Multi-shaft feeding and discharging manipulator

Abstract

The invention belongs to the technical field of mechanical arms, particularly relates to a multi-axis feeding and discharging mechanical arm, and aims to solve the problem that certain hidden dangers exist in the operation process of equipment due to the fact that the risk that materials are separated from the mechanical arm in the carrying process is easily increased when long-path feeding and discharging are carried out, the following scheme is provided: the multi-axis feeding and discharging mechanical arm comprises a mechanical bracket and a Z-axis bracket, the bottom of the Z-axis support is fixedly connected with a connecting plate frame, four connecting rods are arranged on the connecting plate frame, the bottom ends of the four connecting rods are fixedly connected with the same grabbing base frame, and two bidirectional push rods are arranged on the grabbing base frame. The multi-shaft feeding and discharging mechanical arm has the effect of reducing the feeding and discharging hidden danger of the mechanical arm, and when the feeding operation of materials is conducted, the device can provide support for the bottoms of the materials, so that the materials are prevented from being separated from the mechanical arm when long-path feeding and discharging are conducted, and the use safety and stability of the device are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical hands, in particular to a multi-axis feeding and discharging mechanical hand. BACKGROUND

[0002] A mechanical hand is an automatic operating device that can imitate the functions of human hands and arms to grab, carry objects or operate tools according to a fixed program. It can complete various expected operations through programming, and has the advantages of both human hands and mechanical devices.

[0003] The mechanical hand is the earliest industrial robot and the earliest modern robot. It can replace human labor to realize the mechanization and automation of production, and can operate in a harmful environment to protect personal safety, so it is widely used in mechanical manufacturing, metallurgy, electronics, light industry and atomic energy departments.

[0004] The existing multi-axis feeding and discharging mechanical hand has a large feeding and discharging movement range when in use, so the movement path when feeding and discharging is correspondingly increased. When feeding and discharging along a long path, the risk of the material separating from the mechanical hand during the carrying process is increased, which causes certain hidden dangers in the operation of the equipment and poor use effect. SUMMARY

[0005] The present application discloses a multi-axis feeding and discharging mechanical hand, which aims to solve the technical problem of the existing multi-axis feeding and discharging mechanical hand in the background art, which has a large feeding and discharging movement range when in use, so the movement path when feeding and discharging is correspondingly increased. When feeding and discharging along a long path, the risk of the material separating from the mechanical hand during the carrying process is increased, which causes certain hidden dangers in the operation of the equipment and poor use effect.

[0006] The present application provides a multi-axis feeding and discharging mechanical hand, which comprises a mechanical support and a Z-axis support, the bottom of the Z-axis support is fixedly connected with a connecting plate frame, four connecting rod pieces are arranged on the connecting plate frame, and the bottom ends of the four connecting rod pieces are fixedly connected with a same grabbing base frame, two double-acting push rods are arranged on the grabbing base frame, the output ends of the two double-acting push rods on the same side are fixedly connected with a same adjusting support, feeding and discharging anti-falling modules are arranged on the two adjusting supports, two negative pressure bases are arranged on each of the two adjusting supports, and pneumatic grabbing modules are arranged on the four negative pressure bases. The feeding and discharging anti-falling module comprises two connecting shafts, and anti-falling blocks are fixedly connected to the outer walls of the two connecting shafts. The pneumatic grabbing module comprises four soft casings.

[0007] By setting up mechanical support, Z-axis support, connecting plate frame, connecting rod, grabbing base frame, bidirectional push rod, adjusting support, feeding and discharging anti-falling module, negative pressure base and pneumatic grabbing module, the bidirectional push rod can adjust the distance between the two adjusting supports during use to adjust according to the size of the material, increasing the applicability of the device; the feeding and discharging anti-falling module can provide support to the bottom of the material during use to avoid the material from separating from the mechanical hand during feeding and discharging of a long path, meeting the feeding and discharging requirements of the device; the pneumatic grabbing module is used for pneumatic grabbing and fixing of the material during use, and the device can adjust the posture of the suction cup according to the surface shape of the material during grabbing to ensure the grabbing stability, meeting the grabbing requirements of the device.

[0008] In a preferred scheme, the feeding and discharging anti-falling module further comprises two mounting shafts, which are arranged on the two adjusting supports respectively, one side outer wall of each of the two adjusting supports is fixedly connected with a universal motor, output shafts of the two universal motors are connected with one ends of the two mounting shafts through couplings respectively, outer walls of the two mounting shafts are fixedly connected with overturning frames, two through mounting holes are formed in each of the two overturning frames, guide rods are movably connected with inner walls of the four mounting holes, a same anti-falling frame is fixedly connected with bottom ends of the two guide rods on a same overturning frame, two connecting shafts are movably connected with the two anti-falling frames respectively, a same cushion strip is arranged on one side outer wall and the top of the anti-falling support block on a same side, a limiting plate is fixedly connected with each of the two anti-falling frames, outer walls of the two anti-falling support blocks are in contact with outer walls of the two limiting plates, fixing ports are formed in the two overturning frames and the two anti-falling frames, a same stretchable air bag is arranged in inner walls of the two fixing ports on a same side, a back-pulling spring is arranged outside each of the two stretchable air bags, top ends of the two back-pulling springs are fixedly connected with the bottoms of the two overturning frames respectively, bottom ends of the two back-pulling springs are fixedly connected with the tops of the two anti-falling frames respectively, outer walls of the two connecting shafts are provided with two torsion spring pieces, one ends of the four torsion spring pieces are fixedly connected with the two side outer walls of the two anti-falling support blocks respectively, the other ends of the four torsion spring pieces are fixedly connected with the two side inner walls of the two anti-falling frames respectively, the grabbing frame base frame is fixedly connected with a gas pump body, an air inlet pipe and two connecting pipes are fixedly connected with an input end of the gas pump body, an air outlet pipe and two conveying pipes are fixedly connected with an output end of the gas pump body, output ends of the two conveying pipes are fixedly connected with top ends of the two stretchable air bags respectively, outer walls of the air inlet pipe, the air outlet pipe, the two conveying pipes and the two connecting pipes are provided with control valves, input ends of the two connecting pipes are fixedly connected with negative pressure bins, negative pressure pipes are fixedly connected with two side outer walls of the two negative pressure bins respectively, input ends of the four negative pressure pipes are fixedly connected with output ends of the four negative pressure bases respectively.

[0009] Through the setting of the feeding and discharging anti-falling module, the feeding and discharging anti-falling module can provide support to the bottom of the material when in use, thereby reducing the load of the mechanical hand when performing feeding and discharging operation, so as to avoid the material from being separated from the mechanical hand when performing feeding and discharging operation of a longer path, thereby reducing the hidden danger of the device when in use, improving the safety effect and operation stability of the device, and providing support to the bottom of the material of different sizes when performing feeding and discharging operation, thereby increasing the applicability of the device and further increasing the use effect of the device.

[0010] In a preferred scheme, the pneumatic grabbing module further comprises four connecting brackets, each of which is fixedly connected with a servo motor, the output shafts of the four servo motors are connected with driving gears through couplings, and each of the four negative pressure bases is fixedly connected with a grabbing shell, four soft shells are arranged on the inner walls of the four grabbing shells, each of the four soft shells is provided with a plurality of suction disc pieces, each of the four negative pressure bases is movably connected with a rotating inner shell, each of the four rotating inner shells is located inside the four grabbing shells, and the outer wall of each of the four rotating inner shells is fixedly connected with a gear ring, each of the four gear rings is engaged with a driving gear, each of the four rotating inner shells is fixedly connected with an elastic inner shell, a plurality of air holes are formed in the outer wall of each of the four elastic inner shells, and the outer wall of each of the four elastic inner shells is in contact with the inner wall of each of the four soft shells.

[0011] Through the setting of the pneumatic grabbing module, the pneumatic grabbing module can be used to pneumatically grab and fix the material when in use, so as to perform feeding and discharging operation. When grabbing, the posture and position of the suction disc piece can be changed through the cooperation of the soft shell and the elastic inner shell, so that the suction disc piece can be in good contact with the surface of the material when grabbing, thereby increasing the stability of the device when grabbing and fixing, and the posture and position of the suction disc piece can be changed to adapt to the material with a relatively uneven surface, thereby increasing the applicability of the device and further improving the use effect of the device.

[0012] In a preferred scheme, two X-axis guides are arranged on the mechanical support, and an X-axis electric push rod is arranged on each of the two X-axis guides; the output ends of the two X-axis electric push rods are fixedly connected with a same Y-axis guide, the Y-axis guide is movably connected to the two X-axis guides, a Z-axis guide is movably connected to the Y-axis guide, a Z-axis support is movably connected to the Z-axis guide, and a Y-axis electric push rod and a Z-axis electric push rod are arranged on the Y-axis guide and the Z-axis guide respectively; the output ends of the Y-axis electric push rod and the Z-axis electric push rod are fixedly connected to a side outer wall of the Z-axis guide and a top of the Z-axis support respectively; an axis limiting and buffering module is arranged on the two X-axis guides, the Y-axis guide and the Z-axis guide; the axis limiting and buffering module comprises four buffering supports, two fixing holes are formed in each of the four buffering supports, a buffering sleeve frame is fixedly connected to the inner wall of each of the fixing holes, three movable openings are formed in the outer wall of each of the buffering sleeve frames, a same resistance plate is movably connected to the inner wall of each of the three movable openings of each of the buffering sleeve frames, a buffering spring rod is fixedly connected to the side outer wall of each of the resistance plates, one end of each of the buffering spring rods is fixedly connected to the side inner wall of each of the buffering sleeve frames, and a same buffering connecting rod is fixedly connected to the other side outer wall of each of the adjacent resistance plates.

[0013] The axis limiting and buffering module can limit and buffer the device when the device moves in multiple axes, can buffer the device when the device moves to the end of the guide, thereby avoiding excessive contact between the device and the edge of the guide during movement, and avoiding damage to the guide caused by excessive contact, thereby increasing the use effect and service life of the device during operation.

[0014] As can be seen from the above, the multi-axis feeding and discharging mechanical hand provided by the application has the effect of reducing the feeding and discharging hidden dangers of the mechanical hand, and can provide support for the bottom of the material during feeding and discharging operation, thereby avoiding disengagement between the material and the mechanical hand during feeding and discharging of a long path, and increasing the use safety and stability of the device. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 The figure is a schematic diagram of the overall structure of the multi-axis feeding and discharging mechanical hand provided by the application.

[0016] Figure 2 The figure is a schematic diagram of the overall front view structure of the multi-axis feeding and discharging mechanical hand provided by the application.

[0017] Figure 3 The figure is a schematic diagram of the Y-axis guide and Z-axis guide combination structure of the multi-axis feeding and discharging mechanical hand provided by the application.

[0018] Figure 4A schematic view of the connecting plate frame and the grabbing base frame structure of the multi-axis feeding and discharging manipulator is provided.

[0019] Figure 5 A schematic view of the feeding and discharging anti-falling module structure of the multi-axis feeding and discharging manipulator is provided.

[0020] Figure 6 A schematic view of the Figure 5 Partial structure schematic view from below.

[0021] Figure 7 A schematic view of the Figure 6 Partial structure split schematic view.

[0022] Figure 8 A schematic view of the pneumatic grabbing module structure of the multi-axis feeding and discharging manipulator is provided.

[0023] Figure 9 A schematic view of the grabbing shell and soft shell cross-sectional structure of the multi-axis feeding and discharging manipulator is provided.

[0024] Figure 10 A schematic view of the shaft limiting buffer module structure of the multi-axis feeding and discharging manipulator is provided.

[0025] In the figure: 1, mechanical support; 2, X-axis guide rail; 3, feeding and discharging anti-falling module; 301, air pump body; 302, turnover frame; 303, universal motor; 304, cushion strip; 305, anti-falling frame; 306, conveying pipe; 307, exhaust pipe; 308, control valve; 309, air inlet pipe; 310, connecting pipe; 311, negative pressure pipe; 312, negative pressure bin; 313, mounting shaft; 314, telescopic air bag; 315, connecting shaft; 316, torsional spring; 317, limiting plate; 318, anti-falling block; 319, guide rod; 320, pullback spring; 4, X-axis electric push rod; 5, Y-axis electric push rod; 6, Y-axis guide rail; 7, shaft limiting buffer module; 701, buffer support; 702, buffer sleeve frame; 703, buffer spring rod; 704, resistance plate; 705, movable port; 706, elastic element; 707, buffer connecting rod; 8, pneumatic grabbing module; 801, connecting support; 802, servo motor; 803, drive gear; 804, grabbing shell; 805, soft shell; 806, suction cup; 807, air hole; 808, elastic inner shell; 809, gear ring; 810, rotating inner shell; 9, Z-axis guide rail; 10, Z-axis electric push rod; 11, Z-axis support; 12, connecting plate frame; 13, grabbing base frame; 14, bidirectional push rod; 15, adjusting support; 16, negative pressure base. DETAILED DESCRIPTION

[0026] With reference to the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application.

[0027] The multi-axis feeding and discharging manipulator disclosed by the application is mainly applied to the feeding and discharging of a long path, and is prone to increase the risk of separation of materials from the manipulator during the carrying process, thereby causing certain hidden dangers of the equipment during the operation process.

[0028] With reference to Figures 1-10 A multi-axis feeding and discharging manipulator, comprising a mechanical support 1 and a Z-axis support 11, the bottom of the Z-axis support 11 is fixedly connected with a connecting plate frame 12, four connecting rod pieces are arranged on the connecting plate frame 12, and the bottom ends of the four connecting rod pieces are fixedly connected with a same grabbing base frame 13, two bidirectional push rods 14 are arranged on the grabbing base frame 13, and the output ends of the two bidirectional push rods 14 on the same side are fixedly connected with a same adjusting support 15, a feeding and discharging anti-falling module 3 is arranged on each of the two adjusting supports 15, two negative pressure bases 16 are arranged on each of the two adjusting supports 15, and a pneumatic grabbing module 8 is arranged on each of the four negative pressure bases 16. The feeding and discharging anti-falling module 3 comprises two connecting shaft rods 315, and the outer walls of the two connecting shaft rods 315 are fixedly connected with anti-falling supporting blocks 318. The pneumatic grabbing module 8 comprises four soft housings 805.

[0029] Specifically, the bidirectional push rod 14 can adjust the spacing of the two adjusting supports 15 during use, so as to adjust according to the size of the materials and increase the applicability of the device; the feeding and discharging anti-falling module 3 can provide support for the bottom of the materials during use, so as to avoid the separation of the materials from the manipulator during the feeding and discharging of a long path, and meet the feeding and discharging requirements of the device; the pneumatic grabbing module 8 is used for pneumatic grabbing and fixing of the materials during use, and the device can adjust the posture of the suction cup piece 806 according to the surface shape of the materials during grabbing, so as to ensure the grabbing stability and meet the grabbing requirements of the device.

[0030] With reference to Figures 1-7In a preferred implementation, the feeding and discharging anti-falling module 3 further comprises two mounting shaft rods 313, which are arranged on the two adjusting supports 15 respectively, the outer wall of one side of each of the two adjusting supports 15 is fixedly connected with a general motor 303, the output shafts of the two general motors 303 are connected with one end of the two mounting shaft rods 313 through couplings respectively, the outer wall of each of the two mounting shaft rods 313 is fixedly connected with a turnover frame 302, two penetrating mounting holes are formed in each of the two turnover frames 302, a guide rod 319 is movably connected with the inner wall of each of the four mounting holes, the bottom end of each of the two guide rods 319 on the same turnover frame 302 is fixedly connected with the same anti-falling frame 305, two connecting shaft rods 315 are movably connected with the two anti-falling frames 305 respectively, the outer wall of one side of each of the anti-falling frames 305 on the same side and the top of the anti-falling block 318 are provided with the same cushion strip 304, the outer wall of each of the two anti-falling frames 305 is fixedly connected with a limiting plate 317, the outer wall of each of the two anti-falling blocks 318 is in contact with the outer wall of each of the two limiting plates 317, a fixing opening is formed in each of the two turnover frames 302 and the two anti-falling frames 305, the inner wall of each of the two fixing openings on the same side is provided with the same telescopic air bag 314, a pull-back spring 320 is arranged outside each of the two telescopic air bags 314, the top end of each of the two pull-back springs 320 is fixedly connected with the bottom of each of the two turnover frames 302, the bottom end of each of the two pull-back springs 320 is fixedly connected with the top of each of the two anti-falling frames 305, the outer wall of each of the two connecting shaft rods 315 is provided with two torsion spring pieces 316, one end of each of the four torsion spring pieces 316 is fixedly connected with the outer wall of each of the two anti-falling blocks 318, the other end of each of the four torsion spring pieces 316 is fixedly connected with the inner wall of each of the two anti-falling frames 305, the air pump body 301 is fixedly connected with the grabbing frame base, the input end of the air pump body 301 is fixedly connected with the air inlet pipe 309 and the two connecting pipes 310, the output end of the air pump body 301 is fixedly connected with the air outlet pipe 307 and the two conveying pipes 306, the output end of each of the two conveying pipes 306 is fixedly connected with the top end of each of the two telescopic air bags 314, the outer wall of each of the air inlet pipe 309, the air outlet pipe 307, the two conveying pipes 306 and the two connecting pipes 310 is provided with a control valve 308, the input end of each of the two connecting pipes 310 is fixedly connected with a negative pressure bin 312, the outer wall of each of the two negative pressure bins 312 is fixedly connected with a negative pressure pipe 311, the input end of each of the four negative pressure pipes 311 is fixedly connected with the output end of each of the four negative pressure bases 16.

[0031] Specifically, in use, the air pump body 301 is operated, and the control valves 308 on the exhaust pipe 307 and the two connecting pipes 310 are opened, so that the air pump body 301 exhausts the gas inside the two negative pressure warehouses 312 through the connecting pipes 310, so that the inside of the negative pressure warehouse 312 is in a negative pressure state, and then cooperates with the negative pressure pipe 311 to make the inside of the negative pressure base 16 in a negative pressure state (in order to facilitate the subsequent grabbing of the material), after grabbing the material, the overturning motor is operated, the mounting shaft 313 and the overturning frame 302 are rotated by the driving of the overturning motor, and the anti-falling block 318 is moved to one side of the material, at this time the anti-falling block 318 is attached to one side of the material, and the torsional spring piece 316 is twisted, then the air pump body 301 is operated again, the control valves 308 on the air inlet pipe 309 and the two conveying pipes 306 are opened, and the control valves 308 on the exhaust pipe 307 and the two connecting pipes 310 are closed, so that the air pump body 301 conveys the gas to the inside of the telescopic air bag 314 through the conveying pipe 306, and makes the telescopic air bag 314 inflate, and then the back-pulling spring 320 is opened, so that the guide rod 319 drives the anti-falling block 318 to descend, until the anti-falling block 318 moves to the bottom of the material, at this time the torsional spring piece 316 restores and drives the anti-falling block 318 to expand, then the air pump body 301 is closed, so that the back-pulling spring 320 restores, and drives the anti-falling frame 305 and the anti-falling block 318 to rise, to provide upward supporting force to the bottom of the material; In a specific application scenario, the feeding and discharging anti-falling module 3 is suitable for the feeding and discharging operation link of the mechanical hand, that is, the feeding and discharging anti-falling module 3 can provide support to the bottom of the material when in use, thereby reducing the load of the mechanical hand during feeding and discharging operation, to avoid the material from being separated from the mechanical hand during long-path feeding and discharging operation, thereby reducing the hidden danger of the device in use, improving the safety effect and operation stability of the device, and providing support to the bottom of the material of different sizes during feeding and discharging operation, to increase the applicability of the device and further improve the use effect of the device.

[0032] Referring to Figure 2 , Figure 3 , Figure 4 , Figure 8 and Figure 9In a preferred implementation, the pneumatic grabbing module 8 further comprises four connecting supports 801, each of which is fixedly connected with a servo motor 802, the output shafts of the four servo motors 802 are connected with driving gears 803 through couplings, each of the four negative pressure bases 16 is fixedly connected with a grabbing shell 804, four soft shells 805 are arranged on the inner walls of the four grabbing shells 804, a plurality of suction disc pieces 806 are arranged on each of the four soft shells 805, each of the four negative pressure bases 16 is movably connected with a rotating inner shell 810, each of the four rotating inner shells 810 is located inside the four grabbing shells 804, the outer wall of each of the four rotating inner shells 810 is fixedly connected with a gear ring 809, each of the four gear rings 809 is engaged with a driving gear 803, each of the four rotating inner shells 810 is fixedly connected with an elastic inner shell 808, a plurality of air through holes 807 are arranged on the outer wall of each of the four elastic inner shells 808, and the outer wall of each of the four elastic inner shells 808 is in contact with the inner wall of each of the four soft shells 805.

[0033] Specifically, when grabbing, the device is lowered, so that the soft shell 805 and the elastic inner shell 808 inside it deform, at this time, the deformation of the soft shell 805 and the elastic inner shell 808 can drive the suction disc piece 806 to move to change its attitude and position, and until the suction disc piece 806 is attached to the material, then the inside of the negative pressure base 16 is gradually under negative pressure, at this time, the servo motor 802 is started, the driving gear 803 is driven to rotate by the servo motor 802, since the driving gear 803 is engaged with the gear ring 809, the gear ring 809 and the rotating inner shell 810 can be driven to rotate, so that the rotating inner shell 810 drives the elastic inner shell 808 to rotate, and then the air through holes 807 on the elastic inner shell 808 are deviated from the position of the suction disc piece 806 to perform grabbing and fixing. In a specific application scenario, the pneumatic grabbing module 8 is suitable for the mechanical hand grabbing link, that is, the pneumatic grabbing module 8 is used to perform pneumatic grabbing and fixing of the material when in use, so as to perform feeding and discharging operation, and when grabbing, the attitude and position of the suction disc piece 806 can be changed through the cooperation of the soft shell 805 and the elastic inner shell 808, so that the suction disc piece 806 can be in good contact with the surface of the material when grabbing, thereby increasing the stability of the device when grabbing and fixing, and the attitude and position of the suction disc piece 806 can be changed to adapt to the material with a relatively uneven surface, thereby increasing the applicability of the device and further improving the use effect of the device.

[0034] Referring to Figure 1 , Figure 2 , Figure 3 and Figure 10In a preferred embodiment, two X-axis guide rails 2 are arranged on the mechanical support 1, and an X-axis electric push rod 4 is arranged on each of the two X-axis guide rails 2. The output ends of the two X-axis electric push rods 4 are fixedly connected with the same Y-axis guide rail 6, the Y-axis guide rail 6 is movably connected to the two X-axis guide rails 2, a Z-axis guide rail 9 is movably connected to the Y-axis guide rail 6, a Z-axis support 11 is movably connected to the Z-axis guide rail 9, and a Y-axis electric push rod 5 and a Z-axis electric push rod 10 are arranged on the Y-axis guide rail 6 and the Z-axis guide rail 9, respectively. The output ends of the Y-axis electric push rod 5 and the Z-axis electric push rod 10 are fixedly connected to the side outer wall of the Z-axis guide rail 9 and the top of the Z-axis support 11, respectively. An axis limiting and buffering module 7 is arranged on the two X-axis guide rails 2, the Y-axis guide rail 6 and the Z-axis guide rail 9. The axis limiting and buffering module 7 comprises four buffering supports 701, which are arranged on the two X-axis guide rails 2, the Y-axis guide rail 6 and the Z-axis guide rail 9, respectively. Two fixing holes are formed in each of the four buffering supports 701. A buffering sleeve frame 702 is fixedly connected to the inner wall of each of the fixing holes. Three movable openings 705 are formed in the outer wall of each of the buffering sleeve frames 702. A resistance plate 704 is movably connected to the inner wall of each of the three movable openings 705 in the same buffering sleeve frame 702. A buffering spring rod 703 is fixedly connected to the side outer wall of each of the resistance plates 704. One end of each of the buffering spring rods 703 is fixedly connected to the side inner wall of each of the buffering sleeve frames 702. A buffering connecting rod 707 is fixedly connected to the other side outer wall of each of the two adjacent resistance plates 704. An elastic element 706 is arranged on the outer wall of each of the four buffering connecting rods 707.

[0035] Specifically, during operation, the X-axis, Y-axis and Z-axis movements of the device can be realized through the operation of the X-axis electric push rod 4, the Y-axis electric push rod 5 and the Z-axis electric push rod 10. When the device moves to the end of the X-axis guide rail 2, the Y-axis guide rail 6 and the Z-axis guide rail 9, it will contact the elastic element 706. At this time, the contact force will be transmitted to the buffering connecting rod 707, and then to the resistance plate 704 and the buffering spring rod 703, so as to realize buffering through the buffering spring rod 703. After the buffering spring rod 703 recovers, the resistance plate 704 moves inside the movable opening 705. Since there is a certain friction between the resistance plate 704 and the movable opening 705, the contact force can be further reduced, so that the device slows down when it moves to the end of the X-axis guide rail 2, the Y-axis guide rail 6 and the Z-axis guide rail 9 (to avoid damage to the guide rail caused by excessive contact). In a specific application scenario, the axis limiting and buffering module 7 is suitable for multi-axis movement operation. That is, the axis limiting and buffering module 7 can limit and buffer the movement of the device when it moves in multiple axes. When the device moves to the end of the guide rail, it can be buffered, so as to avoid excessive contact with the edge of the guide rail during movement, thereby avoiding damage to the guide rail caused by excessive contact, and increasing the use effect and service life of the device during operation.

[0036] Working principle: when running, the device can move along X-axis, Y-axis and Z-axis through the operation of X-axis electric push rod 4, Y-axis electric push rod 5 and Z-axis electric push rod 10. When the device moves to the end of X-axis guide rail 2, Y-axis guide rail 6 and Z-axis guide rail 9, it will contact with elastic piece 706. At this time, the contact force will be transmitted to buffer connecting rod 707, and then to resistance plate piece 704 and buffer spring rod 703 to buffer through buffer spring rod 703. After that, buffer spring rod 703 restores and makes resistance plate piece 704 move inside movable port 705. Because resistance plate piece 704 and movable port 705 have a certain friction force, the contact force can be further reduced to slow down the device when it moves to the end of X-axis guide rail 2, Y-axis guide rail 6 and Z-axis guide rail 9. When in use, air pump body 301 operates, and control valve 308 on exhaust pipe 307 and two connecting pipes 310 is opened, so that air pump body 301 discharges the gas inside two negative pressure warehouses 312 through connecting pipes 310, so that the inside of negative pressure warehouse 312 is in a negative pressure state, and then cooperates with negative pressure pipe 311 to make the inside of negative pressure base 16 in a negative pressure state. When grabbing, the device is lowered, so that soft shell 805 and elastic inner shell 808 inside it are deformed. At this time, with the deformation of soft shell 805 and elastic inner shell 808, suction cup piece 806 can be moved to change its posture and position, and until suction cup piece 806 is attached to the material. Then, because the inside of negative pressure base 16 is gradually in a negative pressure state, servo motor 802 is started to drive driving gear 803 to rotate. Because driving gear 803 is engaged with gear ring 809, gear ring 809 and rotating inner shell 810 can be driven to rotate, so that rotating inner shell 810 drives elastic inner shell 808 to rotate, and then the air through hole 807 on elastic inner shell 808 deviates from the position of suction cup piece 806 to grab and fix; After the material is grabbed, the overturning motor operates, the installation shaft 313 is rotated with the overturning frame 302 driven by the overturning motor, and the anti-falling block 318 is moved to one side of the material, at this time, the anti-falling block 318 is attached to one side of the material, and the torsion spring 316 is twisted, then the air pump body 301 operates again, the control valve 308 on the air inlet pipe 309 and the two conveying pipes 306 is opened, the control valve 308 on the exhaust pipe 307 and the two connecting pipes 310 is closed, the air pump body 301 conveys the gas to the inside of the telescopic air bag 314 through the conveying pipe 306, and the telescopic air bag 314 is inflated, so that the back-pulling spring 320 is stretched, thereby the guide rod 319 drives the anti-falling block 318 to descend, until the anti-falling block 318 moves to the bottom of the material, at this time, the torsion spring 316 restores and drives the anti-falling block 318 to expand, then the air pump body 301 is closed, the back-pulling spring 320 restores, and drives the anti-falling frame 305 and the anti-falling block 318 to rise, so as to provide upward supporting force to the bottom of the material.

[0037] The above is only the preferred specific embodiment of the present application, but the protection scope of the present application is not limited to this, any skilled person in the art can make equivalent replacement or change according to the technical scheme and the inventive concept of the present application within the technical range disclosed by the present application, which should be covered in the protection scope of the present application.

Claims

1. A multi-axis feeding and discharging manipulator, comprising a mechanical support (1) and a Z-axis support (11), characterized in that, The bottom of the Z-axis support (11) is fixedly connected with a connecting plate frame (12), four connecting rod pieces are arranged on the connecting plate frame (12), and the bottom ends of the four connecting rod pieces are fixedly connected with a same grabbing base frame (13); two bidirectional push rods (14) are arranged on the grabbing base frame (13), and the output ends of the two bidirectional push rods (14) on the same side are fixedly connected with a same adjusting support (15); an up-down feeding anti-falling module (3) is arranged on each of the two adjusting supports (15), and two negative pressure bases (16) are arranged on each of the two adjusting supports (15); and a pneumatic grabbing module (8) is arranged on the four negative pressure bases (16). The up-down feeding anti-falling module (3) comprises two connecting shaft rods (315), and the outer walls of the two connecting shaft rods (315) are fixedly connected with anti-falling supporting blocks (318). The pneumatic grabbing module (8) comprises four soft housings (805).

2. The multi-axis up and down feeder robot according to claim 1, wherein, The up-down feeding anti-falling module (3) further comprises two mounting shaft rods (313), the two mounting shaft rods (313) are arranged on the two adjusting supports (15) respectively, the outer walls of one side of the two adjusting supports (15) are fixedly connected with universal motors (303), the output shafts of the two universal motors (303) are connected with one ends of the two mounting shaft rods (313) through couplings respectively, the outer walls of the two mounting shaft rods (313) are fixedly connected with overturning frames (302), and two penetrating mounting holes are formed in each of the two overturning frames (302).

3. The multi-axis up and down feeder robot according to claim 2, wherein, The inner walls of the four mounting holes are movably connected with guide rods (319), the bottom ends of the two guide rods (319) on the same overturning frame (302) are fixedly connected with a same anti-falling frame (305), the two connecting shaft rods (315) are movably connected to the two anti-falling frames (305) respectively, the outer walls of one side of the anti-falling frames (305) and the top of the anti-falling supporting block (318) are provided with a same cushion strip (304), and the outer walls of the two anti-falling frames (305) are fixedly connected with limiting plate pieces (317) respectively, and the outer walls of the two anti-falling supporting blocks (318) are in contact with the outer walls of the two limiting plate pieces (317) respectively.

4. The multi-axis upender and feeder robot of claim 3, wherein, The two overturning frames (302) and the two anti-falling frames (305) are provided with fixing ports, the inner walls of the two fixing ports on the same side are provided with a same telescopic air bag (314), the outer parts of the two telescopic air bags (314) are provided with back-pulling springs (320), the top ends of the two back-pulling springs (320) are fixedly connected with the bottoms of the two overturning frames (302) respectively, the bottom ends of the two back-pulling springs (320) are fixedly connected with the tops of the two anti-falling frames (305) respectively, and the outer walls of the two connecting shaft rods (315) are provided with two torsional spring pieces (316), one ends of the four torsional spring pieces (316) are fixedly connected with the outer walls of the two sides of the two anti-falling supporting blocks (318) respectively, and the other ends of the four torsional spring pieces (316) are fixedly connected with the inner walls of the two sides of the two anti-falling frames (305) respectively.

5. The multi-axis upender and feeder robot of claim 4, wherein, The fixed connection is connected with the air pump body (301) on the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed connection of the fixed 6. The multi-axis upender and feeder robot of claim 1, wherein, ​ 7. The multi-axis loading and unloading robot according to claim 6, characterized in that: ​ 8. The multi-axis upender and feeder robot of claim 1, wherein, ​ 9. The multi-axis upender and feeder robot of claim 8, wherein, Two X-axis guide rails (2), Y-axis guide rails (6) and Z-axis guide rails (9) are provided with shaft limiting buffer modules (7), the shaft limiting buffer module (7) includes four buffer supports (701), four buffer supports (701) are respectively arranged on two X-axis guide rails (2), Y-axis guide rails (6) and Z-axis guide rails (9), and two fixing holes are formed in the outer wall of four buffer supports (701), the inner wall of multiple fixing holes is fixedly connected with a buffer sleeve frame (702), and the outer wall of multiple buffer sleeve frames (702) is provided with three movable openings (705).

10. The multi-axis upender and feeder robot of claim 9, wherein, The inner wall of three movable openings (705) on the same buffer sleeve frame (702) is movably connected with the same resistance plate piece (704), one side of the outer wall of multiple resistance plate pieces (704) is fixedly connected with a buffer spring rod (703), one end of multiple buffer spring rods (703) is respectively fixedly connected with one side of the inner wall of multiple buffer sleeve frames (702), and the other side of every two adjacent resistance plate pieces (704) is fixedly connected with the same buffer connecting rod (707), and the outer wall of four buffer connecting rods (707) is provided with an elastic element (706).

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