CN112045716A

CN112045716A - Intelligent loading and unloading industrial robot

Info

Publication number: CN112045716A
Application number: CN202010865727.1A
Authority: CN
Inventors: 高上杰
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-08-25
Filing date: 2020-08-25
Publication date: 2020-12-08

Abstract

The invention discloses an intelligent loading and unloading industrial robot, which structurally comprises a mechanical claw mounting shaft, an arm, a balance extender, a rotating arm, a mounting plate and a machine body, wherein the mechanical claw mounting shaft is mounted at the front end of the arm, the arm is movably connected with the rotating arm through a connecting shaft, the balance extender is arranged at the junction of the arm and the rotating arm, the mounting plate is arranged on the side surface of the rotating arm, the mounting plate is fixedly connected with the machine body, the rotating arm is mechanically connected with the machine body, one end of a folding cavity of the intelligent loading and unloading industrial robot is fixed on a closed cavity, the other end of the folding cavity is connected with an arc-shaped strip extending from an overturning, the extension edge of the gas transmission device downwards presses the folding cavity, gas inside the folding cavity can be released and transmitted to the gas cavity, the increase of the gas flow in the gas cavity can push the lubricating body to slide along the extension body of the equipment, the equipment is comprehensively lubricated, and the phenomenon that the equipment is blocked due to the fact that the equipment is not lubricated in place is prevented.

Description

Intelligent loading and unloading industrial robot

Technical Field

The invention relates to the field of robots, in particular to an intelligent loading and unloading industrial robot.

Background

The intelligent loading and unloading industrial robot is a mechanical arm in actual work, and can replace human beings to carry out workpiece dismounting and carrying work in various shapes, so that the physical labor of the human beings is greatly reduced, and the labor productivity is obviously improved;

in the prior art, the loading and unloading of the loading and unloading industrial robot are realized through the movement of a connecting arm of the robot in the loading and unloading process, a balance connecting structure is arranged between the connecting arm and the connecting arm of the industrial robot to ensure the stable work of the industrial robot, when the balance connecting structure works, the equipment needs to be lubricated from time to time, and the amount of lubricating oil needed to balance the connection structure is not well known, if the lubricating oil is added too little and the balance connecting structure is not lubricated in place, the phenomenon of equipment jamming can occur, when the lubricating oil is excessively added, the lubricating oil is extruded out of the equipment by the balance connection structure in the movement process and is accumulated on a movable opening of the equipment, impurities such as dust floating in the air can be attached to the overflowing lubricating oil, and the lubricating oil and the attached impurity structure can be agglomerated to block the equipment after a long time, so that the equipment is damaged.

Disclosure of Invention

Aiming at the defects of the prior art, the invention is realized by the following technical scheme: an intelligent loading and unloading industrial robot structurally comprises a mechanical claw mounting shaft, an arm, a balance extender, a rotating arm, a mounting plate and a machine body, wherein the mechanical claw mounting shaft is mounted at the front end of the arm;

the balanced extender is equipped with and extends post, lubricator, the ware body, propelling movement post, spring chamber, pressure extension body, propelling movement piece, extend post and lubricator sliding connection, the propelling movement piece is established on extending the post, the pressure extension body has been installed to the below of propelling movement piece, the below at the ware body is established to the spring chamber, propelling movement post and spring chamber sliding connection, be equipped with the notch of L type structure on extending the side of post, head and afterbody pass through connecting axle swing joint between the long strip axle of pressure extension body and the rectangular axle and become an organic whole.

As a further optimization of the technical scheme, the lubricator is provided with a plug, a gas cavity, a flow guide block, a charging cavity, an anti-blocking device, an aerator, a sliding block and a lubricating body, the plug is arranged on the charging cavity, the flow guide block and the charging cavity are of an integrated structure, the lubricating body is arranged on the inner side of the charging cavity, the sliding block is mounted on the side face of the lubricating body, the sliding block is in sliding connection with the gas cavity, the anti-blocking device is arranged on the gas cavity, the sliding block and the gas cavity are both of an arc structure, a space at the rear end of the sliding block, which is used for connecting a piston and the rear end of the gas cavity, forms a movable space, the flow guide block is distributed at equal intervals along the rotation of a central origin, and the periphery.

As a further optimization of the technical scheme, a hollowed-out hole is formed in the port of the inner side of the lubricating body, a sponge layer is arranged inside the lubricating body, inclined protruding block structures are arranged on two sides of the port of the inner side of the lubricating body, the inclined protruding blocks of the lubricating body and the inner side of the inclined protruding blocks are attached to the extending column all the time, and an inclined feeding hole is formed in the port of the outer side of the lubricating body.

As a further optimization of the technical scheme, the inflator is provided with a buckling block, a prying block, a turnover block, a folding cavity, a shell, a closed cavity, an air outlet hole and an elastic blocking block, the buckling block is fixedly connected with the prying block, the prying block and the turnover block are of an integrated structure, the turnover block is provided with the folding cavity, the turnover block is movably connected onto the shell through a movable shaft, the closed cavity is arranged on the folding cavity, the air outlet hole is arranged on the side surface of the closed cavity, the closed cavity is in sliding connection with the elastic blocking block, the buckling block is an L-shaped raised block, the structure of the buckling block is matched with a notch on the side surface of the extension column, the upper end of the closed cavity is provided with a hollowed hole, the tail end of the elastic blocking block is provided with a long-strip blocking body, and the length of the long-strip blocking body of the elastic blocking block is greater than the.

As a further optimization of the technical scheme, one end of the folding cavity is fixed on the closed cavity, the other end of the folding cavity is connected with the arc-shaped strip extending out of the turnover block, the front end of the folding cavity is an inclined folding edge, and the folding edge of the folding cavity is provided with an air outlet.

As a further optimization of this technical scheme, anti-blocking device is equipped with deposits chamber, wall body, connection face, cuts to pieces the body of rubbing, rotatory piece, abrasive brick, axis of rotation, it establishes on connecting the face to deposit the chamber, it is the integral structure with the wall body to connect the face, axis of rotation and wall body sliding connection, the axis of rotation passes through connecting axle and rotatory piece swing joint, axis of rotation and abrasive brick mechanical connection, connect the face and cut to pieces the body fixed connection, the rotating vane of rotatory piece is slope arc piece, the inboard one side of the slope blade of rotatory piece is the arc depressed face, the topside of the rotating vane of rotatory piece and the identical arc limit of extension post.

As the further optimization of this technical scheme, the abrasive brick is circular structure, the surface of abrasive brick is equipped with protruding piece, the junction of abrasive brick is equipped with both sides and is circular-arc rectangular fretwork hole, the loose axle swing joint of axis of rotation is passed through to the fretwork mouth of abrasive brick, the loose axle diameter of axis of rotation is greater than the diameter of the fretwork mouth of abrasive brick, the loose axle and the abrasive brick juncture of axis of rotation are equipped with the spring.

As a further optimization of this technical scheme, cut the body of rubbing and be equipped with and scrape piece, bullet axle, spliced pole, upset post, scrape piece and upset post fixed connection, the upset post passes through loose axle and spliced pole swing joint, the bullet axle is installed in the both sides of scraping the piece, it is the arc piece to scrape the piece, the radian of scraping the piece is unanimous with the inboard concave surface radian of rotatory piece, the surface of scraping the piece is equipped with the protruding piece of circular cone, bullet axle afterbody is equipped with the spring.

Advantageous effects

Compared with the prior art, the intelligent loading and unloading industrial robot has the following advantages:

1. the lubricating body is internally provided with the sponge layer, the sponge layer can absorb lubricating oil, the saturation degree of the sponge layer is certain, so that the phenomenon of excessive absorption and overflow can not occur when the lubricating body is absorbed, the coating amount of each lubricating can be controlled to a certain degree, the hollow holes are formed in the port on the inner side of the lubricating body, the lubricating oil can continuously coat the balance structure extending body through the hollow holes through the sponge layer, sufficient lubrication of equipment is ensured, the sponge layer also has permeability, after the lubricating oil on the front end of the sponge layer is coated, the lubricating oil on the outer layer can permeate the front end and be timely supplied, and the phenomenon that the lubricating oil is not in place can not occur.

2. One end of the folding cavity is fixed on the closed cavity, the other end of the folding cavity is connected with the arc-shaped strip extending out of the turnover block, when the turnover block rotates, the extending edge of the turnover block presses the folding cavity downwards, gas in the folding cavity can be released and transferred to the gas cavity, and the increase of gas flow in the gas cavity can push the lubricating body to slide along the extending body of the equipment to comprehensively lubricate the equipment, so that the phenomenon of equipment jamming caused by insufficient lubrication of the equipment is prevented.

3. The grinding block is of a circular structure and can rotate along with the rotation of equipment when being in contact with the balance framework, the surface of the grinding block is provided with the protruding block which is a rough surface, and lubricating oil impurities which are agglomerated at the connecting port of the equipment are ground and dispersed through friction grinding during rotation, so that the agglomerated impurities are prevented from blocking the connecting port to cause equipment damage.

Drawings

Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:

fig. 1 is a schematic diagram of the overall structure of an intelligent handling industrial robot.

Fig. 2 is a schematic structural diagram of the balance extender of the present invention.

Fig. 3 is a schematic view of the structure of the lubricator of the present invention.

Fig. 4 is a diagram of the operation state of fig. 3.

Fig. 5 is a schematic view showing the construction of the inflator of the present invention.

Fig. 6 is a schematic structural view of the anti-blocking device of the present invention.

Fig. 7 is a partial schematic view of fig. 6.

In the figure: the mechanical claw mounting shaft 1, the arm 2, the balance extender 3, the rotating arm 4, the mounting plate 5, the machine body 6, the extension column 30, the lubricator 31, the machine body 32, the pushing column 33, the spring cavity 34, the pressing extension body 35, the pushing block 36, the plug 311, the gas cavity 312, the flow guide block 313, the charging cavity 314, the plug 315, the inflator 316, the slider 317, the lubricator 318, the snap block 161, the prying block 162, the turning block 163, the folding cavity 164, the shell 165, the closing cavity 166, the gas outlet 167, the elastic plug 168, the storage cavity 151, the wall body 152, the connecting plate surface 153, the scraping body 154, the rotating block 155, the grinding block 156 and the rotating shaft 157.

Detailed Description

In order to make the technical means, the original characteristics, the achieved purposes and the effects of the invention easy to understand, the following description and the accompanying drawings further illustrate the preferred embodiments of the invention.

Example one

Referring to fig. 1-5, an intelligent loading and unloading industrial robot structurally comprises a gripper mounting shaft 1, an arm 2, a balance extender 3, a rotating arm 4, a mounting plate 5 and a machine body 6, wherein the gripper mounting shaft 1 is mounted at the front end of the arm 2, the arm 2 is movably connected with the rotating arm 4 through a connecting shaft, the balance extender 3 is arranged at the junction of the arm 2 and the rotating arm 4, the mounting plate 5 is arranged on the side surface of the rotating arm 4, the mounting plate 5 is fixedly connected with the machine body 6, and the rotating arm 4 is mechanically connected with the machine body 6;

balanced extender 3 is equipped with and extends post 30, lubricator 31, the ware body 32, propelling movement post 33, spring chamber 34, the pressure body 35 that stretches, propelling movement piece 36, extend post 30 and lubricator 31 sliding connection, propelling movement piece 36 is established on extending post 30, the pressure body 35 that stretches has been installed to propelling movement piece 36's below, spring chamber 34 is established in the below of the ware body 32, propelling movement post 33 and spring chamber 34 sliding connection, be equipped with the notch of L type structure on extending post 30's the side, the pressure stretches the lubrication function of the integrative improve equipment of head and afterbody through connecting axle swing joint between the rectangular axle of body 35 and the rectangular axle.

The lubricator 31 is provided with a plug 311, a gas cavity 312, a flow guide block 313, a charging cavity 314, an anti-blocking device 315, an aerator 316, a slider 317 and a lubricating body 318, the plug 311 is arranged on the charging cavity 314, the flow guide block 313 and the charging cavity 314 are integrated, the lubricating body 318 is arranged on the inner side of the charging cavity 314, the slider 317 is mounted on the side surface of the lubricating body 318, the slider 317 is connected with the gas cavity 312 in a sliding manner, the anti-blocking device 315 is arranged on the gas cavity 312, the slider 317 and the gas cavity 312 are both in an arc-shaped structure, a connecting piston at the rear end of the slider 317 and a space at the rear end of the gas cavity 312 form a movable space, the flow guide blocks 313 are distributed at equal intervals along a center origin in a rotating manner, and the periphery of the flow guide block 313 is provided with an inwardly inclined long notch, so.

The lubricating structure is characterized in that a hollow hole is formed in the port of the inner side of the lubricating body 318, a sponge layer is arranged inside the lubricating body 318, inclined protruding block structures are arranged on two sides of the port of the inner side of the lubricating body 318, the inclined protruding blocks of the lubricating body 318 and the edge of the inner side of the lubricating body are always attached to the extension column 30, an inclined feeding hole is formed in the port of the outer side of the lubricating body 318, and the lubricating body is attached to the extension structure to achieve complete lubrication of equipment.

The inflator 316 is provided with a buckling block 161, a prying block 162, a turning block 163, a folding cavity 164, a shell 165, a closed cavity 166, an air outlet 167 and an elastic block 168, the buckling block 161 is fixedly connected with the prying block 162, the prying block 162 and the turning block 163 are of an integrated structure, the turning block 163 is provided with the folding cavity 164, the turning block 163 is movably connected onto the shell 165 through a movable shaft, the closed cavity 166 is arranged on the folding cavity 164, the air outlet 167 is arranged on the side surface of the closed cavity 166, the closed cavity 166 is in sliding connection with the elastic block 168, the buckling block 161 is an L-shaped protruding block, the structure of the buckling block 161 is matched with a groove opening on the side surface of the extension column 30, the upper end of the closed cavity 166 is provided with a hollow hole, the tail end of the elastic block 168 is provided with a long blocking body, and the length of the long blocking body of the elastic block 168 is larger than the hollow opening of the closed cavity 166, further making the equipment lubricated more thoroughly.

One end of the folding cavity 164 is fixed on the closed cavity 166, the other end of the folding cavity 164 is connected with an arc-shaped strip extending out of the turning block 163, the front end of the folding cavity 164 is an inclined folding edge, an air outlet hole is formed in the folding edge of the folding cavity 164, and the lubricating part is pushed to slide through air flow, so that the effect of uniform lubrication is achieved.

The sponge layer is stuffed into the lubricating body 318, the lubricating body 318 is filled, the plug 311 is opened, lubricating oil is poured into the charging cavity 314, the plug 311 is covered to plug an outlet, the lubricating oil on the charging cavity 314 flows into the cavity from an inclined port at the front end of the charging cavity 314 along a strip-shaped notch which is inclined inwards at the periphery of the flow guide block 313, the lubricating oil is absorbed by the sponge in the charging cavity 314, then the notch on the side surface of the extension column 30 is clamped with the clamping block 161, a power supply is started, the absorbent of the sponge in the charging cavity 314 permeates out through the hollow hole of the charging cavity 314 to lubricate the extension column 30, the extension column 30 of the balance extender 3 stretches back and forth along with the change of an included angle when the rotating arm 4 and the arm 2 rotate, because the side surface at the bottom of the extension column 30 and the clamping block 161, when the extension column 30 stretches forwards, the extension column 30 drags the prying block 162 to turn, the elastic block 168 is pulled, the opening of the closed cavity 166 is blocked by the long strip structure at the rear end of the elastic block 168, gas in the cavity flows into the closed cavity 166, so that air flow in the closed cavity 166 is constant, meanwhile, the prying block 162 can drive the turning block 163 to rotate along the movable shaft, the extension strip of the turning block 163 can be pressed inwards, the front end of the folding cavity 164 is provided with a folding edge, a hollow hole is formed in the port of the folding edge, the air flow in the folding cavity 164 can be compressed, the air flow in the folding cavity 164 can be ejected, the air flow in the closed cavity 166 is increased, the air flow can flow into the gas cavity 312 through the air outlet hole 167, the volume in the gas cavity 312 is increased, the sliding block 317 is pushed to slide forwards under the influence of increased air flow, when the sliding block 317 slides, the lubricating body 318 can rotate along the side wall of the extension column 30, lubricating oil in the extension column 30 can permeate out, and the extension column, when the extending column 30 retracts, the prying block 162 is driven to pry downwards, the extending strip of the turning block 163 expands outwards, the space inside the folding cavity 164 becomes large, air flow inside the equipment can be guided into the folding cavity 164, the elastic blocking block 168 presses back, the long-strip blocking block at the tail end can leave the closed cavity 166, the air flow inside the closed cavity 166 can run out of the cavity, air in the closed cavity 166 is reduced, air flow in the air cavity 312 runs off, a space gap between the air cavity 312 and the sliding block 317 is reduced, the sliding block 317 retracts, the lubricating body 318 does not have thrust, the extending column 30 can be coated in the reverse direction, lubrication of the equipment is further uniform, in the process, as the lubricating oil permeates through the sponge, lubricating liquid can permeate out a little bit to lubricate in a wiping mode, and the lubricating amount is controlled to a certain degree.

Example two

Referring to fig. 1-7, an intelligent loading and unloading industrial robot structurally comprises a gripper mounting shaft 1, an arm 2, a balance extender 3, a rotating arm 4, a mounting plate 5 and a machine body 6, wherein the gripper mounting shaft 1 is mounted at the front end of the arm 2, the arm 2 is movably connected with the rotating arm 4 through a connecting shaft, the balance extender 3 is arranged at the junction of the arm 2 and the rotating arm 4, the mounting plate 5 is arranged on the side surface of the rotating arm 4, the mounting plate 5 is fixedly connected with the machine body 6, and the rotating arm 4 is mechanically connected with the machine body 6;

Anti-block 315 is equipped with and deposits chamber 151, wall body 152, connects face 153, cuts and rubs body 154, rotatory piece 155, grinding block 156, axis of rotation 157, it establishes on connecting face 153 to deposit chamber 151, connect face 153 and wall body 152 structure as an organic whole, axis of rotation 157 and wall body 152 sliding connection, axis of rotation 157 passes through connecting axle and rotatory piece 155 swing joint, axis of rotation 157 and grinding block 156 mechanical connection, connect face 153 and cut and rub body 154 fixed connection, the rotating vane of rotatory piece 155 is slope arc piece, the inboard side of the slope blade of rotatory piece 155 is the arc depressed face, the top edge of the rotating vane of rotatory piece 155 and the identical arc limit of extension column 30, the impurity of clearance equipment connection port department prevents that equipment from blockking up.

The grinding block 156 is of a circular structure, a protruding block is arranged on the surface of the grinding block 156, long-strip hollow holes with two sides being arc-shaped are formed in the joint of the grinding block 156, the hollow opening of the grinding block 156 is movably connected with the movable shaft of the rotating shaft 157, the diameter of the movable shaft of the rotating shaft 157 is larger than that of the hollow opening of the grinding block 156, a spring is arranged at the junction of the movable shaft of the rotating shaft 157 and the grinding block 156, and the grinding through a rough structure enables impurities to fall off.

Scrape and rub body 154 and be equipped with and scrape piece 541, play axle 542, spliced pole 543, upset post 544, scrape piece 541 and upset post 544 fixed connection, upset post 544 passes through loose axle and spliced pole 543 swing joint, play axle 542 installs the both sides of scraping piece 541, it is the arc piece to scrape piece 541, it is unanimous with the inboard depressed face radian of rotatory piece 155 to scrape the radian of piece 541, the surface of scraping piece 541 is equipped with the protruding piece of circular cone, play axle 542 afterbody is equipped with the spring, further cleaning device's impurity.

On the basis of the first embodiment, the anti-blocking device 315 is installed, when the device works, the movable opening of the device is accumulated for a long time to form block-shaped impurities, at this time, the power is turned on, the rotating shaft 157 rotates along the arc edge of the wall body 152, because the surface of the grinding block 156 is of a rough structure, when the device rotates, the grinding block 156 contacts with the movable openings of the extending column 30 and the lubricator 31 to scatter the block-shaped impurities through polishing, the connection part of the grinding block 156 and the rotating shaft 157 is provided with long hollow holes with two circular arc-shaped sides, and a spring is arranged at the junction part of the grinding block 156 and the rotating shaft 157, so that the grinding block 156 has a movable space which can freely move according to the convex and concave structure of the contact surface, the contact surface is always attached under the cooperation of the spring, the impurities are polished more comprehensively, after the impurities on the movable opening of the device are polished, the rotating block 155 rotates by taking the connecting shaft as the center, the rotating blade of the rotating block 155 can push scattered impurities, the pushed impurities can slide down along the concave surface on the side surface of the rotating blade, the impurities can be guided into the storage cavity 151 under the rotating pushing of the rotating block 155, the impurities exiting from the movable opening of the equipment can be cleaned, the tip of the rotating block 155 is an arc-shaped edge attached to the column body of the extending column 30, the extending column 30 is scratched to rotate, the impurities on the extending column 30 are scraped and rubbed off, when the rotating blade of the rotating block 155 slides into the storage cavity 151, the rotating blade can be in contact with the scraping block 541 on the scraping body 154, the front end of the scraping block 541 is provided with a sharp conical structure, the impurities attached to the rotating block 155 can be scraped off through the sharp structure, the blade of the rotating block 155 is of the arc-shaped structure, the contact distance between the scraping block 541 changes during the rotation, the lower end of the scraping block 541 is connected with the overturning column, and when the distance between the rotating block 155 and the scraping block 541 is shortened, the scraping block 541 is turned over through the turning column 544, the scraping block 541 rotates along the rotating contact surface of the rotating block 155 and is always attached to the rotating block 155, after the blade of the rotating block 155 leaves the scraping block 541, the scraping block 541 returns to the original position under the cooperation of the elastic shaft 542, and the next blade is scraped and rubbed, so that the rotating block 155 can be prevented from bringing the attached impurities to the movable opening of the equipment again, the complete cleaning of the equipment is realized, and the phenomenon that the movable opening of the equipment is blocked by the impurities to cause the damage of the equipment can be avoided.

While there have been shown and described what are at present considered the fundamental principles of the invention, the essential features and advantages thereof, it will be understood by those skilled in the art that the present invention is not limited by the embodiments described above, which are merely illustrative of the principles of the invention, but rather, is capable of numerous changes and modifications in various forms without departing from the spirit or essential characteristics thereof, and it is intended that the invention be limited not by the foregoing descriptions, but rather by the appended claims and their equivalents.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. An intelligence loading and unloading industrial robot which characterized in that: the mechanical arm structure comprises a mechanical claw mounting shaft (1), an arm (2), a balance extender (3), a rotating arm (4), a mounting plate (5) and a machine body (6), wherein the mechanical claw mounting shaft (1) is mounted at the front end of the arm (2), the arm (2) is movably connected with the rotating arm (4) through a connecting shaft, the balance extender (3) is arranged at the junction of the arm (2) and the rotating arm (4), the mounting plate (5) is arranged on the side surface of the rotating arm (4), the mounting plate (5) is fixedly connected with the machine body (6), and the rotating arm (4) is mechanically connected with the machine body (6);

balanced extender (3) are equipped with and extend post (30), lubricator (31), the ware body (32), propelling movement post (33), spring chamber (34), pressure extension body (35), propelling movement piece (36), extend post (30) and lubricator (31) sliding connection, establish on extending post (30) propelling movement piece (36), the pressure extension body (35) has been installed to the below of propelling movement piece (36), the below at the ware body (32) is established in spring chamber (34), propelling movement post (33) and spring chamber (34) sliding connection.

2. An intelligent handling industrial robot according to claim 1, wherein: the anti-blocking device is characterized in that the lubricator (31) is provided with a plug (311), a gas cavity (312), a flow guide block (313), a charging cavity (314), an anti-blocking device (315), an aerator (316), a slider (317) and a lubricating body (318), wherein the plug (311) is arranged on the charging cavity (314), the flow guide block (313) and the charging cavity (314) are of an integrated structure, the lubricating body (318) is arranged on the inner side of the charging cavity (314), the slider (317) is installed on the side face of the lubricating body (318), the slider (317) is in sliding connection with the gas cavity (312), and the anti-blocking device (315) is arranged on the gas cavity (312).

3. An intelligent handling industrial robot according to claim 2, wherein: the utility model discloses a lubricating structure, including lubricating body (318), inboard end mouth, the inboard end mouth of lubricating body (318) is equipped with the fretwork hole, the inside of lubricating body (318) is equipped with the sponge layer, the inboard end mouth department both sides of lubricating body (318) are equipped with the protruding block structure of slope, the protruding piece of slope of lubricating body (318) and the limit of its inboard laminate all the time and extend post (30), be equipped with the feed inlet of slope on the port of lubricating body (318) outside one side.

4. An intelligent handling industrial robot according to claim 1, wherein: aerator (316) is equipped with buckle piece (161), prying block (162), upset piece (163), folding chamber (164), casing (165), closed chamber (166), venthole (167), elasticity sprue (168), buckle piece (161) and prying block (162) fixed connection, prying block (162) and upset piece (163) be the integral structure, be equipped with folding chamber (164) on upset piece (163), upset piece (163) are through loose axle swing joint on casing (165), closed chamber (166) are established on folding chamber (164), venthole (167) have been installed to the side in closed chamber (166), closed chamber (166) and elasticity sprue (168) sliding connection.

5. An intelligent handling industrial robot according to claim 4, wherein: one end of the folding cavity (164) is fixed on the closed cavity (166), the other end of the folding cavity (164) is connected with an arc-shaped strip extending out of the turnover block (163), and the front end of the folding cavity (164) is an inclined folding edge.

6. An intelligent handling industrial robot according to claim 2, wherein: anti-blocking device (315) are equipped with and deposit chamber (151), wall body (152), connect face (153), scrape and rub body (154), rotatory piece (155), abrasive brick (156), axis of rotation (157), it establishes on connecting face (153) to deposit chamber (151), connect face (153) and wall body (152) structure as an organic whole, axis of rotation (157) and wall body (152) sliding connection, axis of rotation (157) are through connecting axle and rotatory piece (155) swing joint, axis of rotation (157) and abrasive brick (156) mechanical connection, connect face (153) and scrape and rub body (154) fixed connection.

7. An intelligent handling industrial robot according to claim 6, wherein: the grinding block (156) is of a circular structure, a protruding block is arranged on the surface of the grinding block (156), long-strip hollow holes with two sides being arc-shaped are formed in the joint of the grinding block (156), and the hollow holes of the grinding block (156) are movably connected through a movable shaft of a rotating shaft (157).

8. An intelligent handling industrial robot according to claim 6, wherein: cut and rub body (154) and be equipped with and scrape piece (541), bullet axle (542), spliced pole (543), upset post (544), scrape piece (541) and upset post (544) fixed connection, upset post (544) is through loose axle and spliced pole (543) swing joint, bullet axle (542) is installed in the both sides of scraping piece (541), it is the arc piece to scrape piece (541), the radian of scraping piece (541) is unanimous with rotatory piece (155) inboard depressed face radian, the surface of scraping piece (541) is equipped with the protruding piece of circular cone, bullet axle (542) afterbody is equipped with the spring.