Cylindrical object taking and placing device for transfer robot

Abstract

The utility model provides a cylindrical object taking and placing device for a transfer robot. The cylindrical object taking and placing device comprises a lifting mechanism used for lifting and locking a cylindrical object and a lifting driving mechanism installed on a vehicle body and used for driving the lifting mechanism to ascend and descend. The lifting mechanism comprises a fixing support and two arc-shaped goods brackets rotationally connected to the fixing support, and the outer ends, away from each other, of the two arc-shaped goods brackets are elastically connected with the fixing support through elastic units. The two arc-shaped goods brackets act under the gravity action of the cylindrical objects, so that the cylindrical objects are tightly clamped together, it is guaranteed that the cylindrical objects do not roll left and right in the running process, and running stability is guaranteed; in a normal state, the appearance of the arc-shaped cargo bracket is lowered through pulling force of the elastic unit, the horizontal height of the highest point of the lifting mechanism is lowered, and the problem that when a carrying robot carries cylindrical objects, the carrying robot needs to be hidden to the bottom of cargos, and the required vehicle body height size is low is solved.

Description

Technical Field

[0001] The utility model belongs to the field of picking up and placing goods by a transport robot, and in particular relates to a cylindrical object picking up and placing device for a transport robot. Background Art

[0002] At this stage, with the widespread application of intelligent handling robots (such as AGV transport carts, stereoscopic library shuttles, etc.), there are various ways to pick up goods. The more common method is to lift the lifting plate through a hydraulic lifting mechanism to lift the goods. For example, CN202310411656.1 discloses that a plurality of electric hydraulic push rods are set to push the lifting plate to move up / down synchronously to lift / lower the goods; another example is CN201910068096.8. The lifting plate is lifted / lowered by a hydraulic cylinder to lift / lower the goods. The aforementioned method of lifting goods by a lifting plate is a flat plate structure, which is suitable for lifting some non-cylindrical objects that will not roll on the lifting plate. For cylindrical objects, they will roll on the lifting plate and the lifting plate cannot lift them.

[0003] In the prior art, although there are many lifting devices for lifting cylindrical objects, such as the main pipe joint lifting device disclosed in CN201520280436.0, the cylindrical workpiece surface detection and placement device disclosed in CN202323216567.6, or the steel pipe V-bracket for the grooving machine disclosed in CN201711325810.4, when the handling robot transports cylindrical goods in the stereoscopic warehouse, it needs to lurk at the bottom of the goods and the vehicle body height is required to be relatively low. The aforementioned lifting devices are relatively high in height, which makes it difficult to meet the needs of handling robots with lower heights to pick up and place goods. Utility Model Content

[0004] The utility model aims to solve the technical problems existing in the prior art and has the purpose of providing a cylindrical object picking and placing device for a handling robot.

[0005] To achieve the above-mentioned purpose, the utility model adopts the following technical solutions: a cylindrical object picking and placing device for a handling robot, comprising a lifting mechanism for lifting and locking the cylindrical object, and a lifting drive mechanism installed on a vehicle body for driving the lifting mechanism to lift and lower to pick up and place the cylindrical object; the lifting mechanism comprises a fixed bracket connected to the lifting drive mechanism, and two arc-shaped cargo brackets arranged opposite to each other and rotatably connected to the fixed bracket, and the outer ends of the two arc-shaped cargo brackets that are away from each other are elastically connected to the fixed bracket through an elastic unit; in normal state, under the action of the elastic unit, the outer ends of the two arc-shaped cargo brackets are pulled down to lower the height; when the cylindrical object is located on the lifting mechanism, under the action of the gravity of the cylindrical object, the inner ends of the two arc-shaped cargo brackets that are close to each other are pressed down, and the outer ends are tilted upward to hold the cylindrical object tightly.

[0006] The above technical solution sets up two arc-shaped cargo supports to lift circular objects. When picking up goods, the gravity of the cylindrical object causes the two arc-shaped cargo supports to move, so as to tightly clamp the cylindrical object together, ensuring that the cylindrical object does not roll left and right during operation, thereby ensuring operational stability; in normal operation, the tension of the elastic unit causes the shape of the arc-shaped cargo support to drop, lowering the horizontal height of the highest point of the lifting mechanism, thereby solving the problem that when the handling robot carries cylindrical objects, it needs to lurk at the bottom of the goods and the required vehicle body height is low.

[0007] In a preferred embodiment of the present invention, the elastic unit is a tension spring, the upper end of the tension spring is connected to the arc-shaped cargo bracket, and the lower end of the tension spring is connected to the fixed bracket.

[0008] In the above technical solution, the tension spring is easy to obtain, has low cost, high reliability, and can be used repeatedly without replacement.

[0009] In a preferred embodiment of the present invention, an upper fixed shaft is provided on the arc-shaped cargo bracket, the upper end of the tension spring is hooked and fixed on the upper fixed shaft, and a lower fixed shaft is provided below the fixed bracket, and the lower end of the tension spring is hooked and fixed on the lower fixed shaft.

[0010] In the above technical solution, the upper and lower ends of the tension spring are hooked and fixed on the upper fixed shaft and the lower fixed shaft respectively, which is convenient for replacement when the tension spring fails.

[0011] In a preferred embodiment of the present invention, the lower fixed shaft is slidably connected to the fixed bracket, and the fixed bracket is threadedly connected with a tensioning bolt whose lower end abuts the lower fixed shaft; by tightening / loosening the tensioning bolt, the tension spring can be lengthened / shortened to adjust its tensioning force.

[0012] The above technical solution makes the tensioning force of the tension spring adjustable by loosening the tensioning bolt, so that the tightness of the tensioning bolt can be adjusted according to the weight of different goods to ensure the effective tensioning force of the tension spring.

[0013] In a preferred embodiment of the present invention, the lower end of the tension spring is connected to the middle part of the lower fixed shaft, and a tensioning bolt is provided on each side of the tension spring, and the lower ends of the two tensioning bolts are respectively abutted against the two ends of the lower fixed shaft; and / or a vertically extending slide groove is provided on the fixed bracket, and the lower fixed shaft is inserted into the slide groove and can slide vertically in the slide groove.

[0014] In the above technical solution, a tensioning bolt is respectively abutted at both ends of the lower fixed shaft, which has a better tensioning effect; and the movement of the lower fixed shaft is guided by the slide groove, which is more stable.

[0015] In a preferred embodiment of the present invention, the middle part of the arc-shaped cargo bracket is rotatably connected to the fixed bracket through a rotating shaft, and a self-lubricating copper sleeve is provided on the outer wall of the rotating shaft; and / or a protective rubber pad is provided on the upper surface of the arc-shaped cargo bracket; and / or a cargo detection switch is provided on the fixed bracket.

[0016] The above technical solution reduces the resistance of the arc-shaped cargo bracket during rotation by providing a self-lubricating copper sleeve, and can also reduce the wear of the rotating shaft and extend its service life; by providing a cargo detection switch, when the cargo is continuously lifted up by the lifting drive mechanism, the cargo detection switch is used to detect whether the cargo has reached the designated position point so as to proceed to the next operation, thus eliminating the need for manual supervision.

[0017] In another preferred embodiment of the present invention, the lifting drive mechanism includes a hydraulic cylinder installed on the base, and the fixed bracket is fixedly connected to the upper end of the piston rod of the hydraulic cylinder.

[0018] The above technical solution drives the lifting mechanism to move vertically to lift the goods through the hydraulic cylinder, which has a simple structure and high reliability.

[0019] In another preferred embodiment of the present invention, a retractable guide rod parallel to the axis of the piston rod of the hydraulic cylinder is also fixed to the base, and the guide rod includes an outer tube whose lower end is fixed to the base, and an inner rod inserted into the outer tube and slidably connected to the outer tube, and the upper end of the inner rod is fixed to the fixed bracket.

[0020] The above technical solution provides a guide rod. When the piston rod of the hydraulic cylinder is extended or retracted, the guide rod is extended or retracted synchronously to provide guidance, so that the vertical movement of the piston rod is more stable and does not deflect.

[0021] In another preferred embodiment of the present invention, the upper end of the cylinder body of the hydraulic cylinder is fixedly connected to a connecting plate, and the upper end of the outer cylinder is also fixedly connected to the connecting plate; and / or a linear bearing arranged on the inner rod is fixedly connected to the inner wall of the upper part of the outer cylinder; and / or two travel switches are installed on the outer cylinder, and the side wall of the outer cylinder has a travel groove extending along its length direction, and the inner rod is fixedly connected to a limit member that passes through the travel groove and can slide in the travel groove, and the limit member is located between the two travel switches and cooperates with both.

[0022] The above technical solution, by providing a connecting plate, fixes the upper end of the cylinder body of the hydraulic cylinder and the upper end of the outer tube into one body, which has higher strength and better stability; by providing a linear bearing, the wear of the inner rod can be reduced, and the sealing of the piston rod of the hydraulic cylinder when fully extended can be ensured, thereby extending the service life and ensuring operational stability; by providing two travel switches and a limit member, the travel of the piston rod of the hydraulic cylinder can be limited to between the two travel switches, thereby preventing the piston rod of the hydraulic cylinder from being disengaged or retracted too much and being damaged.

[0023] In another preferred embodiment of the present invention, a switch bracket is detachably fixedly connected to the outer cylinder, and the travel switch is fixedly mounted on the switch bracket.

[0024] The above technical solution, by providing a switch bracket, makes the upper and lower positions of the two travel switches adjustable, so that the stroke of the piston rod of the hydraulic cylinder can be adjusted to meet different stroke requirements.

[0025] Additional aspects and advantages of the present invention will be given in part in the following description and will become apparent from the following description or learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0027] Figure 1 It is a schematic diagram of the three-dimensional structure of the cylindrical object picking and placing device of the embodiment.

[0028] Figure 2 It is a partial structural diagram of the connection between the arc-shaped cargo bracket and the fixed bracket and the elastic unit in the embodiment.

[0029] Figure 3 It is a partial cross-sectional schematic diagram of the arc-shaped cargo bracket and the fixed bracket in the embodiment being rotatably connected via a rotating shaft.

[0030] Figure 4 It is a side sectional schematic diagram of the pick-and-place device along the center line of the guide rod.

[0031] The figure marks in the drawings of the specification include: linear bearing 1, guide rod 2, outer cylinder 201, inner rod 202, limit member 3, arc-shaped cargo bracket 4, fixed bracket 5, cargo detection switch 6, elastic unit (tension spring) 7, fixed ring 8, lifting drive mechanism (hydraulic cylinder) 9, base 10, travel switch 11, switch bracket 12, rotating shaft 13, self-lubricating copper sleeve 14, lower fixed shaft 15, protective rubber pad 16, tensioning bolt 17, upper fixed shaft 18, slide groove 19, travel groove 20, connecting plate 21. DETAILED DESCRIPTION

[0032] The following describes in detail embodiments of the present invention. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0033] In the description of the present invention, it should be understood that the terms "longitudinal", "transverse", "vertical", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0034] In the description of the present utility model, unless otherwise specified and limited, it should be noted that the terms "installation", "connection" and "connection" should be understood in a broad sense. For example, it can be a mechanical connection or an electrical connection, or it can be the internal connection between two components. It can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to the specific circumstances.

[0035] The utility model provides a cylindrical object picking and placing device for a handling robot, such as Figure 1 As shown, in a preferred embodiment, the picking and placing device includes a lifting mechanism for lifting and locking cylindrical objects (cargo), and a lifting drive mechanism 9 installed on the vehicle body for driving the lifting mechanism to lift and lower to pick up and place cylindrical objects, wherein the lifting drive mechanism 9 can adopt an existing hydraulic cylinder, a scissors lifting mechanism or other lifting mechanism, preferably a hydraulic cylinder, the hydraulic cylinder 9 is installed on a base 10, and the base 10 is fixed to the transport robot body by bolts to install the picking and placing device on the transport robot body.

[0036] The lifting mechanism includes a fixed bracket 5 connected to the lifting drive mechanism 9, and two arc-shaped cargo brackets 4 arranged opposite to each other and rotatably connected to the fixed bracket 5 through a rotating shaft 13. A protective rubber pad 16 made of rubber is provided on the upper surface of the arc-shaped cargo bracket 4. The fixed bracket 5 is fixedly connected to the upper end of the piston rod of the hydraulic cylinder 9, and the outer ends of the two arc-shaped cargo brackets 4 that are away from each other are elastically connected to the fixed bracket 5 through an elastic unit 7.

[0037] In normal state, under the pulling force of the elastic unit 7, the outer ends of the two arc-shaped cargo brackets 4 are pulled down and the height is lowered. At this time, the two arc-shaped cargo brackets 4 are not concentric and are in a straight state, and the horizontal height of the highest point of the arc-shaped cargo bracket 4 is lowered to reduce the height of the lifting mechanism; when the cylindrical object is located on the lifting mechanism, under the action of the gravity of the cylindrical object, the inner ends of the two arc-shaped cargo brackets 4 that are close to each other are pressed down, and at the same time the outer ends are tilted up and hold the cylindrical object tightly. At this time, the two arc-shaped cargo brackets 4 are concentric.

[0038] When it is necessary to pick up goods, the handling robot moves to the bottom of the cylindrical object, the piston rod of the hydraulic cylinder 9 extends to make the lifting mechanism move upward, and the two arc-shaped cargo brackets 4 of the lifting mechanism lift the cylindrical object and separate it from the shelf. The weight of the cylindrical object itself presses the arc-shaped cargo brackets 4 from a flat state to a concentric state, and gravity causes the two arc-shaped cargo brackets 4 to tightly clamp the cylindrical object together, ensuring that the cylindrical object does not roll left and right during the operation of the handling robot, thereby ensuring operational stability.

[0039] When it is necessary to release the goods, after the handling robot transports the cylindrical object to the target shelf, the piston rod of the hydraulic cylinder 9 is retracted, and the two arc-shaped cargo brackets 4 are changed from a concentric state to a flat state again through the pulling force of the elastic unit 7, thereby lowering the horizontal height of the highest point of the arc-shaped cargo bracket 4 and completing the release process.

[0040] like Figure 1 and Figure 2 As shown, in the present invention, the elastic unit 7 is a cylindrical tension spring made of spring steel. A tension spring 7 is provided at the outer end of each of the two curved cargo brackets 4. The upper end of the tension spring 7 is connected to the curved cargo bracket 4, and the lower end of the tension spring 7 is connected to the fixed bracket 5. Preferably, the curved cargo bracket 4 is provided with an upper fixed shaft 18 located outside thereof and parallel to the rotating shaft 13. The upper end of the tension spring 7 is hooked and fixed to the upper fixed shaft 18. The fixed bracket 5 is provided with a lower fixed shaft 15 located below the upper fixed shaft 18 and parallel to the upper fixed shaft 18. The lower end of the tension spring 7 is hooked and fixed to the lower fixed shaft 15.

[0041] like Figure 2 As shown, further preferably, the lower fixed shaft 15 is vertically slidably connected to the fixed bracket 5. A tensioning bolt 17 is threadedly connected to the top of the fixed bracket 5, the lower end of which abuts the lower fixed shaft 15. Preferably, the lower end of the tension spring 7 is connected to the middle of the lower fixed shaft 15, and a tensioning bolt 17 is provided on each side of the tension spring 7. The lower ends of the two tensioning bolts 17 abut the top ends of the lower fixed shaft 15. The specific method of sliding connection between the lower fixed shaft 15 and the fixed bracket 5 is as follows: vertically extending slide grooves 19 are provided on both sides of the fixed bracket 5. The two ends of the lower fixed shaft 15 are respectively inserted into the two slide grooves 19 and can slide vertically in the slide grooves 19.

[0042] During normal use, the height at which the upper end of the tensioning bolt 17 extends beyond the top of the fixing bracket 5 is pre-set based on the weight of the cargo. If the cargo weight remains constant, the tensioning bolt 17 is no longer tightened during operation. The tensioning bolt 17 is adjusted based on the cargo weight to ensure effective tensioning of the tension spring 7.

[0043] When the weight of the cargo becomes smaller, the tensioning bolt 17 can be loosened. Under the elastic force of the tension spring 7, the lower fixed shaft 15 moves upward, and the lower end of the tension spring 7 moves upward. At this time, the upper end of the tension spring 7 will also move upward a little, but under the influence of the gravity of the arc-shaped cargo bracket 4, the upward movement distance of the upper end of the tension spring 7 is less than the upward movement distance of the lower end of the tension spring 7, and the tension spring 7 is shortened to reduce its tensioning force and ensure the effective tensioning force of the tension spring 7; similarly, when the weight of the cargo becomes heavier, the tensioning bolt 17 is tightened, the tensioning bolt 17 supports the lower fixed shaft 15 to move downward, and the lower end of the tension spring 7 moves downward. At this time, the upper end of the tension spring 7 will also move downward a little, but under the influence of the gravity of the arc-shaped cargo bracket 4, the downward movement distance of the upper end of the tension spring 7 is less than the downward movement distance of the lower end of the tension spring 7, and the tension spring 7 is stretched to increase its tensioning force and ensure the effective tensioning force of the tension spring 7.

[0044] like Figure 1 and Figure 3 As shown, in the present invention, the middle portion of the curved cargo bracket 4 is rotatably connected to the fixed bracket 5 via a rotating shaft 13. A self-lubricating copper sleeve 14 is sleeved on the outer wall of the rotating shaft 13. The self-lubricating copper sleeve 14 is fixed to the fixed bracket 5 and the curved cargo bracket 4 and extends through both, and the rotating shaft 13 rotates within the self-lubricating copper sleeve 14. Preferably, the rotating shaft 13 is an optical axis, which enters from one side of the fixed bracket 5, passes through the curved cargo bracket 4, and exits from the other side of the fixed bracket 5. The two ends of the rotating shaft 13 located outside the fixed bracket 5 are fixedly connected to fixing rings 8, which prevent the rotating shaft 13 from moving left or right.

[0045] like Figure 4 As shown, in another preferred embodiment, a cargo detection switch 6 is provided on the outer side of the fixed bracket 5. When the piston shaft of the hydraulic cylinder 9 is continuously raised to lift the cargo, the cargo detection switch 6 is used to detect whether the cargo has reached the designated position point so as to proceed to the next operation, thereby eliminating the need for manual supervision.

[0046] like Figure 1 and Figure 4 As shown, in another preferred embodiment, when the lifting drive mechanism 9 utilizes a hydraulic cylinder, a retractable guide rod 2 parallel to the axis of the piston rod of the hydraulic cylinder 9 is further fixed to the base 10. The guide rod 2 comprises an outer tube 201, the lower end of which is fixed to the base 10, and an inner rod 202 inserted into and slidably connected to the outer tube 201. The bottom of the outer tube 201 is fixed to the base 10 via bolts, and the upper end of the inner rod 202 is fixed to the fixed bracket 5. When the piston rod of the hydraulic cylinder 9 is extended or retracted, the inner rod 202 simultaneously retracts or retracts within the outer tube 201, providing guidance, thereby making the vertical movement of the piston rod of the hydraulic cylinder 9 more stable and preventing deflection.

[0047] Preferably, a connecting plate 21 is fixedly connected to the upper end of the cylinder body of the hydraulic cylinder 9, and the upper end of the outer tube 201 is also fixedly connected to the connecting plate 21, thereby improving the stability of the hydraulic cylinder's operation. Further preferably, a linear bearing 1 is fixedly connected to the inner wall of the upper portion of the outer tube 201, which is encircled by the inner rod 202. The inner rod 202 slides up and down within the linear bearing 1, preventing the piston rod of the hydraulic cylinder 9 from tilting, ensuring the sealing of the piston rod of the hydraulic cylinder 9 when fully extended, extending its service life, and ensuring operational stability.

[0048] like Figure 1 and Figure 4 As shown, in another preferred embodiment, two travel switches 11 are mounted on the outer cylinder 201, one being an upper travel switch 11 and the other being a lower travel switch 11. A travel groove 20 extending along the length of the outer cylinder 201 is formed on the sidewall thereof. A stopper 3 extending through and sliding within the travel groove 20 is fixedly attached to the inner rod 202. The stopper 3 is positioned between the two travel switches 11 and engages with both. The stopper 3 may be a stopper bolt threadedly connected to the sidewall of the inner rod 202, with the head of the stopper bolt located outside the outer cylinder 201.

[0049] When the piston rod of the hydraulic cylinder 9 is extended, the inner rod 202 moves upward in the outer tube 201, and the limiter 3 moves upward with the inner rod 202. The limiter 3 gradually approaches the upper travel switch 11. The upper travel switch 11 cooperates with the limiter 3 to limit the upward stroke of the piston rod of the hydraulic cylinder 9. When the piston rod of the hydraulic cylinder 9 is retracted, the inner rod 202 moves downward in the outer tube 201, and the limiter 3 moves downward with the inner rod 202. The limiter 3 gradually approaches the lower travel switch 11. The lower travel switch 11 cooperates with the limiter 3 to limit the downward stroke of the piston rod of the hydraulic cylinder 9, thereby limiting the stroke of the piston rod of the hydraulic cylinder 9 to between the two travel switches 11. The specific method of limiting the stroke of the piston rod by cooperating with the two travel switches 11 and the limiter 3 is a prior art and will not be described in detail here.

[0050] Further preferably, a switch bracket 12 is detachably fixedly connected to the outer cylinder 201, and the limit switch 11 is fixedly mounted on the switch bracket 12. For example, the switch bracket 12 adopts a pipe clamp structure and is fixed to the outer cylinder 201 by bolts, so that the upper and lower positions of the two limit switches 11 can be adjusted, so that the stroke of the piston rod of the hydraulic cylinder 9 can be adjusted.

[0051] Throughout this specification, reference to terms such as "preferred embodiment," "one embodiment," "some embodiments," "example," "specific example," or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0052] Although the embodiments of the present invention have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and purpose of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A cylindrical object picking and placing device for a handling robot, characterized in that: It includes a lifting mechanism for lifting and locking the cylindrical object, and a lifting drive mechanism installed on the vehicle body for driving the lifting mechanism to lift and lower the cylindrical object; The lifting mechanism includes a fixed bracket connected to the lifting drive mechanism, and two arc-shaped cargo brackets rotatably connected to the fixed bracket and arranged opposite to each other, and the outer ends of the two arc-shaped cargo brackets that are away from each other are elastically connected to the fixed bracket through elastic units; In normal state, under the action of the elastic unit, the outer ends of the two arc-shaped cargo brackets are pulled down to reduce their height; When the cylindrical object is placed on the lifting mechanism, under the action of the gravity of the cylindrical object, the inner ends of the two arc-shaped cargo brackets approaching each other are pressed down, and the outer ends are tilted upward to hold the cylindrical object tightly.

2. The cylindrical object picking and placing device for a handling robot according to claim 1, characterized in that: The elastic unit is a tension spring, the upper end of the tension spring is connected to the arc-shaped cargo bracket, and the lower end of the tension spring is connected to the fixed bracket.

3. The cylindrical object picking and placing device for a handling robot according to claim 2, characterized in that: The arc-shaped cargo bracket is provided with an upper fixed shaft, the upper end of the tension spring is hooked and fixed on the upper fixed shaft, the fixed bracket is provided with a lower fixed shaft located below it, and the lower end of the tension spring is hooked and fixed on the lower fixed shaft.

4. The cylindrical object picking and placing device for a handling robot according to claim 3, characterized in that: The lower fixed shaft is slidably connected to the fixed bracket, and the fixed bracket is threadedly connected with a tensioning bolt whose lower end abuts the lower fixed shaft; by tightening / loosening the tensioning bolt, the tension spring can be lengthened / shortened to adjust its tensioning force.

5. The cylindrical object picking and placing device for a handling robot according to claim 4, characterized in that: The lower end of the tension spring is connected to the middle of the lower fixed shaft, and a tensioning bolt is provided on each side of the tension spring, and the lower ends of the two tensioning bolts are respectively abutted against the two ends of the lower fixed shaft; And / or a vertically extending sliding groove is provided on the fixed bracket, and the lower fixed shaft is inserted into the sliding groove and can slide vertically in the sliding groove.

6. The cylindrical object picking and placing device for a handling robot according to claim 1, characterized in that: The middle part of the arc-shaped cargo bracket is rotatably connected to the fixed bracket through a rotating shaft, and a self-lubricating copper sleeve is sleeved on the outer wall of the rotating shaft; and / or a protective rubber pad is provided on the upper surface of the arc-shaped cargo bracket; And / or a cargo detection switch is provided on the fixing bracket.

7. A cylindrical object picking and placing device for a handling robot according to any one of claims 1 to 6, characterized in that: The lifting drive mechanism includes a hydraulic cylinder installed on a base, and the fixed bracket is fixedly connected to the upper end of the piston rod of the hydraulic cylinder.

8. The cylindrical object picking and placing device for a handling robot according to claim 7, characterized in that: The base is also fixed with a retractable guide rod parallel to the axis of the piston rod of the hydraulic cylinder. The guide rod includes an outer tube whose lower end is fixed to the base, and an inner rod inserted into the outer tube and slidably connected to the outer tube. The upper end of the inner rod is fixed to the fixed bracket.

9. The cylindrical object picking and placing device for a handling robot according to claim 8, characterized in that: The upper end of the cylinder body of the hydraulic oil cylinder is fixedly connected to a connecting plate, and the upper end of the outer tube is also fixedly connected to the connecting plate; And / or a linear bearing arranged around the inner rod is fixedly connected to the inner wall of the upper portion of the outer cylinder; And / or two travel switches are installed on the outer cylinder, the side wall of the outer cylinder has a travel groove extending along its length direction, and the inner rod is fixed with a limit member that passes through the travel groove and can slide in the travel groove, and the limit member is located between the two travel switches and cooperates with both.

10. The cylindrical object picking and placing device for a handling robot according to claim 9, characterized in that: The outer cylinder is detachably fixedly connected with a switch bracket, and the travel switch is fixedly mounted on the switch bracket.

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