A transporting robot and a transporting device

Abstract

The present invention relates to the technical field of handling equipment, and specifically discloses a handling robot and a handling device, comprising: a robot arm and a mounting shaft, wherein the robot arm is provided with a handling cylinder, and the robot arm can drive the handling cylinder to move, the handling cylinder is provided with an opening, the upper end side of the opening is provided with a baffle, and the baffle can slide along the circumferential direction of the handling cylinder to adjust the size of the opening; the mounting shaft is coaxially arranged inside the handling cylinder, and chucks are provided at both ends of the mounting shaft, a plurality of slots are provided on the chuck, and a connecting shaft is fixedly installed on the mounting shaft; the handling robot and the handling device of the present invention rotate in the handling cylinder through the chuck, and cooperate with the chuck in the sealing plate that continuously enters and exits the opening, so that pipes are received one by one from the opening into the handling cylinder, and the chuck separates adjacent pipes, effectively avoiding collision between pipes during stacking and handling, thereby ensuring that the pipes are not easily damaged.

Description

Technical Field

[0001] The present invention relates to the technical field of handling equipment, and in particular to a handling robot and a handling device. Background Art

[0002] A manipulator is an automatic device that can imitate certain movements of human hands and arms to grab, move objects or operate tools according to a fixed procedure. In pipe processing, a manipulator is often required to cooperate with a conveyor to transfer and transport pipes.

[0003] A patent application with the authorization announcement number CN117359669B discloses a steel pipe clamping and transfer manipulator, comprising a manipulator arm, which is used for the transfer and movement of pipes, and two end plates are installed at the outer end of the manipulator arm; and also comprising a holding unit installed at the bottom of the two end plates, the holding unit is used to hold the pipes, the end plates are provided with moving openings, and positioning plates are fixed on the inner sides of the two end plates, at least one moving rod is slidably inserted in the moving opening, and a positioning unit connected to the positioning plate is fixed on the outer end of the moving rod, and a clamping plate is rotatably installed on the other end, and a clamping unit is fixed on the outer side of the moving rod, and the clamping plate is driven to abut against the top of the pipe by the clamping unit; a limiting unit installed on the clamping plate, the limiting unit is used for limiting in the process of clamping the pipes, and the layered grasping of the steel pipes is realized by the designed holding unit and the plurality of clamping plates and the clamping unit, and the multi-layer pipes can be grasped at one time. Compared with the existing manipulator grasping one layer of pipes, the number of grasping each time is increased, and the transportation efficiency of the steel pipes is improved.

[0004] However, this solution still has the following problems: the multi-layer pipes are stacked flat in the supporting unit, and adjacent pipes are close to each other without any obstruction. During the stacking and transportation of the pipes, relative collisions are likely to occur between adjacent pipes. If the surface of the pipes is coated, the collision will cause the coating to fall off, and the integrity of the pipes cannot be guaranteed. At the same time, the collision between the pipes will also cause the pipes to deform, etc., reducing the quality of the pipes. Summary of the invention

[0005] The present invention provides a handling robot and a handling device, aiming to solve the problem in the related art that adjacent pipes are close to each other without any barriers, and relative collisions are easily generated between adjacent pipes during the stacking and handling of the pipes, and the integrity of the pipes cannot be guaranteed.

[0006] The handling robot of the present invention comprises: a robot arm and a mounting shaft, wherein a handling cylinder is arranged on the robot arm, and the robot arm can drive the handling cylinder to move, an opening is opened on the handling cylinder, a baffle is arranged on the upper end side of the opening, and the baffle can slide along the circumferential direction of the handling cylinder to adjust the size of the opening;

[0007] The installation shaft is coaxially arranged inside the carrying tube, and chucks are arranged at both ends of the installation shaft. The chucks are provided with a plurality of slots. A connecting shaft is fixedly installed on the installation shaft, and one end of the connecting shaft away from the installation shaft slides on the carrying tube;

[0008] A first driving mechanism is provided between the connecting shaft and the carrying cylinder and is used to drive the connecting shaft to move along the circumferential direction of the carrying cylinder;

[0009] The sealing mechanism is used to block the pipe in the opening. The sealing mechanism includes a first arc-shaped groove formed on the conveying tube, a first arc-shaped plate is slidably connected inside the first arc-shaped groove, a through groove connected to the first arc-shaped groove is formed on the conveying tube, a connecting block is arranged inside the through groove, and the connecting block is rotatably connected to the end of the first arc-shaped plate, and a sealing plate is fixedly installed on the connecting block.

[0010] The effect is that the pipe enters the slot of the chuck from the opening on the conveying cylinder, and the first arc plate moves to push the connecting block to move, so that the sealing plate extends into the opening to block the pipe entering the slot, and then the first driving mechanism drives the connecting shaft to rotate, so that the chuck can be rotated to put the pipe in the slot into the conveying cylinder, so that the pipes are put into the conveying cylinder one by one from the chuck and separated by the slot, which can avoid collision between the pipes during transportation and reduce the risk of damage to the pipes.

[0011] Preferably, an arc-shaped guide plate is fixedly installed on the inner wall of the conveying cylinder along its circumferential direction, a limiting groove is provided at the end of the connecting shaft, and the connecting shaft is slidably connected to the arc-shaped guide plate through the limiting groove, which has the effect of enabling one end of the connecting shaft to slide along the arc-shaped guide plate, thereby driving the installation shaft and the chuck to rotate and store the pipe.

[0012] Preferably, the first driving mechanism includes a first motor fixedly mounted on a connecting shaft, a first driving gear is mounted on an output end of the first motor, a first inner arc rack is fixedly mounted on an inner wall of the conveying cylinder along its circumferential direction, and the first inner arc rack is meshed with the first driving gear, the effect of which is that the first motor drives the first driving gear to rotate, so that the first driving gear moves along the first inner arc rack during rotation, and then can drive the connecting shaft to slide along the arc guide plate, so as to drive the chuck to rotate and collect the pipe into the conveying cylinder.

[0013] Preferably, a first pushing mechanism is provided on one side of the first arc plate, which is used to drive the first arc plate to slide along the first arc groove, and the first pushing mechanism includes a second motor fixedly mounted on the outside of the conveying cylinder, and a first driving gear is fixedly mounted on the output end of the second motor, and a first driven gear meshing with the first driving gear is rotatably connected to the conveying cylinder, and a first outer arc rack meshing with the first driven gear is slidably connected in the first arc groove, and an end of the first outer arc rack is fixedly connected to the first arc plate, the effect of which is that the first driving gear is driven to rotate by the second motor, which drives the first driven gear to rotate, and pushes the first outer arc rack and the first arc plate to move, so as to adjust the position of the sealing plate.

[0014] Preferably, a first torsion spring is arranged between the connecting block and the first arc-shaped plate, and a protrusion is fixedly connected to the sealing plate, and the protrusion is arranged close to the outer wall of the conveying tube. The effect is that the first torsion spring applies an upward torsional force to the sealing plate, so that the protrusion is close to the outer wall of the conveying tube. After the sealing plate is fully extended into one side of the opening, the first torsion spring can rotate the sealing plate to drive the protrusion into the opening and push the plate into the slot, so as to better drive the movement of the pipe during the rotation of the chuck.

[0015] Preferably, a buffer mechanism is provided on the baffle plate for cooperating with the sealing plate to buffer the unloading force of the pipe falling into the opening when the pipe is unloaded. The buffer mechanism includes a second arc groove provided on the baffle plate, a second arc plate is slidably connected inside the second arc groove, a mounting seat is rotatably connected to one end of the second arc plate close to the opening, and a second torsion spring is provided between the mounting seat and the second arc plate, and a buffer plate located on one side of the opening is fixedly mounted on the mounting seat, the effect of which is that the mounting seat is pushed to move by the sliding of the second arc groove of the second arc plate, so that the buffer plate extends into the opening, and the discharged pipe can be blocked and buffered by compressing the second torsion spring when releasing the pipe, thereby reducing the impact force of the falling pipe.

[0016] Preferably, a second pushing mechanism is provided on one side of the second arc plate, for driving the second arc plate to move along the second arc groove, the second pushing mechanism includes a third motor fixedly mounted on the baffle plate, a second driving gear is fixedly mounted on the output end of the third motor, a second driven gear rotatably connected to the baffle plate and meshing with the second driving gear, a second outer arc rack is slidably connected inside the second arc groove, the second outer arc rack is meshed with the second driven gear, and an end portion of the second outer arc rack is fixedly connected to the second arc plate, the effect of which is that the third motor drives the second driving gear to rotate, so that the second driven gear pushes the second outer arc rack to move, and then can drive the second arc plate to move, thereby adjusting the position of the buffer plate.

[0017] Preferably, a third arc groove is provided on the carrying cylinder, and the baffle is slidably connected inside the third arc groove. A second driving mechanism is provided on one side of the baffle for driving the baffle to slide along the third arc groove. The second driving mechanism includes a fourth motor fixedly mounted on the carrying cylinder, a second driving gear is fixedly mounted on the output end of the fourth motor, a third outer arc rack is fixedly connected to the baffle, and the third outer arc rack is meshed with the second driving gear.

[0018] Preferably, the internal thread of the chuck is connected with a fixing bolt, and the bottom end of the fixing bolt is threadedly connected to the mounting shaft, which has the effect of facilitating the disassembly of the chuck, and then being able to replace the chuck with different sized slots to carry pipes of different diameters.

[0019] A handling device comprises the above-mentioned handling robot.

[0020] The effect is that the chuck rotates in the transport cylinder, and the sealing plate continuously enters and exits the opening and cooperates with the chuck, so that the pipes are collected one by one from the opening into the transport cylinder, and the chuck separates adjacent pipes, effectively avoiding collisions between pipes during stacking and transportation, thereby ensuring that the pipes are not easily damaged, ensuring the integrity of the pipes, and improving the equipment's handling effect on the pipes.

[0021] Beneficial effects:

[0022] When the present invention is in use, the pipes are put into the conveying cylinder one by one and separated by the chuck, so that the pipes will not collide with each other during conveying, thereby reducing the probability of pipe damage; and when the pipes are unloaded, the sealing plate and the buffer plate unload the falling pipes, so that the pipes can land relatively smoothly, and the pipes after landing are limited to prevent the pipes from rolling after landing and colliding with the previously unloaded pipes, thereby effectively avoiding collision and deformation of the pipes during unloading, improving the equipment's conveying and unloading effects on the pipes, and being able to better ensure the integrity of the pipes. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a perspective view of the present invention.

[0024] Figure 2 It is a front view of the present invention.

[0025] Figure 3 The present invention Figure 2 Schematic diagram of the enlarged structure at point A in the middle.

[0026] Figure 4 The present invention Figure 2 Schematic diagram of the enlarged structure at point B in the middle.

[0027] Figure 5 It is a three-dimensional view of the transport cylinder and the mounting shaft of the present invention.

[0028] Figure 6 The present invention Figure 5 sectional view of .

[0029] Figure 7 It is a structural schematic diagram of the transport cylinder of the present invention.

[0030] Figure 8 It is a structural schematic diagram of the transport tube of the present invention from another angle.

[0031] Reference numerals:

[0032] 10. Robotic arm; 11. Carrying cylinder; 111. Arc guide plate; 112. Third arc groove; 113. Storage groove; 114. Guide groove; 12. Opening; 13. Baffle; 131. Second inner arc rack; 132. Slider; 14. Base; 15. Crossbar; 20. Mounting shaft; 21. Chuck; 211. Fixing bolt; 22. Slot; 23. Connecting shaft; 30. First driving mechanism; 31. First motor; 32. First driving gear; 33. First inner arc rack; 40. Sealing mechanism; 41. First arc groove; 42. First arc plate; 43. Connecting Block; 44, sealing plate; 441, convex block; 45, through groove; 50, buffer mechanism; 51, second arc groove; 52, second arc plate; 53, mounting seat; 54, buffer plate; 60, first pushing mechanism; 61, second motor; 62, first driving gear; 63, first driven gear; 64, first outer arc rack; 70, second pushing mechanism; 71, third motor; 72, second driving gear; 73, second driven gear; 74, second outer arc rack; 80, second driving mechanism; 81, fourth motor; 82, second driving gear; 83, third outer arc rack. DETAILED DESCRIPTION

[0033] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to be used to explain the present invention, but should not be understood as limiting the present invention.

[0034] like Figures 1 to 8As shown, the handling robot of the present invention includes a robot arm 10 and a handling cylinder 11 arranged on the robot arm 10, and the robot arm 10 can drive the handling cylinder 11 to move and adjust the position of the handling cylinder 11. An opening 12 is arranged on the side wall of the handling cylinder 11, which is used to allow the pipe to enter and exit the handling cylinder 11. A mounting shaft 20 is coaxially arranged inside the handling cylinder 11, and chucks 21 are arranged at both ends of the mounting shaft 20. The chuck 21 is provided with a plurality of grooves 22 uniformly distributed in an annular manner along its circumferential direction, which are used to cooperate with the handling cylinder 11 to grasp and limit the pipe. A connecting shaft 23 is fixedly installed on the mounting shaft 20, and a first driving mechanism 30 is arranged between the connecting shaft 23 and the handling cylinder 11, which is used to drive the end of the connecting shaft 23 away from the mounting shaft 20 to slide along the circumferential direction of the handling cylinder 11, and then drive The movable installation shaft 20 and the chuck 21 rotate, so that the chuck 21 pushes the pipes one by one from the opening 12 into the interior of the conveying cylinder 11 through the slot 22, and then the robot arm 10 and the conveying cylinder 11 convey the pipes. The conveying cylinder 11 is provided with a sealing mechanism 40 located at the lower end side of the opening 12, which is used to block the pipe from below after the pipe enters the interior of the opening 12 to prevent the pipe from escaping from the opening 12, and then the chuck 21 can push the pipe into the conveying cylinder 11 through the slot 22 during rotation. The conveying cylinder 11 is provided with a baffle 13 located at the upper end side of the opening 12, and the baffle 13 can slide along the circumferential direction of the conveying cylinder 11. The baffle 13 is provided with a buffer mechanism 50, which is used to buffer and separate the pipes during unloading to avoid excessive impact force when the pipe groove falls and collision damage to the pipes.

[0035] refer to Figure 3 An arc-shaped guide plate 111 is fixedly installed on the inner wall of the carrying cylinder 11 along its circumferential direction, a limiting groove is opened at the end of the connecting shaft 23, and the connecting shaft 23 is slidably connected to the arc-shaped guide plate 111 through the limiting groove, so that the end of the connecting shaft 23 can move along the circumferential direction of the carrying cylinder 11, so that the installation shaft 20 and the chuck 21 can rotate in the carrying cylinder 11.

[0036] refer to Figure 3 The first driving mechanism 30 includes a first motor 31 fixedly mounted on the connecting shaft 23, a first driving gear 32 is mounted on the output end of the first motor 31, a first inner arc rack 33 is fixedly mounted on the inner wall of the conveying cylinder 11 along its circumferential direction, and the first inner arc rack 33 is meshed with the first driving gear 32, the first motor 31 drives the first driving gear 32 to rotate, so that the first driving gear 32 moves along the first inner arc rack 33, so that the end of the connecting shaft 23 slides along the arc guide plate 111 in the conveying cylinder 11, and then the chuck 21 can be driven to rotate, and the card slot 22 collects the pipe into the inside of the conveying cylinder 11.

[0037] refer to Figure 6The sealing mechanism 40 includes a first arc groove 41 provided in the arc guide plate 111, and a first arc plate 42 is slidably connected inside the first arc groove 41. A through groove 45 connected to the first arc groove 41 is provided on the conveying cylinder 11, and a connecting block 43 is provided inside the through groove 45, and the connecting block 43 is rotatably connected to the end of the first arc plate 42. A sealing plate 44 is fixedly installed on the connecting block 43, and the first arc plate 42 slides along the first arc groove 41 to push the connecting block 43 to move along the through groove 45, so that the sealing plate 44 extends into the opening 12 to block the pipe entering the card slot 22, thereby preventing the pipe from falling out of the opening 12 when the chuck 21 rotates, so as to facilitate the collection of the pipes into the conveying cylinder 11 one by one.

[0038] refer to Figure 6 and Figure 7 A first pushing mechanism 60 is provided on one side of the first arc plate 42, which is used to drive the first arc plate 42 to slide along the first arc groove 41. The first pushing mechanism 60 includes a second motor 61 fixedly mounted on the outside of the conveying cylinder 11, and a first driving gear 62 is fixedly mounted on the output end of the second motor 61. A first driven gear 63 meshing with the first driving gear 62 is rotatably connected to the conveying cylinder 11, and a first outer arc rack 64 meshing with the first driven gear 63 is slidably connected in the first arc groove 41, and an end of the first outer arc rack 64 is fixedly connected to the first arc plate 42. The first driving gear 62 is driven to rotate by the second motor 61, which drives the first driven gear 63 to rotate, and the first driven gear 63 pushes the first outer arc rack 64 to move along the first arc groove 41, thereby better pushing the first arc plate 42 to move and adjusting the position of the sealing plate 44.

[0039] refer to Figure 6 A first torsion spring is arranged between the connecting block 43 and the first curved plate 42, and a protrusion 441 is fixedly connected to the sealing plate 44, and the protrusion 441 is arranged closely against the outer wall of the carrying tube 11, and the protrusion 441 abuts against the outer wall of the carrying tube 11, so that the sealing plate 44 keeps the end in a tilted state, and then the connecting block 43 rotates on the first curved plate 42, so that the first torsion spring is always in a compressed state. When the connecting block 43 moves to the end of the through groove 45, so that the sealing plate 44 is completely moved into the opening 12, the protrusion 441 moves to the side of the opening 12 and loses the obstruction of the carrying tube 11, and the first torsion spring drives the connecting block 43 to rotate and reset, so that the sealing plate 44 rotates and moves toward the carrying tube 11, so that the protrusion 441 enters the opening 12, and pushes the pipe to the card slot 22, so that the chuck 21 can more conveniently push the pipe into the carrying tube 11.

[0040] refer to Figure 6The buffer mechanism 50 includes a second arc groove 51 provided on the baffle 13, a second arc plate 52 is slidably connected inside the second arc groove 51, a mounting seat 53 is rotatably connected to one end of the second arc plate 52 close to the opening 12, and a second torsion spring is provided between the mounting seat 53 and the second arc plate 52, a buffer plate 54 located on one side of the opening 12 is fixedly installed on the mounting seat 53, the second arc plate 52 moves along the second arc groove 51, pushes the mounting seat 53 to move, and makes the buffer plate 54 extend into the opening 12, when discharging pipes, the pipes discharged from the opening 12 can be blocked and buffered by compressing the second torsion spring, thereby reducing the impact force of the falling pipes and improving the unloading effect.

[0041] refer to Figure 6 and Figure 8 A second pushing mechanism 70 is provided on one side of the second arc plate 52, which is used to drive the second arc plate 52 to move along the second arc groove 51. The second pushing mechanism 70 includes a third motor 71 fixedly mounted on the baffle 13, and a second driving gear 72 is fixedly mounted on the output end of the third motor 71. A second driven gear 73 meshing with the second driving gear 72 is rotatably connected to the baffle 13. A second outer arc rack 74 is slidably connected inside the second arc groove 51, and the second outer arc rack 74 meshes with the second driven gear 73, and the end of the second outer arc rack 74 is fixedly connected to the second arc plate 52. The second driving gear 72 is driven to rotate by the third motor 71, which drives the second driven gear 73 to rotate, and the second driven gear 73 pushes the second outer arc rack 74 to move along the second arc groove 51, thereby better pushing the second arc plate 52 to move and adjusting the position of the buffer plate 54.

[0042] refer to Figure 8 A third arc groove 112 is provided on the carrying cylinder 11, and the baffle 13 is slidably connected to the inside of the third arc groove 112. A second driving mechanism 80 is provided on one side of the baffle 13, which is used to drive the baffle 13 to slide along the third arc groove 112, and then adjust the size of the opening 12 so that pipes of different diameters can enter the carrying cylinder 11. The second driving mechanism 80 includes a fourth motor 81 fixedly mounted on the carrying cylinder 11, and a second driving gear 82 is fixedly mounted on the output end of the fourth motor 81. A third outer arc rack 83 is fixedly connected to the baffle 13, and the third outer arc rack 83 is meshed with the second driving gear 82. The second driving gear 82 is driven to rotate by the fourth motor 81, and the third outer arc rack 83 is pushed to move outside the carrying cylinder 11, and then the baffle 13 can be driven to slide along the third arc groove 112, and the length of the baffle 13 extending into the opening 12 is adjusted, and then the size of the opening 12 is adjusted according to the different diameters of the pipes.

[0043] refer to Figure 2The chuck 21 is internally threaded with a fixing bolt 211, and the bottom end of the fixing bolt 211 is threadedly connected to the mounting shaft 20. The chuck 21 is fixed to the mounting shaft 20 by the fixing bolt 211, so that the mounting shaft 20 can drive the chuck 21 to rotate to store the pipe. The chuck 21 can be disassembled by removing the fixing bolt 211, and then according to the different pipes, the chuck 21 with different diameter slots 22 can be selected to be installed, so as to facilitate the storage and transportation of pipes with different diameters.

[0044] refer to Figure 7 The inner wall of the baffle 13 is provided with a second inner arc rack 131, and the second inner arc rack 131 is located at the end of the first inner arc rack 33. When the first driving gear 32 moves to one side of the baffle 13, the second inner arc rack 131 replaces the first inner arc rack 33 and continues to mesh with the first driving gear 32, so that the first driving gear 32 can continue to move after entering the inside of the baffle 13. The transport cylinder 11 is provided with a storage groove 113 located on one side of the first inner arc rack 33, and one side of the storage groove 113 is provided with A guide groove 114 is provided in the transport tube 11, and a slider 132 sliding in the guide groove 114 is fixedly connected to the second inner arc rack 131. When the baffle 13 slides along the third arc groove 112, the second inner arc rack 131 is driven to move. Under the guidance of the guide groove 114 on the slider 132, the second inner arc rack 131 moves to the side and front and enters the interior of the storage groove 113, thereby avoiding the transport tube 11 from blocking the second inner arc rack 131 and not affecting the movement of the baffle 13.

[0045] refer to Figure 1 A base 14 is provided at the bottom of the robot arm 10 , and two symmetrically distributed horizontal bars 15 are fixedly installed on the base 14 for supporting the pipe and lifting the pipe so as to facilitate filling the pipe into the carrying cylinder 11 .

[0046] In order to facilitate adjustment, the first motor 31 , the second motor 61 , the third motor 71 and the fourth motor 81 are all reduction motors.

[0047] like Figures 1 to 8 As shown, a transport device comprises the above-mentioned transport robot.

[0048] Working principle: The pipe is transported to the horizontal bar 15 by the conveyor, and the conveying cylinder 11 is driven down by the mechanical arm 10 to make the opening 12 close to the horizontal bar 15, so that the pipe enters one of the slots 22 on the chuck 21 from the opening 12, and then the first arc plate 42 is pushed to slide along the first arc groove 41 by the first pushing mechanism 60, and the connecting block 43 is pushed to move along the through groove 45, so that the sealing plate 44 extends into the opening 12 to block the pipe entering the slot 22, and the protrusion 441 moves to the side of the opening 12 and loses the obstruction of the conveying cylinder 11, and the first torsion spring drives the connecting block 43 to rotate and reset, so that The sealing plate 44 rotates toward the conveying tube 11, so that the protrusion 441 enters the opening 12 and pushes the tube toward the card slot 22, and then the first driving mechanism 30 drives the connecting shaft 23 to slide along the arc guide plate 111, so that the mounting shaft 20 and the chuck 21 rotate in the conveying tube 11, push the tube into the inner side of the conveying tube 11, and move the next card slot 22 to the side of the opening 12, and then adjust the first pushing mechanism 60 to reset the sealing plate 44, and open the opening 12, and repeat the above operation again to put the second, third and other multiple tubes into the conveying tube 11 one by one, and then adjust the robot arm 10 to carry them;

[0049] When unloading, the first arc plate 42 is pushed to slide along the first arc groove 41 by the first pushing mechanism 60 again, and the connecting block 43 is pushed to move along the through groove 45, so that the sealing plate 44 extends into the opening 12, and the second arc plate 52 is pushed to move in the second arc groove 51 by the second pushing mechanism 70, and the mounting seat 53 is pushed to move, so that the buffer plate 54 extends into the opening 12, and then the first driving mechanism 30 drives the connecting shaft 23 to move back, so that the chuck 21 rotates, and the chuck 22 sends the pipe to the side of the opening 12, and the pipe falls and compresses the sealing plate 44 to rotate and compress the first torsion spring, and compresses the buffer plate 54 to rotate and compress the second torsion spring, and then the pipe is unloaded. , so that the pipe falls smoothly, and then the sealing plate 44 and the buffer plate 54 are adjusted to move back and reset, and then the first torsion spring and the second torsion spring drive the sealing plate 44 and the buffer plate 54 to rotate, and then the robot arm 10 drives the conveying cylinder 11 to retreat the position of a pipe, and adjust the sealing plate 44 and the buffer plate 54 to enter the opening 12 again, and the chuck 21 continues to rotate to move the pipe in the next slot 22 to the opening 12, and the sealing plate 44 and the buffer plate 54 are used to unload the force and unload the pipe, and the sealing plate 44 and the buffer plate 54 are used to block the pipe to prevent the pipe from rolling after falling and colliding with the previous pipe. Repeat the above operation to discharge the pipes in the conveying cylinder 11 one by one to complete the unloading.

[0050] In the present invention, the pipes are put into the conveying cylinder 11 one by one and separated by the chuck 21, which effectively avoids the mutual collision between the pipes during the transportation, thereby ensuring that the pipes will not be damaged during the transportation, and improving the equipment's handling effect on the pipes; and when the pipes are unloaded, the sealing plate 44 and the buffer plate 54 unload the falling pipes, so that the pipes can land more smoothly, and limit the pipes after landing to prevent the pipes from rolling after landing and colliding with the previously unloaded pipes, effectively avoiding the collision and deformation of the pipes during unloading, ensuring the integrity of the pipes, and improving the unloading effect of the equipment.

[0051] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A handling robot, include: A mechanical arm (10) and a mounting shaft (20), characterized in that a carrying cylinder (11) is provided on the mechanical arm (10), and the mechanical arm (10) can drive the carrying cylinder (11) to move, an opening (12) is provided on the carrying cylinder (11), a baffle (13) is provided on the upper end side of the opening (12), and the baffle (13) can slide along the circumferential direction of the carrying cylinder (11) to adjust the size of the opening (12); The installation shaft (20) is coaxially arranged inside the transport cylinder (11), and chucks (21) are arranged at both ends of the installation shaft (20). The chucks (21) are provided with a plurality of slots (22). A connecting shaft (23) is fixedly mounted on the installation shaft (20), and an end of the connecting shaft (23) away from the installation shaft (20) is slidably arranged on the transport cylinder (11); A first driving mechanism (30) is disposed between the connecting shaft (23) and the carrying cylinder (11) and is used to drive the connecting shaft (23) to move along the circumferential direction of the carrying cylinder (11); The sealing mechanism (40) is used to block the pipe in the opening (12). The sealing mechanism (40) comprises a first arc-shaped groove (41) provided on the transport cylinder (11). A first arc-shaped plate (42) is slidably connected to the interior of the first arc-shaped groove (41). A through groove (45) connected to the first arc-shaped groove (41) is provided on the transport cylinder (11). A connecting block (43) is provided inside the through groove (45). The connecting block (43) is rotatably connected to the end of the first arc-shaped plate (42). A sealing plate (44) is fixedly mounted on the connecting block (43).

2. The handling robot according to claim 1, It is characterized in that An arc-shaped guide plate (111) is fixedly mounted on the inner wall of the transport cylinder (11) along its circumferential direction, a limiting groove is provided at the end of the connecting shaft (23), and the connecting shaft (23) is slidably connected to the arc-shaped guide plate (111) via the limiting groove.

3. The handling robot according to claim 2, It is characterized in that The first driving mechanism (30) comprises a first motor (31) fixedly mounted on the connecting shaft (23); a first driving gear (32) is mounted on the output end of the first motor (31); a first inner arc rack (33) is fixedly mounted on the inner wall of the transport cylinder (11) along its circumferential direction, and the first inner arc rack (33) is meshed with the first driving gear (32).

4. The handling robot according to claim 3, It is characterized in that A first pushing mechanism (60) is provided on one side of the first arc-shaped plate (42) for driving the first arc-shaped plate (42) to slide along the first arc-shaped groove (41), the first pushing mechanism (60) comprising a second motor (61) fixedly mounted on the outside of the conveying cylinder (11), a first driving gear (62) fixedly mounted on the output end of the second motor (61), a first driven gear (63) meshing with the first driving gear (62) being rotatably connected to the conveying cylinder (11), a first outer arc rack (64) meshing with the first driven gear (63) being slidably connected in the first arc-shaped groove (41), and an end of the first outer arc rack (64) being fixedly connected to the first arc-shaped plate (42).

5. The handling robot according to claim 4, It is characterized in that A first torsion spring is provided between the connecting block (43) and the first arc-shaped plate (42); a protrusion (441) is fixedly connected to the sealing plate (44), and the protrusion (441) is arranged in close contact with the outer wall of the transport cylinder (11).

6. The handling robot according to claim 1, It is characterized in that The baffle plate (13) is provided with a buffer mechanism (50) for cooperating with the sealing plate (44) to buffer the unloading force of the pipe falling into the opening (12) when the pipe is unloaded. The buffer mechanism (50) comprises a second arc groove (51) provided on the baffle plate (13), a second arc plate (52) is slidably connected inside the second arc groove (51), a mounting seat (53) is rotatably connected to one end of the second arc plate (52) close to the opening (12), a second torsion spring is provided between the mounting seat (53) and the second arc plate (52), and a buffer plate (54) located on one side of the opening (12) is fixedly mounted on the mounting seat (53).

7. The transport robot according to claim 6, It is characterized in that A second pushing mechanism (70) is provided on one side of the second arc-shaped plate (52) for driving the second arc-shaped plate (52) to move along the second arc-shaped groove (51); the second pushing mechanism (70) comprises a third motor (71) fixedly mounted on the baffle plate (13); a second driving gear (72) is fixedly mounted on the output end of the third motor (71); a second driven gear (73) meshing with the second driving gear (72) is rotatably connected to the baffle plate (13); a second outer arc rack (74) is slidably connected inside the second arc-shaped groove (51); the second outer arc rack (74) meshes with the second driven gear (73); and an end of the second outer arc rack (74) is fixedly connected to the second arc-shaped plate (52).

8. The transport robot according to claim 2, It is characterized in that The transport cylinder (11) is provided with a third arc groove (112), the baffle plate (13) is slidably connected inside the third arc groove (112), a second driving mechanism (80) is provided on one side of the baffle plate (13) for driving the baffle plate (13) to slide along the third arc groove (112), the second driving mechanism (80) comprises a fourth motor (81) fixedly mounted on the transport cylinder (11), a second driving gear (82) is fixedly mounted on the output end of the fourth motor (81), a third outer arc rack (83) is fixedly connected to the baffle plate (13), and the third outer arc rack (83) is meshed with the second driving gear (82).

9. The transport robot according to claim 8, It is characterized in that The chuck (21) is internally threadedly connected to a fixing bolt (211), and the bottom end of the fixing bolt (211) is threadedly connected to the mounting shaft (20).

10. A transport device, It is characterized in that A handling robot comprising the handling robot described in any one of claims 1 to 9.

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