Cylinder head gripping robot device

Abstract

This utility model relates to the field of automated robotic arm technology, and more particularly to a cylinder head gripping robotic arm device. This utility model is fixedly mounted on an external device via a connecting flange, and includes: a mounting plate, a gripper positioning device, a gripper device, a positioning and positioning device, and a suction cup robotic arm device. The gripper positioning device is fixedly mounted on the external device to the mounting plate via the connecting flange. The gripper device is mounted on the gripper positioning device, and the gripper positioning device controls the lateral movement of the gripper device. A positioning device is mounted at the bottom of the gripper device. The positioning and positioning device is mounted on the gripper positioning device and connected to the positioning device. The suction cup robotic arm device rotates on a quick-change plate, and the quick-change plate is mounted on a rotating device. The technical solution of this utility model solves the problem in the prior art of roller conveyors or roller conveyors with pallets, where the lower positioning reference is occupied after the cylinder head arrives at the designated workstation, making it impossible to design operations on the lower positioning surface.

Description

Technical Field

[0001] This utility model relates to the field of automated robotic arm technology, and in particular to a cylinder head gripping robotic arm device. Background Technology

[0002] Currently, various companies primarily use two methods for conveying engine cylinder heads: one involves direct contact between the cylinder head and a raceway, and the other involves the cylinder head resting on a pallet with the raceway in contact with the pallet. The cylinder head itself has precision positioning holes on its top and bottom contact surfaces. Because the pallet needs to be precisely positioned with the cylinder head, the lower positioning reference is occupied upon arrival at the designated workstation. Unlike direct contact with a raceway, the lower positioning surface cannot be manipulated. Other positioning methods must be used for cylinder head handling, especially for cylinder heads of different models with significant shape variations, different loading and unloading postures, heavy weight, and difficulty in overcoming gravity with gripper friction, posing significant safety hazards. Other handling methods require changing the transport posture, which necessitates a workstation to restore the original posture after fulfilling the workstation's functional requirements, significantly increasing costs.

[0003] In view of the problems existing in the above-mentioned prior art, it is necessary to research and design a new type of cylinder head gripping robot to overcome the problems existing in the prior art. Summary of the Invention

[0004] To address the technical challenges posed by existing technologies regarding cylinder heads of various models, such as significant differences in shape, varying loading and unloading postures, and heavy weight, this invention provides a cylinder head gripping robot. This invention primarily utilizes identical positioning holes and positions the cylinder head via a positioning surface as the contact method to grip and hold it.

[0005] The technical means adopted in this utility model are as follows: A cylinder head gripping robot is fixedly mounted on an external device via a connecting flange, comprising: a mounting plate, a gripper displacement device, a gripper device, a positioning device, a positioning displacement device, and a suction cup robot device; Furthermore, the gripper displacement device is fixedly mounted on the external equipment via a connecting flange and a mounting plate; Furthermore, the gripper device is mounted on the gripper positioning device, which controls the lateral movement of the gripper device; Furthermore, a positioning device is installed at the bottom of the gripper device; Furthermore, the positioning and displacement device is mounted on the gripper displacement device and connected to the positioning device; Furthermore, the suction cup robotic arm rotates onto the quick-change plate, which is mounted on the rotary actuator.

[0006] Furthermore, the gripper displacement device includes: a cylinder, a mounting bracket, a connecting joint, a connecting block, a nut, and a mounting base plate; Furthermore, the cylinder is fixed to the side of the mounting plate by a mounting bracket, and its cylinder rod passes through the through hole on the mounting bracket. The front end of the cylinder rod is fixedly connected to the connecting block by a connecting joint and a nut. Furthermore, the mounting base is fixedly assembled with the bottom of the mounting bracket; Furthermore, the lower end of the linear guide rail is fixedly assembled and mounted on the base plate; Furthermore, the connecting block is fixedly connected to the slider of the linear guide rail; Furthermore, the slider is connected to the positioning device.

[0007] Furthermore, the front of the mounting plate is equipped with a lock detection switch, which is used to detect the position of the connecting block and issue movement commands to the linear guide rail.

[0008] Furthermore, the gripper includes: a movable end gripper and a fixed end gripper; Furthermore, the fixed end gripper is vertically fixedly installed at the lower end of the mounting base plate away from the connecting block; Furthermore, the movable end gripper is vertically fixed at the lower end of the slider and is set parallel to the fixed end gripper. It moves laterally through the gripper displacement device and cooperates with the fixed end gripper to clamp the workpiece.

[0009] Furthermore, the positioning device includes: a rotating shaft, a left rotating shaft, a positioning block A, a positioning pin, a positioning plate, and a positioning block B; Furthermore, the left rotating shaft is inserted into the bottom end of the movable end gripper and can rotate freely; Furthermore, positioning block B is mounted on the right end of the left rotation axis; Furthermore, the rotating shaft is inserted into the bottom end of the fixed end gripper, allowing it to rotate freely, and is coaxially arranged with the left rotating shaft; Furthermore, a mounting plate is fitted to the left end of the rotating shaft, and the right end is connected to the positioning and displacement device; Furthermore, the positioning plate is equipped with positioning pins and positioning block A.

[0010] Furthermore, the positioning and displacement device includes: a motor, a synchronous belt, a driven synchronous pulley, a reducer, a driving synchronous pulley, and a motor mounting plate; Furthermore, the motor is fixedly mounted on the mounting base plate and connected to the mounting plate; Furthermore, the motor mounting plate is installed on the front side of the mounting plate; Furthermore, the motor and reducer are fixedly mounted on the motor mounting plate; Furthermore, the input end of the reducer is connected to the output end of the motor, and the output end is fitted with a drive synchronous pulley after passing through the through hole on the motor mounting plate; Furthermore, the driven synchronous pulley is installed at the right end of the rotating shaft; Furthermore, the timing belt is fitted onto both the driving and driven timing pulleys; Furthermore, the motor drives the active synchronous pulley through the reducer, and the driven synchronous pulley and the rotating shaft rotate through the synchronous belt. The rotation of the rotating shaft causes the positioning pin at its left end to rotate as well, realizing the insertion of different types of cylinder head pins.

[0011] Furthermore, a tensioning plate is also provided on the positioning and displacement device; Furthermore, a tensioning plate is mounted on the right end face of the mounting base plate; Furthermore, adjusting screws are fitted into the screw holes on the tensioning plate; Furthermore, the front end of the adjusting screw abuts against the motor mounting plate, and by rotating the adjusting screw, the motor mounting plate moves up and down to achieve the tension of the synchronous belt.

[0012] Furthermore, the suction cup robotic arm device includes: a quick-change plate and a suction cup robotic arm; Furthermore, the robot arm side of the quick-change plate is fixedly mounted and installed on the base plate, while the tool side is fixedly connected to the suction cup robot arm. When gripping the cylinder head, the tool side and the suction cup robot arm are placed on the robot arm quick-change frame. When it is necessary to pick up the cylinder head partition, the robot-side quick-change plate is connected to the tool-side quick-change plate to pick up the partition.

[0013] The working process of this utility model: The workpiece pallet is moved to the loading station (the pallet holds two layers of workpieces separated by a partition). The machine model is determined by reading the workpiece's QR code. The robot arm, using the QR code information, rotates its servo motor to adjust the angle of the positioning pin at its fixed end, fulfilling the pin insertion function for that machine model. The robot arm moves, and the fixed end pin is inserted into the positioning pin hole on the front face of the workpiece. The moving end of the robot arm retracts via a cylinder to clamp the workpiece (the moving end of the gripper inserts into the machining hole on the rear face of the workpiece to prevent it from falling during movement after gripping). After gripping the workpiece, the robot arm's servo motor rotates it to adjust it to the desired placement position. Once placed at the next station, the gripper cylinder extends, the gripper releases, the fixed end positioning pin disengages from the pin hole, and the robot returns to the loading station to repeat the workpiece gripping action. After all workpieces on the upper layer are gripped, the robot arm moves to the suction cup robot arm placement station. The quick-change plate robot side and quick-change plate tool side are connected. The suction cup robot arm is detached from the quick-change frame. The robot arm moves to the workpiece placement station and uses the suction cup robot arm to pick up the partition for placing the workpiece. The partition is gripped above the partition placement frame, and the partition falls onto the placement frame. The suction cup is released, and the robot moves to the suction cup robot arm quick-change frame. The suction cup robot arm lowers the pin, the quick-change plate is detached, and the robot returns to the loading station. The workpiece gripping action is repeated. After gripping the lower layer workpieces, the robot arm is quickly transferred to the suction cup robot arm and moved to the partition placement frame station. The suction cup robot arm grips the partition and moves to the loading station. The partition falls onto the tray, the suction cup robot arm is released, and the robot returns to its original position.

[0014] Compared with the prior art, the present invention has the following advantages: 1. The cylinder head gripping robot device provided by this utility model can effectively grip cylinder heads with a wide variety of products by taking into account the commonalities of specific products. 2. The cylinder head gripping robot provided by this utility model can replace most of the purchased parts with self-made parts and complete the required functions with simple actions, thereby reducing costs.

[0015] In summary, the technical solution of this utility model solves the problem in the prior art where the roller conveyor or roller conveyor with pallet means that after the cylinder head arrives at the designated station, the positioning reference below is occupied, making it impossible to design operations on the positioning surface below. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the structure of this utility model; Figure 2 For the isometric projection of this utility model Figure 1 ; Figure 3 For the isometric projection of this utility model Figure 2 .

[0018] In the diagram: 1. Mounting plate; 2. Cylinder; 3. Linear guide rail; 4. Quick change disc; 5. Motor; 6. Synchronous belt; 7. Driven synchronous pulley; 8. Rotary shaft; 9. Movable end gripper; 10. Left rotating shaft; 11. Suction cup robot; 12. Positioning block A; 13. Mounting bracket; 14. Detection switch; 15. Connecting connector; 16. Connecting block; 17. Nut; 18. Connecting flange; 19. Mounting base plate; 20. Fixed end gripper; 21. Positioning pin; 22. Positioning plate; 23. Reducer; 24. Driven synchronous pulley; 25. Tensioning plate; 26. Adjusting screw; 27. Motor mounting plate; 28. Positioning block B. Detailed Implementation

[0019] It should be noted that, where there is no conflict, the embodiments and features in the embodiments of this utility model can be combined with each other. The present utility model will now be described in detail with reference to the accompanying drawings and embodiments.

[0020] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this utility model or its application or use. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0021] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to the present invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0022] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0023] In the description of this utility model, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is usually based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this utility model and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this utility model. The directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0024] For ease of description, spatial relative terms such as "above," "over," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation besides the orientation of the device as described in the figures. For example, if the device in the figures is inverted, a device described as "above" or "above" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0025] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be construed as limiting the scope of protection of this utility model.

[0026] As shown in the figure, this utility model provides a cylinder head gripping robot device that is fixedly mounted on an external device via a connecting flange 18. The device includes: a mounting plate 1, a gripper positioning device, a gripper assembly, a positioning and shifting device, and a suction cup robot device. The gripper positioning device is fixedly mounted on the external device via the connecting flange 1 and the mounting plate 18. The gripper assembly is mounted on the gripper positioning device, which controls the lateral movement of the gripper assembly. A positioning device is mounted at the bottom of the gripper assembly. The positioning and shifting device is mounted on the gripper positioning device and connected to the positioning device. The suction cup robot device rotates onto a quick-change plate 4, which is mounted on a rotating hand-changing device.

[0027] The gripper positioning device includes: a cylinder 2, a mounting bracket 13, a connecting joint 15, a connecting block 16, a nut 17, and a mounting base plate 19; the cylinder 2 is fixed to the side of the mounting plate 1 via the mounting bracket 13, and its cylinder rod passes through a through hole on the mounting bracket 13. The front end of the cylinder rod is fixedly connected to the connecting block 16 via the connecting joint 15 and the nut 17; the mounting base plate 19 is fixedly assembled to the bottom of the mounting bracket 13; the linear guide rail 3 is fixedly assembled to the lower end of the mounting base plate 19; the connecting block 16 is fixedly connected to the slider of the linear guide rail 3; the slider is connected to the positioning device.

[0028] The front of the mounting plate 1 is equipped with a lock detection switch 14, which is used to detect the position of the connecting block 16 and issue a movement command to the linear guide rail 3.

[0029] The gripper includes a movable end gripper 9 and a fixed end gripper 20. The fixed end gripper 20 is vertically fixedly installed at the lower end of the mounting base plate 19, which is away from the connecting block 16. The movable end gripper 9 is vertically fixedly installed at the lower end of the slider and is arranged parallel to the fixed end gripper 20. It is driven to move laterally by the gripper displacement device and cooperates with the fixed end gripper 20 to achieve the action of clamping the workpiece.

[0030] The positioning device includes: a rotating shaft 8, a left rotating shaft 10, a positioning block A12, a positioning pin 21, a positioning plate 22, and a positioning block B28; the left rotating shaft 10 is inserted into the bottom end of the movable end gripper 9 and can rotate freely; the positioning block B28 is installed on the right end of the left rotating shaft 10; the rotating shaft 8 is inserted into the bottom end of the fixed end gripper 20, can rotate freely, and is coaxially arranged with the left rotating shaft 10; the left end of the rotating shaft 8 is equipped with a mounting plate 22, and the right end is connected to the positioning and displacement device; the positioning plate 22 is equipped with a positioning pin 21 and a positioning block A12.

[0031] The positioning and displacement device includes: a motor 5, a synchronous belt 6, a driven synchronous pulley 7, a reducer 23, a driving synchronous pulley 24, and a motor mounting plate 27. The motor 5 is fixedly mounted on the mounting base plate 19 and connected to the mounting plate 1. The motor mounting plate 27 is mounted on the front side of the mounting plate 1. The motor 5 and the reducer 23 are fixedly mounted on the motor mounting plate 27. The input end of the reducer 23 is connected to the output end of the motor 5, and the output end passes through the through hole on the motor mounting plate 27 and is fitted with the driving synchronous pulley 24. The driven synchronous pulley 7 is mounted on the right end of the rotating shaft 8. The synchronous belt 6 is fitted onto the driving synchronous pulley 24 and the driven synchronous pulley 7. The motor 5 drives the driving synchronous pulley 24 through the reducer 23, and drives the driven synchronous pulley 7 and the rotating shaft 8 to rotate through the synchronous belt 6. The rotation of the rotating shaft 8 drives the positioning pin 21 at its left end to rotate as well, realizing the insertion of different types of cylinder head pins.

[0032] The positioning and displacement device is also equipped with a tension plate 25; the tension plate 25 is mounted on the right end face of the mounting base plate 19; an adjusting screw 26 is fitted in the screw hole on the tension plate 25; the front end of the adjusting screw 26 abuts against the motor mounting plate 27, and by rotating the adjusting screw 26, the motor mounting plate 27 is moved up and down to achieve the tension of the synchronous belt 6.

[0033] The suction cup robotic arm device includes a quick-change plate 4 and a suction cup robotic arm 11. The robotic arm side of the quick-change plate 4 is fixedly mounted on a mounting base plate 19, and the tool side is fixedly connected to the suction cup robotic arm 11. When gripping the cylinder head, the tool side and the suction cup robotic arm 11 are placed on the quick-change frame of the robotic arm. When it is necessary to pick up the cylinder head partition, the robot-side quick-change plate is connected to the tool-side quick-change plate to pick up the partition.

[0034] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. A cylinder head gripping robot device, characterized in that: The cylinder head gripping manipulator is fixedly mounted on an external device via a connecting flange (18), and includes: a mounting plate (1), a gripper displacement device, a gripper device, a positioning device, a positioning displacement device, and a suction cup manipulator device; The gripper displacement device is fixedly mounted on an external device via a connecting flange (18) and a mounting plate (1); The gripper device is mounted on the gripper positioning device, which controls the lateral movement of the gripper device; The bottom of the gripper device is equipped with a positioning device; The positioning and displacement device is mounted on the gripper displacement device and connected to the positioning device; The suction cup manipulator rotates on the quick-change plate (4), which is mounted on the hand-changing device.

2. The cylinder head gripping robot device according to claim 1, characterized in that: The gripper repositioning device includes: a cylinder (2), a mounting bracket (13), a connecting joint (15), a connecting block (16), a nut (17), and a mounting base plate (19); The cylinder (2) is fixed to the side of the mounting plate (1) by the mounting bracket (13), and its cylinder rod passes through the through hole on the mounting bracket (13). The front end of the cylinder rod is fixedly connected to the connecting block (16) by the connecting joint (15) and the nut (17). The mounting base plate (19) is fixedly assembled to the bottom of the mounting bracket (13); The lower end of the mounting base plate (19) is fixedly fitted with a linear guide rail (3); The connecting block (16) is fixedly connected to the slider of the linear guide rail (3); The slider is connected to the positioning device.

3. The cylinder head gripping robot device according to claim 1, characterized in that: The front of the mounting plate (1) is equipped with a lock detection switch (14) for detecting the position of the connecting block (16) and issuing a movement command to the linear guide rail (3).

4. The cylinder head gripping robot device according to claim 1, characterized in that: The gripper includes: a movable end gripper (9) and a fixed end gripper (20); The fixed end gripper (20) is vertically fixedly installed at the lower end of the mounting base plate (19) away from the connecting block (16); The movable end gripper (9) is vertically fixed at the lower end of the slider and is set parallel to the fixed end gripper (20). It is driven to move laterally by the gripper displacement device and cooperates with the fixed end gripper (20) to achieve the action of clamping the workpiece.

5. The cylinder head gripping robot device according to claim 1, characterized in that: The positioning device includes: a rotating shaft (8), a left rotating shaft (10), a positioning block A (12), a positioning pin (21), a positioning plate (22), and a positioning block B (28); The left rotating shaft (10) is inserted into the bottom end of the movable end gripper (9) and can rotate freely; The positioning block B (28) is mounted on the right end of the left rotating shaft (10); The rotating shaft (8) is inserted into the bottom end of the fixed end gripper (20), can rotate freely, and is coaxially arranged with the left rotating shaft (10); The left end of the rotating shaft (8) is equipped with a positioning plate (22), and the right end is connected to the positioning and displacement device; The positioning plate (22) is equipped with a positioning pin (21) and a positioning block A (12).

6. The cylinder head gripping robot device according to claim 1, characterized in that: The positioning and displacement device includes: a motor (5), a synchronous belt (6), a driven synchronous belt pulley (7), a reducer (23), a driving synchronous belt pulley (24), and a motor mounting plate (27); The motor (5) is fixedly mounted on the mounting base plate (19) and connected to the mounting plate (1); The motor mounting plate (27) is mounted on the front side of the mounting plate (1); The motor (5) and reducer (23) are fixedly mounted on the motor mounting plate (27); The input end of the speed reducer (23) is connected to the output end of the motor (5), and the output end is fitted with a drive synchronous pulley (24) after passing through the through hole on the motor mounting plate (27). The driven synchronous pulley (7) is installed at the right end of the rotating shaft (8); The timing belt (6) is fitted onto the driving timing pulley (24) and the driven timing pulley (7); The motor (5) drives the active synchronous pulley (24) through the reducer (23), and drives the driven synchronous pulley (7) and the rotating shaft (8) to rotate through the synchronous belt (6). The rotation of the rotating shaft (8) drives the positioning pin (21) at its left end to rotate together, realizing the different types of cylinder head pins.

7. The cylinder head gripping robot device according to claim 5, characterized in that: The positioning and displacement device is also equipped with a tensioning plate (25); The tensioning plate (25) is mounted on the right end face of the mounting base plate (19); An adjusting screw (26) is fitted into the screw hole on the tensioning plate (25); The front end of the adjusting screw (26) abuts against the motor mounting plate (27). By rotating the adjusting screw (26), the motor mounting plate (27) moves up and down, thereby achieving the tension of the synchronous belt (6).

8. The cylinder head gripping robot device according to claim 1, characterized in that: The suction cup manipulator device includes: a quick-change plate (4) and a suction cup manipulator (11). The quick-change disc (4) is fixedly mounted on the robot arm side and mounted on the base plate (19), while the tool side is fixedly connected to the suction cup robot arm (11).

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