Tube conveying robot

Abstract

The present invention discloses a bobbin conveying manipulator, comprising a bearing support, the bearing support comprising a bottom plate, side plates arranged on both sides of the bottom plate, and a chute formed between the bottom plate and the side plates, the material enters from the inlet end of the bottom plate, and is limited by the chute on both sides, the material can slide along the length direction of the bottom plate, the outlet end of the bottom plate is provided with a block, the block can be slidably arranged in the chute to block the material, and when the block slides away from the chute, the block to the material is released to allow the material to be output. The present invention is used to store a number of bobbins, a chute is formed on the side plate, the convex edges on both sides of the bobbin enter from the inlet end and can slide along the chute in the length direction to the outlet end, the block arranged at the outlet end is used to limit the material, and when the block is removed from the chute, the bobbin can be released for material dropping, completing the bobbin transfer work, improving the level of mechanization and automation, liberating labor, and ensuring the conveying quality and efficiency.

Description

Technical Field

[0001] The invention relates to a workpiece conveying device, in particular to a tube material conveying manipulator. Background Art

[0002] When sorting and conveying bobbins, a vibration plate is often used. Workpieces are added to the vibration plate by staff or a conveyor belt, and then the vibration of the vibration plate sorts the workpieces and outputs them in order. The bobbins will be transported to the winder for winding. The bobbins are currently stacked from top to bottom on a stand. The bobbins are stored on the top of the stand. When the blocking mechanism below is opened, a bobbin falls down and is then sent to the winder by a robot. After the vibration plate is sorted and output, how to adjust the bobbins to a vertical arrangement and send them to the stand requires an effective mechanical structure to achieve transfer. Summary of the invention

[0003] The object of the present invention is to overcome the deficiencies of the prior art and to provide a bobbin conveying robot which can store batches of bobbins well and complete the transportation of the bobbins through the structural design of the bearing bracket.

[0004] The present invention adopts the following technical scheme: a barrel material conveying robot comprises a bearing bracket, the bearing bracket comprises a bottom plate, side plates arranged on both sides of the bottom plate, and a chute formed between the bottom plate and the side plates, the material enters from the inlet end of the bottom plate and is limited by the chute on both sides, the material can slide along the length direction of the bottom plate, a card block is arranged at the outlet end of the bottom plate, the card block can be slidably arranged in the chute to block the material, and when the card block slides out of the chute, the blocking of the material is released to allow the material to be output.

[0005] As an improvement, it also includes a vibrating plate and a rotating cylinder arranged at the outlet end of the vibrating plate. The rotating cylinder is connected to a load-bearing bracket for driving the load-bearing bracket to switch between a horizontal state and a vertical state. The load-bearing bracket is located at the outlet end of the vibrating plate. When the load-bearing bracket is in a horizontal state, one end thereof corresponds to the outlet end of the vibrating plate to receive the material.

[0006] As an improvement, it also includes an arrangement frame, a first driving mechanism, a second driving mechanism and a rotating arm, the first driving mechanism is arranged on the arrangement frame, the second driving mechanism is arranged on the first driving mechanism and is driven by the first driving mechanism to rise and fall; the rotating arm is arranged on the second driving mechanism and is driven by the second driving mechanism to rotate and swing; another bearing bracket is rotatably arranged at one end of the rotating arm, and the bearing bracket at the rotating arm is linked with the second driving mechanism. When the second driving mechanism drives the rotating arm to rotate and swing, the second driving mechanism drives the bearing bracket at the rotating arm to rotate and keep the bearing bracket in a vertical state at all times for material placement; the bearing bracket at the rotating arm corresponds to the bearing bracket at the rotating cylinder up and down when it swings to the lower work station.

[0007] As an improvement, the middle portion of the rotating arm is rotationally connected to the second driving mechanism, and a counterweight for cooperating with the bearing bracket to balance the weight is provided on the other end of the rotating arm opposite to the bearing bracket thereon.

[0008] As an improvement, the end where the counterweight is located is arranged close to the second driving mechanism.

[0009] As an improvement, the rotating arm and the supporting bracket thereon are connected by a square frame, and a space for materials to pass through is formed in the middle of the square frame. An elastic blocking member is provided in the space to cushion the falling of materials. When the materials pass through the elastic blocking member, they are buffered and decelerated and then continue to fall.

[0010] As an improvement, a linked resistance block is provided on the outer side of the side plate of the card block, and the card block is limited in the slide groove by an elastic part. When the external force drives the resistance block to move, the card block is driven to leave the slide groove and compress the elastic part. When the external force is released, the card block is reset to the slide groove.

[0011] As an improvement, it also includes a clamping cylinder arranged below the rotating cylinder, the clamping cylinder has a pair of clamping blocks for clamping the load-bearing bracket at the rotating cylinder, when the load-bearing bracket at the rotating cylinder is adjusted to a vertical state, the clamping blocks are located on both sides of the load-bearing bracket at the rotating cylinder, and when the clamping blocks are driven by the clamping cylinder to close, the load-bearing bracket at the rotating cylinder is clamped for positioning.

[0012] As an improvement, the clamping block has a V-shaped groove, and V-shaped protrusions matching the V-shaped groove are arranged on both sides of the bearing bracket at the rotating cylinder.

[0013] As an improvement, the abutment block is arranged at the middle position of the V-shaped protrusion, and when the clamping block is clamped at the V-shaped protrusion, the abutment block is pushed inwardly so that the clamping block leaves the slide groove.

[0014] The beneficial effects of the present invention are as follows: the bearing bracket is specifically used for conveying yarn bobbins with convex edges on both sides; the bottom plate has a certain length for storing a number of yarn bobbins; a slide groove is formed on the side plate; the convex edges on both sides of the yarn supply bobbins enter from the inlet end and can slide along the slide groove in the length direction to the outlet end; the block arranged at the outlet end is used to limit the material; after the driving component transfers the bearing bracket to the rated position, the external mechanism can be driven to operate the block to remove the block from the slide groove; the yarn bobbin that has lost its support can fall from the bearing bracket to the subsequent mechanism to complete the transfer of the yarn bobbin; and relying on the overall shape of the bearing bracket, the conversion from a horizontal state to a vertical state can be realized, which is beneficial to the yarn bobbin acceptance of the front and rear conveying mechanisms, improves the level of mechanization and automation, does not have to rely on labor to transfer the yarn bobbins, and ensures the conveying quality and efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a three-dimensional structural schematic diagram of the barrel material conveying robot of the present invention.

[0016] Figure 2 It is a three-dimensional structural schematic diagram of the barrel material conveying robot of the present invention applied to the conveying mechanism.

[0017] Figure 3 This is a schematic diagram of the local three-dimensional structure of the tube material conveying robot of the present invention applied to the conveying mechanism Figure 1 .

[0018] Figure 4 This is a schematic diagram of the local three-dimensional structure of the tube material conveying robot of the present invention applied to the conveying mechanism Figure 2 .

[0019] Figure 5 This is a schematic diagram of the local three-dimensional structure of the tube material conveying robot of the present invention applied to the conveying mechanism Figure 3 . DETAILED DESCRIPTION

[0020] The specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0021] like Figure 1 , 2 , 3, 4, and 5 show a specific embodiment of the barrel material conveying robot of the present invention. This embodiment includes a bearing bracket A51, which includes a bottom plate A511, side plates A512 arranged on both sides of the bottom plate A511, and a chute A513 formed between the bottom plate A511 and the side plates A512. The material enters from the inlet end of the bottom plate A511 and is limited by the chute A513 on both sides. The material can slide along the length direction of the bottom plate A511. A block A514 is arranged at the outlet end of the bottom plate A511. The block A514 can be slidably arranged in the chute A513 to block the material, and when the block A514 slides away from the chute A513, the block is released to allow the material to be output.

[0022] When the present invention is in use, some bobbins have a conical bottom with a circle of bosses formed around the bottom. The supporting bracket A51 is specifically used for conveying yarn bobbins with bosses around the periphery. The bottom plate A511 has a certain length for storing a number of yarn bobbins. A slide groove A513 is formed on the side plate A512, and the bosses around the yarn bobbins enter from the entrance end and can slide along the slide groove A513 in the length direction to the exit end; when the supporting bracket A51 is arranged horizontally, it can be set at the exit end of the vibration disk A2 to receive the yarn bobbins, and the yarn bobbins are replenished with the front and rear pushes. The supporting bracket A51 can be adjusted to a vertical state by rotation, and the yarn bobbins can be transferred to the next supporting bracket A51 by dropping the material. The latter supporting bracket A51 can reach the stand C through further transportation to complete the transportation of the yarn bobbins. The block A514 disposed at the outlet end of the bottom plate A511 is used to limit the yarn bobbin. Due to the existence of the block A514, the yarn bobbin on the supporting bracket A51 can be neatly arranged in the slide groove A513 by gravity or front and back pushing. When the yarn bobbin needs to be released to be transferred to the next mechanism, the external mechanism can be driven to operate the block A514 to move the block A514 away from the slide groove A513, and the yarn bobbin that loses support can fall from the supporting bracket A51 to the next supporting bracket A51 or the stand C (such as Figure 1 As shown). After the yarn bobbins are dropped, the external mechanism is released to reset the clamping block A514, and then the supporting bracket A51 is reset to the initial position as a whole to receive the next batch of yarn bobbins. The supporting bracket A51 has a simple structure and is easy to manufacture. The slide groove A513 can well adapt to the limit of the matching yarn bobbins, and the clamping block A514 can well realize the positioning of the yarn bobbins on the supporting bracket A51. The supporting bracket A51, as a conveying manipulator, can well undertake the process and complete the conveying of the yarn bobbins.

[0023] As an improved specific implementation method, it also includes a vibration disk A2 and a rotating cylinder A52 arranged at the outlet end of the vibration disk A2. The rotating cylinder A52 is connected to a supporting bracket A51 for driving the supporting bracket A51 to switch between a horizontal state and a vertical state. The supporting bracket A51 is located at the outlet end of the vibration disk A2. When the supporting bracket A51 is in a horizontal state, one end thereof corresponds to the outlet end of the vibration disk A2 to receive the material.

[0024] like Figure 2 , 3As shown in Figures 4 and 5, a bearing bracket A51 is specifically arranged at the outlet end of the vibration disk A2 for use. The yarn bobbins are transported to the vibration disk A2 by the preceding transport component. The yarn bobbins are neatly output from the outlet end after being vibrated and sorted by the vibration disk A2. The initial state of the bearing bracket A51 is horizontal, and its inlet end corresponds to the outlet end of the vibration disk A2. The yarn bobbins reach the bearing bracket A51 from the outlet end of the vibration disk A2 as the front and rear yarn bobbins are continuously pushed. After the corresponding number of yarn bobbins are received according to the capacity of the bearing bracket A51, the rotating cylinder A52 starts to work and flips the bearing bracket A51 from the horizontal state to the vertical state. At this time, as shown in Figures 4 and 5, the yarn bobbins are transported to the vibration disk A2 by the preceding transport component. Figure 2 , 3 As shown, the lower part of the supporting bracket A51 is received by another supporting bracket A51 at the rotating cylinder A52, and the other supporting bracket A51 continues to transport the bobbins to the stand C in the following process; then the supporting bracket A51 at the rotating cylinder A52 is reset to receive the next batch of bobbins at the vibrating plate A2. The above structure can be well arranged at a high place, and the space at the high place can facilitate the flipping movement of the supporting bracket A51 without occupying the space for the arrangement of the mechanism below. The structure is simpler and more reasonable, and the transportation and transfer of the bobbins after sorting can be realized.

[0025] As an improved specific implementation method, it also includes an arrangement frame B1, a first driving mechanism B2, a second driving mechanism B3 and a rotating arm B4. The first driving mechanism B2 is arranged on the arrangement frame B1, and the second driving mechanism B3 is arranged on the first driving mechanism B2 and is driven by the first driving mechanism B2 to rise and fall; the rotating arm B4 is arranged on the second driving mechanism B3 and is driven by the second driving mechanism B3 to rotate and swing; another bearing bracket A51 is rotatably arranged at one end of the rotating arm B4, and the bearing bracket A51 at the rotating arm B4 is linked with the second driving mechanism B3. When the second driving mechanism B3 drives the rotating arm B4 to rotate and swing, the second driving mechanism B3 drives the bearing bracket A51 at the rotating arm B4 to rotate and keep the bearing bracket A51 always in a vertical state for material placement; the bearing bracket A51 at the rotating arm B4 corresponds to the bearing bracket A51 at the rotating cylinder A52 up and down when it swings to the lower workstation.

[0026] like Figure 2 , 3As shown in Figures 5 and 6, the initial position of the support bracket A51 at the rotating arm B4 is to be located below the support bracket A51 at the rotating cylinder A52 to receive the yarn tube. After receiving the yarn tube, the second driving mechanism B3 is started to rotate and swing the rotating arm B4, and the support bracket A51 at the rotating arm B4 is swung upward to a predetermined position. In the process of the second driving mechanism B3 driving the rotating arm B4 to rotate, the second driving mechanism B3 can be linked with the support bracket A51 at the rotating arm B4 by means of a transmission belt and a transmission shaft, so that the support bracket A51 at the rotating arm B4 always remains in a vertical state during the whole process, ensuring that the support bracket A51 at the rotating arm B4 is vertically corresponding to the previous support bracket A51 and the next stand C when they cooperate, so that the yarn tube can be smoothly and accurately transferred. Figure 2 , 3 As shown, it shows views of the rotating arm B4 and the supporting bracket A51 thereon being located at two positions, the upper and the lower, and the supporting bracket A51 always remains in a vertical state. The subsequent stand C has a space for storing yarn bobbins, so that the yarn bobbins can be stacked and stored in sequence from top to bottom. When the bottom is opened, the yarn bobbins can fall out and be transported backwards. The top opening is used for yarn bobbins to be supplemented. Because the top opening has a certain height, it is more difficult to place it manually. Therefore, the rotating arm B4 and the supporting bracket A51 thereon are used to send the yarn bobbins to a high place to correspond to the top opening of the stand C, and then complete the yarn bobbin drop, which can well complete the transfer and transportation of the yarn bobbins; the first driving mechanism B2 is used to make the whole body rise, so that the supporting bracket A51 can swing to the corresponding top of the stand C without structural interference, and then the whole body can be lowered again to connect the supporting bracket A51 with the stand C head to tail for easy transportation; when the specifications of the stand C are higher, the first driving mechanism B2 can be further used to make the whole body rise to the required height of the stand C, complete the correspondence between the supporting bracket A51 and the top of the stand C, and then descend and reset, and continue to transport the next batch of yarn bobbins after the rotating arm B4 is reset. In specific implementation, multiple groups of vertical frames C can be arranged in parallel. By setting the arrangement frame B1 on a slide rail and then translating it through the corresponding driving mechanism, the overall structure can be moved to the vertical frame C where the yarn bobbins need to be replenished to replenish the yarn bobbins, thereby further improving the mechanization and automation level of multi-station yarn bobbin feeding, and can be used in conjunction with a multi-station winding machine to improve the overall processing efficiency; and it can also well realize the transfer and transportation of the yarn bobbins from a low place to a high place, freeing up labor and ensuring transportation stability.

[0027] As an improved specific implementation, the middle portion of the rotating arm B4 is rotationally connected to the second driving mechanism B3, and the other end of the rotating arm B4 relative to the supporting bracket A51 thereon is provided with a counterweight B6 for cooperating with the supporting bracket A51 to balance the weight.

[0028] like Figure 2 , 3As shown in Figures 5 and 6, in order to improve the rotation stability of the rotating arm B4 and reduce the stress on the second driving mechanism B3, the second driving mechanism B3 is set in the middle of the rotating arm B4, and a counterweight B6 is set in conjunction with the bearing bracket A51 to form a lever-like structure to maintain the force balance at both ends of the rotating arm B4, so as to avoid the situation where the bearing bracket A51 is only set at one end of the rotating arm B4. The force on the entire length of the rotating arm B4 and the output shaft of the second driving mechanism B3 makes the far-end bearing bracket A51 unstable and affects the service life of the entire mechanism. The weight of the counterweight B6 plus the weight of the rotating arm B4 at its end can be set to be consistent with the weight of the bearing bracket A51 plus the weight of the rotating arm B4 at its end, so that the weight on both sides of the second driving mechanism B3 is stable and the position stability of the bearing bracket A51 is improved.

[0029] As an improved specific implementation manner, one end of the counterweight B6 is disposed close to the second driving mechanism B3.

[0030] like Figure 5 As shown, the second driving mechanism B3 is preferably arranged at one end of the rotating arm B4, and sufficient space is left at this end for installing the counterweight B6, so that the overall length of the rotating arm B4 is used to extend the movement trajectory of the supporting bracket A51, ensuring that the supporting bracket A51 can be transported in a larger height range, and the yarn tube can be transported to a higher stand C.

[0031] As an improved specific implementation method, the rotating arm B4 and the supporting bracket A51 thereon are connected by a square frame B41. The middle of the square frame B41 forms a space for materials to pass through. An elastic blocking member B42 is provided in the space to cushion the falling of materials. When the materials pass through the elastic blocking member B42, they are buffered and decelerated and then continue to fall.

[0032] like Figure 2 , 3 As shown in Figure 5, the support bracket A51 at the rotating arm B4 is well installed through a square frame B41, and space is left for normal conveyance of the bobbin; during the conveyance of the bobbin, the length of the bottom plate A511 causes the bobbin to be subjected to a large collision force when it falls from a height until it is blocked, and the impact between the bobbins may cause wear and even damage, so an elastic blocking member B42 is further provided, and the square frame B41 is connected to the middle position of the support bracket A51, so that when the bobbin passes the middle position of the bottom plate A511, it will be buffered by the elastic blocking member B42, and then continue to fall, achieving the effect of reducing the impact and avoiding collision damage between the bobbins. The elastic blocking member B42 can be specifically implemented by an elastic plastic member, and its deformation does not affect the continued falling of the bobbin.

[0033] As an improved specific implementation method, the card block A514 is provided with a linked resistance block A515 on the outer side of the side plate A512, and the card block A514 is limited in the slide groove A513 by an elastic member. When an external force drives the resistance block A515 to move, the card block A514 is driven to leave the slide groove A513 and compress the elastic member. When the external force is released, the card block A514 is reset to the slide groove A513.

[0034] like Figure 1 , 4 As shown, in a specific implementation, the card block A514 on one side is connected to the conflict block A515 on the other side, as shown in FIG. Figure 1 , 4 As shown, the upper block A514 and the lower block A515 are marked, and the two are connected; when the external force (external mechanism) goes inward to contact the lower block A515, the upper block A514 is pushed upward, thereby leaving the upper chute A513, opening the space of the upper chute A513; at the same time, when the upper block A515 is contacted downward, the lower block A514 will leave the lower chute A513, opening the space of the lower chute A513; at this time, the yarn tube can slide out from the outlet along the chute A513 to achieve blanking. When the contact block A515 and the block A514 are in contact, the elastic member (located on the back side and not shown in the figure) is compressed, accumulating elastic potential energy, and after the external force (external mechanism) is released, the force of the elastic member is used to reset the contact block A515 and the block A514, so as to achieve the re-blocking of the yarn tube in the chute A513. The above method has a simple structure, is easy to implement, and can well ensure the blocking and unblocking of the yarn tube.

[0035] As an improved specific implementation method, it also includes a clamping cylinder A53 arranged below the rotating cylinder A52. The clamping cylinder A53 has a pair of clamping blocks A531 for clamping the supporting bracket A51 at the rotating cylinder A52. When the supporting bracket A51 at the rotating cylinder A52 is adjusted to a vertical state, the clamping blocks A531 are located on both sides of the supporting bracket A51 at the rotating cylinder A52. When the clamping blocks A531 are driven by the clamping cylinder A53 to close, the supporting bracket A51 at the rotating cylinder A52 is clamped for positioning.

[0036] like Figure 2 , 3As shown in Figure 4, in order to improve the alignment accuracy of the bobbin conveying between the two components, a clamping cylinder A53 and a clamping block A531 are further provided. After the support bracket A51 is adjusted to a vertical state, the clamping cylinder A53 drives the clamping block A531 to clamp the support bracket A51, thereby ensuring the stability of the lower end of the support bracket A51. The support bracket A51 at the rotating cylinder A52 and the upper and lower ends of the support bracket A51 at the lower rotating arm B4 can be more accurately positioned, and the bobbin can be accurately and stably dropped and transported; as an optimization, the clamping block A531 can simultaneously clamp the lower end of the support bracket A51 at the rotating cylinder A52 and the upper end of the support bracket A51 at the rotating arm B4, so that the two can be completely fixed in alignment. As an optimization, the upper end of the stand C can also be further provided with a clamping cylinder A53 and a clamping block A531. When the lower end of the support bracket A51 at the rotating arm B4 corresponds to the upper end of the stand C, the corresponding upper and lower ends are clamped in the working area, so that the two are accurately relative to each other.

[0037] As an improved specific implementation manner, the clamping block A531 has a V-shaped groove A532, and V-shaped protrusions A516 matching the V-shaped groove A532 are arranged on both sides of the supporting bracket A51 at the rotating cylinder A52.

[0038] like Figure 4 As shown, when the specifically arranged V-groove A532 and the V-shaped protrusion A516 cooperate with each other, even if there is a certain deviation in position, the clamping force of the clamping cylinder A53 can be relied upon to make the supporting bracket A51 where the V-shaped protrusion A516 is located swing in position until the V-shaped protrusion A516 is completely matched and stuck in the V-groove A532, thereby ensuring accurate alignment.

[0039] As an improved specific implementation method, the resistance block A515 is set in the middle position of the V-shaped protrusion A516. When the clamping block A531 is clamped at the V-shaped protrusion A516, the resistance block A515 is pushed inward to make the clamping block A514 leave the sliding groove A513.

[0040] like Figure 4 As shown, such a configuration enables the clamping cylinder A53 and the clamping block A531 to simultaneously realize two functions, namely, on the one hand, they cooperate with the V-shaped protrusion A516 to realize the positioning of the bearing bracket A51, and on the other hand, they push the abutment block A515 with external force to realize the driving of the clamping block A514. In the specific implementation, the abutment block A515 protrudes from the V-shaped protrusion A516, and after being abutted, it is pushed inward to move together with the clamping block A514; this composite structure effectively controls the cost and simplifies the structural layout.

[0041] As an improved specific implementation, the first driving mechanism B2 is a cylinder, which can stably realize the rise and fall of the entire mechanism, and the connection and coordination of parts are simple and the cost is low.

[0042] As an improved specific implementation, the second driving mechanism B3 is a motor. Relying on the motor shaft of the motor for output, it can well realize the rotation and swing of the driving rotating arm B4, and well cooperate with the linkage mechanism to drive the synchronous rotation of the supporting bracket A51 to maintain a vertical state. The connection and coordination of the parts are simple and the cost is low.

[0043] The above are only preferred embodiments of the present invention. The protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. The tube material conveying robot is characterized by: The load-bearing bracket (A51) comprises a bottom plate (A511), side plates (A512) arranged on both sides of the bottom plate (A511), and a chute (A513) formed between the bottom plate (A511) and the side plates (A512). Materials enter from the inlet end of the bottom plate (A511) and are limited by the chute (A513) on both sides. The materials can slide along the length direction of the bottom plate (A511). A block (A514) is arranged at the outlet end of the bottom plate (A511). The block (A514) can be slidably arranged in the chute (A513) to block the materials, and when the block (A514) slides away from the chute (A513), the block is released to allow the materials to be discharged. It also includes a vibration plate (A2) and a rotating cylinder (A52) arranged at the outlet end of the vibration plate (A2), wherein the rotating cylinder (A52) is connected to a bearing bracket (A51) for driving the bearing bracket (A51) to switch between a horizontal state and a vertical state, and the bearing bracket (A51) is located at the outlet end of the vibration plate (A2). When the bearing bracket (A51) is in a horizontal state, one end of the bearing bracket corresponds to the outlet end of the vibration plate (A2) to receive materials; The device also comprises a deployment frame (B1), a first driving mechanism (B2), a second driving mechanism (B3) and a rotating arm (B4), wherein the first driving mechanism (B2) is arranged on the deployment frame (B1), the second driving mechanism (B3) is arranged on the first driving mechanism (B2) and is driven by the first driving mechanism (B2) to rise and fall; the rotating arm (B4) is arranged on the second driving mechanism (B3) and is driven by the second driving mechanism (B3) to rotate and swing; another supporting bracket (A51) is rotatably arranged on the rotating arm (B4) ) at one end, the bearing bracket (A51) at the rotating arm (B4) is linked with the second driving mechanism (B3); when the second driving mechanism (B3) drives the rotating arm (B4) to rotate and swing, the second driving mechanism (B3) drives the bearing bracket (A51) at the rotating arm (B4) to rotate and keep the bearing bracket (A51) always in a vertical state for material placement; when the bearing bracket (A51) at the rotating arm (B4) swings to a lower position, it corresponds to the bearing bracket (A51) at the rotating cylinder (A52) up and down; The rotating arm (B4) and the supporting bracket (A51) thereon are connected via a square frame (B41); a space for materials to pass through is formed in the middle of the square frame (B41); an elastic blocking member (B42) for buffering the falling of materials is arranged in the space; when the materials pass through the elastic blocking member (B42), they are buffered and decelerated and then continue to fall; The clamping block (A514) is provided with a linked resistance block (A515) on the outer side of the side plate (A512), and the clamping block (A514) is limited in the slide groove (A513) by an elastic member. When an external force drives the resistance block (A515) to move, the clamping block (A514) is driven to leave the slide groove (A513) and compress the elastic member. When the external force is released, the clamping block (A514) is reset to the slide groove (A513).

2. The tube material conveying robot according to claim 1 is characterized in that: The middle portion of the rotating arm (B4) is rotationally connected to the second driving mechanism (B3), and the other end of the rotating arm (B4) opposite to the supporting bracket (A51) thereon is provided with a counterweight (B6) for cooperating with the supporting bracket (A51) to balance the weight.

3. The tube material conveying robot according to claim 2 is characterized in that: One end of the counterweight (B6) is disposed close to the second driving mechanism (B3).

4. The tube material conveying robot according to claim 1 is characterized in that: The invention also includes a clamping cylinder (A53) arranged below the rotating cylinder (A52), wherein the clamping cylinder (A53) has a pair of clamping blocks (A531) for clamping the supporting bracket (A51) at the rotating cylinder (A52); when the supporting bracket (A51) at the rotating cylinder (A52) is adjusted to a vertical state, the clamping blocks (A531) are located on both sides of the supporting bracket (A51) at the rotating cylinder (A52); when the clamping blocks (A531) are closed by the clamping cylinder (A53), the supporting bracket (A51) at the rotating cylinder (A52) is clamped and positioned.

5. The tube material conveying robot according to claim 4 is characterized in that: The clamping block (A531) has a V-shaped groove (A532), and V-shaped protrusions (A516) matching the V-shaped groove (A532) are arranged on both sides of the bearing bracket (A51) at the rotating cylinder (A52).

6. The tube material conveying robot according to claim 5 is characterized in that: The resistance block (A515) is arranged at the middle position of the V-shaped protrusion (A516); when the clamping block (A531) is clamped at the V-shaped protrusion (A516), the resistance block (A515) is pushed inwards so that the clamping block (A514) leaves the sliding groove (A513).

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