CN115648274A

CN115648274A - Material anti-drop mechanism is grabbed to transfer robot

Info

Publication number: CN115648274A
Application number: CN202211389837.0A
Authority: CN
Inventors: 孙守锁; 胡泽永; 马鑫
Original assignee: Anhui University of Science and Technology
Current assignee: Anhui University of Science and Technology
Priority date: 2022-11-07
Filing date: 2022-11-07
Publication date: 2023-01-31

Abstract

The invention relates to the technical field of robot auxiliary equipment, in particular to a material grabbing anti-falling mechanism of a carrying robot, which comprises a robot body, wherein a first supporting plate is arranged at the top of the robot body, a main electric push rod is arranged at the bottom of the first supporting plate, first connecting plates in an annular array are arranged below the first supporting plate, a second supporting plate is arranged below the first connecting plate, and a movable groove for avoiding the main electric push rod to move up and down is formed in the middle of the second supporting plate.

Description

Material anti-drop mechanism is grabbed to transfer robot

Technical Field

The invention relates to the technical field of robot auxiliary equipment, in particular to a material grabbing and falling preventing mechanism of a carrying robot.

Background

The robot grabs the material and is the device that imitates human arm action in order to realize snatching, carrying article or operation instrument, has obtained very extensive application in the industrial manufacturing field, and the robot is the articulated manipulator or the multi freedom's of wide use in the industrial field machine device, has certain automaticity, can rely on self power energy and control ability to realize various industrial manufacturing functions, therefore the popularization and the use of robot grabs the material, great reduction manufacturing cost, improve production efficiency, reduction workman's intensity of labour.

At present, in the process of processing the cylindrical workpiece, the cylindrical workpiece is generally clamped in a processing area through a transfer robot, at this time, the cylindrical workpiece needs to be transversely transported in the processing area, then the cylindrical workpiece is taken out after the processing of the cylindrical workpiece is finished, and the cylindrical workpiece is transferred at a specified position and then is transferred one by one according to the operation, so that the labor intensity is reduced, the production efficiency is improved, and the production efficiency is improved

However, in the process of processing cylindrical workpieces in batches, the outer side surfaces of the cylindrical workpieces are clamped and conveyed through the grippers of the robot, the grippers of the existing robot are generally plate-shaped or arc-shaped, but when the cylindrical workpieces are grabbed, the contact area between the grippers and the cylindrical workpieces is small, and the outer side surfaces of the cylinders are singly clamped, so that the outer side surfaces of the cylindrical workpieces are easily damaged due to overlarge clamping force in the conveying process, and the clamping is not easy to clamp stably due to smooth surfaces and self weight of the cylindrical workpieces, so that the workpieces are easily deflected and fall off in the later-stage transverse conveying process; moreover, the weight of the robot is different according to the length of the workpiece, and if the contact area between the gripper of the robot and the cylindrical workpiece is not changed, the cylindrical workpiece can shake in the conveying process.

Disclosure of Invention

In view of the above, an object of the present invention is to provide a material grabbing and dropping-preventing mechanism for a transfer robot, which can effectively solve the problems of poor dropping-preventing performance and unstable clamping due to the structural design of the material grabbing and dropping-preventing mechanism for the transfer robot.

In order to achieve the purpose, the invention provides the following technical scheme: including the robot body, first backup pad is installed at the top of robot body, total electric push rod is installed to the bottom of first backup pad, the first connecting plate that is cyclic annular array is installed to the below of first backup pad, the second backup pad is installed to the below of first connecting plate, and the middle part of second backup pad sets up dodges the movable groove that total electric push rod goes up and down the activity, be provided with the outside centre gripping subassembly that carries out the centre gripping to the lateral wall of drum work piece in the second backup pad, the second connecting plate that is cyclic annular array is installed to the below of second backup pad, the third backup pad is installed to the below of second connecting plate, the below of third backup pad is provided with carries out the inboard centre gripping subassembly of suppression to drum work piece inner wall, the bottom face of third backup pad is provided with carries out the port suppression subassembly of suppression to the port of drum work piece.

Preferably, outside centre gripping subassembly includes the lifting disk, the flexible end of total electric push rod pass behind the movable groove and with lifting disk fixed connection, set up the through-hole that is annular array in the second backup pad, the lateral wall of lifting disk rotates through the ear seat and is connected with swing joint pole, and swing joint pole's top passes behind the through-hole and rotate and be connected with the rotor plate piece, the rotor plate piece is close to one side of second backup pad and installs the set-square, and the one side of keeping away from the rotor plate piece of set-square rotates on the lateral wall of second backup pad and connects, the below of rotor plate piece is rotated and is connected with the camber board.

Preferably, the top and the below of outer curved plate have first expansion plate and second expansion plate of sliding connection respectively outer curved plate keeps away from the vertical groove that the plate piece was seted up to one side that the plate piece was kept away from to outer curved plate, the extrusion rubber pad at the vertical groove inboard is all installed to one side that the plate piece was kept away from to first expansion plate and second expansion plate, and the extrusion rubber pad on first expansion plate and the second expansion plate all is the setting of staggering.

Preferably, the inboard sliding connection of sliding plate at the second expansion plate is passed through to the bottom of first expansion plate, horizontal slot has been seted up to a side that first expansion plate and second expansion plate are close to the rotor plate piece, and the pinion rack has all been installed on the left side of first expansion plate top and the right side of second expansion plate below, the inner chamber middle part of outer curved plate just is located to rotate between the pinion rack and is connected with sun gear, and sun gear back of the body is provided with two running rollers to the one end of pinion rack, and wherein the running roller that is located the top passes through connecting rod and sun gear fixed connection, wherein is located the bottom running roller and passes through connecting rod and outer curved plate fixed connection, outer wall transmission is connected with the conveyer belt between the running roller, the running roller that is located the bottom is worn to establish through the connecting rod and is installed behind the outside of outer curved plate and is turned round the cap.

Preferably, a control wheel is installed below one side face, close to the rotating plate block, of the outer curved plate, the middle of the control wheel is fixedly connected with the outer wall of a connecting rod on the twisting cap, the front end of the outer curved plate is rotatably connected with a locking plate locked with gear teeth on the control wheel, a square block is installed at the bottom end of the outer curved plate, and a reset spring is connected between the square block and the locking plate.

Preferably, inboard centre gripping subassembly includes the connecting plate, the lateral surface of lifter plate passes through ear seat and connecting plate rotation connection, and the connecting plate is located between the adjacent swing joint pole, the cross recess has been seted up to the below of third backup pad, the middle part of third backup pad just is located the cross recess inboard and has seted up the cross through-hole, the mid-mounting of third backup pad has the round seat spare, the connecting plate passes the cross through-hole internal rotation and is connected with first L template, rotate on the round seat spare between the vertical end and the horizontal end of connecting plate and connect, the vertical end of first L template is provided with connects flexible piece, the top of connecting flexible piece is provided with the control briquetting, the top of control briquetting is rotated and is connected with the inner curved surface control block.

Preferably, a curved groove is formed in the inner cavity of the inner curved surface control block, a spring telescopic rod in a rectangular array is movably connected in the curved groove of the inner curved surface control block, and a rubber ball is mounted at one end, far away from the control pressing block, of the spring telescopic rod.

Preferably, the expansion plate of sliding connection sideslips in connecting the expansion block is installed on the top of first L template, the spacing hole that is linear array is seted up to the inboard of expansion plate, the top of expansion plate rotates through the bearing to be connected with the torsion wheel of being convenient for carry out the locking in the spacing hole in the expansion plate, every group connect the opposite side of expansion block and all install the second L template, the lug is installed at the top of second L template.

Preferably, connect the top of flexible piece and install the slide rail seat, sliding connection's cooperation slider on the top of slide rail seat is installed to the bottom of control briquetting, every group the nut is installed to the back of the body of control briquetting, the inboard threaded connection of nut has the screw rod, and the one end of screw rod passes through the bearing and installs at the lug inboard, bevel gear is installed to the one end that the screw rod was opposite to the nut, and wherein the second L template inboard that is located the rear end has been seted up and has been accomodate the groove, and installs the manual regulation wheel accomodating the inslot, and the position department of every group bevel gear just meshes with the manual regulation wheel mutually.

Preferably, the port pressing assembly comprises two pushing plates, the two pushing plates are rotatably connected to the left end and the right end of the first L-shaped plate, one end of each adjacent pushing plate is rotatably connected with a pushing seat above the circular seat, a moving block fixedly connected with the pushing seat is slidably connected to the top of the circular seat, the pushing block is installed at one end, away from the circular seat, of the moving block, a moving groove in an annular array is formed in the top of the third supporting plate, an inner wall port block is installed at one end of each pushing block after penetrating through the moving groove through a connecting rod, and the inner wall port blocks are slidably connected to the bottom end face of the third supporting plate.

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

1. according to the anti-falling device, the rotating plate block can be abutted against the outer side wall of the cylindrical workpiece to be tightly attached through the outer side clamping assembly, different lengths are adjusted from the inner side of the outer curved plate through the first telescopic plate and the second telescopic plate, so that the outer curved plate can be in full contact with and clamp the cylindrical workpiece, and the contact friction force is increased through the extrusion rubber pads arranged on the first telescopic plate and the second telescopic plate, so that the anti-falling effect is improved.

2. According to the invention, under the matching of the locking plate, the return spring and the control wheel, the wheel toothed plate is prevented from generating a retraction phenomenon under the gravity pressure of the first expansion plate and the second expansion plate, so that the clamping force of the first expansion plate and the second expansion plate on the cylindrical workpiece is favorably improved.

3. The cylindrical workpiece clamping device can keep the cylindrical workpiece balanced by arranging the inner side clamping assembly and the port pressing assembly, so that the port point and the middle point of the cylindrical workpiece are clamped simultaneously, the balance of the cylindrical workpiece is improved, the clamping stability of the cylindrical workpiece is improved, and the outer side clamping assembly, the inner side clamping assembly and the port pressing assembly are driven by the total electric push rod to move synchronously, so that the automation degree of the cylindrical workpiece clamping device is improved.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic view of the outboard and inboard clamp assemblies of the present invention;

FIG. 3 is a partial enlarged view of A in FIG. 2;

FIG. 4 is a partial enlarged view of B in FIG. 2;

FIG. 5 is a schematic view of a first expansion plate and a second expansion plate of the present invention;

FIG. 6 is an enlarged view of a portion C of FIG. 2;

FIG. 7 is a partial view of the inboard clamp assembly of the present invention;

FIG. 8 is a cross-sectional view of an inner curve control block of the present invention;

FIG. 9 is another partial perspective view of the inboard clamp assembly of the present invention;

FIG. 10 is an enlarged view of a portion D of FIG. 9;

fig. 11 is a partial enlarged view of F in fig. 9.

In the figure:

1. a robot body; 2. a first support plate; 21. a first connecting plate; 22. a second support plate; 23. a second connecting plate; 24. a third support plate; 240. a cross groove; 241. a circular seat member; 3. a master electric push rod; 4. an outer clamping assembly; 40. a lifting plate; 41. a movable connecting rod; 42. a rotating plate block; 43. an outer curved plate; 44. a first expansion plate; 45. a second expansion plate; 46. extruding the rubber pad; 47. a sun gear; 471. a wheel tooth plate; 48. a roller; 49. a conveyor belt; 410. twisting the cap; 411. a control wheel; 412. a locking plate; 413. a return spring; 5. an inboard clamp assembly; 51. a connecting plate; 52. a first L-shaped plate; 520. a moving groove; 521. a push plate; 522. a pushing seat; 523. a moving block; 524. a pushing block; 525. an inner wall port block; 53. connecting a telescopic block; 531. a retractable plate; 532. twisting a rotating wheel; 533. a second L-shaped plate; 534. a bump; 54. controlling a pressing block; 541. a slide rail seat; 542. matching with the sliding block; 543. a nut; 544. a screw; 545. a bevel gear; 546. a manual regulating wheel; 55. an inner curved surface control block; 551. a spring telescopic rod; 552. a rubber ball.

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 to 11, the present invention provides a technical solution: including robot 1, first backup pad 2 is installed at robot 1's top, total electric push rod 3 is installed to first backup pad 2's bottom, first connecting plate 21 that is cyclic annular array is installed to first backup pad 2's below, second backup pad 22 is installed to first connecting plate 21's below, and the movable groove of dodging total electric push rod 3 lift activity is seted up at the middle part of second backup pad 22, second connecting plate 23 that is cyclic annular array is installed to second backup pad 22's below, third backup pad 24 is installed to second connecting plate 23's below.

As an embodiment of the present invention, as shown in fig. 2, 3 and 4, an outer clamping assembly 4 for clamping an outer sidewall of a cylindrical workpiece is disposed on the second support plate 22, the outer clamping assembly 4 includes a lifting plate 40, a telescopic end of the main push rod 3 passes through a movable slot and is fixedly connected to the lifting plate 40, through holes in an annular array are disposed on the second support plate 22, an outer sidewall of the lifting plate 40 is rotatably connected to a movable connecting rod 41 through an ear seat, a top end of the movable connecting rod 41 passes through the through hole and is rotatably connected to a rotating plate 42, a triangular plate is mounted on a side of the rotating plate 42 close to the second support plate 22, a side of the triangular plate far from the rotating plate 42 is rotatably connected to the outer sidewall of the second support plate 22, and an outer curved plate 43 is rotatably connected below the rotating plate 42.

During operation, when total electric putter 3 lift in-process, its removal end drives lifting disk 40 and up removes, then its swing joint pole 41 of connecting drives rotor plate 42 and is close to along the lateral surface of drum work piece, outer curved plate 43 on rotor plate 42 carries out the centre gripping along the four sides of drum work piece afterwards, thereby accomplish the lateral surface centre gripping operation to the drum work piece, it is worth noting, outer curved plate 43 of this paper design is along the length looks parallel and level of drum work piece, be convenient for robot body 1 plays the stability effect with drum work piece horizontal handling in-process, prevent that its drum work piece from appearing the obscission in the removal process.

As an embodiment of the present invention, as shown in fig. 4, a first expansion plate 44 and a second expansion plate 45 are slidably connected above and below the outer curved plate 43, a linear array of vertical grooves are formed in one side surface of the outer curved plate 43 away from the rotating plate 42, extrusion rubber pads 46 are mounted on one side surface of the first expansion plate 44 and the second expansion plate 45 away from the rotating plate 42, and the extrusion rubber pads 46 on the first expansion plate 44 and the second expansion plate 45 are staggered.

During operation, when outer curved plate 43 contacts at drum work piece outer wall, its extrusion rubber pad 46 hugs closely on drum work piece outer wall, is convenient for play sufficient centre gripping dynamics in drum work piece transportation, increases the frictional force between first expansion plate 44 and second expansion plate 45 and the drum work piece like this, and first expansion plate 44 and second expansion plate 45 can expand extrusion rubber pad 46 at different length moreover, improve its extrusion rubber pad 46's suitability, so that prevent droing of drum work piece.

As an embodiment of the present invention, as shown in fig. 5 and 6, the bottom end of the first expansion plate 44 is slidably connected to the inner side of the second expansion plate 45 through a sliding plate, a horizontal groove is formed in one side surface of the first expansion plate 44 and the second expansion plate 45 close to the rotating plate 42, a toothed plate 471 is mounted on both the left side above the first expansion plate 44 and the right side below the second expansion plate 45, a central gear 47 is rotatably connected between the toothed plates 471 and the middle of the inner cavity of the outer curved plate 43, two rollers 48 are disposed at one end of the central gear 47 opposite to the toothed plate 471, the roller 48 at the top is fixedly connected to the central gear 47 through a connecting rod, the roller 48 at the bottom is fixedly connected to the outer curved plate 43 through a connecting rod, a transmission belt 49 is connected to the outer wall between the rollers 48, and a twist cap 410 is mounted on the roller 48 at the bottom after the roller 48 penetrates through the connecting rod to the outer side of the outer curved plate 43.

During working, the telescopic lengths of the first telescopic plate 44 and the second telescopic plate 45 can be properly adjusted according to the length of a cylindrical workpiece, at this time, the twisting cap 410 needs to be twisted manually to rotate, so that the roller 48 and the conveyor belt 49 connected with the twisting cap are driven to rotate, and then the central gear 47 drives the gear tooth plates 471 at the upper end and the lower end to move relatively or oppositely, so that the first telescopic plate 44 and the second telescopic plate 45 can extend and retract from the inner part of the outer curved plate 43, and the contact area between the first telescopic plate 44 and the second telescopic plate 45 and the cylindrical workpiece is increased.

As an embodiment of the present invention, as shown in fig. 6, a control wheel 411 is installed below one side of the outer curved plate 43 close to the rotating plate 42, the middle of the control wheel 411 is fixedly connected to the outer wall of the connecting rod on the twist cap 410, a locking plate 412 locked with the gear teeth on the control wheel 411 is rotatably connected to the front end of the outer curved plate 43, a square block is installed at the bottom end of the outer curved plate 43, and a return spring 413 is connected between the square block and the locking plate 412.

In operation, in the process of clamping the first retractable plate 44, due to the self-gravity of the first retractable plate 44 and the gear tooth plate 471 connected with the first retractable plate, gravity pressure can be generated on the central gear 47, so that the central gear 47 rotates, the invention is convenient for the clamping block on the locking plate 412 to lock the gear teeth on the control wheel 411 by arranging the matching among the control wheel 411, the locking plate 412 and the return spring 413, and the return spring 413 connected with the control wheel can automatically return to the locking plate 412, thereby reducing the phenomenon that the control wheel 411 twists, improving the limiting effect of the central gear 47, and simultaneously improving the clamping effect of the first retractable plate 44 and the second retractable plate 45 on the cylindrical workpiece.

As an embodiment of the present invention, as shown in fig. 3, 7 and 8, an inner side clamping assembly 5 for pressing an inner wall of a cylindrical workpiece is disposed below a third support plate 24, the inner side clamping assembly 5 includes a connecting plate 51, an outer side surface of a lifting disc 40 is rotatably connected to the connecting plate 51 through an ear seat, the connecting plate 51 is located between adjacent movable connecting rods 41, a cross groove 240 is disposed below the third support plate 24, a cross through hole is disposed in a middle portion of the third support plate 24 and located inside the cross groove 240, a circular seat part 241 is mounted in the middle portion of the third support plate 24, the connecting plate 51 passes through the cross through hole to be rotatably connected to a first L-shaped plate 52, a vertical end and a horizontal end of the connecting plate 51 are rotatably connected to the circular seat part 241, a vertical end of the first L-shaped plate 52 is provided with a connection telescopic block 53, a top portion connected to the telescopic block 53 is provided with a control press block 54, a top portion of the control block 54 is rotatably connected to an inner curved surface control block 55, a lower end of the inner curved surface control block 55 is rotatably connected to a control block 55, and an inner curved surface of a rectangular spring array of the telescopic block 551 is provided with a telescopic block 55, and an inner curved surface spring 55.

During operation, firstly, the inner curved surface control blocks 55 of each group extend into the inner side of the cylindrical workpiece to pass through, when the lifting disc 40 moves upwards, the connecting plates 51 connected with the lifting disc drive the first L-shaped plates 52 to rotate along the inner sides of the cross grooves 240, at this time, the rubber balls 552 on the inner curved surface control blocks 55 are abutted against the inner wall of the cylindrical workpiece, and then the rubber balls 552 cling to the inner wall of the cylindrical workpiece through the releasing elasticity of the spring telescopic rods 551, so that on one hand, the inner wall of the cylindrical workpiece can play a protection role, and on the other hand, the anti-falling of the cylindrical workpiece can be further enhanced.

As an embodiment of the present invention, as shown in fig. 7, an expansion plate 531 slidably connected to the inside of the connection expansion block 53 is installed at the top end of the first L-shaped plate 52, a linear array of limiting holes are opened on the inside of the expansion plate 531, a torsion wheel 532 facilitating locking of the limiting holes in the expansion plate 531 is rotatably connected to the top of the expansion plate 531 through a bearing, a second L-shaped plate 533 is installed on the opposite side of each group of connection expansion blocks 53, and a protrusion 534 is installed on the top of the second L-shaped plate 533.

During operation, the distance between the control press block 54 and the first L-shaped plate 52 can be properly adjusted according to the length of the cylindrical workpiece, the torsion wheel 532 is manually twisted, so that the expansion plate 531 is separated from the constraint of the torsion wheel 532, then the second L-shaped plate 533 is moved upwards, so that the torsion wheel 532 is twisted to lock the corresponding limiting hole on the expansion plate 531, and therefore the applicability of the invention is improved.

As an embodiment of the present invention, as shown in fig. 5 and 11, a slide rail seat 541 is installed at the top of the connecting telescopic block 53, a matching slide block 542 slidably connected to the top end of the slide rail seat 541 is installed at the bottom of the control press block 54, a nut 543 is installed on the opposite side of each group of control press blocks 54, a screw 544 is threadedly connected to the inner side of the nut 543, one end of the screw 544 is installed on the inner side of the projection 534 through a bearing, a bevel gear 545 is installed at the end of the screw 544 opposite to the nut 543, a receiving groove is opened on the inner side of the second L-shaped plate 533 located at the rear end, a manual adjusting wheel 546 is installed in the receiving groove, and the position of each group of bevel gears 545 is just meshed with the manual adjusting wheel 546.

During operation, adjust interval between the inner curved surface control block 55 of every group according to the inner wall thickness of drum work piece to earlier stage inner curved surface control block 55 is better stretches into the drum work piece inboardly, twist manual regulation wheel 546 on the bevel gear 545 of every group through the manual work, make screw 544 drive nut 543 relative motion, thereby realize adjusting the distance between every inner curved surface control block 55 of group, be convenient for cooperate the transmission between outside centre gripping subassembly 4 and the inboard centre gripping subassembly 5, thereby improve the centre gripping effect to the drum work piece.

As an embodiment of the present invention, as shown in fig. 9 and 10, a port pressing assembly for pressing a port of a cylindrical workpiece is disposed on a bottom end surface of a third support plate 24, the port pressing assembly includes two pushing plates 521, the two pushing plates 521 are rotatably connected on left and right ends of a first L-shaped plate 52, one end of each adjacent pushing plate 521 is rotatably connected with a pushing base 522 above a circular base 241, a moving block 523 fixedly connected with the pushing base 522 is slidably connected to a top of the circular base 241, a pushing block 524 is mounted on one end of the moving block 523 away from the circular base 241, a moving groove 520 in an annular array is formed in a top of the third support plate 24, an inner wall port block 525 is mounted on one end of the pushing block 524 after passing through the moving groove 520 through a connecting rod, a protection pad is mounted on an outer wall of the inner wall port block 525, and the inner wall port block 525 is slidably connected on the bottom end surface of the third support plate 24.

During operation, when the first L-shaped plate 52 rotates, the pushing plate 521 adjacently connected with the first L-shaped plate drives the pushing seat 522 to expand outwards, then the moving block 523 drives the pushing block 524 to expand outwards in the sliding process of the circular seat 241, and then the inner wall port block 525 is extruded at the inner side of the cylinder workpiece, so that the port point and the middle point of the cylinder workpiece are clamped simultaneously, the balance of the cylinder workpiece is improved, and the clamping stability of the cylinder workpiece is improved.

The working principle is that the material grabbing and falling preventing mechanism for the transfer robot is used as follows:

firstly, the inner curved surface control blocks 55 of each group extend into the inner side of the cylindrical workpiece to pass through, when the total electric push rod 3 is lifted, the movable end drives the lifting disc 40 to move upwards, then the movable connecting rod 41 connected with the lifting disc drives the rotating plate block 42 to approach along the outer side surface of the cylindrical workpiece, and then the outer curved surface plates 43 on the rotating plate block 42 clamp along the four sides of the cylindrical workpiece, so that the clamping operation on the outer side surface of the cylindrical workpiece is completed.

Secondly, the telescopic lengths of the first telescopic plate 44 and the second telescopic plate 45 can be properly adjusted according to the length of the cylindrical workpiece, at this time, the twisting cap 410 needs to be twisted manually to rotate, so as to drive the roller 48 and the conveyor belt 49 connected with the twisting cap to rotate, and then the central gear 47 drives the gear tooth plates 471 at the upper end and the lower end to move oppositely or oppositely, so that the first telescopic plate 44 and the second telescopic plate 45 can extend and retract from the outer curved plate 43.

Thirdly, when the lifting plate 40 moves upwards, the connecting plate 51 connected with the lifting plate drives the first L-shaped plate 52 to rotate along the inner side of the cross-shaped groove 240, and then the rubber ball 552 on the inner curved surface control block 55 is abutted against the inner wall of the cylindrical workpiece, and then the rubber ball 552 is tightly attached to the inner wall of the cylindrical workpiece through the releasing elasticity of the spring telescopic rod 551.

Fourthly, the distance between the control pressing block 54 and the first L-shaped plate 52 can be properly adjusted according to the length of the cylindrical workpiece, the torsion wheel 532 is manually twisted, so that the expansion plate 531 is separated from the constraint of the torsion wheel 532, and then the second L-shaped plate 533 is moved upwards, so that the torsion wheel 532 is twisted to lock the corresponding limiting hole on the expansion plate 531, and the applicability of the invention is improved.

Fifthly, the distance between the inner curved surface control blocks 55 of each group is adjusted according to the thickness of the inner wall of the cylindrical workpiece, so that the inner curved surface control blocks 55 at the earlier stage can better extend into the inner side of the cylindrical workpiece, and the manual adjusting wheel 546 is manually twisted on the bevel gears 545 of each group, so that the screw 544 drives the screw cap 543 to move relatively, and the distance between the inner curved surface control blocks 55 of each group is adjusted.

Sixthly, when the first L-shaped plate 52 rotates, the pushing plate 521 adjacently connected with the first L-shaped plate drives the pushing seat 522 to expand outwards, then the moving block 523 drives the pushing block 524 to expand outwards in the sliding process of the circular seat 241, and then the inner wall port block 525 extrudes on the inner side of the cylindrical workpiece, so that the port point and the middle point of the cylindrical workpiece are clamped simultaneously.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. The utility model provides a transfer robot grabs material anti-drop mechanism, includes robot body (1), its characterized in that: first backup pad (2) are installed at the top of robot body (1), total electric push rod (3) are installed to the bottom of first backup pad (2), first connecting plate (21) that is cyclic annular array are installed to the below of first backup pad (2), second backup pad (22) are installed to the below of first connecting plate (21), and the middle part of second backup pad (22) is seted up and is dodged total electric push rod (3) and go up and down the movable groove of activity, be provided with outside centre gripping subassembly (4) that carry out the centre gripping to the lateral wall of drum work piece on second backup pad (22), second connecting plate (23) that are circular array are installed to the below of second backup pad (22), third backup pad (24) are installed to the below of second connecting plate (23), the below of third backup pad (24) is provided with inboard centre gripping subassembly (5) that carry out the suppression to drum work piece inner wall, the bottom face of third backup pad (24) is provided with the port suppression subassembly that carries out the suppression to the drum work piece.

2. The material grabbing anti-falling mechanism of the transfer robot as claimed in claim 1, wherein: outside centre gripping subassembly (4) are including lifter plate (40), the flexible end of total electricity push rod (3) pass behind the movable groove and with lifter plate (40) fixed connection, set up the through-hole that is the annular array on second backup pad (22), the lateral wall of lifter plate (40) rotates through the ear seat and is connected with swing joint pole (41), and the top of swing joint pole (41) pass behind the through-hole and rotate and be connected with rotor plate piece (42), rotor plate piece (42) are close to one side of second backup pad (22) and install the set-square, and one side of keeping away from rotor plate piece (42) of set-square rotates on the lateral wall of second backup pad (22) and connects, the below of rotor plate piece (42) is rotated and is connected with outer curved plate (43).

3. The material grabbing anti-falling mechanism of the transfer robot as claimed in claim 2, wherein: the top and the below of outer curved plate (43) are sliding connection respectively have first expansion plate (44) and second expansion plate (45) outer curved plate (43) keep away from the vertical groove that is linear array in a side of rotor block (42), extrusion rubber pad (46) at vertical inslot side is all installed to one side that rotor block (42) was kept away from in first expansion plate (44) and second expansion plate (45), and extrusion rubber pad (46) on first expansion plate (44) and second expansion plate (45) all are the setting of staggering.

4. The material gripping and falling prevention mechanism of a transfer robot according to claim 2 or 3, characterized in that: the bottom of first expansion plate (44) passes through the inboard sliding connection of sliding plate at second expansion plate (45), horizontal slot has been seted up to a side that first expansion plate (44) and second expansion plate (45) are close to rotor plate piece (42), and all installs toothed bar plate (471) on the left side of first expansion plate (44) top and the right side of second expansion plate (45) below, the inner chamber middle part of outer curved plate (43) just is located and rotates between toothed bar plate (471) and is connected with sun gear (47), and sun gear (47) back to the one end of toothed bar plate (471) and be provided with two running rollers (48), wherein the running roller (48) that are located the top pass through connecting rod and sun gear (47) fixed connection, wherein be located bottom running roller (48) and pass through connecting rod and outer curved plate (43) fixed connection, outer wall transmission is connected with conveyer belt (49) between running roller (48), the running roller (48) that are located the bottom are worn to establish the outside of outer curved plate (43) through the connecting rod and are installed behind the twist cap (410).

5. The material grabbing anti-falling mechanism of the transfer robot as claimed in claim 4, wherein: control wheel (411) are installed to a side below that outer curved plate (43) are close to rotor plate (42), and the outer wall fixed connection of the middle part of control wheel (411) at the connecting rod that twists reverse on cap (410), the front end of outer curved plate (43) is rotated and is connected with and is carried out lockplate (412) that locks with the teeth of a cogwheel on control wheel (411), square piece is installed to the bottom of outer curved plate (43), and is connected with reset spring (413) between square piece and lockplate (412).

6. The material grabbing anti-falling mechanism of the transfer robot as claimed in claim 2, wherein: inboard centre gripping subassembly (5) are including connecting plate (51), the lateral surface of lifting disk (40) is passed through ear seat and connecting plate (51) and is rotated the connection, and connecting plate (51) are located between adjacent swing joint pole (41), cross slot (240) have been seted up to the below of third backup pad (24), the middle part of third backup pad (24) just is located cross slot (240) inboard and has seted up the cross through-hole, the mid-mounting of third backup pad (24) has round seat spare (241), connecting plate (51) pass the cross through-hole internal rotation and are connected with first L template (52), rotate the connection on round seat spare (241) between the vertical end and the horizontal end of connecting plate (51), the vertical end of first L template (52) is provided with connects telescopic block (53), the top of connecting telescopic block (53) is provided with control briquetting (54), the top of control briquetting (54) is rotated and is connected with interior curved surface control block (55).

7. The material grabbing anti-falling mechanism of the transfer robot as claimed in claim 6, wherein: the inner cavity of the inner curved surface control block (55) is provided with a curved surface groove, a spring telescopic rod (551) in a rectangular array is movably connected in the curved surface groove of the inner curved surface control block (55), and one end, far away from the control pressing block (54), of the spring telescopic rod (551) is provided with a rubber ball (552).

8. The material grabbing anti-falling mechanism of the transfer robot as claimed in claim 6, wherein: the top of first L template (52) is installed and is being connected expansion plate (531) of inboard sliding connection of expansion block (53), the spacing hole that is linear array is seted up to the inboard of expansion plate (531), the top of expansion plate (531) is rotated through the bearing and is connected with torsion wheel (532) that the spacing hole of being convenient for in expansion plate (531) locks, every group second L template (533) are all installed to the opposite side of connecting expansion block (53), lug (534) are installed at the top of second L template (533).

9. The material grabbing anti-falling mechanism of the transfer robot as claimed in claim 8, wherein: slide rail seat (541) is installed at the top of connecting flexible piece (53), sliding connection's cooperation slider (542) on the top of slide rail seat (541) is installed to the bottom of control briquetting (54), every group nut (543) are installed to the back of the body of control briquetting (54), the inboard threaded connection of nut (543) has screw rod (544), and the one end of screw rod (544) is passed through the bearing and is installed in lug (534) inboard, bevel gear (545) are installed to the one end that screw rod (544) is back to screw cap (543), and wherein second L template (533) the inboard that is located the rear end has been seted up and has been accomodate the groove, and is accomodating inslot and is installed manual adjustment wheel (546), and the position department of every group bevel gear (545) just meshes mutually with manual adjustment wheel (546).

10. The material gripping and falling prevention mechanism of a transfer robot according to claim 6 or 8, characterized in that: the port pressing assembly comprises two pushing plates (521), the two pushing plates (521) are rotatably connected to the left end and the right end of a first L-shaped plate (52), one end of each adjacent pushing plate (521) is rotatably connected with a pushing seat (522) above a circular seat (241), the top of the circular seat (241) is slidably connected with a moving block (523) fixedly connected with the pushing seat (522), one end, far away from the circular seat (241), of the moving block (523) is provided with a pushing block (524), the top of a third supporting plate (24) is provided with a moving groove (520) in an annular array, one end of the pushing block (524) penetrates through the moving groove (520) and then is provided with an inner wall port block (525) through a connecting rod, and the inner wall port block (525) is slidably connected to the bottom face of the third supporting plate (24).