Manipulator tail end clamp for heating radiator production

Abstract

The utility model relates to the technical field of heating radiator processing, in particular to a manipulator tail end clamp for heating radiator production, which comprises a clamp arm and two groups of clamping jaw assembly components, and the two groups of clamping jaw assembly components are arranged on the clamp arm; the clamping jaw assembly comprises a mounting plate, two static positioning clamping jaws are mounted on the left side of the upper end face of the mounting plate, two separation pneumatic push rods are symmetrically and fixedly arranged in the middle of the upper end face of the mounting plate, a tensioning pneumatic push rod is assembled on the right side of the upper end face of the mounting plate, and the output end of the tensioning pneumatic push rod is fixedly connected to a fine adjustment yoke plate. The bottom of the fine adjustment yoke plate is adjustably connected with a linear sliding block, and the linear sliding block is provided with a movable positioning clamping jaw. Through the design of the multiple static positioning clamping jaw mounting holes, the space between the static positioning clamping jaws is rapidly adjusted to adapt to different product specifications, meanwhile, the efficient, rapid and stable casting type insert mold loading procedure and finished product forced separation from the clamp are achieved through the separation pneumatic push rod, and the working efficiency is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to heating radiator processing technical field, specifically, relate to a kind of mechanical hand end gripper for heating radiator production. BACKGROUND

[0002] For insert composite and pure aluminum type heating radiator, generally adopt the way of medium-pressure die casting to form processing. Among them, in the process of insert composite heating radiator, the die casting die must be placed to the matched fluid pipe (hereinafter referred to as insert), before die casting, the insert must be placed in the die casting die. The existing technology generally adopts manual operation to realize the action of insert placement and die casting part taking, and the working mode has the defects of high labor intensity and high labor cost. Some adopt six-axis robot arm to realize automatic die casting production equipment, which needs to be equipped with end gripper suitable for the product, which greatly reduces the labor intensity. In automatic die casting production, the production process of insert composite heating radiator is complex (inserted workpiece gripper grabbing inspection, inserted workpiece mold mounting in-place inspection, finished product die casting mold taking-out inspection, finished product and gripper separation inspection, etc.), and ordinary gripper has less step sequence detection, which is easy to cause defective products and even cause die damage.

[0003] The existing patent heating radiator production gripper mechanism (authorization number CN216729476U) proposes a novel gripper structure, which has high production efficiency and is applied in many cases. However, when the insert is inserted, the small push force of the spring is used to realize separation and gap type insert embedding in the mold, which requires high relative position accuracy of the gripper and the mold (generally less than 1mm), which is easy to cause jamming and affect production efficiency. In addition, the positioning piece and pin shaft structure are complex, and the maintenance and manufacturing cost is high. The single gripper has single function, and the gripper needs to be replaced to adapt to product specifications, production modes (such as 1 mold 1 piece, 1 mold 2 pieces) and the like, the switching efficiency is low, and the step sequence detection function is less.

[0004] Therefore, the utility model provides a kind of mechanical hand end gripper for heating radiator production to solve the above problems. UTILITY MODEL CONTENTS

[0005] In view of the existing deficiencies, the utility model aims at providing a kind of mechanical hand end gripper for heating radiator production to improve the efficiency of automatic die casting production and ensure the stability and durability of the equipment.

[0006] To achieve the above purpose, the technical scheme adopted by the utility model is as follows:

[0007] A kind of mechanical hand end gripper for heating radiator production, including connecting flange, gripper arm and clamping jaw assembly component, the clamping jaw assembly component is equipped with two groups, and is installed on gripper arm, the right end of gripper arm is fixed with the connecting flange for installing end gripper to mechanical arm,

[0008] The clamping jaw assembly comprises a mounting plate, static positioning clamping jaws, separation pneumatic push rods, tensioning pneumatic push rods, a fine adjustment connecting plate and dynamic positioning clamping jaws, two groups of static positioning clamping jaws are mounted on the left side of the upper end face of the mounting plate, two groups of separation pneumatic push rods are symmetrically fixed on the middle position of the upper end face of the mounting plate, a second sensor is assembled on the separation pneumatic push rod, a first sensor is mounted on the mounting plate at the corresponding position of the front side of the separation pneumatic push rod, a tensioning pneumatic push rod is assembled on the right side of the upper end face of the mounting plate, a third sensor is arranged on the tensioning pneumatic push rod, the output end of the tensioning pneumatic push rod is fixedly connected to the fine adjustment connecting plate, a linear slide is adjustably connected to the bottom of the fine adjustment connecting plate, a dynamic positioning clamping jaw is arranged on the linear slide, a linear slide rail is slidably connected to the bottom of the linear slide, and the linear slide rail is fixedly connected to the mounting plate; the bottom structure of the mounting plate is the same as the upper structure, and the components on the bottom are staggered with the components on the upper side.

[0009] The clamping arm is composed of two arm plates, the two arm plates are clamped and fixed to the mounting plate of the clamping jaw assembly, and a connecting flange is fixedly arranged at the right end of the two arm plates.

[0010] Further, protective covers are arranged on the upper and lower sides of the mounting plate, and clamping jaw holes and push rod grooves are formed in the protective covers and correspond to the static positioning clamping jaws, the dynamic positioning clamping jaws and the separation pneumatic push rods.

[0011] Further, a plurality of static positioning clamping jaw mounting holes are arranged on the mounting plate.

[0012] Further, the dynamic positioning clamping jaw has the same specification as the static positioning clamping jaw, and the length of the dynamic positioning clamping jaw is smaller than that of the static positioning clamping jaw, the upper ends of the two are flush, the static positioning clamping jaw has a circular top conical structure, and a radial hole is formed in the static positioning clamping jaw for easy disassembly.

[0013] Further, the separation pneumatic push rod is perpendicular to the mounting plate, and an elastic gasket is arranged on the output end of the separation pneumatic push rod.

[0014] Further, the static positioning clamping jaws, the separation pneumatic push rods, the dynamic positioning clamping jaws and the tensioning pneumatic push rods are connected to an external gas source through gas pipes.

[0015] Compared with the prior art, the utility model has the following beneficial effects:

[0016] 1. The utility model discloses a plurality of static positioning clamping jaw mounting holes for quickly switching and adjusting the distance between the static positioning clamping jaws, so that the product switching efficiency is improved by more than 80%.

[0017] 2, the utility model discloses a separating pneumatic push rod is used to realize the quick separation of workpiece and clamp, realizes high efficiency, fast, stable and quick-acting type insert loading mould process and finished product forced separation with clamp, and elastic gasket is used for buffering simultaneously, reduces the impact of separating pneumatic push rod telescoping to workpiece, and through the feedback state result of corresponding sensor, the production efficiency is improved by more than 10%.

[0018] 3, the utility model discloses through multi-sensor detection, realizes process detection abnormality and suspends production and alarms, and greatly reduces the defective product, avoids the production stoppage accident caused by mould damage. DRAWINGS

[0019] Fig. 1 It is the overall structure schematic diagram of the utility model.

[0020] Fig. 2 It is the front view of the utility model.

[0021] Fig. 3 It is the exploded structure schematic diagram of the clamping jaw assembly component in the utility model.

[0022] Fig. 4 It is the partial structure schematic diagram of the clamping jaw assembly component in the utility model.

[0023] Fig. 5 It is the structure schematic diagram of the static positioning clamping jaw in the utility model.

[0024] In the drawing: 1, connecting flange;2, clamp arm;3, clamping jaw assembly component;31, protective cover;32, clamping jaw hole;33, push rod groove;34, mounting plate;35, static positioning clamping jaw;36, separating pneumatic push rod;37, first sensor;38, second sensor;39, third sensor;310, tension pneumatic push rod;311, fine adjustment link plate;312, dynamic positioning clamping jaw;313, linear slide;314, linear slide rail. DETAILED DESCRIPTION

[0025] The technical scheme in the embodiments of the utility model will be described below in a clear and complete manner in conjunction with the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of the utility model.

[0026] Embodiment:

[0027] As Figs. 1 to 5As shown, a robotic end-effector for producing heating radiators includes a connecting flange 1, a gripper arm 2, and a gripper assembly 3. The gripper assembly 3 has two sets, both of which are mounted on the gripper arm 2. The right end of the gripper arm 2 is fixed with a connecting flange 1 for mounting the end-effector onto the robotic arm.

[0028] The gripper assembly 3 includes a mounting plate 34, static positioning grippers 35, separation pneumatic push rods 36, tensioning pneumatic push rods 310, a fine-tuning connecting plate 311, and dynamic positioning grippers 312. Two sets of static positioning grippers 35 are mounted on the left side of the upper end face of the mounting plate 34. Two sets of separation pneumatic push rods 36 are symmetrically fixed at the middle position of the upper end face of the mounting plate 34. A second sensor 38 is mounted on the separation pneumatic push rod 36. A first sensor 37 is mounted on the mounting plate 34 at the corresponding position in front of the separation pneumatic push rod 36. A tensioning pneumatic push rod 310 is mounted on the right side of the upper end face of the mounting plate 34. A third sensor 39 is mounted on the tensioning pneumatic push rod 310. The output end of the tensioning pneumatic push rod 310 is fixedly connected to the fine-tuning connecting plate. On plate 311, a linear slider 313 is adjustablely connected to the bottom of the fine-tuning plate 311. The linear slider 313 is equipped with a moving positioning gripper 312. The moving positioning gripper 312 is moved by the tensioning pneumatic push rod 310 to adjust the spacing for clamping and positioning the workpiece. A linear slide rail 314 is slidably connected to the bottom of the linear slider 313. The linear slide rail 314 is fixedly connected to the mounting plate 34. The bottom structure of the mounting plate 34 is the same as that of its upper side, and the bottom components are staggered from the upper components. The static positioning gripper 35 on one side works with the moving positioning gripper 312 to grip two inserts, and the static positioning gripper 35 on the other side works with the moving positioning gripper 312 to grip two finished workpieces.

[0029] In this embodiment, the clamp arm 2 is composed of two arm plates, and the mounting plate 34 of the clamping jaw assembly is clamped between the two arm plates. A connecting flange 1 is fixed at its right end.

[0030] In this embodiment, protective covers 31 are provided on both the upper and lower sides of the mounting plate 34. The protective covers 31 are provided with matching gripper holes 32 and push rod grooves 33 at the corresponding positions of the static positioning gripper 35, the dynamic positioning gripper 312 and the separation pneumatic push rod 36.

[0031] In this embodiment, the mounting plate 34 is provided with multiple sets of static positioning jaw 35 mounting holes, which are not limited to threaded holes, for quickly adjusting the spacing of the static positioning jaw 35 to adapt to different product specifications.

[0032] In this embodiment, the specifications of the moving positioning jaw 312 are the same as those of the static positioning jaw 35, and the length of the moving positioning jaw 312 is less than that of the static positioning jaw 35. The upper ends of the two are flush. The static positioning jaw 35 has a domed conical structure with radial holes that facilitate disassembly and assembly. The radial holes can provide a force point for disassembly and assembly tools, allowing external tools such as screwdrivers to be inserted and rotated to disassemble and assemble the positioning jaw.

[0033] In this embodiment, the separating pneumatic push rod 36 is perpendicular to the mounting plate 34, and an elastic pad is installed at its output end. The separating pneumatic push rod 36 is used to achieve efficient, fast and stable ejection insert loading into the mold process and forced separation of the finished product from the fixture. At the same time, the elastic pad is used for buffering to reduce the impact on the workpiece when the separating pneumatic push rod 36 extends or retracts.

[0034] In this embodiment, the static positioning gripper 35, the separation pneumatic push rod 36, the dynamic positioning gripper 312, and the tensioning pneumatic push rod 310 are all connected to an external air source through air pipes.

[0035] The working principle of the end effector of a robotic arm used in the production of heating radiators:

[0036] In practical implementation, the static positioning jaw 35 on one side of the two sets of gripper assemblies 3, in conjunction with the dynamic positioning jaw 312, is used to grip two inserts, while the static positioning jaw 35 on the other side, in conjunction with the dynamic positioning jaw 312, is used to grip two finished workpieces. The gripper assembly 3 holds the workpieces by micro-movement of the dynamic positioning jaw 312. When gripping the inserts, the static positioning jaw is in a fixed position, while the dynamic positioning jaw 312 and the separation pneumatic push rod 36 are in a retracted state. The static positioning jaw and the dynamic positioning jaw 312 are inserted into both ends of the insert, and the tensioning pneumatic push rod 310 pushes the micro-adjustment plate 311 and the dynamic positioning jaw 312 to move, thereby increasing the spacing between the positioning jaws to tighten and grip the insert. At this time, the third sensor 39 detects the position of the tensioning pneumatic push rod 310, and sends a gripping completion signal after it reaches its position. When the insert is loaded into the mold, after the robot arm drives the end gripper to reach the required relative position with the mold, the tensioning pneumatic push rod 310 retracts, the fine-tuning connecting plate 311 and the moving positioning gripper 312 lose their forced external pushing force, and the third sensor 39 detects the positioning and sends a retraction completion signal. At this time, the separation pneumatic push rod 36 extends, and the push rod moves rapidly to form a projectile state, sending the insert to the designed position. The second sensor 38 detects that the separation pneumatic push rod 36 has reached the preset extension position and sends an insert completion signal. The finished product removal is consistent with the insert gripping process, and the finished product separation is consistent with the insert loading process.

[0037] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating this utility model, and are not intended to limit the implementation of this utility model. For those skilled in the art, other variations or modifications can be made based on the above description. It is impossible to exhaustively list all the implementation methods here. Any obvious variations or modifications derived from the technical solutions of this utility model are still within the protection scope of this utility model.

Claims

1. A robotic end-effector for manufacturing heating radiators, characterized in that: It includes a connecting flange (1), a clamping arm (2) and a gripper assembly (3). The gripper assembly (3) has two sets, both of which are mounted on the clamping arm (2). The right end of the clamping arm (2) is fixed with a connecting flange (1) for mounting the end clamp onto the robotic arm. The gripper assembly (3) includes a mounting plate (34), static positioning grippers (35), separation pneumatic push rods (36), tensioning pneumatic push rods (310), fine-tuning connecting plate (311), and dynamic positioning grippers (312). Two sets of static positioning grippers (35) are mounted on the left side of the upper end face of the mounting plate (34). Two sets of separation pneumatic push rods (36) are symmetrically fixed at the middle position of the upper end face of the mounting plate (34). A second sensor (38) is mounted on the separation pneumatic push rod (36). A first sensor (37) is mounted on the mounting plate (34) at the corresponding position on the front side of the separation pneumatic push rod (36). A second sensor (38) is mounted on the right side of the upper end face of the mounting plate (34). There is a tensioning pneumatic push rod (310), and a third sensor (39) is provided on the tensioning pneumatic push rod (310). The output end of the tensioning pneumatic push rod (310) is fixedly connected to the fine adjustment plate (311). The bottom of the fine adjustment plate (311) is adjustablely connected to a linear slider (313). The linear slider (313) is provided with a dynamic positioning gripper (312). The bottom of the linear slider (313) is slidably connected to a linear slide rail (314). The linear slide rail (314) is fixedly connected to the mounting plate (34). The bottom structure of the mounting plate (34) is the same as the upper structure, and the bottom components are staggered from the upper components. The clamp arm (2) consists of two arm plates, with a mounting plate (34) for clamping and fixing the jaw assembly between the two arm plates, and a connecting flange (1) fixed at its right end.

2. The robotic end-effector for producing heating radiators according to claim 1, characterized in that: The mounting plate (34) is covered with protective covers (31) on both the upper and lower sides. The protective covers (31) are provided with matching gripper holes (32) and push rod grooves (33) at the corresponding positions of the static positioning gripper (35), the dynamic positioning gripper (312) and the separation pneumatic push rod (36).

3. The robotic end-effector for producing heating radiators according to claim 1, characterized in that: The mounting plate (34) is provided with multiple sets of static positioning claw (35) mounting holes.

4. The robotic end-effector for producing heating radiators according to claim 1, characterized in that: The specifications of the moving positioning jaw (312) are the same as those of the static positioning jaw (35), and the length of the moving positioning jaw (312) is less than that of the static positioning jaw (35). The upper ends of the two are flush. The static positioning jaw (35) is a dome-shaped conical structure with radial holes for easy disassembly and assembly.

5. The robotic end-effector for producing heating radiators according to claim 1, characterized in that: The separating pneumatic push rod (36) is perpendicular to the mounting plate (34), and an elastic pad is installed at its output end.

6. The end effector of the robotic arm for producing heating radiators according to claim 1, characterized in that: The static positioning gripper (35), the separation pneumatic push rod (36), the dynamic positioning gripper (312), and the tensioning pneumatic push rod (310) are all connected to an external air source through air pipes.

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