Stabilizer bar handling robot

Abstract

The application discloses a stable rod carrying manipulator and relates to the field of robots. The stable rod carrying manipulator comprises a mechanical clamp jaw and a small hydraulic cylinder installed on the top of the mechanical clamp jaw. The mechanical clamp jaw comprises a fixed clamp and a movable clamp hinged to the outer surface of the fixed clamp. The outer surface of the movable clamp is fixedly connected with an adjusting arm. The output end of the small hydraulic cylinder is provided with a connecting column. The inside of the connecting column is provided with connecting shafts on both sides. The connecting shafts are movably connected with the adjusting arm. The inside bottom of the connecting column is provided with a movable bolt. The movable bolt is used to drive the connecting shafts to be pulled out from the inside of the adjusting arm when the movable bolt moves downward. The stable rod carrying manipulator is used to pull down the bolt base, move the two connecting shafts to the inside, move the bottom end of the connecting column to the first mounting rod and fix the connecting column again, so that the moment is shortened. When the small hydraulic cylinder is started, the same extension amount can realize larger opening and closing, and the stable rod carrying manipulator is convenient to be applied to workpieces with different sizes.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a stabilizer bar handling robot. Background Technology

[0002] There is a waiting area during the heating and disassembly process of the vulcanization process, which requires manual or material resources for handling and transfer. Humans cannot maintain high work efficiency throughout the busy day, so they cannot meet production requirements. In order to adapt to the busy production and speed up production efficiency, robotic arms are now basically used for assisted handling and movement.

[0003] In current applications, most robotic arms use fixed slide rails for directional movement and lifting components to raise the workpiece. Hydraulic components enable gripping and releasing actions. However, in practice, the gripper typically consists of a fixed gripper and a movable gripper. The opening angle of the movable gripper is usually controlled by the extension and retraction of the hydraulic cylinder, but its maximum limit is determined by the total stroke of the hydraulic cylinder, which presents certain limitations. Therefore, when dealing with different types of workpieces, it is necessary to replace the gripper or adjust its torque. Since torque is often fixed with bolts, adjustment is cumbersome. To address these issues, a stabilizer bar handling robotic arm is provided. Summary of the Invention

[0004] (a) Technical problems to be solved

[0005] To address the shortcomings of existing technologies, this invention discloses a stabilizer bar handling robot to solve the problem mentioned in the background art of replacing grippers or adjusting gripper torque, where torque is often fixed by bolts, making adjustment cumbersome.

[0006] (II) Technical Solution

[0007] To achieve the above objectives, the present invention is implemented through the following technical solution: a stabilizer bar handling robot, comprising a mechanical gripper and a small hydraulic cylinder mounted on the top of the mechanical gripper, the small hydraulic cylinder being used to drive the mechanical gripper to open and close for clamping operations, a lifting hydraulic cylinder for height adjustment being mounted on the top of the mechanical gripper, and a fixed slide rail for front-to-back distance adjustment being mounted on the top of the lifting hydraulic cylinder;

[0008] The mechanical gripper includes a fixed gripper and a movable gripper hinged to the outer surface of the fixed gripper. An adjusting arm is fixedly connected to the outer surface of the movable gripper. A connecting column is installed at the output end of the small hydraulic cylinder. Connecting shafts are provided on both sides inside the connecting column. The connecting shafts are movably engaged with the adjusting arm. A movable pin is provided at the bottom inside the connecting column. The movable pin moves down to drive the connecting shaft to be pulled out from inside the adjusting arm. A return spring is provided at the top of the movable pin.

[0009] Preferably, the inner wall of the adjusting arm is provided with movable grooves on both sides, and the side wall of the movable groove is provided with a plurality of equidistant positioning holes, and the connecting shaft is movably inserted into the positioning holes.

[0010] Preferably, the movable pin includes a pin base and a conical top rod fixed to the top of the pin base. A connecting rod is fixedly connected to the top of the conical top rod. Conical insert rods are fixedly connected to both sides of the top of the connecting rod. A T-shaped slide rod is fixedly connected to the middle of the top of the connecting rod. The return spring is movably sleeved on the outer surface of the T-shaped slide rod. The conical insert rod is movably inserted between two sets of connecting shafts. A connecting groove is opened inside the connecting shaft, and the conical insert rod is movably inserted into the inside of the connecting groove.

[0011] Preferably, the mechanical gripper is provided with a connecting frame at the top, the small hydraulic cylinder is movably hinged to the bottom of the connecting frame, and the lifting hydraulic cylinder is fixedly installed at the top of the connecting frame.

[0012] Preferably, a connecting seat is fixedly installed at the output end of the lifting hydraulic cylinder, the connecting seat is fixedly connected to the connecting frame, a suspension frame is fixedly connected to the top of the lifting hydraulic cylinder, support arms are fixedly connected to the bottom of both ends of the suspension frame, a positioning shaft is movably inserted into the inside of the support arm, the bottom end of the positioning shaft is fixedly installed to the connecting frame, and a clamping rod for fixing the lifting hydraulic cylinder is installed on the outer surface of the support arm.

[0013] Preferably, the suspension bracket is slidably connected to the bottom of the fixed slide rail, the fixed slide rail is rotatably connected to a drive screw, a drive motor is installed at one end of the fixed slide rail, a threaded seat is installed in the middle of the suspension bracket, the output shaft of the drive motor is fixedly installed to the drive screw, and the threaded seat is threadedly connected to the outer surface of the drive screw.

[0014] Preferably, the top of the fixed clamp is provided with a first mounting rod, which is fixedly installed to the connecting frame by bolts. The top of the movable clamp is provided with a second mounting rod, which is fixedly connected to the bottom of the adjusting arm. The end of the adjusting arm is movably hinged to the first mounting rod.

[0015] Preferably, the outer surfaces of the first and second mounting rods are provided with limit slots, the inner sides of the fixed clamp and the movable clamp are provided with limit strips, and the outer sides of the fixed clamp and the movable clamp are provided with snap-fit ​​mechanisms. The limit strips are movably inserted into the limit slots, and the snap-fit ​​mechanisms are movably snap-fitted with the first and second mounting rods.

[0016] Preferably, the locking mechanism includes a T-shaped shaft inserted into the fixed clamp and the movable clamp. The back of the first mounting rod and the second mounting rod are both provided with locking holes. The front end of the T-shaped shaft is movably inserted into the locking hole. A handle is installed at the end of the T-shaped shaft. A locking spring is movably sleeved on the outer surface of the middle part of the T-shaped shaft.

[0017] This invention discloses a stabilizing bar handling robot, which has the following beneficial effects:

[0018] 1. This stabilizer bar handling robot, by pulling the pin base downwards, causes both the conical top rod and the conical insert rod to move downwards. At this time, the conical top rod retracts downwards from between the two sets of connecting shafts, while the two sets of conical insert rods move downwards inside the connecting groove, causing the two sets of connecting shafts to move inwards. At this time, the end of the connecting shaft moves out of the positioning hole, and the return spring is compressed. At this time, the end of the connecting shaft is inside the movable groove, pushing the bottom end of the connecting column inwards, making its bottom end closer to the first mounting rod. The pin base is released, and the conical top rod and the conical insert rod return upwards to reset, causing the connecting shaft to move outwards and re-insert into the corresponding positioning hole for fixation. This shortens the torque, and when the small hydraulic cylinder is started, the same amount of extension and retraction can achieve a larger opening and closing range, which is convenient for use with workpieces of different sizes.

[0019] 2. This stabilizer bar handling robot is suspended from the top of the workstation by a fixed slide rail. Starting the drive motor rotates the drive screw, causing the suspension frame to move back and forth along the fixed slide rail, thus moving the mechanical gripper forward and backward. Simultaneously, controlling the retraction of the output end of the lifting hydraulic cylinder causes the mechanical gripper to move up and down. Activating the small hydraulic cylinder retracts its output end, causing the end of the adjusting arm to tilt upward, opening the movable clamp to grip the workpiece. After gripping, controlling the extension of the output shaft of the small hydraulic cylinder causes the movable clamp to close downward, thus clamping and fixing the workpiece together with the fixed clamp. A PLC control program controls the start and stop of each drive component, enabling the robot to automatically perform gripping and moving operations. It allows for flexible and quick switching between different workpieces, improving production efficiency and reducing production costs.

[0020] 3. This stabilizer bar handling robot can move the T-shaped shaft out of the mortise by pulling the handle outward. At this time, the locking spring is compressed, and then the fixed clamp and movable clamp are pushed down to move out, making it easy to replace the mechanical gripper. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall outer surface structure of the present invention;

[0022] Figure 2 This is a bottom view of the overall structure of the present invention;

[0023] Figure 3 This is a schematic diagram of the outer surface structure of the lifting hydraulic cylinder of the present invention;

[0024] Figure 4 This is a schematic diagram of the outer surface structure of the connecting frame of the present invention;

[0025] Figure 5 This is a schematic diagram of the outer surface structure of the second mounting rod of the present invention;

[0026] Figure 6 This is a schematic diagram of the outer surface structure of the adjusting arm of the present invention;

[0027] Figure 7 This is a cross-sectional view of the internal structure of the connecting column of the present invention.

[0028] In the diagram: 1. Mechanical gripper; 101. Fixed clamp; 102. Movable clamp; 2. Small hydraulic cylinder; 3. Lifting hydraulic cylinder; 4. Fixed slide rail; 5. Drive motor; 6. Drive screw; 7. Suspension frame; 8. Connecting frame; 9. Threaded seat; 10. Support arm; 11. Positioning shaft; 12. Clamping rod; 13. Connecting seat; 14. Connecting column; 15. Adjusting arm; 16. First mounting rod; 17. Second mounting rod; 18. Snap-fit ​​mechanism; 181. Locking spring; 182. T-shaped shaft; 183. Handle; 19. Connecting shaft; 20. Limit slot; 21. Limiting strip; 22. Movable groove; 23. Positioning hole; 24. Movable pin; 241. Pin base; 242. Conical top rod; 243. Connecting rod; 244. Conical insert rod; 245. T-shaped slide rod; 246. Return spring; 25. Connecting groove. Detailed Implementation

[0029] This invention discloses a stabilizer bar handling robot, such as... Figure 1-7 As shown, in order to make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings and through embodiments.

[0030] Example 1

[0031] like Figure 1-7 The present invention relates to a stabilizer bar handling robot, comprising a mechanical gripper 1 and a small hydraulic cylinder 2 mounted on the top of the mechanical gripper 1. The small hydraulic cylinder 2 is used to drive the mechanical gripper 1 to open and close for clamping operations. A lifting hydraulic cylinder 3 for height adjustment is mounted on the top of the mechanical gripper 1, and a fixed slide rail 4 for front-to-back distance adjustment is mounted on the top of the lifting hydraulic cylinder 3.

[0032] The mechanical gripper 1 includes a fixed gripper 101 and a movable gripper 102 hinged to the outer surface of the fixed gripper 101. An adjusting arm 15 is fixedly connected to the outer surface of the movable gripper 102. A connecting post 14 is installed at the output end of the small hydraulic cylinder 2. Connecting shafts 19 are provided on both sides inside the connecting post 14. The connecting shafts 19 are movably engaged with the adjusting arm 15. A movable pin 24 is provided at the bottom inside the connecting post 14. The movable pin 24 moves down to drive the connecting shaft 19 to be pulled out from inside the adjusting arm 15. A return spring 246 is provided at the top of the movable pin 24.

[0033] The inner wall of the adjusting arm 15 is provided with movable grooves 22 on both sides. Multiple equidistant positioning holes 23 are provided in the side wall of the movable grooves 22. The connecting shaft 19 is movably inserted into the inside of the positioning holes 23.

[0034] The movable pin 24 includes a pin base 241 and a conical top rod 242 fixed to the top of the pin base 241. A connecting rod 243 is fixedly connected to the top of the conical top rod 242. Conical insert rods 244 are fixedly connected to both sides of the top of the connecting rod 243. A T-shaped slide rod 245 is fixedly connected to the middle of the top of the connecting rod 243. A return spring 246 is movably sleeved on the outer surface of the T-shaped slide rod 245. The conical insert rods 244 are movably inserted between two sets of connecting shafts 19. A connecting groove 25 is opened inside the connecting shaft 19. The conical insert rods 244 are movably inserted into the inside of the connecting groove 25.

[0035] The mechanical gripper 1 is provided with a connecting frame 8 at the top. The small hydraulic cylinder 2 is movably hinged to the bottom of the connecting frame 8. The lifting hydraulic cylinder 3 is fixedly installed on the top of the connecting frame 8. By activating the small hydraulic cylinder 2, the output end of the small hydraulic cylinder 2 is contracted, thereby driving the end of the adjusting arm 15 to flip upward and tilt up, while simultaneously causing the movable clamp 102 to open.

[0036] A connecting seat 13 is fixedly installed at the output end of the lifting hydraulic cylinder 3. The connecting seat 13 is fixedly connected to the connecting frame 8. A suspension frame 7 is fixedly connected to the top of the lifting hydraulic cylinder 3. Support arms 10 are fixedly connected to the bottom of both ends of the suspension frame 7. A positioning shaft 11 is movably inserted into the inside of the support arm 10. The bottom end of the positioning shaft 11 is fixedly installed to the connecting frame 8. A clamping rod 12 for fixing the lifting hydraulic cylinder 3 is installed on the outer surface of the support arm 10.

[0037] The suspension bracket 7 is slidably connected to the bottom of the fixed slide rail 4. The fixed slide rail 4 is rotatably connected to the drive screw 6. A drive motor 5 is installed at one end of the fixed slide rail 4. A threaded seat 9 is installed in the middle of the suspension bracket 7. The output shaft of the drive motor 5 is fixedly installed with the drive screw 6. The threaded seat 9 is threadedly connected to the outer surface of the drive screw 6. By starting the drive motor 5, the drive screw 6 is rotated. At this time, the suspension bracket 7 moves back and forth along the fixed slide rail 4.

[0038] The top of the fixed clamp 101 is provided with a first mounting rod 16, which is fixedly installed to the connecting frame 8 by bolts. The top of the movable clamp 102 is provided with a second mounting rod 17, which is fixedly connected to the bottom of the adjusting arm 15. The end of the adjusting arm 15 is movably hinged to the first mounting rod 16.

[0039] Limiting slots 20 are provided on the outer surfaces of the first mounting rod 16 and the second mounting rod 17. Limiting strips 21 are provided on the inner sides of the fixed clamp 101 and the movable clamp 102. Snap-fit ​​mechanisms 18 are provided on the outer sides of the fixed clamp 101 and the movable clamp 102. The limiting strips 21 are movably inserted into the inside of the limiting slots 20, and the snap-fit ​​mechanisms 18 are movably snap-fitted with the first mounting rod 16 and the second mounting rod 17.

[0040] The locking mechanism 18 includes a T-shaped shaft 182 inserted into the fixed clamp 101 and the movable clamp 102. The back of the first mounting rod 16 and the second mounting rod 17 are both provided with locking holes. The front end of the T-shaped shaft 182 is movably inserted into the locking hole. A handle 183 is installed at the end of the T-shaped shaft 182. A locking spring 181 is movably sleeved on the outer surface of the middle part of the T-shaped shaft 182. By pulling the handle 183 outward, the T-shaped shaft 182 is moved out of the locking hole. At this time, the locking spring 181 is compressed. Then, the fixed clamp 101 and the movable clamp 102 are pushed downward to move them out, which facilitates the replacement of the mechanical gripper 1.

[0041] Working principle: When in use, the device is suspended from the top of the workstation by the fixed slide rail 4. By starting the drive motor 5, the drive screw 6 rotates, and the suspension frame 7 moves back and forth along the fixed slide rail 4, realizing the back and forth movement of the mechanical gripper 1. At the same time, by controlling the output end of the lifting hydraulic cylinder 3 to retract, the mechanical gripper 1 moves up and down. By starting the small hydraulic cylinder 2, the output end of the small hydraulic cylinder 2 retracts, thereby driving the end of the adjusting arm 15 to flip upward and tilt upward, while the movable clamp 102 opens to grasp the workpiece. After grasping, by controlling the output shaft of the small hydraulic cylinder 2 to extend, the movable clamp 102 closes downward, thus clamping and fixing the workpiece through the movable clamp 102 and the fixed clamp 101. The PLC control program controls the start and stop of each drive component, thereby realizing the automated grasping and moving operation of the robot. It can realize flexible and quick switching between different workpieces, improve production efficiency, and reduce production costs.

[0042] Before use, the device can be pulled down by the pin base 241, causing the conical top rod 242 and the conical insert rod 244 to move downwards. At this time, the conical top rod 242 is withdrawn downwards from between the two sets of connecting shafts 19, and the two sets of conical insert rods 244 move downwards inside the connecting groove 25, causing the two sets of connecting shafts 19 to move inwards. At this time, the end of the connecting shaft 19 moves out of the positioning hole 23, and the return spring 246 is compressed. At this time, the end of the connecting shaft 19 is inside the movable groove 22, pushing the bottom end of the connecting column 14 inwards, making its bottom end closer to the first mounting rod 16. The pin base 241 is released, and the conical top rod 242 and the conical insert rod 244 return upwards, causing the connecting shaft 19 to move outwards and re-insert into the corresponding positioning hole 23 for fixation. This shortens the torque, and when the small hydraulic cylinder 2 is started, the same amount of extension and retraction can achieve a larger opening and closing range.

[0043] At the same time, by pulling the handle 183 outward, the T-shaped shaft 182 can be moved out of the slot. At this time, the locking spring 181 is compressed, and then the fixed clamp 101 and the movable clamp 102 are pushed down and moved out, which facilitates the replacement of the mechanical gripper 1.

[0044] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A stabilizer bar handling robot, comprising a mechanical gripper (1) and a small hydraulic cylinder (2) mounted on top of the mechanical gripper (1), the small hydraulic cylinder (2) being used to drive the mechanical gripper (1) to open and close for clamping operations, a lifting hydraulic cylinder (3) for height adjustment being mounted on top of the mechanical gripper (1), and a fixed slide rail (4) for front-to-back distance adjustment being mounted on top of the lifting hydraulic cylinder (3), characterized in that: The mechanical gripper (1) includes a fixed gripper (101) and a movable gripper (102) hinged to the outer surface of the fixed gripper (101). An adjusting arm (15) is fixedly connected to the outer surface of the movable gripper (102). The output end of the small hydraulic cylinder (2) is equipped with a connecting column (14). The connecting column (14) has connecting shafts (19) on both sides inside. The connecting shafts (19) are movably engaged with the adjusting arm (15). The bottom of the connecting column (14) is provided with a movable pin (24). The movable pin (24) moves down to drive the connecting shaft (19) out of the adjusting arm (15). The top of the movable pin (24) is provided with a return spring (246). The movable pin (24) includes a pin base (241) and a conical top rod (242) fixed on the top of the pin base (241). A connecting rod (243) is fixedly connected to the top of the conical top rod (242). Conical insert rods (244) are fixedly connected to both sides of the top of the connecting rod (243). A T-shaped slide rod (245) is fixedly connected to the middle of the top of the connecting rod (243). The return spring (246) is movably sleeved on the outer surface of the T-shaped slide rod (245). The conical insert rod (244) is movably inserted between two sets of connecting shafts (19). A connecting groove (25) is opened inside the connecting shaft (19). The conical insert rod (244) is movably inserted inside the connecting groove (25).

2. The stabilizer bar handling robot according to claim 1, characterized in that: The inner wall of the adjusting arm (15) is provided with movable grooves (22) on both sides, and multiple equidistant positioning holes (23) are provided in the side wall of the movable groove (22). The connecting shaft (19) is movably inserted into the inside of the positioning holes (23).

3. The stabilizer bar handling robot according to claim 1, characterized in that: The mechanical gripper (1) is provided with a connecting frame (8) at the top, the small hydraulic cylinder (2) is movably hinged to the bottom of the connecting frame (8), and the lifting hydraulic cylinder (3) is fixedly installed on the top of the connecting frame (8).

4. A stabilizer bar handling robot according to claim 3, characterized in that: The output end of the lifting hydraulic cylinder (3) is fixedly installed with a connecting seat (13), which is fixedly connected to the connecting frame (8). The top of the lifting hydraulic cylinder (3) is fixedly connected with a suspension frame (7), and the bottom of both ends of the suspension frame (7) are fixedly connected with support arms (10). The support arm (10) is movably inserted with a positioning shaft (11), and the bottom end of the positioning shaft (11) is fixedly installed with the connecting frame (8). The outer surface of the support arm (10) is equipped with a clamping rod (12) for fixing the lifting hydraulic cylinder (3).

5. A stabilizer bar handling robot according to claim 4, characterized in that: The suspension bracket (7) is slidably connected to the bottom of the fixed slide rail (4). The fixed slide rail (4) is rotatably connected to the drive screw (6). A drive motor (5) is installed at one end of the fixed slide rail (4). A threaded seat (9) is installed in the middle of the suspension bracket (7). The output shaft of the drive motor (5) is fixedly installed with the drive screw (6). The threaded seat (9) is threadedly connected to the outer surface of the drive screw (6).

6. A stabilizer bar handling robot according to claim 5, characterized in that: The top of the fixed clamp (101) is provided with a first mounting rod (16), which is fixedly installed to the connecting frame (8) by bolts. The top of the movable clamp (102) is provided with a second mounting rod (17), which is fixedly connected to the bottom of the adjusting arm (15). The end of the adjusting arm (15) is movably hinged to the first mounting rod (16).

7. A stabilizer bar handling robot according to claim 6, characterized in that: The outer surfaces of the first mounting rod (16) and the second mounting rod (17) are provided with limit slots (20). The inner sides of the fixed clamp (101) and the movable clamp (102) are provided with limit strips (21). The outer sides of the fixed clamp (101) and the movable clamp (102) are provided with snap-fit ​​mechanisms (18). The limit strips (21) are movably inserted into the inside of the limit slots (20). The snap-fit ​​mechanisms (18) are movably snap-fitted with the first mounting rod (16) and the second mounting rod (17).

8. A stabilizer bar handling robot according to claim 7, characterized in that: The snap-fit ​​mechanism (18) includes a T-shaped shaft (182) inserted into the fixed clamp (101) and the movable clamp (102). The back of the first mounting rod (16) and the second mounting rod (17) are both provided with snap-fit ​​holes. The front end of the T-shaped shaft (182) is movably inserted into the snap-fit ​​hole. The end of the T-shaped shaft (182) is provided with a handle (183).

9. A stabilizer bar handling robot according to claim 8, characterized in that: A locking spring (181) is movably sleeved on the outer surface of the middle part of the T-shaped shaft (182).

Images