A handling robot

Abstract

The present invention relates to the field of automated production, and more specifically, to a handling robot, comprising a fixed seat, a control gripper for clamping a workpiece, and a clamping link arranged in the control gripper, and also comprising a horizontal rotation mechanism and a vertical rotation mechanism. The control gripper is rotatably arranged on the fixed seat through the horizontal rotation mechanism, and a clamping drive cylinder is provided on the control gripper, and the clamping drive cylinder is connected to the vertical rotation mechanism through the clamping link. The handling robot disclosed in the present invention can control the position of the control gripper through the setting of the clamping link, and the control gripper clamps the workpiece under the action of the clamping drive cylinder, and the horizontal movement and vertical flipping of the workpiece can be realized through the cooperation of the horizontal rotation mechanism and the vertical rotation mechanism, so that the workpiece can be handled and processed between different machining centers conveniently.

Description

Technical Field

[0001] The present invention relates to the field of automated production, and more specifically, to a handling robot. Background Art

[0002] With the advancement of science and technology, production is gradually tending towards automated production. Automated production methods can not only improve processing accuracy, but also reduce the labor intensity of workers and save production costs.

[0003] At present, when it is necessary to produce some precision castings, such as automobile engine cylinder heads and other components, the casting needs to be completed through processing by multiple workstations. At this time, the products need to be transferred between different processing centers, and the accuracy of the transfer must be guaranteed during the transfer process. This requires that the gripper must not be deformed during the process of transporting the parts, and the position of the gripper must be changed to control the posture of the workpiece. Therefore, when producing automobile engine cylinder heads, the automobile engine cylinder heads and other components are transported and checked manually, which makes the production cost huge.

[0004] Therefore, it is necessary to propose a handling robot that solves the above problems. Summary of the invention

[0005] In order to overcome at least one defect (shortcoming) of the above-mentioned prior art, the present invention provides a handling robot for carrying materials with high precision and capable of realizing multi-posture transformation requirements during the handling process.

[0006] In order to solve the above technical problems, the technical solution of the present invention is as follows: a handling robot comprises a fixed seat, a control claw for clamping a workpiece and a clamping link arranged in the control claw, and also comprises a horizontal rotation mechanism and a vertical rotation mechanism, wherein the control claw is rotatably arranged on the fixed seat through the horizontal rotation mechanism, and the control claw is provided with a clamping drive cylinder, and the clamping drive cylinder is connected to the vertical rotation mechanism through the clamping link, and the position of the control claw can be controlled by the setting of the clamping link, and under the action of the clamping drive cylinder, the control claw clamps the workpiece, wherein the horizontal rotation mechanism can control the horizontal rotation angle of the control claw in the horizontal direction, and the vertical rotation mechanism can flip and position the workpiece during the process of handling the workpiece, and through the cooperation of the horizontal rotation mechanism and the vertical rotation mechanism, the horizontal movement and vertical flipping of the workpiece can be realized, which is convenient for the workpiece to be handled and processed between different machining centers.

[0007] Furthermore, the horizontal rotation mechanism includes a driven gear, a rotating shaft, a bearing seat and a horizontal rotation drive device arranged in a fixed seat, the driven gear is arranged on the bearing seat through a rotating shaft sleeve, the control claw is arranged on the rotating shaft, and the horizontal rotation drive device is connected to the control claw through the driven gear. The driven gear is driven by the horizontal rotation drive device, so that the rotating shaft connected to the driven gear rotates in the bearing seat, thereby controlling the angle of horizontal rotation.

[0008] Furthermore, the horizontal rotation drive device includes a linear drive cylinder, a drive rack, a floating joint and a guide rail arranged in a fixed seat. The floating joint is movably arranged on the guide rail. The linear drive cylinder is meshed with the driven gear through the drive rack on the floating joint. The linear drive cylinder drives the floating joint to make the floating joint slide on the guide rail, thereby adjusting the rotation angle of the driven gear. In actual application, the control gripper drives the rotating shaft through the linear drive cylinder to make the entire lower moving part realize a 90-degree horizontal rotation, so that the workpiece can realize a horizontal rotation of 90 degrees and change its position, which is convenient for processing.

[0009] Furthermore, it also includes a sliding limiter, which is arranged on the guide rail. Through the setting of the sliding limiter, the sliding distance of the floating joint can be quickly controlled, which is convenient for limiting the floating joint, thereby improving the rotation accuracy.

[0010] Furthermore, the sliding limiter is a limit block, which has a simple structure and can quickly control the sliding displacement of the floating joint, thereby limiting the displacement of the floating joint, which is simple and convenient.

[0011] Furthermore, the vertical rotation mechanism includes a flipping drive cylinder, a vertical guide rail, a rotating connecting rod, and a clamping plate. The clamping plate is set on the flipping drive cylinder through the vertical guide rail. One end of the clamping plate is connected to the clamping connecting rod, and the other end is connected to the rotating connecting rod. The clamping plate is driven by the flipping drive cylinder to make the control claw connected to the clamping connecting rod flip, thereby realizing a 180-degree flip of the workpiece, thereby facilitating the control of the processing angle of the workpiece and improving accuracy.

[0012] Furthermore, a pressure detector is provided on the clamping plate. Through the setting of the pressure detector, the degree of clamping can be detected to avoid the workpiece from falling during the flipping or moving process, thereby affecting the normal operation of the equipment and the safety of the construction workers. In practical applications, the pressure detector can be a pressure sensor or a pressure detector, both of which are within the protection scope of the present invention.

[0013] Furthermore, there is at least one control gripper. In practical applications, different numbers of control grippers can be provided on the fixing seat as required, which are all within the protection scope of the present invention.

[0014] Furthermore, side protection plates are provided on both sides of the fixing seat. Through the provision of the side protection plates, the components in the fixing seat can be protected to avoid collision with other instruments, thereby ensuring the accuracy of the robot's work.

[0015] Furthermore, it also includes a main connecting plate and a connecting flange arranged on the main connecting plate. The main connecting plate is arranged on the side protection plate. The arrangement of the main connecting plate and the connecting flange can be used to fix the entire fixing seat, which is convenient for fixing and installing the transport robot.

[0016] Compared with the prior art, the technical solution of the present invention has the following beneficial effects:

[0017] (1) The handling robot disclosed in the present invention can control the position of the control claw by setting the clamping link, so that the control claw can clamp the workpiece under the action of the clamping drive cylinder, wherein the horizontal rotation mechanism can control the horizontal rotation angle of the control claw in the horizontal direction, and the vertical rotation mechanism can flip and position the workpiece during the process of handling the workpiece. Through the cooperation of the horizontal rotation mechanism and the vertical rotation mechanism, the horizontal movement and vertical flipping of the workpiece can be realized, which is convenient for the workpiece to be handled and processed between different machining centers.

[0018] (2) The handling robot disclosed in the present invention drives the driven gear through a horizontal rotation drive device, so that the rotating shaft connected to the driven gear rotates in the bearing seat, thereby controlling the angle of horizontal rotation.

[0019] (3) In the handling robot disclosed in the present invention, the linear drive cylinder drives the floating joint to make the floating joint slide on the guide rail, thereby adjusting the rotation angle of the driven gear. In actual application, the control claw drives the rotating shaft through the linear drive cylinder to make the entire lower moving part realize a 90-degree horizontal rotation, so that the workpiece can realize a 90-degree horizontal rotation and change position, which is convenient for processing.

[0020] (4) The handling robot disclosed in the present invention drives the clamping plate by a flipping driving cylinder, so that the control claw connected to the clamping connecting rod flips, thereby realizing a 180-degree flip of the workpiece, thereby facilitating the control of the processing angle of the workpiece and improving accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural schematic diagram of the manipulator in the present invention.

[0022] Figure 2It is a side view of the manipulator in the present invention.

[0023] Figure 3 It is a top view of the manipulator in the present invention.

[0024] Figure 4 It is an enlarged view of the horizontal rotation mechanism in the present invention.

[0025] Figure 5 It is an enlarged view of the vertical rotation mechanism in the present invention.

[0026] In the figure, 1 is a fixed seat, 2 is a control claw, 3 is a clamping link, 4 is a horizontal rotation mechanism, 5 is a vertical rotation mechanism, 6 is a clamping drive cylinder, 7 is a driven gear, 8 is a rotating shaft, 9 is a bearing seat, 10 is a linear drive cylinder, 11 is a drive rack, 12 is a floating joint, 13 is a guide rail, 14 is a sliding limiter, 15 is a flip drive cylinder, 16 is a vertical guide rail, 17 is a clamping plate, 18 is a pressure detector, 19 is a side protection plate, 20 is a main connecting plate, 21 is a connecting flange, and 22 is a rotating link. DETAILED DESCRIPTION

[0027] The drawings are only used for illustrative purposes and should not be construed as limitations on this patent. In order to better illustrate this embodiment, some parts of the drawings may be omitted, enlarged, or reduced, and do not represent the size of the actual product. For those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.

[0028] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation" and "connection" 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 directly connected or indirectly connected through an intermediate medium. It can be said that the internal connection of two components is connected. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. The technical solution of the present invention is further explained below in conjunction with the accompanying drawings and embodiments.

[0029] like Figure 1-3As shown, a handling robot comprises a fixed seat 1, a control gripper 2 for clamping a workpiece and a clamping link 3 arranged in the control gripper 2, and also comprises a horizontal rotation mechanism 4 and a vertical rotation mechanism 5. The control gripper 2 is rotatably arranged on the fixed seat 1 through the horizontal rotation mechanism 4. A clamping drive cylinder 6 is arranged on the control gripper 2. The clamping drive cylinder 6 is connected to the vertical rotation mechanism 5 through the clamping link 3. By setting the clamping link 3, the position of the control gripper 2 can be controlled. Under the action of the clamping drive cylinder 6, the control gripper 2 clamps the workpiece. The horizontal rotation mechanism 4 can control the horizontal rotation angle of the control gripper 2 in the horizontal direction, and the vertical rotation mechanism 5 can flip and position the workpiece during the process of handling the workpiece. By cooperating with the horizontal rotation mechanism 4 and the vertical rotation mechanism 5, the horizontal movement and vertical flipping of the workpiece can be realized, which is convenient for the workpiece to be handled and processed between different machining centers.

[0030] like Figure 4 As shown, the horizontal rotation mechanism 4 includes a driven gear 7, a rotating shaft 8, a bearing seat 9 and a horizontal rotation driving device arranged in a fixed seat 1, the driven gear 7 is sleeved on the bearing seat 9 through the rotating shaft 8, the control claw 2 is arranged on the rotating shaft 8, the horizontal rotation driving device is connected to the control claw 2 through the driven gear 7, and the driven gear 7 is driven by the horizontal rotation driving device, so that the rotating shaft 8 connected to the driven gear 7 rotates in the bearing seat 9, thereby controlling the horizontal rotation angle, wherein the horizontal rotation driving device includes a linear drive cylinder 10, a driving rack 11, a floating joint 12 and a guide rail 13 arranged in the fixed seat 1, the floating joint 12 is movably arranged on the guide rail 13, the linear drive cylinder 10 is meshed with the driven gear 7 through the driving rack 11 on the floating joint 12, and the linear drive cylinder 10 is driven by the floating joint 12. The movable joint 12 allows the floating joint 12 to slide on the guide rail 13, thereby adjusting the rotation angle of the driven gear 7. In actual applications, the control claw 2 drives the rotating shaft 8 through the linear drive cylinder 10 to make the entire lower moving part realize a 90-degree horizontal rotation, so that the workpiece can realize a horizontal 90-degree rotation and change its position, which is convenient for processing. In addition, it also includes a sliding limiter 14. The sliding limiter 14 is arranged on the guide rail 13. Through the setting of the sliding limiter 14, the sliding distance of the floating joint 12 can be quickly controlled, which is convenient for limiting the floating joint 12, thereby improving the rotation accuracy. In the present invention, the sliding limiter 14 is a limit block. The limit block has a simple structure and can quickly control the sliding displacement of the floating joint, thereby limiting the displacement of the floating joint, which is simple and convenient.

[0031] like Figure 5As shown, the vertical rotation mechanism 5 includes a flip driving cylinder 15, a vertical guide rail 16, a rotating connecting rod 22 and a clamping plate 17. The clamping plate 17 is arranged on the flip driving cylinder 15 through the vertical guide rail 16. One end of the clamping plate 17 is connected to the clamping connecting rod 3, and the other end is connected to the rotating connecting rod 22. The clamping plate 17 is driven by the flip driving cylinder 15 to flip the control claw 2 connected to the clamping connecting rod 3, thereby realizing a 180-degree flip of the workpiece, thereby facilitating the control of the processing angle of the workpiece and improving the accuracy. Among them, a pressure detector 18 is provided on the clamping plate 17. Through the setting of the pressure detector 18, the degree of clamping can be detected to avoid the workpiece from falling during the flipping or moving process, thereby affecting the normal operation of the equipment and the safety of the construction personnel. In actual applications, the pressure detector 18 can be a pressure sensor or a pressure detector, which are all within the protection scope of the present invention. In actual applications, different numbers of control claws can be set on the fixed seat as needed, which are all within the protection scope of the present invention.

[0032] In the present invention, side protection plates 19 are provided on both sides of the fixing seat 1. Through the setting of the side protection plates 19, the devices in the fixing seat 1 can be protected to avoid collision with other devices, thereby ensuring the accuracy of the operation of the manipulator. In addition, it also includes a main connecting plate 20 and a connecting flange 21 arranged on the main connecting plate 20. The main connecting plate 20 is arranged on the side protection plates 19. The setting of the main connecting plate 20 and the connecting flange 21 can be used to fix the fixing seat 1 as a whole, which is convenient for fixing and installing the handling manipulator.

[0033] Example

[0034] In this embodiment, the manipulator is used to carry the cylinder head of an automobile engine. First, the clamping drive cylinder drives the horizontal rotation mechanism and the control claw to move toward the middle through the clamping connecting rod to clamp the workpiece. After the workpiece is clamped, it may be necessary to rotate or move the workpiece within a certain range and angle. The specific operations are as follows: When it is necessary to rotate the control claw that clamps the workpiece horizontally, it is only necessary to control the linear drive cylinder to move the floating joint on the guide rail. Since the control claw is connected to the rotating shaft, the movement of the floating joint will cause the control claw to rotate horizontally, so its angle can be controlled.

[0035] In addition, the robot is also equipped with a vertical rotation mechanism. The control gripper can be moved on the vertical guide rail, and the clamping plate can be flipped under the drive of the flip drive cylinder, so that the workpiece on the control gripper can be rotated as needed, so that the workpiece can be processed at different angles in different machining centers, thereby improving the accuracy of workpiece processing.

[0036] In the figure, the description of the positional relationship is only for illustrative purposes and should not be understood as a limitation on this patent; obviously, the above embodiments of the present invention are only examples for clearly illustrating the present invention, and are not limitations on the implementation methods of the present invention. For ordinary technicians in the relevant field, other different forms of changes or modifications can be made on the basis of the above description. It is not necessary and impossible to list all the implementation methods here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the claims of the present invention.

Claims

1. A handling robot, comprising a fixed seat (1), a control gripper (2) for clamping a workpiece, and a clamping connecting rod (3) arranged in the control gripper (2), characterized in that: The invention also comprises a horizontal rotation mechanism (4) and a vertical rotation mechanism (5); the control gripper (2) is rotatably arranged on the fixed seat (1) via the horizontal rotation mechanism (4); the control gripper (2) is provided with a clamping drive cylinder (6); the clamping drive cylinder (6) is connected to the vertical rotation mechanism (5) via a clamping connecting rod (3); the horizontal rotation mechanism (4) comprises a driven gear (7), a rotating shaft (8), a bearing seat (9) and a horizontal rotation drive device arranged in the fixed seat (1); the driven gear (7) is sleeved on the bearing seat (9) via the rotating shaft (8); the control gripper (2) is arranged on the rotating shaft (8); the horizontal rotation drive device is connected to the control gripper (2) via the driven gear (7); The horizontal rotation drive device comprises a linear drive cylinder (10), a drive rack (11), a floating joint (12) and a guide rail (13) arranged in a fixed seat (1), wherein the floating joint (12) is movably arranged on the guide rail (13), and the linear drive cylinder (10) is meshed with a driven gear (7) via the drive rack (11) on the floating joint (12); the vertical rotation mechanism (5) comprises a flip drive cylinder (15), a vertical guide rail (16), a rotating connecting rod (22), and a clamping plate (17), wherein the clamping plate (17) is arranged on the flip drive cylinder (15) via the vertical guide rail (16), and one end of the clamping plate (17) is connected to the clamping connecting rod (3), and the other end is connected to the rotating connecting rod (22).

2. The handling robot according to claim 1, characterized in that: It also includes a sliding limiter (14), wherein the sliding limiter (14) is arranged on the guide rail (13).

3. The handling robot according to claim 2, characterized in that: The sliding limiter (14) is a limit stopper.

4. The handling robot according to claim 1, characterized in that: The clamping plate (17) is provided with a pressure detector (18).

5. The handling robot according to claim 1, characterized in that: There is at least one control gripper (2).

6. The handling robot according to claim 1, characterized in that: Side protection plates (19) are provided on both sides of the fixing seat (1).

7. The handling robot according to claim 6, characterized in that: It also includes a main connecting plate (20) and a connecting flange (21) arranged on the main connecting plate (20), wherein the main connecting plate (20) is arranged on the side protection plate (19).

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