A robot for loading and unloading indoor wooden craft carving

Abstract

The present invention relates to the technical field of manipulators for loading and unloading materials, and specifically, to a manipulator for loading and unloading materials for indoor wooden handicraft carving. The manipulator comprises a mechanical frame, a moving frame is provided at the bottom of the mechanical frame, a moving platform is provided inside the moving frame, a cylinder is provided at the bottom of the mechanical frame, a piston rod at the end of the cylinder is fixed to the top of the moving platform, a limit rod is provided at the four corners of the mechanical frame and the moving platform, a clamping and swinging assembly is provided at the bottom of the moving platform, and a protective assembly is provided below the clamping and swinging assembly. When the present invention completes the clamping of the material plate by the clamping plate, the piston rod at the end of the cylinder drives the moving platform to move vertically upward, at which time the main rack moves upward in the vertical direction, and the main rack drives the first gear to rotate to slide downward from the rack. As the external force on the elastic member gradually decreases, the elastic member pushes the slide bar to slide on the inner wall of the column tube. When the piston rod at the end of the cylinder drives the moving platform to move to the specified position, the support plate is located below the clamping plate, so as to automatically receive the clamped material plate and prevent the material plate from falling and being damaged.

Description

Technical Field

[0001] The invention relates to the technical field of loading and unloading manipulators, and in particular to a loading and unloading manipulator based on indoor wooden handicraft carving. Background Art

[0002] The processing of wooden handicrafts has the characteristics of high precision and high speed. Robots are usually used to load and unload wood during the processing.

[0003] There are many existing technologies for manipulators, such as:

[0004] Chinese patent publication number CN114346741A discloses a manipulator for loading and unloading materials, including a mounting seat, a first rotating assembly fixedly connected to the top of the mounting seat, a first electric hydraulic push rod fixedly connected to the top of the first rotating assembly, and a fixed block fixedly connected to the top of the first electric hydraulic push rod. Its beneficial effect is that the manipulator for loading and unloading materials of the patent adopts a first rotating assembly, a first movable assembly, a second rotating assembly, a second movable assembly and a grabbing assembly. Compared with the prior art, the second electric hydraulic push rod of the manipulator can be rotated and adjusted through the first rotating assembly, which is convenient for adjusting the position of the grabbing assembly and is more stable when rotating; the length of the grabbing assembly can be adjusted through the first electric hydraulic push rod and the second electric hydraulic push rod, which is convenient for grabbing metal pipes at different distances; the position of the second electric hydraulic push rod can be adjusted through the first movable assembly.

[0005] At present, traditional manipulators use gripping components to grab materials during use. However, during the processing of wood, when the carving process is completed, a lot of wood chips are generated during the carving process on the surface of the wood. The operator is required to blow away the residue generated on the surface and in the grooves, which is easy to be inhaled by the operator and cause safety problems. In addition, during the process of grabbing and clamping the material, when the hardness of the wood is low, it is easy to produce clamping marks, which affects the beauty of the wood processing.

[0006] In view of this, we propose a robot for loading and unloading indoor wooden handicraft carving. Summary of the invention

[0007] The purpose of the present invention is to provide a robot for loading and unloading indoor wooden handicraft carvings to solve the problems raised in the above-mentioned background technology.

[0008] To achieve the above-mentioned purpose, the present invention aims to provide a robot for loading and unloading indoor wooden handicraft carvings, including a mechanical frame, a moving frame is provided at the bottom of the mechanical frame, the mechanical frame drives the moving frame to move freely in three-dimensional space, a moving platform is provided inside the moving frame, a cylinder is provided at the bottom of the mechanical frame, a piston rod at the end of the cylinder is fixed to the top of the moving platform, limit rods are provided at the four corners of the mechanical frame and the moving platform, a clamping and swinging assembly is provided at the bottom of the moving platform, the clamping and swinging assembly is used to automatically clamp the material plate, and rotate the carved material plate to make the slag on its surface fall off, vibration assemblies are provided on both sides of the clamping and swinging assembly, the vibration assembly regularly impacts the rotating material plate with the clamping and swinging assembly, so that the slag accumulated in the carving groove is away from the material plate, and a protection assembly is provided under the clamping and swinging assembly, the protection assembly is used to protect the rotating material plate to prevent the material plate from falling and being damaged.

[0009] As a further improvement of the present technical solution, the clamping and swinging assembly includes a rotating motor, a screw rod is provided at the output end of the rotating motor, the thread on the screw rod surface is symmetrical, a frame is provided on the screw rod surface, the frame is symmetrically arranged on both sides of the screw rod surface, the frame is hollow with open ends, a clamping plate is provided at the end of the frame, and when the screw rod rotates, it drives the frame to move relative to each other, so that the clamping plate arranged at the end of the frame clamps and fixes the material sheet.

[0010] As a further improvement of the present technical solution, a servo motor is provided at the end of the frame, a connecting rod is provided at the output end of the servo motor, a main gear is provided at the end of the connecting rod, a gear rod is meshed and connected to the end of the main gear, the end of the gear rod passes through the frame and a rotating plate is provided at the end, and a friction sleeve is provided on the surface of the rotating plate.

[0011] As a further improvement of the technical solution, an elastic telescopic rod is provided between the rotating plate and the clamping plate, and when the clamping plate moves relatively to clamp the material plate, the clamping force is buffered by the elastic telescopic rod.

[0012] As a further improvement of the present technical solution, the vibration assembly includes a support plate arranged on the end face of the frame, a push rod is slidably provided at the end of the support plate, a return spring is provided between the support plate and the push rod, and one end of the push rod is used to impact the back of the splint.

[0013] As a further improvement of the present technical solution, an eccentric wheel is provided on the side of the other end of the top rod, and the eccentric wheel rotates on one side of the connecting rod. A rotating gear is provided on the end of the connecting rod away from the eccentric wheel. A meshing gear is meshed with one side of the rotating gear. A rotating shaft is provided on the end of the meshing gear. A first pulley is provided on the surface of the rotating shaft, and a second pulley is provided on the side away from the first pulley. The end of the second pulley is fitted with a friction sleeve, and a belt body is provided between the first pulley and the second pulley.

[0014] As a further improvement of the present technical solution, the protection component includes a column tube arranged on the outer wall of the mechanical frame. The column tubes are divided into four groups and are axially symmetrically arranged on both sides of the mechanical frame. A sliding rod is slidably provided on the inner wall of the column tube, an elastic member is provided between the column tube and the sliding rod, a support plate is provided at the end of the sliding rod, and a silicone pad is provided on the surface of the support plate.

[0015] As a further improvement of the present technical solution, the protection component includes a main rack arranged on the side wall of the mobile platform, a first gear is provided on one side of the main rack, a slave rack is provided on the side of the first gear away from the main rack, the slave rack slides on the inner wall surface of the mechanical frame, a pull rope is provided at the bottom of the slave rack, and the free end of the pull rope is fixed at the center of the end of the support plate.

[0016] As a further improvement of the technical solution, a fixed pulley is provided below the slave rack, and the fixed pulley is used to adjust the pulling direction of the pull rope on the support plate, and the pull rope passes through the bottom of the fixed pulley and is flush with the horizontal plane.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. In the robot for loading and unloading indoor wooden craft carvings, when the clamping plate completes the clamping of the material plate, the piston rod at the end of the cylinder drives the movable platform to move vertically upward. At this time, the main rack moves upward in the vertical direction, and the main rack drives the first gear to rotate to slide the slave rack downward. As the external force on the elastic part gradually decreases, the elastic part pushes the slide bar to slide on the inner wall of the column. When the piston rod at the end of the cylinder drives the movable platform to move to the specified position, the support plate is under the clamping plate, so as to automatically receive the clamped material plate and prevent the material plate from falling and being damaged.

[0019] 2. In the robot for loading and unloading indoor wooden craft carving, the servo motor is controlled to drive the main gear to rotate. During the rotation process, the main gear drives the gear rod to engage and rotate, and the gear rod drives the rotating plate at its end to reciprocate. Due to height restrictions, the output end of the servo motor rotates back and forth, so that the gear rod drives the rotating plate to rotate 30° left and right along the center, so that the processed slag on the surface of the material plate clamped between the clamping plates falls into the collection box under the action of gravity, preventing the operator from inhaling the slag and ensuring the health and safety of the operator.

[0020] 3. In the manipulator for loading and unloading indoor wooden handicraft carvings, the rotating plate drives the friction sleeve to rotate, so that the clamping plate fixed on the end face of the rotating plate shakes the clamped material plate left and right. During the left and right rotation of the rotating plate, the rotating plate drives the second pulley to rotate frictionally, and drives the first pulley to rotate through the belt body, so that the meshing gear provided at the end of the first pulley rotates on the surface of the rotating shaft. The meshing gear drives the rotating gear to mesh and rotate during the rotation process, so that the eccentric wheel provided at the end of the rotating gear periodically pushes the push rod. The push rod hits the back of the clamping plate during the pushing process, so that the material plate clamped between the clamping plates vibrates, so that the slag accumulated in the carving groove overflows to the outside, speeding up the removal of residual slag on the surface of the material plate, reducing the labor intensity of the operators and improving the cleaning efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0022] Figure 2 A front view of a mobile station of the present invention;

[0023] Figure 3 A cross-sectional view of a clamping and swinging assembly of the present invention;

[0024] Figure 4 The structure of the clamping swing assembly of the present invention is schematically shown in FIG. Figure 1 ;

[0025] Figure 5 For the present invention Figure 4 Schematic diagram of point A;

[0026] Figure 6 is a cross-sectional view of a mechanical frame of the present invention;

[0027] Figure 7 is a cross-sectional view of the protection component of the present invention;

[0028] Figure 8 The structure of the clamping swing assembly of the present invention is schematically shown in FIG. Figure 2 ;

[0029] Fig. 9 It is a schematic diagram of the structure of the vibration component of the present invention.

[0030] The meaning of each number in the figure is:

[0031] 100, mechanical frame; 101, moving frame; 102, cylinder;

[0032] 200, moving platform; 201, limiting rod;

[0033] 300, clamping swing assembly; 301, rotating motor; 302, screw rod; 303, frame; 304, clamping plate; 305, servo motor; 306, main gear; 307, gear rod; 308, rotating plate; 309, friction sleeve; 310, elastic telescopic rod;

[0034] 400, vibration assembly; 401, support plate; 402, push rod; 403, return spring; 404, eccentric wheel; 405, rotating gear; 406, meshing gear; 407, first pulley; 408, second pulley; 409, belt body;

[0035] 500, protection assembly; 501, main rack; 502, first gear; 503, slave rack; 504, column; 505, elastic member; 506, slide bar; 507, support plate; 508, fixed pulley; 509, pull rope. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0038] The purpose of this embodiment is to provide a robot for loading and unloading indoor wooden crafts carving, referring to Figure 1-Figure 9As shown, it includes a mechanical frame 100, a moving frame 101 is provided at the bottom of the mechanical frame 100, the mechanical frame 100 drives the moving frame 101 to move freely in three-dimensional space, a moving platform 200 is provided inside the moving frame 101, a cylinder 102 is provided at the bottom of the mechanical frame 100, a piston rod at the end of the cylinder 102 is fixed to the top of the moving platform 200, and limit rods 201 are provided at the four corners of the mechanical frame 100 and the moving platform 200. A clamping and swinging assembly 300 is provided at the bottom of the moving platform 200. The clamping and swinging assembly 300 is used to automatically clamp the material plate and rotate the engraved material plate to make the slag on its surface fall off. Vibration assemblies 400 are provided on both sides of the clamping and swinging assembly 300. The vibration assembly 400 regularly impacts the rotating material plate at the clamping and swinging assembly 300 to keep the slag accumulated in the engraving groove away from the material plate. A protective assembly 500 is provided below the clamping and swinging assembly 300. The protective assembly 500 is used to protect the rotating material plate to prevent the material plate from falling and being damaged.

[0039] In the process of clamping and unloading the material plate by the manipulator, since it is a wooden handicraft, it needs to be carved. Since the material of the material plate is made of wood, in order to prevent the material plate from falling during the clamping and unloading process, causing damage to the material plate, the clamping and swinging component 300 includes a rotating motor 301, and a screw rod 302 is provided at the output end of the rotating motor 301. The thread on the surface of the screw rod 302 is symmetrical. A frame body 303 is provided on the surface of the screw rod 302. The frame body 303 is symmetrically arranged on both sides of the surface of the screw rod 302. The frame body 303 is hollow with an open end, and a clamp is provided at the end of the frame 303. When the screw rod 302 rotates, it drives the frame 303 to move relative to the plate 304, so that the clamping plate 304 arranged at the end of the frame 303 clamps and fixes the material plate. When the material plate is processed, the screw rod 302 is driven to rotate by the output end of the rotating motor 301, so that the frame 303 arranged on the surface of the screw rod 302 moves relatively, and the piston rod at the end of the control cylinder 102 is driven to move downward in the vertical direction. When the movable platform 200 drives the frame 303 to move to the material plate to be processed, the clamping plate 304 moves relative to the plate to be processed, and the processed material plate is clamped.

[0040] During the engraving process, material residues gather on the surface of the material plate during engraving, and the operators need to clean them, which increases the labor intensity of the operators. Therefore, a servo motor 305 is provided at the end of the frame 303, and a connecting rod is provided at the output end of the servo motor 305. A main gear 306 is provided at the end of the connecting rod. A gear rod 307 is meshed and connected to the end of the main gear 306. The end of the gear rod 307 passes through the frame 303 and is provided with a rotating plate 308 at the end. A friction sleeve 309 is provided on the surface of the rotating plate 308. An elastic telescopic rod 310 is provided between the rotating plate 308 and the clamping plate 304. When the clamping plate 304 moves relative to the material plate, the elastic telescopic rod 310 is used to clamp the material plate. The telescopic rod 310 buffers the clamping force. In the process of clamping and unloading the processed material sheet, the servo motor 305 is controlled to drive the main gear 306 to rotate. The main gear 306 drives the gear rod 307 to engage and rotate during the rotation process. The gear rod 307 drives the rotating plate 308 provided at its end to reciprocate. Due to height restrictions, the output end of the servo motor 305 rotates back and forth, so that the gear rod 307 drives the rotating plate 308 to rotate 30° left and right along the center, so that the processed material residue on the surface of the processed material sheet clamped between the clamping plates 304 falls into the collection box due to gravity, reducing the labor intensity of the operators.

[0041] Taking into account that the raw material of the material board is wood, it is easy to produce clamping marks during the clamping process. In order to ensure the processing quality of the material board and avoid the generation of clamping marks, an elastic telescopic rod 310 is provided between the rotating plate 308 and the clamping plate 304. When the clamping plate 304 moves relative to each other to clamp the material board, the clamping force is buffered by the elastic telescopic rod 310. In the process of clamping the material board between the clamping plates 304, the clamping plate 304 first squeezes the elastic telescopic rod 310 to buffer the clamping force directly acting on the surface of the material board, thereby avoiding the generation of clamping marks on both sides of the material board by the clamping plate 304, thereby improving the processing quality of the material board. At the same time, since the elastic telescopic rod 310 exists during the process of clamping the material board by the clamping plate 304, the gear rod 307 drives the rotating plate 308 to rotate 30° to the left and right of the center, thereby reducing the swinging and floating of the processed material board and improving the stability of the material board.

[0042] Considering that the processed material plate has many grooves on its surface due to the engraving process, the slag generated during the processing is easily accumulated inside the grooves, which is difficult to remove by swinging the material plate. Therefore, the vibration component 400 includes a support plate 401 arranged on the end face of the frame 303, and a push rod 402 is slidably provided at the end of the support plate 401, and a return spring 403 is provided between the support plate 401 and the push rod 402. One end of the push rod 402 is used to hit the back of the clamping plate 304, and an eccentric wheel 404 is provided on the side of the other end of the push rod 402. The eccentric wheel 404 rotates on one side of the connecting rod, and a rotating gear 405 is provided at the end of the connecting rod away from the eccentric wheel 404. A meshing gear 406 is meshed on one side of the rotating gear 405, and a rotating shaft is provided at the end of the meshing gear 406. A first pulley 407 is provided on the surface of the rotating shaft, and a second pulley 408 is provided on the side away from the first pulley 407. The end of the second pulley 408 is in contact with the friction sleeve 309, and the first pulley 407 and the second pulley 408 are in contact with the friction sleeve 309. A belt body 409 is provided between the two pulleys 408. During the process of cleaning the material residue on the surface of the material plate, the rotating plate 308 drives the friction sleeve 309 to rotate, so that the clamping plate 304 fixed on the end face of the rotating plate 308 shakes the clamped material plate left and right. During the left and right rotation of the rotating plate 308, the friction sleeve 309 on the rotating plate 308 drives the second pulley 408 to rotate frictionally, and drives the first pulley 407 to rotate through the belt body 409, so that the meshing gear 406 provided at the end of the first pulley 407 rotates on the surface of the rotating shaft. The meshing gear 406 drives the rotating gear 405 to mesh and rotate during the rotation process, so that the eccentric wheel 404 provided at the end of the rotating gear 405 periodically pushes the push rod 402. The push rod 402 hits the back of the clamping plate 304 during the pushing process, so that the material plate clamped between the clamping plates 304 vibrates, thereby causing the material residue accumulated in the engraved groove to overflow to the outside, thereby accelerating the speed of removing the residual material residue on the surface of the material plate and improving the cleaning efficiency.

[0043] Considering that an elastic telescopic rod 310 is provided between the clamping plate 304 and the gear rod 307, when the material of the material plate is relatively smooth, the friction between the material plate and the surface of the clamping plate 304 is small, and when the clamping plate 304 drives the processed material plate to swing left and right, it is easy to fall, causing the material plate to hit the ground or the surface of the equipment, resulting in scratches and grooves, affecting the aesthetics of the material plate. Therefore, the protection component 500 includes a column 504 provided on the outer wall of the mechanical frame 100, and the column 504 is four groups and is axially symmetrically arranged on both sides of the mechanical frame 100. A sliding rod 506 is slidably provided on the inner wall of the column 504, and an elastic member 50 is provided between the column 504 and the sliding rod 506. 5. A support plate 507 is provided at the end of the slide bar 506, and a silicone pad is provided on the surface of the support plate 507. When the cylinder 102 drives the movable platform 200 to move downward, the support plate 507 is pushed to make the support plates 507 move away from each other. When the clamping plate 304 completes the clamping of the processed material and moves vertically upward, the support plate 507 is stopped from being pushed. The support plate 507 is always under the clamping plate 304. When the material plate shakes between the clamping plates 304 to remove slag and falls, the support plate 507 receives the material plate and makes it fall onto the surface of the silicone pad on the surface of the support plate 507, thereby avoiding scratches on the material plate and improving the safety of the processing process.

[0044] In the process of processing the material plate, it is necessary to frequently load and unload the material. In order to facilitate the lifting of the material plate by the clamping plate 304, the support plate 507 automatically moves to the bottom thereof to receive it, thereby improving the safety of loading and unloading the material. Therefore, the protection component 500 includes a main rack 501 arranged on the side wall of the moving platform 200, a first gear 502 is arranged on one side of the main rack 501, a slave rack 503 is arranged on the side of the first gear 502 away from the main rack 501, the slave rack 503 slides on the inner wall surface of the mechanical frame 100, and a bottom of the slave rack 503 is arranged A pull rope 509, the free end of which is fixed at the center of the end of the support plate 507, a fixed pulley 508 is provided below the slave rack 503, and the fixed pulley 508 is used to adjust the pulling direction of the pull rope 509 on the support plate 507, the pull rope 509 passes through the bottom of the fixed pulley 508 and is flush with the horizontal plane, the piston rod at the end of the cylinder 102 drives the moving platform 200 to move downward in the vertical direction, and the moving platform 200 drives the main rack 501 to move and drives the first gear 502 to rotate, and the first gear 502 rotates and drives the slave rack 503 and the main rack 501 The pull rope 509 moves in the opposite direction, and when the rack 503 moves upward, the pull rope 509 is pulled upward. Since the fixed pulley 508 limits the pull rope 509, when the pull rope 509 pulls the support plate 507 to move in the horizontal direction, the support plate 507 is subjected to the horizontal force, so that the support plates 507 move away from each other, so as to avoid the support plate 507 blocking it during the downward movement of the clamping plate 304, resulting in the support plate 507 being bent and damaged. When the clamping plate 304 completes the clamping of the material plate, the piston rod at the end of the cylinder 102 drives the moving platform 200 vertically The main rack 501 moves upward, and the main rack 501 drives the first gear 502 to rotate to make the slave rack 503 slide downward. As the external force on the elastic member 505 gradually decreases, the elastic member 505 pushes the slide bar 506 to slide on the inner wall of the cylinder 504. When the piston rod at the end of the cylinder 102 drives the moving platform 200 to move to the specified position, the support plate 507 is under the clamping plate 304, so as to automatically receive the clamped sheet material, avoid the sheet material from falling and being damaged, and improve the safety during the processing.

[0045] In summary, the working principle of the present invention is as follows: when in use, the piston rod at the end of the cylinder 102 drives the moving platform 200 to move downward in the vertical direction, and the moving platform 200 drives the main rack 501 to move and drives the first gear 502 to rotate, and the first gear 502 drives the slave rack 503 to move in the opposite direction to the main rack 501 when rotating, and the slave rack 503 moves upward and pulls the pull rope 509 upward, and because the fixed pulley 508 limits the pull rope 509, the pull rope 509 is pulled. When the support plate 507 moves in the horizontal direction, the support plate 507 is subjected to a horizontal force, so that the support plates 507 move away from each other, so as to avoid the support plate 507 blocking the clamping plate 304 during its downward movement, causing the support plate 507 to be bent and damaged. When the clamping plate 304 completes the clamping of the material plate, the piston rod at the end of the cylinder 102 drives the moving platform 200 to move vertically upward. At this time, the main rack 501 moves upward in the vertical direction, and the main rack 501 drives the first gear 502 to rotate so that the slave The rack 503 slides downward, and as the external force on the elastic member 505 gradually decreases, the elastic member 505 pushes the slide bar 506 to slide on the inner wall of the column 504. When the piston rod at the end of the cylinder 102 drives the moving platform 200 to move to the specified position, the support plate 507 is located below the clamping plate 304, so that the clamped material plate is automatically received to prevent the material plate from falling and being damaged. In the process of clamping and unloading the processed material plate, the servo motor 305 is controlled to drive the main gear 306 to rotate. The main gear 306 drives the gear rod 307 to mesh and rotate during the rotation process. The gear rod 307 drives the rotating plate 308 provided at its end to reciprocate. Due to height restrictions, the output end of the servo motor 305 rotates back and forth left and right, so that the gear rod 307 drives the rotating plate 308 to rotate along the center with a 30° left and right offset, so that the processed material slag on the surface of the processed material plate clamped between the clamping plates 304 falls into the collection box under the action of gravity, reducing the labor intensity of the operators.

[0046] During the cleaning process of the material residue on the surface of the material plate, the rotating plate 308 drives the friction sleeve 309 to rotate, so that the clamping plate 304 fixed on the end face of the rotating plate 308 shakes the clamped material plate left and right. During the left and right rotation of the rotating plate 308, the rotating plate 308 drives the second pulley 408 to rotate frictionally, and drives the first pulley 407 to rotate through the belt body 409, so that the meshing gear 406 provided at the end of the first pulley 407 rotates on the surface of the rotating shaft, and the meshing gear 406 drives the rotating gear 405 to mesh and rotate during the rotation process, so that the eccentric wheel 404 provided at the end of the rotating gear 405 periodically pushes the push rod 402, and the push rod 402 hits the back of the clamping plate 304 during the pushing process, so that the material plate clamped between the clamping plates 304 vibrates, thereby causing the material residue accumulated in the engraved groove to overflow to the outside, thereby accelerating the removal speed of the residual material residue on the surface of the material plate and improving the cleaning efficiency.

[0047] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and descriptions are only preferred examples of the present invention and are not intended to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A robot for loading and unloading indoor wooden crafts carving, characterized by: The invention comprises a mechanical frame (100), wherein a movable frame (101) is provided at the bottom of the mechanical frame (100), wherein the mechanical frame (100) drives the movable frame (101) to move freely in a three-dimensional space, wherein a movable platform (200) is provided inside the movable frame (101), wherein a cylinder (102) is provided at the bottom of the mechanical frame (100), wherein a piston rod at the end of the cylinder (102) is fixed to the top of the movable platform (200), wherein limit rods (201) are provided at the four corners of the mechanical frame (100) and the movable platform (200), wherein a clamping and swinging assembly (300) is provided at the bottom of the movable platform (200), wherein the clamping and swinging assembly (300) is used to automatically clamp a material plate and rotate a material plate after engraving, wherein the clamping and swinging assembly (300) Vibration components (400) are provided on both sides. The clamping and swinging components (300) include a rotating motor (301). A screw rod (302) is provided at the output end of the rotating motor (301). The screw rod (302) has a symmetrical surface thread. A frame (303) is provided on the surface of the screw rod (302). The frame (303) is symmetrically arranged on both sides of the surface of the screw rod (302). The frame (303) is hollow with open ends. A clamping plate (304) is provided at the end of the frame (303). When the screw rod (302) rotates, it drives the frame (303) to move relative to the frame, so that the clamping plate (304) provided at the end of the frame (303) clamps and fixes the material plate. A servo motor (305) is provided at the end of the frame (303). The output end of the servo motor (305) is provided with a connecting rod, the end of the connecting rod is provided with a main gear (306), the end of the main gear (306) is meshed with a gear rod (307), the end of the gear rod (307) passes through the frame (303) and is provided with a rotating plate (308), the surface of the rotating plate (308) is provided with a friction sleeve (309), an elastic telescopic rod (310) is provided between the rotating plate (308) and the clamping plate (304), when the clamping plate (304) moves relative to each other to clamp the material plate, the elastic telescopic rod (310) is used to buffer the clamping force, the vibration component (400) regularly impacts the rotating material plate when clamping the swing component (300), and the vibration component (400) The invention comprises a support plate (401) arranged on the end surface of a frame (303), a push rod (402) being slidably arranged at the end of the support plate (401), a return spring (403) being arranged between the support plate (401) and the push rod (402), one end of the push rod (402) being used to hit the back of a clamping plate (304), a protection component (500) being arranged below the clamping and swinging component (300), the protection component (500) being used to protect a rotating material plate, the protection component (500) comprising a column (504) arranged on the outer wall of a mechanical frame (100), the column (504) being four groups and being axially symmetrically arranged on both sides of the mechanical frame (100), a sliding rod (506) being slidably arranged on the inner wall of the column (504),An elastic member (505) is provided between the column (504) and the slide rod (506), a support plate (507) is provided at the end of the slide rod (506), and a silicone pad is provided on the surface of the support plate (507).

2. The robot for loading and unloading indoor wooden craft carving according to claim 1 is characterized in that: An eccentric wheel (404) is provided on the side of the other end of the top rod (402), and the eccentric wheel (404) rotates on one side of the connecting rod. A rotating gear (405) is provided at the end of the connecting rod away from the eccentric wheel (404). A meshing gear (406) is meshed on one side of the rotating gear (405). A rotating shaft is provided at the end of the meshing gear (406). A first pulley (407) is provided on the surface of the rotating shaft. A second pulley (408) is provided on the side away from the first pulley (407). The end of the second pulley (408) is fitted with a friction sleeve (309), and a belt body (409) is provided between the first pulley (407) and the second pulley (408).

3. The robot for loading and unloading indoor wooden craft carving according to claim 1 is characterized in that: The protection assembly (500) comprises a main rack (501) arranged on the side wall of the moving platform (200), a first gear (502) being arranged on one side of the main rack (501), a slave rack (503) being arranged on the side of the first gear (502) away from the main rack (501), the slave rack (503) sliding on the inner wall surface of the mechanical frame (100), a pull rope (509) being arranged at the bottom of the slave rack (503), and a free end of the pull rope (509) being fixed at the center of the end of the support plate (507).

4. The robot for loading and unloading indoor wooden craft carving according to claim 3 is characterized in that: A fixed pulley (508) is provided below the slave rack (503), and the fixed pulley (508) is used to adjust the pulling direction of the pull rope (509) on the support plate (507). The pull rope (509) passes through the bottom of the fixed pulley (508) and is flush with the horizontal plane.

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