Manipulator for assembling silencer

Abstract

A silencer assembling mechanical arm comprises a fixed beam and supporting rods on the fixed beam, and the first supporting rod is perpendicularly arranged on one side of the front face of the fixed beam; one end of the second supporting rod is vertically arranged on one side of the front surface of the fixed beam, and the other end of the second supporting rod is vertically downward; the third supporting rod is vertically arranged on the bottom surface of the other side of the fixed beam; the fourth supporting rod is vertically arranged on the other side of the front surface of the fixed beam and is parallel to the first supporting rod; the turnover clamping jaw comprises a sliding rail, a sliding block, a movable base plate, a sliding air cylinder, a base with a rotating shaft, a turnover air cylinder and a first clamping jaw which are vertically arranged downwards. The plurality of second clamping jaws are vertically and downwards arranged and are respectively arranged at the end part of the fixed beam on the outer side of the first clamping jaw, the lower end part of the second supporting rod, the lower end part of the third supporting rod and the end part of the outer side surface of the fourth supporting rod; the Z-direction leaning rod is arranged at one end of the fixed beam; the controller is arranged in the middle of the back face of the fixing beam through a fixing support, and the sliding air cylinder, the overturning air cylinder, the first clamping jaw and the second clamping jaw are all electrically connected with the controller.

Description

Technical Field

[0001] This utility model relates to the fields of transfer, handling, and assembly, and specifically to a muffler assembly robot. Background Technology

[0002] With the continuous and rapid development of the country's new industrialization, the rise of new-type manufacturing has forced labor-intensive enterprises to change their traditional concepts. The era of improving productivity through labor is gone forever. Traditional handling and assembly can no longer meet the needs of the changing times. Therefore, solving the problem of heavy manual labor has undoubtedly become the development trend of modern manufacturing industry.

[0003] Existing technologies are bulky and heavy, making them difficult to operate flexibly in confined or complex environments, difficult to deploy quickly, and have limited adaptability.

[0004] Existing robotic arm technology can only solve the task requirements of one type of product. It cannot adapt to the diverse products, let alone meet the needs of products with different shapes and specifications. This results in modular robotic arms having high costs, low efficiency, high management costs, and complex reliability maintenance. Summary of the Invention

[0005] The purpose of this utility model is to provide a muffler assembly robot that eliminates the need for traditional manual assembly and solves the problem of flexible assembly of different mufflers. It can operate flexibly in narrow or complex environments. It is small in size after folding, making it easy to carry and deploy quickly. It can adjust its shape according to task requirements to adapt to objects of different shapes, sizes and weights. It is particularly suitable for tightening, assembling and transferring automotive rear mufflers.

[0006] To achieve the above objectives, the technical solution of this utility model is as follows:

[0007] A muffler assembly robot includes:

[0008] A fixed beam is horizontally arranged, and several support rods are arranged along the length of the fixed beam. The first support rod is vertically arranged on one side of the front of the fixed beam; the second support rod is L-shaped, with one end vertically arranged on one side of the front of the fixed beam and the other end vertically downward; the third support rod is vertically arranged on the bottom surface of the other side of the fixed beam; and the fourth support rod is vertically arranged on the other side of the front of the fixed beam and parallel to the first support rod.

[0009] Reversible grippers, including,

[0010] The slide rail and the slider are arranged axially along the upper part of the second support rod on the outer side of the upper part of the second support rod.

[0011] The movable base plate is L-shaped or inverted T-shaped, and its lower part is disposed on the top surface of the slide rail along the length direction;

[0012] A sliding cylinder, the front end of which is mounted on a fixed beam corresponding to the second support rod, and the end of which is connected to the upper inner side of the movable base plate;

[0013] A base with a rotating shaft has its bottom surface located at one end of the lower outer side of the movable base plate. A bearing is sleeved on the rotating shaft, and a connecting sleeve is provided on the outside.

[0014] The tilting cylinder has its front end horizontally positioned on the upper outer side of the movable base plate, and its piston rod end is connected to the upper part of the connecting sleeve via an L-shaped connecting rod.

[0015] The first gripper is set vertically downward and is connected to the bottom surface of the connecting sleeve via a connector;

[0016] Several second grippers are all vertically downward and are respectively connected to the end of the fixing beam outside the first gripper, the lower end of the second support rod, the lower end of the third support rod, and the outer side end of the fourth support rod via connectors.

[0017] The Z-direction support rod includes a vertically arranged connecting rod and a horizontally arranged support rod at the lower end of the connecting rod; the upper end of the connecting rod is connected to one end of the fixed beam; the support rod is perpendicular to the fixed beam.

[0018] The controller is mounted on the middle of the back of the fixed beam via a fixed bracket. The sliding cylinder, the tilting cylinder, the first gripper, and the second gripper are all electrically connected to the controller.

[0019] Preferably, the first gripper and the second gripper each include:

[0020] The fixed base is U-shaped with the opening facing downwards, including a top plate and two side plates; the top plate has a central through hole in the center, and the two side plates have shaft holes on the lower sides respectively; the outer wall of the side plate above the shaft hole has a groove; the inner wall of the two side plates has a guide groove along the height direction in the middle, or the two side plates have a strip hole along the height direction in the middle;

[0021] Two flipping connecting rods are coaxially connected to a connecting shaft at their upper ends. Bearings are provided at both ends of the connecting shaft, and the bearings are installed in the guide grooves or strip holes of the two side plates.

[0022] The connecting plate is U-shaped with its opening facing downwards. It has through holes on both sides and is inserted through these holes onto the connecting shaft that connects the upper ends of the two flipping connecting rods.

[0023] Two grippers, with a connecting groove at the upper end of the grippers and pin holes on both sides of the connecting groove. The lower end of the flipping connecting rod is inserted into the connecting groove and connected by a pin shaft. The two ends of the pin shaft are located in the groove on the outer wall of the side plate. A connecting part protrudes from the inner side of the upper part of the grippers. The connecting part has a shaft hole and is connected to the shaft hole at the lower part of the side plate through the flipping shaft.

[0024] The tilting cylinder has its cylinder body mounted on the top plate of the fixed base, and its piston rod passes through the central through hole of the top plate and is connected to the top surface of the connecting plate.

[0025] Preferably, the inner surface of the gripper is provided with a protective layer.

[0026] Compared with the prior art, the advantages of this utility model are:

[0027] The robotic arm described in this invention differs from traditional robotic arms in that it uses Z-axis positioning to determine the arm's height and adjusts the x and y axes to grip different workpieces with different grippers. Building upon the existing method of increasing the number of grippers to accommodate more workpieces, this invention utilizes a retractable and foldable gripper designed with two cylinders. This allows a single gripper to grip workpieces of different shapes and sizes at varying extension lengths, enabling it to handle multiple workpieces in different states. The Z-axis flip-up gripper effectively avoids interference when other grippers are engaged and also reduces the overall size of the robotic arm and provides a larger operating space when the gripper is not in use.

[0028] The robotic arm described in this invention enables it to operate flexibly in confined or complex environments. Its compact folded size facilitates portability and rapid deployment. It can adjust its form according to task requirements, adapting to objects of different shapes, sizes, and weights. Through modular design or intelligent control, it can accomplish a variety of tasks.

[0029] The robotic arm described in this invention has significant advantages in terms of flexibility, portability, adaptability, and cost-effectiveness, and can meet diverse task requirements, making it suitable for multiple fields such as industry, medicine, logistics, and home services. Its innovative design not only improves the performance of the robotic arm but also reduces operating costs, providing a new direction for the future development of robotics technology. Attached Figure Description

[0030] Figure 1 Three-dimensional representation of the present utility model Figure 1 ;

[0031] Figure 2 Three-dimensional representation of the present utility model Figure 2 ;

[0032] Figure 3 This is a front view of an embodiment of the present utility model;

[0033] Figure 4 This is a top view of an embodiment of the present utility model;

[0034] Figure 5 This is a perspective view of the first gripper in an embodiment of the present invention;

[0035] Figure 6This is a side view of the first gripper in an embodiment of the present invention;

[0036] Figure 7 This is a top view of the first gripper in an embodiment of the present invention;

[0037] Figure 8 for Figure 7 AA sectional view. Detailed Implementation

[0038] See Figures 1 to 8 The muffler assembly robot of this utility model includes:

[0039] A fixed beam 1 is horizontally arranged, and several support rods are arranged along the length of the fixed beam. The first support rod 101 is vertically arranged on one side of the front of the fixed beam 1; the second support rod 102 is L-shaped, with one end vertically arranged on one side of the front of the fixed beam 1 and the other end vertically downward; the third support rod 103 is vertically arranged on the bottom surface of the other side of the fixed beam 1; and the fourth support rod 104 is vertically arranged on the other side of the front of the fixed beam 1 and parallel to the first support rod 101.

[0040] The reversible gripper 2 includes,

[0041] The slide rail 21 and the slider 211 are arranged along the upper axial direction of the second support rod 102 on the upper outer side of the second support rod 102.

[0042] The movable base plate 22 is L-shaped or inverted T-shaped, and its lower part is disposed on the top surface of the slide rail 21 along the length direction;

[0043] The sliding cylinder 23 has its front end mounted on the fixed beam 1 corresponding to the second support rod 201, and its piston rod end is connected to the upper inner side of the movable base plate 22.

[0044] The base 24 with a rotating shaft has its bottom surface located at one end of the lower outer side of the movable base plate 22. A bearing is sleeved on the rotating shaft, and a connecting sleeve 25 is provided on the outside.

[0045] The tilting cylinder 26 has its front end horizontally positioned on the upper outer side of the movable base plate 22, and its piston rod end is connected to the upper part of the connecting sleeve 25 via an L-shaped connecting rod 27.

[0046] The first gripper 3 is set vertically downward and is connected to the bottom surface of the connecting sleeve 25 via a connector;

[0047] Several second grippers 4, 4', 4”, 4’” are all vertically downward and are respectively connected to the end of the fixing beam 1 outside the first gripper 101, the lower end of the second support rod 102, the lower end of the third support rod 103, and the outer side end of the fourth support rod 104 via connectors.

[0048] Z-direction support rod 5 includes a vertically arranged connecting rod 51 and a horizontally arranged support rod 52 at the lower end of the connecting rod 51; the upper end of the connecting rod 51 is connected to one end of the fixed beam 1; the support rod 52 is perpendicular to the fixed beam 1.

[0049] The controller 6 is mounted on the middle of the back of the fixed beam 1 via a fixed bracket 7. The sliding cylinder, the tilting cylinder, the first gripper, and the second gripper are all electrically connected to the controller.

[0050] Preferably, the first gripper 3 and the second gripper 4 each include (taking the first gripper 3 as an example, the same below):

[0051] The fixed base 31 is U-shaped with an opening facing downwards, including a top plate 311 and two side plates 312; the top plate 311 has a central through hole in the center, and the two side plates 312 have shaft holes 3121 on the lower sides respectively; the outer wall of the side plate 312 above the shaft holes 3121 has a groove 3122; the inner wall of the two side plates 312 has a guide groove along the height direction in the middle, or the two side plates have a strip hole 3123 along the height direction in the middle;

[0052] Two flipping connecting rods 32 are coaxially connected to a connecting shaft 33 at their upper ends. Bearings are provided at both ends of the connecting shaft 33, and the bearings are set in the guide grooves or strip holes 3123 of the two side plates 312.

[0053] The connecting plate 34 is U-shaped with its opening facing downwards. It has through holes on both sides and is inserted through the connecting shaft 33 that connects the upper ends of the two flipping connecting rods 32.

[0054] Two grippers 35, with a connecting groove 351 at the upper end of the grippers. Pin holes are provided on both sides of the connecting groove 351. The lower end of the flipping connecting rod 32 is inserted into the connecting groove 351 and connected by a pin 36. The two ends of the pin 36 are located in the groove 3122 of the outer wall of the side plate 312. A connecting part 352 protrudes from the inner side of the upper part of the gripper 35. The connecting part 352 is provided with a shaft hole and is connected to the shaft hole 3121 at the lower part of the side plate 312 through the flipping shaft 37.

[0055] The tilting cylinder 38 has its cylinder body mounted on the top plate 311 of the fixed base 31, and its piston rod passes through the central through hole of the top plate 311 and is connected to the top surface of the connecting plate 34.

[0056] Preferably, the inner surface of the gripper 35 is provided with a protective layer 39.

[0057] The sliding cylinder, in conjunction with the slide rail slider, enables the gripper to control the extension and retraction of the robotic arm, thus changing the length of the robotic arm. The flipping cylinder, in conjunction with the flipping component, enables the gripper to flip 90°, controlling the folding motion of the robotic arm and realizing the unfolding and retraction of the robotic arm.

Claims

1. A silencer assembly robot characterized by, The utility model relates to a kind of automatic folding machine, including: Fixed beam, horizontally arranged, several support rods are arranged along the length direction of fixed beam, wherein, first support rod is vertically arranged in the front side of fixed beam; Second support rod is L-shaped, one end is vertically arranged in the front side of fixed beam, the other end is vertically downward;Third support rod is vertically arranged in the bottom surface of the other side of fixed beam;Fourth support rod is vertically arranged in the other side of the front side of fixed beam, parallel with first support rod; Reversible clamp jaw, including, Slide rail and sliding block, sliding block is axially arranged on the upper outer side of second support rod along the upper portion of second support rod; Movable base plate, L-shaped or inverted T-shaped, its lower portion is arranged along the length direction on the top surface of slide rail; Sliding cylinder, the front end of its cylinder body is arranged on the fixed beam corresponding to the upper portion of second support rod, and the end of its piston rod is connected with the inner side of the upper portion of movable base plate; Base with rotating shaft, its bottom surface is arranged on the outer side of the lower portion of movable base plate, bearing is sleeved on rotating shaft, and sleeve is externally connected; Overturning cylinder, the front end of its cylinder body is horizontally arranged on the outer side of the upper portion of movable base plate, and the end of its piston rod is connected with the upper portion of sleeve through L-shaped connecting rod; First clamp jaw, vertically downward arranged, and connected with the bottom surface of sleeve through connecting piece; Several second clamp jaws, vertically downward arranged, and arranged on the end of fixed beam, the lower end of second support rod, the lower end of third support rod and the outer side end of fourth support rod respectively outside first clamp jaw through connecting piece; Z-direction locating rod, including vertically arranged connecting rod and horizontally arranged locating rod on the lower end of the connecting rod;The upper end of connecting rod is connected with one end of fixed beam;Locating rod is perpendicular to fixed beam; Controller, arranged on the middle part of the back of fixed beam through fixed support, and the sliding cylinder, overturning cylinder, first clamp jaw and second clamp jaw are electrically connected with the controller.

2. The muffler assembly robot of claim 1, wherein The first clamp jaw and second clamp jaw respectively include: Fixed base, U-shaped with opening downward, including top plate and two side plates;Center through hole is arranged in the center of top plate, and shaft hole is arranged in the lower portion of two side plates respectively;The outer wall of side plate above shaft hole is provided with recess;Guide groove is arranged in the middle part of inner wall of two side plates along height direction or strip-shaped hole is arranged in the middle part of two side plates along height direction; Two overturning connecting rods, coaxially connected with connecting shaft on the upper end thereof, and bearing is arranged on the both ends of connecting shaft and arranged in guide groove or strip-shaped hole of two side plates; Connecting plate, U-shaped with opening downward, through hole is arranged in the both sides thereof, and arranged on the connecting shaft connecting the upper end of two overturning connecting rods; Two clamp jaws, connecting recess is arranged on the upper end of clamp jaw, pin hole is arranged in the both side walls of connecting recess, the lower end of overturning connecting rod is inserted into connecting recess, and connected with pin shaft, and the both ends of pin shaft are located in recess of outer wall of side plate;Connecting part is protruded on the inner side of upper portion of clamp jaw, shaft hole is arranged in the connecting part, and connected with shaft hole of lower portion of side plate through overturning shaft; Overturning cylinder, cylinder body is arranged on the top plate of fixed base, and piston rod is connected with the top surface of connecting plate through center through hole of top plate.

3. The muffler assembly robot of claim 2 wherein, The inner side of clamp jaw is provided with protective layer.

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