Pick-up clamping manipulator based on shell casting

Abstract

The invention relates to the technical field of shell casting application, in particular to a piece taking and clamping manipulator based on shell casting, which comprises a mounting seat for mounting an integral structure on a mechanical arm, a fixing plate is fixedly connected to the lower side of the mounting seat, and guide rods are fixedly connected to four corners of the fixing plate. The lower ends of the guide rods are jointly and fixedly connected with a mounting plate, the upper side and the lower side of the mounting plate are jointly provided with a clamping mechanism used for stably clamping the electric drive assembly shell, the electric drive assembly shell is integrally formed and cast by a speed reducer shell, a motor shell and an inverter shell, and the central axis of the motor shell is coaxial with a left shaft hole of the speed reducer shell. According to the clamping mechanism, the stability of the position relation of the speed reducer shell, the motor shell and the inverter shell can be guaranteed, overall stable clamping of the electric drive assembly shell can be guaranteed, use safety is guaranteed, and the production quality of the electric drive assembly shell can be effectively guaranteed.

Description

Technical Field

[0001] This invention relates to the field of shell casting application technology, and in particular to a part-grabbing robot based on shell casting. Background Technology

[0002] Shell casting is a manufacturing process mainly used to produce metal parts of various complex shapes. This process is particularly suitable for parts that are difficult to produce by other forming methods, especially parts with complex internal structures. Shell casting has a wide range of applications in aerospace, automotive industry, and machinery manufacturing.

[0003] In the automotive industry, housing casting technology is widely used, especially for electric drive assembly housings. The electric drive assembly housing is an important component of electric vehicles, hybrid vehicles, and other electric drive systems. It is mainly used to house and protect key components such as motors, transmissions, and related control electronics. The electric drive assembly housing is mainly composed of a reducer housing, a motor housing, and an inverter housing. In earlier industrial technologies, the reducer housing, motor housing, and inverter housing were cast separately and then assembled into an electric drive assembly. However, current industrial technology has relatively mature casting techniques that can integrate the three parts—the reducer housing, motor housing, and inverter housing—into a single die-cast form for the electric drive assembly housing.

[0004] When casting the electric drive assembly housing using current industrial technology, the housing itself is quite hot during demolding. A robotic arm is used to remove the ejected housing from the mold. The housing is then air-cooled by another robotic arm. However, existing robotic arm structures are mostly scissor-type. Since the electric drive assembly housing has a complex structure, it's difficult to find a suitable clamping angle when using a scissor-type robotic arm, making operation inconvenient. Even when the housing is successfully clamped, a large clamping force is required to ensure its stability. This large clamping force can easily damage the surface of the housing, compromising product quality. Summary of the Invention

[0005] Technical problem to be solved: The present invention provides a part-grabbing manipulator based on shell casting, which can solve the above-mentioned problems.

[0006] Technical Solution: To achieve the above objectives, the present invention adopts the following technical solution: a part-grabbing manipulator based on shell casting, comprising a mounting base for mounting the overall structure on the manipulator arm, a fixing plate fixedly connected to the lower side of the mounting base, guide rods fixedly connected to the four corners of the fixing plate, and a mounting plate fixedly connected to the lower end of each guide rod, and a clamping mechanism for stably clamping the electric drive assembly housing is provided on the upper and lower sides of the mounting plate, the electric drive assembly housing being integrally cast from a reducer housing, a motor housing, and an inverter housing, the central axis of the motor housing being coaxial with the left side shaft hole of the reducer housing.

[0007] The clamping mechanism includes a horizontal positioning component that restricts the horizontal displacement of the electric drive assembly housing through the right shaft hole of the reducer housing and the inner wall of the motor housing, and an upper and lower positioning component that restricts the vertical displacement of the electric drive assembly housing through the upper and lower walls of the inverter housing.

[0008] The horizontal positioning assembly includes a square tube 1 fixedly connected to the mounting plate and corresponding to the central axis of the motor housing, and a square tube 2 fixedly connected to the mounting plate and corresponding to the central axis of the right side shaft hole of the reducer housing. A stop seat 1 is provided on the upper four sides of the square tube 1 and on the four sides of the two square tubes 2 located in the left and right side shaft holes of the reducer housing.

[0009] The upper and lower positioning components include three square tubes symmetrically arranged on the lower side of the mounting plate and located on the rear side of the inverter housing. The rear side wall of the three square tubes has a limiting groove. The limiting groove is symmetrically slidable up and down through a keyway structure and is limited by a stop seat two. The upper ends of the two square tubes on the left and right sides are jointly provided with a steering component for controlling the two to rotate 180° synchronously.

[0010] A push plate is provided between the fixed plate and the mounting plate. The push plate is slidably connected to each guide rod. The upper part of the push plate is fixedly connected to the output end of several propulsion hydraulic cylinders. Several propulsion hydraulic cylinders are jointly fixedly connected to the fixed plate. A push rod is fixedly connected to the center position of square tube 1 and right square tube 2 on the lower side of the push plate. The push rods 1 on the left and right sides extend into the interior of square tube 1 and square tube 2. A push rod 2 is provided to the center position of square tube 3 on the left and right sides on the lower side of the push plate. A limiting plate 1 is fixedly connected to the upper side of the inner wall of square tube 1 and square tube 2. The push rods 1 on the left and right sides slide through the keyway structure and are limited and penetrate through the center of the limiting plate 1 on both sides.

[0011] As a preferred embodiment of the present invention, the square tube is provided with an ejection component inside for synchronously controlling each of the abutments on it to push outward.

[0012] As a preferred embodiment of the present invention, the ejector component includes a fixed seat fixedly connected to the middle of the left push rod. A support plate is fixedly connected to the side wall of the fixed seat corresponding to the four sides of the square tube. A right-angled trapezoidal block is fixedly connected to the end of the support plate away from the push rod. A guide groove is provided on the inclined surface of the right-angled trapezoidal block. A connecting rod is slidably and limitedly connected in the guide groove through a ball head. The end of the connecting rod away from the guide groove is fixedly connected to the center of the connecting plate. Each abutment on the square tube slides through the inner wall of the square tube through symmetrical upper and lower sliding rods. Two sliding rods on the same abutment are fixedly connected to the connecting plate.

[0013] As a preferred embodiment of the present invention, a second square tube is fixedly connected to the lower end of the square tube and the two are internally connected. The total length of the first square tube and the second square tube on the left side is the same as the length of the second square tube on the right side. The second square tube is a proportionally scaled structure of the first square tube. An ejection structure that is proportionally scaled to the ejection component of the first square tube is provided inside the second square tube on the left and right sides. The proportional scaling ratio of the ejection structure is the same as the proportional scaling ratio of the second square tube and the first square tube. Except for the splicing seat fixedly connected to the lower end of the push rod, the remaining structure of the ejection structure is proportionally scaled to the ejection component.

[0014] As a preferred embodiment of the present invention, the steering component includes a round tube fixedly connected to the upper end of the three square tubes on the left and right sides and communicating with the interior of the three square tubes. The round tube is rotatably connected to the mounting plate. Gear 1 is fixedly connected to the outer side of the upper part of the round tubes on both sides. A rack 1 is meshed with the rear side of the gear 1 on both sides. The two rack 1 are fixedly connected by a straight rod. One rack 1 is fixedly connected to the output end of the first electric push rod. The first electric push rod is fixedly connected to the mounting plate.

[0015] As a preferred embodiment of the present invention, a compensation component for compensating the downward movement distance of the push rods on both the left and right sides and the push plate is provided together.

[0016] As a preferred embodiment of the present invention, the compensation component includes a plurality of second electric push rods fixedly connected to the push plate, the output ends of the plurality of second electric push rods are fixedly connected to a push bar facing downwards, and the upper ends of the push rods on the left and right sides are rotatably connected to the push bar.

[0017] As a preferred embodiment of the present invention, the lower end of the push rod is provided with a countermoving component for controlling the synchronous countermoving of the upper and lower sides of the abutment.

[0018] As a preferred embodiment of the present invention, the opposing moving component includes a limiting plate two fixedly connected inside the circular tube, a push rod two slidingly connected to the center of the limiting plate two via a keyway structure, a movable rod fixedly connected to the lower end of the push rod two, a rack two provided at the position of the movable rod corresponding to the upper abutment two, the lower side of the movable rod being fixedly connected to the lower abutment two, the middle part of the movable rod being slidably connected to a connecting block, the connecting block being fixedly connected to the inner wall of the square tube three, a rack three fixedly connected to one end of the upper abutment two inside the square tube three, a gear two meshing between the rack three and the rack two, and the gear two being rotatably connected to the inner wall of the square tube three via a pivot pin.

[0019] As a preferred technical solution of the present invention, each of the abutment seats is fixedly connected to a clamping plate by a plurality of elastic pads on its outer side, and the upper and lower abutment seats are fixedly connected to a clamping plate by elastic pads on the opposite sides of each other.

[0020] Beneficial effects:

[0021] 1. The horizontal positioning component used in this invention can limit the horizontal displacement of the electric drive assembly housing by means of the left and right side shaft holes of the reducer housing and the inner wall of the motor housing, which can ensure the horizontal stability of the electric drive assembly housing. At the same time, the synchronous clamping method can effectively speed up the locking efficiency of the electric drive assembly housing in the horizontal direction.

[0022] 2. The upper and lower positioning components used in this invention can limit the vertical displacement of the electric drive assembly housing by means of the upper and lower inner walls of the inverter housing, thus ensuring the vertical displacement stability of the electric drive assembly housing. At the same time, the method of synchronous operation of the first-stage downward pressure and the horizontal component, and the second-stage compensation downward pressure, precisely controls the clamping effect on the upper and lower inner walls of the inverter housing, effectively ensuring the vertical stability of the electric drive assembly housing.

[0023] 3. The clamping mechanism used in this invention is horizontally positioned through the double-shaft holes of the reducer housing and the inner wall of the motor housing, and vertically positioned through the upper and lower walls of the inverter housing. The overall clamping structure can lock the three components of the electric drive assembly housing separately, which can not only ensure the stability of the positional relationship between the reducer housing, the motor housing and the inverter housing, but also ensure the stable clamping of the electric drive assembly housing as a whole. It is safe to use and can effectively guarantee the production quality of the electric drive assembly housing. Attached Figure Description

[0024] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0025] Figure 1 This is a first-view three-dimensional structural diagram of the present invention.

[0026] Figure 2This is a second-view three-dimensional structural diagram of the present invention.

[0027] Figure 3 This is a schematic diagram of the left-side structure of the present invention after removing the electric drive assembly housing.

[0028] Figure 4 This is a rear-view three-dimensional structural diagram of the present invention after removing the electric drive assembly housing.

[0029] Figure 5 This is a schematic cross-sectional view of the connection structure of square tube one, square tube two, motor housing and reducer housing of the present invention.

[0030] Figure 6 This is a cross-sectional view of the square tube three of the present invention connected to the inverter housing.

[0031] Figure 7 This is a diagram showing the distribution of the reducer housing, motor housing, and inverter housing within the electric drive assembly housing of this invention.

[0032] In the diagram: 1. Reducer housing; 2. Motor housing; 3. Inverter housing; 4. Mounting plate; 5. Push plate; 6. Mounting base; 7. Fixing plate; 8. Guide rod; 9. Clamping mechanism; 91. Horizontal positioning assembly; 911. Square tube one; 9111. Square tube two; 912. Abutment one; 9121. Abutting plate one; 9122. Elastic pad one; 913. Push rod one; 914. Ejection component; 9141. Fixing base; 9142. Right-angled trapezoidal block; 9143. Guide groove; 9144. Connecting rod; 9145. Support plate; 9146. Connecting plate; 9147. Assembling base; 915. Slide rod; 916. Limiting plate one; 92. Upper and lower positioning assembly; 921. Second abutment; 922. Third square tube; 9211. Second clamping plate; 9212. Second elastic pad; 923. Adjusting component; 9231. Round tube; 9232. First gear; 9233. First rack; 9234. Straight rod; 9235. First electric push rod; 924. Compensation component; 9241. Second electric push rod; 9242. Push bar; 925. Opposing moving component; 9251. Movable rod; 9252. Second rack; 9253. Turning pin; 9254. Second gear; 9255. Connecting block; 9256. Third rack; 9257. Limiting groove; 926. Second push rod; 927. Second limiting plate; 10. Propulsion hydraulic cylinder. Detailed Implementation

[0033] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings, but the present invention can be implemented in many different ways as defined and covered by the claims.

[0034] See Figure 1 , Figure 2 and Figure 7A component-grabbing manipulator based on shell casting includes a mounting base 6 for mounting the integral structure onto a robotic arm (the robotic arm is prior art and is not shown in the figure). A fixing plate 7 is fixedly connected to the lower side of the mounting base 6. Guide rods 8 are fixedly connected to the four corners of the fixing plate 7. The lower ends of each guide rod 8 are fixedly connected to a mounting plate 4. The upper and lower sides of the mounting plate 4 are provided with a clamping mechanism 9 for stably clamping the electric drive assembly housing. The electric drive assembly housing is integrally cast from a reducer housing 1, a motor housing 2, and an inverter housing 3. The central axis of the motor housing 2 is coaxial with the left side shaft hole of the reducer housing 1.

[0035] See Figure 1 , Figure 2 and Figure 3 The clamping mechanism 9 includes a horizontal positioning component 91 that restricts the horizontal displacement of the electric drive assembly housing through the right shaft hole of the reducer housing 1 and the inner wall of the motor housing 2, and an upper and lower positioning component 92 that restricts the vertical displacement of the electric drive assembly housing through the upper and lower walls of the inverter housing 3.

[0036] See Figure 1 , Figure 2 , Figure 3 and Figure 4 The horizontal positioning component 91 includes a square tube 911 fixedly connected to the mounting plate 4 and corresponding to the central axis of the motor housing 2, and a square tube 9111 fixedly connected to the mounting plate 4 and corresponding to the central axis of the right side shaft hole of the reducer housing 1. A stop seat 912 is provided on the upper four sides of the square tube 911 and on the two square tubes 9111 located in the left and right side shaft holes of the reducer housing 1.

[0037] In actual operation, the left and right side shaft holes of the reducer housing 1 and the inner wall of the motor housing 2 are supported and locked by several abutments 912.

[0038] See Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 6 The upper and lower positioning components 92 include square tubes 922 symmetrically arranged on the lower side of the mounting plate 4 and located on the rear side of the inverter housing 3. The rear side wall of the square tubes 922 is provided with a limiting groove 9257. The limiting groove 9257 is symmetrically slidable up and down through a keyway structure and is connected to a stop 921. The upper ends of the square tubes 922 on both the left and right sides are provided with a steering component 923 for controlling the two to rotate 180° synchronously.

[0039] In actual operation, the upper and lower walls of the inverter housing 3 are locked by several abutment seats 921.

[0040] See Figure 1 and Figure 4 , Figure 5 A push plate 5 is provided between the fixed plate 7 and the mounting plate 4. The push plate 5 is slidably connected to each guide rod 8. The upper side of the push plate 5 is fixedly connected to the output end of a number of propulsion hydraulic cylinders 10. The number of propulsion hydraulic cylinders 10 are jointly fixedly connected to the fixed plate 7. A push rod 913 is fixedly connected to the center position of the first square tube 911 and the second square tube 9111 on the right side of the push plate 5. The push rods 913 on the left and right sides extend into the interior of the first square tube 911 and the second square tube 9111. A push rod 926 is provided to the center position of the third square tube 922 on the left and right sides of the push plate 5. A limiting plate 916 is fixedly connected to the upper side of the inner wall of the first square tube 911 and the second square tube 9111. The push rods 913 on the left and right sides slide through the keyway structure and are limited to the center of the limiting plate 916 on both sides.

[0041] In actual operation, the push plate 5 is controlled to move up and down along each guide rod 8 by the hydraulic cylinder 10. The push plate 5 drives the push rod 913 and the push rod 926 to move. The push rod 913 and the push rod 926 serve as the synchronous control source to lock the reducer housing 1, the motor housing 2 and the inverter housing 3 synchronously.

[0042] See Figure 5 The square tube 911 is internally provided with an ejector component 914 for synchronously controlling the outward ejection of each abutment 912 thereon; the ejector component 914 includes a fixed seat 9141 fixedly connected to the middle of the left push rod 913, and a support plate 9145 fixedly connected to the side wall of the fixed seat 9141 corresponding to the four sides of the square tube 911. A right-angled trapezoidal block 9142 is fixedly connected to the end of the support plate 9145 away from the push rod 913. A guide groove 9143 is provided on the inclined surface of 9142. A connecting rod 9144 is connected to the guide groove 9143 by a ball head sliding and limiting. The end of the connecting rod 9144 away from the guide groove 9143 is fixedly connected to the center of the connecting plate 9146. Each abutment 912 on the square tube 911 slides through the inner wall of the square tube 911 by a symmetrical upper and lower sliding rod 915. The two sliding rods 915 on the same abutment 912 are fixedly connected to the connecting plate 9146.

[0043] See Figure 4 and Figure 5The lower end of the first square tube 911 is fixedly connected to the second square tube 9111, and the two are internally connected. The total length of the first square tube 911 and the second square tube 9111 on the left side is the same as the length of the second square tube 9111 on the right side. The second square tube 9111 is a proportionally scaled structure of the first square tube 911. The left and right sides of the second square tube 9111 are provided with an ejection structure that is proportionally scaled to the ejection component 914 of the first square tube 911. The proportional scaling ratio of the ejection structure is the same as that of the second square tube 9111 and the first square tube 911. Except for the assembly seat 9146 (which is composed of four sets of right-angled trapezoidal blocks 9142) fixedly connected to the lower end of the push rod 913, the remaining structure of the ejection structure is proportionally scaled to the ejection component 914.

[0044] In specific operation, the push rod 913 inside square tube 911 moves down to control the fixed seat 9141, which in turn moves the support plate 9145 down to control the right trapezoidal block 9142 down. The guide groove 9143 of the right trapezoidal block 9142 pulls the connecting rod 9144 outward. The connecting rod 9144 pulls the connecting plate, which in turn moves the sliding rod 915 outward to control the abutment 912 to press against the inner wall of the motor housing 2. Simultaneously, the splicing seat 9146 at the lower end of the push rod 913 inside square tube 911 and square tube 9111 controls the outward expansion of each abutment 912 on the outside of square tube 9111. This allows each abutment 912 to expand outward synchronously, achieving a locking effect on the left and right side shaft holes of the reducer housing 1 and the inner wall of the motor housing 2.

[0045] See Figure 4 The steering component 923 includes a round tube 9231 fixedly connected to the upper end of the square tubes 922 on both the left and right sides and communicating with the inside of the square tubes 922. The round tube 9231 is rotatably connected to the mounting plate 4. Gears 9232 are fixedly connected to the outer upper part of the round tubes 9231 on both the left and right sides. Racks 9233 are meshed with the rear side of the gears 9232 on both sides. The two racks 9233 are fixedly connected by a straight rod 9234. One rack 9233 is fixedly connected to the output end of the first electric push rod 9235. The first electric push rod 9235 is fixedly connected to the mounting plate 4.

[0046] In specific operation, the first electric push rod 9235 controls the movement of one rack 9233, and the straight rod 9234 drives the other rack 9233 to move synchronously. The two racks 9233 synchronously drive the two gears 9232 to rotate, and the two synchronously rotating gears 9232 drive the two round tubes 9231 on both sides to rotate synchronously. This changes the orientation of the second abutment 921. When the second abutment 921 points outward, it does not interfere with the inverter housing 3, ensuring that the inverter housing 3 can be smoothly inserted into the robot arm in the initial stage of clamping. When the second abutment 921 points inward, the vertical position of the electric drive assembly housing is locked by restricting the movement of the upper and lower walls of the inverter housing 3.

[0047] See Figure 4 The push rods 926 on both sides and the push plate 5 are provided with a compensation component 924 for compensating for their downward movement distance. The compensation component 924 includes a number of second electric push rods 9241 fixedly connected to the push plate 5. The output ends of the number of second electric push rods 9241 are fixedly connected to a push bar 9242 facing downward. The upper ends of the push rods 926 on both sides are rotatably connected to the push bar 9242.

[0048] In actual operation, the push rod 9242 is moved up and down by the second electric push rod 9241, which drives the push rods 926 on the left and right sides to move up and down. When the locking force on the inverter housing 3 is insufficient, the push rods 926 can be moved down again to compensate for the locking force on the inverter housing 3.

[0049] See Figure 6 The lower end of the push rod 926 is provided with a countermoving component 925 for controlling the synchronous countermoving of the upper and lower abutments 921. The countermoving component 925 includes a limiting plate 927 fixedly connected inside the circular tube 9231. The push rod 926 slides and is limitedly connected to the center of the limiting plate 927 through a keyway structure. A movable rod 9251 is fixedly connected to the lower end of the push rod 926. A rack 9252 is provided on the movable rod 9251 corresponding to the position of the upper abutment 921. The lower side of the movable rod 9251 is fixedly connected to the lower abutment 921. The middle part of the movable rod 9251 is slidably connected to the connecting block 9255. The connecting block 9255 is fixedly connected to the inner wall of the square tube 922. The upper abutment 921 is fixedly connected to a rack 9256 inside the square tube 922. The rack 9256 and the rack 9252 are meshed together with a gear 9254. The gear 9254 is rotatably connected to the inner wall of the square tube 922 through a pivot pin 9253.

[0050] In actual operation, the downward movement of push rod 926 drives the downward movement of movable rod 9251, which in turn controls the downward movement of rack 9252. At the same time, the lower abutment 921 moves downward synchronously, and the gear 9254 drives rack 9256 to move upward. Rack 9256 controls abutment 9256 to press against the upper and lower inner walls of inverter housing 3, thus achieving a stable locking effect on the electric drive assembly housing from the side.

[0051] See Figure 5 and Figure 6 Each of the aforementioned abutment seats 912 has a retaining plate 9121 fixedly connected to its outer side by a number of elastic pads 9122, and the upper and lower abutment seats 921 on the opposite sides are fixedly connected to retaining plates 9211 by elastic pads 9212.

[0052] In actual operation, the elastic cushion 9122 provides contact buffering for the clamping plate 9121, and the elastic cushion 9212 provides contact buffering for the clamping plate 9211. The contact buffering avoids hard contact causing clamping damage to the surface of the electric drive assembly housing.

[0053] In use: S1: The entire structure is installed on the robotic arm via the mounting base 6. After the electric drive assembly housing is pressed into an integrated unit, the electric drive assembly housing is ejected from the mold via the ejection structure on the pressing mold. Then, the robotic arm drives the entire structure to move closer to the electric drive assembly housing.

[0054] S2: See Figure 1 The robotic arm positions the three square tubes 922 in the overall structure at the rear of the inverter housing 3. At the same time, the first square tube 911 is inserted into the motor housing 2, and the second square tube 9111 is inserted into the left and right side shaft holes of the reducer housing 1.

[0055] S3: The first electric push rod 9235 controls the movement of one rack 9233, and the straight rod 9234 drives the other rack 9233 to move synchronously. The two racks 9233 drive the two gears 9232 to rotate synchronously. The two synchronously rotating gears 9232 drive the two round tubes 9231 on both sides to rotate synchronously, thereby changing the orientation of the second abutment 921, so that the second abutment 921 is screwed into the upper and lower walls of the inverter housing 3. Then, the push plate 5 is controlled to move up and down along each guide rod 8 by the push cylinder 10. The push plate 5 drives the push rod 913 and the second push rod 926 to move. The push rod 913 and the second push rod 926 are used as the synchronous control source to synchronously lock the reducer housing 1, the motor housing 2 and the inverter housing 3.

[0056] S4: During the locking phase, the push rod 913 inside square tube 1 911 moves downward, controlling the fixed seat 9141 to move downward, which in turn drives the support plate 9145 to move downward, controlling the right-angled trapezoidal block 9142 to move downward. The guide groove 9143 of the right-angled trapezoidal block 9142 pulls the connecting rod 9144 outward, which in turn pulls the connecting plate to move the sliding rod 915 outward, controlling the abutment 912 to press against the inner wall of the motor housing 2. Simultaneously, the splicing seat 9146 at the lower end of the push rod 913 inside square tube 1 911 and square tube 2 9111 expands the abutments 912 on the outer side of square tube 2 9111 outward. This causes the abutments 912 on the square tube 9111 to expand outwards simultaneously, thereby locking the left and right side shaft holes of the reducer housing 1 and the inner wall of the motor housing 2. At the same time, the downward movement of the push rod 926 drives the movable rod 9251 to move downwards, which in turn controls the downward movement of the rack 9252. Simultaneously, the lower abutment 921 moves downwards, and the gear 9254 drives the rack 9256 to move upwards. The rack 9256 controls the abutment to press against the upper and lower inner walls of the inverter housing 3, thereby stabilizing and locking the electric drive assembly housing from the side.

[0057] S5: When the locking force on the inverter housing 3 is insufficient, the push bar 9242 is moved up and down by the second electric push rod 9241, which drives the push rods 926 on the left and right sides to move up and down, so that the push rods 926 can be moved down again to compensate for the locking force on the inverter housing 3.

[0058] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A part-grabbing manipulator based on shell casting, comprising a mounting base (6) for mounting the integral structure onto the manipulator arm, characterized in that: A fixing plate (7) is fixedly connected to the lower side of the mounting base (6). Guide rods (8) are fixedly connected to the four corners of the fixing plate (7). The lower ends of each guide rod (8) are fixedly connected to the mounting plate (4). The upper and lower sides of the mounting plate (4) are provided with a clamping mechanism (9) for stabilizing the electric drive assembly housing. The electric drive assembly housing is integrally cast from the reducer housing (1), the motor housing (2) and the inverter housing (3). The central axis of the motor housing (2) is coaxial with the left shaft hole of the reducer housing (1). The clamping mechanism (9) includes a horizontal positioning component (91) that limits the horizontal displacement of the electric drive assembly housing through the right shaft hole of the reducer housing (1) and the inner wall of the motor housing (2), and an upper and lower positioning component (92) that limits the vertical displacement of the electric drive assembly housing through the upper and lower walls of the inverter housing (3). The horizontal positioning assembly (91) includes a square tube 1 (911) fixedly connected to the mounting plate (4) and corresponding to the central axis of the motor housing (2), and a square tube 2 (9111) fixedly connected to the mounting plate (4) and corresponding to the central axis of the right side shaft hole of the reducer housing (1). A stop seat 1 (912) is provided on the upper four sides of the square tube 1 (911) and on the four sides of the two square tube 2 (9111) located in the left and right side shaft holes of the reducer housing (1). The upper and lower positioning assembly (92) includes three square tubes (922) symmetrically arranged on the lower side of the mounting plate (4) and located on the rear side of the inverter housing (3). A limiting slide groove (9257) is provided on the rear side wall of the three square tubes (922). The limiting slide groove (9257) slides symmetrically up and down through a keyway structure and is connected to a stop seat (921). The upper ends of the two square tubes (922) on the left and right sides are provided with a steering component (923) for controlling the two to rotate 180° synchronously.

2. The part-grabbing and holding robot based on shell casting according to claim 1, characterized in that: A push plate (5) is provided between the fixed plate (7) and the mounting plate (4). The push plate (5) is slidably connected to each guide rod (8). The upper side of the push plate (5) is fixedly connected to the output end of several propulsion hydraulic cylinders (10). Several propulsion hydraulic cylinders (10) are jointly fixedly connected to the fixed plate (7). The lower side of the push plate (5) is fixedly connected to the center position of square tube one (911) and right square tube two (9111). The left and right push rods one (913) extend to square tube one (911) and square tube two (9111). Inside the push plate (5), a push rod (926) is provided at the center of the square tubes (922) on the left and right sides. A limiting plate (916) is fixedly connected to the upper side of the inner wall of the square tubes (911) and the square tubes (9111). The push rods (913) on the left and right sides slide through the keyway structure and are limited to the center of the limiting plates (916) on both sides. Inside the square tube (911), there is an ejector component (914) for synchronously controlling the push seats (912) on it to push outward.

3. The part-grabbing and holding robot based on shell casting according to claim 2, characterized in that: The ejector component (914) includes a fixed base (9141) fixedly connected to the middle of the left push rod (913). A support plate (9145) is fixedly connected to the side wall of the fixed base (9141) corresponding to the four sides of the square tube (911). A right-angled trapezoidal block (9142) is fixedly connected to the end of the support plate (9145) away from the push rod (913). A guide groove (9143) is provided on the inclined surface of the right-angled trapezoidal block (9142). 143) is connected to a connecting rod (9144) that slides through the ball head and is limited. The end of the connecting rod (9144) away from the guide groove (9143) is fixedly connected to the center of the connecting plate (9146). Each abutment (912) on the square tube (911) slides through the inner wall of the square tube (911) through the upper and lower symmetrical sliding rods (915). The two sliding rods (915) on the same abutment (912) are fixedly connected to the connecting plate (9146).

4. A part-grabbing and holding robot based on shell casting according to claim 3, characterized in that: The lower end of the first square tube (911) is fixedly connected to the second square tube (9111), and the two are internally connected. The total length of the first square tube (911) and the second square tube on the left side (9111) is the same as the length of the second square tube on the right side (9111). The second square tube (9111) is a proportionally scaled structure of the first square tube (911). The second square tube (9111) on the left and right sides is provided with an ejection structure that is proportionally scaled to the ejection component (914) of the first square tube (911). The proportional scaling ratio of the ejection structure is the same as the proportional scaling ratio of the second square tube (9111) and the first square tube (911). In addition to the splicing seat 9146 fixedly connected to the lower end of the push rod 913, the remaining structure of the ejection structure is proportionally scaled to the ejection component 914.

5. A part-grabbing manipulator based on shell casting according to claim 1, characterized in that: The steering component (923) includes a round tube (9231) fixedly connected to the upper end of the square tube three (922) on the left and right sides and communicating with the inside of the square tube three (922). The round tube (9231) is rotatably connected to the mounting plate (4). Gear one (9232) is fixedly connected to the upper outer side of the round tube (9231) on both sides. Rack one (9233) is meshed with the rear side of gear one (9232) on both sides. The two racks one (9233) are fixedly connected by a straight rod (9234). One of the racks one (9233) is fixedly connected to the output end of the first electric push rod (9235). The first electric push rod (9235) is fixedly connected to the mounting plate (4).

6. A part-grabbing manipulator based on shell casting according to claim 1, characterized in that: The push rods (926) on both sides and the push plate (5) are provided with a compensation component (924) for compensating for the downward movement distance of the push rods (926) on both sides.

7. A part-grabbing and holding robot based on shell casting according to claim 6, characterized in that: The compensation component (924) includes a plurality of second electric push rods (9241) fixedly connected to the push plate (5). The output ends of the plurality of second electric push rods (9241) are fixedly connected to the push bar (9242) facing downwards. The upper ends of the push rods (926) on the left and right sides are rotatably connected to the push bar (9242).

8. A part-grabbing and holding robot based on shell casting according to claim 1, characterized in that: The lower end of the push rod 2 (926) is provided with a countermoving component (925) for controlling the synchronous countermoving of the upper and lower sides of the abutment 2 (921).

9. A part-grabbing and holding robot based on shell casting according to claim 8, characterized in that: The opposing moving component (925) includes a limiting plate two (927) fixedly connected inside the circular tube (9231), a push rod two (926) sliding and limitedly connected to the center of the limiting plate two (927) through a keyway structure, a movable rod (9251) fixedly connected to the lower end of the push rod two (926), a rack two (9252) provided on the movable rod (9251) corresponding to the position of the upper abutment two (921), and the lower side of the movable rod (9251) fixedly connected to the lower abutment two (921). The middle part of the moving rod (9251) is slidably connected to the connecting block (9255), the connecting block (9255) is fixedly connected to the inner wall of the square tube three (922), the upper side abutment two (921) is fixedly connected to the rack three (9256) at one end inside the square tube three (922), the rack three (9256) and the rack two (9252) are meshed together by the gear two (9254), the gear two (9254) is rotatably connected to the inner wall of the square tube three (922) through the pivot pin (9253).

10. A part-grabbing manipulator based on shell casting according to claim 1, characterized in that: Each of the aforementioned abutment seats (912) has a retaining plate (9121) fixedly connected to its outer side by a number of elastic pads (9122), and the upper and lower abutment seats (921) on the opposite sides are fixedly connected to retaining plates (9211) by elastic pads (9212).

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