Hanging tool transferring manipulator

Abstract

The invention relates to the technical field of manipulators, and discloses a hanger transfer manipulator which comprises a transverse moving rail, an auxiliary guide rail and a hanger body, a protective steel belt is fixedly mounted in the transverse moving rail, and a walking mechanism is slidably mounted at the top of the protective steel belt; a laminating plate is fixedly mounted on one side of the exterior of the walking mechanism, a rotating assembly is arranged on one side of the interior of the laminating plate, and a locking assembly is arranged on the other side of the interior of the laminating plate; and the rotating assembly comprises a vertical rod, a gear and a fixing ring, when the walking mechanism stops, the gear stops rotating, and the friction plate also resets and presses the outer side of the transverse moving rail, so that the attaching plate and the walking mechanism can be rapidly stopped, the stopping stability of the equipment under the large-load condition is improved, and the problem that when a mechanical arm transfers a large-load workpiece, the mechanical arm cannot work stably is solved. And the overall stability is reduced, even the mechanical arm loses balance when stopping, and the hanging tool is inconvenient to stably transfer and use.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulators, and particularly to a hanger transfer manipulator. Background Art

[0002] In semiconductor or panel industries, etc., manipulators are required to carry hangers inside equipment. Based on usage requirements, this manipulator needs to be small in size, large in stroke, large in load, and good in protection. It is very difficult for traditional manipulators to meet the above requirements. Especially when the manipulator transfers large-load workpieces, the center of gravity of the manipulator will change, and the overall stability will decrease, which may cause the manipulator to lose balance when stopping.

[0003] For example, an electroplating hanger transfer manipulator with the publication number of CN222494281U includes a fixed beam, a moving frame, a sliding seat, and a hanger gripper; the fixed beam is horizontally fixedly installed, and the sliding seat can be driven by a first driving component to translate along the fixed beam; the moving frame extends vertically, and the sliding seat can be driven by a second driving component to move along the moving frame; the hanger gripper is fixed on the sliding seat; the hanger gripper includes a gripper seat, a positioning unit and a positioning cylinder fixed on the gripper seat; the positioning cylinder is installed above the positioning unit, and its telescopic unit telescopically extends vertically, and a pressing plate is fixed at the lower end of the telescopic unit. By increasing the number of fixed beams, its stroke can be conveniently extended, enabling the hanger gripper to run long distances between various workstations. In addition, its positioning of the electroplating hanger is accurate and the clamping is firm, and it can quickly transfer large-sized and large-weight plating parts. However, when the manipulator transfers large-load workpieces, the center of gravity of the manipulator will change, and the overall stability will also decrease, even causing the manipulator to lose balance when stopping, reducing the stability after walking and stopping, making it inconvenient for the stable transfer and use of the hanger, and the clamping component with a fixed angle has poor passability in a narrow space and has limitations in use.

[0004] Therefore, a hanger transfer manipulator is proposed to solve the above-mentioned problems. Summary of the Invention

[0005] The purpose of the present invention is to provide a hanger transfer manipulator to solve the problem that when the manipulator transfers large-load workpieces, the overall stability will also decrease, even causing the manipulator to lose balance when stopping, making it inconvenient for the stable transfer and use of the hanger.

[0006] To achieve the above purpose, the present invention provides the following technical solution: A hanger transfer manipulator includes a transverse movement track, an auxiliary guide rail, and a hanger main body. A protective steel belt is fixedly installed inside the transverse movement track, and a traveling mechanism is slidably installed on the top of the protective steel belt; It further includes: One side of the outer part of the walking mechanism is fixedly installed with a fitting plate, the fitting plate is attached to the outer side of the transverse movement track, one side inside the fitting plate is provided with a rotating component, and the other side inside the fitting plate is provided with a locking component; The rotating component includes a vertical rod, a gear and a fixing ring. When the walking mechanism moves, it will drive the gear and the vertical rod to rotate. The locking component includes a steel wire rope, a connecting plate and a friction plate. When the vertical rod drives the fixing ring to rotate, the fixing ring winds up the steel wire rope, so that the friction plate releases the limit pressing on the transverse movement track. When the walking mechanism stops, the gear stops rotating, and the friction plate will also reset and press tightly on the outer side of the transverse movement track, so as to facilitate the rapid stop of the fitting plate and the walking mechanism and improve the stop stability of the equipment under large load conditions.

[0007] Preferably, a bottom groove is opened inside the fitting plate, a rack is fixedly connected to the outer side of the transverse movement track, the vertical rod is rotatably connected to one side of the inner bottom surface of the bottom groove, the gear is fixedly connected to the top end of the vertical rod, the fixing ring is rotatably installed on the outer side of the vertical rod, and rotating rings are symmetrically and fixedly connected to the top and bottom of the fixing ring, and the rotating rings are fixedly installed on the vertical rod through bearings.

[0008] By adopting the above technical scheme, when the walking mechanism stops, the friction plate and the adsorption groove first adhere to the outer side of the transverse movement track to block and limit the fitting plate and the walking mechanism. The communication groove and the adsorption groove are both in a negative pressure state, so as to improve the adsorption effect and facilitate the rapid stop of the fitting plate and the walking mechanism.

[0009] Preferably, a vertical groove is vertically opened inside the vertical rod, an electric push rod is fixedly installed on the inner top surface of the vertical groove, the bottom of the telescopic end of the electric push rod is fixedly connected with an inverted conical platform, transverse grooves are symmetrically opened on the outer side of the middle part of the vertical rod, a convex block is slidably installed inside the transverse groove, a first spring is fixedly installed at the bottom of one end of the convex block close to the electric push rod, and the other end of the first spring away from the electric push rod is fixedly connected with the inner wall of the vertical groove.

[0010] By adopting the above technical scheme, the electric push rod descends to drive the inverted conical platform to descend, and the inverted conical platform pushes the convex block to move, so that the convex block compresses the first spring and moves and unfolds towards the outer side of the vertical rod.

[0011] Preferably, there are no less than six convex blocks, installation grooves are symmetrically opened on the inner side of the fixing ring, a second spring is fixedly installed on the inner side of the installation groove, one end of the second spring is fixedly connected with an arc-shaped block, the arc-shaped block is slidably connected with the installation groove, and there are no less than six arc-shaped blocks.

[0012] By adopting the above technical scheme, the gear rotates to drive the vertical rod to rotate, and the vertical rod drives the convex block to rotate, which is convenient for the convex block to drive the fixing ring to rotate through the arc-shaped block.

[0013] Preferably, a guide wheel is fixedly installed in the middle of the inner bottom surface of the bottom groove. One end of the steel rope is fixedly connected to the outside of the fixed ring, and the other end of the steel rope is fixedly connected to the connecting plate. The guide wheel is used to guide the steel rope. A third spring is fixedly installed between the connecting plate and the inner wall of the bottom groove. Slide rods are symmetrically and slidably installed inside the connecting plate. The slide rods are fixedly connected to the friction plates. A fourth spring is sleeved on the outside of the slide rods. The two ends of the fourth spring are respectively fixedly connected to the connecting plate and the friction plate.

[0014] By adopting the above technical solution, only the end of the steel rope is fixedly connected to the fixed ring. The fixed ring drives the steel rope to wind. The steel rope pulls the connecting plate to move. The connecting plate compresses the third spring. The connecting plate drives the friction plate to move through the fourth spring, so that the friction plate is separated from the outside of the transverse movement track.

[0015] Preferably, there are no less than two slide rods. An adsorption groove is formed in the middle of the side of the friction plate away from the connecting plate. Fixed boxes are symmetrically and fixedly installed inside the bottom groove. U-shaped rods are symmetrically and fixedly connected to the side of the connecting plate away from the friction plate. One end of the U-shaped rod away from the connecting plate passes through the fixed box and is fixedly connected to a piston plate.

[0016] By adopting the above technical solution, when the traveling mechanism stops, the connecting plate continues to compress the fourth spring and drives the U-shaped rod to move. The U-shaped rod slides inside the fixed box, so that the connecting hose, the communication groove and the adsorption groove are all in a negative pressure state.

[0017] Preferably, the piston plate fits against the inner wall of the fixed box. A connecting hose is fixedly installed on one side of the fixed box close to the adsorption groove. Communication grooves are symmetrically formed inside the friction plate. The adsorption groove is communicated with the two communication grooves. One end of the connecting hose away from the fixed box is communicated with the communication groove. The connecting hose is inclined.

[0018] By adopting the above technical solution, the connecting hose has elasticity, which is convenient for assisting the movement of the friction plate.

[0019] Preferably, a drag chain track is fixedly installed on the other side of the outside of the protective steel belt. A traveling drag chain is fixedly installed on one side of the traveling mechanism close to the drag chain track. The drag chain track is used to limit the traveling drag chain. A lifting module is fixedly installed on the top of the traveling mechanism.

[0020] By adopting the above technical solution, the traveling drag chain improves the stability of the traveling mechanism when it travels. The lifting module is convenient for lifting and adjusting.

[0021] Preferably, a guide wheel is installed on the top of the lifting module. The guide wheel is slidably connected to the auxiliary guide rail. The guide wheel is rotatably installed on the lifting module. A clamping jaw is fixedly installed at the output end of the lifting module.

[0022] By adopting the above technical solution, the lifting module and the gripper drive the fixture body to rotate vertically on the traveling mechanism, and rotate the fixture body by ninety degrees to improve the passing performance, greatly reducing the required space.

[0023] Compared with the prior art, the beneficial effects of the present invention are: 1. A rotating component is provided. When the traveling mechanism moves on the transverse movement track, it will drive the fitting plate and the gear to move. The gear meshes with the rack and rotates. When the traveling mechanism starts, the electric push rod starts synchronously. The electric push rod descends to drive the inverted conical platform to descend. The inverted conical platform pushes the convex block to move. The convex block compresses the first spring and moves outward along the outside of the vertical rod to unfold. The gear rotates to drive the vertical rod to rotate. The vertical rod drives the convex block to rotate. The convex block drives the fixed ring to rotate through the arc-shaped block. Only the end of the steel wire rope is fixedly connected to the fixed ring. The fixed ring drives the steel wire rope to wind. The steel wire rope pulls the connecting plate to move. The connecting plate compresses the third spring. The connecting plate drives the friction plate to move through the fourth spring, so that the friction plate is separated from the outside of the transverse movement track until the connecting plate is blocked by the guide wheel and the steel wire rope is no longer stretched. At this time, the rotation of the convex block will squeeze the arc-shaped block, so that the arc-shaped block compresses the second spring and slides into the installation groove, so that the arc-shaped block will not hinder the continuous rotation of the vertical rod and the gear, and the size of the arc-shaped block is the same as the interval between adjacent convex blocks, and the arc-shaped block will not rotate and reset, which is convenient for the movement of the traveling mechanism; when the traveling mechanism stops, the electric push rod drives the inverted conical platform to rise, and the first spring drives the convex block to reset. At this time, the convex block does not block the arc-shaped block. The elastic force of the third spring drives the connecting plate to reset. The connecting plate drives the steel wire rope to reset and the fixed ring to rotate back. The connecting plate drives the fourth spring and the friction plate to reset. The friction plate and the adsorption groove first adhere to the outside of the transverse movement track, and then the connecting plate continues to compress the fourth spring and drives the U-shaped rod to move. The U-shaped rod slides inside the fixed box, so that the connecting hose, the communication groove and the adsorption groove are all in a negative pressure state, thereby improving the adsorption effect and facilitating the rapid stop of the fitting plate and the traveling mechanism, thereby improving the stop stability under large load conditions, and solving the problem that when the manipulator transfers large-load workpieces, the overall stability will also decrease, and even cause the manipulator to lose balance when stopping, which is not convenient for the stable transfer and use of the fixture. 2. The traveling mechanism and the transverse movement track are matched by linear guide rails, and the traveling mechanism can move along the transverse movement track driven by the motor thereon. The transverse movement track is covered with a protective steel belt to protect the internal mechanism. The traveling mechanism is equipped with a lifting module, and the movable end of the lifting module is equipped with a gripper. The lifting module and the gripper can drive the fixture body to rotate vertically on the traveling mechanism. The guide wheel is stuck in the groove of the auxiliary guide rail to increase the stability of the movement and facilitate the use under large load conditions. After the gripper descends to clamp the fixture and is lifted to the specified height, then the lifting module and the gripper drive the fixture body to rotate vertically on the traveling mechanism, and rotate the fixture body by ninety degrees to improve the passing performance, greatly reducing the required space. At this time, the fixture body can be driven to move along the transverse movement track to other specified positions, realizing the handling of the fixture in a narrow space. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the first three-dimensional overall structure of the present invention; Figure 2 It is a schematic diagram of the second three-dimensional overall structure of the present invention; Figure 3 It is a schematic diagram of the installation structure of the drag chain of the present invention; Figure 4 For the present invention Figure 3 The enlarged structure schematic diagram at A in; Figure 5 It is a schematic diagram of the sectional structure of the fitting plate of the present invention; Figure 6 For the present invention Figure 5 The enlarged structure schematic diagram at B in; Figure 7 It is a schematic diagram of the installation structure of the gear of the present invention; Figure 8 It is a schematic diagram of the installation structure of the vertical rod of the present invention; Figure 9 It is a schematic diagram of the sectional structure of the vertical rod of the present invention; Figure 10 It is a schematic diagram of the sectional structure of the fixing ring of the present invention; Figure 11 It is a schematic diagram of the installation structure of the convex block of the present invention; Figure 12 It is a schematic diagram of the installation structure of the fixing box of the present invention; Figure 13 For the present invention Figure 12 The enlarged structure schematic diagram at C in.

[0025] In the figure: 1, transverse movement track; 2, auxiliary guide rail; 3, protective steel belt; 4, traveling mechanism; 5, fitting plate; 6, rotating assembly; 61, rack; 62, vertical rod; 63, gear; 64, fixing ring; 65, rotating ring; 66, vertical groove; 67, transverse groove; 68, convex block; 69, spring one; 610, electric push rod; 611, inverted conical table; 612, installation groove; 613, spring two; 614, arc-shaped block; 7, locking assembly; 71, steel rope; 72, guide wheel; 73, spring three; 74, connecting plate; 75, sliding rod; 76, friction plate; 77, spring four; 78, adsorption groove; 79, fixing box; 710, U-shaped rod; 711, piston plate; 712, connecting hose; 713, communication groove; 8, drag chain track; 9, traveling drag chain; 10, lifting module; 11, guide wheel; 12, clamping jaw; 13, hanger body. DETAILED DESCRIPTION OF THE INVENTION

[0026] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0027] Please refer to Figures 1 - 3 , the present invention provides a technical solution: a fixture transfer manipulator, including a transverse movement track 1, an auxiliary guide rail 2 and a fixture main body 13. A protective steel belt 3 is fixedly installed inside the transverse movement track 1, and a traveling mechanism 4 is slidably installed on the top of the protective steel belt 3.

[0028] On the outer side of the traveling mechanism 4, a fitting plate 5 is fixedly installed, and the fitting plate 5 is in contact with the outer side of the transverse movement track 1.

[0029] On the inner side of the fitting plate 5, a rotating assembly 6 is provided. The rotating assembly 6 includes a vertical rod 62, a gear 63 and a fixing ring 64. When the traveling mechanism 4 moves, it will drive the gear 63 and the vertical rod 62 to rotate. On the other inner side of the fitting plate 5, a locking assembly 7 is provided. The locking assembly 7 includes a steel wire rope 71, a connecting plate 74 and a friction plate 76. When the vertical rod 62 drives the fixing ring 64 to rotate, the fixing ring 64 winds up the steel wire rope 71, so that the friction plate 76 releases the limit pressing on the transverse movement track 1. When the traveling mechanism 4 stops, the gear 63 stops rotating, and the friction plate 76 will also reset and press against the outer side of the transverse movement track 1, thus facilitating the rapid stop of the fitting plate 5 and the traveling mechanism 4 and improving the stop stability of the equipment under large load conditions.

[0030] A bottom groove is opened inside the fitting plate 5. On the outer side of the transverse movement track 1, a rack 61 is fixedly connected. The vertical rod 62 is rotatably connected to one side of the inner bottom surface of the bottom groove. The gear 63 is fixedly connected to the top of the vertical rod 62. The fixing ring 64 is rotatably installed on the outer side of the vertical rod 62. Symmetrically fixed connections are provided at the top and bottom of the fixing ring 64 with rotating rings 65, and the rotating rings 65 are fixedly installed with the vertical rod 62 through bearings.

[0031] A vertical groove 66 is vertically opened inside the vertical rod 62. An electric push rod 610 is fixedly installed on the inner top surface of the vertical groove 66. The bottom of the telescopic end of the electric push rod 610 is fixedly connected with an inverted conical platform 611. Symmetrically opened on the outer side of the middle part of the vertical rod 62 are transverse grooves 67. Inside the transverse grooves 67, bumps 68 are slidably installed. At the bottom of one end of the bump 68 close to the electric push rod 610, a first spring 69 is fixedly installed. The end of the first spring 69 far from the electric push rod 610 is fixedly connected with the inner wall of the vertical groove 66.

[0032] There are no less than six bumps 68. Installation grooves 612 are symmetrically formed on the inner side of the fixed ring 64. A second spring 613 is fixedly installed on the inner side of the installation groove 612. One end of the second spring 613 is fixedly connected to an arc-shaped block 614. The arc-shaped block 614 is slidably connected to the installation groove 612. There are no less than six arc-shaped blocks 614.

[0033] On the other side of the outside of the protective steel belt 3, a drag chain track 8 is fixedly installed. On the side of the traveling mechanism 4 close to the drag chain track 8, a traveling drag chain 9 is fixedly installed. The traveling mechanism 4 adopts a robot traveling ground rail. The drag chain track 8 is used to limit the traveling drag chain 9. On the top of the traveling mechanism 4, a lifting module 10 is fixedly installed. The lifting module 10 adopts a motor ball screw lifting structure.

[0034] On the top of the lifting module 10, a guide wheel 11 is installed. The guide wheel 11 is slidably connected to the auxiliary guide rail 2. The guide wheel 11 is rotatably installed on the lifting module 10. The output end of the lifting module 10 is fixedly installed with a clamping jaw 12. The clamping jaw 12 adopts a pneumatic fixture.

[0035] Embodiment 1: As Figures 4 - 11 shown, when the traveling mechanism 4 moves on the transverse track 1, it will drive the fitting plate 5 and the gear 63 to move. The gear 63 meshes with the rack 61 and rotates. When the traveling mechanism 4 starts, the electric push rod 610 starts synchronously. The electric push rod 610 descends to drive the inverted conical platform 611 to descend. The inverted conical platform 611 pushes the bump 68 to move. The bump 68 compresses the first spring 69 and moves outward to the outside of the vertical rod 62 and unfolds. The gear 63 rotates to drive the vertical rod 62 to rotate. The vertical rod 62 drives the bump 68 to rotate. The bump 68 drives the fixed ring 64 to rotate through the arc-shaped block 614. Only the end of the steel rope 71 is fixedly connected to the fixed ring 64. The fixed ring 64 drives the steel rope 71 to wind.

[0036] The steel rope 71 pulls the connecting plate 74 to move. The connecting plate 74 compresses the third spring 73. The connecting plate 74 drives the friction plate 76 to move through the fourth spring 77, so that the friction plate 76 is separated from the outside of the transverse track 1 until the connecting plate 74 is blocked by the guide wheel 72 and the steel rope 71 is no longer stretched. At this time, when the bump 68 rotates, it will squeeze the arc-shaped block 614, so that the arc-shaped block 614 compresses the second spring 613 and slides into the installation groove 612, so that the arc-shaped block 614 will not hinder the continuous rotation of the vertical rod 62 and the gear 63, and the size of the arc-shaped block 614 is the same as the interval between adjacent bumps 68. The arc-shaped block 614 will not rotate back and reset, which is convenient for the walking movement of the traveling mechanism 4.

[0037] When the traveling mechanism 4 stops, the electric push rod 610 drives the inverted conical platform 611 to rise, and the first spring 69 drives the convex block 68 to reset. At this time, the convex block 68 does not block the arc-shaped block 614, and the elastic force of the third spring 73 drives the connecting plate 74 to reset. The connecting plate 74 drives the steel rope 71 to reset and the fixing ring 64 to rotate. The connecting plate 74 drives the fourth spring 77 and the friction plate 76 to reset. The friction plate 76 and the adsorption groove 78 first adhere to the outer side of the transverse movement track 1, and then the connecting plate 74 continues to compress the fourth spring 77 and drives the U-shaped rod 710 to move. The U-shaped rod 710 slides inside the fixed box 79, so that the connecting hose 712, the communication groove 713 and the adsorption groove 78 are all in a negative pressure state, thereby improving the adsorption effect, facilitating the rapid stop of the fitting plate 5 and the traveling mechanism 4, improving the stop stability under large load conditions, and solving the problem that when the manipulator transfers large-load workpieces, the overall stability will also decrease, and even cause the manipulator to lose balance when stopping, which is not conducive to the stable transfer and use of the hanging tool.

[0038] A guide wheel 72 is fixedly installed in the middle of the inner bottom surface of the bottom groove. One end of the steel rope 71 is fixedly connected to the outer side of the fixing ring 64, and the other end of the steel rope 71 is fixedly connected to the connecting plate 74. The guide wheel 72 is used to guide the steel rope 71. A third spring 73 is fixedly installed between the connecting plate 74 and the inner wall of the bottom groove. Slide rods 75 are symmetrically and slidably installed inside the connecting plate 74. The slide rods 75 are fixedly connected to the friction plates 76. A fourth spring 77 is sleeved on the outer side of the slide rods 75. Two ends of the fourth spring 77 are respectively fixedly connected to the connecting plate 74 and the friction plate 76.

[0039] There are no less than two slide rods 75. An adsorption groove 78 is formed in the middle of the side of the friction plate 76 away from the connecting plate 74. Fixed boxes 79 are symmetrically and fixedly installed inside the bottom groove. U-shaped rods 710 are symmetrically and fixedly connected to the side of the connecting plate 74 away from the friction plate 76. One end of the U-shaped rod 710 away from the connecting plate 74 passes through the fixed box 79 and is fixedly connected to a piston plate 711.

[0040] The piston plate 711 fits against the inner wall of the fixed box 79. A connecting hose 712 is fixedly installed on one side of the fixed box 79 close to the adsorption groove 78. Communication grooves 713 are symmetrically formed inside the friction plate 76. The adsorption groove 78 is communicated with the two communication grooves 713. One end of the connecting hose 712 away from the fixed box 79 is communicated with the communication groove 713. The connecting hose 712 is inclined.

[0041] Embodiment 2: As Figure 7 and Figures 12 - 13As shown, the traveling mechanism 4 and the transverse movement track 1 are cooperated through linear guide rails, and the traveling mechanism 4 can move along the transverse movement track 1 driven by the motor thereon. The transverse movement track 1 is covered with a protective steel belt 3 to protect the internal mechanism therein. An elevating module 10 is installed on the traveling mechanism 4, and a clamping jaw 12 is installed at the movable end of the elevating module 10. The elevating module 10 and the clamping jaw 12 can carry the fixture body 13 and rotate in the vertical direction on the traveling mechanism 4. The guide wheel 11 is stuck in the groove of the auxiliary guide rail 2 to increase the stability of traveling and facilitate the use under large load conditions.

[0042] After the clamping jaw 12 descends to clamp the fixture body 13 and then rises to a specified height, then the elevating module 10 and the clamping jaw 12 drive the fixture body 13 to rotate in the vertical direction on the traveling mechanism 4, and rotate the fixture body 13 by ninety degrees to improve the passing performance, greatly reducing the required space. At this time, the fixture body 13 can be carried along the transverse movement track 1 to other specified positions to realize the handling of the fixture in a narrow space.

[0043] Working principle: When using this device, first, as Figures 1 - 13 shown, the traveling mechanism 4 and the transverse movement track 1 are cooperated through linear guide rails. The elevating module 10 and the clamping jaw 12 can carry the fixture body 13 and rotate in the vertical direction on the traveling mechanism 4. When the traveling mechanism 4 moves on the transverse movement track 1, it will drive the fitting plate 5 and the gear 63 to move. The gear 63 meshes and rotates with the rack 61. When the traveling mechanism 4 starts, the electric push rod 610 starts synchronously. The convex block 68 drives the fixed ring 64 to rotate through the arc-shaped block 614. The steel rope 71 pulls the connecting plate 74 to move, and the connecting plate 74 compresses the spring three 73. The connecting plate 74 drives the friction plate 76 to move through the spring four 77, so that the friction plate 76 separates from the outside of the transverse movement track 1. The rotation of the convex block 68 will squeeze the arc-shaped block 614, so that the arc-shaped block 614 compresses the spring two 613 and slides into the installation groove 612, so that the arc-shaped block 614 will not hinder the continuous rotation of the vertical rod 62 and the gear 63, facilitating the traveling movement of the traveling mechanism 4. When the traveling mechanism 4 stops, the elastic force of the spring three 73 drives the connecting plate 74 to reset. The connecting plate 74 drives the steel rope 71 to reset and the fixed ring 64 to rotate back. The connecting plate 74 drives the spring four 77 and the friction plate 76 to reset. The friction plate 76 and the adsorption groove 78 first adhere to the outside of the transverse movement track 1, and the adsorption groove 78 is in a negative pressure state, thereby improving the adsorption effect and facilitating the rapid stop of the fitting plate 5 and the traveling mechanism 4, thus improving the stop stability under large load conditions.

[0044] The content not described in detail in this specification belongs to the prior art well-known to those skilled in the art.

[0045] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A hanger transfer robot, comprising a transverse track (1), an auxiliary guide rail (2) and a hanger body (13), wherein a protective steel belt (3) is fixedly installed inside the transverse track (1), and a walking mechanism (4) is slidably installed on the top of the protective steel belt (3); It is characterized in that Also includes: A bonding plate (5) is fixedly mounted on one side of the outside of the walking mechanism (4), the bonding plate (5) is bonded to one side of the outside of the traverse track (1), a rotating assembly (6) is provided on one side of the inside of the bonding plate (5), and a locking assembly (7) is provided on the other side of the inside of the bonding plate (5); The rotating assembly (6) comprises a vertical rod (62), a gear (63) and a fixed ring (64). When the traveling mechanism (4) moves, the gear (63) and the vertical rod (62) are driven to rotate. The locking assembly (7) comprises a steel rope (71), a connecting plate (74) and a friction plate (76). When the vertical rod (62) drives the fixed ring (64) to rotate, the fixed ring (64) reels the steel rope (71), thereby allowing the friction plate (76) to release the limiting pressure on the transverse track (1). When the traveling mechanism (4) stops, the gear (63) stops rotating, and the friction plate (76) is also reset and pressed on the outer side of the transverse track (1), thereby facilitating the rapid stop of the bonding plate (5) and the traveling mechanism (4), thereby improving the stopping stability of the device under heavy load conditions.

2. A hanger transfer robot according to claim 1, characterized in that: A bottom groove is provided inside the bonding plate (5); a rack (61) is fixedly connected to one side of the outside of the transverse track (1); the vertical rod (62) is rotatably connected to one side of the inner bottom surface of the bottom groove; the gear (63) is fixedly connected to the top of the vertical rod (62); the fixed ring (64) is rotatably mounted on the outside of the vertical rod (62); the top and bottom of the fixed ring (64) are symmetrically fixedly connected to rotating rings (65); the rotating ring (65) is fixedly mounted to the vertical rod (62) via a bearing.

3. A hanger transfer robot according to claim 2, characterized in that: A vertical groove (66) is vertically provided inside the vertical rod (62), an electric push rod (610) is fixedly installed on the inner top surface of the vertical groove (66), an inverted cone-shaped platform (611) is fixedly connected to the bottom of the telescopic end of the electric push rod (610), a horizontal groove (67) is symmetrically provided on the outer side of the middle part of the vertical rod (62), a convex block (68) is slidably installed inside the horizontal groove (67), a spring (69) is fixedly installed on the bottom of one end of the convex block (68) close to the electric push rod (610), and one end of the spring (69) away from the electric push rod (610) is fixedly connected to the inner wall of the vertical groove (66).

4. The hanger transfer robot according to claim 3, characterized in that: The number of the protrusions (68) is no less than six, the inner side of the fixing ring (64) is symmetrically provided with a mounting groove (612), the inner side of the mounting groove (612) is fixedly mounted with a second spring (613), one end of the second spring (613) is fixedly connected with an arc block (614), the arc block (614) is slidably connected to the mounting groove (612), and the number of the arc blocks (614) is no less than six.

5. The hanger transfer robot according to claim 2, characterized in that: A guide wheel (72) is fixedly installed in the middle of the inner bottom surface of the bottom groove, one end of the steel rope (71) is fixedly connected to the outer side of the fixing ring (64), and the other end of the steel rope (71) is fixedly connected to the connecting plate (74). The guide wheel (72) is used to guide the steel rope (71). A spring three (73) is fixedly installed between the connecting plate (74) and the inner wall of the bottom groove. A sliding rod (75) is symmetrically slidably installed inside the connecting plate (74). The sliding rod (75) is fixedly connected to the friction plate (76). A spring four (77) is sleeved on the outer side of the sliding rod (75), and the two ends of the spring four (77) are respectively fixedly connected to the connecting plate (74) and the friction plate (76).

6. The hanger transfer robot according to claim 5, characterized in that: There are no less than two sliding rods (75), an adsorption groove (78) is provided in the middle of a side of the friction plate (76) away from the connecting plate (74), a fixing box (79) is symmetrically fixedly installed inside the bottom groove, a U-shaped rod (710) is symmetrically fixedly connected to a side of the connecting plate (74) away from the friction plate (76), and an end of the U-shaped rod (710) away from the connecting plate (74) passes through the fixing box (79) and is fixedly connected to a piston plate (711).

7. The hanger transfer robot according to claim 6, characterized in that: The piston plate (711) is fitted with the inner wall of the fixed box (79); a connecting hose (712) is fixedly installed on one side of the fixed box (79) close to the adsorption groove (78); connecting grooves (713) are symmetrically provided inside the friction plate (76); the adsorption groove (78) is connected to the two connecting grooves (713); one end of the connecting hose (712) away from the fixed box (79) is connected to the connecting groove (713); and the connecting hose (712) is arranged to be inclined.

8. The hanger transfer robot according to claim 1, characterized in that: A drag chain track (8) is fixedly mounted on the other side of the exterior of the protective steel belt (3); a walking drag chain (9) is fixedly mounted on the side of the walking mechanism (4) close to the drag chain track (8); the drag chain track (8) is used to limit the walking drag chain (9); and a lifting module (10) is fixedly mounted on the top of the walking mechanism (4).

9. The hanger transfer robot according to claim 8, characterized in that: A guide wheel (11) is installed on the top of the lifting module (10), the guide wheel (11) is slidably connected to the auxiliary guide rail (2), the guide wheel (11) is rotatably installed with the lifting module (10), and a clamping claw (12) is fixedly installed at the output end of the lifting module (10).

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