Special engine shell carrying manipulator

Abstract

The utility model relates to the technical field of carrying manipulators, and discloses a special type engine shell carrying manipulator which comprises an industrial robot arm, an engine shell and a clamping mechanism, one side of the industrial robot arm is provided with a manipulator connecting arm matched with the industrial robot arm, and the end of the manipulator connecting arm is provided with the clamping mechanism. The telescopic air cylinder acts to drive the clamping plate to move towards the pressing plate, the first positioning pin enters the first positioning pin hole corresponding to the engine shell, the second positioning pin enters the second positioning pin hole corresponding to the engine shell, and the clamping plates are clamped by adjusting the ball head adjusting bolts on the three clamping rods. The end of the ball head adjusting bolt is in contact with the position, with the draft angle, of the engine shell part, so that the engine shell can be clamped, the possibility that the clamping rod generates indentations on the surface of the engine shell can be reduced, only one telescopic air cylinder is arranged to serve as a clamping power source, and the purchase expenditure and the maintenance pressure can be reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of handling manipulators, in particular to a special-purpose engine casing handling manipulator. Background Art

[0002] A manipulator is an automatic device that can imitate certain movements of human hands and arms and is used to grab, move objects or operate tools according to a fixed program. It can be programmed to complete various expected operations, and has the advantages of both humans and robots in terms of structure and performance. In automobile processing workshops, in order to reduce the labor of workers when moving engine casings, special manipulators are used to clamp and move engine casings, which not only increases work efficiency but also protects the safety of workers.

[0003] However, in order to achieve the purpose of steadily grasping the workpiece body, the existing engine casing workpiece handling robots all adopt a multi-point clamping method. This method often means that multiple cylinders need to be set up, which increases the procurement cost. The multi-point clamping method will also increase the size of the robot, affecting the coordination between the robot and the equipment, and increasing the difficulty of debugging. Utility Model Content

[0004] The purpose of the utility model is to provide a special engine casing handling manipulator, which solves the problems raised in the background technology.

[0005] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0006] A special engine casing handling manipulator comprises an industrial robot arm, an engine casing and a clamping mechanism, wherein a matching manipulator connecting arm is arranged on one side of the industrial robot arm, a clamping mechanism is arranged at the end of the manipulator connecting arm, the manipulator connecting arm is used to adjust the position of the clamping mechanism, the clamping mechanism is used to clamp the engine casing, a plurality of first positioning pin holes are arranged on one side of the engine casing, and a plurality of second positioning pin holes are arranged on the other side of the engine casing;

[0007] The clamping mechanism includes a base, a telescopic cylinder, a pressure plate and a clamping plate, the base is fixedly installed at the end of the manipulator connecting arm, the telescopic cylinder is fixedly installed on the top of the base, the pressure plate is fixedly installed on the front side of the base, and the clamping plate is fixedly installed at the output end of the telescopic cylinder. An adjusting component 1 is provided on the pressure plate, and a positioning pin 1 matching the positioning pin hole 1 is fixedly installed on the adjusting component 1. An adjusting component 2 is provided on the clamping plate, and a positioning pin 2 matching the positioning pin hole 2 is fixedly installed on the adjusting component 2. Three clamping rods are fixedly connected to one side of the clamping plate close to the pressure plate, and the ends of the clamping rods are penetrated by and threaded with ball head adjustment bolts.

[0008] As a further solution of the utility model: the adjusting component 1 includes a vertical rod member, a slider 1 and a slider 2, the clamping plate is provided with a sliding hole, the vertical rod member is arranged on a side of the clamping plate close to the clamping plate, the slider 1 is located inside the sliding hole, and the slider 1 is slidably connected to the sliding hole, one end of the slider 1 passes through and is threadedly connected with a positioning bolt, and the other end of the slider 1 is fixedly connected to the vertical rod member, a sliding groove is provided on one side of the vertical rod member, the slider 2 is located inside the sliding groove, and the slider 2 is slidably connected to the sliding groove, a plurality of thread grooves 1 are equidistantly provided on the inner wall of the sliding groove, one end of the positioning pin 1 is fixedly connected with a threaded shaft 1 matching the thread groove 1, the threaded shaft 1 passes through the slider 2, and one end of the threaded shaft 1 is located inside one of the thread grooves 1.

[0009] As a further solution of the utility model: the second adjustment component includes a pad and a threaded shaft. The pad is fixedly connected to the side of the clamping plate close to the pressure plate, and one side of the pad is provided with a plurality of threaded grooves 2 matching the threaded shaft 2. The threaded shaft 2 is fixedly connected to one side of the positioning pin 2, and one end of the threaded shaft 2 is located inside one of the threaded grooves 2.

[0010] As a further solution of the utility model: a mounting seat is fixedly installed at the end of the industrial robot arm, and the mounting seat is used to fix the industrial robot arm on the assembly line of the workshop.

[0011] As a further solution of the utility model: a guide rail is fixedly installed on the top of the base, the guide rail is located below the clamping plate, and the clamping plate is slidably connected to the guide rail.

[0012] As a further solution of the utility model: a travel switch is arranged on the top of the base, and the travel switch is used to check whether the engine housing is in place.

[0013] As a further solution of the utility model: a matching washer is sleeved on the positioning bolt, and the outer ring diameter of the washer is greater than the height of the sliding hole.

[0014] As a further solution of the utility model: a matching nut is sleeved on the ball head adjustment bolt.

[0015] Compared with the prior art, the technical solution of this application has the following beneficial effects:

[0016] The telescopic cylinder drives the clamping plate to move toward the clamping plate, so that the first locating pin enters the first locating pin hole corresponding to the engine casing, and the second locating pin enters the second locating pin hole corresponding to the engine casing. By adjusting the ball head adjustment bolts on the three clamping rods, the ends of the ball head adjustment bolts are in contact with the positions of the engine casing parts with draft angles, thereby clamping the engine casing and reducing the possibility of the clamping rods causing indentations on the surface of the engine casing. By configuring only one telescopic cylinder as the clamping power source, procurement costs and maintenance pressure can be reduced.

[0017] The longitudinal position of the locating pin 1 can be adjusted by sliding the slider 1 in the slide hole and then rotating the positioning bolt to fix it. The vertical position of the locating pin 1 can be adjusted by sliding the slider 2 in the slide groove and then rotating the threaded shaft 1 so that one end of the locating pin 1 is screwed into the interior of a threaded groove 1. The position of the locating pin 1 can be flexibly adjusted according to the position of the locating pin hole 1 of the engine casing. The position of the locating pin 2 can be flexibly adjusted according to the position of the locating pin hole 2 of the engine casing by screwing the threaded shaft 2 into the corresponding threaded groove 2. This is suitable for the handling and clamping of different engine casings.

[0018] The guide rail limits the clamping plate, so that the clamping plate can move with higher precision and avoid the raised part of the engine housing more accurately. The travel switch can reduce the possibility of empty clamping of the clamping mechanism, thereby improving work efficiency and reducing the chance of damage to the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Other features, objects and advantages of the present invention will become more apparent by reading the detailed description of non-limiting embodiments with reference to the following drawings:

[0020] Figure 1 It is a schematic diagram of the structure of the utility model;

[0021] Figure 2 It is a schematic diagram of the structure of the utility model from a top view;

[0022] Figure 3 It is a left side view of the engine housing of the utility model;

[0023] Figure 4 It is a right side view of the engine housing of the utility model;

[0024] Figure 5 This is a schematic diagram of the structure of the compression plate of the utility model from the front view;

[0025] Figure 6 This is a schematic diagram of the structure of the vertical rod of the utility model from the front view;

[0026] Figure 7It is a cross-sectional view of the vertical rod of the utility model from the side;

[0027] Figure 8 This is a schematic diagram of the structure of the clamping plate of the utility model from the front view;

[0028] Fig. 9 For this utility model Figure 8 A is an enlarged view of the middle image.

[0029] In the figure: 1. industrial robot arm; 2. engine housing; 21. locating pin hole 1; 22. locating pin hole 2; 3. manipulator connecting arm; 4. clamping mechanism; 41. base; 42. telescopic cylinder; 43. clamping plate; 431. locating pin 1; 432. vertical rod; 433. sliding hole; 434. slider 1; 435. locating bolt; 436. washer; 437. slide groove; 438. slider 2; 439. threaded shaft 1; 4310. threaded groove 1; 44. clamping plate; 441. locating pin 2; 442. clamping rod; 443. ball head adjustment bolt; 444. pad; 445. threaded groove 2; 446. threaded shaft 2; 45. guide rail; 46. travel switch; 5. mounting seat. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application. Example 1

[0031] See also Figure 1-8The utility model provides a technical solution: including an industrial robot arm 1, an engine housing 2 and a clamping mechanism 4, characterized in that: a mounting seat 5 is fixedly installed at the end of the industrial robot arm 1, and the mounting seat 5 is used to fix the industrial robot arm 1 on the assembly line of the workshop, and a matching manipulator connecting arm 3 is arranged on one side of the industrial robot arm 1, and a clamping mechanism 4 is arranged on the end of the manipulator connecting arm 3, and the manipulator connecting arm 3 is used to adjust the position of the clamping mechanism 4, and the clamping mechanism 4 is used to clamp the engine housing 2, and a plurality of positioning pin holes 21 are opened on one side of the engine housing 2, and a plurality of positioning pin holes 22 are opened on the other side of the engine housing 2, and the clamping mechanism 4 includes a base 41, a telescopic cylinder 4 2. A clamping plate 43 and a clamping plate 44. The base 41 is fixedly mounted at the end of the manipulator connecting arm 3. The telescopic cylinder 42 is fixedly mounted on the top of the base 41. The clamping plate 43 is fixedly mounted on the front side of the base 41. The clamping plate 44 is fixedly mounted at the output end of the telescopic cylinder 42. An adjusting component 1 is provided on the clamping plate 43. A positioning pin 1 431 matching the positioning pin hole 1 21 is fixedly mounted on the adjusting component 1. An adjusting component 2 is provided on the clamping plate 44. A positioning pin 2 441 matching the positioning pin hole 22 is fixedly mounted on the adjusting component 2. Three clamping rods 442 are fixedly connected to one side of the clamping plate 44 close to the clamping plate 43. The ends of the clamping rods 442 are penetrated and threadedly connected with ball head adjustment bolts 443.

[0032] The telescopic cylinder 42 works to drive the clamping plate 44 to move toward the clamping plate 43, so that the locating pin 431 enters the locating pin hole 21 corresponding to the engine housing 2, and the locating pin 441 enters the locating pin hole 22 corresponding to the engine housing 2. By adjusting the ball head adjustment bolts 443 on the three clamping rods 442, the ends of the ball head adjustment bolts 443 are in contact with the positions with the draft angles of the engine housing 2. This can achieve clamping of the engine housing 2 and reduce the possibility of the clamping rod 442 causing indentations on the surface of the engine housing 2. By configuring only one telescopic cylinder 42 as a clamping power source, procurement costs and maintenance pressure can be reduced.

[0033] The adjustment component 1 includes a vertical rod 432, a slider 1 434 and a slider 2 438. The pressing plate 43 is provided with a sliding hole 433. The vertical rod 432 is arranged on the side of the pressing plate 43 close to the clamping plate 44. The slider 1 434 is inside the sliding hole 433, and the slider 1 434 is slidably connected to the sliding hole 433. One end of the slider 1 434 passes through and is threadedly connected with a positioning bolt 435, and the other end of the slider 1 434 is fixedly connected to the vertical rod 432. The vertical rod A slide groove 437 is provided on one side of 432, a second slide block 438 is located inside the slide groove 437, and the second slide block 438 is slidably connected to the slide groove 437, a plurality of thread grooves 4310 are equidistantly provided on the inner wall of the slide groove 437, a threaded shaft 439 matching the thread groove 4310 is fixedly connected to one end of the positioning pin 431, the threaded shaft 439 passes through the second slide block 438, and one end of the threaded shaft 439 is located inside a thread groove 4310;

[0034] The longitudinal position of the locating pin 431 can be adjusted by sliding the slider 434 in the slide hole 433 and then rotating the positioning bolt 435 to fix it. The vertical position of the locating pin 431 can be adjusted by sliding the slider 438 in the slide groove 437 and then rotating the threaded shaft 439 so that one end of the shaft is screwed into a threaded groove 4310. The position of the locating pin 431 can be flexibly adjusted according to the position of the locating pin hole 21 of the engine housing 2.

[0035] Adjustment component 2 includes a pad 444 and a threaded shaft 446. The pad 444 is fixedly connected to one side of the clamping plate 44 close to the pressure plate 43, and one side of the pad 444 is provided with a plurality of threaded grooves 445 matching the threaded shaft 446. The threaded shaft 446 is fixedly connected to one side of the positioning pin 441, and one end of the threaded shaft 446 is located inside a threaded groove 445.

[0036] By screwing the second threaded shaft 446 into the corresponding second threaded groove 445 , the position of the second positioning pin 441 can be adjusted so that the position of the second positioning pin 441 can be flexibly adjusted according to the position of the second positioning pin hole 22 of the engine housing 2 . Example 2

[0037] See also Figure 1 , Figure 2 and Figure 8 , based on the first embodiment, the utility model provides a technical solution: a guide rail 45 is fixedly installed on the top of the base 41, the guide rail 45 is located below the clamping plate 44, and the clamping plate 44 is slidably connected to the guide rail 45;

[0038] The guide rail 45 limits the clamping plate 44 , so that the clamping plate 44 can move with higher precision and avoid the raised portion of the engine housing 2 more accurately.

[0039] A travel switch 46 is provided on the top of the base 41, and the travel switch 46 is used to check whether the engine housing 2 is in place;

[0040] The possibility of empty clamping of the clamping mechanism 4 is reduced by the travel switch 46, so as to improve the working efficiency and reduce the probability of damage to the robot.

[0041] A matching washer 436 is sleeved on the positioning bolt 435, and the outer diameter of the washer 436 is greater than the height of the sliding hole 433;

[0042] The washer 436 increases the stability of the fixing of the positioning bolt 435 .

[0043] A matching nut is sleeved on the ball head adjustment bolt 443;

[0044] The connection between the ball head adjustment bolt 443 and the clamping rod 442 is increased by the nut for stability.

[0045] Working principle: When the engine housing 2 is transported and clamped, the industrial robot arm 1 moves the clamping mechanism 4 to the engine housing 2 through the manipulator connecting arm 3, and drives the clamping plate 44 to move toward the pressing plate 43 through the telescopic cylinder 42, so that the positioning pin 1 431 enters the positioning pin hole 1 21 corresponding to the engine housing 2, and the positioning pin 2 441 enters the positioning pin hole 22 corresponding to the engine housing 2, and by adjusting the ball head adjustment bolts 443 on the three clamping rods 442, the ends of the ball head adjustment bolts 443 are in contact with the positions with the draft angle of the engine housing 2, so that the engine housing 2 can be clamped, and the possibility of the clamping rod 442 causing indentations on the surface of the engine housing 2 can be reduced;

[0046] By sliding the slider 1 434 in the slide hole 433 and then rotating the positioning bolt 435 to fix it, the longitudinal position of the positioning pin 1 431 can be adjusted. By sliding the slider 2 438 in the slide groove 437 and then rotating the threaded shaft 1 439 to screw one end of the threaded shaft 1 into a threaded groove 1 4310, the vertical position of the positioning pin 1 431 can be adjusted, so that the position of the positioning pin 1 431 can be flexibly adjusted according to the position of the positioning pin hole 1 21 of the engine housing 2. By screwing the threaded shaft 2 446 into the corresponding threaded groove 2 445, the position of the positioning pin 2 441 can be flexibly adjusted according to the position of the positioning pin hole 22 of the engine housing 2.

[0047] The guide rail 45 limits the clamping plate 44, so that the clamping plate 44 can move with higher precision and avoid the raised part of the engine housing 2 more accurately. The travel switch 46 reduces the possibility of empty clamping of the clamping mechanism 4, thereby improving work efficiency and reducing the chance of damage to the robot.

[0048] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. Although the present application is described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A special engine casing handling manipulator, comprising an industrial robot arm (1), an engine casing (2) and a clamping mechanism (4), characterized in that: A matching manipulator connecting arm (3) is provided on one side of the industrial robot arm (1); a clamping mechanism (4) is provided at the end of the manipulator connecting arm (3); the manipulator connecting arm (3) is used to adjust the position of the clamping mechanism (4); the clamping mechanism (4) is used to clamp the engine housing (2); a plurality of first positioning pin holes (21) are provided on one side of the engine housing (2); and a plurality of second positioning pin holes (22) are provided on the other side of the engine housing (2); The clamping mechanism (4) comprises a base (41), a telescopic cylinder (42), a clamping plate (43) and a clamping plate (44); the base (41) is fixedly mounted at the end of the manipulator connecting arm (3); the telescopic cylinder (42) is fixedly mounted on the top of the base (41); the clamping plate (43) is fixedly mounted on the front side of the base (41); the clamping plate (44) is fixedly mounted at the output end of the telescopic cylinder (42); and an adjustment component is provided on the clamping plate (43).

1. A positioning pin (431) matching with the positioning pin hole (21) is fixedly mounted on the adjusting component 1. The clamping plate (44) is provided with an adjusting component 2. A positioning pin (441) matching with the positioning pin hole (22) is fixedly mounted on the adjusting component 2. Three clamping rods (442) are fixedly connected to one side of the clamping plate (44) close to the clamping plate (43). The ends of the clamping rods (442) are penetrated by and threadedly connected with ball head adjustment bolts (443).

2. The dedicated engine casing handling robot according to claim 1, characterized in that: The adjustment component 1 includes a vertical rod (432), a slider 1 (434) and a slider 2 (438). The clamping plate (43) is provided with a sliding hole (433). The vertical rod (432) is arranged on a side of the clamping plate (43) close to the clamping plate (44). The slider 1 (434) is located inside the sliding hole (433). The slider 1 (434) is slidably connected to the sliding hole (433). One end of the slider 1 (434) passes through and is threadedly connected with a positioning bolt (435). The other end of the slider 1 (434) is fixedly connected to the vertical rod (432). A slide groove (437) is provided on one side of the rod (432), the second slide block (438) is located inside the slide groove (437), and the second slide block (438) is slidably connected to the slide groove (437), and a plurality of thread grooves (4310) are equidistantly provided on the inner wall of the slide groove (437), and one end of the positioning pin (431) is fixedly connected to a threaded shaft (439) matching the thread groove (4310), and the threaded shaft (439) passes through the second slide block (438), and one end of the threaded shaft (439) is located inside one of the thread grooves (4310).

3. The dedicated engine casing handling robot according to claim 1, characterized in that: The second adjustment component includes a pad (444) and a second threaded shaft (446), wherein the pad (444) is fixedly connected to a side of the clamping plate (44) close to the pressing plate (43), and one side of the pad (444) is provided with a plurality of second threaded grooves (445) matching the second threaded shaft (446), and the second threaded shaft (446) is fixedly connected to a side of the second positioning pin (441), and one end of the second threaded shaft (446) is located inside one of the second threaded grooves (445).

4. The dedicated engine casing handling robot according to claim 1, characterized in that: A mounting seat (5) is fixedly mounted at the end of the industrial robot arm (1), and the mounting seat (5) is used to fix the industrial robot arm (1) on an assembly line in a workshop.

5. The dedicated engine casing handling robot according to claim 1, characterized in that: A guide rail (45) is fixedly mounted on the top of the base (41), the guide rail (45) is located below the clamping plate (44), and the clamping plate (44) is slidably connected to the guide rail (45).

6. The dedicated engine casing handling robot according to claim 1, characterized in that: A travel switch (46) is provided on the top of the base (41), and the travel switch (46) is used to check whether the engine housing (2) is in place.

7. The dedicated engine casing handling robot according to claim 2, characterized in that: A matching washer (436) is sleeved on the positioning bolt (435), and the outer diameter of the washer (436) is greater than the height of the sliding hole (433).

8. The dedicated engine casing handling robot according to claim 3, characterized in that: The ball head adjustment bolt (443) is sleeved with a matching nut.

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