 is provided on the atomizing nozzle 17.

[0026] During operation, before the clamping plate 3 and gasket 4 of the mechanical gripper 2 contact the surface of the engine cylinder head, the micro-pump in the reservoir 14 is pre-activated, allowing the lubricating oil in the reservoir 14 to enter the atomizing nozzle 17 through the connecting pipe 13 and the hollow ball head 16. Simultaneously, the electric push rod 11 is also activated, carrying the connecting pipe 13 and the atomizing nozzle 17 through the slot 15 and moving them out of the clamping plate 3 via the connecting plate 12. The atomizing nozzle 17, after being removed, is aligned with the surface of the clamping plate 3. As the lubricating oil in the reservoir 14 is sprayed out through the atomizing nozzle 17, it coats the surface of the gasket 4. Furthermore, the atomizing nozzle 17 is designed at a high position to spray the lubricating oil onto the upper part of the gasket 4, allowing it to flow down to the end of the gasket 4, thus achieving all-around coating of the gasket 4. The above operation is performed before the mechanical gripper 2 clamps the engine cylinder head. When the clamping plates 3 and gaskets 4 of the mechanical gripper 2 clamp the engine cylinder head, and the two clamping plates 3 and two gaskets 4 are located on both sides of the engine cylinder head, the first electromagnet 18 and the second electromagnet 19 are energized, causing them to attract each other due to their opposite polarities. The atomizing nozzle 17 rotates through the ball head 16, causing its liquid outlet to face the clamping area of ​​the engine cylinder head, thereby spraying liquid onto the clamping area of ​​the engine cylinder head.

[0027] Through the aforementioned design, lubricating oil is sprayed onto the contact area between the gasket 4 on the clamping plate 3 of the mechanical gripper 2 and the engine cylinder head. This creates a uniform and continuous oil film between the gasket 4 and the cylinder head contact surface. This effectively reduces the coefficient of friction between the gasket 4 and the cylinder head during clamping and handling, preventing scratches, scoring, and indentations on the cylinder head surface caused by dry contact. Simultaneously, the oil film isolates air and moisture, providing rust protection to the cylinder head contact area. It also lubricates and encapsulates residual iron filings, dust, and other impurities on the contact surface, preventing these impurities from damaging the cylinder head reference surface and assembly surface under clamping force, thus ensuring the cylinder head's machining accuracy and surface quality. Furthermore, the oil film reduces wear on the gasket 4 itself, extending the service life of the gripper clamping components and improving the stability and reliability of the automated production line.

[0028] A telescopic mechanism 20 is provided inside the clamping plate 3. The telescopic mechanism 20 includes a hollow elastic block 22 fixedly installed inside the clamping plate 3. A pressure plate 21 for pressing the elastic block 22 is fixedly installed on the connecting plate 12. A hollow fixed frame 23 is fixedly installed on the mechanical gripper 2. A telescopic rod 24 is slidably connected inside the fixed frame 23 via an elastic rope 25. A brush 26 is provided on the telescopic rod 24. A fixed plate 28 is fixedly installed at the bottom of the telescopic rod 24. The brush 26 is installed on the fixed plate 28. A baffle 27 is fixedly installed inside the fixed frame 23. The pressure plate 21 is arc-shaped, and a rolling column 29 is rotatably connected to the top of the pressure plate 21.

[0029] During operation, after the mechanical gripper 2 has not clamped the engine cylinder head and sprayed lubricating oil, the electric push rod 11 will reset along with the connecting plate 12 and other components. At this time, the electric push rod 11, along with the connecting plate 12 and pressure plate 21, will undergo an over-reset, using the arc-shaped surface of the pressure plate 21 and the rolling column 29 at the top to compress the elastic block 22. After being compressed, the gas inside the elastic block 22 will be introduced into the fixed frame 23 through the air guide pipe, thereby pushing the telescopic rod 24, elastic rope 25, fixed plate 28, and brush 26 to move. The fixed plate 28 moves the brush 26 towards the gasket 4 (the designed baffle 27 can prevent the telescopic rod 24 from excessively sliding out of the fixed frame 23), thereby helping to evenly spread the lubricating oil on the gasket 4. As the coating process is completed, the electric push rod 11 will reset the pressure plate 21, thus no longer squeezing the elastic block 22. At this time, the telescopic rod 24, under the action of the elastic rope 25, will reset the connecting plate 12 and other components. The gas in the fixed frame 23 will be reset into the elastic block 22 through the air guide pipe for subsequent use.

[0030] With the structure designed above, after spraying lubricating oil onto the gasket 4 of the mechanical gripper 2 clamping plate 3, the surface of the gasket 4 is then brushed with a brush 26. This ensures that the lubricating oil is distributed more evenly and with a consistent thickness on the surface of the gasket 4, avoiding localized oil accumulation, leakage, or insufficient lubrication caused by simple spraying, and ensuring that the oil film completely covers the entire clamping contact surface. At the same time, the brush 26 can clean and remove residual iron filings, dust, and other impurities from the surface of the gasket 4, reducing the risk of scratches to the engine cylinder head surface caused by impurities, further improving the lubrication and protection effect during the clamping process, and ensuring the surface quality and machining accuracy of the cylinder head.

[0031] A multi-stage telescopic tube 30 is fixedly installed between the electric push rod 11 and the connecting plate 12. The multi-stage telescopic tube 30 is composed of several hollow round tubes that are slidably connected. An air blowing mechanism 40 is provided on the multi-stage telescopic tube 30. The several round tubes of the multi-stage telescopic tube 30 are sealed and slidably connected, and the several round tubes are connected to each other through through holes. An air inlet pipe 41 with a one-way valve and communicating with the interior is fixedly installed on the surface of the multi-stage telescopic tube 30, and an air outlet pipe 42 with a one-way valve and communicating with the interior is fixedly installed on the bottom of the multi-stage telescopic tube 30.

[0032] During operation, a multi-stage telescopic tube 30 is installed between the electric push rod 11 and the connecting plate 12. When the electric push rod 11 moves with the connecting plate 12 in a stretching and retracting motion, the multi-stage telescopic tube 30 can also stretch or retract in coordination with the connecting plate 12, thereby protecting the output end of the electric push rod 11. Furthermore, when the multi-stage telescopic tube 30 is stretched in coordination with the electric push rod 11, it draws in air through the air inlet pipe 41. When the multi-stage telescopic tube 30 retracts and resets in coordination with the electric push rod 11, the air inside the multi-stage telescopic tube 30 is blown towards the brush 26 through the air outlet pipe 42, thereby blowing away any residual impurities inside the brush 26 and thus assisting in cleaning the brush 26.

[0033] A stirring mechanism 50 is provided inside the liquid storage box 14. The stirring mechanism 50 includes a fixed tube 51 fixedly installed inside the liquid storage box 14, a slide rod 52 slidably connected inside the fixed tube 51, a first electromagnetic block 53 installed inside the fixed tube 51, and a second electromagnetic block 54 installed at the top of the slide rod 52. Several fan blades 55 are installed at the bottom of the slide rod 52 via a crossbar. A support column 56 is fixedly installed inside the liquid storage box 14, and a support rod 57 slidably connected inside the support column 56 and fixedly connected to the crossbar.

[0034] During operation, after prolonged use of the lubricating oil, the first electromagnetic block 53 and the second electromagnetic block 54 are periodically energized, causing them to attract each other. At this time, the slide rod 52 moves upwards via the crossbar, carrying several fan blades 55. Since the fan blades 55 rotate upon contact with the liquid, the upward-moving blades agitate the liquid in the reservoir 14. When the slide rod 52 reaches its maximum position, the first electromagnetic block 53 and the second electromagnetic block 54 are de-energized, and the slide rod 52, along with the crossbar and several fan blades 55, moves downwards to its original position, thus agitating the lubricating oil in the reservoir 14 again. Furthermore, the designed support rod 57 resets the crossbar for further movement, ensuring the crossbar's movement path and effectively preventing tilting or bending.

[0035] The structure designed above enables periodic agitation of the lubricating oil within the reservoir 14. This allows the functional components that have separated or settled due to prolonged stagnation to be remixed uniformly, preventing uneven distribution of effective lubricating and rust-preventing components and ensuring consistent and stable lubricating oil performance. When the thoroughly agitated lubricating oil is sprayed onto the contact area between the gripper pad 4 and the cylinder head, it forms a uniform and reliable lubricating and rust-preventing film. This ensures stable lubrication and rust prevention during clamping, effectively reducing the risk of scratches, scoring, and corrosion on the cylinder head surface. Simultaneously, it extends the service life of the gripper pad 4 and improves machining accuracy and production line reliability.

[0036] The working principle is as follows: Before the clamping plate 3 and gasket 4 of the mechanical gripper 2 contact the surface of the engine cylinder head, the micro-pump in the reservoir 14 is pre-activated, allowing the lubricating oil in the reservoir 14 to enter the atomizing nozzle 17 through the connecting pipe 13 and the hollow ball head 16. Simultaneously, the electric push rod 11 is also activated, carrying the connecting pipe 13 and the atomizing nozzle 17 through the slot 15 and moving them out of the clamping plate 3 via the connecting plate 12. The atomizing nozzle 17, after being removed, is aligned with the surface of the clamping plate 3. As the lubricating oil in the reservoir 14 is sprayed out through the atomizing nozzle 17, it coats the surface of the gasket 4. Furthermore, the atomizing nozzle 17 is designed at a high position to spray the lubricating oil onto the upper part of the gasket 4, allowing it to flow down to the end of the gasket 4, thus achieving all-around coating of the gasket 4. The above operation is performed before the mechanical gripper 2 clamps the engine cylinder head. When the clamping plates 3 and gaskets 4 of the mechanical gripper 2 clamp the engine cylinder head, and the two clamping plates 3 and two gaskets 4 are located on both sides of the engine cylinder head, the first electromagnet 18 and the second electromagnet 19 are energized, causing them to attract each other due to their opposite polarities. The atomizing nozzle 17 rotates through the ball head 16, causing its liquid outlet to face the clamping area of ​​the engine cylinder head, thereby spraying liquid onto the clamping area of ​​the engine cylinder head.

[0037] After the mechanical gripper 2 has not clamped the engine cylinder head and sprayed lubricating oil, the electric push rod 11 will reset along with the connecting plate 12 and other components. At this time, the electric push rod 11, along with the connecting plate 12 and pressure plate 21, will undergo a transition reset, using the arc-shaped surface of the pressure plate 21 and the rolling column 29 at the top to compress the elastic block 22. After being compressed, the gas inside the elastic block 22 will be guided into the fixed frame 23 through the air guide pipe, thereby pushing the telescopic rod 24, elastic rope 25, fixed plate 28, and brush 26 to move. The fixed plate 28 will move the brush 26 towards the gasket 4, thereby assisting in evenly spreading the lubricating oil on the gasket 4. As the spreading work is completed, the electric push rod 11 will reset along with the pressure plate 21, thus ceasing to compress the elastic block 22. At this time, the telescopic rod 24, under the action of the elastic rope 25, will reset along with the connecting plate 12 and other components. The gas in the fixed frame 23 will be returned to the elastic block 22 through the air guide pipe for subsequent use.

[0038] By installing a multi-stage telescopic tube 30 between the electric push rod 11 and the connecting plate 12, the multi-stage telescopic tube 30 can be stretched or contracted in conjunction with the connecting plate 12 when the electric push rod 11 moves with the connecting plate 12, thereby protecting the output end of the electric push rod 11. Furthermore, when the multi-stage telescopic tube 30 is stretched in conjunction with the electric push rod 11, it draws in air through the air inlet pipe 41. When the multi-stage telescopic tube 30 is retracted and reset in conjunction with the electric push rod 11, the gas inside the multi-stage telescopic tube 30 is blown towards the brush 26 through the air outlet pipe 42.

[0039] After prolonged use, the first electromagnetic block 53 and the second electromagnetic block 54 are periodically energized, causing them to attract each other. At this time, the slide bar 52 moves upwards via the crossbar, carrying several fan blades 55. Since the fan blades 55 rotate upon contact with the liquid, they agitate the liquid in the reservoir 14. When the slide bar 52 reaches its maximum position, the first electromagnetic block 53 and the second electromagnetic block 54 are de-energized. The slide bar 52 then moves downwards with the crossbar and several fan blades 55 to reset, thus agitating the lubricating oil in the reservoir 14 again. Furthermore, the designed support rod 57 resets the crossbar for further movement, ensuring the crossbar's movement path and effectively preventing tilting or bending.

[0040] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0041] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed invention.

Claims

1. A combined gripper for machining engine cylinder heads, comprising a robotic arm (1) and a mechanical gripper (2) disposed on the robotic arm (1), wherein the mechanical gripper (2) is provided with two clamping plates (3) and gaskets (4) for gripping the engine cylinder head by means of a driving member; characterized in that: It also includes a liquid spraying mechanism (10) installed in the clamp (3): The spraying mechanism (10) includes an electric push rod (11) and a liquid storage box (14) fixedly installed in the clamping plate (3). A connecting plate (12) is fixedly installed at the output end of the electric push rod (11). A connecting pipe (13) is provided on the connecting plate (12) and communicates with the inside of the liquid storage box (14). The inside of the liquid storage box (14) is connected to the connecting pipe (13) through a micro liquid pump. The clamping plate (3) has a slot (15) on one side that is connected to the outside and allows the connecting plate (12) to pass through.

2. The combined gripper for machining engine cylinder heads according to claim 1, characterized in that: One end of the connecting tube (13) is rotatably connected to a hollow ball head (16), and an atomizing nozzle (17) is fixedly installed on the surface of the ball head (16).

3. The combined gripper for machining engine cylinder heads according to claim 2, characterized in that: The surface of the connecting pipe (13) is equipped with a first electromagnet (18), and the atomizing nozzle (17) is equipped with a second electromagnet (19).

4. The combined gripper for machining engine cylinder heads according to claim 1, characterized in that: The clamping plate (3) is provided with a telescopic mechanism (20), which includes a hollow elastic block (22) fixedly installed in the clamping plate (3), and a pressure plate (21) for squeezing the elastic block (22) is fixedly installed on the connecting plate (12). A hollow fixed frame (23) is fixedly installed on the mechanical gripper (2). A telescopic rod (24) is sealed and slidably connected inside the fixed frame (23) by an elastic rope (25). A brush (26) is provided on the telescopic rod (24).

5. A combined gripper for machining engine cylinder heads according to claim 4, characterized in that: A fixing plate (28) is fixedly installed at the bottom of the telescopic rod (24), the brush (26) is installed on the fixing plate (28), and a baffle (27) is fixedly installed inside the fixing frame (23).

6. A combined gripper for machining engine cylinder heads according to claim 4, characterized in that: The pressure plate (21) is arc-shaped, and a rolling column (29) is rotatably connected to the top of the pressure plate (21).

7. A combined gripper for machining engine cylinder heads according to claim 4, characterized in that: A multi-stage telescopic tube (30) is fixedly installed between the electric push rod (11) and the connecting plate (12). The multi-stage telescopic tube (30) is composed of several hollow round tubes that are slidably connected.

8. A combined gripper for machining engine cylinder heads according to claim 7, characterized in that: The multi-stage telescopic tube (30) is equipped with an air blowing mechanism (40); The multiple circular tubes of the multi-stage telescopic tube (30) are connected in a sealed sliding manner, and the multiple circular tubes are connected through through holes. The surface of the multi-stage telescopic tube (30) is fixedly installed with an air inlet pipe (41) that communicates with the interior and has a one-way valve, and the bottom of the multi-stage telescopic tube (30) is fixedly installed with an air outlet pipe (42) that communicates with the interior and has a one-way valve.

9. A combined gripper for machining engine cylinder heads according to claim 1, characterized in that: The liquid storage box (14) is provided with a stirring mechanism (50). The stirring mechanism (50) includes a fixed tube (51) fixedly installed in the liquid storage box (14). A slide rod (52) is slidably connected inside the fixed tube (51). A first electromagnetic block (53) is installed inside the fixed tube (51). A second electromagnetic block (54) is installed on the top of the slide rod (52). The bottom of the slide bar (52) is equipped with several fan blades (55) via a crossbar.

10. A combined gripper for machining engine cylinder heads according to claim 9, characterized in that: A support column (56) is fixedly installed inside the liquid storage box (14), and a support rod (57) is slidably connected inside the support column (56) and fixedly connected to the crossbar.

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