Manipulator clamp for machining exhaust manifold of engine
By designing a floating and fixed gripping finger structure for the robotic arm gripper, the problem of unstable clamping of the exhaust manifold gripper was solved, enabling efficient loading and unloading operations and improving production efficiency and finished product quality.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-27
- Publication Date
- 2026-03-31
AI Technical Summary
Existing exhaust manifold clamps cannot effectively clamp complex exhaust manifold structures, affecting the quality of finished products. Furthermore, the loading and unloading process is divided into two steps, resulting in low production efficiency.
A robotic gripper comprising a quick-change assembly, a support assembly, and a wide-type pneumatic gripper assembly was designed. By controlling the floating and fixed gripping fingers with a robotic arm, a stable gripping of the exhaust manifold is achieved, and the loading and unloading process is integrated into a single operation.
It improves clamping stability and precision, avoids product collisions, enhances safety, and completes loading and unloading in one operation, thus improving production efficiency.
Smart Images
Figure CN224059318U_ABST
Abstract
Description
Technical Field
[0001] This utility model belongs to the field of engine exhaust manifold processing technology, specifically relating to a robotic gripper for engine exhaust manifold processing. Background Technology
[0002] The engine exhaust manifold is an important component of the engine exhaust system. Its main function is to collect the exhaust gases from each cylinder and guide them to the main exhaust pipe or exhaust aftertreatment device. Engine exhaust manifolds primarily employ a branch design, typically consisting of multiple branch pipes. Each branch pipe connects to the exhaust port of one cylinder, concentrating the exhaust gases to a common outlet. This reduces exhaust back pressure, improves exhaust efficiency, and also contributes to noise reduction to some extent. Depending on the specific vehicle model, after welding, drilling, and straightening processes, it forms a structure with multiple intake ports and a single exhaust port—the branch design described above.
[0003] During the production of exhaust manifolds, the number of branch pipes and the position of the main pipe vary. The company currently needs to produce an exhaust manifold with six vertical branch pipes connected to the upper surface of the main pipe. Openings are provided between the first and second branch pipes on the right side of the main pipe, and between the fifth and sixth branch pipes. A downward-curving horizontal branch pipe is located between the first and second branch pipes on the left side of the main pipe. In actual production, it has been found that existing exhaust manifold clamps cannot properly align with the positions of the branch pipes and main pipe, resulting in hard contact with the exhaust manifold and affecting the finished product quality. Furthermore, the production process requires loading and unloading the exhaust manifold blanks and finished products. Existing clamps perform these tasks in two separate steps, which is detrimental to production efficiency.
[0004] In summary, a robotic gripper for machining engine exhaust manifolds is proposed to solve the above problems. Utility Model Content
[0005] To solve the above-mentioned technical problems, this utility model provides a robotic gripper for processing engine exhaust manifolds. It has a simple structure, is easy to use, and can hold the exhaust manifolds well without affecting the quality of the finished product. It integrates the loading and unloading steps, thereby improving production efficiency.
[0006] The technical solution adopted by this utility model is as follows: a robotic gripper for processing engine exhaust manifolds, including a quick-change assembly connected to a robotic arm. One end of the quick-change assembly is connected to the robotic arm, and the other end is connected to a support assembly. The support assembly is arranged horizontally, and two sets of wide gripper assemblies are respectively arranged longitudinally on the upper and lower surfaces of the support assembly. The wide gripper assembly includes a first gripper cylinder and a second gripper cylinder. The first gripper cylinder is located at the edge of the left half of the surface of the support assembly, and the second gripper cylinder is located at the middle of the right half of the surface of the support assembly. One end of the first gripper cylinder is connected to a fixed gripping finger a, and the other end is connected to a floating gripping finger a. Both the fixed gripping finger a and the floating gripping finger a are L-shaped. One end of the fixed gripping finger a is connected to the first gripper cylinder. The first gripper cylinder is connected to a claw cylinder, with one end extending to the inside of the first gripper cylinder and parallel to it. One end of the floating gripper finger a is connected to the first gripper cylinder, and the other end extends to the upper inside of the first gripper cylinder, corresponding to the fixed gripper finger a. One end of the second gripper cylinder is connected to the fixed gripper finger b, and the other end is connected to the floating gripper finger b. The fixed gripper finger b is U-shaped, with its rear end connected to one end of the second gripper cylinder. The left and right ends extend to the inside and outside of the second gripper cylinder, respectively, and are parallel to the second gripper cylinder. One end of the floating gripper finger b is connected to the second gripper cylinder, and the other end extends upwards towards the second gripper cylinder and is parallel to the top of the second gripper cylinder. The floating gripper finger b corresponds to the middle position of the fixed gripper finger b.
[0007] The quick-change assembly includes a quick-change connector. One end of the quick-change connector is rectangular, and the other end is disc-shaped. The disc has a connection hole. The quick-change connector is connected to the quick-change disc through the connection hole. The rectangular end of the quick-change connector is connected to the support assembly, and the quick-change disc is connected to the robotic arm.
[0008] The support assembly includes an upper support plate and a lower support plate. The upper support plate and the lower support plate are fixedly connected to the upper and lower surfaces of one end of the cuboid shape of the quick-change connector, respectively. Support blocks are provided on both sides of the inner side of the upper support plate and the lower support plate. The upper surface of the support block is connected to the lower surface of the upper support plate, and the lower surface is connected to the upper surface of the lower support plate. Two sets of wide-type pneumatic gripper assemblies are respectively provided on the outer surfaces of the upper support plate and the lower support plate.
[0009] Two sets of wide air gripping components are symmetrically arranged on the upper and lower surfaces of the support component.
[0010] The floating clamping finger a includes a clamping arm a, and a floating clamping pad a is rotatably connected to the end of the clamping arm a near the exhaust manifold. The floating clamping finger b includes a clamping arm b, and a floating clamping pad b is rotatably connected to the end of the clamping arm b near the exhaust manifold. Both the floating clamping pad a and the floating clamping pad b have grooves corresponding to the exhaust manifold on their inner sides. Both the fixed clamping finger a and the fixed clamping finger b have grooves corresponding to the exhaust manifold on their inner sides at the ends near the exhaust manifold.
[0011] A wide-type gripper assembly clamps an exhaust manifold. The exhaust manifold includes a main pipe, and six vertical branch pipes are connected to the upper surface of the main pipe. These are the first vertical branch pipe, the second vertical branch pipe, the third vertical branch pipe, the fourth vertical branch pipe, the fifth vertical branch pipe, and the sixth vertical branch pipe. An opening is provided on the right side of the main pipe between the first vertical branch pipe and the second vertical branch pipe, and between the fifth vertical branch pipe and the sixth vertical branch pipe. A downwardly curved transverse branch pipe is provided on the left side of the main pipe between the first vertical branch pipe and the second vertical branch pipe.
[0012] The beneficial effects of this utility model are as follows:
[0013] This utility model has a simple structure and is easy to use. The floating gripping fingers work together with the fixed gripping fingers to avoid product collisions during the gripping process, improve safety, compensate for positioning errors, and improve gripping stability and accuracy. It is equipped with two sets of wide air gripping components, which are rotated by a robotic arm to complete loading and unloading in one go, thus improving work efficiency. Attached Figure Description
[0014] Figure 1 This is a frontal perspective view of the present invention.
[0015] Figure 2 This is a three-dimensional schematic diagram of the rear structure of this utility model;
[0016] Figure 3 This is a schematic diagram of the working state of this utility model.
[0017] The diagram is labeled as follows: 1. Quick-change assembly, 11. Quick-change connector, 12. Quick-change disc; 2. Support assembly, 21. Upper support plate, 22. Lower support plate, 23. Support block; 3. Wide gripper assembly, 31 (single), first gripper cylinder, 32. Fixed gripper finger a, 33. Floating gripper finger a, 331. Gripper arm a, 332. Floating gripper pad a, 34. Second gripper cylinder, 35. Fixed gripper finger b, 36. Floating gripper finger b, 361. Gripper arm b, 362. Floating gripper pad b; 4. Exhaust manifold, 41. Main pipe, 42. First vertical branch pipe, 43. Second vertical branch pipe, 44. Third vertical branch pipe, 45. Fourth vertical branch pipe, 46. Fifth vertical branch pipe, 47. Sixth vertical branch pipe, 48. Horizontal branch pipe. Detailed Implementation
[0018] The specific embodiments of this utility model will be further described in detail below with reference to the accompanying drawings.
[0019] like Figure 1-3As shown, a robotic gripper for processing engine exhaust manifolds includes a quick-change assembly 1 connected to a robotic arm. The quick-change assembly 1 includes a quick-change connector 11, one end of which is rectangular and the other end is disc-shaped. A connection hole is provided on the disc, through which the quick-change connector 11 is connected to a quick-change disc 12. The rectangular end of the quick-change connector 11 is connected to a support assembly 2, and the quick-change disc 12 is connected to the robotic arm. The support assembly 2 includes an upper support plate 21 and a lower support plate 22, which are fixedly connected to the upper and lower surfaces of the rectangular end of the quick-change connector 11, respectively. Support blocks 23 are provided on both sides of the inner sides of the upper and lower support plates 21 and 22. The upper surface of the support assembly 23 is connected to the lower surface of the upper support plate 21, and the lower surface is connected to the upper surface of the lower support plate 22. The support assembly 2 is arranged laterally, and two sets of wide-type pneumatic gripper assemblies 3 are arranged longitudinally and centrally symmetrically on the upper support plate 21 and the lower support plate 22 of the support assembly 2, respectively. The wide-type pneumatic gripper assembly 3 includes a first gripper cylinder 31 and a second gripper cylinder 34. The first gripper cylinder 31 is located at the edge of the left half of the surface of the support assembly 2, and the second gripper cylinder 34 is located at the middle of the right half of the surface of the support assembly 2. One end of the first gripper cylinder 31 is connected to a fixed gripper finger a32, and the other end is connected to a floating gripper finger a33. Both the fixed gripper finger a32 and the floating gripper finger a33 are L-shaped. One end of the fixed gripper finger a32... A floating gripping finger a33 is connected to the first gripper cylinder 31 at one end and extends to the inside of the first gripper cylinder 31, parallel to the first gripper cylinder 31 at the other end. The floating gripping finger a33 is connected to the first gripper cylinder 31 at one end and extends to the upper inside of the first gripper cylinder 31, corresponding to the fixed gripping finger a32. The floating gripping finger a33 includes a gripping arm a331, with a floating gripping pad a332 rotatably connected to the end of the gripping arm a331 near the exhaust manifold 4. A second gripper cylinder 34 is connected to a fixed gripping finger b35 at one end and to a floating gripping finger b36 at the other end. The fixed gripping finger b35 is U-shaped, with its rear end connected to one end of the second gripper cylinder 34. The left and right ends of the fixed gripping finger b35 extend towards the second gripper cylinder 34. The inner and outer sides of 4 extend parallel to the second gripper cylinder 34. One end of the floating gripper finger b36 is connected to the second gripper cylinder 34, and the other end extends upward to the second gripper cylinder 34 and is parallel to the top of the second gripper cylinder 34. The floating gripper finger b36 corresponds to the middle position of the fixed gripper finger b35. The floating gripper finger b36 includes a gripper arm b361. The end of the gripper arm b361 near the exhaust manifold 4 is rotatably connected to the floating gripper pad b362. The inner sides of the floating gripper pad a332 and the floating gripper pad b362 are provided with grooves corresponding to the exhaust manifold 4. The inner sides of the fixed gripper finger a32 and the fixed gripper finger b35 near the exhaust manifold 4 are provided with grooves corresponding to the exhaust manifold 4.A wide-type gripper assembly clamps an exhaust manifold 4. The exhaust manifold 4 includes a main pipe 41, with six vertical branch pipes connected to its upper surface: a first vertical branch pipe 42, a second vertical branch pipe 43, a third vertical branch pipe 44, a fourth vertical branch pipe 45, a fifth vertical branch pipe 46, and a sixth vertical branch pipe 47. Openings are provided on the right side of the main pipe 41 between the first and second vertical branch pipes 42 and 43, and between the fifth and sixth vertical branch pipes 46 and 47. A downwardly curved transverse branch pipe 48 is provided on the left side of the main pipe 41 between the first and second vertical branch pipes 42 and 43.
[0020] This robotic gripper for machining engine exhaust manifolds connects to a robotic arm via a quick-change disc 12. Two sets of wide gripper assemblies 3 are mounted on the support assembly 2. One set of wide gripper assemblies 3 holds the exhaust manifold blank 4, while the other set holds the machined exhaust manifold 4. During the gripping process, the control system moves the robotic arm to a suitable position and controls the first gripper cylinder 31 to clamp the fixed gripper finger a32 and the floating gripper finger a33. Simultaneously, the second gripper cylinder 34 moves the fixed gripper finger b35 and the floating gripper finger b35. b36 clamps, fixing the clamping finger a32 connected to the left side of the main pipe 41 between the fourth vertical branch 45 and the fifth vertical branch, the floating clamping finger a33 connected to the right side of the main pipe 41 between the fourth vertical branch 45 and the fifth vertical branch, fixing the clamping finger b35 connected to the left side of the main pipe 41 between the first vertical branch 42 and the second vertical branch, and the left side of the main pipe 41 between the third vertical branch 44 and the fourth vertical branch 45, the floating clamping finger b36 connected to the right side of the main pipe 41 between the second vertical branch 43 and the third vertical branch 44, through fixing the clamping Finger a32 and floating gripping finger a33, along with fixed gripping finger b35 and floating gripping finger b36, work together to clamp the exhaust manifold 4 blank. Then, the control system moves the robotic arm to the processing position. First, the processed exhaust manifold 4 is clamped by another set of wide-type pneumatic gripper assemblies 3. The above actions are repeated. Then, the robotic arm drives the support assembly 2 to rotate to the appropriate position, and controls the first gripper cylinder 31 to open the fixed gripping finger a32 and floating gripping finger a33. At the same time, it drives the second gripper cylinder 34 to open the fixed gripping finger b35 and floating gripping finger b36. When b36 is opened, the exhaust manifold 4 blank is placed in the processing position. The robotic arm moves to the finished product placement area, and the above actions are repeated to place the processed exhaust manifold 4 in the finished product area, completing the loading and unloading operation of the exhaust manifold 4. This utility model has a simple structure and is easy to use. The floating gripping fingers cooperate with the fixed gripping fingers to avoid product collisions during the gripping process, improve safety, compensate for positioning errors, and improve gripping stability and accuracy. Two sets of wide air gripping components are set up, which are rotated by the robotic arm, and the loading and unloading are completed in one go, improving work efficiency.
Claims
1. An engine exhaust manifold machining mechanical hand clamp, comprising a quick-change assembly connected with a mechanical arm, one end of the quick-change assembly being connected with the mechanical arm, the other end being connected with a support assembly, the support assembly being transversely arranged, and two groups of wide type air claw assemblies being longitudinally arranged on the upper surface and the lower surface of the support assembly respectively, characterized in that: The wide type air claw assembly comprises a first clamping claw air cylinder and a second clamping claw air cylinder, the first clamping claw air cylinder is arranged at the edge position of the left half of the surface of the support assembly, and the second clamping claw air cylinder is arranged at the middle position of the right half of the surface of the support assembly; one end of the first clamping claw air cylinder is connected with a fixed clamping finger a, and the other end is connected with a floating clamping finger a; the fixed clamping finger a and the floating clamping finger a are both L-shaped; one end of the fixed clamping finger a is connected with the first clamping claw air cylinder, and the other end extends to the inner side of the first clamping claw air cylinder and is arranged in parallel with the first clamping claw air cylinder; one end of the floating clamping finger a is connected with the first clamping claw air cylinder, and the other end extends to the upper side of the inner side of the first clamping claw air cylinder and corresponds to the fixed clamping finger a; one end of the second clamping claw air cylinder is connected with a fixed clamping finger b, and the other end is connected with a floating clamping finger b; the fixed clamping finger b is U-shaped; the rear end of the fixed clamping finger b is connected with one end of the second clamping claw air cylinder, and the left and right ends extend to the inner side and the outer side of the second clamping claw air cylinder respectively and are arranged in parallel with the second clamping claw air cylinder; one end of the floating clamping finger b is connected with the second clamping claw air cylinder, and the other end extends to the upper side of the second clamping claw air cylinder and is arranged in parallel with the top of the second clamping claw air cylinder; the floating clamping finger b corresponds to the middle position of the fixed clamping finger b.
2. The engine exhaust manifold machining robot gripper according to claim 1, characterized in that: The quick change assembly comprises a quick change connecting piece, one end of the quick change connecting piece is in the shape of a cuboid, the other end is in the shape of a disc, a connecting hole is arranged on the disc, the quick change connecting piece is connected with the quick change disc through the connecting hole, one end of the cuboid-shaped quick change connecting piece is connected with the support assembly, and the quick change disc is connected with the mechanical arm.
3. The engine exhaust manifold machining robot gripper according to claim 1, characterized in that: The support assembly comprises an upper support plate and a lower support plate, the upper support plate and the lower support plate are fixedly connected with the upper surface and the lower surface of one end of the cuboid-shaped quick change connecting piece respectively, two support blocks are arranged on the inner sides of the left and right sides of the upper support plate and the lower support plate, the upper surface of the support block is connected with the lower surface of the upper support plate, and the lower surface of the support block is connected with the upper surface of the lower support plate, and two groups of wide type air claw assemblies are arranged on the outer surfaces of the upper support plate and the lower support plate respectively.
4. The engine exhaust manifold machining robot gripper according to claim 1, characterized in that: The two groups of wide type air claw assemblies are arranged in a central symmetry on the upper surface and the lower surface of the support assembly.
5. The engine exhaust manifold machining robot gripper according to claim 1, characterized in that: The floating clamping finger a comprises a clamping arm a, and the clamping arm a is rotatably connected with a floating clamping pad a at the end corresponding to the fixed clamping finger a; the floating clamping finger b comprises a clamping arm b, and the clamping arm b is rotatably connected with a floating clamping pad b at the end corresponding to the fixed clamping finger b; the inner sides of the floating clamping pad a and the floating clamping pad b are both provided with grooves corresponding to the exhaust manifold; and the inner sides of the ends of the fixed clamping finger a and the fixed clamping finger b close to the exhaust manifold are both provided with grooves corresponding to the exhaust manifold.
6. The engine exhaust manifold machining robot gripper according to claim 1, characterized in that: The wide type air claw assembly clamps the exhaust manifold, and the exhaust manifold comprises a main pipe, six vertical branch pipes, namely a first vertical branch pipe, a second vertical branch pipe, a third vertical branch pipe, a fourth vertical branch pipe, a fifth vertical branch pipe and a sixth vertical branch pipe, are connected with the upper surface of the main pipe respectively, an opening is arranged on the right side of the main pipe between the first vertical branch pipe and the second vertical branch pipe and between the fifth vertical branch pipe and the sixth vertical branch pipe, and a horizontal branch pipe is arranged on the left side of the main pipe between the first vertical branch pipe and the second vertical branch pipe and bends downward.