Piston gripper
Through the combination of the clamping cylinder module and the limiting module of the piston gripper, flexible adjustment of the chuck position is achieved, solving the problem that the piston workpieces of multiple sizes in the prior art cannot be clamped, and the applicability and accuracy are improved.
Patent Information
- Application Number
- CN202422558194.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-22
- Publication Date
- 2025-09-02
- Estimated Expiration
- 2034-10-22
AI Technical Summary
Existing piston grippers cannot clamp piston workpieces of multiple sizes, resulting in less applicability.
A piston gripper is designed. By clamping the cylinder module and the limit module, the clamping position of the chuck is adjusted using the limiting block and the displacement assembly to achieve flexible adjustment of the clamping distance and adapt to piston workpieces of different sizes.
It improves the suitability of the piston gripper and can clamp piston workpieces of different sizes to avoid inaccurate clamping or damage to the workpiece.
Smart Images
Figure CN223289823U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of engine manufacturing, in particular to a piston gripper. Background Art
[0002] In engine manufacturing, the assembly process of piston rings (including air and oil rings) directly impacts engine performance, including sealing, durability, and oil consumption. It is crucial for ensuring proper engine operation and extending its service life. Currently, piston ring assembly has been automated, significantly improving efficiency and precision. During piston ring assembly, the piston gripper, attached to the end of the robot, first grasps and secures the piston. The robot then automatically grasps, positions, and installs the piston ring according to a pre-set program and path.
[0003] In the prior art, two pneumatic cylinders are typically used to drive two chucks to predetermined positions, enabling automatic gripping and release of a piston workpiece. When gripping a piston workpiece, the two piston rods simultaneously move toward each other to the ends of their travel, driving the two chucks to the gripping position. At this point, the two chucks respectively press against the ends of the piston workpiece, achieving gripping. Because the stroke of the cylinder's piston within the cylinder body is fixed, the stroke of the piston rod is also fixed. The distance between the two chucks in the gripping position, known as the gripping distance, is defined by the stroke of the two piston rods, and thus the gripping distance is also fixed. Pneumatic cylinders are commonly used as drive units in this field to grip workpieces. This characteristic of the fixed stroke of the cylinder's piston rod improves the stability of the gripping operation, allowing for precise control of the clamping force and gripping distance during each gripping operation. Furthermore, gripping a piston workpiece is impossible when the piston rod is mid-stroke; otherwise, collisions between the chucks and the gripped piston workpiece would occur, damaging both the chucks and the workpiece. Therefore, the piston gripper can only clamp piston workpieces of one corresponding size, but cannot clamp piston workpieces of multiple sizes.
[0004] Since there are many types of piston workpieces and various piston workpieces have different sizes, the piston gripper in the prior art cannot clamp piston workpieces of various sizes, resulting in low applicability. Utility Model Content
[0005] The purpose of the utility model is to overcome the problem that the existing piston gripper cannot clamp piston workpieces of various sizes, and to provide a piston gripper that can clamp piston workpieces of different sizes, thereby improving the applicability of the piston gripper.
[0006] In order to achieve the above object, the utility model provides a piston gripper, comprising:
[0007] The clamping cylinder module includes a housing and a first cylinder and a second cylinder respectively disposed transversely in the housing, the piston rod of the first cylinder and the piston rod of the second cylinder being connected to a first slider and a second slider respectively, the first slider and the second slider being slidably disposed in a first slide groove and a second slide groove respectively provided on the surface of the housing, the first slider and the second slider being fixedly connected to two oppositely disposed chucks respectively, and the first cylinder and the second cylinder being configured to respectively drive the first slider and the second slider so that the two slide toward and away from each other;
[0008] The limiting module includes a limiting block and a shifting assembly. The limiting block is movably disposed in the first chute and is used to limit the end position of the first slider. The shifting assembly is used to adjust the position of the limiting block along the extension direction of the first chute.
[0009] In the process where the first cylinder and the second cylinder respectively drive the first slider and the second slider to slide toward each other, the limit block can limit the first slider so that the clamping head fixedly connected to the first slider can move to the expected clamping position.
[0010] Preferably, the piston gripper further comprises a support plate, and the housing is fixedly connected to the support plate.
[0011] Preferably, the displacement assembly includes a mounting block and a linear slider, the mounting block is fixedly connected to the support plate, the linear slider is slidably connected to the mounting block, the linear slider is arranged on the extension line of the first slide groove, and the linear slider is fixedly connected to the limit block at one end close to the first slide groove, and the limit block can adjust its position by sliding the linear slider.
[0012] Preferably, the displacement assembly further includes a locking structure, which includes a rack and a locking block. The rack is fixedly arranged on the side of the linear slider, and the locking block is provided with a toothed structure engaged with the rack.
[0013] Preferably, the displacement assembly further comprises a third cylinder, the piston rod of the third cylinder is fixedly connected to the locking block, and the third cylinder is used to drive the locking block to lock or release the rack.
[0014] Preferably, a guide hole is provided in the mounting block, a guide rod is slidably provided in the guide hole, the guide rod is provided parallel to the linear slider, and one end of the guide rod is fixedly connected to the end of the linear slider away from the first slide groove through a connecting block.
[0015] Preferably, a return spring is sleeved on the guide rod, one end of the return spring is fixedly connected to the connecting block, and the other end of the return spring is fixedly connected to the mounting block. The return spring is used to return the linear slider to its initial position.
[0016] Preferably, the first sliding block and the second sliding block are respectively fixedly connected to two fixing plates, and the two fixing plates are respectively fixedly connected to two clamps.
[0017] Preferably, the fixed plate is an L-shaped plate, which includes a horizontal plate and a vertical plate. The horizontal plate is fixedly connected to the first slider or the second slider, and the vertical plate is fixedly connected to the clamp.
[0018] Preferably, the mounting block is provided with a third sliding groove, and the linear sliding block can be slidably arranged in the third sliding groove.
[0019] Through the above technical solution, the piston gripper's displacement assembly can flexibly adjust the position of the limit block, which limits the end position of the first slider, thereby adjusting the clamping position of the chuck and achieving flexible adjustment of the clamping distance. This allows the piston gripper to clamp pistons of different sizes, improving the piston gripper's applicability. Furthermore, the limit block limits the end position of the first slider, preventing inaccurate clamping or damage to the piston workpiece caused by excessive movement of the first slider. BRIEF DESCRIPTION OF THE DRAWINGS
[0020] Figure 1 is a schematic structural diagram of a piston gripper in one embodiment;
[0021] Figure 2 is a schematic diagram of the bottom structure of a clamping cylinder module in one embodiment;
[0022] Figure 3 is a top view of a clamping cylinder module in one embodiment;
[0023] Figure 4 It is a structural diagram of a limit module in one embodiment.
[0024] Description of Reference Numerals
[0025] 1. Support plate; 2. Clamping cylinder module; 21. Housing; 22. First cylinder; 23. Second cylinder; 24. First slider; 25. Second slider; 26. First slide; 27. Second slide; 3. Chuck; 4. Limit module; 41. Limit block; 42. Displacement assembly; 421. Mounting block; 422. Linear slider; 423. Rack; 424. Locking block; 425. Third cylinder; 426. Guide rod; 427. Connecting block; 428. Return spring; 429. Third slide; 5. Fixing plate. DETAILED DESCRIPTION
[0026] The following is a detailed description of the specific embodiments of the present invention in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present invention and are not intended to limit the present invention.
[0027] In the description of this utility model, it should be noted that, unless otherwise expressly specified or limited, the terms "disposed," "installed," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to direct connections or indirect connections through an intermediate medium; they may refer to internal communication between two components or the interaction between two components. Those skilled in the art will understand the specific meanings of these terms in this utility model based on specific circumstances.
[0028] In the description of the present invention, unless otherwise stated, the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, or the directions or positional relationships in which the product of the application is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they should not be understood as limitations on the present invention.
[0029] In addition, if the present invention contains references to "first," "second," etc., such references are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features being referenced. Therefore, features specified as "first" or "second" may explicitly or implicitly include at least one of these features.
[0030] Reference Figures 1-4 , one embodiment provides a piston gripper, comprising:
[0031] Support plate 1;
[0032] The clamping cylinder module 2 includes a housing 21 and a first cylinder 22 and a second cylinder 23 which are respectively arranged transversely in the housing 21. The housing 21 is connected to the support plate 1. The piston rod of the first cylinder 22 and the piston rod of the second cylinder 23 are respectively connected to a first slider 24 and a second slider 25. The first slider 24 and the second slider 25 are respectively slidably arranged in a first slide groove 26 and a second slide groove 27 opened on the surface of the housing 21. The first slider 24 and the second slider 25 are respectively fixedly connected to two oppositely arranged chucks 3. The first cylinder 22 and the second cylinder 23 are configured to respectively drive the first slider 24 and the second slider 25 to slide toward and away from each other; and,
[0033] The limiting module 4 includes a limiting block 41 and a shifting assembly 42. The limiting block 41 is movably disposed in the first chute 26 and is used to limit the end position of the first slider 24. The shifting assembly 42 is used to adjust the position of the limiting block 41 along the extension direction of the first chute 26.
[0034] In the process where the first cylinder 22 and the second cylinder 23 respectively drive the first slider 24 and the second slider 25 to slide toward each other, the limit block 41 can limit the first slider 24 so that the clamping head 3 fixedly connected to the first slider 24 can move to the expected clamping position.
[0035] The working principle of the piston gripper is as follows: when it is necessary to clamp the piston workpiece, the first cylinder 22 and the second cylinder 23 are started at the same time, the piston rod of the first cylinder 22 extends outward, pushing the first slider 24 connected to it to slide in the first slide 26, and at the same time, the piston rod of the second cylinder 23 also extends outward, pushing the second slider 25 connected to it to slide in the second slide 27, so that the first slider 24 and the second slider 25 slide toward each other, thereby driving the two chucks 3 to move toward each other to the clamping position to clamp the piston workpiece. During the process of the sliders sliding toward each other, the limit block 41 can resist the first slider 24 and prevent it from moving forward, thereby limiting the end position of the first slider 24 to change the sliding stroke of the first slider 24, thereby changing the clamping distance and ensuring that the chuck 3 can accurately stay in the predetermined clamping position. Before clamping the piston workpiece, the limit block 41 can be adjusted to the desired position through the displacement component 42, so as to adjust the clamping distance as needed. When the piston workpiece needs to be released, the piston rods of the first cylinder 22 and the second cylinder 23 retract simultaneously, driving the first slider 24 and the second slider 25 to slide back to each other, and the chuck 3 gradually separates and releases the piston workpiece.
[0036] The piston gripper's displacement assembly 42 flexibly adjusts the position of the stopper 41. The stopper 41 limits the end position of the first slider 24, thereby adjusting the gripping position of the chuck 3 and flexibly adjusting the gripping distance. This allows the piston gripper to grip pistons of varying sizes, improving its applicability. Furthermore, the stopper 41 limits the end position of the first slider 24, preventing inaccurate gripping or damage to the piston workpiece caused by excessive movement of the first slider 24.
[0037] Continue to refer to Figure 4 , Figure 4The figure shows a schematic structural diagram of the limit module 4 in one embodiment, wherein the mounting block 421 is partially cut away to illustrate the internal structure of the mounting block 421. The limit module 4 includes a limit block 41 and a displacement assembly 42. The limit block 41 is movably disposed in the first chute 26 and is used to limit the end position of the first slider 24. The displacement assembly 42 is used to adjust the position of the limit block 41 along the extension direction of the first chute 26. The displacement assembly 42 includes a mounting block 421 and a linear slider 422. The mounting block 421 is fixedly connected to the support plate 1. The linear slider 422 is slidably connected to the mounting block 421. The linear slider 422 is disposed on the extension line of the first chute 26. The end of the linear slider 422 close to the first chute 26 is fixedly connected to the limit block 41. The position of the limit block 41 can be adjusted by sliding the linear slider 422. One end of the first chute 26, near the mounting block 421, extends to the edge of the housing 21, facilitating a fixed connection between the linear slider 422 and the stopper 41 located within the first chute 26. The stopper 41 located within the first chute 26 can be slidably connected to the first chute 26 or can be disposed in the first chute 26 in a non-contact manner. The only requirement is that the stopper 41 can change its position within the first chute 26 as the linear slider 422 slides.
[0038] In one embodiment, the displacement assembly 42 further includes a locking structure, which includes a rack 423 and a locking block 424. The rack 423 is fixedly disposed on a side surface of the linear slider 422, for example, the rack 423 is fixedly disposed on the upper side surface of the linear slider 422, and the locking block 424 is provided with a toothed structure that engages with the rack 423. The locking block 424, through its toothed structure, engages with the rack 423, enabling the locking structure to securely lock the linear slider 422 in a desired position. Furthermore, the multiple teeth of the rack 423 can cooperate with the locking block 424 to achieve locking, enabling more precise adjustment of the sliding stroke of the linear slider 422 fixedly connected to the rack 423, thereby more precisely adjusting the position of the limit block 41.
[0039] In one embodiment, the displacement assembly 42 further includes a third cylinder 425, the piston rod of which is fixedly connected to the locking block 424. The third cylinder 425 is used to drive the locking block 424 to lock or release the rack 423, thereby achieving automatic locking between the rack 423 and the locking block 424. The third cylinder 425 is disposed on the upper surface of the support plate 1, and the mounting block 421 is disposed on the lower surface of the support plate 1. The piston rod of the third cylinder 425 extends through a through hole in the support plate 1 to the bottom of the support plate 1 and is fixedly connected to the locking block 424.
[0040] In one embodiment, the mounting block 421 is provided with a third slot 429, into which the linear slider 422 is slidably disposed. The third slot 429 can be configured as a slot extending through the interior of the mounting block 421. The design of the third slot 429 ensures that the linear slider 422 can slide smoothly relative to the mounting block 421. Because the third slot 429 is provided within the mounting block 421, a receiving groove for accommodating the locking block 424 is required on the surface of the mounting block 421 to ensure that the locking block 424 can connect with the piston rod of the third cylinder 425.
[0041] In one embodiment, a guide hole is provided in the mounting block 421, in which a guide rod 426 is slidably disposed. The guide rod 426 is disposed parallel to the linear slider 422, and one end of the guide rod 426 is fixedly connected to the end of the linear slider 422 distal from the first chute 26 via a connecting block 427. Because the guide rod 426 and the linear slider 422 are fixedly connected via the connecting block 427, they can move synchronously, thereby restricting the linear slider 422 to a predetermined sliding path via the guide rod 426. Furthermore, the fit requirements between the linear slider 422 and the third chute 429 are reduced. For example, a clearance fit between the linear slider 422 and the third chute 429 is no longer required, further reducing friction between the two and ensuring smoother sliding of the linear slider 422 relative to the mounting block 421. Multiple guide holes can be provided as needed, and correspondingly, multiple guide rods 426 can be provided as needed to more accurately and stably restrict the linear slider 422 to a predetermined sliding path.
[0042] In one embodiment, a return spring 428 is sleeved around the guide rod 426. One end of the return spring 428 is fixedly connected to the connecting block 427, and the other end of the return spring 428 is fixedly connected to the mounting block 421. The return spring 428 is used to return the linear slider 422 to its initial position. After the rack 423 of the locking mechanism is unlocked from the locking block 424, the return spring 428 can freely extend and retract to a free state, thereby returning the linear slider 422 to its initial position.
[0043] In one embodiment, the first slider 24 and the second slider 25 are respectively fixedly connected to two fixed plates 5, which are respectively fixedly connected to two chucks 3. Furthermore, the fixed plates 5 are L-shaped plates, comprising a horizontal plate and a vertical plate. The horizontal plate is fixedly connected to the first slider 24 or the second slider 25, and the vertical plate is fixedly connected to the chucks 3. Furthermore, the sidewalls of the clamping plates are fixedly connected to the chucks 3, maintaining the clamping surfaces of the chucks 3 vertically. The L-shaped plates hold the two chucks 3 in a relative position, ensuring a stable clamping effect on the piston workpiece.
[0044] In one embodiment, the chuck 3 is provided with a boss whose outer diameter matches the inner diameter of the piston workpiece to be clamped. The boss is inserted into the inner wall of the piston workpiece to secure the piston workpiece. Preferably, the boss is configured as a stepped shape with a gradually decreasing outer diameter to accommodate piston workpieces with varying inner diameters. The boss is preferably constructed of a flexible material to minimize damage to the piston during clamping.
[0045] Continue to refer to Figure 3 , Figure 3 This is a top view of the clamping cylinder module 2 in one embodiment, wherein the upper surface of the housing 21 is cut away to illustrate the internal structure of the clamping cylinder module 2. The piston rod of the first cylinder 22 and the piston rod of the second cylinder 23 are arranged parallel to and opposite to each other, thereby ensuring that the first cylinder 22 and the second cylinder 23 can respectively drive the first slide 24 and the second slide 25 to slide toward and away from each other. The two piston rods are arranged opposite to each other, that is, the extension directions of the two piston rods are opposite, for example Figure 3 In the example, the piston rod of the first cylinder 22 extends to the right, while the piston rod of the second cylinder 23 extends to the left, with the heads of the two piston rods approaching each other. The piston rods of the first cylinder 22 and the second cylinder 23 can move independently, with their synchronous motion controlled by a control system. Synchronous motion between the piston rods of the first cylinder 22 and the second cylinder 23 can also be achieved through a transmission mechanism, such as a conventional gear transmission mechanism.
[0046] In one embodiment, exemplarily, the outer shell 21 is arranged on the lower surface of the support plate 1, the first slide groove 26 and the second slide groove 27 are arranged on the lower surface of the outer shell 21, the mounting block 421 is arranged on the lower surface of the support plate 1, and the third cylinder 425 is arranged on the upper surface of the support plate 1, so as to make the structure of the piston gripper more compact.
[0047] In one embodiment, the support plate 1 is fixedly connected to the end of the robot arm to fix the piston gripper to the end of the robot arm, so that the piston gripper can be accurately and automatically controlled by the robot arm. Figure 1 and Figure 4 When the position of the limit block 41 needs to be adjusted, Figure 1 A baffle is set on the right side of the connecting block 427, and the piston gripper is translated to the position where the connecting plate and the baffle are abutted by the robotic arm; then the third cylinder 425 is controlled to loosen the locking block 424, at which time the linear slider 422 returns to the initial position on the mounting block 421, and then the piston gripper is controlled by the robotic arm to continue to move to the right. At this time, the baffle blocks the connecting plate and the linear slider 422 fixed to the connecting plate from continuing to move to the right, thereby causing the linear slider 422 to slide relative to the mounting block 421, and the sliding distance can be precisely controlled by the robotic arm, thereby achieving precise control of the position of the limit block 41 fixed to the linear slider 422.
[0048] In one embodiment, the piston gripper is further provided with a sensor for detecting the position of the limit block 41 , thereby more accurately adjusting the position of the limit block 41 .
[0049] In the description of this specification, reference to the terms "one embodiment" or "example" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any suitable manner in one or more embodiments. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification.
[0050] While the preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings, the present invention is not limited thereto. Within the technical concept of the present invention, various simple variations of the technical solution of the present invention may be made, including combining the specific technical features in any suitable manner. To avoid unnecessary repetition, the present invention will not further describe various possible combinations. However, these simple variations and combinations should also be considered as disclosed in the present invention and fall within the scope of protection of the present invention.
Claims
1. A piston gripper, characterized in that: include: A clamping cylinder module (2), the clamping cylinder module (2) comprising a housing (21) and a first cylinder (22) and a second cylinder (23) respectively arranged transversely in the housing (21), the piston rod of the first cylinder (22) and the piston rod of the second cylinder (23) being connected to a first slider (24) and a second slider (25) respectively, the first slider (24) and the second slider (25) being slidably arranged in a first slide groove (26) and a second slide groove (27) respectively provided on the surface of the housing (21), the first slider (24) and the second slider (25) being fixedly connected to two oppositely arranged clamping heads (3), the first cylinder (22) and the second cylinder (23) being arranged to respectively drive the first slider (24) and the second slider (25) so that the two slide toward and away from each other; A limit module (4), the limit module (4) comprising a limit block (41) and a displacement assembly (42), the limit block (41) being movably disposed in the first chute (26) and used for limiting the end position of the first slider (24), and the displacement assembly (42) being used for adjusting the position of the limit block (41) along the extension direction of the first chute (26); In the process in which the first cylinder (22) and the second cylinder (23) respectively drive the first slider (24) and the second slider (25) to slide toward each other, the limit block (41) can limit the first slider (24) so that the clamping head (3) fixedly connected to the first slider (24) can move to the expected clamping position.
2. The piston gripper according to claim 1, characterized in that: The piston gripper further comprises a support plate (1), and the housing (21) is fixedly connected to the support plate (1).
3. The piston gripper according to claim 2, characterized in that: The displacement assembly (42) includes a mounting block (421) and a linear slider (422), wherein the mounting block (421) is fixedly connected to the support plate (1), and the linear slider (422) is slidably connected to the mounting block (421), and the linear slider (422) is arranged on the extension line of the first slide groove (26), and one end of the linear slider (422) close to the first slide groove (26) is fixedly connected to the limiting block (41), and the limiting block (41) can adjust its position by sliding the linear slider (422).
4. The piston gripper according to claim 3, characterized in that: The displacement assembly (42) further includes a locking structure, which includes a rack (423) and a locking block (424). The rack (423) is fixedly arranged on the side of the linear slider (422), and the locking block (424) is provided with a toothed structure that engages with the rack (423).
5. The piston gripper according to claim 4, characterized in that: The displacement assembly (42) further includes a third cylinder (425), the piston rod of the third cylinder (425) is fixedly connected to the locking block (424), and the third cylinder (425) is used to drive the locking block (424) to lock or release the rack (423).
6. The piston gripper according to claim 3, characterized in that: A guide hole is provided in the mounting block (421), a guide rod (426) is slidably provided in the guide hole, the guide rod (426) is provided in parallel with the linear slider (422), and one end of the guide rod (426) is fixedly connected to the end of the linear slider (422) away from the first slide groove (26) via a connecting block (427).
7. The piston gripper according to claim 6, characterized in that A return spring (428) is sleeved on the guide rod (426), one end of the return spring (428) is fixedly connected to the connecting block (427), and the other end of the return spring (428) is fixedly connected to the mounting block (421). The return spring (428) is used to return the linear slider (422) to its initial position.
8. The piston gripper according to claim 1, characterized in that The first sliding block (24) and the second sliding block (25) are respectively fixedly connected to two fixing plates (5), and the two fixing plates (5) are respectively fixedly connected to the two clamps (3).
9. The piston gripper according to claim 8, characterized in that: The fixed plate (5) is an L-shaped plate, comprising a horizontal plate and a vertical plate, the horizontal plate being fixedly connected to the first slider (24) or the second slider (25), and the vertical plate being fixedly connected to the clamp (3).
10. The piston gripper according to claim 3, characterized in that The mounting block (421) is provided with a third sliding groove (429), and the linear sliding block (422) can be slidably arranged in the third sliding groove (429).