阅读说明：本技术 一种运输机器人防走偏系统及其方法 (Anti-deviation system and method for transport robot ) 是由 王丽华 于 2021-08-20 设计创作，主要内容包括：本发明公开了一种运输机器人防走偏系统及其方法,属于机器人搬运的技术领域。包括：若干个辊筒线,相互之间为交错分布；每个所述辊筒线上均设置有防偏结构,所述托盘的底部设置有与所述防偏结构相适配的导向部；多个换向机构,设置在相邻辊筒线之间的交错位置处；所述换向机构上设置有与所述导向部相适配的纠偏机构；使用时,当位于换向机构上的托盘在旋转力和物料的重力下发生偏移时,纠偏机构将托盘恢复至初始状态。本发明首先在直线式输送机构上设置了导向机构,确保直线运输时托盘及物料不会出现偏移的现象。(The invention discloses an anti-walk-off system and method for a transport robot, and belongs to the technical field of robot carrying. The method comprises the following steps: a plurality of roller lines which are distributed in a staggered way; each roller line is provided with an anti-deviation structure, and the bottom of the tray is provided with a guide part matched with the anti-deviation structure; a plurality of reversing mechanisms disposed at staggered positions between adjacent roll lines; the reversing mechanism is provided with a deviation correcting mechanism matched with the guide part; during the use, when the tray that is located reversing mechanism takes place the skew under the gravity of revolving force and material, the mechanism of rectifying resumes initial condition with the tray. According to the invention, the guide mechanism is arranged on the linear conveying mechanism, so that the tray and the materials are prevented from deviating during linear transportation.)

1. An anti-walk-off system of a transport robot for conveying a pallet, the pallet being arranged to hold a material; it is characterized by also comprising:

a plurality of roller lines which are distributed in a staggered way; each roller line is provided with an anti-deviation structure, and the bottom of the tray is provided with a guide part matched with the anti-deviation structure;

a plurality of reversing mechanisms disposed at staggered positions between adjacent roll lines; the reversing mechanism is provided with a deviation correcting mechanism matched with the guide part; during the use, when the tray that is located reversing mechanism takes place the skew under the gravity of revolving force and material, the mechanism of rectifying resumes initial condition with the tray.

2. A transportation robot anti-walk-off system according to claim 1,

at least one group of conduction grooves are formed in the bottom of the tray along the conveying direction, the conduction grooves are of an open structure with the preset depth and are sunken upwards, and the two ends of each conduction groove are of hollow structures.

3. The transportation robot anti-walk-off system according to claim 2, wherein the roller line includes:

the frame body is internally provided with a plurality of conveying rollers in parallel along the length direction; each conveying roller is provided with at least one group of driving wheels; the transmission wheels between each group of conveying rollers form at least one group of anti-deviation structures parallel to the conveying direction along the length direction of the frame body;

the positions and the number of the transmission wheels are consistent with those of the conduction grooves.

4. The transportation robot anti-walk-off system according to claim 2, wherein the reversing mechanism includes:

the reversing plate is in transmission connection with the reversing assembly; the reversing assembly is arranged to drive the reversing plate to rotate as required;

the conveying assemblies are arranged on the reversing plate in a mutually independent and rotatable mode;

the correcting assembly is in transmission connection with the conveying assembly; before rotation, the conveying direction of the conveying assemblies is consistent with the conveying direction of a roller line where the current tray is located, and the positions of at least one group of conveying assemblies are consistent with the positions of the guide grooves; when the conveying assembly rotates, the conveying assembly rotates around a designated point under the rotating force and the gravity of the materials; after the rotation, the correction assembly restores the conveying assembly to an initial state, and in the initial state, the conveying direction of the conveying assembly is consistent with the conveying direction of a roller line to which the tray is to arrive.

5. A transportation robot anti-walk-off system according to claim 4, wherein the transport assembly includes:

the center of the guide plate is rotatably arranged on the reversing plate;

the guide wheels are rotatably arranged on the guide plate along the length direction of the guide plate; the rolling surface part of the guide wheel is exposed outside the guide plate; the guide wheels are connected in a belt type transmission manner.

6. The transportation robot anti-walk-off system according to claim 4, wherein the correction component includes:

the fan-shaped frame is fixed on the reversing plate and is positioned below the conveying assembly; the top and the bottom of the fan-shaped frame are both hollow structures;

one end of the connecting piece is hinged at the fulcrum of the fan-shaped frame, and the other end of the connecting piece is a movable end; the top of the connecting piece is used for mounting a conveying assembly;

the connecting rod assembly is in transmission connection with the connecting piece;

the control piece is in transmission connection with the connecting rod assembly; the control member and the connecting rod assembly are arranged to control the connecting member to be in a blow-down state and a pull-back state according to requirements.

7. A transportation robot anti-walk-off system according to claim 6,

when the connecting piece is in an emptying state, the control piece and the connecting rod assembly do not generate external force on the connecting piece;

when the connecting piece is in a pull-back state, the control piece and the connecting rod assembly generate external force in the appointed direction and restore the connecting piece to an initial state, and at the moment, the connecting piece is positioned at the axis of the fan-shaped frame.

8. The transportation robot anti-walk-off system according to claim 6, wherein the link assembly includes:

one end of the first connecting rod is fixed at the hinged end of the connecting piece; the first connecting rod is overlapped with part of the connecting pieces;

one end of the second connecting rod is hinged with the other end of the first connecting rod; the other end of the second connecting rod is hinged to the cam;

one end of the third connecting rod is hinged to one end of the second connecting rod;

the center of the fourth connecting rod is rotatably arranged on the reversing plate; one end of the fourth connecting rod and the other end of the third connecting rod are connected with the control piece in a transmission mode.

9. A transportation robot anti-walk-off system according to claim 6, wherein the control member includes:

the guide block is fixedly connected to the sector frame; the guide block is internally of a hollow structure;

the guide rod penetrates through the guide block, and one end of the guide rod is in transmission connection with the connecting rod assembly; a stop block is fixed on the guide rod positioned in the guide block;

the two groups of cylinders are symmetrically arranged on two sides of the guide block; and a piston rod of each group of cylinders penetrates through the guide block to reach a hollow structure according to requirements and is in contact with the stop block.

10. Use of a transport robot anti-walk-off system according to any of claims 1 to 9, characterized in that it comprises the following steps:

firstly, placing a material to be transported on a tray, and transporting the material through the tray; when the reversing is not needed, executing a step two, and when the reversing is needed, executing a step three;

secondly, when the tray is placed, the conduction grooves at the bottom of the tray correspond to the deviation prevention structures on the roller line one by one, and the tray is driven to move forwards by rolling of the driving wheel;

transferring the tray with the materials from the roller line to a reversing mechanism adjacent to the roller line, wherein a conduction groove in the tray is consistent with a guide wheel on the conveying assembly; then the reversing assembly drives the reversing plate to rotate, and in the rotating process, the reversing assembly brings certain centrifugal force and the conveying assembly rotates by combining the gravity of the material; at the moment, the two groups of cylinders are in a compression state;

after the conveying assembly rotates to a preset angle, the angle of the conveying assembly deviates, at the moment, a corresponding air cylinder in the correcting assembly is started, the connecting piece is pushed to the position where the connecting piece is located before rotation selection, and the guide wheel on the conveying assembly is correspondingly consistent with the driving wheel on the roller line where the tray is to arrive;

and step five, the guide wheel rotates to convey the tray on the reversing mechanism to the roller line to be reached, and the step two is executed.

Technical Field

The invention belongs to the technical field of robot carrying, and particularly relates to an anti-walk-off system and an anti-walk-off method for a transport robot.

Background

At present, a carrying system is very popular, roller transportation is common, materials are placed on a tray in a transportation mode, and the tray is placed on a roller line and is transferred to achieve the purpose of carrying through the roller line.

And roller line transport is generally applicable to the transportation of heavy mass material or long distance transportation, but if not managed in long distance transportation, the tray can produce the skew under the circumstances that material weight is unequal. Simultaneously when in actual use, the roller line is not the straight line all the time, can settle a plurality of turning points according to the transportation demand and classify or the switching-over, because the tray has certain centrifugal force and can take place the skew by the influence of material weight under the exogenic action in turning point department, will lead to on can't entering the roller line after the switching-over, influence normal transportation.

Disclosure of Invention

The invention provides a transportation robot anti-deviation system and a method thereof for solving the technical problems in the background technology.

The invention adopts the following technical scheme: an anti-walk-off system of a transport robot for conveying a pallet, the pallet being arranged to hold a material; further comprising:

a plurality of roller lines which are distributed in a staggered way; each roller line is provided with an anti-deviation structure, and the bottom of the tray is provided with a guide part matched with the anti-deviation structure;

a plurality of reversing mechanisms disposed at staggered positions between adjacent roll lines; the reversing mechanism is provided with a deviation correcting mechanism matched with the guide part; during the use, when the tray that is located reversing mechanism takes place the skew under the gravity of revolving force and material, the mechanism of rectifying resumes initial condition with the tray.

In a further embodiment, at least one group of conduction grooves are formed in the bottom of the tray along the conveying direction, the conduction grooves are open structures which are sunken upwards by a preset depth, and both ends of each conduction groove are hollow structures.

By adopting the technical scheme, the arrangement of the conduction groove is used for realizing the transmission with the roller line and the reversing mechanism, so that the tray is convenient to push; meanwhile, the device also plays a role in guiding in the transportation process, and prevents the phenomenon of deviation.

In a further embodiment, the roller line comprises:

the frame body is internally provided with a plurality of conveying rollers in parallel along the length direction; each conveying roller is provided with at least one group of driving wheels; the transmission wheels between each group of conveying rollers form at least one group of anti-deviation structures parallel to the conveying direction along the length direction of the frame body;

the positions and the number of the transmission wheels are consistent with those of the conduction grooves.

Through adopting above-mentioned technical scheme, guarantee the axis transportation on the roller line.

In a further embodiment, the reversing mechanism comprises:

the reversing plate is in transmission connection with the reversing assembly; the reversing assembly is arranged to drive the reversing plate to rotate as required;

the conveying assemblies are arranged on the reversing plate in a mutually independent and rotatable mode;

the correcting assembly is in transmission connection with the conveying assembly; before rotation, the conveying direction of the conveying assemblies is consistent with the conveying direction of a roller line where the current tray is located, and the positions of at least one group of conveying assemblies are consistent with the positions of the guide grooves; when the conveying assembly rotates, the conveying assembly rotates around a designated point under the rotating force and the gravity of the materials; after the rotation, the correction assembly restores the conveying assembly to an initial state, and in the initial state, the conveying direction of the conveying assembly is consistent with the conveying direction of a roller line to which the tray is to arrive.

Through adopting above-mentioned technical scheme, do the antiport with transport assembly under centrifugal force and the effect of gravity during the switching-over, reduced the influence to the material on the tray, treat after the switching-over and adopt to correct the subassembly and resume initial condition with transport assembly, do not influence the normal transportation after the switching-over.

In a further embodiment, the delivery assembly comprises:

the center of the guide plate is rotatably arranged on the reversing plate;

the guide wheels are rotatably arranged on the guide plate along the length direction of the guide plate; the rolling surface part of the guide wheel is exposed outside the guide plate; the guide wheels are connected in a belt type transmission manner.

Through adopting above-mentioned technical scheme, compact structure just does not influence normal transport.

In a further embodiment, the correction component comprises:

the fan-shaped frame is fixed on the reversing plate and is positioned below the conveying assembly; the top and the bottom of the fan-shaped frame are both hollow structures;

one end of the connecting piece is hinged at the fulcrum of the fan-shaped frame, and the other end of the connecting piece is a movable end; the top of the connecting piece is used for mounting a conveying assembly;

the connecting rod assembly is in transmission connection with the connecting piece;

the control piece is in transmission connection with the connecting rod assembly; the control member and the connecting rod assembly are arranged to control the connecting member to be in a blow-down state and a pull-back state according to requirements.

In a further embodiment, the control member and the linkage assembly do not generate an external force on the connecting member when the connecting member is in the vent state;

when the connecting piece is in a pull-back state, the control piece and the connecting rod assembly generate external force in the appointed direction and restore the connecting piece to an initial state, and at the moment, the connecting piece is positioned at the axis of the fan-shaped frame.

In a further embodiment, the connecting rod assembly comprises:

one end of the first connecting rod is fixed at the hinged end of the connecting piece; the first connecting rod is overlapped with part of the connecting pieces;

one end of the second connecting rod is hinged with the other end of the first connecting rod; the other end of the second connecting rod is hinged to the cam;

one end of the third connecting rod is hinged to one end of the second connecting rod;

the center of the fourth connecting rod is rotatably arranged on the reversing plate; one end of the fourth connecting rod and the other end of the third connecting rod are connected with the control piece in a transmission mode.

In a further embodiment, the control member comprises:

the guide block is fixedly connected to the sector frame; the guide block is internally of a hollow structure;

the guide rod penetrates through the guide block, and one end of the guide rod is in transmission connection with the connecting rod assembly; a stop block is fixed on the guide rod positioned in the guide block;

the two groups of cylinders are symmetrically arranged on two sides of the guide block; and a piston rod of each group of cylinders penetrates through the guide block to reach a hollow structure according to requirements and is in contact with the stop block.

The transportation robot anti-walk-off system comprises the following steps:

firstly, placing a material to be transported on a tray, and transporting the material through the tray; when the reversing is not needed, executing a step two, and when the reversing is needed, executing a step three;

secondly, when the tray is placed, the conduction grooves at the bottom of the tray correspond to the deviation prevention structures on the roller line one by one, and the tray is driven to move forwards by rolling of the driving wheel;

transferring the tray with the materials from the roller line to a reversing mechanism adjacent to the roller line, wherein a conduction groove in the tray is consistent with a guide wheel on the conveying assembly; then the reversing assembly drives the reversing plate to rotate, and in the rotating process, the reversing assembly brings certain centrifugal force and the conveying assembly rotates by combining the gravity of the material; at the moment, the two groups of cylinders are in a compression state;

after the conveying assembly rotates to a preset angle, the angle of the conveying assembly deviates, at the moment, a corresponding air cylinder in the correcting assembly is started, the connecting piece is pushed to the position where the connecting piece is located before rotation selection, and the guide wheel on the conveying assembly is correspondingly consistent with the driving wheel on the roller line where the tray is to arrive;

and step five, the guide wheel rotates to convey the tray on the reversing mechanism to the roller line to be reached, and the step two is executed.

The invention has the beneficial effects that: according to the invention, the guide mechanism is arranged on the linear conveying mechanism, so that the tray and the materials are prevented from deviating during linear transportation. Meanwhile, aiming at the phenomenon that the materials are not subjected to the external force and landslide due to the external force in the reversing process in the prior art, the influence of automatic direction adjustment and reduction on the materials in the reversing process is researched, and a deviation rectifying mechanism is configured and used for rectifying deviation generated in the reversing process again and aligning the deviation to the next straight line for transportation, so that perfect transition is realized.

Drawings

Fig. 1 is a plan view of the transportation robot anti-walk-off system of the present embodiment.

Fig. 2 is a partial structural schematic view of the reversing mechanism of the embodiment.

Fig. 3 is a schematic structural diagram of the conveying assembly of the present embodiment.

Fig. 4 is a schematic structural diagram of the correcting component of the embodiment.

Each of fig. 1 to 4 is labeled as: the device comprises a stop block 1, a frame body 2, a guide rod 3, a transmission wheel 4, a reversing plate 5, a guide plate 6, a guide wheel 7, a fan-shaped frame 8, a connecting piece 9, a first connecting rod 10, a second connecting rod 11, a third connecting rod 12, a fourth connecting rod 13, a guide block 14 and a cam 15.

Detailed Description

The invention is further described with reference to the following description and specific embodiments in conjunction with the accompanying drawings.

In the existing transportation, many transportation have been limited not to only one line but at least two lines according to the increase of kinds and the demand of work types. An exchange or commutation between different transport lines thus occurs. And in certain specific situations, the input end of the tray is required to be the input end all the time. In other words, taking the first linear conveying mechanism and the second linear conveying mechanism perpendicular to the first linear conveying mechanism as an example, when the tray reaches the second linear conveying mechanism through the first linear conveying mechanism, the tray is directly transferred to the second linear conveying mechanism. The front end of the tray on the first linear conveying mechanism becomes one side of the tray on the second linear conveying mechanism. Therefore, in order to solve the technical problem, the reversing mechanism between the first linear conveying mechanism and the second linear conveying mechanism is operated, and the aim is to ensure that the arrangement of the pallet on any one conveying line is always unchanged.

However, the reversing mechanism is additionally provided with a problem that a certain centrifugal force is generated during rotation, particularly when the weight of the material is large, the top of the material is inclined in the rotating process by combining the gravity, so that the material slides off, and the tray can move on the rotating mechanism, so that the tray cannot smoothly enter the next conveying line.

In order to solve the technical problem, the embodiment discloses an anti-deviation system of a transport robot, and the system is used for conveying a tray, so that materials are placed on the tray for transportation. Further comprising: the roller lines are distributed in a staggered mode according to classification requirements, the reversing mechanism is arranged at each staggered position, and the arrangement of the reversing mechanism is to ensure that the placing positions and the directions of the trays on the current roller lines are always the same. Thus, during transport, the pallets and material will pass through the roller line or the roller line, the diverter mechanism, but on either line it is necessary to ensure that no deviation occurs.

In a further embodiment, each roller line is provided with an anti-deviation structure, and the bottom of the tray is also provided with a guide part which is matched with the anti-deviation structure. When the tray is used, the guide part is matched with the deviation preventing mechanism, so that the tray can not deviate all the time. On the other hand, be provided with the mechanism of rectifying on the reversing mechanism in this embodiment, and the mechanism of rectifying and the same looks adaptation of guide part, during the use, when the tray that is located on the reversing mechanism takes place to squint under the gravity of revolving force and material, the mechanism of rectifying restores the tray to initial condition.

In a further embodiment, at least one group of conduction grooves are formed in the bottom of the tray along the conveying direction, the conduction grooves are of an open structure which is sunken upwards by a preset depth, and meanwhile, both ends of each conduction groove are of hollow structures. In order to be adapted to the conducting groove, the roll line in this embodiment comprises: support body 2, its inside is provided with a plurality of conveying roller along length direction side by side, and every conveying roller is parallel arrangement each other promptly, and the conveying roller passes through band pulley or sprocket drive to connect and remove driving motor, realize the rotation of every conveying roller through driving motor. And each conveying roller is provided with at least one group of driving wheels 4, and the position relation of the driving wheels 4 is as follows: the transmission wheels 4 between each group of conveying rollers form at least one group of anti-deviation structures parallel to the conveying direction along the length direction of the frame body 2; the positions and the number of the transmission wheels 4 are consistent with those of the conduction grooves.

In other words, when two sets of transmission wheels 4 exist, the two sets of transmission wheels 4 form a mutually parallel anti-deviation structure, that is, the anti-deviation structure is formed by a set of rotating wheels arranged in parallel. And the two groups of anti-deviation structures are respectively consistent with the positions of the conduction grooves, namely the conduction grooves at the moment are two groups. Based on the above description, the drive wheel 4 is located the conduction inslot and the roll surface of drive wheel 4 contacts with the top of conduction inslot, and when the rotation took place along the conveying roller rotation as drive wheel 4, drive wheel 4 passed forward the tray through the contact with the conduction inslot. And in order to continue to pass, so both ends of conduction groove are hollow out construction, and its purpose is in order to provide the space of dodging for drive wheel 4.

In this embodiment, prevent inclined to one side structure then be three groups, the conduction groove of the tray bottom that so corresponds is three, plays fine supporting role.

When the tray needs to be reversed by means of the reversing mechanism, the reversing mechanism in the prior art comprises: the rotating assembly is in transmission connection with a reversing plate 5 on the rotating assembly, a plurality of rollers are arranged on the reversing plate 5, and after the rotating assembly is turned, conveying is achieved through the rollers. And when generally rotating the switching-over to the great material of weight, under centrifugal force and the gravity of material self or inertial action, the phenomenon that the material generally all can take place to incline or even the landing, so in order to solve this technical problem, the reversing mechanism in this embodiment includes: the reversing assembly is in transmission connection with a reversing plate 5, and the reversing assembly is arranged to drive the reversing plate 5 to rotate as required. In this embodiment, the reversing component is implemented by using the prior art, and thus, the description thereof is omitted. And at least two groups of conveying assemblies are rotatably arranged on the reversing plate 5. What is needed to be said at first is a rotatable mounting, which aims to reduce the influence on the material on the pallet as much as possible by the reverse movement of the reversing assembly under the action of centrifugal force, gravity or inertia when the reversing plate 5 rotates. And at least two groups of the conveying assemblies are used for ensuring the symmetrical support of the tray and the materials and avoiding the inclination caused by asymmetry when only one group of the conveying assemblies exists.

In a further embodiment, the delivery assembly comprises: a guide plate 6 rotatably mounted on the reversing plate 5 at a central position of the guide plate 6 when mounted; and a plurality of guide wheels 7 are arranged on the reversing plate 5 along the length direction, and the installation direction of the guide wheels 7 is as follows: the rolling surface part of the guide wheel 7 is exposed outside the guide plate 6; the guide wheel 7 is connected by belt transmission. It should be noted that the belt drive connection is used to save space and not to influence the interaction between the guide wheel 7 and the guide groove. In this embodiment, therefore, the rolling surface of the guide wheel 7 is provided with an inwardly recessed mounting groove for mounting the drive belt. When the tray is used, the rolling surface of the guide wheel 7 is in contact with the guide groove, namely the tray is pushed by the rotation of the guide wheel 7 or the tray is guided.

In the embodiment, the guide wheels 7 are installed transversely, and are not installed vertically (i.e. the installation manner of the transmission wheels in the roller line), so as to lower the center of gravity of the tray and the materials and increase the stability during rotation.

Based on the above description, although the problem of overturning of the material during reversing is solved, because the conveying assembly is movable, that is, after the reversing is finished, the angle at which the conveying assembly is located is not consistent with the initial state (the conveying assembly is inclined relative to the reversing plate 5, that is, the tray is inclined, that is, the guiding groove at the bottom of the tray is inclined), the guiding groove at this time cannot be matched with the deviation correcting mechanism on the roller line to be reached, and the smooth transition to the roller line to be reached is not caused. Therefore, in order to solve the technical problem, the reversing mechanism in the embodiment further comprises a correcting component which is in transmission connection with the conveying component. The correction component is arranged to meet the following requirements: before rotation, the conveying direction of the conveying assemblies is consistent with the conveying direction of a roller line where the current tray is located, and the positions of at least one group of conveying assemblies are consistent with the positions of the guide grooves; when the conveying assembly rotates, the conveying assembly rotates around a designated point under the rotating force and the gravity of the materials; after the rotation, the correction assembly restores the conveying assembly to an initial state, and in the initial state, the conveying direction of the conveying assembly is consistent with the conveying direction of a roller line to which the tray is to arrive. The conveying assembly rotates reversely under the action of centrifugal force and gravity during reversing, so that the influence on materials on the tray is reduced, the conveying assembly is restored to an initial state after the reversing is finished, and normal transportation after the reversing is not influenced.

In a further embodiment, the correction component comprises: fix on reversing plate 5 and be located the fan-shaped frame 8 of conveying subassembly below, in order to realize being connected with deflector 6 among the conveying subassembly, the top and the bottom of fan-shaped frame 8 are hollow out construction. The fan-shaped frame 8 comprises a fulcrum, two groups of connecting frames which spread towards the same direction by taking the fulcrum as a starting point, and an arc-shaped surface connected between the two groups of connecting frames. Wherein, the fulcrum is articulated with a connecting piece 9, the connecting piece 9 is positioned inside the fan-shaped frame 8, in other words, one end of the connecting piece 9 is articulated with the fulcrum, and the other end is a movable end. It should be noted that the top of the guide plate is a hollow structure, so that the connecting piece 9 is connected with the guide plate 6 to drive the guide plate 6 to move.

The connecting rod assembly is connected to the connecting piece 9 in a transmission mode, and the connecting rod assembly is connected with the bottom of the connecting piece 9 in a transmission mode, so that the bottom of the fan-shaped frame 8 is of a hollow structure and is used for providing enough space to connect the connecting rod assembly and a control piece used for driving the connecting rod assembly to move. Wherein the control member and the linkage assembly are arranged to control the connection member 9 to be in the emptying state and the pull-back state, depending on the requirements.

When the connecting piece 9 is in the emptying state, the control piece and the connecting rod assembly do not generate external force on the connecting piece 9. The connection 9 will be in the emptying state under the following conditions: when the reversing mechanism is in reversing, space and freedom are provided for the conveying assembly, and the conveying assembly can deviate under the action of external force, so that the influence on materials is reduced. When the connecting piece 9 is in a pull-back state, an external force is generated in a designated direction by the control piece and the connecting rod assembly, and the connecting piece 9 is restored to an initial state, at the moment, the connecting piece 9 is positioned at the axis center of the fan-shaped frame 8, namely, the conveying assembly which is deviated or rotated in the rotation process is corrected by the control piece and the connecting rod assembly and restored to the initial state before the rotation, and the aim is to enable the guide groove on the tray on the conveying assembly to correspond to the driving wheel 4 on the roller line which is to be reached.

Specifically, the connecting rod assembly includes: a first link 10, a second link 11, a third link 12, and a fourth link 13. Wherein, one end of the first connecting rod 10 is fixedly connected with one end of the hinge member, and the direction of the first connecting rod 10 is consistent with the direction of the connecting member 9, that is, the first connecting rod 10 is overlapped with a part of the connecting member 9. One end of the second connecting rod 11 is hinged with the other end of the first connecting rod 10, the other end of the second connecting rod 11 is hinged with the cam 15, and the cam 15 plays a role in supporting the second connecting rod 11. One end of the third connecting rod 12 is hinged with one end of the second connecting rod, and the center of the fourth connecting rod 13 is rotatably arranged on the reversing plate 5; one end of the fourth link 13 is connected to the other end of the third link 12, and the other end of the fourth link 13 is connected to the control member in a transmission manner.

In another embodiment, the control member includes: guide block 14, guide rod 3 and two sets of cylinders. Wherein the guide block 14 is fixed at the opposite surface of the position of the bracket of the fan-shaped frame 8, and the inside of the guide block 14 is a hollow structure. The guide rod 3 passes transversely through the guide block 14 and is drivingly connected at one end to the other end of a fourth link 13 in the linkage assembly. And a stopper 1 is fixed to the guide bar 3 located inside the guide block 14. Two groups of cylinders are symmetrically arranged on two sides of the guide block 14; the piston rod of each group of cylinders penetrates through the guide block 14 to reach a hollow structure according to requirements and is in contact with the stop block 1.

When the control connecting piece 9 is in an emptying state, the two groups of cylinders are in a compression state and are not in contact with the stop block, and the connecting piece 9 at the moment is matched with the connecting rod assembly to be randomly reversed along the fan-shaped frame 8 under the action of external force. When the control connecting piece 9 is in a pull-back state, namely the connecting rod in the fan-shaped frame 8 is at a position deviated from the axis of the fan-shaped frame 8 at the moment, the air cylinder pushes out the piston and abuts against the stop block by starting the air cylinder positioned at one side of the deviation direction until the connecting piece 9 is restored to the position deviated from the axis of the fan-shaped frame 8, the current air cylinder stops working, and the piston rod of the other air cylinder is started to abut against the other side of the stop block. The two groups of cylinders act on the stop blocks simultaneously to play a role in positioning, the conveying assembly is prevented from rotating again, and piston rods of the two groups of cylinders are in a compression state until the next rotation starts, so that the conveying assembly can rotate randomly.

The transportation robot anti-walk-off system comprises the following steps:

firstly, placing a material to be transported on a tray, and transporting the material through the tray; when the reversing is not needed, executing a step two, and when the reversing is needed, executing a step three;

secondly, when the tray is placed, the conduction grooves at the bottom of the tray correspond to the deviation prevention structures on the roller line one by one, and the tray is driven to move forwards by rolling of the driving wheel 4;

thirdly, transferring the tray with the materials from the roller line to a reversing mechanism adjacent to the roller line, wherein a conduction groove in the tray is consistent with a guide wheel 7 on the conveying assembly; then the reversing assembly drives the reversing plate 5 to rotate, and in the rotating process, the reversing assembly brings certain centrifugal force and combines the gravity of the material to rotate the conveying assembly; at the moment, the two groups of cylinders are in a compression state and are used for the conveying assembly to rotate randomly;

after the conveying assembly rotates to a preset angle, the angle of the conveying assembly deviates, at the moment, a corresponding air cylinder in the correcting assembly is started, the connecting piece 9 is pushed to the position where the conveying assembly is located before rotation selection, and the guide wheel 7 on the conveying assembly corresponds to the driving wheel 4 on the roller line where the tray is to arrive; namely, at this time, the connecting rod in the fan-shaped frame 8 is located at a position deviated from the axis of the fan-shaped frame 8, the cylinder pushes out the piston and abuts against the stop block by starting the cylinder located at one side of the deviation direction until the connecting piece 9 is restored to the position deviated from the axis of the fan-shaped frame 8, the current cylinder stops working, and the piston rod of the other cylinder is started to abut against the other side of the stop block. Two sets of cylinders act on the stop blocks simultaneously to play a role in positioning and avoid the conveying assembly from rotating again.

And step five, the guide wheel 7 rotates to convey the tray on the reversing mechanism to a roller line to be reached, and the step two is executed.