A handling robot

Abstract

The application relates to the technical field of mechanical engineering, in particular to a carrying manipulator which comprises a carrying manipulator which comprises a mechanical arm assembly, a positioning column is installed at the top end of the mechanical arm assembly, positioning blocks are fixedly connected to the bottom end of the positioning column, an electric telescopic rod is fixedly installed in the inside of each positioning block, a driving plate is fixedly connected to the output end of the electric telescopic rod, and a pressing plate is arranged below the driving plate. The application is provided with the driving plate and the pressing plate and the like, a plurality of solar panel pieces are arranged below the pressing plate, the electric telescopic rod can drive the pressing plate to move up and down through the cooperation between the driving plate and the pressing plate, the pressing plate can be pressed on the upper surface of the solar panel, the solar panel can be prevented from shaking and colliding during carrying, and the effect that the solar panel is protected through the driving plate and the pressing plate is achieved.

Description

Technical Field

[0001] This application relates to the technical field of mechanical engineering, and in particular to a material handling robot. Background Technology

[0002] A robotic arm mainly consists of three parts: the actuator, the drive mechanism, and the control system. The hand is the component used to grasp workpieces (or tools). Depending on the shape, size, weight, material, and operational requirements of the object being grasped, it has various structural forms, such as clamping, supporting, and adsorption types. The motion mechanism enables the hand to perform various rotational (swinging), translational, or combined movements to achieve the specified actions and change the position and posture of the grasped object. The independent motion modes of the motion mechanism, such as lifting, extension, and rotation, are called the degrees of freedom of the robotic arm. To grasp objects at any position and orientation in space, six degrees of freedom are required. Degrees of freedom are a key parameter in robotic arm design. The more degrees of freedom, the greater the flexibility and versatility of the robotic arm, but also the more complex its structure. Generally, specialized robotic arms have 2-3 degrees of freedom. The control system completes specific actions by controlling the motors of each degree of freedom of the robotic arm. It also receives feedback information from sensors to form a stable closed-loop control. The core of the control system is usually composed of a microcontroller or DSP (Digital Subsystem for Microcontrollers), which is programmed to achieve the desired functions.

[0003] A solar panel is a power generation device that generates direct current when exposed to sunlight. It consists of thin solid photovoltaic cells made almost entirely of semiconductor materials (such as silicon). During the production of solar panels, multiple solar panels are usually stacked and then moved by robotic arms. During the handling process, multiple solar panels are prone to shaking up and down, causing them to collide with each other.

[0004] Regarding the aforementioned related technologies, the inventors have discovered the following drawbacks: the existing technology lacks an auxiliary limiting mechanism, which makes it easy for multiple solar panels to be damaged due to shaking and collision during handling, and it is not convenient to protect the solar panels. In order to solve the problem of the lack of a limiting mechanism in the existing technology, this application sets up components such as a drive plate and a pressure plate, so that the electric telescopic rod can press down and limit the top of the solar panel through the drive plate and the pressure plate, thereby avoiding up and down shaking during handling and achieving the effect of preventing the solar panels from being damaged due to mutual collision. Utility Model Content

[0005] To facilitate the protection of solar panels, this application provides a handling robot.

[0006] This application provides a handling robot, which adopts the following technical solution: A handling robot includes a robotic arm assembly. A positioning post is installed at the top of the robotic arm assembly, and a positioning block is fixedly connected to the bottom end of the positioning post. Two positioning boxes are arranged below the positioning blocks. Two support claws are arranged on the lower surface of each positioning box. Two support posts are fixedly connected to the upper surface of each positioning box. A first connecting rod is rotatably connected to each support post. An electric telescopic rod is fixedly installed inside each positioning block. A drive plate is fixedly connected to the output end of the electric telescopic rod. A pressure plate is arranged below the drive plate. Four positioning rods are fixedly connected to the upper surface of the pressure plate. A first spring is sleeved on the outer surface of each positioning rod. The outer surface of each positioning rod is slidably connected to the interior of the positioning block. Multiple solar panels are arranged below the pressure plate.

[0007] Optionally, each of the support columns is rotatably connected to a second link, the other end of each second link is rotatably connected to a positioning block, and the middle section of each second link is rotatably connected to a third link.

[0008] Optionally, two slide bars are fixedly connected to the outer surface of each positioning box, and two first slide bars and two second slide bars are provided on one side of each positioning box.

[0009] Optionally, each of the positioning boxes is provided with two clamps on one side, and each clamp is rotatably connected to two first support rods and two second support rods on the side of the corresponding positioning box.

[0010] Optionally, a drive motor is fixedly installed at the top of the positioning column, a drive rod is fixedly connected to the output end of the drive motor, and a drive block is slidably connected inside the positioning column.

[0011] Optionally, a second spring is fitted onto the outer surface of each slide rod, and two third springs are fitted onto the outer surface of each slide rod.

[0012] Optionally, each of the positioning boxes has an adjusting rod rotatably connected inside, each of the positioning boxes has two limiting rods fixedly connected inside, and each of the support claws has an adjusting block fixedly connected.

[0013] Optionally, a lower support pad is fixedly connected to the upper surface of each of the support claws, and an upper support pad is fixedly connected to the lower surface of the pressure plate.

[0014] In summary, this application includes the following beneficial technical effects: 1. This utility model, by setting up components such as a drive plate and a pressure plate, and through the cooperation between the drive plate and the pressure plate, enables the electric telescopic rod to drive the pressure plate to move up and down, so that the pressure plate can press on the upper surface of the solar panel, thereby preventing the solar panel from shaking and colliding during transportation, thus achieving the effect of protecting the solar panel by setting up the drive plate and the pressure plate.

[0015] 2. This utility model, by providing components such as a clamping plate and a first support rod, achieves the effect of adjusting the clamping force of the solar panel by means of the cooperation between the clamping plate and the first support rod. The clamping plate can drive the first slide bar and the second slide bar to slide through the first support rod and the second support rod respectively, thereby compressing the first spring and the second spring. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure in an embodiment of this application; Figure 2 This is a schematic diagram of the support column structure in the embodiments of this application; Figure 3 This is a schematic diagram of the positioning column in an embodiment of this application; Figure 4 This is a schematic diagram of the internal structure of the positioning box in an embodiment of this application; Figure 5 This is a schematic diagram of the structure of the clamping plate in an embodiment of this application.

[0017] Reference numerals: 1. Robotic arm assembly; 2. Positioning column; 3. Positioning block; 4. Positioning box; 5. Support claw; 6. Support column; 7. First connecting rod; 8. Drive plate; 9. Pressure plate; 10. Positioning rod; 11. First spring; 12. Second connecting rod; 13. Third connecting rod; 14. Slide rod; 15. First slide bar; 16. Second slide bar; 17. Clamping plate; 18. First support rod; 19. Second support rod; 20. Drive rod; 21. Drive block; 22. Second spring; 23. Third spring; 24. Adjusting rod; 25. Limiting rod; 26. Adjusting block; 27. Lower support pad; 28. Upper support pad. Detailed Implementation

[0018] The following is in conjunction with the appendix Figure 1-5 The figure provides a further detailed description of this application.

[0019] This application discloses a handling robot. For example... Figure 1 , 2As shown in Figure 3, a handling robot includes a robotic arm assembly 1. A positioning post 2 is mounted at the top of the robotic arm assembly 1, and a positioning block 3 is fixedly connected to the bottom end of the positioning post 2. Two positioning boxes 4 are arranged below the positioning block 3. Two support posts 6 are fixedly connected to the upper surface of each positioning box 4. Each support post 6 is rotatably connected to a first connecting rod 7, and the other end of each first connecting rod 7 is rotatably connected to the outer surface of the positioning block 3. An electric telescopic rod is fixedly installed inside each positioning block 3, and a drive plate 8 is fixedly connected to the output end of the electric telescopic rod. Two support claws 5 are arranged on the lower surface of each positioning box 4. A pressure plate 9 is arranged below the drive plate 8, and multiple solar panels are arranged below the pressure plate 9. The support claws 5 support the lower surface of the solar panels, and the pressure plate 9... Four positioning rods 10 are fixedly connected to the upper surface of the solar panel. The outer surface of each positioning rod 10 is slidably connected to the interior of the positioning block 3 and the drive plate 8. A first spring 11 is sleeved on the outer surface of each positioning rod 10. The top end of the first spring 11 contacts the lower surface of the drive plate 8 and the bottom end of the first spring 11 contacts the upper surface of the pressure plate 9. The outer surface of each positioning rod 10 is slidably connected to the interior of the positioning block 3. When the support claw 5 completes the support of the solar panel, the electric telescopic rod is activated. The output end of the electric telescopic rod drives the drive plate 8 to move downward. The drive plate 8 drives the pressure plate 9 to move downward through the first spring 11, so that the pressure plate 9 presses on the upper surface of the solar panel, thereby achieving auxiliary positioning of the solar panel.

[0020] Please see Figure 4 Each positioning box 4 has an adjusting rod 24 rotatably connected inside. The outer surface of the adjusting rod 24 is provided with a bidirectional thread. One end of each adjusting rod 24 is fixedly installed with a handle. Two limiting rods 25 are fixedly connected inside each positioning box 4. Each support claw 5 is fixedly connected with an adjusting block 26. The interior of each adjusting block 26 is threadedly connected to the outer surface of the corresponding adjusting rod 24. The interior of each adjusting block 26 is slidably connected to the interior of the corresponding limiting rod 25. The adjusting rod 24 can drive the support claw 5 to slide through the adjusting block 26, thereby adjusting the distance between two adjacent support claws 5 to accommodate solar panels of different widths.

[0021] Please see Figure 1 , 2 Each support column 6 is rotatably connected to a second link 12. The second link 12 is of the same specification as the first link 7 and is parallel to each other. The other end of each second link 12 is rotatably connected to the positioning block 3. The middle section of each second link 12 is rotatably connected to a third link 13. The third link 13 can drive the first link 7 to rotate through the second link 12, thereby causing the positioning box 4 and other components to move closer or further apart.

[0022] Please see Figure 1 , 2 3. A drive motor is fixedly installed at the top of the positioning column 2. A drive rod 20 is fixedly connected to the output end of the drive motor. The drive rod 20 is rotatably connected to the inside of the positioning column 2. A drive block 21 is slidably connected to the inside of the positioning column 2. The inside of the drive block 21 is threadedly connected to the outer surface of the drive rod 20. The other end of each third link 13 is rotatably connected to the outer surface of the drive block 21.

[0023] Please see Figure 1 , 2 3, 5, each of the support claws 5 has a lower support pad 27 fixedly connected to its upper surface, and an upper support pad 28 fixedly connected to its lower surface. Both the lower support pad 27 and the upper support pad 28 are made of rubber, and their outer surfaces are provided with anti-slip textures, thereby improving the protection effect on the solar panel and preventing the outer surface of the solar panel from being scratched.

[0024] Please see Figure 5 Each positioning box 4 has two slide bars 14 fixedly connected to its outer surface. Each positioning box 4 has two first slide bars 15 and two second slide bars 16 on one side. The interior of each first slide bar 15 is slidably connected to the outer surface of the corresponding slide bar 14, and the interior of each second slide bar 16 is slidably connected to the outer surface of the corresponding slide bar 14.

[0025] Please see Figure 5 Each positioning box 4 has two clamping plates 17 on one side. Each clamping plate 17 has a buffer pad fixedly connected to its outer surface. Each clamping plate 17 has two first support rods 18 and two second support rods 19 rotatably connected to the side of the corresponding positioning box 4. The other end of each first support rod 18 is rotatably connected to the corresponding first slide bar 15, and the other end of each second support rod 19 is rotatably connected to the corresponding second slide bar 16.

[0026] Please see Figure 5 Each slide bar 14 has a second spring 22 fitted on its outer surface. Both ends of each second spring 22 are in contact with the outer surface of the corresponding first slide bar 15. Each slide bar 14 has two third springs 23 fitted on its outer surface. One end of each third spring 23 is in contact with the outer surface of the corresponding second slide bar 16, and the other end of each third spring 23 is in contact with the outer surface of the corresponding positioning box 4.

[0027] The implementation principle of a handling robot according to an embodiment of this application is as follows: Rotating the adjusting rod 24 causes the adjusting block 26 and the support claw 5 to slide, thereby adjusting the spacing of the support claw 5. Starting the drive motor causes the output end of the drive motor to rotate the drive rod 20, which in turn causes the drive block 21 to slide. The drive block 21, through the third connecting rod 13, causes the second connecting rod 12 and the first connecting rod 7 to rotate. The two positioning boxes 4 move closer to each other, so that each support claw 5 is positioned below the solar panel to support it. The clamping plate 17 clamps both sides of the solar panel. The clamping plate 17, through the first support rod 18 and the second support rod 19, respectively causes the first sliding bar 15 and the second sliding bar 16 to slide, compressing the second spring 22 and the third spring 23. Starting the electric telescopic rod causes the output end of the electric telescopic rod to move the drive plate 8 downwards. The drive plate 8, through the first spring 11, causes the pressure plate 9 to press against the upper surface of the solar panel, thereby achieving auxiliary positioning of the solar panel.

[0028] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A handling robot, comprising a robotic arm assembly (1), characterized in that: The top of the robotic arm assembly (1) is equipped with a positioning column (2), and the bottom of the positioning column (2) is fixedly connected to a positioning block (3). Two positioning boxes (4) are arranged below the positioning block (3). Two support claws (5) are arranged on the lower surface of each positioning box (4). Two support columns (6) are fixedly connected to the upper surface of each positioning box (4). A first connecting rod (7) is rotatably connected to each support column (6). An electric telescopic rod is fixedly installed inside each positioning block (3). A drive plate (8) is fixedly connected to the output end of the electric telescopic rod. A pressure plate (9) is arranged below the drive plate (8). Four positioning rods (10) are fixedly connected to the upper surface of the pressure plate (9). A first spring (11) is sleeved on the outer surface of each positioning rod (10). The outer surface of each positioning rod (10) is slidably connected to the inside of the positioning block (3). Multiple solar panels are arranged below the pressure plate (9).

2. The handling robot according to claim 1, characterized in that: Each of the support columns (6) is rotatably connected to a second link (12), the other end of each second link (12) is rotatably connected to a positioning block (3), and the middle section of each second link (12) is rotatably connected to a third link (13).

3. A handling robot according to claim 1, characterized in that: Two slide bars (14) are fixedly connected to the outer surface of each positioning box (4), and two first slide bars (15) and two second slide bars (16) are provided on one side of each positioning box (4).

4. A handling robot according to claim 1, characterized in that: Each of the positioning boxes (4) has two clamps (17) on one side, and each clamp (17) has two first support rods (18) and two second support rods (19) rotatably connected to the side of the corresponding positioning box (4) of each clamp (17).

5. A handling robot according to claim 1, characterized in that: A drive motor is fixedly installed at the top of the positioning column (2), and a drive rod (20) is fixedly connected to the output end of the drive motor. A drive block (21) is slidably connected inside the positioning column (2).

6. A handling robot according to claim 3, characterized in that: Each of the slide bars (14) has a second spring (22) fitted on its outer surface, and each of the slide bars (14) has two third springs (23) fitted on its outer surface.

7. A handling robot according to claim 1, characterized in that: Each of the positioning boxes (4) is rotatably connected to an adjusting rod (24), each of the positioning boxes (4) is fixedly connected to two limiting rods (25), and each of the support claws (5) is fixedly connected to an adjusting block (26).

8. A handling robot according to claim 1, characterized in that: Each of the support claws (5) has a lower support pad (27) fixedly connected to its upper surface, and the pressure plate (9) has an upper support pad (28) fixedly connected to its lower surface.

Images