CN202780677U - Cylinder liner rotary robotic hand with diameter adjustable - Google Patents

Abstract

The utility model relates to the field of cylinder liner production, in particular to a variable-diameter cylinder liner transfer robot, in particular to provide a cylinder liner transfer with quick station changeover, time-saving and labor-saving for the cylinder liner during production and processing. Robotic device. The utility model is mainly aimed at the current situation that the existing domestic cylinder liner production automation is not high, and the utility model is designed and produced a cylinder liner transfer robot with variable diameter. A variable-diameter cylinder liner transfer robot, including a worktable and a horizontal drive mechanism and a longitudinal drive mechanism for driving the movement of the workbench. The lower end of the above-mentioned workbench is provided with a manipulator structure, and the manipulator structure includes a small cylinder installed on the bottom plate , a connecting shaft, a connecting shaft, a lock nut, a symmetrically arranged manipulator link, a symmetrically arranged manipulator lever, a symmetrically arranged cross bar, a symmetrically arranged clamping block connecting plate and a symmetrically arranged clamping block.

Description

A cylinder liner transfer robot with variable diameter

Technical field:

The utility model relates to the field of cylinder liner production, in particular to a variable-diameter cylinder liner transfer robot, in particular to provide a cylinder liner with fast station changeover and time-saving and labor-saving cylinder liner transfer during the production and processing process of the cylinder liner. Robotic device.

Background technique:

Cylinder liners are widely used in the fields of ships, diesel vehicles, construction machinery, agricultural vehicles, etc. With the rapid development of social industrialization, the demand for cylinder liners in various fields is increasing. At present, the production of domestic cylinder liners is developing rapidly, but the degree of automation is not high. During the processing of the cylinder liner, the switching between each station mainly depends on manpower, which greatly reduces the production efficiency of the cylinder liner.

Utility model content:

The utility model mainly aims at the problem of low degree of automation in cylinder liner production, and designs a variable-diameter cylinder liner transfer robot for quick conversion of cylinder liner processing stations according to the principle of adapting to cylinder liners with different cylinder diameters. . The utility model is mainly aimed at the current situation that the existing domestic cylinder liner production automation degree is not high, and the utility model is designed and produced a cylinder liner transfer robot with variable diameter.

Realize the technical scheme of the utility model as follows:

A variable-diameter cylinder liner transfer robot, including a worktable and a horizontal drive mechanism and a longitudinal drive mechanism for driving the workbench. The lower end of the above-mentioned workbench is provided with a manipulator structure, and the manipulator structure includes a small cylinder installed on the bottom plate , a connecting shaft, a connecting shaft, a lock nut, a symmetrically arranged manipulator link, a symmetrically arranged manipulator lever, a symmetrically arranged cross bar, a symmetrically arranged clamping block connecting plate and a symmetrically arranged clamping block; The connecting shaft, the small cylinder, and the connecting shaft are threadedly connected, and the connecting shaft, the manipulator connecting rod, and the manipulator lever are connected through a pin shaft; the above-mentioned symmetrically arranged manipulator levers are connected by a cross bar, and the above-mentioned clamping block is adjustable Connected to the clamping block connecting plate.

A connecting bottom plate is provided below the bottom plate for reinforcement, and the cross bar is also fixed on the connecting bottom plate.

The above-mentioned clamping block is made of nylon material which can reduce friction.

The above-mentioned transverse driving mechanism includes a servo motor, a ball screw matched with the workbench, a slide block installed under the workbench, a linear guide rail matched with the slide block and a gantry beam.

The above-mentioned longitudinal driving mechanism includes a large cylinder installed on the workbench and a tailstock slidingly connected with the workbench. The above-mentioned tailstock is provided with a guide rod and a connecting plate for connecting with the manipulator structure.

The opening angle range of the symmetrically arranged manipulator levers of the manipulator structure is 0-180 degrees.

Described workbench and manipulator structure are two sets.

The utility model has the advantages that: the utility model realizes the positioning of the workbench through the longitudinal drive mechanism and the transverse drive mechanism, and can quickly and accurately realize the transfer operation of the cylinder liner; The structure is simple and reliable; the clamping block of the manipulator structure of the utility model can be adjusted, which is convenient for grabbing cylinder liners with different diameters, and greatly improves the utilization efficiency of the equipment.

Description of drawings:

Figure 1 is a schematic diagram of the appearance of the cylinder liner.

Fig. 2 is a schematic diagram of the overall structure of the utility model.

Fig. 3 is a schematic diagram of the structural part of the manipulator of the present invention.

Fig. 4 is a partially enlarged schematic diagram of the structure of the manipulator of the present invention.

Detailed ways:

Below in conjunction with accompanying drawing, the implementation of the utility model will be further described:

See Fig. 1, Fig. 2, Fig. 3 and Fig. 4, a kind of variable diameter cylinder liner transfer manipulator of the utility model includes 2 sets of workbenches 6, and each set of workbenches is all driven and positioned by the transverse drive mechanism and the longitudinal drive mechanism. The lower end of each set of workbench is provided with a manipulator structure 11 to realize the function of clamping the cylinder liner.

The above-mentioned transverse driving mechanism includes a servo motor 1, a ball screw 2 cooperating with the workbench 6, a slider 7 installed under the workbench, a linear guide rail 8 and a gantry beam 9 cooperating with the slider. The lateral movement of the above workbench 6 is to drive the ball screw 2 by the coupling through the servo motor 1, the ball screw nut is connected with the workbench 6, and the workbench 6 is structured on the gantry beam through the slider 7 and the linear guide rail 8. Movement, so that the table can move on the beam with the manipulator structure.

The above-mentioned longitudinal driving mechanism includes a large cylinder 3 installed on the workbench and a tailstock 4 slidingly connected with the workbench. The above-mentioned tailstock is provided with a guide rod 5 and a connecting plate 10 for connecting with the manipulator structure 11 . The longitudinal movement of the workbench is to drive the connecting plate 10 to move up and down along the direction of the guide rod 5 through the large cylinder 3, and the connecting plate 10 is connected to the manipulator structure 11 through the connecting rod, so that the manipulator structure 11 can move longitudinally Movement, the tailstock (4) mainly plays the role of safety protection and connection.

The manipulator structure 11 includes a small cylinder 11-1 installed on the base plate 11-2, a connecting shaft 11-3, a shaft coupling 11-4, a locking nut 11-5, a symmetrically arranged manipulator connecting rod 11-6, Symmetrically arranged manipulator lever 11-8, symmetrically arranged cross bar 11-9, symmetrically arranged clamping block connecting plate 11-10 and symmetrically arranged clamping block 11-11; described connecting shaft 11-3 and small Cylinder 11-1, connecting shaft part 11-4 are screw connection, and described connecting shaft part 11-4, manipulator connecting rod 11-6, manipulator lever 11-8 are connected by pin shaft 11-7; The levers are connected by cross bars 11-9, and the opening angle range of the levers of the manipulator is 0-180 degrees. The above-mentioned clamping blocks are adjustable and connected to the clamping block connecting plate, and the clamping blocks 11-11 are made of nylon material that can reduce friction, so as to ensure reliable contact with the cylinder liner. A connecting bottom plate 11-12 is provided below the bottom plate 11-2 for reinforcement, and the cross bar 11-9 is also fixed on the connecting bottom plate.

The action of the manipulator mechanism 11 grabbing or loosening the cylinder liner is realized by driving the small cylinder 11-1 fixed on the base plate 11-2. The small cylinder drives the connecting shaft 11-3 which is threaded with it to move up and down, thereby driving the shaft coupling 11-4 which is also threaded with the connecting shaft 11-3 to move up and down. Connecting shaft 11-4, lock nut 11-5, manipulator lever 11-8, and cross bar 11-9 form a connecting rod structure through pin shaft 11-7, and the movement of connecting shaft 11-4 makes the connecting rod structure take place. movement, so that the clamping block connecting plate 11-10 and the clamping block 11-11 can grasp or put down the cylinder liner.

The adjustment of the manipulator structure 11 to grab cylinder liners with different diameters is mainly realized by adjusting the relative position of the clamping block 11-11 fixed on the clamping block connecting plate 11-10. The inner hole of the connecting plate 11-10 of the clamping block is a groove-shaped structure, and the positioning method of the clamping block and the connecting plate adopts a groove-shaped hole, so that the clamping block can move left and right in the groove-shaped hole to realize an adjustable connection for grasping Cylinder liners of different diameters. The clamping blocks 11-11 are nylon blocks with a curved structure on the clamping surface. The diameter of the cylinder liner can be adjusted by changing the distance between the two nylon blocks fixed on the groove structure; and the nylon material is used to contact the cylinder liner. The surface is a circular arc, such material and structure can reduce the friction force with the contact surface of the cylinder liner, so that the purpose of protecting the cylinder liner can be achieved under the condition of high-speed operation.

When the utility model works, first the workbench and the manipulator structure 11 move horizontally to the top of the cylinder liner to be processed, then the manipulator structure moves longitudinally to grab the cylinder liner, returns to the top, and then moves transversely to the top of the processing station, and then The downward motion puts the cylinder liner on the machining station and back to the top. At this time, the processing station processes the cylinder liner immediately. Because the utility model has 2 sets of workbenches and manipulator structures, they can cooperate with each other to increase work efficiency.

Apparently, those skilled in the art can make various changes and modifications to the variable diameter cylinder liner transfer robot of the present invention without departing from the spirit and scope of the present invention. In this way, if these modifications and variations of the utility model fall within the scope of the claims of the utility model and equivalent technologies thereof, the utility model is also intended to include these modifications and variations.

Claims (7)

1. the cylinder sleeve of a variable-diameter is transported mechanical hand, the transversal driving mechanism and the longitudinal driving mechanism that comprise workbench (6) and driving working table movement, above-mentioned workbench lower end is provided with robot manipulator structure (11), it is characterized in that: described robot manipulator structure (11) comprises the little cylinder (11-1) that is installed on the base plate (11-2), connecting axle (11-3), connecting shaft spare (11-4), locking nut (11-5), symmetrically arranged manipulator connecting rod (11-6), symmetrically arranged manipulator lever (11-8), symmetrically arranged cross bar (11-9), symmetrically arranged grip block connecting plate (11-10) and symmetrically arranged grip block (11-11); Described connecting axle (11-3) is thread connection with little cylinder (11-1), connecting shaft spare (11-4), and described connecting shaft spare (11-4), manipulator connecting rod (11-6), manipulator lever (11-8) connect by bearing pin (11-7); Connect by cross bar (11-9) between the above-mentioned symmetrically arranged manipulator lever, above-mentioned grip block is adjustable to be connected on the grip block connecting plate.

2. the cylinder sleeve of a kind of variable-diameter according to claim 1 is transported mechanical hand, it is characterized in that: above-mentioned base plate (11-2) below is provided with the connecting bottom board (11-12) that plays reinforcement effect, and above-mentioned cross bar (11-9) also is fixed on the connecting bottom board.

3. the cylinder sleeve of a kind of variable-diameter according to claim 2 transhipment mechanical hand is characterized in that: the nylon material of above-mentioned grip block (11-11) for reducing to rub.

4. the cylinder sleeve of a kind of variable-diameter according to claim 1 is transported mechanical hand, it is characterized in that: above-mentioned transversal driving mechanism comprises servomotor (1), the ball-screw (2) that cooperates with workbench (6), is installed in slide block (7), the line slideway (8) that cooperates with slide block and the gantry beam (9) of workbench below.

5. the cylinder sleeve of a kind of variable-diameter according to claim 1 is transported mechanical hand, it is characterized in that: above-mentioned longitudinal driving mechanism comprises the large cylinder (3) that is installed on the workbench and the tailstock (4) that is slidingly connected with workbench, and above-mentioned tailstock is provided with guide rod (5) and the connecting plate (10) that is connected being connected with robot manipulator structure (11).

6. the cylinder sleeve of a kind of variable-diameter according to claim 1 is transported mechanical hand, it is characterized in that: the symmetrically arranged manipulator lever opening angle scope of described robot manipulator structure (11) is 0～180 degree.

7. the cylinder sleeve of a kind of variable-diameter according to claim 1 is transported mechanical hand, and it is characterized in that: described workbench and robot manipulator structure (11) are two covers.

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