Feeding and discharging robot with self-adaptive clamping function

Abstract

The invention discloses a feeding and discharging robot with a self-adaptive clamping function, and relates to the technical field of robots, the feeding and discharging robot comprises a manipulator, a visual detector, a clamping mechanism and a hydraulic station, the visual detector is fixedly connected with the manipulator, the detection end of the visual detector faces a workpiece, the visual detector is electrically connected with the hydraulic station, and the clamping mechanism is fixedly connected with the manipulator. The clamping mechanism is fixedly connected with the output end of the manipulator, the clamping mechanism can automatically adjust the clamping state according to the shape and weight of a workpiece, the output end of the hydraulic station communicates with the clamping mechanism, and the hydraulic station is used for driving the clamping mechanism to act; the manipulator can automatically feed and discharge a workpiece according to a set program, and the shape of a circuit board is automatically detected through the visual detector, so that the hydraulic station is controlled to output corresponding pressure, the clamping mechanism is adjusted, and the shape of the clamp is matched with the shape of the circuit board.

Description

Technical Field

[0001] The invention relates to the technical field of robots, in particular to a loading and unloading robot with a self-adaptive clamping function. Background Art

[0002] With the rapid development of industrial automation technology, loading and unloading robots, as the core equipment of intelligent manufacturing, are widely used in electronics, automobiles, semiconductors and other industries. Especially in the field of electronic manufacturing, circuit boards are core components, and their production process requires frequent high-precision loading and unloading operations. However, circuit boards have the characteristics of thin sheets, various shapes, high brittleness, and small weight differences. Traditional clamping technology is difficult to balance efficiency and safety, resulting in many pain points in practical applications.

[0003] Traditional clamping mechanisms mostly use fixed fixtures, which can only match workpieces of specific shapes. However, the size and contour of circuit boards vary greatly, and frequent fixture replacement or manual adjustment is required, which seriously affects production efficiency. In addition, circuit boards are brittle, and excessive clamping force can easily cause surface damage or internal circuit breakage, while insufficient clamping force may cause slippage, and the clamping force cannot be adjusted in real time according to the weight of the workpiece. Summary of the invention

[0004] The purpose of the present invention is to provide a loading and unloading robot with an adaptive clamping function to solve the problems raised in the prior art.

[0005] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: the loading and unloading robot includes a manipulator, a visual detector, a clamping mechanism and a hydraulic station. The visual detector is tightly connected to the manipulator, the detection end of the visual detector is facing the workpiece, the visual detector is electrically connected to the hydraulic station, the clamping mechanism is tightly connected to the output end of the manipulator, the clamping mechanism can automatically adjust the clamping state according to the shape and weight of the workpiece, the output end of the hydraulic station is connected to the clamping mechanism, and the hydraulic station is used to drive the clamping mechanism to move.

[0006] The loading and unloading robot of the present application is used to clamp sheet-shaped circuit boards. The manipulator can automatically load and unload the workpiece according to a set program. Since the shapes of circuit boards are diverse, the shape of the circuit board is automatically detected by a visual detector, thereby controlling the hydraulic station to output a corresponding pressure, thereby adjusting the clamping mechanism so that the shape of the clamp fits the shape of the circuit board; in addition, the circuit board is a brittle material and the workpiece may be damaged or slipped due to improper clamping force. This requires the clamping mechanism to automatically adjust the clamping force according to the weight of the workpiece to prevent the workpiece from slipping.

[0007] Furthermore, the clamping mechanism includes a fixed frame, a detection component, a push rod, a connecting plate and a movable component. The fixed frame is tightly connected to the manipulator, the detection component is tightly connected to the fixed frame, the push rod is tightly connected to the fixed frame, the push rods are symmetrically arranged at both ends of the fixed frame, the output end of the push rod is tightly connected to the connecting plate, the movable component is slidably connected to the connecting plate, the movable component is used to clamp the workpiece, and the movable components are arranged in several groups.

[0008] When loading and unloading, the clamping mechanism moves to the workpiece under the drive of the robot, the detection component is inserted under the workpiece, and the workpiece is lifted to detect its weight. Driven by the push rod, the connecting plate and the movable component are located on both sides of the workpiece. Several movable components can automatically move according to the shape of the workpiece measured by the visual detector, so that the shape of the fixture composed of several movable components matches the contour of the workpiece. Then, according to the weight of the workpiece measured by the detection component, the clamping force of the workpiece is automatically adjusted.

[0009] Furthermore, a first pipeline and a second pipeline are provided on the connecting plate, the first pipeline and the second pipeline are connected to the hydraulic station, a plurality of branch pipes are provided on the second pipeline, a control valve is provided at the output end of the plurality of branch pipes, and the output end of the control valve is connected to the movable component.

[0010] The first pipeline is used to transfer the pressure of the hydraulic station to the clamping mechanism to control the clamping force. The second pipeline cooperates with several branches to transfer the pressure to the movable components to adjust the relative positions between the movable components, so that the shape of the fixture composed of several movable components matches the shape of the workpiece.

[0011] Furthermore, the detection component includes a protective shell, a slider, an insert plate and a support spring. The protective shell is fastened to the fixed frame. A slide groove and a detection groove are provided in the protective shell. The slide groove is communicated with the detection groove. The slider is slidably connected to the slide groove. The insert plate is fastened to the slider. One end of the support spring is fastened to the inner wall of the slide groove, and the other end of the support spring is fastened to the slider.

[0012] When the workpiece is lifted up on the insert plate, the workpiece's own gravity will drive the slider to move downward along the slide groove, and the supporting spring will be stretched. By filling hydraulic oil in the slide groove and the detection groove, when the slider moves downward, the hydraulic oil will be pressed into the detection groove. The greater the weight of the workpiece, the longer the distance the slider moves downward, and the more hydraulic oil will be pressed into the detection groove.

[0013] Furthermore, a detection piston is provided in the detection groove, the detection piston is slidably connected to the detection groove, a magnetic rod is provided on the detection piston, a coil is wound around one end of the detection groove away from the detection piston, the coil is externally connected to a detection power supply, the detection power supply and the coil constitute a detection system, and the detection system is used to control the hydraulic station; During detection: the magnetic bar and the coil move relative to each other.

[0014] The heavier the workpiece, the more hydraulic oil is pressed into the detection groove, the greater the distance the detection piston moves up, the longer the distance the magnetic rod is inserted into the coil, and the greater the induced current generated on the coil. That is, the greater the induced current generated on the coil detected by the detection system, the greater the weight of the workpiece.

[0015] Furthermore, the cross-sectional area of ​​the slide groove is larger than the cross-sectional area of ​​the detection groove.

[0016] Since the circuit board is in the form of a thin sheet and has a low density, the weight difference between circuit boards of different sizes is small, which results in a shorter offset distance of the slider. In order to ensure the accuracy of the detection, the cross-sectional area of ​​the detection slot is set to be smaller than that of the slide slot, thereby enlarging the moving distance of the detection piston for easy detection.

[0017] Furthermore, a liquid inlet and a guide groove are provided on the connecting plate, the outlet of the first pipeline is connected with the liquid inlet, the guide groove is connected with the liquid inlet, and the movable component is slidably connected with the guide groove.

[0018] The hydraulic oil pumped out by the hydraulic station is injected into the liquid inlet through the first pipeline and then flows into the guide groove, so that the movable component located in the guide groove can clamp the workpiece with a certain pressure. The clamping force can be automatically controlled by adjusting the pressure output by the hydraulic station according to the weight of the workpiece measured by the detection component.

[0019] Furthermore, the movable component includes a movable sleeve and a piston rod. The movable sleeve is slidably connected to the guide groove. The movable sleeve is provided with a movable groove and a guide channel. The piston rod is slidably connected to the movable groove. A clamp is provided on the end of the piston rod close to the workpiece. A connecting hose is provided at the outlet of the control valve. The outlet of the connecting hose is connected to the guide channel, and the guide channel is connected to the movable groove.

[0020] When the visual detector detects the outer contour of the workpiece, since the complete fixture is composed of several movable components, by opening the control valve at the corresponding position, the hydraulic oil of the hydraulic station flows into the diversion channel through the connecting hose and then flows into the movable groove, thereby driving the piston rod to move outward along the movable groove for a certain distance. That is, by controlling the relative movement of the piston rods in several movable components, the fixture contour composed of the clamping jaws can be matched with the outer shape of the workpiece.

[0021] Furthermore, a snap ring is provided in the guide groove, and the bottom end of the movable sleeve abuts against the snap ring.

[0022] The retaining ring is used to limit the position of the movable sleeve to prevent deviation when the outer contour of the clamping mechanism is adjusted.

[0023] Furthermore, the cross section of the clamping jaw is in a concave shape.

[0024] The concave-shaped jaws can be clamped into the side of the workpiece to prevent the workpiece from shaking when moving.

[0025] Compared with the prior art, the present invention has the following beneficial effects: 1. The shape of the workpiece is identified by the visual detector, and the active components of the clamping mechanism are automatically adjusted to match the contour of the fixture with the shape of the workpiece. The clamping force output by the hydraulic station is dynamically adjusted according to the weight of the workpiece measured by the detection component to avoid damage or slippage of the workpiece due to improper clamping force; through the coordination of the visual and hydraulic systems, dual self-adaptation of the clamping shape and force is achieved, taking into account both accuracy and safety, which is particularly suitable for the automated processing of brittle and thin-flaky workpieces.

[0026] 2. The detection component cooperates between the slider and the detection piston. The heavier the workpiece is, the more hydraulic oil is pressed into the detection groove, the greater the distance the detection piston moves up, the longer the distance the magnetic rod is inserted into the coil, and the greater the induced current generated on the coil. The position of the detection piston is adjusted by the change in the volume of the hydraulic oil in the detection groove, and the weight of the workpiece is indirectly measured by the induced current generated on the coil. The difference in cross-sectional area between the slide groove and the detection groove is used to amplify small displacements and improve detection sensitivity. It is suitable for thin-sheet circuit boards with small weight differences. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the structure of the clamping mechanism of the present invention; Figure 3 for Figure 2 A local enlarged view of point A; Figure 4 A partial cross-sectional view of the clamping mechanism of the present invention; Figure 5 It is a partial cross-sectional view of the detection mechanism of the present invention; Figure 6 for Figure 5 A partial enlarged view of point B; Figure 7 is a partial cross-sectional view of the connecting plate; Figure 8 for Figure 7 A partial enlarged view of point C; Fig. 9 It is a schematic diagram of the active components of the present invention.

[0028] In the figure: 1. manipulator; 2. visual detector; 3. clamping mechanism; 31. fixed frame; 32. detection component; 321. protective shell; 3211. slide groove; 3212. detection groove; 322. slider; 323. plug plate; 324. support spring; 325. detection piston; 326. magnetic rod; 327. coil; 33. push rod; 34. connecting plate; 341. liquid inlet; 342. guide groove; 343. snap ring; 35. movable component; 351. movable sleeve; 3511. movable groove; 3512. diversion channel; 352. piston rod; 353. clamping claw; 354. connecting hose; 36. first pipeline; 37. second pipeline; 371. branch pipe; 38. control valve; 4. hydraulic station. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] Example: Figure 1-Figure 9 As shown, the present invention provides a technical solution for a loading and unloading robot with an adaptive clamping function, the loading and unloading robot comprises a manipulator 1, a visual detector 2, a clamping mechanism 3 and a hydraulic station 4, the visual detector 2 is tightly connected to the manipulator 1, the detection end of the visual detector 2 is facing the workpiece, the visual detector 2 is electrically connected to the hydraulic station 4, the clamping mechanism 3 is tightly connected to the output end of the manipulator 1, the clamping mechanism 3 can automatically adjust the clamping state according to the shape and weight of the workpiece, the output end of the hydraulic station 4 is connected to the clamping mechanism 3, and the hydraulic station 4 is used to drive the clamping mechanism 3 to move.

[0031] The loading and unloading robot of the present application is used to clamp sheet-like circuit boards. The manipulator 1 can automatically load and unload the workpiece according to a set program. Since the shapes of the circuit boards are diverse, the shape of the circuit boards is automatically detected by the visual detector 2, thereby controlling the hydraulic station 4 to output the corresponding pressure, thereby adjusting the clamping mechanism 3 so that the shape of the clamp fits the shape of the circuit board; in addition, the circuit board is a brittle material and the workpiece may be damaged or slipped due to improper clamping force. This requires the clamping mechanism 3 to be able to automatically adjust the clamping force according to the weight of the workpiece to prevent the workpiece from slipping.

[0032] The clamping mechanism 3 includes a fixed frame 31, a detection component 32, a push rod 33, a connecting plate 34 and a movable component 35. The fixed frame 31 is tightly connected to the manipulator 1, the detection component 32 is tightly connected to the fixed frame 31, the push rod 33 is tightly connected to the fixed frame 31, the push rod 33 is symmetrically arranged at both ends of the fixed frame 31, the output end of the push rod 33 is tightly connected to the connecting plate 34, the movable component 35 is slidably connected to the connecting plate 34, the movable component 35 is used to clamp the workpiece, and the movable component 35 is arranged in several groups.

[0033] When loading and unloading, driven by the manipulator 1, the clamping mechanism 3 moves to the workpiece, the detection component 32 is inserted under the workpiece, and the workpiece is lifted up to detect its weight. Driven by the push rod 33, the connecting plate 34 and the movable component 35 are located on both sides of the workpiece. Several movable components 35 can automatically move according to the workpiece shape measured by the visual detector 2, so that the shape of the fixture composed of several movable components 35 matches the contour of the workpiece, and then the clamping force of the workpiece is automatically adjusted according to the weight of the workpiece measured by the detection component 32.

[0034] The connecting plate 34 is provided with a first pipeline 36 and a second pipeline 37 , which are connected to the hydraulic station 4 , and the second pipeline 37 is provided with a plurality of branch pipes 371 , and the output ends of the plurality of branch pipes 371 are provided with a control valve 38 , and the output end of the control valve 38 is connected to the movable component 35 .

[0035] The first pipeline 36 is used to transmit the pressure of the hydraulic station 4 to the clamping mechanism 3 to control the clamping force. The second pipeline 37 cooperates with several branch pipes 371 to transmit the pressure to the movable components 35 to adjust the relative positions between the movable components 35, so that the shape of the fixture composed of several movable components 35 matches the shape of the workpiece.

[0036] The detection component 32 includes a protective shell 321, a slider 322, an insert plate 323 and a support spring 324. The protective shell 321 is tightly connected to the fixed frame 31. A slide groove 3211 and a detection groove 3212 are provided in the protective shell 321. The slide groove 3211 is communicated with the detection groove 3212. The slider 322 is slidably connected to the slide groove 3211. The insert plate 323 is tightly connected to the slider 322. One end of the support spring 324 is tightly connected to the inner wall of the slide groove 3211, and the other end of the support spring 324 is tightly connected to the slider 322.

[0037] When the workpiece is lifted up on the insert plate 323, the workpiece's own gravity will drive the slider 322 to move downward along the slide groove 3211, and the support spring 324 will be stretched. By filling hydraulic oil in the slide groove 3211 and the detection groove 3212, when the slider 322 moves downward, the hydraulic oil will be pressed into the detection groove 3212. The greater the weight of the workpiece, the longer the distance the slider 322 moves downward, and the more hydraulic oil will be pressed into the detection groove 3212.

[0038] A detection piston 325 is provided in the detection groove 3212, and the detection piston 325 is slidably connected to the detection groove 3212. A magnetic bar 326 is provided on the detection piston 325. A coil 327 is wound around one end of the detection groove 3212 away from the detection piston 325. The coil 327 is externally connected to a detection power supply. The detection power supply and the coil 327 constitute a detection system, and the detection system is used to control the hydraulic station 4. During detection: the magnetic bar 326 and the coil 327 move relative to each other.

[0039] The greater the weight of the workpiece, the more hydraulic oil is pressed into the detection groove 3212, the greater the distance the detection piston 325 moves upward, the longer the distance the magnetic rod 326 is inserted into the coil 327, and the greater the induced current generated on the coil 327. That is, the greater the induced current generated on the coil 327 detected by the detection system, the greater the weight of the workpiece.

[0040] The cross-sectional area of ​​the sliding groove 3211 is greater than the cross-sectional area of ​​the detection groove 3212 .

[0041] Since the circuit board is in the form of a thin sheet and has a low density, the weight difference between circuit boards of different sizes is small, which results in a shorter offset distance of the slider 322. In order to ensure the accuracy of detection, the cross-sectional area of ​​the detection groove 3212 is set to be smaller than that of the slide groove 3211, thereby enlarging the moving distance of the detection piston 325 for easy detection.

[0042] The connecting plate 34 is provided with a liquid inlet 341 and a guide groove 342 . The outlet of the first pipe 36 is connected to the liquid inlet 341 . The guide groove 342 is connected to the liquid inlet 341 . The movable component 35 is slidably connected to the guide groove 342 .

[0043] The hydraulic oil pumped out by the hydraulic station 4 is injected into the liquid inlet 341 through the first pipe 36 and then flows into the guide groove 342, so that the movable component 35 located in the guide groove 342 can clamp the workpiece with a certain pressure. The clamping force can be automatically controlled by adjusting the pressure output by the hydraulic station 4 according to the weight of the workpiece measured by the detection component 32.

[0044] The movable component 35 includes a movable sleeve 351 and a piston rod 352. The movable sleeve 351 is slidably connected to the guide groove 342. A movable groove 3511 and a guide channel 3512 are provided in the movable sleeve 351. The piston rod 352 is slidably connected to the movable groove 3511. A clamp 353 is provided on the end of the piston rod 352 close to the workpiece. A connecting hose 354 is provided at the outlet of the control valve 38. The outlet of the connecting hose 354 is communicated with the guide channel 3512, and the guide channel 3512 is communicated with the movable groove 3511.

[0045] When the visual detector 2 detects the outer contour of the workpiece, since the complete fixture is composed of several movable components 35, by opening the control valve 38 at the corresponding position, the hydraulic oil of the hydraulic station 4 flows into the guide channel 3512 through the connecting hose 354, and then flows into the movable groove 3511, thereby driving the piston rod 352 to move outward along the movable groove 3511 for a certain distance. That is, by controlling the relative movement of the piston rods 352 in the several movable components 35, the fixture contour composed of the clamps 353 can be matched with the outer shape of the workpiece.

[0046] A snap ring 343 is disposed in the guide groove 342 , and the bottom end of the movable sleeve 351 abuts against the snap ring 343 .

[0047] The snap ring 343 is used to limit the position of the movable sleeve 351 to prevent deviation when the outer contour of the clamping mechanism 3 is readjusted.

[0048] The cross section of the clamping jaw 353 is in a concave shape.

[0049] The concave-shaped clamping claw 353 can be clamped into the side of the workpiece to prevent the workpiece from shaking when moving.

[0050] The working principle of the present invention is as follows: first, the shape of the workpiece is identified, the visual detector 2 scans the shape of the workpiece, and the data is fed back to the control system; then the weight of the workpiece is detected, the plug plate 323 of the detection component 32 picks up the workpiece, and its weight compresses the hydraulic oil through the slider 322, pushing the detection piston 325 to move, and the relative movement between the magnetic rod 326 and the coil 327 generates an induced current, the magnitude of the current reflects the weight information, the larger the current, the greater the weight; then the shape of the clamping mechanism 3 is adjusted, the hydraulic station 4 controls the position of the piston rod 352 in each active component 35 through the branch pipe 371 of the second pipeline 37 and the control valve 38, so that a plurality of clamps 353 are combined to form a contour matching the shape of the workpiece; the hydraulic station 4 adjusts the pressure transmitted to the first pipeline 36 according to the weight information measured by the detection component 32, so that the active component 35 in the guide groove 342 can clamp the workpiece with a certain pressure to ensure that the workpiece is stable and not damaged; finally, the manipulator 1 drives the clamping mechanism 3 to move to complete the loading and unloading action.

[0051] 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.

Claims

1. A loading and unloading robot with adaptive clamping function, characterized in that: The loading and unloading robot comprises a manipulator (1), a visual detector (2), a clamping mechanism (3) and a hydraulic station (4); the visual detector (2) is tightly connected to the manipulator (1); the detection end of the visual detector (2) faces the workpiece; the visual detector (2) is electrically connected to the hydraulic station (4); the clamping mechanism (3) is tightly connected to the output end of the manipulator (1); the clamping mechanism (3) can automatically adjust the clamping state according to the shape and weight of the workpiece; the output end of the hydraulic station (4) is connected to the clamping mechanism (3); and the hydraulic station (4) is used to drive the clamping mechanism (3) to move.

2. The loading and unloading robot with adaptive clamping function according to claim 1, characterized in that: The clamping mechanism (3) comprises a fixed frame (31), a detection component (32), a push rod (33), a connecting plate (34) and a movable component (35); the fixed frame (31) is tightly connected to the manipulator (1); the detection component (32) is tightly connected to the fixed frame (31); the push rod (33) is tightly connected to the fixed frame (31); the push rod (33) is symmetrically arranged at both ends of the fixed frame (31); the output end of the push rod (33) is tightly connected to the connecting plate (34); the movable component (35) is slidably connected to the connecting plate (34); the movable component (35) is used to clamp a workpiece; and the movable component (35) is arranged in a plurality of groups.

3. The loading and unloading robot with adaptive clamping function according to claim 2, characterized in that: The connecting plate (34) is provided with a first pipeline (36) and a second pipeline (37), the first pipeline (36) and the second pipeline (37) are in communication with the hydraulic station (4), the second pipeline (37) is provided with a plurality of branch pipes (371), the output ends of the plurality of branch pipes (371) are provided with control valves (38), and the output end of the control valve (38) is in communication with the movable component (35).

4. The loading and unloading robot with adaptive clamping function according to claim 3 is characterized in that: The detection assembly (32) comprises a protective shell (321), a slider (322), an insert plate (323) and a support spring (324); the protective shell (321) is tightly connected to the fixing frame (31); a slide groove (3211) and a detection groove (3212) are provided in the protective shell (321); the slide groove (3211) is communicated with the detection groove (3212); the slider (322) is slidably connected to the slide groove (3211); the insert plate (323) is tightly connected to the slider (322); one end of the support spring (324) is tightly connected to the inner wall of the slide groove (3211); and the other end of the support spring (324) is tightly connected to the slider (322).

5. The loading and unloading robot with adaptive clamping function according to claim 4, characterized in that: A detection piston (325) is provided in the detection groove (3212), the detection piston (325) is slidably connected to the detection groove (3212), a magnetic rod (326) is provided on the detection piston (325), a coil (327) is wound around one end of the detection groove (3212) away from the detection piston (325), the coil (327) is externally connected to a detection power supply, the detection power supply and the coil (327) constitute a detection system, and the detection system is used to control the hydraulic station (4); During detection: the magnetic bar (326) and the coil (327) move relative to each other.

6. The loading and unloading robot with adaptive clamping function according to claim 5, characterized in that: The cross-sectional area of ​​the sliding groove (3211) is greater than the cross-sectional area of ​​the detection groove (3212).

7. The loading and unloading robot with adaptive clamping function according to claim 6, characterized in that: The connecting plate (34) is provided with a liquid inlet (341) and a guide groove (342); the outlet of the first pipe (36) is in communication with the liquid inlet (341); the guide groove (342) is in communication with the liquid inlet (341); and the movable component (35) is slidably connected to the guide groove (342).

8. The loading and unloading robot with adaptive clamping function according to claim 3 is characterized in that: The movable assembly (35) comprises a movable sleeve (351) and a piston rod (352); the movable sleeve (351) is slidably connected to the guide groove (342); a movable groove (3511) and a guide channel (3512) are provided in the movable sleeve (351); the piston rod (352) is slidably connected to the movable groove (3511); a clamping claw (353) is provided at one end of the piston rod (352) close to the workpiece; a connecting hose (354) is provided at the outlet of the control valve (38); the outlet of the connecting hose (354) is communicated with the guide channel (3512); and the guide channel (3512) is communicated with the movable groove (3511).

9. The loading and unloading robot with adaptive clamping function according to claim 8, characterized in that: A snap ring (343) is provided in the guide groove (342), and the bottom end of the movable sleeve (351) abuts against the snap ring (343).

10. The loading and unloading robot with adaptive clamping function according to claim 9, characterized in that: The cross section of the clamping claw (353) is in a concave shape.

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