Plate product grabbing device and transferring equipment

Abstract

The utility model provides a plate body product gripping device and transfer equipment, which comprises a mounting plate, the top surface of the mounting plate is an assembly surface, the bottom surface of the mounting plate is a clamping operation surface, and a plurality of positioning driving mechanisms are arranged on the mounting plate; at least two cylinder cover clamping mechanisms are oppositely arranged on the two X edges of the mounting plate, each cylinder cover clamping mechanism comprises a cylinder cover clamping air cylinder fixedly mounted on the assembly surface, each cylinder cover clamping air cylinder is provided with a telescopic shaft extending out of the clamping operation surface, and a multi-rod clamping jaw is connected to each telescopic shaft; tray clamping mechanisms are oppositely arranged on the two Y edges of the mounting plate and comprise sliding assemblies, tray clamping air cylinders are arranged on the sliding assemblies and provided with telescopic rods parallel to the assembling face, the telescopic rods are connected to the assembling face, and tray clamping jaws extending out of the clamping operation face are arranged on the tray clamping air cylinders. Through the unique structural design and the flexible operation mode, the cylinder cover grabbing and placing efficiency, accuracy and safety are improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of machinery and relates to a clamp, in particular to a plate product grabbing device and a transfer device. Background Art

[0002] The cylinder head is a crucial component of a car engine. Located at the top of the engine, it serves to seal the cylinders, forming the combustion chamber and providing the necessary gas and coolant passages. The design and material selection of the cylinder head significantly impact the engine's performance, efficiency, and durability.

[0003] The specific functions of the engine cylinder head are as follows:

[0004] 1. Cylinder Enclosure: The cylinder head encloses the cylinder, forming the combustion chamber and providing a seal. 2. Gas Inlet and Exit: The cylinder head typically houses intake and exhaust valves, which control the entry of the air and fuel mixture and the exit of combustion exhaust gases. 3. Cooling: The cylinder head is equipped with cooling water channels, which remove engine heat through the flow of coolant, maintaining the engine at a suitable operating temperature. 4. Ignition: In some engines, the cylinder head also contains spark plugs or fuel injectors, which are responsible for igniting the fuel.

[0005] In the manufacturing process of the engine cylinder head, according to the structural characteristics of the engine cylinder head, corresponding fixtures are required to grasp and transfer the engine cylinder head to complete the transfer operation between different processes.

[0006] The existing engine cylinder head clamps have a single structure and single functionality, resulting in a lack of flexibility and versatility in grasping; the lack of targeted clamping of the engine cylinder head structure leads to problems such as inadequate grasping, poor accuracy, and poor levelness. Utility Model Content

[0007] The purpose of the utility model is to solve the above problems in the existing technology and to propose a plate product grabbing device and a transfer device.

[0008] The objectives of the utility model can be achieved through the following technical solutions: a plate product grasping device, comprising a mounting plate, the top surface of the mounting plate being the assembly surface, the bottom surface of the mounting plate being the clamping operation surface, and a number of positioning drive mechanisms being arranged on the mounting plate; at least two cylinder head clamping mechanisms are arranged opposite to each other on the two X sides of the mounting plate, the cylinder head clamping mechanism comprising a cylinder head clamping cylinder fixedly mounted on the assembly surface, the cylinder head clamping cylinder having a telescopic shaft extending out of the clamping operation surface, and a multi-rod clamping claw being connected to the telescopic shaft; pallet clamping mechanisms are arranged opposite to each other on the two Y sides of the mounting plate, the pallet clamping mechanism comprising a sliding assembly, a pallet clamping cylinder being arranged on the sliding assembly, the pallet clamping cylinder having a telescopic rod parallel to the assembly surface, the telescopic rod being connected to the assembly surface, and a pallet clamping claw extending out of the clamping operation surface being arranged on the pallet clamping cylinder.

[0009] In the above-mentioned plate product grasping device, the multi-rod clamp includes a base fixed on the clamping operating surface, the top of the first rod is hinged on the base, the top of the second rod and the top of the third rod are hinged on the telescopic shaft respectively, the bottom end of the second rod is hinged to the middle of the first rod, the bottom end of the third rod is hinged to the outer end of the fourth rod, the bottom end of the first rod is hinged to the middle of the fourth rod, and the inner end of the fourth rod has a claw hook.

[0010] In the above-mentioned plate product grasping device, the sliding assembly includes an X-guide rail fixed on the assembly surface, a sliding clamping slider is provided on the X-guide rail, a slide is fixedly connected to the slide, and the pallet clamping cylinder is fixed on the slide.

[0011] In the above-mentioned plate product grasping device, the two Y sides of the mounting plate are symmetrically provided with notches, and the pallet clamp is arranged in the notches. The pallet clamp includes a vertical plate, the top end of the vertical plate is fixedly connected to the slide plate, the vertical plate passes through the notch downward, and the bottom end of the vertical plate is provided with a claw head with the claw mouth facing outward.

[0012] In the above-mentioned plate product grabbing device, a support is fixedly mounted on the assembly surface, and the end of the telescopic rod is connected to the support via a floating joint.

[0013] In the above-mentioned plate product grasping device, several positioning holes are opened on the mounting plate, and the positioning drive mechanism includes a positioning cylinder fixed on the assembly surface. The positioning cylinder telescopically drives the positioning pin, and the positioning pin passes through the corresponding positioning hole and extends out of the clamping operation surface.

[0014] In the above-mentioned plate product grasping device, a bracket 1 is fixedly provided on the clamping operation surface of the mounting plate, a proximity switch is installed on the bracket 1, and the sensing probe of the proximity switch is arranged downward.

[0015] In the above-mentioned plate product grasping device, a calibration axis is set along the X direction on one Y side of the mounting plate, the calibration axis and the mounting plate are located in the same plane, and the outer end of the calibration axis is sleeved with a protective cap.

[0016] In the above-mentioned plate product grasping device, a second bracket is fixed on the assembly surface of the mounting plate, a hard limiter is provided on the second bracket along the X direction, and the limit end of the hard limiter exceeds the Y side.

[0017] A transfer device includes a robot with a mechanical arm and the above-mentioned plate product grasping device, wherein a shaft sleeve is provided in the middle of the assembly surface of the mounting plate, and the driving shaft of the mechanical arm penetrates the shaft sleeve to form a fixed installation.

[0018] Compared with the existing technology, the plate product grabbing device and transfer equipment have the following beneficial effects:

[0019] 1. Precise Positioning: This gripping device utilizes multiple positioning cylinders and their retractable positioning pins to precisely position the cylinder head. The pins extend and retract freely through guide sleeves, ensuring the cylinder head is correctly aligned horizontally. This improves gripping and placement accuracy and reduces operational errors caused by positioning errors.

[0020] 2. Improved Grabbing Efficiency: The design of the clamping cylinder and multi-rod gripper enables fast and efficient grasping and releasing. As the telescopic shaft moves up and down, the gripper quickly adjusts to the grasping or releasing position, and the claws press against the corresponding air inlet and outlet ports, reducing waiting time during grasping and placement, and improving overall work efficiency.

[0021] 3. Adaptable to various cylinder head models: The device is designed to adapt to different cylinder head models. By adjusting the extension of the positioning cylinder, it can meet the different cylinder head gripping requirements. This flexibility makes the device widely applicable in practical applications and can be easily switched between different production lines.

[0022] 4. Reliable gripping and release mechanism: The gripping mechanism utilizes a multi-rod structure, providing stable gripping force and preventing damage to the cylinder head during the gripping process. Furthermore, a proximity switch monitors the gripping status, ensuring consistency during the gripping and placement process, further enhancing system reliability.

[0023] 5. Easy maintenance and adjustment: The floating joint design used in the device effectively eliminates installation errors between the driving mechanism and the driven mechanism, improving the smoothness of the equipment operation. In addition, the setting of the calibration axis allows users to easily adjust the posture of the fixture to meet the needs of different working environments, facilitating equipment maintenance and commissioning.

[0024] 6. Improved safety: Through proximity switch monitoring, the device can provide real-time feedback on the grasping status, reducing the risk of operational errors during the grasping and placing process, thereby improving operational safety.

[0025] 7. Integration of robotic arm and gripping device: This gripping device can be effectively combined with the robotic arm, making the overall system more coordinated and consistent during operation, forming an efficient automation solution to meet the needs of modern industrial production.

[0026] 8. Reduce labor intensity: Automated picking and placing processes reduce the need for manual operation, thereby reducing workers’ labor intensity and reducing fatigue and potential injuries caused by repetitive labor.

[0027] In short, this plate product grabbing device significantly improves the efficiency, accuracy and safety of cylinder head grabbing and placement through its unique structural design and flexible operation mode, and has high application value and market prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a bottom perspective view of the plate product grabbing device.

[0029] Figure 2 This is a top perspective view of the plate product grabbing device.

[0030] Figure 3 This is a top view of the plate product grabbing device.

[0031] Figure 4 This is a side view of the plate product grabbing device.

[0032] In the figure, 1. Mounting plate; 2. Positioning cylinder; 3. Positioning pin; 4. Guide sleeve; 5. Cylinder head clamping cylinder; 6. Multi-rod clamp; 6a. Base; 6b. First rod; 6c. Second rod; 6d. Third rod; 6e. Fourth rod; 7. X-guide rail; 8. Slider; 9. Slide plate; 10. Pallet clamping cylinder; 11. Pallet clamp; 12. Floating joint; 13. Proximity switch; 14. Calibration axis; 15. Hard limiter. DETAILED DESCRIPTION

[0033] The following are specific embodiments of the present invention and the accompanying drawings to further describe the technical solution of the present invention, but the present invention is not limited to these embodiments.

[0034] Example 1

[0035] like Figures 1 to 3As shown, the present device for grasping plate products comprises a mounting plate 1, the top surface of which serves as the assembly surface, and the bottom surface of which serves as the clamping surface. The mounting plate 1 is provided with a plurality of positioning drive mechanisms. The mounting plate 1 has a plurality of positioning openings formed therein. The positioning drive mechanisms comprise positioning cylinders 2 fixed to the assembly surface. Positioning cylinders 2 extend and retract to drive positioning pins 3, which extend through corresponding positioning openings and out of the clamping surface. Guide sleeves 4 are provided on the clamping surface corresponding to the positioning openings, and the positioning pins 3 are inserted into the corresponding guide sleeves 4, allowing for free extension and retraction.

[0036] There are several positioning holes on the cylinder head, and positioning pins 3 are extended through several positioning cylinders 2. Several positioning pins 3 extend from guide sleeves 4 and penetrate into the several positioning holes of the cylinder head one by one, so as to accurately position the cylinder head in the horizontal direction.

[0037] like Figures 1 to 3 As shown, preferably, at least two cylinder head clamping mechanisms are arranged opposite to each other on the two X sides of the mounting plate 1, and the cylinder head clamping mechanism includes a cylinder head clamping cylinder 5 fixedly mounted on the assembly surface, and the cylinder head clamping cylinder 5 has a telescopic shaft extending out of the clamping operation surface, and the telescopic shaft is connected to a multi-rod clamping claw 6; Figure 4 As shown, the multi-rod clamp 6 includes a base 6a fixed on the clamping operation surface, the top of the first rod 6b is hinged on the base 6a, the top of the second rod 6c and the top of the third rod 6d are hinged on the telescopic shaft respectively, the bottom end of the second rod 6c is hinged to the middle of the first rod 6b, the bottom end of the third rod 6d is hinged to the outer end of the fourth rod 6e, the bottom end of the first rod 6b is hinged to the middle of the fourth rod 6e, and the inner end of the fourth rod 6e has a claw hook.

[0038] When the telescopic shaft moves upward, it drives the top ends of the second and third rods 6c and 6d upward, which in turn pulls the bottom end of the first rod 6b upward and the outer end of the fourth rod 6e upward, causing the claw hook to move away from the clamping surface and release the cylinder cover. When the telescopic shaft moves downward, it drives the top ends of the second and third rods 6c and 6d downward, which in turn pushes the bottom end of the first rod 6b downward and the outer end of the fourth rod 6e downward, causing the claw hook to engage the clamping surface. The claw hook then extends into the corresponding inlet and outlet holes of the cylinder cover and presses tightly to hook the cylinder cover.

[0039] like Figures 1 to 3 As shown, preferably, a pallet clamping mechanism is disposed oppositely on the two Y edges of the mounting plate 1. The pallet clamping mechanism includes a sliding assembly, which includes an X-direction guide rail 7 fixed to the assembly surface. A slider 8 is slidably engaged on the X-direction guide rail 7, and a slide 9 is fixedly connected to the slider 8. There are two X-direction guide rails 7 and they are symmetrically arranged. A slider 8 is correspondingly disposed on each X-direction guide rail 7, and the two sliders 8 are connected to a slide 9.

[0040] Preferably, the pallet clamping cylinder 10 is fixed to the slide 9 and includes a telescopic rod extending parallel to the mounting surface. The telescopic rod is connected to the mounting surface, and the pallet clamping cylinder 10 is provided with a pallet clamping claw 11 extending outward from the clamping operation surface. When the pallet clamping cylinder 10 drives the telescopic rod to extend and retract, the pallet clamping cylinder 10 and the slide 9 slide back and forth in the X direction, driving the pallet clamping claws 11 on both sides of the Y side to expand or converge, thereby grasping or releasing the pallet.

[0041] Preferably, the two Y sides of the mounting plate 1 are symmetrically recessed with notches, and the pallet clamp 11 is arranged in the notches. The pallet clamp 11 includes a vertical plate, the top of the vertical plate is fixedly connected to the slide plate 9, the vertical plate passes through the notch downward, and the bottom end of the vertical plate is provided with a claw head with the claw mouth facing outward.

[0042] A notch is located between the two X-axis guide rails 7, and the inner edge of the notch defines the maximum inward translation range of the pallet clamping jaws 11. The pallet clamping cylinders 10 on both sides simultaneously retract their telescopic rods, bringing the pallet clamping jaws 11 together so that the claws are positioned inside the pallet. The pallet clamping cylinders 10 then simultaneously extend their telescopic rods, expanding the pallet clamping jaws 11 so that the two opposing claws grip the pallet from the inside for gripping. The pallet clamping cylinders 10 again simultaneously retract their telescopic rods, bringing the pallet clamping jaws 11 together, releasing the pallet.

[0043] like Figure 2 and 3 As shown, preferably, a support is fixed to the assembly surface, and the end of the telescopic rod is connected to the support via a floating joint 12. The floating joint 12 is a universal component with various structures. It is commonly used at the connection between cylinders, linear modules and driven mechanisms. Its function is to eliminate installation or processing errors between the driving mechanism and the driven mechanism, preventing problems such as drive problems and creeping.

[0044] like Figure 1 and 3 As shown, preferably, a bracket 1 is fixed to the clamping operation surface of the mounting plate 1, and a proximity switch 13 is mounted on the bracket 1, with the sensing probe of the proximity switch 13 facing downward. The function of the proximity switch 13 is to determine whether the cylinder head is flush with the cylinder head positioning surface by detecting two points on the cylinder head, thereby ensuring consistency in the grasping and placement posture.

[0045] like Figures 1 to 3 As shown, preferably, a calibration axis 14 is provided along the X direction on one Y side of the mounting plate 1. The calibration axis 14 and the mounting plate 1 are located in the same plane, and a protective cap is sleeved on the outer end of the calibration axis 14. The function of the calibration axis 14 is to calibrate the coordinate system of the fixture relative to the robot itself, so as to quantitatively adjust the posture of the fixture.

[0046] like Figures 1 to 3As shown, preferably, a second bracket is fixed on the assembly surface of the mounting plate 1 , and a hard limiter 15 is provided on the second bracket along the X direction, with the limiting end of the hard limiter 15 exceeding the Y side.

[0047] Example 2

[0048] Based on the first embodiment, the difference of this embodiment is that:

[0049] A transfer device includes a robot with a mechanical arm and the above-mentioned plate product grasping device. A shaft sleeve is set in the middle of the assembly surface of the mounting plate 1, and the driving shaft of the mechanical arm is connected to the shaft sleeve to form a fixed installation.

[0050] The operation process of this transfer equipment is:

[0051] The robot's robotic arm drives the gripping mechanism to the grasping position. First, positioning cylinder 2 extends the corresponding positioning pin 3, depending on the cylinder head model. The robotic arm drives the positioning pin 3 into the corresponding positioning hole in the cylinder head, precisely positioning the cylinder head horizontally. The cylinder head clamping cylinder 5 drives the claws of the multi-rod gripper 6 to insert into the corresponding inlet and exhaust holes in the cylinder head and press them firmly. Proximity switch 13 detects that the cylinder head is grasped in place. The robot then moves the gripping mechanism and cylinder head to the placement position. The cylinder head clamping cylinder 5 drives the claws of the multi-rod gripper 6 to release the cylinder head, completing the placement.

[0052] When all the cylinder covers on the pallet are removed, the pallet clamping cylinders 10 on both sides are started synchronously to extend the telescopic rods, so that the pallet claws 11 on both sides are expanded, so that the two relative claws support the pallet from the inside for grabbing. The robot drives the grabbing device and the pallet to move above the pallet offline conveyor line, and the pallet clamping cylinders 10 on both sides are started synchronously to retract the telescopic rods, so that the pallet claws 11 on both sides are gathered together, so that the claws release the pallet to the conveyor line.

[0053] The specific embodiments described herein are merely examples of the spirit of the present invention. A person skilled in the art of the present invention may make various modifications or additions to the specific embodiments described or replace them in a similar manner, but will not deviate from the spirit of the present invention or exceed the defined scope. Although the present invention is described and described in detail in the drawings and the foregoing description, such illustrations and descriptions are considered to be illustrative or exemplary rather than restrictive. It should be understood that within the scope of the following claims, changes and modifications may be made by a person of ordinary skill. Specifically, the present invention covers additional embodiments having any combination of features from the different embodiments described above. Insofar as the expression "generally" or "substantially" is used, this patent application should be understood to disclose features and values that are also fully satisfied, i.e., without the aforementioned characterization as "generally" or "substantially".

[0054] In the description of this utility model, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections; direct connections, indirect connections through an intermediate medium, and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on the specific circumstances.

Claims

1. A plate product gripping device, comprising a mounting plate, wherein the top surface of the mounting plate is an assembly surface, and the bottom surface of the mounting plate is a clamping operation surface, characterized in that: A number of positioning drive mechanisms are arranged on the mounting plate; at least two cylinder head clamping mechanisms are arranged opposite to each other on the two X sides of the mounting plate, and the cylinder head clamping mechanism includes a cylinder head clamping cylinder fixedly mounted on the assembly surface, and the cylinder head clamping cylinder has a telescopic shaft extending out of the clamping operation surface, and a multi-rod clamp is connected to the telescopic shaft; pallet clamping mechanisms are arranged opposite to each other on the two Y sides of the mounting plate, and the pallet clamping mechanism includes a sliding assembly, and a pallet clamping cylinder is arranged on the sliding assembly, and the pallet clamping cylinder has a telescopic rod parallel to the assembly surface, and the telescopic rod is connected to the assembly surface, and the pallet clamping cylinder is provided with a pallet clamp extending out of the clamping operation surface.

2. The plate product grabbing device according to claim 1, characterized in that: The multi-rod clamp includes a base fixed on the clamping operating surface, the top of the first rod is hinged on the base, the top of the second rod and the top of the third rod are hinged on the telescopic shaft respectively, the bottom end of the second rod is hinged to the middle of the first rod, the bottom end of the third rod is hinged to the outer end of the fourth rod, the bottom end of the first rod is hinged to the middle of the fourth rod, and the inner end of the fourth rod has a claw hook.

3. The plate product grabbing device according to claim 1, characterized in that: The sliding assembly includes an X-guide rail fixed on the assembly surface, a sliding block is provided on the X-guide rail, a slide plate is fixedly connected to the slide plate, and the pallet clamping cylinder is fixed on the slide plate.

4. The plate product grabbing device according to claim 3, characterized in that: The two Y sides of the mounting plate are symmetrically provided with notches, and the pallet clamp is arranged in the notches. The pallet clamp includes a vertical plate, the top end of the vertical plate is fixedly connected to the slide plate, the vertical plate passes through the notch downward, and the bottom end of the vertical plate is provided with a claw head with the claw mouth facing outward.

5. The plate product grabbing device according to claim 1, characterized in that: A support is fixedly mounted on the assembly surface, and the end of the telescopic rod is connected to the support via a floating joint.

6. The plate product grabbing device according to claim 1, characterized in that: A plurality of positioning holes are opened on the mounting plate, and the positioning drive mechanism includes a positioning cylinder fixed on the assembly surface. The positioning cylinder telescopically drives a positioning pin, and the positioning pin passes through the corresponding positioning hole and extends out of the clamping operation surface.

7. The plate product grabbing device according to claim 1, characterized in that: A first bracket is fixedly arranged on the clamping operation surface of the mounting plate, a proximity switch is mounted on the first bracket, and the induction probe of the proximity switch is arranged downward.

8. The plate product grabbing device according to claim 1, characterized in that: A calibration shaft is provided on a Y side of the mounting plate along the X direction. The calibration shaft and the mounting plate are located in the same plane, and a protective cap is sleeved on the outer end of the calibration shaft.

9. The plate product grabbing device according to claim 1, characterized in that: A second bracket is fixed on the assembly surface of the mounting plate. A hard limiter is provided on the second bracket along the X direction, and the limiting end of the hard limiter exceeds the Y side.

10. A transfer device comprising a robot having a mechanical arm, characterized in that: And a plate product grasping device according to any one of claims 1 to 9, wherein a shaft sleeve is provided in the middle of the assembly surface of the mounting plate, and the driving shaft of the robot arm is connected to the shaft sleeve to form a fixed installation.

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