End effector of the industrial robot on the cylinder block casting
                                                    FAN Juan1, ZHANG Xin jian1, YANG Jia jun1,2
（1.Mechanical and Electrical Engineering Department, Wenhua College, Wuhan 430074, China;2.School of Mechnical Science & Engineering, Huazhong University of Science and Technology, Wuhan 430074, China）

Abstract: Aiming at a series of technical problems, such as heavy engine cylinder, low production efficiency, frequent production line fault caused by frequent change of the end assorting manipulator, the diverse model of engine, uneven cylinder moment, handling of heavy cylinder, replacement of end manipulator, frequent production line fault were studied in depth. Through summarizing cylinder moment data of engine, variable moment grab of robot, quick change of end manipulator, chucking power controlled pneumatically, variable cylinder moment grabbing requirement, a human aided design production process based on traditional special machine was proposed. The numerical simulation of the preset structure using servo equivalent variable moment was obtained combined with mechanical and electrical control. The structural design was verified by the test. The research result indicates that the structural design has great significance on enhancing the pressure casting yield of auto engine cylinder, quick moment change and model shift, reducing production line fault, shortening maintenance expense and renovating the actual production of enterprise.

Key words: die casting island; end effector; cylinder block; robot die casting; griper