Anti-toppling self-locking robot for industrial carrying

Abstract

The anti-toppling self-locking robot for industrial carrying comprises a supporting device, a reversing device, a sliding device, a clamping device and a sedimentation assembly, the supporting device is fixedly connected with the reversing device, the sliding device is fixedly connected with the supporting device, the clamping device is fixedly connected with the sliding device, and the sedimentation assembly is movably connected with the supporting device. The supporting device comprises a supporting plate, a guide assembly and a power assembly are arranged on the two sides of the lower end of the supporting plate respectively and sequentially connected with the supporting plate in a fastened mode, a sliding rod groove is formed in the supporting plate, the sedimentation assembly is slidably connected with the sliding rod groove, and the guide assembly comprises a guide frame, a guide arm and a guide seat. The bottom end of the guide frame is fixedly connected with the upper side of the guide arm, guide wheels are arranged on two sides of the guide arm and movably connected with the guide arm through a guide seat, and a guide shaft is arranged on the guide seat and movably connected with the guide arm.

Description

Technical Field

[0001] The invention relates to the technical field of industrial handling, in particular to an anti-dumping self-locking robot for industrial handling. Background Art

[0002] With the continuous development of science and technology, people's living standards have gradually improved, and various auxiliary robots have also entered all walks of life, especially large-scale automated production workshops, which need to transport materials from storage to processing stations. In order to improve processing efficiency, the material handling is mostly carried out by handling robots, which are guided by pre-arranged programs or guide signs set on the ground. However, due to the complexity of the workshop layout, it is difficult to leave a completely straight driving path in the workshop. In order to ensure the rated load, the handling robot has a relatively large deadweight. In order to improve the handling efficiency, the weight of the single-handed material is also relatively large. This leads to a large centrifugal force caused by instantaneous turning once a corner is encountered during the handling process. Due to the large weight of the material being handled, the overall center of gravity will move up, causing tilting. Most of the existing semi-finished materials have a large processing accuracy. Once tilted, the material will be deformed by the impact of the ground, or even damaged. In addition, the handling of different materials will cause a large difference in weight. The larger the mass, the greater the centrifugal force that needs to be balanced when turning, and it is more likely to roll over, posing a greater safety hazard. Summary of the invention

[0003] The object of the present invention is to provide an anti-dumping self-locking robot for industrial handling to solve the problems raised in the above background technology.

[0004] In order to solve the above technical problems, the present invention provides the following technical solutions: An anti-dumping self-locking robot for industrial handling comprises a supporting device, a reversing device, a sliding device, a clamping device and a sinking assembly. The supporting device and the reversing device are tightly connected, the sliding device and the supporting device are tightly connected, the clamping device and the sliding device are tightly connected, and the sinking assembly and the supporting device are movably connected. The supporting device comprises a supporting plate, and a guide assembly and a power assembly are respectively provided on both sides of the lower end of the supporting plate. The guide assembly and the power assembly are tightly connected to the supporting plate in sequence, and a slide bar groove is provided on the supporting plate. The sinking assembly and the slide bar groove are slidably connected.

[0005] The supporting device is the main walking fixing device of the present invention. The sliding device is fixed by the supporting plate, the walking guidance is performed by the guiding assembly, and the walking power is provided by the power assembly. The reversing device is the main steering transmission device, which adjusts the steering angle difference of the guide wheels so that when turning, the steering angle of the guide wheel located on the outside is reduced, and the turning radius is increased, so that the turning center of the guide wheel on the outside does not coincide with the turning center of the guide wheel on the inside. The guide wheel on the outside moves in a rolling belt sliding manner, thereby causing the ground to generate outward sliding friction on the guide wheel, balancing the centrifugal force by friction to prevent roll, and improving the connection performance by tightening the connection, and guiding the settlement assembly through the slide bar groove on the supporting plate. The settlement assembly and the guiding assembly are fixed by the supporting plate to improve the force transmission performance.

[0006] When the present invention is performing industrial handling, the clamping device picks up the material, the cylinder is started to drive the reversing frame to move backward, so that the first rack and the first gear are disengaged, and the sliding rod is driven downward by the dead weight of the material, thereby driving the sliding seat to move. After the sliding seat is stable, the cylinder is started to drive the reversing frame to move forward, so that the first rack and the first gear are re-engaged. When turning, the second gear is located on the inside. When turning, the inside guide wheel rotates, and the second gear is driven to rotate through the guide shaft, and the second gear drives the second rack to slide, and the second rack drives the top block to move. A reversing gap is provided between the top block and the sliding seat, and the top block drives the sliding seat rod to slide out, and the sliding seat rod drives the first rack to slide, and the first rack drives the first gear to rotate, and the first gear drives the outer side through the guide shaft. The guide wheel rotates, and the transmission ratio is reduced to reduce the turning angle of the outer guide wheel. As the steering angle decreases, the steering center of the outer guide wheel is located behind the steering center of the inner guide wheel. When turning, the robot is affected by the centrifugal force and will tilt outward. The outer guide wheel rolls and slides at the same time, and the guide wheel generates friction outward through ground friction. The center of gravity of the robot is on the upper side, which generates a reverse torque as a whole to balance the centrifugal force during turning and prevent rollover. When transporting materials of different masses, the greater the mass, the greater the centrifugal force during turning. By moving the slide downward, the reversing gap gradually increases, further reducing the transmission ratio, reducing the rolling of the outer guide wheel, and increasing friction, thereby increasing the reverse torque and balancing the centrifugal force.

[0007] Furthermore, the guide assembly includes a guide frame, a guide arm and a guide seat, the support plate extends downwardly to be provided with a guide frame, the bottom end of the guide frame is fastened to the upper side of the guide arm, guide wheels are provided on both sides of the guide arm, the guide wheels are movably connected to the guide arm through the guide seat, a guide shaft is provided on the guide seat, the guide shaft and the guide arm are movably connected, a rotating groove is provided at both ends of the guide arm, the guide shaft passes through the rotating groove, the reversing device includes a first reversing device and a second reversing device, the first reversing device includes a first gear, the second reversing device includes a second gear, the first gear and the second gear are respectively fastened to the guide shafts on both sides, and the power assembly includes a power frame and a power shaft, the power shaft is connected to the support plate through the power frame, power wheels are provided on both sides of the power shaft, and the power wheels are driven by a driving motor.

[0008] The guide arm is fastened to the guide frame and the support plate to prevent loosening. The guide arm is guided by the guide wheels on both sides for turning. The guide arm limits the guide seat through the guide shaft to limit radial displacement, so that the guide seat rotates along the guide shaft, thereby driving the guide wheel to turn. Rotating grooves are provided on both sides of the guide seat, and the first gear and the second gear are respectively provided in the rotating grooves. The steering angle is transmitted through the first gear and the second gear. When turning, the guide wheel where the first gear is located is located on the outside. The transmission efficiency is improved by fastening the connection. The power assembly is located at the rear of the bottom side of the support plate and is driven by the drive motor to drive the power wheel to rotate, thereby driving the power frame to move through the power shaft. A reversing gap is provided between the top block and the slide seat.

[0009] Furthermore, the reversing device also includes a reversing plate, a cylinder, a reversing frame and a connecting spring. One side of the connecting spring is connected to the reversing plate, and one side of the reversing plate is tightly connected to the guide arm. The first reversing device and the second reversing device are respectively movably connected to the reversing plate. The first reversing device also includes a first rack. A reversing groove is provided on the reversing plate. The first rack is slidably connected to the reversing groove. The connecting spring is connected to the first rack away from the reversing plate. The first rack is meshed with the tooth surface of the first gear. A reversing frame groove is provided on the reversing plate. The reversing frame groove is movably connected to the reversing frame. One side of the cylinder is tightly connected to the wall of the reversing frame groove. The output end of the cylinder is tightly connected to one side of the reversing frame. A sliding groove is provided on the first rack. The reversing frame is slidably connected to the slide groove, the second reversing device also includes a second rack and a top block, the top block is connected to the second rack, the second rack is slidably connected to the reversing groove, the second rack and the second gear tooth surface are meshed, a through hole is provided on the reversing plate, the first rack and the second rack are respectively located on both sides of the through hole, the sinking assembly includes a slide rod, a lifting spring and a slide seat, the bottom end of the slide seat passes through the through hole of the reversing plate, the upper end of the slide rod is arranged in a frustum, the upper end of the slide rod is slidably connected to the slide rod groove, a lifting spring is sleeved on the slide rod, the bottom end of the lifting spring is tightly connected to the bottom side of the slide rod groove, a plurality of through grooves are provided on the slide seat, a slide seat rod is provided in the through groove, the slide seat rod and the through groove are slidably connected, and the slide seat diameter is gradually arranged.

[0010] The two ends of the connecting spring are respectively connected to the reversing plate and the first rack to assist the first rack to reset, and the reversing plate is fixed by the guide arm. The reversing plate is movably connected to the first rack and the second rack in sequence through the reversing groove, and the transmission efficiency is improved by tooth surface meshing. The reversing frame is slidably guided by the reversing frame groove, and the reversing frame is driven to move by the cylinder input displacement to interrupt the transmission, so as to avoid the vertical movement of the slide seat to drive the first gear to rotate, and the reversing frame is slidably guided by the slide groove to avoid motion interference. The rotation of the second gear drives the second rack to slide for power input, and the sinking component sinks according to the weight of the transported goods, and is slidably guided by the round table on the slide rod, and the slide rod is reset by the lifting spring. A number of through grooves are provided on the slide seat, and the diameter of the slide seat gradually increases from top to bottom. When the slide seat moves down, the diameter gradually decreases, and the transmission ratio is reduced. As the weight increases, the turning centrifugal force increases. By reducing the outer deflection angle, the sliding friction of the outer guide wheel is increased, and the anti-roll effect is improved.

[0011] Furthermore, the sliding device is placed on the upper side of the supporting plate, and the sliding device includes a transverse sliding assembly, a vertical sliding assembly, a transverse plate and a sliding plate. The transverse sliding assembly includes a transverse slide rail, a transverse slider and a transverse cylinder. The transverse slide rail is tightly connected to the supporting plate, the transverse slider is slidably connected to the transverse slide rail, the bottom sides of both ends of the transverse plate are tightly connected to the transverse slider, the transverse cylinder is tightly connected to the supporting plate, and the output end of the transverse cylinder is connected to the transverse plate. The vertical sliding assembly includes a vertical slide rail, a vertical slider and a vertical cylinder. The transverse slider extends upward and is provided with a vertical slide rail. The two ends of the transverse plate are respectively tightly connected to the vertical slide rails, the vertical slider is slidably connected to the vertical slide rail, the two ends of the sliding plate are respectively connected to the vertical slider, one side of the vertical cylinder is tightly connected to one side of the transverse plate, and the output end of the vertical cylinder is connected to the bottom side of the sliding plate.

[0012] The material clamping range is improved by the sliding device, horizontal sliding guidance is performed by two horizontal slide rails, vertical sliding guidance is performed by the vertical slide rail, and the connection performance is improved by fastening the connection. The horizontal displacement is output by the horizontal cylinder to control the movement of the horizontal plate, and the horizontal sliders on both sides are driven to move by the horizontal plate, and the vertical slide rails are driven to move. The vertical displacement is output by the vertical cylinder, and the vertical cylinder drives the sliding plate to move. The sliding plate drives the clamping device to move, and the profiles of different heights are picked up to improve the picking range.

[0013] Furthermore, a clamping device is provided on one side of the sliding plate, and the clamping device includes a fixed jaw, a movable jaw, a gear shaft, a motor and a fixed connecting rod. Two fixed jaws are symmetrically provided on one side of the sliding plate, the fixed jaw and the movable jaw are movably connected through the gear shaft, the motor and the fixed jaw are tightly connected, the motor output end and the gear shaft are tightly connected, an axial hole is provided on the movable jaw, the gear shaft and the axial hole of the movable jaw are frictionally connected, the fixed connecting rod is connected to the bottom end of the fixed jaw, and a protrusion is provided at the lower end of the fixed connecting rod.

[0014] The profile to be transported is clamped by a clamping device and guided by a sliding device. The picked up material is placed on a support plate, and the sliding rod is driven to move by a convex block at the lower end of the fixed connecting rod. The settlement height is controlled according to different weights, and the picking efficiency is improved by two fixed jaws. The picking efficiency of the pipe profile is improved, the fixed jaw is fixed by a sliding plate, and the motor is fixed by the fixed jaw. The output torque of the motor drives the gear shaft to rotate, the gear shaft and the fixed jaw are connected by sliding, and the gear shaft and the movable jaw are frictionally connected. The movable jaw is driven to rotate by friction to clamp.

[0015] Furthermore, a fixed groove is provided on the fixed jaw, and a movable groove is provided on the movable jaw. The clamping device also includes a gear and a sliding gear ring. The sliding gear ring is slidingly connected to the fixed groove and the movable groove in sequence. A gear is provided on the gear shaft. The gear and the tooth surface of the sliding gear ring are meshed. The sliding gear ring includes a half gear ring and a segmented gear ring. The half gear ring and the segmented gear ring are movably connected.

[0016] The sliding gear ring can slide in the fixed groove and the movable groove. The fixed groove is a semicircular groove with a partition in the middle to divide the fixed groove into two 1 / 4 circular grooves. After the material is clamped, the motor drives the gear shaft to rotate, and the gear shaft first drives the movable jaw to rotate. When the movable jaw rotates to the bottom, the fixed jaw is limited, and the gear shaft drives the gear to rotate, thereby driving the sliding gear ring to slide. The segmented gear ring extends from the fixed groove, and the half gear ring extends from the movable groove and enters the fixed groove for locking, thereby improving the clamping performance of the fixed jaw and the movable jaw.

[0017] As an optimization, the return spring is compressed and guided through the slide seat groove, and the movement of the slide seat rod drives the slide seat frame to move and compress the return spring.

[0018] As an optimization, the reversing frame is connected through a rotating wheel and a slot, and the rotating wheel rotates in the slot to reduce friction and improve transmission efficiency.

[0019] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: when performing industrial handling, the present invention first disengages the first rack and the first gear, drives the slide bar downward by the deadweight of the material, thereby drives the slide seat to move, automatically adjusts the angular transmission ratio, improves the friction force when handling materials of different masses, and improves the anti-roll performance; when turning, the transmission ratio is reduced to reduce the turning angle of the outer guide wheel, and as the steering angle decreases, the steering center of the outer guide wheel is located behind the steering center of the inner guide wheel. When turning, the robot is subjected to the centrifugal force and will tilt outward, and the outer guide wheel will roll. When sliding at the same time, the guide wheel generates outward friction through ground friction. The center of gravity of the robot is on the upper side, which makes the whole body generate reverse torque to balance the centrifugal force during turning and prevent tilting. When transporting materials of different masses, the greater the mass, the greater the turning centrifugal force. By moving the slide seat downward, the reversing gap gradually increases, further reducing the transmission ratio, reducing the rolling of the outer guide wheel, increasing friction, and thus increasing the reverse torque; through the segmented design of the sliding gear ring, interlocking is performed, the segmented gear ring extends from the fixed groove, and the half gear ring extends from the movable groove and enters the fixed groove, thereby improving the clamping performance of the fixed clamp and the movable clamp. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings: Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the structure of the clamping device of the present invention; Figure 3 It is a schematic diagram of the weight adjustment structure of the present invention; Figure 4 It is a schematic diagram of the steering structure of the present invention; Figure 5 It is a schematic diagram of the structure of the power assembly of the present invention; Figure 6 is a schematic diagram of the steering center offset structure of the present invention; Figure 7 is a schematic diagram of the corner transmission structure of the present invention; Figure 8 yes Figure 7 A magnified view of a part of the view; Fig. 9 It is a schematic diagram of the interlocking structure of the clamping device of the present invention; Fig.10 is a schematic diagram of power transmission of the clamping assembly of the present invention; In the figure: 1-support device, 11-support plate, 111-slide groove, 12-guide assembly, 121-guide frame, 122-guide arm, 1221-rotation groove, 123-guide wheel, 124-guide seat, 125-guide shaft, 13-power assembly, 131-power frame, 132-power shaft, 133-power wheel, 2-reversing device, 21-reversing plate, 211-reversing groove, 212-reversing frame groove, 22-first reversing device, 221-first gear, 222-first rack, 2221-slide groove, 2222-card groove, 23-second reversing device, 231-second gear, 232-second rack, 233-top block, 24-cylinder, 25-reversing frame, 26-connecting spring, 27 - reversing gap, 3- sliding device, 31- lateral sliding assembly, 311- lateral slide rail, 312- lateral slider, 313- lateral cylinder, 32- vertical sliding assembly, 321- vertical slide rail, 322- vertical slider, 323- vertical cylinder, 33- horizontal plate, 34- sliding plate, 4- clamping device, 41- fixed jaw, 411- fixed groove, 42- movable jaw, 421- movable groove, 43- gear, 44- gear shaft, 45- motor, 46- sliding gear ring, 461- half gear ring, 462- segmented gear ring, 48- fixed connecting rod, 5- sinking assembly, 51- sliding rod, 52- lifting spring, 53- sliding seat, 531- sliding seat groove, 54- sliding seat rod, 55- sliding seat frame, 56- reset spring. DETAILED DESCRIPTION

[0021] 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.

[0022] The present invention provides a technical solution: like Figure 1 to Figure 8 The shown is an anti-dumping self-locking robot for industrial handling, comprising a supporting device 1, a reversing device 2, a sliding device 3, a clamping device 4 and a sinking assembly 5. The supporting device 1 is tightly connected to the reversing device 2, the sliding device 3 is tightly connected to the supporting device 1, the clamping device 4 is tightly connected to the sliding device 3, and the sinking assembly 5 is movably connected to the supporting device 1. The supporting device 1 comprises a supporting plate 11, and a guide assembly 12 and a power assembly 13 are respectively provided on both sides of the lower end of the supporting plate 11. The guide assembly 12 and the power assembly 13 are sequentially tightly connected to the supporting plate 11, and a slide bar groove 111 is provided on the supporting plate 11. The sinking assembly 5 and the slide bar groove 111 are slidably connected.

[0023] The supporting device 1 is the main walking fixing device of the present invention. The sliding device 3 is fixed by the supporting plate 11, the walking guidance is performed by the guiding assembly 12, and the walking power is provided by the power assembly 13. The reversing device 2 is the main steering transmission device. The steering angle difference of the guide wheel 123 is adjusted so that when turning, the steering angle of the guide wheel 123 located on the outside is reduced, and the turning radius is increased, so that the turning center of the outer guide wheel 123 does not coincide with the turning center of the inner guide wheel 123. The outer guide wheel 123 moves in a rolling belt sliding manner, so that the ground generates outward sliding friction on the guide wheel 123, and the centrifugal force is balanced by friction to prevent roll. The connection performance is improved by tightening the connection, and the settlement assembly 5 is guided by the slide bar groove 111 on the supporting plate 11. The settlement assembly 5 and the guiding assembly 12 are fixed by the supporting plate 11 to improve the force transmission performance.

[0024] When the present invention is performing industrial handling, the material is picked up by the clamping device, the cylinder 24 is started to drive the reversing frame 25 to move backward, so that the first rack 222 and the first gear 221 are disengaged, and the sliding rod 51 is driven downward by the weight of the material, thereby driving the slide 53 to move. After the slide 53 is stable, the cylinder 24 is started to drive the reversing frame 25 to move forward, so that the first rack 222 and the first gear 221 are re-engaged. When turning, the second gear 231 is located on the inner side. When turning, the inner guide wheel 123 rotates, and the second gear 231 is driven to rotate through the guide shaft 125. The second gear 231 drives the second rack 232 to slide, and the second rack 232 drives the top block 233 to move. A reversing gap 27 is provided between the top block 233 and the slide 53. The top block 233 drives the slide rod 54 to slide out, and the slide rod 54 drives the first rack 222 to slide, and the first rack 222 drives the first gear The wheel 221 rotates, and the first gear 221 drives the outer guide wheel 123 to rotate through the guide shaft 125. By reducing the transmission ratio, the turning angle of the outer guide wheel 123 is reduced. As the steering angle decreases, the steering center of the outer guide wheel 123 is located behind the steering center of the inner guide wheel 123. When turning, the robot is subjected to the centrifugal force and will tilt outward. The outer guide wheel 123 slides while rolling, and the guide wheel 123 generates friction outward through ground friction. The center of gravity of the robot is on the upper side, so that the whole generates reverse torque, balances the centrifugal force during turning, and prevents roll. When transporting materials of different masses, the greater the mass, the greater the centrifugal force during turning. By moving the slide 53 downward, the reversing gap 27 gradually increases, further reducing the transmission ratio, reducing the rolling of the outer guide wheel 123, increasing friction, thereby increasing reverse torque and balancing centrifugal force.

[0025] like Figure 3~Figure 5As shown, the guide assembly 12 includes a guide frame 121, a guide arm 122 and a guide seat 124. The support plate 11 extends downwardly to be provided with a guide frame 121. The bottom end of the guide frame 121 is fastened to the upper side of the guide arm 122. Guide wheels 123 are provided on both sides of the guide arm 122. The guide wheels 123 are movably connected to the guide arm 122 through the guide seat 124. A guide shaft 125 is provided on the guide seat 124. The guide shaft 125 is movably connected to the guide arm 122. A rotation groove 1221 is provided at both ends of the guide arm 122. The guide shaft 125 passes through the rotation groove 1221. The turning groove 1221, the reversing device 2 includes a first reversing device 22 and a second reversing device 23, the first reversing device 22 includes a first gear 221, the second reversing device 23 includes a second gear 231, the first gear 221 and the second gear 231 are respectively fastened to the guide shafts 125 on both sides, the power assembly 13 includes a power frame 131 and a power shaft 132, the power shaft 132 is connected to the support plate 11 through the power frame 131, and power wheels 133 are provided on both sides of the power shaft 132, and the power wheels 133 are driven by a driving motor.

[0026] The guide arm 122 is fastened to the guide frame 121 and the support plate 11 to prevent loosening. The guide arm 122 is turned and guided by the guide wheels 123 on both sides. The guide arm 122 limits the guide seat 124 through the guide shaft 125 to limit the radial displacement, so that the guide seat 124 rotates along the guide shaft 125, thereby driving the guide wheel 123 to turn. A rotary groove 1221 is provided on both sides of the guide seat 124. The rotary groove 1221 is respectively provided with a first gear 221 and a second gear 231. The steering angle is transmitted by the first gear 221 and the second gear 231. When turning, the guide wheel 123 where the first gear 221 is located is located on the outside. The transmission efficiency is improved by fastening. The power assembly 13 is located at the rear of the bottom side of the support plate 11 and is driven by the driving motor to drive the power wheel 133 to rotate, thereby driving the power frame 131 to move through the power shaft 132. A reversing gap 27 is provided between the top block 233 and the slide seat 53.

[0027] like Figure 3 , Figure 4 , Figure 7As shown, the reversing device 2 also includes a reversing plate 21, a cylinder 24, a reversing frame 25 and a connecting spring 26. One side of the connecting spring 26 is connected to the reversing plate 21, and one side of the reversing plate 21 is tightly connected to the guide arm 122. The first reversing device 22 and the second reversing device 23 are movably connected to the reversing plate 21 respectively. The first reversing device 22 also includes a first rack 222. A reversing groove 211 is provided on the reversing plate 21. The first rack 222 is slidably connected to the reversing groove 211. The connecting spring 26 is connected to the first rack 222 away from the reversing plate 21. The first rack 222 is meshed with the tooth surface of the first gear 221. A reversing frame groove 212 is provided on the reversing plate 21. The reversing frame groove 212 is movably connected to the reversing frame 25. One side of the cylinder 24 is tightly connected to the wall of the reversing frame groove 212. The output end of the cylinder 24 is tightly connected to one side of the reversing frame 25. The first rack 222 is provided with a slide groove 222 1, the reversing frame 25 is slidably connected with the slide groove 2221, the second reversing device 23 also includes a second rack 232 and a top block 233, the top block 233 is connected with the second rack 232, the second rack 232 is slidably connected with the reversing groove 211, the second rack 232 is meshed with the tooth surface of the second gear 231, the reversing plate 21 is provided with a through hole, the first rack 222 and the second rack 232 are respectively located on both sides of the through hole, and the sinking assembly 5 includes a slide rod 51 , a lifting spring 52 and a slide seat 53, the bottom end of the slide seat 53 passes through the through hole of the reversing plate 21, the upper end of the slide rod 51 is arranged in a cone shape, the upper end of the slide rod 51 is slidably connected to the slide rod groove 111, the lifting spring 52 is sleeved on the slide rod 51, the bottom end of the lifting spring 52 is tightly connected to the bottom side of the slide rod groove 111, a plurality of through grooves are arranged on the slide seat 53, a slide seat rod 54 is arranged in the through groove, the slide seat rod 54 is slidably connected to the through groove, and the diameter of the slide seat 53 is gradually arranged.

[0028] The two ends of the connecting spring 26 are respectively connected to the reversing plate 21 and the first rack 222 to assist the first rack 222 in resetting. The reversing plate 21 is fixed by the guide arm 122. The reversing plate 21 is movably connected with the first rack 222 and the second rack 232 in sequence through the reversing groove 211. The transmission efficiency is improved by the tooth surface meshing. The reversing frame 25 is slidably guided by the reversing frame groove 212. The reversing frame 25 is driven to move by the input displacement of the cylinder 24 to interrupt the transmission, so as to prevent the vertical movement of the slide 53 from driving the first gear 221 to rotate. The reversing frame 25 is guided by the slide groove 2221. Sliding guidance is performed to avoid motion interference. The second gear 231 rotates to drive the second rack 232 to slide, and power is input. The sinking component 5 sinks according to the weight of the goods being transported. The sliding guidance is performed through the table on the slide bar 51. The slide bar 51 is reset by the lifting spring 52. A plurality of through grooves are provided on the slide seat 53. The diameter of the slide seat 53 gradually increases from top to bottom. When the slide seat 53 moves downward, the diameter gradually decreases, reducing the transmission ratio. As the weight increases, the turning centrifugal force increases. By reducing the outer deflection angle, the sliding friction of the outer guide wheel 123 is increased, thereby improving the anti-roll effect.

[0029] like Figure 1 , Figure 2 As shown, the sliding device 3 is placed on the upper side of the support plate 11, and the sliding device 3 includes a lateral sliding component 31, a vertical sliding component 32, a lateral plate 33 and a sliding plate 34. The lateral sliding component 31 includes a lateral slide rail 311, a lateral slider 312 and a lateral cylinder 313. The lateral slide rail 311 is fastened to the support plate 11, the lateral slider 312 is slidably connected to the lateral slide rail 311, the bottom sides of both ends of the lateral plate 33 are fastened to the lateral slider 312, the lateral cylinder 313 is fastened to the support plate 11, and the lateral cylinder 313 is fastened to the support plate 11. 13 output end is connected with the horizontal plate 33, the vertical sliding assembly 32 comprises a vertical slide rail 321, a vertical slider 322 and a vertical cylinder 323, the horizontal slider 312 is extended upwardly and is provided with a vertical slide rail 321, both ends of the horizontal plate 33 are respectively fastened with the vertical slide rail 321, the vertical slider 322 is slidably connected with the vertical slide rail 321, both ends of the sliding plate 34 are respectively connected with the vertical slider 322, one side of the vertical cylinder 323 is fastened with one side of the horizontal plate 33, and the output end of the vertical cylinder 323 is connected with the bottom side of the sliding plate 34.

[0030] The sliding device 3 is used to increase the clamping range of the material, and horizontal sliding guidance is performed through two horizontal slide rails 311, and vertical sliding guidance is performed through the vertical slide rail 321. The connection performance is improved by fastening the connection, and the horizontal cylinder 313 outputs horizontal displacement to control the movement of the horizontal plate 33. The horizontal sliders 312 on both sides are driven to move through the horizontal plate 33, and the vertical slide rail 321 is driven to move. The vertical displacement is output through the vertical cylinder 323, and the vertical cylinder 323 drives the sliding plate 34 to move. The sliding plate 34 drives the clamping device 4 to move, so that profiles of different heights can be picked up and the picking range is increased.

[0031] like Figure 1~Figure 2 , Figure 9~Figure 10 As shown, a clamping device 4 is provided on one side of the sliding plate 34, and the clamping device 4 includes a fixed jaw 41, a movable jaw 42, a gear shaft 44, a motor 45 and a fixed connecting rod 48. Two fixed jaws 41 are symmetrically provided on one side of the sliding plate 34, the fixed jaw 41 and the movable jaw 42 are movably connected through the gear shaft 44, the motor 45 and the fixed jaw 41 are tightly connected, the output end of the motor 45 and the gear shaft 44 are tightly connected, the movable jaw 42 is provided with an axial hole, the gear shaft 44 and the axial hole of the movable jaw 42 are frictionally connected, the fixed connecting rod 48 is connected to the bottom end of the fixed jaw 41, and a protrusion is provided at the lower end of the fixed connecting rod 48.

[0032] The profile to be transported is clamped by the clamping device 4, guided by the sliding device 3, and the picked up material is placed on the support plate 11. The sliding rod 51 is driven to move by the protrusion at the lower end of the fixed connecting rod 48, and the sedimentation height is controlled according to different weights. The picking efficiency is improved by the two fixed jaws 41, and the picking efficiency of the pipe profile is improved. The fixed jaws 41 are fixed by the sliding plate 34, and the motor 45 is fixed by the fixed jaws 41. The motor 45 outputs a torque to drive the gear shaft 44 to rotate, and the gear shaft 44 and the fixed jaw 41 are slidably connected. The gear shaft 44 and the movable jaw 42 are frictionally connected, and the movable jaw 42 is driven to rotate by friction to clamp.

[0033] like Fig. 9 As shown, a fixed groove 411 is provided on the fixed jaw 41, and a movable groove 421 is provided on the movable jaw 42. The clamping device also includes a gear 43 and a sliding gear ring 46. The sliding gear ring 46 is slidingly connected with the fixed groove 411 and the movable groove 421 in sequence. A gear 43 is provided on the gear shaft 44. The gear 43 and the sliding gear ring 46 are meshed with each other. The sliding gear ring 46 includes a half gear ring 461 and a segmented gear ring 462. The half gear ring 461 and the segmented gear ring 462 are movably connected.

[0034] The sliding gear ring 46 can slide in the fixed groove 411 and the movable groove 421. The fixed groove 411 is a semicircular groove with a partition in the middle to divide the fixed groove 411 into two 1 / 4 circular grooves. After the material is clamped, the motor 45 drives the gear shaft 44 to rotate, and the gear shaft 44 first drives the movable jaw 42 to rotate. When the movable jaw 42 rotates to the bottom, it is limited by the fixed jaw 41, and the gear 43 is driven to rotate by the gear shaft, thereby driving the sliding gear ring 46 to slide, and the segmented gear ring 462 extends from the fixed groove, and the half gear ring 461 extends from the movable groove 421 and enters the fixed groove 411 to be locked, thereby improving the clamping performance of the fixed jaw 41 and the movable jaw 42.

[0035] like Figure 3 As shown, the return spring 56 is compressed and guided by the slide groove 531 , and the movement of the slide rod 54 drives the slide frame 55 to move and compress the return spring 56 .

[0036] like Figure 7 As shown, the reversing frame 25 is connected to the slot 2222 via a rotating wheel, and the rotating wheel rotates in the slot to reduce friction and improve transmission efficiency.

[0037] Working principle of the present invention: When the present invention is performing industrial handling, the cylinder 24 starts, drives the reversing frame 25 to move backward, so that the first rack 222 and the first gear 221 are disengaged, and the slide bar 51 is driven downward by the dead weight of the material, thereby driving the slide 53 to move. After the slide 53 is stable, the cylinder 24 starts, drives the reversing frame 25 to move forward, so that the first rack 222 and the first gear 221 are re-engaged. When turning, the second gear 231 is located on the inner side. When turning, the inner guide wheel 123 rotates, and the second gear 231 is driven to rotate through the guide shaft 125. The second gear 231 drives the second rack 232 to slide, and the second rack 232 drives the top block 233 to move. A reversing gap 27 is provided between the top block 233 and the slide 53. The top block 233 drives the slide rod 54 to slide out, and the slide rod 54 drives the first rack 222 to slide, and the first rack 222 drives the first gear 221 rotates, and the first gear 221 drives the outer guide wheel 123 to rotate through the guide shaft 125. By reducing the transmission ratio, the turning angle of the outer guide wheel 123 is reduced. As the steering angle decreases, the steering center of the outer guide wheel 123 is located behind the steering center of the inner guide wheel 123. When turning, the robot is subjected to the centrifugal force and will tilt outward. The outer guide wheel 123 slides while rolling, and the guide wheel 123 generates friction outward through ground friction. The center of gravity of the robot is on the upper side, so that the whole generates reverse torque, balances the centrifugal force during turning, and prevents roll. When transporting materials of different masses, the greater the mass, the greater the turning centrifugal force. By moving the slide 53 downward, the reversing gap 27 gradually increases, further reducing the transmission ratio, reducing the rolling of the outer guide wheel 123, increasing the friction, thereby increasing the reverse torque and balancing the centrifugal force.

[0038] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants 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 other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0039] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An anti-dumping self-locking robot for industrial handling, characterized in that: The anti-dumping self-locking robot comprises a supporting device (1), a reversing device (2), a sliding device (3), a clamping device (4) and a sinking assembly (5); the supporting device (1) and the reversing device (2) are tightly connected; the sliding device (3) and the supporting device (1) are tightly connected; the clamping device (4) and the sliding device (3) are tightly connected; the sinking assembly (5) and the supporting device (1) are movably connected; the supporting device (1) comprises a supporting plate (11); a guide assembly (12) and a power assembly (13) are respectively provided on both sides of the lower end of the supporting plate (11); the guide assembly (12) and the power assembly (13) are sequentially tightly connected to the supporting plate (11); a sliding bar groove (111) is provided on the supporting plate (11); and the sinking assembly (5) and the sliding bar groove (111) are slidably connected.

2. The anti-dumping self-locking robot for industrial handling according to claim 1, characterized in that: The guide assembly (12) comprises a guide frame (121), a guide arm (122) and a guide seat (124); the support plate (11) is downwardly extended to be provided with a guide frame (121); the bottom end of the guide frame (121) is fastened to the upper side of the guide arm (122); guide wheels (123) are provided on both sides of the guide arm (122); the guide wheels (123) are movably connected to the guide arm (122) through the guide seat (124); a guide shaft (125) is provided on the guide seat (124); the guide shaft (125) is movably connected to the guide arm (122); rotation grooves (1221) are provided at both ends of the guide arm (122); the guide shaft (125) passes through the rotation grooves (1221) and passes through the rotation grooves (1221). The turning groove (1221) is provided with a first reversing device (22) and a second reversing device (23). The first reversing device (22) includes a first gear (221), and the second reversing device (23) includes a second gear (231). The first gear (221) and the second gear (231) are respectively fastened to guide shafts (125) on both sides. The power assembly (13) includes a power frame (131) and a power shaft (132). The power shaft (132) is connected to a support plate (11) via the power frame (131). Power wheels (133) are provided on both sides of the power shaft (132). The power wheels (133) are driven by a driving motor.

3. The anti-dumping self-locking robot for industrial handling according to claim 2, characterized in that: The reversing device (2) further comprises a reversing plate (21), a cylinder (24), a reversing frame (25) and a connecting spring (26); one side of the connecting spring (26) is connected to the reversing plate (21); one side of the reversing plate (21) is firmly connected to a guide arm (122); the first reversing device (22) and the second reversing device (23) are respectively movably connected to the reversing plate (21); the first reversing device (22) further comprises a first rack (222); a reversing groove (211) is provided on the reversing plate (21); the first rack (222) and the reversing frame (25) are connected to the reversing plate (21); The connecting spring (26) is connected to the first rack (222) at one side away from the reversing plate (21); the tooth surfaces of the first rack (222) and the first gear (221) are meshed; a reversing frame groove (212) is provided on the reversing plate (21); the reversing frame groove (212) and the reversing frame (25) are movably connected; one side of the cylinder (24) is firmly connected to the wall surface of the reversing frame groove (212); the output end of the cylinder (24) is firmly connected to one side of the reversing frame (25); a sliding groove (2221) is provided on the first rack (222); The reversing frame (25) and the slide groove (2221) are slidably connected, the second reversing device (23) further comprises a second rack (232) and a top block (233), the top block (233) and the second rack (232) are connected, the second rack (232) and the reversing groove (211) are slidably connected, the second rack (232) and the second gear (231) have tooth surfaces meshing, the reversing plate (21) is provided with a through hole, the first rack (222) and the second rack (232) are respectively located on both sides of the through hole, the sinking assembly (5) comprises a slide rod (51), a top block (233) and a second gear (231). A lifting spring (52) and a slide seat (53), the bottom end of the slide seat (53) passes through the through hole of the reversing plate (21), the upper end of the slide rod (51) is arranged in a cone shape, the upper end of the slide rod (51) is slidably connected to the slide rod groove (111), a lifting spring (52) is sleeved on the slide rod (51), the bottom end of the lifting spring (52) is tightly connected to the bottom side of the slide rod groove (111), a plurality of through grooves are arranged on the slide seat (53), a slide seat rod (54) is arranged in the through groove, the slide seat rod (54) is slidably connected to the through groove, and the diameter of the slide seat (53) is gradually changed.

4. The anti-dumping self-locking robot for industrial handling according to claim 3, characterized in that: The sliding device (3) is placed on the upper side of the support plate (11), and the sliding device (3) includes a transverse sliding component (31), a vertical sliding component (32), a transverse plate (33) and a sliding plate (34); the transverse sliding component (31) includes a transverse slide rail (311), a transverse slider (312) and a transverse cylinder (313); the transverse slide rail (311) and the support plate (11) are fastened together; the transverse slider (312) and the transverse slide rail (311) are slidably connected; the bottom sides of both ends of the transverse plate (33) are fastened together with the transverse slider (312); the transverse cylinder (313) and the support plate (11) are fastened together; the transverse cylinder (313) and the support plate (11) are fastened together; 13) The output end is connected to the horizontal plate (33), the vertical sliding assembly (32) includes a vertical sliding rail (321), a vertical slider (322) and a vertical cylinder (323), the horizontal slider (312) is extended upward and is provided with a vertical sliding rail (321), both ends of the horizontal plate (33) are respectively fastened to the vertical sliding rail (321), the vertical slider (322) is slidably connected to the vertical sliding rail (321), both ends of the sliding plate (34) are respectively connected to the vertical slider (322), one side of the vertical cylinder (323) is fastened to one side of the horizontal plate (33), and the output end of the vertical cylinder (323) is connected to the bottom side of the sliding plate (34).

5. The anti-dumping self-locking robot for industrial handling according to claim 4, characterized in that: A clamping device (4) is provided on one side of the sliding plate (34), and the clamping device (4) comprises a fixed clamping jaw (41), a movable clamping jaw (42), a gear shaft (44), a motor (45) and a fixed connecting rod (48). Two fixed clamping jaws (41) are symmetrically provided on one side of the sliding plate (34), and the fixed clamping jaw (41) and the movable clamping jaw (42) are movably connected via the gear shaft (44). The motor (45) and the fixed clamping jaw (41) are tightly connected, and the output end of the motor (45) and the gear shaft (44) are tightly connected. An axial hole is provided on the movable clamping jaw (42), and the gear shaft (44) and the axial hole of the movable clamping jaw (42) are frictionally connected. The fixed connecting rod (48) is connected to the bottom end of the fixed clamping jaw (41), and a protrusion is provided at the lower end of the fixed connecting rod (48).

6. The anti-dumping self-locking robot for industrial handling according to claim 5, characterized in that: The fixed clamping jaw (41) is provided with a fixed groove (411), and the movable clamping jaw (42) is provided with a movable groove (421). The clamping device (4) further comprises a gear (43) and a sliding gear ring (46), and the sliding gear ring (46) is slidably connected to the fixed groove (411) and the movable groove (421) in sequence. The gear shaft (44) is provided with a gear (43), and the gear (43) and the sliding gear ring (46) have tooth surfaces meshing. The sliding gear ring (46) comprises a half gear ring (461) and a segmented gear ring (462), and the half gear ring (461) and the segmented gear ring (462) are movably connected.

7. The anti-dumping self-locking robot for industrial handling according to claim 3, characterized in that: Sliding seat grooves (531) are provided on both sides of the through groove, sliding seat frames (55) are provided on both sides of the sliding seat rod (54), and a return spring (56) is provided on the sliding seat frame (55), and the return spring (56) is placed in the sliding seat groove (531).

8. The anti-dumping self-locking robot for industrial handling according to claim 3, characterized in that: The reversing frame (25) is provided with a rotating wheel, the first rack (222) is provided with a slot (2222), and the rotating wheel is placed in the slot (2222).

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