Mechanical arm of feeding and discharging robot of punching machine tool

Abstract

The invention discloses a feeding and discharging robot mechanical arm of a punching machine tool, relates to the field of robot mechanical arms, and solves the problem that when an existing feeding and discharging robot mechanical arm of the punching machine tool is used, it is difficult to control the operation state of a suction cup to improve the stability in the conveying process while automatically adsorbing punching parts of different shapes. Comprising a base and an adsorption mechanism, a mechanical arm body, a rotating block and a rotating disc are arranged on the base, the adsorption mechanism comprises a control part, a conveying part and multiple sets of suction cups, the control part senses the attaching relation between the suction cups and the surface of a stamping part, the suction cups in the attaching state are sucked, and the positions of the suction cups in the non-adsorption state are adjusted and controlled; the control part is connected with the suction cup through the conveying part, so that the contact with the surface of the stamping part is reduced, the influence on the suction conveying stability caused by overlarge thrust of the non-suction suction cup on the stamping part is avoided, and meanwhile, in the suction operation process of the control part, liquid is output to the side wall of the suction cup in the suction state through linkage of the conveying part, and the stability in the suction conveying process is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robotic arms, and specifically to a robotic arm for loading and unloading a stamping machine tool. Background Art

[0002] In modern manufacturing, stamping is a very important metal forming process, which is widely used in many fields such as automobiles, electronics, aerospace, etc. With the rapid development of the manufacturing industry, higher and higher requirements have been put forward for the efficiency, precision, and safety of stamping. It has gradually moved from manual loading and unloading to an era of automated loading and unloading through robotic arms.

[0003] Most of the existing robotic arms for loading and unloading stamping machine tools use suction cups to load and unload stamping parts. The positions of the suction cups are relatively fixed. When in use, since the smooth and flat positions on the surfaces of different types of stamping parts are different, it is difficult for the existing robotic arms to automatically adapt to different types of stamping parts to adjust the operating states of suction cups at different positions. As a result, when the suction force is insufficient, the unadsorbed suction cups will generate a certain intensity of reverse thrust on the surface of the stamping part, making the stamping part prone to instability or even falling off during the loading and unloading process. Summary of the Invention

[0004] The purpose of the present invention is to provide a robotic arm for loading and unloading a stamping machine tool that is convenient for improving the adsorption stability during the loading and unloading process, so as to solve the problems raised in the above background art.

[0005] To achieve the above purpose, the present invention provides the following technical solution: A robotic arm for loading and unloading a stamping machine tool, including a base and an adsorption mechanism. A robotic arm body is rotatably connected to the base. A rotating block is rotatably connected to the robotic arm body. A rotating disk is rotatably connected to the rotating block. The adsorption mechanism includes multiple groups of suction cups installed on the rotating disk. A control member for sensing the fitting relationship between the suction cups and the surface of the stamping part is provided on the rotating disk. The control member can suck the suction cups in the fitting state, and at the same time adjust and control the positions of the suction cups in the unadsorbed state, avoiding excessive thrust of the unadsorbed suction cups on the stamping part and affecting the adsorption and transportation stability. A conveying member for outputting liquid to the side walls of the suction cups in the adsorbed state in a linked manner during the suction operation of the control member is provided on the rotating disk, so as to improve the adsorption stability and facilitate improving the adsorption stability during the loading and unloading process.

[0006] Preferably, the control component includes a plurality of groups of fixed tubes fixedly mounted on the rotating disk, a plurality of groups of sliding grooves are evenly arranged on the rotating disk, a sliding tube is slidably connected in the sliding groove, the inner wall of the sliding tube slides in contact with the outer wall of the fixed tube, the suction cup is fixedly mounted on one end of the sliding tube, the end of the sliding tube away from the suction cup is fixedly connected with a first spring fixedly connected to the sliding groove, an adjusting component for controlling the adsorption state of the suction cup and the movement state of the sliding tube is provided in the rotating disk, so as to facilitate suction of the suction cup in the contact state and adjust and control the position of the suction cup in the non-adsorbed state, so as to avoid excessive thrust of the non-adsorbed suction cup on the stamping part, thereby affecting the stability of adsorption and transportation.

[0007] Preferably, the adjusting member includes a second spring fixedly mounted on one end of the fixed tube, the second spring is fixedly connected to an end away from the fixed tube with a sliding block slidingly engaged with the inner wall of the sliding tube, the sliding tube is provided with a first bent tube connected to the sliding groove, the sliding block is fixedly connected with a sleeve tube movably engaged with the inner wall of the fixed tube, the sliding block is provided with a second bent tube capable of communicating with the first bent tube and the sleeve tube, the sleeve tube is connected to the fixed tube, and the rotating block is provided with an air transmission part for controlling the air pressure intensity in the fixed tube, so as to facilitate controlling the adsorption state of the suction cup and the movement state of the sliding tube.

[0008] Preferably, the gas delivery component includes an electric telescopic rod fixedly mounted on the rotating block, a storage cavity is provided on the rotating block, a telescopic end of the electric telescopic rod is fixedly connected to a sliding plate slidably fitted with an inner wall of the storage cavity, a connecting cavity is provided on the rotating block and is connected to one end of multiple groups of fixed tubes, the connecting cavity is connected to the storage cavity, and a limiting ring for limiting the sliding block is fixedly connected in the sliding tube to facilitate control of the air pressure intensity in the fixed tube.

[0009] Preferably, the conveying member includes a plurality of driving rods evenly mounted on the suction cup, the suction cup is provided with a guide groove, the driving rod is slidably connected to the inner wall of the guide groove, one end of the driving rod is fixedly connected to a third spring fixedly connected to the guide groove, a connecting tube is fixedly connected in the guide groove, the connecting tube is slidably connected to the inner wall of the driving rod, and the rotating block is provided with an output member for linkage to output liquid to the surface of the suction cup when the electric telescopic rod is in operation, so as to facilitate linkage to output liquid to the side wall of the suction cup in the adsorbed state during the suction operation of the control member, thereby improving the adsorption stability.

[0010] Preferably, the output member includes an inner gear ring coaxially fixedly mounted on the rotating disk, an annular cavity is formed between the inner gear ring and the rotating block, a plurality of groups of output pipes are provided on the driving rod, a plurality of groups of side holes that can be connected to the output pipes are provided on the side of the connecting pipe, a first pipe is provided on the sliding tube, a plurality of groups of second pipes for connecting the connecting pipe and the first pipe are provided on the suction cup, and a third pipe that can be connected to the first pipe and the annular cavity is provided on the rotating disk, so as to facilitate the linkage output of liquid to the surface of the suction cup when the electric telescopic rod is in operation.

[0011] Preferably, the output member also includes a fixed cylinder fixedly mounted on the rotating block, a lifting plate is slidably connected in the fixed cylinder, a fourth spring fixedly connected to the lifting plate and connected to the fixed cylinder, a fourth pipe for connecting the storage chamber and the fixed cylinder is provided on the rotating block, a fifth pipe for connecting the fixed cylinder and the annular chamber is provided on the rotating block, a side of the sliding plate close to the electric telescopic rod is used for storing liquid, and a side of the sliding plate away from the electric telescopic rod is used for storing gas, so as to facilitate the control of liquid to be transported to one side of the output pipe in the process of the electric telescopic rod driving the sliding plate to slide, and the situation of excessive hydraulic strength will not occur.

[0012] Preferably, a threaded tube is fixedly connected to the lifting plate, and a one-way valve for controlling the one-way flow of liquid from the threaded tube to above the lifting plate is fixedly connected inside the threaded tube, so as to facilitate the replenishment of the liquid above the lifting plate.

[0013] Preferably, the rotating block is rotatably connected to a driving gear meshing with the inner gear ring, the rotating block is fixedly connected to a driving motor, the output end of the driving motor is coaxially fixedly connected to a worm, and the side of the driving gear is coaxially fixedly connected to a worm wheel meshing with the worm, so as to drive the rotating disk for rotation adjustment.

[0014] Preferably, the outer wall of the sliding tube is prismatic, so as to ensure the stability of the sliding state of the sliding tube.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] A manipulator of a loading and unloading robot for a stamping machine provided by the present invention solves the problem that it is difficult to automatically adsorb stampings of different shapes and control the operation state of the suction cup to improve the stability during the conveying process when using the manipulator of the loading and unloading robot for the stamping machine. By a control part, the fitting relationship between the suction cup and the surface of the stamping is sensed, and the suction cup in the fitting state is sucked, and the position of the suction cup in the non-adsorbed state is adjusted and controlled, so as to reduce the resistance to the surface of the stamping, avoid excessive thrust of the non-adsorbed suction cup on the stamping, and affect the stability of the adsorption and conveying. At the same time, during the suction operation of the control part, a liquid is output to the side wall of the suction cup in the adsorbed state through the linkage of a conveying part, so as to improve the stability during the adsorption and conveying process and avoid loosening and falling off during the conveying process. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0018] Figure 2 It is a schematic diagram of a partial structure of the adsorption mechanism of the present invention;

[0019] Figure 3 It is a cross-sectional view of a partial structure of the adsorption mechanism of the present invention;

[0020] Figure 4 is Figure 3 an enlarged view of area A in

[0021] Figure 5 It is a cross-sectional view of a partial structure of the conveying part of the present invention;

[0022] Figure 6 is Figure 5 an enlarged view of area B in

[0023] Figure 7 is Figure 5 an enlarged view of area C in

[0024] Figure 8 It is a cross-sectional view of a partial structure of the control part of the present invention;

[0025] Figure 9 is Figure 8 an enlarged view of area D in

[0026] Figure 10 is Figure 9 an enlarged view of area E in

[0027] Figure 11 It is a schematic diagram of a partial structure of the control part of the present invention.

[0028] In the figure: 1 - base; 2 - robotic arm body; 3 - rotating block; 4 - rotating disk; 5 - suction cup; 6 - fixed pipe; 7 - sliding groove; 8 - sliding pipe; 9 - first spring; 10 - second spring; 11 - sliding block; 12 - first elbow pipe; 13 - sleeve pipe; 14 - second elbow pipe; 15 - electric telescopic rod; 16 - storage cavity; 17 - sliding plate; 18 - communication cavity; 19 - limiting ring; 20 - driving rod; 21 - guiding groove; 22 - third spring; 23 - connecting pipe; 24 - internal gear ring; 25 - annular cavity; 26 - output pipe; 27 - side hole; 28 - first pipeline; 29 - second pipeline; 30 - third pipeline; 31 - fixed cylinder; 32 - lifting disk; 33 - fourth spring; 34 - fourth pipeline; 35 - fifth pipeline; 36 - threaded pipe; 37 - one - way valve; 38 - driving gear; 39 - driving motor; 40 - worm; 41 - worm gear. Specific embodiments

[0029] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described 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 efforts shall fall within the protection scope of the present invention.

[0030] Please refer to Figures 1 - 11 , the present invention provides a technical solution: a loading and unloading robot robotic arm for a stamping machine tool, including a base 1 and an adsorption mechanism. A robotic arm body 2 is rotatably connected to the base 1. A rotating block 3 is rotatably connected to the robotic arm body 2. A rotating disk 4 is rotatably connected to the rotating block 3. The adsorption mechanism includes multiple groups of suction cups 5 installed on the rotating disk 4. A control member for sensing the fitting relationship between the suction cup 5 and the surface of the stamping part is provided on the rotating disk 4. The control member can suck the suction cup 5 in the fitting state, and at the same time adjust and control the position of the suction cup 5 in the non - adsorbed state, avoiding excessive thrust of the non - adsorbed suction cup 5 on the stamping part and affecting the stability of adsorption and transportation. A conveying member is provided on the rotating disk 4 that can output liquid to the side wall of the suction cup 5 in the adsorbed state in a linkage manner during the suction operation of the control member to improve the adsorption stability.

[0031] The control member includes multiple groups of fixed pipes 6 fixedly installed on the rotating disk 4. Multiple groups of sliding grooves 7 are evenly opened on the rotating disk 4. A sliding pipe 8 is slidably connected in the sliding groove 7. The outer wall of the sliding pipe 8 is prismatic. The inner wall of the sliding pipe 8 slidably fits with the outer wall of the fixed pipe 6. The suction cup 5 is fixedly installed at one end of the sliding pipe 8. A first spring 9 fixedly connected to the sliding groove 7 is fixedly connected to the end of the sliding pipe 8 away from the suction cup 5. An adjusting member for controlling the adsorption state of the suction cup 5 and the moving state of the sliding pipe 8 is provided inside the rotating disk 4.

[0032] The adjusting member includes a second spring 10 fixedly installed at one end of the fixed tube 6, and the end of the second spring 10 away from the fixed tube 6 is fixedly connected to a sliding block 11 that slides in contact with the inner wall of the sliding tube 8, and the sliding tube 8 is provided with a first bent tube 12 connected to the sliding groove 7, and the sliding block 11 is fixedly connected with a sleeve tube 13 that is movably sleeved with the inner wall of the fixed tube 6, and the sliding block 11 is provided with a second bent tube 14 that can be connected to the first bent tube 12 and the sleeve tube 13, and the sleeve tube 13 is connected to the fixed tube 6, and the rotating block 3 is provided with a gas transmission member for controlling the air pressure intensity in the fixed tube 6.

[0033] The gas delivery component includes an electric telescopic rod 15 fixedly mounted on the rotating block 3, a storage chamber 16 is provided on the rotating block 3, a telescopic end of the electric telescopic rod 15 is fixedly connected to a sliding plate 17 that slides in contact with the inner wall of the storage chamber 16, a connecting chamber 18 is provided on the rotating block 3 and is connected to one end of multiple groups of fixed tubes 6, the connecting chamber 18 is connected to the storage chamber 16, and a limiting ring 19 for limiting the sliding block 11 is fixedly connected in the sliding tube 8.

[0034] The conveying member includes a plurality of driving rods 20 evenly mounted on the suction cup 5. A guide groove 21 is provided on the suction cup 5. The driving rod 20 is slidably connected to the inner wall of the guide groove 21. A third spring 22 fixedly connected to the guide groove 21 is fixedly connected to one end of the driving rod 20. A connecting pipe 23 is fixedly connected in the guide groove 21. The connecting pipe 23 is slidably connected to the inner wall of the driving rod 20. An output member is provided on the rotating block 3 for outputting liquid to the surface of the suction cup 5 in linkage when the electric telescopic rod 15 is running.

[0035] The output member includes an inner gear ring 24 coaxially fixedly mounted on the rotating disk 4, an annular cavity 25 is formed between the inner gear ring 24 and the rotating block 3, a driving gear 38 meshing with the inner gear ring 24 is rotatably connected to the rotating block 3, a driving motor 39 is fixedly connected to the rotating block 3, and the driving motor 39 is preferably a LD60 micro motor. A worm 40 is coaxially fixedly connected to the output end of the driving motor 39, and a worm wheel 41 meshing with the worm 40 is coaxially fixedly connected to the side of the driving gear 38. A plurality of groups of output pipes 26 are provided on the driving rod 20, and a plurality of groups of side holes 27 capable of being connected to the output pipe 26 are provided on the side of the connecting pipe 23. A first pipe 28 is provided on the sliding pipe 8, and a plurality of groups of second pipes 29 for connecting the connecting pipe 23 with the first pipe 28 are provided on the suction cup 5. A third pipe 30 capable of being connected to the first pipe 28 and the annular cavity 25 is provided on the rotating disk 4.

[0036] The output member further includes a fixed cylinder 31 fixedly installed on the rotating block 3. A lifting plate 32 is slidably connected inside the fixed cylinder 31. A fourth spring 33 fixedly connected to the lifting plate 32 and the fixed cylinder 31 is provided. A fourth pipe 34 for communicating the storage cavity 16 and the fixed cylinder 31 is provided on the rotating block 3. A fifth pipe 35 for communicating the fixed cylinder 31 and the annular cavity 25 is provided on the rotating block 3. The side of the sliding plate 17 close to the electric telescopic rod 15 is used for storing liquid, and the side of the sliding plate 17 away from the electric telescopic rod 15 is used for storing gas. A threaded pipe 36 is fixedly connected to the lifting plate 32. A one-way valve 37 for controlling the one-way flow of liquid from the threaded pipe 36 into the upper part of the lifting plate 32 is fixedly connected inside the threaded pipe 36.

[0037] In this embodiment, the robotic arm body 2 can be rotationally adjusted on the base 1, and at the same time, the rotation of the rotating block 3 is controlled. The driving motor 39 drives the worm 40 to make the worm gear 41 rotate. The worm gear 41 drives the driving gear 38 to make the internal gear ring 24 drive the rotating disk 4 to rotate, so that the direction and angle of the suction cup 5 can be multi-directionally adjusted to achieve precise loading and unloading operations. During the rotation of the rotating disk 4, it can always ensure that the annular cavity 25 is connected to the fifth pipe 35 to realize the liquid transportation, and at the same time, one end of the fixed pipe 6 can always be connected to the storage cavity 16 through the communication cavity 18 to realize the gas transportation.

[0038] During the adsorption of the stamping part, by controlling the rotating disk 4 to push the suction cup 5 to be squeezed and attached to the surface of the stamping part, the top of the driving rod 20 will be in contact with the surface of the attached stamping part at this time, pushing the driving rod 20 to slide in the guiding groove 21, compressing the third spring 22, and when the side hole 27 is connected to the output pipe 26, the liquid in the connecting pipe 23 is discharged to the surface of the suction cup 5 through the output pipe 26, realizing the lubricating function of the surface of the suction cup 5, improving the adsorption force and stability of the suction cup 5 on the surface of the stamping part, while the driving rod 20 not in contact with the surface of the stamping part will not slide, the side hole 27 is not connected to the output pipe 26, and no liquid will be output. At this time, the electric telescopic rod 15 is started to pull the sliding plate 17 to slide in the storage cavity 16. On the one hand, the communication cavity 18 is evacuated, and on the other hand, the liquid in the storage cavity 16 is squeezed into the fixed cylinder 31 through the fourth pipe 34, transported to the annular cavity 25 through the fifth pipe 35, and then transported to the connecting pipe 23 through the third pipe 30, the first pipe 28 and the second pipe 29. During this process, the pushed driving rod 20 has completely slid into the guiding groove 21, and one end of the output pipe 26 is blocked, and no more liquid will be output. However, the hydraulic strength in the fixed cylinder 31 increases, which will push the lifting plate 32 to slide in the fixed cylinder 31, adjust the volume of the fixed cylinder 31, compress the fourth spring 33, realize the function of intermediate storage of liquid, and ensure that there is always a certain strength of liquid in the fixed cylinder 31, which can ensure that liquid is ejected when the side hole 27 is connected to the output pipe 26 subsequently.

[0039] When the electric telescopic rod 15 evacuates the connecting chamber 18, the air pressure in the fixed tube 6 decreases, and the sleeve tube 13 is evacuated first, so that the sliding block 11 slides in the sliding tube 8. The sliding of the sliding block 11 will extract the gas in the suction cup 5, so that the suction cup 5 in the adsorption state is in a negative pressure state, thereby improving the adsorption strength, and the suction cup 5 in the non-adsorption state will be connected to the outside world. At this time, the sliding block 11 at this position is not affected by the reverse effect of the negative pressure of the suction cup 5, and the movement will be smoother, so that the sliding block 11 at this position will first slide to the position that conflicts with the limit ring 19, connecting the first bend 12 with the second bend 14, and then the fixed tube 6 continues to evacuate the air to the gas in the sliding groove 7 through the sleeve tube 13, the second bend 14 and the first bend 12, and the sliding tube 8 slides toward the side of the first spring 9, compressing the first spring 9 while driving the suction cup 5 at this position away from the side of the stamping part, thereby reducing the resistance of the suction cup 5 to the surface of the stamping part.

[0040] However, the sliding block 11 at the position of the suction cup 5 in the adsorption state is affected by the negative pressure and is difficult to slide completely to the position of the limit ring 19, so that the first bend pipe 12 and the second bend pipe 14 at this position will not be connected, and the air pressure in the sliding groove 7 will not be reduced. During the transportation process, the first spring 9 at this position rebounds, and the suction cup 5 and the stamping part are pushed out and adsorbed for transportation, while the first spring 9 at the suction cup 5 in the non-adsorbed state is in a compressed state, and the suction cup 5 is far away from the stamping part, which effectively reduces the reverse driving force of these suction cups 5 on the stamping part, thereby improving the stability during transportation.

[0041] It should be noted that: when the surface of the stamping part is rough or has holes, it is difficult for the suction cup 5 to adsorb to that position, but at this time the suction cup 5 at that position will still have a thrust on the surface of the stamping part. If the suction cup 5 at that position is not driven away from the surface of the stamping part, the adsorption of the remaining suction cups 5 may be unstable during the transportation process. Therefore, it is necessary to use the above-mentioned structure to control the movement of these suction cups 5 that are in a resistance state but cannot be adsorbed.

[0042] By filling the threaded tube 36 with liquid, the liquid can pass through the one-way valve 37 and enter the fixed cylinder 31 to replenish the liquid. By driving the worm gear 41 to rotate through the worm 40, the position angle of the rotating disk 4 can be accurately adjusted and limited, thereby improving stability during transportation.

[0043] It should be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements not only includes those elements but also includes other elements not expressly listed, or elements inherent to such process, method, article or device.

[0044] Although embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A punching machine loading and unloading robot arm, characterized in that: include: A base (1), a mechanical arm body (2) being rotatably connected to the base (1), a rotating block (3) being rotatably connected to the mechanical arm body (2), and a rotating disk (4) being rotatably connected to the rotating block (3); Also includes: The adsorption mechanism comprises a plurality of suction cups (5) mounted on the rotating disk (4); the rotating disk (4) is provided with a control component for sensing the fitting relationship between the suction cups (5) and the surface of the stamping part; the control component can perform suction on the suction cups (5) in the fitted state, and at the same time adjust and control the position of the suction cups (5) in the non-adsorbed state, so as to avoid the non-adsorbed suction cups (5) from exerting excessive thrust on the stamping part, thereby affecting the adsorption and conveying stability; the rotating disk (4) is provided with a conveying component capable of outputting liquid to the side wall of the suction cups (5) in the adsorbed state in a linked manner during the suction operation of the control component, thereby improving the adsorption stability.

2. A punching machine loading and unloading robot arm according to claim 1, characterized in that: The control component comprises a plurality of fixed tubes (6) fixedly mounted on the rotating disk (4); a plurality of sliding grooves (7) are evenly arranged on the rotating disk (4); a sliding tube (8) is slidably connected in the sliding groove (7); the inner wall of the sliding tube (8) is slidably fitted with the outer wall of the fixed tube (6); the suction cup (5) is fixedly mounted on one end of the sliding tube (8); the end of the sliding tube (8) away from the suction cup (5) is fixedly connected with a first spring (9) fixedly connected to the sliding groove (7); and an adjusting component for controlling the adsorption state of the suction cup (5) and the movement state of the sliding tube (8) is arranged in the rotating disk (4).

3. A punching machine loading and unloading robot arm according to claim 2, characterized in that: The adjusting member comprises a second spring (10) fixedly mounted on one end of the fixed tube (6); the end of the second spring (10) away from the fixed tube (6) is fixedly connected to a sliding block (11) which is slidably fitted with the inner wall of the sliding tube (8); the sliding tube (8) is provided with a first curved tube (12) which is connected to the sliding groove (7); the sliding block (11) is fixedly connected to a sleeve tube (13) which is movably sleeved with the inner wall of the fixed tube (6); the sliding block (11) is provided with a second curved tube (14) which can be connected to the first curved tube (12) and the sleeve tube (13); the sleeve tube (13) is connected to the fixed tube (6); and the rotating block (3) is provided with a gas transmission member for controlling the gas pressure intensity in the fixed tube (6).

4. A punching machine loading and unloading robot arm according to claim 3, characterized in that: The gas delivery component comprises an electric telescopic rod (15) fixedly mounted on the rotating block (3); a storage chamber (16) is provided on the rotating block (3); a sliding plate (17) is fixedly connected to the telescopic end of the electric telescopic rod (15) and is slidably fitted with the inner wall of the storage chamber (16); a connecting chamber (18) is provided on the rotating block (3) and is connected to one end of a plurality of groups of the fixed tubes (6); the connecting chamber (18) is connected to the storage chamber (16); and a limiting ring (19) for limiting the sliding block (11) is fixedly connected inside the sliding tube (8).

5. A punching machine loading and unloading robot arm according to claim 4, characterized in that: The conveying member comprises a plurality of driving rods (20) uniformly mounted on the suction cup (5); a guide groove (21) is provided on the suction cup (5); the driving rod (20) is slidably connected to the inner wall of the guide groove (21); one end of the driving rod (20) is fixedly connected to a third spring (22) fixedly connected to the guide groove (21); a connecting pipe (23) is fixedly connected in the guide groove (21); the connecting pipe (23) is slidably connected to the inner wall of the driving rod (20); and an output member is provided on the rotating block (3) for outputting liquid to the surface of the suction cup (5) in linkage when the electric telescopic rod (15) is in operation.

6. The robot arm for loading and unloading a punching machine according to claim 5, characterized in that: The output member comprises an inner gear ring (24) coaxially fixedly mounted on the rotating disk (4), an annular cavity (25) being formed between the inner gear ring (24) and the rotating block (3), a plurality of groups of output pipes (26) being provided on the driving rod (20), a plurality of groups of side holes (27) capable of communicating with the output pipes (26) being provided on the side of the connecting pipe (23), a first pipe (28) being provided on the sliding pipe (8), a plurality of groups of second pipes (29) for connecting the connecting pipe (23) with the first pipe (28) being provided on the suction cup (5), and a third pipe (30) capable of communicating with the first pipe (28) and the annular cavity (25) being provided on the rotating disk (4).

7. The robot arm for loading and unloading a punching machine according to claim 6, characterized in that: The output member further comprises a fixed cylinder (31) fixedly mounted on the rotating block (3), a lifting plate (32) being slidably connected inside the fixed cylinder (31), a fourth spring (33) being fixedly connected to the lifting plate (32) and being fixedly connected to the fixed cylinder (31), a fourth pipe (34) for connecting the storage chamber (16) and the fixed cylinder (31) being provided on the rotating block (3), a fifth pipe (35) for connecting the fixed cylinder (31) and the annular chamber (25) being provided on the rotating block (3), a side of the sliding plate (17) close to the electric telescopic rod (15) being used for storing liquid, and a side of the sliding plate (17) away from the electric telescopic rod (15) being used for storing gas.

8. The robot arm for loading and unloading a punching machine according to claim 7, characterized in that: A threaded tube (36) is fixedly connected to the lifting plate (32), and a one-way valve (37) is fixedly connected inside the threaded tube (36) for controlling the one-way flow of liquid from the threaded tube (36) to the top of the lifting plate (32).

9. The robot arm for loading and unloading a punching machine according to claim 6, characterized in that: The rotating block (3) is rotatably connected to a driving gear (38) meshing with the inner gear ring (24); the rotating block (3) is fixedly connected to a driving motor (39); an output end of the driving motor (39) is coaxially fixedly connected to a worm (40); and a side surface of the driving gear (38) is coaxially fixedly connected to a worm wheel (41) meshing with the worm (40).

10. The robot arm for loading and unloading a punching machine according to claim 2, characterized in that: The outer wall of the sliding tube (8) is prism-shaped.

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