A drum transfer robot

Abstract

The present application relates to the technical field of drum transfer robot, and particularly relates to a safe and stable drum transfer robot, which comprises two side clamping mechanisms for clamping the side of a transport piece and a blocking mechanism for limiting the front and back of the transport piece, and the bottom of the clamping plate of the side clamping mechanism is provided with a transfer column, and the transfer column is located below a drum, the drum transfer robot can change the support position of the swing rod when facing transport pieces of different sizes, and the transfer column is closer to the rotary pushing mechanism when clamping a larger transport piece, that is, the rotary support point is closer, and the front end of the swing rod is lifted to a higher height under the same rotary driving stroke. And the structure is completely received in the support frame, the overall structure is small, can be suitable for smaller space structure installation, ensures the safety in the conveying process, and improves the automatic three-dimensional warehouse construction.

Description

Technical Field

[0001] This invention relates to the field of roller transfer robot technology, and specifically to a safe and stable roller transfer robot. Background Technology

[0002] Roller-type transfer robots are used to dock with production lines, transporting packaged items to shelves to assist in the construction of automated storage and retrieval systems (AS / RS) in factories. Therefore, one robot needs to dock with multiple production lines, each with items of varying sizes. During movement, the robot brakes suddenly to avoid obstacles or employees. Items may initially lurch forward due to inertia, but are prevented from falling off the rollers to the ground by the side gripping mechanisms. However, larger items, being heavier and having greater overall inertia, have a higher probability of falling to the ground during movement, potentially causing damage to goods or injury to personnel.

[0003] In existing technologies, blocking mechanisms are also set up on both the front and back sides. When the transported item is conveyed onto the roller, the blocking on both sides prevents the transported item from rushing forward or backward due to inertia when the robot moves forward or backward. However, due to the spatial structure, the blocking arms of the blocking mechanism cannot rise a great distance and can only block the bottom edge of the transported item. When dealing with larger transported items, because the overall height of the item is extremely high, this blocking method can still result in the item rushing out of the roller.

[0004] Therefore, there is a need to design a roller transfer robot that can rise to different heights when dealing with transport items of different sizes, and that can be installed in smaller spaces. Summary of the Invention

[0005] In view of the above-mentioned technical deficiencies, the purpose of this invention is to provide a roller transfer robot that can rise to different heights when facing transport items of different sizes, and that can be installed in smaller space structures.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: The present invention provides a roller transfer robot, including two side clamping mechanisms for clamping the sides of a transport component and a blocking mechanism for limiting the front and rear sides of the transport component. The clamping plate of the side clamping mechanism is provided with a transfer column at the bottom, which is located below the roller. The blocking mechanism is located below the roller and installed in a support frame. The blocking mechanism is provided with a rotatable swing rod, and the swing rod has a strip groove for the transfer column to be inserted. The blocking mechanism also includes a rotary pushing mechanism for pushing the swing rod to rotate. The rotary pushing mechanism is fixedly installed on the support frame and connected to the end of the swing rod. When the swing rod is not rotated, the strip groove is in a horizontal state.

[0007] Preferably, the blocking mechanism includes two sets, which are connected together along the central longitudinal section of the support frame. Each set of blocking mechanisms is provided with multiple swing rods, which are staggered and inserted into multiple rollers. The multiple swing rods in the left and right blocking mechanisms are staggered.

[0008] Preferably, each swing rod includes a hinge rod and a rotating rod. One end of the hinge rod is hinged to the rotating push mechanism, and the other end of the hinge rod is hinged to the rotating rod. The strip groove is located on the rotating rod. A limit plate is fixedly provided at the top of the hinge rod, and a connecting plate is fixedly provided at the bottom of the strip groove. One end of the tension spring is fixedly connected to the limit plate, and the other end of the tension spring is connected to the connecting plate.

[0009] Preferably, it also includes a bottom locking mechanism, which includes a displacement plate, a rotating seat, an elastic locking seat, and a rotating rocker arm. The displacement plate is horizontally slidably installed in the support frame and is inserted between two rollers. The rotating rocker arm contacts one side of the displacement plate, and the middle part of the rotating rocker arm is rotatably installed on the rotating seat. A first insert post is fixedly provided on the displacement plate. A waist-shaped groove for inserting the first insert post is provided on the left side of the rotating rocker arm. The elastic locking seat is vertically slidably installed in the support frame and a second insert post is provided on the elastic locking seat. A waist-shaped groove for inserting the second insert post is provided on the right side of the rotating rocker arm.

[0010] Preferably, there are multiple displacement plates and elastic locking seats, with each displacement plate corresponding to a different rotating rod and the multiple displacement plates being fixedly connected to each other. The multiple elastic locking seats can be vertically and slidably installed inside the support frame through the mounting bracket and guide seat. The multiple elastic locking seats are installed on the mounting bracket, and the second insertion post is installed on the mounting bracket. The bottom of the mounting bracket is fixedly provided with a guide post that is slidably connected to the guide seat.

[0011] Preferably, the elastic snap-fit ​​seat further includes a side baffle, a second guide post, and a spring. One side of the side baffle contacts the outer circumferential surface of the roller. The second guide post can be vertically slidably mounted on the mounting bracket. The spring is used to provide an upward elastic force to the side baffle.

[0012] Preferably, the rotary pushing mechanism includes an electric push rod and a rotating base. The bottom of the electric push rod is fixedly installed on the support frame, and the electric push rod is inclined. The output end of the electric push rod is fixedly connected to the rotating base. A rotating shaft is fixedly installed on the rotating base. Limiting rings are provided on both sides of each hinge rod, and the limiting rings are fixedly connected to the rotating shaft.

[0013] Preferably, the side clamping mechanism includes a movable seat, a ball screw, a threaded rod, and a ball screw driven to rotate by a motor. The movable seat is horizontally slidably mounted on the support frame. A threaded rod is fixedly mounted on the back of the clamping plate. The threaded rod is detachably mounted on the movable seat by a nut. The end of the threaded rod passes through the movable seat and engages with the nut. Two nuts clamp the two sides of the movable seat to achieve a fixed connection of the threaded rod. The ball screw slide is fixedly mounted in the support frame. The ball screw slide is provided with two sets of ball screws with reverse threads. The two movable seats are provided with threaded rod nuts that engage with the ball screws.

[0014] Preferably, a soft pad is fixedly provided on the clamping plate.

[0015] Preferably, an extension plate is fixedly provided at the bottom of the clamping plate, the extension plate passes between the two rollers, and the end of the transfer column is fixedly connected to the extension plate.

[0016] The beneficial effects of this invention are as follows: This roller transfer robot can change the support position of the transfer column on the swing arm when facing transport items of different sizes. For larger transport items, the transfer column is closer to the rotary push mechanism, meaning the rotary support point is closer. Under the same rotary drive stroke, the front end of the swing arm is raised to a higher height. Conversely, when the transfer column is further away from the swing arm, the front end of the swing arm will rotate upwards to a lower height. This allows the robot to rise to different heights when facing transport items of different sizes. Furthermore, this structure is completely housed within the support frame, resulting in a smaller overall structure suitable for installation in smaller spaces, ensuring safety during transport, and improving the construction of automated storage and retrieval systems (AS / RS).

[0017] Furthermore, by utilizing the pushing force of the rotating rod, the elastic locking seat can extend through the bottom of the transport component, thereby limiting and locking the transport component and achieving a further locking effect. When the rotating rod returns to its original position, the elastic locking seat can automatically retract to the bottom of the transport component, thus automatically unlocking the transport component. In other words, automatic locking and automatic unlocking are achieved. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is the front view of the present invention.

[0020] Figure 2 This is a top view of the present invention.

[0021] Figure 3This is a partial structural front view of the present invention.

[0022] Figure 4 This is a front view showing the contact state between the transfer column and the swing arm.

[0023] Figure 5 A schematic diagram showing the position of the swing arm after the transport component has been widened.

[0024] Figure 6 This is a partial three-dimensional structural diagram of the swing arm.

[0025] Figure 7 This is the front view of the bottom locking mechanism.

[0026] Figure 8 This is a partial three-dimensional structural diagram of the bottom locking mechanism.

[0027] Figure 9 This is a three-dimensional structural diagram of the flexible snap-fit ​​connector.

[0028] Figure 10 This is a three-dimensional structural diagram of the rotary drive mechanism.

[0029] Explanation of reference numerals in the attached drawings: 1. Transport component; 2. Cross-type lifting device; 3. Side clamping mechanism; 3a. Clamping plate; 3b. Central transfer column; 3c. Soft pad; 3d. Moving seat; 3e. Ball screw; 3f. Screw; 3h. Nut; 3k. Extension plate; 4. Roller; 5. Support frame; 6. Blocking mechanism; 6a. Swing rod; 6a1. Strip groove; 6a2. Hinge rod; 6a3. Rotating rod; 6a4. Tension spring; 6a5. Limiting plate; 6a6. Connecting plate; 6b. Rotary pushing mechanism; 6b1. Electric push rod; 6b2. Rotary seat; 6b3. Limiting ring; 6b4. Rotating shaft; 7. Bottom locking mechanism; 7a. Displacement plate; 7b. Rotating seat; 7c. Elastic locking seat; 7c1. Side baffle; 7c2. Guide column two; 7c3. Spring; 7d. Rotating swing rod; 7e. Mounting bracket; 7f. Guide seat. Detailed Implementation

[0030] 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.

[0031] Example: This invention provides a roller transfer robot, such as... Figure 1-10As shown, the device includes two side clamping mechanisms 3 for clamping the sides of the transport component 1 and a blocking mechanism 6 for limiting the front and rear sides of the transport component 1. The clamping plate 3a of the side clamping mechanism 3 is provided with a transfer column 3b at the bottom. The transfer column 3b is located below the roller 4. The blocking mechanism 6 is located below the roller 4 and installed in the support frame 5. The blocking mechanism 6 is provided with a rotatable swing rod 6a. The swing rod 6a has a strip groove 6a1 for the transfer column 3b to be inserted. The blocking mechanism 6 also includes a rotary pushing mechanism 6b for pushing the swing rod 6a to rotate. The rotary pushing mechanism 6b is fixedly installed on the support frame 5 and is connected to the end of the swing rod 6a. When the swing rod 6a is not rotating, the strip groove 6a1 is in a horizontal state.

[0032] The cross-type lifting device 2 drives the support frame 5 to move vertically upward, so that the roller 4 can match the conveyor lines of different heights. The support frame 5 is equipped with a sprocket set for driving multiple rollers 4 to rotate and move, and the sprocket set is driven to rotate by a motor.

[0033] When the robot docks with the conveyor line, the top of roller 4 is at the same horizontal plane as the top of the rollers on the conveyor line. After the transport component 1 is conveyed to the top of roller 4, the side clamping mechanism 3 pushes the clamping plate 3a to clamp the transport component 1. Since the side clamping mechanism 3 moves, it will drive the transfer column 3b to move together. When the transfer column 3b moves, because the strip groove 6a1 is in a horizontal state, there will be no motion interference between the transfer column 3b and the swing rod 6a. Although the angle at which the end rotation pushing mechanism 6b pushes the swing rod 6a to rotate is different depending on the moving distance of the transfer column 3b, the rotation angle of the swing rod 6a will change when it is pushed because the support position of the transfer column 3b on the swing rod 6a changes. For the smaller transport component 1, it does not need to push the swing rod 6a to rotate; it only needs to be clamped by the clamping plate 3a.

[0034] Among them, the magnitude of the change in the rotation angle of the swing rod 6a is such that when the rotating column 3b is closer to the rotating push mechanism 6b, that is, the rotation support point is closer, the front end of the swing rod 6a will rise to a higher height under the same rotation drive stroke. Conversely, when the rotating column 3b is farther away from the swing rod 6a, the front end of the swing rod 6a will rotate upward to a lower height. Figure 3 and Figure 5 contrast, Figure 3 The pivot column 3b is in a position where it is far from the swing arm 6a. Figure 5 This is to bring the transfer column 3b closer to the rotating drive mechanism 6b.

[0035] The blocking mechanism 6 includes two sets, which are connected together along the central longitudinal section of the support frame 5, with the section line being... Figure 3The X-mark line indicates that each blocking mechanism 6 is equipped with multiple swing rods 6a, which are staggered and inserted into multiple rollers 4. The swing rods 6a in the left and right blocking mechanisms 6 are also staggered. By setting a docking structure in the blocking mechanism 6, the swing rods 6a can contact the front sides of the transport component 1 respectively when rotating, resulting in more stable support. Furthermore, since the swing rods 6a are inserted between two rollers 4, they also receive lateral support from the rollers 4 when blocking, reducing the likelihood of bending under stress.

[0036] Since there are multiple sets of swing rods 6a, and the swing rod 6a located below the transport component 1 cannot rotate and extend, to avoid the swing rods 6a from interfering with the transport component 1, each swing rod 6a includes a hinge rod 6a2 and a rotating rod 6a3. One end of the hinge rod 6a2 is hinged to the rotating push mechanism 6b, and the other end of the hinge rod 6a2 is hinged to the rotating rod 6a3. The strip groove 6a1 is located on the rotating rod 6a3. A limit plate 6a5 is fixedly installed at the top of the hinge rod 6a2, and a connecting plate 6a6 is fixedly installed at the bottom of the strip groove 6a1. One end of the tension spring 6a4 is fixedly connected to the limit plate 6a5, and the other end of the tension spring 6a4 is connected to the connecting plate 6a6. During the upward rotation of the swing rod 6a, after its end contacts the transport component 1, the tension spring 6a4 will be stretched during subsequent upward rotation, so that only the hinge rod 6a2 continues to rotate, while the end of the rotating rod 6a3 will not rotate upward, but will only move forward. Furthermore, if the bottom of the transport component 1 has a rough structure, the rotating rod 6a3 can provide friction to the bottom of the transport component 1. If there is a depression at the bottom of the transport component 1, the rotating rod 6a3 can be inserted into the depression to achieve a further locking effect.

[0037] To ensure better locking and safety, a bottom locking mechanism 7 is also included. The bottom locking mechanism 7 includes a displacement plate 7a, a rotating seat 7b, an elastic locking seat 7c, and a rotating rocker arm 7d. The displacement plate 7a is horizontally slidably installed in the support frame 5 and is inserted between the two rollers 4. The rotating rod 6a3 contacts one side of the displacement plate 7a. The middle part of the rotating rocker arm 7d is rotatably installed on the rotating seat 7b. A first insertion post is fixedly provided on the displacement plate 7a. A waist-shaped groove for the insertion post 1 is provided on the left side of the rotating rocker arm 7d. The elastic locking seat 7c is vertically slidably installed in the support frame 5 and a second insertion post is provided on the elastic locking seat 7c. A waist-shaped groove for the insertion post 2 is provided on the right side of the rotating rocker arm 7d. When in the initial position, the end of the rotating rod 6a3 is already in contact with the displacement plate 7a. During subsequent movement of the rotating rod 6a3, it horizontally pushes the displacement plate 7a, which in turn pushes the rotating rocker arm 7d to rotate and swing, causing the elastic locking seat 7c to move towards the bottom of the transport component 1. If it comes into contact with the bottom of the transport component 1, the elastic locking seat 7c will be compressed; otherwise, the top of the elastic locking seat 7c can directly protrude through the bottom of the transport component 1. The protruding elastic locking seat 7c can block and lock the bottom of the transport component 1 during its movement. Because the rotating rod 6a3's rotational limiting position on the transport component 1 is in a crossed state, its bottom limiting structure is relatively small. However, the pushing force of the rotating rod 6a3 causes the elastic locking seat 7c to protrude, effectively strengthening its bottom support structure and providing better locking and safety assurance.

[0038] Multiple displacement plates 7a and elastic locking seats 7c are included. Each displacement plate 7a corresponds one-to-one with a multiple rotating rod 6a3, and the displacement plates 7a are fixedly connected to each other. Multiple elastic locking seats 7c are vertically and slidably installed inside the support frame 5 via a mounting bracket 7e and a guide seat 7f. The multiple elastic locking seats 7c are mounted on the mounting bracket 7e, and the second insertion post is mounted on the mounting bracket 7e. A guide post 1, slidably connected to the guide seat 7f, is fixedly provided at the bottom of the mounting bracket 7e. When any one of the rotating rods 6a3 pushes the displacement plate 7a to move horizontally, it can push the side baffle 7c1 to move upward. During the movement, some rotating rods 6a3 will inevitably fail to contact the bottom of the transport component 1, and these rotating rods 6a3 will separate from the displacement plate 7a. After separation, the other rotating rods 6a3 in contact with the displacement plate 7a will continue to push the displacement plate 7a to move horizontally. The rotating rods 6a3 that have separated from the displacement plate 7a will not be blocked by the displacement plate 7a during subsequent rotation and reset. The mounting bracket 7e, guide seat 7f, and guide post 1 serve to guide and install the vertical movement of the elastic snap-fit ​​seat 7c. The displacement plate 7a achieves horizontal sliding through a bottom-mounted slide block and slide rail.

[0039] The elastic locking seat 7c also includes a side baffle 7c1, a guide post 7c2, and a spring 7c3. One side of the side baffle 7c1 contacts the outer circumferential surface of the roller 4. The guide post 7c2 can be vertically slidably mounted on the mounting frame 7e. The spring 7c3 provides an upward elastic force to the side baffle 7c1. One end of the spring 7c3 abuts against the side baffle 7c1, and the other end abuts against the top of the mounting frame 7e. By contacting the roller 4, the side baffle 7c1 is prevented from rotating. When the mounting frame 7e moves upward, it pushes the side baffle 7c1 upward as well. When part of the side baffle 7c1 contacts the bottom of the transport component 1, it will compress the spring 7c3. The side baffle 7c1 that does not contact the bottom of the transport component 1 will directly pass through the bottom of the transport component 1. The explanation is that when the rotating rod 6a3 of one set of blocking mechanisms 6 is in contact with the displacement plate 7a, and the rotating rod 6a3 of the other set of blocking mechanisms 6 is in a horizontal state and located above the mounting bracket 7e, it avoids the rotating rod 6a3 of the other set of blocking mechanisms 6 from colliding with part of the bottom locking mechanism 7 when rotating. The rotating rod 6a3 is preferably located above the guide post 7c2 and on the side of the side baffle 7c1.

[0040] The rotary pushing mechanism 6b includes an electric push rod 6b1 and a rotating base 6b2. The bottom of the electric push rod 6b1 is fixedly mounted on the support frame 5, and the electric push rod 6b1 is inclined. The output end of the electric push rod 6b1 is fixedly connected to the rotating base 6b2. A rotating shaft 6b4 is fixedly mounted on the rotating base 6b2. Each hinge rod 6a2 has a limit ring 6b3 on both sides, and the limit ring 6b3 is fixedly connected to the rotating shaft 6b4. When the electric push rod 6b1 is pushed downward, it will drive the rotating base 6b2 to move together. The rotating base 6b2 will drive the rotating shaft 6b4 to move together. The rotating shaft 6b4 will push the hinge rod 6a2 to move. If the rotating rod 6a3 does not contact the bottom of the transport component 1, the rotating shaft 6b4 will push the rotating rod 6a3 to rotate along the central rotating column 3b, thus realizing the rotation and swing of the swing rod 6a.

[0041] The side clamping mechanism 3 includes a movable seat 3d, a ball screw 3e, a screw 3f, and a ball screw driven to rotate by a motor. The movable seat 3d is horizontally slidably mounted on the support frame 5. The screw 3f is fixedly mounted on the back of the clamping plate 3a. The screw 3f is detachably mounted on the movable seat 3d via nuts 3h. The end of the screw 3f passes through the movable seat 3d and engages with the nuts 3h. The two nuts 3h clamp the two sides of the movable seat 3d, thus fixing the screw 3f. The ball screw slide is fixedly mounted inside the support frame 5. The ball screw slide is provided with two sets of ball screws 3e with reverse threads. The two movable seats 3d are provided with screw nuts that engage with the ball screws 3e. By rotating the ball screws 3e, the two ball screws 3e will drive the two movable seats 3d to move closer or further away simultaneously. When the clamping plate 3a moves closer, the clamping plate 3a will clamp the two sides of the transport piece 1.

[0042] A soft pad 3c is fixedly provided on the clamping plate 3a. By providing the soft pad 3c, when it is necessary to clamp the transport piece 1, its side can have a softer contact mode, which can avoid damage to the transport piece 1, and at the same time increase the side friction.

[0043] An extension plate 3k is fixedly installed at the bottom of the clamping plate 3a, passing between the two rollers 4. The end of the central column 3b is fixedly connected to the extension plate 3k. The extension plate 3k allows the central column 3b to be installed below the rollers 4, ensuring that only the swing rod 6a protrudes from the rollers 4 during rotation.

[0044] In use, when the transport component 1 is conveyed to the target position on the roller 4, it is clamped on the sides by two clamping plates 3a. The clamping plates 3a, during their movement, drive the central transfer column 3b. After the clamping plates 3a have completed their movement, they are pushed by the electric push rod 6b1. The rotating shaft 6b4 then pushes the swing rod 6a to rotate along the central transfer column 3b. Part of the swing rod 6a contacts the bottom of the transport component 1. After contact, as the swing rod 6a continues to rotate, the tension spring 6a4 is stretched, and the end of the rotating rod 6a3 moves horizontally along the bottom of the transport component 1. Initially, the end of the rotating rod 6a3 contacts the displacement plate 7a. Later, as the rotating rod 6a3 rotates, the displacement plate 7a is pushed horizontally, and simultaneously, the rotating swing rod 7d pushes the elastic locking seat 7c upwards. Part of the end of the elastic locking seat 7c protrudes from the bottom of the transport component 1 to block it, while the other part is blocked by the bottom of the transport component 1 and is in a compressed state.

[0045] This roller-type transfer robot can change the support position of the transfer column 3b on the swing arm 6a when dealing with transport items of different sizes. For larger transport items, the transfer column 3b moves closer to the rotary push mechanism 6b, meaning the rotational support point is closer. With the same rotary drive stroke, the front end of the swing arm 6a rises higher. Conversely, when the transfer column 3b moves further away from the swing arm 6a, the front end of the swing arm 6a rotates upwards to a lower height. This allows the robot to rise to different heights when handling transport items of different sizes. Furthermore, this structure is completely housed within the support frame 5, resulting in a compact overall structure suitable for installation in smaller spaces, ensuring safety during transport, and improving the construction of automated storage and retrieval systems (AS / RS).

[0046] Furthermore, by utilizing the pushing force of the rotating rod 6a3, the elastic locking seat 7c can extend through the bottom of the transport component 1, thereby limiting and locking the transport component 1 and achieving a further locking effect. When the rotating rod 6a3 returns to its original position, the elastic locking seat 7c can automatically retract to the bottom of the transport component 1, thereby automatically unlocking the transport component, which means that automatic locking and automatic unlocking are achieved.

[0047] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A roller transfer robot, characterized in that, It includes two side clamping mechanisms (3) for clamping the side of the transport component (1) and a blocking mechanism (6) for limiting the front and rear sides of the transport component (1). The clamping plate (3a) of the side clamping mechanism (3) is provided with a transfer column (3b) at the bottom. The transfer column (3b) is located below the roller (4). The blocking mechanism (6) is located below the roller (4) and installed in the support frame (5). The blocking mechanism (6) is provided with a rotatable swing rod (6a). The swing rod (6a) is provided with a strip groove (6a1) for the transfer column (3b) to be inserted. The blocking mechanism (6) also includes a rotary pushing mechanism (6b) for pushing the swing rod (6a) to rotate. The rotary pushing mechanism (6b) is fixedly installed on the support frame (5) and connected to the end of the swing rod (6a). When the swing rod (6a) is not rotated, the strip groove (6a1) is in a horizontal state.

2. The roller transfer robot as described in claim 1, characterized in that, The blocking mechanism (6) includes two sets. The two sets of blocking mechanisms (6) are connected along the central longitudinal section of the support frame (5). Each set of blocking mechanisms (6) is provided with multiple swing rods (6a). The multiple swing rods (6a) are staggered and inserted into multiple rollers (4). The multiple swing rods (6a) in the blocking mechanisms (6) on the left and right sides are staggered.

3. The roller transfer robot as described in claim 2, characterized in that, Each swing arm (6a) includes a hinged rod (6a2) and a rotating rod (6a3). One end of the hinged rod (6a2) is hinged to the rotating push mechanism (6b), and the other end of the hinged rod (6a2) is hinged to the rotating rod (6a3). The strip groove (6a1) is located on the rotating rod (6a3). A limit plate (6a5) is fixedly installed at the top of the hinged rod (6a2), and a connecting plate (6a6) is fixedly installed at the bottom of the strip groove (6a1). One end of the tension spring (6a4) is fixedly connected to the limit plate (6a5), and the other end of the tension spring (6a4) is connected to the connecting plate (6a6).

4. The roller transfer robot as described in claim 3, characterized in that, It also includes a bottom locking mechanism (7), which includes a displacement plate (7a), a rotating seat (7b), an elastic locking seat (7c), and a rotating rocker arm (7d). The displacement plate (7a) can be horizontally slidably installed in the support frame (5). The displacement plate (7a) is inserted between two rollers (4). The rotating rod (6a3) contacts one side of the displacement plate (7a). The middle part of the rotating rocker arm (7d) is rotatably installed on the rotating seat (7b). A first insert post is fixedly provided on the displacement plate (7a). A waist-shaped groove for inserting the first insert post is provided on the left side of the rotating rocker arm (7d). The elastic locking seat (7c) can be vertically slidably installed in the support frame (5). A second insert post is provided on the elastic locking seat (7c). A waist-shaped groove for inserting the second insert post is provided on the right side of the rotating rocker arm (7d).

5. A roller transfer robot as described in claim 4, characterized in that, There are multiple displacement plates (7a) and elastic locking seats (7c). Each displacement plate (7a) corresponds to a multiple rotating rod (6a3) and the multiple displacement plates (7a) are fixedly connected to each other. The multiple elastic locking seats (7c) can be vertically and slidably installed inside the support frame (5) through the mounting frame (7e) and the guide seat (7f). The multiple elastic locking seats (7c) are installed on the mounting frame (7e). The second insertion post is installed on the mounting frame (7e). The bottom of the mounting frame (7e) is fixedly provided with a guide post that is slidably connected to the guide seat (7f).

6. A roller transfer robot as described in claim 5, characterized in that, The elastic snap-fit ​​seat (7c) also includes a side baffle (7c1), a second guide post (7c2) and a spring (7c3). One side of the side baffle (7c1) contacts the outer circumferential surface of the roller (4). The second guide post (7c2) can be vertically slidably mounted on the mounting bracket (7e). The spring (7c3) is used to provide an upward elastic force to the side baffle (7c1).

7. A roller transfer robot as described in claim 3, characterized in that, The rotary push mechanism (6b) includes an electric push rod (6b1) and a rotating seat (6b2). The bottom of the electric push rod (6b1) is fixedly installed on the support frame (5), and the electric push rod (6b1) is inclined. The output end of the electric push rod (6b1) is fixedly connected to the rotating seat (6b2). A rotating shaft (6b4) is fixedly installed on the rotating seat (6b2). Limiting rings (6b3) are provided on both sides of each hinge rod (6a2), and the limiting rings (6b3) are fixedly connected to the rotating shaft (6b4).

8. A roller transfer robot as described in claim 1, characterized in that, The side clamping mechanism (3) includes a movable seat (3d), a ball screw (3e), a screw (3f), and a ball screw driven to rotate by a motor. The movable seat (3d) is horizontally slidably mounted on the support frame (5). The screw (3f) is fixedly mounted on the back of the clamping plate (3a). The screw (3f) is detachably mounted on the movable seat (3d) through a nut (3h). The end of the screw (3f) passes through the movable seat (3d) and is engaged with the nut (3h). The two nuts (3h) are clamped on both sides of the movable seat (3d) to achieve a fixed connection of the screw (3f). The ball screw slide is fixedly mounted in the support frame (5). The ball screw slide is provided with two sets of ball screws (3e) with reverse threads. The two movable seats (3d) are provided with screw nuts that are engaged with the ball screws (3e).

9. A roller transfer robot as described in claim 1, characterized in that, A soft pad (3c) is fixedly installed on the clamping plate (3a).

10. A roller transfer robot as described in claim 1, characterized in that, An extension plate (3k) is fixedly installed at the bottom of the clamping plate (3a). The extension plate (3k) passes between the two rollers (4), and the end of the central column (3b) is fixedly connected to the extension plate (3k).

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