A method for separating a mechanical arm and a pendant from a material box

Abstract

The present invention provides a method for separating a robot arm and a hanger from a material box, comprising a robot arm main body, a material box hook hinged on the robot arm main body, and a workpiece support bracket; there are multiple material box hooks, and the multiple material box hooks are distributed at the front and rear ends of the robot arm main body; the workpiece support bracket is connected to the robot arm main body through guide rails arranged in the left and right directions; the workpiece support bracket includes multiple groups of parallel support rod units, and each support rod unit includes two parallel support rods. Through the technical solution of the present invention, during the process of separating the hanger from the material box, the hanger can be transferred by the towing rod in a horizontal supporting manner, avoiding the surface damage caused by the contact and falling of multiple hangers, thereby improving the product quality.

Description

Technical Field

[0001] The present invention relates to the technical field of material conveying, and in particular to a method for separating a mechanical arm and a pendant from a material box. Background Art

[0002] When preparing rail spring clips for railways, it is necessary to perform sandblasting, painting or plastic spraying after the workpiece is formed. In this process, due to the special structure of the rail spring clip (such as Figure 4 As shown in the figure, a cross bar is often used to mount the middle gap 101 of multiple track spring bars, and the two ends of the cross bar are mounted on the gaps on the left and right sides of the special material box. When the material box filled with track spring bars is transported to the next process, it is necessary to separate the track spring bars from the material box, that is, to send the track spring bars to the predetermined position of the next process, and send the empty material box to the recycling station to wait for recycling. In the prior art, this separation operation is usually performed manually. A more advanced technology is to use a robotic arm to directly clamp the track spring bars mounted on the cross bar from the left and right sides to the center and transport them to the next station, and then remove the empty material box by a conveyor belt to improve work efficiency. In addition, for other workpieces mounted in the material box (hereinafter referred to as hangers) with a structure similar to that of the track spring bars, this method is also used when performing the separation operation between the material box and the hanger.

[0003] In the process of implementing the present invention, the inventors found that there are at least the following problems in the prior art:

[0004] The existing method of directly clamping the hangers requires a large clamping force and causes the hangers that are originally arranged at intervals to touch each other, which easily damages the hanger surface. In addition, the hangers are easy to fall off during the transfer process of the robot arm, causing the product to be bumped and damaged. Therefore, how to ensure product quality during the separation process of the hangers from the material box is a problem that needs to be solved. Summary of the invention

[0005] The embodiment of the present invention provides a method for separating a mechanical arm and a hanger from a material box, so as to solve the problem in the prior art that the surface of the hanger is easily damaged during the process of separating the hanger from the material box.

[0006] To achieve the above-mentioned objectives, on the one hand, an embodiment of the present invention provides a robotic arm, comprising a robotic arm main body, a material box hook hinged on the robotic arm main body, and a workpiece support tray; there are multiple material box hooks, and the multiple material box hooks are distributed at the front and rear ends of the robotic arm main body; the workpiece support tray is connected to the robotic arm main body through a guide rail arranged along the left and right directions; the workpiece support tray includes multiple groups of parallel support rod units, and each support rod unit is composed of two parallel support rods.

[0007] Furthermore, there are two workpiece support trays; the two workpiece support trays are arranged opposite to each other on the left and right sides of the robot arm body; the left workpiece support tray can be moved horizontally to the left outside of the robot arm body, and the right workpiece support tray can be moved horizontally to the right outside of the robot arm body.

[0008] Furthermore, the robotic arm also includes a material box hook cylinder; both ends of the material box hook cylinder are respectively hinged to the material box hook and the robotic arm body.

[0009] Furthermore, the robotic arm also includes a workpiece support cylinder; both ends of the workpiece support cylinder are hinged to the workpiece support and the robotic arm body respectively.

[0010] Furthermore, the robotic arm also includes a connecting rod; the outer end of the supporting rod is connected to one end of the connecting rod; and the other end of the connecting rod is hinged to the side plate of the workpiece supporting bracket through a rotating shaft.

[0011] Furthermore, a limiting block is arranged between the two supporting rods in each supporting rod unit; the bottom sides of the limiting block are straight edges extending downward.

[0012] Furthermore, the inner end of the support rod has a tapered surface.

[0013] Furthermore, a guide rail support is also arranged on the main body of the robot arm; the guide rail passes through the middle of the guide rail support; the guide rail support includes a vertically arranged longitudinal support wheel and a horizontally arranged transverse support wheel.

[0014] Furthermore, a top connection portion is connected to the top of the robot arm body; a reducer is also arranged on the top connection portion; and an output end of the reducer is connected to the robot arm body in a gear meshing manner.

[0015] On the other hand, an embodiment of the present invention provides a method for separating a hanger from a material box using the aforementioned robotic arm, comprising:

[0016] Move the robot arm over the bin filled with hanging parts;

[0017] Extend the workpiece support to the outside of the robot arm body;

[0018] Move the robot arm downward until the lifting ears at the front and rear ends of the material box are within the action range of the material box hook;

[0019] Use the material box hook to lock the lifting lug;

[0020] Reset the workpiece support so that the hanger is hung on the support rod;

[0021] Move the robot arm to the predetermined bin unloading position;

[0022] Unlock the hook of the material box from the lifting lug;

[0023] Move the robotic arm to the predetermined hanging parts unloading position;

[0024] Extend the workpiece support bracket to the outside of the robot arm body again to unhook the hanger from the support rod.

[0025] The above technical solution has the following beneficial effects:

[0026] Through the technical solution of the present invention, during the process of separating the hangers from the material box, the hangers can be transferred by the tow rod in a horizontal supporting manner, avoiding contact between multiple hangers and effectively preventing surface damage caused by accidental falling of the hangers, thereby improving product quality and production yield.

[0027] In addition, the technical solution of this application also has the following characteristics:

[0028] This technical solution can move the hanger and the material box synchronously, and place the material box and the hanger at different workstations through different movements of the robotic arm. There is no need to transfer the hanger and the material box in two steps as in the prior art, thereby greatly improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0030] Figure 1 is a schematic structural diagram of a mechanical arm according to an embodiment of the present invention;

[0031] Figure 2 yes Figure 1 A local enlarged view of location I in FIG.

[0032] Figure 3 yes Figure 1 A local enlarged view of point II in FIG.

[0033] Figure 4 It is a schematic diagram of the structure of the pendant (rail spring bar) used in this application;

[0034] Figure 5 This is a device layout diagram when the mechanical arm of an embodiment of the present invention is used to separate the hanging parts from the material box;

[0035] Figure numbers: 1. Robot arm body; 2. Material box hook; 3. Material box hook cylinder; 4. Workpiece support bracket; 41. Support rod; 42. Rotating shaft; 43. Guide rail; 44. Guide rail support; 441. Longitudinal support wheel; 442. Transverse support wheel; 45. Connecting rod; 46. Side plate; 47. Limit block; 5. Top connection part; 51. Reducer; 6. Material box; 61. Lifting ear; 62. Cross bar; 100. Hanging part (track spring strip); 101. Middle notch; 102. Horizontal edge of spring strip. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] like Figure 1 As shown, an embodiment of the present invention provides a robotic arm, comprising a robotic arm body 1, a material box hook 2 hinged on the robotic arm body 1, and a workpiece support tray 4; there are multiple material box hooks 2, and the multiple material box hooks 2 are distributed at the front and rear ends of the robotic arm body 1; the workpiece support tray 4 is connected to the robotic arm body 1 through a guide rail 43 arranged in the left and right directions; the workpiece support tray 4 includes multiple groups of parallel support rod units, and each of the support rod units includes two parallel support rods 41.

[0038] Hang a box filled with spring strips such as Figure 5As shown, it can be seen that the crossbar 62 passes through the middle gap 101 of the hanger 100, and the multiple hangers 100 on each crossbar 62 are arranged separately and do not contact each other. When the mechanical arm of the prior art directly clamps the hanger 100, it closes from the two ends of the crossbar 62 to the middle, which will inevitably cause the multiple hangers 100 to squeeze together, thereby causing mutual collision and possibly causing surface damage. For this reason, in the present application, a uniquely designed horizontally movable support rod 41 is used to support the hanger 100, and the workpiece support support 4 as a whole is translated in a direction parallel to the crossbar 62 in the material box 6, so that the support rod 41 can support the lower part of the two elastic strip horizontal edges 102 of the hanger 100, thereby playing a supporting role. In this way, when the material box 6 and the hanger 100 are separated in the height direction, the hanger 100 can be transferred to the support rod 41, and the support rod 41 replaces the crossbar to support, and the original spacing arrangement between the hangers 100 can still be maintained, so as to avoid the occurrence of problems such as mutual collision and wear. In order to keep the hanger 100 stable, each support rod unit includes two support rods 41. The distance between the two support rods 41 in each support rod unit should not be less than the minimum distance between the two elastic strips 102 on the hanger 100, nor should it be greater than the maximum distance between the two elastic strips 102 on the hanger 100. That is, they should correspond to each other so that both support rods 41 extend into the holes below the elastic strips 102. In addition, in order to improve work efficiency, so that the material box 6 and the hanger 100 can be moved to the corresponding workstation with the robot arm, a mechanism for carrying the material box 6 should be provided on the robot arm, that is, a material box hook 2 provided at the front and rear ends of the robot arm body 1. When the material box hook 2 rotates outward and downward, it can hook the lifting ears 61 at the front and rear ends of the material box 6, thereby lifting the material box 6 and moving it with the robot arm. Since the material box 6 is usually rectangular, a total of 4 lifting ears can be provided at its front and rear ends. Accordingly, 4 material box hooks 2 are provided on the robot arm.

[0039] It should be noted that the robotic arm can realize operations such as movement and rotation along the X-axis, Y-axis, and Z-axis, which belongs to the prior art. Therefore, in the drawings of this application, only the parts of the robotic arm involved in the separation of the material box 6 and the hanger 100 are illustrated, and the top and external supporting structure, guide rails, drive device, etc. of the robotic arm are not shown.

[0040] Furthermore, there are two workpiece support trays 4; the two workpiece support trays 4 are arranged opposite to each other on the left and right sides of the robot arm body 1; the workpiece support tray 4 on the left can be moved horizontally to the left outside of the robot arm body 1, and the workpiece support tray 4 on the right can be moved horizontally to the right outside of the robot arm body 1.

[0041] In order to improve work efficiency and reduce space occupation, in this application, a set of workpiece support brackets 4 are respectively provided on the left and right sides of the robot arm. Figure 1As shown, the workpiece support bracket 4 of the robot arm is extended outward. When they are simultaneously moved inward and reset, they can be inserted into the two side holes of each hanger 100 (or rail spring bar) (i.e., the space below the horizontal edge 102 of the spring bar) from the left and right ends. When both workpiece support brackets 4 are reset, that is, the workpiece support bracket 4 on the left moves to its rightmost limit position, and the workpiece support bracket 4 on the right moves to its leftmost limit position, a predetermined gap is left between the two workpiece support brackets 4 (i.e., between the two opposite support rods 41), so that the two opposite support rods 41 side by side can be prevented from interfering with each other in an unexpected situation.

[0042] Furthermore, the robotic arm also includes a material box hook cylinder 3; both ends of the material box hook cylinder 3 are hinged to the material box hook 2 and the robotic arm body 1 respectively.

[0043] like Figure 1 As shown, the material box hook 2 is pushed by the material box hook cylinder 3. When the control system (not shown in the figure) gives an action signal, the piston rod end of the material box hook cylinder 3 extends out, presses the upper part of the material box hook 2 to move to the outside of the mechanical arm, thereby driving the entire material box hook 2 to rotate along the hinge axis with the mechanical arm body 1, thereby hooking the lifting lug 61 of the material box 6 below it. After the work is completed, the control system gives a signal to retract the piston rod end of the material box hook cylinder 3, pull the material box hook 2 to rotate in the opposite direction, thereby unhooking from the lifting lug 61, and releasing the material box 6 it is lifting.

[0044] Furthermore, the robotic arm also includes a workpiece support cylinder; both ends of the workpiece support cylinder are hinged to the workpiece support 4 and the robotic arm body 1 respectively.

[0045] The workpiece support 4 is also driven by a cylinder to achieve horizontal movement in the left and right directions. The workpiece support cylinder is located inside the robot arm body 1 and is also arranged horizontally in the left and right directions.

[0046] Furthermore, the robot arm also includes a connecting rod 45; the outer end of the supporting rod 41 is sleeved on one end of the connecting rod 45; the other end of the connecting rod 45 is hinged to the side plate 46 of the workpiece supporting bracket 4 through the rotating shaft 42.

[0047] When the work of separating the hanger 100 from the material box 6 begins, if the initial placement position of the material box 6 is offset due to the reasons in the previous step, or the placement position of the hanger on the cross bar is inappropriate, the support rod 41 may not be able to fully align with the two side holes (i.e., the space below the horizontal edge 102 of the elastic bar), and when the support rod 41 moves inward, its inner end will hit the hanger structure outside the two side holes, thereby causing the support rod 41 to be unable to penetrate the side holes, or even causing damage to the appearance of the hanger 100. For this reason, in the present application, the support rod 41 is designed to be "floating". That is, if Figure 2As shown, the support rod 41 is hinged to the side plate 46 through the connecting rod 45. The connecting rod 41 has two holes at both ends, similar to the shape of a telescope. The bottom hole is sleeved on the outside of the support rod 41, and the top hole is hinged to the side plate 46 through the rotating shaft 42. When the workpiece support bracket 4 moves inward and hits the hanging structure, the top of the support rod 41 is blocked, and a certain lateral force can be generated at this time, which can make it rotate along the rotating shaft 42 to an angle, thereby adjusting its position to ensure that it can extend into the space below the horizontal edge 102 of the elastic bar.

[0048] Furthermore, a limiting block 47 is provided between the two supporting rods 41 in each supporting rod unit; both sides of the bottom of the limiting block 47 are straight edges extending downward.

[0049] Generally, the distance between the two supporting rods 41 in the supporting rod unit is preferably designed according to the minimum distance between the two side holes on the hanging part 100, so that when the position of the two supporting rods 41 is adjusted when it touches the hanging part structure, the towing rod 41 can only rotate outward. For this purpose, a limit block 47 is set at the bottom of the side plate 46, and the two sides of the limit block 47 can ensure the minimum size between the two connecting rods 41.

[0050] Furthermore, the inner end of the support rod 41 has a tapered surface.

[0051] In order to make the support rod 41 rotate more flexibly when encountering an obstacle, the inner end of the support rod 41 can be designed to be a cone surface to provide a greater lateral force.

[0052] Furthermore, a guide rail support 44 is also provided on the robot arm body 1; the guide rail 43 passes through the middle of the guide rail support 44; the guide rail support 44 includes a vertically arranged longitudinal support wheel 441 and a horizontally arranged transverse support wheel 442.

[0053] In order to prevent the workpiece support bracket 4 from sagging and deforming due to the influence of gravity when it extends outward, a longer guide rail 43 is connected to the inside of the workpiece support bracket 4. The guide rail 43 is a vertically placed long strip-shaped structure. A guide rail groove is provided at the top of the inner side of the robot arm body 1. The part of the guide rail 43 on the inner side of the robot arm body 1 runs in the guide rail groove, and the top of the guide rail 43 is against the top surface of the guide rail groove, so as to obtain a larger downward thrust to avoid deformation of the part of the workpiece support bracket 4 extending out of the robot arm body 1. At the same time, in order to prevent the wear of the guide rail 43, guide rail supports 44 are also provided on the left and right sides of the robot arm body 1. Figure 3 As shown, the guide rail support 44 includes a plurality of longitudinal support wheels 441 vertically arranged on both sides and a transverse support wheel 442 arranged at the bottom. These support wheels can effectively reduce the friction between the side and bottom surfaces of the guide rail 43 and withstand a larger load.

[0054] Furthermore, a top connection part 5 is connected to the top of the robot arm body 1; a reducer 51 is also arranged on the top connection part 5; and an output end of the reducer 51 is connected to the robot arm body 1 in a gear meshing manner.

[0055] When the material box 6 is improperly placed in the previous process, resulting in the inability to align the robot body 1 with the material box and an angular deviation between the two, the subsequent separation of the hanger 100 from the material box 6 will be difficult to complete, and the angle of the robot arm should be fine-tuned at this time. Although the connection equipment outside the robot arm can provide lateral, longitudinal, and height movement and rotation in all directions, these action processes are all carried out according to a pre-designed program, and do not take into account the fine-tuning of unexpected situations such as improper position stacking. Therefore, in this application, a motor (not shown in the figure) is arranged near the top of the robot arm body 1, and a reducer 51 is configured for the motor. The reducer 51 is connected to the side of the top connection part 5. The top connection part 5 can serve as the physical connection end of the robot arm with the outside. The top connection part 5 is coaxial with the robot arm body 1 and can rotate between them. A sensor (not shown in the figure) is set at the bottom of the frame of the robot arm body 1. When the sensor detects that there is an angle deviation between the robot arm body 1 and the material box, the sensor gives a feedback signal to the control system. Under the command of the control system, the motor rotates and drives the robot arm body 1 to rotate through the output gear at the end of the reducer 5 (inside the robot arm body 1) to eliminate the angle deviation. When the robot arm completes the grabbing of the material box 6 and the pendant 100, the control system issues a command again to make the robot arm body 1 rotate in the opposite direction and return to the initial angle position.

[0056] In a specific embodiment, the present invention provides a method for separating a hanger from a material box using the aforementioned mechanical arm, comprising:

[0057] S1, move the robot arm to the top of the material box 6 filled with the hangers 100, so that the robot arm and the material box 6 are aligned (i.e., the robot arm and the material box 6 are aligned as shown in FIG. Figure 5 If there is an angle deviation between the robot arm and the material box 6, jump to step S11; if there is no angle deviation, directly proceed to step S2;

[0058] S11, the motor rotates, and the output gear provided at the end of the reducer 5 drives the robot arm body 1 to rotate, thereby eliminating the angle deviation;

[0059] S2, extend the piston rod of the workpiece support cylinder, and push the workpiece support 4 on both sides to extend sideways at the same time (i.e., to achieve the following Figure 1 status shown);

[0060] S3, move the robot arm downward until the ears 61 at the front and rear ends of the material box 6 are within the action range of the material box hook 2 (Note: Step S2 must be performed first, and then Step S3, otherwise, if the workpiece support bracket 4 is not extended to the side, the support rod 41 on the workpiece support bracket 4 will interfere with the hanger 100, causing the robot arm to be unable to descend to the predetermined height position);

[0061] S4, extending the piston rod of the material box hook cylinder 3 to push the material box hook 2 to rotate, thereby engaging the lifting ear 61;

[0062] S5, the workpiece support brackets 4 on the left and right sides are simultaneously moved inward to reset, so that the hanger 100 is hung on the support rod 41;

[0063] S6. According to the predetermined procedure, the robot arm is moved to the predetermined material box unloading position;

[0064] S7, retract the piston rod of the material box hook cylinder 3, push the material box hook 2 to rotate in the opposite direction, so that the material box hook 2 and the lifting ear 61 are released, and the material box 6 is placed at the material box unloading position to wait for recycling. At this time, the robot arm only carries the hanging part 100;

[0065] S8, moving the robotic arm to a predetermined hanging part unloading position;

[0066] S9, the workpiece support bracket 4 is extended to the side again, so that the hanger 100 is unhooked from the support rod 41, and the hanger 100 falls into the receiving device of the subsequent step process.

[0067] S10, the robot arm returns to the initial position, and the workpiece support 4 is reset. So far, one working process is completed. If it is necessary to continue the work of separating the hanging part 100 from the material box 6, the above operation can be repeated.

[0068] The disclosed embodiments are described above to enable any person skilled in the art to implement or use the present invention. Various modifications of these embodiments are obvious to those skilled in the art, and the general principles defined herein may also be applied to other embodiments without departing from the spirit and scope of the present disclosure. Therefore, the present disclosure is not limited to the embodiments given herein, but is consistent with the broadest scope of the principles and novel features disclosed in this application.

[0069] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A robotic arm, characterized in that: The invention comprises a robot arm body (1), a material box hook (2) hinged on the robot arm body (1), and a workpiece support bracket (4); the material box hook (2) is provided in plurality, and the plurality of material box hooks (2) are distributed at the front and rear ends of the robot arm body (1); the workpiece support bracket (4) is connected to the robot arm body (1) via a guide rail (43) arranged along the left and right directions; the workpiece support bracket (4) comprises a plurality of support rod units arranged in parallel, and each support rod unit comprises two support rods (41) arranged in parallel; There are two workpiece support brackets (4); the two workpiece support brackets (4) are arranged opposite to each other on the left and right sides of the mechanical arm body (1); the left workpiece support bracket (4) can be moved horizontally to the left outside of the mechanical arm body (1), and the right workpiece support bracket (4) can be moved horizontally to the right outside of the mechanical arm body (1); The mechanical arm further comprises a workpiece support cylinder; both ends of the workpiece support cylinder are respectively hinged to the workpiece support (4) and the mechanical arm body (1); The mechanical arm further comprises a connecting rod (45); the outer end of the supporting rod (41) is connected to one end of the connecting rod (45); the other end of the connecting rod (45) is hinged to the side plate (46) of the workpiece supporting bracket (4) through a rotating shaft (42); The hanging piece (100) comprises a middle notch (101) and two elastic bar transverse edges (102), and the space below the two elastic bar transverse edges (102) forms two side holes; The distance between the two support rods (41) in each group of the support rod units is not less than the minimum distance between the two elastic bar transverse edges (102) on the hanger (100), and is not greater than the maximum distance between the two elastic bar transverse edges (102) on the hanger (100); When the hanging piece (100) is located in the material box (6), the cross bar (62) penetrates into the middle gap (101); When the workpiece support bracket (4) translates in a direction parallel to the cross bar (62), the support rod (41) can extend into the side hole and support the lower side of the elastic bar cross edge (102); When the workpiece support bracket (4) hits the hanger (100) during the inward movement, the support rod (41) can rotate along the rotating shaft (42), thereby adjusting the position so that the support rod (41) extends into the side hole; A limit block (47) is arranged between the two support rods (41) in each support rod unit; the bottom two sides of the limit block (47) are straight edges extending downward; the two sides of the limit block (47) are used to ensure the minimum size between the two support rods (41), so that when the workpiece support bracket (4) hits the hanger (100) during the inward movement, the support rod (41) only rotates outward.

2. The robotic arm according to claim 1, characterized in that: It also comprises a material box hook cylinder (3); the two ends of the material box hook cylinder (3) are respectively hinged to the material box hook (2) and the mechanical arm body (1).

3. The robotic arm according to claim 1, characterized in that: The inner end of the support rod (41) has a tapered surface.

4. The mechanical arm according to claim 1, characterized in that: A guide rail support (44) is also provided on the mechanical arm body (1); the guide rail (43) passes through the middle of the guide rail support (44); the guide rail support (44) comprises a vertically arranged longitudinal support wheel (441) and a transversely arranged transverse support wheel (442).

5. The robotic arm according to claim 1, characterized in that: A top connecting portion (5) is also connected to the top of the mechanical arm body (1); a reducer (51) is also provided on the top connecting portion (5); and an output end of the reducer (51) is connected to the mechanical arm body (1) in a gear meshing manner.

6. A method for separating a hanger from a material box using the mechanical arm according to any one of claims 1 to 5, characterized in that: include: Move the robot arm over the bin filled with hanging parts; Extending the workpiece support toward the outside of the robot arm body; Move the robot arm downward until the lifting ears at the front and rear ends of the material box are within the action range of the material box hook; Engage the lifting lug with the material box hook; Resetting the workpiece support bracket so that the hanging piece is hung on the support rod; Move the robot arm to the predetermined bin unloading position; Disengaging the material box hook from the lifting lug; Move the robotic arm to the predetermined hanging parts unloading position; The workpiece support bracket is extended outward from the robot arm body again to disengage the hanger from the support rod.

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