Manipulator capable of preventing book carrying

Abstract

The utility model provides a mechanical arm capable of preventing book carrying. The mechanical arm comprises a machine frame, a conveying frame, a book clamping module and a blocking module. The conveying frame is slidably connected to the rack in the transverse direction. The book clamping module comprises a clamp assembly, the clamp assembly comprises two clamping plates arranged in the vertical direction, the two clamping plates are movably arranged in the longitudinal direction, and the clamping plates comprise forward extending positions and backward retracting positions on the longitudinal moving tracks of the clamping plates. The blocking module comprises a blocking rod and a blocking driving assembly. The stop lever is rotationally connected to the conveying frame, the rotating axial direction of the stop lever is transverse and perpendicular to the length direction of the stop lever, the stop lever is located on the transverse sides of the two clamping plates, the two ends of the stop lever are the first end and the second end respectively, and the first end comprises an avoiding position and a stopping position on the moving track of the first end. One end of the stop lever is located at the stop position. According to the mechanical arm capable of preventing the books from being taken out, the books cannot be taken out in the retreating process after the books are placed in the storage opening through the two clamping plates.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a manipulator that can prevent slipping. Background Art

[0002] The module for automatic document storage and retrieval includes a book-holding robot, which puts passports and other documents one by one into the various storage openings arranged along the horizontal direction. The book-holding robot in the prior art will take the documents out during the process of returning after delivering them.

[0003] Therefore, it is necessary to provide a kind of anti-slip manipulator to solve the above-mentioned technical problems. Utility Model Content

[0004] The utility model provides a manipulator for preventing notebooks from being taken out, which can prevent the notebooks from being taken out during the process of retreating after two clamping plates put the notebooks into the storage opening, thereby effectively improving the work quality.

[0005] The technical solution of the utility model is:

[0006] A robot for preventing contamination, comprising:

[0007] frame;

[0008] A conveying frame, which is slidably connected to the frame in a transverse direction;

[0009] The clamping module includes a clamp assembly, a clamp longitudinal drive assembly and a clamp opening and closing drive assembly; the clamp assembly includes two clamps arranged vertically, the two clamps are movably arranged along the longitudinal direction, and the clamps include a forward position and a backward position on their longitudinal movement trajectory, and the forward position is away from the conveying frame relative to the backward position; the clamp longitudinal drive assembly is fixed to the conveying frame and connected to the two clamps, and is used to drive the two clamps to move longitudinally; the clamp opening and closing drive assembly is set on the conveying frame and connected to the two clamps, and is used to control the opening and closing of the two clamps; and,

[0010] The blocking module includes a blocking rod and a blocking drive assembly; the blocking rod is rotatably connected to the conveying frame, the rotation axis of the blocking rod is horizontal and perpendicular to the length direction of the blocking rod, the blocking rod is located on the lateral side of the two splints, and the two ends of the blocking rod are respectively a first end and a second end, the first end includes an avoidance position and a blocking position on its moving trajectory, the blocking position is away from the conveying frame relative to the avoidance position, and when the two splints are opened and moved from the forward position to the backward position, one end of the blocking rod is located in the blocking position, and the blocking drive assembly is fixed to the conveying frame and connected to the second end for driving the blocking rod to rotate.

[0011] In the anti-slip manipulator of the present invention, the end surface of the first end is straight, and when the first end is located at the blocking position, the end surface of the first end is vertically arranged.

[0012] In the anti-belt robot described in the present invention, the blocking drive assembly includes a first gear, a second gear and a motor; the first gear and the second gear are meshed and connected, and the diameter of the first gear is larger than the diameter of the second gear, the first gear is fan-shaped, the blocking rod is fixedly connected to the first gear, the motor is fixed to the conveying frame and connected to the second gear, for driving the second gear, the first gear and the blocking rod to rotate, and the rotation trajectory of the blocking rod forms a fan shape, when the first end moves from the avoidance position to the blocking position, the first end moves along the direction from the retreat position to the forward position, and when the first end moves from the blocking position to the avoidance position, the first end moves along the direction from the forward position to the retreat position.

[0013] In the anti-slip manipulator described in the utility model, the clamp assembly also includes a connecting seat and two first linear slide rails; the connecting seat is connected to the clamp longitudinal drive assembly, the two first linear slide rails are vertically arranged and arranged horizontally, the guide rails of the two first linear slide rails are fixed to the connecting seat, and the sliders of the two first linear slide rails are respectively connected to the two clamps.

[0014] The anti-belt manipulator described in the utility model is provided with a positioning groove extending vertically on the top of the connecting seat; the clamp opening and closing drive assembly includes a compression spring, a first rack, a second rack, a transmission gear, a cam follower, an eccentric shaft and an eccentric drive module; the first rack and the second rack are arranged in a transverse direction, and the teeth of the two are arranged opposite to each other, and the transmission gear is located between the two and meshed with the two, and the transmission gear is rotatably connected to the connecting seat, the top of the first rack is connected to the splint located below, and the side of the first rack is connected to one of the A first linear slide rail, the top end of the second rack is connected to the clamping plate located above, the bottom end of the second rack is connected to the cam follower, the side of the second rack is connected to another first linear slide rail, the eccentric shaft is located below the cam follower, one end of the compression spring is set in the positioning groove, and the other end is connected to the clamping plate located below, the compression spring is used to provide elastic force to make the clamping plate located below and the first rack move upward, thereby making the clamping plate located above, the second rack and the cam follower move downward.

[0015] In the anti-slip manipulator of the utility model, a rotatable ball is provided at the bottom of the cam follower, and the ball rolls and abuts against the eccentric shaft.

[0016] In the anti-belt manipulator described in the utility model, a protruding connecting portion is provided at one end of the splint, the two splints are symmetrically flipped 180°, and the connecting portion of one splint protrudes from the other splint, the first rack is connected to the connecting portion of the splint located below, and the second rack is connected to the connecting portion of the splint located above.

[0017] In the anti-slip manipulator of the utility model, a plurality of anti-slip grooves extending in the transverse direction are arranged on the inner side of the clamping plate.

[0018] In the anti-slip manipulator described in the present invention, the clamp assembly further comprises two limiting columns, which are respectively fixedly connected to the middle portions of the two clamping plates and movably penetrate the middle portion of the other clamping plate.

[0019] In the anti-slip manipulator of the present invention, the clamping module further comprises a second linear slide rail arranged in the longitudinal direction, the guide rail is fixed to the conveying frame, and the slide block is fixedly connected to the connecting seat.

[0020] Compared with the prior art, the present invention has the following beneficial effects: the present invention's robot arm for preventing passports from being taken away, after a passport is sent to a position close to the two clamps, the two clamps open and move from the rear position to the forward position, clamp the passport, and then return to the rear position. During this process, the blocking rod is always in the avoidance position and will not interfere with the movement of the passport. The conveyor then slides horizontally to move the two clamps to one of the storage ports. The two clamps move from the rear position to the forward position, and the blocking rod moves from the avoidance position to the blocking position. After the two clamps open to place the passport in the storage port, the two clamps return to the rear position again. During this process, the blocking rod is always in the blocking position, thereby blocking the passport and preventing it from being taken out by the two clamps. The above actions are repeated to deliver the passport to each storage port one by one. The present invention's robot arm for preventing passports from being taken away, through the cooperation of the blocking rod and the two clamps, can ensure that after the two clamps place the passport in the storage port, the passport will not be taken out during the retreat process, effectively improving the work quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. The drawings described below are only drawings corresponding to some embodiments of the present invention.

[0022] Figure 1 This is a schematic diagram of the overall structure of the anti-slip manipulator provided in the preferred embodiment of the utility model.

[0023] Figure 2 A schematic diagram of the partial structure of the anti-slip robot provided in the preferred embodiment of the utility model.

[0024] Figure 3 This is a schematic structural diagram of a blocking module for preventing the robot from being carried out according to a preferred embodiment of the present utility model.

[0025] Figure 4 This is a schematic diagram of another part of the structure of the anti-slip manipulator provided in the preferred embodiment of the utility model.

[0026] Figure 5 This is a partial structural diagram of a module for preventing a manipulator from clamping the module provided in a preferred embodiment of the present invention.

[0027] Figure 6 This is a schematic diagram of the exploded structure of a partial module for preventing the robot from clamping the module provided in a preferred embodiment of the present invention.

[0028] in,

[0029] 11. Rack,

[0030] 12. Conveyor rack,

[0031] 13. Clip-on module,

[0032] 131. Clip assembly,

[0033] 1311, splint, 13111, anti-slip groove, 13112, connecting part, 1312, connecting seat, 13121, positioning groove, 1313, first linear slide rail, 1314, limiting column,

[0034] 132. Clip longitudinal drive assembly,

[0035] 133. Clip opening and closing drive assembly,

[0036] 1331. Compression spring, 1332. First rack, 1333. Second rack, 1334. Transmission gear, 1335. Cam follower, 1336. Eccentric shaft, 1337. Eccentric drive module,

[0037] 134. Second linear guide rail,

[0038] 14. Blocking module,

[0039] 141, barrier rod, 1411, first end, 1412, second end,

[0040] 142. Blocking drive assembly, 1421. First gear, 1422. Second gear, 1423. Motor.

[0041] In the figures, structurally similar elements are denoted by the same reference numerals. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative efforts shall fall within the scope of protection of the present invention.

[0043] Directional terms mentioned in this invention, such as "upper", "lower", "front", "back", "left", "right", "inside", "outside", "side", "top" and "bottom", are only used with reference to the directions of the drawings. The directional terms used are used to illustrate and understand the invention, and are not intended to limit the invention.

[0044] The terms "first" and "second" in the present invention are used for descriptive purposes only and should not be understood as indicating or implying relative importance, nor as limiting the order of precedence.

[0045] In this utility model, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection; direct connection, indirect connection through an intermediate medium, internal communication between two components, or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on specific circumstances.

[0046] The module for automatic document storage and retrieval includes a book-holding robot, which puts passports and other documents one by one into the various storage openings arranged along the horizontal direction. The book-holding robot in the prior art will take the documents out during the process of returning after delivering them.

[0047] The following is a preferred embodiment of the present invention that can solve the above technical problems and prevent the robot from being trapped.

[0048] Please refer to Figure 1-Figure 5 The preferred embodiment of the present utility model provides a robot for preventing the book from being carried away, which includes a frame 11, a conveyor frame 12, a book clamping module 13 and a blocking module 14. The conveyor frame 12 is connected to the frame 11 in a transverse sliding manner. The book clamping module 13 includes a clamp assembly 131, a clamp longitudinal drive assembly 132 and a clamp opening and closing drive assembly 133. The clamp assembly 131 includes two clamps 1311 arranged vertically, and the two clamps 1311 are movably arranged in the longitudinal direction. The clamps 1311 include a forward position and a backward position on their longitudinal movement trajectory, and the forward position is farther away from the conveyor frame 12 than the backward position. Figure 2The two clamping plates 1311 shown in the figure are in the extended position. The clamp longitudinal drive assembly 132 is fixed to the conveyor frame 12 and connected to the two clamping plates 1311, and is used to drive the two clamping plates 1311 to move longitudinally. The clamp opening and closing drive assembly 133 is disposed on the conveyor frame 12 and connected to the two clamping plates 1311, and is used to control the opening and closing of the two clamping plates 1311. Figure 1 Here x is horizontal, y is vertical, and z is vertical.

[0049] Please refer to Figure 2 and Figure 3 The blocking module 14 includes a blocking rod 141 and a blocking drive assembly 142. The blocking rod 141 is rotatably connected to the conveyor frame 12, and the rotation axis of the blocking rod 141 is horizontal and perpendicular to the length direction of the blocking rod 141. The blocking rod 141 is located on one side of the two clamping plates 1311, and the two ends of the blocking rod 141 are respectively a first end 1411 and a second end 1412. The first end 1411 includes an avoidance position and a blocking position on its movement trajectory. The blocking position is farther away from the conveyor frame 12 than the avoidance position. Figure 2 When the two clamping plates 1311 are opened and move from the forward position to the backward position, one end of the blocking rod 141 is in the blocking position, and the blocking drive assembly 142 is fixed to the conveying frame 12 and connected to the second end 1412 for driving the blocking rod 141 to rotate.

[0050] The robot arm for preventing the book from being taken away of the present invention, after the book is sent to the position close to the two clamps 1311, the two clamps 1311 open and move from the rear position to the forward position, clamp the book and then return to the rear position. During this process, the blocking rod 141 is always in the avoidance position and will not interfere with the movement of the book. Then the conveying frame 12 slides horizontally to move the two clamps 1311 to one of the storage ports, the two clamps 1311 move from the rear position to the forward position, and the blocking rod 141 moves from the avoidance position to the blocking position. After the two clamps 1311 open to place the passport in the storage port, they return to the rear position again. During this process, the blocking rod 141 is always in the blocking position, thereby blocking the book and preventing the book from being taken out by the two clamps 1311. The above actions are repeated to deliver the book to each storage port one by one. The anti-book-taking robot of the present invention cooperates with the blocking rod 141 and the two clamping plates 1311 so that after the two clamping plates 1311 place the notebook in the storage port, the notebook will not be taken out during the retraction process, thereby effectively improving the work quality.

[0051] Please refer to Figure 3 The end surface of the first end 1411 is straight. When the first end 1411 is in the blocking position, the end surface of the first end 1411 is vertically arranged. With the above structure, if the notebook is thick, the first end 1411 can also completely block the notebook to prevent the notebook from sliding over the first end 1411.

[0052] Please refer to Figure 3 The blocking drive assembly 142 includes a first gear 1421, a second gear 1422 and a motor 1423. The first gear 1421 and the second gear 1422 are meshed and connected, and the diameter of the first gear 1421 is larger than the diameter of the second gear 1422, and the first gear 1421 is fan-shaped. The blocking rod 141 is fixedly connected to the first gear 1421, and the motor 1423 is fixed to the conveying rack 12 and connected to the second gear 1422, and is used to drive the second gear 1422, the first gear 1421 and the blocking rod 141 to rotate. The rotation trajectory of the blocking rod 141 forms a fan shape. When the first end 1411 moves from the avoidance position to the blocking position, the first end 1411 moves in the direction from the retreat position to the forward position; when the first end 1411 moves from the blocking position to the avoidance position, the first end 1411 moves in the direction from the forward position to the retreat position. By driving the first gear 1421 with a larger diameter to rotate with the second gear 1422 with a smaller diameter, the swing amplitude of the blocking rod 141 can be effectively controlled to prevent the swing amplitude from being too large. Figure 3 It is rotated counterclockwise as seen in the figure. When the first end 1411 moves from the blocking position to the avoiding position, it is rotated clockwise as seen in the figure, so that the first end 1411 is not affected by the book when moving.

[0053] Please refer to Figure 5 The clamp assembly 131 further includes a connecting seat 1312 and two first linear guide rails 1313. The connecting seat 1312 is connected to the clamp longitudinal drive assembly 132. The two first linear guide rails 1313 are vertically arranged and arranged horizontally. The guide rails of the two first linear guide rails 1313 are fixed to the connecting seat 1312, and the sliders of the two first linear guide rails 1313 are respectively connected to the two clamps 1311. By adopting the above structure, the clamp longitudinal drive assembly 132 drives the connecting seat 1312 to move longitudinally, which can drive the two clamps 1311 to move longitudinally. Moreover, when the two clamps 1311 open and close, the two clamps 1311 move stably along the vertical direction.

[0054] Please refer to Figure 4 、 Figure 5 and Figure 6A vertically extending positioning slot 13121 is provided at the top of the connecting base 1312. The clip opening and closing drive assembly 133 includes a compression spring 1331, a first rack 1332, a second rack 1333, a transmission gear 1334, a cam follower 1335, an eccentric shaft 1336, and an eccentric drive module 1337. The first rack 1332 and the second rack 1333 are arranged in a transverse direction, with their teeth facing each other. The transmission gear 1334 is located between them and meshes with them. The transmission gear 1334 is rotatably connected to the connecting base 1312. The top of the first rack 1332 is connected to the lower clamping plate 1311. The side of the first rack 1332 is connected to one of the first linear guide rails 1313. The top of the second rack 1333 is connected to the upper clamping plate 1311. The bottom of the second rack 1333 is connected to the cam follower 1335. The side of the second rack 1333 is connected to the other first linear guide rail 1313. The eccentric shaft 1336 is arranged longitudinally and located below the cam follower 1335. One end of the compression spring 1331 is disposed in the positioning slot 13121, and the other end is connected to the lower clamping plate 1311. The compression spring 1331 is used to provide an elastic force to move the lower clamping plate 1311 and the first rack 1332 upward, thereby causing the upper clamping plate 1311, the second rack 1333, and the cam follower 1335 to move downward. When the two clamping plates 1311 are to be opened, the eccentric drive module 1337 drives the eccentric shaft 1336 to rotate. The larger diameter portion of the eccentric shaft 1336 contacts the cam follower 1335, pushing the cam follower 1335 upward, thereby causing the second rack 1333 and the upper clamping plate 1311 to move upward, driving the transmission gear 1334 to rotate counterclockwise, thereby driving the first rack 1332 and the lower clamping plate 1311 to move downward, causing the two clamping plates 1311 to move away from each other and open. When the two clamping plates 1311 are to be closed, the eccentric drive module 1337 drives the eccentric shaft 1336 to continue rotating. The smaller diameter portion of the eccentric shaft 1336 is located below the cam follower 1335, creating a gap between the eccentric shaft 1336 and the cam follower 1335. The compression spring 1331 pushes the lower clamping plate 1311 upward, causing the first rack 1332 to move upward, driving the transmission gear 1334 to rotate clockwise, which in turn drives the upper clamping plate 1311, the second rack 1333, and the cam follower 1335 to move downward. The two clamping plates 1311 move toward each other, closing, and thus clamping the notebook. This structure can effectively control the opening and closing of the two clamping plates 1311, and the elastic clamping is not damaged.

[0055] The bottom of the cam follower 1335 is provided with a rotatable ball, which rolls against the eccentric shaft 1336. By the rotatable ball contacting the eccentric shaft 1336, the friction between the two can be reduced, so that the eccentric shaft 1336 rotates smoothly.

[0056] Please refer to Figure 6 One end of the splint 1311 is provided with a protruding connecting portion 13112, and the two splints 1311 are symmetrically flipped 180°, and the connecting portion 13112 of one splint 1311 protrudes from the other splint 1311. The first rack 1332 is connected to the connecting portion 13112 of the splint 1311 located below, and the second rack 1333 is connected to the connecting portion 13112 of the splint 1311 located above. Flipping the splint 1311 located below 180° will return to the position of the splint 1311 located above. The two splints 1311 have the same structure, which can effectively save processing molds. The first rack 1332 and the second rack 1333 are respectively connected to the two protruding connecting portions 13112, so that the two splints 1311 will not interfere with each other when moving.

[0057] Please refer to Figure 6 , a plurality of anti-slip grooves 13111 extending laterally are provided on the inner side of the clamping plate 1311. Through the above structure, the clamping stability of the two clamping plates 1311 to the book can be improved.

[0058] Please refer to Figure 6 The clamp assembly 131 further includes two limiting posts 1314, which are fixedly connected to the middle of the two clamping plates 1311 and movably pass through the middle of the other clamping plate 1311. With the above structure, when the two clamping plates 1311 clamp the notebook, the notebook can be limited so that the notebook is located at a specified position.

[0059] Please refer to Figure 4 The clamping module 13 further includes a second linear guide rail 134 arranged in the longitudinal direction, the guide rail of which is fixed to the conveying frame 12, and the slider thereof is fixedly connected to the connecting seat 1312. Through the above structure, the two clamping plates 1311 can slide stably in the longitudinal direction.

[0060] The working process of the preferred embodiment of the utility model to prevent the belt manipulator:

[0061] After the notebook is brought to a position close to the two clamping plates 1311, the eccentric drive module 1337 drives the eccentric shaft 1336 to rotate. The larger diameter portion of the eccentric shaft 1336 contacts the cam follower 1335, pushing the cam follower 1335 upward, thereby causing the second rack 1333 and the upper clamping plate 1311 to move upward, and driving the transmission gear 1334 to rotate counterclockwise, thereby driving the first rack 1332 and the lower clamping plate 1311 to move downward, causing the two clamping plates 1311 to move away from each other and open. Subsequently, the two clamping plates 1311 move from the retracted position to the extended position.

[0062] Eccentric drive module 1337 drives eccentric shaft 1336 to continue rotating. The smaller diameter portion of eccentric shaft 1336 is positioned below cam follower 1335, creating a gap between eccentric shaft 1336 and cam follower 1335. Compression spring 1331 pushes lower clamping plate 1311 upward, causing first rack 1332 to move upward, driving transmission gear 1334 to rotate clockwise. This in turn drives upper clamping plate 1311, second rack 1333, and cam follower 1335 downward, causing the two clamping plates 1311 to move toward each other, closing, and thus clamping the notebook. After clamping the notebook, the two clamping plates 1311 return to their rearward position. During this process, the blocking lever 141 remains in the avoidance position and does not interfere with the movement of the notebook. After the reader / writer module successfully performs contactless reading and writing, the conveyor frame 12 slides horizontally to move the two clamps 1311 to one of the storage ports. The two clamps 1311 move from the retracted position to the forward position, and the blocking rod 141 moves from the avoidance position to the blocking position. After the two clamps 1311 are opened to place the passport in the storage port, they return to the retracted position again. During this process, the blocking rod 141 is always in the blocking position, thereby blocking the book and preventing the book from being taken out by the two clamps 1311. The above actions are repeated to deliver the book to each storage port one by one.

[0063] This completes the working process of the anti-slip manipulator of the preferred embodiment.

[0064] The present invention prevents the passport from being dragged out by the robot arm. After the passport is sent to a position close to the two clamps, the two clamps open and move from the rear position to the forward position. After clamping the passport, they return to the rear position. During this process, the blocking rod is always in the avoidance position and will not interfere with the movement of the passport. Then the conveyor frame slides horizontally to move the two clamps to one of the storage ports. The two clamps move from the rear position to the forward position. The blocking rod moves from the avoidance position to the blocking position. After the two clamps open to place the passport in the storage port, they return to the rear position again. During this process, the blocking rod is always in the blocking position, thereby blocking the passport and preventing it from being dragged out by the two clamps. The above actions are repeated to deliver the passport to each storage port one by one. The present invention prevents the passport from being dragged out by the robot arm. Through the cooperation of the blocking rod and the two clamps, the two clamps can prevent the passport from being dragged out during the retreat process after placing the passport in the storage port, thereby effectively improving the work quality.

[0065] To sum up, although the present invention has been disclosed as above in terms of preferred embodiments, the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent substitutions or changes based on the concept of the technical solution of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A robot arm to prevent contamination, characterized in that: include: frame; A conveying frame, which is slidably connected to the frame in a transverse direction; The clamping module comprises a clamping assembly, a clamping longitudinal driving assembly and a clamping opening and closing driving assembly; the clamping assembly comprises two clamping plates arranged vertically, the two clamping plates are movably arranged in the longitudinal direction, the clamping plates include a forward extension position and a backward extension position on their longitudinal movement trajectory, the forward extension position is away from the conveying frame relative to the backward extension position; the clamping longitudinal driving assembly is fixed to the conveying frame and connected to the two clamping plates, and is used to drive the two clamping plates to move in the longitudinal direction; the clamping opening and closing driving assembly is arranged on the conveying frame and connected to the two clamping plates, and is used to control the opening and closing of the two clamping plates; as well as, The blocking module includes a blocking rod and a blocking drive assembly; the blocking rod is rotatably connected to the conveying frame, the rotation axis of the blocking rod is horizontal and perpendicular to the length direction of the blocking rod, the blocking rod is located on the lateral side of the two clamps, the two ends of the blocking rod are respectively a first end and a second end, the first end includes an avoidance position and a blocking position on its moving trajectory, the blocking position is away from the conveying frame relative to the avoidance position, when the two clamps are opened and move from the forward position to the backward position, one end of the blocking rod is located at the blocking position, the blocking drive assembly is fixed to the conveying frame and connected to the second end, for driving the blocking rod to rotate.

2. The anti-carrying robot according to claim 1, characterized in that: The end surface of the first end is straight, and when the first end is located at the blocking position, the end surface of the first end is vertically arranged.

3. The anti-carrying robot according to claim 1, characterized in that: The blocking drive assembly includes a first gear, a second gear and a motor; the first gear and the second gear are meshingly connected, and the diameter of the first gear is larger than the diameter of the second gear, the first gear is fan-shaped, the blocking rod is fixedly connected to the first gear, the motor is fixed to the conveying frame and connected to the second gear, and is used to drive the second gear, the first gear and the blocking rod to rotate, and the rotation trajectory of the blocking rod forms a fan shape. When the first end moves from the avoidance position to the blocking position, the first end moves along the direction from the retracting position to the forward extending position, and when the first end moves from the blocking position to the avoidance position, the first end moves along the direction from the forward extending position to the retracting position.

4. The anti-carrying robot according to claim 1, characterized in that: The clamp assembly also includes a connecting seat and two first linear slide rails; the connecting seat is connected to the clamp longitudinal drive assembly, the two first linear slide rails are vertically arranged and arranged horizontally, the guide rails of the two first linear slide rails are fixed to the connecting seat, and the sliders of the two first linear slide rails are respectively connected to the two clamps.

5. The anti-carrying robot according to claim 4, characterized in that: A positioning groove extending vertically is provided on the top of the connecting seat; the clip opening and closing driving assembly includes a compression spring, a first rack, a second rack, a transmission gear, a cam follower, an eccentric shaft and an eccentric driving module; the first rack and the second rack are arranged in the horizontal direction, and the teeth of the two racks are arranged opposite to each other, the transmission gear is located between the two racks and meshed with the two racks, and the transmission gear is rotatably connected to the connecting seat, the top end of the first rack is connected to the clamping plate located below, the side of the first rack is connected to one of the first linear slide rails, the top end of the second rack is connected to the clamping plate located above, the bottom end of the second rack is connected to the cam follower, and the side of the second rack is connected to another first linear slide rail, and the eccentric shaft is located below the cam follower, one end of the compression spring is arranged in the positioning groove, and the other end is connected to the clamping plate located below, and the compression spring is used to provide elastic force to make the clamping plate and the first rack located below move upward, so that the clamping plate, the second rack and the cam follower located above move downward.

6. The anti-carrying robot according to claim 5, characterized in that: A rotatable ball is arranged at the bottom of the cam follower, and the ball rolls and abuts against the eccentric shaft.

7. The anti-carrying robot according to claim 5, characterized in that: A protruding connecting portion is provided at one end of the clamping plate, the two clamping plates are symmetrically flipped 180°, and the connecting portion of one clamping plate protrudes from the other clamping plate, the first rack is connected to the connecting portion of the clamping plate located below, and the second rack is connected to the connecting portion of the clamping plate located above.

8. The anti-carrying robot according to claim 1, characterized in that: The inner side of the clamping plate is provided with a plurality of anti-slip grooves extending in the transverse direction.

9. The anti-carrying robot according to claim 1, characterized in that: The clamp assembly also includes two limiting columns, which are respectively fixedly connected to the middle parts of the two clamping plates and movably penetrate the middle part of the other clamping plate.

10. The anti-carrying robot according to claim 4, characterized in that: The clamping module also includes a second linear slide rail arranged in the longitudinal direction, the guide rail of which is fixed to the conveying frame, and the slide block of which is fixedly connected to the connecting seat.

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