Material transfer manipulator

Abstract

The present application discloses a material transfer manipulator, which includes a support frame, a clamping device, two support devices and a driving device. Among them, the clamping device is arranged on the bottom wall of the support frame; the two support devices are symmetrically arranged on the support frame and are located on both sides of the clamping device. Each support device includes a support cylinder body, a support column, an external thread sleeve, a support mechanism and two limiting mechanisms. Among them, the top end of the support cylinder body is fixedly connected to the support frame, and a slideway is provided on the support cylinder body; the support column is arranged inside the support cylinder body, and both ends of the support column are fixedly connected to the inner walls of both ends of the support cylinder body; the external thread sleeve is sleeved on the support column. Thus, by setting the support device, the risk of accidental detachment of the material during handling can be significantly reduced, which can not only avoid damage to the material, but also avoid chain accidents that may be caused by the detachment of the material, such as equipment damage, production line interruption or personal injury, effectively ensuring the safety of the production environment.

Description

Technical Field

[0001] This application relates to the technical field of material transfer equipment, and particularly to a material transfer manipulator. Background Art

[0002] As a powerful assistant in industrial production, the manipulator plays a crucial role in the process of material loading and unloading and production assembly. It can perform complex three-dimensional space operations including heavy object grasping, handling, flipping, precise docking, and angle fine-tuning, greatly promoting the mechanization and automation of the production process and effectively reducing the human burden.

[0003] However, currently, many manipulators mainly rely on the clamping mechanism when handling materials. Although this method is effective, it has hidden risks in the complex environment of material transfer. Specifically, if the clamping force is set improperly or the clamping force weakens due to external factors such as wear and vibration during actual operation, there is a risk that the material may accidentally fall off the manipulator. Such a sudden fall may not only directly cause physical damage to the material but also trigger a chain reaction due to the improper landing of the material, such as damaging the equipment, disrupting the production line layout, and even posing a safety threat to the surrounding staff, thereby seriously damaging the integrity of the product and the safety of the production environment. Summary of the Invention

[0004] This application aims to solve at least one of the technical problems in the related art to some extent.

[0005] To this end, an object of this application is to provide a material transfer manipulator. By setting up a support device, the risk of accidental material detachment during handling can be significantly reduced, which can not only avoid material damage but also ensure the safety of the production environment.

[0006] To achieve the above object, an embodiment of the first aspect of the present application provides a material transfer manipulator, which includes a support frame, a clamping device, two support devices and a driving device. Among them, the clamping device is arranged on the bottom wall of the support frame; the two support devices are symmetrically arranged on the support frame and are located on both sides of the clamping device. Each support device includes a support cylinder, a support column, an external thread sleeve, a support mechanism and two limiting mechanisms. Among them, the top end of the support cylinder is fixedly connected to the support frame, and a slideway is provided on the support cylinder; the support column is arranged in the support cylinder, and both ends of the support column are fixedly connected to the inner walls of both ends of the support cylinder; the external thread sleeve is sleeved on the support column, and the external thread sleeve is rotatably connected to the support cylinder; one end of the support mechanism is threadedly connected to the external thread sleeve, and the other end of the support mechanism penetrates through the slideway and extends to the outside of the support cylinder; the two limiting mechanisms are respectively arranged in the slideway in a lifting and moving manner; the driving device is arranged on the support frame, and the driving device is connected to the external thread sleeve.

[0007] In the material transfer manipulator according to the embodiment of the present application, by providing the support device, the risk of accidental detachment of the material during handling can be significantly reduced, which can not only avoid material damage, but also avoid chain accidents that may be caused by material detachment, such as equipment damage, production line interruption or personnel injury, effectively ensuring the safety of the production environment.

[0008] In addition, the material transfer manipulator proposed above according to the present application may also have the following additional technical features:

[0009] In an embodiment of the present application, the clamping device includes a support frame, two slide rails, two clamping plates, two racks, a gear and a telescopic mechanism. Among them, the support frame is fixedly arranged on the bottom wall of the support frame; the two slide rails are arranged side by side and fixedly on the bottom wall of the support frame; the two clamping plates are symmetrically and slidably arranged on the two slide rails; the two racks are respectively fixedly connected to the corresponding clamping plates; the gear is rotatably arranged on the bottom wall of the support frame, and the gear meshes with the two racks respectively; the telescopic mechanism is arranged on the support frame, and the output end of the telescopic mechanism is fixedly connected to one of the clamping plates.

[0010] In one embodiment of the present application, the slideway includes a first lifting slideway, a second lifting slideway, a first rotating slideway, and a second rotating slideway. Among them, the first lifting slideway and the second lifting slideway are symmetrically and vertically formed on the support cylinder; the first rotating slideway and the second rotating slideway are horizontally formed on the support cylinder, and the first rotating slideway is respectively communicated with the bottom ends of the first lifting slideway and the second lifting slideway. The second rotating slideway is located above the opposite side of the first rotating slideway, and the second rotating slideway is respectively communicated with the first lifting slideway and the second lifting slideway. Among them, the two limiting mechanisms are respectively located at both ends of the first rotating slideway.

[0011] In one embodiment of the present application, the support mechanism includes an internal thread ring, a collar, a connecting rod, and an L-shaped support plate. Among them, the internal thread ring is sleeved on the external thread sleeve and is threadedly connected to the external thread sleeve; the collar is sleeved on the support cylinder in a lifting and moving manner; one end of the connecting rod is fixedly connected to the internal thread ring, and the other end of the connecting rod penetrates through the slideway and is fixedly connected to the collar; the L-shaped support plate is fixedly arranged on the collar.

[0012] In one embodiment of the present application, the limiting mechanism includes a limiting block and a spring. Among them, two grooves perpendicular to and communicated with the first rotating slideway are formed in the cylinder wall of the support cylinder, and the limiting block is arranged in the corresponding groove in a lifting and moving manner; the spring is arranged in the groove, and one end of the spring is fixedly connected to the bottom wall of the groove, and the other end of the spring is fixedly connected to the bottom end of the limiting block.

[0013] In one embodiment of the present application, the driving device includes a driving mechanism, a driving gear, and a driven gear. Among them, the driving mechanism is arranged on the support frame, and the output end of the driving mechanism is connected to the driving gear; the driven gear is rotatably arranged on the support frame, and the driven gear meshes with the driving gear. Among them, the driving gear and the driven gear are respectively connected to the corresponding external thread sleeve through a belt transmission mechanism.

[0014] Additional aspects and advantages of the present application will be given in part in the following description, will become apparent in part from the following description, or will be understood through the practice of the present application. Description of the Drawings

[0015] The above-mentioned and / or additional aspects and advantages of the present application will become apparent and easy to understand from the following description of the embodiments in conjunction with the drawings, where:

[0016] Figure 1 Is a perspective view of a material transfer manipulator according to an embodiment of the present application;

[0017] Figure 2 Schematic diagram of a partial structure of a material transfer manipulator according to an embodiment of the present application;

[0018] Figure 3 Schematic diagram of the structure of a clamping device according to an embodiment of the present application;

[0019] Figure 4 Stereogram of a support device according to an embodiment of the present application;

[0020] Figure 5 Partial sectional view of a support device according to an embodiment of the present application;

[0021] Figure 6 Exploded view of a support device according to an embodiment of the present application;

[0022] Figure 7 Sectional view of a support device according to an embodiment of the present application.

[0023] As shown in the figure: 10, support frame; 20, clamping device; 21, support frame; 22, slide rail; 23, clamping plate; 24, rack; 25, gear; 26, telescopic mechanism; 30, support device; 31, support cylinder; 32, support column; 33, external thread sleeve; 34, support mechanism; 341, internal thread ring; 342, collar; 343, connecting rod; 344, L-shaped support plate; 35, limiting mechanism; 351, limiting block; 352, spring; 301, slideway; 3011, first lifting slideway; 3012, second lifting slideway; 3013, first rotary slideway; 3014, second rotary slideway; 3501, groove; 40, driving device; 41, driving mechanism; 42, driving gear; 43, driven gear; 401, belt drive mechanism. Detailed implementation manners

[0024] The embodiments of the present application will be described in detail below. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are intended to explain the present application and should not be construed as limiting the present application.

[0025] The material transfer manipulator of the embodiments of the present application will be described below with reference to the drawings.

[0026] As Figures 1 - 7 shown, the material transfer manipulator of the embodiments of the present application includes a support frame 10, a clamping device 20, two support devices 30 and a driving device 40.

[0027] Among them, the clamping device 20 is arranged on the bottom wall of the support frame 10, and two support devices 30 are symmetrically arranged on the support frame 10 and are located on both sides of the clamping device 20. Among them, the clamping device 20 is used for clamping materials.

[0028] Each support device 30 may include a support cylinder body 31, a support column 32, an external thread sleeve 33, a support mechanism 34 and two limiting mechanisms 35.

[0029] Among them, the top end of the support cylinder body 31 is fixedly connected to the support frame 10, and a slideway 301 is provided on the support cylinder body 31. The support column 32 is arranged inside the support cylinder body 31, and both ends of the support column 32 are fixedly connected to the inner walls of both ends of the support cylinder body 31. The external thread sleeve 33 is sleeved on the support column 32, and the external thread sleeve 33 is rotatably connected to the support cylinder body 31. It can be understood that by arranging the support column 32, the separated support cylinder bodies 31 can be connected into a whole.

[0030] One end of the support mechanism 34 is threadedly connected to the external thread sleeve 33. Among them, the external thread sleeve 33 is used to drive the support mechanism 34 to perform lifting movement and circumferential movement along the slideway 301. The other end of the support mechanism 34 penetrates through the slideway 301 and extends to the outside of the support cylinder body 31. Among them, the support mechanism 34 is used to support the bottom of the materials clamped by the clamping device 20.

[0031] The two limiting mechanisms 35 are respectively arranged in the slideway 301 in a lifting and moving manner. Among them, the two limiting mechanisms 35 are used to limit the rotation direction of the support mechanism 34. The driving device 40 is arranged on the support frame 10, and the driving device 40 is connected to the external thread sleeve 33. Among them, the driving device 40 is used to drive the external thread sleeve 33 to perform intermittent forward and reverse switching rotation.

[0032] Specifically, when it is necessary to grasp the materials, the relevant staff first need to fix the support frame 10 on a robotic arm (not shown in the figure), and drive the support frame 10 to move to the materials to be grasped by controlling the robotic arm. Then, the staff controls the clamping device 20 to grasp the materials. After the clamping device 20 finishes grasping, the staff can control the driving device 40 to drive the external thread sleeve 33 to perform intermittent forward and reverse switching rotation. At this time, the external thread sleeve 33 drives the support mechanism 34 to first move downward. When the support mechanism 34 moves to the lowest position, the support mechanism 34 rotates 180 degrees, so that the support mechanism 34 rotates to the lower part of the materials. Then, the support mechanism 34 rises and supports the materials. Thus, the risk of accidental dropping of the materials during handling can be effectively reduced, which can not only avoid damage to the materials, but also ensure the safety of the production environment.

[0033] To clearly illustrate the above-mentioned previous embodiment, in an embodiment of the present application, asFigures 4 - 6 As shown, the slideway 301 may include a first lifting slideway 3011, a second lifting slideway 3012, a first rotary slideway 3013 and a second rotary slideway 3014.

[0034] Among them, the first lifting slideway 3011 and the second lifting slideway 3012 are symmetrically and vertically formed on the support cylinder 31. It should be noted that in this embodiment, the first lifting slideway 3011 is far from the clamping device 20, and the second lifting slideway 3012 is close to the clamping device 20. It can be understood that such a design is to enable the support mechanism 34 to be under the material and lift and support the material when the support mechanism 34 rotates from the first lifting slideway 3011 to the second lifting slideway 3012. That is, the support mechanism 34 first descends along the first lifting slideway 3011 to the first rotary slideway 3013, then rotates 180 degrees along the first rotary slideway 3013 so that the support mechanism 34 rotates under the material, and finally the support mechanism 34 rises along the second lifting slideway 3012 and lifts and supports the material.

[0035] The first rotary slideway 3013 and the second rotary slideway 3014 are horizontally formed on the support cylinder 31, and the first rotary slideway 3013 is respectively communicated with the bottom ends of the first lifting slideway 3011 and the second lifting slideway 3012. The second rotary slideway 3014 is above the opposite side of the first rotary slideway 3013, and the second rotary slideway 3014 is respectively communicated with the first lifting slideway 3011 and the second lifting slideway 3012. Among them, the two limiting mechanisms 35 are respectively located at both ends of the first rotary slideway 3013. It should be noted that in this embodiment, the first rotary slideway 3013 and the second rotary slideway 3014 are both semi-circular arcs, and the two can form a circular slideway.

[0036] It should be noted that in this embodiment, the initial position of the support mechanism 34 is slidably connected to the first lifting slideway 3011, that is, the support mechanism 34 is far from the clamping device 20.

[0037] In an embodiment of the present application, as Figures 1 - 3 shown, the clamping device 20 may include a support frame 21, two slide rails 22, two clamping plates 23, two racks 24, a gear 25 and a telescopic mechanism 26.

[0038] Among them, the support frame 21 is fixedly arranged on the bottom wall of the support frame 10, and the support frame 21 is U-shaped. The two slide rails 22 are arranged side by side and fixedly arranged on the bottom wall of the support frame 21.

[0039] Two clamping plates 23 are symmetrically and slidably arranged on two slide rails 22, and two racks 24 are respectively fixedly connected to the corresponding clamping plates 23. A gear 25 is rotatably arranged on the bottom wall of the support frame 21, and the gear 25 meshes with the two racks 24 respectively. A telescopic mechanism 26 is arranged on the support frame 21, and the output end of the telescopic mechanism 26 is fixedly connected to one of the clamping plates 23. It should be noted that a channel (not specifically marked in the figure) is provided on the support frame 21 described in this embodiment, and the output end of the telescopic mechanism 26 is fixedly connected to one of the clamping plates 23 through a connecting rod (not specifically marked in the figure), wherein the connecting rod is slidably arranged in the channel.

[0040] It should be noted that the telescopic mechanism 26 described in this embodiment can be a cylinder, a hydraulic cylinder or an electric telescopic rod, and the initial state of the output end of the telescopic mechanism 26 is in the extended state.

[0041] It can be understood that when it is necessary to grab the material, the staff first needs to place the material between the two clamping plates 23, and then control the output end of the telescopic mechanism 26 to retract and pull one of the clamping plates 23 to move towards the material. The moving clamping plate 23 drives the gear 25 to rotate through the rack 24, and the rotating gear 25 drives the other rack 24 to drive the other clamping plate 23 to move towards the material, so as to clamp and grab the material through the two clamping plates 23 moving towards each other.

[0042] In the embodiment of the present application, in order to increase the friction force with the material, anti-slip members can be respectively arranged on the opposite surfaces of the two clamping plates 23. The anti-slip members can be rubber pads, and the surfaces of the rubber pads can be provided with uniformly distributed protrusions to enhance the friction force with the material.

[0043] In an embodiment of the present application, as Figures 4 - 7 shown, the support mechanism 34 can include an internal thread ring 341, a collar 342, a connecting rod 343 and an L-shaped support plate 344.

[0044] Among them, the internal thread ring 341 is sleeved on the external thread sleeve 33 and is threadedly connected to the external thread sleeve 33. The collar 342 is sleeved on the support cylinder 31 and moves up and down. One end of the connecting rod 343 is fixedly connected to the internal thread ring 341, the other end of the connecting rod 343 penetrates through the slideway 301 and is fixedly connected to the collar 342, and the L-shaped support plate 344 is fixedly arranged on the collar 342.

[0045] Furthermore, in an embodiment of the present application, as Figure 5As described above, the limiting mechanism 35 may include a limiting block 351 and a spring 352. Among them, two grooves 3501 perpendicular to and communicating with the first rotary slideway 3013 are formed in the cylinder wall of the support cylinder 31, and the limiting block 351 is arranged to move up and down in the corresponding groove 3501. It should be noted that the top end of one of the limiting blocks 351 extends into the first rotary slideway 3013, and the top end of the other limiting block 351 extends into the second rotary slideway 3014, and the top ends of both limiting blocks 351 have inclined surfaces slanting downward.

[0046] The spring 352 is arranged in the groove 3501, and one end of the spring 352 is fixedly connected to the bottom wall of the groove 3501, and the other end of the spring 352 is fixedly connected to the bottom end of the limiting block 351.

[0047] Furthermore, in an embodiment of the present application, as Figure 2 shown, the driving device 40 may include a driving mechanism 41, a driving gear 42, and a driven gear 43.

[0048] Among them, the driving mechanism 41 is arranged on the support frame 10, and the output end of the driving mechanism 41 is connected to the driving gear 42.

[0049] It should be noted that the driving mechanism 41 described in this embodiment may be a bidirectional stepper motor, that is, the output end of the stepper motor can rotate in a positive and negative direction.

[0050] The driven gear 43 is rotatably arranged on the support frame 10, and the two driven gears 43 are meshed with the driving gear 42. Among them, the driving gear 42 and the driven gear 43 are respectively connected to the corresponding external thread sleeve 33 through a belt transmission mechanism 401. It should be noted that the number of meshing teeth of the driving gear 42 and the driven gear 43 described in this embodiment is the same.

[0051] It should be noted that the belt transmission mechanism 401 described in this embodiment may include a driving pulley, a driven pulley, and a belt. Among them, the driving gear 42 and the driven gear 43 are respectively coaxially arranged with the corresponding driving pulley, the driven pulley is sleeved on the corresponding external thread sleeve 33, and the belt is sleeved on the driving pulley and the driven pulley.

[0052] It can be understood that when the driving mechanism 41 drives the driving gear 42 to rotate, the rotating driving gear 42 drives one of the external thread sleeves 33 to rotate through the corresponding belt transmission mechanism. At the same time, the rotating driving gear 42 drives the driven gear 43 to rotate in the opposite direction, and the rotating driven gear 43 drives the other external thread sleeve to rotate through the corresponding belt transmission mechanism.

[0053] For the convenience of describing the working principle of the supporting device 30, one of the supporting devices 30 will be taken as an example for description hereinafter. Refer to Figures 5 - 7 as shown. Specifically, when it is necessary to lift and support the grabbed material, the staff can control the driving mechanism 41 to drive the external thread sleeve 33 to rotate clockwise first, as Figure 6 shown. The clockwise rotating external thread sleeve 33 drives the internal thread ring 341 to move downward. The downward moving internal thread ring 341 drives the L-shaped support plate 344 to move downward synchronously along the first lifting slideway 3011 through the connecting rod 343.

[0054] When the connecting rod 343 moves into the first rotary slideway 3013, the connecting rod 343 is no longer limited by the first lifting slideway 3011. At this time, the clockwise rotating external thread sleeve 33 drives the internal thread ring 341 to rotate synchronously. The rotating internal thread ring 341 drives the L-shaped support plate 344 to rotate 180 degrees along the first rotary slideway 3013 through the connecting rod 343. When the connecting rod 343 touches the limit block 351 in one of the limit mechanisms 35 (refer to Figure 5 as shown), the connecting rod 343 exerts a pressure on the limit block 351. At this time, the limit block 351 is pressed into the groove 3501 and compresses the spring 352. As the connecting rod 343 continues to rotate, the connecting rod 343 passes over the limit block 351, and the limit block 351 resets under the action of the spring 352 and limits the connecting rod 343 to prevent the connecting rod 343 from rotating counterclockwise (rotating) along the first rotary slideway 3013. It can be understood that through a 180-degree rotation, the bottom plate of the L-shaped support plate 344 can be rotated to the lower side of the material.

[0055] Subsequently, the staff controls the driving mechanism 41 to drive the external thread sleeve 33 to rotate counterclockwise (as Figure 5 shown). The counterclockwise rotating external thread sleeve 33 drives the collar 342 to move upward. The upward moving collar 342 drives the L-shaped support plate 344 to move upward synchronously along the second lifting slideway 3012 until the bottom plate of the L-shaped support plate 344 supports the bottom of the material. Then the driving mechanism 41 stops working. Furthermore, the two L-shaped support plates 344 support the bottom of the material, which can not only significantly reduce the risk of accidental dropping of the material during handling, but also avoid material damage, effectively ensuring the safety of the production environment.

[0056] When it is necessary to unload the material, the staff can control the driving mechanism 41 to drive the external thread sleeve 33 to rotate clockwise (as Figure 5As shown, the externally threaded sleeve 33 that rotates clockwise drives the connecting rod 343 and the L-shaped support plate 344 to move downward synchronously along the second lifting slideway 3012 through the collar 342. When the connecting rod 343 moves to the second rotary slideway 3014, the connecting rod 343 is no longer restricted by the second lifting slideway 3012. The externally threaded sleeve 33 that rotates clockwise drives the collar 342, the connecting rod 343, and the L-shaped support plate 344 to rotate synchronously clockwise, and the connecting rod 343 drives the L-shaped support plate 344 to rotate 180 degrees along the second rotary slideway 3014. When the connecting rod 343 touches the limit block 351 in another limit mechanism 35 (see Figure 6 and Figure 7 As shown), the connecting rod 343 exerts a pressure on the limit block 351 and presses the limit block 351 into the groove 3501. As the connecting rod 343 continues to rotate, the connecting rod 343 passes over the limit block 351 and moves into the first lifting slideway 3011. The limit block 351 resets under the action of the spring 352 and limits the connecting rod 343 to prevent the connecting rod 343 from rotating back along the second rotary slideway 3014.

[0057] Finally, the staff controls the drive mechanism 41 to drive the externally threaded sleeve 33 to rotate counterclockwise. The externally threaded sleeve 33 that rotates counterclockwise drives the collar 342 to drive the connecting rod 343 and the L-shaped support plate 344 to move upward and reset along the first lifting slideway 3011.

[0058] In summary, for the material transfer manipulator according to the embodiment of the present application, by providing the support device, the risk of accidental detachment of the material during handling can be significantly reduced, which can not only avoid material damage, but also avoid chain accidents that may be caused by material detachment, such as equipment damage, production line interruption or personal injury, effectively ensuring the safety of the production environment.

[0059] In the description of this specification, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of these features. In the description of the present application, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0060] In the description of this specification, the descriptions referring to terms such as "one embodiment", "some embodiments", "examples", "specific examples", or "some examples", etc., mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of this application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0061] Although the embodiments of this application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limitations on this application. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.

Claims

1. A material transfer robot, characterized in that: It includes a supporting frame, a clamping device, two supporting devices and a driving device, wherein: The clamping device is arranged on the bottom wall of the supporting frame; The two support devices are symmetrically arranged on the support frame and located on both sides of the clamping device. Each of the support devices includes a support cylinder, a support column, an external threaded sleeve, a support mechanism and two limit mechanisms, wherein: The top end of the support cylinder is fixedly connected to the support frame, and a slideway is provided on the support cylinder; The support column is arranged in the support cylinder, and the two ends of the support column are respectively fixedly connected to the inner walls of the two ends of the support cylinder; The external threaded sleeve is sleeved on the support column, and the external threaded sleeve is rotatably connected to the support cylinder; One end of the support mechanism is threadedly connected to the external threaded sleeve, and the other end of the support mechanism passes through the slideway and extends to the outside of the support cylinder; The two limiting mechanisms are respectively arranged in the slideway to be movable in a lifting manner; The driving device is arranged on the supporting frame, and the driving device is connected to the external threaded sleeve; The slideway includes a first lifting slideway, a second lifting slideway, a first rotating slideway and a second rotating slideway, wherein: The first lifting slide and the second lifting slide are symmetrically and vertically arranged on the supporting cylinder; The first rotary slideway and the second rotary slideway are horizontally arranged on the supporting cylinder, and the first rotary slideway is respectively connected to the bottom ends of the first lifting slideway and the second lifting slideway, the second rotary slideway is located above the opposite surface of the first rotary slideway, and the second rotary slideway is respectively connected to the first lifting slideway and the second lifting slideway, wherein the two limiting mechanisms are respectively located at both ends of the first rotary slideway; The limiting mechanism includes a limiting block and a spring, wherein: Two grooves are provided in the wall of the support cylinder, which are perpendicular to and connected to the first rotary slideway, and the limit blocks are arranged in the corresponding grooves so as to be movable in a lifting manner; The spring is arranged in the groove, and one end of the spring is fixedly connected to the bottom wall of the groove, and the other end of the spring is fixedly connected to the bottom end of the limit block; The clamping device includes a support frame, two slide rails, two clamping plates, two racks, a gear and a retractable mechanism, wherein: The support frame is fixedly arranged on the bottom wall of the support frame; The two slide rails are fixedly arranged side by side on the bottom wall of the support frame; The two clamping plates are symmetrically and slidably arranged on the two slide rails; The two racks are respectively fixedly connected to the corresponding clamping plates; The gear is rotatably arranged on the bottom wall of the support frame, and the gear is respectively meshed with the two racks; The retractable mechanism is arranged on the support frame, and the output end of the retractable mechanism is fixedly connected to one of the clamping plates; The support mechanism includes an internal thread ring, a sleeve ring, a connecting rod and an L-shaped support plate, wherein: The internal thread ring is sleeved on the external thread sleeve and is threadedly connected to the external thread sleeve; The collar is mounted on the supporting cylinder in a lifting and moving manner; One end of the connecting rod is fixedly connected to the internal thread ring, and the other end of the connecting rod passes through the slideway and is fixedly connected to the collar; The L-shaped supporting plate is fixedly arranged on the sleeve ring.

2. The material transfer robot according to claim 1, characterized in that: The driving device includes a driving mechanism, a driving gear and a driven gear, wherein: The driving mechanism is arranged on the supporting frame, and the output end of the driving mechanism is connected to the driving gear; The driven gear is rotatably arranged on the supporting frame, and the driven gear is meshed with the driving gear, wherein the driving gear and the driven gear are respectively connected to the corresponding external threaded sleeves through a belt transmission mechanism.

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