Plane transfer robot

Abstract

The invention relates to the technical field of stacking equipment, in particular to a plane transfer robot which comprises a truss, a transverse moving driving device, a bearing frame arranged on the truss in a sliding mode, a mechanical hook hand device arranged on the bearing frame and a lifting device. The truss is arranged on the two guide rails in a sliding mode, a feeding area for materials to be hooked is arranged at one ends of the guide rails, a stacking area for stacking the materials is arranged at the other ends of the guide rails, and the transverse movement driving device is used for driving the truss to move back and forth between the feeding area and the stacking area. The mechanical hooking hand device comprises at least one set of rotary driving module, a transmission module and a plurality of mechanical hooking hands. A plurality of mechanical hooks are arranged at the lower ends of the two sides of the bearing frame in the length direction in a protruding mode at intervals. Each rotation driving module is connected with the multiple transmission modules, each transmission module is connected with the multiple mechanical hooks, the rotation driving modules are used for synchronously driving the multiple corresponding mechanical hooks to rotate by a set angle so as to hook materials, the adjusting precision is high, the linkage performance is higher, and the cost is low.

Description

Technical Field

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

[0002] Materials are stacked, and the production line transports the materials to the transfer platform of the planar transfer equipment. The planar transfer equipment needs to transfer and stack the materials and the materials therein to the discharging area. Multiple mechanical grippers are provided on the truss of the existing planar transfer equipment, and the up-and-down movement of the truss transports the mechanical grippers to the material position for gripping operations. The existing mechanical grippers are all driven by a single motor independently for operation, with poor overall linkage effect, high cost, and more occupied space. Summary of the Invention

[0003] In order to solve the technical defects mentioned in the above background art, the purpose of the present invention is to provide a planar handling robot.

[0004] In order to achieve the above purpose, the present invention adopts the following technical solutions:

[0005] A planar handling robot, which includes a truss, a transverse movement driving device, a load-bearing frame slidably arranged on the truss, a mechanical gripper device arranged on the load-bearing frame, and a lifting device for driving the load-bearing frame to lift and lower; the truss is slidably arranged on two guide rails, one end of the guide rail is provided with a feeding area for materials to be gripped, the other end of the guide rail is provided with a stacking area for stacking materials, and the transverse movement driving device is used to drive the truss to move back and forth between the feeding area and the stacking area; the mechanical gripper device includes at least one set of rotation driving modules, transmission modules, and multiple mechanical grippers; multiple mechanical grippers are protruded and spaced at the lower ends of both sides of the load-bearing frame along the length direction; each set of rotation driving modules is connected to multiple transmission modules, each set of transmission modules is connected to multiple mechanical grippers, and the rotation driving module is used to synchronously drive the corresponding multiple mechanical grippers to rotate by a set angle to grip materials.

[0006] By adopting the above technical solution, the truss slides on two guide rails through a transverse movement driving device to reciprocate between the feeding area and the stacking area. At least one set of rotation driving modules is arranged on the load-bearing frame, and multiple sets of mechanical grippers are arranged at the lower end of the load-bearing frame. The rotation driving module can drive multiple mechanical grippers to synchronously rotate by a set angle to grab materials. The lifting device drives the load-bearing frame to drive the mechanical gripper device thereon to synchronously descend to a set position, and the rotation driving module drives multiple sets of mechanical grippers to synchronously rotate and grab the materials in the feeding area. Among them, the mechanical grippers on both sides of the load-bearing frame rotate in opposite directions. After the mechanical grippers rotate in place, the lifting device drives the load-bearing frame to rise and lift the materials, the transverse movement driving device drives the truss to move to the stacking position, the lifting device drives the load-bearing frame to descend by a set height, and the rotation driving module can drive multiple mechanical grippers to synchronously rotate in the opposite direction by a set angle to release and drop the materials. One set of rotation driving modules can simultaneously control the rotation of multiple mechanical grippers, with high adjustment accuracy, stronger linkage, and lower cost. Moreover, the rotatable mechanical grippers can reasonably utilize the space, reduce the required working space, make the stacking area more densely stacked, improve the space utilization efficiency and the number of stacks, and save costs.

[0007] Further, the rotation driving module includes a rotation motor and a lead screw. The output shaft of the rotation motor is in transmission connection with the lead screw to drive the lead screw to rotate. A set of the transmission modules is arranged at both ends of the lead screw, and the two sets of the transmission modules are symmetrically arranged along the center of the lead screw. The transmission module includes a push-pull unit and multiple strip teeth. One end of the push-pull unit is in threaded connection with one end of the lead screw, and multiple strip teeth are arranged at intervals along the length direction of the lead screw on both sides of the other end of the push-pull unit. The length directions of the multiple strip teeth are the same as the length direction of the lead screw. Each strip tooth is correspondingly meshed with a mechanical gripper, and the multiple strip teeth are all located in the area enclosed by the multiple mechanical grippers, which is convenient for synchronously driving the mechanical grippers on both sides to rotate towards each other and be at the material grabbing position, with higher working efficiency. The rotation angle of the mechanical gripper can be controlled according to the movement stroke of the strip teeth, with high control accuracy.

[0008] Further, the push-pull unit includes a push-pull plate, a first pull rod, a second pull rod, and multiple connecting seats. The push-pull plate, the first pull rod, and the second pull rod enclose a U-shaped structure. The push-pull plate is in threaded connection with the lead screw, and the horizontal direction of the push-pull plate is perpendicular to the length direction of the lead screw. The push-pull fixed structure is simple and occupies less space, and can simultaneously control the mechanical grippers on both sides to rotate in the opposite direction synchronously. One end of the push-pull plate is connected with the first pull rod, and the other end of the push-pull plate is connected with the second pull rod. At least one connecting seat is fixedly connected to each of the first pull rod and the second pull rod, and each connecting seat is fixedly connected with a strip tooth, which is more convenient for assembly.

[0009] Furthermore, the mechanical hook includes a rotating rod, a fixed sleeve sequentially arranged at one end of the rotating rod, and a hook claw. The rotating rod includes a rod body and a connecting head; the fixed sleeve is fixedly connected to one end of the rod body, and the circumferential side of the fixed sleeve abuts against the material to be hooked. One end of the hook claw is fixedly connected to one end of the rod body, and the other end of the hook claw protrudes from the fixed sleeve. The central axis of the fixed sleeve is arranged in an L shape with the length direction of the hook claw. The other end of the rod body is fixedly connected with the connecting head, and the connecting head is meshed with the strip teeth to drive the rod body, the fixed sleeve, and the hook claw to rotate by a set angle, reasonably utilizing the space, reducing the required working space, making the stacking area more densely stacked, improving the space utilization efficiency and the stacking quantity, and saving costs.

[0010] Furthermore, the distances from the circumferential side of the fixed sleeve to the center of the rod body are differently set; when the hook claw hooks the material, the distance between the circumferential side of the fixed sleeve and the material is the smallest, which can further reduce the movable space of the material, thereby reducing the shaking amplitude and misalignment distance of the material during the transfer process, and improving the stacking accuracy and efficiency.

[0011] Furthermore, the mechanical hook device further includes a plurality of limit electro-eyes. One limit electro-eye is arranged at each end of each strip tooth, and the distance between the two limit electro-eyes is less than or equal to the movement distance of the strip tooth to drive the mechanical hook to rotate to the set position. When the strip tooth and the corresponding mechanical hook are in the initial state, the strip tooth is inductively connected to one of the corresponding limit electro-eyes. When the mechanical hook rotates to the set position, the strip tooth is inductively connected to the two corresponding limit electro-eyes, which can monitor the working state of the mechanical hook in real time, improving safety and working efficiency.

[0012] Further, the planar handling robot further includes a safety detection device for the lifting movement of the load-bearing frame. The safety detection device includes at least two sets of material detection modules, and at least one set of the material detection modules is provided on each side of the load-bearing frame. The material detection module includes a mounting seat, a first electric eye, a second electric eye, a third electric eye, and a fourth electric eye that are communicatively connected to the control system. The mounting seat is fixed to the lower side of the load-bearing frame. The monitoring directions of the first electric eye and the second electric eye are vertically downward and are spaced along the width direction of the load-bearing frame on the mounting seat. The first electric eye is located above the material to be hooked. The second electric eye is provided outside the load-bearing frame for detecting whether there is material below the mechanical gripper. The monitoring directions of the third electric eye and the fourth electric eye are horizontally oriented toward the side of the material to be grabbed and are spaced along the height direction of the load-bearing frame on the mounting seat. The third electric eye is located above the fourth electric eye. When the first electric eye and the third electric eye detect the material, the material is placed in place; when the second electric eye or the fourth electric eye detects the material, the control system alarms. The material detection module has a simple structure and low cost, and can significantly improve the safety of the load-bearing frame when descending to pick up materials and the accuracy of material hooking, thereby improving the working efficiency of material transfer and stacking.

[0013] Further, the safety detection device further includes two sets of rotation detection modules for detecting the rotation space of the mechanical gripper, and one set of the rotation detection modules is provided on each side of the load-bearing frame. The rotation detection module includes two fixed columns and two photoelectric sensors. One of the fixed columns protrudes downward at both ends of the same side of the load-bearing frame, and each of the fixed columns is connected to a photoelectric sensor at the end away from the load-bearing frame. The two photoelectric sensors on the same side of the load-bearing frame are arranged to irradiate each other, and based on the signal on-off between the two photoelectric sensors, it is determined whether the mechanical gripper rotates and resets. When the communication between the two photoelectric sensors is interrupted, it indicates that there is an obstacle on the path of the mechanical gripper rotating and resetting outward, ensuring the safety of the operation of the mechanical gripper and improving the efficiency of transfer and stacking.

[0014] Furthermore, the planar handling robot further includes several sets of longitudinal positioning devices. At least one set of the longitudinal positioning devices is disposed on each side of the truss. The longitudinal positioning device includes a limit mounting strip, several longitudinal monitoring photoelectric eyes, and an induction sheet. The limit mounting strip is fixedly arranged on the steel column of the corresponding truss longitudinally. A plurality of mounting grooves for mounting the longitudinal monitoring photoelectric eyes are arranged at intervals along the length direction of the limit mounting strip. At least one longitudinal monitoring photoelectric eye is arranged on each limit mounting strip. The height of each longitudinal monitoring photoelectric eye corresponds to the height at which the load-bearing frame descends to pick up materials or the height of the material stack. At least one induction sheet is correspondingly arranged at the two ends of the load-bearing frame. The corresponding longitudinal monitoring photoelectric eye is communicatively connected to the induction sheet to determine the lifting position of the load-bearing frame. The structure is simple, the installation and disassembly are convenient, the service life is long, the cost is low, and the control accuracy of the planar handling robot and the working efficiency of handling and stacking are also improved.

[0015] Furthermore, the planar handling robot further includes a lateral positioning device. The lateral positioning device includes a laser emitter and a reflector. The laser emitter is arranged on one end face of the truss located in the feeding area, and the reflector is placed on one side of the laser emitter. A reflecting plate is arranged on the reflector. The laser of the laser emitter irradiates on the reflecting plate to obtain the distance from the laser emitter to the reflecting plate, so that the displacement of the truss walking can be accurately controlled to accurately move to the feeding area and the stacking area, and the efficiency of transfer and stacking is improved.

[0016] In summary, the beneficial effects of the present invention are as follows:

[0017] The truss of the present invention slides on two guide rails through a transverse movement driving device to reciprocate between the feeding area and the stacking area. At least one set of rotary driving modules is arranged on the load-bearing frame. A plurality of mechanical hooks are arranged at the lower end of the load-bearing frame. The rotary driving module can drive a plurality of mechanical hooks to synchronously rotate by a set angle to pick up materials. The lifting device drives the load-bearing frame to drive the mechanical hook device thereon to synchronously descend to a set position. The rotary driving module drives a plurality of mechanical hooks to synchronously rotate and pick up the materials in the feeding area. Among them, the mechanical hooks on both sides of the load-bearing frame rotate in opposite directions. After the mechanical hooks rotate in place, the lifting device drives the load-bearing frame to rise and lift the materials. The transverse movement driving device drives the truss to move to the stacking position. The lifting device drives the load-bearing frame to descend by a set height. The rotary driving module can drive a plurality of mechanical hooks to synchronously rotate in the reverse direction by a set angle to release and drop the materials. One set of rotary driving modules can simultaneously control the rotation of a plurality of mechanical hooks, with high adjustment accuracy, stronger linkage, and lower cost. Moreover, the rotatable mechanical hooks can reasonably utilize the space, reduce the required working space, make the stacking area more densely stacked, improve the space utilization efficiency and the stacking quantity, and save costs. Description of the Drawings

[0018] Figure 1 It is a schematic diagram of the usage state structure of an embodiment of the planar handling robot of the present invention.

[0019] Figure 2 It is a schematic diagram of the structure of an embodiment of the planar handling robot of the present invention.

[0020] Figure 3 It is a schematic diagram of the structure of an embodiment of the mechanical hook device of the present invention.

[0021] Figure 4 It is Figure 3 An enlarged schematic diagram of the D structure in

[0022] Figure 5 It is a schematic diagram of the structure of an embodiment of the transmission module of the present invention.

[0023] Figure 6 It is a schematic diagram of the structure of an embodiment of the mechanical hook of the present invention.

[0024] Figure 7 It is an exploded schematic diagram of the structure of an embodiment of the mechanical hook of the present invention.

[0025] Figure 8 It is Figure 1 An enlarged schematic diagram of the E structure in

[0026] Figure 9 It is a schematic diagram of the structure of an embodiment of the safety detection device of the present invention.

[0027] Figure 10 It is Figure 9 An enlarged schematic diagram of the F structure in

[0028] Figure 11 It is a schematic diagram of the structure of another perspective of an embodiment of the safety detection device of the present invention.

[0029] Figure 12 It is a schematic diagram of the structure of an embodiment of the material detection module of the present invention.

[0030] Figure 13 It is a schematic diagram of the structure of an embodiment of the limit mounting strip of the present invention.

[0031] Figure 14 It is a schematic diagram of the installation structure of an embodiment on one side of the truss of the present invention.

[0032] Figure 15 It is Figure 14 An enlarged schematic diagram of the C structure in

[0033] Figure 16It is a schematic diagram of the installation structure of an embodiment of the second encoder of the present invention.

[0034] Figure 17 It is Figure 1 an enlarged schematic diagram of structure A in

[0035] Figure 18 It is Figure 1 an enlarged schematic diagram of structure B in

[0036] Explanation of the reference numerals in the figure:

[0037] 1. Planar handling robot; 2. Truss; 21. Steel column; 22. Support foot; 3. Crosswise driving device; 4. Load-bearing frame; 5. Mechanical gripper device; 51. Rotation driving module; 511. Rotation motor; 512. Lead screw; 513. Reducer; 514. Bearing seat; 515. Adjusting screw; 52. Transmission module; 5211. Push-pull plate; 5212. First pull rod; 5213. Second pull rod; 5214. Connecting seat; 522. Rack; 523. Slide rail; 53. Mechanical gripper; 531. Rotating rod; 5311. Rod main body; 5312. Connecting head; 5313. First groove; 532. Fixed sleeve; 5321. Second groove; 533. Claw; 5331. Fixed part; 5332. Supporting part; 5333. Third groove; 5334. Weight-reducing groove; 534. Fixed seat; 535. Bearing block; 536. Rotating gear; 537. Gasket; 538. Fixed bolt; 54. Limit photoelectric eye; 6. Lifting device; 7. Safety detection device; 71. Material detection module; 711. Mounting seat; 7111. Adjusting hole; 712. First photoelectric eye; 713. Second photoelectric eye; 714. Third photoelectric eye; 715. Fourth photoelectric eye; 716. Fifth photoelectric eye; 72. Rotation detection module; 721. Fixed column; 722. Photoelectric sensor; 723. Brake photoelectric eye; 724. First clamping rod; 725. Second clamping rod; 8. Longitudinal positioning device; 81. Limit mounting strip; 811. Mounting groove; 82. Longitudinal monitoring photoelectric eye; 83. Inductive sheet; 84. Top limit switch; 85. Bottom limit switch; 86. Limit plate; 87. Second encoder; 9. Transverse positioning device; 91. Laser emitter; 92. Reflecting frame; 921. Reflective plate; 93. Information calibrator; 931. Reflective sheet; 94. Mirror reflection photoelectric sensor; 95. First optical communicator; 96. Second optical communicator; 97. Radar sensor; 98. Connecting plate; 99. Travel switch; 10. Counterweight device; 101. Counterweight block; 102. Tractive hinge; 103. Guide wheel seat; 104. Guide gear; 11. Guide rail; 12. Material; 121. Inductive plate. Detailed implementation manners

[0038] 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 belong to the scope of protection of the present invention.

[0039] Those skilled in the art should understand that in the disclosure of the present invention, the orientation or positional relationships indicated by the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationships shown in the accompanying drawings. It is 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 orientation, be constructed and operated in a specific orientation. Therefore, the above terms should not be construed as limiting the present invention.

[0040] In the description of the present invention, if there are descriptions with words such as "a number of", its meaning is one or more, and the meaning of multiple is two or more. Understandings such as greater than, less than, exceeding, etc. do not include the present number, and understandings such as above, below, within, etc. include the present number. If there are descriptions of first, second, third, etc., they are only for the purpose of distinguishing technical features and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or implicitly indicating the sequence relationship of the indicated technical features.

[0041] The following will further elaborate on the embodiments of the present invention in conjunction with the attached Figure 1 - 18 drawings.

[0042] The planar handling robot 1, as Figure 1 , Figure 2 , Figure 3 shown, includes a truss 2, a transverse movement driving device 3, a load-bearing frame 4 slidably arranged on the truss 2, a mechanical hook device 5 arranged on the load-bearing frame 4, and a lifting device 6 for driving the load-bearing frame 4 to lift. The truss 2 is slidably arranged on two guide rails 11. One end of the guide rail 11 is provided with a feeding area for the material 12 to be hooked, and the other end of the guide rail 11 is provided with a stacking area for stacking the material 12. The transverse movement driving device 3 is used to drive the truss 2 to move back and forth between the feeding area and the stacking area. The mechanical hook device 5 includes at least one set of rotary driving modules 51, transmission modules 52, and a plurality of mechanical hooks 53. A plurality of mechanical hooks 53 are protruded and spaced at the lower ends of both sides of the load-bearing frame 4 along the length direction. Each set of rotary driving modules 51 is connected to a plurality of transmission modules 52, and each set of transmission modules 52 is connected to a plurality of mechanical hooks 53. The rotary driving module 51 is used to synchronously drive the corresponding plurality of mechanical hooks 53 to rotate by a set angle to hook the material 12.

[0043] Among them, the truss 2 slides on two guide rails 11 through a transverse movement driving device 3 to reciprocate between the feeding area and the stacking area. At least one set of rotary driving modules 51 is arranged on the load-bearing frame 4, and multiple sets of mechanical grippers 53 are arranged at the lower end of the load-bearing frame 4. The rotary driving module 51 can drive multiple mechanical grippers 53 to synchronously rotate by a set angle to grab the material 12. The lifting device 6 drives the load-bearing frame 4 to drive the mechanical gripper device 5 thereon to synchronously descend to a set position, and the rotary driving module 51 drives multiple sets of mechanical grippers 53 to synchronously rotate and grab the material 12 in the feeding area. Among them, the mechanical grippers 53 on both sides of the load-bearing frame 4 rotate in opposite directions. After the mechanical gripper 53 rotates in place, the lifting device 6 drives the load-bearing frame 4 to rise and lift the material 12, the transverse movement driving device 3 drives the truss 2 to move to the stacking position, the lifting device 6 drives the load-bearing frame 4 to descend by a set height, and the rotary driving module 51 can drive multiple mechanical grippers 53 to synchronously rotate in the reverse direction by a set angle to release and drop the material 12. One set of rotary driving module 51 can simultaneously control the rotation of multiple mechanical grippers 53, with high adjustment accuracy, stronger linkage, and lower cost. Moreover, the rotatable mechanical gripper 53 can reasonably utilize the space, reduce the required working space, make the stacking area more densely stacked, improve the space utilization efficiency and the stacking quantity, and save costs.

[0044] In some embodiments, please refer to Figure 3 , Figure 4 , Figure 5 , the rotary driving module 51 includes a rotary motor 511 and a lead screw 512. The output shaft of the rotary motor 511 is in transmission connection with the lead screw 512 to drive the lead screw 512 to rotate. A set of transmission modules 52 are arranged at both ends of the lead screw 512, and the two sets of transmission modules 52 are symmetrically arranged along the center of the lead screw 512. The transmission module 52 includes a push-pull unit and multiple strip teeth 522. One end of the push-pull unit is in threaded connection with one end of the lead screw 512, and multiple strip teeth 522 are arranged at intervals along the length direction of the lead screw 512 on both sides of the other end of the push-pull unit. The length direction of the multiple strip teeth 522 is the same as the length direction of the lead screw 512. Each strip tooth 522 is correspondingly meshed with a mechanical gripper 53, and the multiple strip teeth 522 are all located within the area enclosed by the multiple mechanical grippers 53, which is convenient for synchronously driving the mechanical grippers 53 on both sides to rotate towards each other and be at the grabbing position of the material 12, with higher working efficiency. The rotation angle of the mechanical gripper 53 can be controlled according to the movement stroke of the strip teeth 522, and the control accuracy is high.

[0045] The rotating motor 511 drives the lead screw 512 to rotate. The forward and reverse rotations of the lead screw 512 can drive the two transmission modules to approach or move away from each other. When the lead screw 512 rotates forward, the two transmission modules 52 approach each other, and multiple strip teeth 522 all move towards the direction of the lead screw 512. During the movement of the strip teeth 522, the mechanical hook 53 can be driven to rotate. Since multiple strip teeth 522 are all located within the area surrounded by multiple mechanical hooks 53, it is convenient to synchronously drive the mechanical hooks 53 on both sides to rotate towards each other and be at the position for picking up the material 12, with higher working efficiency. When the lead screw 512 rotates in reverse, the two transmission modules 52 move away from each other, and multiple strip teeth 522 all move away from the direction of the lead screw 512. During the movement of the strip teeth 522, the mechanical hook 53 can be driven to rotate in the reverse direction, so that the mechanical hook 53 is disengaged from the material 12. The rotation angle of the mechanical hook 53 can be controlled according to the movement stroke of the strip teeth 522, with high control precision.

[0046] In some embodiments, please refer to Figure 3 、 Figure 5 that the pushing and pulling unit includes a pushing and pulling plate 5211, a first pull rod 5212, a second pull rod 5213 and multiple connecting seats 5214. The pushing and pulling plate 5211, the first pull rod 5212 and the second pull rod 5213 enclose a U-shaped structure. The pushing and pulling plate 5211 is threadedly connected to the lead screw 512, and the horizontal direction of the pushing and pulling plate 5211 is perpendicular to the length direction of the lead screw 512. The pushing and pulling fixed structure is simple and occupies less space, and can simultaneously control the mechanical hooks 53 on both sides to rotate synchronously in the reverse direction. One end of the pushing and pulling plate 5211 is connected to the first pull rod 5212, and the other end of the pushing and pulling plate 5211 is connected to the second pull rod 5213. At least one connecting seat 5214 is fixedly connected to each of the first pull rod 5212 and the second pull rod 5213, and each connecting seat 5214 is fixedly connected to a strip tooth 522, which is more convenient for assembly.

[0047] In some embodiments, please refer to Figure 4 、 Figure 6 、 Figure 7 that the mechanical hook 53 includes a rotating rod 531, a fixed sleeve 532 and a hook claw 533 arranged in sequence at one end of the rotating rod 531. The rotating rod 531 includes a rod main body 5311 and a connecting head 5312. The fixed sleeve 532 is fixedly connected to one end of the rod main body 5311, and the circumferential side of the fixed sleeve 532 abuts against the picked material 12. One end of the hook claw 533 is fixedly connected to one end of the rod main body 5311, and the other end of the hook claw 533 protrudes from the fixed sleeve 532. The central axis of the fixed sleeve 532 and the length direction of the hook claw 533 are arranged in an L shape. The other end of the rod main body 5311 is fixedly connected to the connecting head 5312, and the connecting head 5312 is meshed with the strip tooth 522 to drive the rod main body 5311, the fixed sleeve 532 and the hook claw 533 to rotate by a set angle.

[0048] The circumferential side of the fixed sleeve 532 abuts against the material 12, which can limit the shaking amplitude of the material 12 during transportation to improve the placement accuracy. The position where the claw 533 protrudes from the fixed sleeve 532 is used to hook the material 12. During the process of picking up the material 12 below the claw 533 or moving the material 12 away after stacking is completed, the length direction of the claw 533 is arranged parallel to the length direction of the material 12. When the claw 533 is lowered to the set position, the strip teeth 522 drive the connecting head 5312 to drive the fixed sleeve 532 and the claw 533 to rotate by a set angle through the rod body 5311. After rotation, the claw 533 is exactly located at the hooking and fixing position of the material 12, making reasonable use of the space, reducing the required working space, enabling the stacking area to be stacked more densely, improving the space utilization efficiency and the stacking quantity, and saving costs.

[0049] Preferably, the distances from the circumferential side of the fixed sleeve 532 to the center of the rod body 5311 are set differently. When the claw 533 hooks the material 12, the distance between the circumferential side of the fixed sleeve 532 and the material 12 is the smallest, which can further reduce the movable space of the material 12, thereby reducing the shaking amplitude and misalignment distance of the material 12 during transportation and improving the stacking accuracy and efficiency.

[0050] Specifically, the fixed sleeve 532 is set as a cylindrical structure, and the fixed sleeve 532 is eccentrically arranged with the rotating rod 531. The structure is simple and the cost is low. Of course, the fixed sleeve 532 can also be set as an elliptical structure or other special-shaped structures.

[0051] During the specific rotation control process, in order to improve the transmission accuracy and control efficiency, the end face area of the connecting head 5312 connected to one end of the rod body 5311 is larger than the end face area of the other end of the connecting head 5312, and a screw hole is provided at the other end of the connecting head 5312. The rotating gear 536 is sleeved on the other end of the connecting head 5312, a rack is provided on the circumferential side of the rotating gear 536, and the rotating gear 536 is meshed and connected with the strip teeth 522. The gasket 537 is in close contact with the rotating gear 536, and the fixing bolt 538 is threadedly connected into the screw hole to fix the gasket 537, the rotating gear 536 and the connecting head 5312. The gear structure drives more stably, is convenient for controlling the accuracy of the rotation angle, stops immediately when needed, and has higher safety performance.

[0052] Please refer to Figure 7 , a bearing block 535 is provided in the middle of the fixed seat 534, and the other end of the rod body 5311 passes through the bearing block 535 and is connected to the connecting head 5312. The installation and disassembly are convenient and the rotation stability is better. Among them, the claw 533 is located on the side of the fixed seat 534 close to the material 12, which is convenient for the claw 533 to extend after rotation and has enough hooking and bearing space, and the grasping is more stable.

[0053] Please refer to Figure 6, Figure 7 , above the fixed seat 534 and on one side of the rotating gear 536, a slide rail 523 is provided. The length direction of the slide rail 523 is the same as the length direction of the strip teeth 522. On the side of the connecting plate 98 facing away from the strip teeth 522, a slider is provided. The slider is slidably arranged on the slide rail 523, which improves the running accuracy and stability of the strip teeth 522, thereby ensuring that the rotation angle of the mechanical hook 53 is controllable.

[0054] Preferably, the length of the strip teeth 522 is greater than or equal to half of the circumference of the rotating gear 536, which can ensure that the rotation angle that the mechanical hook 53 can adjust is at least 90°, enabling a complete avoidance operation and saving costs.

[0055] In some embodiments, please refer to Figure 3 , the rotation drive module 51 further includes a speed reducer 513, two bearing seats 514 and two adjusting screws 515. The output shaft of the rotating motor 511 is fixedly connected to the speed reducer 513, and the lead screw 512 is arranged through the speed reducer 513. Both ends of the lead screw 512 are connected with an adjusting screw 515. One end of the adjusting screw 515 passes through the corresponding bearing seat 514 and is fixedly connected to the push-pull unit. The bearing seat 514 is fixed on the truss 2, and the adjusting screw 515 is connected to the bearing seat 514 by bearings. The structure is simple, the installation and disassembly are more convenient, and the cost is lower.

[0056] In some embodiments, please refer to Figure 1 , Figure 8 , the mechanical hook device 5 further includes a plurality of limit photoelectric eyes 54. One limit photoelectric eye 54 is provided at each end of each strip tooth 522. The distance between the two limit photoelectric eyes 54 is less than or equal to the movement distance of the strip teeth 522 to drive the mechanical hook 53 to rotate to the set position. When the strip teeth 522 and the corresponding mechanical hook 53 are in the initial state, the strip teeth 522 are inductively connected to one of the corresponding limit photoelectric eyes 54. When the mechanical hook 53 rotates to the set position, the strip teeth 522 are inductively connected to both of the corresponding limit photoelectric eyes 54, which can monitor the working state of the mechanical hook 53 in real time and improve safety and work efficiency.

[0057] When one of the limit photoelectric eyes 54 does not detect the strip teeth 522, it means that the mechanical hook 53 is stuck and has not rotated in place, or the mechanical hook 53 has rotated excessively, resulting in the initial limit photoelectric eye 54 not detecting the strip teeth 522. Therefore, the indicator light of the limit photoelectric eye 54 goes out and gives an alarm prompt.

[0058] In some embodiments, please refer to Figure 1 , Figure 9 , Figure 10 , Figure 11, the planar handling robot 1 further includes a safety detection device 7 for the lifting movement of the load-bearing frame 4. The safety detection device 7 includes at least two sets of material detection modules 71, and at least one set of material detection modules 71 is provided on both sides of the load-bearing frame 4. The material detection module 71 includes a mounting base 711, a first photoelectric eye 712, a second photoelectric eye 713, a third photoelectric eye 714, and a fourth photoelectric eye 715 that are communicatively connected to the control system. The mounting base 711 is fixed to the lower side of the load-bearing frame 4. The monitoring directions of the first photoelectric eye 712 and the second photoelectric eye 713 are vertically downward and are spaced along the width direction of the load-bearing frame 4 on the mounting base 711. The first photoelectric eye 712 is located above the material 12 to be hooked. The second photoelectric eye 713 is provided outside the load-bearing frame 4 for detecting whether there is a material 12 below the mechanical gripper 53. The monitoring directions of the third photoelectric eye 714 and the fourth photoelectric eye 715 are horizontally directed towards the side of the material 12 to be grabbed and are spaced along the height direction of the load-bearing frame 4 on the mounting base 711. The third photoelectric eye 714 is located above the fourth photoelectric eye 715. When the first photoelectric eye 712 and the third photoelectric eye 714 detect the material 12, the material 12 is placed in place. When the second photoelectric eye 713 or the fourth photoelectric eye 715 detects the material 12, the control system gives an alarm. The material detection module 71 has a simple structure and low cost, and can significantly improve the safety of the load-bearing frame 4 when descending to pick up materials and the accuracy of hooking the material 12, thereby improving the working efficiency of material 12 transfer and stacking.

[0059] The first photoelectric eye 712 is located above the material 12 and can monitor in real time whether the material 12 to be hooked is placed in place. The second photoelectric eye 713 is located outside the material 12 to ensure that there are no obstacles on the path of the load-bearing frame 4 and the mechanical gripper 53 when descending to pick up materials. When the first photoelectric eye 712 detects the material 12 and the second photoelectric eye 713 does not detect the material 12, it means that the material 12 is placed in place, and the control system controls the load-bearing frame 4 to descend to pick up materials. The third photoelectric eye 714 is used to judge whether the load-bearing frame 4 has descended in place. When the third photoelectric eye 714 detects the material 12 and the fourth photoelectric eye 715 does not detect the material 12, it means that the load-bearing frame 4 has been lowered in place, and the mechanical gripper 53 can be controlled to rotate to hook the material 12. When any one of the second photoelectric eye 713 and the fourth photoelectric eye 715 detects the material 12, the control system gives an alarm and the operator eliminates the fault.

[0060] The horizontal distance from the second photoelectric eye 713 to the side of the load-bearing frame 4 is greater than or equal to the horizontal distance from the mechanical gripper 53 to the side of the load-bearing frame 4, which can ensure that there is no material 12 below the mechanical gripper 53 and improve the safety of the mechanical gripper 53. Specifically, the second photoelectric eye 713 can be arranged flush with the outer side surface of the mechanical gripper 53, which is convenient for monitoring whether there is a material 12 below the mechanical gripper 53 and preventing the load-bearing frame 4 from pressing on the material 12 during the descending process, which is beneficial to protecting the equipment. When the second photoelectric eye 713 detects the material 12, the load-bearing frame 4 stops descending, and the control system gives an alarm prompt.

[0061] In some embodiments, please refer to Figure 10 , Figure 11 , Figure 12 , the material detection module 71 further includes a fifth photoelectric eye 716. The monitoring direction of the fifth photoelectric eye 716 is set vertically downward. The fifth photoelectric eye 716 is located between the first photoelectric eye 712 and the second photoelectric eye 713, and the horizontal distance between the fifth photoelectric eye 716 and the side of the load-bearing frame 4 is less than the horizontal distance between the mechanical hook 53 and the side of the load-bearing frame 4. When the fifth photoelectric eye 716 detects the material 12, the mechanical hook 53 stops rotating, and the control system gives an alarm. The fifth photoelectric eye 716 is used to detect the distance between the mechanical hook 53 and the side of the material 12, so as to ensure that the side of the material 12 will not be scratched after the cam of the mechanical hook 53 rotates, improve safety, and can also effectively protect the structure of the mechanical hook 53 and extend its service life.

[0062] In some embodiments, please refer to Figure 10 , Figure 11 , the safety detection device 7 further includes two sets of rotation detection modules 72 for detecting the rotation space of the mechanical hook 53. One set of rotation detection modules 72 is provided on both sides of the load-bearing frame 4. The rotation detection module 72 includes two fixed columns 721 and two photoelectric sensors 722. One fixed column 721 protrudes downward at both ends of the same side of the load-bearing frame 4. One photoelectric sensor 722 is connected to the end of each fixed column 721 away from the load-bearing frame 4. The two photoelectric sensors 722 on the same side of the load-bearing frame 4 are arranged to irradiate each other, and based on the signal on-off between the two photoelectric sensors 722 to determine whether the mechanical hook 53 rotates and resets. When the communication between the two photoelectric sensors 722 is interrupted, it means that there is an obstacle on the path of the mechanical hook 53 rotating and resetting outward, ensuring the safety of the operation of the mechanical hook 53 and improving the efficiency of transfer and stacking.

[0063] Please refer to Figure 10 , Figure 11 , at least one end of the end of the load-bearing frame 4 is provided with a braking photoelectric eye 723, and an induction plate 121 is arranged at the corresponding position of the material 12. When the braking photoelectric eye 723 is communicatively connected to the induction plate 121, it is used to control the descending position of the load-bearing frame 4, brake and decelerate in advance, improve the control accuracy of the descending stroke of the load-bearing frame 4, and make the operation smoother. Specifically, the braking photoelectric eye 723 is clamped and fixed on the fixed column 721 by a second clamping rod 725, and the length of the second clamping rod 725 is less than the length of the first clamping rod 724.

[0064] In some embodiments, please refer to Figure 1 , Figure 13 , Figure 14 , Figure 15, the planar handling robot 1 further includes several groups of longitudinal positioning devices 8. At least one group of longitudinal positioning devices 8 is provided on each side of the truss 2. The longitudinal positioning device 8 includes a limit mounting strip 81, several longitudinal monitoring electro-eyes 82, and an induction sheet 83. The limit mounting strip 81 is longitudinally fixed to the steel column 21 of the corresponding truss 2. A plurality of mounting grooves 811 for mounting the longitudinal monitoring electro-eyes 82 are arranged at intervals along the length direction of the limit mounting strip 81. At least one longitudinal monitoring electro-eye 82 is provided on each limit mounting strip 81. The height of each longitudinal monitoring electro-eye 82 corresponds to the height at which the load-bearing frame 4 descends to pick up the material 12 or the height of the stacking of the material 12. At least one induction sheet 83 is correspondingly provided at both ends of the load-bearing frame 4. The corresponding longitudinal monitoring electro-eye 82 is communicatively connected to the induction sheet 83 to determine the lifting position of the load-bearing frame 4. The structure is simple, the installation and disassembly are convenient, the service life is long, the cost is low, and the control accuracy of the planar handling robot 1 and the working efficiency of the handling and stacking are also improved.

[0065] Please refer to Figure 13 , the longitudinal positioning device 8 further includes a top limit switch 84, a bottom limit switch 85, and a limit plate 86. The top limit switch 84 is provided at the top of the limit mounting strip 81 for limiting the highest position to which the load-bearing frame 4 rises. The bottom limit switch 85 is provided below the limit mounting strip 81 for defining the lowest descending position of the load-bearing frame 4. At least one limit plate 86 is provided at the corresponding position of the end of the load-bearing frame 4. When the limit plate 86 is in contact connection with the top limit switch 84 or the bottom limit switch 85, the load-bearing frame 4 stops its lifting movement, improving safety.

[0066] The longitudinal positioning device 8 further includes a first encoder. The first encoder is provided on the output shaft of the lifting motor for driving the lifting movement of the load-bearing frame 4. The first encoder obtains the lifting position of the load-bearing frame 4 based on the rotation speed of the lifting motor, which can play a role in assisting in detecting the lifting movement stroke of the load-bearing frame 4, is beneficial to protecting the equipment, and improves the control accuracy and safety. Moreover, when the longitudinal monitoring electro-eye 82 fails, the control system can also control the lifting stroke of the load-bearing frame 4 according to the feedback result of the first encoder to ensure safety.

[0067] Please refer to Figure 16, counterweight devices 10 are provided at both ends of the load-bearing frame 4. The counterweight devices 10 include counterweight blocks 101, traction hinges 102, and multiple guide wheel seats 103. The counterweight blocks 101 are arranged on the side of the truss 2, and one end of the traction hinge 102 is connected to the counterweight block 101. Multiple guide wheel seats 103 are provided at the upper end of the truss 2, and guide gears 104 are arranged on the guide wheel seats 103. The other end of the traction hinge 102 is wound around multiple guide gears 104 in sequence and then bent and connected to the load-bearing frame 4. Multiple guide gears 104 are all meshed and connected with the traction hinge 102 to ensure the synchronous movement of the traction hinge 102 and the guide gears 104. The longitudinal positioning device 8 further includes a second encoder 87. The second encoder 87 is fixedly connected to one of the guide gears 104. The second encoder 87 obtains the descending or ascending distance of the traction hinge 102 based on the number of rotation turns of the guide gear 104 to determine the position of the load-bearing frame 4, which can play a role in assisting in detecting the lifting movement stroke of the load-bearing frame 4. With multiple protections, it is beneficial to protect the equipment, improve the control accuracy and safety.

[0068] When the load-bearing frame 4 is lowered in place, a material detector is further provided at the lower end of the load-bearing frame 4. The material detector is used to detect whether the material 12 in the feeding area is placed in place.

[0069] In some embodiments, please refer to Figure 1 , Figure 17 , Figure 18 , the planar handling robot 1 further includes a lateral positioning device 9. The lateral positioning device 9 includes a laser emitter 91 and a reflector 92. The laser emitter 91 is arranged on one end face of the truss 2 located in the feeding area, and the reflector 92 is placed on one side of the laser emitter 91. A reflector 921 is arranged on the reflector 92. The laser of the laser emitter 91 irradiates on the reflector 921 to obtain the distance from the laser emitter 91 to the reflector 921, so as to accurately control the displacement of the truss 2 to precisely move to the feeding area and the stacking area, improving the transfer and stacking efficiency.

[0070] Please refer to Figure 1 , Figure 18 , the lateral positioning device 9 further includes multiple information calibrators 93 and mirror reflection photoelectric sensors 94. The mirror reflection photoelectric sensors 94 protrude from one side of the truss 2, and the laser emission direction of the mirror reflection photoelectric sensors 94 is perpendicular to the length direction of the guide rail 11. Multiple information calibrators 93 are arranged at intervals along the length direction of the guide rail 11. The mirror reflection photoelectric sensors 94 cooperate with the reflector sheets 931 on the information calibrators 93 to obtain the position of the truss 2. By comparing the position of the truss 2 obtained by the mirror reflection photoelectric sensors 94 with the distance measured by the laser emitter 91, the ranging accuracy of the laser emitter 91 can be calibrated, which can improve the control accuracy and detect whether there are interfering objects between the laser emitter 91 and the reflector 921.

[0071] Specifically, when the planar handling robot 1 moves to the position of one of the information calibrators 93, the mirror-reflecting optoelectronic sensor 94 emits laser light to obtain the information of the set distance of the information calibrator 93. At this time, the laser emitter 91 emits laser light to measure the current distance between it and the reflector 921, and compares the current distance measured by the laser emitter 91 with the set distance of the information calibrator 93. If the difference between the two is within the threshold range, it indicates that the laser emitter 91 measures accurately, and the planar handling robot 1 can achieve accurate lateral positioning. If the difference between the two is outside the threshold range, it means that there is an interfering object between the laser emitter 91 and the reflector 921 or the measurement error is large, and the control system alarms, and the operator eliminates the fault manually.

[0072] Please refer to Figure 1 、 Figure 17 In addition, the lateral positioning device 9 further includes a first optical communicator 95 and a second optical communicator 96. The first optical communicator 95 is arranged on the truss 2, and the second optical communicator 96 is arranged at the upper end of the reflector 92. Wireless communication can be achieved between the first optical communicator 95 and the second optical communicator 96, which is convenient for the operator to remotely control the planar handling robot 1 and makes it more convenient to use.

[0073] In some embodiments, the lateral positioning device 9 includes a plurality of radar sensors 97. Two sets of support feet 22 sliding on the guide rail 11 are arranged at the lower end of the truss 2, and a radar sensor 97 is arranged at both ends of each support foot 22, which can monitor in real time whether there are obstacles during the lateral movement of the planar handling robot 1 and improve safety.

[0074] In some embodiments, please refer to Figure 15 In addition, the lateral positioning device 9 includes a plurality of connecting plates 98 and a plurality of travel switches 99. Two connecting plates 98 are arranged on the outer sides of both ends in the width direction of the truss 2, and one end of the connecting plate 98 is connected to the lower end of the truss 2. The other end of the connecting plate 98 protrudes and is fixedly connected with a travel switch 99. The travel switch 99 is used to sense the corresponding guide rail 11 to prevent the planar handling robot 1 from derailing and improve safety.

[0075] The working principle of the present planar handling robot 1 will be elaborated in detail below.

[0076] First, the plane handling robot 1 is located in the feeding area, and the lifting device 6 drives the load-bearing frame 4 to descend to pick up materials. During the descent and picking up process, the first electric eye 712, the second electric eye 713 and the fifth electric eye 716 cooperate to detect whether there is material 12 below the load-bearing frame 4. When there is material 12 below the first electric eye 712, and there is no material 12 below the second electric eye 713 and the fifth electric eye 716, it means that the material 12 to be grabbed is correctly placed in the feeding area, and the load-bearing frame 4 can descend to pick up materials. If the second electric eye 713 or the fifth electric eye 716 detects the material 12, it means that the material 12 is not accurately placed in the feeding area, and the control system alarms. After the material 12 is placed in the feeding area, the load-bearing frame 4 descends to pick up materials. During the descent and picking up process of the load-bearing frame 4, when the brake electric eye 723 detects the induction plate 121 at the end of the material 12, the control system controls the load-bearing frame 4 to decelerate and stop at the set height.

[0077] Specifically, the descending height of the load-bearing frame 4 is determined by the longitudinal monitoring electric eye 82, the first encoder, and the second encoder 87. When the corresponding longitudinal monitoring electric eye 82 detects the induction plate 121, the load-bearing frame 4 stops descending. A material 12 detector is also provided on the load-bearing frame 4, and the material detector can detect whether there is material 12 in the feeding area.

[0078] Second, before picking up the material 12, the third electric eye 714 detects the presence of the material 12, but the fourth electric eye 715 does not detect the material 12, indicating that the load-bearing frame 4 has dropped to the set position, and the control system controls the mechanical hook 53 to rotate and pick up the material 12. When the third electric eye 714 does not detect the material 12, but the fourth electric eye 715 detects the material 12, indicating that the descending position of the load-bearing frame 4 is inaccurate, the control system issues an alarm, and the fault is manually checked.

[0079] Third, when hooking the material 12, the rotating motor 511 starts to drive the screw rod 512 to rotate, and the screw rod 512 drives the adjusting screw rods 515 at both ends to rotate. Under the action of the adjusting screw rods 515, the corresponding push-pull units are driven to approach each other, and the bar teeth 522 also move toward the direction of the screw rod 512 under the action of the corresponding first pull rod 5212 or the second pull rod 5213. The bar teeth 522 drives the rotating gear 536 to rotate, so that the rod body drives the hook claw 533 to rotate toward one side of the material 12. At this time, the bearing part is located in the material 12, and the truss 2 rises to lift the material 12. Among them, since the rotating gears 536 of the mechanical hooks 53 on both sides are located on the opposite side of the corresponding bar teeth 522, when the bar teeth 522 on both sides move synchronously, the mechanical hooks 53 on both sides can be driven to rotate toward each other.

[0080] Fourth, the lifting device 6 drives the load-bearing frame 4 to be lifted to the set height. During the upward movement after the material 12 is hooked, if the third photoelectric eye 714 does not detect the material 12 and the fourth photoelectric eye 715 detects the material 12, it means that the mechanical gripper 53 fails to hook the material 12 or some of the grippers fail to hook the material 12. The control system gives an alarm prompt for manual troubleshooting.

[0081] Fifth, the transverse movement drive device 3 drives the truss 2 to move towards the stacking area. During the movement, the laser of the laser emitter 91 irradiates the reflector 921 to obtain the distance from the laser emitter 91 to the reflector 921. The laser emitter 91 can calibrate the measurement error in real time with a plurality of information calibrators 93 and the mirror reflection photoelectric sensor 94. The radar sensor 97 monitors in real time whether there are obstacles in front of the guide rail 11.

[0082] Sixth, when the truss 2 moves to the stacking position, the control system controls the corresponding longitudinal monitoring photoelectric eye 82 to monitor the descending position of the load-bearing frame 4 based on the stacking height. At the same time, when the second photoelectric eye 713 detects that there is no material 12 below, the load-bearing frame 4 can descend to stack the material 12. When the second photoelectric eye 713 detects that there is material 12 below, the load-bearing frame 4 stops descending, and the control system gives an alarm prompt for manual troubleshooting.

[0083] Seventh, stack the material 12. When the two photoelectric sensors 722 communicate normally during the transportation of the material 12 to the stacking position, it indicates that there are no obstacles within the rotation range of the mechanical gripper 53, and it can rotate and reset normally to put down the material 12. When the communication between the two photoelectric sensors 722 is disconnected, it indicates that there are obstacles within the rotation range of the mechanical gripper 53, which may cause the mechanical gripper 53 to get stuck or collide during rotation. The control system controls the mechanical gripper 53 to stop rotating and gives an alarm prompt for manual troubleshooting.

[0084] Eighth, the rotation motor 511 rotates in reverse to drive the lead screw 512 to rotate in reverse, so that the two sets of push-pull units move away from each other under the action of the adjusting screw 515. The strip teeth 522 also move in the direction away from the lead screw 512 under the action of the corresponding first pull rod 5212 or second pull rod 5213. The strip teeth 522 drive the rotating gear 536 to rotate in the reverse direction, so that the claw 533 rotates in the reverse direction until the claw 533 is located in the gap between two adjacent stacking areas, and the lifting device 6 lifts the truss 2.

[0085] Ninth, the transverse movement drive device 3 drives the truss 2 to return from the stacking area to the feeding area. The truss 2 accurately returns to the feeding area through the ranging of the radar sensor 97 and the laser emitter 91 to start the next round of handling and stacking operations.

[0086] The embodiments of this specific implementation manner are all preferred embodiments of this application, and do not limit the protection scope of this application accordingly. The same parts are denoted by the same reference numerals. Therefore, all equivalent changes made according to the structure, shape, and principle of this application shall be covered within the protection scope of this application.

Claims

1. A planar handling robot, characterized in that, It includes a truss (2), a transverse movement driving device (3), a load-bearing frame (4) slidably arranged on the truss (2), a mechanical hook device (5) arranged on the load-bearing frame (4), and a lifting device (6) for driving the load-bearing frame (4) to lift and lower; the truss (2) is slidably arranged on two guide rails (11), one end of the guide rail (11) is provided with a feeding area for hooking materials (12), the other end of the guide rail (11) is provided with a stacking area for stacking materials (12), and the transverse movement driving device (3) is used to drive the truss (2) to move back and forth between the feeding area and the stacking area; the mechanical hook device (5) includes at least one set of rotary driving modules (51), transmission modules (52) and a plurality of mechanical hooks (53); a plurality of the mechanical hooks (53) are protruded and spaced at the lower ends on both sides of the load-bearing frame (4) along the length direction; each set of the rotary driving modules (51) is connected with a plurality of the transmission modules (52), each set of the transmission modules (52) is connected with a plurality of the mechanical hooks (53), and the rotary driving module (51) is used to synchronously drive the corresponding plurality of the mechanical hooks (53) to rotate by a set angle to hook the materials (12).

2. The planar handling robot according to claim 1, wherein The rotary driving module (51) includes a rotary motor (511) and a lead screw (512), and the output shaft of the rotary motor (511) is in transmission connection with the lead screw (512) to drive the lead screw (512) to rotate; a set of the transmission modules (52) is arranged at both ends of the lead screw (512), and the two sets of the transmission modules (52) are symmetrically arranged about the center of the lead screw (512); the transmission module (52) includes a pushing and pulling unit and a plurality of strip teeth (522), one end of the pushing and pulling unit is in threaded connection with one end of the lead screw (512), and a plurality of the strip teeth (522) are spaced along the length direction of the lead screw (512) on both sides of the other end of the pushing and pulling unit, and the length direction of the plurality of the strip teeth (522) is arranged in the same direction as the length direction of the lead screw (512); each of the strip teeth (522) is correspondingly meshed and connected with a mechanical hook (53), and the plurality of the strip teeth (522) are all located in the area surrounded by the plurality of the mechanical hooks (53).

3. The planar handling robot according to claim 2, characterized in that, The push-pull unit includes a push-pull plate (5211), a first pull rod (5212), a second pull rod (5213), and a plurality of connecting seats (5214); the push-pull plate (5211), the first pull rod (5212), and the second pull rod (5213) enclose a U-shaped structure. The push-pull plate (5211) is threadedly connected to the lead screw (512), and the horizontal direction of the push-pull plate (5211) is perpendicular to the length direction of the lead screw (512); one end of the push-pull plate (5211) is connected to the first pull rod (5212), and the other end of the push-pull plate (5211) is connected to the second pull rod (5213); at least one connecting seat (5214) is fixedly connected to each of the first pull rod (5212) and the second pull rod (5213), and a strip tooth (522) is fixedly connected to each connecting seat (5214).

4. The planar handling robot according to claim 2, wherein, The mechanical hook (53) includes a rotating rod (531), a fixed sleeve (532) sequentially arranged at one end of the rotating rod (531), and a hook claw (533); the rotating rod (531) includes a rod main body (5311) and a connecting head (5312); the fixed sleeve (532) is fixedly connected to one end of the rod main body (5311), and the circumferential side of the fixed sleeve (532) abuts against the material (12) to be picked up; one end of the hook claw (533) is fixedly connected to one end of the rod main body (5311), and the other end of the hook claw (533) protrudes from the fixed sleeve (532). The central axis of the fixed sleeve (532) is arranged in an L shape with the length direction of the hook claw (533); the other end of the rod main body (5311) is fixedly connected to the connecting head (5312), and the connecting head (5312) is meshed with the strip tooth (522) to drive the rod main body (5311), the fixed sleeve (532), and the hook claw (533) to rotate by a set angle.

5. The planar handling robot according to claim 4, wherein The distances from the circumferential side of the fixed sleeve (532) to the center of the rod main body (5311) are set differently; when the hook claw (533) picks up the material (12), the distance between the circumferential side of the fixed sleeve (532) and the material (12) is the smallest.

6. The planar handling robot according to claim 2, characterized in that, The mechanical hook device (5) further includes a plurality of limit photoelectric eyes (54). One limit photoelectric eye (54) is arranged at each end of each strip tooth (522), and the distance between the two limit photoelectric eyes (54) is less than or equal to the moving distance of the strip tooth (522) to drive the mechanical hook (53) to rotate to a set position; when the strip tooth (522) and the corresponding mechanical hook (53) are in the initial state, the strip tooth (522) is inductively connected to one of the corresponding limit photoelectric eyes (54); when the mechanical hook (53) rotates to the set position, the strip tooth (522) is inductively connected to both of the corresponding limit photoelectric eyes (54).

7. The planar handling robot according to claim 1, wherein, The planar handling robot further includes a safety detection device (7) for the lifting movement of the load-bearing frame (4). The safety detection device (7) includes at least two sets of material detection modules (71), and at least one set of the material detection modules (71) is provided on each side of the load-bearing frame (4); the material detection module (71) includes a mounting base (711), a first photoelectric eye (712), a second photoelectric eye (713), a third photoelectric eye (714) and a fourth photoelectric eye (715) that are communicatively connected to the control system; the mounting base (711) is fixed to the lower side of the load-bearing frame (4), the monitoring directions of the first photoelectric eye (712) and the second photoelectric eye (713) are vertically downward and are spaced along the width direction of the load-bearing frame (4) on the mounting base (711), the first photoelectric eye (712) is located above the material (12) to be hooked, and the second photoelectric eye (713) is provided outside the load-bearing frame (4) for detecting whether there is material (12) below the mechanical gripper (53); the monitoring directions of the third photoelectric eye (714) and the fourth photoelectric eye (715) are horizontally directed towards one side of the material (12) to be grabbed and are spaced along the height direction of the load-bearing frame (4) on the mounting base (711); the third photoelectric eye (714) is located above the fourth photoelectric eye (715); when the first photoelectric eye (712) and the third photoelectric eye (714) detect the material (12), the material (12) is placed in place; when the second photoelectric eye (713) or the fourth photoelectric eye (715) detects the material (12), the control system alarms.

8. The planar handling robot according to claim 7, wherein, The safety detection device (7) further includes two sets of rotation detection modules (72) for detecting the rotation space of the mechanical gripper (53), and one set of the rotation detection modules (72) is provided on each side of the load-bearing frame (4); the rotation detection module (72) includes two fixed columns (721) and two photoelectric sensors (722); one of the fixed columns (721) protrudes downward at both ends of the same side of the load-bearing frame (4), and one photoelectric sensor (722) is connected to the end of each fixed column (721) away from the load-bearing frame (4). The two photoelectric sensors (722) on the same side of the load-bearing frame (4) are arranged to irradiate each other, and based on the signal on-off between the two photoelectric sensors (722), it is determined whether the mechanical gripper (53) rotates and resets.

9. The planar handling robot according to claim 1, wherein The planar handling robot further includes a plurality of groups of longitudinal positioning devices (8); at least one group of the longitudinal positioning devices (8) is provided on each side of the truss (2), and the longitudinal positioning device (8) includes a limit mounting strip (81), a plurality of longitudinal monitoring photoelectric eyes (82), and an induction sheet (83); the limit mounting strip (81) is longitudinally fixed to the steel column (21) of the corresponding truss (2); a plurality of mounting grooves (811) for mounting the longitudinal monitoring photoelectric eyes (82) are arranged at intervals along the length direction of the limit mounting strip (81), at least one longitudinal monitoring photoelectric eye (82) is provided on each limit mounting strip (81), and the height of each longitudinal monitoring photoelectric eye (82) corresponds to the height at which the load-bearing frame (4) descends to pick up the material (12) or the height of the stacked material (12); at least one induction sheet (83) is correspondingly provided at both ends of the load-bearing frame (4), and the corresponding longitudinal monitoring photoelectric eye (82) is communicatively connected to the induction sheet (83) to determine the lifting position of the load-bearing frame (4).

10. The planar handling robot according to claim 1, characterized in that, The planar handling robot further includes a lateral positioning device (9); the lateral positioning device (9) includes a laser emitter (91) and a reflector (92); the laser emitter (91) is arranged on one end face of the truss (2) located in the feeding area, and the reflector (92) is placed on one side of the laser emitter (91); a reflector (921) is provided on the reflector (92), and the laser of the laser emitter (91) irradiates on the reflector (921) to obtain the distance from the laser emitter (91) to the reflector (921).

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