A handling robot for automobile parts processing

Abstract

The present invention discloses a handling robot for automobile parts processing, which relates to the technical field of industrial robots and includes a suspension column and a first robotic arm. The first robotic arm is rotatably connected to the top end of the suspension column. One end of the first robotic arm away from the suspension column is rotatably connected to a second robotic arm. One end of the second robotic arm away from the first robotic arm is equipped with a flexible cable. The bottom end of the flexible cable is fixedly connected to an actuator. A connecting column is fixedly connected to the top surface of the actuator. One end of the connecting column away from the actuator is equipped with an operating rod. A wire harness pipeline is spirally sleeved on the flexible cable; by pulling the four corners of the actuator with four flexible wires, compared with the existing state where only the flexible cable is singly connected to the center of the actuator to bear force, the connection of the four flexible wires can assist in fixing the posture of the actuator, reduce swinging, facilitate handling and placement, and ensure the stability and safety of the goods handling process.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robots, and particularly to a handling robot for processing auto parts. Background Technique

[0002] A flexible cable-assisted manipulator is an industrial robot used to assist workers in handling and assembling auto parts. It mainly consists of a suspension device, a flexible cable, a robotic arm, and an end effector.

[0003] However, when using a flexible cable-assisted manipulator, the self-gravity and inertia of goods such as car glass and car doors, as well as the influence of the external environment, will cause the flexible cable to swing during movement. At the same time, the existing flexible cable-assisted manipulators are usually designed in a human-machine collaborative working mode, that is, the operator needs to support the end effector at the bottom of the flexible cable. When the flexible cable swings, in order to keep the end effector stable, the operator needs to continuously adjust their own strength and posture. This not only endangers the operation safety of the operator. For example, the flexible cable swings and causes the end effector to hit the operator, or the goods fall and injure the operator. At the same time, the flexible cable swings and causes the end effector to swing, affecting the placement of auto parts, greatly affecting the handling efficiency during the processing of auto parts.

[0004] Therefore, a handling robot for processing auto parts is proposed. Summary of the Invention

[0005] The purpose of the present invention is to provide a handling robot for processing auto parts to solve the problems raised in the above background technique.

[0006] To achieve the above object, the present invention provides the following technical solution: A handling robot for automobile parts processing, comprising a suspension column and a first robotic arm. The first robotic arm is rotatably connected to the top of the suspension column. A second robotic arm is rotatably connected to the first robotic arm. A flexible cable is installed at one end of the second robotic arm away from the first robotic arm. The bottom end of the flexible cable is fixedly connected to an actuator. A connecting column is fixedly connected to the top surface of the actuator. An operating rod is installed on the connecting column. A wiring harness pipeline is provided outside the flexible cable. It is characterized in that two connecting rods are fixedly connected to one end of the second robotic arm away from the first robotic arm. A rotating ring is slidably connected to the bottom ends of the two connecting rods. Four extension rods are fixedly connected to the outer ring surface of the rotating ring in a circular array. One end of each of the four extension rods away from the rotating ring is rotatably connected to a flexible wire. Four first side plates and four second side plates are fixedly connected to the top surface of the actuator in a circular array. A rotating shaft is rotatably arranged on the first side plate. One end of the rotating shaft away from the first side plate is rotatably connected to the adjacent second side plate. A rotating column is fixedly connected to the end of the rotating shaft passing through the first side plate. A spiral spring is arranged between the rotating column and the adjacent first side plate. One end of the flexible wire away from the extension rod is fixedly connected to the adjacent rotating shaft. A gear is fixedly connected to the end of the rotating shaft passing through the second side plate. Two support plates are symmetrically and fixedly connected to one side of the second side plate close to the gear. A sliding column is slidably connected to each of the two support plates. A connecting plate is fixedly connected to the top end of each of the two sliding columns. A return spring is sleeved on each of the two sliding columns. A toothed plate is fixedly connected between the two connecting plates on the same second side plate. There are four toothed plates in total. The toothed plate meshes with the adjacent gear. An annular bearing rod is fixedly connected between the four toothed plates. An expansion rod is fixedly connected to one side of the operating rod close to the connecting column. A handle is fixedly connected to the end of the expansion rod away from the operating rod. A pull rope is fixedly connected between the handle and the annular bearing rod.

[0007] Further, the spiral spring is sleeved outside the adjacent rotating column.

[0008] Further, the two ends of the return spring are respectively fixedly connected to the adjacent connecting plate and the support plate.

[0009] Further, two pulleys are fixedly connected to the lower surface of the connecting column.

[0010] Further, the flexible wire is wound around the adjacent rotating shaft.

[0011] Further, the actuator includes a turntable and a bearing plate. The turntable is rotatably arranged inside the bearing plate. One end of the flexible cable away from the first robotic arm is installed on the turntable. The first side plate, the second side plate and the connecting column are fixedly connected to the bearing plate.

[0012] Compared with the prior art, the beneficial effects of the present invention are:

[0013] By pulling the four corners of the actuator with four flexible wires, compared with the existing state where only a single-point connection of the flexible cable to the center of the actuator is relied on for force application, the connection of the four flexible wires can assist in fixing the posture of the actuator, reduce swinging, facilitate handling and placement, and ensure the stability and safety during the handling of goods.

[0014] After stopping pressing the handle, the four rotating shafts can be locked, that is, the lengths of the four flexible wires extending out cannot be freely adjusted for telescoping, and there is no need for the operator to apply force to maintain it, thus greatly reducing the physical consumption of the operator. At the same time, it can reduce the shaking of the actuator and the car door, and avoid the car door falling or the operator being injured due to excessive shaking amplitude. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a three-dimensional schematic diagram of the overall device of the present invention;

[0016] Figure 2 It is a three-dimensional schematic diagram of the structures such as the second robotic arm, connecting rod, swivel ring, etc. of the present invention;

[0017] Figure 3 It is a three-dimensional schematic diagram of the structures such as the extension rod, flexible wire, etc. of the present invention;

[0018] Figure 4 For the present invention Figure 3 The enlarged schematic diagram at position A in;

[0019] Figure 5 For the present invention Figure 3 The enlarged schematic diagram at position B in;

[0020] Figure 6 It is a three-dimensional schematic diagram of the structures such as the second robotic arm, flexible cable, etc. of the present invention;

[0021] Figure 7 It is a three-dimensional schematic diagram of the structures such as the actuator, telescopic rod, handle, etc. of the present invention;

[0022] Figure 8 For the present invention Figure 7 The enlarged schematic diagram at position C in;

[0023] Figure 9 It is a three-dimensional schematic diagram of the structures such as the toothed plate and annular carrier rod of the present invention.

[0024] In the figure:

[0025] 11, suspension column; 12, first robotic arm; 13, second robotic arm; 14, flexible cable; 15, actuator; 16, connecting column; 17, operating rod; 18, wire harness pipeline;

[0026] 21, connecting rod; 22, swivel; 23, extension rod; 24, flexible wire; 25, side plate one; 26, side plate two; 27, rotating shaft; 28, rotating column; 29, hairspring; 210, gear; 211, support plate; 212, sliding column; 213, connecting plate; 214, return spring; 215, toothed plate; 216, annular bearing rod; 217, telescopic rod; 218, handle; 219, pulley; 220, pulling rope. Detailed implementation manners

[0027] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0028] Embodiments provided by the present invention:

[0029] As Figures 1 to 9 shown, a handling robot for automobile parts processing includes a suspension column 11 and a first robotic arm 12. The first robotic arm 12 is rotatably connected to the top end of the suspension column 11. One end of the first robotic arm 12 away from the suspension column 11 is rotatably connected to a second robotic arm 13. A flexible cable 14 is installed at one end of the second robotic arm 13 away from the first robotic arm 12. The bottom end of the flexible cable 14 is fixedly connected to an actuator 15. A connecting column 16 is fixedly connected to the top surface of the actuator 15. An operating rod 17 is installed at one end of the connecting column 16 away from the actuator 15. A spiral wire harness pipeline 18 is sleeved outside the flexible cable 14.

[0030] The first robotic arm 12 is driven to rotate by a motor on the suspension column 11. The second robotic arm 13 is driven to rotate by a motor on the first robotic arm 12. The flexible cable 14 is wound and unwound by a motor on the second robotic arm 13. The structures and connection manners of the above motors, the first robotic arm 12, the second robotic arm 13, the suspension column 11 and the flexible cable 14 are all prior arts. The above motors are all electrically connected to an external controller.

[0031] A suction cup required for handling is externally connected to the bottom of the actuator 15. The suction cup here is a prior art. The actuator 15 here transports an automobile door (not shown in the figure) through the suction cup.

[0032] During use, an operator controls the motors through an external controller, thereby controlling the rotation of the first robotic arm 12 and the second robotic arm 13 and controlling the winding and unwinding of the flexible cable 14, and adsorbing the automobile door through the suction cup for handling.

[0033] One end of the second robotic arm 13 far from the first robotic arm 12 is fixedly connected with two connecting rods 21. The bottom ends of the two connecting rods 21 are jointly and slidably connected with a rotating ring 22, which is convenient for the operator to drive the actuator 15 to rotate through the rotating ring 22. Four extension rods 23 are fixedly connected to the outer ring surface of the rotating ring 22 in an annular array. One end of each of the four extension rods 23 far from the rotating ring 22 is rotatably connected with a flexible wire 24. Four side plates one 25 and four side plates two 26 are symmetrically and fixedly connected to the top surface of the actuator 15 in an annular array. A rotating shaft 27 is rotatably arranged on the side plate one 25. One end of the rotating shaft 27 far from the side plate one 25 is rotatably connected with the adjacent side plate two 26. One end of the rotating shaft 27 passing through the side plate one 25 is fixedly connected with a rotating column 28. A clockwork spring 29 is sleeved outside the rotating column 28. Two ends of the clockwork spring 29 are respectively fixedly connected with the adjacent rotating column 28 and the side plate one 25. One end of the rotating shaft 27 passing through the side plate two 26 is fixedly connected with a gear 210. Two support plates 211 are symmetrically and fixedly connected to the side of the side plate two 26 close to the gear 210. A sliding column 212 is slidably connected to each of the two support plates 211. One end of each of the two sliding columns 212 is fixedly connected with a connecting plate 213. A return spring 214 is sleeved on each of the two sliding columns 212. Two ends of the return spring 214 are respectively fixedly connected with the adjacent connecting plate 213 and the support plate 211. A toothed plate 215 is fixedly connected between the two connecting plates 213 on the same side plate two 26. There are four toothed plates 215 in total. The toothed plate 215 meshes with the adjacent gear 210. An annular bearing rod 216 is fixedly connected between the four toothed plates 215. One side of the operating rod 17 close to the connecting column 16 is fixedly connected with a telescopic rod 217. The end of the telescopic rod 217 connected to the operating rod 17 is a fixed end, and the end of the telescopic rod 217 far from the operating rod 17 is a telescopic end. The telescopic end of the telescopic rod 217 is fixedly connected with a handle 218. Two pulleys 219 are fixedly connected to the lower surface of the connecting column 16. A pulling rope 220 is fixedly connected between the handle 218 and the annular bearing rod 216.

[0034] As Figure 8 shown, one end of the flexible wire 24 far from the extension rod 23 is fixedly connected to the adjacent rotating shaft 27, and the flexible wire 24 is wound around the rotating shaft 27.

[0035] It should be noted that Figure 8 the tooth pitches of the toothed plate 215 and the gear 210 are only for illustration. In actual application, in order to facilitate the meshing and clamping between the toothed plate 215 and the gear 210, the tooth pitch between the teeth is smaller.

[0036] As Figure 5 、 Figure 7 shown, the pulling rope 220 is in contact with the two pulleys 219. The two pulleys 219 play a role in changing the direction of the pulling rope 220, that is, converting the inclined movement of the pulling rope 220 driven by the handle 218 into the vertical upward movement of the pulling rope 220 driving the annular bearing rod 216.

[0037] Among them: The clockwork spring 29 is always in an elastic deformation state, and its function is to facilitate the winding of the flexible wire 24 around the rotating shaft 27.

[0038] Such as Figure 5 And Figure 8 As shown, the actuator 15 includes two parts, namely a turntable connected to the flexible cable 14, and a carrier plate connected to the first side plate 25, the second side plate 26 and the connecting column 16. The turntable is rotatably arranged between the carrier plate to prevent the flexible cable 14 from being elastically twisted when the actuator 15 rotates to adjust the position of the automotive parts to be carried, and at the same time can avoid the situation of the wiring harness pipeline 18 being knotted due to the rotation of the actuator 15.

[0039] In the initial state, that is, when the automotive door is not carried by the suction cup, at this time, the telescopic end of the telescopic rod 217 is located on the side far from the fixed end, that is, the telescopic rod 217 is in the maximum extended state, the toothed plate 215 and the gear 210 are engaged and clamped with each other, and the return spring 214 does not produce elastic deformation.

[0040] When in use, the operator holds the operating rod 17 and grabs the automotive door at the bottom of the actuator 15 with the suction cup. After completion, the operator makes the flexible cable 14 wind up through an external controller, so that the automotive door is in a suspended state. Subsequently, the operator controls the rotation of the first robotic arm 12 and the second robotic arm 13 through the external controller, so that the actuator 15 drives the automotive door to move to the position where it needs to be carried and placed. During this process, for situations such as the shaking of the automotive door and encountering obstacles on the road, the operator needs to adjust the posture and direction of the automotive door.

[0041] At this time, the operator needs to apply force to the operating rod 17 to adjust the posture of the actuator 15, such as the inclination angle and orientation. When the actuator 15 needs to adjust its posture, the operator presses the handle 218 in the direction close to the operating rod 17, and the handle 218 drives the pull rope 220 to move upward, so that the pull rope 220 pulls the annular carrier rod 216 upward.

[0042] When the annular bearing rod 216 moves upward, the annular bearing rod 216 drives the four tooth plates 215 to move upward synchronously, so that the tooth plates 215 no longer mesh with the engaging gear 210, and at the same time, the tooth plates 215 drive the connecting plates 213 to move upward synchronously, and the connecting plates 213 move upward while driving the sliding column 212 to move upward synchronously. At this time, the sliding column 212 slides upward on the support plate 211 and elastically stretches the reset spring 214. At this time, the rotation of the rotating shaft 27 and the rotating column 28 is no longer restricted by the tooth plates 215. At this time, the spring spring 29 elastically contracts, driving the rotating column 28 and the rotating shaft 27 to rotate, so that the flexible wire 24 that is loosened after the actuator 15 is lifted is wound around the rotating shaft 2 7, at this time, the operator keeps pressing the handle 218 and adjusts the posture of the actuator 15 through the operating rod 17. The operating rod 17 can drive the supporting plate, flexible wire 24, extension rod 23 and swivel ring 22 of the actuator 15 to rotate relative to the mechanical arm 2 13 to adjust the direction of the car door, and the operating rod 17 can drive the actuator 15 to rotate around the lower end of the flexible cable 14 to adjust the tilt angle of the car door. When the actuator 15 is rotated to adjust the tilt angle, the four flexible wires 24 are kept in a taut state under the action of the four springs 29, so that the four flexible wires 24 apply tension to the four positions of the supporting plate of the actuator 15. The longer the flexible wire 24 is stretched, that is, the greater the distance between the rotating shaft 27 and the corresponding extension rod 23, the greater the deformation degree of the clockwork spring 29 corresponding to the flexible wire 24, and thus the greater the force of the flexible wire 24 on the actuator 15. By using four flexible wires 24 to assist in pulling the actuator 15, the operator can be helped to stabilize the actuator 15, reduce the labor intensity of the operator, and reduce the shaking of the actuator 15 and the car door, thereby avoiding the car door falling off or the operator being injured due to excessive shaking.

[0043] After the adjustment is completed, the operator no longer presses the handle 218. Under the elastic contraction of the reset spring 214, the latch plate 215 and the annular bearing rod 216 move downward, and then the latch plate 215 contacts the adjacent gear 210 again, and the tooth surface of the latch plate 215 is squeezed with the tooth surface of the gear 210. The gear 210 is limited by the latch plate 215, and then the four rotating shafts 27 are limited, that is, the extended lengths of the four flexible lines 24 cannot be freely telescopically adjusted. The four corners of the actuator 15 are pulled by the four flexible lines 24 to reduce the shaking of the actuator 15 and assist in fixing the tilt angle of the actuator 15. The operator does not need to maintain the tilt angle of the actuator 15 and the car door all the time, which makes it more convenient to use.

[0044] After the attitude adjustment of the actuator 15 is completed, the four corners of the actuator 15 are pulled by the flexible wires 24 at this time. Compared with the existing state where only the single-point connection center of the flexible cable 14 and the actuator 15 is stressed, the connection of the four flexible wires 24 can assist in fixing the attitude of the actuator 15, reduce swing, and facilitate handling and placement.

[0045] It should be noted that after the car door is transported to the designated position by this device, the car door is placed at an appropriate height position by winding and unwinding the flexible cable 14.

[0046] When adjusting the height of the car door by winding and unwinding the flexible cable 14, the operator presses the handle 218 again to unlock the four flexible wires 24, so that the four flexible wires 24 always remain taut during the process of adjusting the height of the car door. At the same time, when the operator presses the handle 218, by applying pressure to the operating rod 17, the inclination angle between the actuator 15 and the car door is adjusted to ensure the stability and safety of the cargo handling process.

[0047] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising a..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the element.

[0048] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A handling robot for automobile parts processing, comprising a suspension column (11) and a first robotic arm (12). The first robotic arm (12) is rotatably connected to the top of the suspension column (11). A second robotic arm (13) is rotatably connected to the first robotic arm (12). A flexible cable (14) is installed at one end of the second robotic arm (13) away from the first robotic arm (12). An actuator (15) is fixedly connected to the bottom end of the flexible cable (14). A connecting column (16) is fixedly connected to the top surface of the actuator (15). An operating rod (17) is installed on the connecting column (16). A wiring harness pipeline (18) is arranged outside the flexible cable (14), and it is characterized in that, One end of the second robotic arm (13) far from the first robotic arm (12) is fixedly connected with two connecting rods (21). The bottom ends of the two connecting rods (21) are jointly and slidably connected with a rotating ring (22). Four extension rods (23) are fixedly connected to the outer ring surface of the rotating ring (22) in an annular array. One end of each of the four extension rods (23) far from the rotating ring (22) is rotatably connected with a flexible wire (24). Four side plates one (25) and four side plates two (26) are fixedly connected to the top surface of the actuator (15) in an annular array. A rotating shaft (27) is rotatably arranged on the side plate one (25). One end of the rotating shaft (27) far from the side plate one (25) is rotatably connected with the adjacent side plate two (26). One end of the rotating shaft (27) passing through the side plate one (25) is fixedly connected with a rotating column (28). A clockwork spring (29) is arranged between the rotating column (28) and the adjacent side plate one (25). One end of the flexible wire (24) far from the extension rod (23) is fixedly connected to the adjacent rotating shaft (27). One end of the rotating shaft (27) passing through the side plate two (26) is fixedly connected with a gear (210). Two support plates (211) are symmetrically and fixedly connected to the side of the side plate two (26) close to the gear (210). A sliding column (212) is slidably connected to each of the two support plates (211). A connecting plate (213) is fixedly connected to the top end of each of the two sliding columns (212). A return spring (214) is sleeved on each of the two sliding columns (212). A toothed plate (215) is fixedly connected between the two connecting plates (213) on the same side plate two (26). Four toothed plates (215) are provided. The toothed plate (215) meshes with the adjacent gear (210). An annular bearing rod (216) is fixedly connected between the four toothed plates (215). One side of the operating rod (17) close to the connecting column (16) is fixedly connected with a telescopic rod (217). One end of the telescopic rod (217) far from the operating rod (17) is fixedly connected with a handle (218). A pull rope (220) is fixedly connected between the handle (218) and the annular bearing rod (216).

2. The handling robot for automobile parts processing according to claim 1, wherein, The clockwork spring (29) is sleeved on the outside of the adjacent rotating column (28).

3. The handling robot for automotive parts processing according to claim 1, wherein, The two ends of the return spring (214) are respectively fixedly connected with the adjacent connecting plate (213) and the support plate (211).

4. A handling robot for automobile parts processing according to claim 1, characterized in that, Two pulleys (219) are fixedly connected to the lower surface of the connecting column (16).

5. A handling robot for automobile parts processing according to claim 1, characterized in that, The flexible wire (24) is wound around the adjacent rotating shaft (27).

6. The handling robot for automobile parts processing according to claim 1, characterized in that, The actuator (15) includes a turntable and a bearing plate. The turntable is rotatably arranged inside the bearing plate. One end of the flexible cable (14) far from the first robotic arm (12) is installed on the turntable. The side plate one (25), the side plate two (26) and the connecting column (16) are fixedly connected to the bearing plate.

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