A transport robot and a method of using the same

Abstract

The present invention discloses a handling robot and a method for using the same, comprising: a main body unit, a driving unit, a clamping unit, a pressing mechanism and a negative pressure mechanism, wherein the main body unit comprises a base and a plastic freight box, wherein a rotating assembly for adjusting a clamping angle is fixedly mounted on the upper end of the base, wherein the rotating assembly comprises an electric turntable and a No. 1 connecting block, wherein the electric turntable is fixedly mounted on the upper end of the base, and wherein the beneficial effects are as follows: when the clamping plate approaches the plastic freight box, the push plate first presses against the side wall of the plastic freight box, and the No. 1 inclined block is pushed to move by the push plate and the fixed rod, and the No. 1 inclined block is pushed to move back to back by the No. 1 inclined block, and the push rod is driven to move back to back by the No. 2 inclined block, and the arc-shaped elastic plate is driven to move back to back and press against the reinforcing frame by the push rod and the connecting plate, thereby limiting the plastic freight box and preventing it from slipping due to bumps or shaking, which not only improves the handling efficiency but also avoids unnecessary economic losses.

Description

Technical Field

[0001] This invention relates to the field of handling robot technology, and in particular to a handling robot and its method of use. Background Technology

[0002] Material handling robots are industrial robots capable of automating material handling operations. They can be equipped with different end effectors to handle workpieces of various shapes and states, significantly reducing the burden of heavy manual labor. There are over 100,000 material handling robots in use worldwide, widely applied in automated machine tool loading and unloading, automated stamping production lines, automated assembly lines, palletizing, and container handling.

[0003] Plastic shipping containers are typically stacked, which limits the use of bottom-lifting robots when handling them. While current robots can use multiple suction cups to hold them in place from above, this method is not very stable. During transport, if the containers encounter bumps or vibrations, they risk slipping, significantly reducing efficiency and potentially causing unnecessary financial losses.

[0004] Therefore, a material handling robot and its usage method are needed to solve the above problems. Summary of the Invention

[0005] The purpose of this section is to outline some aspects of embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the invention.

[0006] In view of the problems of the aforementioned handling robot and its usage method, the present invention is proposed.

[0007] Therefore, the purpose of this invention is to provide a handling robot and its method of use, which solves the problems such as "although current handling robots can be fixed from above by multiple suction cups, the stability of this method is not ideal. During the handling process, if they encounter bumps or vibrations, plastic cargo boxes are at risk of slipping off, which not only greatly reduces the handling efficiency, but may also cause unnecessary economic losses."

[0008] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a handling robot, comprising:

[0009] The main unit includes a base and a plastic cargo box. A rotating assembly for adjusting the clamping angle is fixedly installed on the upper end of the base. The rotating assembly includes an electric turntable and a first connecting block. The electric turntable is fixedly installed on the upper end of the base. A moving assembly for adjusting the clamping position is fixedly installed on the other end of the first connecting block. The moving assembly includes a horizontal plate and a mounting rod. The horizontal plate is fixedly connected to the first connecting block. Multiple reinforcing frames are fixedly connected to the side wall of the plastic cargo box.

[0010] The drive unit includes a fixed frame, which is fixedly connected to a mounting rod. A self-locking motor is fixedly connected to the lower end of the fixed frame. The output end of the self-locking motor passes through the lower end of the fixed frame and is fixedly sleeved with a drive gear. A driven gear is meshed with one side of the drive gear. A non-standard gear is meshed with one side of both the drive gear and the driven gear. A first connecting rod is fixedly connected to the side wall of each non-standard gear. A second connecting rod is rotatably connected to the other end of each first connecting rod.

[0011] The clamping unit includes a fixed plate and two sets of clamping assemblies. Two movable plates are slidably connected to the lower end of the fixed plate. Each movable plate is fixedly connected to a second connecting rod. Each movable plate has two symmetrically formed cavities. Multiple rotating shafts are rotatably connected to the inner wall of each cavity. A first gear, a second gear, and a third gear are respectively fixedly sleeved on each of the rotating shafts. The first gear meshes with the second gear, and the second gear meshes with the third gear. Each set of clamping assemblies includes a vertical plate and two… The cylinder has two No. 2 toothed plates symmetrically fixedly connected to the opposite side of each vertical plate. Each No. 2 toothed plate is meshed with a No. 1 gear. Each cylinder is fixedly connected to the side wall of the moving plate. A piston plate is slidably connected to the inner wall of each cylinder. A No. 1 toothed plate is fixedly connected to the opposite side of the piston plates. The other end of the No. 1 toothed plate passes through the moving plate and is fixedly connected to a clamping plate. Each No. 1 toothed plate is meshed with a No. 3 gear. A groove is opened on the opposite side of the clamping plates. A fixing cavity is opened in each clamping plate.

[0012] The clamping mechanism is configured in multiple groups. Each group of clamping mechanisms includes a push plate and a second inclined block. Each push plate is disposed in a groove. A fixing rod is fixedly connected to the opposite side of each push plate. The other end of each fixing rod passes through the fixing cavity and is fixedly connected to a first inclined block. Each first inclined block abuts against a second inclined block. A push rod is fixedly connected to the opposite side of each second inclined block. A second return spring is sleeved on each push rod. A connecting plate is fixedly connected to the opposite end of each push rod passes through the fixing cavity. An arc-shaped elastic plate is fixedly connected to one end of each connecting plate.

[0013] The negative pressure mechanism is configured in two groups. Each group of the negative pressure mechanism includes a negative pressure box and two connecting pipes. Each negative pressure box is fixedly connected to the upper end of the fixed plate. Both ends of each connecting pipe are respectively connected to the negative pressure box and the inside of the straight cylinder.

[0014] In a preferred embodiment of the handling robot described in this invention: two fixed cylinders are symmetrically fixedly connected to opposite sides of the two movable plates; a sliding plate is slidably connected to the inner wall of each fixed cylinder; a crossbar is fixedly connected to the opposite side of each sliding plate; a first return spring is sleeved on each crossbar; one opposite end of each crossbar passes through the fixed cylinder and the movable plate and is fixedly connected to the vertical plate; each crossbar is slidably connected to the inner wall of the fixed cylinder and the movable plate; both ends of each first return spring are fixedly connected to the side wall of the sliding plate and the inner wall of the fixed cylinder, respectively; a pressure sensor is fixedly installed on the inner wall of each fixed cylinder; the opposite sides of the two vertical plates abut against the side wall of the reinforcing frame; and the opposite ends of the plurality of clamping plates abut against the side wall of the plastic cargo box.

[0015] In a preferred embodiment of the handling robot described in this invention, the lower ends of the two negative pressure boxes are each fixedly connected to a plurality of corrugated pipes via a connecting pipe. The lower end of each corrugated pipe is fixedly connected to a suction cup. The lower end of each suction cup rests against the upper end of the plastic cargo box. A fixing plate is fixedly sleeved on each suction cup. Two No. 3 return springs are symmetrically fixedly connected to the upper end of each fixing plate. The upper end of each No. 3 return spring is fixedly connected to the lower end of the fixing plate.

[0016] In a preferred embodiment of the handling robot described in this invention, a fixing block is fixedly connected to one side of the fixing frame, and two No. 3 connecting rods are rotatably connected to one side of the fixing block. The other end of each No. 3 connecting rod is rotatably connected to a No. 2 connecting rod. A central shaft is fixedly inserted at the center of the driven gear and the two irregular gears. Both ends of each central shaft are rotatably connected to the inner sidewall of the fixing frame.

[0017] In a preferred embodiment of the handling robot described in this invention, the lower end of the fixed plate is provided with a sliding groove, a limiting rod is fixedly connected in the sliding groove, and the upper ends of the two moving plates are fixedly connected with limiting blocks, each of the limiting blocks being slidably sleeved on the limiting rod.

[0018] In a preferred embodiment of the handling robot described in this invention, two support plates are symmetrically fixedly connected to the inner walls of the plurality of fixed cavities, the plurality of push rods are slidably inserted into the inner walls of the support plates and the clamping plates, the two ends of the plurality of second reset springs are respectively fixedly connected to the side walls of the support plates and the side walls of the second inclined blocks, and the plurality of fixed rods are slidably connected to the inner walls of the clamping plates.

[0019] In a preferred embodiment of the handling robot described in this invention, a disc is fixedly connected to the output end of the electric turntable, a support column is fixedly connected to the upper end of the disc, a vertical groove is provided on one side of the support column, a first hydraulic telescopic rod is fixedly connected to the vertical groove, and the telescopic end of the first hydraulic telescopic rod is fixedly connected to a first connecting block.

[0020] In a preferred embodiment of the handling robot described in this invention, a storage cavity is provided inside the horizontal plate, a second hydraulic telescopic rod is fixedly connected to the inner wall of the storage cavity, a second connecting block is fixedly connected to the telescopic end of the second hydraulic telescopic rod, the upper end of the mounting rod is fixedly connected to the second connecting block, a limit hole is provided at the lower end of the horizontal plate, and the mounting rod is slidably connected in the limit hole.

[0021] In a preferred embodiment of the handling robot described in this invention, two fixing holes are symmetrically provided on each of the two moving plates, and multiple first tooth plates and multiple second tooth plates are slidably disposed in the fixing holes, and two irregularly shaped holes are symmetrically provided on each of the two vertical plates.

[0022] This invention further provides a method for using a handling robot, which employs the aforementioned handling robot and includes the following steps:

[0023] S1, move the handling robot to the designated position, and adjust the gripping angle and position by rotating and moving components, so that multiple suction cups are pressed against the top of the plastic cargo box;

[0024] S2, start the self-locking motor, drive the drive gear to rotate, drive the driven gear to rotate, drive the two irregular gears to rotate in opposite directions, drive the two second connecting rods to move relative to each other through the irregular gears and the first connecting rod, drive the two moving plates to move relative to each other through the second connecting rods, and drive the vertical plate to move and abut against the side wall of the reinforced frame through the moving plates.

[0025] S3, as the moving plate continues to move, the vertical plate pushes the No. 2 toothed plate to move to the right. The No. 2 toothed plate drives multiple No. 1 toothed plates to move relative to each other through the cooperation of the No. 1, No. 2 and No. 3 gears. The No. 1 toothed plate drives the clamping plate to move and gradually press against the side wall of the plastic cargo box.

[0026] S4, as the clamping plate approaches the plastic cargo box, the push plate first abuts against the side wall of the plastic cargo box, and pushes the first inclined block to move through the push plate and the fixing rod. The first inclined block pushes the second inclined block to move in opposite directions, and the second inclined block drives the push rod to move in opposite directions. The push rod and the connecting plate drive the arc-shaped elastic plate to move in opposite directions and abut against the reinforcing frame.

[0027] S5, during the movement of the first toothed plate, it drives the piston plate to move, and draws in the gas in the negative pressure box and suction cup through the connecting pipe, so that the suction cup is firmly attached to the upper end of the plastic cargo box, completing the fixation of the plastic cargo box, and then the plastic cargo box is transported.

[0028] The beneficial effects of this invention are:

[0029] 1. By setting up a drive unit to drive two moving plates to move relative to each other, the moving plates drive the vertical plate to move and abut against the side wall of the reinforcing frame. As the moving plates continue to move, the vertical plate pushes the No. 2 toothed plate to move to the right. The No. 2 toothed plate drives multiple No. 1 toothed plates to move relative to each other through the cooperation of the No. 1, No. 2 and No. 3 gears. The No. 1 toothed plate drives the clamping plate to move and gradually abut against the side wall of the plastic cargo box, thereby clamping the plastic cargo box from the side.

[0030] 2. As the clamping plate approaches the plastic cargo box, the push plate first abuts against the side wall of the plastic cargo box. The push plate and the fixing rod push the first inclined block to move. The first inclined block pushes the second inclined block to move in opposite directions. The second inclined block drives the push rod to move in opposite directions. The push rod and the connecting plate drive the arc-shaped elastic plate to move in opposite directions and abut against the reinforcing frame, thereby further limiting the plastic cargo box and preventing it from slipping due to bumps or vibrations. This not only improves the efficiency of handling but also avoids unnecessary economic losses.

[0031] 3. When clamping the plastic cargo box, the vertical plate and horizontal bar will drive the sliding plate to move and press against the pressure sensor. At this time, in the clamped state, the pressure sensor detects a certain pressure value. If the plastic cargo box falls, the No. 1 reset spring will drive the sliding plate to reset and separate from the pressure sensor. At this time, the pressure sensor detects zero value, so it is determined that the plastic cargo box has fallen and an alarm will be triggered in time. Attached Figure Description

[0032] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein:

[0033] Figure 1This is a front structural diagram of a handling robot according to the present invention.

[0034] Figure 2 This is a side view of a handling robot according to the present invention.

[0035] Figure 3 This is a bottom view of the structure of the horizontal plate in a handling robot according to the present invention.

[0036] Figure 4 This is a partial structural diagram of a handling robot according to the present invention.

[0037] Figure 5 This is a cross-sectional structural diagram of the drive unit in a handling robot according to the present invention.

[0038] Figure 6 This is a side view of the plastic cargo box in a handling robot according to the present invention.

[0039] Figure 7 This is a schematic diagram of the gripping unit in a handling robot according to the present invention.

[0040] Figure 8 This is a schematic diagram of the negative pressure mechanism in a handling robot according to the present invention.

[0041] Figure 9 This is a schematic diagram of the vertical plate in a handling robot according to the present invention.

[0042] Figure 10 This is a schematic diagram of the structure of a handling robot in a clamping state according to the present invention.

[0043] Figure 11 This is a schematic diagram of the clamping mechanism in a handling robot according to the present invention.

[0044] Figure Descriptions: 100. Main body unit; 101. Base; 102. Electric turntable; 103. Disc; 104. Support column; 105. First hydraulic telescopic rod; 106. First connecting block; 107. Horizontal plate; 108. Second hydraulic telescopic rod; 109. Mounting rod; 110. Plastic cargo box; 110a. Reinforcing frame; 200. Drive unit; 201. Fixing frame; 202. Self-locking motor; 203. Drive gear; 204. Driven gear; 205. Irregular gear; 206. First connecting rod; 207. Second connecting rod; 208. Third connecting rod; 209. Fixing block; 300. Clamping unit; 301. Fixing plate; 302. Moving plate; 303. Fixing cylinder; 304. Slide plate; 305. Horizontal bar; 306, No. 1 return spring; 307, vertical plate; 308, straight cylinder; 309, piston plate; 310, No. 1 toothed plate; 311, No. 2 toothed plate; 312, No. 1 gear; 313, No. 2 gear; 314, No. 3 gear; 315, clamping plate; 316, limiting block; 317, limiting rod; 400, clamping mechanism; 401, push plate; 402, fixing rod; 403, No. 1 inclined block; 404, No. 2 inclined block; 405, push rod; 406, support plate; 407, No. 2 return spring; 408, connecting plate; 409, arc-shaped elastic plate; 500, negative pressure mechanism; 501, negative pressure box; 502, bellows; 503, suction cup; 504, fixing plate; 505, No. 3 return spring; 506, connecting pipe. Detailed Implementation

[0045] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0046] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0047] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0048] Secondly, the present invention is described in detail with reference to the schematic diagrams. When detailing the embodiments of the present invention, for ease of explanation, the cross-sectional views illustrating the device structure may be partially enlarged, not according to the usual scale. Furthermore, the schematic diagrams are merely examples and should not limit the scope of protection of the present invention. In addition, actual fabrication should include three-dimensional spatial dimensions of length, width, and depth.

[0049] Example 1

[0050] Reference Figures 1-11 According to one embodiment of the present invention, a handling robot is provided, comprising:

[0051] The main unit 100 includes a base 101 and a plastic cargo box 110. A rotating assembly for adjusting the clamping angle is fixedly installed on the upper end of the base 101. The rotating assembly includes an electric turntable 102 and a first connecting block 106. The electric turntable 102 is fixedly installed on the upper end of the base 101. A moving assembly for adjusting the clamping position is fixedly installed on the other end of the first connecting block 106. The moving assembly includes a horizontal plate 107 and a mounting rod 109. The horizontal plate 107 is fixedly connected to the first connecting block 106. Multiple reinforcing frames 110a are fixedly connected to the side wall of the plastic cargo box 110.

[0052] The drive unit 200 includes a fixed frame 201, which is fixedly connected to the mounting rod 109. A self-locking motor 202 is fixedly connected to the lower end of the fixed frame 201. The output end of the self-locking motor 202 passes through the lower end of the fixed frame 201 and is fixedly sleeved with a drive gear 203. A driven gear 204 is meshed with one side of the drive gear 203. A special-shaped gear 205 is meshed with one side of both the drive gear 203 and the driven gear 204. A first connecting rod 206 is fixedly connected to the side wall of each special-shaped gear 205. A second connecting rod 207 is rotatably connected to the other end of each first connecting rod 206.

[0053] The clamping unit 300 includes a fixed plate 301 and two sets of clamping assemblies. Two movable plates 302 are slidably connected to the lower end of the fixed plate 301. Each movable plate 302 is fixedly connected to a second connecting rod 207. Each movable plate 302 has two symmetrically formed cavities. Multiple rotating shafts are rotatably connected to the inner wall of each cavity. A first gear 312, a second gear 313, and a third gear 314 are respectively fixedly sleeved on the multiple rotating shafts. The first gear 312 meshes with the second gear 313, and the second gear 313 meshes with the third gear 314. Each set of clamping assemblies includes a vertical plate 307 and two straight cylinders 3... 08. Two second-order toothed plates 311 are symmetrically fixedly connected to the opposite side of each vertical plate 307. Each second-order toothed plate 311 is meshed with a first-order gear 312. Each straight cylinder 308 is fixedly connected to the side wall of the moving plate 302. A piston plate 309 is slidably connected to the inner wall of each straight cylinder 308. A first-order toothed plate 310 is fixedly connected to the opposite side of the multiple piston plates 309. The other end of the first-order toothed plate 310 passes through the moving plate 302 and is fixedly connected to a clamping plate 315. Each first-order toothed plate 310 is meshed with a third-order gear 314. A groove is opened on the opposite side of the multiple clamping plates 315. A fixing cavity is opened in each clamping plate 315.

[0054] The clamping mechanism 400 is configured in multiple groups. Each group of clamping mechanisms 400 includes a push plate 401 and a second inclined block 404. Each push plate 401 is set in a groove. A fixing rod 402 is fixedly connected to the opposite side of the multiple push plates 401. The other end of each fixing rod 402 passes through the fixing cavity and is fixedly connected to a first inclined block 403. Each first inclined block 403 abuts against the second inclined block 404. A push rod 405 is fixedly connected to the opposite side of each second inclined block 404. A second return spring 407 is sleeved on each push rod 405. The opposite ends of the multiple push rods 405 pass through the fixing cavity and are fixedly connected to a connecting plate 408. An arc-shaped elastic plate 409 is fixedly connected to one end of each connecting plate 408.

[0055] The negative pressure mechanism 500 is configured in two groups. Each group of negative pressure mechanisms 500 includes a negative pressure box 501 and two connecting pipes 506. Each negative pressure box 501 is fixedly connected to the upper end of the fixed plate 301. Both ends of each connecting pipe 506 are respectively connected to the negative pressure box 501 and the inside of the straight cylinder 308.

[0056] Specifically, a drive unit 200 drives two movable plates 302 to move relative to each other. The movable plates 302 then move a vertical plate 307, which abuts against the side wall of the reinforcing frame 110a. As the movable plates 302 continue to move, the vertical plate 307 pushes a second toothed plate 311 to the right. The second toothed plate 311, through the engagement of gears 312, 313, and 314, drives multiple first toothed plates 310 to move relative to each other. These first toothed plates 310 then move a clamping plate 315, which gradually abuts against the side wall of the plastic cargo box 110, thus clamping the plastic cargo box 110 from the side. 5. During the process of approaching the plastic cargo box 110, the push plate 401 first abuts against the side wall of the plastic cargo box 110. The push plate 401 and the fixing rod 402 push the first inclined block 403 to move. The first inclined block 403 pushes the second inclined block 404 to move in opposite directions. The second inclined block 404 drives the push rod 405 to move in opposite directions. The push rod 405 and the connecting plate 408 drive the arc-shaped elastic plate 409 to move in opposite directions and abut against the reinforcing frame 110a, thereby further limiting the plastic cargo box 110 and preventing it from slipping due to bumps or vibrations. This not only improves the efficiency of handling but also avoids unnecessary economic losses.

[0057] Two fixed cylinders 303 are symmetrically fixed to the opposite sides of the two movable plates 302. A sliding plate 304 is slidably connected to the inner wall of each fixed cylinder 303. A crossbar 305 is fixedly connected to the opposite side of each sliding plate 304. A first return spring 306 is fitted onto each crossbar 305. One end of each crossbar 305 passes through the fixed cylinder 303 and the movable plate 302 and is fixedly connected to the vertical plate 307. Each crossbar 305 is slidably connected within the inner walls of the fixed cylinder 303 and the movable plate 302. Both ends of each first return spring 306 are fixedly connected to the side wall of the sliding plate 304 and the inner wall of the fixed cylinder 303, respectively. The inner walls of each fixed cylinder 303... Pressure sensors are fixedly installed on the walls. The opposite sides of the two vertical plates 307 abut against the side wall of the reinforcing frame 110a, and the opposite ends of the multiple clamping plates 315 abut against the side wall of the plastic cargo box 110. When the plastic cargo box 110 is clamped, the vertical plates 307 and the horizontal bar 305 will drive the sliding plate 304 to move and abut against the pressure sensor. At this time, in the clamped state, the pressure sensor detects a certain pressure value. If the plastic cargo box 110 falls, the first reset spring 306 will drive the sliding plate 304 to reset and separate from the pressure sensor. At this time, the pressure sensor detects zero value, so it is determined that the plastic cargo box 110 has fallen and an alarm is triggered in time.

[0058] The lower ends of the two negative pressure boxes 501 are fixedly connected to multiple corrugated pipes 502 via connecting pipes. The lower end of each corrugated pipe 502 is fixedly connected to a suction cup 503. The lower end of each suction cup 503 rests against the upper end of the plastic cargo box 110. A fixing plate 504 is fixedly sleeved on each suction cup 503. Two No. 3 return springs 505 are symmetrically fixedly connected to the upper end of each fixing plate 504. The upper end of each No. 3 return spring 505 is fixedly connected to the lower end of the fixing plate 301. The suction cups 503 can be used to adsorb and fix the plastic cargo box 110 from above.

[0059] Among them, a fixing block 209 is fixedly connected to one side of the fixing frame 201, and two No. 3 connecting rods 208 are rotatably connected to one side of the fixing block 209. The other end of each No. 3 connecting rod 208 is rotatably connected to the No. 2 connecting rod 207. A central shaft is fixedly inserted at the center of the driven gear 204 and the two irregular gears 205. Both ends of each central shaft are rotatably connected to the inner side wall of the fixing frame 201. The driven gear 204 and the irregular gears 205 can be supported by the central shaft.

[0060] The fixed plate 301 has a groove at its lower end, in which a limiting rod 317 is fixedly connected. The upper ends of the two movable plates 302 are fixedly connected to limiting blocks 316. Each limiting block 316 is slidably sleeved on the limiting rod 317. The movable plate 302 can be limited and fixed by the limiting rod 317 and the limiting block 316.

[0061] In this system, two support plates 406 are symmetrically fixed to the inner walls of multiple fixed cavities. Multiple push rods 405 are slidably inserted into the inner walls of the support plates 406 and the clamping plate 315. The two ends of multiple second-order return springs 407 are respectively fixed to the side walls of the support plates 406 and the side walls of the second-order inclined blocks 404. Multiple fixed rods 402 are slidably connected to the inner walls of the clamping plate 315. The push rods 405 can be supported by the support plates 406.

[0062] The output end of the electric turntable 102 is fixedly connected to a disc 103, and the upper end of the disc 103 is fixedly connected to a support column 104. A vertical groove is provided on one side of the support column 104, and a first hydraulic telescopic rod 105 is fixedly connected in the vertical groove. The telescopic end of the first hydraulic telescopic rod 105 is fixedly connected to a first connecting block 106. The height can be adjusted through the first hydraulic telescopic rod 105 and the first connecting block 106.

[0063] The horizontal plate 107 has a storage cavity, and a second hydraulic telescopic rod 108 is fixedly connected to the inner wall of the storage cavity. A second connecting block is fixedly connected to the telescopic end of the second hydraulic telescopic rod 108. The upper end of the mounting rod 109 is fixedly connected to the second connecting block. A limit hole is opened at the lower end of the horizontal plate 107, and the mounting rod 109 is slidably connected in the limit hole. The gripping position can be adjusted by the second hydraulic telescopic rod 108, the second connecting block, and the mounting rod 109.

[0064] Each of the two movable plates 302 has two symmetrically formed fixing holes, and multiple first-tooth plates 310 and multiple second-tooth plates 311 are slidably disposed in the fixing holes. Each of the two vertical plates 307 has two symmetrically formed irregular holes. The contents not described in detail in this specification are prior art known to those skilled in the art.

[0065] Example 2

[0066] A method for using a handling robot, based on Embodiment 1, includes the following steps:

[0067] S1, move the handling robot to the designated position, and adjust the gripping angle and position by rotating and moving components, so that multiple suction cups 503 are pressed against the upper end of the plastic cargo box 110;

[0068] S2, start the self-locking motor 202, drive the drive gear 203 to rotate, drive the driven gear 204 to rotate, drive the two irregular gears 205 to rotate in opposite directions through the drive gear 203 and driven gear 204, drive the two second connecting rods 207 to move relative to each other through the irregular gears 205 and the first connecting rod 206, drive the two second connecting rods 207 to move relative to each other through the second connecting rods 207, drive the two moving plates 302 to move relative to each other through the moving plates 302, drive the vertical plate 307 to move and abut against the side wall of the reinforcing frame 110a;

[0069] S3, as the moving plate 302 continues to move, the vertical plate 307 pushes the second toothed plate 311 to move to the right. The second toothed plate 311 drives multiple first toothed plates 310 to move relative to each other through the cooperation of the first gear 312, the second gear 313 and the third gear 314. The first toothed plates 310 drive the clamping plate 315 to move and gradually press against the side wall of the plastic cargo box 110.

[0070] S4, as the clamping plate 315 approaches the plastic cargo box 110, the push plate 401 first abuts against the side wall of the plastic cargo box 110, and pushes the first inclined block 403 to move through the push plate 401 and the fixing rod 402. The first inclined block 403 pushes the second inclined block 404 to move in opposite directions. The second inclined block 404 drives the push rod 405 to move in opposite directions. The push rod 405 and the connecting plate 408 drive the arc-shaped elastic plate 409 to move in opposite directions and abut against the reinforcing frame 110a.

[0071] S5, during the movement of the first toothed plate 310, it drives the piston plate 309 to move, and draws the gas in the negative pressure box 501 and suction cup 503 through the connecting pipe 506, so that the suction cup 503 is firmly attached to the upper end of the plastic cargo box 110, thus completing the fixation of the plastic cargo box 110, and then the plastic cargo box 110 is transported.

[0072] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A transport robot, characterized in that: include: A main unit (100), the main unit (100) comprising a base (101) and a plastic cargo box (110), a rotating assembly for adjusting a clamping angle being fixedly mounted on the upper end of the base (101), the rotating assembly comprising an electric turntable (102) and a first connecting block (106), the electric turntable (102) being fixedly mounted on the upper end of the base (101), a moving assembly for adjusting a clamping position being fixedly mounted on the other end of the first connecting block (106), the moving assembly comprising a transverse plate (107) and a mounting rod (109), the transverse plate (107) being fixedly connected to the first connecting block (106), and a plurality of reinforcing frames (110a) being fixedly connected to the side wall of the plastic cargo box (110); A drive unit (200), the drive unit (200) comprising a fixed frame (201), the fixed frame (201) being fixedly connected to a mounting rod (109), the lower end of the fixed frame (201) being fixedly connected to a self-locking motor (202), the output end of the self-locking motor (202) passing through the lower end of the fixed frame (201) and being fixedly sleeved with a driving gear (203), one side of the driving gear (203) being meshingly connected to a driven gear (204), one side of the driving gear (203) and the driven gear (204) being meshingly connected to a special-shaped gear (205), a first connecting rod (206) being fixedly connected to the side wall of each of the special-shaped gears (205), and the other end of each of the first connecting rods (206) being rotatably connected to a second connecting rod (207); A clamping unit (300), the clamping unit (300) comprising a fixed plate (301) and two groups of clamping assemblies, the lower end of the fixed plate (301) is slidably connected to two movable plates (302), each of the movable plates (302) is fixedly connected to the second connecting rod (207), each of the movable plates (302) is symmetrically provided with two cavities, the inner wall of each of the cavities is rotatably connected to a plurality of rotating shafts, the plurality of rotating shafts are respectively fixedly sleeved with a first gear (312), a second gear (313) and a third gear (314), the first gear (312) is meshingly connected to the second gear (313), the second gear (313) is meshingly connected to the third gear (314), each group of the clamping assemblies comprises a vertical plate (307) and two straight cylinders (30 8), two No. 2 tooth plates (311) are symmetrically fixedly connected on the opposite side of each vertical plate (307), each No. 2 tooth plate (311) is meshed with the No. 1 gear (312), each straight cylinder (308) is fixedly connected to the side wall of the movable plate (302), a piston plate (309) is slidably connected to the inner wall of each straight cylinder (308), a No. 1 tooth plate (310) is fixedly connected to the opposite side of the plurality of piston plates (309), the other end of the No. 1 tooth plate (310) passes through the movable plate (302) and is fixedly connected to a clamping plate (315), each No. 1 tooth plate (310) is meshed with the No. 3 gear (314), a groove is provided on the opposite side of the plurality of clamping plates (315), and a fixed cavity is provided in each clamping plate (315); The tightening mechanism (400) is provided in a plurality of groups, each group of the tightening mechanism (400) comprises a push plate (401) and a second inclined block (404), each of the push plates (401) is provided in a groove, a fixed rod (402) is fixedly connected to the opposite side of the plurality of push plates (401), the other end of each of the fixed rods (402) passes through the fixed cavity and is fixedly connected to the first inclined block (403), and each of the push plates (401) is provided with a push plate (401) and a second inclined block (404). The first inclined block (403) is against the second inclined block (404), and the opposite side of each of the second inclined blocks (404) is fixedly connected to a push rod (405), and each of the push rods (405) is sleeved with a second return spring (407). The opposite ends of the plurality of push rods (405) pass through the fixed cavity and are fixedly connected to a connecting plate (408), and one end of each connecting plate (408) is fixedly connected to an arc-shaped elastic plate (409); A negative pressure mechanism (500), wherein the negative pressure mechanism (500) is arranged in two groups, each group of the negative pressure mechanism (500) comprises a negative pressure box (501) and two connecting pipes (506), each of the negative pressure boxes (501) is fixedly connected to the upper end of the fixed plate (301), and both ends of each of the connecting pipes (506) are respectively connected to the negative pressure box (501) and the inside of the straight cylinder (308).

2. A handling robot according to claim 1, characterized in that: Two fixed cylinders (303) are symmetrically fixedly connected to the opposite sides of the two movable plates (302), and a slide plate (304) is slidably connected to the inner wall of each fixed cylinder (303). A cross bar (305) is fixedly connected to the opposite side of each slide plate (304), and a No. 1 return spring (306) is sleeved on each cross bar (305). The opposite end of each cross bar (305) penetrates the fixed cylinder (303) and the movable plate (302) and is fixedly connected to the vertical plate (307). (305) are slidably connected to the inner wall of the fixed cylinder (303) and the movable plate (302), the two ends of each of the No. 1 return springs (306) are respectively fixedly connected to the side wall of the slide plate (304) and the inner wall of the fixed cylinder (303), a pressure sensor is fixedly installed on the inner wall of each of the fixed cylinders (303), the opposite sides of the two vertical plates (307) are against the side wall of the reinforcement frame (110a), and the opposite ends of the multiple clamping plates (315) are against the side wall of the plastic cargo box (110).

3. A handling robot according to claim 1, characterized in that: The lower ends of the two negative pressure boxes (501) are fixedly connected to a plurality of bellows (502) through a connecting pipe, the lower end of each bellows (502) is fixedly connected to a suction cup (503), the lower end of each suction cup (503) is against the upper end of the plastic freight box (110), and a fixed plate (504) is fixedly sleeved on each suction cup (503), and the upper end of each fixed plate (504) is symmetrically fixedly connected to two No. 3 return springs (505), and the upper end of each No. 3 return spring (505) is fixedly connected to the lower end of the fixed plate (301).

4. A handling robot according to claim 1, characterized in that: A fixed block (209) is fixedly connected to one side of the fixed frame (201), and two No. 3 connecting rods (208) are rotatably connected to one side of the fixed block (209), and the other end of each No. 3 connecting rod (208) is rotatably connected to the No. 2 connecting rod (207), and a central axis is fixedly inserted at the center of the driven gear (204) and the two special-shaped gears (205), and both ends of each central axis are rotatably connected to the inner wall of the fixed frame (201).

5. A handling robot according to claim 1, characterized in that: A sliding groove is provided at the lower end of the fixed plate (301), a limiting rod (317) is fixedly connected in the sliding groove, and the upper ends of the two movable plates (302) are fixedly connected to limiting blocks (316), and each limiting block (316) is slidably sleeved on the limiting rod (317).

6. A handling robot according to claim 1, characterized in that: Two support plates (406) are symmetrically fixedly connected to the inner walls of the multiple fixed cavities, and the multiple push rods (405) are slidably inserted into the inner walls of the support plates (406) and the clamping plates (315). The two ends of the multiple No. 2 return springs (407) are respectively fixedly connected to the side walls of the support plates (406) and the side walls of the No. 2 inclined blocks (404), and the multiple fixed rods (402) are slidably connected to the inner walls of the clamping plates (315).

7. A handling robot according to claim 1, characterized in that: The output end of the electric turntable (102) is fixedly connected to a disk (103), the upper end of the disk (103) is fixedly connected to a support column (104), one side of the support column (104) is provided with a vertical groove, a first hydraulic telescopic rod (105) is fixedly connected in the vertical groove, and the telescopic end of the first hydraulic telescopic rod (105) is fixedly connected to a No. 1 connecting block (106).

8. The transport robot according to claim 1, characterized in that: A storage cavity is provided in the transverse plate (107), a second hydraulic telescopic rod (108) is fixedly connected to the inner wall of the storage cavity, a telescopic end of the second hydraulic telescopic rod (108) is fixedly connected to a second connecting block, an upper end of the mounting rod (109) is fixedly connected to the second connecting block, a limiting hole is provided at the lower end of the transverse plate (107), and the mounting rod (109) is slidably connected in the limiting hole.

9. The handling robot according to claim 1, characterized in that: Two fixing holes are symmetrically provided on the two movable plates (302), a plurality of the first tooth plates (310) and a plurality of the second tooth plates (311) are slidably arranged in the fixing holes, and two special-shaped holes are symmetrically provided on the two vertical plates (307).

10. A method for using a transport robot, using a transport robot according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1, moving the transport robot to a designated position, adjusting the angle and position of the gripping by means of a rotating component and a moving component, so that a plurality of suction cups (503) are against the upper end of the plastic freight box (110); S2, start the self-locking motor (202), drive the driving gear (203) to rotate through the self-locking motor (202), drive the driven gear (204) to rotate through the driving gear (203), drive the two special-shaped gears (205) to rotate in opposite directions through the driving gear (203) and the driven gear (204), drive the two second connecting rods (207) to move relative to each other through the special-shaped gears (205) and the first connecting rod (206), drive the two moving plates (302) to move relative to each other through the second connecting rod (207), and drive the vertical plate (307) to move and abut against the side wall of the reinforcing frame (110a) through the moving plate (302); S3, as the moving plate (302) continues to move, the second gear plate (311) is pushed to move rightward through the vertical plate (307), and the second gear plate (311) drives the plurality of first gear plates (310) to move relatively through the cooperation of the first gear (312), the second gear (313) and the third gear (314), and the clamping plate (315) is driven to move through the first gear plate (310) and gradually abut against the side wall of the plastic cargo box (110); S4, when the clamping plate (315) approaches the plastic freight box (110), the push plate (401) first abuts against the side wall of the plastic freight box (110), and the push plate (401) and the fixing rod (402) push the first inclined block (403) to move, and the first inclined block (403) pushes the second inclined block (404) to move in opposite directions, and the second inclined block (404) drives the push rod (405) to move in opposite directions, and the push rod (405) and the connecting plate (408) drive the arc-shaped elastic plate (409) to move in opposite directions and abut against the reinforcing frame (110a); S5, during the movement of the first tooth plate (310), the piston plate (309) is driven to move, and the gas in the negative pressure box (501) and the suction cup (503) is sucked through the connecting pipe (506), so that the suction cup (503) is firmly adsorbed on the upper end of the plastic cargo box (110), and the plastic cargo box (110) is fixed, and then the plastic cargo box (110) is moved.

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