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] This invention relates to the field of automated production, and more specifically, to a handling robot. Background Technology

[0002] With the advancement of technology, production is gradually becoming more automated. Automated production methods can improve processing accuracy while reducing the labor intensity of workers and saving production costs.

[0003] Currently, when it is necessary to produce some precision castings, such as automobile engine cylinder heads, multiple workstations are required for processing during the casting process. At this time, the products need to be transferred between different machining centers, and the accuracy of the transfer must be ensured. This requires the gripper to not only avoid deformation during the handling of the parts, but also to control the posture of the workpiece by changing the position of the gripper. Therefore, in the current production of automobile engine cylinder heads, the handling and verification of automobile engine cylinder heads and other parts are done manually, resulting in huge production costs.

[0004] Therefore, it is necessary to propose a handling robot to solve the above problems. Summary of the Invention

[0005] To overcome at least one of the defects (deficiencies) of the prior art, the present invention provides a handling robot for high-precision material handling and capable of multi-position transformation during the handling process.

[0006] To solve the above-mentioned technical problems, the technical solution of the present invention is as follows: A handling robot includes a fixed base, a control gripper for clamping a workpiece, and a clamping linkage disposed within the control gripper. It also includes a horizontal rotation mechanism and a vertical rotation mechanism. The control gripper is rotatably mounted on the fixed base via the horizontal rotation mechanism. A clamping drive cylinder is provided on the control gripper. The clamping drive cylinder is connected to the vertical rotation mechanism via the clamping linkage. The position of the control gripper can be controlled by the clamping linkage. Under the action of the clamping drive cylinder, the control gripper clamps the workpiece. The horizontal rotation mechanism can control the horizontal rotation angle of the control gripper in the horizontal direction, while the vertical rotation mechanism can flip and position the workpiece during handling. Through the cooperation of the horizontal and vertical rotation mechanisms, horizontal movement and vertical flipping of the workpiece can be achieved, facilitating the handling and processing of the workpiece between different machining centers.

[0007] Furthermore, the horizontal rotation mechanism includes a driven gear, a rotating shaft, a bearing housing, and a horizontal rotation drive device disposed within a fixed base. The driven gear is sleeved on the bearing housing via the rotating shaft, and the control gripper is disposed on the rotating shaft. The horizontal rotation drive device is connected to the control gripper via the driven gear. The driven gear is driven by the horizontal rotation drive device, causing the rotating shaft connected to the driven gear to rotate within the bearing housing, 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 disposed within a fixed base. The floating joint is movably mounted on the guide rail. The linear drive cylinder meshes with the driven gear through the drive rack on the floating joint. The linear drive cylinder drives the floating joint, causing it to slide on the guide rail, thereby adjusting the rotation angle of the driven gear. In practical applications, the gripper is controlled by the linear drive cylinder to drive the rotating shaft, enabling the entire lower moving part to rotate 90 degrees horizontally. This allows the workpiece to rotate 90 degrees horizontally and change position, facilitating processing.

[0009] Furthermore, it also includes a sliding limiter, which is set on the guide rail. By setting the sliding limiter, the sliding distance of the floating joint can be quickly controlled, which facilitates the limiting of the floating joint and thus improves the rotation accuracy.

[0010] Furthermore, the sliding limiter 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.

[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 mounted on the flipping drive cylinder via 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 flipping drive cylinder drives the clamping plate, causing the control gripper connected to the clamping connecting rod to flip, thereby achieving a 180-degree flip of the workpiece. This facilitates control of the workpiece's processing angle and improves accuracy.

[0012] Furthermore, the clamping plate is equipped with a pressure detector. By setting the pressure detector, the degree of clamping can be detected, so as to prevent the workpiece from falling during the flipping or moving process, which would affect the normal operation of the equipment and the safety of the construction personnel. In practical applications, the pressure detector can be a pressure sensor or a pressure detector, both of which are within the protection scope of this invention.

[0013] Furthermore, there is at least one control gripper. In practical applications, different numbers of control grippers can be set on the fixed base as needed, all of which are within the protection scope of this invention.

[0014] Furthermore, the fixed base is provided with side protection plates on both sides. The side protection plates can protect the components inside the fixed base, prevent other instruments from colliding with them, and ensure the accuracy of the robot's operation.

[0015] Furthermore, it also includes a main connecting plate and a connecting flange mounted on the main connecting plate. The main connecting plate is mounted on the side protection plate. The main connecting plate and the connecting flange can be used to fix the entire mounting base, which facilitates the fixing and installation of the handling robot.

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

[0017] (1) The handling robot disclosed in this invention can control the position of the control gripper by setting the clamping linkage. Under the action of the clamping drive cylinder, the control gripper clamps the workpiece. The horizontal rotation mechanism can control the horizontal rotation angle of the control gripper in the horizontal direction, while the vertical rotation mechanism can flip and position the workpiece during the handling process. 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 facilitates the handling and processing of the workpiece between different processing centers.

[0018] (2) The handling robot disclosed in this 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) The handling robot disclosed in this invention uses a linear drive cylinder to drive a floating joint, which slides on the guide rail to adjust the rotation angle of the driven gear. In practical applications, the gripper is controlled by the linear drive cylinder to drive the rotating shaft to achieve a 90-degree horizontal rotation of the entire lower moving part, so that the workpiece can be rotated 90 degrees horizontally to change position, which is convenient for processing.

[0020] (4) The handling robot disclosed in this invention drives the clamping plate by flipping drive cylinder, so that the control gripper connected to the clamping link flips, thereby achieving a 180-degree flip of the workpiece, which facilitates the control of the workpiece processing angle and improves accuracy. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the robotic arm in this invention.

[0022] Figure 2This is a side view of the robotic arm in this invention.

[0023] Figure 3 This is a top view of the robotic arm in this invention.

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

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

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

[0027] The accompanying drawings are for illustrative purposes only and should not be construed as limiting the scope of this patent. To better illustrate this embodiment, some components in the drawings may be omitted, enlarged, or reduced, and do not represent the actual dimensions of the product. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0028] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances. The technical solution of this invention will be further described below with reference to the accompanying drawings and embodiments.

[0029] like Figure 1-3As shown, a handling robot includes a fixed base 1, a control gripper 2 for clamping a workpiece, and a clamping linkage 3 disposed within the control gripper 2. It also includes a horizontal rotation mechanism 4 and a vertical rotation mechanism 5. The control gripper 2 is rotatably mounted on the fixed base 1 via the horizontal rotation mechanism 4. A clamping drive cylinder 6 is mounted on the control gripper 2, and the clamping drive cylinder 6 is connected to the vertical rotation mechanism 5 via the clamping linkage 3. The position of the control gripper 2 can be controlled by the clamping linkage 3. Under the action of the clamping drive cylinder 6, the control gripper 2 clamps the workpiece. The horizontal rotation mechanism 4 controls the horizontal rotation angle of the control gripper 2 in the horizontal direction, while the vertical rotation mechanism 5 can flip and position the workpiece during handling. Through the cooperation of the horizontal rotation mechanism 4 and the vertical rotation mechanism 5, horizontal movement and vertical flipping of the workpiece can be achieved, facilitating the handling and processing of the workpiece 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 drive device disposed within the fixed base 1. The driven gear 7 is sleeved on the bearing seat 9 via the rotating shaft 8. The control gripper 2 is disposed 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 drives the driven gear 7, causing the rotating shaft 8 connected to the driven gear 7 to rotate within the bearing seat 9, thereby controlling the angle of horizontal rotation. The horizontal rotation drive device includes a linear drive cylinder 10, a drive rack 11, a floating joint 12, and a guide rail 13 disposed within the fixed base 1. The floating joint 12 is movably disposed on the guide rail 13. The linear drive cylinder 10 meshes with the driven gear 7 via the drive rack 11 on the floating joint 12. The linear drive cylinder 10 drives the driven gear 7 via the drive rack 11 on the floating joint 12. The moving 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 practical applications, the control gripper 2 drives the rotating shaft 8 through the linear drive cylinder 10 to achieve a 90-degree horizontal rotation of the entire lower moving part, thus enabling the workpiece to rotate 90 degrees horizontally and change position, facilitating processing. In addition, a sliding limiter 14 is included. The sliding limiter 14 is set on the guide rail 13. By setting the sliding limiter 14, the sliding distance of the floating joint 12 can be quickly controlled, making it easy to limit the floating joint 12 and thus improve the rotation accuracy. In this 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 flipping drive cylinder 15, a vertical guide rail 16, a rotating connecting rod 22, and a clamping plate 17. The clamping plate 17 is mounted on the flipping drive cylinder 15 via the vertical guide rail 16, clamping the workpiece. 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 flipping drive cylinder 15 drives the clamping plate 17, causing the control gripper 2 connected to the clamping connecting rod 3 to flip, thereby achieving a 180-degree flip of the workpiece. This facilitates control of the workpiece's processing angle and improves accuracy. A pressure detector 18 is provided on the clamping plate 17. The pressure detector 18 can detect the degree of clamping, preventing the workpiece from falling during flipping or movement, which could affect the normal operation of the equipment and the safety of the workers. In practical applications, the pressure detector 18 can be a pressure sensor or a pressure measuring instrument, both of which are within the protection scope of this invention. In practical applications, different numbers of control grippers can be set on the fixed base as needed, all of which are within the protection scope of this invention.

[0032] In this invention, side protection plates 19 are provided on both sides of the fixed base 1. The side protection plates 19 can protect the components inside the fixed base 1, prevent other tools from colliding with them, and ensure the accuracy of the robot's operation. In addition, it also includes a main connecting plate 20 and a connecting flange 21 provided on the main connecting plate 20. The main connecting plate 20 is provided on the side protection plates 19. The main connecting plate 20 and the connecting flange 21 can be used to fix the fixed base 1 as a whole, which facilitates the fixing and installation of the handling robot.

[0033] Example

[0034] In this embodiment, the robotic arm is used to transport the cylinder head of an automobile engine. First, the clamping drive cylinder drives the horizontal rotation mechanism and the control gripper to move towards the center through the clamping linkage to clamp the workpiece. After the workpiece is clamped, it is necessary to rotate or move the workpiece within a certain range and angle. The specific operation is as follows: When it is necessary to rotate the control gripper 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 gripper is connected to the rotation axis, the movement of the floating joint will cause the control gripper to rotate in the horizontal direction, so the angle can be controlled.

[0035] In addition, the robotic arm is equipped with a vertical rotation mechanism, which allows the gripper to move on the vertical guide rail. The clamping plate can be flipped by the flipping drive cylinder, so that the workpiece on the gripper can be rotated as needed. This allows the workpiece to be processed at different angles in different machining centers, improving the accuracy of workpiece processing.

[0036] The positional relationships described in the figures are for illustrative purposes only and should not be construed as limiting this patent. Clearly, the above embodiments of the present invention are merely examples to clearly illustrate the invention and are not intended to limit the implementation of the invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of this invention.

Claims

1. A handling robot, comprising a fixed base (1), a control gripper (2) for clamping a workpiece, and a clamping linkage (3) disposed within the control gripper (2), characterized in that: It also includes a horizontal rotation mechanism (4) and a vertical rotation mechanism (5). The control gripper (2) is rotatably mounted on the fixed base (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).

2. The handling robot according to claim 1, characterized in that: The horizontal rotation mechanism (4) includes a driven gear (7), a rotating shaft (8), a bearing seat (9), and a horizontal rotation drive device disposed in a fixed seat (1). The driven gear (7) is sleeved on the bearing seat (9) through the rotating shaft (8). The control gripper (2) is disposed on the rotating shaft (8). The horizontal rotation drive device is connected to the control gripper (2) through the driven gear (7).

3. The handling robot according to claim 2, characterized in that: The horizontal rotation drive device includes a linear drive cylinder (10), a drive rack (11), a floating joint (12), and a guide rail (13) disposed in a fixed base (1). The floating joint (12) is movably disposed on the guide rail (13). The linear drive cylinder (10) meshes with the driven gear (7) through the drive rack (11) on the floating joint (12).

4. The handling robot according to claim 3, characterized in that: It also includes a sliding limiter (14), which is disposed on the guide rail (13).

5. The handling robot according to claim 4, characterized in that: The sliding limiter (14) is a limit stop.

6. The handling robot according to claim 1, characterized in that: The vertical rotation mechanism (5) includes a tilting drive cylinder (15), a vertical guide rail (16), a rotating connecting rod (22), and a clamping plate (17). The clamping plate (17) is mounted on the tilting drive cylinder (15) via 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).

7. The handling robot according to claim 6, characterized in that: The clamping plate (17) is equipped with a pressure detector (18).

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

9. The handling robot according to claim 1, characterized in that: The fixed base (1) is provided with side protective plates (19) on both sides.

10. The handling robot according to claim 9, characterized in that: It also includes a main connecting plate (20) and a connecting flange (21) disposed on the main connecting plate (20), wherein the main connecting plate (20) is disposed on the side protection plate (19).

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