CN113927618A - Robot clamping jaw structure for cylinder sleeve production line - Google Patents
Robot clamping jaw structure for cylinder sleeve production line Download PDFInfo
- Publication number
- CN113927618A CN113927618A CN202111419000.1A CN202111419000A CN113927618A CN 113927618 A CN113927618 A CN 113927618A CN 202111419000 A CN202111419000 A CN 202111419000A CN 113927618 A CN113927618 A CN 113927618A
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- China
- Prior art keywords
- clamping jaw
- mounting frame
- cylinder sleeve
- straight rod
- connecting plate
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- 238000004519 manufacturing process Methods 0.000 title claims abstract description 19
- 210000003811 finger Anatomy 0.000 claims abstract description 24
- 210000000707 wrist Anatomy 0.000 claims abstract description 20
- 230000007246 mechanism Effects 0.000 claims abstract description 17
- 210000003813 thumb Anatomy 0.000 claims abstract description 11
- 230000009471 action Effects 0.000 claims abstract description 9
- 239000011241 protective layer Substances 0.000 claims description 6
- 230000032258 transport Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- VYZAMTAEIAYCRO-UHFFFAOYSA-N Chromium Chemical compound [Cr] VYZAMTAEIAYCRO-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 229910052804 chromium Inorganic materials 0.000 description 1
- 239000011651 chromium Substances 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 238000007747 plating Methods 0.000 description 1
- 238000010791 quenching Methods 0.000 description 1
- 230000000171 quenching effect Effects 0.000 description 1
- 238000005496 tempering Methods 0.000 description 1
- 238000007514 turning Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to the technical field of manipulators, and particularly relates to a robot clamping jaw structure for a cylinder sleeve production line, which comprises a palm mechanism and a clamping jaw mechanism, wherein the palm mechanism comprises a connecting wrist and a mounting frame, the left end of the connecting wrist is connected with a mechanical arm, the right end of the connecting wrist is connected with the mounting frame, the clamping jaw mechanism comprises an elastic finger assembly and a thumb assembly, the elastic finger assembly comprises a first straight rod, one end of the first straight rod is fixedly connected with a first connecting plate, the other end of the first straight rod is rotatably connected with an elastic rod in a pin joint manner, an elastic torsional spring is further arranged on the connecting pin, the first connecting plate is slidably connected with the mounting frame through a first connecting block, the thumb assembly comprises a second straight rod, one end of the second straight rod is fixedly connected with a second connecting plate, the second connecting plate is slidably connected with the mounting frame through a second connecting block, an arc-shaped groove is formed in the action end of the second straight rod, a V-shaped groove is formed in a matching manner, and a finger cylinder is arranged in the mounting frame. The clamping jaw structure expands the multidirectional clamping function of the manipulator, and the horizontal, longitudinal, horizontal and vertical cylinder sleeve transportation can be universal, so that the labor intensity can be reduced, and the production efficiency can be improved.
Description
Technical Field
The invention belongs to the technical field of manipulators, and particularly relates to a robot clamping jaw structure for a cylinder sleeve production line.
Background
The cylinder liner, also known as cylinder liner, is an important component of a fuel engine, and is embedded in the cylinder bore of the cylinder body to form a combustion chamber together with the piston and the cylinder cover. The production flow of cylinder liner includes unloading, rough turning, quenching and tempering, chamfer, car excircle, car hole, corase grind, correct grinding, chromium plating etc. multichannel process, and linking up between each process generally all need carry out the cylinder liner and transport in the production process, along with the development of production automation technology, the cylinder liner is transported and has been used the robot more and more now. At present, the arm clamping jaw device of cylinder liner transfer robot structure is fairly simple, and the function is more single, because the cylinder liner is generally cylindric, the cylinder liner of waiting to transport may be horizontal, lie, also may be vertical, stand, current clamping jaw device can only adapt to snatching of horizontal cylinder liner or vertical cylinder liner and transports, the compatibility of clamping jaw is poor, can not be general, or need change corresponding clamping jaw device, or need adjust the gesture of cylinder liner, waste time and energy, increase intensity of labour, influence production efficiency.
Disclosure of Invention
Aiming at the situation, the invention provides the robot clamping jaw structure for the cylinder sleeve production line, the compatibility is better, and the cylinder sleeve can be used in common no matter the cylinder sleeve is transverse or longitudinal, and no matter the cylinder sleeve is laid down or erected.
In order to achieve the purpose, the invention adopts the following technical scheme:
a robot clamping jaw structure for a cylinder sleeve production line comprises a palm mechanism and a clamping jaw mechanism, wherein the palm mechanism comprises a connecting wrist and a mounting frame, the connecting wrist is connected with a mechanical arm of a robot, the mounting frame is used for connecting the clamping jaw mechanism, the left end of the connecting wrist is detachably connected with the mechanical arm, the right end of the connecting wrist is fixedly connected with the mounting frame, the clamping jaw mechanism comprises an elastic finger assembly and a thumb assembly, the elastic finger assembly is used for clamping and grabbing a cylinder sleeve workpiece, the elastic finger assembly comprises a first straight rod, one end, close to the mounting frame, of the first straight rod is fixedly connected with a first connecting plate, the other end of the first straight rod is rotatably connected with an elastic rod in a pin mode, an elastic torsion spring used for self-resetting of the elastic rod is arranged on the connecting pin of the elastic rod and the first straight rod, the first connecting plate is connected with a first sliding rail fixed on the mounting frame through a first sliding block, and the thumb assembly comprises a second straight rod, the one end rigid coupling that straight-bar two is close to the mounting bracket has connecting plate two, connecting plate two is connected with connecting block two, but connecting block two passes through slider two and fixes the two sliding connection of slide rail on the mounting bracket, the arc wall with cylinder liner lateral wall matched with is seted up towards one side of straight-bar one to the effect end of straight-bar two, straight-bar one is provided with the V-arrangement groove of cooperation butt clamp cylinder liner towards one side of straight-bar two, be provided with the finger cylinder in the mounting bracket, connecting block one and connecting block two respectively with two activity clamp fingers of finger cylinder are connected.
Further, connect the wrist and be convex flange, its convex end and mounting bracket welded fastening, the other end pass through bolt one with the arm is connected, makes things convenient for maintenance, the change of clamping jaw.
Furthermore, the first connecting block and the second connecting block are both racks, tooth surfaces matched with the racks are arranged on the first connecting plate and the second connecting plate, on one hand, the first connecting plate and the second connecting plate are convenient to guide and position during combined connection, so that connection is quicker, on the other hand, the contact surface for connecting the connecting plates and the connecting blocks is increased, and connection is firmer.
Furthermore, the first connecting plate and the first connecting block and the second connecting plate and the second connecting block are connected through a second bolt, a plurality of groups of selectable threaded holes are formed in the first connecting block and the second connecting block, the length of each connecting block is larger than that of each connecting plate, and the distance between the opposite clamping straight rods can be adjusted by selectively using the corresponding threaded holes in the connecting blocks through the connecting plates.
Furthermore, a conical guide surface is arranged at the top of the action end of the second straight rod, rubber protective layers are laid on action surfaces of the elastic finger assembly and the thumb assembly, which are contacted with the cylinder sleeve, in a matched manner, the conical guide surfaces play a role in guiding when the cylinder sleeve is clamped, and the rubber protective layers have certain flexibility and play a role in protecting the cylinder sleeve.
The present invention also includes other components that enable its normal use, all by conventional means in the art, and in addition, devices or components not limited by the present invention, such as: finger cylinder, elastic torsion spring, etc., all using the prior art in this field.
The invention has the following beneficial effects:
according to the robot clamping jaw structure for the cylinder sleeve production line, the multi-direction clamping function of the cylinder sleeve transfer robot manipulator is expanded, the cylinder sleeve can be well handled no matter the cylinder sleeve is horizontal or longitudinal, or horizontal or vertical, the universality and the compatibility are stronger, the problems that the original clamping jaw has a single function, the clamping jaw needs to be frequently replaced or the posture of the cylinder sleeve needs to be adjusted are avoided, the labor intensity can be effectively reduced, and the production efficiency is improved.
Drawings
FIG. 1 is a schematic view of a robot clamping jaw structure clamping a horizontal cylinder sleeve in the embodiment.
FIG. 2 is a schematic view of the robot gripper structure gripping a longitudinal horizontal cylinder liner in the embodiment.
Fig. 3 is a schematic view of the robot jaw structure clamping the vertical cylinder sleeve in the embodiment.
Detailed Description
The technical solutions of the present invention will be clearly and completely described below with reference to specific embodiments, and it should be understood that the described embodiments are only some embodiments, but not all embodiments, of the present invention.
Examples
As shown in fig. 1-3, a robot clamping jaw structure for a cylinder sleeve production line comprises a palm mechanism and a clamping jaw mechanism, wherein the palm mechanism comprises a connecting wrist 1 used for being connected with a mechanical arm of a robot and a mounting frame 2 used for being connected with the clamping jaw mechanism, the left end of the connecting wrist is detachably connected with the mechanical arm, the right end of the connecting wrist is fixedly connected with the mounting frame, the clamping jaw mechanism comprises an elastic finger component and a thumb component which are used for oppositely clamping and grabbing a cylinder sleeve workpiece 0, the elastic finger component comprises a straight rod I3, one end of the straight rod I, which is close to the mounting frame, is fixedly connected with a connecting plate I4, the other end of the straight rod I is rotatably connected with an elastic rod 5 in a pin joint mode, an elastic torsion spring 7 used for self-resetting of the elastic rod is arranged on a connecting pin 6 of the elastic rod I, the connecting plate is connected with a connecting block I8, and the connecting block I is slidably connected with a sliding rail I10 fixed on the mounting frame through a sliding block I9, the thumb component comprises a second straight rod 11, a second connecting plate 12 is fixedly connected to one end, close to the mounting frame, of the second straight rod, the second connecting plate is connected with a second connecting block 13, the second connecting block is slidably connected with a second sliding rail 15 fixed on the mounting frame through a second sliding block 14, an arc-shaped groove 16 matched with the outer side wall of the cylinder sleeve is formed in the action end of the second straight rod towards one side of the first straight rod, a V-shaped groove 17 matched with the opposite clamping cylinder sleeve is formed in one side, towards the second straight rod, of the first straight rod, a finger cylinder 18 is arranged in the mounting frame, and the first connecting block and the second connecting block are respectively connected with two movable clamping fingers 19 of the finger cylinder.
Connect the wrist and be convex flange, its convex end and mounting bracket welded fastening, the other end through bolt one 20 with the arm is connected, makes things convenient for the maintenance of clamping jaw, changes, the robot is multi-joint arm industrial robot, and its arm and wrist all have a plurality of degrees of freedom in motion.
The first connecting block and the second connecting block are both racks, and tooth surfaces 21 matched with the racks are arranged on the first connecting plate and the second connecting plate, so that the first connecting block and the second connecting block are connected more quickly and more firmly.
The connecting plate I and the connecting block I and the connecting plate II and the connecting block II are connected through bolts II 22, a plurality of groups of selectable threaded holes 23 are formed in the connecting block I and the connecting block II, the length of each connecting block is larger than that of each connecting plate, and the connecting plates can selectively use the corresponding threaded holes in the connecting blocks to adjust the open limit spacing between the opposite clamping straight rods so as to adapt to the specifications of cylinder liners with different diameters.
The top of the action end of the straight rod II is provided with a conical guide surface 24, rubber protective layers 25 are laid on action surfaces of all parts of the elastic finger assembly and the thumb assembly, which are contacted with the cylinder sleeve, in a matching manner, the conical guide surfaces play a role of guiding when the cylinder sleeve is clamped, and the rubber protective layers have certain flexibility, play a role of protecting the cylinder sleeve, and prevent damages such as scratches on the surface of the cylinder sleeve caused by hard collision and friction; the rubber protective layer surface still is provided with anti-skidding decorative pattern, and the frictional force of increase and cylinder liner prevents that the cylinder liner clamp from getting and taking place the condition of cylinder liner landing in the transportation.
The technical solution of the present invention is not limited to the above-described specific embodiments, and many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments, and any technical modifications within the spirit and principle of the present invention fall within the protection scope of the present invention.
Claims (5)
1. The utility model provides a cylinder liner is robot clamping jaw structure for production line which characterized in that: the clamping jaw mechanism comprises a connecting wrist and a mounting frame, the connecting wrist is used for being connected with a mechanical arm of a robot, the mounting frame is used for being connected with the clamping jaw mechanism, the left end of the connecting wrist is detachably connected with the mechanical arm, the right end of the connecting wrist is fixedly connected with the mounting frame, the clamping jaw mechanism comprises an elastic finger assembly and a thumb assembly, the elastic finger assembly is used for oppositely clamping and grabbing cylinder sleeve workpieces, the elastic finger assembly comprises a first straight rod, one end of the first straight rod, which is close to the mounting frame, is fixedly connected with a first connecting plate, the other end of the first straight rod is rotatably connected with an elastic rod in a pin mode, an elastic torsion spring used for automatically resetting the elastic rod is arranged on the connecting pin of the elastic rod and the first straight rod, the first connecting plate is connected with a first sliding rail fixed on the mounting frame through a first sliding block, the thumb assembly comprises a second straight rod, and one end of the second straight rod, which is close to the mounting frame, is fixedly connected with a second connecting plate, the connecting plate II is connected with a connecting block II, the connecting block II is slidably connected with a sliding rail II fixed on the mounting frame through a sliding block II, an arc-shaped groove matched with the outer side wall of the cylinder sleeve is formed in one side, facing the straight bar I, of the action end of the straight bar II, a V-shaped groove matched with the oppositely-clamped cylinder sleeve is formed in one side, facing the straight bar II, of the straight bar I, a finger cylinder is arranged in the mounting frame, and the connecting block I and the connecting block II are respectively connected with two movable clamping fingers of the finger cylinder.
2. The robot clamping jaw structure for the cylinder sleeve production line according to claim 1, characterized in that: the connecting wrist is a convex flange, the convex end of the connecting wrist is welded with the mounting frame, and the other end of the connecting wrist is connected with the mechanical arm through a first bolt.
3. The robot clamping jaw structure for the cylinder sleeve production line according to claim 1, characterized in that: the first connecting block and the second connecting block are both racks, and tooth surfaces matched with the racks are arranged on the first connecting plate and the second connecting plate.
4. The robot clamping jaw structure for the cylinder sleeve production line according to claim 1, characterized in that: the first connecting plate and the first connecting block and the second connecting plate and the second connecting block are connected through a second bolt, and a plurality of groups of selectable threaded holes are formed in the first connecting block and the second connecting block.
5. The robot clamping jaw structure for the cylinder sleeve production line according to claim 1, characterized in that: the top of the action end of the straight rod II is provided with a conical guide surface, and rubber protective layers are laid on the action surfaces of the elastic finger assembly and the thumb assembly, which are contacted with the cylinder sleeve, in a matched manner.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111419000.1A CN113927618B (en) | 2021-11-26 | 2021-11-26 | Robot clamping jaw structure for cylinder sleeve production line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111419000.1A CN113927618B (en) | 2021-11-26 | 2021-11-26 | Robot clamping jaw structure for cylinder sleeve production line |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113927618A true CN113927618A (en) | 2022-01-14 |
| CN113927618B CN113927618B (en) | 2024-06-21 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111419000.1A Active CN113927618B (en) | 2021-11-26 | 2021-11-26 | Robot clamping jaw structure for cylinder sleeve production line |
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| Country | Link |
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| CN (1) | CN113927618B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1122505A1 (en) * | 1983-02-18 | 1984-11-07 | Краснодарское специальное конструкторское бюро автоматических линий и металлорежущих станков | Gripper for industrial robot |
| CN107199573A (en) * | 2017-07-08 | 2017-09-26 | 佛山市正略信息科技有限公司 | A kind of production line clamping workpiece manipulator |
| CN206551041U (en) * | 2017-03-08 | 2017-10-13 | 成都蒂森克虏伯富奥弹簧有限公司 | The cleft hand of automatic grabbing workpiece on a kind of production line |
| CN107598957A (en) * | 2017-11-01 | 2018-01-19 | 黄石磊福机电设备有限公司 | A kind of automatic mechanical hand with clamper |
| CN209665408U (en) * | 2019-03-04 | 2019-11-22 | 张婧媛 | Manipulator is used in a kind of clamping of cylinder sleeve |
| CN210210434U (en) * | 2019-06-28 | 2020-03-31 | 东源广工大现代产业协同创新研究院 | Multifunctional robot clamp |
-
2021
- 2021-11-26 CN CN202111419000.1A patent/CN113927618B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1122505A1 (en) * | 1983-02-18 | 1984-11-07 | Краснодарское специальное конструкторское бюро автоматических линий и металлорежущих станков | Gripper for industrial robot |
| CN206551041U (en) * | 2017-03-08 | 2017-10-13 | 成都蒂森克虏伯富奥弹簧有限公司 | The cleft hand of automatic grabbing workpiece on a kind of production line |
| CN107199573A (en) * | 2017-07-08 | 2017-09-26 | 佛山市正略信息科技有限公司 | A kind of production line clamping workpiece manipulator |
| CN107598957A (en) * | 2017-11-01 | 2018-01-19 | 黄石磊福机电设备有限公司 | A kind of automatic mechanical hand with clamper |
| CN209665408U (en) * | 2019-03-04 | 2019-11-22 | 张婧媛 | Manipulator is used in a kind of clamping of cylinder sleeve |
| CN210210434U (en) * | 2019-06-28 | 2020-03-31 | 东源广工大现代产业协同创新研究院 | Multifunctional robot clamp |
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| Publication number | Publication date |
|---|---|
| CN113927618B (en) | 2024-06-21 |
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