Suspension manipulator and conveying line thereof

Abstract

The invention discloses a hanging manipulator and a conveying line thereof, and belongs to the technical field of intelligent conveying lines, the hanging manipulator comprises a cantilever, a hanging arm, a connecting box and a linkage assembly, and the top of the cantilever is used for being connected with a traction chain of the hanging conveying line; a sphere is fixed at the top of the hanging arm; a hanging part is arranged at the bottom of the hanging arm; the connecting box is fixed at the bottom of the cantilever; the linkage assembly is arranged in the connecting box. The hanging arm and the cantilever are connected through the connecting box, the ball seat and the ball pressing cover are arranged in the connecting box, the hanging arm and the cantilever have quick release and self-locking functions, and when an object is heavier, the ball pressing cover and the ball seat are matched to clamp the ball more tightly, so that self-locking connection of the hanging arm and the cantilever is achieved, when the ball is clamped, the hanging arm and the cantilever are stably connected, and the service life of the hanging arm and the cantilever is prolonged. Swing of suspended articles can be reduced when the suspended conveying line conveys the articles, and stability is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent conveying line, in particular to a kind of suspension manipulator and its conveying line. BACKGROUND

[0002] In the industrial fields such as logistics transportation, automobile manufacturing, electronic component assembly, suspended conveying line becomes the core equipment of workpiece transfer because it can make full use of space and reduce ground equipment occupation. In the paint spraying link of electric vehicle controller shell, suspended conveying line is often used for conveying controller shell. In the existing suspended conveying line, a simple hook is often used to hang the eye ring on the traction chain to realize the suspension of the object. Although the hook is convenient to take off from the conveying line, it will cause the object to shake during conveying. When the conveying speed of the conveying line is fast, the shaking amplitude of the object will also increase, which may not only cause the collision and damage of the workpiece, but also cause the falling of the object. SUMMARY

[0003] In view of the above technical deficiencies, the purpose of the present application is to provide a kind of suspension manipulator and its conveying line, reduce the shaking of the object during suspended conveying.

[0004] To solve the above technical problems, the present application adopts the following technical scheme: the present application provides a kind of suspension manipulator, comprising: cantilever, the top of the cantilever is used to connect the traction chain of suspended conveying line; hanging arm, the top of the hanging arm is fixed with a ball, and the bottom of the hanging arm is provided with a suspension part; connecting box, the connecting box is fixed at the bottom of the cantilever, the connecting box is slidably installed with a ball pressing cover and a ball seat, the ball pressing cover and the ball seat are both provided with a spherical groove matched with the ball, and the ball seat is in the form of a ring with one side open; linkage assembly, set in the connecting box, when the ball is placed in the ball seat and pressed down the ball seat, the ball seat moves downward and drives the ball pressing cover to move downward through the linkage assembly and clamps the ball together with the ball seat.

[0005] Preferably, two guide rods are arranged in the connecting box, and a first connecting plate slidably installed on the two guide rods is fixed on the ball pressing cover;The second connecting plate slidably installed on the two guide rods is fixed on the ball seat.

[0006] Preferably, the linkage assembly comprises: first rack, fixed on the first connecting plate and parallel to the guide rod, the first gear meshing with the first rack is rotatably installed in the connecting box, and the auxiliary gear is fixed on one side of the first gear; second rack, fixed on the second connecting plate and parallel to the guide rod, the second gear meshing with the second rack is rotatably installed in the connecting box; A transmission gear is rotatably installed in the connecting box and simultaneously meshes with the second gear and the auxiliary gear; Wherein, the linear speed of the second gear edge is less than the linear speed of the first gear edge.

[0007] Preferably, a third connecting plate and a fourth connecting plate are slidably installed on the guide rod, the third connecting plate is fixedly connected with the top of the first rack, and the fourth connecting plate is fixedly connected with the top of the second rack.

[0008] Preferably, a limiting piece is fixedly arranged on the top of the third connecting plate, a pressing rod is hingedly arranged in the connecting box, a spring plate is fixedly arranged on the pressing rod, and a positioning groove matched with the limiting piece is arranged on the spring plate.

[0009] Preferably, the limiting piece comprises a roller rotatably installed on the top of the third connecting plate, and a tension spring for pulling back the pressing rod is arranged in the connecting box.

[0010] Preferably, a return spring is fixedly arranged on the guide rod between the bottom of the connecting box and the second connecting plate, and a limiting sleeve for limiting the extreme position of the downward movement of the second connecting plate is fixedly arranged in the connecting box.

[0011] Preferably, two guide plates are fixedly arranged on both sides of the ball seat opening, respectively, a gap for the hanging arm to pass through is left between the two guide plates, and the end of the guide plate away from the ball seat is upwardly inclined.

[0012] Preferably, the cantilever comprises a cylinder body and a piston rod, a piston head at the top of the piston rod is slidably and sealingly installed in the cylinder body, a sealing cover is fixedly arranged at the bottom of the cylinder body, the piston rod passes through the sealing cover and is slidably and sealingly connected with the sealing cover, the cylinder bodies on the upper and lower sides of the piston head are communicated through a connecting pipe, a valve is arranged on the connecting pipe, and the cylinder body and the connecting pipe are filled with liquid.

[0013] A conveying line comprising the above-described suspension manipulator.

[0014] The present application has the following beneficial effects: The hanging arm and the cantilever are connected through the connecting box, the connecting box is provided with the ball seat and the ball pressing cover, the hanging arm and the cantilever have quick release and self-locking functions, when the ball at the top of the hanging arm with heavy objects is put into the ball seat, under the action of gravity, the ball seat is subjected to a larger downward force, so that the ball seat moves downward and drives the ball pressing cover to quickly descend through the linkage assembly in the connecting box, so that the ball pressing cover can clamp the ball together with the ball seat, when the object is heavier, the ball pressing cover and the ball seat clamp the ball more tightly, so that the self-locking connection of the hanging arm and the cantilever is realized, when the ball is clamped, the connection of the hanging arm and the cantilever is stable, and the swinging of the suspended objects during the conveying of the suspended conveying line can be reduced, and the stability is improved; the reset spring is arranged, so that when the hanging arm loses the load, the ball seat can move upward and reset under the action of the reset spring, and then the ball pressing cover is lifted through the linkage assembly, so that the ball head can be taken out of the ball seat, and the hanging arm is convenient to take down and transfer the workpiece; the pressing rod can elastically press the spring plate on the limiting piece, provide additional downward pressure, increase the pressure of the ball pressing cover on the ball, and ensure that the included angle between the hanging arm and the cantilever remains stable. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description only show some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0016] Figure 1 A perspective view of a suspension manipulator and a conveying line thereof provided by the embodiment of the present application.

[0017] Figure 2 A perspective view of a ball pressing cover and a ball seat in the present application.

[0018] Figure 3 A perspective view of a suspension manipulator provided by the embodiment of the present application.

[0019] Figure 4 A structural schematic view of a linkage assembly in the present application.

[0020] Figure 5 A perspective view of a hanging arm in the present application.

[0021] Figure 6 A structural schematic view of a spring plate pressing roller so as to make the ball pressing cover tightly press the ball.

[0022] Figure 7 A sectional view of a cantilever in the present application.

[0023] Figure 8This is a schematic diagram of a suspended robotic arm adjusting the angle of its hanging arm, as provided by the present invention.

[0024] Explanation of reference numerals in the attached figures: 1. Cantilever, 2. Suspended conveyor line, 3. Traction chain, 4. Hanging arm, 5. Ball, 6. Suspension part, 7. Connecting box, 8. Ball pressure cover, 9. Ball seat, 10. Spherical groove, 11. Guide rod, 12. First connecting plate, 13. Second connecting plate, 14. First rack, 15. First gear, 16. Secondary gear, 17. Second rack, 18. Second gear, 19. Transmission gear, 20. Third connecting plate, 21. Fourth connecting plate, 22. Limiting component, 23. Pressure rod, 24. Spring plate, 25. Positioning groove, 26. Roller, 27. Tension spring, 28. Return spring, 29. Limiting sleeve, 30. Guide plate, 31. Cylinder body, 32. Piston rod, 33. Piston head, 34. Sealing cover, 35. Connecting pipe, 36. Valve. Detailed Implementation

[0025] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0026] Example 1 like Figures 1 to 8 As shown, Embodiment 1 of the present invention provides a suspended manipulator, mainly comprising a cantilever 1, a hanging arm 4, a connecting box 7, and a linkage assembly. The top of the cantilever 1 is connected to the traction chain 3 of the suspended conveyor line 2, thereby enabling the entire manipulator to be suspended and moved on the conveyor line. A ball 5 is fixed to the top of the hanging arm 4, and a suspension part 6 for suspending workpieces is provided at the bottom. The suspension part 6 is connected to the hanging arm 4 via a flange, allowing the suspension part 6 to be replaced. Workpieces can be fixed to the suspension part 6 by hooks, clips, or by using the magnetic suction of the suspension part 6 to hold the workpiece.

[0027] The connecting box 7 is fixed at the bottom of the cantilever 1, and is used to connect the cantilever 1 and the hanging arm 4. The connecting box 7 is internally provided with a pressing ball cover 8 and a ball seat 9, both of which are provided with a spherical surface groove 10 matched with the ball 5 at the top of the hanging arm 4. The ball seat 9 is in the form of an open ring, and the opening is designed to facilitate the putting-in and taking-out of the hanging arm 4 and the ball 5. Two guide rods 11 parallel to each other are fixed in the connecting box 7, and the pressing ball cover 8 is fixed with a first connecting plate 12 provided with a through hole matched with the guide rods 11, so that the pressing ball cover 8 can stably slide along the guide rods 11 through the first connecting plate 12; similarly, the ball seat 9 is fixed with a second connecting plate 13, which is also slidably installed on the two guide rods 11 to ensure the stability of the ball seat 9 during movement.

[0028] A linkage assembly is arranged in the connecting box 7, and is used to realize the linkage between the ball seat 9 and the pressing ball cover 8. When it is needed to install the hanging arm 4 on the cantilever 1, the ball 5 at the top of the hanging arm 4 is put into the ball seat 9 from the opening of the ball seat 9. At this time, if the hanging part 6 of the hanging arm 4 is hung with a heavy object, the ball 5 will generate a downward pressure on the ball seat 9 under the action of the gravity of the heavy object, so that the ball seat 9 moves downward. When the ball seat 9 moves downward, the pressing ball cover 8 is driven to move downward along the guide rods 11 through the linkage assembly. Due to the transmission characteristics of the linkage assembly, the downward moving speed of the pressing ball cover 8 is greater than that of the ball seat 9, so that the pressing ball cover 8 can quickly cooperate with the ball seat 9 to tightly clamp the ball 5.

[0029] A reset spring 28 is further fixed on the guide rod 11 between the bottom of the connecting box 7 and the second connecting plate 13. When the heavy object on the hanging arm 4 is removed, i.e. the hanging arm 4 loses the load, the elastic restoring force of the reset spring 28 will push the second connecting plate 13 to move upward, thereby driving the ball seat 9 to reset upward. When the ball seat 9 moves upward, the pressing ball cover 8 is driven to move upward through the linkage assembly. The upward moving distance of the pressing ball cover 8 is greater than that of the ball seat 9, so that a sufficient gap is generated between the pressing ball cover 8 and the ball seat 9, which facilitates the taking-out of the ball 5 from the opening of the ball seat 9, and realizes the quick disassembly of the hanging arm 4.

[0030] In the embodiment, when the hanging arm 4 is hung with a heavy object, the ball seat 9 moves downward under the action of gravity and drives the pressing ball cover 8 to move downward more quickly through the linkage assembly to clamp the ball 5. The heavier the object is, the greater the clamping force is, so that a reliable self-locking connection is realized, and the swinging of the workpiece during conveying is effectively reduced. After the heavy object is removed, the ball seat 9 and the pressing ball cover 8 are reset under the action of the reset spring 28, so that the disassembly of the hanging arm 4 is facilitated, and the operation is convenient.

[0031] Embodiment two On the basis of embodiment one, the linkage assembly of the present embodiment comprises a first rack 14, a first gear 15, a secondary gear 16, a second rack 17, a second gear 18 and a transmission gear 19. The first rack 14 is fixed on the first connecting plate 12 and parallel to the guide rod 11. The first gear 15 is rotatably installed in the connecting box 7 and engaged with the first rack 14. The secondary gear 16 is coaxially rotatable with the first gear 15. The second rack 17 is fixed on the second connecting plate 13 and parallel to the guide rod 11. The second gear 18 is rotatably installed in the connecting box 7 and engaged with the second rack 17. The transmission gear 19 is rotatably installed in the connecting box 7 and engaged with the second gear 18 and the secondary gear 16.

[0032] The diameters of the second gear 18, the transmission gear 19 and the secondary gear 16 are the same, which makes the rotation speed of the second gear 18 the same as that of the first gear 15. However, the diameter of the second gear 18 is smaller than that of the first gear 15, which makes the linear speed of the edge of the second gear 18 smaller than that of the edge of the first gear 15. Therefore, when the ball seat 9 moves downward, the second connecting plate 13 drives the second rack 17 to move downward, the second rack 17 drives the second gear 18 to rotate, the second gear 18 drives the secondary gear 16 to rotate through the transmission gear 19, the secondary gear 16 in turn drives the first gear 15 to rotate, and the first gear 15 drives the first rack 14 to move downward, thereby realizing the downward movement of the ball pressing cover 8. Due to the difference in linear speed between the second gear 18 and the first gear 15, the downward movement speed of the ball pressing cover 8 is greater than that of the ball seat 9, which ensures that the ball body 5 can be quickly clamped.

[0033] In addition, a third connecting plate 20 and a fourth connecting plate 21 are slidably installed on the guide rod 11. The third connecting plate 20 is fixedly connected to the top of the first rack 14, and the fourth connecting plate 21 is fixedly connected to the top of the second rack 17. The third connecting plate 20 and the fourth connecting plate 21 can enhance the stability of the first rack 14 and the second rack 17 during movement, avoid the rack from tilting or shaking, and ensure the reliability of the gear and rack meshing transmission.

[0034] Two guide plates 30 are fixed on both sides of the opening of the ball seat 9, leaving a gap between the two guide plates 30 for the hanging arm 4 to pass through. The end of the guide plate 30 away from the ball seat 9 is inclined upward. When installing the hanging arm 4, the upwardly inclined guide plate 30 can guide the ball body 5 to enter the ball seat 9 more smoothly from the opening, improving the installation efficiency.

[0035] Embodiment three On the basis of embodiment one and embodiment two, the present embodiment adds a structure for stabilizing the angle between the hanging arm 4 and the cantilever 1, and optimizes the structure of the cantilever 1.

[0036] A limiting member 22 is fixed to the top of the third connecting plate 20. The limiting member 22 includes a roller 26 rotatably mounted on the top of the third connecting plate 20. A pressure rod 23 is hinged inside the connecting box 7. A spring plate 24 is fixed to the pressure rod 23. The spring plate 24 is provided with a positioning groove 25 that cooperates with the limiting member 22. A tension spring 27 for pulling back the pressure rod 23 is also provided inside the connecting box 7. One end of the tension spring 27 is connected to the inner wall of the connecting box 7, and the other end is connected to the pressure rod 23.

[0037] After the ball 5 is clamped by the ball-pressing cover 8 and the ball seat 9, the pressure rod 23 is rotated so that the positioning groove 25 on the spring plate 24 engages with the roller 26 on the top of the third connecting plate 20. Under the tension of the tension spring 27, the pressure rod 23 applies downward pressure to the roller 26 through the spring plate 24. This pressure is transmitted to the first rack 14 through the third connecting plate 20, thereby causing the ball-pressing cover 8 to apply additional pressure to the ball 5, ensuring that the included angle between the hanging arm 4 and the cantilever 1 remains stable, and preventing the included angle from changing due to vibration and other factors during the conveying process.

[0038] The connecting box 7 is also fixed with a limiting sleeve 29 for limiting the downward movement limit of the second connecting plate 13. When the ball seat 9 drives the second connecting plate 13 to move downward, the limiting sleeve 29 can prevent the second connecting plate 13 from moving further downward, preventing the ball seat 9 and the pressure cover 8 from being damaged due to excessive movement.

[0039] like Figure 7 As shown, the cantilever 1 includes a cylinder 31 and a piston rod 32. The top of the cylinder 31 is fixedly connected to the traction chain 3 of the conveyor line via a connecting rod. The piston head 33 at the top of the piston rod 32 is slidably and sealed within the cylinder 31. A sealing cover 34 is fixed to the bottom of the cylinder 31. The piston rod 32 passes through the sealing cover 34 and is slidably and sealed with it. The cylinders 31 on the upper and lower sides of the piston head 33 are connected by a connecting pipe 35. A valve 36 is installed on the connecting pipe 35. The cylinders 31 and the connecting pipe 35 are filled with liquid. When the length of the cantilever 1 needs to be adjusted, the valve 36 is opened, and the liquid can flow within the cylinders 31 on the upper and lower sides of the piston head 33, pushing the piston rod 32 to extend and retract relative to the cylinder 31, thereby changing the length of the cantilever 1. After adjustment, the valve 36 is closed, the liquid cannot flow, the position of the piston rod 32 is fixed, and the length of the cantilever 1 is locked.

[0040] The present invention also provides a conveyor line, including the suspended manipulator in any of the above embodiments. By setting multiple suspended manipulators, the height of the suspended workpiece can be flexibly adjusted, and by adjusting the angle of the hanging arm 4, it can be more flexibly suspended and conveyed for different workpieces.

[0041] Obviously, many modifications and variations of the present application are possible in light of the above teachings. It is, therefore, to be understood that within the scope of the appended claims and their equivalents, the application can be practiced otherwise than as specifically described.

Claims

1. A suspended robot, characterized in that, include: A cantilever, the top of which is used to connect the traction chain of the suspended conveyor line; A hanging arm, wherein a ball is fixed to the top of the hanging arm and a suspension part is provided at the bottom of the hanging arm; A connecting box is fixed to the bottom of the cantilever. A ball-pressing cover and a ball seat are slidably installed inside the connecting box. Both the ball-pressing cover and the ball seat are provided with spherical grooves that fit the ball. The ball seat is annular with one side open. The linkage component is installed inside the connecting box. When the ball is placed inside the ball seat and the ball seat is pressed down, the ball seat moves downward and drives the ball pressing cover to move downward through the linkage component, thus cooperating with the ball seat to clamp the ball.

2. A suspension manipulator as claimed in claim 1, wherein, The connecting box is equipped with two guide rods, and the ball pressure cover is fixed with a first connecting plate that is slidably installed on the two guide rods; the ball seat is fixed with a second connecting plate that is slidably installed on the two guide rods.

3. A suspension manipulator as claimed in claim 2, wherein, The linkage component includes: A first rack is fixed to a first connecting plate and parallel to a guide rod. A first gear that meshes with the first rack is rotatably installed inside the connecting box. A secondary gear is fixed to one side of the first gear. The second rack is fixed to the second connecting plate and parallel to the guide rod, and a second gear that meshes with the second rack is rotatably installed in the connecting box; The transmission gear is rotatably mounted in the connecting box and simultaneously meshes with the second gear and the auxiliary gear; The linear velocity of the edge of the second gear is less than the linear velocity of the edge of the first gear.

4. A suspension manipulator as claimed in claim 3, wherein, A third connecting plate and a fourth connecting plate are slidably mounted on the guide rod. The third connecting plate is fixedly connected to the top of the first rack, and the fourth connecting plate is fixedly connected to the top of the second rack.

5. A suspension manipulator as claimed in claim 4, wherein, The top of the third connecting plate is fixed with a limiting component, and a pressure rod is hinged inside the connecting box. A spring plate is fixed on the pressure rod, and a positioning groove that cooperates with the limiting component is provided on the spring plate.

6. A suspension manipulator as claimed in claim 5, wherein, The limiting component includes a roller rotatably mounted on the top of the third connecting plate, and a tension spring for pulling back the pressure rod is provided inside the connecting box.

7. A suspension manipulator as claimed in claim 2, wherein, A return spring is fixed on the guide rod between the bottom of the connecting box and the second connecting plate, and a limiting sleeve is fixed inside the connecting box to limit the downward movement of the second connecting plate to its extreme position.

8. A suspension manipulator as in claim 1, wherein, Two guide plates are fixed on both sides of the ball seat opening, with a gap between the two guide plates for the hanging arm to pass through. The end of the guide plate away from the ball seat is tilted upward.

9. A suspension manipulator as in claim 1, wherein, The cantilever includes a cylinder and a piston rod. The piston head at the top of the piston rod is slidably and sealed in the cylinder. A sealing cover is fixed at the bottom of the cylinder. The piston rod passes through the sealing cover and is slidably and sealed to the sealing cover. The cylinders on the upper and lower sides of the piston head are connected by a connecting pipe. A valve is provided on the connecting pipe. The cylinder and the connecting pipe are filled with liquid.

10. A delivery line characterized by, The suspended manipulator includes any one of claims 1 to 9.

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