CN208468430U - Simulation cylinder head removes gripper and robot - Google Patents
Simulation cylinder head removes gripper and robot Download PDFInfo
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- CN208468430U CN208468430U CN201821124141.4U CN201821124141U CN208468430U CN 208468430 U CN208468430 U CN 208468430U CN 201821124141 U CN201821124141 U CN 201821124141U CN 208468430 U CN208468430 U CN 208468430U
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Abstract
The utility model embodiment discloses a kind of simulation cylinder head and removes gripper and robot.The simulation cylinder head of the utility model removes gripper, comprising: gripper main body, turns axis and cylinder cap grasping mechanism at variable pitch device.The variable pitch device and cylinder cap grasping mechanism are arranged in the gripper main body；The cylinder cap grasping mechanism is for grabbing cylinder cap, to limit the movement of the cylinder cap；The variable pitch device turns axis connection with described, for adjusting the position for turning axis；The axis that turns is for turning the bolt on simulation cylinder head.The robot of the utility model, including above-mentioned simulation cylinder head remove gripper.The utility model embodiment provides a kind of simulation cylinder head and removes gripper and robot, the dismounting for adapting to multi items simulation of engine cylinder cap may be implemented, and improve dismounting efficiency.
Description
Technical field
The utility model embodiment is related to mechanical part assembly field, and in particular to a kind of simulation cylinder head removes gripper and machine
Device people.
Background technique
In general, selecting the technique cylinder cap for first assembling a hardening before cylinder body finishing in engine assembly process
Auxiliary member is known as simulation cylinder head, is then finished again to the cylinder holes of cylinder body, microstoning, can effectively reduce so whole
The deformation of cylinder holes, promotes the quality of product, but need to remove the simulation cylinder head after the process after machine assembly.
Simulation cylinder head in the prior art is removed in technique, more sides that rifle is all tightened using man-hour manually hand-held on block processing line
Formula is removed by the way of a special plane.With being continuously increased for engine individual demand, each production firm is one
The cylinder body that multiple kinds are processed on processing line becomes inevitable, traditional special equipment poor compatibility, the low efficiency of manual demolition
Under, it is difficult to adapt to efficient and flexibility demand.
Therefore, how to design remove it is high-efficient and can adapt to multi items cylinder body simulation cylinder head remove equipment be ability
Domain urgent problem to be solved.
Utility model content
The purpose of this utility model is to provide a kind of simulation cylinder heads to remove gripper and robot, is adapted to multi items hair
The dismounting of motivation simulation cylinder head, and improve dismounting efficiency.
The utility model embodiment provides a kind of simulation cylinder head dismounting gripper, is applied to robot, is specifically used for removing cylinder
Simulation cylinder head on body, simulation cylinder head are connect by bolt with cylinder body, and it includes: gripper main body, displacement that simulation cylinder head, which removes gripper,
Device turns axis and cylinder cap grasping mechanism；
Variable pitch device and cylinder cap grasping mechanism are arranged in gripper main body；
Cylinder cap grasping mechanism is for grabbing cylinder cap, to limit the movement of cylinder cap；
Variable pitch device and axis connection is turned, for adjusting the position for turning axis；
Axis is turned for turning the bolt on simulation cylinder head.
In a kind of feasible scheme, variable pitch device includes: motor, screw rod, feed screw nut, linkage and multiple cunnings
Block；
Multiple sliding blocks are connected side by side by linkage；
Screw rod is connected to motor, and motor is for driving screw rod to rotate；
Feed screw nut is arranged on screw rod, and screw rod is used to drive feed screw nut to move axially along screw rod in rotation；
Feed screw nut connect with wherein at least one sliding block, and feed screw nut is made to drive multiple sliding blocks along screw axis when moving
To close to each other or separate.
In a kind of feasible scheme, cylinder cap grasping mechanism includes: two Pneumatic extension devices being oppositely arranged and divides
Gripper ontology on Pneumatic extension device is not set；
Two Pneumatic extension devices are arranged in gripper main body, and two Pneumatic extension devices are for driving gripper ontology mutual
Close to or far from.
In a kind of feasible scheme, which removes gripper further include: cylinder pads grasping mechanism；
Cylinder pads grasping mechanism and is arranged in gripper main body, for grabbing cylinder pad.
In a kind of feasible scheme, it includes: vacuum chuck and mounting plate that cylinder, which pads grasping mechanism,；
Mounting plate is arranged in gripper main body；
Vacuum chuck is arranged on a mounting board, grabs cylinder pad for inhaling.
The utility model embodiment also provides a kind of robot, comprising: in robot arm and any of the above-described scheme
Simulation cylinder head removes gripper；
Simulation cylinder head is removed gripper and is arranged on robot arm, and robot arm is for driving simulation cylinder head to remove gripper
It moves in three-dimensional space.
In a kind of feasible scheme, the robot further include: cylinder body transmission device；
Cylinder body transmission device is for transmitting cylinder body；
Cylinder body transmission device and simulation cylinder head remove gripper cooperation, and are equipped with and remove for simulation cylinder head dismounting gripper from cylinder body
The station of simulation cylinder head.The process for saving artificial transmission cylinder body, to improve processing efficiency.
In a kind of feasible scheme, cylinder body transmission device includes: the pneumatic stock stop being arranged at station；
Pneumatic stock stop is used to prevent the movement of the cylinder body on cylinder body transmission device；
Pneumatic stock stop includes: backgauge cylinder and backgauge head；
Backgauge head is arranged in backgauge cylinder, and backgauge cylinder is for driving backgauge head to protrude or be hidden in cylinder body transmission dress
It sets.
In a kind of feasible scheme, cylinder body transmission device includes: the air-powered lifting device being arranged at station:
Air-powered lifting device includes: raising board, positioning pin and lifting cylinder；
Lifting cylinder is connect with raising board, and lifting cylinder is for driving raising board raising and lowering；
The both ends of positioning pin are connect with cylinder body and raising board respectively, and positioning pin is used for position of the positioning cylinder relative to raising board
It sets；
Raising board is for lifting up and down cylinder body from cylinder body transmission device.
In a kind of feasible scheme, the robot further include: simulation cylinder head transmission device；
Simulation cylinder head transmission device and simulation cylinder head remove gripper cooperation, and are equipped with and remove gripper from cylinder body for simulation cylinder head
The simulation cylinder head of dismounting holds station, for the simulation cylinder head of dismounting to be sent to predeterminated position.Save artificial transmission by
The process for removing cylinder cap, to improve processing efficiency.
Based on above scheme it is found that simulation cylinder head provided by the embodiment of the utility model removes gripper, can be set in mould
In quasi- cylinder cap robot for disassembling work, using gripper main body, variable pitch device, axis and the realization of cylinder cap grasping mechanism are turned to simulation cylinder head
It removes.Specifically, it by the variable pitch device and cylinder cap grasping mechanism that are arranged in gripper main body, is grabbed using cylinder cap grasping mechanism
Cylinder cap is taken, to limit the movement of cylinder cap, variable pitch device adjustment is recycled to turn the spacing of axis, so as to adjust axis is turned with respect to mould
The position of bolt on quasi- cylinder cap, is then turned on after turning axis, drives the bolt on simulation cylinder head to rotate by turning axis, realizes bolt
Unscrew, then after unscrewing, simulation cylinder head can be removed, improve dismounting efficiency.Also, due to the controllability of variable pitch device,
So that simulation cylinder head provided by the embodiment of the utility model removes the dismounting that gripper is adapted to multi items simulation of engine cylinder cap.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is
Some embodiments of the utility model, for those of ordinary skill in the art, in the premise of not making the creative labor property
Under, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is the left view of the simulation cylinder head dismounting gripper working condition in the utility model embodiment one；
Fig. 2 is the main view of the simulation cylinder head dismounting gripper in the utility model embodiment one；
Fig. 3 is the main view of the simulation cylinder head dismounting gripper working condition in the utility model embodiment one；
Fig. 4 is the left view of the simulation cylinder head dismounting gripper in the utility model embodiment one；
Fig. 5 is the structural schematic diagram of the variable pitch device in the utility model embodiment one；
Fig. 6 is the structural schematic diagram of the simulation cylinder head dismounting gripper in the utility model embodiment two；
Fig. 7 is the structural schematic diagram of the cylinder pad grasping mechanism in the utility model embodiment two；
Fig. 8 is the top view of the robot in the utility model embodiment three；
Fig. 9 is the structural schematic diagram of the cylinder body conveying device in the utility model embodiment three；
Figure 10 is the structural schematic diagram of the pneumatic stock stop in the utility model embodiment three.
Marked in the figure:
Gripper main body 1；
Torque changing apparatus 2；
Motor 21；
Screw rod 22；
Feed screw nut 23；
Linkage 24；
Sliding block 25；
Turn axis 3；
Cylinder bolt 31；
Simulation cylinder head grasping mechanism 4；
Pneumatic extension device 41；
Gripper ontology 42；
Simulation cylinder head 43；
Cylinder pads grasping mechanism 5；
Vacuum chuck 51；
Mounting plate 52；
Cylinder pad 53；
Cylinder pads collection table 54；
Robot arm 6；
Cylinder body transmission device 7；
Pneumatic stock stop 71；
Air-powered lifting device 72；
Backgauge cylinder 711；
Backgauge head 712；
Raising board 721；
Positioning pin 722；
Lifting cylinder 723；
Robot controller 8；
Simulation cylinder head transmission device 9；
Simulation cylinder head pipeline 91；
Cylinder body pipeline 92；
Cylinder body 921；
Simulation cylinder head dismantles station 10.
Specific embodiment
It is practical new below in conjunction with this to keep the objectives, technical solutions, and advantages of the embodiments of the present invention clearer
Attached drawing in type embodiment, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that is retouched
The embodiment stated is the utility model a part of the embodiment, instead of all the embodiments.Based on the implementation in the utility model
Example, every other embodiment obtained by those of ordinary skill in the art without making creative efforts belong to
The range of the utility model protection.
In the description of the present invention, it should be understood that term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",
"front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside", " axial direction ", " radial direction ", " circumferential direction " etc.
The orientation or positional relationship of instruction is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description the utility model
It is described with simplifying, rather than the device or element of indication or suggestion meaning must have a particular orientation, with specific orientation structure
It makes and operates, therefore should not be understood as limiting the present invention.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " Gu
It is fixed " etc. terms shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, be also possible to integral；
It can be mechanical connection, be also possible to be electrically connected, be also possible to communication connection；It can be and be directly connected to, centre can also be passed through
Medium is indirectly connected with, and can be the connection inside two elements or the interaction relationship of two elements, unless otherwise clear
Restriction.For the ordinary skill in the art, above-mentioned term can be understood in the utility model as the case may be
In concrete meaning.
The technical solution of the utility model is described in detail with specifically embodiment below.These are specific below
Embodiment can be combined with each other, and the same or similar concept or process may be repeated no more in some embodiments.
Fig. 1 is the left view of the simulation cylinder head dismounting gripper working condition in the utility model embodiment one, and Fig. 2 is this reality
The main view of gripper is removed with the simulation cylinder head in new embodiment one, Fig. 3 is the simulation cylinder in the utility model embodiment one
Lid removes the main view of gripper working condition, and Fig. 4 is the left view of the simulation cylinder head dismounting gripper in the utility model embodiment one
Figure.
As shown in Figures 1 to 4, the simulation cylinder head in the present embodiment removes gripper, is applied to robot, is specifically used for removing
Simulation cylinder head 43 on cylinder body 921, simulation cylinder head 43 are connect by cylinder bolt 31 with cylinder body 921.Simulation cylinder head removes gripper
Include: gripper main body 1, variable pitch device 2, turn axis 3 and simulation cylinder head grasping mechanism 4.Variable pitch device 2 and simulation cylinder head gripper
Structure 4 is arranged in gripper main body 1, and simulation cylinder head grasping mechanism 4 is for grabbing simulation cylinder head 43, to limit the shifting of simulation cylinder head 43
Dynamic, variable pitch device 2 is connect with axis 3 is turned, and for adjusting the position for turning axis 3, turns axis 3 for turning on simulation cylinder head 43
Cylinder bolt 31.
Wherein, robot is the general name for executing the installations of work.Robot is equipped with controller and robot arm
6, operator can execute different movements using the controller to robot arm 6.Simulation cylinder head in the present embodiment is removed
Gripper is mounted on the end of robot arm 6, specifically for removing the simulation cylinder head 43 on cylinder body 921.Wherein, simulation cylinder head
43, cylinder body 921 and cylinder pad 53 form workpiece entirety to be added, and simulation cylinder head 43 and cylinder pad are arranged by cylinder bolt 31 in cylinder body
921 upper surface, also, the quantity of cylinder bolt 31 is 10, is arranged in parallel two rows.Cylinder pad 53 is arranged in simulation cylinder head
Between 43 and cylinder body 921.
Gripper main body 1 in the present embodiment is the basis that simulation cylinder head removes gripper, is mounted on gripper main body 1 for supporting
On all parts.Gripper main body 1 can be metal framework or metallic support etc., and the present embodiment is not construed as limiting this.
The rotary shaft for turning axis 3 and including: driving motor and driving selection by the driving motor in the present embodiment.The rotation
The top of shaft is adapted with cylinder bolt 31, can is cross pattern, a word line, hexagon line, rectangle line etc., be worked as driving motor
After starting, if the top of rotary shaft offsets with cylinder bolt 31, rotary shaft drives cylinder bolt 31 to rotate, and realization loosers a bolt
Process.It is only used for turning bolt it will be appreciated by those skilled in the art that turning axis, the axis 3 that turns in the present embodiment can also be by
Other forms are realized, do not do any restriction to this present embodiment.It is worth noting that tightening axle 3 is pressed always in demolishing process
It is being turned according to the mode for unscrewing cylinder bolt 31, tightening axle 3 does not depart from always cylinder bolt 31, avoids because during transportation
The factors such as vibration caused by the situation that might have convolution and tangle threaded hole of cylinder bolt 31 occur.
Variable pitch device 2 in the present embodiment may include: displacement driving device and linkage mechanism.Turning axis 3 can pacify
Position is adjusted on linkage mechanism, and with the linkage mechanism, displacement driving device is used to trigger the operation of the linkage mechanism.It lifts
For example, when displacement driving device triggers linkage mechanism, linkage mechanism drive turns the movement of axis 3, multiple to turn the mutual of axis 3
Distance changes, and is arranged with the cylinder bolt 31 adapted on simulation cylinder head 43.
Simulation cylinder head grasping mechanism 4 in the present embodiment is controlled by robot controller, to grab simulation cylinder head 43.And
By way of crawl, the movement of simulation cylinder head 43 is limited.
Through the above it is not difficult to find that simulation cylinder head provided in this embodiment, which removes gripper, passes through gripper main body 1, displacement
Device 2, the mutual cooperation for turning axis 3 and simulation cylinder head grasping mechanism 4 are specifically removed gripper when the simulation cylinder head and are pacified
After being attached to robot, operator can control robot, and it is mobile by robot arm 6 that simulation cylinder head is removed gripper
To the top of simulation cylinder head 43, variable pitch device 2 is controlled to adjust the position for turning axis 3, makes to turn on axis 3 and simulation cylinder head 43
31 position of cylinder bolt is adapted, and meets the dismounting of different cultivars simulation of engine cylinder cap 43, then controls robot arm 6 downwards
It is mobile, it is mutually supported until turning axis 3 with the cylinder bolt 31 on simulation cylinder head 43, unlatching, which turns axis 3, makes it drive cylinder cap spiral shell
Bolt 31 rotates, and after cylinder bolt 31 is unscrewed, starts simulation cylinder head grasping mechanism 4, grabs mould by simulation cylinder head grasping mechanism 4
Quasi- cylinder cap 43, control robot arm 6 are moved up, are grabbed at this point, simulation cylinder head 43 is removed and is fixed on simulation cylinder head
It takes in mechanism 4, then required position can be transported to by robot.Therefore, simulation cylinder head dismounting gripper provided in this embodiment can
To adapt to the dismounting of multi items simulation of engine cylinder cap 43, and improve dismounting efficiency.
Fig. 5 is the main view of the variable pitch device in the utility model embodiment one, as shown in figure 5, the change in the present embodiment
It include: that motor 21, screw rod 22,25,10 feed screw nut 23, linkage and 10 sliding blocks sliding blocks 25 pass through hinge away from device 2
Mechanism 24 divides the sliding block groups parallel for two rows, and 5 sliding blocks 25 of every row connect, and motor 21 is connect with screw rod 22, and feed screw nut 23 will
22 sets of screw rod inside, and is connect at least one sliding block 25, and the present embodiment selects a sliding block of the rightmost side and feed screw nut to connect
Connect, linkage 24 by more end to end hinged oscillating rod form, its hinge joint can be fixed in gripper main body 1, to make
For fulcrum, when motor 21 drives screw rod 22 to rotate, it is axial along screw rod 22 that feed screw nut 23 will drive sliding block 25 connected to it
Mobile, the sliding block 25 connecting with feed screw nut 23 drives remaining sliding block 25 to move axially along screw rod 22 by linkage 24, then
Sliding block 25 separates or furthers between each other, that is, realizes the stretching, extension and contraction of variable pitch device 2.
It will be appreciated by those skilled in the art that the quantity of sliding block be in order to the quantity that turns axis 3 or cylinder bolt 31
Unanimously, therefore, the present embodiment does not do any restriction to the quantity of sliding block 25.For example, for there is eight simulation cylinder head bolts
31 workpiece to be processed should have the variable pitch device 2 of eight sliding blocks 25, turn axis with cooperation eight to process the workpiece.Displacement dress
It is mobile according to 31 deployment scenarios of bolt of the workpiece to set 2 drive tightening axles 3, to adapt to variety classes workpiece.
Optionally, as shown in Figure 1, Figure 2 and Figure 4, the simulation cylinder head grasping mechanism 4 of the present embodiment includes: to be oppositely arranged
Two Pneumatic extension devices 41 and the gripper ontology 42 being separately positioned on Pneumatic extension device.Two Pneumatic extension devices 41
It is arranged in gripper main body 1, two Pneumatic extension devices 41 are for driving gripper ontology 42 close to each other or separate.Specifically,
After tightening axle 3 unscrews simulation cylinder head bolt 31 completely, Pneumatic extension device 41 starts to start, and stretching motion is carried out, by two
A gripper ontology 42 pushs towards, so that gripper ontology 42 clamps simulation cylinder head 43, to reach crawl and unclamp simulation cylinder head
43 purpose.
Fig. 6 is the structural schematic diagram of the simulation cylinder head dismounting gripper in the utility model embodiment two, and Fig. 7 is that this is practical new
The structural schematic diagram of cylinder pad grasping mechanism in type embodiment two.Embodiment is second is that the improvement project based on embodiment one, such as Fig. 6
With shown in Fig. 7, the improvement is that: the simulation cylinder head removes gripper further include: cylinder pads grasping mechanism 5.Cylinder pads grasping mechanism 5
It is arranged in gripper main body 1, for grabbing cylinder pad 53.
After cylinder cap grasping mechanism 4 is by the crawl of simulation cylinder head 43 and the disengaging cylinder body of random device manpower pawl main body 1, the crawl of cylinder pad
Mechanism 5 is similarly disposed in gripper main body 1, is moved to 53 top of cylinder pad, the process for carrying out crawl cylinder pad 53 with gripper main body 1.
In this way, which realize also can simplify process flow, save object while removing cylinder cap by cylinder pad with dismounting is walked out of
Power.
Fig. 7 is the structural schematic diagram of the cylinder pad grasping mechanism in the utility model embodiment two, as shown in fig. 7, cylinder pad is grabbed
Taking mechanism 5 includes: vacuum chuck 51 and mounting plate 52.Mounting plate 52 is arranged in gripper main body 1, and the setting of vacuum chuck 51 is being pacified
In loading board 52, cylinder pad 53 is grabbed for inhaling.Specifically, cylinder pad grasping mechanism 5 moves on on cylinder pad 53, cylinder pads true on grasping mechanism 5
Suction disk 51 pushes, and vacuum chuck 51 is adjacent to cylinder pad 53, and the air in vacuum chuck 51 is discharged, then cylinder pad grasping mechanism 5 is inhaled
Cylinder pad 53 is caught, cylinder pad grasping mechanism 5, which moves up, drives cylinder pad 53 to be detached from cylinder body, is sent to 54 top of cylinder pad collection table, vacuum
Sucker 51 is filled with air, and cylinder pad 53 is detached from vacuum chuck 51, because gravity itself is fallen on predeterminated position, realizes cylinder pad to reach
53 dismounting purpose.
Fig. 8 is the top view of the robot in the utility model embodiment three.As shown in figure 8, the robot includes: cylinder body
Transmission device 7, cylinder pad collection table 54, cylinder cap transmission device 9, simulation cylinder head remove station 10, robot controller 8, robot
Simulation cylinder head provided by arm 6 ' and embodiment two removes gripper.Simulation cylinder head removes gripper and robot arm 6 ' is arranged
On, robot controller 8 is used to control robot arm 6 ' and simulation cylinder head dismounting gripper is driven to move in three-dimensional space.
Wherein, under controller control robot arm 6 ' does circle swing in the horizontal plane and rises in vertical plane
Drop movement, thus drive simulation cylinder head remove gripper horizontally or vertically plane in move.Simulation cylinder head removes gripper crawl
After simulation cylinder head 43, after the simulation cylinder head, which removes gripper, is mounted to robot, simulation cylinder head is removed hand by operator
Pawl is moved to the top of simulation cylinder head 43 by robot arm 6 ', makes to turn the cylinder bolt 31 on axis 3 and simulation cylinder head 43
Position is adapted, then is controlled robot arm 6 ' and moved down, until turning axis 3 and 31 phase of cylinder bolt on simulation cylinder head 43
It mutually supports, unlatching, which turns axis 3, makes it that cylinder bolt 31 be driven to rotate, and then starts simulation cylinder head grasping mechanism 5, by simulation cylinder head
Grasping mechanism 5 grabs simulation cylinder head 43, and control robot arm 6 ' moves up, at this point, simulation cylinder head 43 is removed simultaneously
It is fixed on simulation cylinder head grasping mechanism 5, then can be transported to by robot on simulation cylinder head transmission device 9.
Fig. 9 is the structural schematic diagram of the cylinder body conveying device in the utility model embodiment three, and Figure 10 is the utility model
The structural schematic diagram of pneumatic stock stop in embodiment three.
Optionally, robot includes: cylinder body transmission device 7.As shown in figure 9, cylinder body transmission device 7 is for transmitting cylinder body
921, cylinder body transmission device 7 can be the raceway that is formed by the roller of more side by side parallel to transport cylinder body 921, cylinder body transmission dress
It sets 7 and removes gripper cooperation with simulation cylinder head, and be equipped with the work for removing simulation cylinder head 43 from cylinder body 921 for simulation cylinder head dismounting gripper
Position.A plurality of Roller conveyor and other conveying equipments or the logistics conveyer system and shunting converging system of special plane complicated composition can be used,
Complete various process requirements.Roller path structure is simple, high reliablity, and working service is convenient, and cylinder body 921 can be made to transport
It avoids damaging in the process.
Optionally, the cylinder body transmission device 7 in the present embodiment includes: the pneumatic stock stop 71 being arranged at station.Such as Fig. 8
To shown in Figure 10, pneumatic stock stop 71 is used to prevent the cylinder body on cylinder body transmission device 7 mobile.Pneumatic stock stop 71 includes: gear
Expect cylinder 711 and backgauge head 712.Backgauge head 712 is arranged in backgauge cylinder 711, and backgauge cylinder 711 is for driving backgauge head
712 protrusions are hidden in cylinder body transmission device 7.Specifically, when a cylinder body to be processed is transmitted to simulation cylinder head disassembly by raceway
When on station 10, the backgauge cylinder 711 on pneumatic stock stop 71 is shunk, then backgauge head 712 protrudes.Pneumatic stock stop 71 blocks
The transport of next cylinder body 921 carries out dismounting simulation cylinder head to be supplied to the simulation cylinder head dismounting enough room and times of gripper
43。
Optionally as shown in Figure 8 and Figure 9, the cylinder body transmission device 7 in the present embodiment further include: the gas at station is set
Dynamic lifting device 72.Air-powered lifting device 72 includes: raising board 721, positioning pin 722 and lifting cylinder 723.Lifting cylinder 723
Connect with raising board 721, lifting cylinder 723 for driving 721 raising and lowering of raising board, the both ends of positioning pin 722 respectively with
Cylinder body and raising board 721 connect, and positioning pin 722 is used for position of the positioning cylinder 921 relative to raising board 721, and raising board 721 is used
In lifting up and down cylinder body from cylinder body transmission device 7.Specifically, lifting cylinder 723 is connect with raising board 721, lifting cylinder
Cylinder body is lifted gripper easy to dismantle and worked by 723 drive raising boards 721, and cylinder body is accurately positioned by positioning pin 722.Work as simulation
Cylinder cap is removed gripper work and is completed, and lifting cylinder 723 drives raising board 721 to be reduced to cylinder body on raceway again.Backgauge cylinder
711 elongations, backgauge head 712 are hidden under raceway, and next cylinder body begins to move into simulation cylinder head disassembly station 10.Air-powered lifting
Device 72 protrudes cylinder body, make simulation cylinder head remove gripper on turn axis cylinder bolt support it is more easy, to make to simulate
The disassembly of cylinder cap is more convenient.
Optionally, as shown in figure 8, robot further include: simulation cylinder head transmission device 9.Simulation cylinder head transmission device 9 and mould
Quasi- cylinder cap removes gripper cooperation, and the simulation cylinder head of dismounting is sent to predeterminated position.Specifically, when simulation cylinder head grasping mechanism moves
When moving simulation cylinder head 9 top of transmission device, simulation cylinder head grasping mechanism discharges the simulation cylinder head that has grabbed, simulation cylinder head due to
Self gravity is fallen on transmission raceway, and simulation cylinder head is sent out robot mechanism by simulation cylinder head transmission device 9, to realize
Whole simulation cylinder head demolishing process.
In the present invention unless specifically defined or limited otherwise, fisrt feature is in the second feature " on " or " down "
It can be that fisrt feature and second feature directly contact or fisrt feature and second feature pass through intermediary mediate contact.
Moreover, fisrt feature can be fisrt feature in second feature above the second feature " above ", " above " and " above "
Directly above or obliquely above, or first feature horizontal height is merely representative of higher than second feature.Fisrt feature is in second feature " it
Under ", " lower section " and " following " can be fisrt feature and be directly under or diagonally below the second feature, or be merely representative of fisrt feature water
Flat height is lower than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc., it is intended that describe particular features, structures, materials, or characteristics in conjunction with the embodiment or example
It is contained at least one embodiment or example of the utility model.In the present specification, schematic expression of the above terms
Necessarily it is directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be
It can be combined in any suitable manner in any one or multiple embodiment or examples.In addition, without conflicting with each other, ability
The technical staff in domain can be by different embodiments or examples described in this specification and the feature of different embodiments or examples
It is combined.
Finally, it should be noted that the above various embodiments is only to illustrate the technical solution of the utility model, rather than it is limited
System；Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should
Understand: it is still possible to modify the technical solutions described in the foregoing embodiments, or to some or all of
Technical characteristic is equivalently replaced；And these are modified or replaceed, it does not separate the essence of the corresponding technical solution, and this is practical new
The range of each embodiment technical solution of type.
Claims (10)
1. a kind of simulation cylinder head removes gripper, it is applied to robot, specifically for removing the simulation cylinder head on cylinder body, the simulation
Cylinder cap is connect by bolt with the cylinder body, which is characterized in that it includes: gripper main body, displacement that the simulation cylinder head, which removes gripper,
Device turns axis and cylinder cap grasping mechanism；
The variable pitch device and cylinder cap grasping mechanism are arranged in the gripper main body；
The cylinder cap grasping mechanism is for grabbing cylinder cap, to limit the movement of the cylinder cap；
The variable pitch device turns axis connection with described, for adjusting the position for turning axis；
The axis that turns is for turning the bolt on simulation cylinder head.
2. simulation cylinder head according to claim 1 removes gripper, which is characterized in that the variable pitch device includes: motor, silk
Bar, feed screw nut, linkage and multiple sliding blocks；
The multiple sliding block is connected side by side by linkage；
The screw rod is connect with the motor, and the motor is for driving the screw rod to rotate；
The feed screw nut is arranged on the screw rod, and the screw rod is used to drive the feed screw nut along the silk in rotation
Bar axial movement；
The feed screw nut connect with wherein at least one sliding block, and the feed screw nut is made to drive the multiple sliding block when moving
It is axially close to each other or separate along the screw rod.
3. simulation cylinder head according to claim 1 removes gripper, which is characterized in that the cylinder cap grasping mechanism includes: phase
Two Pneumatic extension devices to setting and the gripper ontology being separately positioned on the Pneumatic extension device；
Described two Pneumatic extension devices are arranged in the gripper main body, and described two Pneumatic extension devices are described for driving
Gripper ontology is close to each other or separate.
4. simulation cylinder head according to claim 1 removes gripper, which is characterized in that further include: cylinder pads grasping mechanism；
The cylinder pad grasping mechanism is arranged in the gripper main body, for grabbing cylinder pad.
5. simulation cylinder head according to claim 4 removes gripper, which is characterized in that the cylinder pad grasping mechanism includes: true
Suction disk and mounting plate；
The mounting plate is arranged in the gripper main body；
The vacuum chuck is arranged on the mounting plate, grabs the cylinder pad for inhaling.
6. a kind of robot characterized by comprising mould described in any one of robot arm and claim 1 to 5
Quasi- cylinder cap removes gripper；
The simulation cylinder head is removed gripper and is arranged on the robot arm, and the robot arm is for driving the simulation
Cylinder cap is removed gripper and is moved in three-dimensional space.
7. robot according to claim 6, which is characterized in that further include: cylinder body transmission device；
The cylinder body transmission device is for transmitting cylinder body；
The cylinder body transmission device and the simulation cylinder head remove gripper cooperation, and be equipped with for the simulation cylinder head remove gripper from
The station of cylinder body dismounting simulation cylinder head.
8. robot according to claim 7, which is characterized in that the cylinder body transmission device includes: to be arranged in the work
Pneumatic stock stop at position；
The pneumatic stock stop is used to prevent the movement of the cylinder body on the cylinder body transmission device；
The pneumatic stock stop includes: backgauge cylinder and backgauge head；
The backgauge head is arranged in the backgauge cylinder, and the backgauge cylinder is for driving the backgauge head to protrude or be hidden in
The cylinder body transmission device.
9. robot according to claim 7, which is characterized in that the cylinder body transmission device includes: to be arranged in the work
Air-powered lifting device at position:
The air-powered lifting device includes: raising board, positioning pin and lifting cylinder；
The lifting cylinder is connect with the raising board, and the lifting cylinder is for driving the raising board raising and lowering；
The both ends of the positioning pin are connect with the cylinder body and the raising board respectively, and the positioning pin is for positioning the cylinder body
Position relative to the raising board；
The raising board is for lifting up and down cylinder body from the cylinder body transmission device.
10. robot according to claim 6, which is characterized in that further include: simulation cylinder head transmission device；
The simulation cylinder head transmission device and the simulation cylinder head remove gripper cooperation, and are equipped with and remove hand for the simulation cylinder head
The simulation cylinder head that pawl is removed from cylinder body holds station, for the simulation cylinder head of dismounting to be sent to predeterminated position.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201821124141.4U CN208468430U (en) | 2018-07-16 | 2018-07-16 | Simulation cylinder head removes gripper and robot |
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| CN201821124141.4U CN208468430U (en) | 2018-07-16 | 2018-07-16 | Simulation cylinder head removes gripper and robot |
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| CN208468430U true CN208468430U (en) | 2019-02-05 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112077583A (en) * | 2020-07-29 | 2020-12-15 | 东风汽车集团有限公司 | Self-guiding engine oil pan bolt assembling system and method |
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2018
- 2018-07-16 CN CN201821124141.4U patent/CN208468430U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112077583A (en) * | 2020-07-29 | 2020-12-15 | 东风汽车集团有限公司 | Self-guiding engine oil pan bolt assembling system and method |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20230908 Address after: Room 102, No. 9 Xianxia West Road, Changning District, Shanghai, 200335 Patentee after: Li Jie Address before: No. 79 Shengta Road, Shihudang Town, Songjiang District, Shanghai, 201617 Patentee before: SHANGHAI J&K TRANSMISSION SYSTEM Co.,Ltd. |
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| TR01 | Transfer of patent right |