Robot

Abstract

The present invention belongs to the technical field of mechanical processing equipment, and in particular, relates to a manipulator, including an X-axis moving mechanism, a rotating mechanism, a rotating arm, a Z-axis moving mechanism and an end tool, wherein the driving end of the X-axis moving mechanism is connected to the rotating mechanism; the first end of the rotating arm is connected to the driving end of the rotating mechanism and is used to drive the rotating arm to rotate, the extending direction of the rotating arm is perpendicular to the rotating axis of the rotating mechanism, the second end of the rotating arm is connected to the Z-axis moving mechanism, the rotating axis direction of the rotating mechanism is parallel to the moving direction of the Z-axis moving mechanism, and the end tool is connected to the driving end of the Z-axis moving mechanism. Compared with the existing manipulator, the size of the manipulator in the Y-axis direction is reduced by half, achieving a significant reduction in the size of the manipulator, and the X-axis moving mechanism drives the rotating mechanism to be located at the extreme position of its travel and the rotating arm rotates to be parallel to the X-axis direction, increasing the travel range in the X-axis direction and making it have a wider range of movement.

Description

Technical Field

[0001] The invention belongs to the technical field of mechanical processing equipment, and in particular relates to a manipulator. Background Art

[0002] Existing manipulators are widely used in common industrial production such as dispensing, plastic dripping, spraying, palletizing, sorting, packaging, welding, metal processing, handling, loading and unloading, assembly, printing, etc., to realize the automation of industrial production and improve production efficiency. The end tool of the current manipulator is usually driven by a plurality of linear modules connected in sequence and perpendicular to each other. Through the mutual movement and coordination between several linear modules, the movement of the end tool in three-dimensional space is realized. However, the space occupied by several linear modules is large, and the movement range of the end tool is small. Summary of the invention

[0003] The object of the present invention is to provide a robot arm, aiming to solve the technical problems in the prior art that the robot arm occupies a large space and has a small moving range of the end tool.

[0004] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a robot arm, including an X-axis moving mechanism, a rotating mechanism, a rotating arm, a Z-axis moving mechanism and an end tool part, the driving end of the X-axis moving mechanism is connected to the rotating mechanism; the first end of the rotating arm is connected to the driving end of the rotating mechanism and is used to drive the rotating arm to rotate, the extending direction of the rotating arm is arranged perpendicular to the rotation axis of the rotating mechanism, the second end of the rotating arm is connected to the Z-axis moving mechanism, the rotation axis direction of the rotating mechanism is arranged parallel to the moving direction of the Z-axis moving mechanism, and the end tool part is connected to the driving end of the Z-axis moving mechanism.

[0005] Optionally, the rotating mechanism includes a rotating platform and a rotating motor, the fixed end of the rotating platform is mounted on the driving end of the X-axis moving mechanism, the first end of the rotating arm is connected to the rotating end of the rotating platform, and the output end of the rotating motor is connected to the rotating platform to drive the rotating end of the rotating platform to rotate.

[0006] Optionally, the rotating platform is a hollow rotating platform.

[0007] Optionally, a first limit block is provided at the fixed end of the rotating platform, and a second limit block is provided at the first end of the rotating arm, and the first limit block abuts against the second limit block to limit the rotation of the rotating arm.

[0008] Optionally, a rotation sensing sheet is provided on the fixed end of the rotating platform, and a rotation proximity switch is provided on the first end of the rotating arm. When the rotating arm rotates to a preset position, the detection end of the rotation proximity switch faces the rotation sensing sheet.

[0009] Optionally, the X-axis moving mechanism is a linear module.

[0010] Optionally, the Z-axis moving mechanism includes a Z-axis motor, a rack and a Z-axis fixed plate, the rack is mounted on the Z-axis fixed plate and extends along the Z-axis direction, the Z-axis motor is mounted on the driving end of the rotating mechanism, the output shaft of the Z-axis motor is provided with gear teeth, the gear teeth are engaged with the rack, and the end tool part is connected to the Z-axis fixed plate.

[0011] Optionally, the robot also includes a first rotating mechanism, which is connected to the driving end of the Z-axis moving mechanism, the rotation center axis of the first rotating mechanism is arranged parallel to the Z-axis direction, and the end tool is connected to the driving end of the first rotating mechanism.

[0012] Optionally, a buffer device for limiting the movement of the first rotating mechanism along the Z-axis direction is provided between the first rotating mechanism and the Z-axis moving mechanism.

[0013] Optionally, the robot also includes a second rotating mechanism, which is connected to the driving end of the Z-axis moving mechanism, and the rotation center axis of the second rotating mechanism is set at an angle to the Z-axis direction; the end tool is connected to the driving end of the second rotating mechanism.

[0014] The above one or more technical solutions in the manipulator provided by the present invention have at least one of the following technical effects: when in use, the X-axis moving mechanism and the Z-axis moving mechanism are used to drive the end tool part to move in the X-axis direction and the Z-axis direction respectively; the rotating mechanism is started, and the rotating mechanism drives the rotating arm to rotate, then the stroke of the manipulator in the Y-axis direction is twice the length of the rotating arm. Compared with the existing manipulator, the size of the manipulator in the Y-axis direction is reduced by half, achieving a significant reduction in the size of the manipulator, and when the X-axis moving mechanism drives the rotating mechanism to be located at the extreme position of its stroke, the rotating arm can rotate to be parallel to the X-axis direction, and the length of the rotating arm can increase the stroke range in the X-axis direction, thereby making the movement range of the end tool part wider; at the same time, the rotating arm can directly drive the end tool part to move in the XY plane determined by the X-axis direction and the Y-axis direction or in parallel to the XY plane, and the adjustment of the end tool part is simple, convenient and fast. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0016] Figure 1 A schematic diagram of the structure of a manipulator provided in an embodiment of the present invention.

[0017] Figure 2 For along Figure 1 Sectional view along line AA.

[0018] Figure 3 for Figure 1 An exploded view of one perspective of the robot is shown.

[0019] Figure 4 for Figure 1 An exploded view of another perspective of the robot is shown.

[0020] Figure 5 for Figure 4 A partial enlarged view of point B in the middle.

[0021] Figure 6 for Figure 1 An exploded view of the Z-axis moving mechanism of the robot is shown.

[0022] Among them, the reference numerals in the figure are:

[0023] 10—X-axis moving mechanism 20—rotating mechanism 21—rotating platform

[0024] 22 - Rotating motor 30 - Rotating arm 31 - Rotating proximity switch

[0025] 32 - first slider 33 - Z-axis proximity switch 34 - second limit block

[0026] 40—Z-axis moving mechanism 41—Z-axis motor 42—rack

[0027] 43—Z-axis fixing plate 50—end tooling 60—drag chain

[0028] 70 - first rotating mechanism 71 - rotating motor 72 - rotating mounting seat

[0029] 73 - hollow tube 74 - motor cover 80 - buffer device

[0030] 81—Buffer induction sheet 82—Buffer proximity switch 83—Second guide rail

[0031] 84 - second slider 85 - fourth limit block 90 - swing cylinder

[0032] 211 - Rotating mounting seat 212 - Rotating disk 213 - Hollow shaft

[0033] 214—first limit block 215—rotational sensing sheet 216—X-axis proximity switch

[0034] 431—first guide rail 432—third limit block 433—Z-axis sensor sheet

[0035] 721—Fifth limit block. DETAILED DESCRIPTION

[0036] The embodiments of the present invention are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. Figures 1 to 6 The described embodiments are exemplary and intended to be used to explain the present invention, but should not be construed as limiting the present invention.

[0037] In the description of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0038] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0039] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0040] like Figures 1 to 6As shown, in one embodiment of the present invention, a robot is provided, including an X-axis moving mechanism 10, a rotating mechanism 20, a rotating arm 30, a Z-axis moving mechanism 40 and an end tool 50, wherein the driving end of the X-axis moving mechanism 10 is connected to the rotating mechanism 20; the first end of the rotating arm 30 is connected to the driving end of the rotating mechanism 20 and is used to drive the rotating arm 30 to rotate, the extending direction of the rotating arm 30 is perpendicular to the rotating axis of the rotating mechanism 20, the second end of the rotating arm 30 is connected to the Z-axis moving mechanism 40, the rotating axis direction of the rotating mechanism 20 is parallel to the moving direction of the Z-axis moving mechanism 40, and the end tool 50 is connected to the driving end of the Z-axis moving mechanism 40, wherein the directions of the X-axis, Y-axis and Z-axis refer to Figure 1 shown.

[0041] Specifically, when the robot of the embodiment of the present invention is in use, the X-axis moving mechanism 10 and the Z-axis moving mechanism 40 are used to drive the end tool part 50 to move in the X-axis direction and the Z-axis direction respectively; the rotating mechanism 20 is started, and the rotating mechanism 20 drives the rotating arm 30 to rotate, then the stroke of the robot in the Y-axis direction is twice the length of the rotating arm 30. Compared with the existing robot, the size of the robot in the Y-axis direction is reduced by half, achieving a significant reduction in the size of the robot, and when the X-axis moving mechanism 10 drives the rotating mechanism 20 to be located at the extreme position of its stroke, the rotating arm 30 can be rotated to be parallel to the X-axis direction, and the length of the rotating arm 30 can increase the stroke range in the X-axis direction, thereby making the movement range of the end tool part 50 wider; at the same time, the rotating arm 30 can directly drive the end tool part 50 to move in the XY plane determined by the X-axis direction and the Y-axis direction or in parallel to the XY plane, and the adjustment of the end tool part 50 is simple, convenient and fast.

[0042] Furthermore, the manipulator includes a control device, and the X-axis moving mechanism 10, the rotating mechanism 20 and the Z-axis moving mechanism 40 are all electrically connected to the control device. Under the coordination of the control device, the X-axis moving mechanism 10, the rotating mechanism 20 and the Z-axis moving mechanism 40 can effectively improve the working efficiency and accuracy of the manipulator.

[0043] In another embodiment of the present invention, refer to Figure 1 and Figure 3As shown, the provided rotating mechanism 20 of the manipulator includes a rotating platform 21 and a rotating motor 22, the fixed end of the rotating platform 21 is mounted on the driving end of the X-axis moving mechanism 10, the first end of the rotating arm 30 is connected to the rotating end of the rotating platform 21, and the output end of the rotating motor 22 is connected to the rotating platform 21 to drive the rotating end of the rotating platform 21 to rotate. Specifically, the rotating motor 22 serves as the driving source of the rotating platform 21, and the rotating platform 21 has a simple structure, and the rotating arm 30 is driven to rotate with high precision, and the rotating arm 30 rotates stably, so that the end tool 50 has high movement precision and accurate positioning, so that the processing of the end tool 50 is more stable and reliable.

[0044] In another embodiment of the present invention, refer to Figure 2 As shown, the rotating platform 21 of the manipulator provided is a hollow rotating platform. Specifically, the hollow rotating platform includes a rotating mounting seat 211, a rotating disk 212 and a hollow shaft 213, the mounting disk is fixed on the X-axis moving mechanism 10, the rotating disk 212 is connected to the rotating arm 30, the rotating disk 212 is rotatably mounted on the rotating mounting seat 211, the output end of the rotating motor 22 is connected to the gear teeth outside the rotating disk 212 through the gear, and the rotating motor 22 drives the rotating disk 212 to rotate so as to realize the rotation of the rotating arm 30, and the hollow shaft 213 is rotatably mounted in the middle of the rotating disk 212, so that the subsequent Z-axis moving mechanism 40 and the subsequent cables and air pipes can be directly routed from the hollow shaft 213, making the appearance of the manipulator more neat and compact.

[0045] In another embodiment of the present invention, refer to Figure 1 , Figure 3 and Figure 4 As shown, the fixed end of the rotating platform 21 of the provided manipulator is provided with a first limit block 214, and the first end of the rotating arm 30 is provided with a second limit block 34, and the first limit block 214 abuts against the second limit block 34 to limit the rotation of the rotating arm 30. Specifically, during the rotation of the rotating arm 30, the first limit block 214 abuts against the second limit block 34, thereby preventing the rotating arm 30 from rotating 360°, thereby preventing the cable and the air pipe in the hollow tube 73 from breaking.

[0046] In another embodiment of the present invention, refer to Figure 1 , Figure 3 and Figure 4As shown, a rotation sensing sheet 215 is provided on the fixed end of the rotating platform 21 of the provided manipulator, and a rotation proximity switch 31 is provided on the first end of the rotating arm 30. When the rotating arm 30 rotates to a preset position, the detection end of the rotation proximity switch 31 faces the rotation sensing sheet 215. Specifically, when the first limit block 214 and the second limit block 34 are in contact at the preset position, the rotation proximity switch 31 faces the rotation sensing sheet 215, so that the rotation proximity switch 31 can feed back a signal to the control device, so that the control device issues an instruction to control the rotation of the rotating arm 30, and avoids the rotating arm 30 from rotating too much, which may cause the cable or the air pipe to break.

[0047] In another embodiment of the present invention, the X-axis moving mechanism 10 of the manipulator is a linear module. Specifically, the rotating mounting seat 211 of the rotating platform 21 is installed on the slide of the linear module, and the linear module is used to drive the rotating platform 21 to move, thereby driving the end tool 50 to move. The structure is simple, the movement of the end tool 50 is stable and reliable, and the control of the end tool 50 is convenient.

[0048] Furthermore, the stroke size of the linear module can be determined by the required stroke. The stroke used by the linear module of the robot is 480mm. When the new linear module is installed horizontally and driven by a 200W servo motor, its maximum load is 30kg. The power is indirectly transmitted between the motor and the screw in the linear module through a synchronous pulley, and the lead of the screw is 5mm.

[0049] Furthermore, a drag chain 60 is installed on the linear module to facilitate the routing of cables and air pipes, and can also effectively prevent the cables or air pipes from breaking during movement.

[0050] Further, see Figure 1 , Figure 3 and Figure 4 As shown, two X-axis proximity switches 216 are installed between the starting point and the end point of the linear module stroke to prevent the rotating platform 21 from moving out of the starting point and the end point in the X-axis direction to avoid the cable or air pipe from breaking. One of them is installed on the rotating platform 21 and the other is fixed on the linear module.

[0051] In another embodiment of the present invention, refer to Figure 3 , Figure 4 and Figure 6As shown, the Z-axis moving mechanism 40 of the provided manipulator includes a Z-axis motor 41, a rack 42 and a Z-axis fixing plate 43, the rack 42 is mounted on the Z-axis fixing plate 43 and extends along the Z-axis direction, the Z-axis motor 41 is mounted on the driving end of the rotating mechanism 20, and the output shaft of the Z-axis motor 41 is provided with gear teeth, which mesh with the rack 42. Specifically, the output shaft of the Z-axis motor 41 rotates, thereby driving the rack 42 to move along the Z-axis direction, and then driving the Z-axis fixing plate 43 and the end tool component 50 mounted on the Z-axis fixing plate 43 to move along the Z-axis direction, thereby realizing the end tool component 50 moving in the Z-axis direction.

[0052] Furthermore, the Z-axis fixing plate 43 is provided with a first guide rail 431 extending along the Z-axis direction, and the rotating arm 30 is provided with a first slider 32. The first slider 32 is slidably installed on the first guide rail 431. Under the guiding action of the first guide rail 431 and the first slider 32, the movement of the Z-axis fixing plate 43 along the Z-axis direction is more stable and reliable, which can effectively avoid the problem of tilting or offset of the end tool component 50, so that the movement of the end tool component 50 is stable and reliable.

[0053] Furthermore, the Z-axis motor 41 is installed in the rotating arm 30, and the output shaft of the Z-axis motor 41 extends out of the rotating arm 30 and is meshed and connected with the rack 42, so that the appearance of the robot is neater and more compact.

[0054] Furthermore, the Z-axis fixing plate 43 is also equipped with two third limit blocks 432 spaced apart in the Z-axis direction, and the rotating arm 30 is located between the two third limit blocks 432. The limiting effect of the third limit block 432 can prevent the end tool 50 from having too large a stroke in the Z-axis direction, thereby causing damage to the manipulator. The Z-axis fixing plate 43 is also equipped with a drag chain 60, and the cables and air pipes pass through the drag chain 60, thereby preventing the cables and air pipes from being entangled and damaged when the end tool 50 moves.

[0055] Furthermore, two Z-axis approach switches 33 are provided on the second end of the rotating arm 30 and are spaced apart along the Z-axis direction. The Z-axis fixing plate 43 is also provided with two Z-axis sensing sheets 433 spaced apart along the Z-axis direction. The two Z-axis approach switches 33 are arranged close to each other. Then, when the Z-axis fixing plate 43 moves along the Z-axis direction, the two Z-axis approach switches 33 are respectively opposite to the corresponding Z-axis sensing sheets 433, thereby the Z-axis approach switches 33 feedback signals to the control device, so that the control device can obtain the positions of the Z-axis fixing plate 43 and the end tool component 50 installed on the Z-axis fixing plate 43, so as to avoid the end tool component 50 moving to the stroke in the Z-axis direction and avoid damage to the robot.

[0056] In another embodiment of the present invention, refer to Figure 2 , Figure 3 and Figure 4 As shown, the provided manipulator further includes a first rotating mechanism 70, which is connected to the driving end of the Z-axis moving mechanism 40, and the rotation center axis of the first rotating mechanism 70 is arranged parallel to the Z-axis direction. Specifically, the first rotating mechanism 70 can directly drive the end tool 50 to rotate, thereby achieving multi-angle workpiece processing.

[0057] Furthermore, the first rotating mechanism 70 includes a rotating motor 71, a rotating mounting seat 72 and a hollow tube 73. The hollow tube 73 can be rotatably mounted in the rotating mounting seat 72 and rotate in the mounting seat. The rotating mounting seat 72 is mounted on the Z-axis fixed plate 43. The hollow tube 73 is connected to the end tool part 50. The rotating motor 71 is mounted on the rotating mounting seat 72, and the rotating motor 71 is connected to the hollow tube 73 through a gear to drive the rotating hollow tube 73 to rotate, so as to realize the self-rotation of the end tool part 50. At the same time, subsequent cables and air pipes can also pass through the hollow tube 73, which is convenient for the routing of cables and air pipes, making the appearance structure of the manipulator neat and compact.

[0058] Furthermore, a motor cover 74 is provided outside the rotating motor 71 to prevent processing dust and impurities from affecting the operation of the rotating motor 71 .

[0059] Furthermore, a buffer device 80 is installed between the Z-axis fixed plate 43 and the rotating mounting seat 72. The buffer device 80 includes a buffer sensing sheet 81 and a buffer proximity switch 82. The buffer sensing sheet 81 is installed on the rotating mounting seat 72, and the buffer proximity switch 82 is installed on the Z-axis fixed plate 43. When the rotating mounting seat 72 moves away from the buffer sensing sheet 81, the buffer proximity switch 82 leaves the sensing range of the buffer sensing sheet 81, thereby causing the control device to alarm, preventing the end tool component 50 from moving out of the travel in the Z-axis direction, thereby ensuring the stability and safety of the movement of the end tool component 50.

[0060] In another embodiment of the present invention, refer to Figure 2 , Figure 3 , Figure 4 and Figure 5As shown, a buffer device 80 for limiting the movement of the first rotating mechanism 70 along the Z-axis direction is provided between the first rotating mechanism 70 and the Z-axis moving mechanism 40 of the provided robot. Specifically, the buffer device 80 includes a second guide rail 83, a second slider 84, a fifth limit block 721 and two fourth limit blocks 85. The second slider 84 is installed on the Z-axis fixed plate 43. The second guide rail 83 is installed on the rotating mounting seat 72 and extends along the Z-axis direction. The two fourth limit blocks 85 are arranged at intervals along the Z-axis direction. The fifth limit block 721 is installed on the rotating mounting seat 72. The fifth limit block 721 is located between the two fourth limit blocks 85. Then, the rotating mounting seat 72 naturally falls under the action of gravity, and the fifth limit block 721 abuts against the fourth limit block 85, so that the fourth limit block 85 supports the first rotating mechanism 70 and the end tool part 50. The buffer sensing sheet 81 also bears part of the gravity of the first rotating mechanism 70 and the end tool part 50. The second guide rail 83 and the second slider 84 are used for guiding to prevent the first rotating mechanism 70 and the end tool part 50 from flipping.

[0061] In another embodiment of the present invention, refer to Figure 2 , Figure 3 and Figure 4 As shown, the provided manipulator also includes a second rotating mechanism, which is connected to the driving end of the Z-axis moving mechanism 40, and the rotation center axis of the second rotating mechanism is set at an angle with the Z-axis direction. Specifically, the second rotating mechanism includes a swing table cylinder 90, the cylinder body of the swing table cylinder 90 is connected to the hollow tube 73, and the piston rod of the swing table cylinder 90 is provided with an end mounting seat, and the end mounting seat is provided with a plurality of end tool parts 50, the number of the end tool parts 50 can be two, three or more than three, and the plurality of end tool parts 50 are set at an angle, so that different end tool parts 50 can be replaced by rotating the end mounting seat, and different processing methods can be quickly replaced, thereby improving the working efficiency and application scope of the manipulator.

[0062] Furthermore, the axis of the piston rod of the swing table cylinder 90 is set at an angle of 45° to the Z-axis direction, the number of end tool parts 50 is two, and the two end tool parts 50 are set at an angle of 90°. In this way, by starting the swing table cylinder 90, the end tool parts 50 can be automatically replaced. One of the two end tool parts 50 can be set as an end tool part 50 for installing the workpiece, and the other can be set as an end tool part 50 for rotating the workpiece. The processed workpiece and the unprocessed workpiece can be clamped at the same time. The conversion of the processed workpiece and the unprocessed workpiece on the processing table can be realized through the rotation angle, thereby improving production efficiency.

[0063] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A robot, characterized in that: It includes an X-axis moving mechanism, a rotating mechanism, a rotating arm, a Z-axis moving mechanism and an end tool, wherein the driving end of the X-axis moving mechanism is connected to the rotating mechanism; the first end of the rotating arm is connected to the driving end of the rotating mechanism and is used to drive the rotating arm to rotate, the extending direction of the rotating arm is perpendicular to the rotating axis of the rotating mechanism, the second end of the rotating arm is connected to the Z-axis moving mechanism, the rotating axis direction of the rotating mechanism is parallel to the moving direction of the Z-axis moving mechanism, and the end tool is connected to the driving end of the Z-axis moving mechanism; The rotating mechanism includes a rotating platform and a rotating motor, the fixed end of the rotating platform is mounted on the driving end of the X-axis moving mechanism, the first end of the rotating arm is connected to the rotating end of the rotating platform, and the output end of the rotating motor is connected to the rotating platform to drive the rotating end of the rotating platform to rotate; The Z-axis moving mechanism comprises a Z-axis motor, a rack and a Z-axis fixing plate, wherein the rack is mounted on the Z-axis fixing plate and extends along the Z-axis direction, the Z-axis motor is mounted on the driving end of the rotating mechanism, and gear teeth are arranged on the output shaft of the Z-axis motor, the gear teeth are meshed with the rack, and the end tool is connected to the Z-axis fixing plate; The manipulator further comprises a first rotating mechanism, the first rotating mechanism is connected to the Z-axis fixing plate, a rotation center axis of the first rotating mechanism is arranged parallel to the Z-axis direction, and the end tool is connected to a driving end of the first rotating mechanism; The manipulator further comprises a second rotating mechanism, the second rotating mechanism is connected to the driving end of the first rotating mechanism, the driving end of the second rotating mechanism is connected to an end mounting seat, the end mounting seat is provided with a plurality of the end tooling parts arranged at an angle, and the rotation center axis of the second rotating mechanism is arranged at an angle to the Z-axis direction; A first limit block is disposed at the fixed end of the rotating platform, and a second limit block is disposed at the first end of the rotating arm, wherein the first limit block abuts against the second limit block to limit the rotation of the rotating arm; A rotation sensing sheet is provided on the fixed end of the rotating platform, and a rotation proximity switch is provided on the first end of the rotating arm. When the rotating arm rotates to a preset position, the detection end of the rotation proximity switch faces the rotation sensing sheet. The preset position is where the first limit block abuts against the second limit block.

2. The robot according to claim 1, characterized in that: The rotating platform is a hollow rotating platform.

3. The robot according to claim 1 or 2, characterized in that: The X-axis moving mechanism is a linear module.

4. The robot according to claim 1 or 2, characterized in that: A buffer device for limiting the movement of the first rotating mechanism along the Z-axis direction is provided between the first rotating mechanism and the Z-axis moving mechanism.

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