A four-axis transfer and feeding manipulator

Abstract

The present invention relates to the technical field of robotic arms, and specifically to a four-axis transfer and feeding robotic hand, which includes a multi-axis drive mechanism for driving the robotic hand to perform multi-axis rotation or movement to complete complex actions. In the present invention, the translation column enables the notch to slidably engage with a plurality of ball studs outside the rotating table, thereby driving the rotating table and the worm to rotate, and then driving the worm gear and the rotating shaft to rotate. 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 bracket to rotate in the U-shaped frame. By first contracting the four telescopic cylinders until the abutting plate abuts against the side wall of the material and then clamping, the robotic hand can easily adjust the position of the clamping structure adaptively according to the shape of the material and then clamp. Compared with the existing parallel claw structure, this robotic hand can conveniently clamp and feed materials with irregular shapes.

Description

Technical Field

[0001] The present invention relates to the technical field of robotic arms, and more particularly to a four-axis transfer and feeding robotic arm. Background Art

[0002] Industrial robots are tools used in production environments to improve production efficiency and reduce the labor intensity of workers. They can replace heavy human labor to achieve production mechanization and automation, and can operate in harmful environments to protect personal safety. Therefore, they are widely used in departments such as machinery manufacturing, metallurgy, electronics, light industry, and atomic energy. The robotic arm is an execution element of the robot and an important part of the robot. When performing welding, sealing, machine loading, disassembly, and assembly work, etc., it is all carried out through the robotic arm. The greatest advantage of the robotic arm is that it can repeat the same action. The application of the robotic arm is becoming more and more extensive. The robotic arm is a high-tech automatic production equipment developed in recent decades, with the ability of accurate operation and the ability to complete operations in the environment. With the progress of technology, the robotic arm is developing towards the direction of light weight, intelligence, and diversification. For different needs, different robotic arms are usually required to complete corresponding actions.

[0003] The four-axis transfer and feeding robotic arm has multiple rotating and moving axes, can perform complex actions and path planning, and can conveniently adjust parameters such as the action sequence, speed, and force of the robotic arm through programming to adapt to different production tasks and product changes. The four-axis robotic arm can replace manual labor to complete some heavy, dangerous, or repetitive work, thus improving the working environment of workers. However, the existing four-axis transfer robotic arm is difficult to adjust the feeding method of its end effector according to the type of material, and it is difficult to adjust the position of the clamping or adsorption structure at the end of the robotic arm according to the shape of the material. Therefore, the automatic adjustment performance of the current feeding robotic arm is poor. Summary of the Invention

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

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

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

[0007] A multi-axis drive mechanism for driving the robotic arm to perform multi-axis rotation or movement to complete complex actions;

[0008] An installation mechanism for disassembling or installing a clamping structure at the end of the robotic arm;

[0009] A pneumatic adjustment mechanism for adjusting the connection between the pneumatic source and the clamping structure or adsorption structure and for adjusting the relative position of the clamping structure or adsorption structure. The pneumatic adjustment mechanism is provided with an adsorption structure;

[0010] An object clamping mechanism for clamping an object;

[0011] The object clamping mechanism includes:

[0012] A telescopic pipe, pneumatically connected to the pneumatic adjustment mechanism;

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

[0014] A clamping bracket, connected to the output end of the self-locking transmission unit for clamping an object.

[0015] Furthermore, the self-locking transmission unit includes a translation column fixedly connected to the end of the telescopic pipe. A chute is provided at the bottom of the translation column, and a plurality of notches are equidistantly arranged in the chute. A rotating table is provided at the bottom of the translation column. A plurality of ball head columns are annularly and slidably connected in the rotating table. An extrusion spring II fixedly connected to the outer wall of the rotating table is sleeved outside the ball head columns. A worm is fixedly connected at the center position of the rotating table. A worm gear is meshed and connected to one side of the worm. A rotating shaft is fixedly sleeved at the center position of the worm gear. 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. 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. The other end of the driving rod is rotatably connected to the clamping bracket.

[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 provided at the bottom of the moving seat. Two swing arms are rotatably connected to the moving seat. A right-angle seat is rotatably connected between the ends of the two swing arms. One end of a rotating plate is rotatably connected to the bottom of the right-angle seat. The output end of a stepping motor is fixedly connected to the connection between the rotating plate and the right-angle seat.

[0017] Furthermore, one end of a hydraulic cylinder is rotatably connected to the end of the swing arm at the top. 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 communicated with the input end of the air pump is rotatably connected to the bottom of the circular shell. A toothed ring is fixedly sleeved on the outer wall of the rotating cylinder. A spur gear is meshed and connected to one side of the toothed ring. The output end of a driving motor is fixedly connected to the center position of the spur gear. Two limiting plates are symmetrically and fixedly connected to the outer wall of the rotating cylinder. A fixing 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 fixed 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 adjustment 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 its interior 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 in the interior of the positioning cylinder. A partition plate is rotatably connected to the center position of the closing plate. The partition plate is slidably embedded in 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 round hole is formed in the sliding table. One end of a bent pipe is fixedly arranged at the end of the first round hole. The other end of the bent pipe is communicated with the adsorption structure. The adsorption structure includes a connection 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 connection block. A second round hole is formed in the sliding table. One end of a connecting pipe is fixedly arranged at the end of the second round 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 also drive the rotating plate to rotate, so as to drive the clamping mechanism to complete a variety of complex movements 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 drive 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, the four positioning cylinders will maintain a negative pressure state, 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 separate 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 circular hole two opened on the closing plate, it can communicate with the circular hole two in the sliding table, so that the cavity plate can communicate with 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 the 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 gear 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 bracket to rotate in the C-shaped frame, so that the clamping brackets 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 clamp, the manipulator can easily adaptively adjust the position of the clamping structure according to the shape of the material and then clamp. Compared with the existing parallel claw structure, this manipulator can conveniently clamp and feed irregularly shaped materials.

[0028] 3. When feeding plate-shaped materials or materials with smooth and flat surfaces, the partition plate, sliding table, and telescopic cylinder can be driven by the output end of the servo motor to flip 180 degrees, so that circular hole 1 remains connected to the communication hole, and the suction cups on the outer wall of the telescopic cylinder are adjusted from the vertically upward direction to the vertically downward direction. Similarly, when the telescopic cylinder shrinks until it abuts against the abutting plate and the side of the material, the closing plate is separated from the sliding table, and then air is sucked through the communication hole into the elbow pipe, so as to adsorb and feed the plate-shaped material or the material with smooth and flat surface by using multiple suction cups, and the position of the suction cups can be adjusted according to the shape of the plate-shaped material for adsorption. Therefore, it can be adaptively adjusted and then adsorbed according to the shape of the plate-shaped material, and it is convenient to feed materials of different areas. Therefore, this manipulator can quickly adjust the feeding method according to the type of material, and it is convenient to move and feed various types of materials through the two methods of clamping and adsorption. Therefore, the application range of the manipulator is improved. BRIEF DESCRIPTION OF THE DRAWINGS

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

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

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

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

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

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

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

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

[0037] Figure 9 is a schematic diagram of the back structure of the closing plate of the present invention;

[0038] Figure 10 is a schematic diagram of the object clamping mechanism structure of the present invention;

[0039] Figure 11 is a schematic diagram of the translation column structure of the present invention;

[0040] Figure 12 is Figure 11 a partial enlarged structure schematic diagram at position A in the present invention.

[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, gear 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 frame; 416, U-shaped frame. Detailed implementation manners

[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 Figures 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 gas circuit communication 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 platform 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 platform 404. An extrusion spring two 406 fixedly connected to the outer wall of the rotating platform 404 is sleeved outside the ball head column 405. A worm 407 is fixedly connected to the center position of the rotating platform 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 circular 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 circular 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, so that the first compression spring 309 is compressed. The circular hole two 317 opened on the closing plate 312 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. The air can be pumped out of the telescopic pipe 401 through the connecting pipe 321. 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 bottom circular plate 410 is synchronously driven to rotate by the rotating shaft 408. 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 adjust the position of the clamping structure adaptively 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, so that the rotating table 404 stops rotating. Therefore, the clamping force of the clamping bracket 415 on the material is maintained without increasing, thus avoiding damage to the material caused by excessive clamping force. The connection mode of the worm 407 and the worm gear 409 can lock the position of the rotating shaft 408, 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 Figures 3 - 4As shown in the figure, in this embodiment, the multi-axis drive 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 clamped on the slide rail 102. A linear motor 104 is arranged at the bottom of the moving seat 103. Two 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 swing arms 105. One end of a rotating plate 108 is rotatably connected to the bottom of the right-angle seat 107. The output end of a stepping motor is fixedly connected to the connection part of 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 swing arm 105 at the top. 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 circular shell 201 fixedly connected to the other end of the rotating plate 108. An air pump 202 is fixedly arranged inside the circular shell 201. A rotating cylinder 203 communicating with the input end of the air pump 202 is rotatably connected to the bottom of the circular shell 201. A toothed ring 204 is fixedly sleeved on the outer wall of the rotating cylinder 203. A spur gear 205 is meshed and connected to one side of the toothed ring 204. The output end of a drive motor 206 is fixedly connected to the center position of the spur gear 205. Two limiting plates 211 are symmetrically fixedly connected to the outer wall of the rotating cylinder 203. A fixing 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 fixing plate 207. Clamping half-rings 209 are fixedly connected to the ends of the two electric rods 208. A sealing ring 210 is fixedly connected to the inner wall of the clamping half-ring 209.

[0051] During specific implementation, the linear motor 104 can drive the moving seat 103 to move on the slide rail 102, so as to drive the four-axis manipulator to move in the horizontal direction. The telescopic movement of the hydraulic cylinder 106 can drive the end of the swing arm 105 to rotate around the end rotatably connected to the moving seat 103. At the same time, the stepping motor at the bottom of the right-angle seat 107 can also drive the rotating plate 108 to rotate, so as to drive the clamping mechanism 400 to complete a variety of complex actions for moving and feeding. By inserting the mounting posts 302 on both side walls of the docking cylinder 301 in the pneumatic adjustment mechanism 300 into the limiting plates 211 on both sides of the rotating cylinder 203, and then starting the electric rods 208 to drive the two clamping half-rings 209 to merge to clamp and position the docking cylinder 301 and the rotating cylinder 203. In this way, the rotating cylinder 203 can communicate with the docking cylinder 301, and it can use air pressure to clamp objects or adsorb 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 drive motor 206 can drive the spur gear 205 to mesh and rotate with the toothed ring 204, so as to drive the rotating cylinder 203 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.

[0052] Embodiment Two

[0053] As Figures 6 - 9As shown, in this embodiment, the pneumatic adjustment mechanism 300 includes a docking cylinder 301. The diameter of the docking cylinder 301 is equal to that of 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 half-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 in communication with its interior are symmetrically and fixedly connected to the opposite side walls of the cavity plate 303. A telescopic cylinder 305 is slidably sleeved in the positioning cylinder 304. The end of the telescopic cylinder 305 is fixedly connected to a sliding table 307 that 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 center position of the closing plate 312. The partition plate 313 is slidably embedded in the sliding table 307. The output end of a servo motor 314 is fixedly connected to the center position of the partition plate 313. A communication hole 315 is formed in the closing plate 312. A first compression spring 309 is sleeved outside the two round rods 308. A sliding ring 310 that is fixed to the first compression spring 309 is fixedly connected between the ends of the two round rods 308. A first circular hole 316 is formed in the sliding table 307. One end of an elbow pipe 318 is fixedly arranged at the end of the first circular hole 316. The other end of the elbow pipe 318 is communicated with the adsorption structure. The adsorption structure includes a connection block 319 fixed to the outer wall of the telescopic cylinder 305. A suction cup 320 that is communicated with the elbow pipe 318 is fixedly connected to the top of the connection block 319. A second circular hole 317 is formed in the sliding table 307. One end of a connecting pipe 321 is fixedly arranged at the end of the second circular hole 317. The other end of the connecting pipe 321 is communicated with the end of the telescopic pipe 401.

[0054] In specific implementation, when feeding plate-shaped materials or materials with smooth and flat 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 first round hole 316 remains connected to the communication hole 315, and the suction cups 320 on the outer wall of the telescopic cylinder 305 are adjusted from the vertically upward direction to the vertically downward direction. Similarly, when the telescopic cylinder 305 contracts until the abutting plate 322 abuts against the side of the material, the closing plate 312 is separated from the sliding table 307, and then air is sucked through the communication hole 315 into the elbow pipe 318, so as to adsorb and feed the plate-shaped materials or materials with smooth and flat surfaces by using multiple suction cups 320, and the positions of the suction cups 320 can be adjusted according to the shape of the plate-shaped material for adsorption. Therefore, it can be adaptively adjusted and then adsorbed according to the shape of the plate-shaped material, so that it is convenient to feed materials of different areas. This manipulator can thus quickly adjust the feeding method according to the type of material, and it is convenient to move and feed various types of materials through two methods of clamping and adsorption. Therefore, the application range of the manipulator is improved.

[0055] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and without departing from the spirit or basic characteristics of the present invention, the present invention can be implemented in other specific forms. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present invention. Any reference signs in the claims should not be regarded as limiting the claimed rights.

[0056] In addition, it should be understood that although this specification is described according to embodiments, not every embodiment only contains an independent technical solution. This narrative way of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A four-axis transfer and feeding manipulator, characterized in that, Comprising: A multi-axis drive mechanism (100) for driving a manipulator to perform multi-axis rotation or movement to complete complex actions; A mounting mechanism (200) for disassembling or mounting a clamping structure at the end of the manipulator; A pneumatic adjustment mechanism (300) for adjusting the connection between a pneumatic source and a clamping structure or an adsorption structure and for adjusting the relative position of the clamping structure or the adsorption structure. The pneumatic adjustment mechanism (300) is provided with an adsorption structure; An object clamping mechanism (400) for clamping an object; The object clamping mechanism (400) includes: A telescopic tube (401) in gas communication with the pneumatic adjustment mechanism (300); A self-locking transmission unit connected to the output end of the telescopic tube (401), and the movement of the end is controlled only by its input end; A clamping bracket (415) connected to the output end of the self-locking transmission unit for clamping an object; The multi-axis drive 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 clamped on the slide rail (102). A linear motor (104) is arranged at the bottom of the moving seat (103). Two 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 swing arms (105). One end of a rotating plate (108) is rotatably connected to the bottom of the right-angle seat (107). The output end of a stepping motor is fixedly connected to the connection between the rotating plate (108) and the right-angle seat (107); The mounting mechanism (200) includes a circular shell (201) fixedly connected to the other end of the rotating plate (108). An air pump (202) is fixedly arranged inside the circular shell (201). A rotating cylinder (203) in communication with the input end of the air pump (202) is rotatably connected to the bottom of the circular shell (201). A toothed ring (204) is fixedly sleeved on the outer wall of the rotating cylinder (203). A spur gear (205) is meshed and connected to one side of the toothed ring (204). The output end of a drive motor (206) is fixedly connected to the center position of the spur gear (205). Two limiting plates (211) are symmetrically and fixedly connected to the outer wall of the rotating cylinder (203). A fixing plate (207) is fixedly sleeved on the outer wall of the rotating cylinder (203); Two electric rods (208) are symmetrically and fixedly connected to the bottom of the fixing plate (207). A clamping semi-ring (209) is fixedly connected to the end of each of the two electric rods (208). A sealing ring (210) is fixedly connected to the inner wall of the clamping semi-ring (209); 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 to the mounting columns (302). A cavity plate (303) is fixedly connected to the bottom of the docking cylinder (301). Two positioning cylinders (304) in communication with its interior are symmetrically and fixedly connected to the opposite side walls of the cavity plate (303). A telescopic cylinder (305) is slidably sleeved in the positioning cylinder (304); A sliding table (307) fixedly connected to the end of the telescopic cylinder (305) is slidably sleeved with 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 inside the positioning cylinder (304). A partition plate (313) is rotatably connected to the center 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 center position of the partition plate (313). A communication hole (315) is formed in the closing plate (312); A first compression spring (309) is sleeved outside the two round rods (308). A sliding ring (310) fixedly connected to the first compression spring (309) is fixedly connected between the ends of the two round rods (308). A first round hole (316) is formed in the sliding table (307). One end of a bent pipe (318) is fixedly arranged at the end of the first round hole (316). The other end of the bent pipe (318) is communicated with the adsorption structure. The adsorption structure includes a connection block (319) fixed to the outer wall of the telescopic cylinder (305). A suction cup (320) communicated with the bent pipe (318) is fixedly connected to the top of the connection block (319). A second round hole (317) is formed in the sliding table (307). One end of a connecting pipe (321) is fixedly arranged at the end of the second round hole (317). The other end of the connecting pipe (321) is communicated with the end of the telescopic pipe (401); 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 frame (415). The U-shaped frame (416) is fixedly connected to the abutting plate (322).

2. The four-axis transfer and feeding manipulator according to claim 1, wherein, One end of a hydraulic cylinder (106) is rotatably connected to the end of the upper swing arm (105). The other end of the hydraulic cylinder (106) is rotatably connected to the top of the moving seat (103).

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