A fixture transfer manipulator

Abstract

The present invention relates to the technical field of manipulators, and discloses a fixture transfer manipulator. The device includes a transverse movement track, an auxiliary guide rail, and a fixture 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: a fitting plate is fixedly installed on one side of the outside of the traveling mechanism, a rotating assembly is arranged on one side inside the fitting plate, and a locking assembly is arranged on the other side inside the fitting plate; the rotating assembly includes a vertical rod, a gear, and a fixed ring. When the traveling mechanism stops, the gear stops rotating, and the friction plate will also reset and press tightly against the outside of the transverse movement track, thereby facilitating the rapid stop of the fitting plate and the traveling mechanism, improving the stop stability of the equipment 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 fixture.

Description

Technical Field

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

[0002] In semiconductor or panel industries and other equipment, manipulators are needed to carry fixtures inside. Based on the usage requirements, this manipulator is required 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 fixture transfer manipulator with the publication number of CN222494281U includes a fixed beam, a moving frame, a sliding seat, and a fixture gripper. The fixed beam is horizontally and 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 fixture gripper is fixed on the sliding seat. The fixture 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. A pressing plate is fixed at the lower end of the telescopic unit. By increasing the number of fixed beams, it is convenient to expand its stroke, enabling the fixture gripper to run long distances between various workstations. In addition, its positioning of the electroplating fixture is accurate and the clamping is firm, and it can quickly transfer large-size 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, which is not convenient for the stable transfer and use of the fixture, and the clamping components with a fixed angle have poor passability in a narrow space, resulting in usage limitations.

[0004] Therefore, a fixture 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 fixture 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, which is not convenient for the stable transfer and use of the fixture.

[0006] To achieve the above purpose, the present invention provides the following technical solution: A fixture transfer manipulator includes a transverse movement track, an auxiliary guide rail, and a fixture 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.

[0007] It further includes:

[0008] One side of the outside of the walking mechanism is fixedly installed with a fitting plate, the fitting plate is attached to the outside of the transverse movement track, a rotating component is arranged on one side inside the fitting plate, and a locking component is arranged on the other side inside the fitting plate;

[0009] 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 outside 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.

[0010] Preferably, a bottom groove is opened inside the fitting plate, a rack is fixedly connected to the outside of one 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 of the vertical rod, the fixing ring is rotatably installed on the outside 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.

[0011] By adopting the above technical scheme, when the walking mechanism stops, the friction plate and the adsorption groove first adhere to the outside 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.

[0012] 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 outside 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 end of the first spring away from the electric push rod is fixedly connected with the inner wall of the vertical groove.

[0013] By adopting the above technical scheme, the electric push rod descends to drive the inverted conical platform to descend, 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 outside of the vertical rod.

[0014] 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.

[0015] 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, so as to facilitate the convex block to drive the fixing ring to rotate through the arc-shaped block.

[0016] 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 outside the slide rods. Two ends of the fourth spring are respectively fixedly connected to the connecting plate and the friction plate.

[0017] 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.

[0018] 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 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.

[0019] 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.

[0020] 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.

[0021] By adopting the above technical solution, the connecting hose has elasticity, which is convenient for assisting the movement of the friction plate.

[0022] 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.

[0023] 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 use.

[0024] 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.

[0025] By adopting the above technical solution, the lifting module and the gripper drive the fixture body to rotate vertically on the traveling mechanism, rotating the fixture body by ninety degrees to improve the passing performance and greatly reduce the required space.

[0026] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0027] 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 and rotates with the rack. 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 outer side of the vertical rod to expand. 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 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 outer side of the transverse movement track until the connecting plate is blocked by the guide wheel and the steel rope is no longer stretched. At this time, the rotation of the convex block will squeeze the arc-shaped block, causing the arc-shaped block to compress the second spring and slide 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, facilitating the walking 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 rope 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 outer side 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, facilitating the rapid stop of the fitting plate and the traveling mechanism, and thus improving the stop stability under large load conditions, 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 fixture;

[0028] 2. The traveling mechanism and the transverse moving track are cooperated through linear guide rails, and the traveling mechanism can move along the transverse moving track driven by the motor thereon. A protective steel belt is covered above the transverse moving track to protect the internal mechanism. An elevating module is installed on the traveling mechanism, and a clamping jaw is installed at the movable end of the elevating module. The elevating module and the clamping jaw can carry the fixture body and rotate vertically on the traveling mechanism. The guide wheel is stuck in the groove of the auxiliary guide rail to increase the stability of traveling and facilitate use under large loads. After the clamping jaw descends to clamp the fixture and then rises to a specified height, the elevating module and the clamping jaw drive the fixture body to rotate vertically on the traveling mechanism, and the fixture body is rotated by ninety degrees to improve the passing performance and greatly reduce the required space. At this time, the fixture body can be carried along the transverse moving track to other specified positions to realize the handling of the fixture in a narrow space. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of the first three-dimensional overall structure of the present invention;

[0030] Figure 2 It is a schematic diagram of the second three-dimensional overall structure of the present invention;

[0031] Figure 3 It is a schematic diagram of the installation structure of the drag chain of the present invention;

[0032] Figure 4 For the present invention Figure 3 The enlarged structure schematic diagram at position A in;

[0033] Figure 5 It is a schematic diagram of the sectional structure of the fitting plate of the present invention;

[0034] Figure 6 For the present invention Figure 5 The enlarged structure schematic diagram at position B in;

[0035] Figure 7 It is a schematic diagram of the installation structure of the gear of the present invention;

[0036] Figure 8 It is a schematic diagram of the installation structure of the vertical rod of the present invention;

[0037] Figure 9 It is a schematic diagram of the sectional structure of the vertical rod of the present invention;

[0038] Figure 10 It is a schematic diagram of the sectional structure of the fixing ring of the present invention;

[0039] Figure 11 It is a schematic diagram of the installation structure of the convex block of the present invention;

[0040] Figure 12 It is a schematic diagram of the installation structure of the fixing box of the present invention;

[0041] Figure 13 For the present inventionFigure 12 Schematic diagram of the enlarged structure at position C in the middle.

[0042] 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, fixed ring; 65, rotating ring; 66, vertical groove; 67, horizontal groove; 68, convex block; 69, first spring; 610, electric push rod; 611, inverted conical platform; 612, installation groove; 613, second spring; 614, arc-shaped block; 7, locking assembly; 71, steel rope; 72, guide wheel; 73, third spring; 74, connecting plate; 75, sliding rod; 76, friction plate; 77, fourth spring; 78, adsorption groove; 79, fixed 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, gripper; 13, fixture body. Specific implementation mode

[0043] 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. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0044] 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 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.

[0045] A fitting plate 5 is fixedly installed on the outer side of the traveling mechanism 4, and the fitting plate 5 is in contact with the outer side of the transverse movement track 1.

[0046] A rotating assembly 6 is arranged on the inner side of the fitting plate 5. The rotating assembly 6 includes a vertical rod 62, a gear 63 and a fixed ring 64. When the traveling mechanism 4 moves, it will drive the gear 63 and the vertical rod 62 to rotate. A locking assembly 7 is arranged on the other inner side of the fitting plate 5. The locking assembly 7 includes 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 winds up the steel 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 tightly on the outer side of the transverse movement track 1, so as to facilitate the rapid stop of the fitting plate 5 and the traveling mechanism 4 and improve the stop stability of the equipment under large load conditions.

[0047] The inner part of the fitting plate 5 is provided with a bottom groove. One outer side of the transverse movement track 1 is fixedly connected with a rack 61. 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 end of the vertical rod 62. The fixed ring 64 is rotatably installed on the outer side of the vertical rod 62. The top and bottom of the fixed ring 64 are symmetrically and fixedly connected with rotating rings 65. The rotating rings 65 are fixedly installed with the vertical rod 62 through bearings.

[0048] The inner part of the vertical rod 62 is vertically provided with a vertical groove 66. The inner top surface of the vertical groove 66 is fixedly installed with an electric push rod 610. The bottom of the telescopic end of the electric push rod 610 is fixedly connected with an inverted conical platform 611. The outer side of the middle part of the vertical rod 62 is symmetrically provided with transverse grooves 67. The inside of the transverse grooves 67 is slidably installed with bumps 68. One end of the bump 68 close to the electric push rod 610 is fixedly installed with a first spring 69. One end of the first spring 69 away from the electric push rod 610 is fixedly connected with the inner wall of the vertical groove 66.

[0049] There are no less than six bumps 68. The inner side of the fixed ring 64 is symmetrically provided with installation grooves 612. The inner side of the installation grooves 612 is fixedly installed with second springs 613. One end of the second spring 613 is fixedly connected with an arc-shaped block 614. The arc-shaped block 614 is slidably connected with the installation groove 612. There are no less than six arc-shaped blocks 614.

[0050] The other outer side of the protective steel belt 3 is fixedly installed with a drag chain track 8. One side of the traveling mechanism 4 close to the drag chain track 8 is fixedly installed with a traveling drag chain 9. The traveling mechanism 4 adopts a robot traveling ground rail. The drag chain track 8 is used to limit the traveling drag chain 9. The top of the traveling mechanism 4 is fixedly installed with a lifting module 10. The lifting module 10 adopts a motor ball screw lifting structure.

[0051] The top of the lifting module 10 is installed with a guide wheel 11. The guide wheel 11 is slidably connected with the auxiliary guide rail 2. The guide wheel 11 is rotatably installed with the lifting module 10. The output end of the lifting module 10 is fixedly installed with a jaw 12. The jaw 12 adopts a pneumatic fixture.

[0052] Example 1: As Figures 4 - 11 shown, 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 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 and unfolds toward the outer side of the vertical rod 62. 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 with the fixed ring 64. The fixed ring 64 drives the steel rope 71 to wind.

[0053] 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 separates from the outer side of the transverse movement 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 convex block 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 convex blocks 68, and the arc-shaped block 614 will not rotate back to its original position, which is convenient for the walking movement of the walking mechanism 4.

[0054] When the walking 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. 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 walking mechanism 4, thereby improving the stop stability under large load conditions, solving the problem that when the manipulator transfers large-load workpieces, the overall stability will also decline, and even cause the manipulator to lose balance when stopping, which is not conducive to the stable transfer and use of the hanging tool.

[0055] 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 plate 76. A fourth spring 77 is sleeved on the outer side of the slide rods 75. Both ends of the fourth spring 77 are fixedly connected to the connecting plate 74 and the friction plate 76 respectively.

[0056] There are no less than two slide rods 75. An adsorption groove 78 is opened 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.

[0057] 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 communicates with the two communication grooves 713. One end of the connecting hose 712 away from the fixed box 79 communicates with the communication groove 713. The connecting hose 712 is inclined.

[0058] Embodiment 2: As Figure 7 and Figures 12 - 13 shown, the traveling mechanism 4 and the transverse movement track 1 are matched by 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. A lifting module 10 is installed on the traveling mechanism 4. A clamping jaw 12 is installed at the movable end of the lifting module 10. The lifting module 10 and the clamping jaw 12 can carry the fixture body 13 and rotate vertically 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 the movement and facilitate the use under large load conditions.

[0059] After the clamping jaw 12 descends to clamp the fixture body 13 and then rises to a specified height, then the lifting module 10 and the clamping jaw 12 drive the fixture body 13 to rotate vertically 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.

[0060] Working principle: When using this device, first, as Figures 1 - 13As shown, the traveling mechanism 4 and the transverse movement track 1 are cooperated through linear guide rails. The lifting module 10 and the gripper 12 can drive the fixture body 13 to 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 with the rack 61 and rotates. 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 wire 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 outer side of the transverse movement track 1. When the convex block 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, which is convenient for the traveling movement of the traveling mechanism 4. When the traveling mechanism 4 stops, the elastic force of the third spring 73 drives the connecting plate 74 to reset. The connecting plate 74 drives the steel wire rope 71 to reset and the fixed ring 64 to rotate back. 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. The adsorption groove 78 is in a negative pressure state, so as to improve the adsorption effect, facilitate the rapid stop of the fitting plate 5 and the traveling mechanism 4, and thus improve the stop stability under large load conditions.

[0061] The content not described in detail in this specification belongs to the prior art well-known to those skilled in the art.

[0062] Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some of the technical features. 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. A fixture transfer manipulator, comprising 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); It is characterized in that It further comprises: A fitting plate (5) is fixedly installed on an outer side of the traveling mechanism (4). The fitting plate (5) is in contact with an outer side of the transverse movement track (1). A rotating assembly (6) is arranged on an inner side of the fitting plate (5), and a locking assembly (7) is arranged on the other inner side of the fitting plate (5); The rotating assembly (6) includes a vertical rod (62), a gear (63) and a fixed ring (64). When the traveling mechanism (4) moves, it will drive the gear (63) and the vertical rod (62) to rotate. The locking assembly (7) includes 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) winds up the steel 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; A bottom groove is formed inside the fitting plate (5). A rack (61) is fixedly connected to an outer side of the transverse movement 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 end of the vertical rod (62). The fixed ring (64) is rotatably installed on the outer side of the vertical rod (62). Rotating rings (65) are symmetrically and fixedly connected to the top and bottom of the fixed ring (64), and the rotating rings (65) are fixedly installed on the vertical rod (62) through bearings; 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 fixed 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 for guiding 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 plate (76). A fourth spring (77) is sleeved on the outer side of the slide rods (75), and both ends of the fourth spring (77) are fixedly connected to the connecting plate (74) and the friction plate (76) respectively; There are no less than two slide rods (75). An adsorption groove (78) is formed in the middle of one 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 one 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); 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) communicates with the two communication grooves (713). One end of the connecting hose (712) away from the fixed box (79) communicates with the communication groove (713). The connecting hose (712) is inclined.

2. The fixture transfer manipulator according to claim 1, characterized in that: A vertical groove (66) is vertically formed 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 to an inverted conical platform (611). Horizontal grooves (67) are symmetrically formed 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 first spring (69) is fixedly installed at the bottom of one end of the convex block (68) close to the electric push rod (610). One end of the first spring (69) away from the electric push rod (610) is fixedly connected to the inner wall of the vertical groove (66).

3. The fixture transfer manipulator according to claim 2, wherein: There are no less than six convex blocks (68). Installation grooves (612) are symmetrically formed inside the inner side of the fixed ring (64). A second spring (613) is fixedly installed inside 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).

4. The fixture transfer manipulator according to claim 1, wherein: A drag chain track (8) is fixedly installed on the other side of the outer part of the protective steel belt (3). A walking drag chain (9) is fixedly installed on one 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). A lifting module (10) is fixedly installed on the top of the walking mechanism (4).

5. The fixture transfer manipulator according to claim 4, wherein: 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 on the lifting module (10). A clamping jaw (12) is fixedly installed at the output end of the lifting module (10).

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