Multi-axis visual robot for material carrying

Abstract

The invention relates to the field of industrial robots, in particular to a multi-axis visual robot for material carrying, which comprises a mechanical arm, a connecting frame, a connecting strip, a connecting plate and the like, the mechanical arm is connected with a connecting frame; the connecting frame is connected with a first moving assembly; the first moving assembly is connected with two connecting strips; and each connecting strip is fixedly connected with a plurality of connecting plates. The material bags are conveyed to the end executor through rotation of the first electric roller and the second electric roller, then the material bags are unloaded to a stacking area from the end executor through reverse rotation, and compared with clamping jaws which are turned over to be opened towards the two sides in the prior art, through the horizontal moving type feeding and discharging mode, the occupied space is smaller during discharging, and the discharging efficiency is improved. And the adjacent material bags can be tightly stacked, it is ensured that the multiple material bags can be stably stacked, the stacking height is further increased on the basis, and the stacking containing capacity is improved.

Description

Technical Field

[0001] The present invention relates to the field of industrial robots, and in particular to a multi-axis visual robot for material handling. Background Art

[0002] In industrial production, the handling and stacking of material bags is one of the core needs of the production process. With the development trend of intelligent manufacturing, it is a trend to use industrial robots instead of manual labor to perform handling work. The end effector of the existing handling robot is a gripper that flips open on both sides. When unloading materials, the space occupied by the open gripper is large, so that adjacent material bags cannot be placed closely together, and multiple material bags cannot be stacked stably. Releasing the material bag in the air through the gripper and letting it fall by itself will cause the material bag to deflect. When the lowered material bag is placed on the deflected material bag, the instability is aggravated. In this unstable situation, the stacking height of the material bag is also limited, reducing the stacking capacity. Summary of the invention

[0003] In order to overcome the shortcomings that the robot gripper has a large deployment space, resulting in large gaps in the stacking of material bags and easy tipping, and when the material bags are easy to tip, the stacking height is limited and the stacking capacity is reduced, the present invention provides a multi-axis vision robot for material handling.

[0004] The technical solution is: a multi-axis visual robot for material handling, including a mechanical arm; also including a connecting frame, a connecting bar, a connecting plate, a mounting block, an electric roller 1, a supporting roller group and a first moving component; the mechanical arm is connected to the connecting frame; the connecting frame is connected to the first moving component; the first moving component is connected to two connecting bars; the first moving component drives the connecting bar to move horizontally on the connecting frame; each connecting bar is fixedly connected to a plurality of connecting plates; all the connecting plates on the two connecting bars are staggered; all the connecting plates on the same connecting bar are fixedly connected to a connecting block; the connecting block is located at the end of the corresponding connecting plate away from the connecting bar; a mounting block is connected to the lower side of each connecting block; each mounting block is connected to an electric roller 1; the two electric rollers 1 are on the same axis; each mounting block is connected to a supporting roller group; the supporting roller group is composed of a plurality of electric rollers 2 and a plurality of supporting columns; the electric rollers 2 and the supporting columns of the same supporting roller group are arranged alternately at intervals; all the electric rollers 2 and the supporting columns on the two mounting blocks are staggered.

[0005] Furthermore, it also includes an electric telescopic rod; a plurality of electric telescopic rods are fixedly connected to the connecting block; and the telescopic ends of all the electric telescopic rods on the same connecting block are fixedly connected to a mounting block.

[0006] Furthermore, it also includes a rear baffle and a side baffle; a rear baffle is fixedly connected to the rear side of each mounting block; a side baffle is fixedly connected to the upper side of each mounting block; and the side baffle is plugged into the adjacent connection block.

[0007] Further, sliding bars are provided on all the connecting plates corresponding to one of the connecting bars; chutes are formed on all the connecting plates corresponding to the other connecting bar; adjacent connecting plates are slidably connected through the cooperation of the sliding bars and the chutes, so that all the connecting plates are integrated into one body.

[0008] Further, rubber layers are provided on the outer surfaces of both the first electric roller and the second electric roller.

[0009] Further, a plurality of long grooves are formed in the rubber layers of the first electric roller and the second electric roller.

[0010] Further, it further includes a moving block and a second moving component; the second moving component is commonly connected to all the rear baffles; the second moving component is connected with two moving blocks, and the moving blocks are L-shaped; the second moving component drives the moving blocks to move horizontally along the rear baffle; all the second electric rollers and the supporting columns of each supporting roller group are fixedly connected to the corresponding moving blocks; a plurality of avoiding holes for avoiding the second electric rollers and the supporting columns are formed in the mounting block.

[0011] Further, the ends of all the second electric rollers and the supporting columns away from the mounting block are conical, and the conical ends are spherical.

[0012] Further, it further includes a reinforcing bar; one reinforcing bar is commonly fixedly connected to the ends of all the supporting columns of the same supporting roller group away from the mounting block; a plurality of avoiding grooves for avoiding the second electric rollers are formed in the reinforcing bar; a plurality of supporting grooves for supporting the supporting columns of another supporting roller group are formed in the reinforcing bar.

[0013] Further, a rubber pad is provided at the bottom of the mounting block.

[0014] Beneficial effects: In the present invention, the first electric roller and the second electric roller rotate to convey the material bag to the end effector, and then the material bag is unloaded from the end effector to the palletizing area by reverse rotation. Through this translational loading and unloading method, compared with the grippers that flip and open to both sides in the prior art, the space occupied during unloading is smaller, and adjacent material bags can be palletized tightly, ensuring that multiple material bags can be palletized stably, and on this basis, the palletizing height is further increased and the palletizing capacity is improved.

[0015] During the movement of the robotic arm, the supporting roller group approaches the connecting plate, and the material bag is pressed between the connecting plate and the supporting roller group. During the movement of the robotic arm, the particulate matter in the material bag is pressed tightly, avoiding the aggregation of particulate matter due to inertia, ensuring the flatness of the material bag, and avoiding the situation that when the next material bag is stacked on the uneven material bag, it will be skewed or even slide off, affecting the palletizing work.

[0016] Change the distances between the connecting bars, connecting plates, mounting blocks, the first electric roller and the supporting roller group on both sides, so that the present invention is applicable to material bags of different sizes. In addition, by cooperating with changing the distance between the connecting plate and the supporting roller group, material bags of different heights can be adaptively transported, making the present invention highly adaptable. There is no need to replace different end effectors for material bags of different sizes, saving operation steps, improving efficiency and saving costs. Brief Description of the Drawings

[0017] Figure 1 It is a three-dimensional structural schematic diagram of the multi-axis vision robot for material handling of the present invention; Figure 2 It is a three-dimensional structural schematic diagram of the first moving component, connecting frame, connecting bar, connecting plate, mounting block, the first electric roller, the second electric roller and the supporting column of the present invention; Figure 3 It is a three-dimensional structural schematic diagram of the second moving component, connecting frame, connecting bar, connecting plate, mounting block, the first electric roller, the second electric roller, the supporting column and the moving block of the present invention; Figure 4 It is a side view of the material bag stacking of the present invention; Figure 5 It is an exploded view of the first moving component, connecting frame, connecting bar, connecting plate, mounting block, the first electric roller, the second electric roller, the supporting column, the moving block and the reinforcing bar of the present invention; Figure 6 It is an exploded view of the second moving component, connecting frame, connecting bar, connecting plate, mounting block, the first electric roller, the second electric roller, the supporting column, the moving block and the reinforcing bar of the present invention; Figure 7 It is a three-dimensional structural schematic diagram of the connecting bar, connecting plate and connecting block of the present invention.

[0018] Reference Numerals in the Drawings: 1 - robotic arm, 2 - connecting frame, 3 - connecting bar, 4 - connecting plate, 41 - connecting block, 5 - mounting block, 51 - rear baffle, 52 - side baffle, 6 - the first electric roller, 7 - supporting roller group, 71 - the second electric roller, 72 - supporting column, 8 - moving block, 9 - reinforcing bar, 101 - the first guide rail, 102 - the first electric slider, 103 - electric telescopic rod, 201 - the second guide rail, 202 - the second electric slider. Detailed Description of the Invention

[0019] The present invention will be further described in detail below in conjunction with the drawings and specific embodiments, but the protection scope and application scope of the present invention are not limited.

[0020] Embodiment 1 As Figures 1-7 shown, a multi-axis vision robot for material handling includes a robotic arm 1; a vision camera is installed on the robotic arm 1; It further includes a connecting frame 2, connecting bars 3, connecting plates 4, mounting blocks 5, a first electric roller 6, a supporting roller group 7 and a first moving component; a connecting frame 2 is connected to the robotic arm 1; a first moving component is connected to the connecting frame 2; the first moving component is connected to two connecting bars 3; the first moving component drives the connecting bars 3 to move horizontally on the connecting frame 2; each connecting bar 3 is fixedly connected with five connecting plates 4; all the connecting plates 4 on the two connecting bars 3 are staggered; all the connecting plates 4 on the same connecting bar 3 are jointly fixedly connected with a connecting block 41; the connecting block 41 is located at one end of the corresponding connecting plate 4 away from the connecting bar 3; a mounting block 5 is connected to the lower side of each connecting block 41; a first electric roller 6 is connected to each mounting block 5; the two first electric rollers 6 are on the same axis; a supporting roller group 7 is connected to each mounting block 5; the supporting roller group 7 is composed of three second electric rollers 71 and two supporting columns 72; the second electric rollers 71 and the supporting columns 72 of the same supporting roller group 7 are arranged at intervals in an alternating manner; both the first electric roller 6 and the second electric roller 71 are composed of a cylinder body, an integrated motor installed in the cylinder body, a transmission gear and a supporting shaft, the integrated motor is powered by an external power supply, and drives the cylinder body to rotate through the transmission gear and the supporting shaft; all the second electric rollers 71 and the supporting columns 72 on the two mounting blocks 5 are staggered.

[0021] The first moving component includes: a first guide rail 101 and a first electric slider 102; two first guide rails 101 that are symmetrically arranged front and back are fixedly connected to the connecting frame 2; two first electric sliders 102 are slidably connected to each first guide rail 101; the first electric sliders 102 corresponding to each other front and back on the two first guide rails 101 are jointly fixedly connected to a connecting bar 3.

[0022] It further includes an electric telescopic rod 103; at least two electric telescopic rods 103 are fixedly connected to the connecting block 41; the telescopic ends of all the electric telescopic rods 103 on the same connecting block 41 are jointly fixedly connected to a mounting block 5.

[0023] It further includes a rear baffle 51 and a side baffle 52; a rear baffle 51 is fixedly connected to the rear side of each mounting block 5; a side baffle 52 is fixedly connected to the upper side of each mounting block 5; the side baffle 52 is inserted into the adjacent connecting block 41.

[0024] Sliding bars are provided on all the connecting plates 4 corresponding to one of the connecting bars 3; sliding grooves are formed on all the connecting plates 4 corresponding to the other connecting bar 3; adjacent connecting plates 4 are slidably connected through the cooperation of the sliding bars and the sliding grooves, so that all the connecting plates 4 are connected into one body, thereby enhancing the stability between all the connecting plates 4 and improving the load-bearing capacity.

[0025] Rubber layers are provided on the outer surfaces of both the first electric roller 6 and the second electric roller 71, which are used to increase the friction with the material bag and improve the conveying stability of the material bag.

[0026] A plurality of long grooves are formed in the rubber layers of the first electric roller 6 and the second electric roller 71; further increasing the friction between the material bag and the first electric roller 6 and the second electric roller 71, and improving the stability of conveying the material bag when the first electric roller 6 and the second electric roller 71 rotate forward or backward.

[0027] The usage steps of the multi-axis vision robot for material handling of the present invention are as follows: Taking Figure 2 as a reference, the side where the first electric roller 6 is located is the front side, the side where the rear baffle 51 is located is the rear side, and the two mounting blocks 5 correspond to the left side and the right side respectively.

[0028] Before use, connect the electric components of the present invention to the power supply, and program the robotic arm 1 through the controller and RobotStudio (robotic arms 1 of different models have different programming software); when handling stacked material bags, locate the moving target position through the vision camera on the robotic arm 1, and drive the end effector of the robotic arm 1 to move, so that the bottom of the mounting block 5 is aligned with the bottom of the material bag to be handled. Since the inner packaging material of the material bag is usually soft particulate matter, the edge area of the material bag is usually higher than its bottom plane. Taking Figure 4 as a reference, the first electric roller 6 will be aligned with the middle and lower part of the material bag. Then, first control the robotic arm 1 to drive the end effector to be positioned near the material bag, and then start the first electric roller 6. Taking Figure 4 the perspective as a reference, the first electric roller 6 rotates counterclockwise, the first electric roller 6 contacts the middle and lower part of the material bag, and the robotic arm 1 continues to move so that the first electric roller 6 is squeezed between the upper and lower material bags. Through the friction between the surface of the first electric roller 6 and the material bag, the material bag is conveyed towards the supporting roller group 7. At the same time, control the second electric roller 71 to rotate in the same direction as the first electric roller 6, so that the material bag is completely conveyed onto the supporting roller group 7; then control the robotic arm 1 to drive the end effector and the material bag to move above the stacking area, control the first electric roller 6 and the second electric roller 71 to rotate clockwise to send the material bag out from the supporting roller group 7, and at the same time, the robotic arm 1 drives the end effector to translate in the opposite direction of the sending direction, so as to accurately place the material bag down to the stacking area; the material bag is discharged by this translation. Compared with the existing gripper that flips and opens to both sides, the space occupied during discharging is smaller, and adjacent material bags can be tightly stacked, ensuring that multiple material bags can be stably stacked, and on this basis, further increasing the stacking height and improving the stacking capacity.

[0029] During the movement of the robotic arm 1 carrying the material bag, the material in the material bag is particulate matter. It is not tightly filled in the material bag and has fluidity. The inertia of the multi-directional movement of the robotic arm 1 will cause the particulate matter to gather at one place in the material bag, resulting in an uneven overall shape of the material bag. When the material bag is placed down, its upper surface is uneven. When the next material bag is stacked on this material bag, it will be skewed or even slide off. Further, after the material bag is conveyed to the supporting roller group 7, the electric telescopic rod 103 is controlled to contract, driving the mounting block 5, the first electric roller 6 and the supporting roller group 7 to move upward, so that the upper part of the material bag is pressed against the lower surface of the connecting plate 4. At this time, the material bag is pressed between the connecting plate 4 and the supporting roller group 7, and the adjacent second electric rollers 71 and supporting columns 72 of the same supporting roller group 7 are closely arranged, which can limit the deformation of the bottom surface of the material bag. Further, during the movement of the robotic arm 1, the particulate matter in the material bag is pressed tightly, avoiding the aggregation of particulate matter due to inertia and ensuring the flatness of the material bag.

[0030] Further, for material bags of different sizes, such as replacing the corresponding end effector for handling work, the operation is cumbersome and the efficiency is low. Moreover, the more the number of end effectors, the higher the cost. Therefore, all the connecting plates 4 on the two connecting bars 3 of the present invention are staggered, and each connecting bar 3 can be moved through the first moving component. When encountering a material bag larger than the accommodating range of the current end effector, control the two connecting bars 3 to move away from each other (the corresponding first electric slider 102 slides along the first guide rail 101), thereby expanding the left and right lengths of the end effector of the present invention to accommodate a larger material bag; for smaller material bags, control the two connecting bars 3 to move closer; at the same time, the connecting plates 4 staggered on the two connecting bars 3 slide relatively, ensuring that while the end effector changes the left and right distance, the connecting plates 4 still completely cover the upper part of the supporting roller group 7, maintaining the function of limiting the material bag; in addition, drive the mounting block 5, the first electric roller 6 and the supporting roller group 7 to move up and down through the electric telescopic rod 103, changing the distance between the connecting plate 4 and the supporting roller group 7, and can adaptively handle material bags of different heights.

[0031] According to the above steps, we can know that the present invention has the following effects: The material bag is conveyed to the end effector by the rotation of the first electric roller 6 and the second electric roller 71, and then unloaded from the end effector to the palletizing area by reverse rotation. Through this translational loading and unloading method, compared with the grippers that flip open to both sides in the prior art, the space occupied during unloading is smaller, and adjacent material bags can be tightly palletized, ensuring that multiple material bags can be stably palletized, and further increasing the palletizing height and the palletizing capacity on this basis.

[0032] During the movement of the robotic arm 1, the supporting roller group 7 is moved closer to the connecting plate 4, and the material bag is pressed tightly between the connecting plate 4 and the supporting roller group 7. The particulate matter is pressed tightly to prevent the particulate matter from aggregating due to inertia, ensuring the flatness of the material bag. When the next material bag is stacked on the uneven material bag, it can avoid skewing or even slipping, which may affect the palletizing work.

[0033] By changing the distances between the connecting bars 3, the connecting plates 4, the mounting blocks 5, the first electric rollers 6 and the supporting roller groups 7 on both sides, the present invention is applicable to material bags of different sizes. In addition, by further changing the distance between the connecting plate 4 and the supporting roller group 7, it can adaptively handle material bags of different heights, making the present invention highly adaptable. There is no need to replace different end effectors for different-sized material bags, saving operation steps, improving efficiency and saving costs.

[0034] The additional technical effects of the present invention are as follows: As Figure 2 shown, the rear baffle 51 and the side baffle 52 can limit the left, right and rear positions of the material bag on the end effector, ensuring the stability when the robotic arm 1 drives the material bag to move.

[0035] As Figure 7 shown, sliding bars are provided on all the connecting plates 4 corresponding to one of the connecting bars 3; chutes are formed on all the connecting plates 4 corresponding to the other connecting bar 3; adjacent connecting plates 4 are slidably connected through the cooperation of the sliding bars and the chutes, connecting all the connecting plates 4 into one body to enhance the stability between all the connecting plates 4 and improve the load-bearing capacity.

[0036] As Figure 2 shown, when the material bag is located on the first electric roller 6 and the second electric roller 71, the long grooves on the first electric roller 6 and the second electric roller 71 further increase the friction with the material bag, improving the stability of conveying the material bag when the first electric roller 6 and the second electric roller 71 rotate forward or backward.

[0037] Embodiment 2 On the basis of Embodiment 1, as Figures 2-6 shown, it further includes a moving block 8 and a second moving component; the second moving component is commonly connected to all the rear baffles 51; the second moving component is connected to two moving blocks 8, and the moving block 8 is L-shaped; the second moving component drives the moving block 8 to move horizontally along the rear baffle 51; all the second electric rollers 71 and the supporting columns 72 of each supporting roller group 7 are fixedly connected to the corresponding moving block 8; a plurality of avoiding holes are formed on the mounting block 5.

[0038] The second moving component includes: a second guide rail 201 and a second electric slider 202; a second guide rail 201 is fixedly connected to each rear baffle 51; a second electric slider 202 is slidably connected to each second guide rail 201; each second electric slider 202 is fixedly connected to a moving block 8.

[0039] One end of all the second electric rollers 71 and the supporting columns 72 away from the mounting block 5 is conical, and the conical end is spherical, which is convenient for the second electric rollers 71 and the supporting columns 72 to be inserted between two adjacent upper and lower material bags, and at the same time avoids damaging the material bags.

[0040] It further includes a reinforcing strip 9; one end of all the supporting columns 72 of the same supporting roller group 7 away from the mounting block 5 is fixedly connected to a reinforcing strip 9 together; six avoiding grooves for avoiding the second electric rollers 71 are formed in the reinforcing strip 9; two supporting grooves for supporting the supporting columns 72 of another supporting roller group 7 are formed in the reinforcing strip 9.

[0041] A rubber pad is arranged at the bottom of the mounting block 5 to avoid crushing the lower material bag.

[0042] The following problems will also be encountered when using the present invention to carry the material bags: When the material in the material bag to be transported is a dense solid material, the shape of the material bag is close to a square shape. When the material bags are stacked up and down, the gap between the upper and lower material bags is small, and the first electric roller 6 cannot enter between the upper and lower material bags for feeding. In this regard, first control the robotic arm 1 to drive the end effector to move above the material bag, then control the left connecting bar 3, connecting plate 4, mounting block 5, first electric roller 6 and supporting roller group 7 to move to the left, so that the right side of the left mounting block 5 is flush with the left side of the material bag. After that, control the second electric slider 202 on the left to slide to the left along the second guide rail 201, driving the left moving block 8 and the corresponding supporting roller group 7 to move to the left. The right end of the left supporting roller group 7 will be flush with the left mounting block 5. At this time, the right supporting roller group 7 is still above the material bag. Control the robotic arm 1 to drive the end effector to move down, so that the right supporting roller group 7 presses on the material bag. At the same time, control the left electric telescopic rod 103 to extend, driving the left mounting block 5 to move down, so that the left supporting roller group 7 is aligned between the upper and lower adjacent material bags. Then control the left moving block 8 to drive the supporting roller group 7 to move towards the material bag, so that the left supporting roller group 7 is inserted between the upper and lower adjacent material bags (the end of the supporting roller group 7 away from the mounting block 5 is conical, and the conical end is spherical, which is convenient for the second electric roller 71 and the supporting column 72 to be inserted between the upper and lower adjacent material bags, and at the same time avoids damaging the material bag), support the upper material bag on the left supporting roller group 7. Then the end effector moves upward, so that the material bag moves upward and there is no obstacle on the right side of the material bag. Then control the right electric telescopic rod 103 to contract, and the right mounting block 5, first electric roller 6, supporting roller group 7 and moving block 8 move upward, and the supporting roller group 7 is separated from the upper surface of the material bag. Then control the right supporting roller group 7 and the moving block 8 to move to the right, and the left end of the right supporting roller group 7 is located on the right side of the material bag. Control the right electric telescopic rod 103 to extend, so that the right supporting roller group 7 moves down to the lower part of the material bag. Then control the right supporting roller group 7 and the moving block 8 to move to the left (the electric telescopic rod 103 contracts adaptively), and the right supporting roller group 7 also supports the material bag. Then drive the end effector and the material bag to move to the stacking area through the robotic arm 1, and send the material bag out of the end effector for stacking by rotating the first electric roller 6 and the second electric roller 71. Thus, the present invention is not limited by the arrangement of the material bags and can transport the material bags with a dense arrangement.

[0043] In addition, one end of all the supporting columns 72 of the same supporting roller set 7 away from the mounting block 5 is commonly fixedly connected with a reinforcing strip 9; when the two groups of supporting roller sets 7 are staggered, one group of supporting columns 72 is supported by the supporting groove of the reinforcing strip 9 of the other group of supporting columns 72, and the supporting roller sets 7 on both sides are connected and supported with each other. The second electric roller 71 passes through the avoidance groove of the corresponding reinforcing strip 9 without interfering with the reinforcing strip 9 and does not affect the rotation of the second electric roller 71, thereby improving the stability between the two groups of supporting roller sets 7 and avoiding the weak bearing capacity in the middle of the two groups of supporting roller sets 7, which is likely to cause the middle to sink due to long-term load.

[0044] The above is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, which should all be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A multi-axis vision robot for material handling, including a robotic arm (1); characterized in that, A connecting frame (2) is connected to the robotic arm (1); a first moving component is connected to the connecting frame (2); the first moving component is connected to two connecting bars (3); the first moving component drives the connecting bars (3) to move horizontally on the connecting frame (2); a plurality of connecting plates (4) are fixedly connected to each connecting bar (3); all the connecting plates (4) on the two connecting bars (3) are staggered; all the connecting plates (4) on the same connecting bar (3) are fixedly connected to a connecting block (41) together; the connecting block (41) is located at one end of the corresponding connecting plate (4) away from the connecting bar (3); an installation block (5) is connected to the lower side of each connecting block (41); an electric roller one (6) is connected to each installation block (5); the two electric rollers one (6) are on the same axis; a supporting roller group (7) is connected to each installation block (5); the supporting roller group (7) is composed of a plurality of electric rollers two (71) and a plurality of supporting columns (72); the electric rollers two (71) and the supporting columns (72) of the same supporting roller group (7) are arranged at intervals alternately; all the electric rollers two (71) and the supporting columns (72) on the two installation blocks (5) are staggered.

2. The multi-axis vision robot for material handling according to claim 1, wherein An electric telescopic rod (103) is further included; a plurality of electric telescopic rods (103) are fixedly connected to the connecting block (41); the telescopic ends of all the electric telescopic rods (103) on the same connecting block (41) are fixedly connected to an installation block (5) together.

3. The multi-axis vision robot for material handling according to claim 2, characterized in that, A rear baffle (51) is further included; a rear baffle (51) is fixedly connected to the rear side of each installation block (5); a side baffle (52) is fixedly connected to the upper side of each installation block (5); the side baffle (52) is inserted into the adjacent connecting block (41).

4. The multi-axis vision robot for material handling according to claim 1, characterized in that, Sliding bars are arranged on all the connecting plates (4) corresponding to one of the connecting bars (3); sliding grooves are formed on all the connecting plates (4) corresponding to the other connecting bar (3); the adjacent connecting plates (4) are slidably connected through the cooperation of the sliding bars and the sliding grooves, so that all the connecting plates (4) are connected into a whole.

5. The multi-axis vision robot for material handling according to claim 1, characterized in that, Rubber layers are arranged on the outer surfaces of the electric roller one (6) and the electric roller two (71).

6. The multi-axis vision robot for material handling according to claim 5, characterized in that, A plurality of long grooves are formed in the rubber layers of the electric roller one (6) and the electric roller two (71).

7. The multi-axis vision robot for material handling according to claim 6, characterized in that, A second moving component is further included; the second moving component is connected to all the rear baffles (51) together; the second moving component is connected to two moving blocks (8), and the moving blocks (8) are L-shaped; the second moving component drives the moving blocks (8) to move horizontally along the rear baffles (51); all the electric rollers two (71) and the supporting columns (72) of each supporting roller group (7) are fixedly connected to the corresponding moving blocks (8); a plurality of avoiding holes for avoiding the electric rollers two (71) and the supporting columns (72) are formed in the installation blocks (5).

8. The multi-axis vision robot for material handling according to claim 7, characterized in that, One ends of all the electric rollers two (71) and the supporting columns (72) away from the installation blocks (5) are conical, and the conical ends are spherical.

9. The multi-axis vision robot for material handling according to claim 8, wherein, It further includes a reinforcing strip (9); one reinforcing strip (9) is fixedly connected to the ends of all the supporting columns (72) of the same supporting roller set (7) that are away from the mounting block (5); a plurality of avoidance grooves for avoiding the second electric roller (71) are formed in the reinforcing strip (9); a plurality of supporting grooves for supporting the supporting columns (72) of another group of supporting roller sets (7) are formed in the reinforcing strip (9).

10. A multi-axis vision robot for material handling according to claim 9, characterized in that, A rubber pad is arranged at the bottom of the mounting block (5).

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