Transfer manipulator

Abstract

The invention relates to the technical field of transferring mechanical arms, in particular to a transferring mechanical arm which comprises a mechanical arm, a driving deflection assembly is arranged at the output end of the mechanical arm, clamping devices are symmetrically arranged on the driving deflection assembly, two connecting assemblies are arranged on each clamping device, and a supplementing assembly is arranged above the two connecting assemblies. A control assembly is arranged on one side of the supplementing assembly, and the clamping device comprises a limiting assembly and a linkage assembly. Through work of the clamping device and the connecting assembly, the clamping force can be automatically adjusted according to the transferring condition of plates, meanwhile, the clamping area is adjusted according to different thicknesses and weights, and the stability and practicability are greatly improved.

Description

Technical Field

[0001] This invention relates to the field of transfer manipulator technology, specifically to a transfer manipulator. Background Technology

[0002] A transfer robot is an automated or semi-automated device that uses programming or force balance principles to grasp, transport, and transfer objects. It is an important branch of industrial robots.

[0003] In existing technologies, when gripping the same type of sheet material of different specifications, it is usually necessary to move the horizontally placed sheet material to a vertical placement rack for storage and subsequent processing. When gripping the horizontally placed sheet material, a constant force is usually applied to clamp both sides of the sheet material. When rotating to a horizontal position, since the surface of the sheet material is usually smooth, the sheet material's weight is downward. When placing it into the vertical rack, the clamping force is often insufficient, causing the sheet material to fall off, resulting in insufficient stability during transfer. At the same time, since the sheet material thickness varies, its weight also varies. When encountering a thicker sheet material that increases in weight, the clamping device, by simply increasing the clamping force, often damages the stress points of the sheet material, resulting in low practicality. Therefore, there is a need for a device that can automatically adjust the clamping force according to the transfer conditions of the sheet material and adjust the clamping area according to the thickness and weight to avoid insufficient stability and low practicality. Summary of the Invention

[0004] The purpose of this invention is to provide a transfer manipulator to solve the problems mentioned in the background art. To achieve the above objective, this invention provides the following technical solution: a transfer manipulator, including a robotic arm, a drive deflection assembly on the output end of the robotic arm, a clamping device symmetrically arranged on the drive deflection assembly, two connecting assemblies on the clamping device, an auxiliary assembly above the two connecting assemblies, a control assembly on one side of the auxiliary assembly, and the clamping device including a limiting assembly and a linkage assembly, the limiting assembly being disposed on the drive deflection assembly, and the linkage assembly being disposed on one side of the limiting assembly.

[0005] Preferably, the drive deflection assembly includes an L-shaped support frame. The top of the L-shaped support frame is connected to the output end of the robotic arm. A sliding rail is provided on the side end of the L-shaped support frame, and an L-shaped sliding frame slides on the sliding rail. The top of the L-shaped sliding frame is connected to the output end of a first electric push rod, and the tail end of the first electric push rod is connected to the L-shaped support frame. A rotating shaft is rotatably connected to the side of the L-shaped sliding frame away from the sliding rail. The end of the rotating shaft near the L-shaped support frame is hinged to the bottom of a guide frame. A rolling shaft is provided on the top of the guide frame. The end of the rolling shaft away from the guide frame is located in an L-shaped groove on the L-shaped support frame. An abutment wheel is provided on the rolling shaft, and the side end of the abutment wheel rolls against the inner wall of the L-shaped groove. The other end of the rotating shaft is connected to the side end of the drive frame. A vertically arranged limiting rod is provided on the top of the L-shaped support frame, and the bottom of the limiting rod is located directly above the L-shaped sliding frame.

[0006] Preferably, the limiting component includes a fixed frame disposed at the end of the drive frame, the bottom of the fixed frame being connected to an auxiliary frame, a second electric push rod being disposed on the auxiliary frame, the output end of the second electric push rod slidingly passing through the fixed frame and connected to the side end of the telescopic block, the side end of the telescopic block being slidably disposed within a limiting slide rail, the side end of the limiting slide rail being connected to the side end of the fixed frame, an L-shaped pressing block being disposed on the side of the telescopic block away from the fixed frame, the side end of the L-shaped pressing block being movably connected to the top side of the telescopic block via a first spring telescopic rod, a vertically disposed control shaft being disposed at the bottom of the side of the L-shaped pressing block away from the telescopic block, the bottom of the control shaft being located within an oblique groove on two mirror-mounted L-shaped blocks, both of the L-shaped blocks being slidably engaged with the limiting slide rail.

[0007] Preferably, the linkage assembly includes symmetrically arranged linkage arms. The bottom of the linkage arm is slidably mounted on a limiting rod on an L-shaped block. The bottom of the linkage arm is movably connected to the L-shaped block via a damping telescopic rod. The side end of the limiting rod is provided with an L-shaped toothed rod. The toothed end of the L-shaped toothed rod meshes with the side end of the linkage gear. The center of the linkage gear is rotatably connected to the side end of the linkage arm. The side of the linkage gear away from the L-shaped toothed rod meshes with the side end of a control gear. The control gear is rotatably connected to the linkage arm. The diameter of the control gear is larger than that of the linkage gear. The top of the control gear meshes with a control toothed rod. The control toothed rod is slidably mounted on the side end of the linkage arm. The bottom of the control toothed rod away from the control gear has three inclined blocks of different lengths. The three inclined blocks are distributed in a stepped manner, and the bottom length of the three inclined blocks increases along the direction of the control gear.

[0008] Preferably, the connecting assembly includes a connecting block slidably disposed on the side end of the linkage arm. The connecting block is located below the inclined block, and the top of the connecting block is inclined and abuts against the inclined surface at the bottom of the shortest inclined block. The bottom of the connecting block is movably connected to the top of the locking frame via a second spring telescopic rod. The side end of the locking frame is connected to the linkage arm. Hinge rods are symmetrically hinged on both sides of the connecting block. The other end of the hinge rod is hinged to both sides of the top of the pull plate. The side end of the top of the pull plate is movably connected to the side end of the linkage arm via a movable telescopic rod. The pull plate is located in the control groove of the control plate, and the two ends of the pull plate are slidably engaged with both sides of the control groove. The top of the control plate is connected to the bottom of the linkage arm.

[0009] Preferably, the pulling plate has several pulling frames on one side near the linkage arm. The side end of the pulling plate is connected to the adjacent pulling frame through symmetrically arranged connecting frames. Both sides of the several pulling frames are slidably engaged with both sides of the control slot. The two ends of every two pulling frames are movably connected by a telescopic plate. A connecting rod is provided between every two pulling frames, which is arranged crosswise and rotatably connected in the middle. The two ends of the connecting rod are respectively hinged to the adjacent pulling frame through a hinge shaft. The hinge shaft of the connecting rod and the pulling frame on the same side is hinged to the pulling frame, and the connecting rod and the pulling frame on the other side are slidably connected to the pulling frame. The two ends of the connecting rod in the pulling frame near the linkage arm are hinged in the slot at the side end of the control frame. The hinge shaft of one end of the connecting rod is slidably engaged with the sliding groove in the slot and is on the same side as the slidable hinge shafts of the other connecting rods and the pulling frame.

[0010] Preferably, the supplementary component includes an adjustment frame fixed to the side end of the L-shaped extrusion block. The adjustment frame has symmetrically arranged locking rods on its upper and lower sides, located at the side ends of the L-shaped toothed rod. The side of the locking rod away from the tension frame has unidirectional teeth capable of meshing with the L-shaped toothed rod. The adjustment frame has an adjustment groove, and the adjustment grooves on the two adjustment frames are mirror images of each other. An adjustment shaft is slidably fitted within the adjustment groove. The side end of the adjustment shaft is connected to the bottom of the adjustment rod. The adjustment rod is vertically mounted on the drive frame, and its top is connected to the bottom of the support rod. The bottom of the support rod is movably connected to the top of the drive frame via a compression spring. The ends of the two support rods near the L-shaped support frame are connected via a supplementary frame. The supplementary frame can slidably engage with a groove embedded in the top of the drive frame. The top of the supplementary frame has a telescopic frame, and the side end of the telescopic frame has a mating shaft. The mating shaft can slidably engage with the L-shaped track frame at the bottom of the L-shaped support frame.

[0011] Preferably, the control component includes a fixing block on one side of the supplementary frame, the bottom of the fixing block being slidably engaged with the top of the drive frame, the side of the fixing frame away from the embedding slot being connected to the output end of the control electric push rod, and an infrared sensor being provided on one side of the control electric push rod.

[0012] Compared with the prior art, the present invention has the following beneficial effects: In this invention, when using this device, the operator first works with a robotic arm and a clamping device. Under the action of the limiting component, the two connecting components are brought closer together to grip both sides of the horizontally positioned sheet material. During the gripping process, the contact area with the sheet material is adjusted according to the thickness of the sheet material being gripped. Furthermore, supplementary components provide supplementary force during the vertical placement of the sheet material into the placement rack. This prevents the sheet material from falling off when rotated to a vertical position due to insufficient clamping force when dealing with sheets of different thicknesses and weights, thus improving stability during transfer. Simultaneously, the contact area with the sheet material can be adjusted according to its weight, preventing surface damage caused by simply increasing the clamping force when the sheet material has a small force-bearing area, thereby enhancing the practicality of this device.

[0013] In this invention, by using the clamping device and connecting components in combination, the contact area with the plate can be adjusted according to the different plate thicknesses, thereby improving the stability during transfer and avoiding damage to the surface of the plate due to the small force-bearing area of ​​the plate when only the clamping force is increased, thus improving the practicality of the device.

[0014] In this invention, by using supplementary components and control components in combination, the problem of plates falling off when rotated to a vertical position due to insufficient clamping force is avoided when dealing with plates of different thicknesses and weights, thus improving the stability during transfer. Attached Figure Description

[0015] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a partial three-dimensional structural diagram of the present invention. Figure 1 ; Figure 3 This is a partial three-dimensional structural diagram of the present invention. Figure 2 ; Figure 4 This is a partial three-dimensional structural diagram of the clamping device in this invention. Figure 1 ; Figure 5 This is a partial three-dimensional structural diagram of the clamping device in this invention. Figure 2 ; Figure 6 This is a cross-sectional view of the limiting slide rail in this invention; Figure 7 This is an exploded three-dimensional structural diagram of the limiting component in this invention; Figure 8 This is a partial three-dimensional structural diagram of the present invention. Figure 3 ; Figure 9This is a partial three-dimensional structural diagram of the connecting component in this invention. Figure 1 ; Figure 10 This is a partial three-dimensional structural diagram of the connecting component in this invention. Figure 2 ; Figure 11 This is a partial three-dimensional structural diagram of the present invention. Figure 3 ; Figure 12 for Figure 11 Enlarged view of region A in the middle; Figure 13 This is a partial three-dimensional structural diagram of the present invention. Figure 4 .

[0016] In the diagram: 1. Robotic arm; 2. Drive deflection assembly; 21. L-shaped support frame; 22. Sliding rail; 23. L-shaped sliding frame; 24. First electric push rod; 25. Rotating shaft; 26. Guide frame; 27. Rolling shaft; 28. L-shaped slide groove; 29. ​​Abutment wheel; 30. Drive frame; 31. Limiting rod; 4. Clamping device; 41. Limiting assembly; 411. Fixing frame; 412. Second electric push rod; 413. Telescopic block; 414. Limiting slide rail; 415. L-shaped compression block; 416. First spring telescopic rod; 417. Control shaft; 418. L-shaped block; 419. Inclined slide groove; 42. Linkage assembly; 421. Linkage arm; 422. Limiting rod; 423. Damping telescopic rod; 424. L-shaped toothed rod; 425. Linkage gear; 426. Control gear; 427. 1. Control toothed rod; 428. Inclined block; 5. Connecting assembly; 51. Connecting block; 52. Second spring telescopic rod; 53. Locking frame; 54. Hinge rod; 55. Pull plate; 56. Movable telescopic rod; 57. Control plate; 58. Control groove; 59. Pull frame; 60. Connecting frame; 61. Telescopic plate; 62. Connecting rod; 63. Hinge shaft; 64. Slot; 65. Sliding groove; 7. Supplementary assembly; 71. Adjustment frame; 72. Locking rod; 73. One-way tooth; 74. Adjustment slide; 75. Adjustment shaft; 76. Adjustment rod; 77. Support rod; 78. Compression spring; 79. Supplementary frame; 80. Embedding groove; 81. Matching telescopic frame; 82. Matching shaft; 83. L-shaped track frame; 9. Control assembly; 91. Fixing block; 92. Control electric push rod; 93. Infrared sensor. Detailed Implementation

[0017] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0018] Please see Figures 1 to 13 The present invention provides a technical solution: a transfer manipulator, including a manipulator arm 1, a drive deflection component 2 provided on the output end of the manipulator arm 1, a clamping device 4 symmetrically provided on the drive deflection component 2, two connecting components 5 provided on the clamping device 4, an auxiliary component 7 provided above the two connecting components 5, a control component 9 provided on one side of the auxiliary component 7, and the clamping device 4 including a limiting component 41 and a linkage component 42. The limiting component 41 is provided on the drive deflection component 2, and the linkage component 42 is provided on one side of the limiting component 41.

[0019] In this embodiment, as Figures 1 to 10 As shown, the drive deflection assembly 2 includes an L-shaped support frame 21. The top of the L-shaped support frame 21 is connected to the output end of the robotic arm 1. A sliding rail 22 is provided on the side end of the L-shaped support frame 21. An L-shaped sliding frame 23 slides on the sliding rail 22. The top of the L-shaped sliding frame 23 is connected to the output end of the first electric push rod 24. The tail of the first electric push rod 24 is connected to the L-shaped support frame 21. A rotating shaft 25 is rotatably connected to the side of the L-shaped sliding frame 23 away from the sliding rail 22. The rotating shaft 25 is close to the L-shaped support frame 21. The end of the frame 21 is hinged to the bottom of the guide frame 26. The top of the guide frame 26 is provided with a rolling shaft 27. The end of the rolling shaft 27 away from the guide frame 26 is located in the L-shaped groove 28 on the L-shaped support frame 21. The rolling shaft 27 is provided with an abutting wheel 29. The side end of the abutting wheel 29 rolls with the inner wall of the L-shaped groove 28. The other end of the rotating shaft 25 is connected to the side end of the drive frame 30. The top of the L-shaped support frame 21 is provided with a vertically arranged limiting rod 31. The bottom of the limiting rod 31 is located directly above the L-shaped sliding frame 23. The limiting component 41 includes a fixed frame 411 disposed at the end of the drive frame 30. The bottom of the fixed frame 411 is connected to an auxiliary frame. A second electric push rod 412 is disposed on the auxiliary frame. The output end of the second electric push rod 412 slides through the fixed frame 411 and is connected to the side end of the telescopic block 413. The side end of the telescopic block 413 is slidably disposed in a limiting slide rail 414. The side end of the limiting slide rail 414 is connected to the side end of the fixed frame 411. An L-shaped pressing block 415 is disposed on the side of the telescopic block 413 away from the fixed frame 411. The side end of the L-shaped pressing block 415 is movably connected to the top side of the telescopic block 413 through a first spring telescopic rod 416. A vertically disposed control shaft 417 is disposed at the bottom of the side of the L-shaped pressing block 415 away from the telescopic block 413. The bottom of the control shaft 417 is located in an inclined groove 419 on two mirror-arranged L-shaped blocks 418. Both L-shaped blocks 418 are slidably engaged with the limiting slide rail 414. The linkage assembly 42 includes symmetrically arranged linkage arms 421. The bottom of each linkage arm 421 is slidably mounted on a limiting rod 422 on an L-shaped block 418. The bottom of each linkage arm 421 is movably connected to the L-shaped block 418 via a damping telescopic rod 423. An L-shaped toothed rod 424 is provided on the side end of the limiting rod 422. The toothed end of the L-shaped toothed rod 424 meshes with the side end of a linkage gear 425. The center of the linkage gear 425 is rotatably connected to the side end of the linkage arm 421. The side of the linkage gear 425 away from the L-shaped toothed rod 424 is connected to a control... The side end of gear 426 is engaged, and the control gear 426 is rotatably connected to the linkage arm 421. The diameter of the control gear 426 is larger than that of the linkage gear 425. The top of the control gear 426 is engaged with the control toothed rod 427. The control toothed rod 427 is slidably disposed on the side end of the linkage arm 421. The bottom of the control toothed rod 427 away from the control gear 426 is provided with three inclined blocks 428 of different lengths. The three inclined blocks 428 are distributed in a stepped manner, and the bottom length of the three inclined blocks 428 increases along the direction of the control gear 426. The connecting assembly 5 includes a connecting block 51 slidably disposed on the side of the linkage arm 421. The connecting block 51 is located below the inclined block 428. The top of the connecting block 51 is inclined and abuts against the inclined surface at the bottom of the shortest inclined block 428. The bottom of the connecting block 51 is movably connected to the top of the locking frame 53 via a second spring telescopic rod 52. The side end of the locking frame 53 is connected to the linkage arm 421. The two sides of the connecting block 51 are symmetrically hinged with hinge rods 54. The other end of the hinge rods 54 is hinged to the two sides of the top of the pull plate 55. The side end of the top of the pull plate 55 is movably connected to the side end of the linkage arm 421 via a movable telescopic rod 56. The pull plate 55 is located in the control groove 58 of the control plate 57. The two ends of the pull plate 55 are slidably engaged with the two sides of the control groove 58. The top of the control plate 57 is connected to the bottom of the linkage arm 421. The pulling plate 55 has several pulling brackets 59 on one side near the linkage arm 421. The side end of the pulling plate 55 is connected to the adjacent pulling bracket 59 by symmetrically arranged connecting brackets 60. Both sides of the pulling brackets 59 are slidably engaged with the sides of the control groove 58. The two ends of every two pulling brackets 59 are movably connected by telescopic plates 61. A connecting rod 62 is provided between every two pulling brackets 59, which is arranged crosswise and rotatably connected in the middle. The two ends of the connecting rod 62 are respectively hinged to the adjacent pulling plate 59 by hinge shafts 63. On the pull frame 59, the connecting rod 62 on the same side is hinged to the hinge shaft 63 of the pull frame 59, and the connecting rod 62 on the other side is slidably connected to the hinge shaft 63 of the pull frame 59. The connecting rod 62 in the pull frame 59 near the linkage arm 421 is hinged at both ends in the slot 64 on the side of the control frame. The hinge shaft 63 at one end of the connecting rod 62 is slidably engaged with the sliding groove 65 in the slot 64 and is on the same side as the other sliding hinge shaft 63 of the connecting rod 62 and the pull frame 59.

[0020] In this embodiment, as Figures 11 to 13 As shown, the supplementary component 7 includes an adjustment frame 71 fixed to the side of the L-shaped extrusion block 415. The adjustment frame 71 has symmetrically arranged locking rods 72 on its upper and lower sides, located at the side ends of the L-shaped toothed rod 424. The locking rod 72 has a one-way tooth 73 on its side away from the pulling frame 59, capable of meshing with the L-shaped toothed rod 424. The adjustment frame 71 has an adjustment groove 74, and the adjustment grooves 74 on the two adjustment frames 71 are mirror images of each other. An adjustment shaft 75 is slidably fitted within the adjustment groove 74. The side end of the adjustment shaft 75 is connected to the bottom of the adjustment rod 76. The control rod 76 is vertically mounted on the drive frame 30 and its top is connected to the bottom of the support rod 77. The bottom of the support rod 77 is movably connected to the top of the drive frame 30 through a compression spring 78. The two support rods 77 are connected at one end near the L-shaped support frame 21 through an auxiliary frame 79. The auxiliary frame 79 can slide and engage with the top of the drive frame 30 in the groove 80. The top of the auxiliary frame 79 is provided with a telescopic frame 81, and the side end of the telescopic frame 81 is provided with a mating shaft 82. The mating shaft 82 can slide and engage with the L-shaped track frame 83 at the bottom of the L-shaped support frame 21. The control component 9 includes a fixing block 91 on one side of the supplementary frame 79. The bottom of the fixing block 91 is slidably engaged with the top of the drive frame 30. The side of the fixing frame 411 away from the embedding slot 80 is connected to the output end of the control electric push rod 92. An infrared sensor 93 is provided on one side of the control electric push rod 92.

[0021] The invention provides the following usage method and advantages: A transfer robot, the working process of which is as follows: like Figures 1 to 13As shown, the operator controls the second electric push rod 412 to drive the telescopic block 413 to slide along the direction of the limit slide rail 414, causing the L-shaped extrusion block 415 to move synchronously. With the cooperation of the control shaft 417 and the inclined slide groove 419, the two L-shaped blocks 418 are driven to move closer to each other, thereby driving the two linkage arms 421 and the control plate 57 to move closer to each other. This causes the control plate 57 and several pulling frames 59 to move towards the plate material from the side away from the linkage arm 421. When they are close to the plate surface, under the continuous action of the electric push rod, the limiting rod 422 moves away from the linkage arm 421 through the L-shaped block 418 under the action of the damping telescopic rod 423, thereby driving the L-shaped toothed rod 424 to move synchronously, causing the linkage gear 425 and the control gear 426 to rotate synchronously, which in turn drives the control toothed rod 427, which meshes with it, to slide along the direction of the linkage arm 421, thereby driving the three inclined blocks 428 to move synchronously. The movable contact block 51 located below moves downward under the action of the second spring telescopic rod 52. Through the hinge rod 54, the pulling plate 55 slides in the control groove 58 under the limit of the movable telescopic rod 56. Through the connecting frame 60, several pulling frames 59 unfold under the cooperation of the hinge shaft 63 and the sliding groove 65, so that the telescopic plate 61 unfolds synchronously, thereby increasing the contact area with the plate and gripping both sides of the plate in a horizontal state. When the plate is thick, the moving distance of the control toothed rod 427 increases, which can drive the connecting block 51 to move down a greater distance, thereby making the pulling frames 59 unfold a greater distance. Then, the contact area with the plate can be adjusted according to the plate thickness, improving the stability during transfer and avoiding damage to the surface of the plate due to the small force area of ​​the plate and only increasing the clamping force, thus improving the practicality of the device. After the horizontal plate is gripped, the telescopic block 413 and the L-shaped pressing block 415 slide within the limiting slide rail 414. At this time, the control frame 71 moves synchronously, causing the locking rod 72 to engage the one-way tooth 73 within the L-shaped toothed rod 424, thereby locking the position of the linkage arm 421. Simultaneously, with the cooperation of the control slide groove 74 and the control shaft 75, the control rod 76 and the support rod 77 move upward under the action of the compression spring 78, thereby causing the supplementary frame 79 to move upward and away from the embedding groove 80. This causes the telescopic frame 81 and the control shaft 82 to move upward synchronously. Then, the first electric push rod 24 is controlled to work, thereby driving the L-shaped sliding frame 2 3. Moving upward along the sliding track 22, the guide frame 26 and the rolling shaft 27 synchronously drive the contact wheel 29 to move upward within the L-shaped groove 28. During the upward movement, the mating shaft 82 will engage with the corner of the L-shaped track frame 83 first, causing the supplementary frame 79 to move downward into the embedding groove 80. During the downward movement, the adjusting shaft 75 moves along the adjusting groove 74, causing the L-shaped pressing block 415 to compress the telescopic block 413 under the action of the first spring telescopic rod 416. This, in turn, pulls the locked linkage arm 421 through the L-shaped block 418, bringing them closer together and further providing clamping force on the plate. When the clamping force is sufficient, at this time... When the telescopic frame 81 retracts due to resistance, the infrared sensor 93 drives the electric push rod 92 to work, which in turn moves the fixing block 91 towards the supplementary frame 79 located in the embedding groove 80. The position of the supplementary frame 79 is fixed by pressing on one side. Then, when the contact wheel 29 moves to the corner of the L-shaped slide 28, it drives the rolling shaft 27 and the guide frame 26 to deflect, causing the rotating shaft 25 to drive the drive frame 30 and the plate to deflect 90 degrees. At this time, the bottom of the limit rod 31 abuts against the top of the L-shaped sliding frame 23, thus providing stability after deflection. Then, the plate is placed vertically in the placement frame. After the plate is placed, the first electric push rod 92 moves the plate to the placement groove 80. Push rod 24 drives drive frame 30 to reset. During the reset process, infrared sensor 93 drives fixed block 91 to move, unlocking supplementary frame 79. Supplementary frame 79 resets under the action of compression spring 78. First spring telescopic rod 416 drives L-shaped pressing block 415 to reset synchronously. Second electric push rod 412 drives telescopic block 413 to reset, so that connecting block 51 loses its pressure and can reset under the action of second spring telescopic rod 52. This facilitates the next operation and avoids the situation where the plate falls off when rotating to a vertical position due to insufficient clamping force when facing plates of different thicknesses and weights, thus improving the stability during transfer.

[0022] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A transfer manipulator, comprising a robotic arm (1); Its features are: The output end of the robotic arm (1) is provided with a drive deflection assembly (2), and a clamping device (4) is symmetrically provided on the drive deflection assembly (2). The clamping device (4) is provided with two connecting assemblies (5), and an auxiliary assembly (7) is provided above the two connecting assemblies (5). A control assembly (9) is provided on one side of the auxiliary assembly (7). The clamping device (4) includes a limiting assembly (41) and a linkage assembly (42). The limiting assembly (41) is provided on the drive deflection assembly (2), and the linkage assembly (42) is provided on one side of the limiting assembly (41).

2. The transfer robot according to claim 1, characterized in that: The drive deflection assembly (2) includes an L-shaped support frame (21). The top of the L-shaped support frame (21) is connected to the output end of the robotic arm (1). A sliding rail (22) is provided on the side end of the L-shaped support frame (21). An L-shaped sliding frame (23) slides on the sliding rail (22). The top of the L-shaped sliding frame (23) is connected to the output end of a first electric push rod (24). The tail of the first electric push rod (24) is connected to the L-shaped support frame (21). The side of the L-shaped sliding frame (23) away from the sliding rail (22) is rotatably connected. There is a rotating shaft (25), the end of which near the L-shaped support frame (21) is hinged to the bottom of the guide frame (26). The top of the guide frame (26) is provided with a rolling shaft (27), one end of which is away from the guide frame (26) is located in the L-shaped groove (28) on the L-shaped support frame (21). The rolling shaft (27) is provided with an abutting wheel (29). The other end of the rotating shaft (25) is connected to the side end of the drive frame (30). The top of the L-shaped support frame (21) is provided with a vertically set limiting rod (31).

3. A transfer robot according to claim 2, characterized in that: The limiting assembly (41) includes a fixed frame (411) disposed at the end of the drive frame (30). The bottom of the fixed frame (411) is connected to an auxiliary frame. A second electric push rod (412) is provided on the auxiliary frame. The output end of the second electric push rod (412) slides through the fixed frame (411) and is connected to the side end of the telescopic block (413). The side end of the telescopic block (413) is slidably disposed in the limiting slide rail (414). The side end of the limiting slide rail (414) is connected to the side end of the fixed frame (411). The telescopic block (413) is provided with an L-shaped extrusion block (415) on the side away from the fixed frame (411). The side end of the L-shaped extrusion block (415) is movably connected to the top side of the telescopic block (413) through a first spring telescopic rod (416). The bottom of the side of the L-shaped extrusion block (415) away from the telescopic block (413) is provided with a vertically arranged control shaft (417). The bottom of the control shaft (417) is located in the inclined groove (419) on two mirror-arranged L-shaped blocks (418).

4. A transfer robot according to claim 3, characterized in that: The linkage assembly (42) includes symmetrically arranged linkage arms (421). The bottom of the linkage arm (421) is slidably mounted on a limiting rod (422) on an L-shaped block (418). The bottom of the linkage arm (421) is movably connected to the L-shaped block (418) via a damping telescopic rod (423). The side end of the limiting rod (422) is provided with an L-shaped toothed rod (424). The toothed end of the L-shaped toothed rod (424) meshes with the side end of the linkage gear (425). The center of the linkage gear (425) is connected to the linkage arm (421). The side end of the linkage gear (421) is rotatably connected. The side of the linkage gear (425) away from the L-shaped toothed rod (424) meshes with the side end of the control gear (426). The top of the control gear (426) meshes with the control toothed rod (427). The bottom of the control toothed rod (427) away from the control gear (426) is provided with three inclined blocks (428) of different lengths. The three inclined blocks (428) are distributed in a stepped manner. The bottom length of the three inclined blocks (428) increases along the direction of the control gear (426).

5. A transfer robot according to claim 4, characterized in that: The connecting component (5) includes a connecting block (51) slidably disposed on the side of the linkage arm (421). The connecting block (51) is located below the inclined block (428). The top of the connecting block (51) is inclined and abuts against the inclined surface at the bottom of the shortest inclined block (428). The bottom of the connecting block (51) is movably connected to the top of the locking frame (53) through a second spring telescopic rod (52). The two sides of the connecting block (51) are symmetrically hinged with hinge rods (54). The other end of the hinge rods (54) is hinged to the two sides of the top of the pull plate (55). The side end of the top of the pull plate (55) is movably connected to the side end of the linkage arm (421) through a movable telescopic rod (56). The pull plate (55) is located in the control groove (58) of the control plate (57).

6. A transfer robot according to claim 5, characterized in that: The pull plate (55) has several pull brackets (59) on one side near the linkage arm (421). The side end of the pull plate (55) is connected to the adjacent pull bracket (59) through symmetrically arranged connecting brackets (60). Both sides of the pull brackets (59) are slidably engaged with the sides of the control groove (58). The two ends of each pair of pull brackets (59) are movably connected by telescopic plates (61). A connecting rod (62) is provided between each pair of pull brackets (59) and is arranged crosswise and rotatably connected in the middle. The two ends of the connecting rod (62) are respectively hinged to the adjacent pull brackets (59) through hinge shafts (63). On the same side, the connecting rod (62) and the tension frame (59) hinge shaft (63) are hinged to the tension frame (59), and on the other side, the connecting rod (62) and the tension frame (59) hinge shaft (63) are slidably connected to the tension frame (59). The connecting rod (62) in the tension frame (59) near the linkage arm (421) is hinged at both ends in the slot (64) on the side of the control frame. The hinge shaft (63) at one end of the connecting rod (62) is slidably engaged with the sliding groove (65) in the slot (64) and is on the same side as the hinge shaft (63) of the other connecting rod (62) and the tension frame (59).

7. A transfer robot according to claim 6, characterized in that: The supplementary component (7) includes an adjustment frame (71) fixed to the side of the L-shaped extrusion block (415). The adjustment frame (71) has symmetrically arranged locking rods (72) on its upper and lower sides, located at the side of the L-shaped toothed rod (424). The locking rods (72) have one-way teeth (73) that can mesh with the L-shaped toothed rod (424) on the side away from the pulling frame (59). The adjustment frame (71) has an adjustment groove (74), in which an adjustment shaft (75) is slidably fitted. The side end of the adjustment shaft (75) is connected to the bottom of the adjustment rod (76). The adjustment rod (76) is vertically mounted on the drive frame (3). 0) The top is connected to the bottom of the support rod (77), and the bottom of the support rod (77) is movably connected to the top of the drive frame (30) through a compression spring (78). The two support rods (77) are connected to one end of the L-shaped support frame (21) through an auxiliary frame (79). The auxiliary frame (79) can slide with the top of the drive frame (30) in a slot (80). The top of the auxiliary frame (79) is provided with a telescopic frame (81), and the side end of the telescopic frame (81) is provided with a mating shaft (82). The mating shaft (82) can slide with the L-shaped track frame (83) at the bottom of the L-shaped support frame (21).

8. A transfer robot according to claim 7, characterized in that: The control component (9) includes a fixing block (91) on one side of the supplementary frame (79), the bottom of the fixing block (91) is slidably engaged with the top of the drive frame (30), the side of the fixing frame (411) away from the embedding slot (80) is connected to the output end of the control electric push rod (92), and an infrared sensor (93) is provided on one side of the control electric push rod (92).

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