Automatic feeding manipulator

Abstract

The invention relates to the technical field of feeding manipulators, and discloses an automatic feeding manipulator which comprises a mounting frame, a plurality of annularly-distributed sliding grooves are formed in the mounting frame, sliding blocks are arranged in the sliding grooves in a sliding mode, movable arms are mounted at the bottoms of the sliding blocks, upper clamping blocks are mounted on the movable arms, and a plurality of limiting rods are mounted in the middle of the mounting frame. A cross is slidably arranged on the limiting rod, one end of a transmission arm is hinged to the top of the sliding block, and the other end of the transmission arm is hinged to the end of the cross; through cooperation of the pushing mechanism and the negative pressure mechanism, in the process that the upper clamping block completes elastic clamping of the columnar material, the side wall of the columnar material can be adsorbed and clamped by the suction cup, and through combination of elastic clamping and adsorption clamping, the clamping effect of the mechanical arm on the columnar material can be improved; therefore, the stability of the mechanical arm in the columnar material feeding process can be guaranteed, and the problem that due to the fact that a single mechanical claw is adopted, friction force is insufficient, and the columnar materials fall off can be solved.

Description

Technical Field

[0001] The invention relates to the technical field of feeding manipulators, in particular to an automatic feeding manipulator. Background Art

[0002] In the chemical and pharmaceutical production environment, the feeding robot is one of the key equipment for realizing automated production, and is mainly used to complete operations such as material handling, transportation, loading and unloading.

[0003] Traditional feeding robots use grippers to clamp chemical and pharmaceutical materials. In the process of clamping columnar materials, the robot uses an embracing multi-finger gripper to clamp the side wall of the columnar material.

[0004] However, the traditional manipulator has a relatively simple way of clamping columnar materials. The clamping of columnar materials is achieved by using the friction between the clamping claws and the side walls of the columnar materials to resist the gravity of the object and keep the object still. There is a problem that the object may fall off due to insufficient friction, which in turn affects the stability of the object during the feeding process. Summary of the Invention

[0005] The purpose of the present invention is to provide an automatic feeding robot to solve the problems raised in the above background technology.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] An automatic feeding robot comprises a mounting frame, on which are mounted a plurality of annularly distributed fixing rods, the fixing rods being connected to mounting seats, the mounting frame being provided with a plurality of annularly distributed slide grooves, a slider being slidably arranged in the slide grooves, a movable arm being mounted at the bottom of the slider, an upper clamping block being mounted on the movable arm, a plurality of annularly distributed limiting rods being mounted at the middle of the mounting frame, a cross being slidably arranged on the limiting rods, the top of the slider being hinged to one end of a transmission arm, the other end of the transmission arm being hinged to the end of the cross, and further comprising:

[0008] A suction cup connected to the movable arm via an elastic component, wherein the elastic component provides elastic support for the suction cup;

[0009] A negative pressure mechanism, which is arranged on the cross and connected to the suction cup, and is used to allow the suction cup to absorb the side wall of the columnar material;

[0010] A pushing mechanism is provided in the cross and is used to drive the cross and the negative pressure mechanism to move; the pushing mechanism includes a sliding cavity provided in the cross, a bottom plate being installed at the bottom of the sliding cavity, the bottom plate being annular, a slide plate being slidably provided in the sliding cavity, a support rod being installed on the slide plate and passing through the top of the cross, and a second elastic member being provided between the slide plate and the top of the sliding cavity;

[0011] A driving mechanism, the driving mechanism being arranged on the mounting frame and being used to drive the pushing mechanism to move;

[0012] The limiting mechanism is arranged in the cross and is used to limit the pushing mechanism.

[0013] As a preferred technical solution of the present invention, the elastic component includes a U-shaped tube slidably connected to the movable arm, the U-shaped tube is connected to the suction cup, a baffle is installed on the U-shaped tube, and the baffle is connected to the movable arm through a first elastic member.

[0014] As a preferred technical solution of the present invention, the negative pressure mechanism includes several piston cylinders distributed in a ring shape and installed on a cross, a negative pressure chamber is opened in the piston cylinder, a piston plate is slidably arranged in the negative pressure chamber, the piston plate is fixedly connected to the movable rod, several movable rods are connected to the connecting frame, the connecting frame is connected to the support rod, and the bottom of the piston cylinder is connected to the U-shaped tube through a negative pressure tube.

[0015] As a preferred technical solution of the present invention, the limiting mechanism includes a plurality of first telescopic members distributed in a ring shape and installed on the top of the sliding cavity, and a limiting plate is installed at the bottom end of the first telescopic member, and the limiting plate is ring-shaped.

[0016] As a preferred technical solution of the present invention, a pressure sensor is installed at the bottom of the limiting plate.

[0017] As a preferred technical solution of the present invention, the driving mechanism includes a second telescopic part installed in the middle of the mounting frame and facing the sliding cavity, a driving plate is installed on the top of the second telescopic part, and a plurality of driving rods distributed in a ring are installed on the driving plate, and the driving rods are connected to the bottom of the slide.

[0018] As a preferred technical solution of the present invention, an extension clamping mechanism is provided at the bottom of the movable arm, which is used to assist the upper clamping block in clamping the columnar material, including an extension cavity opened in the movable arm, the extension cavity is slidably connected to the extension arm, the extension arm is fixedly connected to the auxiliary block, the lower clamping block is installed on the auxiliary block, the top wall of the extension cavity is installed with a driving member, the driving member is connected to a screw, and the screw is threadedly connected to the extension arm.

[0019] The present invention has the following benefits:

[0020] The present invention cooperates with the pushing mechanism and the negative pressure mechanism, and can complete the adsorption clamping of the side wall of the columnar material by the suction cup during the process of the upper clamping block completing the elastic clamping of the columnar material. The combination of elastic clamping and adsorption clamping can improve the clamping effect of the manipulator on the columnar material, thereby ensuring the stability of the manipulator in the process of feeding the columnar material, and avoiding the problem of the columnar material falling off due to insufficient friction caused by the use of a single mechanical claw, and the use effect is better. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a structural diagram of an automatic feeding robot.

[0022] Figure 2 This is a structural diagram of the cooperation between the cross and the movable arm in an automatic feeding robot.

[0023] Figure 3 This is a structural diagram of the bottom of the mounting bracket in an automatic feeding robot.

[0024] Figure 4 for Figure 3 A partial enlarged view of point A in the middle.

[0025] Figure 5 This is a schematic diagram of the internal structure of the cross in an automatic feeding robot.

[0026] Figure 6 for Figure 5 A partial enlarged view of point B in the middle.

[0027] Figure 7 This is a structural diagram of the pressure sensor setting position in an automatic feeding robot.

[0028] Figure 8 This is a structural diagram of an extended clamping mechanism in an automatic feeding robot.

[0029] In the figure: 101, mounting frame; 102, slide; 103, slider; 104, movable arm; 105, upper clamping block; 106, transmission arm; 107, cross; 108, limiting rod; 2, suction cup; 3, elastic component; 301, U-shaped tube; 302, baffle; 303, first elastic member; 4, pushing mechanism; 401, sliding cavity; 402, bottom plate; 403, slide; 404, support rod; 405, second elastic member; 5, limiting mechanism; 501, first telescopic member; 502, Limiting plate; 6. Pressure sensor; 7. Driving mechanism; 701. Second telescopic member; 702. Driving plate; 703. Driving rod; 8. Negative pressure mechanism; 801. Piston cylinder; 802. Negative pressure chamber; 803. Piston plate; 804. Movable rod; 805. Connecting frame; 806. Negative pressure tube; 9. Extension clamping mechanism; 901. Extension chamber; 902. Extension arm; 903. Auxiliary block; 904. Lower clamping block; 905. Driving member; 906. Screw; 10. Fixing rod; 11. Mounting seat. DETAILED DESCRIPTION

[0030] The technical solution of the present invention will be further described in detail below in conjunction with specific implementation methods.

[0031] Example 1

[0032] See also Figure 1-8 An automatic feeding robot includes a mounting frame 101, on which are mounted a plurality of annularly distributed fixing rods 10, the fixing rods 10 being connected to a mounting seat 11, the mounting frame 101 being provided with a plurality of annularly distributed chutes 102, a slider 103 being slidably arranged in the chutes 102, a movable arm 104 being mounted at the bottom of the slider 103, an upper clamping block 105 being mounted on the movable arm 104, a plurality of annularly distributed limiting rods 108 being mounted in the middle of the mounting frame 101, a cross 107 being slidably arranged on the limiting rod 108, the top of the slider 103 being hinged to one end of a transmission arm 106, the other end of the transmission arm 106 being hinged to the end of the cross 107, and further comprising:

[0033] Suction cup 2, which is connected to the movable arm 104 via an elastic component 3, and the elastic component 3 provides elastic support for the suction cup 2;

[0034] A negative pressure mechanism 8 is provided on the cross 107 and connected to the suction cup 2, and is used to allow the suction cup 2 to adsorb the side wall of the columnar material;

[0035] The pushing mechanism 4 is arranged in the cross 107 and is used to drive the cross 107 and the negative pressure mechanism 8 to move; the pushing mechanism 4 includes a sliding cavity 401 opened in the cross 107, and a bottom plate 402 is installed at the bottom of the sliding cavity 401. The bottom plate 402 is annular, and a slide plate 403 is slidably arranged in the sliding cavity 401. The slide plate 403 is equipped with a support rod 404 that passes through the top of the cross 107. A second elastic member 405 is provided between the slide plate 403 and the top of the sliding cavity 401. The specific structure of the second elastic member 405 is not limited. Preferably, the second elastic member 405 is configured as a spring;

[0036] A driving mechanism 7, which is disposed on the mounting frame 101 and is used to drive the pushing mechanism 4 to move;

[0037] The limiting mechanism 5 is arranged in the cross 107 and is used to limit the pushing mechanism 4.

[0038] By connecting the mounting seat 11 with the robot arm, the robot arm is moved to the top of the columnar material to be clamped, and the top of the columnar material enters the robot arm and contacts the mounting frame 101, and then the slide plate 403 is pushed by the driving mechanism 7. Due to the elastic force exerted by the second elastic member 405 on the slide plate 403, the slide plate 403 can push the cross 107 to rise along the limit rod 108 through the second elastic member 405 when it is pushed by the second driving member 905. Under the transmission action of the connecting arm, the plurality of sliders 103 will move synchronously along the slide groove 102 toward the middle of the mounting frame 101, so that the plurality of movable arms 104 are close to the columnar material to be clamped. When the upper clamping blocks 105 on the plurality of movable arms 104 are in contact with the side wall of the columnar material, the preliminary clamping of the columnar material is completed. At this time, under the action of the elastic component 3, the suction cup 2 will be attached to the side wall of the columnar material. As the driving mechanism 7 continues to drive the slide plate 403 to rise, due to the columnar material on the movable arm 1 04, so that the cross 107 cannot continue to rise under the push of the second elastic member 405, and then the slide 403 will rise along the slide cavity 401 and squeeze the second elastic member 405, causing the second elastic member 405 to deform, thereby gradually increasing the elastic support force of the cross 107, that is, gradually increasing the clamping force of the upper clamping block 105 on the side wall of the columnar material, and the upper clamping block 105 is an elastic clamping force on the side wall of the columnar material, thereby avoiding the columnar material from being deformed due to hard clamping. The problem of damage to the side wall of the material is solved, and as the slide 403 rises along the slide cavity 401, the support rod 404 will be driven to rise synchronously, thereby driving the negative pressure mechanism 8, so that negative pressure is formed between the suction cup 2 and the side wall of the columnar material, and then the suction cup 2 can adsorb the side wall of the columnar material. The movable height of the slide 403 in the slide cavity 401 can be adjusted by the limiting mechanism 5, and then the adsorption force and clamping force of the suction cup 2 and the upper clamping block 105 on the columnar material can be adjusted, and the use effect is better.

[0039] In one embodiment of the present invention, see Figure 3 and Figure 4 The elastic component 3 includes a U-shaped tube 301 slidably connected to the movable arm 104 , the U-shaped tube 301 is connected to the suction cup 2 , a baffle 302 is installed on the U-shaped tube 301 , and the baffle 302 is connected to the movable arm 104 through a first elastic member 303 .

[0040] When the driving mechanism 7 drives the slide plate 403 to rise, the cross 107 will be pushed up under the supporting elastic force of the second elastic member 405, and the plurality of sliders 103 will synchronously move toward the middle of the mounting frame 101 along the slide groove 102 under the transmission action of the connecting arm, so that the plurality of movable arms 104 are close to the columnar material to be clamped. Before the upper clamping block 105 contacts the side wall of the columnar material, the suction cup 2 will first fit with the side wall of the columnar material, and as the movable arm 104 continues to move, the suction cup 2 will move toward one side of the movable arm 104, and then pull the first elastic member 303 through the baffle 302 on the U-shaped tube 301. The elastic pulling force of the first elastic member 303 on the baffle 302 causes the suction cup 2 to be subjected to an elastic force toward the side of the columnar material, so that the suction cup 2 can remain in contact with the side wall of the columnar material, which is convenient for the negative pressure mechanism 8 to work.

[0041] Furthermore, the specific structure of the first elastic member 303 is not limited. Preferably, the first elastic member 303 is configured as a spring.

[0042] In one embodiment of the present invention, see Figure 1-Figure 5 The negative pressure mechanism 8 includes several piston cylinders 801 distributed in an annular shape and installed on the cross 107. A negative pressure chamber 802 is opened in the piston cylinder 801. A piston plate 803 is slidably arranged in the negative pressure chamber 802. The piston plate 803 is fixedly connected to the movable rod 804. Several movable rods 804 are connected to the connecting frame 805. The connecting frame 805 is connected to the support rod 404. The bottom of the piston cylinder 801 is connected to the U-shaped tube 301 through the negative pressure tube 806, wherein the negative pressure chamber 802, the negative pressure tube 806, the U-shaped tube 301 and the suction cup 2 are in a connected state.

[0043] As the driving mechanism 7 continues to drive the slide 403 to rise, the cross 107 cannot continue to rise under the push of the second elastic member 405 due to the limitation of the movable arm 104 by the columnar material. Thereafter, the slide 403 will rise along the sliding cavity 401, and will simultaneously drive the support rod 404 to rise. The support rod 404 will push the connecting frame 805 to rise, and the connecting frame 805 will drive the movable rod 804 to rise. The movable rod 804 will then drive the piston plate 803 to rise along the negative pressure cavity 802, thereby forming a negative pressure between the suction cup 2 and the side wall of the columnar material, so that the suction cup 2 can adsorb the side wall of the columnar material, thereby achieving adsorption and clamping of the side wall of the columnar material.

[0044] In one embodiment of the present invention, see Figure 5 and Figure 6 The limiting mechanism 5 includes a plurality of first telescopic members 501 distributed in a ring shape and installed on the top of the sliding cavity 401. A limiting plate 502 is installed at the bottom end of the first telescopic member 501, and the limiting plate 502 is ring-shaped.

[0045] Due to the setting of the limit plate 502, the height to which the slide plate 403 can rise along the slide chamber 401 is fixed, that is, the compression length of the second elastic member 405 is constant, and the height to which the piston plate 803 rises along the negative pressure chamber 802 is also constant. Then, when the slide plate 403 moves to the limit plate 502, the elastic supporting force of the second elastic member 405 on the cross 107 is constant, and the pressure in the suction cup 2 is also constant, so that the elastic clamping force of the upper clamping block 105 on the columnar material and the adsorption force of the suction cup 2 on the columnar material are also constant. The position of the limit plate 502 at the top of the sliding cavity 401 can be adjusted by extending and retracting the first telescopic member 501, thereby simultaneously changing the compression length of the slide plate 403 on the second elastic member 405 and the rising height of the piston plate 803. When the setting position of the limit plate 502 is higher, the elastic clamping force of the upper clamping block 105 on the columnar material and the adsorption force of the suction cup 2 on the columnar material are greater, and vice versa. Therefore, the appropriate clamping force and adsorption force can be selected according to the characteristics of the columnar material, and the use effect is better.

[0046] Furthermore, the specific structure of the first telescopic member 501 is not limited. Preferably, the first telescopic member 501 is configured as a telescopic cylinder.

[0047] In one embodiment of the present invention, see Figure 7 A pressure sensor 6 is installed at the bottom of the limiting plate 502.

[0048] The pressure sensor 6 is used to detect the position of the slide 403. When the slide 403 moves along the slide cavity 401 and contacts the pressure sensor 6, the pressure sensor 6 transmits a signal to the controller on the robotic arm, and then the drive mechanism 7 stops and the clamping operation ends.

[0049] In one embodiment of the present invention, see Figure 5 The driving mechanism 7 includes a second telescopic member 701 installed in the middle of the mounting frame 101 and facing the sliding cavity 401. A driving plate 702 is installed on the top of the second telescopic member 701. A plurality of driving rods 703 distributed in a ring are installed on the driving plate 702. The driving rods 703 are connected to the bottom of the slide 403.

[0050] When the slide plate 403 is driven, the second telescopic member 701 pushes the driving plate 702 upward, and the driving plate 702 then pushes the slide plate 403 through the driving rod 703, thereby starting to elastically clamp and adsorb the columnar material.

[0051] Furthermore, the specific structure of the second telescopic member 701 is not limited. Preferably, the second telescopic member 701 is configured as a telescopic cylinder.

[0052] Example 2

[0053] See also Figure 1-8The other contents of this embodiment are the same as those of Example 1, except that: an extension clamping mechanism 9 is provided at the bottom of the movable arm 104 for assisting the upper clamping block 105 in clamping the columnar material, including an extension cavity 901 opened in the movable arm 104, the extension cavity 901 is slidably connected to the extension arm 902, the extension arm 902 is fixedly connected to the auxiliary block 903, the auxiliary block 903 is mounted with a lower clamping block 904, the top wall of the extension cavity 901 is mounted with a driving member 905, the driving member 905 is connected to a screw 906, and the screw 906 is threadedly connected to the extension arm 902.

[0054] When clamping the top of the columnar material, in order to improve the clamping stability of the columnar material, the clamping depth of the manipulator on the columnar material can be changed by adjusting the position of the lower clamping block 904, so that the clamped area can be adjusted according to the height of the columnar material. When adjusting, the screw 906 is driven by the motor to rotate, and the screw 906 will drive the extension arm 902 to slide along the extension cavity 901, thereby pushing the auxiliary block 903 to move, changing the distance between the lower clamping block 904 and the upper clamping block 105 on the auxiliary block 903, and then changing the clamping area of ​​the entire columnar material, thereby improving the clamping stability of the columnar material.

[0055] Furthermore, the specific structure of the driving member 905 is not limited. Preferably, the driving member 905 is configured as a servo motor.

[0056] The working principle of the present invention is as follows: by connecting the mounting seat 11 with the robot arm, and then moving the robot arm to the top of the columnar material to be clamped, so that the top of the columnar material enters the robot arm and contacts the mounting frame 101, and then the slide plate 403 is pushed by the driving mechanism 7. Due to the elastic force applied by the second elastic member 405 to the slide plate 403, the slide plate 403 can push the cross 107 to rise along the limit rod 108 through the second elastic member 405 when pushed by the second driving member 905. Under the transmission action of the connecting arm, the plurality of sliders 103 will synchronously move along the slide groove 102 toward the middle of the mounting frame 101, so that the plurality of movable arms 104 are close to the columnar material to be clamped, and when the upper clamping blocks 105 on the plurality of movable arms 104 are in contact with the side wall of the columnar material, the preliminary clamping of the columnar material will be completed. At this time, under the action of the elastic component 3, the suction cup 2 will be attached to the side wall of the columnar material, and as the driving mechanism 7 continues to drive the slide plate 403 to rise, due to the columnar material The limit of the movable arm 104 prevents the cross 107 from continuing to rise under the push of the second elastic member 405. After that, the slide plate 403 will rise along the sliding cavity 401 and squeeze the second elastic member 405, causing the second elastic member 405 to deform, thereby gradually increasing the elastic support force of the cross 107, that is, gradually increasing the clamping force of the upper clamping block 105 on the side wall of the columnar material, and the upper clamping block 105 is an elastic clamping force on the side wall of the columnar material, thereby avoiding the hard clamping causing The problem of damage to the side wall of the columnar material is solved, and as the slide 403 rises along the slide cavity 401, the support rod 404 will be driven to rise synchronously, thereby driving the negative pressure mechanism 8, so that negative pressure is formed between the suction cup 2 and the side wall of the columnar material, and then the suction cup 2 can adsorb the side wall of the columnar material. The movable height of the slide 403 in the slide cavity 401 can be adjusted by the limiting mechanism 5, and then the adsorption force and clamping force of the suction cup 2 and the upper clamping block 105 on the columnar material can be adjusted, and the use effect is better.

[0057] The present invention cooperates with the pushing mechanism 4 and the negative pressure mechanism 8 to complete the adsorption clamping of the side wall of the columnar material by the suction cup 2 during the process of the upper clamping block 105 completing the elastic clamping of the columnar material. The combination of elastic clamping and adsorption clamping can improve the clamping effect of the manipulator on the columnar material, thereby ensuring the stability of the manipulator in the process of feeding the columnar material, and avoiding the problem of the columnar material falling off due to insufficient friction caused by the use of a single mechanical claw, and the use effect is better.

[0058] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be included therein. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

[0059] In addition, it should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. An automatic feeding robot, comprising a mounting frame, characterized in that: The mounting frame is provided with a plurality of annularly distributed slide grooves, a slider is slidably provided in the slide grooves, a movable arm is installed at the bottom of the slider, an upper clamping block is installed on the movable arm, a plurality of annularly distributed limit rods are installed in the middle of the mounting frame, a cross is slidably provided on the limit rods, the top of the slider is hinged to one end of the transmission arm, and the other end of the transmission arm is hinged to the end of the cross, and further comprising: A suction cup connected to the movable arm via an elastic component, wherein the elastic component provides elastic support for the suction cup; A negative pressure mechanism, which is arranged on the cross and connected to the suction cup, and is used to allow the suction cup to absorb the side wall of the columnar material; A pushing mechanism is provided in the cross and is used to drive the cross and the negative pressure mechanism to move; the pushing mechanism includes a sliding cavity provided in the cross, a bottom plate being installed at the bottom of the sliding cavity, the bottom plate being annular, a slide plate being slidably provided in the sliding cavity, a support rod being installed on the slide plate and passing through the top of the cross, and a second elastic member being provided between the slide plate and the top of the sliding cavity; A driving mechanism, the driving mechanism being arranged on the mounting frame and being used to drive the pushing mechanism to move; The limiting mechanism is arranged in the cross and is used to limit the pushing mechanism.

2. The automatic feeding manipulator according to claim 1, characterized in that: The elastic component includes a U-shaped tube slidably connected to the movable arm, the U-shaped tube is connected to the suction cup, a baffle is installed on the U-shaped tube, and the baffle is connected to the movable arm through a first elastic member.

3. The automatic feeding manipulator according to claim 2, characterized in that: The negative pressure mechanism includes several piston cylinders distributed in an annular shape and installed on a cross. A negative pressure chamber is opened in the piston cylinder. A piston plate is slidably arranged in the negative pressure chamber. The piston plate is fixedly connected to a movable rod. Several movable rods are connected to a connecting frame. The connecting frame is connected to a support rod. The bottom of the piston cylinder is connected to a U-shaped tube through a negative pressure tube.

4. The automatic feeding robot according to claim 1, characterized in that: The limiting mechanism comprises a plurality of first telescopic members distributed in a ring shape and installed on the top of the sliding cavity. A limiting plate is installed at the bottom end of the first telescopic member, and the limiting plate is in a ring shape.

5. The automatic feeding robot according to claim 4, characterized in that: A pressure sensor is installed at the bottom of the limiting plate.

6. The automatic feeding robot according to claim 4, characterized in that: The driving mechanism includes a second telescopic member installed in the middle of the mounting frame and facing the sliding cavity. The top of the second telescopic member is equipped with a driving plate, and a plurality of driving rods distributed in a ring are installed on the driving plate. The driving rods are connected to the bottom of the slide.

7. The automatic feeding robot according to claim 1, characterized in that: An extension clamping mechanism is provided at the bottom of the movable arm, which is used to assist the upper clamping block in clamping the columnar material. The extension cavity is opened in the movable arm, the extension cavity is slidably connected to the extension arm, the extension arm is fixedly connected to the auxiliary block, and the lower clamping block is installed on the auxiliary block. The top wall of the extension cavity is installed with a driving member, the driving member is connected to a screw, and the screw is threadedly connected to the extension arm.

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