A gypsum board handling robot

Abstract

The present invention discloses a gypsum board handling robot, which includes a body for performing the action of moving the board according to a preset program, and a static platform and a moving platform connected to the execution part of the body. The static platform adsorbs the gypsum board through a vacuum suction cup. The static platform and the moving platform are connected by a flexible constraint branch. The flexible constraint branch generates corresponding deformation and accumulates internal force for restoring the initial shape when the static platform and the moving platform move relatively. When the aligning device pats the gypsum board, the moving platform can perform horizontal movement relative to the static platform, so as to move synchronously with the gypsum board. And after the vacuum suction cup detaches from the gypsum board, the flexible constraint branch releases the internal force, and the vacuum suction cup can automatically return to the original position along with the moving platform.

Description

Technical Field

[0001] The present invention relates to the field of handling robots, and particularly to a gypsum board handling robot. Background Art

[0002] After production, gypsum boards are scattered on the conveyor line. The conveyor line transports the gypsum boards to a location where they are stacked in several layers and then packed and loaded onto a vehicle.

[0003] Most existing stackers generally include a lift and an aligning device. A forklift board for stacking boards is usually placed on the lift. The aligning device is used to pat the edges of the boards from all around to make the boards stack neatly on the lift. After stacking is completed, the lift descends to a height flush with the ground, and workers use a forklift or a pallet jack to remove the forklift board and the boards above it.

[0004] In order to enable the gypsum boards to be stacked stably on the forklift board, the top surface of the forklift board is designed to have a large frictional force to prevent the gypsum boards from slipping on the forklift board.

[0005] Since the gypsum boards cannot slide on the forklift board, the first gypsum board on the forklift board needs to be manually or robotically transported onto the forklift board, and the subsequent gypsum boards are then conveyed above the gypsum board on the forklift board by a belt conveyor.

[0006] After the first gypsum board is placed on the forklift board, it also needs to be patted by the aligning device so that the subsequent gypsum boards can be aligned with the first gypsum board. However, due to the large frictional force between the forklift board and the gypsum board, when the aligning device pats the gypsum board to make it move, the bottom surface of the gypsum board is easily scratched by the top surface of the forklift board. Summary of the Invention

[0007] The purpose of the present invention is to provide a gypsum board handling robot to solve the technical problem that when the handling robot transports the first gypsum board onto the forklift board and the aligning device pats the gypsum board to make it move, the bottom surface of the gypsum board is scratched by the top surface of the forklift board.

[0008] To solve the above technical problem, the present invention specifically provides the following technical solutions:

[0009] A gypsum board handling robot includes: a body for performing the action of moving the board according to a preset program; a static platform fixedly connected to the execution part of the body; a moving platform connected to the static platform through a flexible constraint branch, the moving platform being capable of moving horizontally relative to the static platform, and the flexible constraint branch deforming accordingly and accumulating internal force to restore the initial form when the static platform and the moving platform move relative to each other; a vacuum suction cup fixedly connected to the moving platform and generating a vacuum suction force sufficient to adsorb the board through a vacuum pump.

[0010] Furthermore, the main body includes a traveling device and a lifting device. The traveling device has an actuator capable of moving along the horizontal direction, and the lifting device has an actuator capable of vertically lifting. The lifting device is fixedly connected to the actuator of the traveling device, and the static platform is fixedly connected to the actuator of the lifting device.

[0011] Furthermore, the static platform is in the shape of a rectangular flat plate, the static platform is horizontally arranged, and there are four flexible constraint branches which are respectively connected to the four corners of the static platform; the moving platform is in the shape of a ring, the moving platform is horizontally arranged, and the vacuum suction cup is detachably connected to the moving platform.

[0012] Furthermore, the flexible constraint branch includes a robotic arm with two degrees of freedom. The two ends of the robotic arm are respectively connected to the static platform and the moving platform; the two degrees of freedom include: the degree of freedom of rotating around the first axis, and the degree of freedom of moving along a direction perpendicular to the first axis, and the first axis is parallel to the direction of gravity; the robotic arm includes: swing force arms, which are multiple and symmetrically connected to the edge of the static platform, the swing force arms have a length in the horizontal direction and can swing around a vertical axis; telescopic force arms, which have the same number as the swing force arms and are correspondingly connected to the swinging end of one of the swing force arms, and the telescopic force arms can telescopically move along the length direction of the swing force arms.

[0013] Furthermore, the swing force arm includes: a fixing member fixedly connected to the edge of the static platform; a rotating member rotatably connected to the fixing member, the rotating shaft of the rotating member is vertically arranged, and the rotating member always has a tendency to rotate towards a specified angle when no external force acts; a first rod having a length and two ends, one end of the first rod is connected to the rotating member, and the other end of the first rod extends horizontally away from the fixing member, and the telescopic force arm is connected to the first rod; wherein, the rotating member and the fixing member are connected by an elastic member.

[0014] Furthermore, the fixing member includes a flange ring and a bushing. The flange ring is detachably connected to the bracket. The bushing is coaxially arranged inside the flange ring and is connected to the flange ring through a connecting rod. The gap between the flange ring and the bushing forms a sliding groove; the rotating member includes a turntable and a rotating shaft. The rotating shaft is coaxially inserted into the inside of the bushing. The turntable is slidably connected to the sliding groove through a slider. The rotating shaft and the slider are connected with a pressing plate pressing on the top surface of the fixing member. The elastic member is arranged inside the sliding groove and elastically connects the connecting rod and the slider.

[0015] As another aspect of the present application, the swinging force arm includes: a fixing member fixedly connected to the edge of the static platform; a rotating member rotatably connected to the fixing member, the rotation axis of the rotating member being vertically arranged, and the rotating member always having a tendency to rotate towards a specified angle when no external force acts; a first rod having a length and two ends, one end of the first rod being connected to the rotating member, the other end of the first rod extending horizontally away from the fixing member, and the telescopic force arm being connected to the first rod; wherein, the rotating member and the fixing member are connected by a cam pair, and the cam pair is used to axially move the rotating member upward when the rotating member rotates relative to the fixing member.

[0016] As another aspect of the present application, the swinging force arm includes: a fixing member fixedly connected to the edge of the static platform; a rotating member rotatably connected to the fixing member, the rotation axis of the rotating member being vertically arranged, and the rotating member always having a tendency to rotate towards a specified angle when no external force acts; a first rod having a length and two ends, one end of the first rod being connected to the rotating member, the other end of the first rod extending horizontally away from the fixing member, and the telescopic force arm being connected to the first rod; wherein, the rotating member and the fixing member are connected by a motor and an encoder, the encoder is used to record the rotation angle of the rotating member, and the motor is used to drive the rotating member to rotate back by a corresponding angle when the rotating member loses external force.

[0017] Further, the flexible constraint branch includes a robotic arm with two degrees of freedom, and two ends of the robotic arm are respectively connected to the static platform and the moving platform. The two degrees of freedom include: a degree of freedom of linear movement along a first direction, and a degree of freedom of linear movement along a second direction, wherein both the first direction and the second direction are horizontal and perpendicular to each other.

[0018] Further, the telescopic force arm includes: a slider fixedly connected to the free end of the swinging force arm; a sliding rod slidably connected to the slider, and the sliding direction being parallel to the length direction of the swinging force arm; an elastic member elastically connecting the slider and the sliding rod, and when the sliding rod slides in any direction, the elastic member accumulates internal force to make the sliding rod return to the initial position; a suction cup connecting member connecting one end of the sliding rod away from the swinging force arm and the vacuum suction cup; and a moving platform connecting member connecting one end of the sliding rod away from the swinging force arm and the moving platform.

[0019] The present application has the following beneficial effects compared with the prior art:

[0020] Provided is a gypsum board handling robot. When the patting device pats the gypsum board, the moving platform can move horizontally relative to the static platform, so as to move synchronously with the gypsum board. And after the vacuum suction cup detaches from the gypsum board, the flexible constraint branch releases internal force, and the vacuum suction cup can automatically return to the original position along with the moving platform. Description of the Drawings

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only exemplary, and for those of ordinary skill in the art, without creative efforts, other implementation drawings can also be obtained according to the provided drawings.

[0022] Figure 1 It is a mechanical schematic diagram of the usage scenario of the stacking table applied to the handling robot of the present invention;

[0023] Figure 2 It is a mechanical schematic diagram of the working condition of the handling robot of the present invention applied to the stacking table;

[0024] Figure 3 It is a structural diagram of the stacking table applied to the handling robot of the present invention from a top view perspective;

[0025] Figure 4 It is a three-dimensional view of the process of the handling robot of Embodiment 1 of the present invention obtaining or placing a gypsum board;

[0026] Figure 5 It is a three-dimensional view of a part of the structure of the handling robot of Embodiment 1 of the present invention;

[0027] Figure 6 It is an assembly diagram of a part of the structure of the handling robot of Embodiment 1 of the present invention;

[0028] Figure 7 It is a top view of a part of the structure of the handling robot of Embodiment 1 of the present invention;

[0029] Figure 8 It is Figure 7 a cross-sectional view in the A-A direction of;

[0030] Figure 9 It is a mechanical schematic diagram of the cam pair of Embodiment 3 of the present invention, where Figure 9 (a) shows the state where the fixed part and the rotating part are engaged, Figure 9 (b) shows the state where when the rotating part rotates relative to the fixed part, under the influence of the cam pair, the rotating part moves axially upward relative to the fixed part;

[0031] The reference numerals in the figure are respectively represented as follows:

[0032] 1 - Belt conveyor; 2 - Stacking table; 21 - First elevator; 22 - First conveyor; 23 - First aligning device; 24 - First stop; 25 - Second aligning device; 26 - Second stop; 3 - Traveling device; 31 - Rail; 32 - Rail car; 4 - Lifting device; 5 - Static platform; 6 - Swing power arm; 61 - Fixed part; 611 - Flange ring; 612 - Bush; 613 - Connecting rod; 614 - First chute; 62 - Rotating part; 621 - Turntable; 622 - Rotating shaft; 623 - First slider; 624 - First pressing plate; 63 - Straight rod; 64 - Cam pair; 641 - Protrusion; 642 - Slope; 65 - First elastic member; 7 - Telescopic power arm; 71 - Second slider; 711 - Second pressing plate; 72 - Slide bar; 721 - Second chute; 73 - Second elastic member; 74 - Suction cup connecting member; 75 - Moving platform connecting member; 751 - Threaded post; 752 - Nut; 8 - Moving platform; 81 - Connecting hole; 9 - Vacuum suction cup. Detailed implementation manners

[0033] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0034] The handling robot disclosed in this specific embodiment is specifically applied to a stacking table 2 as Figures 1 - 3 shown.

[0035] The stacking table 2 is used for stacking gypsum boards. The stacking table 2 includes a scissor lift 21 and a chain conveyor 22. The scissor lift 21 has an execution part that can vertically lift and lower, and the chain conveyor 22 has an execution part for stacking boards and capable of horizontally conveying boards. The chain conveyor 22 is fixedly connected to the execution part of the scissor lift 21.

[0036] The belt conveyor 1 transports the gypsum boards above the chain conveyor 22. For each layer of stacked gypsum boards, the scissor lift 21 drives the chain conveyor 22 to descend one layer. After the gypsum boards are stacked, the chain conveyor 22 drives the stacked gypsum boards to move to the downstream conveyor line, and the stacked gypsum boards move to the packing station through the downstream conveyor line.

[0037] Since the chain - plate conveyor 22 needs to be able to smoothly transport the gypsum boards, the frictional force between the chain plates of the chain - plate conveyor 22 and the gypsum boards is relatively large. This causes when the first gypsum board (the lowermost layer of the stacked gypsum boards) is transported from the upstream conveyor line to the chain plates of the chain - plate conveyor 22, one end of the gypsum board stops moving after contacting the chain plate, while the other end of the gypsum board slips on the conveying surface of the belt conveyor 1.

[0038] To avoid the above - mentioned technical problems, before the belt conveyor 1 transports the first gypsum board to the chain - plate conveyor 22, the handling robot 3 transports the gypsum board to the chain - plate conveyor 22. After there is at least one gypsum board on the chain - plate conveyor 22, the belt conveyor 1 starts to transport the gypsum board to the chain - plate conveyor 22. The frictional force between the gypsum boards is relatively small, and the problem of jamming will not occur.

[0039] Around the scissor - lift 21, a first aligning device 23 and a first stop 24, which are respectively located on both sides of the chain - plate conveyor 22, are sequentially arranged along the first direction. The first direction is horizontal and perpendicular to one side of the board. The first aligning device 23 is used to push one side of the board to move along the first direction so that the other side abuts against the first stop 24.

[0040] A second aligning device 25 and a second stop 26, which are respectively located on both sides of the chain - plate conveyor 22, are sequentially arranged along the second direction. The second direction is horizontal and perpendicular to the first direction. The second aligning device 25 is used to push one side of the board to move along the second direction so that the other side abuts against the second stop 26.

[0041] After each gypsum board is transported above the chain - plate conveyor 22, the first aligning device 23 and the second aligning device 25 work, so that the two right - angled sides of the gypsum board are respectively aligned with the first stop 24 and the second stop 26, thereby making the edges of each gypsum board flat.

[0042] In the above - mentioned technical means, both the first stop 24 and the second stop 26 are fixed stops, that is, stop baffles made of metal or plastic with fixed positions. Both the first aligning device 23 and the second aligning device 25 are movable push rods with power sources. The first aligning device 23 and the second aligning device 25 perform corresponding actions through their own power sources, including linear propulsion, stepping or rotational actions, to align the gypsum boards neatly.

[0043] As described above, in order to enable the gypsum boards to be stacked stably on the forklift board, the top surface of the forklift board is designed to have a large frictional force to prevent the gypsum boards from slipping on the forklift board. Correspondingly, in order to prevent the gypsum boards from slipping on the chain plates of the chain-type conveyor 22, the top surface of the chain plates of the chain-type conveyor 22 is also designed to have a large frictional force. This makes it easy for the bottom surface of the gypsum boards to be scratched by the chain plates when the aligning device and the stopper on the stacking table 2 perform the aligning operation on the gypsum boards.

[0044] To solve the above technical problems, the present specific embodiment provides a gypsum board handling robot. Please refer to Figures 4 - 8 .

[0045] Example 1.

[0046] The handling robot includes:

[0047] A main body for performing the action of moving the board according to a preset program;

[0048] A static platform 5 fixedly connected to the execution part of the main body;

[0049] A moving platform 8 connected to the static platform 5 through a flexible constraint branch. The moving platform 8 can move relative to the static platform 5 in the horizontal direction. The flexible constraint branch deforms accordingly and accumulates internal forces for restoring the initial form when the static platform 5 and the moving platform 8 move relative to each other;

[0050] A vacuum suction cup 9 fixedly connected to the moving platform 8 and generating a vacuum suction force sufficient to adsorb the board through a vacuum pump.

[0051] The handling robot 3 performs operations through the following steps:

[0052] Step 1: The handling robot 3 obtains a gypsum board from a position where gypsum boards are stacked, and then transports the gypsum board to the stacking table, keeping the gypsum board suspended and not in contact with the forklift board. At the same time, keep the gypsum board within the working range of the aligning device;

[0053] Step 2: The aligning device aligns the gypsum board. During this period, the main body does not move, so the static platform 5 does not move, while the moving platform 8, the vacuum suction cup 9 and the gypsum board move synchronously. At this time, the flexible constraint branch deforms accordingly and accumulates internal forces for restoring the initial form;

[0054] Step 3: The vacuum pump stops working, and the vacuum suction cup 9 loses the adsorption force on the gypsum board. The gypsum board falls onto the chain-type conveyor 22 under the action of gravity. The flexible constraint branch releases the internal force and restores the initial form, and the static platform 5 and the moving platform 8 restore the initial relative position.

[0055] In the above operation, when the aligning device is working, the first gypsum board is in a suspended state, and its bottom surface has no contact with the chain conveyor 22, so its bottom surface will not be scratched.

[0056] Optionally:

[0057] The main body includes a traveling device 3 and a lifting device 4. The traveling device 3 has an execution part that can move along the horizontal direction. The lifting device 4 has an execution part that can vertically lift. The lifting device 4 is fixedly connected to the execution part of the traveling device 3, and the static platform 5 is fixedly connected to the execution part of the lifting device 4.

[0058] The traveling device 3 can adopt devices such as overhead cranes, crawler-type traveling vehicles, wheeled traveling vehicles, etc. The lifting device 4 can adopt devices such as elevators, hoisting machines, electric or pneumatic push rods, etc.

[0059] In this embodiment, the traveling device 3 includes a track 31 and a track vehicle 32. The track 31 is horizontally suspended in the air and passes directly above the stacking platform 2 and the position where the gypsum boards are stacked. The track vehicle 32 travels through the track 31, and the lifting device 4 is a servo electric push rod.

[0060] Optionally:

[0061] The static platform 5 is in the shape of a rectangular flat plate. The static platform 5 is horizontally arranged, and the flexible constraint branches have four and are respectively connected to the four corners of the static platform 5.

[0062] The vacuum suction cups 9 connected to the static platform 5 through the swinging force arm 6 and the telescopic force arm 7 are distributed at the four corners of the same rectangular wire frame on the horizontal plane. Since the gypsum board is also rectangular in shape, the four vacuum suction cups 9 are respectively close to the four corners of the gypsum board, so as to obtain the best adsorption effect.

[0063] Optionally:

[0064] The moving platform 8 is in the shape of a ring. The moving platform 8 is horizontally arranged, and the vacuum suction cups 9 are detachably connected to the moving platform 8.

[0065] A number of connection holes 81 are provided on the moving platform 8. The vacuum suction cups 9 can be connected to any one of the connection holes 81, so that the staff can change the position of the vacuum suction cups 9 according to the shape of the gypsum board, so that the vacuum suction cups 9 are closer to the corners of the gypsum board to be adsorbed, so as to improve the adsorption stability of the vacuum suction cups 9.

[0066] Optionally:

[0067] The flexible constraint branch includes a robotic arm with two degrees of freedom. The two ends of the robotic arm are respectively connected to the static platform 5 and the moving platform 8. The two degrees of freedom include:

[0068] Embodiment 1, the degree of freedom of rotation along the first axis, and the degree of freedom of movement along a direction perpendicular to the first axis, wherein the first axis is parallel to the direction of gravity;

[0069] Or—

[0070] Embodiment 2 (not shown in the figure), the degree of freedom of linear movement along the first direction, and the degree of freedom of linear movement along the second direction, wherein both the first direction and the second direction are horizontal and perpendicular to each other.

[0071] In the above technical means, the two-degree-of-freedom robotic arm includes two linear sliders perpendicular to each other, or—includes a turntable and a linear slider perpendicular to the axis of the turntable.

[0072] In the above two technical means, one end of the robotic arm is connected to the static platform 5, and the other end of the robotic arm can move freely in the horizontal direction, so that the moving platform 8 can move adaptively in the horizontal direction.

[0073] Furthermore, in Embodiment 1:

[0074] The robotic arm includes:

[0075] The swinging force arm 6, which has a plurality of them and is symmetrically connected to the edge of the static platform 5. The swinging force arm 6 has a length in the horizontal direction and can swing around a vertical axis;

[0076] The telescopic force arm 7, which has the same number as the swinging force arm 6 and is correspondingly connected to the swinging end of one swinging force arm 6. The telescopic force arm 7 can telescopically move along the length direction of the swinging force arm 6.

[0077] Optionally:

[0078] One end of the telescopic force arm 7 away from the swinging force arm 6 is detachably connected to the moving platform 8.

[0079] Optionally:

[0080] The vacuum suction cups 9 have the same number as the telescopic force arms 7 and are correspondingly connected to the telescopic ends of one telescopic force arm 7.

[0081] Optionally:

[0082] The swinging force arm 6 includes:

[0083] The fixing member 61, which is fixedly connected to the edge of the static platform 5;

[0084] The rotating member 62, which is rotatably connected to the fixing member 61. The rotation axis of the rotating member 62 is vertically arranged, and when there is no external force, the rotating member 62 always has a tendency to rotate towards a specified angle;

[0085] The straight rod 63 has a length and two ends. One end of the straight rod 63 is connected to the rotating member 62, and the other end of the straight rod 63 extends horizontally away from the fixed member 61. The telescopic force arm 7 is connected to the straight rod 63.

[0086] The straight rod 63 swings around the fixed member 61 through the rotating member 62. When the aligning device works, the straight rod 63 swings adaptively to move synchronously with the gypsum board. After the vacuum suction cup 9 is separated from the gypsum board, the rotating member 62 automatically rotates to a specified angle, thereby driving the straight rod 63 and the vacuum suction cup 9 to automatically return to the initial position.

[0087] Furthermore, in Embodiment 1, the technical effect of "the rotating member 62 always has a tendency to rotate towards a specified angle without external force" can be achieved in various ways, including:

[0088] Firstly.

[0089] The rotating member 62 and the fixed member 61 are connected by a first elastic member 65.

[0090] Under the action of an external force, the rotating member 62 rotates in any direction, the first elastic member 65 is compressed and stores internal force. After the external force is removed, the first elastic member 65 rebounds and drives the rotating member 62 to rotate to the initial angle.

[0091] Secondly, Embodiment 3, as Figure 9 shown.

[0092] The rotating member 62 and the fixed member 61 are connected by a cam pair 64. The cam pair 64 is used to make the rotating member 62 move axially upward when the rotating member 62 rotates relative to the fixed member 61.

[0093] Place the rotating member 62 above the fixed member 61. After coaxially connecting the rotating member 62 and the fixed member 61, a convex block 641 is provided on the bottom surface of the rotating member 62, and a V-shaped slope 642 is provided on the top surface of the fixed member 61, thus forming the cam pair 64.

[0094] Under the action of an external force, after the rotating member 62 rotates in any direction, the rotating member 62 moves upward against gravity to obtain gravitational potential energy; after the external force is removed, the gravitational potential energy of the rotating member 62 is converted into kinetic energy to drive the convex block 641 at the bottom of the rotating member 62 to return to the lowest point of the V-shaped slope 642, thereby making the rotating member 62 obtain a tendency to rotate towards a specified angle.

[0095] Thirdly, Embodiment 4 (not shown in the figure).

[0096] The rotating member 62 and the fixed member 61 are connected by a motor.

[0097] An optoelectronic encoder for recording the rotation angle of the rotating member 62 is installed on the fixing member 61. Under the action of an external force, any angle of the rotating member 62 rotating in any direction is recorded by the optoelectronic encoder. After the external force is removed, the motor drives the rotating member 62 to rotate in the reverse direction by a corresponding angle to reset.

[0098] Specifically, in Embodiment 1:

[0099] The fixing member 61 includes a flange ring 611 and a bushing 612. The flange ring 611 is detachably connected to the bracket. The bushing 612 is coaxially arranged inside the flange ring 611 and is connected to the flange ring 611 through a connecting rod 613. A first chute 614 is formed in the gap between the flange ring 611 and the bushing 612;

[0100] The rotating member 62 includes a turntable 621 and a rotating shaft 622. The rotating shaft 622 is coaxially inserted inside the bushing 612. The turntable 621 is slidably connected to the first chute 614 through a first slider 623. A first pressing plate 624 pressing on the top surface of the fixing member 61 is connected to the rotating shaft 622 and the first slider 623. A first elastic member 65 is arranged inside the first chute 614 and elastically connects the connecting rod 613 and the first slider 623.

[0101] By adjusting the position of the hole where the flange ring 611 is connected to the static platform 5, the initial angle of the rotating member 62 can be modified, thereby adjusting the initial position of the vacuum chuck 9.

[0102] The first elastic member 65 is a leaf spring. When the rotating member 62 rotates relative to the fixing member 61, the first slider 623 slides inside the first chute 614 to compress the first elastic member 65, and the first elastic member 65 stores internal force to drive the first slider 623 to slide to the initial position.

[0103] Further, in Embodiment 1:

[0104] The telescopic force arm 7 includes:

[0105] A second slider 71 fixedly connected to the free end of the swinging force arm 6;

[0106] A sliding rod 72 slidably connected to the second slider 71, and the sliding direction is parallel to the length direction of the swinging force arm 6. A second chute 721 for the second slider 71 to slide is arranged on the sliding rod 72. A second pressing plate 711 pressing on the top surface of the sliding rod 72 is arranged on the second slider 71;

[0107] A second elastic member 73 elastically connecting the second slider 71 and the sliding rod 72. The second elastic member 73 is a spring. The second elastic member 73 is arranged inside the second chute 721. When the sliding rod 72 slides in any direction, the second elastic member 73 stores internal force to make the sliding rod 72 return to the initial position;

[0108] The suction cup connecting member 74 connects the end of the sliding rod 72 away from the swinging force arm 6 and the vacuum suction cup 9;

[0109] The moving platform connecting member 75 connects the end of the sliding rod 72 away from the swinging force arm 6 and the moving platform 8. The moving platform connecting member 75 includes a threaded post 751 and a nut 752. The threaded post 751 is used to pass through the connecting hole 81 and then lock the connecting hole 81 through the nut 752.

[0110] The above embodiments are only exemplary embodiments of the present invention and are not used to limit the present invention. The protection scope of the present invention is defined by the claims. Those skilled in the art can make various modifications or equivalent replacements within the essence and protection scope of the present invention, and such modifications or equivalent replacements should also be regarded as falling within the protection scope of the embodiments of the present invention.

Claims

1. A gypsum board handling robot, characterized in that, Comprising: A main body for performing the action of moving a sheet according to a preset program; A static platform (5) fixedly connected to the execution part of the main body; A moving platform (8) connected to the static platform (5) through a flexible constraint branch. The moving platform (8) can move horizontally relative to the static platform (5). When the static platform (5) and the moving platform (8) move relative to each other, the flexible constraint branch deforms accordingly and accumulates internal force to restore its initial shape; A vacuum suction cup (9) fixedly connected to the moving platform (8) and generating a vacuum suction force sufficient to adsorb the sheet through a vacuum pump; The flexible constraint branch includes a robotic arm with two degrees of freedom. The two ends of the robotic arm are respectively connected to the static platform (5) and the moving platform (8); The two degrees of freedom include: The degree of freedom of rotating around a first axis, and the degree of freedom of moving along a direction perpendicular to the first axis. The first axis is parallel to the direction of gravity; The robotic arm includes: Swing force arms (6), having a plurality of them symmetrically connected to the edge of the static platform (5). The swing force arms (6) have a length in the horizontal direction and can swing around a vertical axis; Telescopic force arms (7), having the same number as the swing force arms (6) and correspondingly connected to the swinging end of one of the swing force arms (6). The telescopic force arms (7) can telescope along the length direction of the swing force arms (6).

2. The gypsum board handling robot according to claim 1, wherein The main body includes a traveling device (3) and a lifting device (4). The traveling device (3) has an execution part that can move horizontally, and the lifting device (4) has an execution part that can lift vertically. The lifting device (4) is fixedly connected to the execution part of the traveling device (3), and the static platform (5) is fixedly connected to the execution part of the lifting device (4).

3. The gypsum board handling robot according to claim 1, wherein The static platform (5) is in the shape of a rectangular flat plate, the static platform (5) is horizontally arranged, and there are four flexible constraint branches respectively connected to the four corners of the static platform (5); The moving platform (8) is in the shape of a circular ring, the moving platform (8) is horizontally arranged, and the vacuum suction cup (9) is detachably connected to the moving platform (8).

4. The gypsum board handling robot according to claim 1, wherein The swing force arm (6) includes: A fixing member (61) fixedly connected to the edge of the static platform (5); A rotating member (62) rotatably connected to the fixing member (61). The rotation axis of the rotating member (62) is vertically arranged. When there is no external force, the rotating member (62) always has a tendency to rotate towards a specified angle; A straight rod (63), having a length and two ends. One end of the straight rod (63) is connected to the rotating member (62), and the other end of the straight rod (63) extends horizontally away from the fixing member (61). The telescopic force arm (7) is connected to the straight rod (63); Wherein, the rotating member (62) is connected to the fixed member (61) through a first elastic member (65).

5. The gypsum board handling robot according to claim 4, characterized in that the fixed member (61) includes a flange ring (611) and a bushing (612). The flange ring (611) is detachably connected to the bracket. The bushing (612) is coaxially arranged inside the flange ring (611) and is connected to the flange ring (611) through a connecting rod (613). A first chute (614) is formed by the gap between the flange ring (611) and the bushing (612); the rotating member (62) includes a turntable (621) and a rotating shaft (622). The rotating shaft (622) is coaxially inserted into the inside of the bushing (612). The turntable (621) is slidably connected to the first chute (614) through a first slider (623). A first pressing plate (624) pressing on the top surface of the fixed member (61) is connected to the rotating shaft (622) and the first slider (623). The first elastic member (65) is arranged inside the first chute (614) and elastically connects the connecting rod (613) and the first slider (623).

6. The gypsum board handling robot according to claim 1, characterized in that the swinging force arm (6) includes: a fixed member (61), fixedly connected to the edge of the static platform (5); a rotating member (62), rotatably connected to the fixed member (61). The rotation axis of the rotating member (62) is vertically arranged. When there is no external force, the rotating member (62) always has a tendency to rotate towards a specified angle; a straight rod (63), having a length and two ends. One end of the straight rod (63) is connected to the rotating member (62), and the other end of the straight rod (63) extends horizontally away from the fixed member (61). The telescopic force arm (7) is connected to the straight rod (63); Wherein, the rotating member (62) is connected to the fixed member (61) through a cam pair (64). The cam pair (64) is used to make the rotating member (62) move axially upward when the rotating member (62) rotates relative to the fixed member (61).

7. The gypsum board handling robot according to claim 1, characterized in that the swinging force arm (6) includes: a fixed member (61), fixedly connected to the edge of the static platform (5); a rotating member (62), rotatably connected to the fixed member (61). The rotation axis of the rotating member (62) is vertically arranged. When there is no external force, the rotating member (62) always has a tendency to rotate towards a specified angle; a straight rod (63), having a length and two ends. One end of the straight rod (63) is connected to the rotating member (62), and the other end of the straight rod (63) extends horizontally away from the fixed member (61). The telescopic force arm (7) is connected to the straight rod (63); Wherein, the rotating member (62) and the fixed member (61) are connected by a motor and an encoder. The encoder is used to record the rotation angle of the rotating member (62), and the motor is used to drive the rotating member (62) to rotate back by a corresponding angle when the rotating member (62) loses external force.

8. The gypsum board handling robot according to claim 1, wherein the telescopic force arm (7) comprises: a second slider (71) fixedly connected to the free end of the swinging force arm (6); a sliding rod (72) slidably connected to the second slider (71), and the sliding direction is parallel to the length direction of the swinging force arm (6); a second elastic member (73) elastically connecting the second slider (71) and the sliding rod (72). When the sliding rod (72) slides in any direction, the second elastic member (73) accumulates internal force to make the sliding rod (72) return to the initial position; a suction cup connecting member (74) connecting the end of the sliding rod (72) far from the swinging force arm (6) and the vacuum suction cup (9); a moving platform connecting member (75) connecting the end of the sliding rod (72) far from the swinging force arm (6) and the moving platform (8).

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