CN103331760B - A kind of engine valve clamping manipulator - Google Patents
A kind of engine valve clamping manipulator Download PDFInfo
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- CN103331760B CN103331760B CN201310286873.9A CN201310286873A CN103331760B CN 103331760 B CN103331760 B CN 103331760B CN 201310286873 A CN201310286873 A CN 201310286873A CN 103331760 B CN103331760 B CN 103331760B
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- valve
- clamp body
- pull bar
- clamping manipulator
- engine valve
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Abstract
A kind of engine valve clamping manipulator, its design feature is: comprise multiple back-up blocks (17) and hold-down mechanism that the dish plane of valve is clamped and located, described back-up block is arranged on valve retainer planar base, multiple back-up blocks are uniformly distributed along dish planar radial, realize the axial location of valve, described hold-down mechanism conical surface on valve retainer compresses valve, realize the radial location to valve, between described hold-down mechanism and back-up block, produce pressure by clamping, thereby fix valve. Clamping of the present invention, repetitive positioning accuracy are high, and conveying, feeding, the material returned is omnidistance collides with without scraping.
Description
Technical field
The present invention relates to a kind of engine valve clamping manipulator.
Background technology
Along with growing stronger day by day of automobile fitting market, the production of valve presents mass, large-scale development, thereby in valve processDemand intelligent, automation is more and more stronger. The automation key that realizes valve process be to realize clamping to valve,Carry and location. The method of clamping of valve directly has influence on the stationarity of course of conveying, the accuracy of transfer position, and locationAccuracy, at present method of clamping in process, positioning precision, repetition after valve transfer position low precision, valve clampingLow precision; Scraping is large; Have a strong impact on production efficiency, product percent of pass.
Summary of the invention
For above-mentioned problems of the prior art, the object of this invention is to provide a kind of clamping, repetitive positioning accuracy is high, defeatedGive, the omnidistance valve clamping manipulator colliding with without scraping of feeding, the material returned.
For achieving the above object, the present invention by the following technical solutions:
A kind of engine valve clamping manipulator, its design feature is: comprise the dish plane of valve to clamp and locateMultiple back-up blocks and hold-down mechanism, described back-up block is arranged on valve retainer planar base, and multiple back-up blocks are even along dish planar radialDistribute, realize the axial location of valve, described hold-down mechanism conical surface on valve retainer compresses valve, realizes radially determining valvePosition, produces pressure by clamping between described hold-down mechanism and back-up block, thereby fixes valve.
Design feature of the present invention is also:
Described hold-down mechanism comprises the clamp body of hollow cavity structure, is provided with along clamp body axial in the hollow cavity of described clamp bodyReciprocating pull bar, described pull bar left end extends to outside clamp body, and is provided with multiple connecting holes; The left side of described clamp bodyFor valve positioning end, described left side is along the circumferential direction provided with multiple arc depression bars, described arc depression bar one end and clamp body left endSidepiece is rotationally connected, and the other end is provided with the contact roller of rolling, and the middle part of described arc depression bar is hinged with connecting rod, described connecting rod with drawThe connecting hole bearing pin of bar connects; Described back-up block is fixedly connected on the left side of clamp body, between described arc depression bar and back-up blockEvery arrangement.
Described pull bar is fixed in the hollow cavity of clamp body by linear bearing, and the rod outer sleeve that is positioned at linear bearing right-hand member has bulletSpring, the right part of described pull bar is provided with external screw thread, and is combined with adjusting nut, and described both ends of the spring is by clamp body and regulate spiral shellMother carries out spacing, and the right side of described clamp body is also provided with the cylinder for ejecting pull bar left.
Described arc depression bar and back-up block are respectively three.
Described both ends of the spring is respectively equipped with pad one and pad two.
Described pull bar left part is provided with three connection handles that radially extend along pull bar, and described connection handle is provided with connecting hole.
Be positioned at linear bearing left side, between pull bar and clamp body, be also provided with dust washer.
Described clamp body comprises left section and right section, the external diameter that the external diameter of described left section is greater than right section, and the outer surface of described right section is provided withExternal screw thread.
Described cylinder is fixed on the right-hand member of clamp body by hold-down nut.
Compared with the prior art, beneficial effect of the present invention is embodied in,
1. the present invention is fixed support by back-up block to the dish plane of valve, thus ensure to valve axial location accuratelyProperty.
2. the present invention compresses the conical surface of valve by the contact roller in hold-down mechanism, utilizes the self-centering principle of circular cone, thereby protectsThe precision of card to valve radial location, and repeatable accuracy.
3. the present invention grips valve by the contact roller in hold-down mechanism and back-up block, clamping good rigidly, valve moving processMiddle attitude stabilization, transfer position precision is high.
4. the present invention is by above technical scheme, realize conveying, feeding, the each link of the material returned to valve position, attitude etc. accuratelyControl, thereby realize the omnidistance valve of technique without the scraping outward appearance damage such as collide with.
Brief description of the drawings
Fig. 1 is structural representation of the present invention.
Fig. 2 is perspective view of the present invention.
Fig. 3 is Tiebar structure schematic diagram of the present invention.
Fig. 4 is positioning end structural representation of the present invention.
Number in the figure: 1 valve, 2 contact rollers, 3 depression bars, 4 connecting rods, 5 dust rings, 6 linear bearings, 7 system interface fixed heads,8 round nuts, 9 springs, 10 cylinder hold-down nuts, 11 cylinders, 12 adjusting nuts, 13 pads one, 14 pull bars, 15 padsTwo, 16 clamp bodies, 161 left sections, 162 right sections, 17 axial support pieces, 18 connection handles.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is done to further detailed explanation:
Embodiment 1: as illustrated in fig. 1 and 2, a kind of engine valve clamping manipulator, comprises the dish plane of valve is pressed from both sidesMultiple back-up blocks 17 and the hold-down mechanism holding and locate, described back-up block 17 is arranged on valve retainer planar base, multiple back-up blocksBe uniformly distributed along dish planar radial, realize the axial location of valve, described hold-down mechanism conical surface on valve retainer compresses valve, realThe now radial location to valve, produces pressure by clamping between described hold-down mechanism and back-up block, thereby fixes valve.
Described hold-down mechanism comprises the clamp body 16 of hollow cavity structure, in the hollow cavity of described clamp body 16, is provided with along fixtureThe pull bar 14 of body axially reciprocating, described pull bar 14 left ends extend to outside clamp body, and are provided with multiple connecting holes; Described folderConcrete 16 left side is valve positioning end, is along the circumferential direction provided with multiple arc depression bars 3 in left side, described arc depression bar 3One end and clamp body 16 left end side are rotationally connected, and the other end is provided with the contact roller 2 of rolling, and the middle part of arc depression bar 3 is hingedHave connecting rod 4, connecting rod 4 is connected with the connecting hole bearing pin of pull bar 14; Described back-up block 17 is fixedly connected on a left side for clamp body 16On end face, described arc depression bar 3 and back-up block 17 are spaced.
As shown in Figure 1, pull bar 14 is fixed on by linear bearing 6 in the hollow cavity of clamp body, linear bearing 6 left sidesBetween pull bar 14 and clamp body 16, be provided with dust washer 5, the rod outer sleeve that is positioned at linear bearing right-hand member has spring 9, the right side of pull barEnd is provided with external screw thread, and is combined with adjusting nut 12, and spring 9 is undertaken spacing by clamp body 16 and adjusting nut 12, bulletSpring 9 two ends are respectively equipped with pad 1 and pad 2 15, and the right-hand member of clamp body is also provided with the cylinder dress for ejecting pull bar leftPut 11, described air cylinder device 11 is fixed on the right side of clamp body by hold-down nut 10.
When concrete enforcement, pull bar left part is provided with three connection handles that radially extend along pull bar 18, and connection handle is provided with connecting hole.Arc depression bar 3 and back-up block 17 are respectively three, and arc depression bar 3 is connected with the connecting hole of connection handle by connecting rod 4 respectively.
Clamp body comprises left section 161 and right section 162, the external diameter that the external diameter of left section 161 is greater than right section 162, thus form oneLadder, the outer surface of right section 162 is provided with external screw thread. Clamp body is connected to outside by system interface fixed head 7, round nut 8On device.
In valve process, frock is unclamped after instruction in acceptance, and cylinder 11 ejects forward pull bar 14, and pull bar 14 is by connectingBar 4 drives depression bar 3 to inner rotary, thereby drives contact roller 2 outwards to unclamp, and arrives valve position, then at the work of spring 9With under, pull bar 14 moves backward, drives depression bar 3 inwardly to rotate, thereby contact roller 2 is pressed on to valve 1 by connecting rod 4The dish conical surface on realize the fixing clamping of valve. After operation finishes, then repeat to unclamp instruction, just valve can be unclamped.
Claims (9)
1. an engine valve clamping manipulator, is characterized in that: comprise the dish plane of valve to clamp and locateMultiple back-up blocks (17) and hold-down mechanism, described back-up block is arranged on valve retainer planar base, and multiple back-up blocks are along dish plane footpathTo being uniformly distributed, realize the axial location of valve, described hold-down mechanism conical surface on valve retainer compresses valve, realizes valveRadial location, described hold-down mechanism comprises clamp body (16), the left side of described clamp body (16) is valve positioning end, instituteState left side and be along the circumferential direction provided with multiple arc depression bars (3), described back-up block (17) is fixedly connected on the left end of clamp bodyOn face, described arc depression bar (3) and back-up block (17) are spaced, the arc depression bar of described hold-down mechanism and back-up block itBetween produce pressure by clamping, thereby fix valve.
2. a kind of engine valve clamping manipulator according to claim 1, is characterized in that, described clamp body (16)For hollow cavity structure, in the hollow cavity of described clamp body (16), be provided with the pull bar (14) along clamp body axially reciprocating,Described pull bar (14) left end extends to outside clamp body, and is provided with connecting hole; Described arc depression bar (3) one end and clamp body (16)Left end sidepiece is rotationally connected, and the other end arranges the contact roller (2) of rolling, and the middle part of described arc depression bar (3) is hinged with connecting rod(4), described connecting rod (4) is connected with the connecting hole bearing pin of pull bar (14).
3. a kind of engine valve clamping manipulator according to claim 2, is characterized in that: described pull bar (14)Be fixed in the hollow cavity of clamp body by linear bearing (6), the rod outer sleeve that is positioned at linear bearing right-hand member has spring (9),The right part of described pull bar is provided with external screw thread, and is combined with adjusting nut (12), and clamp body is passed through at described spring (9) two ends(16) and adjusting nut (12) carry out spacingly, the right side of described clamp body is also provided with the cylinder (11) for ejecting pull bar left.
4. a kind of engine valve clamping manipulator according to claim 1, is characterized in that: described arc depression bar (3)And back-up block (17) is respectively three.
5. a kind of engine valve clamping manipulator according to claim 3, is characterized in that: described spring (9) twoEnd is respectively equipped with pad one (13) and pad two (15).
6. a kind of engine valve clamping manipulator according to claim 2, is characterized in that: described pull bar (14) left sideEnd is provided with three connection handles that radially extend along pull bar (18), and described connection handle is provided with connecting hole.
7. a kind of engine valve clamping manipulator according to claim 3, is characterized in that: be positioned at linear bearing (6)Left side, between pull bar (14) and clamp body (16), be also provided with dust washer (5).
8. a kind of engine valve clamping manipulator according to claim 2, is characterized in that: described clamp body comprisesLeft section and right section, the external diameter that the external diameter of described left section is greater than right section, the outer surface of described right section is provided with external screw thread.
9. a kind of engine valve clamping manipulator according to claim 3, is characterized in that: described cylinder (11)Be fixed on the right-hand member of clamp body by hold-down nut (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310286873.9A CN103331760B (en) | 2013-07-05 | 2013-07-05 | A kind of engine valve clamping manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310286873.9A CN103331760B (en) | 2013-07-05 | 2013-07-05 | A kind of engine valve clamping manipulator |
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| CN103331760A CN103331760A (en) | 2013-10-02 |
| CN103331760B true CN103331760B (en) | 2016-05-04 |
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| CN201310286873.9A Active CN103331760B (en) | 2013-07-05 | 2013-07-05 | A kind of engine valve clamping manipulator |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104128927B (en) * | 2014-04-24 | 2015-12-02 | 安徽工程大学 | A kind of robotic gripping device |
| CN104145614A (en) * | 2014-08-27 | 2014-11-19 | 韩玉龙 | Hydraulic fruit picking manipulator |
| CN105643650B (en) * | 2016-02-29 | 2017-12-19 | 上海发那科机器人有限公司 | A kind of valve for changing posture puts together machines people's paw and its course of work |
| CN107127778B (en) * | 2017-07-13 | 2023-04-11 | 安徽航大智能科技有限公司 | New forms of energy motor casing location gripping apparatus |
| CN113245529A (en) * | 2021-05-25 | 2021-08-13 | 零八一电子集团四川天源机械有限公司 | Centering and pressing device for casting rotary blowing machine |
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| JPS5251661A (en) * | 1975-10-22 | 1977-04-25 | Tokico Ltd | Grippig device |
| US6257636B1 (en) * | 2000-06-02 | 2001-07-10 | The United States Of America As Represented By The United States Department Of Energy | Self-actuating mechanical grapple for lifting and handling objects |
| CN101497199A (en) * | 2008-02-03 | 2009-08-05 | 辜纹甄 | Improved structure of plum-blossom chuck |
| CN201385225Y (en) * | 2009-04-01 | 2010-01-20 | 大连机床集团有限责任公司 | Chuck-type centering clamping device |
| CN101973036A (en) * | 2010-10-21 | 2011-02-16 | 赵东辉 | Three-jaw grip device |
| CN203449321U (en) * | 2013-07-05 | 2014-02-26 | 安庆玉明达工程机电设备有限责任公司 | An internal combustion engine valve clamping manipulator |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| KR100451412B1 (en) * | 2001-11-09 | 2004-10-06 | 한국과학기술연구원 | Multi-fingered robot hand |
| CN202411904U (en) * | 2011-12-12 | 2012-09-05 | 安徽沃德气门制造有限公司 | Valve core clamping device |
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5251661A (en) * | 1975-10-22 | 1977-04-25 | Tokico Ltd | Grippig device |
| US6257636B1 (en) * | 2000-06-02 | 2001-07-10 | The United States Of America As Represented By The United States Department Of Energy | Self-actuating mechanical grapple for lifting and handling objects |
| CN101497199A (en) * | 2008-02-03 | 2009-08-05 | 辜纹甄 | Improved structure of plum-blossom chuck |
| CN201385225Y (en) * | 2009-04-01 | 2010-01-20 | 大连机床集团有限责任公司 | Chuck-type centering clamping device |
| CN101973036A (en) * | 2010-10-21 | 2011-02-16 | 赵东辉 | Three-jaw grip device |
| CN203449321U (en) * | 2013-07-05 | 2014-02-26 | 安庆玉明达工程机电设备有限责任公司 | An internal combustion engine valve clamping manipulator |
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| CN103331760A (en) | 2013-10-02 |
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Effective date of registration: 20190829 Address after: 244000 Fengxin Group 7, Charencun, Tongling Development Zone, Tongling City, Anhui Province Patentee after: Tongling Mdt InfoTech Ltd Address before: 7, building 246003, Wuhua Building, 171 Longshan Road, Anhui, Anqing Patentee before: Anqing Yumingda Engineering Electromechanical Equipment Co., Ltd. |
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Effective date of registration: 20211221 Address after: 250022 1426-02, Gaochuang center, No. 67, Huiyuan street, Laiwu high tech Zone, Jinan City, Shandong Province Patentee after: Shandong future talent development Co.,Ltd. Address before: 244000 seven groups of Feng Xin, Cha Ren Cun, Tongling Development Zone, Tongling, Anhui. Patentee before: Tongling Mdt InfoTech Ltd. |