CN113263516A

CN113263516A - Material handling's conveying robot system

Info

Publication number: CN113263516A
Application number: CN202110815480.7A
Authority: CN
Inventors: 林红羽; 蒲志宇
Original assignee: Foshan Guanbo Machinery Technology Development Co ltd
Current assignee: Foshan Guanbo Machinery Technology Development Co ltd
Priority date: 2021-07-19
Filing date: 2021-07-19
Publication date: 2021-08-17
Anticipated expiration: 2041-07-19
Also published as: CN113263516B

Abstract

A conveying robot system for material handling comprises a conveying system and a handling system, wherein the conveying system comprises a feeding mechanism and a lifting mechanism, the lifting mechanism comprises a rack, a guide strip is arranged at the bottom of the rack, the feeding mechanism enters the rack through the guide strip, first driving motors are arranged on two sides of the rack, output ends of the first driving motors are connected with ball screws, and the ball screws are connected with the bottom of the rack; the carrying system comprises a carrying control console, a mechanical arm is arranged on the carrying control console, a clamping mechanism is arranged at the tail end of the mechanical arm and comprises a fixing frame, cross beams are arranged on two sides of the fixing frame, and the cross beams are connected with fixing blocks. The system enables the clamping width of the clamping mechanism to be adjusted according to the plasticity of the material of the clamped object and the volume of the object, so that the clamped object is not damaged all the time in the clamping process, and the deformation and the scraping phenomenon of the object caused by the plasticity of the material in the clamping process are avoided.

Description

Material handling's conveying robot system

Technical Field

The invention relates to the field of transfer robots, in particular to a material transfer conveying robot system.

Background

The transfer robot is an industrial robot capable of performing automated transfer work. The conveying operation is to hold a workpiece with one kind of equipment, and is to move from one processing position to another processing position. The transfer robot can be provided with different end effectors to finish the work of transferring workpieces in different shapes and states, thereby greatly reducing the heavy manual labor of human beings. The transfer robots used in the world are widely used for loading and unloading of machine tools, automatic production lines of stamping machines, automatic assembly lines, palletizing and carrying, automatic carrying of containers and the like, and are hundreds of thousands of robots. Some developed countries have established the maximum limit for manual handling, and the handling robot must carry the excess. The transfer robot is a high and new technology appearing in the modern automatic control field, relates to the subject fields of mechanics, electric appliance hydraulic pressure and air pressure technology, automatic control technology, sensor technology, single chip microcomputer technology, computer technology and the like, and becomes an important component in the modern mechanical manufacturing production system. Its advantages are various expected tasks, high structure and performance, and artificial intelligence and adaptability.

However, the transfer robot still has many problems which are not solved yet, and a phenomenon that the object cannot be restored to its original shape when the applied external force is removed or disappeared is a phenomenon that the higher the brittleness indicates the lower the plasticity of a part of the material, particularly a brittle material, the lower the plasticity indicates, the lower the ability of the material to be plastically deformed is, and the deformation is generated by the external force. Therefore, particularly in some brittle materials, when a certain contact force is applied, the fracture phenomenon is often accompanied due to poor plasticity; in addition, some materials with strong plasticity have elastic capacity of recovering the original pattern, but have certain limit capacity of recovering. Therefore, such problems need to be considered in the gripping process of the transportation.

Disclosure of Invention

The invention overcomes the defects of the prior art and provides a material handling conveying robot system.

In order to achieve the purpose, the invention adopts the technical scheme that:

the invention provides a material handling conveying robot system, which comprises a conveying system and a handling system,

the conveying system comprises a feeding mechanism and a lifting mechanism, the lifting mechanism comprises a rack, a guide strip is arranged at the bottom of the rack, materials enter the rack through the guide strip, first driving motors are arranged on two sides of the rack, output ends of the first driving motors are connected with ball screws, and the ball screws are connected with the bottom of the rack;

the feeding mechanism comprises a weight measuring bottom plate, limiting blocks are arranged on the periphery of the weight measuring bottom plate and connected with the first air cylinder, and grooves are formed in two sides of each limiting block;

the handling system is including sending the control cabinet, send and be provided with the arm on the control cabinet, it gets the mechanism to be provided with on the end of arm to press from both sides, it includes the mount to get the mechanism to press from both sides, the both sides of mount all set up the crossbeam, the fixed block is connected to the crossbeam, the both sides of fixed block all set up the turning block, the turning block all is connected with first rotation axis.

Further, in a preferred embodiment of the present invention, the fixed block is provided with a second cylinder, the second cylinder is connected to the first rotating block, the first rotating block is provided with a second rotating shaft, the second rotating shaft is connected to the adjusting block, and the adjusting block is connected to the rotating block to adjust the clamping width.

Further, in a preferred embodiment of the present invention, the ball screw is further connected to a load-bearing bottom plate, linear bearings are disposed on both sides of the load-bearing bottom plate, the linear bearings are connected to the guide rod, and both sides of the guide rod are fixed to the frame.

Further, in a preferred embodiment of the present invention, the bearing bottom plate is provided with moving blocks, and the moving blocks are all connected to the limiting block, so that the limiting block moves in the groove of the moving block.

Further, in a preferred embodiment of the present invention, first sensors are further disposed on two sides of the rack, and the first sensors are used for defining a carrying position of the carrying system.

Further, in a preferred embodiment of the present invention, the conveying system further includes an absorbing mechanism, the absorbing mechanism is disposed on the top of the rack, the absorbing mechanism includes an absorbing rack, a second driving motor is disposed on the absorbing rack, an output end of the second driving motor is connected to a first synchronizing wheel, and the first synchronizing wheel drives a second synchronizing wheel through a belt.

Further, in a preferred embodiment of the present invention, the suction frame is further provided with a linear guide rail, the linear guide rail is connected to a driving block, one end of the driving block is connected to the belt, the other end of the driving block is connected to a third cylinder, the third cylinder is connected to a suction bottom plate, and the suction bottom plate is provided with a plurality of suction cups.

Further, in a preferred embodiment of the present invention, the first rotating shaft is further connected to a first clamping link, the first clamping link is provided with a plurality of second clamping links, and the second clamping links are distributed on the first clamping link at the same intervals.

Further, in a preferred embodiment of the present invention, the cross beam is further provided with a fourth cylinder, and an output end of the fourth cylinder is provided with a support bar, and the support bar is used for limiting a position of the gripped object.

Further, in a preferred embodiment of the present invention, a second sensor is disposed on the weight measuring bottom plate, and the second sensor transmits a width signal to be set by the gripping mechanism to the conveying console, so that the gripping mechanism adjusts the gripping width according to the width signal.

The invention solves the defects in the background technology, and the invention at least has the following beneficial effects: this system is through the plasticity according to the material to the object of getting of pressing from both sides, the volume of object makes pressing from both sides the clamp of getting the mechanism get the width adjust, make at the in-process of getting, do not harm the object of getting all the time, avoided pressing from both sides the deformation that the in-process leads to because the plasticity of material, the phenomenon of scraping flowers of object, obtain its weight through weighing weight sensor on the bottom plate, and utilize the positioning sensor who sets up on the stopper to combine with first sensor and measure its volume of getting the object by pressing from both sides, thereby obtain it and measure the density of getting the object of getting, and then confirm the material of this object according to this density, and then confirm the width of getting according to factors such as the plasticity characteristic of this material and volume.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings of the embodiments can be obtained according to the drawings without creative efforts.

FIG. 1 shows a schematic view of the overall structure of the device;

fig. 2 shows a schematic structural view of the gripping mechanism;

fig. 3 shows a schematic structural view of the suction mechanism;

FIG. 4 shows a schematic view of the feed mechanism;

fig. 5 shows a schematic structural view of the lifting mechanism;

in the figure:

1. the conveying system, 2, the carrying system, 101, the feeding mechanism, 102, the lifting mechanism, 1011, the weight measuring bottom plate, 1012, the limiting block, 1013, the first air cylinder, 1021, the rack, 1022, the guide strip, 1023, the first driving motor, 1024, the ball screw, 1025, the load bearing bottom plate, 1026, the linear bearing, 1027, the guide rod, 1028, the moving block, 1031, the absorbing rack, 1032, the second driving motor, 1033, the first synchronizing wheel, 1034, the belt, 1035, the second synchronizing wheel, 1036, the linear guide rail, 1037, the driving block, 1038, the third air cylinder, 1039, the absorbing bottom plate, 1040, the sucker, 201, the conveying control console, 202, the mechanical arm, 203, the clamping mechanism, 2031, the fixed rack, 2, the cross beam, 2033, the fixed block, 2034, the rotating block, 2035, the first rotating shaft, 2036, the second air cylinder, 2037, the first rotating block, 2038, the second rotating shaft, 2039. the adjusting block comprises 2041, 2042, 2043, a fourth cylinder and 2044 support bars.

Detailed Description

In order that the above objects, features and advantages of the present invention can be more clearly understood, the present invention will be further described in detail with reference to the accompanying drawings and the detailed description, wherein the drawings are simplified schematic drawings and only the basic structure of the present invention is illustrated schematically, so that only the structure related to the present invention is shown, and it is to be noted that the embodiments and features of the embodiments in the present application can be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.

In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art through specific situations.

The invention provides a material handling conveying robot system, which comprises a conveying system 1 and a handling system 2,

the conveying system 1 comprises a feeding mechanism 101 and a lifting mechanism 102, wherein the lifting mechanism 102 comprises a rack 1021, a guide strip 1022 is arranged at the bottom of the rack 1021, materials enter the rack 1021 through the guide strip 1022, first driving motors 1023 are arranged on two sides of the rack 1021, output ends of the first driving motors 1023 are connected with ball screws 1024, and the ball screws 1024 are connected with the bottom of the rack 1021; the feeding mechanism 101 comprises a weight measuring bottom plate 1011, wherein the periphery of the weight measuring bottom plate 1011 is provided with a limiting block 1012, the limiting block 1012 is connected with a first cylinder 1013, and two sides of the limiting block 1012 are provided with grooves; it should be noted that, firstly, the material of the assembly line is introduced into the conveying system, when entering the conveying system, the weight of the material is obtained by the weight measuring bottom plate 1011 sensor, and the volume of the gripped object is measured by the combination of the limiting block 1012 positioning sensor and the first sensor, so as to obtain the density of the gripped object measured by the sensor, and then the material of the object is determined according to the density, and further the gripping width is determined according to the plastic property and the volume of the material. In the clamping process, due to the plastic property of the material and the thickness of the clamped substance, in the clamping process, considering that the clamping mechanism and the clamped substance generate certain interaction force during clamping, the magnitude of the interaction force is calculated by a control system (data information about the material property, bending limit stress and the like of various materials is set in a database), a limit bending stress magnitude or a limit force generating plastic deformation is obtained, and the magnitude of the limit force or the magnitude of the bending stress is output by the control system to control the magnitude of the clamping force of the clamping mechanism 203 of the mechanical arm 202, so that the clamped substance is prevented from generating plastic deformation in the clamping process. This process may be understood as determining the type of material from the average density, and thus the material properties of the material. When the clamped materials enter the conveying system 1 from the assembly line, the weight measuring bottom plate 1011 is provided with a proximity sensor, according to the position of the materials in the assembly line, the first driving motor 1023 drives the ball screw 1024 to perform linear motion under the action of the guide rod 1027, and when a certain amount of materials are collected, a plurality of working areas are arranged in the rack 1021, so that the whole engineering process is continuously performed. When a predetermined amount of the substance is collected in a certain area, the substance is gripped by the gripping mechanism 203. When the lifting movement is performed, the groove of the limiting block 1012 is matched with the moving block 1028, so that the limiting block cannot deviate from the groove, and the limiting block is stable and does not deviate in the conveying process.

The handling system 2 includes and removes the control cabinet 201, it is provided with arm 202 on the control cabinet 201 to remove, it gets mechanism 203 to be provided with on arm 202's the end, it includes mount 2031 to get mechanism 203 to get the clamp, mount 2031's both sides all set up crossbeam 2032, fixed block 2033 is connected to crossbeam 2032, the both sides of fixed block 2033 all set up turning block 2034, turning block 2034 all is connected with first rotation axis 2035. The fixed block 2033 is provided with a second cylinder 2036, the second cylinder 2036 is connected to a first rotating block 2037, the first rotating block 2037 is provided with a second rotating shaft 2038, the second rotating shaft 2038 is connected to an adjusting block 2039, and the adjusting block 2039 is connected to the rotating block 2034 to adjust the clamping width. It should be noted that the conveying console 201 obtains the volume of each substance according to the quality information fed back by the weight measuring bottom plate 1011 and the measuring sensor arranged in the rack, so as to obtain the material density of the substance, further determines which material is according to the material density, further obtains the plastic material property or bending limit stress of the material, and further, the console 201 controls the contact force value of the gripping mechanism 203 of the conveying system 2 according to the information, which does not cause damage to the gripped substance. The second cylinder 2036 of the gripping mechanism 203 drives the second rotating shaft 2038 of the first rotating block 2037 to change the gripping width. When the gripped substance is gripped, the second cylinder 2036 of the gripping mechanism 203 drives the second rotating shaft 2038 of the first rotating block 2037 to change the gripping width according to the gripped substance reaching a fixed point, so that the gripped substance is released and placed in a predetermined area. Particularly, when some soft materials or materials with long length are used (such as thin aluminum plate or long acrylic plate), plastic deformation is easily generated during clamping, so that the clamping angle and the clamping width need to be adjusted by the adjusting block 2039 during clamping. The system can adjust the contact force between the clamping mechanism 203 and the clamped substance according to different materials, thereby avoiding plastic deformation in the clamping process and adapting to clamping of more different types of materials.

Further, in a preferred embodiment of the present invention, the ball screw 1024 is further connected to a load-bearing bottom plate 1025, linear bearings 1026 are disposed on both sides of the load-bearing bottom plate 1025, the linear bearings 1026 are connected to the guide rods 1027, and both sides of the guide rods 1027 are fixed to the frame 1021. The bearing bottom plate 1025 is provided with moving blocks 1028, and the moving blocks 1028 are connected with the limiting blocks 1012, so that the limiting blocks 1012 move in grooves of the moving blocks 1028. It should be noted that a thermosensitive sensor is disposed on the limiting block 1012, and the thermosensitive sensor is used for measuring the temperature of the clamped substance, and in some non-metallic materials or thermoplastic materials, the temperature also affects the ultimate stress value of the clamped substance, which generates plastic deformation. Therefore, the thermal sensor changes the contact force between the gripping mechanism 203 and the gripped substance according to the limit stress value of the plastic deformation of the material at different temperatures, so that the contact force does not generate a stress exceeding the limit stress value when gripping the substance, thereby avoiding the plastic deformation of the gripped substance. When the stress does not exceed the elastic limit of the material, the generated deformation is completely eliminated after the external force is removed, the material is recovered, and the deformation is reversible elastic deformation. When the stress exceeds the elastic limit of the material, the resulting deformation cannot be fully recovered after the external force is removed, but a portion of the deformation remains, and the material cannot be recovered to the original shape, and the remaining deformation is irreversible plastic deformation. When clamping some materials (such as glass, ceramic and other hard materials), obvious plastic deformation is generally not allowed to occur in the design of engineering components, and the components cannot maintain the original shape and even break. Therefore, it is very important to control the force during gripping. Under the action of the load-bearing bottom plate 1025, the ball screw 1024 is driven by the first driving motor 1023 to perform linear motion under the action of the guide rod 1027, the gripping mechanism 203 performs gripping operation on an object to be gripped, and the load-bearing bottom plate 1025 moves for a certain displacement, wherein the displacement is related to the thickness of the gripped object. The larger the thickness of the gripped object, the longer the displacement of the movement.

Further, in a preferred embodiment of the present invention, first sensors are further disposed on two sides of the frame 1021, and the first sensors are used for defining a conveying position of the conveying system 2. It should be noted that, by providing the first sensor on the frame 1021, the robot arm 202 moves to the position each time, the process is always kept orderly, and the work progress of the robot arm can be monitored in real time. Through first sensor feedback control signal in transport control platform 201, this first sensor is used for carrying out work counterpoint with the material on the conveying system 1, and when the material was got to the clamp of arm 202 at every turn, can both move to this position and get the material of getting needs to press from both sides at every turn, has guaranteed the high efficiency of during operation.

Further, in a preferred embodiment of the present invention, the conveying system 1 further includes a suction mechanism 103, the suction mechanism 103 is disposed on the top of the frame 1021, the suction mechanism 103 includes a suction frame 1031, a second driving motor 1032 is disposed on the suction frame 1031, an output end of the second driving motor 1032 is connected to a first synchronizing wheel 1033, and the first synchronizing wheel 1033 drives a second synchronizing wheel 1035 through a belt 1034. The sucking machine frame 1031 is further provided with a linear guide rail 1036, the linear guide rail 1036 is connected with a driving block 1037, one end of the driving block 1037 is connected with the belt 1034, the other end of the driving block 1037 is connected with a third air cylinder 1038, the third air cylinder 1038 is connected with a sucking bottom plate 1039, and the sucking bottom plate 1039 is provided with a plurality of sucking discs 1040. Before clamping the clamped substance, the first synchronizing wheel 1033 is driven by the second driving motor 1032, the second synchronizing wheel 1035 moves under the action of the dispatch 1034, the driving block 1037 is arranged on the belt 1034, the belt 103moves to the center line of the clamped substance under the action of the linear guide rail 1036, the clamped substance is adsorbed by the suction cup 1040 under the action of the third air cylinder 1038, the substance is clamped to a certain height, the clamping mechanism 203 is used for clamping the substance, the clamping mechanism can be guaranteed to clamp the substance at the position each time, the adsorption force of the clamping mechanism is adjusted according to different materials, the suction cup 1040 is used for deforming and adhering to the surface of the object, negative pressure is formed between the contact surface of the suction cup 1040 and the object, and the adsorption capacity is obtained, so that the object can be sucked by the suction cup 1040.

Further, in a preferred embodiment of the present invention, the first rotating shaft 2035 is further connected to a first clamping link 2041, the first clamping link 2041 is provided with a plurality of second clamping links 2042, and the second clamping links 2042 are distributed on the first clamping link 2041 at the same interval. It should be noted that, by using the second clamping link 2042 disposed in the first clamping link 2041 at the same interval, when the clamped object is clamped by the clamping framework 203, the clamped object is subjected to a uniform contact force, so that the clamping is more stable when the clamped object reaches another position.

Further, in a preferred embodiment of the present invention, the cross beam 2032 is further provided with a fourth cylinder 2043, an output end of the fourth cylinder 2043 is provided with a supporting bar 2044, and the supporting bar 2044 is used for limiting the position of the gripped object. It should be noted that the cross beam 2032 is provided with the fourth cylinder 2043, and in the clamping process, the fourth cylinder 2043 is used to drive the supporting strip 2044 to compress the object from the top of the clamped object, so as to limit the position of the clamped object, and the supporting strip 2044 is uniformly stressed on the position point; on the other hand, the clamped object is pressed by the support strip 2044, and the moving position of the manipulator is controlled by the proximity sensor of the support strip, so that collision with other substances is avoided, and the safety during moving is ensured; in yet another aspect, the amount of grains of a metal mass within a volume that is plastic is necessarily greater for fine grained metals than for coarse grained metals, so the more grains can slip in the upward direction of the plastic deformation time. In addition, from the distribution of strain of each crystal grain, the deformation of the fine-grained structure can be distributed throughout the whole crystal grain, so that the difference between the strain in the middle part of the crystal grain and the strain outside the crystal grain is small, the distribution of the deformation in the crystal grain is uniform, the deformation nonuniformity of the fine-grained metal and the stress concentration caused by the deformation nonuniformity are small, so that the chance of cracking is also small, and the amount of plastic deformation which can be endured before fracture is increased. So that the support bar 2044 is positioned to suppress plastic deformation by the pressing force of the fourth cylinder 2043 using the support bar 2044.

Further, in a preferred embodiment of the present invention, a second sensor is disposed on the weight measuring base plate 1011, and the second sensor transmits a width signal required to be set by the gripping mechanism to the conveying console 201, so that the gripping mechanism 203 adjusts the gripping width according to the width signal. It should be noted that, the second sensor 1011 that sets up on the weight-measuring bottom plate 1011 feeds back control signal to the control cabinet 201 department that carries, make the width when pressing from both sides the mechanism 203 and adjusting to press from both sides according to the width signal, make the object that whole process was pressed from both sides and is got all receive reasonable contact force, the plastic deformation of getting the material by the clamp has been avoided, wearing and tearing, brittle material is because the too big production crack of power of pressing from both sides etc. has guaranteed still to keep the nondestructiveness in the handling, promote the quality in the handling, avoid being pressed from both sides the harm of getting the material, material saving and cost.

It should be noted that, the system adjusts the clamping width of the clamping mechanism according to the plasticity of the material of the clamped object and the volume of the object, so that the clamped object is not damaged all the time in the clamping process, deformation and scratching of the object caused by the plasticity of the material in the clamping process are avoided, the weight of the clamped object is obtained through a weight sensor on a weight measuring bottom plate, the volume of the clamped object is measured by combining a positioning sensor arranged on a limiting block and a first sensor, the density of the clamped object is measured, the material of the object is determined according to the density, and the clamping width is determined according to the plastic property, the volume and other factors of the material. Moreover, the handling system 2 of the robot system can calculate the contact force when being gripped according to objects of different material types and different thicknesses, and when adjusting to a suitable width, further grip the object using the gripping mechanism 203. The invention can realize the requirements of modern warehousing on standardized operation, high-safety operation and strict order, and realize industrial automation and industrial intelligence in the large-scene warehousing process.

In addition, the supporting strip 2044 of the clamping mechanism 203 of the system is also provided with an ultrasonic generator, when the supporting strip is pressed against the clamped object, the clamped object is subjected to ultrasonic crack detection, when a signal fed back by sound waves shows that cracks exist, the materials are classified at the moment, and the materials are classified into unqualified product areas; on the other hand, the ultrasonic generator can also detect whether the contact force with the clamped object is reasonable or not in real time. When reasonable, when the plastic material does not exceed the limit range of elastic deformation, the plastic material also has the capability of restoring to the original one, and the contact force used by the clamping mechanism 203 is within a reasonable range. When some brittle materials deform, they can appear as cracks; when cracks appear, the contact force used at the moment exceeds the limit contact force range of the material, and the ultrasonic generator can feed back a reflection signal according to the limit range of the contact stress at the moment, so that the real-time internal stress change condition in the clamping time is obtained, and whether the stress is in the limit contact force range can be judged, and the monitoring function is achieved. Reflected waves are formed after the ultrasonic waves are reflected in the clamped object, analysis is carried out according to the transmission and reflection characteristics of the ultrasonic waves in the medium, and whether the clamped object has cracks or not is finally determined. The detection system can automatically identify whether the clamped object contains cracks or not, so that unqualified products are selected, and the working quality is ensured.

In light of the foregoing description of the preferred embodiment of the present invention, it is to be understood that various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and the technology must be determined in accordance with the scope of the claims.

Claims

1. A material handling conveying robot system comprises a conveying system and a handling system, and is characterized in that,

2. The material handling robot system according to claim 1, wherein the fixed block is provided with a second cylinder, the second cylinder is connected to the first rotating block, the first rotating block is provided with a second rotating shaft, the second rotating shaft is connected to an adjusting block, and the adjusting block is connected to the rotating block to adjust a clamping width.

3. The material handling conveyor robot system of claim 1, wherein the ball screw is further connected to a load-bearing base plate, linear bearings are disposed on both sides of the load-bearing base plate, the linear bearings are connected to a guide rod, and both sides of the guide rod are fixed to the frame.

4. The material handling conveyor robot system of claim 3, wherein the load-bearing bottom plate is provided with moving blocks, and the moving blocks are all connected with the limiting blocks, so that the limiting blocks move in the grooves of the moving blocks.

5. The material handling conveyor robot system of claim 1, wherein the frame is further provided with first sensors on both sides thereof for defining a handling position of the handling system.

6. The material handling robot system according to claim 1, wherein the conveying system further comprises an absorption mechanism, the absorption mechanism is disposed on a top of the frame, the absorption mechanism comprises an absorption frame, a second driving motor is disposed on the absorption frame, an output end of the second driving motor is connected to the first synchronizing wheel, and the first synchronizing wheel drives the second synchronizing wheel through a belt.

7. The material handling robot system according to claim 6, wherein the suction frame is further provided with a linear guide rail, the linear guide rail is connected with a driving block, one end of the driving block is connected with the belt, the other end of the driving block is connected with a third cylinder, the third cylinder is connected with a suction bottom plate, and the suction bottom plate is provided with a plurality of suckers.

8. The material handling robot system of claim 2, wherein the first rotating shaft is further connected to a first clamping link, the first clamping link is provided with a plurality of second clamping links, and the second clamping links are distributed on the first clamping link at the same intervals.

9. The material handling conveyor robot system of claim 2, wherein the cross beam further comprises a fourth cylinder, and the output end of the fourth cylinder is provided with a support bar for limiting the position of the gripped object.

10. The material handling conveyor robot system of claim 1, wherein a second sensor is disposed on the weight measuring base plate, and the second sensor transmits a width signal required to be set by the gripping mechanism to the conveying console, so that the gripping mechanism adjusts the gripping width according to the width signal.