CN112388650A

CN112388650A - Four-wheel self-adaptive automatic robot for carrying objects

Info

Publication number: CN112388650A
Application number: CN202011223538.0A
Authority: CN
Inventors: 杨翡
Original assignee: Rizhao Polytechnic
Current assignee: Rizhao Polytechnic
Priority date: 2020-11-05
Filing date: 2020-11-05
Publication date: 2021-02-23

Abstract

The invention discloses an automatic robot for carrying four-wheel self-adaptive objects, which comprises a moving device and a carrying device, wherein the carrying device is installed on the moving device, an intelligent control terminal, a navigator and an infrared camera are arranged at the upper end of a moving trolley for real-time positioning, navigation and guided carrying, an electric control valve on the side wall of an air storage tank is opened when the objects are carried, a second motor rotates forwards to drive a screw to subside a movable disc and a sealing gasket downwards, the movable disc and the sealing gasket drive compressed air in the air storage tank into a sleeve through an air pipe, the pressure in the sleeve is increased to push a piston push rod to deflect a rotary disc, the rotary disc pushes an L-shaped mounting plate to move through a U-shaped support to enable a fork arm to extend into a tray at the bottom of the objects, the fork arm carries the objects in a forking mode, and avoids damage to.

Description

Four-wheel self-adaptive automatic robot for carrying objects

Technical Field

The invention relates to the technical field of transfer robots, in particular to an automatic robot for four-wheel self-adaptive object transfer.

Background

The robot is a machine device for automatically executing work, mainly comprising a mechanical body, memory or program functions and core parts, can receive human commands, run programs arranged in advance, and act according to principles formulated by artificial intelligence technology, and has the task of assisting or replacing human work, such as production industry, construction industry or dangerous work.

The existing transfer robot has strong adaptability, but can replace human work in various environments which are not suitable for human beings. However, the existing transfer robots in factories are generally mechanical arms, which are fixedly mounted on one side of a production line, and transfer, clamp and transfer processed products on one production line to another production line, or carry objects to another place according to a set guide rail, and the transfer robots cannot independently load and unload the objects, and need to transfer, load and unload the objects by other devices, so that the use effect is not very convenient; and current arm and transfer machine are generally all carried through pressing from both sides the article of getting, and the article is subject to destruction when getting the clamp easily, even from getting the device and drop ground and break down.

Therefore, an automatic robot for four-wheel adaptive object transportation has been proposed.

Disclosure of Invention

The invention aims to provide a four-wheel self-adaptive automatic robot for carrying objects, which is characterized in that an intelligent control terminal, a navigator and an infrared camera are arranged at the upper end of a movable trolley for real-time positioning, navigation and guided carrying, a pneumatic component is arranged at the upper end of the movable trolley, and an object is forked and carried by a forking mechanism driven by matching of an upright post, a guide rod, a sleeve ring, a hanging rod and a connecting piece, so that the problems in the background are solved.

In order to achieve the purpose, the invention provides the following technical scheme: the automatic robot for transporting four-wheel self-adaptive objects comprises a moving device and a transporting device, wherein the transporting device is installed on the moving device, the moving device comprises a moving trolley, driving wheels, a first motor, an intelligent control terminal, a navigator, an infrared camera and a rotating base, the driving wheels are fixedly connected to four corners of the bottom of the moving trolley respectively, the first motors are installed on inner walls of supporting rods of the driving wheels respectively through fixing bolts, transmission shafts of the first motors are fixedly connected with the driving wheels respectively, the intelligent control terminal is installed at the top end of the head of the moving trolley, the navigator is arranged on the outer wall of one side of the intelligent control terminal, the rotating base is arranged at the bottom of the infrared camera, the infrared camera is installed at the top of the intelligent control terminal through the rotating base, and the transporting device is installed at the top of the;

handling device includes the stand, the guide bar, the lantern ring, the jib, the mechanism is got to the fork, connecting piece and pneumatic assembly, stand fixed connection is respectively close to the both ends border department of intelligent control terminal one side in travelling car afterbody top, and the stand is kept away from intelligent control terminal one side and is gone up outward and do not be provided with integrative guide bar near the top punishment, a lantern ring has been cup jointed in the activity respectively on the outer wall of guide bar, the bottom of the lantern ring all is provided with integrative jib, the lower extreme of jib is fixed connection respectively in the both ends of getting the mechanism top in the fork, and the fork is got and is installed the connecting piece on the outer wall that the mechanism is close to stand one side, the connecting piece links to each other with.

Further, the infrared camera can make 360 rotations at intelligent control terminal top through rotating base, and infrared camera and navigator all pass through wire and intelligent control terminal electric connection, and one side that intelligent control terminal was kept away from to removal dolly afterbody upper end evenly sets up a plurality of gyro wheels through the support respectively, and the gyro wheel sets up the same three groups in even interval side by side, and the quantity of every group gyro wheel sets up four.

Further, the mechanism is got to fork includes L type mounting panel, the yoke, bar hole and centre gripping arm, the top both ends of L type mounting panel riser respectively with the bottom of jib is fixed links to each other, and the diaphragm bottom and the gyro wheel upper end of L type mounting panel contact, L type mounting panel passes through the gyro wheel bearing in the upper end of travelling car, and the both ends border punishment of stand one side outer wall is kept away from to the diaphragm of L type mounting panel do not is provided with the yoke, formula structure as an organic whole between yoke and L type mounting panel, and the riser lateral wall of L type mounting panel is close to top department and has seted up the bar hole, fixedly connected with centre gripping arm is located near L type mounting panel riser outer wall middle part department of yoke one side to bar hole upper end, the centre gripping arm hangs in the diaphragm upper end of L type mounting.

Further, the centre gripping arm is including fixed cover, the arm lock, the centre gripping end, the activity pull rod, horizontal pole and connecting rod, fixed cover fixed connection is close to L type mounting panel riser outer wall middle part department of yoke one side in bar hole upper end, and fixed cover is movable respectively through the loose pin and cup joints the one end of arm lock, the other end of arm lock is provided with integrative centre gripping end respectively, the one end of activity pull rod is respectively through loose pin connection in the bottom of arm lock, and the other end of activity pull rod passes through loose pin connection in horizontal pole upper end both sides, the horizontal pole extends and crosses the bar hole, and horizontal pole upper end middle part department fixedly connected with connecting rod, the other end and the connecting.

Further, the connecting piece includes the fixed plate, U type support, carousel and connecting strip, fixed plate fixed connection is close to L type mounting panel riser outer wall middle part department of stand one side at bar hole lower extreme, and constitute the integral type structure between fixed plate and L type mounting panel, be provided with integrative U type support on the outer wall of fixed plate, be provided with the round pin axle between the terminal inner wall of U type support, and the activity has cup jointed the carousel on the outer wall of round pin axle, be provided with the connecting strip through the activity round pin on the top one side outer wall of carousel, the connecting strip links to each other through the one end activity that the horizontal pole was kept away from to activity round pin and connecting rod, the bottom and the pneumatic component.

Further, pneumatic subassembly includes the gas holder, the second motor, the screw rod, activity dish and sealed pad, the gas holder sets up in the travelling car head top border department of the adjacent department at intelligent control terminal, the inside compressed air that has stored of gas holder, and the top of gas holder installs the second motor through fixing bolt, second motor bottom transmission shaft runs through gas holder roof and downwardly extending to inside it, and second motor transmission shaft end is through shaft coupling fixedly connected with screw rod, the activity dish has been cup jointed to the screw thread on the outer wall of screw rod, the bottom of activity dish is provided with integrative sealed pad, and the activity dish all with the gas holder inner wall interference fit between the lateral wall of sealed pad.

Furthermore, the second motor is a positive and negative rotation asynchronous motor, the model number of which is 5RK60GU-CF, and the second motor is electrically connected with the intelligent control terminal through a lead.

Furthermore, an air pipe is arranged on the outer wall of one side of the air storage tank and close to the bottom, an integrated electric control valve is arranged on the air pipe, the tail end of the air pipe is communicated with the side wall of one end of a sleeve, the sleeve is arranged at the upper end of the moving trolley between the columns through a supporting base, a piston push rod penetrates through the side wall of the other end of the sleeve, the tail end of the piston push rod is movably connected with one end of a connecting rod through a movable pin, and the other end of the connecting rod is movably connected with a.

Compared with the prior art, the invention has the following beneficial effects:

1. the invention provides an automatic robot for four-wheel self-adaptive object transportation, which is characterized in that an intelligent control terminal, a navigator and an infrared camera are arranged at the upper end of a movable trolley for real-time positioning, navigation and guided transportation, an electric control valve on the side wall of an air storage tank is opened when an object is transported, a second motor rotates forwards to drive a screw to subside a movable disc and a sealing gasket downwards, the compressed air in the air storage tank is driven into a sleeve through an air pipe by the movable disc and the sealing gasket, the pressure in the sleeve is increased to push a piston push rod to deflect a rotary disc, the rotary disc pushes an L-shaped mounting plate to move through a U-shaped support to stretch a fork arm into a tray at the bottom of the object, and the fork arm transports the object in a forking mode, so that the object.

2. The invention provides a four-wheel self-adaptive automatic robot for carrying objects, which is convenient and practical.

3. According to the four-wheel self-adaptive automatic robot for carrying the objects, the upper end of the rotary table is movably connected with the connecting rod through the connecting strip, the connecting strip and the connecting rod drive the transverse rod to control the transverse rod to stretch the clamping arms when the rotary table deflects, the clamping arms are driven to open and close in the fixed sleeve and synchronously open and close along with the telescopic motion of the piston push rod, the objects are clamped and fixed by the clamping arms and the clamping end heads, and the stability of the fork arms when the objects are taken is guaranteed.

Drawings

FIG. 1 is a schematic diagram illustrating an overall structure of an automatic robot for four-wheel adaptive object transportation according to the present invention;

FIG. 2 is a schematic diagram of a moving device of an automatic robot for four-wheel adaptive object transportation according to the present invention;

FIG. 3 is an enlarged view of a moving device A of the four-wheel adaptive robot for transporting objects according to the present invention;

FIG. 4 is a schematic structural diagram of a handling apparatus of an automatic robot for four-wheel adaptive object handling according to the present invention;

FIG. 5 is a schematic structural view of a fork mechanism of an automatic robot for four-wheel self-adaptive object transportation according to the present invention;

FIG. 6 is a schematic diagram of a gripping arm structure of an automatic robot for four-wheel adaptive object transportation according to the present invention;

FIG. 7 is a schematic diagram of a connection structure of an automatic robot for four-wheel adaptive object transportation according to the present invention;

FIG. 8 is a schematic diagram of a pneumatic assembly of an automatic robot for four-wheel adaptive object transportation according to the present invention;

fig. 9 is a sectional view of an air tank of an automatic robot for four-wheel adaptive type object transfer according to the present invention.

In the figure: 1. a mobile device; 11. moving the trolley; 12. a drive wheel; 13. a first motor; 14. an intelligent control terminal; 15. a navigator; 16. an infrared camera; 17. rotating the base; 18. a support; 19. a roller; 2. a carrying device; 21. a column; 22. a guide bar; 23. a collar; 24. a boom; 25. a forking mechanism; 251. an L-shaped mounting plate; 252. a yoke; 253. a strip-shaped hole; 254. a clamp arm; 2541. fixing a sleeve; 2542. clamping arms; 2543. clamping the end head; 2544. a movable pull rod; 2545. a cross bar; 2546. a connecting rod; 26. a connecting member; 261. a fixing plate; 262. a U-shaped support; 263. a turntable; 264. a connecting strip; 27. a pneumatic assembly; 271. a gas storage tank; 272. a second motor; 273. a screw; 274. a movable tray; 275. a gasket; 276. an air tube; 277. an electrically controlled valve; 278. a sleeve; 279. a support base; 2710. a piston push rod; 2711. a connecting rod.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-3, a four-wheel self-adaptive automatic robot for transporting objects comprises a moving device 1 and a transporting device 2, wherein the transporting device 2 is installed on the moving device 1, the moving device 1 comprises a moving trolley 11, driving wheels 12, a first motor 13, an intelligent control terminal 14, a navigator 15, an infrared camera 16 and a rotating base 17, the driving wheels 12 are respectively and fixedly connected with four corners of the bottom of the moving trolley 11, the first motor 13 is respectively installed on the inner wall of a supporting rod of the driving wheels 12 through fixing bolts, a transmission shaft of the first motor 13 is respectively and fixedly connected with the driving wheels 12, the intelligent control terminal 14 is installed at the top end of the head of the moving trolley 11, the navigator 15 is arranged on the outer wall of one side of the intelligent control terminal 14, the rotating base 17 is installed at the bottom of the infrared camera 16, and the infrared camera 16 is installed at the top of the intelligent control terminal 14 through, the top of the tail end of the mobile trolley 11 is provided with a carrying device 2.

Infrared camera 16 can make 360 rotations at intelligent control terminal 14 top through rotating base 17, and infrared camera 16 and navigator 15 all through wire and intelligent control terminal 14 electric connection, and one side of keeping away from intelligent control terminal 14 on the 11 afterbody upper ends of mobile trolley evenly sets up a plurality of gyro wheels 19 through support 18 respectively, and gyro wheel 19 sets up the same three groups in even interval side by side, and the quantity of every group gyro wheel 19 sets up four.

Referring to fig. 1 and 4, a four-wheel adaptive robot for transporting objects, the transporting device 2 includes a column 21, a guide rod 22, a collar 23, a suspension rod 24, a forking mechanism 25, a connecting member 26 and a pneumatic assembly 27, the column 21 is respectively and fixedly connected to the edges of the two ends of the top end of the tail of the mobile cart 11 near the intelligent control terminal 14, and the outer side of the upright post 21 far away from the intelligent control terminal 14 is provided with an integrated guide rod 22 near the top, the outer wall of the guide rod 22 is movably sleeved with a lantern ring 23, the bottom of the lantern ring 23 is provided with an integrated suspender 24, the lower end of the suspender 24 is fixedly connected with the two ends of the top of the forking mechanism 25, and the outer wall of the forking mechanism 25 close to one side of the upright post 21 is provided with a connecting piece 26, the connecting piece 26 is movably connected with a pneumatic component 27, and the pneumatic component 27 is arranged at the upper end of the movable trolley 11 in the middle of the upright post 21.

Referring to fig. 4 and 5, a four-wheel self-adaptive automatic robot for transporting objects, the forking mechanism 25 includes an L-shaped mounting plate 251, a fork arm 252, a strip-shaped hole 253 and a clamping arm 254, the two ends of the top of the riser of the L-shaped mounting plate 251 are respectively fixedly connected with the bottom of the suspension rod 24, the bottom of the transverse plate of the L-shaped mounting plate 251 is contacted with the upper end of the roller 19, the L-shaped mounting plate 251 is supported on the upper end of the moving trolley 11 through the roller 19, the fork arms 252 are respectively arranged at the two end edges of the outer wall of the transverse plate of the L-shaped mounting plate 251 far away from the upright 21, the fork arm 252 and the L-shaped mounting plate 251 are in an integrated structure, the strip-shaped hole 253 is arranged at the position of the side wall of the riser of the L-shaped mounting plate 251 near the top, the clamping arm 254 is fixedly connected at the middle part of the outer wall of the L, and is disposed parallel to the yoke 252.

Referring to fig. 5 and 6, a four-wheel adaptive robot for transporting objects, the gripping arm 254 includes a fixed sleeve 2541, a clamping arm 2542, a gripping end 2543, a movable pull rod 2544, a cross bar 2545 and a connecting rod 2546, the fixed sleeve 2541 is fixedly connected to the upper end of the strip-shaped hole 253 near the middle portion of the outer wall of the vertical plate of the L-shaped mounting plate 251 on one side of the yoke 252, the fixed sleeve 2541 is respectively and movably sleeved to one end of the clamping arm 2542 by a movable pin, the other end of the clamping arm 2542 is respectively provided with an integrated gripping end 2543, one end of the movable pull rod 2544 is respectively connected to the bottom end of the clamping arm 2542 by a movable pin, the other end of the movable pull rod 2544 is connected to two sides of the upper end of the cross bar 2545 by a movable pin, the cross bar 2545 extends across the strip-shaped hole 253, and.

Referring to fig. 5 and 7, a four-wheel adaptive type automatic robot for object transportation includes a fixing plate 261, a U-shaped support 262, a turntable 263 and a connecting strip 264, the fixing plate 261 is fixedly connected to the lower end of the strip-shaped hole 253 near the middle of the outer wall of the riser of the L-shaped mounting plate 251 on one side of the column 21, the fixing plate 261 and the L-shaped mounting plate 251 form an integrated structure, the outer wall of the fixing plate 261 is provided with the integrated U-shaped support 262, the inner wall of the end of the U-shaped support 262 is provided with a pin shaft, the outer wall of the pin shaft is movably sleeved with the turntable 263, the outer wall of the top side of the turntable 263 is provided with the connecting strip 264 by a movable pin, the connecting strip 264 is movably connected with one end of the connecting rod 2546 far away from the crossbar 2545 by a movable pin.

Referring to fig. 1, 8 and 9, a four-wheel adaptive robot for transporting objects, the pneumatic assembly 27 includes an air tank 271, a second motor 272, a screw 273, a movable disc 274 and a sealing pad 275, the air tank 271 is disposed at the top edge of the head of the mobile cart 11 adjacent to the intelligent control terminal 14, compressed air is stored in the air tank 271, the second motor 272 is mounted at the top of the air tank 271 through a fixing bolt, the second motor 272 is a forward and reverse rotation asynchronous motor with the model number of 5RK60GU-CF, the second motor 272 is electrically connected with the intelligent control terminal 14 through a wire, a bottom transmission shaft of the second motor 272 penetrates through the top plate of the air tank 271 and extends downwards to the inside, the end of the transmission shaft of the second motor 272 is fixedly connected with the screw 273 through a coupling, the outer wall of the screw 273 is screwed with the movable disc 274, the bottom of the movable disc 274 is provided with the integral sealing pad 275, the movable disc 274 and the side wall of the sealing gasket 275 are in interference fit with the inner wall of the air storage tank 271, an air pipe 276 is arranged on the outer wall of one side of the air storage tank 271 close to the bottom, an integrated electric control valve 277 is arranged on the air pipe 276, the tail end of the air pipe 276 is communicated with the side wall of one end of a sleeve 278, the sleeve 278 is arranged at the upper end of a movable trolley 11 between the upright posts 21 through a support base 279, a piston push rod 2710 penetrates through the side wall of the other end of the sleeve 278, the tail end of the piston push rod 2710 is movably connected with one end of a connecting rod 2711 through a movable pin, and the other end.

In summary, the following steps: the invention provides an automatic robot for four-wheel self-adaptive object carrying, wherein an intelligent control terminal 14, a navigator 15 and an infrared camera 16 are arranged at the upper end of a mobile trolley 11 for real-time positioning, navigation and guided carrying, an electric control valve 277 on the side wall of an air storage tank 271 is opened when an object is carried, a second motor 272 rotates forward to drive a screw 273 to sink a movable disc 274 and a sealing gasket 275 downwards, the compressed air in the air storage tank 271 is driven into a sleeve 278 through an air pipe 276 by the movable disc 274 and the sealing gasket 275, the pressure in the sleeve 278 is increased to push a piston push rod 2710 to deflect a rotary disc 263, the rotary disc 263 pushes an L-shaped mounting plate 251 to move through a U-shaped support 262 to enable a fork arm 252 to extend into a tray at the bottom of the object, the fork arm 252 carries the object in a forking mode, and damage to the mechanical arm caused; the second motor 272 rotates positively to drive the screw 273 to lift the settlement movable disc 274 and the sealing pad 275, the compressed air in the sleeve 278 is sucked back into the air storage tank 271 again by the movable disc 274 and the sealing pad 275, the pressure in the sleeve 278 is reduced, the piston push rod 2710 retracts, the L-shaped mounting plate 251 moves at the upper end of the roller 19 during retraction, the objects at the upper ends of the fork arms 252 are synchronously stored at the upper end of the mobile trolley 11 together, the mobile trolley 11 is driven to the object placing position, then the second motor 272 rotates positively again to move the objects at the upper ends of the fork arms 252 to the outer side of the upper end of the mobile trolley 11 again for unloading, and the pressure in the sleeve 278 is changed to drive the fork arms 252 to load and unload the objects through repeated positive and negative rotation of the second motor 272, so that; the upper end of the rotary disc 263 is movably connected with a connecting rod 2546 through a connecting strip 264, when the rotary disc 263 deflects, the connecting strip 264 and the connecting rod 2546 drive the cross rod 2545 to control the cross rod 2545 to stretch the clamping arm 2542, the clamping arm 2542 is driven to open and close in the fixed sleeve 2541, and the opening and closing are synchronously performed along with the telescopic motion of the piston push rod 2710, so that the clamping arm 2542 and the clamping head 2543 are used for clamping and fixing an object, and the stability of the fork arm 252 in the process of forking the object is ensured.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a four-wheel self-adaptation type automatic robot for object transport, includes mobile device (1) and handling device (2), and handling device (2) are installed on mobile device (1), its characterized in that: the mobile device (1) comprises a mobile trolley (11), a driving wheel (12), a first motor (13), an intelligent control terminal (14), a navigator (15), an infrared camera (16) and a rotating base (17), wherein the four corners of the bottom of the mobile trolley (11) are respectively and fixedly connected with the driving wheel (12), the inner wall of a supporting rod of the driving wheel (12) is respectively provided with the first motor (13) through a fixing bolt, a transmission shaft of the first motor (13) is respectively and fixedly connected with the driving wheel (12), the intelligent control terminal (14) is arranged at the top end of the head of the mobile trolley (11), a navigator (15) is arranged on the outer wall of one side of the intelligent control terminal (14), a rotary base (17) is arranged at the bottom of the infrared camera (16), the infrared camera (16) is installed at the top of the intelligent control terminal (14) through a rotating base (17), and the top of the tail end of the mobile trolley (11) is provided with the carrying device (2);

the carrying device (2) comprises a stand column (21), a guide rod (22), a sleeve ring (23), a hanging rod (24), a forking mechanism (25), a connecting piece (26) and a pneumatic assembly (27), wherein the stand column (21) is respectively and fixedly connected to the edge of the two ends of one side, close to the intelligent control terminal (14), of the top end of the tail part of the mobile trolley (11), the stand column (21) is respectively and fixedly connected to the edge of the two ends of one side, close to the top, of the mobile trolley (11), the integrated guide rod (22) is respectively arranged on the outer side, far away from the intelligent control terminal (14), of the stand column (21), the sleeve ring (23) is respectively and movably sleeved on the outer wall of the guide rod (22), the integrated hanging rod (24) is respectively arranged at the bottom of the sleeve ring (23), the lower ends of the hanging rods (24) are respectively and fixedly connected to the two ends of the top of the fork, the pneumatic assembly (27) is arranged at the upper end of the mobile trolley (11) in the middle of the upright post (21).

2. The four-wheel adaptive type automatic robot for object handling according to claim 1, wherein: infrared camera (16) can be made 360 rotatory at intelligent control terminal (14) top through rotating base (17), and infrared camera (16) and navigator (15) all through wire and intelligent control terminal (14) electric connection, intelligent control terminal (14) is evenly set up a plurality of gyro wheels (19) through support (18) respectively to one side of keeping away from on travelling car (11) afterbody upper end, gyro wheel (19) set up the same three groups at even interval side by side, the quantity of every group gyro wheel (19) sets up four.

3. The four-wheel adaptive type automatic robot for object handling according to claim 1, wherein: the forking mechanism (25) comprises an L-shaped mounting plate (251), a fork arm (252), a strip-shaped hole (253) and a clamping arm (254), wherein two ends of the top of the vertical plate of the L-shaped mounting plate (251) are respectively and fixedly connected with the bottom of the suspension rod (24), the bottom of the transverse plate of the L-shaped mounting plate (251) is contacted with the upper end of the roller (19), the L-shaped mounting plate (251) is supported at the upper end of the movable trolley (11) through the roller (19), the edges of two ends of the outer wall of the side, far away from the upright column (21), of the transverse plate of the L-shaped mounting plate (251) are respectively provided with the fork arm (252), the fork arm (252) and the L-shaped mounting plate (251) are of an integrated structure, the strip-shaped hole (253) is formed in the position of the side wall of the vertical plate of the L-shaped mounting plate (251) close to the top of the side, the clamping arm (254) is suspended at the upper end of the transverse plate of the L-shaped mounting plate (251) and is arranged in parallel with the fork arm (252).

4. The four-wheel adaptive type automatic robot for object handling according to claim 3, wherein: the clamping arm (254) comprises a fixed sleeve (2541), a clamping arm (2542), a clamping end (2543), a movable pull rod (2544), a cross rod (2545) and a connecting rod (2546), the fixed sleeve (2541) is fixedly connected to the middle part of the outer wall of the vertical plate of the L-shaped mounting plate (251) at the upper end of the strip-shaped hole (253) close to one side of the fork arm (252), the fixed sleeve (2541) is respectively movably sleeved with one end of the clamping arm (2542) through a movable pin, the other end of the clamping arm (2542) is respectively provided with an integrated clamping end head (2543), one end of the movable pull rod (2544) is respectively connected with the bottom end of the clamping arm (2542) through the movable pin, the other end of the movable pull rod (2544) is connected with two sides of the upper end of the cross rod (2545) through a movable pin, the cross rod (2545) extends and traverses the strip-shaped hole (253), and the middle part of the upper end of the cross rod (2545) is fixedly connected with a connecting rod (2546), and the other end of the connecting rod (2546) is movably connected with the connecting piece (26).

5. The four-wheel adaptive type automatic robot for object handling according to claim 1, wherein: connecting piece (26) are including fixed plate (261), U type support (262), carousel (263) and connecting strip (264), fixed plate (261) fixed connection is in L type mounting panel (251) riser outer wall middle part department that bar hole (253) lower extreme is close to stand (21) one side, and constitute integral type structure between fixed plate (261) and L type mounting panel (251), be provided with integrative U type support (262) on the outer wall of fixed plate (261), be provided with the round pin axle between the terminal inner wall of U type support (262), and the activity of having cup jointed carousel (263) on the outer wall of round pin axle, be provided with connecting strip (264) through the activity round pin on the top one side outer wall of carousel (263), connecting strip (264) link to each other through the activity of activity round pin and connecting rod (2546) one end activity of keeping away from horizontal pole (2545), the bottom and pneumatic component (27) activity of carousel (263) link to.

6. The four-wheel adaptive type automatic robot for object handling according to claim 1, wherein: the pneumatic assembly (27) comprises an air storage tank (271), a second motor (272), a screw (273), a movable disc (274) and a sealing gasket (275), the air storage tank (271) is arranged at the top end edge of the head of the mobile trolley (11) adjacent to the intelligent control terminal (14), compressed air is stored in the air storage tank (271), and the top of the air storage tank (271) is provided with a second motor (272) through a fixing bolt, a transmission shaft at the bottom of the second motor (272) penetrates through the top plate of the air storage tank (271) and extends downwards to the inside of the air storage tank (271), the tail end of a transmission shaft of the second motor (272) is fixedly connected with a screw rod (273) through a coupler, the outer wall of the screw rod (273) is in threaded sleeve connection with a movable disc (274), the bottom of the movable disc (274) is provided with an integrated sealing gasket (275), and the side walls of the movable disc (274) and the sealing gasket (275) are in interference fit with the inner wall of the air storage tank (271).

7. The four-wheel adaptive type automatic robot for object handling according to claim 6, wherein: the second motor (272) is a positive and negative rotation asynchronous motor, the model number of the motor is 5RK60GU-CF, and the second motor (272) is electrically connected with the intelligent control terminal (14) through a lead.

8. The four-wheel adaptive type automatic robot for object handling according to claim 6, wherein: an air pipe (276) is arranged on the outer wall of one side of the air storage tank (271) and close to the bottom, an integrated electric control valve (277) is arranged on the air pipe (276), the tail end of the air pipe (276) is communicated with the side wall of one end of a sleeve (278), the sleeve (278) is arranged at the upper end of a movable trolley (11) between the upright posts (21) through a support base (279), a piston push rod (2710) penetrates through the side wall of the other end of the sleeve (278), the tail end of the piston push rod (2710) is movably connected with one end of a connecting rod (2711) through a movable pin, and the other end of the connecting rod (2711) is movably connected with a connecting.