Intelligent suspension conveying robot

Abstract

The invention discloses an intelligent suspension conveying robot, belongs to the technical field of suspension conveying, and aims to solve the problems that when materials are conveyed by an intelligent suspension conveying robot, due to the fact that the shapes, the sizes and the weight distribution of the materials are different, and positioning deviation is caused during hanging, the materials cannot be conveyed easily. The problems that in the prior art, due to the fact that a roller on the side with the larger bearing gravity is prone to being seriously and unevenly abraded, the service life of the roller is shortened, and the conveying effect is affected are solved in the invention, a rail is arranged on one side of the supporting frame, a conveying assembly is connected into the rail in a rolling mode, and a connecting assembly is arranged at the bottom of the conveying assembly; according to the automatic material hanging device, the tension difference value after materials are hung and connected can be conveniently detected, the gravity center position of the materials is automatically adjusted, the tension on the two sides tends to be balanced, and the stress difference of rollers of the conveying assembly is reduced.

Description

Technical Field

[0001] This invention relates to the field of overhead conveying technology, specifically to an intelligent overhead conveying robot. Background Technology

[0002] Intelligent overhead conveyor robots are key equipment for automated material transfer via overhead tracks. They are used in many fields such as automobile manufacturing, warehousing and logistics, electronics processing, and garment production. The walking mechanism is equipped with rollers that are adapted to the track. The drive module drives the rollers along the track via a motor. The control system realizes the robot's automatic navigation, speed adjustment, positioning, and path planning. The attachment device is fixed to the bottom of the robot to carry and attach various materials. Compared with traditional overhead conveyor equipment, intelligent overhead conveyor robots have higher operating accuracy, stronger adaptability to working conditions, and more flexible scheduling capabilities, which can significantly improve material transfer efficiency and reduce manual intervention costs.

[0003] Currently, in the operation of intelligent overhead conveying robots, the center of gravity of materials after being hooked onto hooks relies entirely on manual placement and calibration. Furthermore, due to differences in the shape, size, and weight distribution of materials, as well as positioning deviations during hooking, the center of gravity of the hooked material can easily deviate from the robot's longitudinal axis, leading to torque imbalance. This results in a significant increase in friction between the roller bearing the greater weight and the track. During long-term, high-frequency operation, this roller will experience severe uneven wear, drastically shortening its lifespan, increasing maintenance costs and downtime, and causing problems such as shaking and deviation during robot operation, affecting conveying accuracy and ultimately impacting the conveying effect.

[0004] To address the above issues, an intelligent suspended conveying robot is proposed. Summary of the Invention

[0005] The purpose of this invention is to provide an intelligent overhead conveying robot. By using this invention, the problem in the above-mentioned background is solved: when an intelligent overhead conveying robot is conveying materials, the differences in the shape, size, and weight distribution of the materials, as well as the positioning deviation during attachment, can easily lead to severe uneven wear on the rollers on the side bearing greater weight. This not only shortens the service life of the rollers but also affects the conveying effect.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] An intelligent suspended conveying robot includes a support frame, a track on one side of the support frame, a conveying component that rolls along the track, a connecting component at the bottom of the conveying component, two tension sensors opposite each other at the bottom of the connecting component, a dynamic balancing component at the bottom of the two tension sensors, a rotating component inside the dynamic balancing component, a hook on one side of the rotating component, a torque sensor inside the conveying component, two lifting components opposite each other at the top of the connecting component, a fitting component at the top of each of the two lifting components, and an inflation compression component connected to the top of each of the two lifting components. The inflation compression component is connected to the fitting component, and an anti-slip component is installed inside the fitting component.

[0008] Furthermore, the conveying assembly includes a movable seat disposed within the track, two dual-axis motors are mounted opposite each other within the movable seat, and the two output shafts of the dual-axis motors are fixedly connected to a first rotating shaft. A torque sensor is installed within the first rotating shaft, the first rotating shaft is rotatably connected to the movable seat, a movable wheel is fixedly connected to the outer wall of the first rotating shaft, the movable wheel is rotatably connected to the track, and a vertical plate is fixedly connected to the bottom of the movable seat.

[0009] Furthermore, the connecting assembly includes a support base fixedly connected to the bottom of the vertical plate, with two diagonal rods arranged opposite each other at the bottom of the support base, and two tension sensors installed at the bottom of the two diagonal rods.

[0010] Furthermore, the dynamic balancing component includes a support frame fixedly connected to the bottom of two tension sensors. A servo motor is installed on one side of the support frame. A threaded rod is fixedly connected to the output end of the servo motor. The threaded rod is rotatably connected to the support frame. A threaded block is threadedly connected to the outer wall of the threaded rod. The threaded block is slidably connected to the support frame.

[0011] Furthermore, the rotating assembly includes a motor mounted on one side of the threaded block, a second rotating shaft fixedly connected to the output end of the motor, an angle sensor installed inside the second rotating shaft, a rotating block fixedly connected to the outer wall of the second rotating shaft, and a hook fixedly connected to the bottom of the rotating block.

[0012] Furthermore, the lifting assembly includes an electric push rod installed on the top of the support base. The movable end of the electric push rod is fixedly connected to a lifting rod. Several stabilizing rods are fixedly connected to both sides of the vertical plate. One end of the stabilizing rod is fixedly connected to a fixed shell. A sliding plate and a first piston are slidably connected inside the fixed shell. The bottom of the sliding plate is fixedly connected to the top of the lifting rod. A first spring is fixedly connected to the top of the sliding plate, and the other end of the first spring is fixedly connected to the first piston. A Y-shaped rod is fixedly connected to the top of the first piston. The Y-shaped rod is slidably connected to the fixed shell. The first piston and the top of the inner wall of the fixed shell form an air storage cavity.

[0013] Furthermore, the bonding assembly includes a lifting plate fixedly connected to the top of the Y-shaped rod, and two rotating sleeves are arranged opposite each other inside the lifting plate. Support wheels are fixedly connected to the outer walls of the two rotating sleeves, and the rotating sleeves are in communication with the support wheels.

[0014] Furthermore, the inflatable extrusion assembly includes two hoses connected to the top of the fixed shell, and one end of each of the two rotating sleeves is rotatably connected to a rotary joint. The rotary joint is fixedly connected to the lifting plate, and one end of the hose is fixedly connected to the rotary joint.

[0015] Furthermore, the anti-slip component includes several limiting frames fixedly connected inside the support wheel, a second piston slidably connected inside the limiting frame, an anti-slip rubber block fixedly connected to one side of the second piston, and two second springs fixedly connected to one side of the second piston, with the other ends of the two second springs fixedly connected to the inner wall of the limiting frame.

[0016] Furthermore, one side of the anti-slip rubber block is provided with an arc surface.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0018] By combining a tension sensor with a dynamic balancing component, the tension difference after the material is attached can be easily detected, and the center of gravity of the material can be automatically adjusted to make the tension on both sides more balanced, reduce the force difference on the rollers of the conveying component, reduce uneven wear, extend the service life of the equipment, and improve the smoothness of operation.

[0019] By combining the tension sensor with the dynamic balancing component, it is easy to determine the left and right swaying state of the material, drive the hook to move quickly in the opposite direction to counteract the inertial kinetic energy, shorten the swaying decay time, reduce the force fluctuation of the roller, avoid the risk of falling off caused by continuous swaying of the material, and ensure the safety of conveying.

[0020] By combining the angle sensor with the rotating component, the angle change of the material's back-and-forth swaying can be easily detected, driving the hook to rotate in the opposite direction of the swaying to counteract the inertial kinetic energy, quickly suppress the back-and-forth swaying, avoid the swaying from aggravating the impact on the conveying stability, and improve the robot's adaptability to complex working conditions.

[0021] By combining the lifting and bonding components, the support wheels can be easily lifted when the material sways, and the conveying components can clamp the track, improving the stability of the connection between the robot and the track, providing a stable basis for sway control, further strengthening the overall anti-sway capability, and ensuring the safety of the material conveying process.

[0022] By combining a torque sensor with an anti-slip component, the slippage of the conveyor rollers can be easily detected. Air pressure is used to push the anti-slip rubber block to fit the track, increasing the friction of the contact surface, quickly stopping the roller from spinning freely, and rapidly restoring normal conveying, thus avoiding equipment deviation and production interruption caused by slippage. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0024] Figure 2 This is a schematic diagram of the overall cross-sectional structure of the present invention;

[0025] Figure 3 for Figure 2 Enlarged view of point A;

[0026] Figure 4 This is a partial structural diagram of the present invention;

[0027] Figure 5 This is a partial cross-sectional structural diagram of the present invention;

[0028] Figure 6 for Figure 5 Enlarged view of point B;

[0029] Figure 7 for Figure 5 Enlarged view of point C;

[0030] Figure 8 for Figure 7 Enlarged view of point D;

[0031] Figure 9 This is a cross-sectional structural diagram showing the connection relationship between the lifting assembly, the bonding assembly, and the inflatable extrusion assembly of the present invention.

[0032] Figure 10 for Figure 9 Enlarged view of point E;

[0033] Figure 11 This is a logic diagram of the present invention.

[0034] In the diagram: 1. Support frame; 2. Track; 3. Conveying assembly; 31. Moving seat; 32. Dual-axis motor; 33. First rotating shaft; 34. Moving wheel; 35. Vertical plate; 4. Connecting assembly; 41. Support seat; 42. Diagonal bar; 5. Tension sensor; 6. Dynamic balancing assembly; 61. Support frame; 62. Servo motor; 63. Threaded rod; 64. Threaded block; 7. Rotating assembly; 71. Motor; 72. Second rotating shaft; 73. Rotating block; 74. Angle sensor; 8. Hook; 9. Torque sensor; 10. Lifting assembly; 101. Electric push rod; 102. Lifting rod; 103. Stabilizing rod; 104. Fixed shell; 105. Slide plate; 106. First spring; 107. First piston; 108. Y-shaped rod; 109. Air storage chamber; 20. Fitting assembly; 201. Lifting plate; 202. Rotating sleeve; 203. Support wheel; 30. Inflation and extrusion assembly; 301. Hose; 302. Rotary joint; 40. Anti-slip assembly; 401. Limiting frame; 402. Second piston; 403. Anti-slip rubber block; 404. Second spring; 50. Curved surface. Detailed Implementation

[0035] 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.

[0036] To address the technical challenge of uneven wear on the rollers bearing heavier loads during material transport by intelligent overhead conveyor robots, which can be caused by variations in material shape, size, and weight distribution, as well as positioning errors during attachment, thus shortening roller lifespan and affecting conveying efficiency, the following solutions are proposed. Figures 1-7 and Figure 11 As shown, the following preferred technical solutions are provided:

[0037] like Figures 1-2 As shown, an intelligent suspended conveying robot includes a support frame 1, which supports and fixes various components. A controller is installed on the outside of the support frame 1, which controls various electrical components. The controller is existing technology and is not shown in the figure. A track 2 is provided on one side of the support frame 1. The track 2 serves as the running carrier and guiding reference for the suspended conveying robot, providing a stable overhead running path and ensuring that the suspended conveying robot travels accurately along a preset trajectory. A conveying component 3 is rolled within the track 2. The conveying component 3 can drive the material attached to the bottom to move synchronously, completing the automated material transfer operation. A connecting component 4 is provided at the bottom of the conveying component 3, such as... Figure 5 As shown, two tension sensors 5 are arranged opposite each other at the bottom of the connecting component 4. The tension sensors 5 can detect the tension value generated after the material is attached to the bottom in real time, detect the difference in tension on both sides, and feed the detection data back to the controller. This provides data support for judging the torque balance state after the material is attached. The detection limit of the tension sensor 5 is greater than the rated load of the robot, which can adapt to the material suspension and conveying scenario. It can withstand the dynamic tension fluctuation caused by frequent start and stop and material shaking during the conveying process. At the same time, it can adapt to the tension detection requirements after the material is attached with different shapes and weight distributions, ensuring the stability and accuracy of the data fed back to the controller.

[0038] Two tension sensors 5 are equipped with dynamic balancing components 6 at their bottom. These components receive signals from the controller and adjust via a built-in drive structure to ensure the values ​​from both tension sensors 5 are consistent, eliminating torque imbalance and reducing force differences on the rollers. Figure 5 As shown, the dynamic balancing component 6 contains a rotating component 7. The rotating component 7, through its built-in angle detection structure, outputs a reverse damping torque in conjunction with the rotating structure, suppressing the material's back-and-forth swaying and causing the hook 8 to reset. This, combined with the dynamic balancing component 6, achieves coordinated and stable control. Figure 3 As shown, a hook 8 is provided on one side of the rotating component 7. The hook 8 is convenient for hanging materials and has good load-bearing and anti-detachment performance, which facilitates the quick loading and unloading of materials.

[0039] In use, by hooking the material into the hook 8, the difference between the values ​​of the two tension sensors 5 exceeds the normal range. The controller then causes the dynamic balancing component 6 to slowly move the rotating component 7, the hook 8, and the material towards the side of the tension sensor 5 with the lower value, until the difference between the values ​​of the two tension sensors 5 is within the normal range. This facilitates automated torque balance adjustment after the material is hooked, eliminating the need for manual calibration of the material position. Compared to existing technologies where the fixed hook 8 causes torque imbalance that is difficult to control and excessive wear on one side of the rollers, this technology reduces the force difference on both sides of the rollers of the conveying component 3, reduces uneven wear of the rollers, extends the service life of the equipment, and improves the smoothness and stability of the intelligent suspended conveying robot during operation.

[0040] Then, the controller causes the conveying component 3 to move within the track 2, and drives the connecting component 4, dynamic balancing component 6, rotating component 7 and hook 8 to move synchronously to convey the material. If the material shakes slightly during the conveying process and under the condition of uniform and stable conveying, the material will shake slightly.

[0041] Scenario 1: The value of one tension sensor 5 increases rapidly while the value of the other tension sensor 5 decreases rapidly, indicating that the material is swaying from side to side. At this time, the controller causes the dynamic balancing component 6 to move the hook 8 and the material quickly a short distance towards the side of the tension sensor 5 with the increasing value. When the material sways in the opposite direction, it moves a short distance in the opposite direction again. This cycle is repeated multiple times to quickly counteract the inertial kinetic energy of the material's swaying and to make the material's center of gravity quickly return to the equilibrium position. Compared with the existing technology that relies on passive damping structures, which has a slow swaying decay and is prone to aggravating the problem of roller eccentricity, this technology can shorten the decay time of the material's swaying from side to side, reduce the force fluctuation amplitude of the rollers on both sides of the conveying component 3, improve the stability and safety of the robot's operation, and avoid the risk of material falling off due to continuous swaying. When the values ​​of the two tension sensors 5 no longer increase or decrease rapidly, the controller causes the dynamic balancing component 6 to move the hook 8 and the material slowly, so that the difference between the values ​​of the two tension sensors 5 returns to the normal range.

[0042] Scenario 2: The values ​​of the two tension sensors 5 increase rapidly at the same time and then decrease simultaneously. At the same time, the angle detection structure inside the rotating component 7 shows abnormal values, indicating that the material is swaying back and forth. At this time, the controller causes the rotating component 7 to drive the hook 8 to rotate a short distance in the opposite direction of the material swaying. This facilitates the rapid cancellation of the inertial kinetic energy of the material's swaying and promotes the material to stabilize quickly. Compared with the existing technology, which lacks targeted control for swaying back and forth and relies on passive damping, resulting in slow sway attenuation, this technology can significantly shorten the suppression time of the material's swaying back and forth, avoid the impact of swaying on the stability of the conveying, further reduce the risk of material falling off or being damaged by collision, and improve the robot's adaptability to complex conveying conditions.

[0043] If the material sways both left and right and forward and backward simultaneously, then process it according to Case 1 first, and then process it according to Case 2. This will help to quickly eliminate the potential for uneven roller load caused by the left and right swaying, avoid interference between the two control actions under combined swaying, improve the efficiency and reliability of overall stable control, and ensure that the material is always in a safe state during the control process, thereby reducing the risk of mechanical wear and material falling off the equipment.

[0044] like Figure 4 As shown, a torque sensor 9 is installed inside the conveying assembly 3. The torque sensor 9 can detect the torque value of the output shaft of the built-in drive structure of the conveying assembly 3 in real time, thereby determining whether the conveying assembly 3 is slipping. Figure 3 As shown, two lifting components 10 are arranged opposite each other on the top of the connecting component 4, as follows: Figure 3 As shown, both lifting components 10 are equipped with fitting components 20 at their tops. The lifting components 10 raise the fitting components 20, which then work with the conveying components 3 to clamp the track 2, thereby suppressing the swaying of the suspended conveying robot. Figure 3 As shown, both lifting components 10 are connected to an inflation and compression component 30 at their tops. The inflation and compression component 30 is connected to the bonding component 20. An anti-slip component 40 is provided inside the bonding component 20. The lifting component 10 drives the bonding component 20 to rise, so that the bonding component 20 and the conveying component 3 clamp the track 2. Then, the air pressure inside the lifting component 10 and the bonding component 20 pushes the anti-slip component 40 out of the bonding component 20, so that the contact surface between the anti-slip component 40 and the track 2 can be tightly fitted, increasing the friction between the bonding component 20 and the track 2, and making it easy to quickly restore the normal travel state when the conveying component 3 slips.

[0045] If the material shakes during transport, the controller will cause the two lifting components 10 to lift the two bonding components 20 a short distance, allowing the two bonding components 20 to work with the conveying component 3 to clamp the track 2. This will quickly improve the stability of the connection between the robot and the track 2, providing a stable basis for shaking suppression and control, thereby further strengthening the overall anti-shaking capability and improving the safety of the material transport process. After the shaking stops, the two lifting components 10 will lower the two bonding components 20 to reset, facilitating preparation for subsequent operations.

[0046] When conveying materials, if the value of torque sensor 9 decreases, it indicates that the rollers of conveying component 3 are slipping. At this time, the controller causes the two lifting components 10 to lift the two bonding components 20, so that the two bonding components 20 work with the conveying component 3 to clamp the track 2. At this time, the two lifting components 10 continue to move, and the air pressure inside the lifting components 10 and bonding components 20 pushes the anti-slip component 40 out of the bonding component 20, so that the contact surface of the anti-slip component 40 is tightly fitted with the track 2, which facilitates and quickly achieves anti-slip contact, thereby stopping the rollers from spinning and facilitating the resumption of normal conveying. Compared with the existing technology, which lacks targeted emergency measures after slippage and is prone to robot deviation or material damage, this technology can quickly curb the slippage trend and restore the normal movement of the conveying component 3, improve the robot's emergency handling capability for slippage conditions, and avoid production interruptions and safety risks caused by slippage.

[0047] like Figures 3-5 As shown, the conveying assembly 3 includes a movable seat 31 disposed within the track 2. Two dual-axis motors 32 are mounted opposite each other within the movable seat 31. The two output shafts of the dual-axis motors 32 are fixedly connected to a first rotating shaft 33. A torque sensor 9 is installed within the first rotating shaft 33. The first rotating shaft 33 is rotatably connected to the movable seat 31. A movable wheel 34 is fixedly connected to the outer wall of the first rotating shaft 33. The movable wheel 34 is rotatably connected to the track 2. A vertical plate 35 is fixedly connected to the bottom of the movable seat 31.

[0048] The connecting component 4 includes a support base 41 fixedly connected to the bottom of the vertical plate 35. Two inclined rods 42 are arranged opposite each other at the bottom of the support base 41, and two tension sensors 5 are installed at the bottom of the two inclined rods 42.

[0049] like Figures 3-6 As shown, the dynamic balancing component 6 includes a support frame 61 fixedly connected to the bottom of two tension sensors 5. A servo motor 62 is installed on one side of the support frame 61. A threaded rod 63 is fixedly connected to the output end of the servo motor 62. The threaded rod 63 is rotatably connected to the support frame 61. A threaded block 64 is threadedly connected to the outer wall of the threaded rod 63. The threaded block 64 is slidably connected to the support frame 61.

[0050] like Figure 6As shown, the rotating assembly 7 includes a motor 71 mounted on one side of the threaded block 64. The output end of the motor 71 is fixedly connected to a second rotating shaft 72. An electromagnetic clutch is installed between the motor 71 and the second rotating shaft 72. The electromagnetic clutch is existing technology and is not shown in the figure. This allows the second rotating shaft 72 to rotate freely when it is in a non-connected state to the motor 71 during normal conveying without the need to suppress the material's back-and-forth swaying. This facilitates adaptation to slight bumps in the track 2 or small swaying of the material, improving the flexibility of the material suspension. At the same time, the connection between the second rotating shaft 72 and the threaded block 64 has damping properties, which provides appropriate rotational resistance to the second rotating shaft 72, suppressing small swaying caused during normal conveying and improving the stability of the suspended conveying. An angle sensor 74 is installed inside the second rotating shaft 72. The angle sensor 74 can detect the rotation angle and the rate of angle change of the second rotating shaft 72 in real time and feed the detection data back to the controller, providing data support for judging whether the material is swaying back and forth and the amplitude of the swaying. A rotating block 73 is fixedly connected to the outer wall of the second rotating shaft 72, and a hook 8 is fixedly connected to the bottom of the rotating block 73.

[0051] In use, by hooking the material into the hook 8, the difference between the values ​​of the two tension sensors 5 exceeds the normal range. The controller then activates the servo motor 62 to rotate the threaded rod 63. This causes the threaded block 64, under the limit of the support frame 61, to slowly move the rotating component 7, the hook 8, and the material towards the side of the tension sensor 5 with the lower value, until the difference between the two tension sensors is within the normal range. This facilitates automated torque balance adjustment after material hooking, eliminating the need for manual calibration of the material position. Compared to existing technologies where fixed hook 8 leads to difficult torque imbalance and excessive wear on one side of the moving wheel 34, this technology reduces the force difference on both sides of the moving wheel 34 of the conveying component 3, reduces uneven wear of the rollers, extends the equipment's lifespan, and improves the smoothness and stability of the intelligent suspended conveying robot during operation.

[0052] Subsequently, the controller causes the two dual-axis motors 32 to drive the two symmetrically arranged moving wheels 34 to move within the track 2, and drive the connecting component 4, dynamic balancing component 6, rotating component 7 and hook 8 to move synchronously to convey the material. If the material shakes slightly during the conveying process and under the condition of uniform and stable conveying, the material will shake slightly.

[0053] Scenario 1: When the value of one tension sensor 5 increases rapidly while the value of the other tension sensor 5 decreases rapidly, it is determined that the material is swaying from side to side. At this time, the controller causes the servo motor 62 to drive the threaded rod 63 to rotate. This causes the threaded block 64, under the limit of the support frame 61, to quickly move the hook 8 and the material a short distance towards the side of the tension sensor 5 with the increasing value. When the material sways in the opposite direction, it moves a short distance in the opposite direction again. This cycle repeats multiple times to quickly counteract the inertial kinetic energy of the material's swaying and to make the material's center of gravity quickly return to the equilibrium position. Compared with the existing technology that relies on passive shock absorption structures, which has slow sway attenuation and easily aggravates the problem of roller imbalance, this technology can shorten the attenuation time of the material's swaying, reduce the force fluctuation amplitude of the moving wheels 34 on both sides of the conveying component 3, improve the stability and safety of the robot's operation, and avoid the risk of material falling off due to continuous swaying. When the values ​​of the two tension sensors 5 no longer increase or decrease rapidly, the controller causes the servo motor 62 to drive the threaded rod 63 to rotate. This causes the threaded block 64 to move the hook 8 and the material slowly under the limit of the support frame 61, so that the difference in values ​​of the two tension sensors 5 returns to the normal range.

[0054] Scenario 2: The values ​​of both tension sensors 5 increase rapidly and then decrease simultaneously, while the value of angle sensor 74 is abnormal, indicating that the material is swaying back and forth. At this time, the controller causes motor 71 to drive the second rotating shaft 72 and hook 8 to rotate a short distance in the opposite direction of the material swaying. This facilitates the rapid cancellation of the inertial kinetic energy of the material's swaying and helps the material stabilize quickly. Compared with the existing technology that lacks targeted control for swaying and relies on passive damping which results in slow sway attenuation, this method can significantly shorten the suppression time of the material's swaying, avoid the impact of swaying on the stability of the conveying process, further reduce the risk of material falling off or being damaged by collision, and improve the robot's adaptability to complex conveying conditions.

[0055] If the material sways both left and right and forward and backward simultaneously, then process it according to Case 1 first, and then process it according to Case 2. This will help to quickly eliminate the potential for uneven roller load caused by the left and right swaying, avoid interference between the two control actions under combined swaying, improve the efficiency and reliability of overall stable control, and ensure that the material is always in a safe state during the control process, thereby reducing the risk of mechanical wear and material falling off the equipment.

[0056] To address the technical problem of slippage and difficulty in quickly extricating oneself from obstacles in intelligent suspended conveyor robots during use, such as... Figures 3-5 and Figures 7-10 As shown, the following preferred technical solutions are provided:

[0057] like Figure 5 , Figure 7 and Figure 9As shown, the lifting assembly 10 includes an electric push rod 101 mounted on the top of the support base 41. A lifting rod 102 is fixedly connected to the movable end of the electric push rod 101. Several stabilizing rods 103 are fixedly connected to both sides of the vertical plate 35. A fixed housing 104 is fixedly connected to one end of each stabilizing rod 103. A sliding plate 105 and a first piston 107 are slidably connected inside the fixed housing 104. The bottom of the sliding plate 105 is fixedly connected to the top of the lifting rod 102. A first spring 106 is fixedly connected to the top of the sliding plate 105. The first spring 106 can buffer part of the impact force when the electric push rod 101 drives the sliding plate 105 to rise and fall, and the elastic force of the first spring 106 is relatively large. The thrust of the slide plate 105 is stably transmitted to the first piston 107, ensuring that the gas in the air storage chamber 109 is smoothly pressurized, thus ensuring the reliability of the pneumatically driven anti-slip assembly 40. The other end of the first spring 106 is fixedly connected to the first piston 107. A Y-shaped rod 108 is fixedly connected to the top of the first piston 107. The Y-shaped rod 108 is slidably connected to the fixed shell 104. The first piston 107 and the top of the inner wall of the fixed shell 104 form an air storage chamber 109. The air storage chamber 109 can store gas and form a stable air pressure source, which provides a guarantee for the subsequent transmission of power to the anti-slip assembly 40 through the air passage, ensuring the stability and timeliness of the pneumatically driven anti-slip assembly 40.

[0058] like Figures 7-10 As shown, the bonding component 20 includes a lifting plate 201 fixedly connected to the top of the Y-shaped rod 108. Two rotating sleeves 202 are arranged opposite to each other inside the lifting plate 201. Support wheels 203 are fixedly connected to the outer walls of the two rotating sleeves 202, and the rotating sleeves 202 are connected to the support wheels 203.

[0059] like Figure 4 and Figures 7-10 As shown, the inflatable compression assembly 30 includes two hoses 301 connected to the top of the fixed housing 104. The hoses 301 can adapt to the lifting movement of the lifting plate 201, ensuring the flexibility and stability of the air circuit connection. One end of each of the two rotating sleeves 202 is rotatably connected to a rotary joint 302. The rotary joint 302 has good dynamic sealing performance and a built-in high-precision sealing structure, which can keep the air circuit sealed when the rotating sleeve 202 rotates, effectively preventing gas leakage. The rotary joint 302 is fixedly connected to the lifting plate 201, and one end of the hose 301 is fixedly connected to the rotary joint 302. The hoses 301, rotary joints 302 and rotating sleeves 202 can form a connected air circuit, which can stably deliver the gas in the air storage chamber 109 to the inside of the support wheel 203, providing continuous and stable air pressure for the extension of the anti-slip assembly 40, and ensuring the normal realization of the anti-slip function.

[0060] like Figure 8 and Figure 10As shown, the anti-slip component 40 includes several limiting frames 401 fixedly connected to the support wheel 203. A second piston 402 is slidably connected inside the limiting frame 401. An anti-slip rubber block 403 is fixedly connected to one side of the second piston 402. In the normal conveying state where the anti-slip function is not required, the anti-slip rubber block 403 is stored in the limiting frame 401 to avoid unnecessary friction and wear between the anti-slip rubber block 403 and the track 2 during the anti-shaking process of the suspended conveying robot. At the same time, it does not interfere with the smooth rolling of the support wheel 203 along the track. Two second springs 404 are fixedly connected to one side of the second piston 402, and the other ends of the two second springs 404 are fixedly connected to the inner wall of the limiting frame 401.

[0061] like Figure 10 As shown, the anti-slip rubber block 403 has an arc surface 50 on one side. The arc surface 50 facilitates the quick contact between the anti-slip rubber block 403 and the contact surface of the track 2, adapts to the curvature characteristics of the track 2 surface, reduces the impact force at the moment of contact, and further improves the tightness and stability of the anti-slip contact.

[0062] If material swaying occurs during material conveying, the controller activates two electric push rods 101, which in turn lift the lifting rod 102 and slide plate 105. This causes the slide plate 105 to slide within the fixed housing 104, pushing the first spring 106, first piston 107, Y-shaped rod 108, lifting plate 201, and support wheels 203 to rise a short distance. This allows the four support wheels 203, in conjunction with the moving wheels 34, to clamp the track 2, facilitating a rapid and stable connection between the robot and the track 2. This provides a stable foundation for sway suppression and control. This further enhances the overall anti-shaking capability and improves the safety of the material conveying process. After the material shakes, the lifting rod 102 and the slide plate 105 are lowered by the two electric push rods 101, which in turn lowers the lifting plate 201 and the support wheel 203 to reset, making it easier to prepare for subsequent operations. During the process, although the gas in the air storage chamber 109 is squeezed into the support wheel 203 through the first piston 107, the air pressure is not enough to overcome the elastic force of the second spring 404. Therefore, the second piston 402 will not cause the anti-slip rubber block 403 to slide out.

[0063] When conveying materials, if the value of torque sensor 9 decreases, it indicates that the roller of moving wheel 34 is slipping. At this time, the controller causes the two electric push rods 101 to drive the lifting rod 102 and the slide plate 105 to rise, causing the slide plate 105 to slide within the fixed shell 104. This pushes the first spring 106, the first piston 107, the Y-shaped rod 108, the lifting plate 201, and the support wheel 203 to rise a short distance, so that the four support wheels 203 cooperate with the moving wheel 34 to clamp the track 2. At this time, the two electric push rods 101 continue to move, causing the gas in the air storage chamber 109, hose 301, rotary joint 302, rotating sleeve 202, and support wheel 203 to be gradually compressed until the air pressure overcomes the elastic force of the second spring 404, pushing the second piston 402 to move within the limit frame 401, causing the anti-slip rubber block 403 to protrude from the support wheel 2. 03, and the contact surface with the track 2 is tightly fitted. At this time, the clamping force does not affect the normal movement of the moving wheel 34, which facilitates the quick and easy anti-slip contact, thereby stopping the moving wheel 34 from spinning and facilitating the restoration of normal conveying. Compared with the existing technology, which lacks targeted emergency measures after slippage and is prone to robot deviation or material damage, this technology can quickly curb the slippage trend and restore the normal movement of the conveying component 3, improving the robot's emergency handling capability for slippage conditions. At the same time, it avoids production interruption and safety risks caused by slippage. After the slippage of the moving wheel 34 ends and normal movement is resumed, the two electric push rods 101 drive the lifting rod 102 and the slide plate 105 to descend, driving the lifting plate 201 and the support wheel 203 to descend and reset. At the same time, the second spring 404 drives the second piston 402 and the anti-slip rubber block 403 to reset, which is convenient for preparing for subsequent operations.

[0064] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0065] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An intelligent suspended conveying robot, comprising a support frame (1), characterized in that: The support frame (1) is provided with a track (2) on one side, and a conveying component (3) is rolled in the track (2). A connecting component (4) is provided at the bottom of the conveying component (3). Two tension sensors (5) are provided opposite to each other at the bottom of the connecting component (4). A dynamic balancing component (6) is provided at the bottom of the two tension sensors (5). A rotating component (7) is provided inside the dynamic balancing component (6). A hook (8) is provided on one side of the rotating component (7). A torque sensor (9) is provided inside the conveying component (3). Two lifting components (10) are provided opposite to each other at the top of the connecting component (4). A fitting component (20) is provided at the top of each of the two lifting components (10). An inflation extrusion component (30) is connected to the top of each of the two lifting components (10). The inflation extrusion component (30) is connected to the fitting component (20). An anti-slip component (40) is provided inside the fitting component (20).

2. The intelligent suspended conveyor robot according to claim 1, characterized in that: The conveying assembly (3) includes a movable seat (31) disposed in the track (2). Two dual-axis motors (32) are installed opposite each other in the movable seat (31). The two output shafts of the dual-axis motors (32) are fixedly connected to a first rotating shaft (33). A torque sensor (9) is installed in the first rotating shaft (33). The first rotating shaft (33) is rotatably connected to the movable seat (31). A movable wheel (34) is fixedly connected to the outer wall of the first rotating shaft (33). The movable wheel (34) is tumbledly connected to the track (2). A vertical plate (35) is fixedly connected to the bottom of the movable seat (31).

3. The intelligent suspended conveyor robot according to claim 2, characterized in that: The connecting assembly (4) includes a support base (41) fixedly connected to the bottom of the vertical plate (35). Two inclined rods (42) are arranged opposite each other at the bottom of the support base (41), and two tension sensors (5) are installed at the bottom of the two inclined rods (42).

4. The intelligent suspended conveyor robot according to claim 1, characterized in that: The dynamic balancing component (6) includes a support frame (61) fixedly connected to the bottom of two tension sensors (5). A servo motor (62) is installed on one side of the support frame (61). A threaded rod (63) is fixedly connected to the output end of the servo motor (62). The threaded rod (63) is rotatably connected to the support frame (61). A threaded block (64) is threadedly connected to the outer wall of the threaded rod (63). The threaded block (64) is slidably connected to the support frame (61).

5. The intelligent suspended conveyor robot according to claim 4, characterized in that: The rotating assembly (7) includes a motor (71) installed on one side of the threaded block (64), the output end of the motor (71) is fixedly connected to a second rotating shaft (72), an angle sensor (74) is installed inside the second rotating shaft (72), a rotating block (73) is fixedly connected to the outer wall of the second rotating shaft (72), and a hook (8) is fixedly connected to the bottom of the rotating block (73).

6. The intelligent suspended conveyor robot according to claim 3, characterized in that: The lifting assembly (10) includes an electric push rod (101) installed on the top of the support base (41). The movable end of the electric push rod (101) is fixedly connected to a lifting rod (102). Several stabilizing rods (103) are fixedly connected to both sides of the vertical plate (35). One end of the stabilizing rod (103) is fixedly connected to a fixed shell (104). A sliding plate (105) and a first piston (107) are slidably connected inside the fixed shell (104). The bottom of the sliding plate (105) is fixedly connected to the top of the lifting rod (102). A first spring (106) is fixedly connected to the top of the sliding plate (105), and the other end of the first spring (106) is fixedly connected to the first piston (107). A Y-shaped rod (108) is fixedly connected to the top of the first piston (107). The Y-shaped rod (108) is slidably connected to the fixed shell (104). The first piston (107) and the top of the inner wall of the fixed shell (104) form an air storage chamber (109).

7. The intelligent suspended conveyor robot according to claim 6, characterized in that: The bonding component (20) includes a lifting plate (201) fixedly connected to the top of the Y-shaped rod (108). Two rotating sleeves (202) are arranged opposite to each other inside the lifting plate (201). Support wheels (203) are fixedly connected to the outer walls of the two rotating sleeves (202). The rotating sleeves (202) are connected to the support wheels (203).

8. The intelligent suspended conveyor robot according to claim 7, characterized in that: The inflatable extrusion assembly (30) includes two hoses (301) connected to the top of the fixed shell (104), and one end of each of the two rotating sleeves (202) is rotatably connected to a rotary joint (302). The rotary joint (302) is fixedly connected to the lifting plate (201), and one end of the hose (301) is fixedly connected to the rotary joint (302).

9. The intelligent suspended conveyor robot according to claim 7, characterized in that: The anti-slip component (40) includes several limiting frames (401) fixedly connected to the support wheel (203). A second piston (402) is slidably connected inside the limiting frame (401). An anti-slip rubber block (403) is fixedly connected to one side of the second piston (402). Two second springs (404) are fixedly connected to one side of the second piston (402), and the other ends of the two second springs (404) are fixedly connected to the inner wall of the limiting frame (401).

10. An intelligent suspended conveying robot according to claim 9, characterized in that: The anti-slip rubber block (403) has an arc surface (50) on one side.

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