Pneumatic scissors for tail end of robot

Abstract

The invention discloses pneumatic scissors for the tail end of a robot, and belongs to the technical field of robots, the pneumatic scissors comprise a main body module and a cutting module, the main body module comprises a mounting frame, the front end face of the mounting frame is fixedly connected with a U-shaped block, and one side of the inner wall of the U-shaped block is fixedly connected with fixed scissors; an inner rotating shaft is rotatably connected to the interior of the fixed scissor, one end of the inner rotating shaft is fixedly connected with a movable scissor, the other end of the inner rotating shaft extends to one side of the U-shaped block, and through the arrangement of the movable scissor, a torsion spring, a resistance assembly, an elastic assembly, a driving assembly and a reset assembly, when a hard object is cut, the movable scissor is fixed to the U-shaped block; the movable scissors can automatically stop swinging, the situation that a knife edge is damaged and needs to be replaced due to the fact that the movable scissors cut hard objects with too large force is avoided, the damage probability is reduced, operation is convenient, and the pneumatic scissors are more convenient to use.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and more particularly to a pneumatic scissors used at the end of a robot. Background Art

[0002] A robot is an intelligent machine that can work semi-autonomously or fully autonomously. It can perform tasks such as operation or movement through programming and automatic control. Pneumatic scissors are a tool that uses compressed air as a power source and performs shearing operations through pneumatic principles. In many fields today, in order to facilitate the use of pneumatic scissors, pneumatic scissors are often installed on the robot's mechanical arm for use in conjunction with CNC operations.

[0003] According to the search, the patent with patent number CN101947794A discloses pneumatic scissors, including a cylinder, a base and scissors, the scissors are composed of a fixed blade and a movable blade, wherein the main body of the cylinder is fixed on the base, the cylinder shaft is fixedly connected to the rear end of the fixed blade, the fixed blade and the movable blade are connected through a pivot point, and the pneumatic scissors also include a driving device; when the cylinder is working, it drives the scissors to reciprocate along the movement direction of the cylinder shaft, and at the same time, the driving device drives the fixed blade and the movable blade of the scissors to switch between open and closed states. When the fixed blade and the movable blade of the scissors are in the closed state, the front end of the fixed blade and the front end of the movable blade are engaged, and the pneumatic scissors can trim automatically, saving effort and time, and the qualified rate of workpieces is high, which has very good promotion value.

[0004] With respect to the above-mentioned related technologies, the pneumatic scissors in the current prior art are usually in the above-mentioned state. Although the cutting operation can be realized, in actual operation, the pneumatic scissors have a simple structure and are not convenient for setting a specified cutting force. During the cutting process, if the pneumatic scissors encounter too hard materials or are improperly operated, the blades of the scissors may be subjected to excessive pressure and stress, resulting in damage, resulting in the need for frequent replacement of the scissors blades, which is not conducive to use. Therefore, a pneumatic scissors for the end of a robot is proposed. Summary of the invention

[0005] In order to solve the above problems, the present invention provides a pneumatic scissors for the end of a robot, which adopts the following technical solution:

[0006] A pneumatic scissors for the end of a robot comprises a main body module and a cutting module, the main body module comprises a mounting frame, the front end face of the mounting frame is fixedly connected to a U-shaped block, one side of the inner wall of the U-shaped block is fixedly connected to a fixed scissors, the interior of the fixed scissors is rotatably connected to an inner rotating shaft, one end of the inner rotating shaft is fixedly connected to a movable scissors, the other end of the inner rotating shaft extends to one side of the U-shaped block, and a torsion spring is connected between the other end of the inner rotating shaft and one side of the U-shaped block, the cutting module comprises a hollow rod rotatably connected to the other side of the U-shaped block, a resistance component is arranged between the interior of the hollow rod and the interior of the movable scissors, an elastic component is arranged between one end of the resistance component away from the movable scissors and the outer surface of the hollow rod, a driving component is arranged inside the mounting frame, the driving component is connected to the outer surface of the hollow rod, a reset component is arranged on one side of the mounting frame, and the reset component is connected to the elastic component.

[0007] Furthermore, the resistance assembly includes a circular mounting groove provided inside the movable scissors, the inner wall of the circular mounting groove is provided with a ratchet groove, the interior of the circular mounting groove is rotatably connected to a rotating block, the outer surface of the rotating block is provided with a plurality of contraction grooves, the interiors of the plurality of contraction grooves are movably connected to bevel blocks, and one end of the plurality of bevel blocks are movably connected to the interior of the ratchet groove.

[0008] Furthermore, the resistance assembly also includes a movable rod movably connected to the inside of the hollow rod, the outer surface of the hollow rod is annular and has multiple connecting grooves equidistantly provided therein, the outer surfaces of the multiple bevel blocks are hinged with rocker arms, and the multiple rocker arms are respectively hinged to the outer surface of the movable rod through the multiple connecting grooves.

[0009] Furthermore, the elastic component includes a connecting block fixedly connected to one end of the movable rod, a threaded groove is provided on the outer surface of the hollow rod, a threaded sleeve is threadedly connected to the outer surface of the threaded groove, a connecting plate is rotatably connected to one side of the threaded sleeve, the connecting plate is located outside the hollow rod, and a first spring is fixedly connected between one side of the connecting plate and the connecting block.

[0010] Furthermore, the driving assembly includes a lifting block movably connected to the inside of the mounting frame, a cylinder is fixedly connected to the bottom of the mounting frame, an output shaft of the cylinder extends to the inside of the mounting frame and is fixedly connected to the bottom of the lifting block, one side of the lifting block is fixedly connected to a first magnetic block and a driving shaft, a lifting groove is opened on one side of the mounting frame, and one end of the driving shaft extends to the outside of the mounting frame through the lifting groove.

[0011] Furthermore, the driving assembly also includes a driving arm fixedly connected to the outer surface of the hollow rod, a strip groove is provided inside the driving arm, and the driving shaft is slidably connected inside the strip groove.

[0012] Furthermore, the driving assembly also includes four limit grooves respectively opened on both sides of the inner wall of the installation frame, and multiple balls are movably connected to both sides of the lifting block, and the multiple balls are movably connected to the inside of the four limit grooves respectively.

[0013] Furthermore, the reset assembly includes a movable column movably connected to one side of the mounting frame, one end of the movable column is fixedly connected to a second magnetic block, the second magnetic block is adapted to the first magnetic block, the other end of the movable column is fixedly connected to a fitting plate, one end of the fitting plate is movably fitted on the outer surface of the connecting block.

[0014] Furthermore, the reset assembly also includes a fixing plate fixedly connected to the outer surface of the movable column, a second spring is fixedly connected between the fixing plate and one side of the mounting frame, and the second spring is located outside the movable column.

[0015] Furthermore, the cutting module also includes a mounting member fixedly connected to the rear end surface of the mounting frame, and a plurality of threaded holes are formed on the mounting member.

[0016] In summary, the present invention includes the following beneficial technical effects:

[0017] (1) The present invention arranges movable scissors, torsion springs, resistance components, elastic components, drive components and reset components, so that when cutting hard objects, the movable scissors can automatically stop swinging, thereby preventing the movable scissors from using too much force to cut hard objects, causing the blade to be damaged and requiring replacement, thereby reducing the probability of damage, facilitating operation, and making the pneumatic scissors more convenient to use;

[0018] (2) The present invention arranges the connecting block, the threaded sleeve block, the connecting plate and the first spring so that the upper limit of the force during cutting can be adjusted according to the cutting needs of the staff, so that the structure can adapt to more cutting needs and improve the applicability of the structure;

[0019] (3) The present invention provides a limit groove and a ball so that when the lifting block is lifted or lowered, the ball can roll inside the limit groove, thereby reducing the wear of the lifting block and improving the durability of the structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0021] Figure 2 It is a schematic diagram of the positions of the resistance component and the elastic component of the present invention;

[0022] Figure 3 It is a cross-sectional structural schematic diagram of the resistance component and the elastic component of the present invention;

[0023] Figure 4It is a schematic diagram of the explosion structure of the elastic component and the resistance component of the present invention;

[0024] Figure 5 For the present invention Figure 4 The enlarged structural diagram at A in the middle;

[0025] Figure 6 It is a schematic cross-sectional view of the movable scissors of the present invention;

[0026] Figure 7 It is a schematic diagram of the structure of the driving assembly of the present invention;

[0027] Figure 8 It is a structural schematic diagram of the reset component of the present invention.

[0028] Description of the numbers in the figure:

[0029] 100, main body module; 110, mounting frame; 120, U-shaped block; 130, fixed scissors; 140, inner shaft; 150, movable scissors; 160, torsion spring;

[0030] 200, cutting module; 210, hollow rod; 220, resistance assembly; 221, ratchet groove; 222, rotating block; 223, bevel block; 224, movable rod; 225, rocker arm; 226, connecting groove; 230, elastic assembly; 231, connecting block; 232, threaded sleeve block; 233, connecting plate; 234, first spring; 240, driving assembly; 241, lifting block; 242, first magnetic block; 243, driving shaft; 244, driving arm; 245, limiting groove; 246, ball; 250, reset assembly; 251, movable column; 252, second magnetic block; 253, fixed plate; 254, second spring; 255, set plate; 260, mounting piece; 270, threaded hole. DETAILED DESCRIPTION

[0031] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention; it is obvious that the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments, and all other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making creative work are within the scope of protection of the present invention.

[0032] In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top / bottom" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0033] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "mounted / connected", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0034] The following is combined with Figure 1-8 The present invention is described in further detail.

[0035] See also Figure 1-8 A pneumatic scissors for the end of a robot comprises a main body module 100 and a cutting module 200. The main body module 100 comprises a mounting frame 110. A U-shaped block 120 is fixedly connected to the front end surface of the mounting frame 110. A fixed scissors 130 is fixedly connected to one side of the inner wall of the U-shaped block 120. An inner rotating shaft 140 is connected to the inner rotation of the fixed scissors 130. A movable scissors 150 is fixedly connected to one end of the inner rotating shaft 140. The other end of the inner rotating shaft 140 extends to one side of the U-shaped block 120. A torsion spring is connected between the other end of the inner rotating shaft 140 and one side of the U-shaped block 120. Spring 160, the cutting module 200 includes a hollow rod 210 rotatably connected to the other side of the U-shaped block 120, a resistance component 220 is arranged between the interior of the hollow rod 210 and the interior of the movable scissors 150, an elastic component 230 is arranged between the end of the resistance component 220 away from the movable scissors 150 and the outer surface of the hollow rod 210, a driving component 240 is arranged inside the mounting frame 110, the driving component 240 is connected to the outer surface of the hollow rod 210, and a reset component 250 is arranged on one side of the mounting frame 110, and the reset component 250 is connected to the elastic component 230.

[0036] In the initial state, the driving assembly 240 rises to the height of the resetting assembly 250, and the driving assembly 240 will drive the resetting assembly 250 to pull the elastic assembly 230, so that the resistance assembly 220 is separated from the movable scissors 150. When cutting is required, the driving assembly 240 is opened, and the driving assembly 240 will drive the hollow rod 210 to rotate. At the same time, the driving assembly 240 will separate from the resetting assembly 250, and the elastic assembly 230 will be reset, so that the resistance assembly 220 is reconnected with the movable scissors 150, so that the subsequent movable scissors 150 will swing to cooperate with the fixed scissors 130 to achieve cutting of the object. At the same time, the inner shaft 140 rotates, thereby driving the torsion spring 160 to twist. After the cutting is completed, The driving component 240 is reset, so that the movable scissors 150 is reset to the initial state, and the resistance component 220 is separated from the movable scissors 150. When the movable scissors 150 cuts a harder material, the movable scissors 150 will stop swinging, and the resistance component 220 will move inside the movable scissors 150. When resetting, the driving component 240 can still drive the movable scissors 150 to reset and swing. At this time, the movable scissors 150 will be over-reset. When the driving component 240 pushes the reset component 250 to separate the resistance component 220 from the movable scissors 150, the torsion spring 160 will drive the movable scissors 150 to swing and restore to the original position through the inner shaft 140, thereby not affecting subsequent cutting.

[0037] The resistance component 220 includes a circular mounting groove provided inside the movable scissors 150, the inner wall of the circular mounting groove is provided with a ratchet groove 221, the inner part of the circular mounting groove is rotatably connected with a rotating block 222, the outer surface of the rotating block 222 is provided with a plurality of contraction grooves, the interiors of the plurality of contraction grooves are movably connected with bevel blocks 223, one ends of the plurality of bevel blocks 223 are movably connected to the interior of the ratchet groove 221, the resistance component 220 also includes a movable rod 224 movably connected to the interior of the hollow rod 210, the outer surface of the hollow rod 210 is provided with a plurality of connecting grooves 226 at equal intervals in a circular shape, the outer surfaces of the plurality of bevel blocks 223 are hinged with swing rods 225, and the plurality of swing rods 225 are hinged to the outer surface of the movable rod 224 through the plurality of connecting grooves 226, respectively, and the elastic component 230 includes a connecting block 231 fixedly connected to one end of the movable rod 224, the outer surface of the hollow rod 210 is provided with a threaded groove, and the outer surface of the threaded groove is threadedly connected A threaded sleeve 232 is connected, and one side of the threaded sleeve 232 is rotatably connected to a connecting plate 233, which is located outside the hollow rod 210. A first spring 234 is fixedly connected between one side of the connecting plate 233 and the connecting block 231. The driving assembly 240 includes a lifting block 241 movably connected to the inside of the mounting frame 110, and a cylinder is fixedly connected to the bottom of the mounting frame 110. The output shaft of the cylinder extends to the inside of the mounting frame 110 and is fixedly connected to the bottom of the lifting block 241. One side of the lifting block 241 is fixedly connected to a first magnetic block 242 and a driving shaft 243. A lifting groove is provided on one side of the mounting frame 110, and one end of the driving shaft 243 extends to the outside of the mounting frame 110 through the lifting groove. The driving assembly 240 also includes a driving arm 244 fixedly connected to the outer surface of the hollow rod 210, and a strip groove is provided inside the driving arm 244, and the driving shaft 243 is slidably connected inside the strip groove.

[0038] The continuous descent of the lifting block 241 will push the driving arm 244 through the driving shaft 243, and the driving arm 244 will drive the hollow rod 210 to rotate. The first spring 234 provides an inward thrust to the movable rod 224, and the hollow rod 210 pushes the movable scissors 150 to rotate through the rotating block 222, the bevel block 223 and the ratchet groove 221. Subsequently, the movable scissors 150 will swing to cooperate with the fixed scissors 130 to cut the object. At the same time, the inner rotating shaft 140 rotates, thereby driving the torsion spring 160 to twist, and the cutting After completion, the lifting block 241 is reset, so that the movable scissors 150 is reset to its initial state, and the bevel block 223 is separated from the ratchet groove 221 again. When the movable scissors 150 cuts a harder material, the movable scissors 150 will stop swinging, and the bevel block 223 will move inside the movable scissors 150. The bevel block 223 will repeatedly shrink into the ratchet groove 221, and the bevel block 223 will push the movable rod 224 to repeatedly move outward through the rocker rod 225, and the first spring 234 will perform a reciprocating telescopic operation.

[0039] The driving assembly 240 further includes four limiting grooves 245 respectively opened on both sides of the inner wall of the mounting frame 110 , and a plurality of balls 246 are movably connected to both sides of the lifting block 241 , and the plurality of balls 246 are movably connected to the inside of the four limiting grooves 245 .

[0040] When the lifting block 241 is lifted or lowered, the ball 246 will roll inside the limiting groove 245, thereby reducing the wear of the lifting block 241 during lifting or lowering and improving the durability of the structure.

[0041] The reset assembly 250 includes a movable column 251 movably connected to one side of the mounting frame 110, one end of the movable column 251 is fixedly connected to a second magnetic block 252, the second magnetic block 252 is adapted to the first magnetic block 242, the other end of the movable column 251 is fixedly connected to a set plate 255, one end of the set plate 255 is movably mounted on the outer surface of the connecting block 231, the reset assembly 250 also includes a fixed plate 253 fixedly connected to the outer surface of the movable column 251, a second spring 254 is fixedly connected between the fixed plate 253 and one side of the mounting frame 110, and the second spring 254 is located outside the movable column 251.

[0042] When resetting later, the driving shaft 243 can still drive the movable scissors 150 to reset and swing. At this time, the movable scissors 150 will be over-reset, and the first magnetic block 242 pushes the second magnetic block 252, so that the movable column 251 is pushed to move outward and stretch the second spring 254. At this time, the set plate 255 will pull the connecting block 231, and the connecting block 231 will pull the movable rod 224. The movable rod 224 drives the four bevel blocks 223 to move through the four rocker rods 225, thereby withdrawing the ratchet groove 221 and separating from the movable scissors 150. The torsion spring 160 will drive the movable scissors 150 to swing and restore the original position through the inner rotating shaft 140, thereby not affecting the subsequent cutting.

[0043] The cutting module 200 further includes a mounting member 260 fixedly connected to the rear end surface of the mounting frame 110 , and a plurality of threaded holes 270 are formed on the mounting member 260 .

[0044] By setting the mounting member 260 and the mounting member 260, the structure can be installed on the robot arm for coordinated use.

[0045] The implementation principle of the embodiment of the present invention is as follows: in the initial state, the lifting block 241 rises to the top of the inner wall of the mounting frame 110. At this time, the first magnetic block 242 and the second magnetic block 252 are magnetically repelled, so that the movable column 251 is pushed to move outward and stretch the second spring 254. At this time, the set plate 255 will pull the connecting block 231, and the connecting block 231 will pull the movable rod 224. The movable rod 224 drives the four bevel blocks 223 to move through the four swing rods 225, thereby withdrawing the ratchet groove 221 and separating from the movable scissors 150. When cutting is required, the cylinder is opened to drive the lifting block 241 to descend, and the lifting block 241 will drive the first magnetic block 2 42 moves away from the second magnetic block 252, so that the second spring 254 drives the movable column 251 to reset, and at this time the connecting block 231 will drive the movable rod 224 to reset, so that the bevel block 223 will be reconnected with the ratchet groove 221, and the lifting block 241 continues to descend, pushing the driving arm 244 through the driving shaft 243, and the driving arm 244 drives the hollow rod 210 to rotate, and the first spring 234 provides an inward thrust to the movable rod 224, and the hollow rod 210 drives the movable scissors 150 to rotate through the rotating block 222, the bevel block 223 and the ratchet groove 221, and the subsequent movable scissors 150 will swing to cooperate with the fixed scissors 130 to achieve alignment. When the movable scissors 150 cuts a harder material, the movable scissors 150 will stop swinging, and the bevel block 223 will move inside the movable scissors 150, and the bevel block 223 will repeatedly retract into the ratchet groove 221, and the bevel block 223 will push the movable rod 224 to repeatedly move outward through the swing rod 225, and the first spring 234 will reciprocate and retract, and then in the reciprocating When the movable scissors 150 is in the reset position, the driving shaft 243 can still drive the movable scissors 150 to reset and swing. At this time, the movable scissors 150 will be over-reset. When the first magnetic block 242 pushes the second magnetic block 252 to separate the bevel block 223 from the movable scissors 150, the torsion spring 160 will drive the movable scissors 150 to swing and restore to the original position through the inner rotating shaft 140, thereby not affecting the subsequent cutting. Before cutting, the connecting plate 233 can be driven to move by rotating the threaded sleeve block 232, thereby achieving the stretching of the first spring 234, thereby increasing the thrust on the movable rod 224, changing the upper limit of the cutting force, and making it easier to cut more types of cutting.

[0046] The above are all preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Therefore, any equivalent changes made based on the structure, shape, and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A pneumatic scissors for a robot end, comprising a main body module (100) and a cutting module (200), characterized in that: The main body module (100) comprises a mounting frame (110), the front end surface of the mounting frame (110) is fixedly connected to a U-shaped block (120), one side of the inner wall of the U-shaped block (120) is fixedly connected to a fixed scissors (130), the interior of the fixed scissors (130) is rotatably connected to an inner rotating shaft (140), one end of the inner rotating shaft (140) is fixedly connected to a movable scissors (150), the other end of the inner rotating shaft (140) extends to one side of the U-shaped block (120), and a torsion spring (160) is connected between the other end of the inner rotating shaft (140) and one side of the U-shaped block (120); The cutting module (200) comprises a hollow rod (210) rotatably connected to the other side of the U-shaped block (120); a resistance component (220) is arranged between the interior of the hollow rod (210) and the interior of the movable scissors (150); an elastic component (230) is arranged between an end of the resistance component (220) away from the movable scissors (150) and the outer surface of the hollow rod (210); a driving component (240) is arranged inside the mounting frame (110); the driving component (240) is connected to the outer surface of the hollow rod (210); and a reset component (250) is arranged on one side of the mounting frame (110); the reset component (250) is connected to the elastic component (230).

2. A pneumatic scissors for the end of a robot according to claim 1, characterized in that: The resistance component (220) comprises a circular mounting groove provided inside the movable scissors (150), the inner wall of the circular mounting groove being provided with a ratchet groove (221), the interior of the circular mounting groove being rotatably connected to a rotating block (222), the outer surface of the rotating block (222) being provided with a plurality of contraction grooves, the interiors of the plurality of contraction grooves being movably connected to bevel blocks (223), and one end of the plurality of bevel blocks (223) being movably connected to the interior of the ratchet groove (221).

3. A pneumatic scissors for the end of a robot according to claim 2, characterized in that: The resistance assembly (220) further comprises a movable rod (224) movably connected to the inside of the hollow rod (210); the outer surface of the hollow rod (210) is provided with a plurality of connection grooves (226) at equal intervals in a ring shape; the outer surfaces of the plurality of bevel blocks (223) are hingedly connected with swing rods (225); the plurality of swing rods (225) are respectively hingedly connected to the outer surface of the movable rod (224) via the plurality of connection grooves (226).

4. A pneumatic scissors for the end of a robot according to claim 3, characterized in that: The elastic component (230) comprises a connecting block (231) fixedly connected to one end of the movable rod (224); a thread groove is formed on the outer surface of the hollow rod (210); a thread sleeve (232) is threadedly connected to the outer surface of the thread groove; a connecting plate (233) is rotatably connected to one side of the thread sleeve (232); the connecting plate (233) is located outside the hollow rod (210); and a first spring (234) is fixedly connected between one side of the connecting plate (233) and the connecting block (231).

5. A pneumatic scissors for the end of a robot according to claim 4, characterized in that: The driving assembly (240) comprises a lifting block (241) movably connected to the interior of the mounting frame (110); a cylinder is fixedly connected to the bottom of the mounting frame (110); an output shaft of the cylinder extends to the interior of the mounting frame (110) and is fixedly connected to the bottom of the lifting block (241); a first magnetic block (242) and a driving shaft (243) are fixedly connected to one side of the lifting block (241); a lifting slot is provided on one side of the mounting frame (110); and one end of the driving shaft (243) extends to the outside of the mounting frame (110) through the lifting slot.

6. A pneumatic scissors for the end of a robot according to claim 5, characterized in that: The driving assembly (240) further comprises a driving arm (244) fixedly connected to the outer surface of the hollow rod (210), a strip groove is provided inside the driving arm (244), and the driving shaft (243) is slidably connected inside the strip groove.

7. A pneumatic scissors for the end of a robot according to claim 6, characterized in that: The driving assembly (240) further comprises four limiting grooves (245) respectively provided on both sides of the inner wall of the mounting frame (110); a plurality of balls (246) are movably connected to both sides of the lifting block (241); and the plurality of balls (246) are respectively movably connected to the inside of the four limiting grooves (245).

8. The pneumatic scissors for the end of a robot according to claim 7, characterized in that: The reset assembly (250) comprises a movable column (251) movably connected to one side of the mounting frame (110); one end of the movable column (251) is fixedly connected to a second magnetic block (252), the second magnetic block (252) is adapted to the first magnetic block (242); the other end of the movable column (251) is fixedly connected to a sleeve plate (255), and one end of the sleeve plate (255) is movably sleeved on the outer surface of the connection block (231).

9. A pneumatic scissors for the end of a robot according to claim 8, characterized in that: The reset assembly (250) further comprises a fixing plate (253) fixedly connected to the outer surface of the movable column (251), a second spring (254) fixedly connected between the fixing plate (253) and one side of the mounting frame (110), and the second spring (254) is located outside the movable column (251).

10. A pneumatic scissors for the end of a robot according to claim 9, characterized in that: The cutting module (200) further comprises a mounting member (260) fixedly connected to the rear end surface of the mounting frame (110), and a plurality of threaded holes (270) are formed on the mounting member (260).

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