Ring handling robot

Abstract

The utility model relates to a kind of annular part handling manipulator, install on industrial robot, including the sequentially arranged connection unit, drive unit and manipulator claw unit of upper middle and lower, drive unit is arranged between connection unit and manipulator claw unit, drive unit controls manipulator claw unit movement, it is convenient to realize the action of inner bracing;Manipulator claw unit includes pedestal, lifting seat, parallelogram mechanism and bracing plate, lifting seat is centrally arranged in the lower of pedestal, and multiple sets of parallelogram mechanism are evenly arranged around the lower of pedestal, each set of parallelogram mechanism is hinged with lifting seat above and along lifting seat horizontal sliding, bracing plate is horizontally connected below each set of parallelogram mechanism, multiple bracing plates are circumferentially arranged in circular, and the inner wall of bracing thin-walled annular part is tightened.The utility model controls the movement of multiple parallelogram mechanisms by drive unit, to drive multiple bracing plates circumferentially arranged in circular to uniformly brace the inner wall of thin-walled annular part, realize the clamping operation of smooth and reliable operation.

Description

Technical Field

[0001] This utility model relates to the field of handling tools, and in particular to a ring-shaped handling robot. Background Technology

[0002] Thin-walled annular parts are lightweight and are a typical type of weakly rigid part. They have a large diameter-to-thickness ratio and are widely used in applications where the size and shape of the annular parts are critical, such as in aero engines and pneumatic cylinders. The casing in aero engines and the cylinder liner in pneumatic cylinders are both examples of thin-walled annular parts.

[0003] In the manufacturing of thin-walled annular parts, they need to be transferred between different workstations and undergo multiple processes before completion. Previously, manual handling was used, but this easily led to uneven stress distribution, causing deformation of the thin-walled annular parts. Now, some manufacturers use internally supported clamps, which distribute force evenly through multiple internal supports, freeing up labor and preventing damage to the annular parts.

[0004] For example, patent publication number CN219173634U discloses a stair climber hub handling fixture, in which three support claw assemblies are slidably connected to the bottom of the frame via a sliding structure. The three support claw assemblies are arranged in a circle, and a cylinder is installed inside the frame. The piston rod of the cylinder is hinged to each support claw assembly with a support rod. The cylinder provides driving force, forcing the support claw assemblies to move in a straight line. This may result in uneven operation or severe wear. Summary of the Invention

[0005] To address the problem of uneven force and deformation during manual handling of thin-walled annular parts, this invention provides a manipulator for handling annular parts. It employs a six-point clamping force, with appropriate clamping force, ensuring that the thin-walled annular part is not damaged during clamping and handling. The force is applied radially outward along the inner wall of the annular part, with the point of application on the inner wall, guaranteeing reliable and stable clamping.

[0006] To achieve the above objectives, the technical solution adopted by this utility model is as follows: A ring-shaped part handling robot is mounted on an industrial robot and controlled by the industrial robot. It includes a connecting unit, a drive unit, and a robotic gripper unit arranged in order from top to bottom. The connecting unit is connected and fixed to the robotic arm of the industrial robot. The drive unit is arranged between the connecting unit and the robotic gripper unit. The drive unit is a telescopic structure. The drive unit controls the movement of the robotic gripper unit to facilitate the implementation of an internal support action. The robotic gripper unit includes a base, a lifting seat, parallelogram mechanisms, and support plates. The lifting seat, controlled by a drive unit, is centrally located below the base, facilitating its vertical movement. Multiple sets of parallelogram mechanisms are arranged circumferentially around the base. Each set of parallelogram mechanisms is hinged to the lifting seat at the top and slides horizontally along it. Support plates are horizontally connected below each set of parallelogram mechanisms. These support plates form a circle, tightly supporting the inner wall of the thin-walled annular component, thus providing reliable support for the component.

[0007] Furthermore, the connecting unit includes a top plate, mounting bolts, and hexagonal copper pillars. Multiple mounting bolts are arranged circumferentially on the top plate, and the mounting bolts axially penetrate the top plate and extend upward to the top of the top plate. Each mounting bolt is provided with a hexagonal copper pillar, and the hexagonal copper pillars are arranged above the top plate. The connecting unit is connected and fixed to the flange of the robotic arm through the hexagonal copper pillars.

[0008] Furthermore, the drive unit is a cylinder, or an electric cylinder. The drive unit is bolted between the top plate and the base. A bearing is provided at the center of the base, and the piston rod of the drive unit extends downward after passing through the bearing.

[0009] Furthermore, the piston rod of the drive unit passes downward through the bearing and connects to the lifting seat. The lifting seat is sleeved on the piston rod, and a bushing is sleeved on the piston rod and threaded with a nut. The bushing and nut cooperate to clamp the lifting seat. The clamping method facilitates the assembly and disassembly of the lifting seat.

[0010] Furthermore, the lifting seat is a ring-shaped body, and multiple elongated holes are evenly distributed around the lifting seat, with each elongated hole corresponding to a parallelogram mechanism.

[0011] Furthermore, the parallelogram mechanism includes a vertical plate, a bottom rod, a main connecting rod, and a secondary connecting rod. The vertical plate is fixedly connected to the base upwards. The vertical plate and the elongated hole correspond to each other. The vertical plate and the bottom rod are arranged vertically at intervals. The main connecting rod and the secondary connecting rod are hinged between the vertical plate and the bottom plate. The main connecting rod and the secondary connecting rod are arranged horizontally at intervals. The upper end of the main connecting rod is bent downward and hinged to the elongated hole, and slides along the elongated hole. One end of the bottom rod is connected to the support plate, which is bent into an arc shape. A rubber pad is detachably connected to the support plate to facilitate flexible contact between the support plate and the thin-walled annular part.

[0012] Furthermore, the upper end of the main connecting rod is bent downwards, and the cross-section is shaped like a "7". There are two main connecting rods, which are arranged on both sides of the vertical plate. A first pin is hinged between the upper ends of the two main connecting rods. The first pin passes through the elongated hole and moves linearly along the elongated hole. A second pin is hinged between the bent parts of the two main connecting rods. The second pin passes through the vertical plate. A third pin is hinged between the lower ends of the two main connecting rods. The third pin passes through the other end of the bottom rod.

[0013] Furthermore, the secondary connecting rod is a single-bar structure, with two secondary connecting rods arranged on both sides of the vertical plate. A fourth pin is hinged between the upper ends of the two secondary connecting rods, and the fourth pin passes through the vertical plate. A fifth pin is hinged between the lower ends of the two secondary connecting rods, and the fifth pin passes through the middle of the bottom rod.

[0014] The beneficial effects of this utility model through the above technical solution are: This utility model has a reasonable structural design. The connecting unit facilitates the connection and fixation of the entire handling manipulator to the robotic arm of the industrial robot. The connecting plate unit and the manipulator gripper unit are connected by a drive unit. The drive unit not only serves as a connection but also drives the manipulator gripper unit to run. The manipulator gripper unit is used to support the thin-walled annular part, thereby facilitating the handling and transfer of the thin-walled annular part.

[0015] The robotic gripper unit of this invention uses a drive unit to control the lifting seat to move up and down, thereby providing the driving force required for the parallelogram mechanism. The hinged installation and inherent characteristics of the parallelogram mechanism enable the horizontal movement of the support plates. After the multiple arc-shaped support plates move outward, they can tightly support the inner wall of the thin-walled annular component, achieving an internal support motion. The diameter of the circle formed by the multiple support plates is adjustable, making it suitable for thin-walled annular components with different inner diameters.

[0016] This invention employs a mechanized internal support method to replace manual handling, saving manpower. Simultaneously, multiple support plates tighten the thin-walled annular component, ensuring uniform force application and preventing deformation caused by uneven stress. Furthermore, the parallelogram mechanism is hinged in both installation and operation, reliably driving the support plates through its flexible swing, resulting in smoother and more stable internal support operation. Attached Figure Description

[0017] Figure 1 This is a front view of a ring-shaped component handling robot according to this utility model.

[0018] Figure 2 This is a top view of a ring-shaped component handling robot according to this utility model.

[0019] Figure 3 This is a cross-sectional view of the gripper unit of a ring-shaped part handling robot according to this utility model.

[0020] Figure 4 This is a schematic diagram of the parallelogram mechanism installation of a ring-shaped component handling robot according to this utility model.

[0021] Figure 5 This is a schematic diagram of the disassembly of the parallelogram mechanism of a ring-shaped handling robot according to this utility model.

[0022] Figure 6 This is an exploded view of the parallelogram mechanism of a ring-shaped handling robot according to this utility model.

[0023] The attached diagram is labeled as follows: 1. Connecting unit, 101. Top plate, 102. Mounting bolt, 103. Hexagonal copper column, 2. Drive unit, 201. Piston rod, 3. Mechanical gripper unit, 31. Base, 32. Lifting seat, 33. Parallelogram mechanism, 34. Support plate, 5. Bearing, 6. Bushing, 7. Nut, 8. Cotter pin, 9. Rubber pad, 10. Long hole, 11. Vertical plate, 12. Bottom rod, 13. Main connecting rod, 14. Secondary connecting rod, 151. Pin 1, 152. Pin 2, 153. Pin 3, 154. Pin 4, 155. Pin 5. Detailed Implementation

[0024] The specific embodiments of this utility model are described in detail below with reference to the accompanying drawings: like Figures 1-6 As shown, a ring-shaped part handling robot is mounted on an industrial robot. The industrial robot is positioned between two adjacent workstations. The industrial robot can control the movement of the handling robot to transfer the thin-walled ring-shaped part from the previous process to the next process.

[0025] The handling robot includes a connection unit 1, a drive unit 2, and a robotic gripper unit 3 arranged in a top-middle-bottom sequence. The connection unit 1 is connected and fixed to the robotic arm of the industrial robot, that is, the entire handling robot is installed and fixed to the robotic arm of the industrial robot through the connection unit 1.

[0026] The connecting unit 1 includes a top plate 101, mounting bolts 102, and hexagonal copper pillars 103. Four mounting bolts 102 are circumferentially arranged on the top plate 101, axially penetrating the top plate 101 and extending upwards above it. Each mounting bolt 102 has a hexagonal copper pillar 103 mounted on it. The hexagonal copper pillars 103 and the mounting bolts 102 are arranged coaxially, with the hexagonal copper pillars 103 positioned above the top plate 101. The connecting unit 1 is fixed to the flange of the robotic arm via the hexagonal copper pillars 103. Specifically, a flange is mounted at the end of the robotic arm, and the hexagonal copper pillars 103 are threadedly connected to the flange, allowing the connecting unit 1 to be mounted on the flange. The robotic arm can then move the connecting unit 1.

[0027] A drive unit 2 is installed between the connecting unit 1 and the robotic gripper unit 3. The drive unit 2 is a telescopic structure, specifically a cylinder, and is bolted to the top plate 101 of the connecting unit 1. The piston rod 201 of the drive unit 2 is connected to the robotic gripper unit 3, thereby controlling the movement of the robotic gripper unit 3. After the robotic gripper unit 3 operates, its diameter can change.

[0028] In this embodiment, the robotic gripper unit 3 includes a base 31, a lifting seat 32, a parallelogram mechanism 33, and a support plate 34. The base 31 is bolted to the top of the drive unit 2, and the drive unit 2 is bolted between the top plate 101 and the base 31. A bearing 5, which is a deep groove ball bearing, is provided at the center of the base 31. The piston rod 201 of the drive unit 2 passes through the bearing 5 and extends downward to the bottom of the base 31.

[0029] A lifting seat 32, controlled by the drive unit 2, is centrally located below the base 31. Specifically, the piston rod 201 of the drive unit 2 passes downwards through the bearing 5 and connects to the lifting seat 32, allowing the drive unit 2 to move the lifting seat 32 up and down. During installation, the lifting seat 32 is fitted over the piston rod 201. A bushing 6 is fitted onto the piston rod 201, and a nut 7 is threaded onto it. The bushing 6 and nut 7 clamp the lifting seat 32, thus securing it in place. The lifting seat 32 is annular, with six elongated holes 10 evenly spaced around its circumference. Six sets of parallelogram mechanisms 33 are arranged circumferentially around the base 31, with each elongated hole 10 corresponding to a parallelogram mechanism 33. Each set of parallelogram mechanisms 33 is hinged to the lifting seat 32 at the top and slides horizontally along the lifting seat 32; that is, the parallelogram mechanism 33 is hinged to the elongated hole 10 at the top and slides along the elongated hole 10. A support plate 34 is horizontally connected below each set of parallelogram mechanisms 33. The vertical movement of the lifting seat 32 drives the parallelogram mechanism 33 to move, thereby realizing the horizontal movement of the support plate 34.

[0030] The support plate 34 is bent into an arc shape, and a rubber pad 9 is screwed onto the support plate 34. The support plate 34 flexibly contacts the thin-walled annular component using the rubber pad 9. Each parallelogram mechanism 33 corresponds to one support plate 34, and thus there are multiple support plates 34. The multiple support plates 34 are arranged in a circle, tightly supporting the inner wall of the thin-walled annular component. The diameter of the circle formed by the multiple support plates 34 is adjustable.

[0031] In this embodiment, the parallelogram mechanism 33 includes a vertical plate 11, a base rod 12, a main connecting rod 13, and a secondary connecting rod 14. The vertical plate 11 is a rectangular plate, which is fixedly connected to the base 31 at an upward angle. The vertical plate 11 corresponds to the elongated hole 10. The vertical plate 11 and the base rod 12 are arranged vertically at intervals. The base rod 12 is an elongated plate, and the base rod 12 and the vertical plate 11 are kept parallel vertically. One end of the base rod 12 is connected to a support plate 34.

[0032] A main connecting rod 13 and a secondary connecting rod 14 are hinged between the vertical plate 11 and the bottom plate. The main connecting rod 13 and the secondary connecting rod 14 are arranged in parallel with a gap between them on the left and right. The upper end of the main connecting rod 13 is bent downward and hinged to the elongated hole 10, and slides along the elongated hole 10. Specifically, the cross-section of the upper end of the main connecting rod 13 after bending downward is shaped like a "7". There are two main connecting rods 13, which are arranged on both sides of the top plate 101. During installation, the upper ends of the two main connecting rods 13 are hinged together by a first pin 151, which passes through the elongated hole 10 and moves linearly along the elongated hole 10; the bends of the two main connecting rods 13 are hinged together by a second pin 152, which passes through the vertical plate 11; the lower ends of the two main connecting rods 13 are hinged together by a third pin 153, which passes through the other end of the bottom rod 12.

[0033] Meanwhile, the secondary connecting rod 14 is a single-bar structure, serving as an auxiliary support. There are two secondary connecting rods 14, arranged on both sides of the top plate 101. A fourth pin 154 is hinged between the upper ends of the two secondary connecting rods 14, passing through the vertical plate 11. A fifth pin 155 is hinged between the lower ends of the two secondary connecting rods 14, passing through the middle of the bottom rod 12. All components associated with pins 151 to 155 are hinged, allowing for relative rotation. Pins 151 to 155 are existing perforated pins, with cotter pins 8 installed at their ends to prevent axial movement.

[0034] The principle of this invention is as follows: The entire handling robot is mounted on the robotic arm of an industrial robot, and the robotic arm drives the handling robot to reciprocate between two adjacent workstations. During this process, after the robotic arm drives the handling robot to align with the thin-walled annular component and insert it into it, the drive unit 2 runs, driving the lifting seat 32 to move downward. The lifting seat 32 simultaneously drives the six parallelogram mechanisms 33 to move, thereby causing the support plate 34 to move horizontally outward. The circle formed by the six support plates 34 gradually increases in size until the rubber pad 9 on the support plate 34 presses tightly against the inner wall of the thin-walled annular component, supporting the thin-walled annular component. At this point, the robotic arm can drive the thin-walled annular component to the next workstation.

[0035] After the transfer, drive unit 2 reverses its direction. As lifting seat 32 moves upward, the diameter of the circle formed by the six support plates 34 decreases, and rubber pad 9 detaches from the inner wall of the thin-walled annular component, thus completing the transfer of the thin-walled annular component between workstations. The entire transfer process is mechanized, reducing manual labor intensity. Simultaneously, the parallelogram mechanism 33 drives the support plates 34 to move, making the movement of components more stable and smooth.

[0036] The thin-walled annular component of this invention employs a six-point clamping force distribution on its inner wall, resulting in an appropriate clamping force. During clamping and handling, the thin-walled annular component is not damaged. The force is applied radially outward along the inner wall, with the point of application on the inner wall. The robotic gripper unit makes flexible contact with the inner wall of the annular component, providing sufficient support and friction without damaging the inner wall and preventing scratches. The overall structure of the robotic gripper unit is compact, with optimized dimensions to accommodate the internal space requirements of the workpiece.

[0037] The embodiments described above are merely preferred embodiments of this utility model and are not intended to limit the scope of implementation of this utility model. Therefore, all equivalent changes or modifications made to the structure, features and principles described in the patent claims of this utility model should be included within the scope of the patent application of this utility model.

Claims

1. A ring-shaped part handling robot, mounted on an industrial robot, characterized in that, The system includes a connecting unit (1), a driving unit (2), and a robotic gripper unit (3) arranged in order from top to bottom. The connecting unit (1) is connected and fixed to the robotic arm of the industrial robot. The driving unit (2) is set between the connecting unit (1) and the robotic gripper unit (3). The driving unit (2) is a telescopic structure and controls the movement of the robotic gripper unit (3). The robotic gripper unit (3) includes a base (31), a lifting seat (32), a parallelogram mechanism (33), and a support plate (34). The lifting seat (32), which is controlled by the drive unit (2), is centrally located below the base (31). Multiple sets of parallelogram mechanisms (33) are arranged around the base (31) in a circumferential direction. Each set of parallelogram mechanisms (33) is hinged to the lifting seat (32) above and slides horizontally along the lifting seat (32). The support plate (34) is horizontally connected below each set of parallelogram mechanisms (33). Multiple support plates (34) surround the inner wall of the thin-walled annular component in a circular shape.

2. The ring-shaped component handling robot according to claim 1, characterized in that, The connecting unit (1) includes a top plate (101), mounting bolts (102) and hexagonal copper columns (103). Multiple mounting bolts (102) are provided circumferentially on the top plate (101). The mounting bolts (102) penetrate the top plate (101) axially and extend upward to the top plate (101). The hexagonal copper columns (103) are provided on each mounting bolt (102). The hexagonal copper columns (103) are arranged above the top plate (101). The connecting unit (1) is connected and fixed to the flange of the robotic arm through the hexagonal copper columns (103).

3. The ring-shaped component handling robot according to claim 2, characterized in that, The drive unit (2) is a cylinder. The drive unit (2) is bolted between the top plate (101) and the base (31). The base (31) has a bearing (5) at its center. The piston rod (201) of the drive unit (2) passes through the bearing (5) and extends downward.

4. The ring-shaped component handling robot according to claim 3, characterized in that, The piston rod (201) of the drive unit (2) passes downward through the bearing (5) and is connected to the lifting seat (32). The lifting seat (32) is sleeved on the piston rod (201). A bushing (6) is sleeved on the piston rod (201) and a nut (7) is threaded on it. The bushing (6) and the nut (7) cooperate to clamp the lifting seat (32).

5. A ring-shaped component handling robot according to claim 1, characterized in that, The lifting seat (32) is a ring-shaped body, and multiple elongated holes (10) are evenly opened around the lifting seat (32). The elongated holes (10) correspond one-to-one with the parallelogram mechanism (33).

6. A ring-shaped component handling robot according to claim 5, characterized in that, The parallelogram mechanism (33) includes a vertical plate (11), a bottom rod (12), a main connecting rod (13), and a secondary connecting rod (14). The vertical plate (11) is connected and fixed to the base (31) upwards. The vertical plate (11) and the elongated hole (10) are corresponding. The vertical plate (11) and the bottom rod (12) are arranged vertically at intervals. The main connecting rod (13) and the secondary connecting rod (14) are hinged between the vertical plate (11) and the bottom plate. The main connecting rod (13) and the secondary connecting rod (14) are arranged horizontally at intervals. The upper end of the main connecting rod (13) is bent downward and hinged to the elongated hole (10), and slides along the elongated hole (10). One end of the bottom rod (12) is connected to the support plate (34), which is bent into an arc shape. A rubber pad (9) is detachably connected to the support plate (34).

7. A ring-shaped component handling robot according to claim 6, characterized in that, The upper end of the main connecting rod (13) is bent downwards and the cross section is in the shape of "7". There are two main connecting rods (13). The two main connecting rods (13) are arranged on both sides of the vertical plate (11). The upper ends of the two main connecting rods (13) are hinged together by a first pin (151). The first pin (151) passes through the elongated hole (10) and moves in a straight line along the elongated hole (10). The two main connecting rods (13) are hinged together by a second pin (152). The second pin (152) passes through the vertical plate (11). The lower ends of the two main connecting rods (13) are hinged together by a third pin (153). The third pin (153) passes through the other end of the bottom rod (12).

8. A ring-shaped component handling robot according to claim 6, characterized in that, The secondary connecting rod (14) is a single rod structure. There are two secondary connecting rods (14). The two secondary connecting rods (14) are arranged on both sides of the vertical plate (11). The upper ends of the two secondary connecting rods (14) are hinged to a fourth pin (154). The fourth pin (154) passes through the vertical plate (11). The lower ends of the two secondary connecting rods (14) are hinged to a fifth pin (155). The fifth pin (155) passes through the middle of the bottom rod (12).

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