Four-axis transferring and feeding manipulator

Abstract

The invention relates to the technical field of mechanical arms, in particular to a four-axis transferring and feeding mechanical arm which comprises a multi-axis driving mechanism used for driving the mechanical arm to conduct multi-axis rotation or movement so as to complete complex actions. According to the device, a notch and a plurality of ball columns outside a rotating table can be slidably embedded through a translation column, so that the rotating table and a worm can be driven to rotate, then a worm gear and a rotating shaft are driven to rotate, the other end of a linkage rod can drive a moving plate to move outwards, and a driving rod can be driven through the moving plate; then, the end part of a driving rod can drive a clamping frame to rotate in a [-shaped frame, and four telescopic cylinders firstly retract until an abutting plate abuts against the side wall of the material and then clamp the material, so that the manipulator can conveniently adjust the position of a clamping structure in a self-adaptive manner according to the shape of the material and then clamp the material; compared with an existing parallel clamping jaw structure, the mechanical arm can conveniently clamp and feed irregular-shaped materials.

Description

Technical Field

[0001] The invention relates to the technical field of mechanical arms, in particular to a four-axis transfer and feeding mechanical arm. Background Art

[0002] Industrial robots are tools used in production environments to improve production efficiency and reduce the intensity of workers' labor. They can replace people's heavy labor to achieve mechanization and automation of production, and can operate in harmful environments to protect personal safety. Therefore, they are widely used in machinery manufacturing, metallurgy, electronics, light industry, atomic energy and other departments. The robot arm is the actuator of the robot and an important part of the robot. Welding, sealing, machine loading, disassembly and assembly are all performed by the robot arm. The biggest advantage of the robot is that it can repeat the same action. The application of the robot is becoming more and more extensive. The robot is a high-tech automatic production equipment developed in recent decades. The accuracy of the operation and the ability to complete the operation in the environment. With the advancement of science and technology, the robot is developing towards lightweight, intelligent and diversified directions. Different robots are usually required to complete the corresponding actions for different needs.

[0003] The four-axis transfer and feeding robot has multiple rotating and moving axes, can perform complex movements and path planning, and can easily adjust the robot's movement sequence, speed, strength and other parameters through programming to adapt to different production tasks and product changes. The four-axis robot can replace manual labor to complete some heavy, dangerous or repetitive work, thereby improving the working environment of workers. However, it is difficult for existing four-axis transfer robots to adjust the feeding method of their end effectors according to the type of material, and it is difficult to adjust the position of the robot's end clamping or adsorption structure according to the shape of the material. Therefore, the automatic adjustment performance of the current feeding robot is poor. Summary of the invention

[0004] The purpose of the present invention is to provide a four-axis transfer and feeding robot to solve the problems raised in the above background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A four-axis transfer and feeding manipulator, comprising:

[0007] Multi-axis drive mechanism, used to drive the manipulator to perform multi-axis rotation or movement to complete complex movements;

[0008] An installation mechanism, used to disassemble or install a clamping structure at the end of the manipulator;

[0009] A pneumatic regulating mechanism, used to regulate the connection between the pneumatic source and the clamping structure or the adsorption structure and to adjust the relative position of the clamping structure or the adsorption structure, wherein the pneumatic regulating mechanism is provided with the adsorption structure;

[0010] A clamping mechanism for clamping an object;

[0011] The clamping mechanism includes:

[0012] The telescopic tube is connected with the air path of the pneumatic regulating mechanism;

[0013] A self-locking transmission unit connected to the output end of the telescopic tube, the end movement of which is controlled only by its input end;

[0014] The clamping frame is connected to the output end of the self-locking transmission unit and is used for clamping an object.

[0015] Furthermore, the self-locking transmission unit includes a translation column fixedly connected to the end of the telescopic tube, a slide groove is opened at the bottom of the translation column, and a plurality of notches are arranged at equal distances in the slide groove; a rotating table is arranged at the bottom of the translation column, and a plurality of ball head columns are slidably connected in an annular manner at equal distances in the rotating table; the outer portion of the ball head column is sleeved with two extrusion springs fixedly connected to the outer wall of the rotating table; a worm is fixedly connected at the center position of the rotating table, a worm wheel is meshingly connected to one side of the worm, a rotating shaft is fixedly sleeved at the center position of the worm wheel, a circular plate is fixedly connected to the bottom of the rotating shaft, one end of a linkage rod is rotatably connected to the bottom of the circular plate, and the other end of the linkage rod is rotatably connected to a moving plate; one end of a driving rod is rotatably connected to the side wall of the moving plate, and the other end of the driving rod is rotatably connected to the clamping frame.

[0016] Furthermore, the multi-axis driving mechanism includes a mounting frame, a slide rail is fixedly connected to the top of the mounting frame, a moving seat is slidably clamped on the slide rail, a linear motor is arranged at the bottom of the moving seat, two oblique swing arms are rotatably connected to the moving seat, a right-angle seat is rotatably connected between the ends of the two oblique swing arms, one end of a rotating plate is rotatably connected to the bottom of the right-angle seat, and the output end of the stepping motor is fixedly connected to the connection between the rotating plate and the right-angle seat.

[0017] Furthermore, the end of the oblique swing arm located at the top is rotatably connected to one end of a hydraulic cylinder, and the other end of the hydraulic cylinder is rotatably connected to the top of the moving seat.

[0018] Furthermore, the mounting mechanism includes a circular shell fixedly connected to the other end of the rotating plate, an air pump is fixedly arranged inside the circular shell, a rotating cylinder connected to the input end of the air pump is rotatably connected to the bottom of the circular shell, a gear ring is fixedly sleeved on the outer wall of the rotating cylinder, a spur gear is meshedly connected to one side of the gear ring, an output end of a driving motor is fixedly connected at the center position of the spur gear, two limit plates are symmetrically fixedly connected to the outer wall of the rotating cylinder, and a fixed plate is fixedly sleeved on the outer wall of the rotating cylinder.

[0019] Furthermore, two electric rods are symmetrically and fixedly connected to the bottom of the fixing plate. The ends of the two electric rods are both fixedly connected with clamping semi-rings, and a sealing ring is fixedly connected to the inner wall of the clamping semi-ring.

[0020] Furthermore, the pneumatic adjusting mechanism includes a docking cylinder. The diameter of the docking cylinder is equal to that of the rotating cylinder. Two mounting columns are symmetrically and fixedly connected to the outer wall of the docking cylinder. The mounting columns are slidably inserted into the limiting plates, and the clamping semi-ring is clamped with the mounting columns. A cavity plate is fixedly connected to the bottom of the docking cylinder. Two positioning cylinders communicating with the inside thereof are symmetrically and fixedly connected to the opposite side walls of the cavity plate. A telescopic cylinder is slidably sleeved in the positioning cylinder.

[0021] Furthermore, a sliding table slidably sleeved with the positioning cylinder is fixedly connected to the end of the telescopic cylinder. Two round rods are symmetrically and slidably connected in the sliding table. A limiting ring is fixedly connected between the ends of the two round rods. A closing plate is rotatably sleeved outside the limiting ring. The closing plate is slidably sleeved inside the positioning cylinder. A partition plate is rotatably connected to the center position of the closing plate. The partition plate is slidably embedded with the sliding table. The output end of a servo motor is fixedly connected to the center position of the partition plate. Communication holes are formed in the closing plate.

[0022] Furthermore, a first compression spring is sleeved outside the two round rods. A sliding ring fixed to the first compression spring is fixedly connected between the ends of the two round rods. A first circular hole is formed in the sliding table. One end of a bent pipe is fixedly arranged at the end of the first circular hole. The other end of the bent pipe is communicated with the adsorption structure. The adsorption structure includes a connecting block fixed to the outer wall of the telescopic cylinder. A suction cup communicated with the bent pipe is fixedly connected to the top of the connecting block. A second circular hole is formed in the sliding table. One end of a connecting pipe is fixedly arranged at the end of the second circular hole. The other end of the connecting pipe is communicated with the end of the telescopic pipe.

[0023] Furthermore, two abutting plates are symmetrically and fixedly connected to the outer wall of the telescopic cylinder. A protective cover is fixedly connected to the end of the telescopic cylinder.

[0024] Furthermore, a positioning column slidably sleeved with the abutting plate is fixedly connected to the side wall of the moving plate. A U-shaped frame is rotatably connected between the two ends of the clamping frame. The U-shaped frame is fixedly connected to the abutting plate.

[0025] Compared with the prior art, the beneficial effects of the present invention are:

[0026] 1. The linear motor can drive the moving seat to move on the slide rail, thereby driving the four-axis manipulator to move horizontally. The telescopic movement of the hydraulic cylinder can drive the end of the swing arm to rotate around the end rotatably connected to the moving seat. At the same time, the stepping motor at the bottom of the right-angle seat can drive the rotating plate to rotate, so as to drive the clamping mechanism to complete a variety of complex actions for moving and feeding. By inserting the mounting posts on both side walls of the docking cylinder in the pneumatic adjustment mechanism into the limiting plates on both sides of the rotating cylinder, and then starting the electric rod to drive the two clamping half-rings to merge and clamp and position the docking cylinder and the rotating cylinder. In this way, the rotating cylinder can be connected to the docking cylinder, and pneumatic means can be used to clamp objects or adsorption structures. It can also facilitate the replacement or maintenance of the clamping structure at the end of the manipulator. At the same time, the output end of the driving motor can drive the spur gear to mesh and rotate with the toothed ring, so as to drive the rotating cylinder and its bottom structure to rotate accordingly, so as to drive the end of the manipulator to adjust the direction for clamping and feeding various objects.

[0027] 2. The air pump, rotating cylinder and docking cylinder can pump the air in the cavity plate. Since each positioning cylinder is connected to the cavity plate, a negative pressure state will be maintained in the four positioning cylinders, so as to drive the sliding table and the closing plate to drive the telescopic cylinder to contract into the positioning cylinder until the abutting plate on the outer wall of the telescopic cylinder abuts against the side wall of the object, so that the telescopic cylinder is positioned. Then, when the closing plate continues to move, it will be separated from the sliding table. The closing plate drives the two round rods to slide with the sliding table, so that the first compression spring is compressed. Through the round hole two opened on the closing plate, it can be connected to the round hole two in the sliding table, so that the cavity plate can be connected to the connecting pipe. The air in the telescopic pipe can be extracted through the connecting pipe. The contraction of the telescopic pipe can drive the translation column at the end to translate. Since there are multiple notches in the bottom chute of the translation column, the translation column can slide and fit with multiple ball head columns outside the rotating table, so as to drive the rotating table and the worm to rotate, and then drive the worm wheel and the rotating shaft to rotate. The bottom circular plate is synchronously driven to rotate through the rotating shaft. Then, the circular plate drives one end of the linkage rod to rotate around the rotating shaft, so that the other end of the linkage rod can drive the moving plate to move outward. The moving plate can drive the driving rod, and then the end of the driving rod can drive the clamping frame to rotate in the U-shaped frame, so that the clamping frames in the four protective covers can clamp the material. By making the four telescopic cylinders first contract until the abutting plate abuts against the side wall of the material and then clamping, the manipulator can easily adjust the position of the clamping structure adaptively according to the shape of the material and then clamp it. Compared with the existing parallel claw structure, this manipulator can conveniently clamp and feed irregularly shaped materials.

[0028] 3. When feeding plate-like materials or materials with smooth and flat surfaces, the output end of the servo motor can drive the partition, the sliding table and the telescopic cylinder to flip 180 degrees, so that the circular hole remains connected to the connecting hole, and the suction cup on the outer wall of the telescopic cylinder is adjusted from the vertical upward direction to the vertical downward direction. Similarly, when the telescopic cylinder is contracted to the point where the abutment plate and the side of the material are abutted, the closing plate and the sliding table are separated, and then the air is sucked into the curved pipe through the connecting hole, so that multiple suction cups are used to adsorb and feed plate-like materials or materials with smooth and flat surfaces, and the position of the suction cup can be adjusted according to the shape of the plate-like material for adsorption. Therefore, it can adaptively adjust and then adsorb according to the shape of the plate-like material, so it is convenient to feed materials of different sizes. The manipulator can therefore quickly adjust the feeding method according to the type of material, and can facilitate the movement and feeding of various types of materials through clamping and adsorption, thereby improving the scope of use of the manipulator. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0030] Figure 2 It is a schematic diagram of the overall front view structure of the present invention;

[0031] Figure 3 It is a schematic diagram of the structure of the multi-axis driving mechanism in the present invention;

[0032] Figure 4 It is a schematic diagram of the installation mechanism structure in the present invention;

[0033] Figure 5 It is a schematic diagram of the structure of the pneumatic adjustment mechanism in the present invention;

[0034] Figure 6 It is a schematic diagram of the structure of the end portion of the telescopic cylinder in the present invention;

[0035] Figure 7 It is a schematic diagram of the cross-sectional structure of the positioning cylinder and the telescopic cylinder in the present invention;

[0036] Figure 8 It is a schematic diagram of the connection structure of the sliding table in the present invention;

[0037] Fig. 9 It is a schematic diagram of the back structure of the closing plate in the present invention;

[0038] Fig.10 It is a schematic diagram of the structure of the clamping mechanism in the present invention;

[0039] Fig.11 It is a schematic diagram of the translation column structure in the present invention;

[0040] Fig.12 yes Fig.11 Schematic diagram of the local enlarged structure at point A in the middle.

[0041] In the figure: 100, multi-axis drive mechanism; 101, mounting bracket; 102, slide rail; 103, moving seat; 104, linear motor; 105, swing arm; 106, hydraulic cylinder; 107, right-angle seat; 108, rotating plate; 200, mounting mechanism; 201, circular shell; 202, air pump; 203, rotating cylinder; 204, toothed ring; 205, spur gear; 206, drive motor; 207, fixing plate; 208, electric rod; 209, clamping semi-ring; 210, sealing ring; 211, limiting plate; 300, pneumatic adjustment mechanism; 301, docking cylinder; 302, mounting column; 303, cavity plate; 304, positioning cylinder; 305, telescopic cylinder; 306, protective cover; 307, sliding table; 308, round rod; 309, compression spring I; 310, sliding ring; 311, limiting ring; 312, closing plate; 313, partition plate; 314, servo motor; 315, communication hole; 316, round hole I; 317, round hole II; 318, elbow pipe; 319, connecting block; 320, suction cup; 321, connecting pipe; 322, abutting plate; 400, object clamping mechanism; 401, telescopic pipe; 402, translation column; 403, chute; 404, rotating table; 405, ball head column; 406, compression spring II; 407, worm; 408, rotating shaft; 409, worm gear; 410, round plate; 411, linkage rod; 412, moving plate; 413, positioning column; 414, drive rod; 415, clamping bracket; 416, C-shaped frame. Specific embodiments

[0042] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0043] Please refer to Figure 1-12 In an embodiment of the present invention, a four-axis transfer and feeding manipulator includes:

[0044] The multi-axis drive mechanism 100 is used to drive the manipulator to perform multi-axis rotation or movement to complete complex actions; the installation mechanism 200 is used to disassemble or install the clamping structure at the end of the manipulator; the pneumatic adjustment mechanism 300 is used to adjust the connection between the pneumatic source and the clamping structure or the adsorption structure and to adjust the relative position of the clamping structure or the adsorption structure. The pneumatic adjustment mechanism 300 is provided with an adsorption structure; the object clamping mechanism 400 is used to clamp an object; the object clamping mechanism 400 includes: a telescopic tube 401, which is in pneumatic connection with the pneumatic adjustment mechanism 300; a self-locking transmission unit, which is connected to the output end of the telescopic tube 401, and the movement of the end is only controlled by its input end; a clamping bracket 415, which is connected to the output end of the self-locking transmission unit and is used to clamp an object.

[0045] The self-locking transmission unit includes a translation column 402 fixedly connected to the end of the telescopic tube 401. A chute 403 is formed at the bottom of the translation column 402. A plurality of notches are equidistantly arranged in the chute 403. A rotating table 404 is arranged at the bottom of the translation column 402. A plurality of ball head columns 405 are annularly and slidably connected in the rotating table 404. An extrusion spring two 406 fixedly connected to the outer wall of the rotating table 404 is sleeved outside the ball head column 405. A worm 407 is fixedly connected to the center position of the rotating table 404. A worm gear 409 is meshed and connected to one side of the worm 407. A rotating shaft 408 is fixedly sleeved at the center position of the worm gear 409. A round plate 410 is fixedly connected to the bottom of the rotating shaft 408. One end of a linkage rod 411 is rotatably connected to the bottom of the round plate 410. The other end of the linkage rod 411 is rotatably connected to a moving plate 412. One end of a driving rod 414 is rotatably connected to the side wall of the moving plate 412. The other end of the driving rod 414 is rotatably connected to the clamping bracket 415.

[0046] Two abutting plates 322 are symmetrically and fixedly connected to the outer wall of the telescopic cylinder 305. A protective cover 306 is fixedly connected to the end of the telescopic cylinder 305. A positioning column 413 slidably sleeved with the abutting plate 322 is fixedly connected to the side wall of the moving plate 412. A U-shaped frame 416 is rotatably connected between the two ends of the clamping bracket 415. The U-shaped frame 416 is fixedly connected to the abutting plate 322.

[0047] Specifically, the air pump 202, the rotating cylinder 203, and the docking cylinder 301 can be used to pump out the air in the cavity plate 303. Since each positioning cylinder 304 is connected to the cavity plate 303, a negative pressure state is maintained in the four positioning cylinders 304, which can drive the sliding table 307 and the closing plate 312 to drive the telescopic cylinder 305 to contract into the positioning cylinder 304 until the abutting plate 322 on the outer wall of the telescopic cylinder 305 abuts against the side wall of the object, so as to keep the telescopic cylinder 305 positioned. Then, when the closing plate 312 continues to move, it will separate from the sliding table 307. The closing plate 312 drives the two round rods 308 to slide relative to the sliding table 307, causing the first compression spring 309 to be compressed. Through the circular hole two 317 opened on the closing plate 312, it can communicate with the circular hole two 317 in the sliding table 307, so that the cavity plate 303 can communicate with the connecting pipe 321. Through the connecting pipe 321, air can be pumped out of the telescopic pipe 401. The contraction of the telescopic pipe 401 can drive the translation column 402 at the end to translate. Since there are multiple notches in the bottom chute 403 of the translation column 402, the translation column 402 will cause the notches to slide and fit with multiple ball head columns 405 outside the rotating table 404, so as to drive the rotating table 404 and the worm 407 to rotate, and then drive the worm gear 409 and the rotating shaft 408 to rotate. The rotating shaft 408 synchronously drives the circular plate 410 at the bottom to rotate, and then the circular plate 410 drives one end of the linkage rod 411 to rotate around the rotating shaft 408, so that the other end of the linkage rod 411 can drive the moving plate 412 to move outward. The moving plate 412 can drive the driving rod 414, and then the end of the driving rod 414 can drive the clamping bracket 415 to rotate in the C-shaped frame 416, so that the clamping brackets 415 in the four protective covers 306 can clamp the material. By first contracting the four telescopic cylinders 305 until the abutting plate 322 abuts against the side wall of the material and then clamping, the manipulator can easily adaptively adjust the position of the clamping structure according to the shape of the material and then clamp it. Compared with the existing parallel jaw structure, this manipulator can conveniently clamp and feed irregularly shaped materials;

[0048] When the clamping bracket 415 rotates to clamp the material, the translation column 402 continues to move, causing the notches to drive the multiple ball head columns 405 outside the rotating table 404 to contract into the rotating table 404. At the same time, the second compression spring 406 can squeeze the ball head columns 405 to quickly reset, causing the rotating table 404 to stop rotating. Therefore, the clamping bracket 415 maintains the clamping force on the material without increasing, thus avoiding damage to the material caused by excessive clamping force. Through the connection method of the worm 407 and the worm gear 409, the position of the rotating shaft 408 can be locked, so that the clamping bracket 415 can be prevented from rotating in the reverse direction and loosening the clamping of the material.

[0049] Embodiment 1

[0050] As Figure 3-4As shown, in this embodiment, the multi-axis driving mechanism 100 includes a mounting frame 101, a slide rail 102 is fixedly connected to the top of the mounting frame 101, a moving seat 103 is slidably connected to the slide rail 102, a linear motor 104 is arranged at the bottom of the moving seat 103, two oblique swing arms 105 are rotatably connected to the moving seat 103, a right-angle seat 107 is rotatably connected between the ends of the two oblique swing arms 105, one end of a rotating plate 108 is rotatably connected to the bottom of the right-angle seat 107, and the output end of the stepping motor is fixedly connected to the connection between the rotating plate 108 and the right-angle seat 107. One end of a hydraulic cylinder 106 is rotatably connected to the end of the oblique swing arm 105 at the top, and the other end of the hydraulic cylinder 106 is rotatably connected to the top of the moving seat 103. The mounting mechanism 200 includes a round shell 201 fixedly connected to the other end of the rotating plate 108, an air pump 202 is fixedly arranged inside the round shell 201, a rotating cylinder 203 connected to the input end of the air pump 202 is rotatably connected to the bottom of the round shell 201, a gear ring 204 is fixedly sleeved on the outer wall of the rotating cylinder 203, a spur gear 205 is meshedly connected to one side of the gear ring 204, and the output end of the driving motor 206 is fixedly connected at the center of the spur gear 205, two limit plates 211 are symmetrically fixedly connected to the outer wall of the rotating cylinder 203, and a fixed plate 207 is fixedly sleeved on the outer wall of the rotating cylinder 203. Two electric rods 208 are symmetrically fixedly connected to the bottom of the fixed plate 207, and the ends of the two electric rods 208 are fixedly connected to the clamping half ring 209, and the inner wall of the clamping half ring 209 is fixedly connected to the sealing ring 210.

[0051] In specific implementation, the linear motor 104 can drive the moving seat 103 to move on the slide rail 102, thereby driving the four-axis manipulator to move in the horizontal direction, and the extension and contraction of the hydraulic cylinder 106 can drive the end of the inclined swing arm 105 to rotate around the end connected to the moving seat 103. At the same time, the stepper motor at the bottom of the right-angle seat 107 can also drive the rotating plate 108 to rotate, thereby driving the clamping mechanism 400 to complete a variety of complex actions to move and feed materials. By inserting the mounting columns 302 on the two side walls of the docking cylinder 301 in the pneumatic adjustment mechanism 300 into the limit plates on both sides of the rotating cylinder 203 211, the electric rod 208 is then started to drive the two clamping half rings 209 to merge and clamp the docking tube 301 and the rotating tube 203 to position them, so that the rotating tube 203 can be connected to the docking tube 301, so that pneumatics can be used to clamp objects or adsorption structures, and the clamping structure can be replaced or maintained at the end of the manipulator. At the same time, the output end of the driving motor 206 can also drive the spur gear 205 and the gear ring 204 to engage and rotate, thereby driving the rotating tube 203 and its bottom structure to follow the rotation, so that the direction of the manipulator end can be adjusted to facilitate the clamping and feeding of various objects.

[0052] Embodiment 2

[0053] like Figure 6-9As shown, in this embodiment, the pneumatic adjustment mechanism 300 includes a docking tube 301, the diameter of the docking tube 301 is equal to that of the rotating tube 203, two mounting columns 302 are symmetrically fixedly connected to the outer wall of the docking tube 301, the mounting columns 302 are slidably plugged into the limit plate 211, the clamping half ring 209 is clamped with the mounting columns 302, and a cavity plate 303 is fixedly connected to the bottom of the docking tube 301, and two positioning tubes 304 connected to the interior thereof are symmetrically fixedly connected to the opposite side walls of the cavity plate 303, and a telescopic tube 305 is slidably sleeved in the positioning tube 304. The end of the telescopic cylinder 305 is fixedly connected to a sliding table 307 that is slidably sleeved with the positioning cylinder 304. Two round rods 308 are symmetrically slidably connected in the sliding table 307. A limiting ring 311 is fixedly connected between the ends of the two round rods 308. A closing plate 312 is rotatably sleeved on the outside of the limiting ring 311. The closing plate 312 is slidably sleeved on the inside of the positioning cylinder 304. A partition 313 is rotatably connected to the center of the closing plate 312. The partition 313 is slidably embedded in the sliding table 307. The output end of the servo motor 314 is fixedly connected at the center of the partition 313. A connecting hole 315 is opened on the closing plate 312. An extrusion spring 309 is sleeved on the outside of the two round rods 308, and a sliding ring 310 fixed to the extrusion spring 309 is fixed between the ends of the two round rods 308. A circular hole 316 is opened in the sliding platform 307, and one end of a curved pipe 318 is fixedly provided at the end of the circular hole 316, and the other end of the curved pipe 318 is connected to the adsorption structure, and the adsorption structure includes a connecting block 319 fixed to the outer wall of the telescopic cylinder 305, and a suction cup 320 connected to the curved pipe 318 is fixedly connected to the top of the connecting block 319. A circular hole 2 317 is opened in the sliding platform 307, and one end of a connecting pipe 321 is fixedly provided at the end of the circular hole 2 317, and the other end of the connecting pipe 321 is connected to the end of the telescopic tube 401.

[0054] In specific implementation, when feeding plate-shaped materials or materials with smooth surfaces, the output end of the servo motor 314 can drive the partition plate 313, the sliding table 307, and the telescopic cylinder 305 to flip 180 degrees, so that the circular hole 316 remains connected to the connecting hole 315, so that the suction cup 320 on the outer wall of the telescopic cylinder 305 is adjusted from the vertical upward direction to the vertical downward direction. Similarly, when the telescopic cylinder 305 is retracted to the abutment plate 322 and the side of the material abut, the closing plate 312 and the sliding table 307 are separated, and then the material is passed through the connecting hole 316. 15 pairs of curved pipes 318 suck air, thereby utilizing multiple suction cups 320 to adsorb and feed plate-like materials or materials with smooth and flat surfaces, and the positions of the suction cups 320 can be adjusted for adsorption according to the shapes of the plate-like materials, so that the shapes of the plate-like materials can be adaptively adjusted and then adsorbed, thereby facilitating the feeding of materials of different sizes. The present manipulator can therefore quickly adjust the feeding method according to the types of materials, and can facilitate the movement and feeding of various types of materials through the two methods of clamping and adsorption, thereby improving the scope of use of the manipulator.

[0055] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0056] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A four-axis transfer and feeding robot, characterized in that: include: A multi-axis driving mechanism (100) is used to drive the manipulator to perform multi-axis rotation or movement to complete complex movements; An installation mechanism (200) is used to disassemble or install a clamping structure at the end of the manipulator; A pneumatic adjustment mechanism (300) is used to adjust the connection between the pneumatic source and the clamping structure or the adsorption structure and to adjust the relative position of the clamping structure or the adsorption structure, wherein the pneumatic adjustment mechanism (300) is provided with the adsorption structure; A clamping mechanism (400) for clamping an object; The clamping mechanism (400) comprises: The telescopic tube (401) is in air communication with the pneumatic adjustment mechanism (300); A self-locking transmission unit connected to the output end of the telescopic tube (401), wherein the movement of the end is controlled only by its input end; The clamping frame (415) is connected to the output end of the self-locking transmission unit and is used to clamp an object.

2. A four-axis transfer and feeding robot according to claim 1, characterized in that: The multi-axis drive mechanism (100) comprises a mounting frame (101), the top of the mounting frame (101) is fixedly connected to a slide rail (102), a moving seat (103) is slidably engaged on the slide rail (102), a linear motor (104) is arranged at the bottom of the moving seat (103), two oblique swing arms (105) are rotatably connected to the moving seat (103), a right-angle seat (107) is rotatably connected between the ends of the two oblique swing arms (105), one end of a rotating plate (108) is rotatably connected to the bottom of the right-angle seat (107), and the output end of the stepping motor is fixedly connected to the connection between the rotating plate (108) and the right-angle seat (107).

3. A four-axis transfer and feeding robot according to claim 2, characterized in that: The end of the oblique swing arm (105) located at the top is rotatably connected to one end of a hydraulic cylinder (106), and the other end of the hydraulic cylinder (106) is rotatably connected to the top of the moving seat (103).

4. A four-axis transfer and feeding robot according to claim 2, characterized in that: The mounting mechanism (200) comprises a round shell (201) fixedly connected to the other end of the rotating plate (108); an air pump (202) is fixedly arranged inside the round shell (201); a rotating cylinder (203) connected to the input end of the air pump (202) is rotatably connected to the bottom of the round shell (201); a gear ring (204) is fixedly sleeved on the outer wall of the rotating cylinder (203); a spur gear (205) is meshingly connected to one side of the gear ring (204); an output end of a driving motor (206) is fixedly connected at the center of the spur gear (205); two limit plates (211) are symmetrically fixedly connected to the outer wall of the rotating cylinder (203); and a fixing plate (207) is fixedly sleeved on the outer wall of the rotating cylinder (203).

5. A four-axis transfer and feeding robot according to claim 4, characterized in that: Two electric rods (208) are symmetrically fixedly connected to the bottom of the fixed plate (207), the ends of the two electric rods (208) are fixedly connected to a clamping half ring (209), and a sealing ring (210) is fixedly connected to the inner wall of the clamping half ring (209).

6. A four-axis transfer and feeding robot according to claim 5, characterized in that: The pneumatic adjustment mechanism (300) includes a docking cylinder (301). The docking cylinder (301) has the same diameter as the rotating cylinder (203). Two mounting columns (302) are symmetrically and fixedly connected to the outer wall of the docking cylinder (301). The mounting columns (302) are slidably inserted into the limiting plates (211). The clamping semi-ring (209) is clamped with the mounting columns (302). A cavity plate (303) is fixedly connected to the bottom of the docking cylinder (301). Two positioning cylinders (304) that are symmetrically and fixedly connected to the opposite side walls of the cavity plate (303) and communicate with its interior. A telescopic cylinder (305) is slidably sleeved in the positioning cylinder (304).

7. A four-axis transfer and feeding robot according to claim 6, characterized in that: A sliding table (307) fixedly connected to the end of the telescopic cylinder (305) is slidably sleeved in the positioning cylinder (304). Two round rods (308) are symmetrically and slidably connected in the sliding table (307). A limiting ring (311) is fixedly connected between the ends of the two round rods (308). A closing plate (312) is rotatably sleeved outside the limiting ring (311). The closing plate (312) is slidably sleeved in the interior of the positioning cylinder (304). A partition plate (313) is rotatably connected to the central position of the closing plate (312). The partition plate (313) is slidably and embeddedly connected to the sliding table (307). The output end of a servo motor (314) is fixedly connected to the central position of the partition plate (313). A communication hole (315) is formed in the closing plate (312).

8. The four-axis transfer and feeding robot according to claim 7, characterized in that: Two compression springs I (309) are sleeved outside the two round rods (308). A sliding ring (310) fixedly connected to the compression spring I (309) is fixedly connected between the ends of the two round rods (308). A round hole I (316) is formed in the sliding table (307). One end of a bent pipe (318) is fixedly arranged at the end of the round hole I (316). The other end of the bent pipe (318) communicates with the adsorption structure. The adsorption structure includes a connection block (319) fixedly connected to the outer wall of the telescopic cylinder (305). A suction cup (320) connected to the bent pipe (318) is fixedly connected to the top of the connection block (319). A round hole II (317) is formed in the sliding table (307). One end of a connecting pipe (321) is fixedly arranged at the end of the round hole II (317). The other end of the connecting pipe (321) communicates with the end of the telescopic pipe (401).

9. The four-axis transfer and feeding robot according to claim 7, characterized in that: Two abutting plates (322) are symmetrically and fixedly connected to the outer wall of the telescopic cylinder (305). A protective cover (306) is fixedly connected to the end of the telescopic cylinder (305).

10. A four-axis transfer and feeding robot according to claim 9, characterized in that: A positioning column (413) slidably sleeved with the abutting plate (322) is fixedly connected to the side wall of the moving plate (412). A U-shaped frame (416) is rotatably connected between the two ends of the clamping frame (415). The U-shaped frame (416) is fixedly connected to the abutting plate (322).

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