CN209140894U - A kind of novel engine cylinder head conveying robot - Google Patents
A kind of novel engine cylinder head conveying robot Download PDFInfo
- Publication number
- CN209140894U CN209140894U CN201821955726.0U CN201821955726U CN209140894U CN 209140894 U CN209140894 U CN 209140894U CN 201821955726 U CN201821955726 U CN 201821955726U CN 209140894 U CN209140894 U CN 209140894U
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- Prior art keywords
- finger
- cylinder cap
- cylinder
- handgrip
- fixture
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- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 238000007664 blowing Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 238000003754 machining Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 241000233855 Orchidaceae Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
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Abstract
The utility model discloses a kind of novel engine cylinder head conveying robots, including bridge plate, the first cylinder cap handgrip fixture and the second cylinder cap handgrip fixture, the first cylinder cap handgrip fixture and the second cylinder cap handgrip fixture pass through handgrip connecting flange respectively and are set to bridge plate bottom both ends；First cylinder cap handgrip fixture includes cylinder cap handgrip support plate, staggered parallel is fixed with first straight line line rail and second straight line line rail on cylinder cap handgrip support plate, first finger skate board and second finger slide plate pass through clamping screw respectively and are mounted on sliding block, sliding block is slidably connected with straight line line rail respectively, first finger skate board is connected with second finger slide plate by link mechanism, thin cylinder is connect by cylinder rod connecting flange with second finger sliding block, under thin cylinder driving, first finger skate board and second finger slide plate slide in opposite direction, and sliding stroke is identical.The manipulator operation flexibly, quickly, is obviously improved and clamps efficiency, reduce the production cost of product.
Description
Technical field
The utility model relates to engine cylinder cover processing equipment technical fields, and in particular to a kind of novel engine cylinder head is removed
Transport manipulator.
Background technique
Important component of the engine cylinder cover as motor car engine, processing and manufacturing process are particularly important.At present
During the processing and manufacturing of existing engine cylinder cover, needs to place cylinder cap to be processed and pass through fixture and be fixed on platen
On, then each working face of cylinder cap is processed, cylinder cap taking-up is shifted again later.
The structural principle of existing engine cylinder cover conveying robot is as shown in Figure 1,8 ' passing through of truss robot column
It learns stud and is fixed on mattess, truss robot X-axis crossbeam 1 ' is bolted to truss robot column 8 '.X-axis
Sliding trolley 6 ' is connected in a manner of line rail sliding block on truss robot X-axis crossbeam 1 ', realizes the sliding of horizontal X direction.Z2 axis
Slip shaft 4 ', Z1 axis slip shaft 3 ' are connected to Z axis slide unit bottom plate 2 ' in a manner of line rail sliding block, realize that the vertical direction Z1/Z2 is sliding
It moves.Cylinder cap front/rear end first grabs fixture 5 ', cylinder cap front/rear end second grabs fixture 7 ' and is bolted to 3/4 end face
Flange, to realize the crawl and carrying of cylinder cap.
Existing this engine cylinder cover conveying robot has following defects that (1), and it may be implemented X-axis and moves horizontally, Z
Axis moves up and down, and pick-and-place material can be carried out with vertical machining center, but can not pick and place and expect to horizontal Machining centers, and at certain
The main axle cutter of vertical machining centre can not be avoided in a little situations；(2) manipulator carries out feeding and blowing action to process equipment
When need to carry out the feeding action of finished product next time on Z1 axis slip shaft 3 ', X-axis sliding trolley 6 ' moves horizontally primary replacement Z2
The blowing action for carrying out blank on axis and then Z2 axis slip shaft 4 ' next time is achieved and blowing action axis servomotor is taken to run stroke
Long, speed is slow, and processing efficiency is low；(3) when cylinder cap workpiece needs replacing top bottom surface processing, existing robot clamp can not
It realizes, needs to increase outside machine dough mill structure or machining center configuration A axis realizes the tune face of workpiece.
Utility model content
The purpose of the utility model is to overcome defect in the prior art, it is simple to provide a kind of structure, flexible operation, fast
Speed is obviously improved the novel engine cylinder head conveying robot for clamping efficiency.
To solve the above-mentioned problems, the utility model uses following technical scheme:
A kind of novel engine cylinder head conveying robot, including bridge plate, the first cylinder cap handgrip fixture and the second cylinder cap handgrip
Fixture is equipped with for the flange with the 6th axis connection of articulated robot, the first cylinder cap handgrip fixture at the bridge plate center
Pass through handgrip connecting flange respectively with the second cylinder cap handgrip fixture and is set to bridge plate bottom both ends, first cylinder cap
Handgrip fixture has identical structure with the second cylinder cap handgrip fixture；The first cylinder cap handgrip fixture includes that cylinder cap handgrip carries
Plate, thin cylinder, straight line line rail, sliding block, the first finger skate board, second finger slide plate and link mechanism, the cylinder cap handgrip carry
Staggered parallel is fixed with first straight line line rail and second straight line line rail, first finger skate board and the second finger on plate
Slide plate is installed on the slide block by clamping screw respectively, and the sliding block is slidably connected with the straight line line rail respectively, described
First finger skate board is connected with the second finger slide plate by link mechanism, and the thin cylinder passes through cylinder rod connecting flange
It is connect with the second finger slide plate, under thin cylinder driving, the first finger skate board and second finger slide plate are in opposite direction
Sliding, and sliding stroke is identical；Pass through finger mounted method below first finger skate board and the second finger slide plate respectively
Orchid is fixedly connected with Pneumatic rotary finger, and the Pneumatic rotary finger lower inside is equipped with rotatable imitative type finger.
Further technical solution, the link mechanism include adjustable link, bearing block and bearing, and the bearing passes through
Bearing block is mounted on the cylinder cap handgrip support plate between first finger skate board and the second finger slide plate, the axis
Hold an opposite end and be respectively articulated with adjustable link, the adjustable link pass through respectively connecting rod connector with it is described first-hand
Refer to that slide plate is connected with the second finger slide plate.
Further technical solution, one end is provided with the peace for installing handgrip pneumatic element on the cylinder cap handgrip support plate
Loading board, lever connecting flange side are equipped with the hydraulic bjuffer for limit.
Further technical solution, two Pneumatic rotary fingers are collectively formed for workpiece on the cylinder cap handgrip fixture
Carry out the A axis in tune face.
The utility model has the following beneficial effects:
Vertical machining centre or horizontal can be used in the utility model in engine cylinder cover conveying robot use process
The crawl posture of machining center, in conjunction with articulated robot six-axis linkage realize quickly pick and place material, take blowing action it is only necessary to
6th axis rotates 180 ° and can be realized, and reloads the time and workpiece posture is all able to greatly promote optimization；Wherein bridge plate bottom
Both ends are equipped with feeding handgrip (the first cylinder cap handgrip fixture) and blowing handgrip (the second cylinder cap handgrip fixture), on cylinder cap handgrip fixture
Design is mounted with that Pneumatic rotary finger, two pivoting fingers collectively form the A axis for carrying out tune face to workpiece, and manipulator is removed
The reverse side function of workpiece is realized during fortune；The picking unit that two Pneumatic rotary fingers on cylinder cap handgrip fixture are constituted passes through
Link mechanism, thin cylinder driving under, while realize Pneumatic rotary finger step up and centering function.
Detailed description of the invention
The utility model is described in further detail with specific embodiment with reference to the accompanying drawing.
Fig. 1 is the structural schematic diagram of cylinder cap conveying robot in the prior art；
Fig. 2 is the perspective view of the vertical use state of cylinder cap conveying robot in the utility model；
Fig. 3 is the perspective view of the horizontal use state of cylinder cap conveying robot in the utility model；
Fig. 4 is the perspective view of cylinder cap handgrip fixture in the utility model；
Fig. 5 is the top view of cylinder cap handgrip fixture in the utility model；
Fig. 6 is the cross-sectional view of cylinder cap handgrip fixture in the utility model；
Wherein, specific appended drawing reference is as follows: X-axis crossbeam 1 ', Z axis slide unit bottom plate 2 ', Z1 axis slip shaft 3 ', Z2 axis slip shaft
4 ', the first crawl fixture 5 ', X-axis sliding trolley 6 ', the second crawl fixture 7 ', column 8 ', the first cylinder cap handgrip fixture 1, bridge plate
2, the second cylinder cap handgrip fixture 3, mounting plate 4, cylinder rod connecting flange 5, handgrip connecting flange 6, thin cylinder 7, hydraulic bjuffer
8, cylinder cap handgrip support plate 9, the first finger skate board 10, connecting rod connector 11, adjustable link 12, bearing block 13, bearing 14, second
Finger skate board 15, finger mounted flange 16, Pneumatic rotary finger 17,21 imitate type finger 18, straight line line rail 19, sliding block 20.
Specific embodiment
As shown in Figures 2 to 6, the utility model provides a kind of novel engine cylinder head conveying robot, including bridge plate 2,
First cylinder cap handgrip fixture 1 and the second cylinder cap handgrip fixture 3 are equipped at 2 center of bridge plate for connecting with the 6th axis of articulated robot
The flange connect, the first cylinder cap handgrip fixture 1 and the second cylinder cap handgrip fixture 3 are set to bridge plate 2 by handgrip connecting flange 6 respectively
Bottom both ends, handgrip connecting flange 6 are connect by screw with bridge plate 2, and use cylinder finger setting, the first cylinder cap handgrip fixture 1
There is identical structure with the second cylinder cap handgrip fixture 3.First cylinder cap handgrip fixture 1 include cylinder cap handgrip support plate 9, thin cylinder 7,
Straight line line rail 19, sliding block 20, the first finger skate board 10, second finger slide plate 15 and link mechanism, upper left on cylinder cap handgrip support plate 9
End and bottom righthand side staggered parallel are fixed with first straight line line rail and second straight line line rail, the first finger skate board 10 and second finger
Slide plate 15 is mounted on sliding block 20 by clamping screw respectively, and sliding block 20 is slidably connected with straight line line rail 19 respectively, can be along straight
Line line rail 19 slides, and the first finger skate board 10 is connected with second finger slide plate 15 by link mechanism, and thin cylinder 7 passes through cylinder
Bar connecting flange 5 is connect with second finger slide plate 15, under the driving of thin cylinder 7, the first finger skate board 10, second finger slide plate
15 and link mechanism form a set of centering machine, under the driving of thin cylinder 7, the first finger skate board 10 and second finger slide plate 15
It slides in opposite direction, and sliding stroke is identical.First finger skate board 10 and 15 lower section of second finger slide plate pass through finger respectively
Mounting flange 16 is fixedly connected with Pneumatic rotary finger 17,21, and 17 lower inside of Pneumatic rotary finger is equipped with rotatable imitative
Type finger 18.Two Pneumatic rotary fingers 17,21 collectively form the A axis for carrying out tune face to workpiece on cylinder cap handgrip fixture,
The reverse side function of workpiece is realized during Manipulator Transportation.One end is provided with for installing handgrip gas on cylinder cap handgrip support plate 9
The mounting plate 4 of dynamic element, lever connecting flange side are equipped with the hydraulic bjuffer 8 for limit, pass through the limit of hydraulic bjuffer 8
Speed realizes the stationarity of the clamping of Pneumatic rotary finger 17,21 and opening procedure.
Link mechanism includes adjustable link 12, bearing block 13 and bearing 14, and bearing 14 is installed in place by bearing block 13
On cylinder cap handgrip support plate 9 between the first finger skate board 10 and second finger slide plate 15,13 opposite end of bearing block respectively with
Adjustable link 12 is connected by pin shaft, and circlip is fixed, and adjustable link 12 passes through connecting rod connector 11 and the first finger respectively
Slide plate 10 is fixedly connected with second finger slide plate 15, and under the driving of thin cylinder 7, the first finger skate board 10 and second finger are sliding
The sliding stroke of plate 15 is identical.
Double-station articulated robot cylinder cap handgrip fixture mechanical structure in the utility model is simple, and simplifies automatically controlled
Structure；Can be simultaneously to horizontal and vertical carry out loading and unloading in combination with articulated robot, and workpiece can be realized on handgrip
Tune face, be obviously improved and clamp efficiency；The design of centering machine and thin cylinder ensure that safety, smooth transport and accurate
Positioning.Flexibly, quickly, required electric control system is simple, reliable for the manipulator operation, reduces the production cost of product.
Use above specific case is illustrated the utility model, is merely used to help understand the utility model, and
Not to limit the utility model.Think of for those skilled in the art of the present invention, according to the utility model
Think, several simple deductions, deformation or replacement can also be made.
Claims (4)
1. a kind of novel engine cylinder head conveying robot, which is characterized in that including bridge plate, the first cylinder cap handgrip fixture and second
Cylinder cap handgrip fixture is equipped with for the flange with the 6th axis connection of articulated robot, first cylinder cap at the bridge plate center
Handgrip fixture and the second cylinder cap handgrip fixture pass through handgrip connecting flange respectively and are set to bridge plate bottom both ends, described
First cylinder cap handgrip fixture has identical structure with the second cylinder cap handgrip fixture；The first cylinder cap handgrip fixture includes cylinder
Lid handgrip support plate, thin cylinder, straight line line rail, sliding block, the first finger skate board, second finger slide plate and link mechanism, the cylinder
Staggered parallel is fixed with first straight line line rail and second straight line line rail on lid handgrip support plate, first finger skate board and described
Second finger slide plate is installed on the slide block by clamping screw respectively, and the sliding block is slided with the straight line line rail respectively to be connected
It connects, first finger skate board is connected with the second finger slide plate by link mechanism, and the thin cylinder passes through cylinder rod
Connecting flange is connect with the second finger slide plate, under thin cylinder driving, the first finger skate board and second finger slide plate edge
Opposite direction sliding, and sliding stroke is identical；Pass through hand respectively below first finger skate board and the second finger slide plate
Refer to that mounting flange is fixedly connected with Pneumatic rotary finger, the Pneumatic rotary finger lower inside is equipped with rotatable imitative type hand
Refer to.
2. novel engine cylinder head conveying robot according to claim 1, which is characterized in that the link mechanism includes
Adjustable link, bearing block and bearing, the bearing are mounted on first finger skate board and described by bearing block
On cylinder cap handgrip support plate between two finger skate boards, the bearing block opposite end has been respectively articulated with adjustable link, it is described can
Adjusting connecting rod passes through connecting rod connector respectively and connect with first finger skate board and the second finger slide plate.
3. novel engine cylinder head conveying robot according to claim 1, which is characterized in that the cylinder cap handgrip support plate
Upper one end is provided with the mounting plate for installing handgrip pneumatic element, and lever connecting flange side is equipped with for the hydraulic slow of limit
Rush device.
4. novel engine cylinder head conveying robot according to claim 1, which is characterized in that the cylinder cap handgrip fixture
Upper two Pneumatic rotary fingers collectively form the A axis for carrying out tune face to workpiece.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821955726.0U CN209140894U (en) | 2018-11-26 | 2018-11-26 | A kind of novel engine cylinder head conveying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821955726.0U CN209140894U (en) | 2018-11-26 | 2018-11-26 | A kind of novel engine cylinder head conveying robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209140894U true CN209140894U (en) | 2019-07-23 |
Family
ID=67287373
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821955726.0U Expired - Fee Related CN209140894U (en) | 2018-11-26 | 2018-11-26 | A kind of novel engine cylinder head conveying robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209140894U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022052175A1 (en) * | 2020-09-08 | 2022-03-17 | 苏州元联科技创业园管理有限公司 | Large-stroke pneumatic clamp |
| CN115625687A (en) * | 2022-12-20 | 2023-01-20 | 广州汉东工业自动化装备有限公司 | A move and carry truss manipulator for cylinder cap |
| CN117798891A (en) * | 2024-03-01 | 2024-04-02 | 沈阳新松机器人自动化股份有限公司 | High-speed truss robot |
-
2018
- 2018-11-26 CN CN201821955726.0U patent/CN209140894U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022052175A1 (en) * | 2020-09-08 | 2022-03-17 | 苏州元联科技创业园管理有限公司 | Large-stroke pneumatic clamp |
| CN115625687A (en) * | 2022-12-20 | 2023-01-20 | 广州汉东工业自动化装备有限公司 | A move and carry truss manipulator for cylinder cap |
| CN117798891A (en) * | 2024-03-01 | 2024-04-02 | 沈阳新松机器人自动化股份有限公司 | High-speed truss robot |
| CN117798891B (en) * | 2024-03-01 | 2024-05-17 | 沈阳新松机器人自动化股份有限公司 | High-speed truss robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190723 |