Manipulator for hydraulic retarder production

Abstract

The utility model relates to the technical field of hydrodynamic retarder production, in particular to a manipulator for hydrodynamic retarder production, which comprises a mechanical wrist, and fingers are slidably connected to the end of the mechanical wrist. During grabbing, the fingers are located on the two sides of the part box respectively, and a large lattice clamp supporting block and a small lattice clamp supporting block are arranged on the inner side, close to the part box, of each finger. The fingers are connected with a power mechanism used for providing power for the fingers. During grabbing, the power mechanism drives the fingers to get close inwards along the two sides of the part box, the large lattice clamp supporting block and the small lattice clamp supporting block are clamped and positioned with the part box, stable grabbing is achieved, main positioning and stress of the part box are achieved under the action of the large lattice clamp supporting block, and limiting in the horizontal direction is achieved under the action of the small lattice clamp supporting block; and the stability of the part box in the grabbing process is guaranteed. And part boxes of various sizes can be compatible, and the problem that the part boxes incline forwards or move forwards and backwards, and consequently the part boxes fall off is solved.

Description

Technical Field

[0001] The utility model relates to the technical field of hydraulic retarder production, in particular to a manipulator used for hydraulic retarder production. Background Art

[0002] A hydraulic retarder is a type of vehicle retarder that reduces the speed of a vehicle through a hydraulic device, also known as a hydraulic deceleration device. It is a type of vehicle auxiliary braking device, used in conjunction with engine braking and exhaust braking. The working principle of a hydraulic retarder is mainly based on the retarding effect produced by liquid damping. The advantage of a hydraulic retarder is its strong braking torque, which can undertake 80% to 90% of the driving braking tasks, and is particularly suitable for large vehicles, such as mining dump trucks.

[0003] As competition in the current automotive manufacturing industry intensifies and consumer market demand upgrades, low cost, high quality and fast delivery have undoubtedly become the goals pursued by major automobile manufacturers and parts companies in their transformation and upgrading.

[0004] In the traditional processing of hydraulic retarder housing, rear cover and other parts, the retarder is placed inside the material frame during the production process. When in use, the material frame and retarder parts need to be sorted and destackered separately. Traditional sorting and destacking requires manual handling, loading and unloading of parts in each process. However, due to the large size of retarder machined parts, the labor intensity of workers is high and there are safety hazards.

[0005] The Chinese utility model patent application with the authorization publication number CN213976027U discloses a robot sorting and destacking unit for retarder parts, including a movable part and a grasping part. The movable part includes a mounting seat, on which a freely movable mechanical arm is mounted, and a first connecting flange is provided at the end of the mechanical arm; the grasping part includes an industrial camera, the front side of the industrial camera is a camera, and the rear side is provided with a second connecting flange that cooperates with the first connecting flange, and the left and right sides of the industrial camera are respectively provided with two hand grasps and three hand grasps. The material frame and the retarder parts are grasped by two hand grasps and three hand grasps respectively, with a high degree of automation, replacing manual sorting and destacking, saving human resources, and high efficiency, greatly improving the sorting and destacking efficiency.

[0006] However, when the above-mentioned hand gripper grabs the material box, due to the large size and mass of the retarder machined parts inside the parts box, the manipulator is not accurately positioned with the parts box when grabbing the parts box, and the parts box is prone to tilting forward or moving back and forth, causing the parts box to fall off, creating certain safety hazards. Utility Model Content

[0007] Aiming at the problem of poor stability of hydraulic retarder clamping parts box in the prior art, the utility model provides a manipulator for hydraulic retarder production.

[0008] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0009] A manipulator for the production of hydraulic retarders comprises a manipulator wrist, the end of which is slidably connected with fingers; when grasping, the fingers are located on both sides of a parts box, and each finger is provided with a large grid clamp support block and a small grid clamp support block near the inner side of the parts box; the fingers are connected with a power mechanism for providing power to the fingers.

[0010] Preferably, a finger base is provided between the mechanical wrist and the fingers.

[0011] Preferably, the finger is slidably connected to the finger base via a guide rail.

[0012] Preferably, the power mechanism comprises a pneumatic telescopic cylinder, and the movable end of the pneumatic telescopic cylinder is connected to the finger.

[0013] Preferably, a finger connecting rod is provided between the movable end of the pneumatic telescopic cylinder and the finger.

[0014] Preferably, the pneumatic telescopic cylinder is connected to a pneumatic valve.

[0015] Preferably, the large grid clamp support block includes a positioning support platform and a finger mounting platform connected thereto; when grabbing the parts box, the positioning support platform is clamped at the reinforcement ribs of the parts box and is clamped with the grabbing edge of the parts box; the finger mounting platform is provided with a mounting hole for installing the large grid clamp support block on the inner side of the finger.

[0016] Preferably, the small grid clamp support block includes a positioning support shoulder and a positioning mounting platform connected thereto; when grabbing the parts box, the positioning support shoulder is clamped at the reinforcement rib of the parts box and is clamped with the grabbing edge of the parts box; the positioning mounting platform is provided with a long mounting hole for installing the small grid clamp support block on the inner side of the finger.

[0017] Preferably, the large grid clamp support blocks are symmetrically arranged on the inner side of the fingers along the two sides of the parts box; the small grid clamp support blocks are symmetrically arranged on the inner side of the fingers along the center of the parts box.

[0018] Preferably, the end of the finger is provided with a cargo detection photoelectric device for detecting the cargo placement position; the finger is connected to the mechanical wrist and is provided with a photoelectric sensor for detecting the position of the parts box.

[0019] Compared with the prior art, the utility model has the following beneficial effects:

[0020] The utility model discloses a manipulator for the production of hydraulic retarders, comprising a manipulator wrist, the end of which is slidably connected with fingers; when grasping, the fingers are located on both sides of a parts box, and each finger is provided with a large grid clamp support block and a small grid clamp support block near the inner side of the parts box; the fingers are connected with a power mechanism for providing power to the fingers. When in use, the power mechanism provides power to the fingers, so that the fingers slide on both sides of the manipulator wrist, and when grasping, the power mechanism drives the fingers to move inward along both sides of the parts box, so that the large grid clamp support block and the small grid clamp support block are engaged and positioned with the parts box, so as to achieve stable grasping, and the main positioning and force of the parts box are achieved under the action of the large grid clamp support block, and the horizontal direction is limited under the action of the small grid clamp support block, so as to ensure the stability of the parts box during the grasping process. It is compatible with parts boxes of various sizes, so as to avoid the problem of the parts box falling off due to the forward tilt or forward and backward movement of the parts box.

[0021] The setting of the finger base can realize the stable connection between the finger and the robotic wrist, and further ensure the stability of the finger grasping the parts box.

[0022] The setting of the guide rail realizes the sliding connection of the fingers along both sides of the robotic wrist, limiting the sliding direction of the fingers.

[0023] The setting of the pneumatic telescopic cylinder provides power for the sliding of the fingers, thereby enabling the fingers to grasp the parts box.

[0024] The setting of the finger connecting rod realizes the connection between the finger and the moving end of the pneumatic telescopic cylinder, and realizes the linkage of the finger through the transmission of force.

[0025] The setting of the pneumatic valve realizes the air source control of the pneumatic telescopic cylinder, and then realizes the on-off control of the pneumatic telescopic cylinder, so as to better realize the precise positioning and movement of the fingers.

[0026] The large grid clamp support block includes a positioning support platform and a finger mounting platform connected thereto; when grabbing the parts box, the positioning support platform is clamped at the reinforcement ribs of the parts box and is clamped with the grabbing edge of the parts box to achieve the main positioning and force support of the parts box; the finger mounting platform is provided with mounting holes for mounting the large grid clamp support block on the inner side of the fingers.

[0027] The small grid clamp support block includes a positioning support shoulder and a positioning mounting platform connected thereto; when grabbing the parts box, the positioning support shoulder is clamped at the reinforcement rib of the parts box and is clamped with the grabbing edge of the parts box to achieve horizontal limitation and support of the parts box; the positioning mounting platform is provided with a long mounting hole for mounting the small grid clamp support block on the inner side of the finger.

[0028] The large grid clamp support block is symmetrically arranged on the inner side of the fingers along both sides of the parts box to achieve positioning support on both sides of the parts box; the small grid clamp support block is symmetrically arranged on the inner side of the fingers along the center of the parts box to effectively prevent the parts box from tilting due to uneven force inside.

[0029] The end of the finger is provided with a cargo detection photoelectric device for detecting the cargo placement position; the finger is connected to the mechanical wrist and is provided with a photoelectric sensor for detecting the position of the finger, so as to make the grasping more accurate and further reduce the labor intensity of the operator. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 The utility model is a schematic diagram of a manipulator for producing hydraulic retarders.

[0031] Figure 2 The utility model is an isometric view of a manipulator for producing hydraulic retarders.

[0032] Figure 3 This is a structural diagram of a large grid clamp support block of a manipulator used for the production of hydraulic retarders according to the utility model.

[0033] Figure 4 This is a structural diagram of a small-grid clamp support block of a manipulator used for the production of hydraulic retarders according to the utility model.

[0034] Among them, 1-mechanical wrist, 2-finger base, 3-pneumatic valve, 4-pneumatic telescopic cylinder, 5-photoelectric sensor, 6-finger connecting rod, 7-guide rail, 8-finger, 9-large grid clamp support block, 10-small grid clamp support block, 11-cargo detection photoelectric, 12-parts box, 91-positioning support table, 92-finger mounting table, 101-positioning support shoulder, 102-positioning mounting table. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Generally, the components of the embodiments of the utility model described and shown in the drawings here can be arranged and designed in various different configurations.

[0036] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the present invention to be protected, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0038] In the description of the embodiments of the present utility model, it should be noted that if the terms "upper", "lower", "horizontal", "inner", etc. indicate an orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the utility model product is usually placed when in use, it is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present utility model. In addition, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0039] In addition, if the term "horizontal" appears, it does not mean that the component must be absolutely horizontal, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", which does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0040] In the description of the embodiments of the present utility model, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0041] The present invention will be further described in detail below in conjunction with specific embodiments, which are intended to explain the present invention rather than to limit it.

[0042] See also Figure 1 and Figure 2 The utility model discloses a manipulator for the production of hydraulic retarders, comprising a manipulator wrist 1, to which a finger base 2 is fixedly connected, the finger base 2 is in a long strip shape and is vertically arranged with the manipulator wrist 1; a finger 8 is slidably connected to the finger base 2 via a guide rail 7;

[0043] The fingers 8 are located on both sides of the finger base 2 and slide along the guide rail 7. The fingers 8 are connected to a power mechanism, which includes a pneumatic telescopic cylinder 4, a finger connecting rod 6 and a pneumatic valve 3; the pneumatic telescopic cylinder 4 is connected to the pneumatic valve 3, and the moving end of the pneumatic telescopic cylinder 4 is connected to the finger 8 through the finger connecting rod 6 to provide power for the sliding of the finger 8; preferably, the pneumatic telescopic cylinder 4 and the pneumatic valve 3 are both installed on the finger base 2; preferably, the fingers 8 are long and narrow and clamp the part box 12 along the length direction.

[0044] When grasping, the fingers 8 are located on both sides of the parts box 12, and each finger 8 is provided with a large grid clamp support block 9 and a small grid clamp support block 10 on the inner side of the parts box 12. The large grid clamp support block 9 is symmetrically arranged on the inner side of the finger 8 along the two sides of the parts box; the small grid clamp support block 10 is symmetrically arranged on the inner side of the finger 8 along the center of the parts box; see Figure 3 The large grid clamp support block 9 includes a positioning support platform 91 and a finger mounting platform 92 connected thereto; when grabbing the component box 12, the positioning support platform 91 is clamped at the reinforcing rib of the component box 12 and is clamped with the grabbing edge of the component box 12; the finger mounting platform 92 is provided with a mounting hole for mounting the large grid clamp support block 9 on the inner side of the finger 8. Figure 4 The small grid clamp support block 10 includes a positioning support shoulder 101 and a positioning mounting platform 102 connected thereto; when grabbing the part box 12, the positioning support shoulder 101 is clamped at the reinforcing rib of the part box 12 and is clamped with the grabbing edge of the part box 12; a long mounting hole is provided on the positioning mounting platform 102 for mounting the small grid clamp support block 10 on the inner side of the finger 8; preferably, the length of the large grid clamp support block 9 is 100mm~120mm, and the length of the small grid clamp support block 10 is 30mm~35mm. In order to ensure the force and wear resistance of the large grid clamp support block 9 and the small grid clamp support block 10, the material is 45 quenched and tempered steel, which is widely available and low in cost.

[0045] Preferably, the end of the finger 8 is provided with a cargo detection photoelectric device 11 for detecting the cargo placement position; the finger 8 is connected to the robotic wrist 1 and is provided with a photoelectric sensor 5 for detecting the position of the finger 8 .

[0046] When in use, the pneumatic valve 3 is used to control the on-off of the air source to provide power for the pneumatic telescopic cylinder 4. The moving end of the pneumatic telescopic cylinder 4 extends outward, driving the finger connecting rod 6 to move, and then driving the fingers 8 to slide to both sides of the finger base 2. When grabbing the part box 12, the pneumatic valve 3 is controlled to retract the moving end of the pneumatic telescopic cylinder 4, and the finger connecting rod 6 drives the fingers 8 to move along the fixed track of the track 7, so that the large clamping grid support block 9 and the small clamping grid support block 10 are connected with the part box 12, so as to realize the grabbing of the part box 12; the photoelectric sensor 5 on the finger base 2 has normal photoelectric reflection, which is regarded as positive. Normal grabbing / If the photoelectricity does not reflect, it is deemed that the part box 12 is not grabbed. If the photoelectricity changes from a reflective state to a non-reflective state during the movement of grabbing the part box 12, it is regarded as an abnormal situation and an emergency stop is required to check whether the grabbing is normal; in the process of releasing goods, there are detection photoelectricity 11 on both sides of the front end of the finger 8, which are used to cross-check the release position to ensure that there is no goods at the release position, and then perform the release operation. That is, when releasing goods, if the photoelectricity 11 does not reflect, it is regarded as there is no goods at the storage position and the release operation can be performed normally. If the detection photoelectricity 11 is reflected, avoid releasing goods when there are goods at the storage position.

[0047] In summary, the utility model provides a manipulator for the production of hydraulic retarders. When in use, the power mechanism provides power to the fingers, so that the fingers slide on both sides of the mechanical wrist. When grasping, the power mechanism drives the fingers to move inward along both sides of the parts box, so that the large grid clamp support block and the small grid clamp support block are clamped and positioned with the parts box to achieve stable grasping. Under the action of the large grid clamp support block, the main positioning and force of the parts box are achieved, and under the action of the small clamp support block, the horizontal direction is limited to ensure the stability of the parts box during the grasping process. It is compatible with parts boxes of various sizes to avoid the problem of the parts box falling off due to the forward tilt or forward and backward movement of the parts box.

[0048] The above description is only a preferred embodiment of the present invention and is not intended to impose any limitation on the technical solution of the present invention. Those skilled in the art should understand that, without departing from the spirit and principles of the present invention, the technical solution can also be subjected to several simple modifications and replacements, and these modifications and replacements are also within the scope of protection covered by the claims.

Claims

1. A manipulator for the production of hydraulic retarders, characterized in that: The invention comprises a mechanical wrist (1), wherein the end of the mechanical wrist (1) is slidably connected to a finger (8); when grasping, the finger (8) is located on both sides of a part box (12), and each finger (8) is provided with a large grid clamp support block (9) and a small grid clamp support block (10) on the inner side close to the part box (12); the finger (8) is connected to a power mechanism for providing power to the finger (8).

2. The manipulator for hydraulic retarder production according to claim 1 is characterized in that: A finger base (2) is provided between the mechanical wrist (1) and the finger (8).

3. The manipulator for hydraulic retarder production according to claim 2 is characterized in that: The finger (8) is slidably connected to the finger base (2) via a guide rail (7).

4. The manipulator for hydraulic retarder production according to claim 1, characterized in that: The power mechanism comprises a pneumatic telescopic cylinder (4), the movable end of which is connected to a finger (8).

5. The manipulator for the production of hydraulic retarders according to claim 4, characterized in that: A finger connecting rod (6) is provided between the movable end of the pneumatic telescopic cylinder (4) and the finger (8).

6. The manipulator for hydraulic retarder production according to claim 4, characterized in that: The pneumatic telescopic cylinder (4) is connected to a pneumatic valve (3).

7. The manipulator for hydraulic retarder production according to claim 1, characterized in that: The large-grid clamp support block (9) comprises a positioning support platform (91) and a finger mounting platform (92) connected thereto; when grabbing the part box (12), the positioning support platform (91) is clamped at the reinforcing rib of the part box (12) and is clamped with the grabbing edge of the part box (12); the finger mounting platform (92) is provided with a mounting hole for mounting the large-grid clamp support block (9) on the inner side of the finger (8).

8. The manipulator for hydraulic retarder production according to claim 1, characterized in that: The small-grid clamp support block (10) comprises a positioning support shoulder (101) and a positioning mounting platform (102) connected thereto; when grabbing the parts box (12), the positioning support shoulder (101) is clamped at the reinforcing rib of the parts box (12) and is clamped with the grasping edge of the parts box (12); the positioning mounting platform (102) is provided with a long mounting hole for mounting the small-grid clamp support block (10) on the inner side of the finger (8).

9. The manipulator for hydraulic retarder production according to any one of claims 1 to 8, characterized in that: The large grid clamp support block (9) is symmetrically arranged on the inner side of the finger (8) along the two sides of the parts box; the small grid clamp support block (10) is symmetrically arranged on the inner side of the finger (8) along the center of the parts box.

10. The manipulator for hydraulic retarder production according to claim 1, characterized in that: The end of the finger (8) is provided with a cargo detection photoelectric device (11) for detecting the cargo placement position; the finger (8) is connected to the mechanical wrist (1) and is provided with a photoelectric sensor (5) for detecting the position of the parts box (12).

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