Anti-falling locking stop structure of panel carrying robot

Abstract

This invention relates to the field of panel handling robot technology, specifically to a fall-prevention locking stop structure for a panel handling robot. The structure includes at least two tracks, a sliding component, a robotic arm, a clamping component, and a fall-prevention component. When the clamping component clamps the panel, it simultaneously pushes the base plate. A coaxial gear and rack linkage mechanism causes a pallet to automatically extend and support the bottom of the panel. After the pallet extends, the panel's own weight presses down on it. A second rack locks the second gear against the first gear, forming a mechanical support. Even if the equipment experiences a sudden power outage, gas outage, or complete control system failure, the purely mechanical self-locking structure can still stably maintain the pallet's support state.

Description

Technical Field

[0001] This invention relates to the field of panel handling robot technology, specifically to a fall-prevention locking stop structure for a panel handling robot. Background Technology

[0002] As is well known, panel handling robots are key equipment in the automated production and warehousing logistics of thin and fragile materials such as LCD glass substrates, photovoltaic glass, and display panels. As the end effector of the handling robot, the clamping component's anti-detachment performance directly determines the safety and yield of the panel during the handling process.

[0003] A search revealed that Chinese Patent Publication No. CN221968085U discloses a mechanical gripper device for anti-detachment and anti-slip mechanical transportation. The anti-detachment principle is as follows: when the gripper holds the workpiece, the workpiece squeezes the push block, and the push block drives the first piston plate to move. The second piston plate and the baffle are extended through the hydraulic oil circuit to support the bottom of the workpiece. This solution achieves the automatic extension of the anti-detachment baffle by triggering hydraulic transmission through workpiece compression. However, its disadvantage is that the drive of the anti-detachment baffle depends on the hydraulic oil circuit system. The entire anti-detachment mechanism requires multiple hydraulic transmission components such as seals, oil pipes, and pistons, which is complex in structure and has a high cost. In addition, the hydraulic system has the risk of oil leakage. After long-term use, the aging and failure of the seals will lead to the loss of the anti-detachment function and a decrease in reliability.

[0004] Chinese patent CN220787352U discloses a panel box handling device, whose anti-drop module adopts a cylinder-driven claw structure. After the clamping assembly clamps the material, the lifting cylinder drives the claw to rotate to support the bottom of the material. This solution provides driving force through an independent cylinder, which can realize the active retraction and release of the claw. However, the anti-drop action and clamping action of this solution are controlled by two independent drive sources, the cylinder and the motor, respectively. This requires complex timing coordination, has high structural redundancy, and depends on an external air source for power supply, making it unsuitable for mobile operations or conditions without an air source.

[0005] The common drawback of the above-mentioned existing technical solutions is that the action of the anti-detachment component requires an independent drive system and control timing to complete, which makes the structure of the entire clamping assembly complex and the cost high. It also depends on an external power source. When the equipment loses power or gas, the anti-detachment function may fail, and true passive safety protection cannot be achieved.

[0006] In addition, although there are simple spring-return baffles or fixed bottom support structures in the existing technology, these solutions either require an additional power source for active driving or the baffle is always in the extended state, which affects the picking and placing of materials and cannot achieve the self-locking effect of automatically extending the support after clamping and automatically resetting when released. Summary of the Invention

[0007] Technical problems to be solved To overcome the problem that the movement of the anti-detachment component of existing panel handling robots requires an independent drive system and control timing coordination, this invention provides a fall-prevention locking stop structure for panel handling robots. Technical solution

[0008] To achieve the above objectives, the present invention provides the following technical solution: a fall-prevention locking stop structure for a panel handling robot, comprising: At least two tracks; A sliding assembly, the sliding assembly being mounted between the tops of the tracks; A robotic arm, which is fixedly mounted on top of the sliding assembly via a mounting base; A gripping assembly, the gripping assembly being mounted at one end of the robotic arm; and A fall arrestor assembly is installed at both ends of a clamping assembly. The fall arrestor assembly includes a mounting frame, which is slidably disposed on the side of the clamping assembly. A base plate is slidably disposed on the mounting frame. A first rack is fixedly disposed on the side of the base plate. A support plate is slidably disposed at the bottom of the mounting frame. A second rack is fixedly disposed on the side of the support plate. A first gear is rotatably disposed at the bottom of the mounting frame, and the first gear meshes with the first rack. A second gear is coaxially fixedly disposed on the side of the first gear, and the second gear meshes with the second rack.

[0009] Preferably, the number of teeth of the first gear is twice the number of teeth of the second gear.

[0010] Furthermore, the mounting frame has multiple sliding grooves on its side, which extend along the length of the mounting frame. A sliding rod is slidably disposed within the sliding groove. One end of the sliding rod is fixedly disposed with the side of the base plate, and a connecting plate is fixedly disposed between the other ends of the sliding rod. The first rack is fixedly disposed on the sliding rod located in the middle. The bottom sides of the mounting frame have first sliding grooves, and first sliders are slidably disposed within the first sliding grooves. The first sliders are fixedly disposed with the top of the support plate.

[0011] Furthermore, a sliding frame is fixedly installed on the top of the tray, a first spring is fixedly installed on the bottom of the sliding frame, and a top support is slidably installed inside the sliding frame, with the first spring and the bottom of the top support being fixedly installed.

[0012] In a further embodiment, the mounting frame has a sloping surface on its side, and the bottom plate has a sloping plate fixedly installed on its side. The sloping plate is adapted to the sloping surface, and the bottom of the mounting frame has a second sliding groove that slides with the sloping plate.

[0013] Based on the aforementioned scheme, a sliding column is fixedly installed at the top of the mounting frame, a pressure plate is fixedly installed between the bottoms of the sliding columns, a plurality of dampers are fixedly installed at the bottom of the pressure plate, the dampers extend along the length direction of the pressure plate, a second spring is fixedly installed inside the dampers, a horizontal plate is fixedly installed between the tops of the sliding columns, a third spring is sleeved on the sliding columns, the third spring is fixedly installed with the horizontal plate and the mounting frame, a movable plate is fixedly installed on the side of the horizontal plate, a mounting cover is fixedly installed at the top of the mounting frame, a screw is rotatably installed inside the mounting cover, the screw is rotatably installed with the mounting frame, the screw is threaded with the movable plate, a first bevel gear is fixedly installed at the bottom of the screw, a first motor is fixedly installed at the bottom of the mounting frame, a second bevel gear is connected to the output shaft of the first motor via a key, and the first bevel gear and the second bevel gear mesh.

[0014] Furthermore, based on the aforementioned solution, a number of anti-slip points are fixedly provided on the top of the base plate, and the anti-slip points are arranged in a matrix on the top of the base plate.

[0015] Furthermore, based on the aforementioned solution, the clamping assembly includes a mounting plate, which is fixedly mounted on one end of the robotic arm. A sleeve frame is fixedly mounted on both sides of the top of the mounting plate, and sleeve rods are slidably mounted on both sides of the sleeve frame. A fixing block is fixedly mounted on both sides of the top of the mounting frame, and the fixing block is fixedly mounted to the sleeve rod. A first rotating rod is rotatably mounted on the top of one of the fixing blocks, and the first rotating rods are diagonally arranged. A second rotating rod is rotatably mounted between the tops of the first rotating rods. A second motor is fixedly mounted on the bottom of the mounting plate, and the output shaft of the second motor is connected to the second rotating rod via a key.

[0016] Furthermore, based on the aforementioned solution, a mounting column is fixedly installed on one side of the robotic arm, and a flexible frame is fixedly installed at the bottom of the mounting column, with the flexible frame being fixedly installed to the mounting plate.

[0017] Furthermore, based on the aforementioned solution, the sliding assembly includes a second slider adapted to the track, the second slider being slidably disposed with the track, a fixing plate being fixedly disposed on the top of the second slider, the top of the fixing plate being fixedly disposed with the fixing seat, rotating frames being fixedly disposed on both sides of the fixing plate, and a rotating roller being rotatably disposed between the rotating frames, the rotating roller being in contact with the top of the track. Beneficial effects

[0018] The anti-fall locking stop structure of this panel handling robot: 1. When the clamping component clamps the panel, it simultaneously pushes the base plate. Through the coaxial gear and rack linkage mechanism, the support plate automatically extends to support the bottom of the panel. After the support plate extends, the weight of the panel itself will press down on the support plate. The second rack locks the second gear and the first gear in the opposite direction to form mechanical support. Even if the equipment suddenly loses power, gas, or the control system is completely paralyzed, the purely mechanical self-locking structure can still stably maintain the support state of the support plate.

[0019] 2. The spring top support on the pallet, together with the damping structure of the pressure plate, forms a flexible clamping system that can effectively buffer the vibration and impact during transportation and avoid scratching the panel surface by rigid contact. The matrix anti-slip points on the bottom plate further increase the friction and prevent the panel from slipping, thus protecting the integrity of thin and fragile materials such as LCD glass substrates, photovoltaic glass, and display panels in all aspects.

[0020] 3. When the panel is released, the clamping components are released at the same time, and the pallet automatically retracts into the mounting frame through the gear and rack linkage. This will not interfere with the material picking and putting actions. The entire anti-fall action is completely synchronized with the clamping action, requiring no additional operation steps and not affecting the robot's handling rhythm and work efficiency.

[0021] 4. The entire structure adopts a purely mechanical transmission structure such as gear rack and pinion and spring, without hydraulic or pneumatic components. There is no risk of oil or air leakage, and no need for complex sealing components and pipeline systems. The structure is simple and compact, with a low failure rate and convenient maintenance. It can adapt to the high-intensity and continuous operation requirements of panel production lines, and significantly reduce long-term operation and maintenance costs.

[0022] 5. The anti-fall component adopts an independent modular design and can be directly installed on the gripping components of existing panel handling robots without requiring large-scale modifications to the robot body. It can flexibly adjust the gripping force and support stroke according to panels of different sizes and weights, adapting to the handling needs of various specifications of thin plates, and has strong versatility. Attached Figure Description

[0023] Figure 1 This is a side view of the structure of the present invention; Figure 2 This is a schematic diagram of the structure of the sliding component of the present invention; Figure 3 For the present invention Figure 2 A magnified schematic diagram of the partial structure at point A in the middle; Figure 4 This is a schematic diagram of the structure of the robotic arm of the present invention; Figure 5 This is a schematic diagram of the clamping assembly of the present invention; Figure 6 This is a schematic diagram of the mounting plate of the present invention; Figure 7 This is a schematic diagram of the structure of the fall protection component of the present invention; Figure 8 This is a schematic diagram of the connecting plate of the present invention; Figure 9 For the present invention Figure 8 A magnified schematic diagram of the local structure at point B; Figure 10 For the present invention Figure 8 A magnified schematic diagram of the local structure at point C; Figure 11 This is a schematic diagram of the damping structure of the present invention; Figure 12 For the present invention Figure 11 A magnified schematic diagram of the structure at point D.

[0024] In the diagram: 1. Track; 2. Sliding assembly; 3. Robotic arm; 4. Clamping assembly; 5. Anti-fall assembly; 6. Mounting frame; 7. Base plate; 8. First rack; 9. Support plate; 10. Second rack; 11. First gear; 12. Second gear; 13. Fixed base; 14. Sliding groove; 15. Sliding rod; 16. Connecting plate; 17. First slide groove; 18. First slider; 19. Sliding frame; 20. First spring; 21. Top support; 22. Inclined surface; 23. Inclined plate; 24. Second slide groove; 25. Sliding column; 26. 27. Pressure plate; 28. Damping; 29. ​​Second spring; 30. Horizontal plate; 31. Third spring; 32. Moving plate; 33. Mounting cover; 34. Screw; 35. First bevel gear; 36. First motor; 37. Second bevel gear; 38. Anti-slip point; 39. Mounting plate; 40. Sleeve frame; 41. Sleeve rod; 42. Fixing block; 43. First rotating rod; 44. Second rotating rod; 45. Second motor; 46. Mounting column; 47. Soft frame; 48. Second slider; 49. Fixing plate; 50. Rotating frame; 61. Rotating roller. Detailed Implementation

[0025] 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.

[0026] See Figures 1-12 A fall-prevention locking stop structure for a panel handling robot includes a sliding component 2 installed between the tops of at least two tracks 1. A robotic arm 3 is fixedly mounted on the top of the sliding component 2 via a fixed base 13. A clamping component 4 is installed at one end of the robotic arm 3, and fall-prevention components 5 are installed at both ends of the clamping component 4.

[0027] The fall arrestor 5 includes a mounting frame 6, which is slidably mounted on the side of the clamping component 4. A base plate 7 is slidably mounted on the mounting frame 6. A first rack 8 is fixedly mounted on the side of the base plate 7. A support plate 9 is slidably mounted on the bottom of the mounting frame 6. A second rack 10 is fixedly mounted on the side of the support plate 9. A first gear 11 is rotatably mounted on the bottom of the mounting frame 6. The first gear 11 meshes with the first rack 8. A second gear 12 is coaxially fixedly mounted on the side of the first gear 11. The second gear 12 meshes with the second rack 10. The number of teeth of the first gear 11 is twice the number of teeth of the second gear 12.

[0028] Multiple sliding grooves 14 are provided on the side of the mounting frame 6. The sliding grooves 14 extend along the length of the mounting frame 6. A sliding rod 15 is slidably disposed in the sliding groove 14. One end of the sliding rod 15 is fixedly disposed with the side of the base plate 7. A connecting plate 16 is fixedly disposed between the other end of the sliding rod 15. A first rack 8 is fixedly disposed on the sliding rod 15 located in the middle. First sliding grooves 17 are provided on both sides of the bottom of the mounting frame 6. A first slider 18 is slidably disposed in the first sliding groove 17. The first slider 18 is fixedly disposed with the top of the support plate 9.

[0029] A sliding frame 19 is fixedly installed on the top of the support plate 9, a first spring 20 is fixedly installed on the bottom of the sliding frame 19, a top support 21 is slidably installed inside the sliding frame 19, the first spring 20 is fixedly installed at the bottom of the top support 21, an inclined surface 22 is opened on the side of the mounting frame 6, an inclined plate 23 is fixedly installed on the side of the base plate 7, the inclined plate 23 is adapted to the inclined surface 22, a second sliding groove 24 is opened at the bottom of the mounting frame 6, the second sliding groove 24 is slidably installed with the inclined plate 23.

[0030] A sliding post 25 is fixedly installed at the top of the mounting frame 6. A pressure plate 26 is fixedly installed between the bottoms of the sliding posts 25. Several dampers 27 are fixedly installed at the bottom of the pressure plate 26, extending along the length of the pressure plate 26. A second spring 28 is fixedly installed inside the damper 27. A horizontal plate 29 is fixedly installed between the tops of the sliding posts 25. A third spring 30 is sleeved on the sliding posts 25. The third spring 30 is fixedly installed with the horizontal plate 29 and the mounting frame 6. A movable plate 31 is fixedly installed on the side of the horizontal plate 29. The top of the mounting frame 6 is fixedly installed with... A mounting cover 32 is provided, and a screw 33 is rotatably mounted inside the mounting cover 32. The screw 33 is rotatably mounted with the mounting frame 6 and is threaded to the movable plate 31. A first bevel gear 34 is fixedly mounted at the bottom of the screw 33. A first motor 35 is fixedly mounted at the bottom of the mounting frame 6. A second bevel gear 36 is connected to the output shaft of the first motor 35 via a key. The first bevel gear 34 and the second bevel gear 36 mesh. A number of anti-slip points 37 are fixedly mounted on the top of the base plate 7 in a matrix arrangement.

[0031] The clamping assembly 4 includes a mounting plate 38, which is fixedly mounted on one end of the robotic arm 3. Sleeve frames 39 are fixedly mounted on both sides of the top of the mounting plate 38, and sleeve rods 40 are slidably mounted on both sides of the sleeve frames 39. Fixing blocks 41 are fixedly mounted on both sides of the top of the mounting frame 38, and the fixing blocks 41 are fixedly mounted to the sleeve rods 40. A first rotating rod 42 is rotatably mounted on the top of one of the fixing blocks 41, and the first rotating rods 42 are diagonally arranged. A second rotating rod 43 is rotatably mounted between the tops of the first rotating rods 42. A second motor 44 is fixedly mounted on the bottom of the mounting plate 38, and the output of the second motor 44... The shaft and the second rotating rod 43 are connected by a key. A mounting post 45 is fixedly installed on one side of the robotic arm 3. A soft frame 46 is fixedly installed at the bottom of the mounting post 45. The soft frame 46 is fixedly installed with the mounting plate 38. The sliding assembly 2 includes a second slider 47 adapted to the track 1. The second slider 47 is slidably installed with the track 1. A fixing plate 48 is fixedly installed on the top of the second slider 47. The top of the fixing plate 48 is fixedly installed with the fixing seat 13. Rotating frames 49 are fixedly installed on both sides of the fixing plate 48. A rotating roller 50 is rotatably installed between the rotating frames 49. The rotating roller 50 is in contact with the top of the track 1.

[0032] First, refer to Figure 7 In this embodiment, the anti-fall component 5 extends the support plate 9 to support the bottom of the panel when the clamping component 4 clamps the panel, forming a purely mechanical self-locking structure. Even if the equipment suddenly loses power, gas, or the control system fails, it can still maintain the supporting state and effectively prevent the panel from falling. At the same time, it automatically retracts when the panel is released, without affecting the material picking and unloading action. The mounting frame 6 serves as the main frame of the anti-fall component 5, providing a mounting base for all components such as the base plate 7, support plate 9, and gear and rack transmission mechanism. It is also connected to the fixing block 41 of the clamping component 4 and moves synchronously with the clamping component 4 to realize the linkage between the anti-fall action and the clamping action.

[0033] The base plate 7 is used to contact the side of the panel when the clamping assembly 4 clamps the panel. It is pushed into the mounting frame 6 by the panel and slides, thereby driving the support plate 9 to extend through the gear and rack linkage. The base plate 7 is made of a smooth hard material, which can ensure stable contact with the panel and is not easy to scratch the panel surface. The first rack 8 is fixed on the middle sliding rod 15 and slides synchronously with the base plate 7. Through meshing with the first gear 11, it converts the horizontal sliding of the base plate 7 into the rotation of the first gear 11, providing power for the extension of the support plate 9. The support plate 9 extends under the drive of the gear and rack and supports the bottom of the panel, providing bottom support for the panel and preventing the panel from falling during transportation. The second rack 10 is fixed on the side of the support plate 9 and meshes with the second gear 12, converting the rotation of the second gear 12 into the horizontal sliding of the support plate 9, realizing the extension and retraction of the support plate 9.

[0034] The first gear 11 and the second gear 12 are coaxially fixed to form a speed-increasing transmission mechanism. The number of teeth of the first gear 11 is twice that of the second gear 12, so that when the base plate 7 slides a unit distance, the support plate 9 can slide twice the distance, ensuring that the support plate 9 has enough stroke to extend out of the bottom of the support panel, while shortening the extension time of the support plate 9, so that the anti-fall action and the clamping action are completed synchronously. The function of the first slide groove 17 is to provide sliding guidance for the first slider 18, restricting the support plate 9 to move only in the horizontal direction, ensuring that the extension direction of the support plate 9 is accurate, and being able to stably support the bottom of the panel. The function of the first slider 18 is to connect the support plate 9 and the first slide groove 17, driving the support plate 9 to slide along the first slide groove 17, improving the stability of the movement of the support plate 9.

[0035] The function of the sliding groove 14 is to provide sliding guidance for the sliding rod 15, restricting the sliding rod 15 to move only along the length direction of the mounting frame 6, ensuring that the base plate 7 can slide smoothly without deflection. The function of the sliding rod 15 is to connect the base plate 7 and the connecting plate 16, drive the first rack 8 to slide synchronously, and transmit the sliding power of the base plate 7 to the gear and rack mechanism. The function of the connecting plate 16 is to connect multiple sliding rods 15, so that all sliding rods 15 can move synchronously, ensuring that the base plate 7 remains horizontal during the sliding process and avoiding tilting due to uneven force.

[0036] The sliding frame 19 is fixed to the top of the tray 9, providing installation space for the first spring 20 and the top support 21. The first spring 20 provides an upward preload to the top support 21, allowing the top support 21 to fit tightly against the bottom of the panel, forming a flexible support to buffer vibration and impact during handling and prevent damage to the panel from rigid contact. The top support 21 directly contacts the bottom of the panel and adapts to minor unevenness at the bottom of the panel under the action of the first spring 20, so that the supporting force is evenly distributed at the bottom of the panel, improving the stability of the support.

[0037] The function of the inclined surface 22 is to be formed on the side of the mounting frame 6 and to match the inclined plate 23 on the side of the base plate 7. It provides guidance for the sliding of the base plate 7 and limits the maximum sliding stroke of the base plate 7 to prevent the base plate 7 from sliding excessively into the mounting frame 6. The function of the inclined plate 23 is to be fixed on the side of the base plate 7 and to slide along the second slide groove 24 to further improve the smoothness of the sliding of the base plate 7 and ensure that the base plate 7 always moves in the horizontal direction. The function of the second slide groove 24 is to provide sliding guidance for the inclined plate 23 and to cooperate with the inclined surface 22 to limit the sliding trajectory of the base plate 7.

[0038] Then, refer to Figure 7In this embodiment, the top clamping adjustment applies flexible pressure from the top of the panel, forming an upper and lower clamping system with the bottom support plate 9 to further prevent panel slippage. It can also adapt to panels of different thicknesses, improving the versatility of the device. The sliding column 25 is fixed to the top of the mounting frame 6, providing sliding guidance for the pressure plate 26 and the horizontal plate 29, restricting the pressure plate 26 to move only in the vertical direction. The pressure plate 26 clamps the panel from the top, and the bottom damping 27 can buffer vibrations during transportation and reduce the impact on the panel.

[0039] The damper 27 is filled at the bottom of the pressure plate 26. It contains a second spring 28, which absorbs vibration energy during handling and provides uniform clamping force to prevent excessive local pressure from damaging the panel. The second spring 28 provides elastic support for the damper 27, enhancing the buffering effect and allowing the pressure plate 26 to adapt to minor unevenness at the top of the panel. The horizontal plate 29 connects the sliding columns 25 on both sides, providing a mounting base for the moving plate 31. It also transmits the elastic force of the third spring 30 to the pressure plate 26, enabling the pressure plate 26 to automatically press the top of the panel. The third spring 30 provides a downward preload to the horizontal plate 29 and the pressure plate 26, allowing the pressure plate 26 to automatically fit the top of the panel without additional adjustment.

[0040] The function of the movable plate 31 is to engage with the screw 33 via a threaded connection, converting the rotation of the screw 33 into the up-and-down movement of the horizontal plate 29 and the pressure plate 26, thereby adjusting the height of the pressure plate 26 to accommodate panels of different thicknesses. The function of the mounting cover 32 is to provide a closed mounting space for the screw 33, bevel gears, and the first motor 35, protecting the internal transmission components from dust and debris contamination and extending the service life of the components. The function of the screw 33 is to drive the movable plate 31 to move up and down through its own rotation, thereby achieving precise adjustment of the height of the pressure plate 26. The first bevel gear 34 and the second bevel gear 36 mesh with each other, converting the vertical rotation of the first motor 35 into the horizontal rotation of the screw 33, thereby achieving reverse power transmission. The function of the first motor 35 is to provide driving power for the height adjustment of the pressure plate 26, driving the screw 33 to rotate through forward and reverse rotation, thereby achieving the lifting and lowering adjustment of the pressure plate 26.

[0041] The anti-slip points 37 are arranged in a matrix on the top of the base plate 7 to increase the friction between the base plate 7 and the side of the panel, prevent the panel from slipping during clamping, and improve the stability of clamping. The anti-slip points 37 are made of soft material and will not scratch the side of the panel.

[0042] Secondly, see Figure 6In this embodiment, the clamping component 4 drives the anti-fall components 5 on both sides to move in opposite directions, thereby clamping and releasing the panel. At the same time, the diagonally arranged linkage mechanism ensures that the clamping force on both sides is uniform. The mounting plate 38 is fixed to the end of the robotic arm 3, providing a mounting base for all clamping components such as the sleeve frame 39 and the second motor 44. It also transmits the power of the robotic arm 3 to the clamping component 4 and the anti-fall component 5. The sleeve frame 39 provides a sliding guide for the sleeve rod 40, restricting the sleeve rod 40 to move only in the horizontal direction, ensuring that the mounting frames 6 on both sides can move synchronously in opposite directions. The sleeve rod 40 connects the sleeve frame 39 and the fixing block 41, driving the mounting frames 6 to move synchronously, thereby clamping and releasing the panel.

[0043] The function of the fixing block 41 is to connect the sleeve rod 40 and the mounting frame 6, transmit the moving power of the sleeve rod 40 to the mounting frame 6, and provide rotational support for the first rotating rod 42. The first rotating rod 42 is diagonally arranged, with its two ends rotatably connected to the fixing blocks 41 on both sides. It can rotate synchronously under the drive of the second rotating rod 43, thereby driving the sleeve rods 40 on both sides to move synchronously in opposite directions, ensuring that the clamping force on both sides is completely consistent, and preventing the panel from tilting due to uneven force. The function of the second rotating rod 43 is to rotate under the drive of the second motor 44, driving the first rotating rod 42 to rotate, realizing the opening and closing action of the clamping component 4. The function of the second motor 44 is to provide driving power for the clamping component 4, and drive the second rotating rod 43 to rotate by forward and reverse rotation, realizing the automatic clamping and release of the panel.

[0044] The function of the flexible frame 46 is to connect the mounting post 45 and the mounting plate 38. It is made of flexible material and can absorb the vibration generated during the movement of the robotic arm 3, reduce the vibration transmitted to the panel, and prevent the panel from being damaged by vibration. At the same time, it can compensate for the small positioning error of the robotic arm 3, so that the clamping component 4 can clamp the panel more stably. The function of the mounting post 45 is to fix it to the side of the robotic arm 3, provide a mounting base for the flexible frame 46, and ensure that the flexible frame 46 can stably connect the robotic arm 3 and the mounting plate 38.

[0045] Again, see Figure 2In this embodiment, the sliding component 2 drives the robotic arm 3 and the clamping component 4 to move along the track 1, realizing the transfer of the panel between different workstations. The second slider 47 slides with the track 1, driving the fixed plate 48 to move along the track 1. The fixed plate 48 connects the second slider 47 and the fixed seat 13, providing a stable mounting base for the robotic arm 3 and ensuring that the robotic arm 3 will not shake during movement and handling. The rotating frame 49 provides rotational support for the rotating roller 50 and is fixed on both sides of the fixed plate 48. The rotating roller 50 fits against the top of the track 1 and rotates with the movement of the sliding component 2, converting sliding friction into rolling friction, reducing the friction between the sliding component 2 and the track 1, making the movement of the sliding component 2 more stable and smooth, while reducing energy consumption and component wear.

[0046] Finally, see Figure 1 In this embodiment, compared with the prior art, this device has significant advantages. The purely mechanical synchronous linkage self-locking structure ensures that the clamping action and the anti-fall action are completely synchronized, requiring no additional drive source or control timing. Even if the equipment experiences a sudden power failure, the pallet 9 can still lock in the opposite direction under the action of the panel's gravity, maintaining the supporting state and fundamentally avoiding the risk of the panel falling. The upper and lower flexible clamping system, combined with the matrix anti-slip points 37, can effectively buffer vibration and impact, prevent panel slippage and scratches, and protect the integrity of the thin and fragile panel in all aspects. The overall structure is simple and compact, with no hydraulic or pneumatic components, eliminating the risk of oil or air leakage, resulting in a low failure rate and convenient maintenance. The modular design allows for direct installation on existing handling robots without large-scale modifications, making it highly versatile.

[0047] Working principle: The anti-fall locking stop structure of this panel handling robot requires the following preparations before starting: the track 1 is laid between the panel production or storage workstations, the initial position of the sliding component 2 is adjusted so that the clamping component 4 is aligned with the panel to be handled, and the first motor 35 is started according to the thickness of the panel to be handled, driving the second bevel gear 36 and the first bevel gear 34 to rotate, which in turn drives the screw 33 to rotate. The screw 33, through its threaded engagement with the moving plate 31, drives the horizontal plate 29 and the pressure plate 26 to move up and down along the sliding column 25. The height of the pressure plate 26 is adjusted to a position that matches the thickness of the panel, and the first motor 35 is turned off after adjustment.

[0048] After preparation, the sliding assembly 2 moves the robotic arm 3 and clamping assembly 4 to above the panel to be transported. The robotic arm 3 lowers the clamping assembly 4 to a suitable height, positioning the panel between the two mounting frames 6. The second motor 44 is then activated, causing the second rotating rod 43 to rotate. The second rotating rod 43 rotates the diagonally opposite first rotating rod 42. The first rotating rod 42 pulls the two fixing blocks 41 to move towards each other. The fixing blocks 41, through the sleeve rod 40, drive the two mounting frames 6 to move synchronously towards the center. When the base plate 7 on the mounting frame 6 contacts the side of the panel, the panel... The plate pushes the base plate 7 to slide into the mounting frame 6. The base plate 7 drives the sliding rod 15 and the first rack 8 to move inward synchronously. The first rack 8 drives the first gear 11 to rotate through meshing with the first gear 11. The coaxially fixed second gear 12 rotates synchronously with the first gear 11. The second gear 12 drives the support plate 9 to extend outward from the mounting frame 6 through meshing with the second rack 10. Since the number of teeth of the first gear 11 is twice that of the second gear 12, the extension speed of the support plate 9 is twice the sliding speed of the base plate 7, which can quickly extend to the bottom of the panel and support it below the panel.

[0049] When the bottom plates 7 on both sides clamp the panel, the support plate 9 extends fully. The top support 21 is pressed against the bottom of the panel under the action of the first spring 20. At the same time, the pressure plate 26 is pressed against the top of the panel under the action of the third spring 30, forming a flexible clamping system. The anti-slip point 37 on the top of the bottom plate 7 increases the friction with the side of the panel, further preventing the panel from slipping. At this time, the support plate 9 is subjected to downward pressure under the action of the panel's weight. The second gear 12 tends to rotate in the opposite direction through the second rack 10. Since the bottom plate 7 is clamped by the panel and cannot move backward, the first gear 11 cannot reverse, thus locking the second gear 12 and the support plate 9, forming a reverse mechanical self-locking. Even if the equipment suddenly loses power or the control system fails, the support plate 9 will not retract, and can stably support the panel to prevent it from falling.

[0050] After clamping, the robotic arm 3 lifts the panel, and the sliding component 2 moves along the track 1 to the target station. During the handling process, the top damping 27 and the bottom first spring 20 can effectively buffer the vibration and impact caused by the movement of the robotic arm 3 and the unevenness of the track 1, so as to avoid damage to the panel due to vibration. The soft frame 46 can further absorb the vibration of the robotic arm 3 and reduce the vibration transmitted to the panel.

[0051] Upon reaching the target workstation, the robotic arm 3 lowers the panel to the placement position, activates the second motor 44 to reverse, causing the second rotating rod 43 to rotate in the opposite direction. The first rotating rod 42 pushes the fixed blocks 41 on both sides to move in the opposite direction, causing the mounting frames 6 on both sides to simultaneously loosen outward. Under the action of the panel's friction and its own inertia, the base plate 7 slides outward from the mounting frame 6, causing the first rack 8 to move in the opposite direction. Then, through gear and rack linkage, the pallet 9 is retracted into the mounting frame 6. When the mounting frame 6 completely releases the panel, the pallet 9 is completely retracted into the mounting frame 6, without interfering with the placement of the panel. After the panel is stably placed in the target position, the robotic arm 3 raises the clamping assembly 4, and the sliding assembly 2 returns to the initial workstation, ready for the next handling.

[0052] During use, the torque of the second motor 44 can be adjusted to change the clamping force according to the panel size and weight. At the same time, the height of the pressure plate 26 can be adjusted by the first motor 35 to adapt to panels of different thicknesses. Regularly check the meshing of the gear rack and the elasticity of the spring, add lubricating oil in time to ensure smooth operation of all components, and regularly clean the dust and debris inside the mounting frame 6 to prevent affecting the transmission of the gear rack. Through proper use and maintenance, the device can be guaranteed to operate stably and reliably for a long time, effectively reducing the breakage rate of panels during handling and improving production efficiency.

[0053] 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. A fall-prevention locking stop structure for a panel handling robot, characterized in that, include: At least two orbitals (1); A sliding assembly (2) is mounted between the tops of the rails (1); The robotic arm (3) is fixedly mounted on the top of the sliding assembly (2) via a fixed base (13); Clamping assembly (4), said clamping assembly (4) being mounted on one end of the robotic arm (3); and A fall arrestor (5) is installed at both ends of the clamping assembly (4). The fall arrestor (5) includes a mounting frame (6). The mounting frame (6) is slidably disposed on the side of the clamping assembly (4). A base plate (7) is slidably disposed on the mounting frame (6). A first rack (8) is fixedly disposed on the side of the base plate (7). A support plate (9) is slidably disposed on the bottom of the mounting frame (6). A second rack (10) is fixedly disposed on the side of the support plate (9). A first gear (11) is rotatably disposed on the bottom of the mounting frame (6). The first gear (11) meshes with the first rack (8). A second gear (12) is coaxially fixedly disposed on the side of the first gear (11). The second gear (12) meshes with the second rack (10).

2. The anti-fall locking stop structure for the panel handling robot according to claim 1, characterized in that, The number of teeth of the first gear (11) is twice the number of teeth of the second gear (12).

3. The anti-fall locking stop structure for the panel handling robot according to claim 2, characterized in that, The mounting frame (6) has multiple sliding grooves (14) on its side. The sliding grooves (14) extend along the length of the mounting frame (6). A sliding rod (15) is slidably disposed in the sliding groove (14). One end of the sliding rod (15) is fixedly disposed with the side of the base plate (7). A connecting plate (16) is fixedly disposed between the other ends of the sliding rod (15). The first rack (8) is fixedly disposed on the sliding rod (15) located in the middle. The mounting frame (6) has first sliding grooves (17) on both sides of its bottom. A first slider (18) is slidably disposed in the first sliding groove (17). The first slider (18) is fixedly disposed with the top of the support plate (9).

4. The anti-fall locking stop structure for the panel handling robot according to claim 3, characterized in that, A sliding frame (19) is fixedly provided on the top of the tray (9), a first spring (20) is fixedly provided on the bottom of the sliding frame (19), and a top support (21) is slidably provided inside the sliding frame (19). The first spring (20) is fixedly provided on the bottom of the top support (21).

5. The anti-fall locking stop structure for the panel handling robot according to claim 4, characterized in that, The mounting frame (6) has a sloping surface (22) on its side, and the bottom plate (7) has a fixed sloping plate (23) on its side. The sloping plate (23) is adapted to the sloping surface (22). The bottom of the mounting frame (6) has a second sliding groove (24), and the second sliding groove (24) is slidably disposed with the sloping plate (23).

6. The anti-fall locking stop structure for the panel handling robot according to claim 5, characterized in that, A sliding column (25) is fixedly installed on the top of the mounting frame (6). A pressure plate (26) is fixedly installed between the bottoms of the sliding columns (25). Several dampers (27) are fixedly installed at the bottom of the pressure plate (26). The dampers (27) extend along the length of the pressure plate (26). A second spring (28) is fixedly installed inside the dampers (27). A horizontal plate (29) is fixedly installed between the tops of the sliding columns (25). A third spring (30) is sleeved on the sliding column (25). The third spring (30) is fixedly installed with the horizontal plate (29) and the mounting frame (6). The side of the horizontal plate (29) A movable plate (31) is fixedly installed on the surface of the mounting frame (6). A mounting cover (32) is fixedly installed on the top of the mounting frame (6). A screw (33) is rotatably installed inside the mounting cover (32). The screw (33) is rotatably installed with the mounting frame (6). The screw (33) is threaded to the movable plate (31). A first bevel gear (34) is fixedly installed at the bottom of the screw (33). A first motor (35) is fixedly installed at the bottom of the mounting frame (6). A second bevel gear (36) is connected to the output shaft of the first motor (35) by a key. The first bevel gear (34) and the second bevel gear (36) mesh with each other.

7. The anti-fall locking stop structure for the panel handling robot according to claim 6, characterized in that, The top of the base plate (7) is fixedly provided with a number of anti-slip points (37), which are arranged in a matrix on the top of the base plate (7).

8. The anti-fall locking stop structure for the panel handling robot according to claim 7, characterized in that, The clamping assembly (4) includes a mounting plate (38), which is fixedly mounted on one end of the robotic arm (3). A sleeve frame (39) is fixedly mounted on both sides of the top of the mounting plate (38). A sleeve rod (40) is slidably mounted on both sides of the sleeve frame (39). A fixing block (41) is fixedly mounted on both sides of the top of the mounting frame (6). The fixing block (41) is fixedly mounted to the sleeve rod (40). A first rotating rod (42) is rotatably mounted on the top of one side of the fixing block (41). The first rotating rod (42) is diagonally mounted. A second rotating rod (43) is rotatably mounted between the tops of the first rotating rod (42). A second motor (44) is fixedly mounted on the bottom of the mounting plate (38). The output shaft of the second motor (44) is connected to the second rotating rod (43) by a key.

9. The anti-fall locking stop structure for the panel handling robot according to claim 8, characterized in that, A mounting post (45) is fixedly installed on one side of the robotic arm (3), and a soft frame (46) is fixedly installed at the bottom of the mounting post (45). The soft frame (46) is fixedly installed with the mounting plate (38).

10. The anti-fall locking stop structure for the panel handling robot according to claim 9, characterized in that, The sliding assembly (2) includes a second slider (47) adapted to the track (1). The second slider (47) is slidably disposed with the track (1). A fixing plate (48) is fixedly disposed on the top of the second slider (47). The top of the fixing plate (48) is fixedly disposed with the fixing seat (13). Rotating frames (49) are fixedly disposed on both sides of the fixing plate (48). A rotating roller (50) is rotatably disposed between the rotating frames (49). The rotating roller (50) is in contact with the top of the track (1).

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