CN220840229U - Clamping jaw device of engine cylinder block - Google Patents

Abstract

The application discloses a clamping jaw device of an engine cylinder body, which comprises: the floating mechanism is connected with the action end of the manipulator and comprises a connecting plate fixedly connected with the manipulator, a floating plate positioned at the lower side of the connecting plate and transversely and slidably connected with the connecting plate, a supporting plate positioned at the lower side of the floating plate and longitudinally and slidably connected with the floating plate, and a locking assembly for keeping the supporting plate and the connecting plate relatively static; the grabbing mechanism is fixedly connected with the floating mechanism and used for grabbing the cylinder body, and comprises a bottom plate fixedly connected with the supporting plate through two side frames, a power source arranged on the bottom plate, and a connecting rod assembly driven by the power source and extending into a piston hole of the cylinder body, wherein a clamping jaw is arranged at the tail end of the connecting rod assembly, and the connecting rod assembly drives the clamping jaw to expand outwards and be clamped at the outer edge of the bottom of the piston hole. The clamping jaw device is ensured not to have hard collision with the cylinder body in the positioning process through the floating mechanism; simultaneously, through optimizing the structure of clamping jaw, reduce the condition of damaging the cylinder body.

Description

Clamping jaw device of engine cylinder block

Technical Field

The application relates to the technical field of auxiliary carrying of engines, in particular to a clamping jaw device of an engine cylinder block.

Background

Engines are important components in the fields of automobiles, aerospace, military, and the like. The engine cylinder body wraps the core part to provide stable and continuous power output for the host machine, and is an important component part of the whole part.

In actual production, the traditional cylinder body feeding needs to be manually clamped by using clamping jaws, so that time and labor are consumed, along with the development of mechanization, the mechanical arm gradually replaces heavy labor of people to realize mechanization and automation of production, and the mechanical arm can be operated in a harmful environment to ensure the safety of people. The mechanical arm is matched with the clamping jaw device to achieve grabbing of the engine cylinder body, but in the grabbing process of the mechanical arm, due to the rigid connection relation between the mechanical arm and the clamping jaw device, very accurate positioning is needed to ensure that the clamping jaw does not collide with the cylinder body; if the positioning is not accurate enough, damage to the cylinder may occur. In addition, because the existing clamping jaw device has certain design defects, the cylinder body is also extremely easy to damage in the grabbing process.

Therefore, in view of the above technical problems, it is a technical problem that a person skilled in the art needs to solve how to design an engine block clamping jaw device that does not damage a workpiece during positioning and grabbing.

Disclosure of utility model

The application aims to provide a clamping jaw device of an engine cylinder body, which ensures that the clamping jaw device cannot hard collide with the cylinder body in the positioning process; simultaneously, through optimizing the structure of clamping jaw, reduce the condition of damaging the cylinder body.

To achieve the above object, the present application provides an engine block clamping jaw device comprising:

The floating mechanism is used for connecting the action end of the manipulator and comprises a connecting plate fixedly connected with the manipulator, a floating plate which is positioned at the lower side of the connecting plate and is transversely and slidably connected with the connecting plate, a supporting plate which is positioned at the lower side of the floating plate and is longitudinally and slidably connected with the floating plate, and a locking assembly which is used for keeping the supporting plate and the connecting plate relatively static;

The grabbing mechanism is fixedly connected with the floating mechanism and used for grabbing the cylinder body, and comprises a bottom plate fixedly connected with the supporting plate through two side frames, a power source arranged on the bottom plate, and a connecting rod assembly driven by the power source and extending into a piston hole of the cylinder body, wherein a clamping jaw is arranged at the tail end of the connecting rod assembly, and the connecting rod assembly drives the clamping jaw to expand outwards and be clamped at the outer edge of the bottom of the piston hole.

Preferably, the floating mechanism further comprises:

The transverse moving guide piece is used for keeping the connecting plate and the floating plate to be connected in a transverse sliding way and comprises a transverse sliding rail arranged on the floating plate and a transverse sliding block matched with the transverse sliding rail and fixedly arranged on the connecting plate;

The longitudinal movement guide piece is used for keeping the floating plate and the supporting plate to be longitudinally and slidably connected and comprises a longitudinal sliding rail arranged on the supporting plate and a longitudinal sliding block matched with the longitudinal sliding rail and fixedly arranged on the floating plate.

Preferably, damping members are provided in the middle of the floating plate and the supporting plate, and are used for buffering the movement of the floating plate and the supporting plate and centering the floating plate and the supporting plate.

Preferably, the locking assembly comprises:

The transverse limiting block is fixedly arranged on the connecting plate and provided with a transverse limiting groove;

the longitudinal limiting block is fixedly arranged on the floating plate and provided with a longitudinal limiting groove;

the limiting rod is movably arranged on the supporting plate, and the limiting rod is respectively provided with a transverse limiting groove and a protruding block clamped with the longitudinal limiting groove.

Preferably, a jacking source is fixedly arranged on the supporting plate, the power end of the jacking source is connected with the limiting rod, and the limiting rod is driven to move towards or away from the transverse limiting groove, so that the two protruding blocks are respectively clamped with or separated from the transverse limiting groove and the longitudinal limiting groove.

Preferably, the gripping mechanism further comprises:

The movable plate is arranged on the upper end face of the bottom plate in a sliding way through a sliding rail sliding block, the movable plate is connected with the power end of the power source, and the power source is used for driving the movable plate to move along the sliding rail sliding block;

the limiting plate is fixedly arranged on the movable plate, an inclined through hole is formed in the limiting plate, a sliding pin shaft is arranged in the through hole, and the pin shaft is hinged with the end part, deviating from the clamping jaw, of the connecting rod assembly;

the through hole moves along with the limiting plate and drives the connecting rod assembly to ascend or descend.

Preferably, the link assembly includes:

the main connecting rod penetrates through the bottom plate and is hinged with the pin shaft;

The limiting frame is fixedly arranged on the bottom plate and sleeved on the periphery of the main connecting rod, and is used for limiting the main connecting rod to slide along the vertical direction;

The auxiliary connecting rods are hinged to the limiting frame, two ends of each auxiliary connecting rod are respectively connected with the main connecting rods and the clamping jaws, and the auxiliary connecting rods are two in number and used for driving the clamping jaws to expand and contract outwards.

Preferably, the clamping jaw device of the engine cylinder block further comprises a positioning mechanism, wherein the positioning mechanism is arranged on the end face of the bottom plate facing the cylinder block, and comprises a positioning ring sleeved on the periphery of the connecting rod assembly and corresponding to the piston hole, and a positioning pin arranged on the supporting plate and spliced with the small-diameter hole on the cylinder block.

Preferably, the engine block clamping jaw device further comprises a detection mechanism, the detection mechanism is fixedly arranged on the bottom plate, and the detection mechanism comprises:

The contact detection rod penetrates through the bottom plate and is arranged on the bottom plate in a vertical sliding mode, and the extending end of the contact detection rod is propped against the cylinder body;

And the detection sensors are positioned at two sides of the contact detection rod and are used for detecting the height change of the contact detection rod.

Compared with the background art, the application utilizes the mechanical arm to drive to the corresponding working position, and realizes the floating arrangement of the clamping jaw device relative to the mechanical arm through the floating mechanism, so that the floatable arrangement of the clamping jaw is realized under the condition of inaccurate positioning, the grabbing position of the clamping jaw is adjusted, and the condition of damaging the cylinder body in the positioning process is avoided. And snatch the mechanism and drive the clamping jaw action through link assembly, under the prerequisite that the clamping jaw is "eight" font structure, link assembly action can make the clamping jaw at the in-process of opening, after upwards removing a section distance the cylinder body, makes the clamping jaw open completely and joint in the outer edge of piston hole downside, guarantees to snatch the quality, avoids dropping. Meanwhile, when the clamping jaw is not opened, the splayed clamping jaw is small in width and easy to extend into the piston hole, and cannot directly collide with the cylinder body.

Specifically, the clamping jaw device comprises a floating mechanism and a grabbing mechanism, wherein the floating mechanism is fixedly connected with the action end of the manipulator, namely, the floating mechanism is connected with the manipulator through a connecting plate, a floating plate which transversely slides relative to the connecting plate is arranged at the lower side of the connecting plate, and a supporting plate which longitudinally slides relative to the floating plate is arranged at the lower side of the floating plate, so that the supporting plate can realize omnibearing floating relative to the connecting plate; here, the omni-directional floating means that multi-angle floating is realized in a plane where the support plate is located. And the floating effect only exists in the positioning process, if clamping and grabbing are realized between the clamping jaw and the cylinder body, then the relative position of the supporting plate and the connecting plate is locked through the locking assembly, the floating condition in the grabbing process is prevented, and the grabbing stability is ensured.

The grabbing mechanism is connected with the floating mechanism and used for grabbing the cylinder body, the grabbing mechanism comprises a bottom plate fixedly connected with the supporting plate, a power source on the bottom plate drives the connecting rod assembly to act, and the connecting rod assembly needs to extend into a piston hole of the cylinder body, so that the eight-shaped clamping jaw at the lower end of the connecting rod assembly can be clamped and grabbed with the outer edge of the lower side of the piston hole; it should be noted that, the action of link assembly can drive clamping jaw to expand outward and rise a section distance to snatch the in-process to the cylinder body, can promote the cylinder body a section distance after, carry out the joint and snatch, and make cylinder body and original frock break away from, avoid bumping. Therefore, the clamping jaw device arranged in the mode can ensure that the cylinder body is not damaged in the positioning process and the grabbing process.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present application, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic perspective view of a clamping jaw device of an engine block according to an embodiment of the present application;

FIG. 2 is a schematic perspective view of a clamping jaw device for an engine block according to another embodiment of the present application;

FIG. 3 is a schematic diagram of a three-dimensional structure of a floating mechanism according to an embodiment of the present application;

FIG. 4 is a schematic view of the internal structure of the floating mechanism according to the embodiment of the present disclosure;

FIG. 5 is a schematic diagram of a positioning mechanism according to an embodiment of the present disclosure;

Fig. 6 is a schematic structural diagram of a grabbing mechanism according to an embodiment of the present disclosure;

FIG. 7 is a schematic diagram of a detection mechanism according to an embodiment of the present disclosure;

Fig. 8 is a schematic diagram of a clamping structure of a clamping jaw and a cylinder block according to an embodiment of the application.

In the figure: 10. the device comprises a floating mechanism 101, a connecting plate 102, a floating plate 103, a supporting plate 104, a limiting rod 105, a jacking source 106, a guide post 107, a longitudinal limiting block 108, a transverse limiting block 109, a protruding block 110, a transverse sliding rail 111, a transverse sliding block 112, a spring 113 and a spring connecting piece;

20. A framework;

30. positioning mechanism 301, positioning ring 302, and positioning pin;

40. the gripping mechanism 401, the power source 402, the pin shaft 403, the through hole 404, the limiting plate 405, the movable plate 406, the bottom plate 407, the main connecting rod 408, the limiting frame 409, the auxiliary connecting rod 410 and the clamping jaw;

50. a detection mechanism 501, a contact detection lever 502, and a detection sensor;

60. Cylinder 601, piston bore.

Detailed Description

The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

It should be noted that, in the present embodiment, the orientation or positional relationship indicated by "upper", "lower", "front", "rear", etc. is based on the orientation or positional relationship shown in the drawings, and is merely for convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element to be referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present application. Furthermore, the terms "first," "second," "third," "fourth," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

The present application will be further described in detail below with reference to the drawings and detailed description for the purpose of enabling those skilled in the art to better understand the aspects of the present application.

As shown in fig. 1 and 2, in the present embodiment, there is provided an engine block jaw apparatus including a floating mechanism 10 and a gripping mechanism 40, the floating mechanism 10 being fixedly connected to a robot actuating end and moving with a robot so as to reach a designated gripping position. After reaching the designated position, the gripping mechanism 40 stretches into the piston hole 601, and is gripped by clamping the clamping jaw 410 with the outer edge of the lower side of the piston hole 601.

Because the floating mechanism 10 adopts a floatable connection mode, the position of the grabbing mechanism 40 can be regulated in a floating mode and kept at the central position in the piston hole 601 during the process that the grabbing mechanism 40 stretches into the piston hole 601, so that the collision condition caused by the rigid connection of the manipulator and the clamping jaw device is avoided.

Referring to fig. 3 and 4, the floating mechanism 10 includes a connecting plate 101 fixedly connected to a manipulator, the connecting plate 101 and the manipulator form an integral structure through bolts, and the manipulator drives the floating mechanism 10 to move. A floating plate 102 is provided on the lower side of the connection plate 101 so as to slide laterally with respect to the connection plate, a support plate 103 is provided on the lower side of the floating plate 102 so as to slide longitudinally with respect to the movement of the connection plate, and the movement of the support plate 103 in any one direction in the plane of the connection plate is realized by the double-layer floating effect of the floating plate 102 and the support plate 103.

Furthermore, the floating mechanism 10 comprises a locking assembly for locking the support plate 103 and keeping it relatively stationary with the connection plate 101; it should be noted that, during positioning of the clamping jaw device, the floating action of the floating mechanism 10 is required, and after the clamping jaw 410 and the piston hole 601 are clamped and grabbed after the positioning is completed, the floating mechanism 10 is required to stop the floating effect. The present application thus employs the locking assembly to lock the support plate 103, thereby ensuring gripping stability during gripping and reducing the occurrence of collision with the cylinder 60.

Referring to fig. 1 and 6, a grabbing mechanism 40 is fixedly connected with a floating mechanism 10 and is used for grabbing a cylinder 60, the grabbing mechanism 40 comprises a bottom plate 406 fixedly connected with a supporting plate 103 through two side frames 20, a power source 401 is arranged on the bottom plate 406, and a connecting rod assembly is driven to move up and down through the power source 401, so that a splayed clamping jaw 410 at the tail end of the splayed clamping jaw is driven to open or tighten; it should be noted that, since the clamping jaw 410 adopts the "splayed" structure and the action is implemented by the link assembly, the clamping jaw 410 may be expanded or contracted by lifting or lowering the link assembly. On this basis, since the clamping jaw 410 is lifted along with the connecting rod assembly for a certain distance in the expanding process, and the width between the clamping jaws 410 is increased, the clamping jaw 410 can move the cylinder 60 upwards for a small distance, so that the clamping jaw 410 is completely opened, and the grabbing quality and the anti-falling effect are ensured. And because of the weight of the cylinder 60, the upward movement driven by the clamping jaw 410 can not cause the cylinder 60 to collide with the device, so that the cylinder 60 or the device is prevented from being damaged.

And the opened clamping jaw 410 can be in a clamping state, and unless the connecting rod assembly fails, the clamping jaw 410 can be kept in a flaring state all the time, so that the grabbing stability of the cylinder body 60 is ensured.

In summary, the clamping jaw device is driven to the corresponding working position by the manipulator, and the floating arrangement of the clamping jaw device relative to the manipulator is realized by the floating mechanism 10, so that the floatable arrangement of the clamping jaw 410 is realized under the condition of inaccurate positioning, and the grabbing position of the clamping jaw 410 is adjusted, so that the situation of damaging the cylinder 60 in the positioning process is avoided. And the grabbing mechanism 40 drives the clamping jaw 410 to act through the connecting rod assembly, and on the premise that the clamping jaw 410 is in an splayed structure, the connecting rod assembly acts to enable the clamping jaw 410 to move a certain distance upwards in the opening process, so that the clamping jaw 410 is completely opened and clamped on the outer edge of the lower side of the piston hole 601, grabbing quality is guaranteed, and falling is avoided. Meanwhile, when the clamping jaw 410 is not opened, the splayed clamping jaw 410 is small in width, is easy to extend into the piston hole 601, and cannot directly collide with the cylinder 60.

Referring to fig. 4, the floating mechanism 10 further includes a traversing guide and a longitudinally moving guide, and in the present application, the traversing guide and the longitudinally moving guide are implemented by using sliding rail blocks, and of course, other components with sliding effects may be used, which will not be described in detail herein, and all fall within the scope of the present application. Specifically, the traverse guide includes a lateral slide rail 110 provided on the floating plate 102 and a lateral slider 111 that cooperates with the lateral slide rail 110 and is fixedly provided on the connection plate 101, thereby maintaining the connection plate 101 and the floating plate 102 in a laterally sliding arrangement. The longitudinal movement guide includes a longitudinal slide rail provided on the support plate 103 and a longitudinal slider engaged with the longitudinal slide rail and fixedly provided on the floating plate 102, thereby maintaining a longitudinal sliding connection of the floating plate 102 and the support plate 103.

It should be noted that, regarding the manner of setting the sliding rail and the sliding block, the installation positions of the sliding rail and the sliding block are not limited, and taking the lateral sliding guide as an example, the lateral sliding rail 110 may be set on the floating plate 102 or may be set on the connecting plate 101, and meanwhile, the lateral sliding block 111 may be adaptively adjusted to ensure that the floating plate 102 and the connecting plate 101 can be connected in a sliding manner. As is the case with the longitudinally moving guide, which is not described in detail here.

In addition, in order to set the floating plate 102 and the supporting plate 103 as centrally as possible after the gripping is completed, the position deviation of the jaw device is reduced, and here, a damping member is further provided in the middle of the floating plate 102 and the supporting plate 103, and includes a spring connecting member 113 and springs 112 positioned at both sides thereof, and the springs 112 at both sides can be provided on the floating plate 102 through the vertical plates, so that the movement of the floating plate 102 and the supporting plate 103 is buffered by the compression and the extension of the springs 112. Taking the damping member on the floating plate 102 as an example, the spring connecting member 113 may have a certain connection relationship with the connecting plate 101, when the floating plate 102 and the connecting plate 101 move transversely, the spring connecting member 113 does not move, so that the spring 112 on one side can be compressed, and the spring 112 on the other side can be stretched, so that the damping member has a certain elastic overcoming force, and the floating plate 102 can be restored to the initial position against the force after the clamping jaw 410 completes clamping and grabbing. Of course, the damping effect of the damping member on the support plate 103 is longitudinally arranged, and the principle is referred to above, and will not be described in detail here.

Referring to fig. 3 and 4, the locking assembly includes a lateral limiting block 108, a longitudinal limiting block 107 and a limiting rod 104, wherein the lateral limiting block 108 is fixedly arranged on the connecting plate 101, and the lateral limiting block 108 is provided with a lateral limiting groove; the longitudinal limiting block 107 is fixedly arranged on the floating plate 102, and the longitudinal limiting block 107 is provided with a longitudinal limiting groove. The stop lever 104 is movably arranged on the support plate 103, and the stop lever 104 is respectively provided with a protruding block 109 clamped by a transverse stop groove and a longitudinal stop groove.

It should be noted that, because the locking assembly is disposed on the supporting plate 103, when the floating mechanism 10 is required to float, the movable limiting rod 104 moves down and is disengaged from the clamping connection, and the connecting plate 101 and the floating plate 102 are not limited by the supporting plate 103, so that the floating effect can be achieved by the floating plate 102 and the supporting plate 103. When the three positions are required to be locked, the limiting rod 104 moves upwards and is clamped, and the connecting plate 101, the floating plate 102 and the supporting plate 103 at the moment are kept at a relative static position, so that the three positions are fixedly clamped.

In addition, the jacking source 105 is fixedly disposed on the support plate 103, and the jacking source 105 and the power source 401 may be cylinders or hydraulic cylinders, without being particularly limited thereto. The power end of the jacking source 105 is connected with the limiting rod 104 and drives the limiting rod 104 to move towards or away from the transverse limiting groove/the longitudinal limiting groove, so that the two protruding blocks 109 are respectively clamped with or separated from the transverse limiting groove and the longitudinal limiting groove. The limit rod 104 can be slidably arranged with the support plate 103 through the guide post 106, so that a stable vertical sliding effect is maintained.

Referring to fig. 6, the grabbing mechanism 40 further includes a movable plate 405 and a limiting plate 404, where the movable plate 405 is slidably disposed on an upper end surface of the bottom plate 406 through a sliding rail and a sliding block, the movable plate 405 is connected with a power end of the power source 401, and the power source 401 can drive the movable plate 405 to move along a sliding direction of the sliding rail and the sliding block. The number of the sliding rail blocks may be multiple, so as to ensure that the movable plate 405 can stably slide.

The limiting plate 404 is fixedly arranged on the movable plate 405, an inclined through hole 403 is formed in the limiting plate 404, referring to fig. 6, the through hole 403 has a certain inclination degree, a sliding pin 402 is arranged in the through hole 403, and the limiting plate 404 can move to drive the through hole 403 to move, so that the pin 402 in the through hole 403 is driven to move up and down. The pin 402 is also hinged to the end of the link assembly facing away from the jaw 410, which also effects up and down movement based on the up and down movement of the pin 402.

The connecting rod assembly comprises a main connecting rod 407, a limiting frame 408 and a secondary connecting rod 409, wherein the main connecting rod 407 penetrates through the bottom plate 406 and then is hinged with the pin shaft 402, and the main connecting rod 407 can move up and down under the driving of the pin shaft 402. The limiting frame 408 is fixedly arranged on the bottom plate 406 and sleeved on the periphery of the main connecting rod 407, so that the main connecting rod 407 can be limited to slide along the vertical direction. The middle part of the auxiliary connecting rod 409 is hinged with the limiting frame 408, two ends of the auxiliary connecting rod 409 are respectively hinged with the main connecting rod 407 and the clamping jaw 410, and the auxiliary connecting rod 409 is two in number and can drive the clamping jaw 410 to expand or contract.

In fig. 6, two states of the clamping jaws 410 are shown, the clamping jaw 410 on the left in fig. 6 is in the expanded state, where the distance between the clamping jaws 410 is widened and the position thereof is moved relatively upwards, which is capable of clamping the living hole 601 and lifting a distance. The jaws 410 on the right in fig. 6 are in a tightened state, where the width between the jaws 410 is relatively narrow, facilitating the insertion of the jaws 410 into the piston bore 601 without damaging the cylinder 60. The jaw 410 extending into the piston bore 601 is shown in fig. 8.

The specific arrangement of the main link 407 and the auxiliary link 409 is not limited herein, and the existing link structure may be referred to, so that the clamping jaw 410 may be tightened after expansion.

Referring to fig. 5, the clamping jaw device further includes a positioning mechanism 30, wherein the positioning mechanism 30 is disposed on an end surface of the bottom plate 406 facing the cylinder 60, and the positioning mechanism 30 includes a positioning ring 301 sleeved on the periphery of the connecting rod assembly and corresponding to the piston hole 601, and a positioning pin 302 disposed on the support plate 103 and inserted into the small-diameter hole on the cylinder 60. When the gripping assembly is extended into the piston bore 601, the positioning ring 301 can correspond to the piston bore 601 after extending into a certain position, so that the gripping mechanism 40 can be located in the center of the piston bore 601. And then the small diameter hole on the cylinder body 60 is inserted through the positioning pin 302, so that the positioning accuracy of the clamping jaw 410 and the cylinder body 60 is further improved.

Referring to fig. 7, the clamping jaw device further includes a detection mechanism 50, where the detection mechanism 50 is fixedly disposed on the bottom plate 406 and is located at two sides of the bottom plate 406, the detection mechanism 50 includes a contact detection rod 501 and a detection sensor 502, the contact detection rod 501 penetrates through the bottom plate 406 and is slidably disposed on the bottom plate 406 in a vertical state, and an extension end of the contact detection rod 501 can be abutted against the cylinder 60; the detection sensors 502 are located at both sides of the contact detection lever 501 for detecting a change in height of the contact detection lever 501. The specific model of the cylinder 60 in operation is determined by the vertical displacement of the contact detection lever 501.

In the use process, the whole clamping jaw device is driven by the mechanical arm to move to the corresponding working position, the jacking source 105 acts and enables the convex block 109 to be separated from the clamping connection, and the floating mechanism 10 is in a floatable state. The clamping jaw 410 moves downwards to coarse positioning, namely the positioning ring 301 is in cylinder fit with the piston hole 601, and continues to move downwards to precise positioning, namely the positioning pin 302 is inserted into the small-diameter hole, so that the positioning work is completed. During the positioning process, due to the floating effect of the floating mechanism 10, the rigid connection between the existing manipulator and the clamping jaw device can be overcome, and the collision with the cylinder body 60 is avoided.

After the positioning operation is completed, the power source 401 acts to open the clamping jaw 410 and lock the opened state, so as to prevent the workpiece from falling. During the process of opening the clamping jaw 410, the cylinder 60 is moved upwards for a small distance, so that the clamping jaw 410 is completely opened, and the grabbing quality and the anti-falling effect are ensured. Because of the weight of the cylinder 60, the upward movement of the clamping jaw 410 can not cause the cylinder 60 to collide with the device, so that the cylinder 60 or the device is prevented from being damaged. The jaws 410 are in a dead-center position after being opened unless the pin breaks, otherwise the jaws 410 do not tighten.

After the grabbing is completed, the cylinder body 60 is separated from the original tool, the floating mechanism 10 is in the middle position, and at the moment, the lifting source 105 acts to lock the floating mechanism 10 and can not float any more, so that unnecessary displacement is avoided during movement. The robot then moves the entire device to the target position and the power source 401 acts to tighten the jaws 410. The jaw 410 moves up away from the cylinder 60 and to the next point where the cylinder 60 is to be handled, and one workflow ends.

Of course, the specific parameter settings of the above components, including but not limited to the implementation parameters, may be adjusted according to practical situations, which are not described in detail herein, and all fall within the protection scope of the present application.

It should be noted that in this specification relational terms such as first and second are used solely to distinguish one entity from another entity without necessarily requiring or implying any actual such relationship or order between such entities.

The principles and embodiments of the present application have been described herein with reference to specific examples, the description of which is intended only to facilitate an understanding of the method of the present application and its core ideas. It should be noted that it will be apparent to those skilled in the art that various modifications and adaptations of the application can be made without departing from the principles of the application and these modifications and adaptations are intended to be within the scope of the application as defined in the following claims.

Claims (9)

1. An engine block jaw apparatus comprising:

The floating mechanism is used for connecting the action end of the manipulator and comprises a connecting plate fixedly connected with the manipulator, a floating plate which is positioned at the lower side of the connecting plate and is transversely and slidably connected with the connecting plate, a supporting plate which is positioned at the lower side of the floating plate and is longitudinally and slidably connected with the floating plate, and a locking assembly which is used for keeping the supporting plate and the connecting plate relatively static;

The grabbing mechanism is fixedly connected with the floating mechanism and used for grabbing the cylinder body, and comprises a bottom plate fixedly connected with the supporting plate through two side frames, a power source arranged on the bottom plate, and a connecting rod assembly driven by the power source and extending into a piston hole of the cylinder body, wherein a clamping jaw is arranged at the tail end of the connecting rod assembly, and the connecting rod assembly drives the clamping jaw to expand outwards and be clamped at the outer edge of the bottom of the piston hole.

2. The engine block jaw apparatus of claim 1, wherein said float mechanism further comprises:

The transverse moving guide piece is used for keeping the connecting plate and the floating plate to be connected in a transverse sliding way and comprises a transverse sliding rail arranged on the floating plate and a transverse sliding block matched with the transverse sliding rail and fixedly arranged on the connecting plate;

The longitudinal movement guide piece is used for keeping the floating plate and the supporting plate to be longitudinally and slidably connected and comprises a longitudinal sliding rail arranged on the supporting plate and a longitudinal sliding block matched with the longitudinal sliding rail and fixedly arranged on the floating plate.

3. The engine block jaw apparatus of claim 2, wherein a damping member is provided in the middle of said floating plate and said support plate for damping movement of said floating plate and said support plate and centering them.

4. The engine block jaw apparatus of claim 2, wherein said locking assembly comprises:

The transverse limiting block is fixedly arranged on the connecting plate and provided with a transverse limiting groove;

the longitudinal limiting block is fixedly arranged on the floating plate and provided with a longitudinal limiting groove;

the limiting rod is movably arranged on the supporting plate, and the limiting rod is respectively provided with a transverse limiting groove and a protruding block clamped with the longitudinal limiting groove.

5. The engine block clamping jaw device according to claim 4, wherein a jacking source is fixedly arranged on the supporting plate, a power end of the jacking source is connected with the limiting rod, and the limiting rod is driven to move towards or away from the transverse limiting groove, so that the two protruding blocks are respectively clamped with or separated from the transverse limiting groove and the longitudinal limiting groove.

6. The engine block jaw apparatus of claim 1, wherein said gripping mechanism further comprises:

The movable plate is arranged on the upper end face of the bottom plate in a sliding way through a sliding rail sliding block, the movable plate is connected with the power end of the power source, and the power source is used for driving the movable plate to move along the sliding rail sliding block;

the limiting plate is fixedly arranged on the movable plate, an inclined through hole is formed in the limiting plate, a sliding pin shaft is arranged in the through hole, and the pin shaft is hinged with the end part, deviating from the clamping jaw, of the connecting rod assembly;

the through hole moves along with the limiting plate and drives the connecting rod assembly to ascend or descend.

7. The engine block jaw apparatus of claim 6, wherein said linkage assembly comprises:

the main connecting rod penetrates through the bottom plate and is hinged with the pin shaft;

The limiting frame is fixedly arranged on the bottom plate and sleeved on the periphery of the main connecting rod, and is used for limiting the main connecting rod to slide along the vertical direction;

The auxiliary connecting rods are hinged to the limiting frame, two ends of each auxiliary connecting rod are respectively connected with the main connecting rods and the clamping jaws, and the auxiliary connecting rods are two in number and used for driving the clamping jaws to expand and contract outwards.

8. The engine block jaw apparatus of any one of claims 1-7, further comprising a positioning mechanism disposed on an end surface of said base plate facing said block, including a positioning ring disposed around said connecting rod assembly and corresponding to said piston bore, and a positioning pin disposed on said support plate and inserted into said small diameter bore of said block.

9. The engine block jaw apparatus of claim 8, further comprising a detection mechanism fixedly disposed on said base plate, comprising:

The contact detection rod penetrates through the bottom plate and is arranged on the bottom plate in a vertical sliding mode, and the extending end of the contact detection rod is propped against the cylinder body;

And the detection sensors are positioned at two sides of the contact detection rod and are used for detecting the height change of the contact detection rod.