WO2021017530A1

WO2021017530A1 - Handling robot and handling method for industrial production

Info

Publication number: WO2021017530A1
Application number: PCT/CN2020/085196
Authority: WO
Inventors: 余宝; 秦宇
Original assignee: 南京昱晟机器人科技有限公司
Priority date: 2019-07-28
Filing date: 2020-04-16
Publication date: 2021-02-04
Also published as: CN110422628B; CN110422628A

Abstract

Disclosed is a handling robot for industrial production, comprising box bodies, the quantity of the box bodies being two. The present invention, by means of arranging box bodies, a first driven bevel gear, a first driving bevel gear, a first motor, a frame, a conveyor belt, a bottom plate, a second connecting pipe, a first hydraulic telescopic rod, a crossbar, a second hydraulic telescopic rod, a vacuum pump, a spray head, a filter housing, a first connecting pipe, a fan, a vacuum suction cup, a clamp plate, a third connecting pipe, a first roller, a second roller, a second shaft, a first shaft, a filtration screen, a rubber block, an electrically powered telescoping rod, a housing, a second motor, a second driving bevel gear, a second driven bevel gear, and a rotary rod to be used in conjunction with each other, solves the problem of some of the existing industrial production handling robots not having a dust removal function and the goods clamping performance during the handling process being poor, causing poor handling performance; the handling robot for industrial production has the advantage of good handling performance, and is worthy of widespread promotion.

Description

Handling robot and handling method for industrial production

Technical field

The invention relates to the technical field of industrial production, in particular to a handling robot and a handling method for industrial production.

Background technique

Industry mainly refers to the industry or engineering of raw material collection and product processing and manufacturing. Industry is the product of the development of social division of labor. After several development stages of handicraft, machine industry, and modern industry, industry is an important part of the secondary industry, which is mainly divided into two categories: light industry and heavy industry. Industrial robots are mostly oriented to the industrial field. A joint manipulator or a multi-degree-of-freedom machine device, which can perform work automatically, is a machine that realizes various functions by its own power and control capabilities. It can be commanded by humans, and it can also be run in accordance with pre-arranged programs. Modern industrial robots can also act according to the principles and guidelines formulated by artificial intelligence technology.

With the continuous development and progress of society, the use of industrial robots has become more and more widespread. Among them, industrial handling robots are also a type of industrial robots. Existing industrial handling robots cannot remove dust on the surface of goods during the process of use, and they are carrying In the process of cargo, the effect of fixing the cargo is poor, resulting in a poor handling effect of the cargo.

technical problem

The purpose of the present invention is to provide a handling robot for industrial production and a handling method, which has the advantages of good handling effect, and solves the problem that some of the existing handling robots for industrial production do not have the dust removal function and the clamping effect on goods during the handling process Poor, causing the problem of poor handling effect.

Technical solutions

In order to achieve the above objective, the present invention provides the following technical solution: a handling robot for industrial production, including a box, the number of the box is two, the bottom of the two opposite sides of the box are fixedly connected to the first motor , The output end of the first motor penetrates into the inner cavity of the box body and is fixedly connected with the first driving bevel gear, the bottom of the inner cavity of the box body is movably connected with a rotating rod, and the surface of the rotating rod is fixedly sleeved with The first driven bevel gear is used in conjunction with the first driven bevel gear. The top of the rotating rod penetrates to the top of the box and is fixedly connected with a first hydraulic telescopic rod. The top of the first hydraulic telescopic rod is fixedly connected with a horizontal A second hydraulic telescopic rod is fixedly connected to the left side of the bottom of the cross rod, a vacuum pump is fixedly connected to the bottom of the second hydraulic telescopic rod, and a vacuum suction cup is fixedly connected to the bottom of the vacuum pump. Both sides are fixedly connected with nozzles, the right side of the vacuum pump is fixedly connected with a fan, the right side and the bottom of the fan are respectively connected with a first connecting pipe and a second connecting pipe, and the bottom of the second connecting pipe is connected with The third connecting pipe, the bottom of the third connecting pipe is connected with the spray head, the front and rear sides of the vacuum pump are fixedly connected with electric telescopic rods, the side of the electric telescopic rod away from the vacuum pump is fixedly connected with a splint, two splints A rubber block is fixedly connected to the bottom of the opposite side, a frame is fixedly connected between the tops of the two opposite sides of the box body, and the two sides of the inner cavity of the frame are respectively movably connected with a first rotating shaft and a second rotating shaft. The surfaces of the first rotating shaft and the second rotating shaft are both sleeved with a first roller, a conveyor belt is movably sleeved between the surfaces of the two first rollers, and a second motor is fixedly connected to the left side of the rear side of the frame. A housing is fixedly connected to the left side of the two motors, the front side of the housing is fixedly connected to the frame, the output end of the second motor penetrates into the inner cavity of the housing and is fixedly connected with a second driving bevel gear, the The rear end of the first rotating shaft sequentially penetrates the frame and the housing to extend to the inner cavity of the housing and is movably connected to the rear side of the inner cavity of the housing. The surface of the first rotating shaft is fixedly sleeved with a second driving bevel gear. The second driven bevel gear.

Preferably, the bottom of the box body is fixedly connected with a bottom plate, and the bottom of the bottom plate is provided with anti-skid patterns.

Preferably, the top of the left side of the first hydraulic telescopic rod is fixedly connected with a reinforcing plate, and the top of the reinforcing plate is fixedly connected with the cross bar.

Preferably, a filter housing is fixedly connected to the right side of the first connecting pipe, and a filter net is fixedly connected to the inner cavity of the filter housing.

Preferably, the connections between the front and rear ends of the first rotating shaft and the second rotating shaft and the frame are movably connected by bearings.

Preferably, the inner cavity of the conveyor belt is movably connected with a second roller, the number of the second roller is several, and the front and rear sides of the second roller are connected to the frame through the cooperation of the third rotating shaft and the bearing. Active connection

Preferably, a handling method of a handling robot for industrial production, the specific operation steps are as follows:

A: Power on the device, use the plc controller to control the operation of the device, first move the goods that need to be transported to the left side of the robot, and the transport robot on the left is controlled by the plc controller to shorten the first hydraulic telescopic rod and reduce the height , The first hydraulic telescopic rod drives the crossbar to lower the height, the crossbar drives the second hydraulic telescopic rod to descend, and at the same time the second hydraulic telescopic rod can be started to extend. The second hydraulic telescopic rod drives the vacuum suction cup to descend through the vacuum pump and contacts the cargo. In this process, the fan sucks the outside air through the cooperation of the first connecting pipe and the filter housing, and filters the dust in the air through the filter. Then the air is injected into the nozzle through the second connecting pipe and the third connecting pipe, and the air ejected from the nozzle The dust on the surface of the cargo is removed. The fan runs for two seconds. When the vacuum pump is running, the vacuum sucker absorbs the cargo. At the same time, the electric telescopic rod is shortened to drive the splint close to the cargo. The rubber block is used to clamp the cargo for further fixing, and then the PLC controller is used to control the first A hydraulic telescopic rod and a second hydraulic telescopic rod are reset, and then the handling robot on the left drives the first driving bevel gear to rotate through the operation of the first motor, and the first driving bevel gear drives the rotating rod to rotate through the first driven bevel gear. The rod drives the second hydraulic telescopic rod to move through the cooperation of the first hydraulic telescopic rod and the cross rod. The second hydraulic telescopic rod drives the goods to the top of the transmission belt through the bottom structure and extends the second hydraulic telescopic rod to make the goods and the conveyor belt Contact with the top of the vacuum pump to stop the operation of the vacuum pump, and at the same time the electric telescopic rod extends, and the rubber block is driven away from the cargo through the splint, and the cargo falls on the top of the conveyor belt;

B: The output end of the second motor drives the second driving bevel gear to rotate. The second driving bevel gear drives the first rotating shaft to rotate through the second driven bevel gear. When the first rotating shaft rotates, the first roller rotates, and the first roller passes through the conveyor belt. Drive the other first roller to rotate while the conveyor belt conveys the goods;

C: When the goods move to the bottom of the right robot, the first hydraulic telescopic rod is shortened and lowered by the handling robot under the control of the plc controller, the first hydraulic telescopic rod drives the crossbar to lower the height, and the crossbar drives the second hydraulic telescopic rod to descend At the same time, the second hydraulic telescopic rod can be started to extend. The second hydraulic telescopic rod is driven by the vacuum pump to drive the vacuum sucker down and contact with the cargo. In this process, the fan absorbs outside air through the cooperation of the first connecting pipe and the filter housing, and passes through the filter screen. The dust in the air is filtered, and then the air is injected into the nozzle through the second connecting pipe and the third connecting pipe. The air sprayed from the nozzle removes the dust on the surface of the cargo. The fan runs for two seconds and the vacuum pump is running. At the same time, the electric telescopic rod is shortened to drive the splint close to the goods, and the goods are clamped and further fixed by rubber blocks. Then the PLC controller is used to control the reset of the first and second hydraulic telescopic rods, and then the right handling robot passes the first motor The operation of the drive drives the first driving bevel gear to rotate, the first driving bevel gear drives the rotating rod to rotate through the first driven bevel gear, and the second hydraulic telescopic rod is driven to move by the rotating rod through the cooperation of the first hydraulic telescopic rod and the cross rod. The hydraulic telescopic rod drives the goods to rotate to the right side of the device through the structure at the bottom. At this time, the first hydraulic telescopic rod of the right robot reduces the coverage, and the second hydraulic telescopic rod extends, making the bottom of the goods contact other devices and stop. The operation of the vacuum pump, while the electric telescopic rod is extended, the rubber block is driven away from the cargo through the splint, and the cargo falls on top of other devices;

D: Then each structure is reset, and the actions in steps A, B and C are repeated to carry out continuous transportation of the goods.

Beneficial effect

Compared with the prior art, the beneficial effects of the present invention are as follows:

1. In the present invention, the box, the first driven bevel gear, the first driving bevel gear, the first motor, the frame, the conveyor belt, the bottom plate, the second connecting pipe, the first hydraulic telescopic rod, the cross rod, and the second hydraulic telescopic rod are provided. Rod, vacuum pump, nozzle, filter shell, first connecting pipe, fan, vacuum suction cup, splint, third connecting pipe, first roller, second roller, second rotating shaft, first rotating shaft, filter screen, rubber block, electric telescopic The use of rods, housings, second motors, second driving bevel gears, second driven bevel gears, and rotating rods solves the problem that some of the existing industrial production handling robots do not have the dust removal function and handle the goods during the handling process. The clamping effect is poor, causing the problem of poor handling effect. The handling machine for industrial production has the advantages of good handling effect and is worthy of promotion.

2. The present invention facilitates the installation and use of the first shaft, the second shaft and the third shaft by providing bearings, and facilitates the installation of the second roller by setting the third shaft, and supports the conveyor belt by setting the second roller. Increase the stability of the conveyor belt during use. By setting the bottom plate, the contact area between the box and the ground is increased. By setting the anti-skid pattern, the friction between the bottom plate and the ground is increased. By setting the rubber block, the gap between the splint and the goods is increased. Friction, the surface of the cargo is a smooth plane structure.

Description of the drawings

Figure 1 is a schematic diagram of the structure of the present invention;

Figure 2 is a sectional view 1 of a partial structure of the present invention;

Figure 3 is a left view of the partial structure of the present invention;

Figure 4 is a second sectional view of the partial structure of the present invention;

Figure 5 is a right side view of the partial structure of the present invention;

Figure 6 is the third partial cross-sectional view of the partial structure of the present invention.

In the picture: 1 box body, 2 first driven bevel gear, 3 first driving bevel gear, 4 first motor, 5 frame, 6 conveyor belt, 7 bottom plate, 8 second connecting pipe, 9 first hydraulic telescopic rod, 10 Cross bar, 11 second hydraulic telescopic rod, 12 vacuum pump, 13 nozzles, 14 filter housing, 15 first connecting pipe, 16 fan, 17 vacuum suction cup, 18 splint, 19 third connecting pipe, 20 first roller, 21 second Roller, 22 second shaft, 23 first shaft, 24 filter screen, 25 rubber block, 26 electric telescopic rod, 27 shell, 28 second motor, 29 second driving bevel gear, 30 second driven bevel gear, 31 Rotate the rod.

Embodiments of the invention

The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

In the description of the invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "both ends", "one end", "other end", etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the pointed device or element must have a specific orientation or a specific orientation. The structure and operation cannot therefore be understood as a limitation of the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance.

In the description of the invention, it should be noted that the terms "installed", "provided with", "connected", etc., should be understood in a broad sense, unless otherwise clearly specified and limited. For example, "connected" may be a fixed connection. It may also be detachably connected or integrally connected; it may be mechanically connected or electrically connected; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication between two components. For those of ordinary skill in the art, the specific meaning of the above-mentioned terms in the present invention can be understood in specific situations.

The box body 1, the first driven bevel gear 2, the first driving bevel gear 3, the first motor 4, the frame 5, the conveyor belt 6, the bottom plate 7, the second connecting pipe 8, the first hydraulic telescopic rod 9, Crossbar 10, second hydraulic telescopic rod 11, vacuum pump 12, nozzle 13, filter housing 14, first connecting pipe 15, fan 16, vacuum suction cup 17, splint 18, third connecting pipe 19, first roller 20, second Roller 21, second rotating shaft 22, first rotating shaft 23, filter screen 24, rubber block 25, electric telescopic rod 26, housing 27, second motor 28, second driving bevel gear 29, second driven bevel gear 30 and The rotating rod 31 and other components are all common standard components or components known to those skilled in the art, and their structure and principles are all known to those skilled in the art through technical manuals or through conventional experimental methods.

Please refer to Figure 1-6, a handling robot for industrial production, including a box 1, which is characterized in that: the number of boxes 1 is two, and the bottoms of the two boxes 1 on opposite sides are fixedly connected with a first motor 4. The output end of the first motor 4 penetrates into the inner cavity of the box 1 and is fixedly connected with the first driving bevel gear 3. The bottom of the inner cavity of the box 1 is movably connected with a rotating rod 31, and the surface of the rotating rod 31 is fixedly sleeved There is a first driven bevel gear 2 used in conjunction with the first driving bevel gear 3. The top of the rotating rod 31 penetrates to the top of the box 1 and is fixedly connected to the first hydraulic telescopic rod 9 and the top of the first hydraulic telescopic rod 9 A crossbar 10 is fixedly connected, the left side of the bottom of the crossbar 10 is fixedly connected with a second hydraulic telescopic rod 11, the bottom of the second hydraulic telescopic rod 11 is fixedly connected with a vacuum pump 12, and the bottom of the vacuum pump 12 is fixedly connected with a vacuum suction cup 17, vacuum The nozzle 13 is fixedly connected to the front and rear sides of the suction cup 17, a fan 16 is fixedly connected to the right side of the vacuum pump 12, a first connecting pipe 15 and a second connecting pipe 8 are connected to the right and bottom of the fan 16 respectively, and the second connecting pipe The bottom of 8 is connected with a third connecting pipe 19, and the bottom of the third connecting pipe 19 is connected with the spray head 13. The front and rear sides of the vacuum pump 12 are fixedly connected with an electric telescopic rod 26, and the side of the electric telescopic rod 26 away from the vacuum pump 12 is fixedly connected There is a splint 18, the bottoms on the opposite sides of the two splints 18 are fixedly connected with a rubber block 25, the tops on the opposite sides of the two boxes 1 are fixedly connected with a frame 5, and the two sides of the inner cavity of the frame 5 are respectively movably connected with The surfaces of the first rotating shaft 23 and the second rotating shaft 22, the first rotating shaft 23 and the second rotating shaft 22 are both sleeved with a first roller 20, and a conveyor belt 6 is movably sleeved between the surfaces of the two first rollers 20. A second motor 28 is fixedly connected to the left side of the second motor 28, a housing 27 is fixedly connected to the left side of the second motor 28, the front side of the housing 27 is fixedly connected to the frame 5, and the output end of the second motor 28 penetrates the housing 27 The inner cavity of the second drive bevel gear 29 is fixedly connected with the second driving bevel gear 29. The rear end of the first rotating shaft 23 sequentially penetrates the frame 5 and the housing 27, extends to the inner cavity of the housing 27 and is movably connected to the rear side of the inner cavity of the housing 27, The surface of the first rotating shaft 23 is fixedly sleeved with a second driven bevel gear 30 that cooperates with the second driving bevel gear 29;

The bottom of the box body 1 is fixedly connected with a bottom plate 7, and the bottom of the bottom plate 7 is provided with anti-skid patterns. The top of the left side of the first hydraulic telescopic rod 9 is fixedly connected with a reinforcing plate, and the top of the reinforcing plate is fixedly connected with the cross rod 10. The right side of the tube 15 is fixedly connected with a filter housing 14, the inner cavity of the filter housing 14 is fixedly connected with a filter net 24, the front and rear ends of the first rotating shaft 23 and the second rotating shaft 22 are movably connected with the frame 5 through bearings, The inner cavity of the conveyor belt 6 is movably connected with a second roller 21, the number of the second roller 21 is several, the front and rear sides of the second roller 21 are movably connected with the connection of the frame 5 through the cooperation of the third rotating shaft and the bearing;

By providing bearings, it is convenient for the first rotating shaft 23, the second rotating shaft 22 and the third rotating shaft to be installed and used. By setting the third rotating shaft, it is convenient for the second roller 21 to be installed. The second roller 21 is provided to support the conveyor belt 6 , Increase the stability of the conveyor belt 6 in use, by setting the bottom plate 7, increase the contact area between the box body 1 and the ground, by setting the anti-skid pattern, increasing the friction between the bottom plate 7 and the ground, by setting the rubber block 25, increasing The friction force between the splint 18 and the cargo, the surface of the cargo is a smooth plane structure.

A handling method of a handling robot for industrial production, the specific operation steps are as follows:

A: Power on the device, use the plc controller to control the operation of the device, first move the goods to be transported to the left side of the robot, and the first hydraulic telescopic rod 9 is shortened and lowered under the control of the plc controller. Height, the first hydraulic telescopic rod 9 drives the cross rod 10 to lower the height, the cross rod 10 drives the second hydraulic telescopic rod 11 down, and at the same time the second hydraulic telescopic rod 11 can be started to extend, and the second hydraulic telescopic rod 11 drives the vacuum through the vacuum pump 12 The suction cup 17 descends and comes into contact with the cargo. During this process, the fan 16 sucks the outside air through the cooperation of the first connecting pipe 15 and the filter housing 14, and filters the dust in the air through the filter 24, and then the air passes through the second connecting pipe 8. And the third connecting pipe 19 is injected into the nozzle 13, the air sprayed by the nozzle 13 removes the dust on the surface of the cargo, the fan 16 runs for two seconds, and the vacuum pump 12 is running through the vacuum suction cup 17 to absorb the cargo, and the electric telescopic rod 26 is shortened and driven The splint 18 is close to the cargo, and the rubber block 25 is used to clamp the cargo for further fixing, and then the PLC controller is used to control the resetting of the first hydraulic telescopic rod 9 and the second hydraulic telescopic rod 11, and then the handling robot on the left moves through the first motor 4 Drive the first driving bevel gear 3 to rotate, the first driving bevel gear 3 drives the rotating rod 31 to rotate through the first driven bevel gear 2, and the rotating rod 31 drives the second hydraulic expansion and contraction through the cooperation of the first hydraulic telescopic rod 9 and the cross rod 10 The rod 11 moves, and the second hydraulic telescopic rod 11 drives the goods to the top of the transmission belt 6 through the bottom structure, and extends the second hydraulic telescopic rod 11 to make the goods contact the top of the conveyor belt 6, stopping the operation of the vacuum pump 12, and electric The telescopic rod 26 is extended, and the rubber block 25 is driven away from the cargo through the splint 18, and the cargo falls on the top of the conveyor belt 6;

B: The output end of the second motor 28 drives the second driving bevel gear 29 to rotate, the second driving bevel gear 29 drives the first rotating shaft 23 to rotate through the second driven bevel gear 30, and the first roller 20 is driven when the first rotating shaft 23 rotates When rotating, the first roller 20 drives another first roller 20 to rotate through the conveyor belt 6, and the conveyor belt 6 conveys the goods at the same time;

C: When the goods move to the bottom of the right robot, the first hydraulic telescopic rod 9 is shortened and lowered by the handling robot under the control of the plc controller. The first hydraulic telescopic rod 9 drives the crossbar 10 to lower the height, and the crossbar 10 drives the second The hydraulic telescopic rod 11 is lowered, and the second hydraulic telescopic rod 11 can be started to extend at the same time. The second hydraulic telescopic rod 11 drives the vacuum suction cup 17 to descend through the vacuum pump 12 and contacts with the cargo. In this process, the fan 16 passes through the first connecting pipe 15 and The filter shell 14 sucks the outside air through the filter net 24 to filter the dust in the air, and then the air is injected into the nozzle 13 through the second connecting pipe 8 and the third connecting pipe 19, and the air sprayed from the nozzle 13 affects the surface of the goods. The dust is removed, and the fan 16 runs for two seconds. When the vacuum pump 12 is running, the vacuum sucker 17 absorbs the goods. At the same time, the electric telescopic rod 26 is shortened to drive the splint 18 close to the goods, and the rubber block 25 is used to clamp the goods for further fixing, and then use the plc controller Control the first hydraulic telescopic rod 9 and the second hydraulic telescopic rod 11 to reset, and then the right handling robot drives the first driving bevel gear 3 to rotate through the operation of the first motor 4, and the first driving bevel gear 3 passes through the first driven bevel gear 2 Drive the rotating rod 31 to rotate. The rotating rod 31 drives the second hydraulic telescopic rod 11 to move through the cooperation of the first hydraulic telescopic rod 9 and the cross rod 10. The second hydraulic telescopic rod 11 drives the goods to rotate to the right of the device through the structure at the bottom. At this time, the first hydraulic telescopic rod 9 of the right robot is reduced in coverage, and the second hydraulic telescopic rod 11 is extended so that the bottom of the cargo comes into contact with other devices, stopping the operation of the vacuum pump 12, and at the same time the electric telescopic rod 26 is extended. The rubber block 25 is driven away from the cargo through the splint 18, and the cargo falls on top of other devices;

To sum up: this industrial production handling robot has a box body 1, a first driven bevel gear 2, a first driving bevel gear 3, a first motor 4, a frame 5, a conveyor belt 6, a bottom plate 7, and a second connection Tube 8, first hydraulic telescopic rod 9, cross rod 10, second hydraulic telescopic rod 11, vacuum pump 12, nozzle 13, filter housing 14, first connecting pipe 15, fan 16, vacuum suction cup 17, splint 18, third connection Tube 19, first roller 20, second roller 21, second rotating shaft 22, first rotating shaft 23, filter screen 24, rubber block 25, electric telescopic rod 26, housing 27, second motor 28, second driving bevel gear 29. The combined use of the second driven bevel gear 30 and the rotating rod 31 solves the problem that some of the existing industrial production handling robots do not have the dust removal function and the clamping effect of the goods during the handling process is poor, resulting in the handling effect Poor problem.

Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, and substitutions can be made to these embodiments without departing from the principle and spirit of the present invention. And variations, the scope of the present invention is defined by the appended claims and their equivalents.

Claims

A handling robot for industrial production, comprising a box (1), characterized in that: the number of the box (1) is two, and the bottoms of the two boxes (1) on opposite sides are fixedly connected with the first The motor (4), the output end of the first motor (4) penetrates into the inner cavity of the box (1) and is fixedly connected with the first driving bevel gear (3), and the bottom of the inner cavity of the box (1) A rotating rod (31) is movably connected, and the surface of the rotating rod (31) is fixedly sleeved with a first driven bevel gear (2) for use with the first driving bevel gear (3), and the rotating rod (31) The top of) penetrates to the top of the box (1) and is fixedly connected with a first hydraulic telescopic rod (9), and the top of the first hydraulic telescopic rod (9) is fixedly connected with a cross rod (10), and the cross rod (10) A second hydraulic telescopic rod (11) is fixedly connected to the left side of the bottom, a vacuum pump (12) is fixedly connected to the bottom of the second hydraulic telescopic rod (11), and the bottom of the vacuum pump (12) is fixedly connected with A vacuum suction cup (17), the front and rear sides of the vacuum suction cup (17) are fixedly connected with nozzles (13), and the right side of the vacuum pump (12) is fixedly connected with a fan (16), and the fan (16) A first connecting pipe (15) and a second connecting pipe (8) are connected to the right side and the bottom respectively, and a third connecting pipe (19) is connected to the bottom of the second connecting pipe (8), and the third connecting pipe The bottom of (19) is connected to the nozzle (13), the front and rear sides of the vacuum pump (12) are fixedly connected with electric telescopic rods (26), and the side of the electric telescopic rod (26) away from the vacuum pump (12) is fixed A splint (18) is connected, the bottoms of the two splints (18) on opposite sides are fixedly connected with rubber blocks (25), and the tops of the two boxes (1) on the opposite sides are fixedly connected with a frame (5), A first rotating shaft (23) and a second rotating shaft (22) are movably connected to both sides of the inner cavity of the frame (5), and the surfaces of the first rotating shaft (23) and the second rotating shaft (22) are sleeved The first roller (20), a conveyor belt (6) is movably sleeved between the surfaces of the two first rollers (20), and a second motor (28) is fixedly connected to the left side of the frame (5), so A housing (27) is fixedly connected to the left side of the second motor (28), the front side of the housing (27) is fixedly connected to the frame (5), and the output end of the second motor (28) penetrates to The inner cavity of the housing (27) is fixedly connected with the second driving bevel gear (29), and the rear end of the first rotating shaft (23) sequentially penetrates the frame (5) and the housing (27) and extends to the housing (27). ) And is movably connected to the rear side of the inner cavity of the housing (27), and the surface of the first rotating shaft (23) is fixedly sleeved with a second driven cone for use with the second driving bevel gear (29) Gear (30).
A handling robot for industrial production according to claim 1, characterized in that: the bottom of the box (1) is fixedly connected with a bottom plate (7), and the bottom of the bottom plate (7) is provided with anti-skid patterns.
The handling robot for industrial production according to claim 1, characterized in that: the top of the left side of the first hydraulic telescopic rod (9) is fixedly connected with a reinforcing plate, and the top of the reinforcing plate is fixed to the crossbar (10) connection.
The handling robot for industrial production according to claim 1, characterized in that: the right side of the first connecting pipe (15) is fixedly connected with a filter shell (14), and the inner cavity of the filter shell (14) The filter screen (24) is fixedly connected.
The handling robot for industrial production according to claim 1, characterized in that: the connections between the front and rear ends of the first rotating shaft (23) and the second rotating shaft (22) and the frame (5) all move through bearings connection.
6. The handling robot for industrial production according to claim 1, characterized in that: the inner cavity of the conveyor belt (6) is movably connected with a second roller (21), and the number of the second roller (21) is several One, the front and rear sides of the second roller (21) are movably connected to the connection of the frame (5) through the cooperation of the third rotating shaft and the bearing.
According to a handling method of a handling robot for industrial production according to claims 1-6, the specific operation steps are as follows:

A: Power on the device, use the plc controller to control the operation of the device, first move the goods to be transported to the left side of the robot, and the first hydraulic telescopic rod (9) of the transport robot on the left is controlled by the plc controller To shorten the lowering height, the first hydraulic telescopic rod (9) drives the crossbar (10) to lower the height, and the crossbar (10) drives the second hydraulic telescopic rod (11) to descend, and at the same time, the second hydraulic telescopic rod (11) can be started to extend , The second hydraulic telescopic rod (11) drives the vacuum suction cup (17) down through the vacuum pump (12) and contacts the cargo. In this process, the fan (16) passes through the first connecting pipe (15) and the filter shell (14) to cooperate Inhale the outside air, filter the dust in the air through the filter (24), and then inject the air into the nozzle (13) through the second connecting pipe (8) and the third connecting pipe (19), and the nozzle (13) sprays The air removes the dust on the surface of the cargo. The fan (16) runs for two seconds. When the vacuum pump (12) is running, the vacuum sucker (17) absorbs the cargo. At the same time, the electric telescopic rod (26) is shortened to drive the splint (18) close to the cargo. The rubber block (25) clamps and fixes the goods, and then the PLC controller is used to control the resetting of the first hydraulic telescopic rod (9) and the second hydraulic telescopic rod (11), and then the handling robot on the left passes the first motor (4) The operation of the drive drives the first driving bevel gear (3) to rotate, the first driving bevel gear (3) drives the rotating rod (31) to rotate through the first driven bevel gear (2), and the rotating rod (31) passes through the first hydraulic telescopic rod (9) The cooperation with the cross bar (10) drives the second hydraulic telescopic rod (11) to move. The second hydraulic telescopic rod (11) drives the goods to the top of the transmission belt (6) through the bottom structure to extend the second The hydraulic telescopic rod (11) makes the goods contact with the top of the conveyor belt (6) and stops the operation of the vacuum pump (12). At the same time, the electric telescopic rod (26) extends, and the rubber block (25) is driven away from the goods by the splint 18, and the goods fall At the top of the conveyor belt (6);

B: The output of the second motor (28) drives the second driving bevel gear (29) to rotate, the second driving bevel gear (29) drives the first rotating shaft (23) to rotate through the second driven bevel gear (30), When a rotating shaft (23) rotates, the first roller (20) is driven to rotate, the first roller (20) drives the other first roller (20) to rotate through the conveyor belt (6), and the conveyor belt (6) conveys the goods at the same time;

C: When the goods move to the bottom of the right robot, the first hydraulic telescopic rod (9) is shortened and lowered by the handling robot under the control of the plc controller, and the first hydraulic telescopic rod (9) drives the crossbar (10) to lower the height. The cross bar (10) drives the second hydraulic telescopic rod (11) to descend, and at the same time it can start the second hydraulic telescopic rod (11) to extend, and the second hydraulic telescopic rod (11) drives the vacuum suction cup (17) to descend through the vacuum pump (12) In this process, the fan (16) absorbs outside air through the cooperation of the first connecting pipe (15) and the filter housing (14), and filters the dust in the air through the filter screen (24), and then the air passes through The second connecting pipe (8) and the third connecting pipe (19) are injected into the nozzle (13), the air sprayed from the nozzle (13) removes the dust on the surface of the cargo, the fan (16) runs for two seconds and the vacuum pump (12) ) During operation, the vacuum sucker (17) is used to absorb the cargo, and the electric telescopic rod (26) is shortened to drive the splint (18) to approach the cargo. The rubber block (25) is used to clamp and fix the cargo, and then the plc controller is used to control the first hydraulic pressure The telescopic rod (9) and the second hydraulic telescopic rod (11) are reset, then the right handling robot drives the first driving bevel gear (3) to rotate through the operation of the first motor (4), and the first driving bevel gear (3) passes The first driven bevel gear (2) drives the rotating rod (31) to rotate, and the rotating rod (31) drives the second hydraulic telescopic rod (11) to move through the cooperation of the first hydraulic telescopic rod (9) and the cross rod (10), The second hydraulic telescopic rod (11) drives the goods to rotate to the right side of the device through the structure at the bottom. At this time, the first hydraulic telescopic rod (9) of the right robot reduces its coverage and the second hydraulic telescopic rod (11) extends , Make the bottom of the cargo contact with other devices, stop the operation of the vacuum pump (12), and at the same time extend the electric telescopic rod (26), drive the rubber block (25) away from the cargo through the splint 18, and the cargo falls on the top of other devices;

D: Then each structure is reset, and the actions in steps A, B and C are repeated to carry out continuous transportation of the goods.