A dispatching robot

Abstract

The present invention discloses a dispatching robot, and relates to the technical field of mechanical arm clamps. The dispatching robot includes a dispatching feeding mechanical arm, and the extension fixing assembly includes two first extension cavities and two extension plates. The two first extension cavities are opened inside the mechanical arm shell, and the two extension plates are correspondingly and movably installed on the inner wall of the first extension cavity. The present invention synchronously fixes and takes materials at both ends and in the middle of the printing press cylinder. The uniform fixing method helps to ensure the stability of the printing press cylinder during the material taking and processing process, and reduces the deviation or vibration caused by uneven fixing. The design of the mechanical clamp body close to the outside of the printing press cylinder enhances the stability of clamping. The sealing treatment ensures the consistency of gas pressure in the entire clamping area, so that the printing press cylinder remains stable during the entire operation process, prevents loosening or sliding, and avoids material taking errors or inaccurate roller position caused by improper clamping.

Description

Technical Field

[0001] The invention relates to the technical field of mechanical arm grippers, in particular to a dispatching robot. Background Art

[0002] The dispatching robot manipulator is an automated device used to perform various tasks in a production line or work environment, including handling, assembly, processing, etc. The dispatching robot manipulator can automatically carry objects from one location to another, reducing the need for manual handling. The robot manipulator first locates the position of the printing press cylinder through a sensor or vision system, and identifies the size and position of the cylinder. The manipulator uses a clamp or other grasping device to accurately clamp the cylinder and remove it from its original position. The clamp may adjust the clamping force and position according to the shape and weight of the cylinder. By automating the material picking and placement process, it can significantly reduce dependence on manual operation, reduce labor costs, and reduce the workload of operators.

[0003] At present, the dispatching robot manipulator performs well in many working environment conditions. The Chinese patent with publication number CN114227725B discloses a manipulator, including: a connection structure,

[0004] A hooking structure, a spring assembly and a pressure sensor are arranged below the connection structure. The hooking structure includes a mounting portion and a hook. The spring assembly is configured with a guide shaft that vertically penetrates the mounting portion, a spring sleeved on the guide shaft and a sleeve that penetrates the mounting portion. The lower end of the guide shaft is fixedly connected to the first abutment plate. The sleeve is fixedly connected to the second abutment plate below the mounting portion. Both ends of the spring abut against the first abutment plate and the second abutment plate. The pressure sensor is arranged on the first abutment plate or the second abutment plate. The manipulator of the present invention realizes the need for real-time monitoring of the pressure borne by each hooking structure of the manipulator by arranging a spring assembly on the hooking structure and a pressure sensor on the spring assembly, so that the gravity balance of the carrier can be further adjusted in time to avoid the carrier from shifting, resulting in the risk of the wafer carried in the carrier falling from one side of the carrier during the lifting or transportation process.

[0005] This invention realizes the need for real-time monitoring of the pressure borne by each hook structure of the manipulator through the sensing mechanism and the pressure sensor, so as to further adjust the gravity balance of the carrier in time to avoid the deviation of the carrier, which may cause the risk of the wafer carried in the carrier falling from one side of the carrier during the lifting or transportation process. However, in the actual operation process, the grasped products may be of different sizes and grasping positions, resulting in the inability of the dispatching robot arm to adjust the fixed position, and the inability to take materials according to the different lengths of the printing press rollers. The fixed position is inaccurate and can only be clamped and fixed in the middle of the printing press roller, resulting in a lack of sufficient support at both ends of the roller, causing the roller to fall during the transportation process. Uneven force occurs during the process, increasing the risk of shaking or deformation of the roller. The two ends of the roller are not clamped and fixed, and sliding occurs during transportation, resulting in unstable material picking process and increasing the risk of falling or damage. It is difficult for the robotic arm to accurately clamp printing press rollers of different lengths, resulting in deviation in the material picking position, affecting subsequent production steps, such as deviation in the docking position of the roller. Uneven clamping will cause additional pressure on mechanical parts, increasing the risk of wear of the clamps and robotic arms, which will lead to equipment failure or increased maintenance costs in the long run. In addition, the clamps are unstable and the rollers may fall during transportation, causing damage to the equipment or operators. Safety hazards increase the operating risks of the factory. Summary of the invention

[0006] The present invention provides a dispatching robot, which has the advantage of stably controlling mechanical grippers to symmetrically fix both ends of printing press cylinders of different lengths, so as to solve the problem that the mechanical grippers of the dispatching robot are easy to fall off and have displacement deviation when fixing the printing press cylinder.

[0007] In order to achieve the purpose of a scheduling robot stably controlling mechanical grippers to symmetrically fix the two ends of printing press cylinders of different lengths, the present invention provides the following technical solutions: a scheduling robot, comprising a scheduling loading mechanical arm and a rotating head installed at the output end of the scheduling loading mechanical arm, a mechanical arm shell is installed on one end surface of the rotating head, a hydraulic rod is installed on the inner surface of the rotating head, a gripper control fixing component is installed on the outer surface of the hydraulic rod, a power end extension component is installed on the outer surface of the power end extension component, and an extension fixing component is installed on the outer surface of the power end extension component, the extension fixing component comprises two first extension cavities and two extension plates, the two first extension cavities are opened inside the mechanical arm shell, and the two extension plates are opposite to each other. The two extension plates are movably mounted on the inner wall of the first extension cavity, and the bottom surfaces of the two extension plates are both mounted with second connecting brackets, and the interiors of the two second connecting brackets are both movably mounted with extension brackets, and the one end surfaces of the two extension brackets and the outer surface of the clamp control fixing assembly are both mounted with mechanical clamp control assemblies, and the outer surface of the mechanical clamp control assemblies are both mounted with mechanical clamp bodies, and an air cavity is provided inside the mechanical clamp body, and an air pipe is installed on the inner wall of the air cavity, and a limiting plate is movably mounted on the inner wall of the air cavity, and air permeable grooves are evenly provided on the limiting plate, and a connecting column is installed on one end surface of the limiting plate, and a rubber plate is installed on one end surface of the connecting column, and the outer surface of the rubber plate is in movably contact with the inner surface of the mechanical clamp body.

[0008] Furthermore, the clamping jaw control fixing assembly includes a clamping block and two first pull rods, the clamping block is installed on the outer surface of the output end of the hydraulic rod, and the two first pull rods are correspondingly installed on the two end surfaces of the clamping block, and two limit rods are installed inside the mechanical arm housing, and the two first pull rods are both provided with a second extension cavity, and the two limit rods are both provided with two third extension cavities.

[0009] Furthermore, second pull rods are movably installed on the inner walls of the two second extension cavities, and extension rods are installed on the inner walls of the four third extension cavities.

[0010] Furthermore, the power end extension components include a motor and a rotating shaft, the motor is installed on the outer surface of the robot arm housing, the rotating shaft is installed on the outer surface of the motor output end, and the outer surface of the rotating shaft is installed with an active spiral bevel gear.

[0011] Furthermore, two ball screws are movably installed inside the housing of the robotic arm, screw sliders are movably installed on the outer surfaces of the two ball screws, and driven spiral bevel gears are installed on one end surface of the two ball screws.

[0012] Furthermore, the outer surfaces of the two driven spiral bevel gears mesh with the outer surface of the active spiral bevel gear, and the outer surfaces of the two screw sliders are both equipped with first connecting brackets, and the outer surfaces of the two first connecting brackets are fixedly connected to the outer surface of the extension plate.

[0013] Furthermore, the mechanical gripper control assembly includes a mechanical gripper connecting main frame and a mechanical gripper outer arm frame, one end surface of the extension bracket and the outer surface of the first pull rod are both installed with the mechanical gripper connecting main frame, the mechanical gripper connecting main frame on the extension bracket is fixedly connected to the inside of the mechanical gripper connecting main frame and the outer surface of the second pull rod, and the outer surface of the limit rod and the outer surface of the extension rod are both movably installed with the mechanical gripper outer arm frame.

[0014] Furthermore, a second rotating column is movably installed inside the outer arm of the mechanical claw, a first rotating column is movably installed inside the main frame of the mechanical claw, the outer surface of the first rotating column and the outer surface of the second rotating column are jointly installed with a mechanical claw rotating swing arm, and the outer surface of the outer arm of the mechanical claw is fixedly connected to the outer surface of the mechanical clamp body.

[0015] Compared with the prior art, the present invention provides a dispatching robot with the following beneficial effects:

[0016] 1. The dispatching robot can synchronously fix and pick up materials through the two ends and the middle of the printing press cylinder. The uniform fixing method helps to ensure the stability of the printing press cylinder during the material picking and processing process, and reduces the deviation or vibration caused by uneven fixing. The design of the mechanical clamp body close to the outside of the printing press cylinder enhances the stability of clamping. The sealing treatment ensures the consistency of gas pressure in the entire clamping area, so that the printing press cylinder remains stable during the entire operation, prevents loosening or sliding, and avoids material picking errors or inaccurate roller position caused by improper clamping.

[0017] 2. The dispatching robot can effectively protect the surface of the printing press cylinder by using rubber sheets, avoiding scratches or wear on the cylinder caused by direct contact with metal parts. The flexibility of the rubber sheets also helps to improve the gripping force of the clamping, while reducing damage to the printing press cylinder. The stable clamping state helps to extend the service life of the dispatching feeding robot arm and improve the accuracy of the operation.

[0018] 3. The dispatching robot can adjust the position of the mechanical clamp body. The adjustable mechanical clamp body allows the system to adapt to printing press rollers of different lengths and adapt to different production needs or product changes. The clamping function that supports printing press rollers of different lengths reduces the need to purchase clamps of different specifications, thereby reducing equipment investment costs, and reducing the displacement or instability of the printing press roller caused by uneven clamping, thereby improving the accuracy and reliability of the material picking process.

[0019] 4. The dispatching robot supplies air to the inside of the air cavity through the air pipe by a vacuum machine, so that the aluminum chips and cutting fluid on the outside of the printing press cylinder can be blown and cleaned during the movement of the two mechanical grippers, effectively removing impurities attached to the printing press cylinder and maintaining the smooth surface of the printing press cylinder, which helps to ensure the printing quality and the normal operation of the cylinder and avoid printing defects or cylinder wear caused by impurities. Removing aluminum chips and cutting fluid can reduce their wear and corrosion on the printing press cylinder and extend the service life of the printing press cylinder. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0021] Figure 2 This is a schematic diagram of the external structure of the rotating head of the present invention;

[0022] Figure 3 This is a schematic diagram of the overall structure of the clamping jaw control fixing assembly of the present invention;

[0023] Figure 4 This is a schematic diagram of the overall structure of the power end extension components of the present invention;

[0024] Figure 5 This is a schematic diagram of the internal structure of the mechanical gripper control assembly of the present invention;

[0025] Figure 6 This is a schematic diagram of the external structure of the mechanical gripper body of the present invention;

[0026] Figure 7 This is a schematic diagram of the internal structure of the mechanical gripper control assembly of the present invention from another perspective;

[0027] Figure 8 It is a schematic diagram of the internal structure of the mechanical gripper body of the present invention.

[0028] In the figure: 1. Dispatching feeding robot arm; 2. Rotating head; 3. Hydraulic rod; 4. Robot arm shell; 5. First pull rod; 6. Third extension cavity; 7. Second extension cavity; 8. Second pull rod; 9. First extension cavity; 10. Extension plate; 11. Motor; 12. Rotating shaft; 13. Active spiral bevel gear; 14. Driven spiral bevel gear; 15. Ball screw; 16. Screw slider; 17. First connecting bracket; 18. Second connecting bracket; 19. Limit rod; 20. Extension rod; 21. Block; 22. Mechanical claw connected to main frame; 23. First rotating column; 24. Mechanical claw rotating swing arm; 25. Second rotating column; 26. Mechanical claw outer arm frame; 27. Mechanical clamp body; 28. Air pipe; 29. ​​Air cavity; 30. Rubber plate; 31. Limit plate; 32. Connecting column; 33. Breathing groove; 34. Extension bracket. DETAILED DESCRIPTION

[0029] 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.

[0030] See also Figure 1 - Figure 8The present invention discloses a dispatching robot, comprising a dispatching loading robot arm 1 and a rotating head 2 installed at the output end of the dispatching loading robot arm 1, a robot arm housing 4 is installed on one end surface of the rotating head 2, a hydraulic rod 3 is installed on the inner surface of the rotating head 2, a clamping claw control fixing component is installed on the outer surface of the hydraulic rod 3, a power end extension component is installed on the outer surface of the power end extension component, and an extension fixing component is installed on the outer surface of the power end extension component, and the extension fixing component includes two first extension cavities 9 and two extension plates 10, the two first extension cavities 9 are opened inside the robot arm housing 4, and the two extension plates 10 are movably installed on the first At the inner wall of the extension cavity 9, the bottom end surfaces of the two extension plates 10 are both installed with second connecting brackets 18, and the interiors of the two second connecting brackets 18 are both movably installed with extension brackets 34, and the one end surfaces of the two extension brackets 34 and the outer surface of the clamp control fixing assembly are both installed with mechanical clamp control assemblies, and the outer surface of the mechanical clamp control assembly is both installed with mechanical clamp bodies 27, and the mechanical clamp body 27 is provided with an air cavity 29 inside, and an air pipe 28 is installed on the inner wall of the air cavity 29, and a limit plate 31 is movably installed on the inner wall of the air cavity 29, and the limit plate 31 is evenly provided with air permeable grooves 33, and a connecting column 32 is installed on one end surface of the limit plate 31. A rubber plate 30 is installed on one end surface of the connecting column 32, and the outer surface of the rubber plate 30 is in active contact with the inner surface of the mechanical clamp body 27, so that the mechanical clamp body 27 is pressed against the outer side of the printing press cylinder. Several mechanical clamp bodies 27 fix the printing press cylinder, and the rubber plate 30 is fixed in the mechanical clamp body 27 to achieve sealing treatment of the air cavity 29, so that the gas pressure synchronously fixes the printing press cylinder, and the two ends and the middle of the printing press cylinder are synchronously fixed and taken. The uniform fixing method helps to ensure the stability of the printing press cylinder during the material taking and processing process, and reduces the deviation or vibration caused by uneven fixing. The mechanical clamp body 2 The design of 7-way pressing against the outer side of the printing press cylinder enhances the stability of clamping. The sealing process ensures the consistency of gas pressure in the entire clamping area, so that the printing press cylinder remains stable during the entire operation to prevent loosening or sliding, and avoids material picking errors or inaccurate roller position caused by improper clamping. The use of the rubber sheet 30 can effectively protect the surface of the printing press cylinder and avoid scratches or wear on the cylinder caused by direct contact with metal parts. The flexibility of the rubber sheet 30 also helps to improve the gripping force of the clamping and reduce damage to the printing press cylinder. The stable clamping state helps to extend the service life of the scheduling and loading robot arm 1 and improve the accuracy of the operation.

[0031] The clamping claw control fixing assembly includes a clamping block 21 and two first pull rods 5. The clamping block 21 is installed on the outer surface of the output end of the hydraulic rod 3. The two first pull rods 5 are correspondingly installed on the two end surfaces of the clamping block 21. Two limit rods 19 are installed inside the mechanical arm housing 4. The interiors of the two first pull rods 5 are both provided with second extension cavities 7. The interiors of the two limit rods 19 are both provided with two third extension cavities 6. Second pull rods 8 are movably installed on the inner walls of the two second extension cavities 7. Extension rods 20 are installed on the inner walls of the four third extension cavities 6. The hydraulic rod 3 is used to work. The hydraulic rod 3 drives the clamping block 21 and the two first pull rods 5 to move upward. The first pull rod 5 and the second pull rod 8 correspondingly drive different mechanical claws to connect to the main frame 22 to move upward. The mechanical claw connection main frame 22, the first rotating column 23, the mechanical claw rotating swing arm 24, the second rotating column 25 and the mechanical claw outer arm frame 26 cooperate with each other, and the mechanical claw outer arm frame 26 rotates on the limit rod 19 and the extension rod 20.

[0032] The extension components at both ends of the power include a motor 11 and a rotating shaft 12. The motor 11 is installed on the outer surface of the mechanical arm housing 4. The rotating shaft 12 is installed on the outer surface of the output end of the motor 11. The outer surface of the rotating shaft 12 is installed with a driving spiral bevel gear 13. Two ball screws 15 are movably installed inside the mechanical arm housing 4. The outer surfaces of the two ball screws 15 are movably installed with screw sliders 16. One end surface of the two ball screws 15 is installed with a driven spiral bevel gear 14. The outer surfaces of the two driven spiral bevel gears 14 are meshed with the outer surface of the driving spiral bevel gear 13. The outer surfaces of the two screw sliders 16 are installed with a first connecting bracket 17. The outer surfaces of the two first connecting brackets 17 are fixedly connected to the outer surfaces of the extension plates 10. The mechanical clamp bodies 27 at both ends are synchronously moved to the two ends of the printing press cylinder under the movement of the scheduling feeding robot arm 1. The motor 11 is controlled by the controller to work. The motor 11 drives the rotating shaft 12 to rotate. The rotating shaft 12 drives the active spiral bevel gear 13 to rotate. The outer surface of the active spiral bevel gear 13 is meshed with the outer surfaces of the two driven spiral bevel gears 14. The active spiral bevel gear 13 drives the two driven spiral bevel gears 14 to rotate. The two driven spiral bevel gears 14 synchronously drive the ball screw 15 to rotate. The ball screw 15 cooperates with the screw slider 16, the two screw sliders 16 synchronously drive the first connecting bracket 17 and the extension plate 10 to move, the mechanical claw connecting main frame 22 drives the first rotating column 23, the mechanical claw rotating swing arm 24, the second rotating column 25 and the mechanical claw outer arm frame 26 to move synchronously, so that the mechanical claw connecting main frame 22 drives the second pull rod 8 to move in the second extension cavity 7 inside the first pull rod 5, and the two mechanical claw outer arm frames 26 correspondingly drive the extension rod 20 to move in the third extension cavity 6 inside the limit rod 19, so that the two mechanical clamping claw bodies 27 can move stably, and during the mechanical movement of the outer mechanical clamping claw body 27, the vacuum machine passes the air pipe 28 Air is supplied to the air cavity 29 so that the gas pushes the limit plate 31 and the rubber plate 30 in the air cavity 29. The limit plate 31 allows the rubber plate 30 to move stably in the air cavity 29, so that the gas blows the outer side of the printing press cylinder, so that the two mechanical clamping claws 27 can blow and clean the aluminum chips and cutting fluid on the outer side of the printing press cylinder during the movement, effectively removing impurities attached to the printing press cylinder, maintaining the smooth surface of the printing press cylinder, helping to ensure the printing quality and the normal operation of the cylinder, avoiding printing defects or cylinder wear caused by impurities, and removing aluminum chips and cutting fluid can reduce their wear and corrosion to the printing press cylinder, thereby extending the service life of the printing press cylinder.

[0033] The mechanical gripper control assembly includes a mechanical gripper connecting main frame 22 and a mechanical gripper outer arm frame 26. The mechanical gripper connecting main frame 22 is installed on one end surface of the extension bracket 34 and the outer surface of the first pull rod 5. The interior of the connecting main frame 22 on the extension bracket 34 is fixedly connected to the outer surface of the second pull rod 8. The outer surface of the limit rod 19 and the outer surface of the extension rod 20 are both movably installed with the mechanical gripper outer arm frame 26. The interior of the mechanical gripper outer arm frame 26 is movably installed with the second rotating column 25. The interior of the mechanical gripper connecting main frame 22 is movably installed with the first rotating column 23. The outer surfaces of the first rotating column 23 and the outer surfaces of the second rotating column 25 are jointly installed with the mechanical gripper rotating swing arm 24. The outer surface of the mechanical gripper outer arm frame 26 is fixedly connected to the outer surface of the mechanical gripper body 27.

[0034] The working principle and use process of the present invention are as follows: when it is necessary to pick up and place materials on the printing press cylinder after the machine tool processing is completed, the loading robot arm 1 is scheduled to work, and the robot arm shell 4 is parallel to the top of the printing press cylinder by rotating the rotating head 2. The mechanical clamping claws 27 at both ends are synchronously moved to the two ends of the printing press cylinder under the movement of the loading robot arm 1. The motor 11 is controlled by the controller to work, and the motor 11 drives the rotating shaft 12 to rotate. The rotating shaft 12 drives the active spiral bevel gear 13 to rotate. The outer surface of the active spiral bevel gear 13 is connected to the two driven spiral bevel gears. The outer surfaces of the wheels 14 mesh with each other, the active spiral bevel gear 13 drives the two driven spiral bevel gears 14 to rotate, the two driven spiral bevel gears 14 synchronously drive the ball screw 15 to rotate, the ball screw 15 cooperates with the screw slider 16, the two screw sliders 16 synchronously drive the first connecting bracket 17 and the extension plate 10 to move, the extension plate 10 moves stably in the first extension cavity 9, the extension plate 10 drives the second connecting bracket 18 and the extension bracket 34 to move smoothly, the extension bracket 34 drives the mechanical claw to connect the main frame 22 to move synchronously, and the mechanical claw is connected The main frame 22 drives the first rotating column 23, the mechanical claw rotating swing arm 24, the second rotating column 25 and the mechanical claw outer arm frame 26 to move synchronously, so that the mechanical claw connected to the main frame 22 drives the second pull rod 8 to move in the second extension cavity 7 inside the first pull rod 5, and the two mechanical claw outer arm frames 26 correspondingly drive the extension rod 20 to move in the third extension cavity 6 inside the limit rod 19, so that the two mechanical clamping claw bodies 27 can move stably, and during the mechanical movement of the outer mechanical clamping claw body 27, the vacuum machine supplies gas to the inside of the gas cavity 29 through the gas pipe 28, so that the gas in the gas cavity 29 is pressed against the limit plate The limit plate 31 and the rubber plate 30 are pushed, and the limit plate 31 makes the rubber plate 30 stably move in the air cavity 29, so that the gas blows the outer side of the printing press cylinder, and the two mechanical clamping claws 27 are moved to blow and clean the aluminum chips and cutting fluid on the outer side of the printing press cylinder, so as to effectively remove impurities attached to the printing press cylinder, maintain the smooth surface of the printing press cylinder, help ensure the printing quality and the normal operation of the cylinder, avoid printing defects or cylinder wear caused by impurities, and remove aluminum chips and cutting fluid to reduce their wear and corrosion to the printing press cylinder, thereby extending the service life of the printing press cylinder.

[0035] When the two mechanical claw bodies 27 move to the ends of both ends of the printing press cylinder, the hydraulic rod 3 is used to work, and the hydraulic rod 3 drives the clamping block 21 and the two first pull rods 5 to move upward, and the first pull rod 5 and the second pull rod 8 correspondingly drive different mechanical claws connected to the main frame 22 to move upward, and the mechanical claw connected to the main frame 22, the first rotating column 23, the mechanical claw rotating swing arm 24, the second rotating column 25 and the mechanical claw outer arm frame 26 cooperate with each other, and the mechanical claw outer arm frame 26 rotates on the limit rod 19 and the extension rod 20, so that the mechanical claw body 27 is pressed against the outside of the printing press cylinder, and several mechanical claw bodies 27 fix the printing press cylinder, and the rubber plate 30 is fixed in the mechanical claw body 27 to achieve sealing of the air cavity 29, so that the gas pressure synchronously fixes the printing press cylinder, so that the two ends and the middle of the printing press cylinder are synchronized. The step of fixing and picking up materials is carried out. The uniform fixing method helps to ensure the stability of the printing press cylinder during the material picking and processing process, and reduces the deviation or vibration caused by uneven fixing. The design of the mechanical clamping claw body 27 close to the outside of the printing press cylinder enhances the stability of clamping. The sealing treatment ensures the consistency of gas pressure in the entire clamping area, so that the printing press cylinder remains stable during the entire operation to prevent loosening or sliding, and avoids material picking errors or inaccurate roller position caused by improper clamping. The use of rubber plate 30 can effectively protect the surface of the printing press cylinder and avoid scratches or wear on the cylinder caused by direct contact with metal parts. The flexibility of rubber plate 30 also helps to improve the gripping force of the clamping while reducing damage to the printing press cylinder. The stable clamping state helps to extend the service life of the scheduling and loading robot arm 1 and improve the accuracy of operation.

[0036] It should be noted that, in this article, terms such as "comprises", "includes" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of more restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0037] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A dispatching robot, comprising a dispatching loading robot arm (1) and a rotating head (2) mounted at the output end of the dispatching loading robot arm (1), a robot arm housing (4) being mounted on one end surface of the rotating head (2), and a hydraulic rod (3) being mounted on the inner side surface of the rotating head (2), characterized in that: A gripper control fixing assembly is installed on the outer surface of the hydraulic rod (3), a power extension assembly is installed on the outer surface of the mechanical arm housing (4), and an extension fixing assembly is installed on the outer surface of the power extension assembly at both ends. The extension fixing assembly comprises two first extension cavities (9) and two extension plates (10), the two first extension cavities (9) are arranged inside the mechanical arm housing (4), the two extension plates (10) are movably installed on the inner wall of the first extension cavities (9), the bottom end surfaces of the two extension plates (10) are both installed with second connecting brackets (18), and the interiors of the two second connecting brackets (18) are both movably installed with extension brackets (34); A mechanical gripper control component is installed on one end surface of the two extension brackets (34) and the outer surface of the gripper control fixing component. A mechanical gripper body (27) is installed on the outer surface of the mechanical gripper control component. An air cavity (29) is provided inside the mechanical gripper body (27). An air pipe (28) is installed on the inner wall of the air cavity (29). A limit plate (31) is movably installed on the inner wall of the air cavity (29). The limit plate (31) is evenly provided with air permeable grooves (33). One end of the limit plate (31) A connecting column (32) is mounted on the surface, a rubber plate (30) is mounted on one end surface of the connecting column (32), the outer surface of the rubber plate (30) is in active contact with the inner surface of the mechanical clamp body (27), the clamp control fixing assembly comprises a clamp block (21) and two first pull rods (5), the clamp block (21) is mounted on the outer surface of the output end of the hydraulic rod (3), the two first pull rods (5) are correspondingly mounted on the two end surfaces of the clamp block (21), and two limit rods (19) are mounted inside the mechanical arm housing (4).

2. A dispatching robot according to claim 1, characterized in that: The two first pull rods (5) are each provided with a second extension cavity (7), and the two limit rods (19) are each provided with two third extension cavities (6).

3. A dispatching robot according to claim 2, characterized in that: Second pull rods (8) are movably mounted on the inner walls of the two second extension chambers (7), and extension rods (20) are mounted on the inner walls of the four third extension chambers (6).

4. A dispatching robot according to claim 3, characterized in that: The power two-end extension assembly comprises a motor (11) and a rotating shaft (12), wherein the motor (11) is mounted on the outer surface of the mechanical arm housing (4), and the rotating shaft (12) is mounted on the outer surface of the output end of the motor (11), and an active spiral bevel gear (13) is mounted on the outer surface of the rotating shaft (12).

5. A dispatching robot according to claim 4, characterized in that: Two ball screws (15) are movably mounted inside the mechanical arm housing (4), and screw sliders (16) are movably mounted on the outer surfaces of the two ball screws (15), and driven spiral bevel gears (14) are mounted on one end surface of the two ball screws (15).

6. A dispatching robot according to claim 5, characterized in that: The outer surfaces of the two driven spiral bevel gears (14) mesh with the outer surface of the driving spiral bevel gear (13), and the outer surfaces of the two lead screw sliders (16) are both mounted with a first connecting bracket (17).

7. A dispatching robot according to claim 6, characterized in that: The outer side surfaces of the two first connection brackets (17) are fixedly connected to the outer side surface of the extension plate (10) accordingly.

8. A dispatching robot according to claim 7, characterized in that: The mechanical gripper control assembly comprises a mechanical gripper connecting main frame (22) and a mechanical gripper outer arm frame (26); one end surface of the extension bracket (34) and the outer surface of the first pull rod (5) are both mounted with the mechanical gripper connecting main frame (22); the interior of the mechanical gripper connecting main frame (22) on the extension bracket (34) and the outer surface of the second pull rod (8) are fixedly connected; the outer surface of the limit rod (19) and the outer surface of the extension rod (20) are both movably mounted with the mechanical gripper outer arm frame (26).

9. A dispatching robot according to claim 8, characterized in that: A second rotating column (25) is movably mounted inside the outer arm frame (26) of the mechanical claw, and a first rotating column (23) is movably mounted inside the mechanical claw connecting main frame (22).

10. A dispatching robot according to claim 9, characterized in that: A mechanical claw rotating swing arm (24) is mounted on the outer side surface of the first rotating column (23) and the outer side surface of the second rotating column (25), and the outer side surface of the mechanical claw outer arm frame (26) is fixedly connected to the outer side surface of the mechanical claw body (27).

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