Mechanical clamping jaw mechanism for disassembling and assembling radar array surface radiator

Abstract

The mechanical clamping jaw mechanism comprises two clamping jaws which are symmetrically arranged, one end of each clamping jaw is connected with a clamping jaw connecting arm through a clamping jaw fixing block, the other end of each clamping jaw is symmetrically bent outwards by 90 degrees to form an outer bent hook, and the two clamping jaws synchronously move in the same direction or opposite directions along the clamping jaw connecting arm; and the clamping jaw connecting arm is connected with a floating device. By means of the clamping jaw tail end structure of the outer hook, lossless grabbing and installation of the radiator are achieved.

Description

TECHNICAL FIELD

[0001] The utility model relates to a kind of for radar array surface radiator dismounting mechanical clamping jaw mechanism, belong to the technical field of machinery. BACKGROUND

[0002] In prior art, the radiator of radar array surface needs to be quality checked after production, and the front shell of the radiator needs to be disassembled in the checking process, which includes two processes of disassembly and assembly. The process of disassembly is as follows: the screws on the four ear holes of the radiator are removed, and then the surface shell of the radiator is pulled off. The process of assembly is as follows: the surface shell of the radiator is pressed into the radiator from the front, and then the four screws are tightened and locked. This process is time-consuming, and is currently disassembled and assembled by manual labor. The time period of disassembly and assembly is long, the labor intensity is large, and the disassembled radiators are easy to be misplaced, which affects the performance indicators of the radar. SUMMARY

[0003] To solve the above problems, the utility model discloses a kind of for radar array surface radiator dismounting mechanical clamping jaw mechanism, and the specific technical solutions are as follows:

[0004] A kind of for radar array surface radiator dismounting mechanical clamping jaw mechanism, including two symmetrically arranged clamping jaws (1), one end of clamping jaw (1) is connected with clamping jaw connecting arm (8) by clamping jaw fixing block (9), the other end is symmetrically bent 90 ° outward, forms outer hook (12), two clamping jaws (1) move synchronously towards or opposite along clamping jaw connecting arm (8);

[0005] The clamping jaw connecting arm (8) is connected to the floating device (7).

[0006] Further, the floating device (7) is further provided with a force sensor (6).

[0007] Further, the clamping jaw connecting arm (8) is in the shape of an inclined concave letter, including an upper horizontal section, a middle vertical section and a lower horizontal section, the upper horizontal section is connected to the side of the floating device (7) and extends horizontally from the corresponding end of the floating device (7), the middle vertical section extends downward, and the lower horizontal section extends horizontally towards each other. A clamping jaw fixing block (9) is arranged on the lower horizontal section, and a sliding groove is arranged axially on the lower horizontal section. A cylinder is arranged in the sliding groove. The clamping jaw fixing block (9) is provided with a sliding block corresponding to the sliding groove, and the clamping jaw fixing block (9) is connected to the movable end of the cylinder. The cylinder pushes the clamping jaw fixing block (9) to move on the lower horizontal section.

[0008] The upper end of the clamping jaw (1) is connected to the corresponding clamping jaw fixing block (9).

[0009] Furthermore, the force sensor (6) is mounted on the mounting plate, and a laser displacement sensor (3) and a vision camera (4) are also provided above the mounting plate. Light sources (5) are provided around the vision camera (4), and the illumination direction of the light sources (5) is facing directly in front of the vision camera (4).

[0010] Furthermore, the floating device (7) includes a rotating part (71) that rotates in a circle and a floating part (72) that floats up and down. The rotating part (71) is two bearings that are axially connected. The force sensor (6) is located above the rotating part (71), and the floating part (72) is located below the floating part (71).

[0011] The floating part (72) includes an upper connecting block (721) and a lower connecting block (722). Both the upper connecting block (721) and the lower connecting block (722) have rectangular channels (723) in the middle. The upper connecting block (721) has two through slots (724). A floating block (725) is inserted into the two through slots (724). The floating block (725) is fixedly connected to the upper horizontal section of the gripper connecting arm (8). The upper horizontal section of the gripper connecting arm (8) and the floating block (725) have vertical movement space in the rectangular channel (724) in the middle of the upper connecting block and the lower connecting block. When the upper horizontal section of the gripper connecting arm (8) abuts against the lower surface of the rectangular channel (723) in the middle of the upper connecting block (721) and the lower connecting block (722), the floating block (725) is still located in the rectangular channel (723).

[0012] The beneficial effects of this utility model are:

[0013] This invention achieves mechanized removal of radiators by designing a gripper structure.

[0014] This invention, through the design of a floating device, provides the gripper with adequate clearance when grasping the radiator, preventing the gripper from damaging the radar array. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0016] Figure 2 This is a schematic diagram of the gripper structure of this utility model.

[0017] Figure 3 yes Figure 2 Another perspective diagram,

[0018] Figure 4 This is a magnified view of the gripper.

[0019] Figure 5 This is a schematic diagram of the radiator's structure.

[0020] Figure 6 yes Figure 5 Another viewpoint

[0021] List of reference numerals in the attached figures: 1—gripper, 2—radiator, 3—laser displacement sensor, 4—vision camera, 5—light source, 6—force sensor, 7—floating device, 8—gripper connecting arm, 9—gripper fixing block, 10—internal hole, 11—elongated hole, 12—outer hook, 71—rotating part, 72—floating part, 721—upper connecting block, 722—lower connecting block, 723—rectangular channel, 724—through groove, 725—floating block. Detailed Implementation

[0022] The present invention will be further illustrated below with reference to the accompanying drawings and specific embodiments. It should be understood that the following specific embodiments are for illustrative purposes only and are not intended to limit the scope of the present invention.

[0023] First, in conjunction with the appendix Figure 5 and 6 Understanding the specific structure of radiator 2, radiator 2 is an independent unit installed on the radar array. The purpose of this invention is to allow each radiator 2 to be removed from the radar array during testing. Radiator 2 has six countersunk holes at its bottom, which are installed at each electrode point on the radar array. After removing radiator 2, each electrode point on the radar array is checked for normal operation; if any abnormality is found, it is repaired or replaced promptly. Radiator 2 has two elongated holes in its middle. Based on the structure of these elongated holes, this invention designs two external hooks 12 for insertion into these holes. When opened, the external hooks 12 hook onto the outside of the elongated holes, allowing for removal or repositioning of the radiator 2.

[0024] Combined with appendix Figures 1-2 As can be seen, the mechanical gripper mechanism for disassembling and assembling radar array radiators includes two symmetrically arranged grippers 1. One end of each gripper 1 is connected to a gripper connecting arm 8 via a gripper fixing block 9, and the other end is symmetrically bent outward at 90° to form an outer hook 12. The two grippers 1 move synchronously towards or away from each other along the gripper connecting arm 8. When inserted into the elongated hole, the outer hook 12 moves closer and is inserted into the elongated hole. After insertion, it moves in the opposite direction and hooks the two sides of the elongated hole with the outer hook 12 to remove the radiator.

[0025] The gripper connecting arm 8 is connected to the floating device 7. The function of the floating device 7 is to provide space for avoidance when the outer hook 12 comes into contact with the radar array when grabbing the radiator.

[0026] The specific structure of the floating device 7 is as follows: see appendix. Figures 2-4The floating device 7 includes a rotating part 71 that rotates in a circular motion and a floating part 72 that floats up and down. The rotating part 71 consists of two bearings that are axially connected. The function of the rotating part 71 is to facilitate the circumferential rotation of the gripper 1 so that the gripper 1 can be aligned precisely with the elongated hole of the radiator. The force sensor 6 is located above the rotating part 71, and the floating part 72 is located below the floating part 71. The floating part 72 includes an upper connecting block 721 and a lower connecting block 722. Both the upper connecting block 721 and the lower connecting block 722 have rectangular channels 723 in the middle. The upper connecting block 721 has two through slots 724. A floating block 725 is inserted into the two through slots 724. The floating block 725 is fixedly connected to the upper horizontal section of the gripper connecting arm 8. The upper horizontal section of the gripper connecting arm 8 and the floating block 725 have vertical movement space in the rectangular channels 724 in the middle of the upper and lower connecting blocks. When the upper horizontal section of the gripper connecting arm 8 abuts against the lower surface of the rectangular channel 723 in the middle of the upper and lower connecting blocks 721 and 722, the floating block 725 is still located in the rectangular channel 723. During the disassembly and assembly process, after the outer hook 12 is inserted into the elongated hole of the radiator, the outer hook 12 abuts against the radar array surface, and the upper horizontal section of the gripper connecting arm 8 and the floating block 725 move upward synchronously, and the through slot 724 provides the floating block 725 with the amount of space to move.

[0027] To better control the safe use of the gripper 1, a force sensor 6 is also installed on the floating device 7. The force sensor 6 senses the upward force exerted by the floating device below, presets an appropriate force range, and stops the gripper 1 from moving downward. During the debugging phase, based on various data, the force range and threshold of the force sensor 6 are preset. When the threshold is reached, the downward movement of the gripper 1 is immediately stopped to ensure that the gripper 1 will not damage the radar array.

[0028] The specific structure of gripper 1 is described below: see appendix. Figures 2-4 The gripper connecting arm 8 is in an inclined U-shape, including an upper horizontal section, a middle vertical section, and a lower horizontal section. The upper horizontal section is connected to the side of the floating device 7 and extends horizontally from the corresponding end of the floating device 7. The middle vertical section extends downward, and the lower horizontal section extends horizontally towards each other. A gripper fixing block 9 is provided in the lower horizontal section, and a sliding groove is provided axially in the lower horizontal section. A cylinder is installed in the sliding groove, and a slider corresponding to the sliding groove is provided in the gripper fixing block 9. The gripper fixing block 9 is connected to the movable end of the cylinder, and the cylinder pushes the gripper fixing block 9 to move in the lower horizontal section. The upper end of the gripper 1 is connected to the corresponding gripper fixing block 9. The movement of the outer hook 12 is controlled by the cylinder.

[0029] For better positioning, force sensor 6 is mounted on a mounting plate. Above the mounting plate are laser displacement sensor 3 and vision camera 4. Light sources 5 are arranged around vision camera 4, with the light from the light sources 5 pointing directly in front of vision camera 4. Laser displacement sensor 3 allows for multi-point positioning of the radar array's flatness, and vision camera 4 captures images in real time. Image comparison is used to align gripper 1 with the radiator. Light sources 5 provide sufficient illumination to improve image clarity.

[0030] Those skilled in the art will understand that, unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. It should also be understood that terms such as those defined in general dictionaries should be understood to have the same meaning as in the context of the prior art, and should not be interpreted in an idealized or overly formal sense unless defined as herein.

[0031] The term "connection" as used in this application can mean a direct connection between components or an indirect connection between components through other components.

[0032] Based on the above-described preferred embodiments of this utility model, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the technical concept of this utility model. The technical scope of this utility model is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. A mechanical gripper mechanism for assembling and disassembling radar array radiators, characterized in that, It includes two symmetrically arranged grippers (1). One end of the gripper (1) is connected to the gripper connecting arm (8) through the gripper fixing block (9), and the other end is symmetrically bent outward at 90° to form an outer hook (12). The two grippers (1) move synchronously towards each other or in opposite directions along the gripper connecting arm (8). The gripper connecting arm (8) is connected to the floating device (7).

2. The mechanical gripper mechanism for assembling and disassembling radar array radiators according to claim 1, characterized in that, A force sensor (6) is also installed on the floating device (7).

3. The mechanical gripper mechanism for assembling and disassembling radar array radiators according to claim 1, characterized in that, The gripper connecting arm (8) is in an inclined U-shape, including an upper horizontal section, a middle vertical section and a lower horizontal section. The upper horizontal section is connected to the side of the floating device (7) and extends horizontally from the corresponding end of the floating device (7). The middle vertical section extends downward and the lower horizontal section extends horizontally towards each other. A gripper fixing block (9) is provided in the lower horizontal section. A sliding groove is provided axially in the lower horizontal section. A cylinder is provided in the sliding groove. The gripper fixing block (9) is provided with a slider corresponding to the sliding groove. The gripper fixing block (9) is connected to the movable end of the cylinder. The cylinder pushes the gripper fixing block (9) to move in the lower horizontal section. The upper end of the gripper (1) is connected to the corresponding gripper fixing block (9).

4. The mechanical gripper mechanism for assembling and disassembling radar array radiators according to claim 2, characterized in that, The force sensor (6) is mounted on the mounting plate. A laser displacement sensor (3) and a vision camera (4) are also provided above the mounting plate. Light sources (5) are provided around the vision camera (4), and the illumination direction of the light sources (5) is facing the front of the vision camera (4).

5. The mechanical gripper mechanism for assembling and disassembling radar array radiators according to claim 1, characterized in that, The floating device (7) includes a rotating part (71) that rotates in a circle and a floating part (72) that floats up and down. The rotating part (71) consists of two bearings that are axially connected. The force sensor (6) is located above the rotating part (71), and the floating part (72) is located below the rotating part (71). The floating part (72) includes an upper connecting block (721) and a lower connecting block (722). Both the upper connecting block (721) and the lower connecting block (722) have rectangular channels (723) in the middle. The upper connecting block (721) has two through slots (724). A floating block (725) is inserted into the two through slots (724). The floating block (725) is fixedly connected to the upper horizontal section of the gripper connecting arm (8). The upper horizontal section of the gripper connecting arm (8) and the floating block (725) have vertical movement space in the rectangular channel (723) in the middle of the upper connecting block and the lower connecting block. When the upper horizontal section of the gripper connecting arm (8) abuts against the lower surface of the rectangular channel (723) in the middle of the upper connecting block (721) and the lower connecting block (722), the floating block (725) is still located in the rectangular channel (723).

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