Industrial carrying intelligent robot

Abstract

The invention discloses an industrial carrying intelligent robot, and relates to the technical field of mechanical arms. The device comprises a base, a bearing arm is rotationally installed on the base, two oppositely-arranged connecting plates are constructed on the bearing arm, a movable arm is rotationally installed on one connecting plate through motor driving, a control arm is rotationally installed on the other connecting plate through motor driving, a lever arm is hinged to the upper end of the movable arm, and the lever arm is hinged to the lower end of the control arm. An arc-shaped connecting rod is hinged between one end of the lever arm and the control arm; the horizontal clamping jaw is installed at the other end of the lever arm in a hinged mode, and a clamping head is always kept to be vertically and downwards arranged. According to the steel plate conveying device, the transfer bearing mechanism is arranged, a steel plate can be transferred into the transfer bearing mechanism through the horizontal clamping jaw, the steel plate is overturned in the transfer bearing mechanism through the overturning mechanism in the transfer bearing mechanism, then the steel plate is moved out through the horizontal clamping jaw and transferred to the other conveying belt, the adaptability of the device is greatly improved, and the flexibility is improved.

Description

Technical Field

[0001] The present application relates to the technical field of robotic arms, and in particular to an intelligent industrial handling robot. Background Art

[0002] Robots are often used in industrial production to move workpieces. Compared with manual handling, robot handling is faster and more accurate, and can greatly improve handling efficiency.

[0003] During the production of steel plates, after cutting, the steel plates will be transported to the next processing step via a conveyor belt. During this period, because they need to pass through multiple conveyor belts, when they are transferred on different conveyor belts, robots are generally required to move the steel plates to ensure the rapid transfer of the steel plates. However, existing robot transportation mostly relies on magnetic grippers, which can only adsorb one side of the steel plate for simple translational transportation operations and cannot flip the steel plate. At the same time, the surface of the steel plate cannot be cleaned during transportation, which makes it easy for the steel plate to carry cutting debris into the next step, affecting the subsequent processing accuracy.

[0004] Therefore, the present application proposes an industrial handling intelligent robot. Summary of the invention

[0005] The purpose of this application is to solve the problems in the above-mentioned background technology. This application provides an industrial handling intelligent robot.

[0006] In order to achieve the above-mentioned purpose, this application specifically adopts the following technical solutions:

[0007] An industrial handling intelligent robot, comprising:

[0008] A base, on which a carrying arm is rotatably mounted, and on which two connecting plates arranged opposite to each other are constructed, wherein a movable arm is rotatably mounted on one of the connecting plates through a motor drive, and a control arm is rotatably mounted on the other connecting plate through a motor drive, wherein a lever arm is hingedly connected to the upper end of the movable arm, and an arc-shaped connecting rod is hingedly connected between one end of the lever arm and the control arm;

[0009] A horizontal clamping jaw is hingedly mounted on the other end of the lever arm and always keeps the clamping head in a vertical downward position;

[0010] The transfer receiving mechanism comprises a mounting frame vertically connected to one side of the movable arm, an extension plate is slidably mounted on the mounting frame, a push piece for driving the extension plate to reciprocate is connected between one end of the extension plate and the mounting frame, and a bearing frame is fixedly connected to the other end of the extension plate;

[0011] The flip mechanism comprises a clamping frame arranged in the carrying frame and used to store the plate, both sides of the clamping frame are provided with a rotating shaft that rotates through the carrying frame, and the mounting frame is provided with a linkage mechanism for driving the rotating shaft to rotate;

[0012] The cleaning mechanism is mounted on the carrying arm and is used for jet cleaning of the plate.

[0013] Furthermore, the horizontal clamp includes a horizontal frame hingedly installed at one end of the lever arm, a magnetic head is rotatably installed at the bottom of the horizontal frame, an inclined frame is constructed on the horizontal frame, a horizontal connecting rod is hinged at the upper end of the inclined frame, a V-shaped connecting rod is hinged at the upper end of the movable arm and is coaxially arranged with the lever arm, one end of the V-shaped connecting rod is hinged to the horizontal connecting rod and the other end is hinged to the connecting plate through a vertical connecting rod, half of the V-shaped connecting rod forms a parallelogram with the horizontal connecting rod, the inclined frame and the lever arm, and the other half of the V-shaped connecting rod forms a parallelogram with the vertical connecting rod, the connecting plate and the movable arm.

[0014] Furthermore, the magnetic suction head includes a turntable rotatably installed at the bottom of the horizontal frame, an electromagnet is fixedly connected to the bottom of the turntable, a gear 1 is fixedly sleeved on the turntable, an adjusting motor is fixedly connected to the horizontal frame, and a gear 2 meshing with gear 1 is fixedly connected to the output shaft of the adjusting motor.

[0015] Furthermore, the cleaning mechanism includes an air storage frame rotatably installed between two connecting plates by a rotating rod, the air outlet of the air storage frame is connected to an air injection pipe inclined toward the horizontal clamp through a one-way valve, a connecting gear is fixedly connected to the rotating rod, and a transmission gear meshing with the connecting gear is coaxially connected to the hinge of the control arm.

[0016] Furthermore, a boost impeller is rotatably installed in the air storage frame, a drive motor connected to the boost impeller is fixedly connected to one side of the air storage frame, the cross-section of the jet pipe is in the shape of a Chinese character "C" and an infrared control valve is installed in the middle thereof, and an infrared emitter is fixedly connected to the bottom of the mounting frame.

[0017] Furthermore, the pushing member includes a cylinder 1 fixedly connected to the mounting frame, a piston rod 1 connected to the extension plate is slidably installed in the cylinder 1, a piston rod 2 is hinged on the lower side of the lever arm, and a cylinder 2 mounted on the piston rod 2 is hinged on the side of the movable arm, and the cylinder 1 and the cylinder 2 are connected by a hose.

[0018] Furthermore, the supporting frame is U-shaped and fixedly connected to the end of the extension plate, and the clamping frame includes two side plates, between which two U-shaped baffles located on the upper and lower sides are vertically inserted, and the two U-shaped baffle openings are arranged back to back, and the inner edges of the U-shaped baffles are constructed with receiving plates protruding from opposite sides of the two side plates, and a supporting spring is connected between the receiving plate and the side plate.

[0019] Furthermore, the linkage mechanism includes a hexagonal column fixedly connected to two rotating shafts, a sliding sleeve is provided on the hexagonal column, and the end of the mounting frame is fixedly connected to two support plates located on both sides of the supporting frame, and two strip channels for moving the flip gear are constructed on the support plates, one of the strip channels has a rack on its surface for meshing with the flip gear, and a switching member is installed on the support plate for driving the flip gear to slide back and forth along the hexagonal column.

[0020] Furthermore, the rotating shaft is constructed on the opposite sides of the two side plates and is rotatably installed in the supporting frame through a one-way bearing. The lengths of the side plates on both sides of the rotating shaft are not equal. Two plug posts are horizontally inserted into the inner end of the supporting frame. A resistance plate is connected between the plug posts. A connecting spring mounted on the plug posts is connected between the resistance plate and the inner end of the supporting frame. The upper edge of the resistance plate is constructed with an angled surface for resisting the sealing end of the U-shaped baffle.

[0021] Furthermore, the switching member includes a moving rod slidably inserted on both sides of the supporting frame, the end of the moving rod is constructed with a buckle plate mounted on the upper half of the flip gear, the upper end of the buckle plate is constructed with a convex column, and the support plate is connected to two V-groove plates for guiding the movement of the convex column, the two V-groove plates are arranged opposite to each other along the length direction of the support plate, and the inner end corners of the two V-groove plates are respectively located directly above the two strip channels.

[0022] The beneficial effects of this application are as follows:

[0023] 1. The present application sets up a transfer receiving mechanism, and can use a horizontal clamp to transfer the steel plate into it, and flip the steel plate in the transfer receiving mechanism through the flipping mechanism therein, and then move the steel plate out through the horizontal clamp and transfer it to another conveyor belt, which greatly improves the adaptability of the device and increases flexibility.

[0024] 2. In the present application, the cleaning mechanism can be used to perform jet cleaning on the bottom of the steel plate before transferring the steel plate to the transfer receiving mechanism. After the steel plate is flipped over, the cleaning mechanism can also be used to perform jet cleaning on the other side of the steel plate, so as to reduce the residual debris on the steel plate as much as possible, which is beneficial to the subsequent processing accuracy and increases the safety of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a three-dimensional structural diagram of this application;

[0026] Figure 2 It is a half-section diagram of the three-dimensional structure of the present application;

[0027] Figure 3 This application Figure 2 The enlarged view of point A in the middle;

[0028] Figure 4 It is a three-dimensional structural diagram of the cleaning mechanism of this application;

[0029] Figure 5 This application Figure 4 A partial cross-sectional view of the three-dimensional structure;

[0030] Figure 6 It is a partial cross-sectional view of the three-dimensional structure of the horizontal clamping jaw of the present application;

[0031] Figure 7 It is a three-dimensional structural diagram of the transfer and undertaking organization of this application;

[0032] Figure 8 This application Figure 7 A partial cross-sectional view of the three-dimensional structure;

[0033] Fig. 9 This application Figure 7 A partial cross-sectional view of another three-dimensional structure;

[0034] Fig.10 This application Fig. 9 The enlarged view of point B in the middle;

[0035] Fig.11 It is an exploded view of the three-dimensional structure of the clamping frame of this application.

[0036] 1. Base; 101. Carrying arm; 102. Connecting plate; 103. Movable arm; 104. Control arm; 105. Lever arm; 106. Arc connecting rod; 2. Horizontal clamp; 201. Horizontal frame; 202. Magnetic head; 2021. Turntable; 2022. Electromagnet; 2023. Gear 1; 2024. Adjusting motor; 2025. Gear 2; 203. Oblique frame; 204. Horizontal connecting rod; 205. V-shaped connecting rod; 206. Vertical connecting rod; 3. Transfer receiving mechanism; 301. Mounting frame; 302. Extension plate; 4. Pusher; 401. Cylinder 1; 402. Piston rod 1; 403. Piston rod 2; 404. Cylinder 2; 405. Hose; 5. Carrying frame; 501. Insert column; 502. Contact plate; 503. Connecting spring Spring; 504, bevel surface; 6, flip mechanism; 601, clamping frame; 6011, side plate; 6012, U-shaped baffle; 6013, receiving piece; 6014, support spring; 602, rotating shaft; 7, linkage mechanism; 701, hexagonal column; 702, flip gear; 703, support plate; 704, strip channel; 705, rack; 706, switching member; 7061, moving rod; 7062, buckle plate; 7063, convex column; 7064, V-groove plate; 8, cleaning mechanism; 801, air storage frame; 8011, boost impeller; 8012, driving motor; 802, one-way valve; 803, jet pipe; 8031, infrared control valve; 8032, infrared transmitter; 804, connecting gear; 805, transmission gear; 806, rotating rod. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

[0038] like Figure 1 , Figure 2 , Figure 7 and Fig. 9 As shown, an industrial handling intelligent robot proposed in one embodiment of the present application includes:

[0039] Base 1, on which a carrying arm 101 is rotatably mounted, the base 1 is a stable support for the robot, and the top of the base 1 is driven by a servo motor to drive the carrying arm 101 to rotate 360 ​​degrees, and the carrying arm 101 is constructed with two relatively arranged connecting plates 102, one of which is driven by a motor to rotate and mount a movable arm 103, and the other connecting plate 102 is driven by a motor to rotate and mount a control arm 104, and the upper end of the movable arm 103 is hinged with a lever arm 105, and one end of the lever arm 105 is hinged with the control arm 104 to form an arc The connecting rod 106 and the movable arm 103 are turned over by the motor drive, so that the lever arm 105 can be turned over in a large range. The upper end of the movable arm 103 is connected to the lever arm 105 through a hinge shaft, and one end of the lever arm 105 is hinged to the control arm 104 through the arc-shaped connecting rod 106 to form a four-bar linkage structure. When the control arm 104 is driven by the motor to swing, the arc-shaped connecting rod 106 can drive the lever arm 105 to rotate around the hinge point of the movable arm 103 to achieve a small range of adjustment, thereby accurately adjusting the spatial position of the horizontal clamp 2;

[0040] The horizontal clamping jaw 2 is hingedly mounted on the other end of the lever arm 105 and always keeps the clamping head vertically downward, and is mainly used for horizontally clamping the steel plate;

[0041] The transfer receiving mechanism 3 includes a mounting frame 301 vertically connected to one side of the movable arm 103, an extension plate 302 is slidably mounted on the mounting frame 301, a pusher 4 for driving the extension plate 302 to reciprocate is connected between one end of the extension plate 302 and the mounting frame 301, and a bearing frame 5 is fixedly connected to the other end of the extension plate 302, and the horizontal clamping claw 2 can be displaced by the swing of the movable arm 103, so that the steel plate clamped thereon is sent into the bearing frame 5 for temporary storage;

[0042] The flipping mechanism 6 includes a clamping frame 601 arranged in the carrying frame 5 and used for storing the plate. A rotating shaft 602 that rotates and penetrates the carrying frame 5 is arranged on both sides of the clamping frame 601. A linkage mechanism 7 for driving the rotating shaft 602 to rotate is arranged on the mounting frame 301. When the steel plate is placed in the carrying frame 5, the rotating shaft 602 can be driven to rotate by the linkage mechanism 7, so that the clamping frame 601 is flipped accordingly, until it stops after flipping 180°. At this time, the steel plate is completely flipped, and the horizontal clamping claw 2 is used again to pull the steel plate out of the clamping frame 601 through the swing of the movable arm 103, and the steel plate is transferred to another conveyor belt for placement through the rotation of the carrying arm 101, so as to realize the flipping and transportation of the steel plate;

[0043] The cleaning mechanism 8 is installed on the carrying arm 101 and is used to perform jet cleaning on the plate. It should be noted that the cleaning mechanism 8 needs to work once before the steel plate enters the carrying frame 5 to blow air to clean the bottom surface of the steel plate. Then, when the steel plate is flipped over and clamped out again by the horizontal clamp 2, the cleaning mechanism 8 works again to blow air to clean the original top surface of the steel plate, so as to perform a more comprehensive cleaning operation on the steel plate and reduce the debris residue on the surface of the steel plate as much as possible to ensure the accuracy of subsequent processing.

[0044] like Figure 1-Figure 2 As shown, in some embodiments, the horizontal clamp 2 includes a horizontal frame 201 hingedly mounted at one end of the lever arm 105, a magnetic suction head 202 is rotatably mounted at the bottom of the horizontal frame 201, an inclined frame 203 is constructed on the horizontal frame 201, a horizontal connecting rod 204 is hinged at the upper end of the inclined frame 203, a V-shaped connecting rod 205 coaxially arranged with the lever arm 105 is hinged at the upper end of the movable arm 103, one end of the V-shaped connecting rod 205 is hinged to the horizontal connecting rod 204 and the other end The vertical connecting rod 206 is hinged with the connecting plate 102, and a parallelogram is formed between half of the V-shaped connecting rod 205, the horizontal connecting rod 204, the inclined frame 203 and the lever arm 105, that is, the hinge point of the V-shaped connecting rod 205 and the movable arm 103, the hinge point of the V-shaped connecting rod 205 and the horizontal connecting rod 204, the hinge point of the horizontal connecting rod 204 and the inclined frame 203, and the hinge point of the horizontal frame 201 and the lever arm 105 are combined into a parallelogram structure. A parallelogram is formed between the other half of the rod 205 and the vertical connecting rod 206, the connecting plate 102 and the movable arm 103, that is, the hinge points of the V-shaped connecting rod 205 and the movable arm 103, the hinge points of the V-shaped connecting rod 205 and the vertical connecting rod 206, the hinge points of the vertical connecting rod 206 and the connecting plate 102, and the hinge points of the connecting plate 102 and the movable arm 103 are combined into a parallelogram structure. In the initial state, the horizontal frame 201 is in a horizontal state, and the magnetic head 202 thereon is always set downward. When the horizontal frame 201 undergoes spatial displacement, the two parallelogram structures will be driven to change at the same time through the V-shaped connecting rod 205 to avoid the horizontal frame 201 from flipping over, ensuring that the horizontal frame 201 always remains in a horizontal state, so that the steel plate adsorbed on the magnetic head 202 can remain in a horizontal state and be inserted into the clamping frame 601, and it is also convenient for the steel plate to be smoothly removed from the clamping frame 601 after subsequent adsorption.

[0045] like Figure 1 and Figure 6As shown, in some embodiments, the magnetic suction head 202 includes a turntable 2021 rotatably mounted on the bottom of the horizontal frame 201, an electromagnet 2022 is fixedly connected to the bottom of the turntable 2021, a gear 1 2023 is fixedly sleeved on the turntable 2021, an adjusting motor 2024 is fixedly connected to the horizontal frame 201, and a gear 2 2025 meshing with the gear 1 2023 is fixedly connected to the output shaft of the adjusting motor 2024. The electromagnet 2022 is rotatably mounted on the horizontal frame 201 through the turntable 2021, and the adjusting motor 2024 can be used to adjust the rotation of the electromagnet 2022, thereby adjusting the angle of the steel plate after adsorption, so that the steel plate can be aligned with the opening of the clamping frame 601 and enter smoothly, thereby increasing the flexibility of the device.

[0046] like Figure 1 , Figure 4 and Figure 5 As shown, in some embodiments, the cleaning mechanism 8 includes an air storage frame 801 rotatably installed between the two connecting plates 102 through a rotating rod 806, and the air outlet of the air storage frame 801 is connected to an air jet pipe 803 inclined toward the horizontal clamp 2 through a one-way valve 802, and a connecting gear 804 is fixedly connected to the rotating rod 806, and a transmission gear 805 meshing with the connecting gear 804 is coaxially connected to the hinge of the control arm 104. It should be noted that the air jet pipe 803 is initially inclined toward the magnetic suction head 202, and when the control arm 104 swings, it will drive the air jet pipe 803 on it. The transmission gear 805 rotates, so that the connecting gear 804 meshes and rotates together, and the air storage frame 801 is flipped to adjust the direction of the jet pipe 803. Such a structure can make the jet pipe 803 always change with the movement of the control arm 104, so that it is always facing the magnetic suction head 202. When spraying, it can be smoothly sprayed on the bottom surface of the steel plate to ensure the cleaning effect. The air storage frame 801, as an air pressure mechanism, can extract external gas for storage, and perform high-pressure spraying toward the magnetic suction head 202 through the jet pipe 803. Compared with continuous blowing spraying, the pressure spraying has a better cleaning effect.

[0047] like Figure 1 , Figure 4 and Figure 5As shown, in some embodiments, a boost impeller 8011 is rotatably installed in the air storage frame 801, a driving motor 8012 connected to the boost impeller 8011 is fixedly connected to one side of the air storage frame 801, the cross section of the air jet 803 is in the shape of "8" and an infrared control valve 8031 ​​is installed in the middle thereof, and an infrared transmitter 8032 is fixedly connected to the bottom of the mounting frame 301. The driving motor 8012 can drive the boost impeller 8011 to always pass through the one-way valve 802 toward the air jet 803 to store gas. When the stored pressure reaches the standard, it stops running, and the infrared control valve 8031 ​​is installed in the middle of the air jet 803. Valve 8031 ​​serves as a blocking component to control the flow of gas. Only when the movable arm 103 is in a completely vertical state can the infrared emitter 8032 on the mounting bracket 301 trigger the infrared control valve 8031 ​​to open the jet pipe 803, so that the gas is quickly released and sprayed toward the bottom surface of the steel plate. It should be noted that the "8"-shaped jet pipe 803 can disperse the airflow compared to the circular one. At the same time, the dual-channel cross-section design can increase the airflow speed and coverage area, which can better clean the debris attached to the surface of the steel plate and further improve the cleaning effect.

[0048] like Figure 1 , Figure 7 and Figure 8 As shown, in some embodiments, the push member 4 includes a cylinder 1 401 fixedly connected to the mounting frame 301, a piston rod 1 402 connected to the extension plate 302 is slidably installed in the cylinder 1 401, a piston rod 2 403 is hingedly connected to the lower side of the lever arm 105, and a cylinder 2 404 sleeved on the piston rod 2 403 is hingedly connected to the side of the movable arm 103, and the cylinder 1 401 and the cylinder 2 404 are connected to each other through a hose 405. It should be noted that, in the initial state, the internal space of the cylinder 1 401 is relatively more squeezed by the piston rod 1 402, and the internal space of the cylinder 2 404 is relatively less squeezed by the piston rod 2 403. Because the cylinder 1 401 and the cylinder 2 404 are connected to each other through the hose 405, the two are Complementary structure, when the lever arm 105 swings downward, that is, the horizontal clamp 2 moves toward the supporting frame 5, it will squeeze the piston rod 2 403 to move toward the cylinder 2 404, thereby squeezing the gas into the cylinder 1 401 and pushing the piston rod 1 402 to move outward, thereby pushing the extension plate 302 to move toward the outside of the mounting frame 301, so that the supporting frame 5 moves closer to the horizontal clamp 2. The mutual approach can greatly reduce the movement work of the lever arm 105, save energy and increase efficiency. On the contrary, when the lever arm 105 swings upward, the flow of gas in the cylinder 1 401 and the cylinder 2 404 will drive the extension plate 302 to reset, so that the supporting frame 5 is away from the horizontal clamp 2, and the reciprocating motion of the supporting frame 5 on the mounting frame 301 is realized.

[0049] like Figure 7 and Fig.11As shown, in some embodiments, the bearing frame 5 is U-shaped and fixedly connected to the end of the extension plate 302, the clamping frame 601 includes two side plates 6011, and two U-shaped baffles 6012 located on the upper and lower sides thereof are vertically inserted between the two side plates 6011, the two U-shaped baffles 6012 are opened and arranged back to back, and the inner edges of the U-shaped baffles 6012 are constructed with receiving pieces 6013 protruding from the opposite sides of the two side plates 6011, and a rectangular space is formed between the four receiving pieces 6013 on the two U-shaped baffles 6012 for holding the steel plate, and a supporting spring 6014 is connected between the receiving piece 6013 and the side plate 6011, and the setting of the supporting spring 6014 can prevent the U-shaped baffle 6012 from separating from the side plate 6011, On the other hand, the space between the upper and lower receiving pieces 6013 can be expanded or reduced to accommodate the entry of the steel plate. It should be noted that in the initial state, the sealing end of the U-shaped baffle 6012 on the lower side faces the opening direction of the supporting frame 5, while the sealing end of the U-shaped baffle 6012 on the upper side faces the inner end of the supporting frame 5. An upper half plug-in interface is constructed between the sealing end of the U-shaped baffle 6012 on the lower side and the open end of the U-shaped baffle 6012 on the upper side for inserting the steel plate. The opening constructed between the other ends of the two is a lower half plug-in interface. When the two side plates 6011 are synchronously flipped 180°, the lower half plug-in interface will be transferred to the upper half plug-in interface, so that the clamping frame 601 can always plug in the steel plate.

[0050] like Figure 7As shown, in some embodiments, the linkage mechanism 7 includes a hexagonal column 701 fixedly connected to two rotating shafts 602, a flip gear 702 is slidably sleeved on the hexagonal column 701, and two support plates 703 located on both sides of the supporting frame 5 are fixedly connected to the end of the mounting frame 301, and two strip channels 704 for moving the flip gear 702 are constructed on the support plates 703, and a rack 705 for meshing with the flip gear 702 is constructed on the surface of one of the strip channels 704, and a switching member 706 for driving the flip gear 702 to slide back and forth along the hexagonal column 701 is installed on the support plate 703. The two strip channels 704 are arranged along the length direction of the support plate 703, and the length direction of the support plate 703 is arranged perpendicular to the length direction of the hexagonal column 701, that is, the flip gear 702 will move along the length direction of the two strip channels 704 when rolling. In the initial state, the switching member 706 will drive the flip gear 702 to be on one of the strip channels 704 without the rack 705. When the lever arm 105 drives the horizontal clamping claw 2 to approach the mounting frame 301, the bearing frame 5 will synchronously move toward the outside of the mounting frame 301 through the pushing member 4. In the process of this movement, the flip gear 702 will move along the strip channels 704. The strip channel 704 moves and does not mesh with the rack 705, so the clamping frame 601 remains horizontal, and the horizontal clamping jaw 2 inserts the steel plate adsorbed on it into the clamping frame 601. At this time, the switching member 706 drives the flipping gear 702 to move, and the flipping gear 702 is transferred from the strip channel 704 to the strip channel 704 with the rack 705. Then the lever arm 105 swings upward, and the bearing frame 5 also moves and resets synchronously. In this process, the flipping gear 702 meshes and transmits with the rack 705, so that the hexagonal column 701 rotates accordingly, and drives the clamping frame 601 to flip as a whole. It should be noted that the number of teeth on the rack 705 is half of the number of teeth on the flipping gear 702, so the flipping gear 702 can only rotate 180°, and the steel plate carried therein will be flipped together, and then the switching member 706 will drive the flipping gear 702 to transfer to the strip channel 704 without the rack 705 again, and then through the swing of the lever arm 105, the horizontal clamp 2 will move again into the clamping frame 601 to adsorb the flipped steel plate and move it out. In this process, the clamping frame 601 will flip again after the steel plate is moved out, so that the clamping frame 601 will be reset to its initial state, and the temporary storage and flipping operations of the steel plate workpiece can be realized by repeating the cycle.

[0051] like Figure 3 and Figure 8As shown, in some embodiments, the rotating shaft 602 is constructed on the opposite sides of the two side plates 6011 and is rotatably installed in the supporting frame 5 through a one-way bearing. The lengths of the side plates 6011 on both sides of the rotating shaft 602 are not equal. Two plug posts 501 are horizontally inserted at the inner end of the supporting frame 5. A contact plate 502 is connected between the plug posts 501. A connecting spring 503 sleeved on the plug posts 501 is connected between the contact plate 502 and the inner end of the supporting frame 5. The upper edge of the contact plate 502 is constructed with an angled surface 504 for contacting the sealing end of the U-shaped baffle 6012. It should be noted that, as shown in FIG. Fig.11 As shown, the one-way bearing will limit the rotation shaft 602 from rotating counterclockwise, and in the initial state, the length of the side plate 6011 on the left side of the rotation shaft 602 is greater than the length on the right side. When the steel plate is placed therein, the gravity is mainly concentrated on the left side of the rotation shaft 602, and the side plate 6011 will not flip over by itself. Only when the flipping gear 702 and the rack 705 are meshed and rolled will the side plate 6011 be driven to flip over. After flipping 180° clockwise, the U-shaped baffle 6012 on the lower side will be transferred to the upper side, and at the same time, the sealing end of the U-shaped baffle 6012 will The U-shaped baffle 6012 is restrained by the beveled surface 504 of the resistance plate 502 and the elastic force of the connecting spring 503 can bear the flipping force of the U-shaped baffle 6012 driven by the gravity of the steel plate without the influence of external force. Therefore, the U-shaped baffle 6012 is limited until the flipping gear 702 rolls again and the resistance plate 502 is squeezed by external force to move toward the inner end of the supporting frame 5. The connecting spring 503 is squeezed and the U-shaped baffle 6012 passes over the resistance plate 502 to realize flipping and resetting. No additional positioning structure is required and the spring structure is used for support to increase the linkage of the device.

[0052] like Figure 7 and Fig.10As shown, in some embodiments, the switching member 706 includes a moving rod 7061 slidably inserted on both sides of the supporting frame 5, the end of the moving rod 7061 is structured with a buckle plate 7062 sleeved on the upper half of the flip gear 702, and a convex column 7063 is structured on the upper end of the buckle plate 7062. Two V-shaped groove plates 7064 for guiding the movement of the convex column 7063 are connected to the support plate 703. The two V-shaped groove plates 7064 are relatively arranged along the length direction of the support plate 703, and the inner end corners of the two V-shaped groove plates 7064 are respectively located directly above the two strip channels 704. The moving rod 7061 is slidably installed on the supporting frame 5. When the push member 4 drives the supporting frame 5 to move, it will drive the buckle plate 7062 on the moving rod 7061 to move along the length direction of the support plate 703, and the convex column 7063 on the buckle plate 7062 will move from one of the V-shaped groove plates 7064. The flip gear 702 is moved outward from the inner side until it enters another V-groove plate 7064. When entering a V-groove plate 7064, it will be guided by the inclined surface therein, so that the buckle plate 7062 carries the flip gear 702 from one of the strip channels 704 to another strip channel 704. The position switching operation of the flip gear 702 can be realized by reciprocating. Specifically, when the supporting frame 5 is extended, the flip gear 702 is transferred from the idling strip channel 704 to the strip channel 704 with the rack 705. When the supporting frame 5 is retracted, the flip gear 702 is transferred from the strip channel 704 with the rack 705 to the idling strip channel 704. The driving force of the push member 4 is used to realize the reciprocating switching operation of the flip gear 702. No additional driving force is required. At the same time, the linkage of the device is also improved, the synchronous and smooth operation of the structure is guaranteed, and the mechanical transmission operation is more precise.

[0053] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An industrial handling intelligent robot, characterized in that: include: A base (1), wherein a carrying arm (101) is rotatably mounted on the base (1), and two connecting plates (102) arranged opposite to each other are constructed on the carrying arm (101), wherein a movable arm (103) is rotatably mounted on one of the connecting plates (102) by means of a motor, and a control arm (104) is rotatably mounted on the other connecting plate (102) by means of a motor, wherein a lever arm (105) is hingedly connected to the upper end of the movable arm (103), and an arc-shaped connecting rod (106) is hingedly connected between one end of the lever arm (105) and the control arm (104); A horizontal clamping jaw (2) is hingedly mounted on the other end of the lever arm (105) and always keeps the clamping head in a vertical downward position; The transfer receiving mechanism (3) comprises a mounting frame (301) vertically connected to one side of the movable arm (103); an extension plate (302) is slidably mounted on the mounting frame (301); a pusher (4) for driving the extension plate (302) to reciprocate is connected between one end of the extension plate (302) and the mounting frame (301); and a bearing frame (5) is fixedly connected to the other end of the extension plate (302); The turning mechanism (6) comprises a clamping frame (601) arranged in the carrying frame (5) and used for storing the plate, wherein both sides of the clamping frame (601) are provided with a rotating shaft (602) that rotates and penetrates the carrying frame (5), and the mounting frame (301) is provided with a linkage mechanism (7) for driving the rotating shaft (602) to rotate; The cleaning mechanism (8) is mounted on the carrying arm (101) and is used for jet cleaning of the plate.

2. The industrial handling intelligent robot according to claim 1, characterized in that: The horizontal clamp (2) comprises a horizontal frame (201) hingedly mounted on one end of a lever arm (105); a magnetic suction head (202) is rotatably mounted on the bottom of the horizontal frame (201); an inclined frame (203) is constructed on the horizontal frame (201); a transverse connecting rod (204) is hingedly mounted on the upper end of the inclined frame (203); a V-shaped connecting rod (205) coaxially arranged with the lever arm (105) is hingedly mounted on the upper end of the movable arm (103); and the V-shaped connecting rod (205) is hingedly mounted on the upper end of the movable arm (103). One end of the connecting rod (205) is hinged to the transverse connecting rod (204) and the other end is hinged to the connecting plate (102) through the vertical connecting rod (206); one half of the V-shaped connecting rod (205) forms a parallelogram with the transverse connecting rod (204), the inclined frame (203) and the lever arm (105); and the other half of the V-shaped connecting rod (205) forms a parallelogram with the vertical connecting rod (206), the connecting plate (102) and the movable arm (103).

3. The industrial handling intelligent robot according to claim 2, characterized in that: The magnetic suction head (202) comprises a turntable (2021) rotatably mounted on the bottom of a horizontal frame (201); an electromagnet (2022) is fixedly connected to the bottom of the turntable (2021); a gear 1 (2023) is fixedly sleeved on the turntable (2021); an adjustment motor (2024) is fixedly connected to the horizontal frame (201); and a gear 2 (2025) meshing with the gear 1 (2023) is fixedly connected to the output shaft of the adjustment motor (2024).

4. The industrial handling intelligent robot according to claim 1, characterized in that: The cleaning mechanism (8) comprises an air storage frame (801) rotatably mounted between two connecting plates (102) via a rotating rod (806); an air outlet of the air storage frame (801) is connected to an air injection pipe (803) arranged obliquely toward the horizontal clamping jaw (2) via a one-way valve (802); a connecting gear (804) is fixedly connected to the rotating rod (806); and a transmission gear (805) meshing with the connecting gear (804) is coaxially connected to the hinge of the control arm (104).

5. The industrial handling intelligent robot according to claim 4, characterized in that: A boost impeller (8011) is rotatably mounted in the air storage frame (801), a driving motor (8012) connected to the boost impeller (8011) is fixedly connected to one side of the air storage frame (801), the jet pipe (803) has an "8"-shaped cross section and an infrared control valve (8031) is mounted in the middle thereof, and an infrared emitter (8032) is fixedly connected to the bottom of the mounting frame (301).

6. The industrial handling intelligent robot according to claim 1, characterized in that: The push member (4) comprises a cylinder 1 (401) fixedly connected to a mounting frame (301), a piston rod 1 (402) connected to an extension plate (302) being slidably mounted in the cylinder 1 (401), a piston rod 2 (403) being hingedly connected to the lower side of the lever arm (105), a cylinder 2 (404) being hingedly connected to the piston rod 2 (403) on the side of the movable arm (103), and the cylinder 1 (401) and the cylinder 2 (404) being connected to each other via a hose (405).

7. The industrial handling intelligent robot according to claim 1, characterized in that: The supporting frame (5) is U-shaped and fixedly connected to the end of the extension plate (302); the clamping frame (601) comprises two side plates (6011); two U-shaped baffles (6012) located on the upper and lower sides of the two side plates (6011) are vertically inserted between the two side plates (6011); the openings of the two U-shaped baffles (6012) are arranged back to back; the inner edges of the U-shaped baffles (6012) are each constructed with a receiving piece (6013) protruding from the opposite sides of the two side plates (6011); a supporting spring (6014) is connected between the receiving piece (6013) and the side plates (6011).

8. The industrial handling intelligent robot according to claim 1, characterized in that: The linkage mechanism (7) comprises a hexagonal column (701) fixedly connected to two rotating shafts (602), a flip gear (702) being slidably sleeved on the hexagonal column (701), two support plates (703) located on both sides of the supporting frame (5) being fixedly connected to the end of the mounting frame (301), two strip channels (704) for moving the flip gear (702) being constructed on the support plates (703), a rack (705) for meshing with the flip gear (702) being constructed on the surface of one of the strip channels (704), and a switching member (706) for driving the flip gear (702) to slide back and forth along the hexagonal column (701) being installed on the support plate (703).

9. The industrial handling intelligent robot according to claim 8, characterized in that: The rotating shaft (602) is constructed on the opposite sides of the two side plates (6011) and is rotatably installed in the supporting frame (5) through a one-way bearing. The lengths of the side plates (6011) on both sides of the rotating shaft (602) are unequal. Two plug posts (501) are horizontally inserted at the inner end of the supporting frame (5). A contact plate (502) is connected between the plug posts (501). A connecting spring (503) sleeved on the plug posts (501) is connected between the contact plate (502) and the inner end of the supporting frame (5). The upper edge of the contact plate (502) is constructed with an angled surface (504) for contacting the sealing end of the U-shaped baffle (6012).

10. The industrial handling intelligent robot according to claim 9, characterized in that: The switching member (706) comprises a moving rod (7061) slidably inserted on both sides of the supporting frame (5); the end of the moving rod (7061) is structured with a buckle plate (7062) sleeved on the upper half of the flip gear (702); the upper end of the buckle plate (7062) is structured with a convex column (7063); the support plate (703) is connected with two V-shaped groove plates (7064) for guiding the movement of the convex column (7063); the two V-shaped groove plates (7064) are arranged opposite to each other along the length direction of the support plate (703); the inner end corners of the two V-shaped groove plates (7064) are respectively located directly above the two strip channels (704).

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