Manipulator of numerical control machine tool

Abstract

The invention relates to the technical field of manipulators, in particular to a numerical control machine tool manipulator which comprises a manipulator body, a fixing frame is arranged on the manipulator body, a fixing disc is fixedly connected to the fixing frame, an adjusting mechanism is fixedly connected to the fixing disc, and a plurality of first suckers are fixedly connected to the lower surface of the middle of the fixing disc. A plurality of second suction cups are arranged on the fixing disc in a sliding fit mode, a plurality of transmission mechanisms are arranged on the lower surface of the fixing disc in a sliding fit mode, a plurality of third suction cups are arranged on the lower surface of the fixing disc in a sliding fit mode, and anti-blocking mechanisms are fixedly arranged in the first suction cups, the second suction cups and the third suction cups. And by arranging the adjusting mechanism, the heights of the multiple second suction cups on the outer side can be adjusted, so that the device can better adapt to inverted-T-shaped workpieces, and more uniform adsorption force is provided. Adsorption force is dispersed through the multiple suction cups, the adsorption area can be increased, stability is improved, and the problem that local pressure is too large is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulators, and in particular to a numerically controlled machine tool manipulator. Background Art

[0002] A numerically controlled machine tool manipulator is an automated device integrated into a numerically controlled machine tool, mainly used to replace manual labor to complete specific tasks in machine tool operations. It is mainly used for automatic loading, unloading, workpiece handling, tool change, and other auxiliary operations. Thereby improving production efficiency, accuracy, and automation level. The numerically controlled machine tool manipulator usually works closely with the numerical control system, which can significantly reduce manual intervention and improve the automation level of the production line.

[0003] In the prior art, the size of the workpiece is adjusted through the scales on the scale plate. During the high-speed machining process of the lathe, the air cylinder starts and drives the movement of four robotic arms, and a high-speed elastic rubber wheel is installed on each robotic arm. Through the action of the V-block, the robotic arm can move back and forth along the linear circular track, thereby automatically correcting the center position of the workpiece. In addition, the robotic arm of this manipulator is installed in a specific box body, and there is an oil filling port and a blowing port beside the box body. By filling oil through the oil filling port, it can play a role in cooling and lubricating the internal bearing of the elastic rubber wheel during high-speed rotation; the blowing port releases air pressure to blow the workpiece, and during the high-speed rotation after stopping oil filling, it can blow the oil stains on the surface of the workpiece clean. An adjusting rod is installed on the side wall of the box body. By freely adjusting this adjusting rod, the rubber wheel can be prevented from damaging the finished workpiece after the workpiece machining is completed.

[0004] The existing numerically controlled machine tool manipulator adsorbs the workpiece through a negative pressure suction cup, but the structure of the negative pressure suction cup on the existing numerically controlled machine tool manipulator is fixed, and it can only pick up flat workpieces. When adsorbing an inverted T-shaped workpiece, the suction cup adsorbs on a smaller contact area, which may cause excessive local load. This not only reduces the adsorption effect but also may cause the suction cup to slip off or the workpiece to shift.

[0005] In summary, in the prior art, there is a lack of technology for adsorbing and picking up inverted T-shaped workpieces. Summary of the Invention

[0006] The purpose of the present invention is to solve the shortcomings existing in the background art, and to propose a numerically controlled machine tool manipulator.

[0007] To achieve the above object, the technical solution adopted by the present invention is as follows: A manipulator for a numerical control machine tool, including a manipulator main body, a fixing frame is arranged on the manipulator main body, a fixing disk is fixedly connected to the fixing frame, an adjusting mechanism is fixedly connected to the fixing disk, a plurality of first suction cups are fixedly connected to the lower surface of the middle part of the fixing disk, a plurality of second suction cups are slidably fitted on the fixing disk, a plurality of transmission mechanisms are slidably fitted on the lower surface of the fixing disk, a plurality of third suction cups are slidably fitted on the lower surface of the fixing disk, an anti-blocking mechanism is fixedly installed in each of the first suction cup, the second suction cup and the third suction cup, and an inverted T-shaped workpiece is arranged below the fixing disk.

[0008] Preferably, a hydraulic rod is fixedly connected to the fixing frame, the other end of the hydraulic rod is fixedly connected to the manipulator main body, a vacuum pump is fixedly connected to the fixing frame, and the output end of the vacuum pump is communicated with the inside of the fixing disk.

[0009] Preferably, a vacuum chamber is formed in the middle of the fixing disk, the first suction cup is communicated with the vacuum chamber, a plurality of air guiding and limiting strips are fixedly connected to the bottom of the fixing disk, and one end of the air guiding and limiting strip is communicated with the inner wall of the vacuum chamber.

[0010] Preferably, the adjusting mechanism includes a motor, the motor is fixedly connected to the fixing disk, a toothed disk is fixedly connected to the output end of the motor, a plurality of driving wheels are meshed and driven on the toothed disk, a rotating shaft is fixedly connected to the driving wheel, the rotating shaft is rotatably connected to the fixing disk, and a driven wheel is fixedly connected to the other end of the rotating shaft.

[0011] Preferably, a guiding rod is fixedly connected to the second suction cup, the guiding rod is slidably fitted through the fixing disk, a fixed rack is fixedly connected to the outer wall of the guiding rod, the fixed rack is meshed and driven with the driven wheel, a spring hose is fixedly connected to the second suction cup, and the spring hose is communicated with the inner wall of the vacuum chamber.

[0012] Preferably, the transmission mechanism includes a movable rack, the movable rack is slidably fitted to the lower end of the fixing disk, a spring is fixedly connected to the movable rack, the other end of the spring is fixedly connected to the lower end of the fixing disk, an electric push rod A is fixedly connected to the bottom end of the movable rack, the other end of the electric push rod A is fixedly connected to a contact block, and the contact block is in movable contact with the inverted T-shaped workpiece.

[0013] Preferably, a gear is meshed and driven on one side of the movable rack, the gear is rotatably connected to the lower end of the fixing disk, and a connecting rod group is fixedly connected to the gear.

[0014] Preferably, a sliding rod is fixedly connected to the third suction cup. The sliding rod is slidably engaged with the outer wall of the air guide limiting strip. One side of the third suction cup is fixedly connected with an air guide hose, and the other end of the air guide hose is communicated with one end of the air guide limiting strip. The sliding rod is rotatably connected to the other end of the connecting rod group.

[0015] Preferably, the anti-blocking mechanism includes an electric push rod B, which is fixedly connected to the inner wall of the third suction cup. One end of the electric push rod B is fixedly connected with a movable tube, and a filter screen is slidably engaged in the movable tube. A plurality of tension springs are fixedly connected to one side of the filter screen, and the other ends of the tension springs are fixedly connected to the inner wall of the movable tube. A triangular block is fixedly connected to the filter screen. A universal joint is rotatably connected to the outside of the movable tube. One end of the universal joint is fixedly connected with an L-shaped rod, and the other end of the L-shaped rod is in sliding contact with the outer wall of the triangular block. The other end of the universal joint is fixedly connected with a guide groove rod, and a guide groove is formed on the outer wall of the guide groove rod. A guide head is slidably in contact with the inner wall of the guide groove, and the guide head is fixedly connected to the inner wall of the third suction cup.

[0016] Compared with the prior art, the present invention has the following beneficial effects: By providing an adjustment mechanism, the height of multiple second suction cups on the outside can be adjusted, so that the second suction cups can adsorb on the lower top surface of the inverted T-shaped workpiece. Cooperating with the first suction cup to adsorb on the upper top surface of the inverted T-shaped workpiece, it can better adapt to the inverted T-shaped workpiece and provide a more uniform adsorption force. By dispersing the adsorption force with multiple suction cups, the adsorption area can be increased, the stability can be improved, and the problem of excessive local pressure can be reduced. It can effectively increase the grasping force of the workpiece. Especially when dealing with a heavier inverted T-shaped workpiece, it can ensure its safety during the processing.

[0017] 2. By providing a transmission mechanism, while driving the first suction cup and the second suction cup to approach the inverted T-shaped workpiece, the third suction cup can be adsorbed on the side wall of the inverted T-shaped workpiece. In this way, multi-point adsorption of the inverted T-shaped workpiece can be realized, improving the stability, processing accuracy and handling efficiency of the workpiece, while reducing the risk of deformation and damage. This greatly improves the adaptability, accuracy and reliability of the automation system, enhances the working efficiency of the overall production line, and is particularly suitable for processing inverted T-shaped workpieces with complex shapes, heavy weights or high precision.

[0018] 3. By setting an anti-blocking mechanism inside the suction cup, when the suction cup adsorbs on the surface of the workpiece, it can filter the chips on the surface of the workpiece. After the suction cup finishes adsorption, the anti-blocking mechanism can automatically move out and shake to clean the filtered chips. This can not only effectively filter the chips to prevent the suction cup from being blocked, but also automatically clean the chips after adsorption, avoiding chip residue from affecting the next adsorption effect of the suction cup, thus ensuring the long-term stability of the suction cup performance and the high-quality machining of the workpiece. It not only improves the adsorption effect, machining accuracy and production efficiency, but also reduces the workload of equipment maintenance and manual cleaning, enhancing the automation level, reliability and environmental protection of the production line. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a schematic diagram of the overall structure of a numerically controlled machine tool manipulator according to the present invention; Figure 2 is a partial sectional view of a part of the structure of a numerically controlled machine tool manipulator according to the present invention; Figure 3 is a schematic diagram of the fixing frame structure of a numerically controlled machine tool manipulator according to the present invention; Figure 4 is a partial sectional view of the fixing disk structure of a numerically controlled machine tool manipulator according to the present invention; Figure 5 is a schematic diagram of the adjusting mechanism structure of a numerically controlled machine tool manipulator according to the present invention; Figure 6 is a schematic diagram of the second suction cup structure of a numerically controlled machine tool manipulator according to the present invention; Figure 7 is a schematic diagram of the transmission mechanism and the third suction cup structure of a numerically controlled machine tool manipulator according to the present invention; Figure 8 is a partial sectional view of the anti-blocking mechanism structure of a numerically controlled machine tool manipulator according to the present invention.

[0020] In the figure, the markings are: 1, manipulator main body; 2, fixing frame; 3, fixing disk; 4, adjusting mechanism; 5, first suction cup; 6, second suction cup; 7, transmission mechanism; 8, third suction cup; 9, anti-blocking mechanism; 10, inverted T-shaped workpiece; 201, hydraulic rod; 202, vacuum pump; 301, vacuum chamber; 302, air guide limiting strip; 401, motor; 402, gear disk; 403, driving wheel; 404, rotating shaft; 405, driven wheel; 601, guide rod; 602, fixed rack; 603, spring hose; 701, movable rack; 702, spring; 703, electric push rod A; 704, contact block; 705, gear; 706, connecting rod group; 801, sliding rod; 802, air guide hose; 901, electric push rod B; 902, movable tube; 903, filter screen; 904, tension spring; 905, triangular block; 906, universal joint; 907, L-shaped rod; 908, guide groove rod; 909, guide head. Detailed implementation mode

[0021] The following description is used to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments in the following description are only examples, and those skilled in the art can think of other obvious variations.

[0022] As Figures 1-8 shown, a numerically controlled machine tool manipulator includes a manipulator main body 1, a fixing frame 2 is arranged on the manipulator main body 1, a fixing disk 3 is fixedly connected to the fixing frame 2, an adjusting mechanism 4 is fixedly connected to the fixing disk 3, a plurality of first suction cups 5 are fixedly connected to the lower surface of the middle part of the fixing disk 3, a plurality of second suction cups 6 are slidably fitted on the fixing disk 3, a plurality of transmission mechanisms 7 are slidably fitted on the lower surface of the fixing disk 3, a plurality of third suction cups 8 are slidably fitted on the lower surface of the fixing disk 3, and an anti-blocking mechanism 9 is fixedly installed in each of the first suction cups 5, the second suction cups 6 and the third suction cups 8. A T-shaped workpiece 10 is arranged below the fixing disk 3.

[0023] As Figure 3 shown, a hydraulic rod 201 is fixedly connected to the fixing frame 2, the other end of the hydraulic rod 201 is fixedly connected to the manipulator main body 1, and a vacuum pump 202 is fixedly connected to the fixing frame 2. The output end of the vacuum pump 202 is communicated with the inside of the fixing disk 3.

[0024] As Figure 4 shown, a vacuum chamber 301 is opened in the middle of the fixing disk 3. The first suction cup 5 is communicated with the vacuum chamber 301. A plurality of air guiding and limiting strips 302 are fixedly connected to the bottom of the fixing disk 3, and one end of the air guiding and limiting strip 302 is communicated with the inner wall of the vacuum chamber 301.

[0025] As Figure 5 shown, the adjusting mechanism 4 includes a motor 401. The motor 401 is fixedly connected to the fixing disk 3. A gear disk 402 is fixedly connected to the output end of the motor 401. A plurality of driving wheels 403 are meshed and driven on the gear disk 402. A rotating shaft 404 is fixedly connected to the driving wheel 403. The rotating shaft 404 is rotatably connected to the fixing disk 3. A driven wheel 405 is fixedly connected to the other end of the rotating shaft 404. By driving the connected gear disk 402 to rotate by the motor 401, the gear disk 402 drives the driving wheel 403 to rotate, the driving wheel 403 drives the driven wheel 405 connected to the rotating shaft 404 to rotate, and the driven wheel 405 drives the guide rod 601 connected to the fixed rack 602 to move up and down, so that the second suction cup 6 is at an appropriate height.

[0026] By setting the adjustment mechanism 4, the height of the plurality of second suction cups 6 on the outside can be adjusted, so that the second suction cups 6 can be adsorbed on the lower end top surface of the inverted T-shaped workpiece 10, and cooperate with the first suction cup 5 to be adsorbed on the upper end top surface of the inverted T-shaped workpiece 10, so as to better adapt to the inverted T-shaped workpiece 10 and provide a more uniform adsorption force. By dispersing the adsorption force through multiple suction cups, the adsorption area can be increased, the stability can be improved, the problem of excessive local pressure can be reduced, and the gripping force on the workpiece can be effectively increased, especially when handling a heavier inverted T-shaped workpiece 10, its safety during the processing can be ensured.

[0027] like Figure 6 As shown, a guide rod 601 is fixedly connected to the second suction cup 6, and the guide rod 601 and the fixed plate 3 are slidably matched. A fixed rack 602 is fixedly connected to the outer wall of the guide rod 601, and the fixed rack 602 is meshed with the driven wheel 405 for transmission. A spring hose 603 is fixedly connected to the second suction cup 6, and the spring hose 603 is connected to the inner wall of the vacuum chamber 301.

[0028] like Figure 7 As shown, the transmission mechanism 7 includes a movable rack 701, which is slidably matched with the lower end of the fixed plate 3, a spring 702 is fixedly connected to the movable rack 701, and the other end of the spring 702 is fixedly connected to the lower end of the fixed plate 3, and an electric push rod A703 is fixedly connected to the bottom end of the movable rack 701, and a contact block 704 is fixedly connected to the other end of the electric push rod A703, and the contact block 704 is movably contacted with the inverted T-shaped workpiece 10. The spring 702 realizes the automatic reset of the movable rack 701.

[0029] A gear 705 is provided on one side of the movable rack 701 for meshing transmission. The gear 705 is rotatably connected to the lower end of the fixed plate 3. A connecting rod group 706 is fixedly connected to the gear 705. The hydraulic rod 201 is used to drive the connected fixed frame 2 to move downward. At this time, the contact block 704 will first contact the inverted T-shaped workpiece 10, so that the contact block 704 drives the movable rack 701 to move upward, and then the movable rack 701 drives the connecting rod group 706 connected to the gear 705, so that the connecting rod group 706 drives the third suction cup 8 connected to the slide bar 801 to approach the side wall of the inverted T-shaped workpiece 10.

[0030] like Figure 7 As shown, a sliding rod 801 is fixedly connected to the third suction cup 8, and the sliding rod 801 is slidably matched with the outer wall of the air guide limit strip 302. An air guide hose 802 is fixedly connected to one side of the third suction cup 8, and the other end of the air guide hose 802 is connected to one end of the air guide limit strip 302. The sliding rod 801 is rotatably connected to the other end of the connecting rod group 706.

[0031] like Figure 8As shown, the anti-blocking mechanism 9 includes an electric push rod B901, which is fixedly connected to the inner wall of the third suction cup 8. One end of the electric push rod B901 is fixedly connected with a movable tube 902. A filter screen 903 is slidably fitted in the movable tube 902. A plurality of tension springs 904 are fixedly connected to one side of the filter screen 903, and the other ends of the tension springs 904 are fixedly connected to the inner wall of the movable tube 902. A triangular block 905 is fixedly connected to the filter screen 903. A universal joint 906 is rotatably connected to the outside of the movable tube 902. One end of the universal joint 906 is fixedly connected with an L-shaped rod 907, and the other end of the L-shaped rod 907 is in sliding contact with the outer wall of the triangular block 905. The other end of the universal joint 906 is fixedly connected with a guide groove rod 908. A guide groove is formed on the outer wall of the guide groove rod 908, and a guide head 909 is in sliding contact with the inner wall of the guide groove. The guide head 909 is fixedly connected to the inner wall of the third suction cup 8. One end of the guide groove is a spiral structure, and the other end is a linear structure. The electric push rod B901 is used to drive the movable tube 902 to move to the outside. Then, under the action of the guide head 909, the guide groove rod 908 provided with the guide groove rotates, so that the guide groove rod 908 drives the L-shaped rod 907 connected by the universal joint 906 to rotate. Then, the L-shaped rod 907 will contact the triangular block 905, thereby pushing the filter screen 903 connected by the triangular block 905 to move outward. Then, after the L-shaped rod 907 is separated from the triangular block 905, the filter screen 903 will be quickly reset under the action of the tension spring 904.

[0032] Working principle: When machining the inverted T-shaped workpiece 10, first adjust the device according to the size of the inverted T-shaped workpiece 10. First, use the motor 401 to drive the connected gear disk 402 to rotate, so that the gear disk 402 drives the driving wheel 403 to rotate, so that the driving wheel 403 drives the driven wheel 405 connected by the rotating shaft 404 to rotate, so that the driven wheel 405 drives the guide rod 601 connected to the fixed rack 602 to move up and down, so that the second suction cup 6 is at an appropriate height. Then, use the electric push rod A703 to adjust the position of the contact block 704; Then use the hydraulic rod 201 to drive the connected fixed frame 2 to move down. At this time, the contact block 704 will first contact the inverted T-shaped workpiece 10, so that the contact block 704 drives the movable rack 701 to move up. Then, the movable rack 701 will drive the connecting rod group 706 connected to the gear 705, so that the connecting rod group 706 drives the third suction cup 8 connected to the sliding rod 801 to approach the side wall of the inverted T-shaped workpiece 10. Then, after the first suction cup 5, the second suction cup 6 and the third suction cup 8 all contact the inverted T-shaped workpiece 10, use the vacuum pump 202 to pump air, so that the first suction cup 5, the second suction cup 6 and the third suction cup 8 are adsorbed on the inverted T-shaped workpiece 10, and the inverted T-shaped workpiece 10 is transported into the CNC machine tool for fixed machining; After processing, the first suction cup 5, the second suction cup 6 and the third suction cup 8 are used again to adsorb on the inverted T-shaped workpiece 10, and it is taken out of the machine tool. Then, after the first suction cup 5, the second suction cup 6 and the third suction cup 8 are detached from the inverted T-shaped workpiece 10, the electric push rod B901 drives the movable pipe 902 to move to the outside. Then, under the action of the guide head 909, the guide groove rod 908 provided with the guide groove rotates, so that the L-shaped rod 907 connected to the universal joint 906 by the guide groove rod 908 rotates. Then, the L-shaped rod 907 will contact the triangular block 905, thereby pushing the filter screen 903 connected to the triangular block 905 to move outward. Then, after the L-shaped rod 907 is disengaged from the triangular block 905, the tension spring 904 will drive the filter screen 903 to quickly reset, so that the chips on the filter screen 903 can fall off, completing self-cleaning.

[0033] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device.

[0034] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art of this industry should understand that the present invention is not limited by the above embodiments. What is described in the above embodiments and the specification is only the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. A numerical control machine tool manipulator, comprising a manipulator main body (1), characterized in that: A fixing frame (2) is arranged on the manipulator main body (1). A fixing disk (3) is fixedly connected to the fixing frame (2). An adjusting mechanism (4) is fixedly connected to the fixing disk (3). A plurality of first suction cups (5) are fixedly connected to the lower surface of the middle part of the fixing disk (3). A plurality of second suction cups (6) are slidably fitted on the fixing disk (3). A plurality of transmission mechanisms (7) are slidably fitted on the lower surface of the fixing disk (3). A plurality of third suction cups (8) are slidably fitted on the lower surface of the fixing disk (3). An anti-blocking mechanism (9) is fixedly installed in each of the first suction cup (5), the second suction cup (6) and the third suction cup (8). A T-shaped workpiece (10) is arranged below the fixing disk (3).

2. The robotic arm of a numerically controlled machine tool according to claim 1, characterized in that: A hydraulic rod (201) is fixedly connected to the fixing frame (2). The other end of the hydraulic rod (201) is fixedly connected to the manipulator main body (1). A vacuum pump (202) is fixedly connected to the fixing frame (2). The output end of the vacuum pump (202) is communicated with the inside of the fixing disk (3).

3. The robot for CNC machine tool according to claim 1, characterized in that: A vacuum chamber (301) is formed in the middle of the fixing disk (3). The first suction cup (5) is communicated with the vacuum chamber (301). A plurality of air guide limiting strips (302) are fixedly connected to the bottom of the fixing disk (3). One end of the air guide limiting strip (302) is communicated with the inner wall of the vacuum chamber (301).

4. The manipulator of a numerical control machine tool according to claim 3, characterized in that: The adjusting mechanism (4) includes a motor (401). The motor (401) is fixedly connected to the fixing disk (3). A gear disk (402) is fixedly connected to the output end of the motor (401). A plurality of driving wheels (403) are meshed and driven on the gear disk (402). A rotating shaft (404) is fixedly connected to the driving wheel (403). The rotating shaft (404) is rotatably connected to the fixing disk (3). A driven wheel (405) is fixedly connected to the other end of the rotating shaft (404).

5. A numerical control machine tool manipulator according to claim 4, characterized in that: A guide rod (601) is fixedly connected to the second suction cup (6). The guide rod (601) is slidably fitted through the fixing disk (3). A fixed rack (602) is fixedly connected to the outer wall of the guide rod (601). The fixed rack (602) is meshed and driven with the driven wheel (405). A spring hose (603) is fixedly connected to the second suction cup (6). The spring hose (603) is communicated with the inner wall of the vacuum chamber (301).

6. The robotic arm of a numerically controlled machine tool according to claim 5, characterized in that: The transmission mechanism (7) includes a movable rack (701). The movable rack (701) is slidably fitted to the lower end of the fixing disk (3). A spring (702) is fixedly connected to the movable rack (701). The other end of the spring (702) is fixedly connected to the lower end of the fixing disk (3). An electric push rod A (703) is fixedly connected to the bottom end of the movable rack (701). The other end of the electric push rod A (703) is fixedly connected to a contact block (704). The contact block (704) is in movable contact with the T-shaped workpiece (10).

7. The robotic arm of a numerically controlled machine tool according to claim 6, characterized in that: On one side of the movable rack (701), a gear (705) is arranged for meshing transmission. The gear (705) is rotatably connected to the lower end of the fixed disk (3), and a connecting rod group (706) is fixedly connected to the gear (705).

8. The robot of a numerical control machine tool according to claim 7, wherein: A slide bar (801) is fixedly connected to the third suction cup (8). The slide bar (801) is slidably matched with the outer wall of the air guide limiting strip (302). A gas guide hose (802) is fixedly connected to one side of the third suction cup (8). The other end of the gas guide hose (802) is communicated with one end of the air guide limiting strip (302). The slide bar (801) is rotatably connected to the other end of the connecting rod group (706).

9. The numerically controlled machine tool manipulator according to claim 1, characterized in that: The anti-blocking mechanism (9) includes an electric push rod B (901). The electric push rod B (901) is fixedly connected to the inner wall of the third suction cup (8). One end of the electric push rod B (901) is fixedly connected to a movable tube (902). A filter screen (903) is slidably matched in the movable tube (902). A plurality of tension springs (904) are fixedly connected to one side of the filter screen (903). The other end of the tension spring (904) is fixedly connected to the inner wall of the movable tube (902). A triangular block (905) is fixedly connected to the filter screen (903). A universal joint (906) is rotatably connected to the outside of the movable tube (902). One end of the universal joint (906) is fixedly connected to an L-shaped rod (907). The other end of the L-shaped rod (907) is in sliding contact with the outer wall of the triangular block (905). The other end of the universal joint (906) is fixedly connected to a guide groove rod (908). A guide groove is formed in the outer wall of the guide groove rod (908). A guide head (909) is in sliding contact with the inner wall of the guide groove. The guide head (909) is fixedly connected to the inner wall of the third suction cup (8).

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