Multi-axis feeding and discharging manipulator

Abstract

The application belongs to the technical field of mechanical hands, and particularly relates to a multi-axis feeding and discharging mechanical hand. When feeding and discharging along a long path, the risk of separation of materials from the mechanical hand during the carrying process is increased, which causes certain hidden dangers in the operation of the equipment. The following scheme is proposed, 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 rods are arranged on the connecting plate frame, and the bottom ends of the four connecting rods are fixedly connected with a same grabbing base frame. Two bidirectional push rods are arranged on the grabbing base frame. The multi-axis feeding and discharging mechanical hand disclosed by the application has the effect of reducing the hidden dangers of the feeding and discharging of the mechanical hand. When feeding materials, the device can provide support for the bottom of the materials, so that the materials are prevented from being separated from the mechanical hand when feeding and discharging along a long path, and the use safety and stability of the device are increased.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, and in particular to a multi-axis loading and unloading robotic arm. Background Technology

[0002] A robotic arm is an automated device that mimics certain movements and functions of a human hand and arm to grasp, move objects, or manipulate tools according to a fixed program. Its key feature is that it can be programmed to perform various pre-defined tasks, and its design and performance combine the advantages of both human and robotic arms.

[0003] The robotic arm is the earliest industrial robot and the earliest modern robot. It can replace heavy human labor to realize the mechanization and automation of production. It can operate in harmful environments to protect personal safety. Therefore, it is widely used in machinery manufacturing, metallurgy, electronics, light industry and atomic energy sectors.

[0004] Existing multi-axis loading and unloading robots have a large range of movement when in use, which increases the movement path during loading and unloading. When loading and unloading along a longer path, the risk of materials detaching from the robot during handling increases, leading to potential hazards during operation and poor performance. Summary of the Invention

[0005] This invention discloses a multi-axis loading and unloading robot, which aims to solve the technical problem that existing multi-axis loading and unloading robots have a large range of movement when in use, which increases the movement path during loading and unloading. When loading and unloading along a long path, the risk of materials detaching from the robot during handling is increased, resulting in certain hidden dangers and poor performance of the equipment.

[0006] This invention proposes a multi-axis loading and unloading robot, comprising a mechanical support and a Z-axis support. A connecting plate is fixedly connected to the bottom of the Z-axis support, and four connecting rods are provided on the connecting plate. The bottom ends of the four connecting rods are fixedly connected to the same gripping base frame. Two bidirectional push rods are provided on the gripping base frame, and the output ends of the two bidirectional push rods on the same side are fixedly connected to the same adjusting bracket. Each of the two adjusting brackets is provided with a loading and unloading anti-fall module, and each of the two adjusting brackets is provided with two negative pressure bases. Pneumatic gripping modules are provided on the four negative pressure bases.

[0007] The loading and unloading anti-fall module includes two connecting shafts, and anti-fall blocks are fixedly connected to the outer walls of both connecting shafts;

[0008] The pneumatic gripping module includes four soft shells.

[0009] The device is equipped with a mechanical support, a Z-axis support, a connecting plate frame, a connecting rod, a gripping base frame, a bidirectional push rod, an adjusting support, a loading / unloading anti-fall module, a negative pressure base, and a pneumatic gripping module. The bidirectional push rod allows adjustment of the distance between the two adjusting supports to accommodate different material sizes, increasing the device's versatility. The loading / unloading anti-fall module provides support to the bottom of the material, preventing it from detaching from the robot arm during long loading / unloading operations, thus meeting the device's loading / unloading requirements. The pneumatic gripping module is used for pneumatic gripping and securing of the material. During gripping, the device adjusts the posture of the suction cups according to the material's surface shape to ensure gripping stability and meet the device's gripping needs.

[0010] In a preferred embodiment, the loading / unloading anti-fall module further includes two mounting shafts, each mounted on one of two adjusting brackets. A universal motor is fixedly connected to one side of each of the two adjusting brackets. The output shafts of the two universal motors are connected to one end of each of the two mounting shafts via couplings. A flipping frame is fixedly connected to the outer wall of each of the two mounting shafts. Each flipping frame has two through mounting holes. Guide rods are movably connected to the inner walls of each of the four mounting holes. The bottom ends of the two guide rods on the same flipping frame are fixedly connected to the same anti-fall frame. Two connecting shafts are movably connected to the two anti-fall frames. A single pad strip is provided on the outer wall of one side of the anti-fall frame and the top of the anti-fall support block. Limiting plates are fixedly connected to both anti-fall frames. The outer walls of the two anti-fall supports contact the outer walls of the two limiting plates. Fixing openings are provided on both flipping frames and the two anti-fall frames. A single extension is provided on the inner wall of the two fixing openings on the same side. The system includes two telescopic airbags, each equipped with a return spring. The top ends of the two return springs are fixedly connected to the bottom of the two flipping frames, and the bottom ends of the two return springs are fixedly connected to the top of the two fall-prevention frames. Two torsion springs are installed on the outer walls of the two connecting shafts. One end of each of the four torsion springs is fixedly connected to the outer walls of the two fall-prevention blocks on both sides, and the other end is fixedly connected to the inner walls of the two fall-prevention frames on both sides. An air pump body is fixedly connected to the base frame of the grabbing frame. An air inlet pipe and two connecting pipes are fixedly connected to the input end of the air pump body, and an exhaust pipe and two delivery pipes are fixedly connected to the output end of the air pump body. The output ends of the two delivery pipes are fixedly connected to the top of the two telescopic airbags. Control valves are installed on the outer walls of the air inlet pipe, exhaust pipe, two delivery pipes, and two connecting pipes. Negative pressure chambers are fixedly connected to the input ends of the two connecting pipes. Negative pressure pipes are fixedly connected to the outer walls of the two negative pressure chambers on both sides. The input ends of the four negative pressure pipes are fixedly connected to the output ends of the four negative pressure bases.

[0011] By incorporating a material handling anti-fall module, the module provides support to the bottom of the material during loading and unloading, thereby reducing the load on the robotic arm. This prevents the material from detaching from the robotic arm during long loading and unloading operations, thus reducing potential hazards and improving the safety and operational stability of the device. Furthermore, the device can provide bottom support for materials of different sizes during loading and unloading operations, increasing its applicability and further enhancing its effectiveness.

[0012] In a preferred embodiment, the pneumatic gripping module further includes four connecting brackets, each with a servo motor fixedly connected to it. The output shafts of the four servo motors are connected to drive gears via couplings. Each of the four negative pressure bases has a gripping outer shell fixedly connected to it. Four soft outer shells are respectively disposed on the inner walls of the four gripping outer shells. Each of the four soft outer shells is provided with multiple suction cup components. Each of the four negative pressure bases has a rotating inner shell movably connected to it. The four rotating inner shells are located inside the four gripping outer shells, and the outer walls of the four rotating inner shells are fixedly connected to gear rings. The four gear rings mesh with the four drive gears. Each of the four rotating inner shells has an elastic inner shell fixedly connected to it. The outer walls of the four elastic inner shells are provided with multiple air vents, and the outer walls of the four elastic inner shells are in contact with the inner walls of the four soft outer shells.

[0013] By incorporating a pneumatic gripping module, the device is used to pneumatically grip and fix materials for loading and unloading operations. During gripping, the suction cups, through the cooperation of a soft outer shell and an elastic inner shell, can change their posture and position to ensure better contact between the suction cups and the material surface, thereby increasing the stability of the device during gripping and fixing. Furthermore, by changing the posture and position of the suction cups, the device can adapt to materials with relatively uneven surfaces, increasing its applicability and further improving its performance.

[0014] In a preferred embodiment, the mechanical support is provided with two X-axis guide rails, each equipped with an X-axis electric actuator. The output ends of the two X-axis electric actuators are fixedly connected to the same Y-axis guide rail, which is movably connected to the two X-axis guide rails. A Z-axis guide rail is movably connected to the Y-axis guide rail, and a Z-axis bracket is movably connected to the Z-axis guide rail. Y-axis and Z-axis electric actuators are respectively provided on the Y-axis and Z-axis guide rails, with their output ends fixedly connected to one outer wall of the Z-axis guide rail and the top of the Z-axis bracket, respectively. Axis limiting buffer modules are provided on the two X-axis, Y-axis, and Z-axis guide rails, and each axis limiting buffer module includes four... Four buffer brackets are respectively set on two X-axis guide rails, Y-axis guide rails, and Z-axis guide rails. Each of the four buffer brackets has two fixing holes. The inner walls of the multiple fixing holes are fixedly connected to buffer sleeves. The outer walls of the multiple buffer sleeves have three movable openings. The inner walls of the three movable openings on the same buffer sleeve are movably connected to the same resistance plate. The outer walls of one side of the multiple resistance plates are fixedly connected to buffer spring rods. One end of the multiple buffer spring rods is fixedly connected to the inner wall of one side of the multiple buffer sleeves. The other outer walls of every two adjacent resistance plates are fixedly connected to the same buffer connecting rod. The outer walls of the four buffer connecting rods are provided with elastic elements.

[0015] By incorporating an axis limit buffer module, the device can limit and buffer movement during multi-axis motion. When the device moves to the end of the guide rail, it can also buffer the movement, thus preventing excessive adjustment and excessive contact with the edge of the guide rail during movement. This avoids damage to the guide rail caused by excessive contact, thereby increasing the device's performance and service life during operation.

[0016] As can be seen from the above, the multi-axis loading and unloading robot provided by the present invention has the function of reducing the hidden dangers of loading and unloading. When loading materials, the device can provide support for the bottom of the material to prevent the material from detaching from the robot when loading and unloading along a long path, thereby increasing the safety and stability of the device. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of a multi-axis loading and unloading robot proposed in this invention.

[0018] Figure 2 This is a schematic diagram of the overall front view of a multi-axis loading and unloading robot proposed in this invention.

[0019] Figure 3 This is a schematic diagram of the Y-axis guide rail and Z-axis guide rail combination structure of a multi-axis loading and unloading robot proposed in this invention.

[0020] Figure 4This is a schematic diagram of the connecting plate frame and gripping base frame structure of a multi-axis loading and unloading robot proposed in this invention.

[0021] Figure 5 This is a schematic diagram of the anti-fall module structure for loading and unloading of a multi-axis loading and unloading robot proposed in this invention.

[0022] Figure 6 The present invention proposes Figure 5 A partial structural diagram viewed from below.

[0023] Figure 7 The present invention proposes Figure 6 A partial structural breakdown diagram.

[0024] Figure 8 This is a schematic diagram of the pneumatic gripping module structure of a multi-axis loading and unloading robot proposed in this invention.

[0025] Figure 9 This is a cross-sectional view of the gripping outer shell and the soft outer shell of a multi-axis loading and unloading robot proposed in this invention.

[0026] Figure 10 This is a schematic diagram of the axis limit buffer module structure of a multi-axis loading and unloading robot proposed in this invention.

[0027] In the diagram: 1. Mechanical support; 2. X-axis guide rail; 3. Loading / unloading anti-fall module; 301. Air pump body; 302. Tilting frame; 303. General motor; 304. Padding strip; 305. Anti-fall frame; 306. Conveying pipe; 307. Exhaust pipe; 308. Control valve; 309. Air inlet pipe; 310. Connecting pipe; 311. Negative pressure pipe; 312. Negative pressure chamber; 313. Mounting shaft; 314. Telescopic airbag; 315. Connecting shaft; 316. Torsion spring; 317. Limiting plate; 318. Anti-fall support block; 319. Guide rod; 320. Pull-back spring; 4. X-axis electric actuator; 5. Y-axis electric actuator; 6. Y-axis guide rail; 7. Axis limiting buffer. 701. Buffer bracket; 702. Buffer sleeve frame; 703. Buffer spring rod; 704. Resistance plate; 705. Movable port; 706. Elastic component; 707. Buffer connecting rod; 8. Pneumatic gripping module; 801. Connecting bracket; 802. Servo motor; 803. Drive gear; 804. Gripping shell; 805. Soft shell; 806. Suction cup; 807. Air vent; 808. Elastic inner shell; 809. Gear ring; 810. Rotating inner shell; 9. Z-axis guide rail; 10. Z-axis electric actuator; 11. Z-axis bracket; 12. Connecting plate frame; 13. Gripping base frame; 14. Bidirectional actuator; 15. Adjusting bracket; 16. Negative pressure base. Detailed Implementation

[0028] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0029] The multi-axis loading and unloading robot disclosed in this invention is mainly used in scenarios where loading and unloading along long paths is prone to increasing the risk of materials detaching from the robot during handling, leading to certain hidden dangers during equipment operation.

[0030] Reference Figures 1-10 A multi-axis loading and unloading robot includes a mechanical support 1 and a Z-axis support 11. A connecting plate frame 12 is fixedly connected to the bottom of the Z-axis support 11. Four connecting rods are provided on the connecting plate frame 12, and the bottom ends of the four connecting rods are fixedly connected to the same gripping base frame 13. Two bidirectional push rods 14 are provided on the gripping base frame 13, and the output ends of the two bidirectional push rods 14 on the same side are fixedly connected to the same adjusting bracket 15. Loading and unloading anti-fall modules 3 are provided on the two adjusting brackets 15, and two negative pressure bases 16 are provided on the two adjusting brackets 15. Pneumatic gripping modules 8 are provided on the four negative pressure bases 16.

[0031] The loading and unloading anti-fall module 3 includes two connecting shafts 315, and the outer walls of the two connecting shafts 315 are fixedly connected with anti-fall blocks 318.

[0032] The pneumatic gripping module 8 includes four flexible housings 805.

[0033] Specifically, the bidirectional push rod 14 can adjust the distance between the two adjusting brackets 15 during use to adjust according to the size of the material, increasing the applicability of the device; the loading and unloading anti-fall module 3 can provide support for the bottom of the material during use to prevent the material from detaching from the robot arm when loading and unloading along a long path, thus meeting the loading and unloading requirements of the device; the pneumatic gripping module 8 is used to pneumatically grip and fix the material, and during gripping, the device can adjust the posture of the suction cup 806 according to the surface shape of the material to ensure gripping stability and meet the gripping requirements of the device.

[0034] Reference Figures 1-7In a preferred embodiment, the loading / unloading anti-fall module 3 further includes two mounting shafts 313, which are respectively mounted on two adjusting brackets 15. A universal motor 303 is fixedly connected to one outer wall of each of the two adjusting brackets 15. The output shafts of the two universal motors 303 are respectively connected to one end of each of the two mounting shafts 313 via couplings. A flipping frame 302 is fixedly connected to the outer wall of each of the two mounting shafts 313. Two through mounting holes are provided on each of the two flipping frames 302. Guide rods 319 are movably connected to the inner walls of the four mounting holes. Two guide rods 319 on the same flipping frame 302... The bottom of each guide rod 319 is fixedly connected to the same fall arrest frame 305. Two connecting shafts 315 are movably connected to the two fall arrest frames 305 respectively. The outer wall of one side of the fall arrest frame 305 and the top of the fall arrest block 318 are both provided with the same padding strip 304. Limiting plates 317 are fixedly connected to both fall arrest frames 305. The outer walls of the two fall arrest blocks 318 contact the outer walls of the two limiting plates 317 respectively. Fixing openings are provided on both the two flipping frames 302 and the two fall arrest frames 305. The inner walls of the two fixing openings on the same side are each provided with the same telescopic airbag 314. Each of the 314 components is externally equipped with a return spring 320. The top ends of the two return springs 320 are fixedly connected to the bottom of the two flipping frames 302, and the bottom ends of the two return springs 320 are fixedly connected to the top of the two fall arrest frames 305. The outer walls of the two connecting shafts 315 are each equipped with two torsion springs 316. One end of each of the four torsion springs 316 is fixedly connected to the outer walls of both sides of the two fall arrest blocks 318, and the other end of each torsion spring 316 is fixedly connected to the inner walls of both sides of the two fall arrest frames 305. An air pump body 301 is fixedly connected to the base frame of the grabbing frame, and the input end of the air pump body 301 is fixedly connected to... It has an air inlet pipe 309 and two connecting pipes 310. The output end of the air pump body 301 is fixedly connected to an exhaust pipe 307 and two delivery pipes 306. The output ends of the two delivery pipes 306 are respectively fixedly connected to the top of two telescopic airbags 314. The outer walls of the air inlet pipe 309, exhaust pipe 307, two delivery pipes 306 and two connecting pipes 310 are all equipped with control valves 308. The input ends of the two connecting pipes 310 are fixedly connected to negative pressure chambers 312. The outer walls on both sides of the two negative pressure chambers 312 are fixedly connected to negative pressure pipes 311. The input ends of the four negative pressure pipes 311 are respectively fixedly connected to the output ends of four negative pressure bases 16.

[0035] Specifically, during use, the air pump body 301 operates and opens the control valves 308 on the exhaust pipe 307 and the two connecting pipes 310, allowing the air pump body 301 to discharge the gas inside the two negative pressure chambers 312 through the connecting pipes 310, thus creating a negative pressure state inside the negative pressure chambers 312. This, in conjunction with the negative pressure pipe 311, creates a negative pressure state inside the negative pressure base 16 (to facilitate subsequent material gripping). After gripping the material, the tilting motor operates, driving the mounting shaft 313 and the tilting frame 302 to rotate, causing the anti-fall support block 318 to move to one side of the material. At this point, the anti-fall support block 318 is in contact with one side of the material, causing the torsion spring 316 to twist. Afterward, the air pump body 301 operates again. Simultaneously, 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 delivers gas through the conveying pipe 306 to the inside of the telescopic airbag 314, and inflates the telescopic airbag 314, thereby causing the return spring 320 to be opened, so that the guide rod 319 drives the anti-fall support block 318 to descend until the anti-fall support block 318 moves to the bottom position of the material. At this time, the torsion spring 316 returns to its original state and drives the anti-fall support block 318 to unfold. Then the air pump body 301 is closed, so that the return spring 320 returns to its original state and drives the anti-fall frame 305 and the anti-fall support block 318 to rise, so as to provide upward support force for the bottom of the material.

[0036] In specific application scenarios, the anti-fall module 3 for loading and unloading is suitable for the loading and unloading operation of robotic arms. When in use, the anti-fall module 3 can provide support for the bottom of the material, thereby reducing the load on the robotic arm during loading and unloading operations. This prevents the material from detaching from the robotic arm during loading and unloading operations with long paths, thereby reducing potential hazards during device use and improving the safety and operational stability of the device. Furthermore, during loading and unloading operations, the device can provide support for the bottom of materials of different sizes, increasing the applicability of the device and further enhancing its effectiveness.

[0037] Reference Figure 2 , Figure 3 , Figure 4 , Figure 8 and Figure 9In a preferred embodiment, the pneumatic gripping module 8 further includes four connecting brackets 801, each fixedly connected to a servo motor 802. The output shafts of the four servo motors 802 are all connected to drive gears 803 via couplings. Each of the four negative pressure bases 16 has a gripping shell 804 fixedly connected to it. Four soft shells 805 are respectively disposed on the inner walls of the four gripping shells 804. Each of the four soft shells 805 has multiple suction cups 806. The four negative pressure bases 16... Each of the four rotating inner shells 810 is movably connected to a rotating inner shell 810. The four rotating inner shells 810 are located inside the four gripping outer shells 804 respectively, and the outer walls of the four rotating inner shells 810 are fixedly connected to gear rings 809. The four gear rings 809 mesh with the four drive gears 803 respectively. Each of the four rotating inner shells 810 is fixedly connected to an elastic inner shell 808. The outer walls of the four elastic inner shells 808 are provided with multiple air vents 807. The outer walls of the four elastic inner shells 808 are in contact with the inner walls of the four soft outer shells 805 respectively.

[0038] Specifically, during the gripping process, the device descends, causing the soft outer shell 805 and its inner elastic shell 808 to deform. This deformation of the soft outer shell 805 and the inner elastic shell 808 moves the suction cup 806, changing its posture and position until the suction cup 806 adheres to the material. Then, as the negative pressure base 16 gradually becomes negatively pressured, the servo motor 802 is activated, driving the drive gear 803 to rotate. Since the drive gear 803 meshes with the gear ring 809, it drives the gear ring 809 and the rotating inner shell 810 to rotate. This causes the rotating inner shell 810 to rotate the elastic inner shell 808, thereby causing the air vent 807 on the elastic inner shell 808 to deviate from the position of the suction cup 806, thus achieving gripping and fixation.

[0039] In specific application scenarios, the pneumatic gripping module 8 is suitable for the gripping process of a robotic arm. That is, when the pneumatic gripping module 8 is used, it is used to pneumatically grip and fix materials for loading and unloading operations. During gripping, the suction cup component 806 can change its posture and position through the cooperation of the soft outer shell 805 and the elastic inner shell 808, so that the suction cup component 806 can better adhere to the material surface during gripping, thereby increasing the stability of the device during gripping and fixing. Furthermore, by changing the posture and position of the suction cup component 806, it can adapt to materials with relatively uneven surfaces, increasing the applicability of the device and further improving the effectiveness of the device.

[0040] Reference Figure 1 , Figure 2 , Figure 3 and Figure 10In a preferred embodiment, the mechanical support 1 is provided with two X-axis guide rails 2, each of which is equipped with an X-axis electric actuator 4. The output ends of the two X-axis electric actuators 4 are fixedly connected to 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 bracket 11 is movably connected to the Z-axis guide rail 9. Y-axis electric actuators 5 and Z-axis electric actuators 10 are respectively provided on the Y-axis guide rail 6 and the Z-axis guide rail 9. The output ends of the Y-axis electric actuators 5 and Z-axis electric actuators 10 are respectively fixedly connected to one side outer wall of the Z-axis guide rail 9 and the top of the Z-axis bracket 11. An axis limiting buffer module 7 is provided on the two X-axis guide rails 2, the Y-axis guide rail 6, and the Z-axis guide rail 9. The axis limiting buffer module 7 includes four buffer brackets 701. The buffer brackets 701 are respectively mounted on two X-axis guide rails 2, Y-axis guide rails 6 and Z-axis guide rails 9. Each of the four buffer brackets 701 has two fixing holes. The inner walls of the multiple fixing holes are fixedly connected to buffer sleeves 702. The outer walls of the multiple buffer sleeves 702 have three movable openings 705. The inner walls of the three movable openings 705 on the same buffer sleeve 702 are movably connected to the same resistance plate 704. The outer walls of one side of the multiple resistance plates 704 are fixedly connected to buffer spring rods 703. One end of the multiple buffer spring rods 703 is fixedly connected to the inner wall of one side of the multiple buffer sleeves 702. The outer walls of the other side of every two adjacent resistance plates 704 are fixedly connected to the same buffer connecting rod 707. The outer walls of the four buffer connecting rods 707 are provided with elastic elements 706.

[0041] Specifically, during operation, the movement of the X-axis electric actuator 4, Y-axis electric actuator 5, and Z-axis electric actuator 10 enables the device to move along the X, Y, and Z axes. When the device moves to the ends of the X-axis guide rail 2, Y-axis guide rail 6, and Z-axis guide rail 9, it will contact the elastic element 706. At this time, the contact force will be transmitted to the buffer connecting rod 707, and then to the resistance plate 704 and the buffer spring rod 703 for buffering. Afterward, the buffer spring rod 703 returns to its original position, causing the resistance plate 704 to move 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 decelerates when it moves to the ends of the X-axis guide rail 2, Y-axis guide rail 6, and Z-axis guide rail 9 (avoiding damage to the guide rails due to excessive contact).

[0042] In specific application scenarios, the axis limit buffer module 7 is suitable for multi-axis movement operation. That is, the axis limit buffer module 7 can limit and buffer the device when it moves in multiple axes. When the device moves to the end of the guide rail, it can buffer the device, thereby preventing it from adjusting too much and making excessive contact with the edge of the guide rail during movement. This avoids damage to the guide rail caused by excessive contact, thereby increasing the performance and service life of the device during operation.

[0043] Working principle: During operation, the movement of the X-axis electric actuator 4, Y-axis electric actuator 5, and Z-axis electric actuator 10 enables the device to move along the X, Y, and Z axes. When the device moves to the end of the X-axis guide rail 2, Y-axis guide rail 6, and Z-axis guide rail 9, it will contact the elastic element 706. At this time, the contact force will be transmitted to the buffer connecting rod 707, and then to the resistance plate 704 and the buffer spring rod 703 for buffering. After that, the buffer spring rod 703 returns to its original position, causing the resistance plate 704 to move 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 decelerates when it moves to the end of the X-axis guide rail 2, Y-axis guide rail 6, and Z-axis guide rail 9.

[0044] When in use, the air pump body 301 operates and opens the control valves 308 on the exhaust pipe 307 and the two connecting pipes 310, so that the air pump body 301 discharges the gas inside the two negative pressure chambers 312 through the connecting pipes 310, so that the inside of the negative pressure chambers 312 is in a negative pressure state, which in turn works with the negative pressure pipe 311 to make the inside of the negative pressure base 16 in a negative pressure state.

[0045] During the gripping process, the device descends, causing the soft outer shell 805 and its inner elastic shell 808 to deform. This deformation of the soft outer shell 805 and the inner elastic shell 808 moves the suction cup 806, changing its posture and position until the suction cup 806 adheres to the material. Subsequently, as the negative pressure base 16 gradually becomes negatively pressured, the servo motor 802 is activated, driving the drive gear 803 to rotate. Since the drive gear 803 meshes with the gear ring 809, it drives the gear ring 809 and the rotating inner shell 810 to rotate. This causes the rotating inner shell 810 to drive the elastic inner shell 808 to rotate, thereby causing the air vent 807 on the elastic inner shell 808 to deviate from the position of the suction cup 806 for gripping and fixing.

[0046] After the material is grasped, the tilting motor operates, driving the mounting shaft 313 and the tilting frame 302 to rotate, causing the anti-fall support block 318 to move to one side of the material. At this time, the anti-fall support block 318 is in contact with one side of the material, causing the torsion spring 316 to twist. Then, the air pump body 301 operates again, simultaneously opening the control valves 308 on the air inlet pipe 309 and the two conveying pipes 306, and closing the control valves 308 on the exhaust pipe 307 and the two connecting pipes 310, allowing the air pump body 301 to pump air through... The material is conveyed through the conveying pipe 306 to the inside of the telescopic airbag 314, which inflates the telescopic airbag 314. This causes the return spring 320 to open, which in turn causes the guide rod 319 to drive the anti-fall support block 318 to descend until the anti-fall support block 318 moves to the bottom of the material. At this time, the torsion spring 316 returns to its original position and drives the anti-fall support block 318 to unfold. Then, the air pump body 301 is turned off, which causes the return spring 320 to return to its original position and drives the anti-fall frame 305 and the anti-fall support block 318 to rise, so as to provide upward support force to the bottom of the material.

[0047] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

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 members are arranged on the connecting plate frame (12), and the bottom ends of the four connecting rod members 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). 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); 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) on the same side are provided with a same cushion strip (304), the outer walls of the two anti-falling frames (305) are fixedly connected with limiting plate members (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 members (317); fixed ports are formed in the two overturning frames (302) and the two anti-falling frames (305), the inner walls of the two fixed ports on the same side are provided with a same stretchable air bag (314), the outer parts of the two stretchable 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 members (316), one ends of the four torsional spring members (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 members (316) are fixedly connected with the inner walls of the two sides of the two anti-falling frames (305) respectively.

2. The multi-axis up and down feeder robot according to claim 1, wherein, The grabbing base frame (13) is fixedly connected with an air pump body (301), the input end of the air pump body (301) is fixedly connected with an air inlet pipe (309) and two connecting pipes (310), the output end of the air pump body (301) is fixedly connected with an air outlet pipe (307) and two conveying pipes (306), the output ends of the two conveying pipes (306) are fixedly connected with the top ends of two telescopic air bags (314) respectively, the outer walls of the air inlet pipe (309), the air outlet pipe (307), the two conveying pipes (306) and the two connecting pipes (310) are all provided with control valves (308), the input ends of the two connecting pipes (310) are fixedly connected with negative pressure bins (312), the outer walls of the two sides of the two negative pressure bins (312) are fixedly connected with negative pressure pipes (311), the input ends of the four negative pressure pipes (311) are fixedly connected with the output ends of the four negative pressure bases (16) respectively.

3. The multi-axis upender and feeder robot of claim 1, wherein, The pneumatic grabbing module (8) further comprises four connecting supports (801), the four connecting supports (801) are all fixedly connected with servo motors (802), the output shafts of the four servo motors (802) are all connected with drive gears (803) through couplings, and the four negative pressure bases (16) are all fixedly connected with grabbing shells (804), four soft shells (805) are arranged on the inner walls of the four grabbing shells (804), and the four soft shells (805) are all provided with a plurality of suction disc pieces (806).

4. The multi-axis upender and feeder robot of claim 3, wherein, The four negative pressure bases (16) are all movably connected with rotating inner shells (810), the four rotating inner shells (810) are located in the interiors of the four grabbing shells (804), the outer walls of the four rotating inner shells (810) are all fixedly connected with gear rings (809), the four gear rings (809) are all engaged with the four drive gears (803) respectively, the four rotating inner shells (810) are all fixedly connected with elastic inner shells (808), a plurality of air through holes (807) are arranged on the outer walls of the four elastic inner shells (808), and the outer walls of the four elastic inner shells (808) are all in contact with the inner walls of the four soft shells (805) respectively.

5. The multi-axis upender and feeder robot of claim 1, wherein, The mechanical support (1) is provided with two X-axis guide rails (2), the two X-axis guide rails (2) are all provided with X-axis electric push rods (4), 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), the Y-axis guide rail (6) is movably connected with a Z-axis guide rail (9), a Z-axis support (11) is movably connected to the Z-axis guide rail (9), and the Y-axis guide rail (6) and the Z-axis guide rail (9) are respectively provided with Y-axis electric push rods (5) and Z-axis electric push rods (10), and the output ends of the Y-axis electric push rods (5) and the Z-axis electric push rods (10) are fixedly connected to the outer wall on one side of the Z-axis guide rail (9) and the top of the Z-axis support (11) respectively.

6. The multi-axis upender and feeder robot of claim 5, 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).

7. The multi-axis upender and feeder robot of claim 6, 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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