Intelligent carrying robot stable in clamping

Abstract

The invention relates to the technical field of intelligent robots, in particular to a stable-clamping intelligent transfer robot which comprises a robot body, a placing plate is mounted on the upper surface of the robot body, two clamping plates are symmetrically arranged above the placing plate, and supporting blocks are symmetrically and fixedly mounted on the upper surface of the robot body. An electric control air cylinder is horizontally and fixedly installed on the supporting block, rectangular grooves are formed in the opposite sides of the two clamping plates, lifting plates are vertically and slidably installed in the rectangular grooves, a plurality of positioning grooves are formed in the sides, close to the electric control air cylinder, of the lifting plates at equal intervals, and positioning rods are installed at the upper ends of the clamping plates through elastic assemblies. And one end of the positioning rod is inserted into one of the positioning grooves. According to the height of the plates, the lifting plate is moved, the total height of the lifting plate and the clamping plate is adjusted, the number of the plates carried every time is increased by changing the total height of the lifting plate and the clamping plate, and therefore the carrying efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of intelligent robot technology, and in particular to an intelligent handling robot with stable clamping. Background Technology

[0002] In modern industrial production, from the processing and assembly of parts to the packaging and delivery of finished products, material handling is an integral part of the entire process and a key link in ensuring the smooth operation of the production line. In the warehousing and logistics industry, material handling is extremely important and performed very frequently in all processes such as goods receiving and shelving, storage and inventory, and outbound delivery. Every precise and efficient material handling operation is directly related to the operational efficiency and cost control of the entire supply chain system. For the handling of sheet metal, the sheet metal is usually stacked on a material handling robot, and then the material handling robot is used to transfer the sheet metal to other workstations.

[0003] Chinese patent CN216269442U discloses the field of handling robot equipment technology. The gravity sliding mechanism is used to push four insert plates to move upward to protect the objects being handled. Ultimately, the insert plates protect the objects on the robot body, preventing the objects from being damaged by direct contact with the ground. This optimizes the existing handling robots.

[0004] In the aforementioned patent documents, the clamping plate used for clamping has a fixed height. However, when handling boards, if too many boards are stacked, the clamping plate cannot fully clamp and contact all the boards. The height of the clamping plate will limit the number of boards that can be handled each time, resulting in a limited number of boards that can be handled each time and poor handling efficiency. Summary of the Invention

[0005] The purpose of this invention is to address the following shortcomings in the prior art: the clamping plate used for clamping has a fixed height, and when handling boards, if too many boards are stacked, the clamping plate cannot fully clamp and contact all the boards. The height of the clamping plate limits the number of boards that can be handled each time, resulting in a limited number of boards that can be handled each time and poor handling efficiency. Therefore, this invention proposes an intelligent handling robot with stable clamping.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: A stable clamping intelligent handling robot includes a robot body, a placement plate is mounted on the upper surface of the robot body, and two clamping plates are symmetrically arranged above the placement plate; Support blocks are symmetrically fixedly installed on the upper surface of the robot body. The placement plate is located between the two support blocks. Each of the two support blocks is connected to two clamping plates through a moving component. An electric cylinder is horizontally fixedly installed on the support block. The output end of the electric cylinder is fixedly connected to the side of the clamping plate. A rectangular groove is provided on one side of each of the two clamping plates. The top of the rectangular groove is connected to the upper end of the clamping plate. A lifting plate is vertically slidably installed in the rectangular groove. Multiple positioning grooves are provided at equal intervals on the side of the lifting plate near the electric cylinder. A positioning rod is installed on the upper end of the clamping plate through an elastic component. One end of the positioning rod is inserted into one of the positioning grooves.

[0007] As a preferred embodiment, the elastic component includes a fixing block fixedly mounted on the upper end of the clamping plate, a telescopic spring sleeved on the positioning rod, and a pull block fixedly mounted on one end of the positioning rod. The fixing block has a horizontally opening movable hole, and the positioning rod is horizontally slidably inserted into the movable hole. The two ends of the telescopic spring are fixedly connected to the pull block and the fixing block, respectively.

[0008] As a preferred embodiment, the support block has two horizontally opening limit holes, and the moving component includes two limit rods that are horizontally slidably installed in the two limit holes, with one end of each limit rod fixedly connected to the clamping plate.

[0009] As a preferred embodiment, the upper end of the lifting plate is symmetrically provided with cylindrical grooves, and each of the two cylindrical grooves has a movable column vertically slidably installed in it via a return spring. Each of the two movable columns has a threaded hole at its upper end, and a screw is threaded into the threaded hole. The length of the screw is greater than the depth of the threaded hole. The upper end of the movable column is provided with a pressure bar, and one end of the pressure bar has a rotating hole. The screw is inserted into the rotating hole, and the pressure bar rotates on the upper end of the movable column.

[0010] As a preferred embodiment, anti-slip pads are fixedly installed on the side of the clamping plate and the lifting plate away from the electric control cylinder, and the anti-slip pads are made of rubber.

[0011] As a preferred embodiment, protective covers are symmetrically slidably mounted on the robot body via a sliding assembly. The placement plate is located between the two protective covers. An installation groove is provided on the upper surface of the robot body. A bidirectional cylinder is fixedly installed in the installation groove. Connecting blocks are fixedly installed at both output ends of the bidirectional cylinder. The two connecting blocks are respectively fixedly connected to the two protective covers.

[0012] As a preferred embodiment, the sliding assembly includes two slide rails symmetrically fixedly mounted on the robot body and four sliders symmetrically slidably mounted on the two slide rails, with the sliders respectively fixedly connected to two protective covers.

[0013] As a preferred embodiment, a support rod is vertically fixedly installed on the lower surface of both connecting blocks, and a pad is fixedly installed at the lower end of both support rods.

[0014] As a preferred embodiment, the lower surface of the pad is provided with a spherical groove, and a ball bearing is rolled and embedded in the spherical groove.

[0015] As a preferred embodiment, multiple pressure sensors are fixedly mounted on the upper surface of the robot body, and the placement plate is mounted on the input end of the multiple pressure sensors.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. When the robot is handling sheet metal, it stacks the sheet metal on the placement plate. According to the height of the sheet metal, it moves the lifting plate to adjust the overall height of the lifting plate and the clamping plate. Then, the lifting plate is fixed by the cooperation of the positioning rod, elastic component and positioning groove. By changing the overall height of the lifting plate and the clamping plate, the number of sheet metal handled each time can be increased, thereby improving the handling efficiency.

[0017] 2. When the plate is clamped between the clamping plate and the lifting plate, the pressure bar can press the plate from above by the cooperation of the return spring, the moving column and the screw, and apply pressure to the plate to limit the plate above, so that the plate is more stably clamped on the robot during the handling process.

[0018] 3. When the robot is handling the sheet metal, the bidirectional cylinder drives the two protective covers to move closer together, enclosing the sheet metal inside the two protective covers. During the handling process, the two protective covers can protect the sheet metal and prevent it from being bumped or knocked.

[0019] 4. When placing the board on the placement board, both protective covers are in the open state, and the pads installed on the protective covers support the ground, which supports the handling robot and reduces the possibility of the robot tipping over during loading and unloading. Attached Figure Description

[0020] Figure 1 This is a frontal structural diagram of a clamping and stabilizing intelligent handling robot proposed in this invention during the handling process. Figure 2 This is a three-dimensional structural diagram of a clamping and stabilizing intelligent handling robot proposed in this invention; Figure 3 A schematic diagram of a three-dimensional partial cross-sectional structure of the robot body, sliding components, and protective cover; Figure 4 A three-dimensional structural diagram of the robot body, placement plate, clamping plate, and lifting plate; Figure 5 A left-side three-dimensional structural diagram of the clamping plate, lifting plate, support block, electric cylinder and limit rod; Figure 6 A right-side three-dimensional structural diagram of the clamping plate, lifting plate, support block, electric cylinder and limit rod; Figure 7 A partial three-dimensional exploded structural diagram of the lifting platform, movable column, and pressure strip; Figure 8 A three-dimensional structural diagram of the support rod, pad, and ball bearings; Figure 9 for Figure 6 Enlarged structural diagram at point A in the middle.

[0021] In the diagram: 1. Robot body, 2. Placement plate, 3. Clamping plate, 4. Support block, 5. Electric cylinder, 6. Lifting plate, 7. Positioning rod, 8. Positioning groove, 9. Fixing block, 10. Telescopic spring, 11. Pulling block, 12. Limiting rod, 13. Moving column, 14. Screw, 15. Pressure strip, 16. Cylindrical groove, 17. Return spring, 18. Threaded hole, 19. Anti-slip pad, 20. Protective cover, 21. Two-way cylinder, 22. Connecting block, 23. Slide rail, 24. Slider, 25. Rectangular groove, 26. Support rod, 27. Pad, 28. Ball bearing, 29. Pressure sensor, 30. Rotation hole. Detailed Implementation

[0022] 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.

[0023] Reference Figures 1-9 A stable clamping intelligent handling robot includes a robot body 1, a placement plate 2 mounted on the upper surface of the robot body 1, two clamping plates 3 symmetrically arranged above the placement plate 2, and an intelligent control module installed inside the robot body 1, which can automatically control the movement of the robot body 1 according to the input, thereby automatically transporting the board to the designated position. The board is stacked on the placement plate 2, and the two clamping plates 3 are located on both sides of the board. The two clamping plates 3 can be controlled to move closer to each other to clamp and fix the board on the placement plate 2.

[0024] Support blocks 4 are symmetrically fixedly installed on the upper surface of the robot body 1. The placement plate 2 is located between the two support blocks 4. Each of the two support blocks 4 is connected to two clamping plates 3 through a moving component. An electric cylinder 5 is horizontally fixedly installed on the support block 4. The output end of the electric cylinder 5 is fixedly connected to the side of the clamping plate 3. The electric cylinder 5 is controlled by an intelligent control module. By controlling the extension and retraction of the electric cylinder 5, the two clamping plates 3 can be moved closer to each other.

[0025] Rectangular grooves 25 are provided on opposite sides of the two clamping plates 3. The top of the rectangular grooves 25 is connected to the upper end of the clamping plates 3. A lifting plate 6 is vertically slidably installed in the rectangular grooves 25. Multiple positioning grooves 8 are provided at equal intervals on the side of the lifting plate 6 near the electric cylinder 5. A positioning rod 7 is installed on the upper end of the clamping plate 3 through an elastic component. One end of the positioning rod 7 is inserted into one of the positioning grooves 8. The lifting plate 6 is vertically slidably installed in the rectangular grooves 25. Under the action of the elastic force of the elastic component, one end of the positioning rod 7 is inserted into the positioning groove 8 opened on the side of the lifting plate 6, thereby locking the lifting plate 6. One side of the clamping plate 3 and one side of the lifting plate 6 are on the same vertical plane. When the clamping plate 3 contacts the material, the lifting plate 6 also contacts the material.

[0026] The elastic component includes a fixing block 9 fixedly installed on the upper end of the clamping plate 3, a telescopic spring 10 sleeved on the positioning rod 7, and a pull block 11 fixedly installed on one end of the positioning rod 7. The fixing block 9 has a horizontally opening movable hole, and the positioning rod 7 is horizontally slidably inserted into the movable hole. The two ends of the telescopic spring 10 are fixedly connected to the pull block 11 and the fixing block 9 respectively. The positioning rod 7 is horizontally slidably installed on the fixing block 9. The telescopic spring 10 is in a compressed state. Under the action of the elastic force of the telescopic spring 10, the positioning rod 7 tends to move towards the lifting plate 6, so that one end of the positioning rod 7 can be stably inserted into the positioning groove 8. When it is necessary to adjust the height of the lifting plate 6, the pull block 11 is pulled, which drives the positioning rod 7 to move away from the lifting plate 6. The telescopic spring 10 is compressed, and one end of the positioning rod 7 is taken out from the positioning groove 8. After the height of the lifting plate 6 is adjusted, one end of the positioning rod 7 is aligned with another positioning groove 8, and the pull block 11 is released. Under the action of the elastic force of the telescopic spring 10, one end of the positioning rod 7 can be automatically inserted into the positioning groove 8.

[0027] The support block 4 has two horizontally opening limit holes. The moving component includes two limit rods 12 that are horizontally slidably installed in the two limit holes. One end of each limit rod 12 is fixedly connected to the clamping plate 3. The clamping plate 3 slides horizontally on the support block 4 through the two limit rods 12. The two limit rods 12 can ensure that the clamping plate 3 moves stably horizontally on the support block 4.

[0028] Cylindrical grooves 16 are symmetrically provided on the upper end of the lifting plate 6. A movable column 13 is vertically slidably installed in each of the two cylindrical grooves 16 through a return spring 17. A threaded hole 18 is provided on the upper end of each of the two movable columns 13. A screw 14 is threaded into the threaded hole 18. The length of the screw 14 is greater than the depth of the threaded hole 18. A pressure strip 15 is provided on the upper end of the movable column 13. A rotating hole 30 is provided on one end of the pressure strip 15. The screw 14 is inserted into the rotating hole 30. The pressure strip 15 rotates on the upper end of the movable column 13.

[0029] The pressure bar 15 is rotatably mounted on the upper end of the moving column 13 via screw 14. When placing the board, rotate the pressure bar 15 to move one end of the pressure bar 15 to the side of the lifting plate 6 near the electric control cylinder 5. When handling the board, pull the moving column 13 upward, stretch the return spring 17, and then rotate the pressure bar 15 to move one end of the pressure bar 15 above the board. Release the pressure bar 15, and under the action of the return spring 17, the moving column 13 drives the pressure bar 15 to move vertically downward, so that the pressure bar 15 can press the board from above, apply pressure above the board, limit the board above, and make the board more stably clamped on the robot during the handling process.

[0030] Anti-slip pads 19 are fixedly installed on the side of clamping plate 3 and lifting plate 6 away from the electric cylinder 5. The anti-slip pads 19 are made of rubber. When clamping plate 3 and lifting plate 6 come into contact with the plate, the anti-slip pads 19 can protect the side of the plate and prevent the side of the plate from being worn. At the same time, the anti-slip pads 19 can increase the friction between clamping plate 3 and lifting plate 6 and the plate, making the clamping more stable.

[0031] A protective cover 20 is symmetrically slidably mounted on the robot body 1 via a sliding assembly. The sliding assembly includes two slide rails 23 symmetrically fixedly mounted on the robot body 1 and four sliders 24 symmetrically slidably mounted on the two slide rails 23. The sliders 24 are respectively fixedly connected to the two protective covers 20. The placement plate 2 is located between the two protective covers 20. An installation groove is opened on the upper surface of the robot body 1. A bidirectional cylinder 21 is fixedly installed in the installation groove. A connecting block 22 is fixedly installed at both output ends of the bidirectional cylinder 21. The two connecting blocks 22 are respectively fixedly connected to the two protective covers 20.

[0032] The protective cover 20 slides on two slide rails 23 via slider 24. The two protective covers 20 slide symmetrically on the robot body 1. The placement plate 2 is located between the two protective covers 20. The two output ends of the bidirectional cylinder 21 are connected to the two protective covers 20 respectively via connecting blocks 22. When the handling robot is handling the board, it can start the bidirectional cylinder 21, which simultaneously drives the two protective covers 20 to move closer until the two protective covers 20 close, covering the placement plate 2 and multiple boards inside the two protective covers 20. During the handling process, the two protective covers 20 can protect the boards and prevent them from being bumped or knocked.

[0033] Support rods 26 are vertically fixedly installed on the lower surfaces of both connecting blocks 22. Pads 27 are fixedly installed at the lower ends of both support rods 26. A spherical groove is opened on the lower surface of the pad 27, and a ball bearing 28 is rolled and embedded in the spherical groove. The pad 27 is installed below the connecting block 22 through the support rods 26. The ball bearing 28 is installed on the lower surface of the pad 27 and rolls on the ground. The support rods 26 and the pads 27 can support the two protective covers 20. When the two protective covers 20 are in the open state, the support rods 26 and the pads 27 can support the handling robot and reduce the possibility of the robot tipping over during loading and unloading.

[0034] Multiple pressure sensors 29 are fixedly installed on the upper surface of the robot body 1. The placement plate 2 is installed at the input end of the multiple pressure sensors 29. When the board is placed on the placement plate 2, the weight of the board can be weighed by the pressure sensors 29 to avoid the board being too heavy and affecting the use of the handling robot.

[0035] In this invention, when the board is placed on the placement plate 2, the height of the lifting plate 6 can be adjusted according to the height of the board. One end of the positioning rod 7 is removed from the positioning groove 8 to release the locking of the lifting plate 6. Then, the lifting plate 6 is driven to move up and down in the rectangular groove 25. After the height of the lifting plate 6 is adjusted, one end of the positioning rod 7 is aligned with other positioning grooves 8. Under the action of the elastic component, the positioning rod 7 is inserted back into the positioning groove 8, ensuring that when the board is clamped and fixed, the clamping plate 3 and the lifting plate 6 simultaneously clamp and contact the sides of multiple boards. By changing the overall height of the lifting plate 6 and the clamping plate 3, the number of boards transported each time can be increased, thereby improving the transport efficiency.

[0036] 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 clamping and stable intelligent handling robot, comprising a robot body (1), characterized in that, The robot body (1) has a placement plate (2) installed on its upper surface, and two clamping plates (3) are symmetrically arranged above the placement plate (2). Support blocks (4) are symmetrically fixedly installed on the upper surface of the robot body (1). The placement plate (2) is located between the two support blocks (4). The two support blocks (4) are connected to the two clamping plates (3) respectively through moving components. An electric control cylinder (5) is horizontally fixedly installed on the support block (4). The output end of the electric control cylinder (5) is fixedly connected to the side of the clamping plate (3). A rectangular groove (25) is provided on one side of each of the two clamping plates (3). The top of the rectangular groove (25) is connected to the upper end of the clamping plate (3). A lifting plate (6) is vertically slidably installed in the rectangular groove (25). Multiple positioning grooves (8) are provided at equal intervals on the side of the lifting plate (6) near the electric cylinder (5). A positioning rod (7) is installed on the upper end of the clamping plate (3) through an elastic component. One end of the positioning rod (7) is inserted into one of the positioning grooves (8).

2. The intelligent handling robot with stable clamping as described in claim 1, characterized in that, The elastic component includes a fixed block (9) fixedly installed on the upper end of the clamping plate (3), a telescopic spring (10) sleeved on the positioning rod (7), and a pull block (11) fixedly installed on one end of the positioning rod (7). The fixed block (9) has a horizontally opening movable hole, and the positioning rod (7) is horizontally slidably inserted into the movable hole. The two ends of the telescopic spring (10) are fixedly connected to the pull block (11) and the fixed block (9) respectively.

3. The intelligent handling robot with stable clamping as described in claim 1, characterized in that, The support block (4) has two horizontally opening limit holes. The moving component includes two limit rods (12) that are horizontally slidably installed in the two limit holes. One end of each of the two limit rods (12) is fixedly connected to the clamping plate (3).

4. The intelligent handling robot with stable clamping as described in claim 1, characterized in that, The upper end of the lifting plate (6) is symmetrically provided with cylindrical grooves (16). Each of the two cylindrical grooves (16) is vertically slidably installed with a moving column (13) through a reset spring (17). Each of the two moving columns (13) is provided with a threaded hole (18) at its upper end. A screw (14) is threaded into the threaded hole (18). The length of the screw (14) is greater than the depth of the threaded hole (18). The upper end of the moving column (13) is provided with a pressure strip (15). One end of the pressure strip (15) is provided with a rotating hole (30). The screw (14) is inserted into the rotating hole (30). The pressure strip (15) rotates on the upper end of the moving column (13).

5. The intelligent handling robot with stable clamping as described in claim 1, characterized in that, Anti-slip pads (19) are fixedly installed on the side of the clamping plate (3) and the lifting plate (6) away from the electric control cylinder (5). The anti-slip pads (19) are made of rubber.

6. The intelligent handling robot with stable clamping as described in claim 1, characterized in that, The robot body (1) is symmetrically mounted with protective covers (20) via sliding components. The placement plate (2) is located between the two protective covers (20). The upper surface of the robot body (1) is provided with an installation groove. A bidirectional cylinder (21) is fixedly installed in the installation groove. Both output ends of the bidirectional cylinder (21) are fixedly mounted with connecting blocks (22). The two connecting blocks (22) are fixedly connected to the two protective covers (20) respectively.

7. The intelligent handling robot with stable clamping according to claim 6, characterized in that, The sliding assembly includes two slide rails (23) symmetrically fixedly installed on the robot body (1) and four sliders (24) symmetrically slidably mounted on the two slide rails (23). The sliders (24) are respectively fixedly connected to two protective covers (20).

8. A clamping and stable intelligent handling robot according to claim 6, characterized in that, Support rods (26) are vertically fixedly installed on the lower surface of both connecting blocks (22), and pads (27) are fixedly installed at the lower ends of both support rods (26).

9. A clamping and stable intelligent handling robot according to claim 8, characterized in that, The lower surface of the pad (27) is provided with a spherical groove, and a ball bearing (28) is rolled and embedded in the spherical groove.

10. The intelligent handling robot with stable clamping as described in claim 1, characterized in that, Multiple pressure sensors (29) are fixedly installed on the upper surface of the robot body (1), and the placement plate (2) is installed on the input end of the multiple pressure sensors (29).

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