CN106393165A - Gripper structure for automatically gripping engine shell and gripping method - Google Patents

Abstract

The invention relates of a gripper structure for automatically gripping an engine shell and a gripping method. Gripping claws are hinged to the head of a gripping claw base though a pin shaft. The gripping claw base is fixedly installed at the tail end of a slide sleeve. A piston rod is installed in the slide sleeve in a sliding fit mode. The top end of the piston rod is matched with an oil cylinder base fixed to the upper end face of a base plate. A first oil inlet is machined in the bottom end of the oil cylinder base. An oil cylinder cover is installed at the top of the oil cylinder base. A second oil inlet is machined in the top of the oil cylinder cover. A top plate is installed at the top of the base plate through a plurality of supporting rib plates. A flange plate is fixedly installed on the top plate. A buffer positioning device is further installed on the base plate. The automatic gripping feeding and discharging functions of the gripper structure are achieved through a special gripper; requirements for accurate positioning, rapid gripping and high reliability are met; and the gripper structure can be used in cooperation with a mechanical arm and mechanical guide rails for station conversion between machining procedures of turning, milling and the like on a production line.

Description

A kind of paw structure of crawl and the grasping means automatically of motor body

Technical field

The invention belongs to motor body auxiliary machining device field, the automatic crawl of more particularly, to a kind of motor body Paw structure and grasping means it is adaptable in the industry such as automobile, Aero-Space, military affairs motor body processing.

Background technology

Engine is the vitals in the fields such as automobile, Aero-Space, military affairs.Motor body wraps up kernel component There is provided for main frame and stablize lasting power output, be the important component part of whole part.Motor body is frequently with aluminium alloy Hot investment casting forms, and has light weight, and contour structures are complicated, poor rigidity, yielding feature.Engine shell body processing technology is multiple Miscellaneous, operation is long, and station is many.

In actual production, in order to improve working (machining) efficiency, realize automation, unmanned, intelligent machining, frequently with automatically giving birth to Producing line, captures this part automatically using robot or manipulator.Because engine contour structures are complicated, processing technology is special, general Logical robot manipulator structure cannot be carried out it and automatically capture；And motor body is irregular body structure during crawl Cannot accurately calculate or control its center of gravity, and then stability cannot be ensured well during crawl；In addition start Machine shell body is general all to be formed using precision aluminium-alloy casting, and volume is big, and poor rigidity is yielding, needs the gripper of manipulator Structure can carry out the surface quality that flexible crawl ensures engine outer case, and standard machinery hand cannot ensure its grasp force；Finally In whole piece engine line, generally require to lay manipulator in multiple stations, special manipulator substantially needs abroad Import, high cost.

Content of the invention

The purpose of the present invention is to overcome above-mentioned drawback, provides a kind of mechanical paw structure that can automatically capture motor body And grasping means, this kind of crawl structure pass through special paw achieve automatically capture, automatic loading/unloading function；Meet positioning accurate Really, capture requirement rapid, that reliability is high；Cooperative mechanical arm, mechanical guide, can be used for that production line is got on the bus, milling etc. is each processes Station conversion during operation；Reduce enterprise's production capacity, improve production efficiency.

In order to solve above-mentioned technical problem, the present invention proposes technical scheme below：A kind of motor body captures automatically Paw structure, it includes multiple pawl heads, and described pawl head passes through the head in pawl headstock for the hinge, described pawl headstock fixed installation In the end of sliding sleeve, described sliding sleeve is fixed on the lower surface of base plate, and described sliding sleeve sliding fit inside is provided with piston rod, described Matched the grasping movement of control claw head with pawl head for the bottom of piston rod, and matched with oil cylinder seat in the top of described piston rod, institute State the upper surface that oil cylinder seat is fixed on base plate, the bottom of described oil cylinder seat is machined with an oil-in, in the top of oil cylinder seat peace Equipped with oil cylinder cover, the top of described oil cylinder cover is machined with No. two oil-ins, and multigroup support floor peace is passed through at the top of described base plate Equipped with top board, described top board is installed with ring flange, described base plate is also equipped with buffering locator.

Described buffering locator includes round pin detent mechanism, rhombus pin retention mechanisms and end face detent mechanism.

Described round pin detent mechanism includes slide bar, and the bottom of described slide bar is provided with round pin head, described slide bar and guide structure One-tenth is slidably matched, and described guide is arranged on the lower surface of base plate, and there is spring at the top of described slide bar by step surface location and installation, Described spring is fixed on inside spring spool, and the top of described spring spool is provided with the decrement that adjusting nut adjusts spring.

The structure of described round pin detent mechanism is identical with the structure of rhombus pin retention mechanisms, wherein said rhombus pin localization machine The head of structure is rhombus pin.

Described end face detent mechanism includes polylith end face locating piece, and described end face locating piece is fixedly mounted on the lower end of base plate Matched with motor body locating surface in face.

Described pawl head is cranked arm using zigzag, and the upper corner cranked arm in zigzag is machined with pin-and-hole, described pin-and-hole and bearing pin Match, the underarm end cranked arm in zigzag is provided with buffer rubber gasket, divide in the crank arm upper and lower end face of upper arm end of zigzag It is not machined with transition arc and lower transition arc.

Described piston rod includes the body of rod, and the top of the described body of rod is machined with piston head, and described piston head is interior with oil cylinder seat Cylinder body matches, and the outer wall of described piston head is machined with multiple sealing ring mounting grooves, is machined with lower limit in the bottom of piston rod Position block, is fixed with connecting rod at the center of lower position block, the end of described connecting rod is threaded post, and described threaded post is pacified Equipped with locknut, described locknut is supported by jacking block, described jacking block is matched with the lower transition arc of pawl head, described under Matched with the upper transition arc of pawl head in the lower surface of limited block.

The outer wall of described sliding sleeve is uniformly welded with multiple floors, and floor is welded and fixed with the lower surface of base plate simultaneously；Described Pawl headstock is connected with the end of sliding sleeve by multiple uniform screws.

The quantity of described end face detent mechanism is three.

Engine shell body method is captured using any one paw structure, it comprises the following steps：

S1：By ring flange, paw structure is fixed on the head of mechanical arm, an oil-in and No. two oil-ins is divided simultaneously It is not connected with hydraulic system；

S2：When initial, pawl head is in rounding state, and mechanical arm band is started to grab structure and the sliding sleeve of mounting jaw head is inserted into engine The centre bore of housing is it is ensured that the round pin head of base plate lower surface and rhombus pin are matched with two location holes on motor body calmly Position, ensures the end face phase location fit of three end face locating pieces and motor body simultaneously；

S3：No. two oil-in oil-feeds, promote piston rod to move downward, the lower position block of piston rod head withstands the upper transition of pawl head Circular arc, and then make the lower cross arm of pawl head open, makes buffer rubber gasket match with the lower surface at motor body center fixation, and three Individual uniform pawl head stretches simultaneously and is fixed on the positioning the lower surface of motor body；

S4：By mechanical arm, drive whole motor body to move to next station, an oil-in oil-feed oil-feed, promote Piston rod moves upwards, and the lower transition arc of pawl head is withstood in the jacking block upper surface of piston rod head, and then makes the lower cross arm of pawl head Draw in, unclamp motor body, mechanical arm drives whole pawl head to rise again and exits motor body；

S5：In the carrying carrying out next housing after completing the carrying of a motor body.

The present invention possesses following beneficial effect compared with conventional tube pump：

1st, being fixedly connected between whole paw structure and mechanical arm be ensure that by ring flange, and by being detachably connected Improve its adaptability.

2nd, by being arranged on round pin detent mechanism on base plate, rhombus pin retention mechanisms and end face detent mechanism, can be simultaneously Match with the location hole on motor body and positioning end face, and then ensure that paw structure can have to hood The fixation of effect is it is ensured that positioning precision.

3rd, the spring by being arranged on detent mechanism can play the effect of good buffering it is ensured that round pin to round pin head Head realizes flexible contact with the location hole on motor body, prevents from damaging its outer surface.

4th, the decrement of spring can be adjusted and then ensure that paw by being arranged on the adjusting nut at spring spool top Location fit precision between structure and motor body.

5th, pass through to constitute hydraulic piston structure between piston rod and oil cylinder seat, control oil-feed by two oil-ins, and then Drive piston rod uplink and downlink, and then the effective pawl head driving its bottom is realized it and drawn in and unclamp, and then reach crawl Purpose.

6th, by pawl head is designed to zigzag structure, leverage can be conveniently formed, by driving the upper of zigzag Transverse arm and then drive its lower cross arm to rotate, realizes gathering and the expansion of pawl head by way of rotating, and convenient to realize crawl dynamic Make.

8th, by adopting hydraulic-driven, increase driving force, and then improve grasp force it is ensured that peace during crawl Quan Xing.

9th, can determine a plane by arranging three end face locating pieces, and then ensure that planarity requirements, improve Positioning precision.

10th, the stability of crawl is ensure that by three uniform pawl heads.

Brief description

The invention will be further described with reference to the accompanying drawings and examples.

Fig. 1 is that the hand of the present invention grabs structure revolved sectional view.

Fig. 2 is C-C sectional view in Fig. 1 of the present invention.

Fig. 3 is the structural representation after the pawl head expansion of the present invention.

Fig. 4 is that pawl head of the present invention installs partial structural diagram.

Fig. 5 is top view of the present invention.

Fig. 6 is pawl header structure schematic diagram of the present invention.

Fig. 7 is inventive piston bar structural representation.

Fig. 8 is paw of the present invention and structural representation during motor body cooperation crawl.

Fig. 9 is paw of the present invention and motor body end face positioning and centering fit structure schematic diagram.

Figure 10 is the front view of inventive engine housing.

Figure 11 is inventive engine housing top view.

Figure 12 is inventive engine housing top view.

In figure：Pawl head 1, bearing pin 2, pawl headstock 3, sliding sleeve 5, piston rod 6, floor 7, end face locating piece 8, round pin head 9, slide bar 10th, guide 11, base plate 12, spring spool 13, spring 14,15, oil-in 16 of adjusting nut, oil cylinder seat 17, oil cylinder cover 18, No. two oil-ins 19, ring flange 20, top board 21, support floor 22, rhombus pin retention mechanisms 23, rhombus pin 24, motivation housing 25, Motor body centre bore bottom end face crawl point 26, motor body top end face anchor point 27, motor body top water chestnut Shape location hole 28, motor body top circular location hole 29；

Buffer rubber gasket 101, zigzag are cranked arm 102, pin-and-hole 103, lower transition arc 104, upper transition arc 105；

Threaded post 601, locknut 602, jacking block 603, connecting rod 604, lower position block 605, the body of rod 606, piston head 607, close Seal mounting groove 608.

Specific embodiment

Below in conjunction with the accompanying drawings embodiments of the present invention are described further.

Embodiment 1：

Automatically the paw structure capturing as Fig. 1-9, a kind of motor body, it includes multiple pawl heads 1, and described pawl head 1 passes through pin Axle 2 is hinged on the head of pawl headstock 3, and described pawl headstock 3 is fixedly mounted on the end of sliding sleeve 5, and described sliding sleeve 5 is fixed on base plate 12 Lower surface, described sliding sleeve 5 sliding fit inside is provided with piston rod 6, and matched control with pawl head 1 for the bottom of described piston rod 6 The grasping movement of pawl head 1 processed, matched with oil cylinder seat 17 in the top of described piston rod 6, described oil cylinder seat 17 is fixed on base plate 12 Upper surface, the bottom of described oil cylinder seat 17 is machined with an oil-in 16, is provided with oil cylinder cover 18 at the top of oil cylinder seat 17, The top of described oil cylinder cover 18 is machined with No. two oil-ins 19, and the top of described base plate 12 is passed through multigroup support floor 22 and is provided with Top board 21, described top board 21 is installed with ring flange 20, described base plate 12 is also equipped with buffering locator.

Further, described buffering locator includes round pin detent mechanism, rhombus pin retention mechanisms and end face localization machine Structure.Can effectively prevent from damaging engine shell external surface by arranging buffer gear.

Further, described round pin detent mechanism includes slide bar 10, and the bottom of described slide bar 10 is provided with round pin head 9, institute State slide bar 10 to be slidably matched with guide 11 composition, described guide 11 is arranged on the lower surface of base plate 12, the top of described slide bar 10 Spring 14 is had by step surface location and installation, described spring 14 is fixed on inside spring spool 13, the top of described spring spool 13 Portion is provided with the decrement that adjusting nut 15 adjusts spring 14.

Further, the structure of described round pin detent mechanism is identical with the structure of rhombus pin retention mechanisms 23, wherein said The head of rhombus pin retention mechanisms is rhombus pin 24.Ensure that the precision of positioning by different location holes, and then ensure that and grab The stability taking.

Further, described end face detent mechanism includes polylith end face locating piece 8, and described end face locating piece 8 fixedly mounts Match with motor body locating surface in the lower surface of base plate 12.Ensure that base plate 12 by multiple end face locating pieces 8 Lower surface and the top end face keeping parallelism of motor body.

Further, described pawl head 1 cranks arm 102 using zigzag, is machined with pin-and-hole in crank arm 102 upper corner of zigzag 103, described pin-and-hole 103 is matched with bearing pin 2, is provided with buffer rubber gasket 101 in crank arm 102 underarm end of zigzag, in Z The crank arm upper and lower end face of 102 upper arm ends of font is machined with transition arc 105 and lower transition arc 104 respectively.By Z-shaped Shape is cranked arm and 102 can be formed leverage, and then facilitates that it launches and grasping movement is realized in gathering.

Further, described piston rod 6 includes the body of rod 606, and the top of the described body of rod 606 is machined with piston head 607, described Piston head 607 and the inner casing mates of oil cylinder seat 17, the outer wall of described piston head 607 is machined with multiple sealing ring mounting grooves 608, it is machined with lower position block 605 in the bottom of piston rod 607, be fixed with connecting rod 604, institute at the center of lower position block 605 The end stating connecting rod 604 is threaded post 601, and described threaded post 601 is provided with locknut 602, described clamp screw It is supported by jacking block 603, described jacking block 603 is matched with the lower transition arc 104 of pawl head 1, described lower position block 605 on female 602 Lower surface match with the upper transition arc 105 of pawl head 1.

Further, the outer wall of described sliding sleeve 5 is uniformly welded with multiple floors 7, floor 7 lower surface with base plate 12 simultaneously It is welded and fixed；Described pawl headstock 3 is connected with the end of sliding sleeve 5 by multiple uniform screws 4.By convenient using mode connects for screw The dismounting of pawl headstock 3 and replacing, and then improve the adaptability of grasping mechanism.

Further, the quantity of described end face detent mechanism is three.Improve stability using three it is ensured that plane Degree.

As Figure 10-12, motor body is bowl-type thin-walled parts, and material is cast aluminium alloy, and weight is 18KG.This part because Complex structure, yielding, the difficult feature of positioning and clamping, the paw design for automatic crawl brings very big difficulty.

Further, hood requires face, engine shell on the basis of the end face of motor body top when automatically capturing Body top end face anchor point 27, motor body top rhombus location hole 28, motor body top circular location hole 29.Clamping It is by being captured in motor body centre bore bottom end face crawl point 26 applying pressure.

Embodiment 2：

Engine shell body method is captured using any one paw structure, it comprises the following steps：

S1：By ring flange 20, paw structure is fixed on the head of mechanical arm, simultaneously by an oil-in 16 and No. two oil-feeds Mouth 19 is connected with hydraulic system respectively；

S2：When initial, pawl head 1 is in rounding state, and mechanical arm band starts to grab structure and be inserted into the sliding sleeve 5 of mounting jaw head 1 to start The centre bore of casing body is it is ensured that two location holes on the round pin head 9 of base plate 12 lower surface and rhombus pin 24 and motor body Match positioning, ensures the end face phase location fit of three end face locating pieces 8 and motor body simultaneously；

S3：The oil-feed of No. two oil-ins 19, promotes piston rod 6 to move downward, the lower position block 605 of piston rod 6 head withstands pawl head 1 Upper transition arc 105, and then so that the lower cross arm of pawl head 1 is opened, make the lower end of buffer rubber gasket 101 and motor body center Match fixation in face, and three uniform pawl heads 1 stretch simultaneously and are fixed on the positioning the lower surface of motor body；

S4：By mechanical arm, drive whole motor body to move to next station, the oil-feed oil-feed of an oil-in 16, push away Piston bar 6 moves upwards, and the lower transition arc 104 of pawl head 1 is withstood in jacking block 603 upper surface of piston rod 6 head, and then makes pawl 1 lower cross arm draws in, unclamps motor body, and mechanical arm drives whole pawl head 1 to rise again and exits motor body；

S5：In the carrying carrying out next housing after completing the carrying of a motor body.

By above-mentioned description, those skilled in the art completely can be in the model without departing from this invention technological thought In enclosing, carry out various change and modification all within protection scope of the present invention.The unaccomplished matter of the present invention, belongs to ability The common knowledge of field technique personnel.

Claims (10)

1. a kind of motor body automatically crawl paw structure it is characterised in that：It includes multiple pawl heads（1）, described pawl head （1）By bearing pin（2）It is hinged on pawl headstock（3）Head, described pawl headstock（3）It is fixedly mounted on sliding sleeve（5）End, described Sliding sleeve（5）It is fixed on base plate（12）Lower surface, described sliding sleeve（5）Sliding fit inside is provided with piston rod（6）, described piston Bar（6）Bottom and pawl head（1）The control claw that matches head（1）Grasping movement, described piston rod（6）Top and oil cylinder seat （17）Match, described oil cylinder seat（17）It is fixed on base plate（12）Upper surface, described oil cylinder seat（17）Bottom be machined with one Number oil-in（16）, in oil cylinder seat（17）Top oil cylinder cover is installed（18）, described oil cylinder cover（18）Top be machined with two Number oil-in（19）, described base plate（12）Top by multigroup support floor（22）Top board is installed（21）, described top board （21）On be installed with ring flange（20）, described base plate（12）On be also equipped with buffering locator.

2. a kind of motor body according to claim 1 automatically crawl paw structure it is characterised in that：Described buffering Positioner includes round pin detent mechanism, rhombus pin retention mechanisms and end face detent mechanism.

3. a kind of motor body according to claim 2 automatically crawl paw structure it is characterised in that：Described round pin Detent mechanism includes slide bar（10）, described slide bar（10）Bottom be provided with round pin head（9）, described slide bar（10）With guide（11） Composition is slidably matched, described guide（11）It is arranged on base plate（12）Lower surface, described slide bar（10）Top pass through step surface Location and installation has spring（14）, described spring（14）It is fixed on spring spool（13）Inside, described spring spool（13）Top It is provided with adjusting nut（15）Adjust spring（14）Decrement.

4. a kind of motor body according to Claims 2 or 3 automatically crawl paw structure it is characterised in that：Described The structure of round pin detent mechanism and rhombus pin retention mechanisms（23）Structure identical, the head of wherein said rhombus pin retention mechanisms For rhombus pin（24）.

5. a kind of motor body according to claim 2 automatically crawl paw structure it is characterised in that：Described end face Detent mechanism includes polylith end face locating piece（8）, described end face locating piece（8）It is fixedly mounted on base plate（12）Lower surface with send out Motivation housing locating surface matches.

6. a kind of motor body according to claim 1 automatically crawl paw structure it is characterised in that：Described pawl head （1）Cranked arm using zigzag（102）, crank arm in zigzag（102）Upper corner be machined with pin-and-hole（103）, described pin-and-hole（103） With bearing pin（2）Match, crank arm in zigzag（102）Underarm end buffer rubber gasket is installed（101）, crank arm in zigzag （102）The upper and lower end face of upper arm end is machined with transition arc respectively（105）With lower transition arc（104）.

7. a kind of motor body according to claim 1 automatically crawl paw structure it is characterised in that：Described piston Bar（6）Including the body of rod（606）, the described body of rod（606）Top be machined with piston head（607）, described piston head（607）With oil cylinder Seat（17）Inner casing mates, described piston head（607）Outer wall on be machined with multiple sealing ring mounting grooves（608）, living Stopper rod（607）Bottom be machined with lower position block（605）, in lower position block（605）Center be fixed with connecting rod（604）, institute State connecting rod（604）End be threaded post（601）, described threaded post（601）On locknut is installed（602）, institute State locknut（602）On be supported by jacking block（603）, described jacking block（603）With pawl head（1）Lower transition arc（104）Match Close, described lower position block（605）Lower surface and pawl head（1）Upper transition arc（105）Match.

8. a kind of motor body according to claim 1 automatically crawl paw structure it is characterised in that：Described sliding sleeve （5）Outer wall be uniformly welded with multiple floors（7）, floor（7）Simultaneously with base plate（12）Lower surface be welded and fixed；Described pawl head Seat（3）By multiple uniform screws（4）With sliding sleeve（5）End be connected.

9. a kind of motor body according to claim 5 automatically crawl paw structure it is characterised in that：Described end face The quantity of detent mechanism is three.

10. adopt claim 1-9 any one paw structure crawl engine shell body method it is characterised in that it include with Lower step：

S1：By ring flange（20）Paw structure is fixed on the head of mechanical arm, simultaneously by an oil-in（16）With No. two Oil-in（19）It is connected with hydraulic system respectively；

S2：Pawl head when initial（1）It is in rounding state, mechanical arm band starts to grab structure by mounting jaw head（1）Sliding sleeve（5）Insertion To motor body centre bore it is ensured that base plate（12）The round pin head of lower surface（9）And rhombus pin（24）On motor body Two location holes match positioning, ensure three end face locating pieces simultaneously（8）End face phase location fit with motor body；

S3：No. two oil-ins（19）Oil-feed, promotes piston rod（6）Move downward, piston rod（6）The lower position block of head（605） Withstand pawl head（1）Upper transition arc（105）, and then make pawl head（1）Lower cross arm open, make buffer rubber gasket（101）With send out Match fixation for the lower surface of motivation casing center, three uniform pawl heads（1）Stretch the lower surface of motor body simultaneously It is fixed on the positioning；

S4：By mechanical arm, whole motor body is driven to move to next station, an oil-in（16）Oil-feed oil-feed, Promote piston rod（6）Move upwards, piston rod（6）The jacking block of head（603）Pawl head is withstood in upper surface（1）Lower transition arc （104）, and then make pawl head（1）Lower cross arm draw in, unclamp motor body, mechanical arm drives whole pawl head again（1）Rising is moved back Go out motor body；

S5：In the carrying carrying out next housing after completing the carrying of a motor body.