A linked loading and buckling robot

Abstract

The application discloses a linkage loading type buckle robot, which comprises a workbench, a vibrating feeding disc arranged on the workbench and a six-axis robot, an executing arm of the six-axis robot is provided with a loading mechanism, a linkage loading mechanism is arranged between the vibrating feeding disc and the six-axis robot, the linkage loading mechanism comprises a first linear loading clamp and a linear pushing mechanism, the lowest position of the first linear loading clamp is connected with the end of a conveying track of the vibrating feeding disc, the loading mechanism comprises a mounting plate and a second linear loading clamp fixed on the mounting plate, the mounting plate is mounted on the executing arm of the six-axis robot, and when the first linear loading clamp moves to the highest position, the second linear loading clamp and the linear pushing mechanism are respectively connected with the two ends of the first linear loading clamp. The buckle is clamped in multiple numbers in one time by adopting the loading feeding mode, so that the feeding operation can be performed for multiple times by one-time grabbing operation, the feeding path is optimized, the running path of the buckle feeding is shortened, and the feeding efficiency of the buckle is improved.

Description

Technical Field

[0001] This invention relates to the field of snap-fit ​​robots, specifically a linkage loading snap-fit ​​robot. Background Technology

[0002] Currently, in industrial production, it is necessary to complete the feeding action of clips to deliver them to the workstations where they need to be processed. With the development of automation technology, in order to achieve higher feeding efficiency, clip feeding is usually completed by arm-type robots. To meet the need for feeding freedom, six-axis robots are often used for automatic clip feeding. The gripping arm of the six-axis robot clamps the clips arranged on the vibrating feeding tray and feeds them to the designated workstation. This method results in the six-axis robot being able to grasp one clip at a time for feeding, requiring the six-axis robot to repeatedly perform clip grasping and feeding actions. The single grasping and feeding path of the six-axis robot is relatively long. Without reasonable optimization of the six-axis robot's running path, there is still considerable room for improvement in the clip feeding efficiency. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art and provide a linkage loading and clamping robot that uses a loading and feeding method to clamp multiple clamps at once, thereby enabling multiple feeding operations with a single gripping operation. This optimizes the feeding path, shortens the running path of clamp feeding, and improves the feeding efficiency of clamps.

[0004] The objective of this invention is achieved through the following technical solution: a linkage loading and latching robot, comprising a worktable, on which a vibrating feeding plate and a six-axis robot are mounted. A loading mechanism is mounted on the execution arm of the six-axis robot. A linkage loading mechanism is provided between the vibrating feeding plate and the six-axis robot. The linkage loading mechanism includes a first linear loading clamp and a linear pushing mechanism. The first linear loading clamp is located between the vibrating feeding plate and the linear pushing mechanism. The first linear loading clamp moves along the height direction of the worktable. The lowest position of the first linear loading clamp is aligned with the end of the conveying track of the vibrating feeding plate, and the highest position of the first linear loading clamp is located on the telescopic pushing path of the linear pushing mechanism. The structure includes a mounting plate, a second linear loading clip, and a loading lever. The mounting plate is mounted on the execution arm of the six-axis robot. The second linear loading clip is fixedly mounted on the mounting plate. Both the second and first linear loading clips have loading slots extending through both ends of their tops. The loading lever is slidably disposed on the mounting plate and moves along the length of the second linear loading clip. The end of the loading lever extends into the loading slot. The mounting plate is provided with a feeding arm for feeding the latches at the pushing end of the second linear loading clip. When the first linear loading clip moves to its highest position, the second linear loading clip and the linear pushing mechanism are respectively engaged at both ends of the first linear loading clip.

[0005] The effect of adopting the above technical solution is as follows: the first linear loading clip is positioned at the lowest point and docks with the conveyor track of the vibrating feeding tray. The vibrating feeding tray neatly arranges the clips and conveys them into the loading slot of the first linear loading clip. Then, the six-axis robot drives the second linear loading clip to move, so that the second linear loading clip docks with the end of the first linear loading clip away from the linear pushing mechanism. Then, the linear pushing mechanism pushes the clips on the first linear loading clip onto the second linear loading clip, achieving the effect of clamping multiple clips at once. Then, the six-axis robot brings the second linear loading clip to the loading station. Then, the loading lever pushes the clips one by one onto the loading path of the loading arm. Finally, the loading arm loads the clips on the second linear loading clip one by one. Thus, multiple loading operations can be performed with one gripping operation, optimizing the loading path, shortening the running path of clip loading, and improving the loading efficiency of clips.

[0006] In some embodiments, the linear pushing mechanism includes a mounting frame and a linear pushing cylinder. The linear pushing cylinder is horizontally mounted on the mounting frame, and a cylinder start button is provided on the mounting frame. A rectangular slide bar is slidably passed through the end of the first linear loading clip away from the linear pushing mechanism. The sliding direction of the rectangular slide bar is parallel to the extension and retraction direction of the linear pushing cylinder. The top and bottom of the end of the rectangular slide bar away from the linear pushing cylinder are provided with wedge-shaped surfaces. When the first linear loading clip moves to the highest position, the cylinder start button is located on the movement path of the rectangular slide bar.

[0007] In some embodiments, the first linear loading clip has a first circular hole, a second circular hole, and a third circular hole sequentially opened along its own length direction. The diameter of the first circular hole is equal to the diameter of the third circular hole, and the diameter of the second circular hole is greater than the diameter of the first circular hole. The rectangular slide bar slides through the first circular hole, the second circular hole, and the third circular hole. A limiting plate is fixedly sleeved on the rectangular slide bar. The limiting plate is located in the second circular hole. A spring is sleeved on the rectangular slide bar. One end of the spring is connected to the limiting plate, and the other end is connected to the step formed by the second circular hole and the third circular hole.

[0008] In some embodiments, a switch slot is provided at one end of the conveying track near the first linear loading clip, and a vibrating loading plate switch is provided in the switch slot. When the first linear loading clip is connected to the conveying track, the rectangular slide bar passes into the switch slot and squeezes the vibrating loading plate switch to start the vibrating loading plate.

[0009] In some embodiments, two sets of first cylinders are vertically arranged on the workbench, a top plate is mounted on the telescopic shaft of the first cylinder, a first rodless cylinder is horizontally mounted on the top plate, and the first linear loading clip is mounted on the slide of the first rodless cylinder.

[0010] In some embodiments, a second rodless cylinder is horizontally mounted on the mounting plate, and a mounting seat is provided on the slide of the second rodless cylinder. The moving direction of the mounting seat is parallel to the length direction of the second linear loading clip, and the loading lever is disposed on the mounting seat.

[0011] In some embodiments, a screw is fixed to the bottom of the mounting base, the loading lever is shaped like a "7", the horizontal plate of the loading lever is slidably sleeved on the screw, an upper nut and a lower nut are threadedly connected to the screw, and the horizontal plate of the loading lever is located between the upper nut and the lower nut.

[0012] In some embodiments, the loading arm includes a vertical cylinder and a horizontal cylinder. The vertical cylinder is vertically mounted on the mounting plate, and its telescopic rod is connected to a V-shaped clamp. The horizontal cylinder is horizontally mounted on the mounting plate and is perpendicular to the second linear loading clamp. The telescopic shaft of the horizontal cylinder is connected to an L-shaped seat. The top surface of the horizontal seat is flush with the bottom surface of the loading groove of the second linear loading clamp. When the horizontal cylinder is in its normal state, the L-shaped seat is located on the moving path of the V-shaped clamp.

[0013] In some embodiments, a negative pressure cavity is formed between the inner and outer walls of the V-shaped clamp, and a negative pressure hole communicating with the negative pressure cavity is opened on the inner wall of the V-shaped clamp. A negative pressure pump is provided on the six-axis robot, and the negative pressure pump is connected to the negative pressure cavity of the V-shaped clamp through an air pipe.

[0014] The beneficial effects of this invention are:

[0015] The first linear loading clip is positioned at its lowest point and connects to the conveyor track of the vibrating feeder. The vibrating feeder neatly arranges the clips and conveys them into the loading slot of the first linear loading clip. Then, a six-axis robot drives the second linear loading clip to connect with the end of the first linear loading clip away from the linear pushing mechanism. The linear pushing mechanism then pushes the clips on the first linear loading clip onto the second linear loading clip, achieving the effect of loading multiple clips at once. The six-axis robot then brings the second linear loading clip to the loading station, where the loading lever pushes the clips one by one onto the loading path of the loading arm. Finally, the loading arm loads the clips one by one onto the second linear loading clip, thus enabling multiple loading operations with a single gripping operation. This optimizes the loading path, shortens the clip loading path, and improves the clip loading efficiency. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the loading state of a linkage loading and locking robot according to the present invention;

[0017] Figure 2 This is a schematic diagram of the feeding of the vibrating feeding tray in a linkage loading and buckling robot of the present invention;

[0018] Figure 3 This is a schematic diagram showing the highest position of the first linear loading clip in a linkage loading and latching robot according to the present invention.

[0019] Figure 4 This is a schematic diagram of the internal structure of the first linear loading clip in a linkage loading and latching robot of the present invention;

[0020] Figure 5 This is a perspective view of the vibrating feeding tray in a linkage loading and buckling robot according to the present invention;

[0021] Figure 6 for Figure 5 Enlarged view of point A in the middle;

[0022] Figure 7 This is a cross-sectional schematic diagram of the V-shaped clamp in a linkage loading and buckling robot according to the present invention;

[0023] In the diagram, 1-workbench, 2-vibrating feeder, 3-six-axis robot, 4-first linear loading clip, 5-mounting plate, 6-second linear loading clip, 7-loading lever, 8-feeding arm, 9-rectangular slide bar, 10-mounting frame, 11-linear push cylinder, 12-cylinder start button, 13-wedge surface, 14-first round hole, 15-second round hole, 16-third round hole, 17-limiting plate, 18-spring, 19-first cylinder, 20-top plate, 21-first rodless cylinder, 22-second rodless cylinder, 23-mounting seat, 24-screw, 25-upper nut, 26-lower nut, 27-vertical cylinder, 28-horizontal cylinder, 29-V-clamp, 30-L-shaped seat, 31-negative pressure hole, 32-negative pressure pump, 33-air pipe, 34-switch slot, 35-vibrating feeder switch. Detailed Implementation

[0024] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings, but the scope of protection of the present invention is not limited to the following description.

[0025] like Figures 1 to 7As shown, a linkage loading and latching robot includes a worktable 1, on which a vibrating feeding plate 2 and a six-axis robot 3 are mounted. The six-axis robot 3 has a loading mechanism mounted on its actuator arm. The loading mechanism is driven by the six-axis robot to perform multi-degree-of-freedom motion, allowing it to move to the vibrating feeding plate 2 for latching and loading, and also to the latching and loading station for latching and loading. A linkage loading mechanism is provided between the vibrating feeding plate 2 and the six-axis robot 3. The linkage loading mechanism includes a first linear loading clamp 4 and a linear pushing mechanism. The first linear loading clamp 4 is located between the vibrating feeding plate 2 and the linear pushing mechanism. The first linear loading clamp 4 moves along the worktable... The platform 1 moves vertically, with the lowest position of the first linear loading clip 4 aligning with the end of the conveyor track of the vibrating feeding tray 2. The highest position of the first linear loading clip 4 is located on the telescopic pushing path of the linear pushing mechanism. The loading mechanism includes a mounting plate 5, a second linear loading clip 6, and a loading lever 7. The mounting plate 5 is mounted on the execution arm of the six-axis robot 3. The second linear loading clip 6 is fixedly mounted on the mounting plate 5. Both the second linear loading clip 6 and the first linear loading clip 4 have loading slots extending through both ends of their tops. The loading lever 7 is slidably mounted on the mounting plate 5 and moves along the length of the second linear loading clip 6. The end of the loading lever 7... The first linear loading clip 4 extends into the loading slot. A feeding arm 8 is mounted on the mounting plate 5. This arm is used to feed the latches at the end of the second linear loading clip 6. When the first linear loading clip 4 moves to its highest position, the second linear loading clip 6 and the linear push mechanism are respectively connected to both ends of the first linear loading clip 4. When the first linear loading clip 4 is at its lowest position, one end of the first linear loading clip 4 is connected to the conveyor track of the vibrating feeding plate 2. The vibration of the vibrating feeding plate 2 adjusts the attitude of the latches and transports them along the conveyor track, thus arranging the latches neatly and conveying them into the loading slot of the first linear loading clip 4. Then, the six-axis robot drives the second linear loading clip 6 to move. The second linear loading clip 6 is aligned with the end of the first linear loading clip 4 furthest from the linear pushing mechanism. Then, the linear pushing mechanism pushes the clips on the first linear loading clip 4 onto the second linear loading clip 6, achieving the effect of clamping multiple clips at once. The six-axis robot 3 then brings the second linear loading clip 6 to the loading station. The loading lever 7 pushes the clips one by one onto the loading path of the loading arm 8. Finally, the loading arm 8 loads the clips on the second linear loading clip 6 one by one. Thus, multiple loading operations can be performed with a single gripping operation, optimizing the loading path, shortening the clip loading path, and improving the clip loading efficiency.

[0026] In some embodiments, such as Figures 1 to 4As shown, the linear push mechanism includes a mounting frame 10 and a linear push cylinder 11. The linear push cylinder 11 is horizontally mounted on the mounting frame 10. The extension of the linear push cylinder 11 pushes the latch on the first linear loading clip 4 to the second linear loading clip 6. A cylinder start button 12 is provided on the mounting frame 10 to control the opening and closing of the linear push cylinder 11. A rectangular slide bar 9 slides through the end of the first linear loading clip 4 away from the linear push mechanism. The sliding direction of the rectangular slide bar 9 is horizontal. Along the extension and retraction direction of the linear push cylinder 11, the top and bottom of the rectangular slide bar 9, away from the linear push cylinder 11, are provided with wedge-shaped surfaces 13. When the first linear loading clip 4 moves to its highest position, the cylinder start button 12 is located on the movement path of the rectangular slide bar 9. When the first linear loading clip 4 moves to its highest position and is aligned with the linear push cylinder 11, the cylinder start button 12 is located on the movement path of the rectangular slide bar 9. At this time, the six-axis robot 3 drives the second linear loading clip 6 to move. The second linear loading clip 6 first moves to... The first linear loading clip 4 is directly above the end away from the linear push cylinder 11. Then, the second linear loading clip 6 moves downwards to align with the first linear loading clip 4. During its movement, the second linear loading clip 6 presses against the wedge-shaped surface 13 at the top of the rectangular slide bar 9. This wedge-shaped surface 13 decomposes and guides the pressing force, causing the rectangular slide bar 9 to move away from the second linear loading clip 6, that is, to move closer to the cylinder start button 12. After the second linear loading clip 6 and the first linear loading clip 4 are aligned, the rectangular slide bar 9 moves closer to the cylinder start button 12. One end of the second linear loading clip 6 is moved into the first linear loading clip 4, and the rectangular slide bar 9 presses the cylinder start button 12. At this time, the linear push cylinder 11 is started. The latch is pushed onto the second linear loading clip 6 through the linear push cylinder 11. There is no need to design an additional running program for the linear push cylinder 11. The control of the linear push cylinder 11 is completed directly through the docking state of the second linear loading clip 6, realizing the linkage of loading. This makes it convenient to control the linear push cylinder 11 and reduces the difficulty of the initial equipment program design.The first linear loading clip 4 has a first circular hole 14, a second circular hole 15, and a third circular hole 16 sequentially along its length. The diameter of the first circular hole 14 is equal to the diameter of the third circular hole 16, and the diameter of the second circular hole 15 is larger than the diameter of the first circular hole 14. A rectangular slider 9 slides through the first circular hole 14, the second circular hole 15, and the third circular hole 16. A limiting plate 17 is fixedly sleeved on the rectangular slider 9, located inside the second circular hole 15. A spring 18 is sleeved on the rectangular slider 9, with one end connected to the limiting plate 17 and the other end connected to the step formed by the second circular hole 15 and the third circular hole 16. When the second linear loading clip 6 aligns with the first linear loading clip 4, the spring 18 is in a compressed state. When the second linear loading clip 6 separates from the first linear loading clip 4, the spring 18 reacts. The rectangular slide bar 9 is separated from the cylinder start button 12. At this time, the linear push cylinder 11 retracts to its original position. Then, the first linear loading clip 4 descends. During the descent, the wedge-shaped surface 13 at the bottom of the rectangular slide bar 9 contacts the top of the conveyor track. Under the action of this wedge-shaped surface 13, the spring 18 is compressed, causing the rectangular slide bar 9 to move. This moves the end of the rectangular slide bar 9 closest to the conveyor track into the first linear loading clip 4, ensuring that the rectangular slide bar 9 does not affect the loading of the clip. This allows the vibrating feeder 2 to smoothly transmit the clip vibration to the first linear loading clip 4. When the six-axis robot 3 drives the second linear loading clip 6 to load the clip, the first linear loading clip 4 simultaneously loads the clip, thus synchronizing the loading and unloading operations, further saving time and improving the loading efficiency of the clip.

[0027] Furthermore, such as Figure 5 and Figure 6As shown, a switch slot 34 is provided at one end of the conveyor track near the first linear loading clip 4. A vibrating loading plate switch 35 is installed in the switch slot 34. When the first linear loading clip 4 aligns with the conveyor track, the rectangular slider 9 passes into the switch slot 34 and presses the vibrating loading plate switch 35 to start the vibrating loading plate 2. After the first linear loading clip 4 aligns with the conveyor track of the vibrating loading plate 2, the switch slot 34 is located on the moving path of the rectangular slider 9. Under the reaction force of the spring 18, one end of the rectangular slider 9 with the wedge-shaped surface 13 passes into the switch slot 34. By pressing the vibrating loading plate switch 35 through the rectangular slider 9, the vibrating loading plate 2 is started, and the vibrating loading plate is activated. The vibratory feeder 2 transmits the buckle vibration to the first linear loading clip 4, thereby using a linkage method to control the pneumatic operation and shutdown of the vibratory feeder 2 through the state of the first linear loading clip 4, making the control of the vibratory feeder 2 more accurate. In specific implementation, the wedge-shaped surface 13 of the rectangular slide bar 9 is located in the switch groove 34, so that when the first linear loading clip 4 moves up and down, its top wedge-shaped surface will contact the top wall of the switch groove 34, thereby causing the rectangular slide bar 9 to move, so as to avoid interference with the first linear loading clip 4. When the first linear loading clip 4 rises and separates from the conveying track, the vibratory feeder switch 35 resets, causing the vibratory feeder 2 to stop running, preventing the buckle from being transmitted to the worktable 1.

[0028] In some implementations, such as Figure 3 As shown, two sets of first cylinders 19 are vertically arranged on the workbench 1. A top plate 20 is installed on the telescopic shaft of the first cylinder 19. A first rodless cylinder 21 is horizontally installed on the top plate 20. The first linear loading clip 4 is installed on the slide of the first rodless cylinder 21. The telescopic movement of the first cylinder 19 drives the first linear loading clip 4 on the top plate 20 to rise and fall, thereby switching the position of the first linear loading clip 4. The first rodless cylinder 21 can drive the first linear loading clip 4 to move horizontally, which facilitates the adjustment of the installation position of the first linear loading clip 4, so that the first linear loading clip 4 can be connected to the conveyor rail, thereby making the installation and positioning of the first linear loading clip 4 more accurate and faster.

[0029] In some embodiments, such as Figure 1 and Figure 7As shown, a second rodless cylinder 22 is horizontally mounted on the mounting plate 5. A mounting base 23 is provided on the slide of the second rodless cylinder 22. The moving direction of the mounting base 23 is parallel to the length direction of the second linear loading clip 6. The loading lever 7 is provided on the mounting base 23. The second rodless cylinder 22 drives the loading lever 7 to move, and the loading lever 7 pushes the clips one by one onto the loading arm 8. The loading arm includes a vertical cylinder 27 and a horizontal cylinder 28. The vertical cylinder 27 is vertically mounted on the mounting plate 5. The telescopic rod of the vertical cylinder 27 is connected to a V-shaped clamp 29. The horizontal cylinder 28 is horizontally mounted on the mounting plate 5 and is perpendicular to the second linear loading clip 6. The telescopic shaft of the horizontal cylinder 28 is connected to an L-shaped seat 30. The top surface of the horizontal seat 30 is flush with the bottom surface of the loading slot of the second linear loading clip 6. When the horizontal cylinder 28 is in its normal state, the L-shaped seat 30 is located on the moving path of the V-shaped clamp 29. A negative pressure cavity is formed between the inner and outer walls of the V-shaped clamp 29. A negative pressure hole 31 is provided, communicating with the negative pressure chamber. A negative pressure pump 32 is installed on the six-axis robot 3. The negative pressure pump 32 is connected to the negative pressure chamber of the V-shaped clamp 29 through an air pipe 33. The loading lever 7 pushes the buckle onto the L-shaped seat 30. The V-shaped clamp 29 is normally located on the moving path of the buckle. The buckle is directly pushed into the V-shaped clamp 29. Then, the negative pressure pump 32 is activated, generating negative pressure in the negative pressure chamber and adsorbing the buckle through the negative pressure hole 31. Then, the horizontal cylinder 28 and the vertical cylinder 27 work together... In step operation, the horizontal cylinder 28 removes the L-shaped seat 30, so that the L-shaped seat 30 no longer obstructs the movement of the V-shaped clamp 29. The vertical cylinder 27 drives the V-shaped clamp 29 to move closer to the loading station for clamp loading. After loading is completed, the horizontal cylinder 28 and the vertical cylinder 27 are reset to perform the next clamp loading. This process continues until the clamp loading on the second linear loading clamp 6 is completed. Then, the second linear loading clamp 6 is connected to the first linear loading clamp 4 for clamp loading, achieving the effect of multiple loadings in one loading.

[0030] Furthermore, such as Figure 1 As shown, a screw 24 is fixed to the bottom of the mounting base 23. The spring-loaded lever 7 is shaped like the number "7". The horizontal plate of the spring-loaded lever 7 is slidably sleeved on the screw 24. An upper nut 25 and a lower nut 26 are threadedly connected to the screw 24. The horizontal plate of the spring-loaded lever 7 is located between the upper nut 25 and the lower nut 26. By moving the spring-loaded lever 7, the bottom height of the spring-loaded lever 7 can be adjusted, so that the spring-loaded lever 7 can make contact push for buckles of different sizes. The spring-loaded lever 7 is fixed by the upper nut 25 and the lower nut 26. When adjusting the position of the spring-loaded lever 7, it is only necessary to rotate the upper nut 25 and the lower nut 26 up and down. The adjustment is simple and quick.

[0031] In the description of this invention, it should be understood that the terms "coaxial," "bottom," "one end," "top," "middle," "other end," "upper," "side," "top," "inner," "front," "center," and "both ends," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention. Furthermore, those skilled in the art will understand that the beneficial effects to be achieved by this invention are merely to achieve better beneficial effects compared with the current embodiments in the prior art under specific conditions, rather than to directly achieve the best use effect in the industry.

[0032] The above description is merely a preferred embodiment of the present invention. It should be understood that the present invention is not limited to the forms disclosed herein and should not be construed as excluding other embodiments. It can be used in various other combinations, modifications, and environments, and can be altered within the scope of the concept described herein through the above teachings or related technologies or knowledge. Modifications and variations made by those skilled in the art that do not depart from the spirit and scope of the present invention should be within the protection scope of the appended claims.

Claims

1. A linkage loading and latching robot, comprising a workbench (1), wherein a vibrating feeding tray (2) and a six-axis robot (3) are provided on the workbench (1), characterized in that, The six-axis robot (3) is equipped with a loading mechanism on its execution arm. A linkage loading mechanism is provided between the vibrating feeder (2) and the six-axis robot (3). The linkage loading mechanism includes a first linear loading clamp (4) and a linear pushing mechanism. The first linear loading clamp (4) is located between the vibrating feeder (2) and the linear pushing mechanism. The first linear loading clamp (4) moves along the height direction of the worktable (1). The lowest position of the first linear loading clamp (4) is connected to the end of the conveying track of the vibrating feeder (2). The highest position of the first linear loading clamp (4) is located on the telescopic pushing path of the linear pushing mechanism. The loading mechanism includes a mounting plate (5), a second linear loading clamp (6), and a loading lever (7). The mounting plate (5) is installed on the six-axis robot (3). On the execution arm of the first linear loading clamp (4), the second linear loading clamp (6) is fixedly installed on the mounting plate (5). The top of the second linear loading clamp (6) and the first linear loading clamp (4) are both provided with loading slots that pass through both ends of themselves. The loading lever (7) is slidably disposed on the mounting plate (5). The loading lever (7) moves along the length direction of the second linear loading clamp (6). The end of the loading lever (7) extends into the loading slot of the second linear loading clamp (6). The mounting plate (5) is provided with a feeding arm (8). The feeding arm feeds the buckle at the pushing end of the second linear loading clamp (6). When the first linear loading clamp (4) moves to the highest position, the second linear loading clamp (6) and the linear pushing mechanism are respectively connected to the two ends of the first linear loading clamp (4). The linear push mechanism includes a mounting frame (10) and a linear push cylinder (11). The linear push cylinder (11) is horizontally mounted on the mounting frame (10). A cylinder start button (12) is provided on the mounting frame (10). A rectangular slide bar (9) is slidably passed through the end of the first linear loading clip (4) away from the linear push mechanism. The sliding direction of the rectangular slide bar (9) is parallel to the extension and retraction direction of the linear push cylinder (11). The top and bottom of the rectangular slide bar (9) away from the linear push cylinder (11) are provided with wedge-shaped surfaces (13). When the first linear loading clip (4) moves to the highest position, the cylinder start button (12) is located on the moving path of the rectangular slide bar (9). A switch slot (34) is provided at one end of the conveying track near the first linear loading clip (4). A vibrating loading plate switch (35) is provided in the switch slot (34). When the first linear loading clip (4) docks with the conveying track, the rectangular slide bar (9) passes into the switch slot (34) and squeezes the vibrating loading plate switch (35) to start the vibrating loading plate (2). The loading arm includes a vertical cylinder (27) and a horizontal cylinder (28). The vertical cylinder (27) is vertically mounted on the mounting plate (5). The telescopic rod of the vertical cylinder (27) is connected to a V-shaped clamp (29). The horizontal cylinder (28) is horizontally mounted on the mounting plate (5). The horizontal cylinder (28) is perpendicular to the second linear loading clamp (6). The telescopic shaft of the horizontal cylinder (28) is connected to an L-shaped seat (30). The top surface of the horizontal seat (30) is flush with the bottom surface of the loading groove of the second linear loading clamp (6). When the horizontal cylinder (28) is in normal operation, the L-shaped seat (30) is located on the moving path of the V-shaped clamp (29).

2. The linkage loading and latching robot according to claim 1, characterized in that, The first linear loading clip (4) has a first circular hole (14), a second circular hole (15) and a third circular hole (16) sequentially opened along its own length direction. The diameter of the first circular hole (14) is equal to the diameter of the third circular hole (16), and the diameter of the second circular hole (15) is greater than the diameter of the first circular hole (14). The rectangular slide bar (9) slides through the first circular hole (14), the second circular hole (15) and the third circular hole (16). A limiting plate (17) is fixedly sleeved on the rectangular slide bar (9). The limiting plate (17) is located in the second circular hole (15). A spring (18) is sleeved on the rectangular slide bar (9). One end of the spring (18) is connected to the limiting plate (17), and the other end is connected to the step formed by the second circular hole (15) and the third circular hole (16).

3. The linked loading and latching robot according to claim 1, characterized in that, Two sets of first cylinders (19) are vertically arranged on the workbench (1). A top plate (20) is installed on the telescopic shaft of the first cylinder (19). A first rodless cylinder (21) is horizontally installed on the top plate (20). The first linear loading clip (4) is installed on the slide of the first rodless cylinder (21).

4. The linkage loading and latching robot according to claim 1, characterized in that, A second rodless cylinder (22) is horizontally mounted on the mounting plate (5). A mounting seat (23) is provided on the slide of the second rodless cylinder (22). The moving direction of the mounting seat (23) is parallel to the length direction of the second linear loading clip (6). The loading lever (7) is provided on the mounting seat (23).

5. The linked loading and latching robot according to claim 4, characterized in that, The bottom of the mounting base (23) is fixed with a screw (24). The loading lever (7) is shaped like a "7". The horizontal plate of the loading lever (7) is slidably sleeved on the screw (24). The screw (24) is threaded with an upper nut (25) and a lower nut (26). The horizontal plate of the loading lever (7) is located between the upper nut (25) and the lower nut (26).

6. The linkage loading and latching robot according to claim 1, characterized in that, A negative pressure cavity is formed between the inner and outer walls of the V-shaped clamp (29). A negative pressure hole (31) communicating with the negative pressure cavity is opened on the inner wall of the V-shaped clamp (29). A negative pressure pump (32) is provided on the six-axis robot (3). The negative pressure pump (32) is connected to the negative pressure cavity of the V-shaped clamp (29) through an air pipe (33).

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