Material transferring and clamping robot

Abstract

According to the technical scheme, the material transferring and clamping robot comprises a vehicle body, a mechanical arm is installed on the vehicle body, a rotating disc is rotationally connected to the end, located in a containing groove, of the vehicle body, a plurality of assembling grooves are formed in the rotating disc, a closing plate is rotationally connected to the vehicle body, and a sliding frame is slidably connected to the closing plate; the vehicle body is provided with a butt joint block at the placing groove, and the mechanical arm is provided with an insertion block corresponding to the butt joint block; by means of the rotating disc, the mechanical arm can replace different clamping claws conveniently, the working efficiency is improved, when the motor drives the rotating disc to rotate, the cam is driven to rotate, the sliding frame slides to the position above the proper storage groove, more dust is prevented from entering other storage grooves, meanwhile, materials are prevented from falling into the storage grooves in the clamping process, and the working efficiency is improved. And a butt-joint pipe on the butt-joint block and a butt-joint pipe on the insertion block communicate with each other, and lubricating oil in an oil groove in the transmission end of the mechanical arm is replaced or impurities are removed through work of an oil pump.

Description

Technical Field

[0001] The present invention relates to the field of automated logistics and machining production technology, and in particular to a material transfer and gripping robot. Background Art

[0002] In the field of automated machining production, in order to improve the efficiency of material transfer, gripping robots are often used to grip and transfer materials.

[0003] Referring to the Chinese invention patent, the publication number is: CN 114939879 A, ​​and the name is: A multifunctional composite AGV robot and its implementation method. The multifunctional composite robot solution can be docked with the conveyor line to realize the material transfer, transportation, grasping, clamping and other loading and unloading operations. It can flexibly shuttle in a small space through lateral movement, oblique movement, rotation and other actions, and can realize the full process in the field of automation. It integrates collaborative robots, AGVs, conveyor lines, Mecanum wheels, etc., thereby realizing the delivery of materials, machine tool clamping, lateral movement of AGVs and other multiple functions in a small space.

[0004] However, there are still some problems in actual use:

[0005] 1. In the current design of robotic arms, although the gripper at the end of the robotic arm has been firmly installed by fasteners such as bolts, this fixing method is not flexible enough when dealing with diversified material grabbing tasks. Specifically, each time the gripper is replaced to adapt to materials of different shapes, sizes or materials, a cumbersome bolt removal and reinstallation process is required, which significantly reduces the work efficiency and flexibility. The current market and the above-mentioned patent documents generally lack an efficient and convenient gripper quick switching mechanism, which should be able to achieve fast and safe replacement of the gripper without interrupting the operation of the robotic arm or minimizing downtime to meet the diverse material grabbing needs;

[0006] 2. Inside the material placement slot on the robot, different materials are placed in a grid-like manner. However, the existing design has significant deficiencies in the material placement process, mainly manifested in the insufficient stability of the gripper on the material, which can easily cause the material to fall off during the handling process and then fall into the adjacent placement slot, or bounce to other locations due to the impact force when falling, causing material confusion and complicating the subsequent processing process;

[0007] 3. As a high-precision, high-load robot component, the effectiveness and maintenance convenience of the lubrication system of the robotic arm are crucial. The current commonly used manual periodic oiling lubrication method has significant disadvantages: on the one hand, the regular oiling operation is cumbersome, which increases the labor intensity and time cost of maintenance personnel; on the other hand, the accumulation of impurities in the lubricating oil is difficult to monitor in real time. When the impurities accumulate to a certain extent, it will cause wear and damage to the precision parts of the robotic arm, affecting the accuracy and life of the robotic arm. What is more serious is that the traditional timed cleaning method often lags behind the actual accumulation rate of impurities and cannot effectively prevent the potential harm of impurities to the robotic arm. Summary of the invention

[0008] The purpose of the present invention is to solve the shortcomings of the prior art and to propose a material transfer and gripping robot that is convenient for replacing gripping claws, storing materials, and cleaning lubricating oil impurities.

[0009] In order to achieve the above object, the present invention adopts the following technical solutions:

[0010] A material transfer gripping robot comprises a vehicle body, a mechanical arm is mounted on the vehicle body, a gripping claw is plugged into the end of the mechanical arm, the mechanical arm and the gripping claw are electrically connected via a plug, a replacement mechanism is connected to the vehicle body, the replacement mechanism comprises a placement slot, a placement slot is provided on one side of the vehicle body, a rotating disk is rotatably connected to one end of the vehicle body located in the placement slot, a motor is mounted on the vehicle body, the rotating disk is mounted on the output shaft of the motor, a plurality of assembly slots are provided on the rotating disk, and the assembly slots are used to plug in the gripping claws;

[0011] The vehicle body is connected with a placement mechanism, the placement mechanism includes a storage slot, a plurality of storage slots are arranged on the top of the vehicle body, a closing plate is rotatably connected to the vehicle body, a sliding frame is slidably connected to the closing plate, folding curtains are respectively installed between the two ends of the sliding frame and the closing plate, a telescopic tube is installed inside the closing plate, one end of the telescopic tube is fixed to the sliding frame, an air pipe connected to the telescopic tube is installed on the closing plate, and an air pump assembly is connected to the vehicle body;

[0012] The car body is connected to a lubrication mechanism, and the lubrication mechanism includes a docking block, the car body is provided with a docking block at the placement groove, the outer wall of the docking block is slidably connected with a slider, the slider is connected to the car body, a first electric push rod is installed on the slider, one end of the docking block is installed on the telescopic end of the first electric push rod, the bottom end of the docking block is slidably connected with a pair of docking pipes, a second spring is installed between the docking pipe and the docking block, a section of the side wall of the docking pipe located inside the docking block is provided with a through hole, the mechanical arm is provided with an insertion block corresponding to the docking block, the insertion block is also slidably connected with a docking pipe, and a second spring is also installed between the docking pipe and the insertion block, and the side wall of the docking pipe located on the insertion block is also provided with a through hole, a pair of connecting pipes connected to the lubricating oil groove of the transmission end are installed on the mechanical arm, and the pair of connecting pipes are respectively connected to the two docking pipes on the plug block, and an oil storage assembly is connected to the docking block.

[0013] Preferably, a second electric push rod is installed on the clamping claw, and the telescopic end of the second electric push rod and the mechanical arm are in abutment with each other to limit the position.

[0014] Preferably, the rotating disk has a hexagonal structure, and a plurality of the assembly grooves are respectively arranged on each side of the rotating disk.

[0015] Preferably, the bottom end of the docking block is a trapezoidal funnel-shaped structure, and the top end of the inserting block is a trapezoidal shape.

[0016] Preferably, the inflation assembly includes a cam, a cam is installed on the output shaft of the motor, a sliding frame is slidably connected to the vehicle body, an air cylinder is installed on the vehicle body, one end of the air cylinder is slidably connected to a push rod, one end of the push rod is installed on the sliding frame, one end of the air pipe is installed on the air cylinder and connected to the air cylinder, and a first spring is installed between the sliding frame and the vehicle body.

[0017] Preferably, a plurality of fourth springs are installed between the slider and the vehicle body, the slider is rectangular, and four fourth springs are provided and are respectively arranged on four walls of the slider.

[0018] Preferably, the oil storage assembly includes an oil storage box, the oil storage box is installed on the vehicle body, a filter is installed in the middle of the oil storage box, an inlet pipe and a discharge pipe are installed on the oil storage box, the inlet pipe and the discharge pipe are respectively located on both sides of the filter, an oil pump is installed on the docking block, the input end of the oil pump is connected to the inlet pipe, the output end of the oil pump is connected to the top of one of the docking pipes on the docking block, one end of the discharge pipe is installed on the docking block, and the discharge pipe is connected to the top of the other docking pipe on the docking block.

[0019] Preferably, the oil storage box is connected to a dredging mechanism, and the dredging mechanism includes a sliding brush. The oil storage box is slidably connected to the sliding brush on one side of the filter, and the bristles of the sliding brush are in contact with the surface of the filter. A third spring is installed between the sliding brush and the oil storage box, and a rubber sheet is embedded through one end of the oil storage box away from the third spring. A pushing block in contact with the rubber sheet is installed on the sliding brush. A connecting shaft is rotatably connected to the vehicle body, and a second gear is installed at one end of the connecting shaft. A first gear is installed on the output shaft of the motor, and the second gear is meshed with the first gear. An eccentric top block is installed at one end of the connecting shaft, and the top block is in contact with the pushing block through the rubber sheet.

[0020] Preferably, the diameter of the first gear is larger than that of the second gear.

[0021] Preferably, the sliding brush is in a fence-shaped structure, and the sliding brush is arranged on one side of the oil storage box close to the feed pipe.

[0022] Compared with the prior art, the present invention provides a material transfer gripping robot, which has the following beneficial effects:

[0023] 1. The material transfer gripping robot controls the gripping claws to work through the mechanical arm, so as to facilitate the grasping and handling of materials. Different gripping claws can be replaced for different handling objects, the mechanical arm is tilted to be placed inside the placement slot, the gripping claws are inserted into the assembly slot, the second electric push rod is started to disengage the telescopic end from the end of the mechanical arm, and the mechanical arm and the gripping claws are disengaged. The motor drives the rotating disk to rotate, so that the appropriate gripping claws move to the mechanical arm, and the mechanical arm is docked with the gripping claws, so that it is convenient to select the appropriate gripping claws according to different materials, which is conducive to improving work efficiency.

[0024] 2. For the material transfer and clamping robot, when the motor drives the rotating disk to rotate, the cam is driven to rotate, thereby driving the sliding frame to move, causing the push rod to move, the first spring is compressed, and the gas inside the air cylinder enters the inside of the air pipe, causing the telescopic tube to prop up, thereby pushing the sliding frame to slide, causing the sliding frame to slide over a suitable storage slot, driving the folding curtains at both ends of the sliding frame to fold or compress, thereby facilitating the shielding of other storage slots to prevent more dust from entering other storage slots, and at the same time preventing other materials from falling into the storage slots during the clamping process, avoiding confusion, and facilitating the later removal of materials.

[0025] 3. For the material transfer and gripping robot, when the robot arm extends into the placement groove, the docking pipe on the docking block and the docking pipe on the inserting block are interconnected, and the lubricating oil inside the oil groove at the transmission end of the robot arm is replaced by the oil pump. The original lubricating oil will be discharged into the oil storage box through another connecting pipe, the docking pipe and the discharge pipe, and the impurities will be filtered through the filter to prevent the impurities from entering the transmission end again. During the lubricating oil replacement cycle, the transmission end of the robot arm can be cooled to ensure the normal operation of the robot arm. When the motor is working, the top block rotates and pushes the push block to work through the rubber sheet, so that the sliding brush slides and the third spring is compressed, which makes it easier to dredge the filter, thereby ensuring the filtering effect, blocking impurities, and preventing impurities from affecting the work of the robot arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 A three-dimensional view of a material transfer gripping robot proposed by the present invention;

[0027] Figure 2 A view of a placement slot connection structure of the present invention;

[0028] Figure 3 A view of the telescopic tube connection structure of the present invention;

[0029] Figure 4 A view of a cam connection structure of the present invention;

[0030] Figure 5 A view of a first gear connection structure of the present invention;

[0031] Figure 6 A view of a rotating disk connection structure of the present invention;

[0032] Figure 7 A view of the oil storage assembly connection structure of the present invention;

[0033] Figure 8 A view of a connecting shaft connecting structure of the present invention;

[0034] Fig. 9 A view of the oil storage box connection structure of the present invention;

[0035] Fig.10 A view of the filter screen connection structure of the present invention;

[0036] Fig.11 A view of a sliding brush connection structure of the present invention;

[0037] Fig.12 A view of a docking block connection structure of the present invention;

[0038] Fig.13 A view of a slider connection structure of the present invention;

[0039] Fig.14 A view of the plug-in connection structure of the present invention;

[0040] Fig.15 A view of a connecting pipe connection structure of the present invention;

[0041] Fig.16 A view of a butt-joint pipe connection structure of the present invention;

[0042] Fig.17 A view of a second electric push rod connection structure of the present invention;

[0043] Fig.18 A view of the robot arm connection structure of the present invention.

[0044] In the figure: 1, vehicle body; 2, mechanical arm; 3, gripping claw; 4, placement mechanism; 41, closing plate; 42, folding curtain; 43, sliding frame; 44, air pipe; 45, storage slot; 46, telescopic tube; 47, inflating assembly; 471, push rod; 472, cam; 473, sliding frame; 474, first spring; 475, air cylinder; 5, replacement mechanism; 51, motor; 52, rotating disk; 53, assembly slot; 54, placement slot; 6, lubrication mechanism; 61, docking block; 62, oil storage assembly; 621. Inlet pipe; 622. Outlet pipe; 623. Oil storage box; 624. Filter; 625. Oil pump; 63. First electric push rod; 64. Sliding block; 65. Butt joint pipe; 66. Insert block; 67. Connecting pipe; 68. Second spring; 69. Through hole; 7. Clearing mechanism; 71. First gear; 72. Second gear; 73. Connecting shaft; 74. Top block; 75. Sliding brush; 76. Third spring; 77. Rubber sheet; 78. Push block; 8. Fourth spring; 9. Second electric push rod. DETAILED DESCRIPTION

[0045] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0046] In the description of the present invention, it is necessary to understand that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0047] Embodiment 1:

[0048] Reference Figure 1 , Figure 2 , Figure 6 , Figure 7 , Fig.16 , Fig.17 and Fig.18 A material transfer and gripping robot includes a body 1, a mechanical arm 2 is installed on the body 1, a gripping claw 3 is plugged into the end of the mechanical arm 2, the mechanical arm 2 and the gripping claw 3 are electrically connected through a plug, a replacement mechanism 5 is connected to the body 1, the replacement mechanism 5 includes a placement slot 54, a placement slot 54 is provided on one side of the body 1, a rotating disk 52 is rotatably connected to one end of the body 1 located in the placement slot 54, a motor 51 is installed on the body 1, the rotating disk 52 is installed on the output shaft of the motor 51, and a plurality of assembly slots 53 are provided on the rotating disk 52, and the assembly slots 53 are used to plug in the gripping claws 3, so as to facilitate the selection of appropriate gripping claws 3 for work according to needs.

[0049] In the present invention, a second electric push rod 9 is installed on the clamping claw 3, and the telescopic end of the second electric push rod 9 abuts against the mechanical arm 2 to limit the position, thereby facilitating the clamping claw 3 to limit the position.

[0050] In the present invention, the rotating disk 52 is of a hexagonal structure, and a plurality of assembly grooves 53 are respectively arranged on each side of the rotating disk 52 , so as to facilitate the placement of different clamping claws 3 .

[0051] Embodiment 2:

[0052] Based on Example 1, Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 A material transfer and gripping robot, a vehicle body 1 is connected to a placement mechanism 4, the placement mechanism 4 includes a storage slot 45, a plurality of storage slots 45 are provided at the top of the vehicle body 1, a closing plate 41 is rotatably connected to the vehicle body 1, a sliding frame 43 is slidably connected to the closing plate 41, folding curtains 42 are respectively installed between the two ends of the sliding frame 43 and the closing plate 41, a telescopic tube 46 is installed inside the closing plate 41, one end of the telescopic tube 46 is fixed to the sliding frame 43, an air pipe 44 connected to the telescopic tube 46 is installed on the closing plate 41, and an air pumping component 47 is connected to the vehicle body 1, so as to facilitate the placement of materials, avoid mixing of materials, and facilitate later cleaning.

[0053] In the present invention, the inflation component 47 includes a cam 472, the cam 472 is installed on the output shaft of the motor 51, a sliding frame 473 is slidably connected to the vehicle body 1, an air cylinder 475 is installed on the vehicle body 1, one end of the air cylinder 475 is slidably connected to a push rod 471, one end of the push rod 471 is installed on the sliding frame 473, one end of the air pipe 44 is installed on the air cylinder 475 and connected to the air cylinder 475, and a first spring 474 is installed between the sliding frame 473 and the vehicle body 1, so as to facilitate the injection of air into the air pipe 44, so as to facilitate the sliding frame 43 to slide to the appropriate position when switching to different clamping claws 3.

[0054] Embodiment 3:

[0055] Based on Example 2, Figure 7 , Figure 8 , Fig. 9 , Fig.10 , Fig.11 , Fig.12 , Fig.13 , Fig.14 , Fig.15 and Fig.16 A material transfer gripping robot, wherein a lubrication mechanism 6 is connected to a vehicle body 1, and the lubrication mechanism 6 comprises a docking block 61, and a docking block 61 is provided at a placement groove 54 of the vehicle body 1, and a slider 64 is slidably connected to the outer wall of the docking block 61, and the slider 64 is connected to the vehicle body 1, and a first electric push rod 63 is installed on the slider 64, and one end of the docking block 61 is installed on the telescopic end of the first electric push rod 63, and a pair of docking pipes 65 are slidably connected to the bottom end of the docking block 61, and a second spring 68 is installed between the docking pipe 65 and the docking block 61, and the docking pipe 65 is located at one end of the docking block 61. A through hole 69 is provided on the side wall of the segment, and an insert block 66 corresponding to the docking block 61 is provided on the robot arm 2. A docking tube 65 is also slidably connected to the insert block 66, and a second spring 68 is also installed between the docking tube 65 and the insert block 66. A through hole 69 is also provided on the side wall of the docking tube 65 located on the insert block 66. A pair of connecting pipes 67 connected to the lubricating oil groove at the transmission end are installed on the robot arm 2. The pair of connecting pipes 67 are respectively connected to the two docking tubes 65 on the insert block 66. An oil storage assembly 62 is connected to the docking block 61, so as to facilitate the docking of the docking block 61 and the insert block 66 and facilitate the transportation of lubricating oil.

[0056] In the present invention, the bottom end of the docking block 61 is a trapezoidal funnel-shaped structure, and the top end of the inserting block 66 is a trapezoidal shape, so that the docking block 61 and the inserting block 66 are easy to dock.

[0057] In the present invention, a plurality of fourth springs 8 are installed between the slider 64 and the vehicle body 1. The slider 64 is rectangular. Four fourth springs 8 are provided and are respectively arranged on the four walls of the slider 64, thereby improving the docking accuracy and preventing the docking block 61 from being able to dock well with the insert block 66 when the robot arm 2 is offset.

[0058] In the present invention, the oil storage assembly 62 includes an oil storage box 623, the oil storage box 623 is installed on the vehicle body 1, a filter screen 624 is installed in the middle of the oil storage box 623, an inlet pipe 621 and a discharge pipe 622 are installed on the oil storage box 623, the inlet pipe 621 and the discharge pipe 622 are respectively located on both sides of the filter screen 624, an oil pump 625 is installed on the docking block 61, the input end of the oil pump 625 is connected to the inlet pipe 621, the output end of the oil pump 625 is connected to the top of one of the docking pipes 65 on the docking block 61, one end of the discharge pipe 622 is installed on the docking block 61, and the discharge pipe 622 is connected to the top of another docking pipe 65 on the docking block 61, so as to facilitate lubrication of the driving end of the robotic arm 2, and lubricating oil can also be used for cooling to ensure the normal operation of the robotic arm 2.

[0059] In the present invention, the oil storage box 623 is connected to the dredging mechanism 7, and the dredging mechanism 7 includes a sliding brush 75. The oil storage box 623 is slidably connected to the sliding brush 75 on one side of the filter screen 624. The bristles of the sliding brush 75 abut against the surface of the filter screen 624. A third spring 76 is installed between the sliding brush 75 and the oil storage box 623. A rubber sheet 77 is embedded through one end of the oil storage box 623 away from the third spring 76. A pushing block 78 abutting against the rubber sheet 77 is installed on the sliding brush 75. A connecting shaft 73 is rotatably connected to the vehicle body 1. A second gear 72 is installed at one end of the connecting shaft 73. A first gear 71 is installed on the output shaft of the motor 51. The second gear 72 meshes with the first gear 71. An eccentric top block 74 is installed at one end of the connecting shaft 73. The top block 74 abuts against the pushing block 78 through the rubber sheet 77, so that the filter screen 624 can be dredged by the sliding brush 75, thereby ensuring the normal flow of lubricating oil.

[0060] In the present invention, the diameter of the first gear 71 is larger than that of the second gear 72, so that when the rotating disk 52 rotates within a small range, the first gear 71 can still be driven to rotate a relatively large number of circles.

[0061] In the present invention, the sliding brush 75 is a fence-shaped structure, and the sliding brush 75 is arranged on one side of the oil storage box 623 close to the feeding pipe 621, so that when cleaning the filter 624, the lubricating oil can still flow from one side of the filter 624 to the other side.

[0062] Working principle: The gripping claw 3 is controlled by the mechanical arm 2 to work, so as to facilitate the grabbing and carrying of materials. Different gripping claws 3 can be replaced for different carrying objects, the mechanical arm 2 is tilted to be placed inside the placement slot 54, the gripping claw 3 is inserted into the assembly slot 53, the second electric push rod 9 is started to disengage its telescopic end from the end of the mechanical arm 2, so that the mechanical arm 2 and the gripping claw 3 can be disengaged, the motor 51 is controlled to rotate, the motor 51 drives the rotating disk 52 to rotate, so that the appropriate gripping claw 3 moves to the mechanical arm 2, the mechanical arm 2 is docked with the gripping claw 3, the plug is powered on, and the second electric push rod 9 is controlled to extend, so as to limit the gripping claw 3 to the mechanical arm 2, and the gripping claw 3 can be taken out, so as to facilitate the selection of the appropriate gripping claw 3 according to different materials, which is conducive to improving work efficiency;

[0063] After grabbing the material, the material can be placed into the storage slot 45 through the sliding frame 43. When the motor 51 drives the rotating disk 52 to rotate, the cam 472 is driven to rotate, thereby driving the sliding frame 473 to move, causing the push rod 471 to move, the first spring 474 to be compressed, and the gas inside the air cylinder 475 to enter the inside of the air pipe 44, so that the telescopic tube 46 is propped up, thereby pushing the sliding frame 43 to slide, so that the sliding frame 43 slides to the top of the appropriate storage slot 45, driving the folding curtains 42 at both ends of the sliding frame 43 to fold or compress, so as to facilitate the shielding of other storage slots 45, prevent more dust from entering other storage slots 45, and at the same time prevent other materials from falling into the storage slots 45 during the clamping process, avoid confusion, and facilitate the later removal of materials;

[0064] When the robot arm 2 extends into the placement groove 54, the first electric push rod 63 is controlled to retract, and the docking block 61 can be pulled to slide downward, so that the docking block 61 is docked with the plug block 66 on the robot arm 2. During the docking process, the slider 64 can swing slightly under the action of the fourth spring 8, so as to facilitate the precise docking of the docking block 61 and the plug block 66. The docking pipe 65 on the docking block 61 and the docking pipe 65 on the plug block 66 conflict with each other, so that the second spring 68 is stretched and the through hole 69 is exposed, so that the docking pipe 65 on the docking block 61 and the docking pipe 65 on the plug block 66 are connected to each other, and the oil pump 625 works to extract the lubricating oil in the oil storage box 623 through the feed pipe 621 and inject it into the connecting pipe 67, thereby entering the oil tank of the transmission end of the robot 2. The original lubricating oil will be discharged into the oil storage box 623 through another connecting pipe 67, the docking pipe 65 and the discharge pipe 622. The impurities in the oil storage box 623 are filtered through the filter screen 624. When the lubricating oil is replaced, the transmission end of the robot 2 can be cooled, thereby ensuring the normal operation of the robot 2. When the motor 51 is working, it drives the first gear 71 and the second gear 72 to work, thereby driving the connecting shaft 73 to rotate, driving the top block 74 to rotate, and pushing the push block 78 to work through the rubber sheet 77, so that the sliding brush 75 slides and the third spring 76 is compressed, so as to facilitate the dredging of the filter screen 624, thereby ensuring the filtering effect.

[0065] The above are only preferred specific implementation modes of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical solutions and inventive concepts of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A material transfer gripping robot, comprising a body (1), on which a mechanical arm (2) is mounted, characterized in that: A gripping claw (3) is plugged into the end of the mechanical arm (2), and the mechanical arm (2) and the gripping claw (3) are electrically connected via a plug. A replacement mechanism (5) is connected to the vehicle body (1), and the replacement mechanism (5) comprises a placement slot (54). A placement slot (54) is provided on one side of the vehicle body (1), and a rotating disk (52) is rotatably connected to one end of the vehicle body (1) located in the placement slot (54). A motor (51) is installed on the vehicle body (1), and the rotating disk (52) is installed on the output shaft of the motor (51). A plurality of assembly slots (53) are provided on the rotating disk (52), and the assembly slots (53) are used to plug in the gripping claw (3); The vehicle body (1) is connected to a placement mechanism (4), the placement mechanism (4) comprises a storage groove (45), a plurality of storage grooves (45) are arranged at the top of the vehicle body (1), a closing plate (41) is rotatably connected to the vehicle body (1), a sliding frame (43) is slidably connected to the closing plate (41), folding curtains (42) are respectively installed between the two ends of the sliding frame (43) and the closing plate (41), a telescopic tube (46) is installed inside the closing plate (41), one end of the telescopic tube (46) is fixed to the sliding frame (43), an air pipe (44) connected to the telescopic tube (46) is installed on the closing plate (41), and an air pump assembly (47) is connected to the vehicle body (1); The vehicle body (1) is connected to a lubrication mechanism (6), the lubrication mechanism (6) comprising a docking block (61), the vehicle body (1) being provided with a docking block (61) at the placement groove (54), the outer wall of the docking block (61) being slidably connected to a slider (64), the slider (64) being connected to the vehicle body (1), the slider (64) being mounted with a first electric push rod (63), one end of the docking block (61) being mounted on the telescopic end of the first electric push rod (63), the bottom end of the docking block (61) being slidably connected to a pair of docking tubes (65), a second spring (68) being mounted between the docking tubes (65) and the docking block (61), the docking tubes (65) A through hole (69) is provided on a section of the side wall inside the docking block (61); an inserting block (66) corresponding to the docking block (61) is provided on the mechanical arm (2); a docking tube (65) is also slidably connected to the inserting block (66); a second spring (68) is also installed between the docking tube (65) and the inserting block (66); a through hole (69) is also provided on the side wall of the docking tube (65) on the inserting block (66); a pair of connecting tubes (67) connected to the transmission end lubricating oil groove are installed on the mechanical arm (2); the pair of connecting tubes (67) are respectively connected to the two docking tubes (65) on the inserting block (66); and an oil storage assembly (62) is connected to the docking block (61).

2. A material transfer gripping robot according to claim 1, characterized in that: A second electric push rod (9) is mounted on the gripping claw (3), and the telescopic end of the second electric push rod (9) abuts against the mechanical arm (2) to limit the position.

3. A material transfer gripping robot according to claim 1, characterized in that: The rotating disk (52) has a hexagonal structure, and a plurality of the assembly grooves (53) are respectively arranged on each side of the rotating disk (52).

4. A material transfer gripping robot according to claim 1, characterized in that: The bottom end of the docking block (61) is in a trapezoidal funnel-shaped structure, and the top end of the inserting block (66) is in a trapezoidal shape.

5. The material transfer gripping robot according to claim 1, characterized in that: The pumping assembly (47) comprises a cam (472), the cam (472) is mounted on the output shaft of the motor (51), a sliding frame (473) is slidably connected to the vehicle body (1), an air cylinder (475) is mounted on the vehicle body (1), one end of the air cylinder (475) is slidably connected to a push rod (471), one end of the push rod (471) is mounted on the sliding frame (473), one end of the air pipe (44) is mounted on the air cylinder (475) and is connected to the air cylinder (475), and a first spring (474) is mounted between the sliding frame (473) and the vehicle body (1).

6. The material transfer gripping robot according to claim 1, characterized in that: A plurality of fourth springs (8) are installed between the slider (64) and the vehicle body (1); the slider (64) is rectangular in shape; four fourth springs (8) are provided and are respectively arranged on four walls of the slider (64).

7. The material transfer gripping robot according to claim 1, characterized in that: The oil storage assembly (62) comprises an oil storage box (623). The vehicle body (1) is provided with an oil storage box (623). A filter screen (624) is provided in the middle of the oil storage box (623). An inlet pipe (621) and an outlet pipe (622) are provided on the oil storage box (623). The inlet pipe (621) and the outlet pipe (622) are respectively located on two sides of the filter screen (624). An oil pump (625) is provided on the docking block (61). The input end of the oil pump (625) is connected to the inlet pipe (621). The output end of the oil pump (625) is connected to the top of one of the docking pipes (65) on the docking block (61). One end of the outlet pipe (622) is provided on the docking block (61). The outlet pipe (622) is connected to the top of another docking pipe (65) on the docking block (61).

8. A material transfer gripping robot according to claim 7, characterized in that: The oil storage box (623) is connected to a dredging mechanism (7), and the dredging mechanism (7) comprises a sliding brush (75). The oil storage box (623) is slidably connected to the sliding brush (75) on one side of the filter screen (624). The bristles of the sliding brush (75) are in contact with the surface of the filter screen (624). A third spring (76) is installed between the sliding brush (75) and the oil storage box (623). A rubber sheet (77) is embedded through one end of the oil storage box (623) away from the third spring (76). A push block (78) that contacts the rubber sheet (77) is installed on the sliding brush (75); a connecting shaft (73) is rotatably connected to the vehicle body (1); a second gear (72) is installed at one end of the connecting shaft (73); a first gear (71) is installed on the output shaft of the motor (51); the second gear (72) is meshed with the first gear (71); an eccentric top block (74) is installed at one end of the connecting shaft (73); the top block (74) contacts the push block (78) through the rubber sheet (77).

9. A material transfer gripping robot according to claim 8, characterized in that: The diameter of the first gear (71) is larger than that of the second gear (72).

10. The material transfer gripping robot according to claim 8, characterized in that: The sliding brush (75) is in a fence-shaped structure and is arranged on one side of the oil storage box (623) close to the feeding pipe (621).

Images