High-precision multi-stroke mechanical arm

Abstract

The invention discloses a high-precision multi-stroke mechanical arm which comprises a translation driving mechanism, an overturning driving mechanism, a variable-pitch driving mechanism and a material taking and placing mechanism which are sequentially arranged from bottom to top. The turnover driving mechanism comprises a turnover driving piece arranged in the length direction of the translation driving mechanism, a turnover module arranged at one end of the turnover driving piece, and at least one driving rod module connected between the turnover driving piece and the turnover module; the overturning driving part is used for driving the overturning module to realize overturning through the driving rod module; the variable-pitch driving mechanism is mounted at the top of the overturning module; the variable-pitch driving mechanism comprises a variable-pitch driving piece, a variable-pitch module arranged at the power output end of the variable-pitch driving piece and two variable-pitch blocks connected with the variable-pitch module. The material taking and placing mechanism is installed on the two variable-pitch blocks, and the variable-pitch driving piece is used for driving the variable-pitch module to drive the two variable-pitch blocks to be close to each other or away from each other. The translation driving mechanism, the turnover driving mechanism, the variable-pitch driving mechanism and the material taking and placing mechanism are sequentially arranged from bottom to top, the whole structure is compact, the device is suitable for the working environment of a narrow space, the various stroke requirements of translation, turnover and material taking and placing variable pitch can be met at the same time, and the device can be widely applied to various occasions.

Description

Technical Field

[0001] The present invention relates to the technical field of automation equipment, and in particular to a high-precision multi-stroke mechanical arm. Background Art

[0002] With the continuous advancement of technology, robotic arms are widely used in industrial manufacturing, medical, military, aerospace and other fields. At present, the existing robotic arms have the following shortcomings:

[0003] 1) The robot arm itself is too large to meet the requirements of picking and placing materials in a small space;

[0004] 2) It can only realize a single material picking and placing function, and other mechanical structures or standard parts are needed to realize flipping, translation and other strokes, and it is impossible to realize material picking and placing with multiple strokes;

[0005] 3) When taking and putting materials, the distance change requirements of the two materials cannot be met;

[0006] 4) It cannot be applied in complex environments, such as humid and dusty environments. Summary of the invention

[0007] The purpose of the present invention is to provide a high-precision multi-stroke robotic arm. By arranging a translation drive mechanism, a flipping drive mechanism, a variable pitch drive mechanism, and a material picking and placing mechanism in sequence from bottom to top, the overall structure is compact and suitable for working environments in narrow spaces. It can simultaneously meet the requirements of translation, flipping, and variable pitch of material picking and placing, and can be widely used in various occasions.

[0008] In order to achieve the above purpose, the following technical solutions are adopted:

[0009] A high-precision multi-stroke robotic arm comprises a translation drive mechanism, a flip drive mechanism, a variable pitch drive mechanism, and a material taking and releasing mechanism which are arranged in sequence from bottom to top; the flip drive mechanism comprises a flip drive member arranged along the length direction of the translation drive mechanism, a flip module arranged at one end of the flip drive member, and at least one driving rod module connected between the flip drive member and the flip module; the flip drive member is used to drive the flip module to achieve flipping via the driving rod module; the variable pitch drive mechanism is installed on the top of the flip module; the variable pitch drive mechanism comprises a variable pitch drive member, a variable pitch module arranged at the power output end of the variable pitch drive member, and two variable pitch blocks connected to the variable pitch module; the material taking and releasing mechanism is installed on the two variable pitch blocks, and the variable pitch drive member is used to drive the variable pitch module to drive the two variable pitch blocks to move closer to or away from each other.

[0010] Preferably, the driving rod module includes a driving rod arranged along the length direction of the translation driving mechanism, and a flip sensing component arranged at the first end of the driving rod; a connecting shaft is provided at the power output end of the flip driving member, and the middle part of the driving rod is connected to the connecting shaft; the second end of the driving rod is rotationally connected to the flip module; the flip sensing component is used to sense whether the flip is in place.

[0011] Preferably, the flip sensing component includes a first magnetic sensor arranged on the outer wall of the flip driving member, and a magnet embedded in the first end of the driving rod; an induction slot is formed between the first magnetic sensor and the outer wall of the flip driving member, and the first end of the driving rod is arranged in the induction slot.

[0012] Preferably, the first magnetic sensor includes a magnetic sensor shell, and a magnetic sensor body built into the magnetic sensor shell; the magnetic sensor shell is provided with a wiring hole connected to the interior thereof, and a wiring ring is built into the wiring hole; the outer circumference of the wiring ring is sealed and connected to the wiring hole via an outer sealing ring, and an inner sealing ring is provided between the inner circumference of the wiring ring and the wire body.

[0013] Preferably, the flip module includes a flip fixed seat connected to the end of the flip driving member, and a flip movable seat rotatably connected to the flip fixed seat; the second end of the driving rod is connected to the outer wall of the flip movable seat via a first rotating axis; the flip fixed seat and the flip movable seat are connected via a second rotating axis.

[0014] Preferably, in the vertical direction, the center of the first rotation axis is higher than the center of the second rotation axis; in the horizontal direction, the center of the first rotation axis is located between the center of the connecting axis and the center of the second rotation axis.

[0015] Preferably, the variable pitch module includes a first wedge-shaped block connected to the power output end of the variable pitch drive member, and two second wedge-shaped blocks; each second wedge-shaped block is connected to a variable pitch block; a first wedge-shaped surface is provided at each end of the first wedge-shaped block, and a second wedge-shaped surface matching the first wedge-shaped surface is provided on the second wedge-shaped block; the first wedge-shaped surface is provided with a wedge-shaped plug-in block, and the second wedge-shaped surface is provided with a wedge-shaped slot matching the wedge-shaped plug-in block.

[0016] Preferably, the variable pitch drive mechanism also includes a front cover plate arranged between the two variable pitch blocks; the second wedge block is connected to the variable pitch block via a variable pitch slider, and the inner side wall of the front cover plate is provided with a variable pitch slide groove matching the variable pitch slider; the variable pitch slider is provided with a stop block extending between the front cover plate and the variable pitch block, and a clearance groove is provided at the end of the front cover plate corresponding to the stop block.

[0017] Preferably, the translation drive mechanism includes a translation cylinder body, a sliding seat slidably arranged on the top of the translation cylinder body, a translation cylinder body built into the translation cylinder body and connected to the sliding seat, and at least one stroke limit column arranged in one end of the translation cylinder body; an opening is provided on the top of the translation cylinder body, and a baffle is covered on the opening; the bottom of both sides of the baffle in the length direction are fixed to the top of the translation cylinder opening by a magnetic strip, and the baffle is movable through the sliding seat arrangement; the stroke limit column is detachably connected to the end of the translation cylinder body, and the stroke limit column can adjust the length of its extension into the translation cylinder body.

[0018] Preferably, the material picking and placing mechanism comprises at least one material picking and placing module arranged at the top of each variable distance block; the material picking and placing module comprises a support column and a suction cup arranged at the top end of the support column.

[0019] By adopting the above scheme, the beneficial effects of the present invention are:

[0020] The present invention sequentially arranges a translation drive mechanism, a flip drive mechanism, a variable pitch drive mechanism, and a material taking and releasing mechanism from bottom to top, and the overall structure is compact, which is suitable for working environments in narrow spaces, and can simultaneously meet the requirements of translation, flip, and variable pitch of material taking and releasing, and can be widely used in various occasions. In the preferred embodiment, by arranging a wedge-shaped structure in the variable pitch module, the positioning accuracy of the material and the stability of the mechanism are guaranteed. At the same time, by arranging an inner sealing ring, an outer sealing ring, a block, and a baffle structure, dustproof and waterproof functions are achieved, and it is suitable for humid and dusty environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A perspective view of the present invention;

[0022] Figure 2 An exploded view of the flip driving mechanism of the present invention;

[0023] Figure 3 It is a three-dimensional diagram of the variable-pitch drive mechanism and the material taking and placing mechanism of the present invention;

[0024] Figure 4 An exploded view of the variable pitch drive mechanism of the present invention;

[0025] Figure 5 An exploded view of the translation drive mechanism of the present invention;

[0026] The accompanying drawings illustrate:

[0027] 1—Translation drive mechanism, 2—Flip drive mechanism,

[0028] 3—variable pitch drive mechanism, 4—material loading and unloading module,

[0029] 11-translation cylinder, 12-sliding seat,

[0030] 13—Translation cylinder body, 14—Stroke limit column,

[0031] 15—Baffle, 16—Magnetic strip,

[0032] 17 - translation sensing component, 21 - flip driving component,

[0033] 22 - flip module, 23 - drive rod module,

[0034] 31—variable pitch drive, 32—variable pitch module,

[0035] 33—pitch change block, 34—front cover,

[0036] 35—variable distance slider, 36—stopper,

[0037] 221 - flip fixed seat, 222 - flip movable seat,

[0038] 223 - first rotation axis, 224 - second rotation axis,

[0039] 231—driving rod, 232—connecting shaft,

[0040] 233 - first magnetic inductor, 234 - magnet,

[0041] 235—Connection ring, 236—External sealing ring,

[0042] 237—inner sealing ring, 321—first wedge block,

[0043] 322—Second wedge-shaped block. DETAILED DESCRIPTION

[0044] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0045] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0046] In the description of this embodiment, the terms "upper", "lower", "left", "right" and other directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of description and simplification of operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operate in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0047] Reference Figures 1 to 5 As shown, the present invention provides a high-precision multi-stroke robot arm, comprising a translation drive mechanism 1, a flip drive mechanism 2, a variable pitch drive mechanism 3, and a material picking and placing mechanism arranged in sequence from bottom to top; the flip drive mechanism 2 comprises a flip drive member 21 arranged along the length direction of the translation drive mechanism 1, a flip module 22 arranged at one end of the flip drive member 21, and at least one driving rod module 23 connected between the flip drive member 21 and the flip module 22; specifically, two driving rod modules 23 are provided, and one driving rod module 23 is arranged on each of the two opposite outer side walls of the flip drive member 21. The flip drive member 21 is used to drive the flip module 22 to flip via the driving rod module 23.

[0048] Among them, the variable pitch drive mechanism 3 is installed on the top of the flip module 22; the variable pitch drive mechanism 3 includes a variable pitch drive member 31, a variable pitch module 32 arranged at the power output end of the variable pitch drive member 31, and two variable pitch blocks 33 connected to the variable pitch module 32; the material taking and releasing mechanism is installed on the two variable pitch blocks 33, and the variable pitch drive member 31 is used to drive the variable pitch module 32 to drive the two variable pitch blocks 33 to move closer to or away from each other.

[0049] The driving rod module 23 includes a driving rod 231 arranged along the length direction of the translation driving mechanism 1, and a flip sensing component arranged at the first end of the driving rod 231; a connecting shaft 232 is arranged at the power output end of the flip driving member 21, and the middle part of the driving rod 231 is connected to the connecting shaft 232; the second end of the driving rod 231 is rotationally connected to the flip module 22; the flip sensing component is used to sense whether the flip is in place. Specifically, the flip driving member 21 is provided with a driving slide hole penetrating through its two outer side walls, and the driving slide hole is opened along the length direction of the flip driving member 21. The connecting shaft 232 is movably arranged to pass through the driving slide hole, and the two ends of the connecting shaft 232 are each connected to the middle part of a driving rod 231.

[0050] The flip sensing component includes a first magnetic sensor 233 disposed on the outer wall of the flip driving member 21, and a magnet 234 embedded in the first end of the driving rod 231; an induction slot is formed between the first magnetic sensor 233 and the outer wall of the flip driving member 21, and the first end of the driving rod 231 is inserted into the induction slot. Specifically, a slot for embedding the magnet 234 is provided at the first end of the driving rod 231. By setting up the flip sensing component, when the driving rod 231 drives the flip module 22 to realize flipping, the magnet 234 moves in the induction slot following the driving rod 231, so that it can accurately detect whether the flip is in place.

[0051] The first magnetic sensor 233 includes a magnetic sensor housing and a magnetic sensor body built into the magnetic sensor housing; the magnetic sensor housing is provided with a wiring hole connected to the interior thereof, and a wiring ring 235 is built into the wiring hole; the outer circumference of the wiring ring 235 is sealed and connected to the wiring hole via an outer sealing ring 236, and an inner sealing ring 237 is provided between the inner circumference of the wiring ring 235 and the wire body. The magnetic sensor is connected to the PLC of the device via the wire body to send a sensing signal. It can achieve IP68 dust and water resistance to prevent sensing failure.

[0052] The flip module 22 includes a flip fixed seat 221 connected to the end of the flip driving member 21, and a flip movable seat 222 rotatably connected to the flip fixed seat 221; the second end of the driving rod 231 is connected to the outer wall of the flip movable seat 222 via a first rotating shaft 223; the flip fixed seat 221 and the flip movable seat 222 are connected via a second rotating shaft 224. Specifically, the flip movable seat 222 is T-shaped, and a fitting groove is provided at the bottom of the T-shaped vertical end, and the flip fixed seat 221 is movably embedded in the fitting groove, and the overall structure is compact.

[0053] Specifically, the turning driving member 21 is a cylinder. After the translation stroke is reached, the turning driving member 21 is ventilated, and the turning module 22 can drive the material taking and placing mechanism to realize 0-90° turning.

[0054] In the vertical direction, the center of the first rotating shaft 223 is higher than the center of the second rotating shaft 224, and the second end of the driving rod 231 is bent upward; by setting the height difference between the center of the first rotating shaft 223 and the center of the second rotating shaft 224, the flip module 22 is more labor-saving when flipping and prevents jamming. In addition, in the horizontal direction, the center of the first rotating shaft 223 is located between the center of the connecting shaft and the center of the second rotating shaft 224.

[0055] The pitch-changing module 32 includes a first wedge-shaped block 321 connected to the power output end of the pitch-changing driving member 31, and two second wedge-shaped blocks 322; each second wedge-shaped block 322 is connected to a pitch-changing block 33; a first wedge-shaped surface is provided at each end of the first wedge-shaped block 321, and a second wedge-shaped surface matching the first wedge-shaped surface is provided on the second wedge-shaped block 322; the first wedge-shaped surface is provided with a wedge-shaped plug-in block, and the second wedge-shaped surface is provided with a wedge-shaped slot matching the wedge-shaped plug-in block. The pitch-changing accuracy and stability can be ensured by the engagement connection between the wedge-shaped plug-in block and the wedge-shaped slot.

[0056] By setting the first wedge block 321 and the second wedge block 322, the first wedge surface contacts the second wedge surface, and the variable pitch drive member 31 can convert the movement in the Y direction (the length direction of the translation drive mechanism 1) into the movement in the X direction, and can completely transmit the movement distance in the Y direction to the movement distance in the X direction, avoiding transmission losses due to gaps, wear and the like. At the same time, the structure of the first wedge block 321 and the second wedge block 322 cooperating can amplify the output force, so that the variable pitch block 33 will not be stuck due to insufficient force during the movement and cannot be opened. In order to further ensure the variable pitch accuracy, the first wedge block 321 and the second wedge block 322 are made of high-strength and wear-resistant stainless steel, such as 440C stainless steel.

[0057] The variable pitch drive mechanism 3 further includes a front cover plate 34 disposed between the two variable pitch blocks 33; the second wedge block 322 is connected to the variable pitch block 33 via a variable pitch slider 35, and a variable pitch slide groove matching the variable pitch slider 35 is provided on the inner side wall of the front cover plate 34; the variable pitch slider 35 is provided with a stopper 36 extending between the front cover plate 34 and the variable pitch block 33, and a clearance groove is provided at the end of the front cover plate 34 corresponding to the stopper 36. By providing the stopper 36, when the variable pitch block 33 is opened, the gap (the gap between the variable pitch block 33 and the front cover plate 34) can be filled to prevent water drops, dust, etc. from entering the interior.

[0058] The translation drive mechanism 1 includes a translation cylinder 11, a sliding seat 12 slidingly arranged on the top of the translation cylinder 11, a translation cylinder body 13 built into the translation cylinder 11 and connected to the sliding seat 12, and at least one travel limit column 14 arranged in one end of the translation cylinder 11; the top of the translation cylinder 11 is provided with an opening, and the opening is covered with a baffle 15; the bottom of both sides of the baffle 15 in the length direction is fixed to the top of the opening of the translation cylinder 11 through a magnetic strip 16, and the baffle 15 is arranged to move through the sliding seat 12; by providing a gap in the sliding seat 12 for the baffle 15 to move through, the sliding seat 12 can be moved under the drive of the translation cylinder 11 body. The travel limit column 14 is detachably connected to the end of the translation cylinder 11, and the travel limit column 14 can adjust the length of its extension into the translation cylinder 11.

[0059] By setting a baffle 15 at the opening of the translation cylinder 11, the area of ​​the baffle 15 is larger than the area of ​​the opening, so that the bottoms of both sides of the baffle 15 in the length direction are fixed to the top of the opening of the translation cylinder 11 through a magnetic strip 16. Specifically, the baffle 15 is made of a material with a certain magnetic property. The baffle 15 is tightly fitted with the translation cylinder 11 through the magnetic strip 16 to achieve airtightness without obvious gaps, which can prevent water drops, powder and the like from entering the interior of the translation cylinder 11, greatly improving the service life.

[0060] After the translation cylinder body 13 is ventilated, the translation drive mechanism 1 can drive the flip drive mechanism 2, the variable pitch drive mechanism 3, and the material taking and releasing mechanism to perform linear translational motion. In a specific embodiment, the total stroke of the translation drive mechanism 1 is 150 mm. According to different stroke requirements, the length of the stroke limit column 14 extending into the translation cylinder body 11 can be adjusted to limit the movement stroke of the translation cylinder body 13, thereby achieving the purpose of adjusting the translational motion stroke.

[0061] Furthermore, a translation sensing component 17 is provided on the outer side wall of the translation driving mechanism 1 , and the translation sensing component 17 is used to detect whether the translation is in place.

[0062] The material taking and placing mechanism includes at least one material taking and placing module 4 disposed on the top of each variable distance block 33; the material taking and placing module 4 includes a support column and a suction cup disposed on the top of the support column. The material taking and placing modules 4 on the two variable distance blocks 33 can grab one material at the same time, or the material taking and placing modules 4 on each variable distance block 33 can grab one material each.

[0063] Specifically, the variable pitch drive member 31 is a cylinder. When the spacing requirements of the two materials for taking and discharging are different, the variable pitch drive member 31 is ventilated, and the variable pitch drive member 31 drives the variable pitch module 32 to make the two variable pitch blocks 33 approach or move away from each other, thereby meeting the spacing change requirements of the two materials and realizing variable pitch taking and discharging.

[0064] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention. Obviously, the above embodiments of the present invention are only examples for clearly illustrating the present invention, and are not limitations on the implementation methods of the present invention. For ordinary technicians in the relevant field, various obvious changes, readjustments and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to list all implementation methods here. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A high-precision multi-stroke robotic arm, characterized in that: The invention comprises a translation driving mechanism, a flip driving mechanism, a variable distance driving mechanism, and a material taking and releasing mechanism which are arranged in sequence from bottom to top; the flip driving mechanism comprises a flip driving member arranged along the length direction of the translation driving mechanism, a flip module arranged at one end of the flip driving member, and at least one driving rod module connected between the flip driving member and the flip module; The flipping drive component is used to drive the flipping module to realize flipping via the driving rod module; the variable pitch drive mechanism is installed on the top of the flipping module; the variable pitch drive mechanism includes a variable pitch drive component, a variable pitch module arranged at the power output end of the variable pitch drive component, and two variable pitch blocks connected to the variable pitch module; the material taking and releasing mechanism is installed on the two variable pitch blocks, and the variable pitch drive component is used to drive the variable pitch module to drive the two variable pitch blocks to move closer to or away from each other.

2. The high-precision multi-stroke robotic arm according to claim 1, characterized in that: The driving rod module includes a driving rod arranged along the length direction of the translation driving mechanism, and a flip sensing component arranged at the first end of the driving rod; a connecting shaft is provided at the power output end of the flip driving member, and the middle part of the driving rod is connected to the connecting shaft; the second end of the driving rod is rotationally connected to the flip module; the flip sensing component is used to sense whether the flip is in place.

3. The high-precision multi-stroke robotic arm according to claim 2, characterized in that: The flip sensing component includes a first magnetic sensor arranged on the outer wall of the flip driving member, and a magnet embedded in the first end of the driving rod; an induction slot is formed between the first magnetic sensor and the outer wall of the flip driving member, and the first end of the driving rod is extended into the induction slot.

4. The high-precision multi-stroke robotic arm according to claim 3, characterized in that: The first magnetic sensor includes a magnetic sensor shell and a magnetic sensor body built into the magnetic sensor shell; the magnetic sensor shell is provided with a wiring hole connected to the interior thereof, and a wiring ring is built into the wiring hole; the outer circumference of the wiring ring is sealed and connected to the wiring hole via an outer sealing ring, and an inner sealing ring is provided between the inner circumference of the wiring ring and the wire body.

5. The high-precision multi-stroke robotic arm according to claim 2, characterized in that: The flip module includes a flip fixed seat connected to the end of the flip driving member, and a flip movable seat rotatably connected to the flip fixed seat; the second end of the driving rod is connected to the outer wall of the flip movable seat via a first rotating shaft; the flip fixed seat and the flip movable seat are connected via a second rotating shaft.

6. The high-precision multi-stroke robotic arm according to claim 5, characterized in that: In the vertical direction, the center of the first rotation axis is higher than the center of the second rotation axis; in the horizontal direction, the center of the first rotation axis is located between the center of the connecting axis and the center of the second rotation axis.

7. The high-precision multi-stroke robotic arm according to claim 1, characterized in that: The variable pitch module includes a first wedge-shaped block connected to the power output end of the variable pitch drive member, and two second wedge-shaped blocks; each second wedge-shaped block is connected to a variable pitch block; a first wedge-shaped surface is provided at each end of the first wedge-shaped block, and a second wedge-shaped surface matching the first wedge-shaped surface is provided on the second wedge-shaped block; a wedge-shaped plug-in block is provided on the first wedge-shaped surface, and a wedge-shaped slot matching the wedge-shaped plug-in block is provided on the second wedge-shaped surface.

8. The high-precision multi-stroke robotic arm according to claim 7, characterized in that: The variable pitch drive mechanism also includes a front cover plate arranged between the two variable pitch blocks; the second wedge block is connected to the variable pitch block via a variable pitch slider, and the inner wall of the front cover plate is provided with a variable pitch slide groove matching the variable pitch slider; the variable pitch slider is provided with a stop block extending between the front cover plate and the variable pitch block, and a clearance groove is provided at the end of the front cover plate corresponding to the stop block.

9. The high-precision multi-stroke robotic arm according to claim 1, characterized in that: The translation drive mechanism includes a translation cylinder body, a sliding seat slidably arranged on the top of the translation cylinder body, a translation cylinder body built into the translation cylinder body and connected to the sliding seat, and at least one stroke limit column arranged in one end of the translation cylinder body; an opening is provided on the top of the translation cylinder body, and a baffle is covered on the opening; the bottom of both sides of the baffle in the length direction are fixed to the top of the translation cylinder opening by a magnetic strip, and the baffle is movable through the sliding seat arrangement; the stroke limit column is detachably connected to the end of the translation cylinder body, and the stroke limit column can adjust the length of its extension into the translation cylinder body.

10. The high-precision multi-stroke robotic arm according to claim 1, characterized in that: The material taking and placing mechanism comprises at least one material taking and placing module arranged on the top of each variable distance block; the material taking and placing module comprises a support column and a suction cup arranged on the top end of the support column.

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