CN115872044A - Anti-falling transfer robot and use method thereof - Google Patents

Abstract

The invention discloses an anti-falling transfer robot which comprises a base, a branch box and a control assembly, wherein the branch box is installed at the top of the base, the control assembly is installed on the outer wall of the branch box, a first motor is installed on the inner wall of the branch box, a threaded rod is installed at the output end of the first motor, and a slide way is installed on the inner wall of the branch box. According to the invention, the effect of preventing the top material from falling off by clamping is realized by installing the threaded barrel, the moving block and the pressure sensor, the threaded rod rotates to drive the threaded barrel to move, the threaded barrel moves to drive the top plate to move, the top plate moves to drive the sliding block to move along the slideway, the sliding block moves to drive the top plate to drive the material to move so as to be contacted with the moving block, so that the moving block moves to drive the first spring to move, the moving block moves to drive the first spring to contact with the pressure sensor, the pressure sensor sends a signal to the processor to control the first motor to stop clamping the top material so as to prevent the top material from falling off, and the function of clamping the top material to prevent the top material from falling off is realized.

Description

Anti-falling transfer robot and use method thereof

Technical Field

The invention relates to the technical field of transfer robots, in particular to an anti-falling transfer robot and a using method thereof.

Background

The conveying robot can carry out conveying operation, the conveying operation refers to the fact that a workpiece is held by one device and refers to the fact that the workpiece is moved from one machining position to another machining position, different end effectors can be installed on the conveying robot to complete conveying work of the workpieces in various shapes and states, heavy physical strength of human is greatly reduced, the conveying robot is a high and new technology in the modern automatic control field, and the conveying robot relates to the fields of mechanics, electrical appliance hydraulic pressure and air pressure technology, automatic control technology, sensor technology, single chip microcomputer technology, computer technology and the like.

The existing transfer robot has the following defects:

1. the patent document CN109051705B discloses a transfer robot, which comprises a base, wherein a body is mounted on the base through a bearing, a head is fixedly mounted at the upper end of the body, rotating shafts are mounted at the front parts of the left side and the right side of the body in a rotating mode, and a spur gear is mounted at the lower part of each rotating shaft; arms are mounted on the upper portion of the straight gear, and a bearing frame is fixedly mounted at the rear end of each arm. The automatic goods taking and releasing robot has high automation degree, can effectively take goods through the alternate transmission of the two pairs of gear racks, and can transfer, transport and release the goods, thereby achieving the effect of automatically transporting the goods to a specific processing procedure, and the application range is wider;

2. the patent document CN108946125B discloses a transfer robot, "including a conveying mechanism, a transport platform, a power mechanism, a pushing mechanism, a contraction plate, Z-shaped connecting rods, a contraction sliding plate and an auxiliary mechanism, where the power mechanism can provide power for the apparatus, the power mechanism drives the pushing mechanism to move through a gear i, the pushing mechanism slides to the side far away from the power mechanism, the pushing mechanism drives the outer ends of two connecting rods and four Z-shaped connecting rods to move to the side far away from the power mechanism, the inner ends of the two connecting rods and the four Z-shaped connecting rods move to the side near the power mechanism, objects to be transferred by the four Z-shaped connecting rods are pushed onto the transport platform, the power mechanism drives the auxiliary mechanism to move through a belt pulley i, the moving directions of the auxiliary mechanism and the pushing mechanism are opposite, the objects to be transferred by the auxiliary mechanism are supported onto the transport platform, but stains attached to the outer walls of power wheels of the existing transfer robot cannot be timely scraped to cause jolt;

3. patent document CN105882785A discloses a wheel pair carrying robot, which comprises a frame, a driving system, a power supply, a guiding system, a hydraulic auxiliary system, a control panel, a safety protection system, a wheel pair carrying mechanism and an axle positioning mechanism, wherein driving wheels are arranged at four corners of the bottom of the frame, and the driving wheels are driven by the driving system; the front end of the rack is provided with a safety protection system and a control panel, and the safety protection system consists of an anti-collision stop and a distance sensor; the control panel comprises a touch display screen, an operating button and an emergency stop switch; the upper part of the frame is provided with at least one pair of wheel pair bearing mechanisms, the central lines of the two wheel pair bearing mechanisms in pair are provided with axle positioning mechanisms, the bottoms of the wheel pair bearing mechanisms are provided with hydraulic cylinders, and the hydraulic cylinders are controlled by a hydraulic auxiliary system; the equipment can run along a specified wheel set maintenance line, and carries out the carrying work of the wheel set by virtue of self functions, thereby greatly saving the labor cost, reducing the labor intensity of workers and improving the automatic maintenance efficiency of the wheel set, but the friction force between the existing carrying robot and the ground when the existing carrying robot stops is not high, and the existing carrying robot is easy to move and shift when loading and unloading materials;

4. patent document CN114131589B discloses a transfer robot, "including a base, a lower arm and an upper arm which are sequentially connected in a rotating manner, wherein an executing mechanism is rotatably arranged on the upper arm, a wire harness is arranged inside a driving module of the executing mechanism, and meanwhile, the wire harness can respectively extend to the inner spaces of the lower wrist and the upper wrist, and the wire harness is used for respectively connecting the electronic components of the lower end effector and the upper end effector. The wire harness is arranged in the driving module, so that the reciprocating motion of the wire harness is avoided, and the performance requirement on the wire harness can be reduced, so that the cost is saved; meanwhile, the abrasion of the robot to the wire harness in the process of carrying the wafer is reduced, the generation of dust is inhibited, and the labor and material costs caused by later maintenance and replacement of the wire harness are reduced; the structure is simplified by a wide margin, has reduced the assembly degree of difficulty and assemble duration, has also reduced the processing degree of difficulty and material cost, and simple structure can reduce the time of later maintenance, increases production efficiency ", but the stability that current transfer robot removed is not high emptys easily in handling.

Disclosure of Invention

The invention aims to provide a drop-proof transfer robot and a using method thereof, aiming at solving the technical problems of lacking of a drop-proof structure, a decontamination structure, a deviation-proof function and a stabilizing function in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme: an anti-falling transfer robot comprises a base, a branch box and a control assembly, wherein the branch box is installed at the top of the base, the control assembly is installed on the outer wall of the branch box, a first motor is installed on the inner wall of the branch box, a threaded rod is installed at the output end of the first motor, a slide way is installed on the inner wall of the branch box, a slide block is arranged on the inner wall of the slide way, a top plate is installed on the outer wall of the slide block, a threaded cylinder is installed on the outer wall of the threaded rod in a meshed mode, and one end of the threaded cylinder penetrates through the outer wall of the top plate;

the inner wall of the branch box is provided with a clamping block, the inner wall of the clamping block is provided with a first spring, the inner wall of the clamping block is provided with a pressure sensor, the pressure sensor is located in an inner ring of the first spring, the outer wall of the clamping block is provided with a second sleeve in a penetrating mode, the inner wall of the second sleeve is provided with a moving block in a penetrating mode, and the outer wall of the moving block is provided with a limiting head.

Preferably, the bottom of base is installed and is supported the box, and the power wheel is installed to the bottom of base, and first branch is installed to the inner wall of base.

Preferably, the outer wall of supporting the box is equipped with first opening, the outer wall of supporting the box is equipped with the second opening, the outer wall of supporting the box runs through and installs the third sleeve, the telescopic inner wall of third runs through and installs second branch, the pull rod is installed to the one end of second branch, the doctor-bar is installed to the one end of second branch, fourth branch is installed to the outer wall of pull rod, a section of thick bamboo is installed to the outer wall of fourth branch, a third spring is installed to the inner wall of a section of thick bamboo, the kelly is installed to the one end of third spring, and the one end of kelly extends to the outer wall of supporting the box through the second opening.

Preferably, fifth branch is installed through the bearing to the outer wall of first branch, the junction of fifth branch and first branch is the mid point of fifth branch, the second motor is installed to the inner wall of base, the rolling wheel is installed to the output of second motor, the stay cord is installed to the outer wall of rolling wheel, and the one end of stay cord and the outer wall connection of fifth branch, sixth branch is installed through the bearing to the outer wall of fifth branch, the clutch blocks is installed to the one end of sixth branch, the bottom of base is equipped with the third opening, seventh branch is installed to the outer wall of sixth branch, the fourth spring is installed to the outer wall of seventh branch, and the one end of fourth spring and the inner wall connection of base.

Preferably, the threaded cylinder moves along the track of the threaded rod, the support box is located on one side of the power wheel, one end of the pull rod extends to the outer wall of the support box through the first opening, and one end of the sixth supporting rod extends to the bottom of the base through the third opening.

Preferably, the inner wall of the branch box is provided with a supporting plate, and the top of the branch box is provided with a protective pad.

Preferably, the top of backup pad is run through and is installed the fifth sleeve, the support is run through and is installed to the inner wall of fifth sleeve, the support is "H" type, the magnetic path is installed at the top of backup pad, the sixth spring is installed to the outer wall of support, and the one end of sixth spring is connected with the bottom of backup pad, the bottom of a case and the junction at base top run through and install the seventh sleeve, and the one end of support extends to the bottom of base through the seventh sleeve, the universal wheel is installed to the one end of support, the one end of support is installed and is placed the board, the base bottom is equipped with the seventh opening.

Preferably, the processor is mounted on the inner wall of the base.

Preferably, the transfer robot includes the following steps:

s1, after a material is placed on the top of a top plate, a first motor is started to drive a threaded rod to rotate, the threaded rod rotates to drive a threaded cylinder to move, the threaded cylinder moves to drive the top plate to move, the top plate moves to drive a sliding block to move along a slide way, the sliding block moves to drive the top plate to drive the material to move so as to be in contact with a moving block, the moving block moves to drive a first spring to move, the moving block moves to make the moving block be in contact with a pressure sensor, the pressure sensor sends a signal to a processor to control the first motor to stop so that the material on the top is clamped and prevented from falling, and the function of clamping and preventing the material on the top from falling is realized;

s2, pushing the clamping rod to drive a third spring to move, enabling the clamping rod to move out of the second opening by the movement of the third spring, pulling the pull rod to drive a second supporting rod to move, enabling a scraping blade to move and enabling the scraping blade to move to be in contact with the power wheel, enabling the pull rod to move to drive a fourth supporting rod to move, enabling the fourth supporting rod to move to drive a supporting cylinder to move, enabling the third spring to drive the clamping rod to be clamped into the second opening after the supporting cylinder moves to a proper position, enabling the scraping blade to be fixed in position, and achieving the function of automatically scraping dirt attached to the outer wall of the power wheel to prevent the dirt from causing the shape of a child;

s3, the sixth supporting rod moves through a third opening, when the carrying robot moves, a second motor is started to drive a rolling wheel to move, the rolling wheel moves to drive a pull rope to move, the pull rope moves to drive a fifth supporting rod to move, the fifth supporting rod moves to drive a bearing to move, the bearing moves to drive the fifth supporting rod to drive a sixth supporting rod to move, the sixth supporting rod moves to drive a seventh supporting rod to move, the seventh supporting rod moves to drive a fourth spring to move, the fourth spring moves to drive the sixth supporting rod to drive a friction block to leave the ground, when the carrying robot stops, the second motor rotates reversely to loosen the pull rope, the seventh supporting rod is driven by the fourth spring to drive the sixth supporting rod to enable the sixth supporting rod to drive the friction block to be in contact with the ground, so that the friction force between the carrying robot and the ground when the carrying robot stops is increased to prevent the deviation when the carrying robot is loaded and unloaded, and the function that the friction force between the carrying robot and the ground when the carrying robot stops is increased to prevent the deviation when the loading and unloading;

s4, the materials are placed on the gravity at the top of the placing plate to drive the support to move, the support moves to drive the sixth spring to move, the sixth spring moves to enable the support to move through the seventh opening, the bottom of the placing plate is contacted with the magnetic block to enable the support to be fixed through moving, the universal wheels are contacted with the ground to enable the universal wheels to improve the moving stability of the transfer robot, the transfer robot is prevented from toppling over in the transfer process, and the function of improving the moving stability of the transfer robot and preventing toppling over in the transfer process is achieved.

Preferably, the step S1 further includes the steps of:

s11, the pressure sensor is supported by a clamping block, and the limiting head is used for preventing the moving block from moving out of the second sleeve;

the step S2 further includes the steps of:

s21, the second openings are arranged to conveniently select proper positions to be fixed, and the third sleeve provides moving support for the second supporting rod.

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

1. according to the invention, the effect of preventing the top material from falling off by clamping is realized by installing the threaded barrel, the moving block and the pressure sensor, after the material is placed on the top of the top plate, the first motor is started to drive the threaded rod to rotate, the threaded rod rotates to drive the threaded barrel to move, the threaded barrel moves to drive the top plate to move, the top plate moves to drive the sliding block to move along the slideway, the sliding block moves to drive the top plate to drive the material to move so as to be in contact with the moving block, the moving block moves to drive the first spring to move, the first spring moves to enable the moving block to be in contact with the pressure sensor, the pressure sensor sends a signal to the processor to control the first motor to stop clamping the top material so as to prevent the top material from falling off, and the function of preventing the top material from falling off by clamping is realized;

2. according to the invention, the fourth support rod, the pull rod and the scraping piece are arranged, so that the effect of automatically scraping and preventing stains attached to the outer wall of the power wheel to cause the stains to be overturned is realized, the clamp rod is pushed to drive the third spring to move, the clamp rod is moved out of the second opening by the movement of the third spring, the pull rod is pulled to drive the second support rod to move, the scraping piece is moved to drive the scraping piece to move, the scraping piece is contacted with the power wheel, the pull rod is moved to drive the fourth support rod to move, the fourth support rod is moved to drive the support cylinder to move, the clamp rod is driven by the third spring to be clamped into the second opening after the support cylinder is moved to a proper position, the position of the scraping piece is fixed, and the function of automatically scraping and preventing stains attached to the outer wall of the power wheel to cause the overturning;

3. according to the invention, by installing the pull rope, the fourth spring and the seventh support rod, the effect of preventing material loading and unloading deflection by improving the friction force with the ground when the transfer robot stops is realized, when the transfer robot moves, the second motor is started to drive the rolling wheel to move, the rolling wheel moves to drive the pull rope to move, the pull rope moves to drive the fifth support rod to move, the fifth support rod moves to drive the bearing to move, the fifth support rod drives the sixth support rod to move, the sixth support rod moves to drive the seventh support rod to move, the seventh support rod moves to drive the fourth spring to move, the fourth spring moves to drive the sixth support rod to drive the friction block to leave the ground, when the transfer robot stops, the second motor rotates reversely to loosen the pull rope, the fourth spring drives the seventh support rod to drive the friction block to be in contact with the ground, so that the friction force with the ground when the transfer robot stops is improved to prevent material loading and unloading deflection, and the function of preventing material loading and unloading deflection by improving the friction force with the ground when the transfer robot stops is realized;

4. according to the invention, the effect of improving the moving stability of the transfer robot and preventing toppling in the transfer process is realized by installing the support, the sixth spring and the universal wheel, the support is driven to move by the gravity of the material placed on the top of the placing plate, the sixth spring is driven to move by the movement of the support, the support moves through the seventh opening, the bottom of the placing plate is contacted with the magnetic block by the movement of the support to be fixed, the universal wheel is contacted with the ground by the movement of the support to improve the moving stability of the transfer robot and prevent toppling in the transfer process, and the function of improving the moving stability of the transfer robot and preventing toppling in the transfer process is realized.

Drawings

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

FIG. 2 is a schematic front view of the present invention;

FIG. 3 is a schematic view of the top plate structure of the present invention;

FIG. 4 is a schematic diagram of a moving block structure according to the present invention;

FIG. 5 is a schematic view of a wiper blade according to the present invention;

FIG. 6 is a schematic view of the friction block structure of the present invention;

FIG. 7 is a schematic view of the structure of the placement board of the present invention;

FIG. 8 is a schematic flow chart of the present invention.

In the figure: 1. a base; 2. a power wheel; 3. a branch box; 4. a control component; 5. a protective pad; 6. a processor; 7. a slideway; 8. a slider; 9. a top plate; 10. a threaded barrel; 11. a first motor; 12. a threaded rod; 13. a clamping block; 14. a pressure sensor; 15. a first spring; 16. a second sleeve; 17. a moving block; 18. a limiting head; 19. a support box; 20. a first opening; 21. a second opening; 22. a third sleeve; 23. a second support bar; 24. scraping a blade; 25. a pull rod; 26. a fourth strut; 27. a third spring; 28. supporting a cylinder; 29. a clamping rod; 30. a first support bar; 31. a fifth strut; 32. a second motor; 33. a winding wheel; 34. pulling a rope; 35. a sixth strut; 36. a friction block; 37. a third opening; 38. a seventh strut; 39. a fourth spring; 40. a support plate; 41. a fifth sleeve; 42. a support; 43. a magnetic block; 44. a sixth spring; 45. a seventh sleeve; 46. placing a plate; 47. a universal wheel.

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.

In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front", "rear", "both ends", "one end", "the other end", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the terms "mounted," "disposed," "connected," and the like are to be construed broadly, such as "connected," which may be a fixed connection, a detachable 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 meanings of the above terms in the present invention can be understood in a specific case to those of ordinary skill in the art.

Referring to fig. 1 and fig. 2, an embodiment of the present invention: the utility model provides an anti-falling transfer robot, including base 1, a case 3 and a control assembly 4, the effect of base 1 is for a case 3 provides the support, the effect of a case 3 is for the transport robot's transported substance provides the place of depositing, the effect of control assembly 4 is the state of controlling means, a case 3 is installed at the top of base 1, control assembly 4 is installed to the outer wall of a case 3, support box 19 is installed to the bottom of base 1, power wheel 2 is installed to the bottom of base 1, the effect of power wheel 2 is the removal of convenient transport robot, first branch pole 30 is installed to the inner wall of base 1, threaded cylinder 10 moves along the orbit of threaded rod 12, support box 19 is located one side of power wheel 2, the one end of pull rod 25 extends to the outer wall of support box 19 through first opening 20, the one end of sixth branch pole 35 extends to the bottom of base 1 through third opening 37, the inner wall of a case 3 is installed the backup pad 40, protective pad 5 is installed at the top of a case 3, the effect of protective pad 5 is for a case 3 provides the protection, the inner wall of base 1 is installed treater 6, the effect of treater 6 is the signal of treater 6 is the processing apparatus.

Referring to fig. 2, 3 and 4, a first motor 11 is installed on the inner wall of a support box 3, a threaded rod 12 is installed at the output end of the first motor 11, a slide 7 is installed on the inner wall of the support box 3, a slider 8 is arranged on the inner wall of the slide 7, a top plate 9 is installed on the outer wall of the slider 8, a threaded cylinder 10 is installed on the outer wall of the threaded rod 12 in a meshed manner, one end of the threaded cylinder 10 penetrates through the outer wall of the top plate 9, a clamping block 13 is installed on the inner wall of the support box 3, a first spring 15 is installed on the inner wall of the clamping block 13, a pressure sensor 14 is installed on the inner wall of the clamping block 13, a second sleeve 16 is installed on the outer wall of the clamping block 13 in a penetrated manner, a moving block 17 is installed on the inner wall of the second sleeve 16, a limiting head 18 is installed on the outer wall of the moving block 17, a material is placed on the top of the top plate 9, the first motor 11 is started to drive the threaded cylinder 12 to rotate, the threaded cylinder 10 to drive the top plate 9 to move, the top plate 9 to drive the top plate 9 to move, the slider 8 to drive the slider 8 to move the top plate 9, the slider 9 to drive the threaded rod 9 to move the threaded block 9 to move, the threaded rod 17, the slider 17 to move, the slider 17 to drive the threaded rod 17 to move the slider 17, the slider 17 to prevent the first motor 15 to stop the first spring from dropping, and control the pressure sensor 14, and control the first spring 15 to control the pressure sensor 14 to stop the pressure sensor, and to stop the pressure sensor 14 from dropping.

Referring to fig. 2 and 5, a first opening 20 is formed in an outer wall of the supporting box 19, a second opening 21 is formed in the outer wall of the supporting box 19, a third sleeve 22 is installed on the outer wall of the supporting box 19 in a penetrating manner, a second supporting rod 23 is installed on an inner wall of the third sleeve 22 in a penetrating manner, a pull rod 25 is installed at one end of the second supporting rod 23, a scraping blade 24 is installed at one end of the second supporting rod 23, a fourth supporting rod 26 is installed on the outer wall of the pull rod 25, a supporting cylinder 28 is installed on the outer wall of the fourth supporting rod 26, a third spring 27 is installed on the inner wall of the supporting cylinder 28, a clamping rod 29 is installed at one end of the third spring 27, and one end of the clamping rod 29 extends to the outer wall of the supporting box 19 through the second opening 21, promote kelly 29 and drive third spring 27 and remove, third spring 27 removes and makes kelly 29 shift out second opening 21, pulling pull rod 25 drives second branch 23 and removes, second branch 23 removes and drives doctor-bar 24 and removes, doctor-bar 24 removes and makes it and power wheel 2 contact, pull rod 25 removes and drives fourth branch 26 and remove, fourth branch 26 removes and drives a section of thick bamboo 28 and removes, third spring 27 drives kelly 29 card and goes into in the second opening 21 after a section of thick bamboo 28 removes to suitable position, make doctor-bar 24 rigidity, realized scraping the function that prevents the spot from causing the top of the face to the automatic scraping of the attached spot of power wheel 2 outer wall.

Referring to fig. 2 and 6, a fifth supporting rod 31 is mounted on an outer wall of the first supporting rod 30 through a bearing, a joint of the fifth supporting rod 31 and the first supporting rod 30 is a middle point of the fifth supporting rod 31, a second motor 32 is mounted on an inner wall of the base 1, a winding wheel 33 is mounted at an output end of the second motor 32, a pulling rope 34 is mounted on an outer wall of the winding wheel 33, one end of the pulling rope 34 is connected with an outer wall of the fifth supporting rod 31, a sixth supporting rod 35 is mounted on an outer wall of the fifth supporting rod 31 through a bearing, a friction block 36 is mounted at one end of the sixth supporting rod 35, a third opening 37 is arranged at the bottom of the base 1, a seventh supporting rod 38 is mounted on an outer wall of the sixth supporting rod 35, a fourth spring 39 is mounted on an outer wall of the seventh supporting rod 38, one end of the fourth spring 39 is connected with the inner wall of the base 1, and the sixth supporting rod 35 moves through the third opening 37, when the transfer robot moves, the second motor 32 is started to drive the winding wheel 33 to move, the winding wheel 33 moves to drive the pull rope 34 to move, the pull rope 34 moves to drive the fifth support rod 31 to move, the fifth support rod 31 moves to drive the bearing to move, the bearing moves to drive the fifth support rod 31 to drive the sixth support rod 35 to move, the sixth support rod 35 moves to drive the seventh support rod 38 to move, the seventh support rod 38 moves to drive the fourth spring 39 to move, the fourth spring 39 moves to drive the sixth support rod 35 to drive the friction block 36 to leave the ground, when the transfer robot stops, the second motor 32 rotates reversely to loosen the pull rope 34, the seventh support rod 38 is driven by the fourth spring 39 to drive the sixth support rod 35 to drive the friction block 36 to contact the ground, so that the friction force between the transfer robot and the ground when the transfer robot stops is increased to prevent the deviation during the material loading and unloading, and the function of the transfer robot that the friction force between the robot and the ground when the transfer robot stops is increased to prevent the deviation during the material loading and unloading.

Referring to fig. 2 and 7, a fifth sleeve 41 is installed on the top of the supporting plate 40 in a penetrating manner, a bracket 42 is installed on the inner wall of the fifth sleeve 41 in a penetrating manner, the bracket 42 is H-shaped, a magnetic block 43 is installed on the top of the supporting plate 40, a sixth spring 44 is installed on the outer wall of the bracket 42, one end of the sixth spring 44 is connected with the bottom of the supporting plate 40, a seventh sleeve 45 is installed at a joint between the bottom of the branch box 3 and the top of the base 1 in a penetrating manner, one end of the bracket 42 extends to the bottom of the base 1 through the seventh sleeve 45, a universal wheel 47 is installed at one end of the bracket 42, a placing plate 46 is installed at one end of the bracket 42, a seventh opening is formed in the bottom of the base 1, gravity placed on the top of the placing plate 46 drives the bracket 42 to move, the bracket 42 moves to drive the sixth spring 44 to move, the bracket 42 moves to drive the bottom of the placing plate 46 to contact with the magnetic block 43 to fix the bracket 42, and the universal wheel 47 moves to contact with the ground to improve the stability of the transfer robot in the movement and the toppling prevention function of the transfer robot in the toppling prevention function of the transfer robot in the movement.

The working steps of the transfer robot are as follows:

s1, after materials are placed on the top of a top plate 9, a first motor 11 is started to drive a threaded rod 12 to rotate, the threaded rod 12 drives a threaded barrel 10 to move, the threaded barrel 10 drives the top plate 9 to move, the top plate 9 moves to drive a sliding block 8 to move along a slideway 7, the sliding block 8 moves to enable the top plate 9 to drive the materials to move to enable the materials to be in contact with a moving block 17, so that the moving block 17 is driven to move, the moving block 17 moves to drive a first spring 15 to move, the first spring 15 moves to enable the moving block 17 to be in contact with a pressure sensor 14, the pressure sensor 14 sends a signal to a processor 6 to control the first motor 11 to stop enabling the top materials to be clamped and prevented from falling, and the function of clamping and preventing the top materials from falling is achieved;

s2, the clamping rod 29 is pushed to drive the third spring 27 to move, the third spring 27 moves to enable the clamping rod 29 to move out of the second opening 21, the pull rod 25 is pulled to drive the second supporting rod 23 to move, the second supporting rod 23 moves to drive the scraping blade 24 to move, the scraping blade 24 moves to enable the scraping blade to be in contact with the power wheel 2, the pull rod 25 moves to drive the fourth supporting rod 26 to move, the fourth supporting rod 26 moves to drive the supporting cylinder 28 to move, the supporting cylinder 28 moves to a proper position, and then the third spring 27 drives the clamping rod 29 to be clamped into the second opening 21 to enable the position of the scraping blade 24 to be fixed, so that the function of automatically scraping dirt attached to the outer wall of the power wheel 2 to prevent the dirt from being overturned is achieved;

s3, the sixth support rod 35 moves through the third opening 37, when the transfer robot moves, the second motor 32 is started to drive the winding wheel 33 to move, the winding wheel 33 moves to drive the pull rope 34 to move, the pull rope 34 moves to drive the fifth support rod 31 to move, the fifth support rod 31 moves to drive the bearing to move, the bearing moves to drive the fifth support rod 31 to drive the sixth support rod 35 to move, the sixth support rod 35 moves to drive the seventh support rod 38 to move, the seventh support rod 38 moves to drive the fourth spring 39 to move, the fourth spring 39 moves to drive the sixth support rod 35 to drive the friction block 36 to leave the ground, when the transfer robot stops, the second motor 32 rotates reversely to loose the pull rope 34, the seventh support rod 38 is driven by the fourth spring 39 to drive the sixth support rod 35 to drive the friction block 36 to contact with the ground, so that the friction force between the transfer robot and the ground when the transfer robot stops is increased to prevent deviation when the transfer robot loads and unloads, and unloads when the friction force between the transfer robot and the ground when the stop is increased to prevent deviation between the loads and unloads;

s4, the gravity of the materials placed on the top of the placing plate 46 drives the support 42 to move, the support 42 drives the sixth spring 44 to move, the sixth spring 44 moves to enable the support 42 to move through the seventh opening, the support 42 moves to enable the bottom of the placing plate 46 to be in contact with the magnetic block 43 to enable the bottom of the placing plate to be fixed, the support 42 moves to enable the universal wheels 47 to be in contact with the ground to enable the universal wheels 47 to improve the moving stability of the carrying robot to prevent the carrying robot from toppling over in the carrying process, and the function of improving the moving stability of the carrying robot to prevent the carrying robot from toppling over in the carrying process is achieved.

The step S1 further includes the steps of:

s11, the pressure sensor 14 is supported by the fixture block 13, and the limiting head 18 is used for preventing the moving block 17 from moving out of the second sleeve 16;

the step S2 further includes the steps of:

s21, the second opening 21 is arranged to conveniently select a proper position for fixing, and the third sleeve 22 provides a movable support for the second support rod 23.

The working principle is that the branch box 3 is used for providing a storage place for materials carried by the carrying robot, the control component 4 is used for controlling the state of the device, the power wheel 2 is used for facilitating the movement of the carrying robot, after the materials are placed on the top of the top plate 9, the first motor 11 is started to drive the threaded rod 12 to rotate, the threaded rod 12 rotates to drive the threaded barrel 10 to move, the threaded barrel 10 moves to drive the top plate 9 to move, the top plate 9 moves to drive the sliding block 8 to move along the slideway 7, the sliding block 8 moves to drive the top plate 9 to drive the materials to move so as to be in contact with the moving block 17, so as to drive the moving block 17 to move, the moving block 17 moves to drive the first spring 15 to move, the first spring 15 moves to make the moving block 17 in contact with the pressure sensor 14, so that the pressure sensor 14 sends a signal to the processor 6 to control the first motor 11 to stop so as to clamp the materials on the top to prevent the materials from falling, the function of clamping and preventing the top materials from falling is realized, the clamping rod 29 is pushed to drive the third spring 27 to move, the third spring 27 moves to enable the clamping rod 29 to move out of the second opening 21, the pull rod 25 is pulled to drive the second supporting rod 23 to move, the second supporting rod 23 moves to drive the scraping blade 24 to move, the scraping blade 24 moves to enable the scraping blade to be in contact with the power wheel 2, the pull rod 25 moves to drive the fourth supporting rod 26 to move, the fourth supporting rod 26 moves to drive the supporting cylinder 28 to move, the third spring 27 drives the clamping rod 29 to be clamped into the second opening 21 after the supporting cylinder 28 moves to a proper position, the position of the scraping blade 24 is fixed, the function of automatically scraping the stains attached to the outer wall of the power wheel 2 to prevent the stains from causing jolt is realized, when the carrying robot moves, the second motor 32 is started to drive the winding wheel 33 to move, the winding wheel 33 moves to drive the pull rope 34 to move, the pull rope 34 moves to drive the fifth supporting rod 31 to move, and the fifth supporting rod 31 moves to enable the bearing to move, the bearing moves to drive the fifth support rod 31 to drive the sixth support rod 35 to move, the sixth support rod 35 moves to drive the seventh support rod 38 to move, the seventh support rod 38 moves to drive the fourth spring 39 to move, the fourth spring 39 moves to drive the sixth support rod 35 to drive the friction block 36 to leave the ground, when the transfer robot stops, the second motor 32 rotates reversely to loosen the pull rope 34, the fourth spring 39 drives the seventh support rod 38 to drive the sixth support rod 35 to drive the friction block 36 to contact with the ground, so that the friction force between the transfer robot and the ground when the transfer robot stops is improved to prevent the deviation when the materials are loaded and unloaded, the function that the friction force between the transfer robot and the ground when the transfer robot stops is improved to prevent the deviation when the materials are loaded and unloaded is realized, the gravity placed at the top of the placing plate 46 drives the support 42 to move, the support 42 moves to drive the sixth spring 44 to move, the sixth spring 44 moves to move the support 42 to enable the bottom of the placing plate 46 to contact with the magnetic block 43 to fix the support 42 moves to enable the universal wheel 47 to contact with the ground to improve the stability of the movement of the transfer robot to prevent the toppling of the transfer robot during the movement, and the toppling of the transfer robot during the process is realized.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims (10)

1. The utility model provides an anti-falling transfer robot, includes base (1), a case (3) and control assembly (4), its characterized in that: a branch box (3) is installed at the top of the base (1), a control assembly (4) is installed on the outer wall of the branch box (3), a first motor (11) is installed on the inner wall of the branch box (3), a threaded rod (12) is installed at the output end of the first motor (11), a slide rail (7) is installed on the inner wall of the branch box (3), a sliding block (8) is arranged on the inner wall of the slide rail (7), a top plate (9) is installed on the outer wall of the sliding block (8), a threaded barrel (10) is installed on the outer wall of the threaded rod (12) in a meshed mode, and one end of the threaded barrel (10) penetrates through the outer wall of the top plate (9);

a clamping block (13) is installed on the inner wall of the supporting box (3), a first spring (15) is installed on the inner wall of the clamping block (13), a pressure sensor (14) is installed on the inner wall of the clamping block (13), the pressure sensor (14) is located in the inner ring of the first spring (15), a second sleeve (16) is installed on the outer wall of the clamping block (13) in a penetrating mode, a moving block (17) is installed on the inner wall of the second sleeve (16) in a penetrating mode, and a limiting head (18) is installed on the outer wall of the moving block (17).

2. A drop-proof transfer robot as claimed in claim 1, wherein: support box (19) are installed to the bottom of base (1), and power wheel (2) are installed to the bottom of base (1), and first bracing piece (30) are installed to the inner wall of base (1).

3. A drop-proof transfer robot as claimed in claim 2, wherein: the outer wall that supports box (19) is equipped with first opening (20), the outer wall that supports box (19) is equipped with second opening (21), the outer wall that supports box (19) runs through and installs third sleeve (22), the inner wall of third sleeve (22) runs through and installs second branch (23), pull rod (25) are installed to the one end of second branch (23), doctor-bar (24) are installed to the one end of second branch (23), fourth branch (26) are installed to the outer wall of pull rod (25), a section of thick bamboo (28) are installed to the outer wall of fourth branch (26), third spring (27) are installed to the inner wall of a section of thick bamboo (28), kelly (29) are installed to the one end of third spring (27), and the one end of kelly (29) extends to the outer wall that supports box (19) through second opening (21).

4. A drop-proof transfer robot as claimed in claim 2, wherein: fifth branch (31) are installed through the bearing to the outer wall of first branch (30), fifth branch (31) with the junction of first branch (30) be the mid point of fifth branch (31), second motor (32) are installed to the inner wall of base (1), wind-up pulley (33) are installed to the output of second motor (32), stay cord (34) are installed to the outer wall of wind-up pulley (33), and the outer wall connection of the one end of stay cord (34) and fifth branch (31), sixth branch (35) are installed through the bearing to the outer wall of fifth branch (31), clutch blocks (36) are installed to the one end of sixth branch (35), the bottom of base (1) is equipped with third opening (37), seventh branch (38) are installed to the outer wall of sixth branch (35), fourth spring (39) are installed to the outer wall of seventh branch (38), and the one end of fourth spring (39) is connected with the inner wall of base (1).

5. A drop-resistant transfer robot as claimed in any one of claims 1 to 4, wherein: the threaded cylinder (10) moves along the track of the threaded rod (12), the supporting box (19) is located on one side of the power wheel (2), one end of the pull rod (25) extends to the outer wall of the supporting box (19) through the first opening (20), and one end of the sixth supporting rod (35) extends to the bottom of the base (1) through the third opening (37).

6. A drop-proof transfer robot as claimed in claim 1, wherein: a supporting plate (40) is installed on the inner wall of the branch box (3), and a protective pad (5) is installed at the top of the branch box (3).

7. The drop-resistant transfer robot as recited in claim 6, wherein: the top of backup pad (40) is run through and is installed fifth sleeve (41), the inner wall of fifth sleeve (41) is run through and is installed support (42), support (42) are "H" type, magnetic path (43) are installed at the top of backup pad (40), sixth spring (44) are installed to the outer wall of support (42), and the one end of sixth spring (44) is connected with the bottom of backup pad (40), the bottom of a case (3) and the junction at base (1) top run through and install seventh sleeve (45), and the one end of support (42) extends to the bottom of base (1) through seventh sleeve (45), universal wheel (47) are installed to the one end of support (42), place board (46) are installed to the one end of support (42), base (1) bottom is equipped with the seventh opening.

8. A drop-proof transfer robot as claimed in claim 1, wherein: the inner wall of the base (1) is provided with a processor (6).

9. Use of the drop-proof transfer robot according to any one of claims 1 to 8, wherein the transfer robot is operated as follows:

s1, after materials are placed on the top of a top plate (9), a first motor (11) is started to drive a threaded rod (12) to rotate, the threaded rod (12) rotates to drive a threaded barrel (10) to move, the threaded barrel (10) moves to drive the top plate (9) to move, the top plate (9) moves to drive a sliding block (8) to move along a slideway (7), the sliding block (8) moves to enable the top plate (9) to drive the materials to move to enable the materials to be in contact with a moving block (17), so that the moving block (17) is driven to move, the moving block (17) moves to drive a first spring (15) to move, the moving block (17) is made to be in contact with a pressure sensor (14) by the movement of the first spring (15), the pressure sensor (14) sends a signal to a processor (6) to control the first motor (11) to stop to enable the materials on the top to be clamped and prevented from falling, and the function of clamping and preventing the materials from falling is achieved;

s2, the clamping rod (29) is pushed to drive the third spring (27) to move, the third spring (27) moves to enable the clamping rod (29) to move out of the second opening (21), the pull rod (25) is pulled to drive the second supporting rod (23) to move, the second supporting rod (23) moves to drive the scraping blade (24) to move, the scraping blade (24) moves to enable the scraping blade to be in contact with the power wheel (2), the pull rod (25) moves to drive the fourth supporting rod (26) to move, the fourth supporting rod (26) moves to drive the supporting cylinder (28) to move, the third spring (27) drives the clamping rod (29) to be clamped into the second opening (21) after the supporting cylinder (28) moves to a proper position, the position of the scraping blade (24) is fixed, and the function of automatically preventing dirt from being scraped and causing jolt is achieved when the dirt is attached to the outer wall of the power wheel (2);

s3, a sixth supporting rod (35) moves through a third opening (37), when the transfer robot moves, a second motor (32) is started to drive a winding wheel (33) to move, the winding wheel (33) moves to drive a pull rope (34) to move, the pull rope (34) moves to drive a fifth supporting rod (31) to move, the fifth supporting rod (31) moves to drive a bearing to move, the bearing moves to drive the fifth supporting rod (31) to drive the sixth supporting rod (35) to move, the sixth supporting rod (35) moves to drive a seventh supporting rod (38) to move, the seventh supporting rod (38) moves to drive a fourth spring (39) to move, the fourth spring (39) moves to drive the sixth supporting rod (35) to drive a friction block (36) to be in contact with the ground, when the transfer robot stops, the second motor (32) rotates reversely to loosen the pull rope (34), the seventh supporting rod (38) is driven by the fourth spring (39) to drive the sixth supporting rod (35) to drive the friction block (36) to be in contact with the ground, when the transfer robot stops, the friction force is increased, and the friction with the ground when the transfer robot stops, the friction force is increased, the friction force is prevented from being deviated, and the material handling function of preventing the transfer robot from being prevented when the ground from being removed;

s4, the gravity of the material placed on the top of the placing plate (46) drives the support (42) to move, the support (42) moves to drive the sixth spring (44) to move, the sixth spring (44) moves to enable the support (42) to move through the seventh opening, the support (42) moves to enable the bottom of the placing plate (46) to be in contact with the magnetic block (43) to enable the bottom of the placing plate to be fixed, the support (42) moves to enable the universal wheel (47) to be in contact with the ground to enable the universal wheel to improve the stability of the movement of the carrying robot, the carrying robot is prevented from toppling over in the carrying process, and the function of improving the stability of the movement of the carrying robot and preventing toppling over in the carrying process is achieved.

10. The method of using a drop-resistant transfer robot as claimed in claim 9, further comprising the step of, in the step S1:

s11, the pressure sensor (14) is supported by the clamping block (13), and the limiting head (18) is used for preventing the moving block (17) from moving out of the second sleeve (16);

the step S2 further includes the steps of:

s21, the second openings (21) are arranged to conveniently select proper positions for fixing, and the third sleeves (22) provide moving support for the second supporting rods (23).

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