WO2018120559A1 - 发动机缸盖组合抓手 - Google Patents

发动机缸盖组合抓手 Download PDF

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Publication number
WO2018120559A1
WO2018120559A1 PCT/CN2017/082711 CN2017082711W WO2018120559A1 WO 2018120559 A1 WO2018120559 A1 WO 2018120559A1 CN 2017082711 W CN2017082711 W CN 2017082711W WO 2018120559 A1 WO2018120559 A1 WO 2018120559A1
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WO
WIPO (PCT)
Prior art keywords
gripper
mounting plate
unit
rotating
cylinder
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PCT/CN2017/082711
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English (en)
French (fr)
Inventor
刘金石
黄志鹏
徐鑫
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金石机器人常州股份有限公司
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Application filed by 金石机器人常州股份有限公司 filed Critical 金石机器人常州股份有限公司
Publication of WO2018120559A1 publication Critical patent/WO2018120559A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes

Definitions

  • the invention relates to the technical field of manipulators, and in particular to an engine cylinder head combination gripper.
  • the engine cylinder head on the cylinder head line needs to be picked up from the pallet and transported to the corresponding position of the engine block on the cylinder line at the corresponding station to complete the assembly.
  • the gripping accuracy of the cylinder head gripper and the placement accuracy of the cylinder head placed on the cylinder block are relatively high; at the same time, due to the directional problem of the cylinder head assembly line and the cylinder assembly line, the cylinder head gripper is It may be necessary to rotate the engine head by 90° or 180° after grabbing the engine head.
  • some engine manufacturers have to reduce the one-time input cost of the equipment, and arrange a special auxiliary robot to grab the engine cylinder head and transport it to the top of the engine cylinder between the cylinder head assembly line and the cylinder assembly line, and then rely on experience.
  • the engine cylinder head is placed at the corresponding position of the engine block. This way requires high levels of work for the workers, the labor intensity of the workers is extremely high, and the efficiency is low.
  • some engine manufacturers use mechanical grippers with a high degree of automation, the accuracy of the auxiliary positioning device on the cylinder head and cylinder line is higher.
  • the gripping power of the cylinder head is two. The cylinders respectively push the two clamping arms to face or opposite each other to realize the clamping of the cylinder head, but the two cylinders have the defects of poor synchronism, complicated structure and high cost.
  • the technical problem to be solved by the present invention is that in order to solve the technical problem that the conventional cylinder head gripper adopts two cylinder clamping cylinder heads with poor synchronism, the present invention provides an engine cylinder head assembly gripper.
  • an engine cylinder head combination gripper comprising a swing unit, a rotating unit and a gripping unit capable of performing a gripping action on the cylinder head, the gripping unit being disposed on the rotating unit , the rotating unit drives the gripping unit to rotate on the X plane, and the rotating unit is disposed at On the swing unit, the swing unit can drive the rotating unit to swing up and down with respect to the X plane, the gripping unit comprises a gripping unit mounting plate, the upper plate surface of the gripping unit mounting plate is connected with the rotating unit, and the gripping unit mounting plate The lower plate surface is slidably mounted with a gripper 1 and a gripper 2, and a link mechanism is disposed between the gripper 1 and the gripper 2.
  • the lower plate of the gripping unit mounting plate is further provided with a cylinder, which is driven by the cylinder.
  • the link mechanism enables the gripper and the gripper to move toward each other or opposite each other.
  • the invention only needs one cylinder, and the cylinder is fixedly connected with the gripper or the gripper 2 to push any one of the grippers, and the gripper mechanism can make the gripper or the gripper 2 move synchronously (opposite or opposite).
  • the swing unit includes a wrist mounting plate and a rotating unit mounting plate, and one side of the wrist mounting plate is mounted with two bearing seats, and both bearing seats are installed therein.
  • Bearing one, one end of the rotating unit mounting plate is installed between the two bearing seats, and one end of the rotating unit mounting plate and the bearing inner ring of the two bearing seats are fixedly connected, and one of the two bearing ones is externally connected servo motor.
  • the rotating unit comprises a driving mechanism, a bearing 2 and a rotating connecting plate, wherein the upper plate surface of the rotating connecting plate and the driving bearing inner ring are fixedly connected, and the lower plate of the rotating connecting plate and the upper plate surface of the gripping unit mounting plate are fixedly connected
  • the driving mechanism is mounted on the other end of the rotating unit mounting plate, and the driving mechanism drives the inner ring of the bearing to rotate.
  • the driving mechanism is a swing cylinder, and an output shaft of the swing cylinder is connected by a connecting member and a bearing inner ring, and the swing cylinder and the lower plate surface of the other end of the rotating unit mounting plate are fixedly connected.
  • the link mechanism comprises a connecting rod 1, a connecting rod 2 and a connecting block, and the middle portion of the connecting block is rotatably mounted on the lower surface of the gripping unit mounting plate.
  • One end of the connecting rod 1 is connected (preferably hinged) to one end of the connecting block, and the other end of the connecting rod 1 is connected to the gripper (preferably hinged), and one end of the connecting rod 2 is connected with the other end of the connecting block (preferably hinged),
  • the other end of the rod 2 is connected (preferably hinged) to the gripper 2, and the projecting end of the cylinder is fixedly coupled to the gripper.
  • the grasping unit further comprises a gripper, a mounting plate, a gripper, a mounting plate and a slider.
  • the gripper is fixedly mounted on the lower plate of the gripper and the mounting plate, and the gripper is fixedly mounted on the gripper.
  • On the lower surface of the gripper mounting plate two sliders are mounted on the upper plate surface of the gripper one mounting plate and the gripper two mounting plate, and two mutual surfaces are mounted on the lower plate surface of the gripping unit mounting plate.
  • Parallel slide rails, two sliders on the mounting plate of the gripper are respectively mounted on the two slide rails, and two sliders on the mounting plate of the gripper are respectively mounted on the two slide rails.
  • the cylinder head needs to be turned over after the cylinder head is clamped, and the finger flip unit capable of turning the cylinder head is mounted on both the gripper and the gripper.
  • the finger flip unit includes a finger block, a rotation axis, a limit block, and a finger block driving mechanism.
  • the finger block driving mechanism is installed in the gripper 1 and/or the gripper 2, and the finger block driving mechanism drives the rotating shaft to rotate.
  • the finger block and the rotating shaft are fixedly connected, and the finger block on the gripper is located on the inner side of the gripper 1, and the finger block on the gripper 2 is located on the inner side of the gripper 2, the finger block on the gripper and the gripper 2
  • the finger block is symmetrically arranged, and the limiting block is provided with a circular arc groove, and the arc of the circular arc groove is matched with the curvature of the outer ring of the rotating shaft, and the limiting block is fixedly mounted on the gripper and/or
  • the gripper is placed on the second hand, and the circular arc groove is engaged with the outer ring of the rotating shaft without affecting the rotation of the rotating shaft, and the outer side of the limiting block is provided with two circular convex grooves.
  • the position pin, the two convex limit bolts are respectively located at two ends of the circular arc groove, and the outer ring of the rotation shaft is provided with a convex block.
  • the finger block driving mechanism drives the rotating shaft to rotate in the circular arc groove, thereby driving the finger block to rotate, and the stopper of the rotating shaft outer ring can restrain the rotation of the rotating shaft by the limit bolt, thereby limiting the angle at which the cylinder head is turned over.
  • the arc of the arcuate groove has an arc length that is less than the circumference of the circle in which the arc is located.
  • the finger block driving mechanism includes a driving wheel, an idler wheel, a driven wheel and a vane type tilting cylinder, and an output shaft of the vane type tilting cylinder is fixedly connected with the driving wheel, and the driving wheel, the idler wheel and the driven wheel pass through
  • the toothed belt drive is connected, the driven wheel and the rotating shaft are fixedly connected, and the vane type cylinder is fixed on the gripper one and/or the gripper 2.
  • the utility model has the beneficial effects that the engine cylinder head combination gripper of the invention can firmly grip the cylinder head and invert the cylinder head, and can also drive the gripping unit to rotate on the X plane by using the rotating unit, and utilize The oscillating unit drives the rotating unit to swing up and down on the X plane, the grip movement is good in synchronism, the device structure is simple, the cost is reduced, and the degree of automation is high.
  • FIG. 1 is a schematic view showing the structure of an engine cylinder head combination gripper of the present invention.
  • FIG. 2 is a bottom perspective view of the engine cylinder head assembly gripper of the present invention from the bottom of the gripper upward.
  • Figure 3 is a partial enlarged view of the engine cylinder head combination grip of the present invention.
  • Figure 4 is a partial enlarged view of the finger block of Figure 3 removed.
  • Fig. 5 is a schematic view showing the internal structure of the gripper 2 mainly explained by the engine cylinder head combination gripper of the present invention.
  • swing unit 11, wrist mounting plate, 12, rotating unit mounting plate, 13, bearing housing, 14, servo motor, 20, rotating unit, 21, rotating connecting plate, 22, swing cylinder, 30, grasp Take unit, 31, grab unit mounting plate, 32, grip one, 33, gripper two, 34, cylinder, 351, connecting rod one, 352, connecting rod two, 353, connecting block, 36, gripping one installation Board, 37, gripper two mounting plate, 38, slider, 39, slide rail, 40, finger flip unit, 41, finger block, 42, rotating shaft, 421, stop, 43, limit block, 431, circle Curved groove, 432, limit bolt, 51, drive wheel, 52, idler, 53, driven wheel, 54, blade type cylinder, 55, toothed belt.
  • an engine cylinder head combination gripper comprising a swing unit 10, a rotating unit 20, and a gripping unit 30 capable of performing a gripping action on the cylinder head, grabbing
  • the unit 30 is disposed on the rotating unit 20, and the rotating unit 20 drives the gripping unit 30 to rotate in the X plane.
  • the rotating unit 20 is disposed on the swing unit 10, and the swing unit 10 can drive the rotating unit 20 to swing up and down with respect to the X plane
  • the gripping unit 30 includes a gripping unit mounting plate 31, and an upper plate surface of the gripping unit mounting plate 31 is coupled to the rotating unit 20, and a gripper 32 and a gripper 23 are slidably mounted on the lower plate surface of the gripping unit mounting plate 31.
  • a link mechanism is disposed between the gripper 32 and the gripper 2, and a cylinder 34 is disposed on the lower plate surface of the gripping unit mounting plate 31.
  • the drive mechanism can be driven by the cylinder 34 to enable the gripper to grasp 32 and grasp Hand two 33 are moving in opposite or opposite directions.
  • the swing unit 10 includes a wrist mounting plate 11 and a rotating unit mounting plate 12, and one side of the wrist mounting plate 11 is mounted with two bearing seats 13, and the other side of the wrist mounting plate 11 can be fixed to the lifting mechanism, and the two bearing seats 13 A bearing 1 is mounted therein, and one end of the rotating unit mounting plate 12 is installed between the two bearing housings 13, and one end of the rotating unit mounting plate 12 and the bearing inner ring of the two bearing housings 13 are fixedly connected (can be connected The plate is fixedly connected), and the inner ring of any one of the two bearings is externally connected with a servo motor 14.
  • the rotating unit 20 includes a driving mechanism, a bearing 2 and a rotating connecting plate 21, and the upper plate surface of the rotating connecting plate 21 and the driving bearing inner ring are fixedly connected, and the lower plate of the rotating connecting plate 21 and the upper plate surface of the gripping unit mounting plate 31 are fixed.
  • the driving mechanism is mounted on the other end of the rotating unit mounting plate 12, and the driving mechanism drives the inner ring of the bearing to rotate.
  • the driving mechanism is a swing cylinder 22, and an output shaft of the swing cylinder 22 is connected by a connecting member and a bearing inner ring, and the swing cylinder 22 and the lower plate surface of the other end of the rotating unit mounting plate 12 are fixedly connected.
  • the output shaft of the swing cylinder 22 can drive the rotating connecting plate 21 to rotate, and then rotate the connecting plate 21 to drive the gripping unit to be installed.
  • the plate 31 is rotated, and finally the gripping unit mounting plate 31 drives the gripping unit 30 to rotate.
  • the link mechanism includes a link 351, a link 352, and a connecting block 353.
  • the middle portion of the connecting block 353 is rotatably mounted on the lower plate surface of the gripping unit mounting plate 31, and one end of the connecting rod 351 and the connecting block 353
  • One end of the connecting rod 351 is connected to the gripper 32
  • one end of the connecting rod 352 is connected to the other end of the connecting block 353, and the other end of the connecting rod 352 is connected to the gripper 23, the cylinder 34
  • the protruding end is fixedly connected to the gripping plate 36 of the gripper 32.
  • the gripping unit 30 further includes a gripper-mounting plate 36, a gripper two mounting plate 37 and a slider 38.
  • the gripper 32 is fixedly mounted on the lower plate surface of the gripper-mounting plate 36, and the gripper 2 is fixedly mounted on the gripper
  • two sliders 38 are mounted on the upper plate surface of the gripper-mounting plate 36 and the gripper two mounting plate 37, and the lower plate surface of the gripping unit mounting plate 31 is mounted.
  • Two parallel slide rails 39 are mounted, and two sliders 38 on the gripper-mounting plate 36 are respectively mounted on the two slide rails 39.
  • the two sliders 38 on the gripper two mounting plate 37 are respectively mounted on the slide rails 39.
  • Two slide rails 39 Since the two slide rails 39 are parallel to each other, the gripper 32 and the gripper 23 can always ensure linear translation.
  • the gripper 32 can be pushed outward to slide, and the link 351 is pulled toward the gripper.
  • a movement of 32 causes the connecting block 353 to rotate clockwise, and the connecting rod 352 moves toward the gripper 2, 33, and pushes the gripper 2 to slide outward, thereby realizing the back movement of the gripper 32 and the gripper 23, the above actions are Is done synchronously;
  • the gripper 32 can be pulled inwardly, and the link 351 is pulled inwardly, so that the connecting block 353 rotates counterclockwise, the connecting rod 352 moves inward, and the gripper 233 slides inward. To achieve the opposite movement of the gripper 32 and the gripper 2, the above actions are all completed simultaneously.
  • a finger flip unit 40 capable of inverting the cylinder head is attached to both the gripper 32 and the gripper 233.
  • the finger flip unit 40 includes a finger block 41, a rotating shaft 42, a limit block 43 and a finger block driving mechanism.
  • the finger block driving mechanism is mounted in the gripper 32 and/or the gripper 33, and the finger block driving mechanism drives the rotating shaft 42. Rotating, the finger block 41 and the rotating shaft 42 are fixedly connected, and the finger block 41 of the gripper 32 is positioned.
  • the finger block 41 on the gripper 2 is located on the inner side of the gripper 2, 33, and the finger block 41 on the gripper 32 and the finger block 41 on the gripper 33 are symmetrically arranged, and the limit block 43 is provided with a circular arc groove 431, the arc of the circular arc groove 431 is matched with the curvature of the outer ring of the rotating shaft 42, and the limiting block 43 is fixedly mounted on the gripper 32 and/or the gripper 23,
  • the arcuate groove 431 is engaged with the outer ring of the rotating shaft 42 while not affecting the rotation of the rotating shaft 42.
  • the side of the limiting block 43 having the circular arc shaped groove 431 is provided with two convex limits.
  • the position pin 432, the two convex limit pins 432 are respectively located at two ends of the circular arc groove 431, and the outer ring of the rotating shaft 42 is provided with a convex block 421.
  • the arc length of the circular arc of the circular arc groove 431 is smaller than the circumference of the circle where the circular arc is located.
  • the finger block driving mechanism includes a driving wheel 51, an idler 52, a driven wheel 53, and a vane type swing cylinder 54, and an output shaft of the vane type swing cylinder 54 is fixedly coupled with the driving wheel 51, and the driving wheel 51, the idler 52 and the driven wheel 53 pass
  • the toothed belt 55 (the belt inner ring has teeth) is drivingly connected, the driven wheel 53 and the rotating shaft 42 are fixedly connected, and the vane type swing cylinder 54 is fixedly mounted on the gripper 32 and/or the gripper 2 33.
  • the output shaft of the vane type swing cylinder 54 drives the driving wheel 51 to rotate, and the driving idler 52 and the driven wheel 53 of the toothed belt rotate, and the driven wheel 53 drives the rotating shaft 42 to rotate, thereby driving the finger block 41 to rotate, and the rotating shaft 42 is in the circle.
  • the arcuate groove 431 rotates, assuming that the rotating shaft 42 rotates in the forward direction, and then the stopper 421 of the outer ring of the rotating shaft 42 is resisted by a limit pin 432, and then the rotating shaft 42 is reversely rotated by 180° to be blocked by another limit.
  • the bolt 432 blocks and limits the rotation of the rotating shaft, thereby limiting the angle at which the cylinder head is turned over.
  • the direction of rotation of the finger block 41 on the gripper 32 and the finger block 41 on the gripper 2 is always consistent (which can be reversed), and therefore, the swinging direction of the vane swing cylinder 54 is also set as needed.

Abstract

一种发动机缸盖组合抓手,包括摆动单元（10）、转动单元（20）以及能够对缸盖实施抓取动作的抓取单元（30），抓取单元（30）设置在转动单元（20）上，转动单元（20）驱动抓取单元（30）在X平面上转动，转动单元（20）设置在摆动单元（10）上，摆动单元（10）能够驱动转动单元（20）相对X平面上下摆动，抓取单元安装板（31）的下板面上滑动安装有抓手一（32）和抓手二(33)，通过气缸驱动连杆机构能够使得抓手一和抓手二相向或相背运动。该发动机缸盖组合抓手，能够牢牢地将缸盖夹取，并对缸盖进行翻转，抓手运动同步性好，设备结构简单，成本降低，自动化程度高。

Description

发动机缸盖组合抓手 技术领域
本发明涉及机械手技术领域，尤其涉及一种发动机缸盖组合抓手。
背景技术
在汽车发动机装配时，在相应工位需要将缸盖流水线上的发动机缸盖从托盘上抓起并搬运到缸体流水线上的发动机缸体相应位置以完成装配。在此过程中，对缸盖抓手的抓取精度及缸盖放置在缸体上的放置精度要求较高；与此同时，由于缸盖流水线及缸体流水线方向性问题，缸盖抓手在抓取发动机缸盖后可能需要将发动机缸盖旋转90°或180°。在具体应用中，有些发动机厂家为降低设备的一次性投入成本，在缸盖流水线和缸体流水线之间安排专人用辅助机械手将发动机缸盖抓起并搬运到发动机缸体上方，然后依靠经验把发动机缸盖放置在发动机缸体相应位置，此种方式对工人的操作水平要求较高，工人的劳动强度极大，而且效率低下。而有些发动机厂家虽然采用的是自动化程度较高的机械抓手，但对缸盖及缸体流水线上的辅助定位装置的精度要求较高，然而缸盖抓手上的夹取动力采用的是两个气缸分别推动两个夹臂相向或相背运动，从而实现对缸盖的夹取，但是采用两个气缸的方式具有同步性差，设备结构复杂、成本高的缺陷。
发明内容
本发明要解决的技术问题是：为了解决传统缸盖抓手采用两个气缸夹取缸盖同步性差的技术问题，本发明提供一种发动机缸盖组合抓手。
本发明解决其技术问题所采用的技术方案是：一种发动机缸盖组合抓手，包括摆动单元、转动单元以及能够对缸盖实施抓取动作的抓取单元，抓取单元设置在转动单元上，转动单元驱动抓取单元在X平面上转动，转动单元设置在 摆动单元上，摆动单元能够驱动转动单元相对X平面上下摆动，所述抓取单元包括抓取单元安装板，所述抓取单元安装板的上板面和转动单元相连接，抓取单元安装板的下板面上滑动安装有抓手一和抓手二，抓手一和抓手二之间设置有连杆机构，抓取单元安装板的下板面上还设置有一个气缸，通过气缸驱动连杆机构能够使得抓手一和抓手二相向或相背运动。本发明只需一个气缸，该气缸和抓手一或者抓手二固定连接，推动其中任一个抓手，通过连杆机构能够使得抓手一或者抓手二同步运动(相向或相背)。
为了能够使得被夹取的缸盖能够上下摆动，所述摆动单元包括手腕安装板和转动单元安装板，所述手腕安装板的一侧安装有两个轴承座，两个轴承座内均安装有轴承一，转动单元安装板的一端安装在两个轴承座之间，且转动单元安装板的一端和两个轴承座内的轴承一内圈固定连接，两个轴承一中任意一个轴承一外接有伺服电机。
进一步，所述转动单元包括驱动机构、轴承二和转动连接板，转动连接板的上板面和驱动轴承内圈固定连接，转动连接板的下面板和抓取单元安装板的上板面固定连接，所述驱动机构安装在转动单元安装板的另一端，驱动机构驱动轴承二内圈转动。
作为优选，所述驱动机构为摆缸，所述摆缸的输出轴通过连接件和轴承二内圈连接，摆缸和转动单元安装板的另一端的下板面固定连接。
为了能够实现抓手一或者抓手二同步运动，所述连杆机构包括连杆一、连杆二和连接块，所述连接块的中部转动安装在抓取单元安装板的下板面上，连杆一的一端和连接块的一端连接(优选铰接)，连杆一的另一端和抓手一连接(优选铰接)，连杆二的一端和连接块的另一端连接(优选铰接)，连杆二的另一端和抓手二连接(优选铰接)，所述气缸的伸出端和抓手一固定连接。
进一步，具体的，所述抓取单元还包括抓手一安装板、抓手二安装板和滑块，抓手一固定安装在抓手一安装板的下板面上，抓手二固定安装在抓手二安装板的下板面上，抓手一安装板和抓手二安装板的上板面上均安装有两个滑块，抓取单元安装板的下板面上安装有两条相互平行的滑轨，抓手一安装板上的两个滑块分别安装在两条滑轨上，抓手二安装板上的两个滑块分别安装在两条滑轨上。
当缸盖被夹取后需要对缸盖进行翻转，所述抓手一和抓手二上均安装有能够将缸盖进行翻转的手指翻转单元。
进一步，所述手指翻转单元包括手指块、旋转轴、限位块以及手指块驱动机构，所述手指块驱动机构安装在抓手一和/或抓手二内，手指块驱动机构驱动旋转轴转动，手指块和旋转轴固定连接，抓手一上的手指块位于抓手一的内侧，抓手二上的手指块位于抓手二的内侧，抓手一上的手指块和抓手二上的手指块对称设置，所述限位块上开设有圆弧形凹槽，圆弧形凹槽的弧度和旋转轴外圈的弧度相吻合，所述限位块固定安装在抓手一和/或抓手二上，且圆弧形凹槽在不影响旋转轴转动的同时卡合在旋转轴的外圈，限位块开设有圆弧形凹槽的侧面上开设置有两个外凸的限位栓，两个外凸的限位栓分别位于圆弧形凹槽的两端，旋转轴的外圈设有外凸的挡块。手指块驱动机构驱动旋转轴在圆弧形凹槽内转动，从而带动手指块转动，旋转轴外圈的挡块被限位栓抵挡后能够限制旋转轴转动，从而限制缸盖翻转的角度。
为了使得缸盖能够实现180°翻转，所述圆弧形凹槽的圆弧的弧长小于1/2圆弧所在圆的周长。
进一步，具体地，所述手指块驱动机构包括主动轮、惰轮、从动轮和叶片式摆缸，叶片式摆缸的输出轴和主动轮固定连接，主动轮、惰轮和从动轮通过 齿形皮带传动连接，从动轮和旋转轴固定连接，所述叶片式摆缸定安装在抓手一和/或抓手二上。
本发明的有益效果是，本发明的发动机缸盖组合抓手，能够牢牢地将缸盖夹取，并对缸盖进行翻转，还能够利用转动单元驱动抓取单元在X平面上转动，利用摆动单元驱动转动单元在X平面上上下摆动，抓手运动同步性好，设备结构简单，成本降低，自动化程度高。
附图说明
下面结合附图和实施例对本发明进一步说明。
图1是本发明发动机缸盖组合抓手的结构示意图。
图2是本发明发动机缸盖组合抓手从抓手底部向上的仰视立体结构示意图。
图3是本发明发动机缸盖组合抓手的局部放大图。
图4是图3中除去手指块的局部放大图。
图5是本发明发动机缸盖组合抓手主要说明的抓手二内部结构的示意图。
图中：10、摆动单元，11、手腕安装板，12、转动单元安装板，13、轴承座，14、伺服电机，20、转动单元，21、转动连接板，22、摆缸，30、抓取单元，31、抓取单元安装板，32、抓手一，33、抓手二，34、气缸，351、连杆一，352、连杆二，353、连接块，36、抓手一安装板，37、抓手二安装板，38、滑块，39、滑轨，40、手指翻转单元，41、手指块，42、旋转轴，421、挡块，43、限位块，431、圆弧形凹槽，432、限位栓，51、主动轮，52、惰轮，53、从动轮，54、叶片式摆缸，55、齿形皮带。
具体实施方式
现在结合附图对本发明作进一步详细的说明。这些附图均为简化的示意图，仅以示意方式说明本发明的基本结构，因此其仅显示与本发明有关的构成。
如图1-5所示，是本发明最优实施例，一种发动机缸盖组合抓手，包括摆动单元10、转动单元20以及能够对缸盖实施抓取动作的抓取单元30，抓取单元30设置在转动单元20上，转动单元20驱动抓取单元30在X平面内转动，转动单元20设置在摆动单元10上，摆动单元10能够驱动转动单元20相对X平面上下摆动，抓取单元30包括抓取单元安装板31，抓取单元安装板31的上板面和转动单元20相连接，抓取单元安装板31的下板面上滑动安装有抓手一32和抓手二33，抓手一32和抓手二33之间设置有连杆机构，抓取单元安装板31的下板面上还设置有一个气缸34，通过气缸34驱动连杆机构能够使得抓手一32和抓手二33相向或相背运动。
摆动单元10包括手腕安装板11和转动单元安装板12，手腕安装板11的一侧安装有两个轴承座13，手腕安装板11的另一侧可以固定在升降机构上，两个轴承座13内均安装有轴承一，转动单元安装板12的一端安装在两个轴承座13之间，且转动单元安装板12的一端和两个轴承座13内的轴承一内圈固定连接(可以通过连接板固定连接)，两个轴承一中任意一个轴承一的内圈外接有伺服电机14。通过伺服电机14的转动，能够带动其中一个轴承一转动，通过转动单元安装板12的传递，两个轴承一同步转动，从而实现转动单元安装板12在手腕安装板11上做类似手腕一样的上下摆动。
转动单元20包括驱动机构、轴承二和转动连接板21，转动连接板21的上板面和驱动轴承内圈固定连接，转动连接板21的下面板和抓取单元安装板31的上板面固定连接，驱动机构安装在转动单元安装板12的另一端，驱动机构驱动轴承二内圈转动。驱动机构为摆缸22，摆缸22的输出轴通过连接件和轴承二内圈连接，摆缸22和转动单元安装板12的另一端的下板面固定连接。摆缸22的输出轴能够带动转动连接板21转动，进而转动连接板21带动抓取单元安装 板31转动，最终抓取单元安装板31带动抓取单元30转动。
连杆机构包括连杆一351、连杆二352和连接块353，所述连接块353的中部转动安装在抓取单元安装板31的下板面上，连杆一351的一端和连接块353的一端连接，连杆一351的另一端和抓手一32连接，连杆二352的一端和连接块353的另一端连接，连杆二352的另一端和抓手二33连接，气缸34的伸出端和抓手一32的抓手一安装板36固定连接。抓取单元30还包括抓手一安装板36、抓手二安装板37和滑块38，抓手一32固定安装在抓手一安装板36的下板面上，抓手二33固定安装在抓手二安装板37的下板面上，抓手一安装板36和抓手二安装板37的上板面上均安装有两个滑块38，抓取单元安装板31的下板面上安装有两条相互平行的滑轨39，抓手一安装板36上的两个滑块38分别安装在两条滑轨39上，抓手二安装板37上的两个滑块38分别安装在两条滑轨39上。由于两条滑轨39相互平行，因此抓手一32和抓手二33始终能够保证直线平移，气缸34如果伸出，则能够推动抓手一32向外滑动，拉动连杆一351向抓手一32运动，从而使得连接块353顺时针转动，连杆二352向抓手二33运动，推动抓手二33向外滑动，实现抓手一32和抓手二33相背运动，上述动作都是同步完成的；
气缸34如果退回，则能够拉动抓手一32向内滑动，拉动连杆一351向内运动，从而使得连接块353逆时针转动，连杆二352向内运动，拉动抓手二33向内滑动，实现抓手一32和抓手二33相向运动，上述动作都是同步完成的。
抓手一32和抓手二33上均安装有能够将缸盖进行翻转的手指翻转单元40。
手指翻转单元40包括手指块41、旋转轴42、限位块43以及手指块驱动机构，手指块驱动机构安装在抓手一32和/或抓手二33内，手指块驱动机构驱动旋转轴42转动，手指块41和旋转轴42固定连接，抓手一32上的手指块41位 于抓手一32的内侧，抓手二33上的手指块41位于抓手二33的内侧，抓手一32上的手指块41和抓手二33上的手指块41对称设置，限位块43上开设有圆弧形凹槽431，圆弧形凹槽431的弧度和旋转轴42外圈的弧度相吻合，限位块43固定安装在抓手一32和/或抓手二33上，且圆弧形凹槽431在不影响旋转轴42转动的同时卡合在旋转轴42的外圈，限位块43开设有圆弧形凹槽431的侧面上开设置有两个外凸的限位栓432，两个外凸的限位栓432分别位于圆弧形凹槽431的两端，旋转轴42的外圈设有外凸的挡块421。
圆弧形凹槽431的圆弧的弧长小于1/2圆弧所在圆的周长。
手指块驱动机构包括主动轮51、惰轮52、从动轮53和叶片式摆缸54，叶片式摆缸54的输出轴和主动轮51固定连接，主动轮51、惰轮52和从动轮53通过齿形皮带55(皮带内圈具有齿)传动连接，从动轮53和旋转轴42固定连接，叶片式摆缸54固定安装在抓手一32和/或抓手二33上。
叶片式摆缸54的输出轴带动主动轮51转动，通过齿形皮带的传动惰轮52和从动轮53转动，从动轮53带动旋转轴42转动，从而带动手指块41转动，旋转轴42在圆弧形凹槽431内转动，假设旋转轴42正向转动，然后旋转轴42外圈的挡块421被一个限位栓432抵挡，然后旋转轴42反向旋转180°后能够被另一个限位栓432挡住，限制旋转轴转动，从而限制缸盖翻转的角度。抓手一32上的手指块41和抓手二33上的手指块41的转动方向始终保持一致(能够翻转缸盖为准)，因此，叶片式摆缸54的摆动方向也根据需要设置。
以上述依据本发明的理想实施例为启示，通过上述的说明内容，相关工作人员完全可以在不偏离本项发明技术思想的范围内，进行多样的变更以及修改。本项发明的技术性范围并不局限于说明书上的内容，必须要根据权利要求范围来确定其技术性范围。

Claims (10)

  1. 一种发动机缸盖组合抓手，其特征在于：包括摆动单元(10)、转动单元(20)以及能够对缸盖实施抓取动作的抓取单元(30)，抓取单元(30)设置在转动单元(20)上，转动单元(20)驱动抓取单元(30)在X平面内转动，转动单元(20)设置在摆动单元(10)上，摆动单元(10)能够驱动转动单元(20)相对X平面上下摆动，
    所述抓取单元(30)包括抓取单元安装板(31)，所述抓取单元安装板(31)的上板面和转动单元(20)相连接，抓取单元安装板(31)的下板面上滑动安装有抓手一(32)和抓手二(33)，抓手一(32)和抓手二(33)之间设置有连杆机构，抓取单元安装板(31)的下板面上还设置有一个气缸(34)，通过气缸(34)驱动连杆机构能够使得抓手一(32)和抓手二(33)相向或相背运动。
  2. 如权利要求1所述的发动机缸盖组合抓手，其特征在于：所述摆动单元(10)包括手腕安装板(11)和转动单元安装板(12)，所述手腕安装板(11)的一侧安装有两个轴承座(13)，两个轴承座(13)内均安装有轴承一，转动单元安装板(12)的一端安装在两个轴承座(13)之间，且转动单元安装板(12)的一端和两个轴承座(13)内的轴承一内圈固定连接，两个轴承一中任意一个轴承一外接有伺服电机(14)。
  3. 如权利要求1所述的发动机缸盖组合抓手，其特征在于：所述转动单元(20)包括驱动机构、轴承二和转动连接板(21)，转动连接板(21)的上板面和驱动轴承内圈固定连接，转动连接板(21)的下面板和抓取单元安装板(31)的上板面固定连接，所述驱动机构安装在转动单元安装板(12)的另一端，驱动机构驱动轴承二内圈转动。
  4. 如权利要求3所述的发动机缸盖组合抓手，其特征在于：所述驱动机构为摆缸(22)，所述摆缸(22)的输出轴通过连接件和轴承二内圈连接，摆缸(22) 和转动单元安装板(12)的另一端的下板面固定连接。
  5. 如权利要求1所述的发动机缸盖组合抓手，其特征在于：所述连杆机构包括连杆一(351)、连杆二(352)和连接块(353)，所述连接块(353)的中部转动安装在抓取单元安装板(31)的下板面上，连杆一(351)的一端和连接块(353)的一端连接，连杆一(351)的另一端和抓手一(32)连接，连杆二(352)的一端和连接块(353)的另一端连接，连杆二(352)的另一端和抓手二(33)连接，所述气缸(34)的伸出端和抓手一(32)固定连接。
  6. 如权利要求1所述的发动机缸盖组合抓手，其特征在于：所述抓取单元(30)还包括抓手一安装板(36)、抓手二安装板(37)和滑块(38)，抓手一(32)固定安装在抓手一安装板(36)的下板面上，抓手二(33)固定安装在抓手二安装板(37)的下板面上，抓手一安装板(36)和抓手二安装板(37)的上板面上均安装有两个滑块(38)，抓取单元安装板(31)的下板面上安装有两条相互平行的滑轨(39)，抓手一安装板(36)上的两个滑块(38)分别安装在两条滑轨(39)上，抓手二安装板(37)上的两个滑块(38)分别安装在两条滑轨(39)上。
  7. 如权利要求1所述的发动机缸盖组合抓手，其特征在于：所述抓手一(32)和抓手二(33)上均安装有能够将缸盖进行翻转的手指翻转单元(40)。
  8. 如权利要求1所述的发动机缸盖组合抓手，其特征在于：所述手指翻转单元(40)包括手指块(41)、旋转轴(42)、限位块(43)以及手指块驱动机构，所述手指块驱动机构安装在抓手一(32)和/或抓手二(33)内，手指块驱动机构驱动旋转轴(42)转动，手指块(41)和旋转轴(42)固定连接，抓手一(32)上的手指块(41)位于抓手一(32)的内侧，抓手二(33)上的手指块(41)位于抓手二(33)的内侧，抓手一(32)上的手指块(41)和抓手二 (33)上的手指块(41)对称设置，
    所述限位块(43)上开设有圆弧形凹槽(431)，圆弧形凹槽(431)的弧度和旋转轴(42)外圈的弧度相吻合，所述限位块(43)固定安装在抓手一(32)和/或抓手二(33)上，且圆弧形凹槽(431)在不影响旋转轴(42)转动的同时卡合在旋转轴(42)的外圈，限位块(43)开设有圆弧形凹槽(431)的侧面上开设置有两个外凸的限位栓(432)，两个外凸的限位栓(432)分别位于圆弧形凹槽(431)的两端，旋转轴(42)的外圈设有外凸的挡块(421)。
  9. 如权利要求8所述的发动机缸盖组合抓手，其特征在于：所述圆弧形凹槽(431)的圆弧的弧长小于1/2圆弧所在圆的周长。
  10. 如权利要求8所述的发动机缸盖组合抓手，其特征在于：所述手指块驱动机构包括主动轮(51)、惰轮(52)、从动轮(53)和叶片式摆缸(54)，叶片式摆缸(54)的输出轴和主动轮(51)固定连接，主动轮(51)、惰轮(52)和从动轮(53)通过齿形皮带传动连接，从动轮(53)和旋转轴(42)固定连接，所述叶片式摆缸(54)固定安装在抓手一(32)和/或抓手二(33)上。
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