A manipulator for handling

Abstract

The present invention discloses a handling robot, which belongs to the field of robot handling technology. It includes an industrial robot fixedly connected to a main body connecting plate, on which three groups of three-claw clamping mechanisms are fixedly installed, and a lifting mechanism is provided in the main body connecting plate; the handling robot drives a driving component to move through the lifting mechanism, and the driving component drives a bidirectional screw to rotate through an adaptive component, drives two arc-shaped clamping plates to approach each other, clamps the outer side of the workpiece, and moves the workpiece from an initial position to a position directly below the three-claw clamping mechanism, and can pre-fix the workpiece to an accurate position in advance before clamping and transporting it, which helps to improve the positioning accuracy and grasping reliability of the workpiece during transport, and can avoid grasping failure or claw finger wear due to workpiece displacement. At the same time, it can also improve production efficiency and beat stability, and avoid grasping deviation caused by visual positioning blind spots or robot arm movement errors.

Description

Technical Field

[0001] The present invention relates to the technical field of robot handling, in particular to a handling robot. Background Art

[0002] Industrial robots are multi-jointed manipulators or multi-degree-of-freedom automated equipment designed for industrial applications. They can be programmed to perform complex tasks and boast high precision, efficiency, and reliability, making them widely used across all aspects of the manufacturing industry. Industrial robotic handling manipulators, which use programmable control to automate material handling, are widely used in industries such as automotive, electronics, food, and chemicals. They offer high precision, speed, flexibility, and 24 / 7 continuous operation, replacing manual labor in repetitive, arduous, or dangerous handling tasks. The end-of-handling gripper is a key component in industrial robots and automated systems for grasping, handling, and placing workpieces. Internally supported grippers are widely used for handling flanges.

[0003] After searching, the Chinese patent authorization number CN218462206U discloses a handling robot, comprising a support plate, a slider slidably connected to the interior of the support plate, a clamp fixedly connected to the slider, the clamp in contact with the support plate, a fixed frame fixedly connected to the support plate, a cylinder provided inside the fixed frame, a mounting plate fixedly connected to the cylinder, the mounting plate in contact with the fixed frame, a positioning block fixedly connected to the mounting plate, a positioning block slidably connected to the interior of the fixed frame, and a disassembly mechanism provided on the fixed frame. The above patent has the following deficiencies: the flange may be positionally offset during processing or transmission due to vibration, conveyor belt error, etc., and may deviate from the working range of the robot due to transmission error, resulting in the three claws being unable to insert into the inner hole, causing an empty grasp or collision accident; the flange may rotate or tilt during transmission, and the three claws are only subjected to force on one side when supporting, resulting in abnormal posture of the workpiece after grasping, affecting subsequent processes (such as being unable to align with the mounting hole during assembly), and greatly reducing the handling efficiency of the flange. Summary of the Invention

[0004] The purpose of the present invention is to solve the problem in the prior art that the three claws may not be able to insert into the inner hole of the flange workpiece due to transmission errors, resulting in empty grasping or collision accidents, and to propose a handling robot.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A handling robot comprises an industrial robot fixedly connected to a main body connecting plate, three groups of three-claw clamping mechanisms are fixedly installed on the main body connecting plate, a lifting mechanism is provided in the main body connecting plate, the three-claw clamping mechanism comprises a fixed seat fixedly installed at the bottom of the main body connecting plate, and also comprises a bidirectional screw rotatably connected to the fixed seat, two threaded plates are symmetrically threaded on the bidirectional screw, guide groove plates corresponding to the threaded plates are fixedly connected on both sides of the fixed seat, and arc-shaped clamping plates are fixedly connected to the bottoms of the two threaded plates, a driving assembly is provided between the lifting mechanism and the main body connecting plate, and an adaptive assembly is provided between the driving assembly and the bidirectional screw.

[0007] Preferably, the lifting mechanism includes a lifting rod slidably connected to the main connecting plate, and the three groups of three-claw clamping mechanisms are respectively fixedly installed on the bottom of the lifting rod and both sides of the main connecting plate. The three-claw clamping mechanism also includes a cylinder fixedly installed on a fixed seat.

[0008] Preferably, the output end of the cylinder is fixedly connected to a mounting plate, a first rack is fixedly connected to the mounting plate, a first gear meshing with the first rack is rotatably connected to the fixed seat, and a turntable is fixedly connected to the first gear.

[0009] Preferably, three arc-shaped holes are opened on the turntable, a sliding rod is slidably connected in each of the arc-shaped holes, three rectangular slot plates are fixedly connected to the fixed seat, a guide rod is fixedly connected in each of the rectangular slot plates, a slide plate is slidably connected to the guide rod, and each of the guide rods is sleeved with a first spring.

[0010] Preferably, the two ends of the first spring are respectively against the rectangular groove plate and the slide plate, the bottom of each slide plate is fixedly connected to an L-shaped plate, each L-shaped plate is respectively fixedly connected to each slide rod, and each L-shaped plate is fixedly connected to a clamping plate.

[0011] Preferably, the lifting mechanism also includes a servo motor fixedly mounted on the top of the main connecting plate, the output end of the servo motor is fixedly connected to a lifting screw, the lifting rod is threadedly connected to the lifting screw, and extension plates are fixedly connected on both sides of the lifting rod, and sliding grooves corresponding to the extension plates are provided on both side walls of the main connecting plate.

[0012] Preferably, the driving component includes a support rod rotatably connected to one side of the lifting rod, a notch is provided on the fixed seat, the adaptive component includes a sleeve rotatably connected to the notch of the fixed seat, a synchronous belt is connected to the support rod for transmission, a fixed pulley is fixedly connected in the main body connecting plate, and a pull rope is slidably provided on the fixed pulley.

[0013] Preferably, a second gear is fixedly connected to the support rod, one end of the pull rope is fixedly connected to a second rack meshing with the second gear, the other end of the pull rope is fixedly connected to the lifting rod, one side of the second rack is fixedly connected to a guide plate, a vertical groove is provided on the inner wall of the main connecting plate, a vertical rod is fixedly connected in the vertical groove of the main connecting plate, the guide plate is slidably connected to the vertical rod, a second spring is sleeved on the vertical rod, and the two ends of the second spring are respectively against the vertical grooves of the guide plate and the main connecting plate.

[0014] Preferably, the adaptive component also includes a plurality of drive plates hinged on the inner wall of the sleeve, a torsion spring is fixedly connected between each of the drive plates and the sleeve, the torsion force of the torsion spring is greater than the elastic force of the second spring, a plurality of baffles are fixedly connected to the inner wall of the sleeve, the sleeve is arranged on the outside of the bidirectional screw, and a plurality of driven plates are fixedly connected around the outer wall of the bidirectional screw.

[0015] Preferably, a rectangular plate is fixedly connected to one side of the guide plate, two cylindrical tubes are fixedly connected to the top wall of the main connecting plate, pistons are slidably connected in the two cylindrical tubes, push rods are fixedly connected between the two pistons and the rectangular plate, connecting pipes are fixedly connected between the two cylindrical tubes and the two arc-shaped splints, cavities are opened in the two arc-shaped splints, and multiple circular holes are opened on the two arc-shaped splints.

[0016] Compared with the prior art, the present invention provides a transport robot with the following advantages:

[0017] 1. The handling robot drives the driving assembly to move through the lifting mechanism. The driving assembly drives the bidirectional screw to rotate through the adaptive assembly, driving the two arc-shaped clamping plates to approach each other, clamping the outside of the workpiece, and moving the workpiece from the initial position to the position directly below the three-claw clamping mechanism. It can pre-fix the workpiece to the exact position before clamping and transporting it, which helps to improve the positioning accuracy and grasping reliability during workpiece transportation, and can avoid grasping failure or claw finger wear due to workpiece displacement. At the same time, it can also improve production efficiency and beat stability, and avoid grasping deviations caused by visual positioning blind spots or robot arm movement errors.

[0018] 2. The handling robot starts the servo motor to drive the lifting screw to rotate. The lifting rod slides vertically downward under the guidance of two extension plates in the slide groove of the main connecting plate, which in turn drives the three-claw clamping mechanism at the bottom of the lifting rod to move downward as a whole. It can clamp and carry workpieces in deeper positions, which helps to place materials in the silo more compactly and increase the storage capacity.

[0019] 3. The handling robot automatically cooperates with the adaptive component and the bidirectional screw while moving through the lifting mechanism. The torsion spring is compressed, so that the sleeve automatically stops driving the bidirectional screw to rotate, cutting off the driving force of the bidirectional screw, and controlling the clamping force of the arc splint on the workpiece within a preset threshold, avoiding excessive pressure on easily deformed workpieces such as aluminum alloy and thin-walled steel, ensuring that the surface accuracy of the workpiece is not damaged, and before pre-fixing the workpiece, it can automatically drive the push rod through the guide plate, so that the two arc splints can simultaneously remove impurities and debris on the surface of the workpiece, ensuring the cleanliness of the fitting surface between the arc splint and the workpiece. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the overall structure of a transport robot proposed by the present invention;

[0021] Figure 2 This is a side structural diagram of a transport robot proposed by the present invention;

[0022] Figure 3 This is a structural diagram of a main body connecting plate in a handling robot proposed by the present invention;

[0023] Figure 4 This is a schematic diagram of the structure inside the main connecting plate of a transport robot proposed by the present invention;

[0024] Figure 5 This is a structural diagram of a cylindrical barrel, connecting pipes, and synchronous belt in a handling robot proposed by the present invention;

[0025] Figure 6 The present invention proposes Figure 5 Schematic diagram of the structure of part A;

[0026] Figure 7 The present invention proposes Figure 5 Schematic diagram of the structure of part B;

[0027] Figure 8 This is a structural schematic diagram of a three-claw clamping mechanism in a handling robot proposed by the present invention;

[0028] Figure 9 The present invention proposes Figure 8 Schematic diagram of the structure of part C;

[0029] Figure 10 This is a right view of a sleeve in a handling robot and a schematic structural diagram of a second gear, a pull rope, and a second rack;

[0030] Figure 11 The present invention proposes Figure 10 Schematic diagram of the structure of part D;

[0031] Figure 12 This is a structural diagram of a fixed seat and a cylindrical barrel in a handling robot proposed by the present invention;

[0032] Figure 13 The present invention proposes Figure 12 Schematic diagram of the structure of part E;

[0033] Figure 14 This is a structural schematic diagram of the lifting rod, lifting screw and extension plate in a handling robot proposed by the present invention.

[0034] Figure: 1. Industrial manipulator; 2. Main connecting plate; 3. Three-claw clamping mechanism; 301. Fixed seat; 302. Cylinder; 303. Mounting plate; 304. First rack; 305. First gear; 306. Turntable; 307. Arc hole; 308. Slide rod; 309. Rectangular slot plate; 310. Guide rod; 311. Slide plate; 312. First spring; 313. L-shaped plate; 314. Clamping plate; 4. Lifting mechanism; 401. Lifting rod; 402. Servo motor; 403. Lifting screw; 404. Extension plate; 5. Bidirectional screw ; 6. Arc-shaped splint; 7. Driving assembly; 701. Support rod; 702. Synchronous belt; 703. Fixed pulley; 704. Pull rope; 705. Second gear; 706. Second rack; 707. Guide plate; 708. Vertical rod; 709. Second spring; 8. Adaptive assembly; 801. Sleeve; 802. Driving plate; 803. Torsion spring; 804. Baffle; 805. Follower plate; 9. Rectangular plate; 10. Cylindrical cylinder; 11. Piston; 12. Push rod; 13. Connecting pipe; 14. Round hole; 15. Threaded plate; 16. Guide groove plate. DETAILED DESCRIPTION

[0035] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0036] In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as limiting the present invention.

[0037] Example 1: Reference Figures 1-14A handling manipulator comprises: an industrial manipulator 1 fixedly connected to a main body connecting plate 2, three sets of three-claw clamping mechanisms 3 are fixedly installed on the main body connecting plate 2, a lifting mechanism 4 is provided inside the main body connecting plate 2, the three-claw clamping mechanism 3 comprises a fixed seat 301 fixedly installed at the bottom of the main body connecting plate 2, and also comprises: a bidirectional screw 5 rotatably connected to the fixed seat 301, two threaded plates 15 are symmetrically threaded on the bidirectional screw 5, guide groove plates 16 corresponding to the threaded plates 15 are fixedly connected on both sides of the fixed seat 301, and arc-shaped clamping plates 6 are fixedly connected to the bottom of the two threaded plates 15, a driving assembly 7 is provided between the lifting mechanism 4 and the main body connecting plate 2, and an adaptive assembly 8 is provided between the driving assembly 7 and the bidirectional screw 5.

[0038] When the workpiece is moved from the initial position to the position directly below the three-claw clamping mechanism 3, the workpiece can be pre-fixed to the correct position before being clamped and transported, and then the three-claw clamping mechanism 3 is used to grab the workpiece. This helps to improve the positioning accuracy and grabbing reliability of the workpiece during transportation, avoid grabbing failure or claw finger wear caused by workpiece displacement, and improve production efficiency and beat stability, and avoid grabbing deviation caused by visual positioning blind spots or robot arm motion errors.

[0039] Example 2: Reference Figure 3-Figure 14 , which is basically the same as Example 1. Furthermore, the lifting mechanism 4 includes a lifting rod 401 slidably connected to the main connecting plate 2, and three groups of three-claw clamping mechanisms 3 are respectively fixedly installed at the bottom of the lifting rod 401 and on both sides of the main connecting plate 2. The three-claw clamping mechanism 3 also includes a cylinder 302 fixedly installed on the fixed seat 301.

[0040] The output end of the cylinder 302 is fixedly connected to a mounting plate 303 , to which a first rack 304 is fixedly connected. A first gear 305 meshing with the first rack 304 is rotatably connected to the fixing seat 301 , and a turntable 306 is fixedly connected to the first gear 305 .

[0041] Three arc-shaped holes 307 are provided on the turntable 306, and a sliding rod 308 is slidably connected in each arc-shaped hole 307. Three rectangular slot plates 309 are fixedly connected to the fixed seat 301, and a guide rod 310 is fixedly connected in each rectangular slot plate 309. A slide plate 311 is slidably connected to the guide rod 310, and each guide rod 310 is sleeved with a first spring 312.

[0042] The two ends of the first spring 312 are respectively against the rectangular groove plate 309 and the slide plate 311. The bottom of each slide plate 311 is fixedly connected to an L-shaped plate 313. Each L-shaped plate 313 is respectively fixedly connected to each slide rod 308. A clamping plate 314 is fixedly connected to each L-shaped plate 313.

[0043] In the present invention, when transporting the workpiece, the industrial robot 1 drives the three-claw clamping mechanism 3 to move to the grasping position, and then drives the first rack 304 to move by starting the cylinder 302, meshing with the first gear 305, so that the first gear 305 rotates and drives the turntable 306 to rotate at the same time, and the L-shaped plate 313 is guided and slid in the rectangular groove plate 309 by the slide plate 311. While rotating, the turntable 306 drives multiple slide rods 308 to slide along the arc hole 307, and then drives the L-shaped plate 313 and the clamping plate 314 to slide, so that the three clamping plates 314 expand and slide outward at the same time, realizing external support and fixation of the flange workpiece, and then the industrial robot 1 is used to transport it to the processing position, and the first rack 304 is reset by the cylinder 302, so that the turntable 306 rotates in the opposite direction, driving the clamping plate 314 to release the external support force on the workpiece, so that the workpiece can be separated from the industrial robot 1.

[0044] The lifting mechanism 4 also includes a servo motor 402 fixedly mounted on the top of the main connecting plate 2. The output end of the servo motor 402 is fixedly connected to a lifting screw 403. The lifting rod 401 is threadedly connected to the lifting screw 403. Extension plates 404 are fixedly connected on both sides of the lifting rod 401. Slide grooves corresponding to the extension plates 404 are provided on the two side walls of the main connecting plate 2.

[0045] In the present invention, when the industrial robot 1 drives the three-claw clamping mechanism 3 on the main connecting plate 2 to transport the workpiece at a deeper position in the material frame, the servo motor 402 can be started to drive the lifting screw 403 to rotate, and the lifting rod 401 is guided and slid in the slide groove of the main connecting plate 2 by two extension plates 404, so that the lifting rod 401 slides vertically downward, and then drives the three-claw clamping mechanism 3 at the bottom of the lifting rod 401 to move downward as a whole, so as to clamp and transport the workpiece at a deeper position, which helps to place the materials in the silo more compactly and increase the storage capacity.

[0046] Example 3: Reference Figure 4-11, which is basically the same as the first embodiment, and further, the driving component 7 includes a support rod 701 rotatably connected to one side of the lifting rod 401, a notch is provided on the fixed seat 301, and the adaptive component 8 includes a sleeve 801 rotatably connected to the notch of the fixed seat 301, a synchronous belt 702 is transmitted between the sleeve 801 and the support rod 701, a fixed pulley 703 is fixedly connected to the main connecting plate 2, and a pull rope 704 is slidably provided on the fixed pulley 703.

[0047] A second gear 705 is fixedly connected to the support rod 701, one end of the pull rope 704 is fixedly connected to a second rack 706 that meshes with the second gear 705, the other end of the pull rope 704 is fixedly connected to the lifting rod 401, and one side of the second rack 706 is fixedly connected to a guide plate 707. A vertical groove is provided on the inner wall of the main connecting plate 2, and a vertical rod 708 is fixedly connected in the vertical groove of the main connecting plate 2. The guide plate 707 is slidably connected to the vertical rod 708, and a second spring 709 is sleeved on the vertical rod 708. The two ends of the second spring 709 are respectively against the vertical grooves of the guide plate 707 and the main connecting plate 2.

[0048] When the lifting rod 401 is reset upward, the second spring 709 can automatically make the guide plate 707 slide downward on the vertical rod 708, thereby automatically making the second rack 706 slide downward and reset, so that the second gear 705 can rotate in the opposite direction.

[0049] The adaptive component 8 also includes a plurality of drive plates 802 hinged on the inner wall of the sleeve 801, and a torsion spring 803 is fixedly connected between each drive plate 802 and the sleeve 801. The torsion force of the torsion spring 803 is greater than the elastic force of the second spring 709. A plurality of baffles 804 are fixedly connected to the inner wall of the sleeve 801. The sleeve 801 is sleeved on the outside of the bidirectional screw 5, and a plurality of driven plates 805 are fixedly connected around the outer wall of the bidirectional screw 5. The driven plate 805 is against the drive plate 802 and is not connected to prevent the drive plate 802 from rotating in the opposite direction. When the sleeve 801 reverses, it can drive the bidirectional screw 5 to reverse.

[0050] In the present invention, when the sleeve 801 rotates, it also drives multiple driving plates 802 on its inner wall to rotate synchronously. Multiple driving plates 802 stably follow the rotation of the sleeve 801 under the support of the torsion spring 803. Each driving plate 802 is respectively against each driven plate 805 on the bidirectional screw 5, automatically rotating the bidirectional screw 5, thereby automatically making the two arc-shaped clamping plates 6 approach each other to clamp, correct and pre-fix the workpiece. When the two arc-shaped clamping plates 6 are completely fitted with the workpiece, the sleeve 801 is still rotating as the lifting rod 401 continues to move downward. At this time, in order to prevent the bidirectional screw 5 from continuing to rotate, the sleeve 801 Through the torsion spring 803 on its inner wall, multiple driving plates 802 automatically rotate in the direction of the torsion spring 803 and slide out of the driven plate 805, thereby automatically rotating the bidirectional screw 5, so that the arc-shaped clamping plate 6 will not continue to apply clamping force while keeping the workpiece fixed. This helps the industrial robot 1 to pre-fix the workpiece in advance when transporting heavy and large workpieces without over-fixing the workpiece and affecting the appearance and quality of the workpiece. After the workpiece is pre-fixed, the three-jaw clamping mechanism 3 is started to support and fix the workpiece externally, which can form a double fixation to ensure that the workpiece will not fall off, thereby greatly improving the stability of the industrial robot 1 in the process of transporting workpieces.

[0051] Example 4: Reference Figure 4-Figure 14 , which is basically the same as Example 1. Furthermore, a rectangular plate 9 is fixedly connected to one side of the guide plate 707, and two cylindrical tubes 10 are fixedly connected to the top wall of the main connecting plate 2. Pistons 11 are slidably connected in the two cylindrical tubes 10, and push rods 12 are fixedly connected between the two pistons 11 and the rectangular plate 9. Connecting pipes 13 are fixedly connected between the two cylindrical tubes 10 and the two arc-shaped splints 6. A cavity is opened in the two arc-shaped splints 6, and a plurality of circular holes 14 are opened on the two arc-shaped splints 6.

[0052] In the present invention, when the lifting rod 401 moves downward to make the second rack 706 rise, it also drives the rectangular plate 9 to move upward. When the rectangular plate 9 moves upward, it pushes the two push rods 12 to push upward at the same time, so that the two pistons 11 in the two cylindrical tubes 10 slide upward at the same time, compressing the gas in the cylindrical tubes 10. The gas in the two cylindrical tubes 10 is respectively transported to the cavities of the two arc-shaped clamping plates 6 through the two connecting pipes 13, and then ejected from the multiple circular holes 14, so that the impurities, debris, and other debris on the outside of the workpiece can be removed in advance before the workpiece is pre-fixed. Blow away oil and dirt, so that the arc-shaped clamping plate 6 and the workpiece fit more tightly, reduce the impact of impurities and debris on the workpiece surface, ensure accurate positioning and stable posture when the workpiece is pre-fixed, and avoid position deviation or poor contact caused by debris and impurities; reduce the pollution and wear of oil on the gripping surface of the robot, improve the gripping reliability, and prevent slipping, falling or damage to the workpiece; when the lifting rod 401 resets upward, the rectangular plate 9 automatically resets downward, and the cylindrical tube 10 can automatically inhale gas through the circular hole 14 on the arc-shaped clamping plate 6 for storage, so as to facilitate the processing of the next workpiece.

[0053] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A transport robot comprising: An industrial robot (1) is fixedly connected to a main connecting plate (2), wherein three sets of three-claw clamping mechanisms (3) are fixedly mounted on the main connecting plate (2), characterized in that a lifting mechanism (4) is provided inside the main connecting plate (2), and the three-claw clamping mechanism (3) includes a fixing seat (301) fixedly mounted on the bottom of the main connecting plate (2), and further includes: A bidirectional screw (5) is rotatably connected to the fixing seat (301), two threaded plates (15) are symmetrically threaded on the bidirectional screw (5), guide groove plates (16) corresponding to the threaded plates (15) are fixedly connected on both sides of the fixing seat (301), and arc-shaped clamping plates (6) are fixedly connected to the bottoms of the two threaded plates (15), a driving component (7) is provided between the lifting mechanism (4) and the main connecting plate (2), and an adaptive component (8) is provided between the driving component (7) and the bidirectional screw (5); The driving assembly (7) comprises a support rod (701) rotatably connected to one side of the lifting rod (401); a fixed pulley (703) is fixedly connected to the inside of the main connecting plate (2); a pull rope (704) is slidably provided on the fixed pulley (703); a second gear (705) is fixedly connected to the support rod (701); one end of the pull rope (704) is fixedly connected to a second rack (706) meshing with the second gear (705); the other end of the pull rope (704) is fixedly connected to the lifting rod ( 401) is fixedly connected, one side of the second rack (706) is fixedly connected to a guide plate (707), a vertical groove is provided on the inner wall of the main connecting plate (2), a vertical rod (708) is fixedly connected in the vertical groove of the main connecting plate (2), the guide plate (707) is slidably connected to the vertical rod (708), a second spring (709) is sleeved on the vertical rod (708), and the two ends of the second spring (709) are respectively against the guide plate (707) and the vertical groove of the main connecting plate (2); The fixing seat (301) is provided with a notch, and the adaptive component (8) includes a sleeve (801) rotatably connected to the notch of the fixing seat (301), and a synchronous belt (702) is connected between the sleeve (801) and the support rod (701). The adaptive component (8) further comprises a plurality of drive plates (802) hinged on the inner wall of the sleeve (801), a torsion spring (803) being fixedly connected between each of the drive plates (802) and the sleeve (801), the torsion force of the torsion spring (803) being greater than the elastic force of the second spring (709), a plurality of baffles (804) being fixedly connected to the inner wall of the sleeve (801), the sleeve (801) being sleeved on the outside of the bidirectional screw (5), and a plurality of driven plates (805) being fixedly connected around the outer wall of the bidirectional screw (5).

2. A transport robot according to claim 1, characterized in that: The lifting mechanism (4) includes a lifting rod (401) slidably connected to the main connecting plate (2), and the three sets of three-claw clamping mechanisms (3) are respectively fixedly mounted on the bottom of the lifting rod (401) and on both sides of the main connecting plate (2). The three-claw clamping mechanism (3) also includes a cylinder (302) fixedly mounted on the fixing seat (301).

3. A transport robot according to claim 2, characterized in that: The output end of the cylinder (302) is fixedly connected to a mounting plate (303), a first rack (304) is fixedly connected to the mounting plate (303), a first gear (305) meshing with the first rack (304) is rotatably connected to the fixing seat (301), and a rotating disk (306) is fixedly connected to the first gear (305).

4. A transport robot according to claim 3, characterized in that: The turntable (306) is provided with three arc-shaped holes (307), each of which is slidably connected to a slide rod (308), the fixed seat (301) is fixedly connected to three rectangular slot plates (309), each of which is fixedly connected to a guide rod (310), the guide rod (310) is slidably connected to a slide plate (311), and each of the guide rods (310) is sleeved with a first spring (312).

5. A transport robot according to claim 4, characterized in that: The two ends of the first spring (312) are respectively against the rectangular slot plate (309) and the slide plate (311); the bottom of each slide plate (311) is fixedly connected to an L-shaped plate (313); each L-shaped plate (313) is respectively fixedly connected to each slide rod (308); and each L-shaped plate (313) is fixedly connected to a clamping plate (314).

6. A transport robot according to claim 2, characterized in that: The lifting mechanism (4) further comprises a servo motor (402) fixedly mounted on the top of the main connecting plate (2); an output end of the servo motor (402) is fixedly connected to a lifting screw (403); the lifting rod (401) is threadedly connected to the lifting screw (403); extension plates (404) are fixedly connected to both sides of the lifting rod (401); and sliding grooves corresponding to the extension plates (404) are provided on both side walls of the main connecting plate (2).

7. A transport robot according to claim 6, characterized in that: A rectangular plate (9) is fixedly connected to one side of the guide plate (707), two cylindrical tubes (10) are fixedly connected to the top wall of the main connecting plate (2), pistons (11) are slidably connected in the two cylindrical tubes (10), push rods (12) are fixedly connected between the two pistons (11) and the rectangular plate (9), connecting pipes (13) are fixedly connected between the two cylindrical tubes (10) and the two arc-shaped clamping plates (6), cavities are opened in the two arc-shaped clamping plates (6), and multiple circular holes (14) are opened on the two arc-shaped clamping plates (6).

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