Automatic frame carrying unit based on robot

Abstract

The utility model relates to the technical field of automobile engine manufacturing, in particular to an automatic frame carrying unit based on a robot. Comprising a bearing table used for bearing an engine cylinder body and a crankcase, a splitting device used for splitting the cylinder body and the crankcase is arranged on one side of the bearing table, the splitting device comprises a six-axis robot and a support arranged on the six-axis robot, and a clamping rotating mechanism used for clamping the crankcase is arranged on the support. And one side of the splitting device is provided with a caching station for caching the crankcase. The device further comprises a controller. The cylinder body and the crankcase can be automatically detached, the labor intensity of workers is greatly reduced, and the detaching efficiency is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of automobile engine manufacturing, especially a frame automatic carrying unit based on robot. BACKGROUND

[0002] The automobile engine is the device for providing power for the automobile, is the heart of the automobile, decides the power performance, the economy, the stability and the environmental protection of the automobile. The automobile engine is mainly composed of the engine block, the crank connecting rod mechanism, the valve mechanism and multiple systems. The engine block is the support of the engine, includes the cylinder block, the cylinder cover, the cylinder gasket, the oil pan and the like. The cylinder block is the main body of the engine, connects each cylinder and the crankcase into a whole, is the framework of installing the piston, the crankshaft and other parts. The cylinder cover is used for closing the cylinder and forming the combustion chamber, and the cylinder gasket guarantees good sealing property, prevents the air leakage and the water jacket water leakage.

[0003] At present, in the manufacturing process of the engine, the cylinder block and the crankcase need to be split after being processed into a whole, and then internal assembly is carried out. When the cylinder block and the crankcase are split, manual splitting is often needed. Since the weight of the cylinder block and the crankcase is large, the traditional manual splitting method is time-consuming and laborious, and the efficiency is low. SUMMARY

[0004] In view of the above-mentioned deficiencies of the prior art, the frame automatic carrying unit based on robot is provided, which realizes the automatic splitting of the cylinder block and the crankcase, greatly reduces the labor intensity of workers and improves the splitting efficiency.

[0005] To solve the above technical problems, the technical scheme adopted by the utility model is a frame automatic carrying unit based on robot, which comprises a bearing table for bearing the engine cylinder block and the crankcase. A splitting device for splitting the cylinder block and the crankcase is arranged on one side of the bearing table. The splitting device comprises a six-axis robot and a support arranged on the six-axis robot. A clamping and rotating mechanism for clamping the crankcase is arranged on the support. A buffer station for buffering the crankcase is arranged on one side of the splitting device. The frame automatic carrying unit based on robot further comprises a controller.

[0006] The frame automatic carrying unit based on robot comprises a fixed clamp seat arranged at one end of the bottom of the support, a movable clamp seat arranged at one end of the bottom of the support, a first sliding rail arranged at the bottom of the support, a first sliding block connected with the movable clamp seat and arranged on the first sliding rail, a driving plate arranged on the movable clamp seat, a clamping cylinder with an output shaft fixedly connected with the driving plate and arranged on the support, and a reversing cylinder arranged on the fixed clamp seat and the movable clamp seat. The clamping cylinder and the reversing cylinder are signal connected with the controller.

[0007] The robot-based frame automatic carrying unit has the advantages that the buffer station is provided with four vertical rods, a plurality of long connecting rods are arranged between the mutually distant vertical rods, a plurality of short connecting rods are arranged between the adjacent vertical rods, a first vertical plate is arranged on each connecting rod, a plurality of first output rollers for connecting the two first vertical plates are arranged between the two first vertical plates, a first driving motor for driving the first output rollers to rotate is arranged on the first vertical plate, and the first photoelectric sensor and the first driving motor are both signal-connected with the controller.

[0008] The robot-based frame automatic carrying unit has the advantages that the buffer station is provided with four vertical rods, a plurality of long connecting rods are arranged between the mutually distant vertical rods, a plurality of short connecting rods are arranged between the adjacent vertical rods, a first vertical plate is arranged on each connecting rod, a plurality of first output rollers for connecting the two first vertical plates are arranged between the two first vertical plates, a first driving motor for driving the first output rollers to rotate is arranged on the first vertical plate, and the first photoelectric sensor and the first driving motor are both signal-connected with the controller.

[0009] The robot-based frame automatic carrying unit has the advantages that the buffer station is provided with four vertical rods, a plurality of long connecting rods are arranged between the mutually distant vertical rods, a plurality of short connecting rods are arranged between the adjacent vertical rods, a first vertical plate is arranged on each connecting rod, a plurality of first output rollers for connecting the two first vertical plates are arranged between the two first vertical plates, a first driving motor for driving the first output rollers to rotate is arranged on the first vertical plate, and the first photoelectric sensor and the first driving motor are both signal-connected with the controller.

[0010] The robot-based frame automatic carrying unit has the advantages that the buffer station is provided with four vertical rods, a plurality of long connecting rods are arranged between the mutually distant vertical rods, a plurality of short connecting rods are arranged between the adjacent vertical rods, a first vertical plate is arranged on each connecting rod, a plurality of first output rollers for connecting the two first vertical plates are arranged between the two first vertical plates, a first driving motor for driving the first output rollers to rotate is arranged on the first vertical plate, and the first photoelectric sensor and the first driving motor are both signal-connected with the controller.

[0011] The robot-based frame automatic carrying unit has the advantages that the buffer station is provided with four vertical rods, a plurality of long connecting rods are arranged between the mutually distant vertical rods, a plurality of short connecting rods are arranged between the adjacent vertical rods, a first vertical plate is arranged on each connecting rod, a plurality of first output rollers for connecting the two first vertical plates are arranged between the two first vertical plates, a first driving motor for driving the first output rollers to rotate is arranged on the first vertical plate, and the first photoelectric sensor and the first driving motor are both signal-connected with the controller.

[0012] The robot-based frame automatic carrying unit further comprises a positioning mechanism for positioning the crankcase on the carrying table, the positioning mechanism comprising a first positioning frame arranged on one side of the carrying table, a first fixing plate arranged on the first positioning frame, a first positioning cylinder arranged on the first fixing plate, a first positioning plate arranged on an output shaft of the first positioning cylinder, two first guide plates arranged on the first positioning plate, two first guide rails arranged at the bottom of the two first guide plates, and a first guide block arranged on the first positioning frame and slidably connected with the first guide rails; a second positioning frame corresponding to the first positioning frame is arranged on the other side of the carrying table, a second fixing plate is arranged on the second positioning frame, a second positioning cylinder is arranged on the second fixing plate, a second positioning plate is arranged on an output shaft of the second positioning cylinder, two second guide plates are arranged on the second positioning plate, two second guide rails are arranged at the bottom of the two second guide plates, and a second guide block is arranged on the second positioning frame and slidably connected with the second guide rails; a second photoelectric sensor is correspondingly arranged on the first fixing plate and the second fixing plate.

[0013] The robot-based frame automatic carrying unit further comprises a dismounting device arranged at the bottom of the support and used for dismounting the connecting bolts of the cylinder block and the crankcase.

[0014] The robot-based frame automatic carrying unit further comprises a dismounting device arranged at the bottom of the support and used for dismounting the connecting bolts of the cylinder block and the crankcase.

[0015] The robot-based frame automatic carrying unit has the beneficial effects that the six-axis robot is arranged on one side of the carrying table for carrying the engine cylinder block and the crankcase, the support is arranged on the six-axis robot, the clamping and rotating mechanism for clamping the crankcase is arranged on the support, the buffer station for buffering the crankcase is arranged on one side of the dismounting device, and the controller is used for control. The automatic dismounting of the cylinder block and the crankcase is realized, the labor intensity of workers is greatly reduced, and the dismounting efficiency is improved.

[0016] The dismounting device is arranged at the bottom of the support and used for dismounting the connecting bolts of the cylinder block and the crankcase. The workers do not need to dismount the connecting bolts, the labor intensity of the workers is further reduced, and the dismounting efficiency is improved. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 It is a structural schematic view of the embodiment 1;

[0018] Figure 2 It is a structural schematic view of the embodiment 1; Figure 1 It is a local enlarged view of the A part in the middle;

[0019] Figure 3 It is a structural schematic view of the support in the embodiment 1;

[0020] Figure 4 This is a schematic diagram of the connection between the first guide rail and the first guide block in Embodiment 1;

[0021] Figure 5 This is the main view of the cache station in Example 1;

[0022] Figure 6 This is a top view of the buffer station and the receiving station in Example 1;

[0023] Figure 7 This is a front view of the receiving station in Example 1;

[0024] Figure 8 This is a schematic diagram of the support structure in Example 2.

[0025] In the diagram: 1. Support plate; 2. Six-axis robot; 3. Support frame; 4. Fixed clamp; 5. Movable clamp; 6. First slide rail; 7. First slider; 8. Clamping cylinder; 9. Reversing cylinder; 10. Rotating cylinder; 11. Gripper cylinder; 12. Upright pole; 13. Long connecting rod; 14. First upright plate; 15. First output roller; 16. First drive motor; 17. Blocking cylinder; 18. Frame; 19. Lifting motor; 20. Lifting plate; 21. Second slide rail ; 22. Second upright plate; 23. Second output roller; 24. Second drive motor; 25. Support leg; 26. Third upright plate; 27. Conveyor roller; 28. Third drive motor; 29. ​​First positioning frame; 30. Fixing plate; 31. First positioning cylinder; 32. First positioning plate; 33. First guide plate; 34. First guide rail; 35. Second photoelectric sensor; 36. First guide block; 37. Mounting plate; 38. First photoelectric sensor; 39. Short connecting rod. Detailed Implementation

[0026] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0027] Example 1

[0028] As shown in the figure, a robot-based automated transport unit includes a support platform for carrying an engine block and crankcase. A separation device is provided on one side of the support platform for separating the engine block and crankcase. The separation device includes a six-axis robot 2 and a support 3 mounted on the six-axis robot 2. Figure 1 In the process, the six-axis robot is separated from the support 3. A flange is provided on the top of the support 3, and a clamping and rotating mechanism for clamping the crankcase is provided on the support 3. A buffer station for buffering the crankcase is provided on one side of the splitting device, and a controller is also included. The controller is a PLC.

[0029] The clamping and rotating mechanism includes a fixed clamp 4 located at one bottom end of the bracket 3 and a movable clamp 5 located at one bottom end of the bracket. A first slide rail 6 is provided at the bottom of the bracket, and a first slider 7 connected to the movable clamp 5 is provided on the first slide rail 6. A drive plate is provided on the movable clamp 5. A clamping cylinder 8 with an output shaft fixedly connected to the drive plate is provided on the bracket. A reversing cylinder 9 is provided on both the fixed clamp 4 and the movable clamp 5. Both the clamping cylinder 8 and the reversing cylinder 9 are connected to the controller signal.

[0030] The buffer station includes four corresponding uprights 12. Multiple long connecting rods 13 are provided between the uprights 12 that are far apart from each other, and multiple short connecting rods 39 are provided between adjacent uprights 12. Each connecting rod 13 is provided with a first upright plate 14. Multiple first output rollers 15 are provided between two first upright plates 14 to connect the two. A first drive motor 16 for driving the first output rollers 15 to rotate is provided on the first upright plate 14. A first photoelectric sensor 38 is provided on each of the two first upright plates 14. The first photoelectric sensor 38 and the first drive motor 16 are both connected to the controller signal.

[0031] A receiving bucket for receiving connecting bolts is provided on one side of the buffer station, and a blocking cylinder 17 is provided at the output end of the buffer station. The blocking cylinder 17 is connected to the controller signal.

[0032] A receiving station for receiving the output of the crankcase is provided on one side of the output end of the adjacent buffer station.

[0033] The receiving station includes a frame 18, a lifting motor 19 located at the top of the frame 18, and a bearing located at the bottom of the frame 18. A lead screw is provided between the lifting motor 19 and the bearing to connect the two. A threaded block adapted to the lead screw is provided on the lead screw. A lifting plate 20 is provided on the threaded block. Second slide rails 21 are provided on both sides of the frame along the height direction of the frame. Second sliders are provided on the second slide rails 21. The two sides of the lifting plate 20 are fixedly connected to the second sliders. A second upright plate 22 is provided on the lifting plate 20. A plurality of second output rollers 23 are provided between the two second upright plates 22 to connect the two. A second drive motor 24 is provided on the second upright plate 22 to drive the second output rollers 23 to rotate. The second drive motor 24 is connected to the controller signal.

[0034] The support platform includes a support plate 1 and support legs 25 located below the support plate. Third upright plates 26 are provided on both sides of the support plate. Multiple conveying rollers 27 are provided between the two third upright plates 26 for connecting the two. The support plate 1 has slots for exposing the conveying rollers 27. It also includes a third drive motor 28 for driving the conveying rollers to rotate. The third drive motor 28 is connected to the controller signal.

[0035] The positioning mechanism for positioning the crankcase on the bearing table comprises a first positioning frame 29 arranged on one side of the bearing table, a first fixing plate 30 arranged on the first positioning frame 29, a first positioning cylinder 31 arranged on the first fixing plate 30, a first positioning plate 32 arranged on the output shaft of the first positioning cylinder 31, two first guide plates 33 arranged on the first positioning plate 32, two first guide rails 34 arranged at the bottom of the two first guide plates 33, and a first guide block 36 arranged on the first positioning frame 29 and in sliding connection with the first guide rails 34; a second positioning frame corresponding to the first positioning frame 29 is arranged on the other side of the bearing table, a second fixing plate is arranged on the second positioning frame, a second positioning cylinder is arranged on the second fixing plate, a second positioning plate is arranged on the output shaft of the second positioning cylinder, two second guide plates are arranged on the second positioning plate, two second guide rails are arranged at the bottom of the two second guide plates, and a second guide block is arranged on the second positioning frame and in sliding connection with the second guide rails; a second photoelectric sensor 35 is arranged on the first fixing plate and the second fixing plate correspondingly.

[0036] The working process of the embodiment is as follows: the engine cylinder block and the crankcase are conveyed on the bearing plate to a predetermined position detected by the second photoelectric sensor 35 and stopped, the positioning mechanism is reset after positioning the crankcase, the driving support 3 of the six-axis robot 2 is operated to be above the crankcase, so that the fixed clamp seat 4 and the movable clamp seat 5 are located on both sides of the crankcase, the six-axis robot 2 is operated, the reversing cylinder 9 on the fixed clamp seat 4 is in contact with one side of the crankcase, the clamping cylinder 8 drives the movable clamp seat 5 to operate, so that the reversing cylinder 9 on the movable clamp seat 5 is in contact with the other side of the crankcase, and the crankcase is clamped, then the six-axis robot 2 drives the support 3 to move upwards, the crankcase is separated from the cylinder block and then stopped, then the reversing cylinder 9 reverses the crankcase, then the six-axis robot 2 operates to place the crankcase on the buffer station, then the lifting plate 20 is driven upwards by the lifting motor 19, so that the second output roller 23 is flush with the first output roller 15, then the first output roller 15 is driven to rotate by the first driving motor 16, the crankcase is conveyed to the second output roller 23, then the lifting plate 20 is reset by the lifting motor 19, and then the second driving motor 24 drives the second output roller 23 to rotate to output the crankcase. An AGV trolley can be arranged on the side of the receiving station to receive the crankcase output by the second output roller 23.

[0037] Embodiment 2

[0038] The embodiment is the same as embodiment 1, and the difference is that a dismounting device for dismounting the connecting bolts of the cylinder block and the crankcase is arranged at the bottom of the support 3.

[0039] The dismounting device is two corresponding rotary air cylinders 10 and a clamping jaw air cylinder 11 arranged on the rotary air cylinders 10, and further comprises a visual sensor connected with the support through a mounting plate 37, and the visual sensor, the rotary air cylinders 10 and the clamping jaw air cylinder 11 are all connected with the controller signal.

[0040] The working process of the embodiment is that the engine cylinder block and the crankcase are stopped at a predetermined position detected by the second photoelectric sensor 35 on the bearing plate through the conveying roller 27, the positioning mechanism is reset after positioning the crankcase, the visual sensor identifies the connecting bolt, then the driving support 3 on the six-axis robot 2 is operated above the crankcase, the clamping jaw air cylinder 11 clamps the connecting bolt, then the rotary air cylinder 10 drives the clamping jaw air cylinder 11 to rotate, thereby rotating and dismounting the connecting bolt, then the six-axis robot 2 is operated to separate the connecting bolt from the crankcase, and then the six-axis robot 2 is operated to the above of the receiving hopper, and then the clamping jaw air cylinder 11 releases the connecting bolt, so that the connecting bolt falls into the receiving hopper. Then, the six-axis robot 2 is operated, so that the fixed clamping seat 4 and the movable clamping seat 5 are located on both sides of the crankcase, then the six-axis robot 2 is operated, so that the reversing air cylinder 9 on the fixed clamping seat is in contact with one side of the crankcase, the clamping air cylinder 8 drives the movable clamping seat 5 to operate, so that the reversing air cylinder 9 on the movable clamping seat 5 is in contact with the other side of the crankcase, thereby clamping the crankcase, then the six-axis robot drives the support 3 to move upward, so that the crankcase is separated from the cylinder block and then stopped, then the reversing air cylinder 9 reverses the crankcase, then the six-axis robot 2 is operated to place the crankcase on the buffer station, then the lifting plate 20 is driven upward by the lifting motor 19, so that the second output roller 23 is flush with the first output roller 15, then the first output roller 15 is driven to rotate by the first driving motor 16, thereby conveying the crankcase to the second output roller 23, then the lifting plate 20 is reset by the lifting motor 19, and then the second driving motor 24 drives the second output roller 23 to rotate, thereby outputting the crankcase. An AGV trolley can be arranged on the side of the receiving station, which is used to receive the crankcase output by the second output roller 23.

[0041] The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the protection scope of the present application. Obviously, the described embodiments are only some embodiments of the present application, not all embodiments. Based on these embodiments, all other embodiments obtained by those skilled in the art without creative labor belong to the scope to be protected by the present application. Although the present application has been described in detail with reference to the above embodiments, those skilled in the art can still combine, add or delete the features in the embodiments of the present application according to the circumstances without creative labor, so as to obtain different other technical solutions which do not deviate from the concept of the present application in essence, and these technical solutions also belong to the scope to be protected by the present application.

Claims

1. A robot-based frame handling unit comprising a carrying table for carrying an engine block and a crankcase, characterized in that: A split device is arranged on one side of the bearing table for splitting the cylinder and the crankcase, the split device comprises a six-axis robot, a support arranged on the six-axis robot, a clamping and rotating mechanism arranged on the support for clamping the crankcase, a buffer station arranged on one side of the split device for buffering the crankcase, and a controller.

2. The robot-based frame-handling unit according to claim 1, characterized in that, The clamping and rotating mechanism comprises a fixed clamp seat arranged at one end of the bottom of the support, a movable clamp seat arranged at one end of the bottom of the support, a first sliding rail arranged on the bottom of the support, a first sliding block connected with the movable clamp seat arranged on the first sliding rail, a driving plate arranged on the movable clamp seat, a clamping cylinder with the driving plate fixedly connected with an output shaft arranged on the support, and a reversing cylinder arranged on the fixed clamp seat and the movable clamp seat, wherein the clamping cylinder and the reversing cylinder are signal connected with the controller.

3. The robot-based frame-handling unit according to claim 2, characterized in that, The buffer station comprises four corresponding vertical rods, a plurality of long connecting rods corresponding arranged between the mutually away vertical rods, a plurality of short connecting rods corresponding arranged between adjacent vertical rods, a first vertical plate arranged on each connecting rod, a plurality of first output rollers arranged between the two first vertical plates for connecting the two first vertical plates, a first driving motor arranged on the first vertical plate for driving the first output rollers to rotate, and a first photoelectric sensor corresponding arranged on the two first vertical plates, wherein the first photoelectric sensor and the first driving motor are signal connected with the controller.

4. The robot-based frame-handling unit according to claim 3, characterized in that, A receiving hopper for receiving connecting bolts is arranged on one side of the buffer station, and a blocking cylinder is arranged at the output end of the buffer station, wherein the blocking cylinder is signal connected with the controller.

5. The robot-based frame-handling unit according to claim 4, characterized in that, A receiving station for receiving the crankcases output by the buffer stations is arranged on one side of the output end of adjacent buffer stations.

6. The robot-based frame-handling unit according to claim 5, characterized in that The receiving station comprises a vertical frame, a lifting motor arranged on the top of the vertical frame, a bearing arranged on the bottom of the vertical frame, a lead screw for connecting the lifting motor and the bearing, a threaded block adapted to the lead screw arranged on the lead screw, a lifting plate arranged on the threaded block, a second sliding rail arranged along the height direction of the vertical frame on both sides of the vertical frame, a second sliding block arranged on the second sliding rail, the two sides of the lifting plate are fixedly connected with the second sliding block, a second vertical plate is correspondingly arranged on the lifting plate, a plurality of second output rollers are arranged between the two second vertical plates for connecting the two second vertical plates, a second driving motor is arranged on the second vertical plate for driving the second output rollers to rotate, and the second driving motor is signal connected with the controller.

7. The robot-based frame-handling unit according to claim 6, characterized in that, The bearing table comprises a bearing plate, a supporting leg arranged below the bearing plate, a third vertical plate arranged on both sides of the bearing plate, a plurality of conveying rollers arranged between the two third vertical plates for connecting the two third vertical plates, a notch arranged on the bearing plate for exposing the conveying rollers, and a third driving motor for driving the conveying rollers to rotate, wherein the third driving motor is signal connected with the controller.

8. The robot-based frame-handling unit according to claim 7, characterized in that, The positioning mechanism for positioning the crankcase on the bearing table comprises a first positioning frame arranged on one side of the bearing table, a first fixing plate arranged on the first positioning frame, a first positioning cylinder arranged on the first fixing plate, a first positioning plate arranged on the output shaft of the first positioning cylinder, two first guide plates arranged on the first positioning plate, two first guide rails arranged at the bottom of the two first guide plates, and a first guide block arranged on the first positioning frame and slidably connected with the first guide rails; a second positioning frame corresponding to the first positioning frame is arranged on the other side of the bearing table, a second fixing plate is arranged on the second positioning frame, a second positioning cylinder is arranged on the second fixing plate, a second positioning plate is arranged on the output shaft of the second positioning cylinder, two second guide plates are arranged on the second positioning plate, two second guide rails are arranged at the bottom of the two second guide plates, and a second guide block is arranged on the second positioning frame and slidably connected with the second guide rails; a second photoelectric sensor is correspondingly arranged on the first fixing plate and the second fixing plate.

9. The robot-based frame-handling unit according to claim 8, characterized in that, A dismounting device for dismounting the connecting bolt between the cylinder body and the crankcase is arranged at the bottom of the support.

10. The robot-based frame-handling unit according to claim 9, characterized in that, The dismounting device comprises two correspondingly arranged rotary cylinders, a clamping jaw cylinder arranged on the rotary cylinder, a visual sensor connected with the support through a mounting plate, and the visual sensor, the rotary cylinder and the clamping jaw cylinder are signal connected with the controller.

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