Robotic system

摘要

A robotic system for inserting cylinder liners (10) into the cylinder block (20) from an internal combustion engine includes an articulated robot arm (14) for cycling an end effector (16) between a dunnage (12) unloading position and a cylinder insertion position. The end effector (16), which is attached to the robot arm (14), picks liners (10) from dunnage (12) and places the liners (10) in the cylinder bores (22) of the cylinder block (20). The end effector (16) includes remotely deployable combination teeth (18) for gripping the liners to permit removal from their dunnage and for aligning the end effector (16) and liner (10) into the cylinder bores (22) to permit insertion of the liners.