CN218050233U

CN218050233U - Device for loading and unloading cylinder body and cylinder sleeve by robot and robot with device

Info

Publication number: CN218050233U
Application number: CN202221231369.XU
Authority: CN
Inventors: 胡念书
Original assignee: Georg Fischer AG
Current assignee: Georg Fischer AG
Priority date: 2022-05-20
Filing date: 2022-05-20
Publication date: 2022-12-16
Anticipated expiration: 2032-05-20

Abstract

The utility model discloses a device for loading and unloading cylinder body and cylinder sleeve by a robot and a robot with the device, wherein the device comprises a first fixing plate; the second fixing plate is oppositely arranged at one end of the first fixing plate at intervals, and a movable space is defined between the first fixing plate and the second fixing plate; the first driving piece is fixedly arranged on the first fixing plate, and the driving end of the first driving piece can move in the movable space; the push plate is movably arranged in the movable space and is fixedly connected with the driving end of the first driving piece; one end of each first guide piece is fixedly connected with the push plate, and the other end of each first guide piece movably penetrates through the second fixing plate; the plurality of second driving pieces are arranged on the second fixing plate in an array mode, the driving end of any one second driving piece is connected with the clamping jaw, and any one second driving piece can drive the corresponding clamping jaw to perform clamping or loosening action; the stripper plate is fixedly connected with the other ends of the first guide pieces, and the stripper plate is provided with avoiding holes corresponding to the positions of the clamping jaws. The automatic production of the cylinder body and the cylinder sleeve is realized, the structure is simple, and the clamping is stable and reliable.

Description

Device for loading and unloading cylinder body and cylinder sleeve by robot and robot with device

Technical Field

The utility model relates to a car cylinder body die-casting production facility technical field, concretely relates to a robot that is used for device of robot loading and unloading cylinder body cylinder liner and has device.

Background

The die-casting equipment is one of indispensable equipment in the automobile manufacturing industry, and especially in the cylinder body die-casting process of a cylinder body production line, the assembly and disassembly of a cylinder sleeve are completed by a common mechanical arm. The arm can be firmly reliably accurate grab the firm cylinder liner and send into die casting die smoothly, gets, cools off after the product die-casting shaping, and scanning testing process all needs the arm to accomplish, and consequently the device uses very practically. The mechanical arm structure used for assembling and disassembling the cylinder sleeve in the prior art is complex, so that the production design cost and the maintenance cost are high.

SUMMERY OF THE UTILITY MODEL

To the technical problem that above-mentioned exists, the utility model aims at providing a robot that is used for device of robot loading and unloading cylinder body cylinder liner and has device for simple structure gets back the cylinder body after cylinder body die-casting in-process robot snatchs the cylinder liner and die-casting shaping, realizes the full automated production of cylinder body production line.

The technical scheme of the utility model is that:

one of them aim at provides a device that is used for robot loading and unloading cylinder body cylinder liner, include:

the first fixing plate is suitable for being fixedly connected with a mechanical arm of the robot;

the second fixing plate is oppositely arranged at one end of the first fixing plate, which is far away from the mechanical arm, at intervals and is fixedly connected with the first fixing plate, and a movable space is defined between the first fixing plate and the second fixing plate;

the first driving piece is fixedly arranged on the end face, deviating from the movable space, of the first fixing plate, and the driving end of the first driving piece can perform telescopic motion in the movable space;

the push plate is movably arranged in the movable space and is fixedly connected with the driving end of the first driving piece;

one end of any first guide piece is fixedly connected with the push plate, and the other end of the first guide piece movably penetrates through the second fixing plate;

the second driving pieces are arranged on the end face, away from the movable space, of the second fixing plate in an array mode, clamping jaws are connected to the driving end of any one of the second driving pieces, and any one of the second driving pieces can drive the corresponding clamping jaw to perform clamping or loosening action;

and the discharging plate is fixedly connected with the other ends of the first guide pieces, and the discharging plate is provided with avoiding holes corresponding to the positions of the clamping jaws.

Preferably, the clamping jaw device further comprises a clamping jaw guide part arranged at one end, far away from the second fixing plate, of the corresponding second driving part, the clamping jaw guide part can be arranged in the corresponding avoiding hole in a penetrating mode, a radial groove is formed in the side wall of the clamping jaw guide part, and the clamping jaw is arranged at the radial groove of the corresponding clamping jaw guide part and can be driven by the corresponding second driving part to stretch outwards in a radial direction or retract in a retracting mode so as to retract inwards in the radial direction.

Preferably, the push plate further comprises a second guide part, the axis of the second guide part is parallel to the axis of the first guide part, one end of the second guide part is fixedly connected with the end face, facing the first fixing plate, of the push plate, and the other end of the second guide part is movably arranged on the first fixing plate in a penetrating mode.

Preferably, the first fixing plate is provided with a sliding hole for the second guiding element to move, a linear bearing is arranged in the sliding hole, and the second guiding element is slidably arranged in the corresponding linear bearing.

Preferably, the plurality of second driving parts are arranged in a straight line along the length direction of the second fixing plate.

Preferably, the first drive member and/or the second drive member is a cylinder.

Preferably, the first fixing plate is provided with a plurality of connecting holes for fixing the first fixing plate on the mechanical arm.

Preferably, the first fixing plate and the second fixing plate are fixedly connected through a connecting plate, and the connecting plate is fixed around the first fixing plate and the second fixing plate.

Another object of the utility model is to provide a robot for car cylinder body die-casting production line, including can receive the arm of the corresponding action of PLC control system control execution and install above-mentioned arbitrary on the arm a device for robot loading and unloading cylinder body cylinder liner.

Compared with the prior art, the utility model has the advantages that:

the utility model discloses a device for robot loading and unloading cylinder body cylinder liner removes through first driving piece drive push pedal and makes the clamping jaw stretch out to the cylinder liner in, recycles second driving piece drive clamping jaw and presss from both sides tightly and props the cylinder liner inner wall. Thereby realize the clamp of cylinder liner and get, release and the retake back of cylinder body, realize the automatic production of cylinder body cylinder liner, simple structure presss from both sides to put reliable and stable.

Drawings

The invention will be further described with reference to the following drawings and examples:

fig. 1 is a front view of a device for loading and unloading a cylinder sleeve of a cylinder body by a robot according to an embodiment of the present invention (a connecting plate is omitted);

fig. 2 is a schematic perspective view of a device for a robot to assemble and disassemble a cylinder body and a cylinder sleeve according to an embodiment of the present invention.

Wherein: 1. a first fixing plate; 2. a second fixing plate; 3. a first driving member; 4. a second driving member; 5. pushing the plate; 6. a stripper plate; 7. a first guide member; 8. a clamping jaw; 81. a jaw guide; 9. a second guide member; 10. a linear bearing; 11. connecting holes; 12. a connecting plate.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings. It should be understood that the description is intended for purposes of illustration only and is not intended to limit the scope of the present disclosure. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.

Example 1:

referring to fig. 1 to 2, the utility model discloses a device for robot loading and unloading cylinder body cylinder liner, including a first fixed plate 1, a second fixed plate 2, a first driving piece 3, a plurality of second driving piece 4, a push pedal 5, a plurality of first guide 7, a plurality of clamping jaw 8 and a stripper 6. The first fixing plate 1 and the second fixing plate 2 are square plates, wherein the first fixing plate 1 is used for being fixedly connected with a mounting plate on a mechanical arm (not shown) of a robot (not shown) through a fastener such as a bolt. As shown in fig. 1, the first fixing plate 1 and the second fixing plate 2 are disposed opposite to each other at an interval and fixed by the connecting plate 12 to form a cubic box-shaped structure, that is, a movable space is defined between the first fixing plate 1 and the second fixing plate 2. First driving piece 3 fixed mounting deviates from second fixed plate 2 or activity space on first fixed plate 1 the terminal surface and the drive end of first driving piece 3 passes first fixed plate 1 and can do the telescopic motion of upper and lower direction in the activity space. The push plate 5 is movably arranged in the movable space and is fixedly connected with the driving end of the first driving piece 3, that is, the push plate 5 is driven by the first driving piece 3 to move up and down in the movable space. One end of the first guiding element 7, i.e. the bottom end as shown in fig. 1, is fixedly connected with the upper end of the push plate 5, which is far away from the first fixing plate 1, i.e. the upper end as shown in fig. 1, and the other end of the first guiding element 7, i.e. the upper end as shown in fig. 1, is movably arranged on the second fixing plate 2 and extends upwards to the outside of the moving space. The stripper plate 6 is arranged outside the activity space and above the second fixing plate 2 and is fixedly connected with the upper end of the second guiding element 9. A plurality of second driving parts 4 are fixed at the upper end of the second fixing plate 2, the second driving parts 4 are arranged in an array, the driving end of any second driving part 4 can perform telescopic motion along the telescopic direction parallel to the driving end of the first driving part 3, namely, up-and-down telescopic motion as shown in fig. 1, a clamping jaw (not shown) is correspondingly arranged at the driving end of any second driving part 4, and the clamping jaw is driven by the second driving part 4 to perform clamping or loosening motion. In order to facilitate the vertical movement of the discharging plate 6, the avoiding holes are formed in the discharging plate 6 corresponding to the positions of the clamping jaws. The utility model discloses cylinder body cylinder liner device, move the cylinder liner (not shown) position on the assembly line with the device through the arm, robot signals, 3 drive push pedal 5 pulling stripper 6 downwardly moving retractions of first driving piece, thereby make clamping jaw 8 on the second driving piece 4 stretch out to the up end of stripper 6 so that clamping jaw 8 can enter into inside the cylinder liner, later second driving piece 4 upwards stretches out and outwards struts in order to prop up the cylinder liner inner wall with drive clamping jaw 8, the arm action removes the cylinder liner to the die cavity position after that, second driving piece 4 is inwards withdrawed with drive clamping jaw 8 and is loosened the cylinder liner, first driving piece 3 does and stretches out action promotion stripper 6 and upwards removes the cylinder liner from clamping jaw 8 and lift off, treat that the cylinder body is taken back to appointed place with cylinder body retrieval again above-mentioned action after the die-casting shaping again, so relapse, carry out the clamp of cylinder liner and get, the action of retaking back of release and cylinder body, realize the automated production of cylinder liner.

According to the utility model discloses a preferred embodiment, one end of keeping away from second fixed plate 2 at second driving piece 4 still is equipped with clamping jaw guide 81, clamping jaw guide 81 wears to locate corresponding dodge downtheholely, radial fluting has been seted up at clamping jaw guide 81's lateral wall, clamping jaw 8 locate in the radial fluting of corresponding clamping jaw guide 81 and clamping jaw 8 can receive upwards stretching out the drive of second driving piece 4 and withdraw along radial inside in order to strut or the drive of action of retracting downwards along radial outside, strut outside in order to do clamping action, inwards withdraw in order to do and loosen the action. The jaw guide 81 is provided to ensure the jaw 8 to make the extending or retracting movement along the radial slot. As shown in fig. 1 and 2, the jaw guide 81 is a substantially cylindrical structure parallel to the axis of the first guide 7. The clamping jaw guide 81 and the clamping jaws 8 are moved to the position of the cylinder sleeve through a mechanical arm of the robot, and the clamping jaws are extended out, namely positioned on the upper end surface of the discharging plate 6, through the downward retraction action of the first driving part 3, so that the clamping jaws 8 can be extended into the cylinder sleeve. When the clamping or loosening of the clamping jaw 8 is needed, the clamping jaw 8 is driven to be expanded or retracted through the second driving piece 4 to realize the clamping or loosening action. When needing to unload, first driving piece 3 drive push pedal 5 upward movement drives stripper 6 rebound, because the periphery of clamping jaw 8 is the cylinder liner, stripper 6 upwards promotes the cylinder liner from the periphery of clamping jaw 8 so that the cylinder liner releases from clamping jaw 8. To clamping jaw and second driving piece 4, in the embodiment of the utility model provides an, clamping jaw and second driving piece 4 structure as an organic whole, for example current conventional cylinder clamping jaw structure, second driving piece 4 is the cylinder, and solenoid valve coil in the during operation cylinder has got the electricity to promote the clamping jaw and presss from both sides tightly or loosen, does not specifically do detailed description and injects, is prior art.

According to some preferred embodiments of the present invention, in order to ensure the linearity of the motion of the push plate 5, the cylinder body and cylinder sleeve device of the present invention further comprises a second guiding member 9, the axis of the second guiding member 9 is parallel to the axis of the first guiding member 7, and one end of the second guiding member 9 and the end surface of the push plate 5 facing the first fixing plate 1, i.e. the lower end surface of the first fixing plate 1 shown in fig. 1, and the other end is movably disposed on the first fixing plate 1.

According to the utility model discloses a further preferred embodiment, set up the slide opening that supplies the activity of second guide 9 on first fixed plate 1, be equipped with linear bearing 10 in the slide opening, second guide 9 is slided and is located in corresponding linear bearing 10. It should be noted that a linear bearing 10 or such a guide sleeve may be provided between the first guide 7 and the second fixing plate 2. The number of the second guides 9 is not particularly limited, and preferably two, and they are provided on both sides of the first driving member 3 in a left-right symmetrical manner. The number of the first guides 7 is not particularly limited, and is preferably four, and is distributed at four corners of the push plate 5.

According to some embodiments of the present invention, as shown in fig. 1 and 2, the second driving members 4 are arranged in a row along the length direction of the second fixing plate 2. The number of the second driving members 4 is not particularly limited, and may be four as shown in fig. 1 and 2, and may be other numbers such as one, two, three, five, and so on. The arrangement mode of the second driving element 4 is not limited, and the second driving element is not limited to be arranged in a straight line, and can also be arranged in other array modes.

According to some embodiments of the present invention, the first driving member 3 is, but not limited to, a cylinder.

According to some embodiments of the present invention, as shown in fig. 2, the first fixing plate 1 is provided with a plurality of connecting holes 11 for fixing the first fixing plate 1 to the mechanical arm.

According to some embodiments of the present invention, as shown in fig. 2, the first fixing plate 1 and the second fixing plate 2 are fixedly connected to each other through a connecting plate 12, and the connecting plate 12 is fixed around the first fixing plate 1 and the second fixing plate 2 to form a box structure. As an alternative embodiment, the first fixing plate 1 and the second fixing plate 2 may be fixedly connected by other connecting members, such as connecting rods.

It should be noted that the cylinder body and cylinder sleeve device of the present invention can also be used in other processes of cylinder body production. The full-automatic production of the cylinder body is realized.

The embodiment of the utility model provides a still provide a robot, cylinder body cylinder liner device including above-mentioned embodiment. In addition, the device also comprises conventional general components such as a PLC control system and a mechanical arm, and the mechanical arm, the first driving part 3 and the second driving part 4 are controlled to move through programs. It should be noted that, be equipped with cylinder magnetism position switch (not shown) on first driving piece 3 and second driving piece 4, do not stretch out suitable position in the cylinder liner and second driving piece 4 does not stretch out completely when clamping jaw 8 makes clamping jaw 8 prop the cylinder liner, utilize cylinder magnetism position switch to send the signal and give PLC control system and send out warning or warning signal, the robot can the automatic shutdown operation, it is reliable to ensure to press from both sides the location of getting in-process clamping jaw 8 and cylinder liner and cylinder body, guarantee production safety, the problem of getting the piece and easily falling the product because of the inaccurate positioning among the prior art has been solved.

The utility model discloses a theory of operation that is used for device of robot loading and unloading cylinder body cylinder liner: after a mechanical arm of the robot moves to a cylinder sleeve position on a production line, a PLC control system of the robot sends a command, firstly, a first driving piece 3 retracts downwards to enable a clamping jaw 8 to extend out of the upper end face of a discharging plate 6 so that the clamping jaw 8 can extend into the cylinder sleeve; and then the second driving piece 4 extends out to drive the clamping jaw 8 to radially and outwards expand and support the inner wall of the cylinder sleeve so as to realize the grabbing of the cylinder sleeve. When the clamping jaw 8 does not extend into the proper position in the cylinder sleeve and/or the clamping jaw 8 does not support the inner wall of the cylinder sleeve, the cylinder magnetic position switch on the second driving part 4 sends a signal to the PLC control system and sends a warning to control the robot to stop working, so that operators on a production line can know risks in time and adjust the risks in time. Afterwards, the mechanical arm drives the cylinder body and cylinder sleeve device to move to the position of the cavity die, the second driving part 4 drives the clamping jaw 8 to loosen the cylinder sleeve, the first driving part 3 stretches out to push the discharging plate 6 to move upwards so as to release and discharge the cylinder sleeve from the clamping jaw, the cylinder body is taken back and moved to a specified place after the cylinder body is subjected to die-casting molding by repeating the actions, and the cylinder sleeve is clamped, released and taken back by the cylinder body repeatedly, so that automatic production of the cylinder body and the cylinder sleeve is realized.

It should be noted that the description of the upward and downward directions in the embodiment of the present invention is based on fig. 1 or fig. 2, and is not an actual direction in production.

It should be understood that the above-described embodiments of the present invention are merely illustrative of or explaining the principles of the invention and are not to be construed as limiting the invention. Therefore, any modification, equivalent replacement, improvement and the like made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention. Further, it is intended that the appended claims cover all such variations and modifications as fall within the scope and boundaries of the appended claims or the equivalents of such scope and boundaries.

Claims

1. A device for robot loading and unloading cylinder body cylinder liner, characterized by includes:

the second fixing plate is oppositely and alternately arranged at one end of the first fixing plate, which is far away from the mechanical arm, and is fixedly connected with the first fixing plate, and a movable space is defined between the first fixing plate and the second fixing plate;

2. The device of claim 1, further comprising a jaw guide member disposed at an end of the corresponding second driving member away from the second fixing plate, wherein the jaw guide member is disposed in the corresponding avoiding hole, a radial slot is disposed on a side wall of the jaw guide member, and the jaws are disposed at the radial slot of the corresponding jaw guide member and driven by the corresponding second driving member to expand radially outward or retract radially inward.

3. The device for loading and unloading a cylinder sleeve of a cylinder body by a robot as claimed in claim 1 or 2, further comprising a second guide member, wherein the axis of the second guide member is parallel to the axis of the first guide member, one end of the second guide member is fixedly connected with the end surface of the push plate facing the first fixing plate, and the other end of the second guide member is movably arranged on the first fixing plate in a penetrating manner.

4. The device of claim 3, wherein the first fixing plate is provided with a slide hole for the second guide to move, the slide hole is internally provided with a linear bearing, and the second guide is slidably arranged in the corresponding linear bearing.

5. The device for robot to assemble and disassemble a cylinder sleeve of a cylinder body according to claim 1, wherein the plurality of second driving parts are arranged in a straight line along the length direction of the second fixing plate.

6. The device for robot loading and unloading of a cylinder sleeve of a cylinder body of claim 1, wherein the first driving member and/or the second driving member is an air cylinder.

7. The device of claim 1, wherein the first fixing plate has a plurality of attachment holes for the first fixing plate to be fixed to the robot arm.

8. The device for loading and unloading a cylinder sleeve of a robot as recited in claim 7, wherein the first fixing plate and the second fixing plate are fixedly connected by a connecting plate, and the connecting plate is fixed around the first fixing plate and the second fixing plate.

9. A robot for the die-casting production line of cylinder body of car, characterized by that, include the mechanical arm that can be controlled by PLC control system to carry out corresponding movements and install the apparatus used for robot loading and unloading cylinder body cylinder liner according to any claim 1-8 on the said mechanical arm.