Cylinder cover gripper for robot

Abstract

The utility model belongs to the technical field of robot grippers, and discloses a cylinder cover gripper for a robot, which comprises a gripper main body, a gripper assembly, a cylinder assembly and a floating assembly, the gripper assembly is fixedly connected onto a robot arm through the gripper main body, the cylinder assembly is connected onto the gripper assembly, the floating assembly is arranged on the gripper assembly, and the cylinder assembly is connected onto the floating assembly. The floating assembly comprises a sliding block connecting plate and a finger assembly, the finger assembly is arranged on the sliding block connecting plate, the finger assembly comprises a floating connecting plate, a floating pin and fingers, the fingers are oppositely and fixedly arranged at the left end and the right end of the floating connecting plate, and the floating connecting plate is arranged on the sliding block connecting plate through the floating pin. A group of positioning pins arranged on the workpiece positioning plate smoothly and quickly enter the joint surface of a connecting piece and a cushion block to be jointed with the surface of the cylinder cover, and when the gripper deviates from the angle of the cylinder cover, the flexible fingers finely adjust the angle and adaptively adjust the posture and the force of the gripper, so that the smooth grabbing of the cylinder cover is ensured.

Description

Technical Field

[0001] The utility model relates to the technical field of robot grippers, in particular to a cylinder cover gripper for a robot. Background Art

[0002] Currently, the use of robots to grasp cylinder heads during the machining and assembly of automotive engines is a common process on modern automated assembly lines. Robots are well-suited for repetitive, high-precision tasks such as loading and unloading cylinder heads and transferring them between lines. The cylinder heads are positioned on the machine tool using fixtures, which have relatively high positioning accuracy, while the robot's accuracy is lower. Furthermore, due to the high number of burrs and flying parts on the cylinder head surface, existing cylinder head grippers on the market cannot hold the product tightly against the gripping surface, causing the cylinder head to wobble during robotic handling and packaging, creating the risk of it falling and colliding. Furthermore, when grasping cylinder heads from rough castings, which vary in size or shape, robots, which use pinhole positioning, cannot adjust their gripping position due to the rigid gripper structure. Therefore, a gripper with a certain range of left and right floating function is urgently needed. Utility Model Content

[0003] In order to solve the above technical problems, the utility model provides a cylinder head gripper for a robot. The clamp is lightweight and easy to assemble. By replacing the positioning pins, forgings and finish-machined parts can be easily grasped. The gripper has a floating function to ensure accurate grasping of the cylinder head. Even if the position and shape of the cylinder head change slightly, the gripper can adaptively adjust its posture and strength to ensure smooth grasping of the cylinder head.

[0004] The technical solution adopted by the utility model is: a cylinder cover gripper for a robot, comprising a gripper body, a gripper assembly, and a cylinder assembly. The gripper assembly is fixedly connected to the robot arm through the gripper body, and the cylinder assembly is connected to the gripper assembly. It also includes a floating assembly, and the floating assembly is arranged on the gripper assembly. The floating assembly includes a slider connecting plate and a finger assembly. The slider connecting plate is provided with a finger assembly. The finger assembly includes a floating connecting plate, a floating pin and a finger. The fingers are fixedly arranged at the left and right ends of the floating connecting plate facing each other. The floating connecting plate is arranged on the slider connecting plate through a floating pin. The cylinder assembly forces the gripper to switch between the clamping station and the release station. Since the finger assembly has a floating function, when the angle deviation between the gripper and the cylinder cover is 3°-5°, the finger fine-tunes the angle so that the inclined surface of the finger fits with the outer peripheral surface of the cylinder cover, and adaptively adjusts its posture and strength to ensure accurate grasping of the cylinder cover. Even if the position and shape of the cylinder cover change slightly, the gripper can adaptively adjust its posture and strength to ensure smooth grasping of the cylinder cover.

[0005] Preferably, the gripper body includes a gripper mounting plate, a gripper fixing plate, a gripper shield, and a gripper assembly. The gripper mounting plate is fixedly connected to the robot arm through a circular hole that can be connected to the robot arm set in the center thereof. Cavities that can accommodate the gripper assembly are symmetrically distributed on the left and right sides of the gripper mounting plate. The gripper fixing plate is set on the cavity on the gripper mounting plate, the gripper assembly is fixed on the gripper fixing plate, and the gripper shield is fixed on the outer side surfaces of the gripper mounting plate; the gripper fixing plate is provided with a cavity B corresponding to the gripper mounting plate, and cavity B can accommodate the gripper assembly. The gripper body is light in weight, has low inertia force when the manipulator moves quickly, and has small impact force on the robot arm; has sufficient rigidity, is stable in working dimensions and not easily deformed when subjected to force, and the gripper assemblies can be fixedly connected by bolts, which is a combined splicing type fixture main frame. It is simpler to manufacture than a welded fixture, has a lighter overall weight, and is more suitable for a robot arm.

[0006] Preferably, the gripper assembly includes a linear guide rail, a slider, a floating connecting plate, a workpiece positioning plate, and a positioning groove for connecting the linear slide rails on the left and right sides of the cavity of the gripper fixing plate. A pair of linear guide rails are provided on the positioning grooves, and two sets of horizontal sliders are provided on the linear guide rails. The sliders are set on the gripper fixing plate through limiting U-shaped blocks, and a pair of short connecting plates are symmetrically provided along the horizontal direction of the gripper fixing plate. The short connecting plates are fixedly connected to the gripper fixing plate by bolts, and a pair of long connecting plates are symmetrically provided along the longitudinal direction of the gripper fixing plate. The workpiece positioning plate is fixedly connected to the gripper fixing plate through a pair of long connecting plates and a pair of short connecting plates.

[0007] Preferably, the slider is provided with a slider connecting plate, and the slider connecting plate is arranged on the slider through a limit block.

[0008] Preferably, the lower end surface of the finger is provided with a protrusion, and the finger is provided with a hook-shaped portion, and the hook-shaped portion has an upward inclined surface, which fits the inclined surface part of the clamped workpiece, so that the upward component of the clamping force tends to make the workpiece fit more closely to the fixture.

[0009] Preferably, the floating connecting plate is fixedly connected to the slider through a limit block, a circular hole for connecting the floating pin is provided in the center of the floating connecting plate, and positioning grooves are provided on the left and right sides of the floating connecting plate. The fingers are inserted into the positioning grooves provided on the floating connecting plate through the protrusions on its lower end surface.

[0010] The workpiece positioning plate is preferably in the shape of an "I" character and is provided with a set of positioning pins corresponding to the apertures on the cylinder head. The workpiece positioning plate is also provided with a plurality of spacers, each of which is provided with small vent holes. The spacers have small vent holes on the surfaces facing the workpiece. Compressed air is blown to detect changes in air pressure, which can promptly detect possible misalignment or loosening of the workpiece when clamped. If the workpiece does not fit the fixture, an alarm will be issued immediately, preventing misplacement due to displacement deviation or damage to the workpiece caused by misalignment during processing.

[0011] The beneficial effects of the utility model are as follows: 1. The gripper is lightweight and easy to assemble. Through a group of positioning pins corresponding to the apertures on the cylinder head arranged on the workpiece positioning plate, it can enter the connecting piece smoothly and quickly. The positioning pins are aligned with the spark plug holes of the cylinder head, and the fitting surface of the pad on the workpiece fixing plate fits with the cylinder head surface. When the angle deviation between the gripper and the cylinder head is 3°-5°, the flexible fingers fine-tune the angle so that the inclined surface of the fingers fits with the outer peripheral surface of the cylinder head, and adjust its posture and strength accordingly to ensure smooth grasping of the cylinder head. Therefore, the gripper improves the grasping efficiency and avoids problems such as damage to the joint surface caused by secondary positioning.

[0012] 2. The gripper has good versatility. When grabbing forged parts and precision-machined parts, it only needs to replace different positioning pins, thereby improving production efficiency. It has the advantages of high speed, low labor intensity, high accuracy and wide adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a schematic diagram of the three-dimensional structure of a cylinder head gripper for a robot proposed in the utility model;

[0014] Figure 2 This is a front view of a cylinder head gripper for a robot proposed in the utility model;

[0015] Figure 3 This is a top view of a cylinder head gripper for a robot proposed in the utility model;

[0016] Figure 4 This is an AA sectional view of a top view of a cylinder cover gripper for a robot proposed in the utility model.

[0017] Markings in the figure: 1. Gripper body; 2. Gripper assembly; 3. Floating assembly; 4. Cavity; 5. Cavity B; 6. Linear guide; 7. Slider; 8. Workpiece positioning plate; 9. Limit U-shaped block; 10. Short connecting plate; 11. Long connecting plate; 12 Limit block; 13. Locating pin; 14. Pad; 15 Cylinder assembly; 101. Gripper mounting plate; 102. Gripper fixing plate; 103 Gripper guard; 31. Slider connecting plate; 32. Finger assembly; 321. Floating connecting plate; 322. Floating pin; 323. Finger. DETAILED DESCRIPTION

[0018] The specific implementation of the present invention is further described in detail below with reference to the accompanying drawings.

[0019] As shown in the figure, Figure 1-4 The robot cylinder cover gripper shown in the figure includes a gripper body 1, a gripper assembly 2, and a cylinder assembly 15. The gripper assembly 2 is fixedly connected to the robot arm through the gripper body 1. The cylinder assembly 15 is connected to the gripper assembly 2 and includes a floating assembly 3. The floating assembly 3 is arranged on the gripper assembly 2. The floating assembly 3 includes a slider connecting plate 31 and a finger assembly 32. The slider connecting plate 31 is provided with a finger assembly 32. The finger assembly 32 includes a floating connecting plate 321, a floating pin 322 and a finger 323. The finger 323 is fixedly arranged on the floating connecting plate 321 facing each other. At the left and right ends, the floating connecting plates 321 are set on the slider connecting plate 31 through the floating pins 322; the cylinder assembly forces the gripper to switch between the clamping position and the release position. Since the finger assembly 32 has a floating function, when the angle between the gripper and the cylinder head deviates by 3°-5°, the finger 323 fine-tunes the angle so that the inclined surface of the finger 323 fits the outer peripheral surface of the cylinder head, and adapts its posture and strength to ensure accurate grasping of the cylinder head. Even if the position and shape of the cylinder head change slightly, the gripper can also adaptively adjust its posture and strength to ensure smooth grasping of the cylinder head.

[0020] Specifically, the gripper body 1 includes a gripper mounting plate 101, a gripper fixing plate 102, a gripper shield 103, and a gripper assembly 2. The gripper mounting plate 101 is fixedly connected to the robot arm through a circular hole that can be connected to the robot arm set in its center. The gripper mounting plate 101 has symmetrically distributed cavities 4 on the left and right sides that can accommodate the gripper assembly 2. The gripper fixing plate 102 is set on the cavity 4 on the gripper mounting plate 101. The gripper assembly 2 is fixedly set on the gripper fixing plate 102. The gripper shield 103 is fixedly set on Around the outer side surface of the gripper mounting plate 101, the gripper fixing plate 102 is provided with a cavity B5 corresponding to the gripper mounting plate 101, and the cavity B5 can accommodate the gripper assembly 2; the gripper body 1 is lightweight, and has low inertia when moving quickly with the manipulator, and has little impact on the robot arm; it has sufficient rigidity, and the working dimensions are stable and not easy to deform when subjected to force, and the gripper components can be fixed and connected by bolts, which is a combined splicing type fixture main frame. It is simpler to manufacture than a welded fixture, has a lighter overall weight, and is more suitable for a robot arm.

[0021] Specifically, the gripper assembly 2 includes a linear guide rail 6, a slider 7, a floating connecting plate 321, a workpiece positioning plate 8, and a gripper fixing plate 102. A positioning groove for connecting the linear slide rail 6 is provided on the left and right sides of the cavity B5, and a pair of linear guide rails 6 are provided on the positioning groove. Two sets of horizontal sliders 7 are provided on the linear guide rail 6. The sliders 7 are set on the gripper fixing plate 102 through limiting U-shaped blocks 9. A pair of short connecting plates 10 are symmetrically provided along the horizontal direction of the gripper fixing plate 102. The short connecting plates 10 are fixedly connected to the gripper fixing plate 102 by bolts. A pair of long connecting plates 11 are symmetrically provided along the longitudinal direction of the gripper fixing plate 102. The workpiece positioning plate 8 is fixedly connected to the gripper fixing plate 102 through a pair of long connecting plates 11 and a pair of short connecting plates 10.

[0022] Specifically, a slider connecting plate 31 is provided on the slider 7 , and the slider connecting plate 31 is provided on the slider 7 through a limiting block 12 .

[0023] Specifically, a protrusion is provided on the lower end surface of the finger 323, and the finger 323 is provided with a hook-shaped portion. The hook-shaped portion has an upward inclined surface, which fits the inclined surface of the clamped workpiece, so that the upward component of the clamping force tends to make the workpiece fit more closely to the fixture.

[0024] Specifically, the floating connecting plate 321 is fixedly connected to the slider 7 through the limit block 12. A circular hole connecting the floating pin 322 is provided in the center of the floating connecting plate 321. Positioning grooves are provided on the left and right sides of the floating connecting plate 321. The finger 323 is inserted into the positioning groove provided on the floating connecting plate 321 through the protrusion on its lower end surface.

[0025] Specifically, the workpiece positioning plate 8 is in the shape of an "I" character and is equipped with a set of positioning pins 13 corresponding to the apertures on the cylinder head. The workpiece positioning plate 8 is also equipped with several spacers 14, each of which is provided with small vent holes. The spacers 14 have small vent holes on the surface facing the workpiece. By blowing compressed air to detect changes in air pressure, it can promptly detect possible misalignment or loosening of the workpiece when clamping. If the workpiece does not fit the fixture, it will promptly alarm, avoiding misplacement due to displacement deviation or damage to the workpiece caused by misalignment during processing.

[0026] When the robot needs to use the cylinder head gripper to grasp the cylinder head, the gripper is in the release position (the position where the relative distance between the two grippers is the maximum), and the robot drives the gripper to move to the cylinder head clamping position, so that the positioning pin 13 is aligned with the spark plug hole of the cylinder head. The robot drives the gripper downward to insert the positioning pin 13 into the spark plug hole, and the fitting surface of the pad 14 on the workpiece fixing plate 8 fits with the cylinder head surface. When the angle deviation between the gripper and the cylinder head is 3°-5°, the cylinder drives the gripper to switch to the clamping position, and the flexible finger fine-tunes the angle so that the inclined surface of the finger 323 fits with the outer peripheral surface of the cylinder head, thereby improving the grasping efficiency and avoiding problems such as damage to the joint surface caused by secondary positioning.

[0027] It should be noted that compared to clamping forged parts, if the gripper is clamping a precision-machined cylinder head, then it only needs to replace different locating pins when clamping.

Claims

1. A robot cylinder cover gripper, comprising a gripper body (1), a gripper assembly (2), and a cylinder assembly (15), wherein the gripper assembly (2) is fixedly connected to the robot arm through the gripper body (1), and the cylinder assembly (15) is connected to the gripper assembly (2), characterized in that: The invention comprises a floating assembly (3), the floating assembly (3) being arranged on the gripper assembly (2), the floating assembly (3) comprising a slider connecting plate (31) and a finger assembly (32), the slider connecting plate (31) being provided with a finger assembly (32), the finger assembly (32) comprising a floating connecting plate (321), a floating pin (322) and a finger (323), the finger (323) being fixedly arranged at the left and right ends of the floating connecting plate (321) facing each other, and the floating connecting plate (321) being arranged on the slider connecting plate (31) via the floating pin (322).

2. The cylinder head gripper for a robot according to claim 1, characterized in that: The gripper body (1) comprises a gripper mounting plate (101), a gripper fixing plate (102), a gripper shield (103), and a gripper assembly (2). The gripper mounting plate (101) is fixedly connected to the robot arm through a circular hole provided at its center for connecting to the robot arm. Cavities (4) for accommodating the gripper assembly (2) are symmetrically distributed on the left and right sides of the gripper mounting plate (101). The gripper fixing plate (102) is provided on the cavity (4) on the gripper mounting plate (101). The gripper assembly (2) is fixedly provided on the gripper fixing plate (102). The gripper shield (103) is fixedly provided around the outer side surface of the gripper mounting plate (101).

3. A robot cylinder head gripper according to claim 2, characterized in that The gripper fixing plate (102) is provided with a cavity B (5) corresponding to the gripper mounting plate (101), and the cavity B (5) can accommodate the gripper assembly (2).

4. The cylinder head gripper for a robot according to claim 3, characterized in that: The gripper assembly (2) comprises a linear guide rail (6), a slider (7), a floating connecting plate (321), a workpiece positioning plate (8), and a gripper fixing plate (102). A positioning groove for connecting the linear guide rail (6) is provided on the left and right sides of the cavity B (5), a pair of linear guide rails (6) are provided on the positioning groove, two sets of horizontal sliders (7) are provided on the linear guide rail (6), the sliders (7) are provided on the gripper fixing plate (102) through a limiting U-shaped block (9), a pair of short connecting plates (10) are symmetrically provided along the horizontal direction of the gripper fixing plate (102), the short connecting plates (10) are fixedly connected to the gripper fixing plate (102) through bolts, a pair of long connecting plates (11) are symmetrically provided along the longitudinal direction of the gripper fixing plate (102), the long connecting plates (11) are fixedly connected to the gripper fixing plate (102) through bolts, and the workpiece positioning plate (8) is fixedly connected to the gripper fixing plate (102) through the pair of long connecting plates (11) and the pair of short connecting plates (10).

5. The cylinder head gripper for a robot according to claim 4, characterized in that: The slider (7) is provided with a slider connecting plate (31), and the slider connecting plate (31) is provided on the slider (7) via a limit block (12).

6. A robot cylinder head gripper according to any one of claims 1 to 5, characterized in that: The lower end surface of the finger (323) is provided with a protrusion, and the finger (323) is provided with a hook-shaped portion, and the hook-shaped portion has an inclined surface that is inclined upward.

7. The cylinder head gripper for a robot according to claim 6, characterized in that: The floating connecting plate (321) is fixedly connected to the slider (7) via a limit block (12). A circular hole for connecting a floating pin (322) is provided at the center of the floating connecting plate (321). Positioning grooves are provided on the left and right sides of the floating connecting plate (321). The finger (323) is inserted into the positioning groove provided on the floating connecting plate (321) through a protrusion on its lower end surface.

8. The robot cylinder head gripper according to claim 5, characterized in that: The workpiece positioning plate (8) is in the shape of an "I" character. A group of positioning pins (13) corresponding to the apertures on the cylinder head are provided on the workpiece positioning plate (8). Several pads (14) are provided on the workpiece positioning plate (8), and small vent holes are provided on the pads (14).

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