A robot arm and gripper mechanism for rotating and hanging

Abstract

The present invention discloses a robot arm and a clamping mechanism for hanging, which relates to the field of robot technology, and includes: a main unit, the main unit includes a robot arm, the side of the robot arm is provided with a suspension unit, the suspension unit includes a primary sling provided on the side of the robot arm and a lifting ring movably connected to the bottom of the primary sling, and also includes: a hand unit, the hand unit includes an upper clamping claw for clamping the primary sling in sequence and a lower clamping claw for clamping the main hanging. The hook head will have a problem of too large opening during long-term use, which will cause the hook tip position and the hook back position of the hook head to move outward and expand. After expanding to a certain extent, when the hook head maintains a combined space relative to the lifting ring, the hook tip and the hook back expansion position of the hook head will be located at the bottom of the limiting column, and under the downward movement of the limiting column, the expanded position is pressed down and retracted by the limiting column, thereby reducing the hook-off phenomenon caused by the hook head opening being too large for a long time.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulators, and in particular to a robot arm and a clamping claw mechanism for rotating and hanging. Background Art

[0002] In the field of high-end two-wheeled vehicles and automobile parts spraying, the typical spraying process of ABS or PP plastic parts usually uses a hanging conveyor chain as the conveyor for the pre-treatment spray section, and usually uses a ground conveyor as the conveyor for the spray section. The specific process flow is as follows: hanging chains are often used for loading parts → pre-treatment → moisture drying → transfer and hanging out of the line → transfer and hanging in the line → unloading parts; ground conveyors are often used for transfer and hanging in the line → multiple spraying and leveling → baking and curing → transfer and hanging out of the line, while traditional special machine transfer requires two sets of equipment for transfer in and out respectively, or manual transfer in and out.

[0003] Chinese patent application CN115284306A discloses an adjustable robot manipulator, which relates to the technical field of manipulators and solves the technical problem of poor stability of the manipulator's grippers. The key points of its technical solution are that the gripping device of its manipulator includes a lifting assembly, a steering wheel, grippers, a hinge, a limiting chuck, a movable seat and a sliding adjustment piece. Two grippers penetrate the sliding adjustment piece and extend into the interior of the movable seat. The ends of the two grippers are connected to the two ends of the steering wheel by hinges. The steering wheel drives the two grippers to move inward or outward through the hinge, and the distance between the two grippers is adjusted according to the size of the object. After the two grippers are adjusted to a certain position, the position of the steering wheel is limited by the limiting chuck, so that the two grippers can be stably stuck in the adjusted position, and then the bottom of the object is lifted by the lifting assembly in cooperation with the grippers, so that the object is effectively and stably gripped.

[0004] The above patents and prior art have the following problems:

[0005] The current manipulator can only hang a single main hanger and hang the main hanger on the primary hanger following the transport chain. However, the primary hanger will shake when hanging on the transport chain, resulting in unhooking during the hanging process of the main hanger. In addition, when the hook of the main hanger is hung on the lifting ring of the primary hanger, the swing of the lifting ring will increase the vibration wear of the hook and the lifting ring, making the opening angle of the hook larger, which is not conducive to the subsequent re-hanging. In addition, the up and down rotation will also pull the contact point between the hook and the lifting ring, making the hook pulled open at a larger angle, thereby affecting the stability of the hanger hanging. Summary of the invention

[0006] The purpose of this section is to summarize some aspects of embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the specification abstract and the invention title of this application to avoid blurring the purpose of this section, the specification abstract and the invention title, and such simplifications or omissions cannot be used to limit the scope of the present invention.

[0007] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0008] A robot arm for hanging, comprising: a main unit, the main unit comprising a mechanical arm, a suspension unit is arranged on the side of the mechanical arm, the suspension unit comprises a primary hanger arranged on the side of the mechanical arm and a hanging ring movably connected to the bottom of the primary hanger, and further comprising:

[0009] A hand unit, the hand unit includes an upper clamp for clamping a primary hanger in sequence and a lower clamp for clamping a main hanger, a movable plate is symmetrically and movably arranged at the bottom of the upper clamp, a lower clamp is installed on the side of the movable plate on one side, and a closing frame is installed on the side of the movable plate on the other side, the movable plate is movably connected with a trigger rod and a traction groove, the traction groove is arranged through the inside of a control panel, and a limiting column for restraining the main hanger is movably arranged on the top of the control panel.

[0010] As a preferred solution of the robot arm and the gripper mechanism for rotating and hanging described in the present invention, wherein:

[0011] The hand unit further comprises a fixed plate, the fixed plate is movably connected to the front end of the robot arm, an auxiliary part is installed on the top of the fixed plate, and a horizontal rail is installed laterally on the surface of the fixed plate;

[0012] The fixed plate is movably connected to the movable plate through a transverse rail, and a sleeve rod is movably connected to the surface of the fixed plate.

[0013] As a preferred solution of the robot arm and the gripper mechanism for rotating and hanging described in the present invention, wherein:

[0014] The movable plate is symmetrically arranged about the midline of the fixed plate, the movable plate on the left side is fixedly connected by an open frame and a lower clamping claw, and the movable plate on the right side is fixedly connected by an open frame and a closed frame.

[0015] An upper clamp is fixedly connected to the top of the fixed plate, and two lower clamps are respectively used to clamp the upper and lower ends of the main hanger.

[0016] As a preferred solution of the robot arm and the gripper mechanism for rotating and hanging described in the present invention, wherein:

[0017] The opening width of the open frame is greater than the width of the sleeve rod;

[0018] The center of the closing frame is provided with an empty slot, and the side of the closing frame opposite to the lower clamping claw is provided with a protrusion.

[0019] As a preferred solution of the robot arm and the gripper mechanism for rotating and hanging described in the present invention, wherein:

[0020] Two vertical grooves are symmetrically provided on the surface of the fixed plate, and the fixed plate is slidably connected to a slider on the back of the sleeve rod through the vertical grooves. A pulling plate is fixedly connected to the surface of the top of the fixed plate, and the pulling plate is elastically connected to a driven plate through an elastic member, and the driven plate is fixedly connected to the side of the sleeve rod.

[0021] As a preferred solution of the robot arm and the gripper mechanism for rotating and hanging described in the present invention, wherein:

[0022] The bottom of the sleeve rod is provided with a through opening, an inner rod is movably provided inside the through opening, a flat plate is installed on the top of the inner rod, and the area of ​​the flat plate is larger than the area of ​​the through opening at the bottom of the sleeve rod.

[0023] As a preferred solution of the robot arm and the gripper mechanism for rotating and hanging described in the present invention, wherein:

[0024] A limiting column is installed on the surface of the sleeve rod, and a lower clamping claw is arranged between the vertex of the limiting column protruding from the sleeve rod surface and the opening frame.

[0025] As a preferred solution of the robot arm and the gripper mechanism for rotating and hanging described in the present invention, wherein:

[0026] A control plate is fixedly mounted on the bottom of the inner rod, and the traction groove is symmetrical about the midline of the control plate;

[0027] The bottom of the control board is fixedly connected to the output shaft of the driving source 1, the bottom of the driving source 1 is fixedly connected to a mounting block, and the driving source 1 is fixedly connected to the fixed plate through the mounting block;

[0028] The traction groove is composed of an integrated structure of an inclined groove and a vertical retaining groove.

[0029] As a preferred solution of the robot arm and the gripper mechanism for rotating and hanging described in the present invention, wherein:

[0030] The main hanger comprises a hook head at the top and a plug head at the bottom, and a hanger is installed in the middle of the main hanger;

[0031] A clamping opening for clamping by the lower clamping claw is arranged between the hanger and the hook head, and between the hanger and the plug block head. The clamping opening is opened on the surface of the main hanger rod body.

[0032] Another object of the present invention is to provide a gripper mechanism for a transfer robot in view of the deficiencies of the prior art, comprising:

[0033] An upper clamping jaw, wherein the upper clamping jaw and the lower clamping jaw have the same structure;

[0034] The upper clamp includes a second driving source, a clamp bracket is fixedly installed on the surface of the second driving source, the output shaft of the second driving source is movably connected through a connecting block and one side of a connecting rod, the middle part of the connecting rod is rotatably installed in the middle part of the clamp bracket, and a gripper is installed on the other side of the connecting rod, the opening angle of the gripper is an obtuse angle, the gripper is symmetrical with respect to the center line of the second driving source, and the angle of the symmetrical gripper after unfolding is an obtuse angle, which is used to increase the tolerance space of the clamping position.

[0035] Beneficial effects of the present invention:

[0036] The yoke is then moved to a position where the yoke is in a position to move the yoke to the same position as the yoke when the yoke is in a position to move the yoke to the same position as the yoke when the yoke is in a position to move the yoke to the same position as the yoke.

[0037] The driving source 1 is then started, so that the driving source 1 pulls the control board down, and the inner rod on the top of the control board is movably installed inside the sleeve rod, so that the sleeve rod can assist the vertical movement of the control board through the restriction of the sleeve rod, thereby reducing the shaking of the control board, and the control board moves downward under the drive of the driving source 1, so that the control board guides the trigger rod to move closer to the middle through the inclined groove on its surface, so that the two movable plates at the bottom of the trigger rod close to the middle along the cross rail. The closing of the two movable plates toward the middle will drive the main hanger clamped by the lower clamp to move horizontally, thereby reducing the unexpected angle offset shaking caused by the lower clamp driving the main hanger to be hung through its lateral movement.

[0038] When the trigger rod moves to the connection between the inclined groove and the retaining groove, the hook head passes over the lifting opening of the lifting ring, and the position between the hook head and the clamping opening on the upper side of the main hanger contacts the protrusion of the closing frame, so that the bottom of the lifting ring is constrained within the combined space surrounded by the hook head, the protrusion and the rod part on the top side of the main hanger, so that the opening of the hook head corresponding to the bottom of the lifting ring is blocked and restricted by the protrusion, thereby reducing the subsequent release of the main hanger by the lower clamp, resulting in the accidental unhooking phenomenon caused by the tilting and shaking of the hook head.

[0039] The driving source continues to move, and the driving source drives the control board to continue to move downward, so that the trigger rod moves to the inside of the retaining groove, so that the hook head maintains the state of the combined space relative to the lifting ring, and the control board continues to pull the inner rod downward, and when the trigger rod moves to the connection between the inclined groove and the retaining groove, the flat plate on the top surface of the inner rod at the top of the control board has been in contact with the top surface of the through-hole at the bottom of the sleeve rod, and when the control board moves downward and causes the trigger rod to move to the inside of the retaining groove, the control board pulls the sleeve rod to move through the inner rod, and finally the limiting column moves to the left and right sides after the hook head passes through the lifting ring, and does not contact the lifting ring. There is a gap between the two, so that the limiting column increases the constraint on the outside of the hook head for a second time, thereby preventing the robot arm from accidentally shaking during the following process, and reducing the problem of the hook head being unhooked after being hooked through multiple protections.

[0040] The hook head will have the problem of opening too large during long-term use, which will cause the hook tip and hook back positions to move outward and expand. After expanding to a certain extent, the hook head maintains a combined space state relative to the lifting ring, and the hook tip and hook back expanded positions of the hook head will be located at the bottom of the limiting column, and under the downward movement and pulling of the limiting column, the expanded position will be pressed down and retracted by the limiting column, thereby reducing the phenomenon of hook unhooking caused by the hook head opening being too large due to long-term use. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solution of the embodiment of the present invention, the following is a brief introduction to the drawings required for describing the embodiment, wherein:

[0042] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0043] Figure 2 This is a schematic diagram of the connection between the hand unit and the suspension unit structure of the present invention;

[0044] Figure 3 This is a schematic diagram of the front structural connection of the hand unit of the present invention;

[0045] Figure 4 for Figure 3 A schematic diagram of the enlarged structure of part A;

[0046] Figure 5 It is a schematic diagram of the connection of the traction groove structure of the present invention;

[0047] Figure 6 for Figure 5 A schematic diagram of the enlarged structure of part B;

[0048] Figure 7 This is a schematic diagram of the top structure connection of the hand unit of the present invention;

[0049] Figure 8 This is a schematic diagram of the main hanger structure connection of the present invention;

[0050] Fig. 9 This is a schematic diagram of the connection between the whole plate and the upper clamping jaw and the lower clamping jaw structure of the present invention;

[0051] Fig.10 This is a schematic diagram of the connection of the upper clamping jaw deployment structure of the present invention;

[0052] Fig.11 This is a simplified schematic diagram of the motion trajectory of the upper clamping jaw of the present invention.

[0053] In the figure, reference numerals:

[0054] 1. Main unit; 101. Base; 102. Robotic arm; 2. Hand unit; 201. Fixed plate; 2011. Auxiliary parts; 2012. Cross rail; 2013. Mounting block; 20131. Push source 1; 2014. Upper clamp; 20141. Push source 2; 20142. Connecting block; 20143. Connecting rod; 20144. Gripper; 20145. Clamping jaw bracket; 2015. Vertical slot; 2016. Pull plate; 2017. Elastic part; 202. Movable plate; 2021. Open frame; 20 22. Lower clamp; 2023. Closing frame; 20231. Bump; 203. Control panel; 2031. Traction slot; 20311. Inclined slot; 20312. Retaining slot; 2032. Trigger lever; 204. Main hanger; 2041. Hook head; 2042. Insert block head; 2043. Clamping mouth; 2044. Hanging rack; 205. Inner rod; 2051. Sleeve rod; 2052. Limiting column; 2053. Follower plate; 206. Whole plate; 3. Suspension unit; 301. Primary hanger; 302. Lifting ring. DETAILED DESCRIPTION

[0055] Embodiment 1: Figure 1-11 As shown, a robot arm for hanging, comprising:

[0056] The main unit 1 includes a mechanical arm 102, a base 101 is installed at the bottom of the mechanical arm 102, a suspension unit 3 is arranged on the side of the mechanical arm 102, and the suspension unit 3 includes a primary sling 301 arranged on the side of the mechanical arm 102 and a sling ring 302 movably connected to the bottom of the primary sling 301, and also includes:

[0057] The hand unit 2 comprises an upper clamping jaw 2014 for clamping a primary hanger 301 in sequence and a lower clamping jaw 2022 for clamping a main hanger 204, a movable plate 202 is symmetrically and movably provided at the bottom of the upper clamping jaw 2014, a lower clamping jaw 2022 is installed on the side of the movable plate 202 on one side, and a closing frame 2023 is installed on the side of the movable plate 202 on the other side, the movable plate 202 is movably connected with a traction groove 2031 through a trigger rod 2032, and the traction groove 2031 is arranged through the inside of a control panel 203, and a limiting column 2052 for restraining the main hanger 204 is movably provided on the top of the control panel 203.

[0058] The hand unit 2 also includes a fixed plate 201, which is movably connected to the front end of the robot arm 102. An auxiliary part 2011 is installed on the top of the fixed plate 201. The auxiliary part 2011 is preferably a camera, and is controlled by a unified PLC and powered by an external energy source, so that the camera can identify the movement trajectory of the hanging chain conveyor or the ground conveyor, and control the robot arm 102 to follow the corresponding position at the same speed, or by setting a detection switch at each upper and lower position of the conveyor, through the sensor in the detection switch, such as a photoelectric sensor or a pressure sensor, the primary hoist 301 is moved on the chain During the preset time of transportation, the primary spreader 301 will move to different positions of the equipment along with the chain, thereby triggering the corresponding pressure sensor or photoelectric sensor, so that the corresponding position of the primary spreader 301 in the chain transportation is identified, thereby triggering the preset movement of the mechanical arm 102. When the primary spreader 301 reaches the following starting point on the side of the mechanical arm 102, the mechanical arm 102 moves synchronously with the chain at the same speed and corresponds to the primary spreader 301. A cross rail 2012 is horizontally installed on the surface of the fixed plate 201, and the top of the primary spreader 301 is fixedly connected to the bottom of the suspension chain in the suspension chain conveyor;

[0059] The fixed plate 201 is movably connected to the movable plate 202 via a transverse rail 2012 , and a sleeve rod 2051 is movably connected to the surface of the fixed plate 201 .

[0060] The main hanger 204 includes a hook head 2041 at the top and a plug head 2042 at the bottom, and a hanger 2044 is installed in the middle of the main hanger 204;

[0061] A clamping opening 2043 for clamping by the lower clamping claw 2022 is provided between the hanger 2044 and the hook head 2041 , and between the hanger 2044 and the plug head 2042 . The clamping opening 2043 is provided on the surface of the rod body of the main hanger 204 .

[0062] A clamping mechanism for a rotating hanging robot, comprising: an upper clamping jaw 2014, wherein the upper clamping jaw 2014 and the lower clamping jaw 2022 have the same structure;

[0063] The upper clamp 2014 includes a driving source 20141, a clamp bracket 20145 is fixedly installed on the surface of the driving source 20141, the output shaft of the driving source 20141 is movably connected through a connecting block 20142 and one side of a connecting rod 20143, the middle part of the connecting rod 20143 is rotatably installed in the middle part of the clamp bracket 20145, and a gripper 20144 is installed on the other side of the connecting rod 20143, the opening angle of the gripper 20144 is an obtuse angle, the gripper 2144 is symmetrical with respect to the center line of the driving source 20141, and the angle of the symmetrical gripper 20144 after unfolding is an obtuse angle, which is used to increase the fault tolerance space of the clamping position, that is, the large angle after unfolding increases the clamping range and improves the fault tolerance.

[0064] The driving source 1 20131 and the driving source 2 20141 are preferably pneumatic cylinders or electric telescopic cylinders, and are controlled by a unified PLC and powered by external energy.

[0065] Operation process:

[0066] By installing the whole plate 206 at the front end of the robot arm 102, and making the robot arm 102 preferably a 6-axis robot arm, the upper clamp 2014 and the lower clamp 2022 are installed on the surface of the robot arm 102 in sequence from top to bottom;

[0067] The erected main hanger 204 is matched to the internal position of the lower clamp 2022 by manual or auxiliary identification, so that the lower clamp 2022 corresponds to the position of the clamping opening 2043 and is clamped under the push of the robot 102, so that the opening direction of the hook head 2041 is the same as the opening direction of the lower clamp 2022. When it is necessary to hang the primary hanger 301 and the main hanger 204, the whole plate 206 at the front end of the robot 102 follows the primary hanger 301 that arrives at the follow-up position of the robot 102 within a predetermined time to a preset height. The following movement of the robot arm 102 makes the main hanger 204 and the lifting ring 302 held by the lower clamping jaw 2022 at the front end of the robot arm 102 maintain relatively consistent positions, and the upper clamping jaw 2014 on the surface of the whole plate 206 first contacts the rod of the primary hanger 301 with a clamping gap under the push of the robot arm 102, so that the upper clamping jaw 2014 can clamp the rod of the primary hanger 301 and complete the positioning. The existence of the gap makes it easier for the upper clamping jaw 2014 to move up and down along the rod of the primary hanger 301, and reduces the shaking of the primary hanger 301 under the clamping of the upper clamping jaw 2014.

[0068] Of course, in order to ensure a constant clamping height, the auxiliary part 2011 can identify the preset height after the main hanger 204 is clamped and feedback to the mechanical arm 102 for comparison and adjustment with the preset height, so that the hook head 2041 of the main hanger 204 can correspond to the center of the bottom ring 302 of the primary hanger 301 more accurately after clamping, and the clearance clamping of the upper clamping jaw 2014 relative to the rod of the primary hanger 301 also facilitates the upper clamping jaw 2014 to adjust its position up and down relative to the rod of the primary hanger 301. After the primary hanger 301 is clamped by the upper clamping jaw 2014, the upper clamping jaw 2014 can be adjusted to the position of the primary hanger 301. 014 moves downward along the rod of the primary hanger 301 to loosen the lower jaw 2022 that clamps the main hanger 204, so that the hook head 2041 located inside the ring 302 falls and contacts the ring 302, thereby completing the hanging of the primary hanger 301 at the bottom of the suspension chain. It should be noted that, by designing the installation position of the primary hanger 301 relative to the suspension chain, the hanging mouth of the ring 302 always faces the openings of the lower jaw 2022 and the hook head 2041, that is, the hanging mouth of the ring 302 is always outward, so that the ring 302 is parallel to the forward direction of the suspension chain.

[0069] As for the ground transporter, the robot arm 102 uses the upper clamp 2014 to clamp the rod of the primary hanger 301 and the lower clamp 2022 to clamp the clamping port 2043 during the process of following from the starting point to the end. After clamping, the robot arm 102 lifts the main hanger 204 to release the contact between the hook head 2041 and the lifting ring 302. As the robot arm 102 drives the main hanger 204 to tilt and the suspension chain to move, the hook head 2041 and the lifting ring 302 are relatively separated, and then the plug block 2042 at the bottom of the main hanger 204 clamped by the lower clamp 2022 is pushed by the robot arm 102 to be inserted into the top of the plug rod in the ground transporter, so that the plug block 2042 is plugged and matched with the plug rod, thereby completing the secondary transfer between the suspension chain and the ground.

[0070] Embodiment 2: Figure 1-11 As shown, this embodiment is different from the first embodiment in that:

[0071] Specifically, the movable plate 202 is symmetrically arranged with respect to the center line of the fixed plate 201. The movable plate 202 on the left is fixedly connected by an open frame 2021 and a lower clamp 2022, and the movable plate 202 on the right is fixedly connected by an open frame 2021 and a closed frame 2023. An upper clamp 2014 is fixedly connected to the top of the fixed plate 201, and two lower clamps 2022 are respectively used to clamp the upper and lower ends of the main hanger 204.

[0072] Specifically, the opening width of the open frame 2021 is greater than the width of the sleeve rod 2051, and the opening space of the open frame 2021 is used to accommodate the sleeve rod 2051;

[0073] An empty slot is provided at the center of the closing frame 2023 so that the empty slot corresponds to the hanger 2044, reducing the impact of the movement of the closing frame 2023 on the parts on the hanger 2044, so that the protruding parts can pass through the empty slot, and a protrusion 20231 is provided on the side of the closing frame 2023 opposite to the lower clamp 2022.

[0074] Specifically, two vertical grooves 2015 are symmetrically provided on the surface of the fixed plate 201, and the fixed plate 201 is slidably connected to the slider on the back of the sleeve rod 2051 through the vertical grooves 2015. A pulling plate 2016 is fixedly connected to the surface of the top of the fixed plate 201, and the pulling plate 2016 is elastically connected to the driven plate 2053 through an elastic member 2017. The driven plate 2053 is fixedly connected to the side of the sleeve rod 2051, and the elastic member 2017 is preferably a spring.

[0075] Specifically, a through opening is provided at the bottom of the sleeve rod 2051 , an inner rod 205 is movably provided inside the through opening, a flat plate is installed on the top of the inner rod 205 , and the area of ​​the flat plate is larger than the area of ​​the through opening at the bottom of the sleeve rod 2051 .

[0076] Specifically, a limiting column 2052 is installed on the surface of the sleeve rod 2051 , and a lower clamping claw 2022 is provided between the vertex of the limiting column 2052 protruding from the surface of the sleeve rod 2051 and the open frame 2021 .

[0077] Specifically, a control plate 203 is fixedly mounted on the bottom of the inner rod 205, and the traction groove 2031 is symmetrical with the midline of the control plate 203;

[0078] The bottom of the control board 203 is fixedly connected to the output shaft of the driving source 20131, and the bottom of the driving source 20131 is fixedly connected to the mounting block 2013, and the driving source 20131 is fixedly connected to the fixed board 201 through the mounting block 2013;

[0079] The traction groove 2031 is composed of an integrated structure of an inclined groove 20311 and a vertical retaining groove 20312 .

[0080] The rest of the structure is the same as that of the first embodiment.

[0081] Operation process:

[0082] Through manual or auxiliary identification of the auxiliary part 2011, the erected main hanger 204 is matched to the position of the lower clamping jaw 2022, so that the lower clamping jaw 2022 corresponds to the position of the clamping opening 2043, and then the robot arm 102 pushes the lower clamping jaw 2022 to clamp the clamping opening 2043, and makes the opening direction of the hook head 2041 the same as the opening direction of the lower clamping jaw 2022. When it is necessary to hang the primary hanger 301 and the main hanger 204, the fixed plate 201 at the front end of the robot arm 102 follows the primary hanger 301 that arrives at the following position of the robot arm 102 within a predetermined time and moves to a preset height, so that The main hanger 204 and the ring 302 held by the lower clamp 2022 at the front end of the mechanical arm 102 are kept consistent, so that the hook head 2041 clamped by the lower clamp 2022 at the top corresponds to the upper side of the ring 302, that is, there is a gap of less than 2 cm between the hook tip of the hook head 2041 and the surface of the ring 302, and the upper clamp 2014 on the surface of the fixed plate 201 is firstly contacted with the rod of the primary hanger 301 by the push of the mechanical arm 102, so that the upper clamp 2014 can complete the positioning after clamping the rod of the primary hanger 301, and reduce the shaking of the primary hanger 301 under the clamping of the upper clamp 2014;

[0083] Then, the driving source 20131 is started, so that the driving source 20131 pulls the control board 203 down, and the inner rod 205 on the top of the control board 203 is movably installed inside the sleeve rod 2051, so that the sleeve rod 2051 can assist the control board 203 in vertical movement through the restriction of the sleeve rod 2051, thereby reducing the shaking of the control board 203, and the control board 203 moves downward under the driving of the driving source 20131, so that the control board 203 guides the trigger rod 2032 to move toward the middle through the inclined groove 20311 on its surface, so that the two movable plates 202 at the bottom of the trigger rod 2032 are closed toward the middle along the cross rail 2012, and the closing of the two movable plates 202 toward the middle will drive the main hanger 204 clamped by the lower clamp 2022 to move horizontally, thereby reducing the unexpected angle deviation shaking caused by the lower clamp 2022 driving the main hanger 204 to hang through its horizontal movement;

[0084] When the trigger rod 2032 moves to the connection between the inclined groove 20311 and the retaining groove 20312, the hook head 2041 passes over the hanging opening of the lifting ring 302, and the position between the hook head 2041 and the clamping opening 2043 on the upper side of the main hanger 204 contacts the protrusion 20231 of the closing frame 2023, so that the bottom of the lifting ring 302 is constrained within the combined space surrounded by the hook head 2041, the protrusion 20231 and the rod part on the top side of the main hanger 204, so that the opening of the hook head 2041 corresponding to the bottom of the lifting ring 302 is blocked and restricted by the protrusion 20231, thereby reducing the accidental unhooking phenomenon caused by the tilting and shaking of the hook head 2041 when the lower clamp 2022 releases the main hanger 204. At this time, there is a certain distance between the hook tip position of the hook head 2041 and the protrusion 20231.

[0085] Of course, in order to make the trigger rod 2032 move more stably inside the traction groove 2031 , a universal joint or a universal joint may be added at the connection between the trigger rod 2032 and the movable plate 202 .

[0086] Then, the driving source 20131 continues to move, and the driving source 20131 drives the control board 203 to continue to move downward, so that the trigger rod 2032 moves to the inside of the retaining groove 20312, so that the hook head 2041 maintains the state of the combined space relative to the lifting ring 302, and the control board 203 continues to pull the inner rod 205 downward. When the trigger rod 2032 moves to the connection between the inclined groove 20311 and the retaining groove 20312, the flat plate on the top surface of the inner rod 205 at the top of the control board 203 has contacted the top surface of the through hole at the bottom of the sleeve rod 2051. When the plate 203 moves downward and the trigger rod 2032 moves to the inside of the retaining groove 20312, the control plate 203 will pull the sleeve rod 2051 to move through the inner rod 205, and finally the limiting column 2052 will move to the left and right sides after the hook head 2041 passes through the lifting ring 302, and will not contact the lifting ring 302. There is a gap between the two, so that the limiting column 2052 increases the constraint on the outside of the hook head 2041 for a second time, preventing the robot arm 102 from accidentally shaking during the following process, and through multiple protections, the problem of the hook head 2041 being unhooked after hooking is reduced.

[0087] However, the hook head 2041 may have an opening that is too large during long-term use, causing the hook tip and the hook back of the hook head 2041 to move outward and expand. After expanding to a certain extent, the hook head 2041 maintains a combined space relative to the lifting ring 302, and the hook tip and the hook back of the hook head 2041 are located at the bottom of the limiting column 2052. When the limiting column 2052 moves downward and pulls, the expanded position is pressed down and retracted by the limiting column 2052, thereby reducing the hook-off phenomenon caused by the hook head 2041 opening being too large for long-term use. In addition, the main hanger 204 is clamped downward during the above process. The claw 2022 clamps and the main hanger 204 is restricted by the protrusion 20231, which makes the retraction of the hook head 2041 more stable and improves the protection level of the hook head 2041. After the calibration is completed, the upper clamp 2014 is moved down along the rod of the primary hanger 301 by the mechanical arm 102 to loosen the lower clamp 2022 that clamps the main hanger 204, so that the part of the hook head 2041 located inside the ring 302 falls and contacts the ring 302. After completion, the pushing source 20131 is reset, thereby completing the hanging of the primary hanger 301 at the bottom of the suspension chain.

[0088] The secondary suspension transfer in this embodiment is the same as the secondary suspension transfer in the first embodiment, mainly through the cooperation of the upper clamp 2014 and the lower clamp 2022 as well as the robot arm 102.

Claims

1. A robot arm for hanging, characterized in that: include: A main unit (1), the main unit (1) comprising a mechanical arm (102), a suspension unit (3) being arranged on the side of the mechanical arm (102), the suspension unit (3) comprising a primary sling (301) arranged on the side of the mechanical arm (102) and a sling ring (302) movably connected to the bottom of the primary sling (301), and further comprising: A hand unit (2), the hand unit (2) comprising an upper clamp (2014) for clamping a primary hanger (301) in sequence and a lower clamp (2022) for clamping a main hanger (204), a movable plate (202) being symmetrically and movably provided at the bottom of the upper clamp (2014), a lower clamp (2022) being installed at the side of the movable plate (202) on one side, and a closing frame (2023) being installed at the side of the movable plate (202) on the other side, the movable plate (202) being movably connected to a traction groove (2031) via a trigger rod (2032), the traction groove (2031) being arranged through the inside of a control panel (203), and a limiting column (2052) for restraining the main hanger (204) being movably provided at the top of the control panel (203); The hand unit (2) further comprises a fixed plate (201), the fixed plate (201) being movably connected to the front end of the mechanical arm (102), an auxiliary component (211) being installed on the top of the fixed plate (201), and a horizontal rail (212) being installed laterally on the surface of the fixed plate (201); The fixed plate (201) is movably connected to the movable plate (202) via a cross rail (2012), and a sleeve rod (2051) is movably connected to the surface of the fixed plate (201); The movable plate (202) is symmetrically arranged about the midline of the fixed plate (201); the movable plate (202) on the left side is fixedly connected via an open frame (2021) and a lower clamp (2022); and the movable plate (202) on the right side is fixedly connected via an open frame (2021) and a closed frame (2023); An upper clamp (214) is fixedly connected to the top of the fixed plate (201), and two lower clamps (222) are provided for clamping the upper and lower ends of the main hanger (204) respectively; The opening width of the opening frame (2021) is greater than the width of the sleeve rod (2051); An empty slot is provided at the center of the closing frame (2023), and a protrusion (20231) is provided on a side of the closing frame (2023) opposite to the lower clamping jaw (2022); The surface of the fixed plate (201) is symmetrically provided with two vertical grooves (2015); the fixed plate (201) is slidably connected to a slider on the back of the sleeve rod (2051) via the vertical grooves (2015); a pulling plate (2016) is fixedly connected to the surface of the top of the fixed plate (201); the pulling plate (2016) is elastically connected to a driven plate (2053) via an elastic member (2017); and the driven plate (2053) is fixedly connected to the side of the sleeve rod (2051); The bottom of the sleeve rod (2051) is provided with a through opening, an inner rod (205) is movably provided inside the through opening, a flat plate is installed on the top of the inner rod (205), and the area of ​​the flat plate is larger than the area of ​​the through opening at the bottom of the sleeve rod (2051); A control plate (203) is fixedly mounted on the bottom of the inner rod (205), and the traction groove (2031) is connected to the control plate (203). The control plate (203) is symmetrical about the midline; the bottom of the control plate (203) is fixedly connected to the output shaft of the driving source 1 (20131); the bottom of the driving source 1 (20131) is fixedly connected to a mounting block (213); the driving source 1 (20131) is fixedly connected to the fixed plate (201) via the mounting block (2013); The traction groove (2031) is composed of an integrated structure of an inclined groove (20311) and a vertical retaining groove (20312).

2. The robot arm for transfer and hanging according to claim 1, characterized in that: A limiting column (2052) is installed on the surface of the sleeve rod (2051), and a lower clamping claw (2022) is provided between the vertex of the limiting column (2052) protruding from the surface of the sleeve rod (2051) and the opening frame (2021).

3. The robot arm for transfer and hanging according to claim 2, characterized in that: The main hanger (204) comprises a hook head (2041) at the top and a plug head (2042) at the bottom, and a hanger (2044) is installed in the middle of the main hanger (204); A clamping opening (2043) for clamping by the lower clamping claw (2022) is provided between the hanger (2044) and the hook head (2041), and between the hanger (2044) and the plug head (2042); the clamping opening (2043) is opened on the surface of the rod body of the main hanger (204).

4. A gripper mechanism for a swivel robot, applied to a swivel robot arm as claimed in any one of claims 1 to 3, characterized in that: include; An upper clamping jaw (2014), wherein the upper clamping jaw (2014) and the lower clamping jaw (2022) have the same structure; The upper clamp (2014) includes a second driving source (20141), a clamp bracket (20145) is fixedly installed on the surface of the second driving source (20141), the output shaft of the second driving source (20141) is movably connected through a connecting block (20142) and one side of a connecting rod (20143), the middle part of the connecting rod (20143) is rotatably installed on the middle part of the clamp bracket (20145), and a gripper (2144) is installed on the other side of the connecting rod (20143), the opening angle of the gripper (20144) is an obtuse angle, the gripper (2144) is symmetrical with respect to the center line of the second driving source (20141), and the angle of the symmetrical gripper (20144) after being unfolded is an obtuse angle, which is used to increase the tolerance space of the clamping position.

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