CN217555237U - Lower part upset assembly of material handling pile robot - Google Patents

Abstract

The lower overturning assembly of the material handling and stacking robot comprises a frame, an electric roller and a low-position overturning device; the lower end of the frame is provided with four roller mounting areas which are distributed in a rectangular shape, and an operation area for clamping and overturning the box body is arranged in the frame; the four electric rollers are respectively arranged in four roller mounting areas; the low-position turnover device comprises a fixed frame, a sliding frame, a push-pull assembly, a rotating unit and a clamping assembly; the push-pull assembly is arranged between the frame and the sliding frame and is used for driving the sliding frame to slide along the sliding chute of the fixed frame in the horizontal direction so as to enable the clamping assembly to stretch into or withdraw from the operation area; the rotating unit is used for driving the clamping assembly to rotate in a vertical plane; the clamping assembly is internally provided with a clamping opening with adjustable opening and used for clamping materials. The utility model discloses be applied to material handling pile robot, can realize that the upset after the material picks up transfers the appearance to in order to pile the material with specific gesture.

Description

Lower part upset assembly of material handling pile robot

Technical Field

The utility model relates to a mechanical technical field is transported to the material, especially a lower part upset assembly of material handling pile robot.

Background

In manufacturing enterprises such as food, medicine, daily necessities and the like, raw materials or products are generally packed/packaged in a box body with a regular shape so as to be convenient for warehousing and storage or inter-process transfer.

At present, the operation of warehousing or inter-process transfer generally adopts manual operation, the automation degree is low, and the specific process is that a worker carries a box body filled with materials to a cart, then the box body is pushed to a specified place to be unloaded and stacked. The manual operation has the following disadvantages: the labor intensity of manual loading and unloading is high, time and labor are wasted, and when the initial position or the target position of the box body is at a high position, the safety risk that the box body falls down to injure people is also existed.

Therefore, it is necessary to design a material handling and stacking robot for industrial production to replace the manual material handling and stacking operation. In the material handling and stacking operation, the angle posture of the material needs to be adjusted sometimes after the material is picked up so as to stack the material in a specific posture, and thus how to realize the overturning and posture adjustment after the material is picked up is a serious difficulty in designing the material handling and stacking robot.

Disclosure of Invention

The utility model aims at overcoming the not enough of prior art, and provide a material handling pile robot's lower part upset assembly, it is applied to material handling pile robot, has solved in industrial production, and the pile operation intensity of labour is big in the rigid material transportation, wastes time and energy, has the problem of safe risk.

The technical scheme of the utility model is that: the lower part overturning assembly of the material handling and stacking robot comprises a frame and a low-position overturning device;

the lower end of the frame is provided with four roller mounting areas which are distributed in a rectangular shape, an operation area for clamping and turning the box body is arranged in the frame, and the front end of the frame is provided with an opening communicated to the operation area;

the low-position turnover device comprises a fixed frame, a sliding frame, a push-pull assembly, a rotating unit and a clamping assembly; the fixed frame is fixedly arranged in the middle of the lower end of the frame and is provided with a sliding chute which is horizontally arranged; the sliding frame is provided with a mounting surface and a sliding block, the sliding frame is slidably mounted on a sliding groove of the fixed frame through the sliding block, and the mounting surface of the sliding frame faces to the operating area; the push-pull assembly is arranged between the frame and the sliding frame and is used for driving the sliding frame to slide along the sliding chute of the fixed frame in the horizontal direction so as to enable the clamping assembly to stretch into or withdraw from the operation area; the rotating unit is arranged between the mounting surface of the sliding frame and the clamping assembly and is used for driving the clamping assembly to rotate in a vertical plane; the clamping assembly is internally provided with a clamping opening with adjustable opening and used for clamping materials.

The utility model discloses further technical scheme is: the push-pull assembly comprises a motor A, a driving wheel A, a driven wheel A and a synchronous belt A; the motor A is fixedly arranged on the frame; the driving wheel A is fixedly arranged on a crankshaft of the motor A; the driven wheel A is rotatably arranged on the frame and is arranged at the same height as the driving wheel A; the synchronous belt A is tensioned and wound between the driving wheel A and the driven wheel A and is fixedly connected with the sliding frame, the synchronous belt A runs under the driving of the motor A to drive the sliding frame to slide horizontally along the sliding groove of the fixing frame, and then the installation surface of the sliding frame is far away from or close to an operation area.

The utility model discloses still further technical scheme is: the clamping assembly comprises a bearing plate A, an air cylinder and a clamping plate; the bearing plate A is fixedly arranged on the rotating unit and is driven by the rotating unit to rotate in a vertical plane; the two cylinders are fixedly arranged on the bearing plate A, and telescopic rods of the two cylinders are oppositely arranged; the two clamping plates are respectively fixedly arranged on the piston rods of the two cylinders and are oppositely arranged, and rubber cushion layers are respectively arranged on the oppositely arranged surfaces of the two clamping plates; the clamping opening is the area between the two clamping plates.

The utility model discloses a further technical scheme is: it also comprises an electric roller; four motorized rollers are mounted in the four roller mounting areas of the frame, respectively.

The utility model discloses a further technical scheme is: the electric roller comprises a driving motor, a wheel shaft and an omnidirectional wheel; the driving motor is fixedly arranged at one side of the roller mounting area of the frame, and a crankshaft of the driving motor horizontally extends out; the wheel shaft is horizontally arranged, one end of the wheel shaft is rotatably arranged at the other side edge of the roller mounting area of the frame through a bearing and a bearing seat, and the other end of the wheel shaft is connected with a shaft of the driving motor through a coupler; the omnidirectional wheels are fixedly arranged on the wheel shafts and are positioned in the roller wheel mounting area, and the included angle between any two adjacent omnidirectional wheels is 90 degrees.

Compared with the prior art, the utility model have following advantage: the overturning and posture adjusting device is applied to the material handling and stacking robot, can realize overturning and posture adjusting after materials are picked up, is convenient for stacking the materials in a specific posture, and improves the automation degree of the material handling and stacking robot.

Applied the utility model discloses a material handling pile robot has following advantage:

1. the device is used for carrying and stacking rigid materials with regular shapes, can be widely applied to all links in industrial production, and solves the problems of high labor intensity, time and labor waste and potential safety hazards in manual carrying and stacking of the materials.

2. It gets the cooperation of device through low level turning device and high-order clamp, can realize the upset of material and transfer the appearance to put things in good order of material has promoted holistic maneuverability and degree of automation.

The invention is further described below with reference to the figures and examples.

Drawings

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

FIG. 2 is a schematic view of the frame construction;

FIG. 3 is a schematic view of the low-position turning device from a viewing angle;

FIG. 4 is a schematic view of the low-position turning device from another view angle;

fig. 5 is a schematic structural view of a material handling and stacking robot to which the present invention is applied;

FIG. 6 is a schematic view of the cassette clamping mechanism at one viewing angle;

FIG. 7 is a schematic view of the case clamping mechanism from another perspective;

FIG. 8 is a state diagram of substep 2 of the workflow S01 of scenario 1;

FIG. 9 is a state diagram of substep 2 of the workflow S02 of scenario 1;

FIG. 10 is a state diagram of substep 4 of the workflow S01 of scenario 2;

FIG. 11 is a state diagram of sub-step 2 of the workflow S02 of scenario 2;

FIG. 12 is a state diagram of substep 5 of the workflow S02 of scenario 2;

FIG. 13 is a state diagram of sub-step 4 of the workflow S03 of scenario 2;

fig. 14 is a state diagram of the 7 th substep of the S03 workflow of scenario 2.

Illustration of the drawings: a frame 1; a roller mounting area 11; an operating area 12; an opening 13; an electric roller 2; a fixed frame 31; a chute 311; a carriage 32; a mounting surface 321; a slider 322; motor A331; a driving wheel A332; a driven wheel A333; a synchronous belt A334; a rotating unit 34; a carrier plate A351; a cylinder 352; a clamp plate 353; the clamping ports 354; a motor B41; a drive wheel B42; a driven pulley B43; a synchronous belt B44; a guide post 45; a gripping mouth 50; a base 51; a guide rod 511; a carrier plate B52; a connecting rod 53; a rubber collet 54; a motor C551; a capstan C552; a slave wheel C553; a timing belt C554.

Detailed Description

Example 1:

as shown in fig. 1-4, the lower turnover assembly of the material handling and stacking robot includes a frame 1 and a lower turnover device.

The lower end of the frame 1 is provided with four roller mounting areas 11 which are distributed in a rectangular shape, an operation area 12 for clamping and turning over the box body is arranged inside the frame 1, and the front end of the frame 1 is provided with an opening 13 communicated to the operation area.

The low-position turnover device comprises a fixed frame 31, a sliding frame 32, a push-pull assembly, a rotating unit 34 and a clamping assembly.

The fixed frame 31 is fixedly installed in the middle of the lower end of the frame 1, and is provided with a sliding chute 311 horizontally arranged thereon.

The carriage 32 is provided with a mounting surface 321 and a slider 322, and the carriage 32 is slidably mounted on the slide groove 311 of the fixed frame 31 via the slider 322, with the mounting surface 321 facing the operation area 12.

The push-pull assembly is disposed between the frame 1 and the sliding rack 32, and is used for driving the sliding rack 32 to slide horizontally along the sliding slot 311 of the fixing rack 31, so that the clamping assembly extends into or exits from the operation area 12. The push-pull assembly comprises a motor A331, a driving wheel A332, a driven wheel A333 and a synchronous belt A334. The motor a331 is fixedly mounted on the frame 1. The capstan a332 is fixedly mounted on the shaft of the motor a 331. The driven pulley a333 is rotatably mounted on the frame 1 and is disposed at the same height as the driving pulley a 332. The synchronous belt a334 is tensioned and wound between the driving pulley a332 and the driven pulley a333, and is fixedly connected with the sliding frame 32, the synchronous belt a334 is driven by the motor a331 to run, so as to drive the sliding frame 32 to slide along the sliding slot 331 of the fixed frame 31 in the horizontal direction, and further enable the installation surface 321 of the sliding frame 32 to be far away from or close to the operation area 12.

The rotation unit 34 is installed between the installation surface 321 of the sliding frame 32 and the clamping assembly, and is used for driving the clamping assembly to rotate in a vertical plane.

The clamping assembly includes a carrier plate a351, a cylinder 352, and a clamp plate 353. The carrier plate a351 is fixedly installed on the rotating unit 34, and is driven by the rotating unit 34 to rotate in a vertical plane. The two cylinders 352 are fixedly installed on the bearing plate a351, and the telescopic rods of the two cylinders 352 are oppositely arranged. The two clamping plates 353 are respectively fixedly installed on the piston rods of the two cylinders 352 and are oppositely arranged, rubber cushion layers (not shown in the figure) are respectively arranged on the oppositely arranged surfaces of the two clamping plates 353, the area between the two clamping plates 353 is defined as a clamping opening 354, the opening degree of the clamping opening 354 can be adjusted by controlling the synchronous extension or synchronous retraction of the piston rods of the two cylinders 352, when the piston rods of the two cylinders 352 synchronously extend, the opening degree of the clamping opening 354 is reduced, and when the piston rods of the two cylinders 352 synchronously retract, the opening degree of the clamping opening 354 is increased.

Preferably, it also comprises motorized roller 2. Four motorized rollers 2 are respectively installed in four roller installation areas 11 of the frame 1. The motorized trolley 2 includes a driving motor, a wheel shaft, and an omni wheel. The driving motor is fixedly arranged at one side of the roller mounting area of the frame, and a crankshaft of the driving motor horizontally extends out. The wheel shaft is horizontally arranged, one end of the wheel shaft is rotatably arranged at the other side edge of the roller mounting area of the frame through a bearing and a bearing seat, and the other end of the wheel shaft is connected with a shaft of the driving motor through a coupler. The omnidirectional wheels are fixedly arranged on the wheel shafts and are positioned in the roller wheel mounting area, and the included angle between any two adjacent omnidirectional wheels is 90 degrees.

The utility model discloses be applied to material handling pile robot, can realize that the upset after the material picks up transfers the appearance. As shown in fig. 1-7, the material handling and stacking robot includes a lower flipping unit and an upper gripper.

The detailed structure of the lower turnover assembly is as described above and will not be described herein.

The high-position clamping device comprises a lifting driving mechanism and a box body clamping mechanism.

The lifting driving mechanism is arranged on the frame 1, and the action executing piece of the lifting driving mechanism can do reciprocating linear movement in the vertical direction. The lifting driving mechanism comprises a motor B41, a driving wheel B42, a driven wheel B43, a synchronous belt B44 and a guide post 45. The motor B41 is fixedly arranged at the lower end of the frame 1. The driving pulley B42 is fixedly mounted on the crankshaft of the motor B41. The driven pulley B43 is rotatably mounted on the upper end of the frame 1. The timing belt B44 is wound around and tensioned between the driving pulley B42 and the driven pulley B43. A plurality of guide posts 45 are vertically arranged and fixedly connected between the upper and lower ends of the frame 1. The action executing part is a synchronous belt B44. The lifting driving mechanisms are arranged on two sides of the operation area 12.

The box body clamping mechanism is associated with the action executing piece of the lifting driving mechanism and is driven by the action executing piece of the lifting driving mechanism to do reciprocating linear movement in the vertical direction. The box clamping mechanism comprises a base 51, a bearing plate B52, a connecting rod 53, a rubber chuck 54 and an opening and closing assembly. The pedestal 51 is fixedly connected with the synchronous belts B44 of the two groups of lifting driving mechanisms at two ends respectively, and forms sliding fit with the guide posts 45 of the two groups of lifting driving mechanisms respectively, a plurality of guide rods 511 which are horizontally arranged and are arranged in parallel are arranged in the middle of the pedestal 51, and the extending direction of the guide rods 511 is perpendicular to the front-back direction of the frame 1. The two carrier plates B52 are slidably mounted on the guide rods 511 of the base 51, respectively. The number of the connecting rods 53 is two, the two groups of connecting rods B54 are respectively connected with the two bearing plates B52, and each group of connecting rods 53 comprises one or more connecting rods 53. The connecting rod 53 is rotatably coupled at an upper end to the lower surface of the bearing plate B52 by means of a bearing and/or a bushing, and the connecting rod 53 is fixedly coupled at a lower end to the collet 54. Correspondingly, the rubber chucks 54 are divided into two groups, the two groups of rubber chucks 54 are respectively connected to the lower ends of the two groups of connecting rods 53 and form a one-to-one correspondence with the connecting rods 53, each rubber chuck 54 is in a triangular prism shape and comprises two end faces and three side wall faces arranged between the two end faces, the three side wall faces of each rubber chuck 54 are respectively provided with an axially extending concave arc face, the connecting position of each rubber chuck 54 and the connecting rod 53 is located at the center of the end face of each rubber chuck 54, and the area between the two groups of rubber chucks 54 is defined as a clamping opening 50. The opening and closing component is disposed on the base 51 and is respectively associated with the two bearing plates B52 to drive the two bearing plates B52 to synchronously move towards each other or synchronously move away from each other along the guide rod 511 of the base 51, so as to expand or reduce the opening degree of the clamping opening 50. The opening and closing assembly comprises a motor C551, a driving wheel C552, a driven wheel C553 and a synchronous belt C554. The motor C551 is fixedly mounted on the base 51. The driving wheel C552 is directly or indirectly connected with the crankshaft power of the motor C551 and is positioned at one end of the base 51; a driven wheel C553 is rotatably mounted at the other end of the base 51 and is arranged at the same height as the driving wheel C552; the timing belt C554 is wound in tension between the driving pulley C552 and the driven pulley C553, and the belts on both sides of the timing belt C554 are moved in reverse in synchronization when the timing belt C554 is operated. The synchronous belt C554 is fixedly connected to the two bearing plates B52 by belts on both sides thereof, respectively, to drive the two bearing plates B52 to synchronously move toward each other or synchronously move away from each other along the guide rods 511 of the susceptor 51. The path swept by the vertical movement of the gripping mouth 50 of the high-level gripping device is located within the operating area 12.

The crossing area exists between the path swept by the horizontal movement of the clamping port 354 of the low-position turnover device and the path swept by the vertical movement of the clamping port 50 of the high-position clamping device, and the crossing area is located in the middle of the lower end of the operation area 12, so that the low-position turnover device and the high-position clamping device can realize the material handover.

Preferably, when the materials to be carried and stacked are cylindrical, one group of connecting rods 53 only comprises one connecting rod 53, and the total number of the connecting rods is two; accordingly, the number of the rubber chucks 54 in the set of rubber chucks 54 is only one, and two rubber chucks, the connecting line between the two rubber chucks 54 is parallel to the guide bar 511 of the base 51. Based on the structure, when the cylindrical material is clamped, the concave cambered surfaces of the two rubber chucks 54 are in surface contact with the outer circular surface of the cylinder respectively, and the applied pressing force directions are opposite, so that the clamping is stable.

Preferably, when the materials to be carried and stacked are cuboids, each group of connecting rods 53 comprises a plurality of connecting rods 53; correspondingly, the number of the rubber chucks 54 in each group is plural, all the rubber chucks 54 in each group of the rubber chucks 54 are arranged in a straight line, and the two groups of the rubber chucks 54 are symmetrically arranged. Based on the structure, the clamping opening 50 is rectangular, when clamping cuboid materials, the concave cambered surfaces of the two groups of rubber chucks 54 respectively form a multi-surface contact relation with two side wall surfaces of the cuboid, and the applied pressing force direction forms a plurality of positions which are opposite to each other, so that the clamping is relatively stable.

The material handling and stacking robot is used for handling and stacking rigid materials with regular shapes (such as cylindrical or rectangular), and specific handling and stacking operations can be divided into the following two scenes: 1. the initial posture of placing of material is unanimous with the pile gesture of material, under this state, after snatching the material at initial position, move to the target location and carry out the pile operation can, need not to rotate the posture of adjustment material. 2. The initial placing posture of the material is inconsistent with the stacking posture of the material, and in this state, after the material is grabbed at the initial position, the material needs to be rotated to a proper posture and then moved to the target position to execute stacking operation. And respectively explaining the working process of the material handling and stacking robot according to the two scenes.

The material handling and stacking robot is in an initial state before carrying out a handling and stacking operation, and in the initial state:

a. the two carrier plates B52 are at the farthest limit positions to maximize the opening degree of the gripping opening 50;

b. the piston rods of both cylinders 352 are in a retracted state to maximize the opening of the clamping ports 354;

c. the carriage 32 moves along the fixed frame 31 to an extreme position far from the operating area 12 (i.e. an extreme position relatively close to the rear end of the frame 1) to withdraw the gripping assembly outside the operating area 12;

d. the two clamping plates 353 are horizontally arranged oppositely;

e. the box body clamping mechanism is at the upper end limit position of the moving stroke of the box body clamping mechanism.

As shown in fig. 8-9, scenario 1 workflow:

s01, the high-level clamping device clamps and takes the materials:

1. the electric roller 2 acts to adjust the pose of the regular rigid material carrying and stacking robot, so that the material placed at the initial position is contained into the operation area 12 through the opening 13 and is positioned in the middle of the operation area 12;

2. the motors B41 of the two groups of lifting driving mechanisms are synchronously started to drive the box body clamping mechanism to descend to be adapted to the height of the material, and the box body clamping mechanism contains two opposite side wall surfaces of the material through the clamping opening 50;

3. the motor C551 is started to drive the two bearing plates B52 to synchronously move towards each other until the two groups of rubber chucks 54 are tightly attached to the two side wall surfaces of the material, so that the material is clamped;

4. and the motors B41 of the two groups of lifting driving mechanisms are synchronously started to drive the box body clamping mechanism and the materials to ascend to the limit position.

In this step, the rubber collet 54 has a certain elasticity, and can generate adaptive deformation after applying pressing force, thereby realizing close fit on the surface of the material.

S02, stacking materials by using a high-position clamping device:

1. the electric roller 2 acts to drive the regular rigid material handling and stacking robot to move to a target position, contain the lower-layer material placed at the target position into the operation area 12 and enable the lower-layer material to be positioned right below the clamped material;

2. the motors B41 of the two groups of lifting driving mechanisms are synchronously started to drive the box body clamping mechanism to descend together with the materials, and after the clamped materials stably fall on the lower-layer materials, the motor C551 is started to drive the two bearing plates B52 to synchronously move backwards so that the two groups of rubber chucks 54 are separated from the materials, thereby loosening the materials;

3. and the motors B41 of the two groups of lifting driving mechanisms are synchronously started to drive the box body clamping mechanism to move upwards to the limit position, and then the electric rollers 2 are controlled to act, so that the regular rigid material carrying and stacking robot exits out of the target area.

As shown in fig. 10-14, scenario 2 workflow:

s01, the high-level clamping device clamps and lifts the material:

1. the electric roller 2 acts to adjust the pose of the regular rigid material handling and stacking robot, so that the material placed at the initial position is contained into the operation area 12 through the opening 13 and is positioned in the middle of the operation area 12;

2. the motors B41 of the two groups of lifting driving mechanisms are synchronously started to drive the box body clamping mechanism to descend to be adapted to the height of the material, and the box body clamping mechanism contains two opposite side wall surfaces of the material through the clamping opening 50;

3. the motor C551 is started to drive the two bearing plates B52 to synchronously move towards each other until the two groups of rubber chucks 54 are tightly attached to the two side wall surfaces of the material, so that the material is clamped;

4. the motors B41 of the two groups of lifting driving mechanisms are synchronously started to drive the box body clamping mechanism to ascend together with the materials to be matched with the height of the clamping assembly, and the matching means that: in the subsequent operation, when the clamping assembly clamps and rotates the material, the material does not interfere with the ground and the frame 1.

S02, clamping and overturning the material by the low-position overturning device:

1. the motor A331 is started to drive the sliding frame 32 to move along the fixed frame 31 to extend into the operation area 12, so that two opposite side wall surfaces of the material are accommodated in the clamping openings 354;

2. the telescopic rods of the two cylinders 352 synchronously extend out to reduce the clamping ports 354 until the two clamping plates 353 clamp the two opposite side wall surfaces of the material;

3. the motor C551 is started to drive the two bearing plates B52 to synchronously move back to the limit position, so that the two groups of rubber chucks 54 are separated from the material;

4. the motors B41 of the two groups of lifting driving mechanisms are synchronously started to drive the box body clamping mechanism to move upwards to the limit position so as to avoid interfering with the subsequent material overturning process;

5. the rotating unit 34 is started to drive the clamping assembly to rotate 90 degrees, so that the two clamping plates 353 are vertically arranged oppositely, and the material is turned over.

S03, clamping and stacking materials by the high-position clamping device:

1. the motors B41 of the two groups of lifting driving mechanisms are synchronously started to drive the box body clamping mechanism to descend to be matched with the height of the material, wherein the matching means that the two groups of rubber chucks 54 respectively face the material and contain the material in the clamping opening 50;

2. the motor C551 is started to drive the two bearing plates B52 to synchronously move towards each other until the two groups of rubber chucks 54 are tightly attached to the two side wall surfaces of the material, so that the material is clamped;

3. the telescopic rods of the two cylinders 352 retract synchronously to expand the clamping opening 354, so that the two clamping plates 353 are separated from the material;

4. the motor a331 is started to drive the sliding frame 32 to move along the fixed frame 31 to the exit operation area 12 (i.e. to the area relatively close to the rear end of the frame 1) so as to avoid interference with the subsequent material lifting process;

5. the motors B41 of the two groups of lifting driving mechanisms are synchronously started to drive the box body clamping mechanism to lift to the limit position together with the material;

6. the electric roller 2 acts to drive the regular rigid material handling and stacking robot to move to a target position, and the lower-layer material placed at the target position is contained into the operation area 12 and is positioned under the clamped material;

7. the motors B41 of the two groups of lifting driving mechanisms are synchronously started to drive the box body clamping mechanism to descend together with the materials, and when the clamped materials stably fall on the lower-layer materials, the motor C551 is started to drive the two bearing plates B52 to synchronously move backwards so as to separate the two groups of rubber chucks 54 from the materials, thereby loosening the materials;

8. and the motors B41 of the two groups of lifting driving mechanisms are synchronously started to drive the box body clamping mechanism to move upwards to the limit position, and then the electric rollers 2 are controlled to act, so that the regular rigid material carrying and stacking robot exits out of the target area.

In this step, the rubber collet 54 has a certain elasticity, and can generate adaptive deformation after applying pressing force, thereby realizing the close fit with the surface of the material.

Claims (5)

1. Lower part upset assembly of material handling pile robot, characterized by: comprises a frame and a low-position turnover device;

the lower end of the frame is provided with four roller mounting areas which are distributed in a rectangular shape, an operation area for clamping and turning the box body is arranged in the frame, and the front end of the frame is provided with an opening communicated to the operation area;

the low-position turnover device comprises a fixed frame, a sliding frame, a push-pull assembly, a rotating unit and a clamping assembly; the fixed frame is fixedly arranged in the middle of the lower end of the frame and is provided with a sliding chute which is horizontally arranged; the sliding frame is provided with a mounting surface and a sliding block, the sliding frame is slidably mounted on a sliding groove of the fixed frame through the sliding block, and the mounting surface on the sliding frame faces the operation area; the push-pull assembly is arranged between the frame and the sliding frame and is used for driving the sliding frame to slide along the sliding chute of the fixed frame in the horizontal direction so as to enable the clamping assembly to stretch into or withdraw from the operation area; the rotating unit is arranged between the mounting surface of the sliding frame and the clamping assembly and is used for driving the clamping assembly to rotate in a vertical plane; the clamping assembly is internally provided with a clamping opening with adjustable opening and used for clamping materials.

2. The material handling stacker robot lower tilt assembly of claim 1 further comprising: the push-pull assembly comprises a motor A, a driving wheel A, a driven wheel A and a synchronous belt A; the motor A is fixedly arranged on the frame; the driving wheel A is fixedly arranged on a crankshaft of the motor A; the driven wheel A is rotatably arranged on the frame and is arranged at the same height as the driving wheel A; the synchronous belt A is tensioned and wound between the driving wheel A and the driven wheel A and is fixedly connected with the sliding frame, the synchronous belt A runs under the driving of the motor A to drive the sliding frame to slide horizontally along the sliding groove of the fixing frame, and then the installation surface of the sliding frame is far away from or close to an operation area.

3. The material handling stacker robot lower tilt assembly of claim 2 further comprising: the clamping assembly comprises a bearing plate A, an air cylinder and a clamping plate; the bearing plate A is fixedly arranged on the rotating unit and is driven by the rotating unit to rotate in a vertical plane; the two cylinders are fixedly arranged on the bearing plate A, and telescopic rods of the two cylinders are oppositely arranged; the two clamping plates are respectively fixedly arranged on the piston rods of the two cylinders and are oppositely arranged, and rubber cushion layers are respectively arranged on the oppositely arranged surfaces of the two clamping plates; the clamping opening is the area between the two clamping plates.

4. The material handling stacker robot lower tilt assembly of claim 3 wherein: it also comprises an electric roller; four motorized rollers are mounted in the four roller mounting areas of the frame, respectively.

5. The bottom turn assembly of a materials handling stacker robot as set forth in claim 4, wherein: the electric roller comprises a driving motor, a wheel shaft and an omnidirectional wheel; the driving motor is fixedly arranged at one side of the roller mounting area of the frame, and a crankshaft of the driving motor horizontally extends out; the wheel shaft is horizontally arranged, one end of the wheel shaft is rotatably arranged at the other side edge of the roller mounting area of the frame through a bearing and a bearing seat, and the other end of the wheel shaft is connected with a shaft of the driving motor through a coupler; the omnidirectional wheels are fixedly arranged on the wheel shafts and are positioned in the roller wheel mounting area, and the included angle between any two adjacent omnidirectional wheels is 90 degrees.

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