A pneumatic feeding robot

Abstract

This invention discloses a pneumatic feeding robot, belonging to the field of stamping automation equipment. The invention includes a frame, a cantilever rotation mechanism, a swing arm mechanism, a posture adjustment mechanism, a suction frame, a suction cup assembly, and a vacuum system. The suction cup assembly includes a suction cup body and a connecting seat connecting the suction cup body and the suction frame. The connecting seat includes a ball joint, a ball socket, and a lateral adjustment mechanism. The ball joint and the ball socket form a ball joint structure, allowing the suction cup body to swing omnidirectionally, adapting to the surface inclination of the pressure ring plane of the drawn sheet. The lateral adjustment mechanism gives the suction cup body lateral movement freedom in a direction parallel to the pressure ring plane, compensating for positioning errors between the suction frame and the drawn sheet. This invention, through the ball joint structure and the lateral adjustment mechanism, achieves dual self-adaptation of the suction cup to the inclination of the pressure ring plane and system positioning errors, reducing the equipment's requirements for positioning accuracy, achieving reliable adsorption of non-planar drawn sheets at a lower cost, and improving feeding efficiency and safety.

Description

Technical Field

[0001] This invention relates to the field of stamping automation equipment technology, and in particular to a pneumatic feeding robot. Background Technology

[0002] On automotive stamping production lines, the loading process for large body panels such as car doors typically involves conveying drawn sheet metal from the waiting area to the stamping press table. The drawn sheet metal is a semi-finished product processed through the first drawing step; its cross-section is a continuous trapezoidal shape, specifically including the flat surface of the blank holder for adsorption, the sloping area as a supplementary process, and the central product feature area. Due to the large size, thin thickness, and non-planar structure of the drawn sheet metal, its loading presents numerous technical challenges.

[0003] Currently, existing technologies mainly employ the following feeding methods: First, multi-axis industrial robots are used. While this method offers high precision and automation, it is expensive, occupies a large floor space, and requires professional technicians for maintenance. Second, traditional pneumatic balancing cranes are used. This method is less expensive, but it can only achieve vertical force balance and cannot actively adjust the suction cup frame's posture. When the cantilever swings, the suction cup frame is prone to tilting, causing the suction cup to fail to fully adhere to the pressure ring plane. Third, completely manual feeding is used. This method poses safety hazards, is inefficient, and its positioning accuracy is difficult to guarantee. Furthermore, existing feeding equipment does not consider the potential slight tilting of the pressure ring plane on the drawn sheet metal, nor the problem of accumulated errors from multiple sources causing the suction cup to fail to accurately align with the pressure ring plane. This results in poor adsorption reliability, making suction cup leakage or adsorption failure more likely, affecting production cycle time and product quality. Summary of the Invention

[0004] This invention provides a pneumatic feeding robot, which aims to solve the problems of high equipment cost, large space occupation, inability to adapt to the inclination of the pressure ring plane and positioning error, and poor adsorption reliability in the prior art when feeding drawn sheet metal.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] A pneumatic loading robot includes a frame; a cantilever rotation mechanism mounted on the frame and capable of rotating about a vertical axis; a swing arm mechanism connected to the cantilever rotation mechanism, including a swing arm capable of swinging up and down; a posture adjustment mechanism connected to the end of the swing arm for adjusting the posture of an adsorption frame; an adsorption frame connected to the posture adjustment mechanism, including a frame body and multiple suction cup assemblies disposed on the frame body; a vacuum system connected to the multiple suction cup assemblies via an air passage for providing negative pressure; each suction cup assembly includes a suction cup body and a connecting seat connecting the suction cup body and the frame body; the connecting seat includes: a ball-end rod, one end of which is connected to the suction cup body and the other end is ball-end shaped; a ball socket seat accommodating the ball end of the ball-end rod, allowing the suction cup body to swing omnidirectionally relative to the frame body to adapt to the surface inclination of the pressure ring plane of the drawn sheet; and a lateral adjustment mechanism connected between the ball socket seat and the frame body, allowing the suction cup body to have lateral movement freedom in a direction parallel to the pressure ring plane to compensate for positioning errors between the adsorption frame and the drawn sheet.

[0007] Furthermore, the ball socket is provided with an elastic damping element, which contacts the ball head surface of the ball head rod to provide rotational damping.

[0008] Furthermore, the lateral adjustment mechanism is a passive floating structure, comprising: a slider, fixedly connected to the ball socket; a guide rail, fixedly mounted on the frame, with the slider slidably engaged on the guide rail; and a return spring, disposed between the ends of the slider and the guide rail, for holding the slider in a centered position.

[0009] Furthermore, the lateral adjustment mechanism is an active drive structure, comprising: a linear drive module, fixedly installed on the frame, with its output end connected to the ball socket; a position sensor, installed on the suction frame, used to detect the position of the pressure ring plane; and a controller, electrically connected to the linear drive module and the position sensor respectively, controlling the linear drive module to drive the suction cup body to move to the target position according to the detection signal of the position sensor.

[0010] Furthermore, the attitude adjustment mechanism includes: a second support rod, the upper end of which is hinged to the end of the swing arm, and the lower end of which is fixedly connected to the adsorption frame; a leveling cylinder, the cylinder body end of which is hinged to the swing arm, and the piston rod end of which is hinged to the second support rod; the extension and retraction of the leveling cylinder can drive the second support rod to swing around its upper hinge point, thereby adjusting the attitude of the adsorption frame.

[0011] Furthermore, the swing arm mechanism further includes: a frame structure connected to the cantilever rotation mechanism and rotatable about a vertical axis, the frame structure being hinged to the swing arm; and a swing cylinder, the cylinder body being hinged to the frame structure and the piston rod being hinged to the swing arm, for driving the swing arm to swing up and down.

[0012] Furthermore, the frame of the adsorption frame includes: a main beam connected to the posture adjustment mechanism; multiple secondary beams, which are arranged perpendicular to the main beam and fixedly connected to it to form a comb-like or grid-like structure; and the multiple suction cup assemblies are distributed on the multiple secondary beams.

[0013] Furthermore, the vacuum system includes: a vacuum pump mounted on the frame; a main air pipe arranged along the cantilever rotation mechanism and the swing arm mechanism; a manifold mounted on the adsorption frame and connected to the main air pipe for splitting the air path; multiple branch air pipes respectively connecting the manifold to each suction cup assembly; and each branch air pipe is equipped with an independent control valve.

[0014] Furthermore, the ball head of the suction cup assembly has a through air channel inside, which is connected to the vacuum system via a flexible hose.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0016] Adaptive pressure ring plane tilt: The ball joint structure formed by the ball head rod and the ball socket allows the suction cup body to swing in all directions, automatically adapting to the slight tilt of the pressure ring plane, ensuring that the suction cup lip is fully attached, and improving sealing performance and adsorption reliability.

[0017] Compensation system positioning error: Through the lateral adjustment mechanism, whether it is a passive floating type or an active drive type, it can effectively compensate for the positional deviation between the suction cup and the pressure ring plane caused by the accumulation of multi-source errors, reduce the positioning accuracy requirements of the equipment, and simplify the control system.

[0018] Balance between cost and performance: Compared with expensive multi-axis robots, this invention uses a combination of conventional components such as cantilever rotation, swing arm, and cylinder, combined with an innovative adaptive suction cup structure, to achieve reliable feeding of drawn sheet metal at a lower cost, while not occupying floor space.

[0019] The graded compensation mechanism: the leveling cylinder performs coarse adjustment of the adsorption frame, and the ball joint structure performs fine adjustment of the suction cup. The two work together to improve the accuracy and reliability of attitude adjustment.

[0020] High fault tolerance: By setting independent control valves, each suction cup can be controlled to turn on and off independently. When an individual suction cup fails due to workpiece defects, it will not affect the normal operation of other suction cups, thus improving the stability of the system.

[0021] The pneumatic feeding robot of the present invention will be further described below with reference to the accompanying drawings. Attached Figure Description

[0022] Figure 1 This is a front view of a pneumatic loading robot.

[0023] Figure 2 yes Figure 1 The figure shown is an isometric view of a pneumatic loading robot.

[0024] Figure 3 yes Figure 2 A magnified view of a section at point A in the middle;

[0025] Figure 4 yes Figure 1 Side view;

[0026] Figure 5 yes Figure 2 A magnified view of a section at point B in the middle;

[0027] Figure 6 yes Figure 1 A magnified view of a section at point C;

[0028] Figure 7 This is a schematic diagram of the adsorption frame.

[0029] In the diagram:

[0030] 1. Rack;

[0031] 2. Cantilever rotation mechanism; 21. Motor; 22. Cantilever beam;

[0032] 3. Swing arm mechanism; 31. Swing arm; 32. Frame structure; 34. Swing cylinder;

[0033] 4. Attitude adjustment mechanism; 41. Second support rod; 42. Leveling cylinder;

[0034] 5. Adsorption frame; 51. Frame body; 511. Main beam; 512. Secondary beam;

[0035] 6. Suction cup assembly; 61. Suction cup body; 62. Ball head; 63. Ball socket; 631. Elastic damping component;

[0036] 64. Lateral adjustment mechanism; 641. Slider; 642. Guide rail; 643. Return spring; 65. Linear drive module; 66. Position sensor;

[0037] 7. Vacuum system; 71. Vacuum pump; 72. Main gas pipe; 73. Manifold; 74. Branch pipe; 75. Independent control valve;

[0038] 8. Controller;

[0039] 100. Draw sheet; 101. Flat surface of the pressure ring; 102. Sloping area. Detailed Implementation

[0040] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0041] Example 1

[0042] like Figures 1 to 7 As shown in the attached figure (for illustration only), this embodiment provides a pneumatic loading robot, including a frame 1, a cantilever rotation mechanism 2, a swing arm mechanism 3, a posture adjustment mechanism 4, an adsorption frame 5, multiple suction cup assemblies 6, and a vacuum system 7.

[0043] The frame 1 is a welded metal structure, which is fixedly installed on the wall or column of the workshop as the supporting foundation for the entire equipment.

[0044] The cantilever rotation mechanism 2 is mounted on the frame 1 and includes a motor 21 and a cantilever beam 22. The motor 21 is fixed to the frame 1, and its output shaft is vertically upward and fixedly connected to one end of the cantilever beam 22. The motor 21 drives the cantilever beam 22 to rotate around the vertical axis, realizing the horizontal transfer of the adsorption frame 5 between the waiting area and the press worktable.

[0045] The swing arm mechanism 3 is connected to the cantilever rotation mechanism 2. In this embodiment, the swing arm mechanism 3 includes a frame structure 32, a swing arm 31, and a swing cylinder 34. The frame structure 32 is rotatably connected to the end of the cantilever beam 22 via a bushing and can rotate around a vertical axis. This rotation can be achieved by manual traction for coarse adjustment of the orientation of the adsorption frame 5. The upper end of the swing arm 31 is hinged to the frame structure 32, and the lower end is connected to the attitude adjustment mechanism 4. The cylinder end of the swing cylinder 34 is hinged to the frame structure 32, and the piston rod end is hinged to the swing arm 31. The extension and retraction of the swing cylinder 34 drives the swing arm 31 to swing up and down around its hinge point with the frame structure 32, thereby achieving a large-scale lifting and lowering of the adsorption frame 5.

[0046] The attitude adjustment mechanism 4 is connected to the end of the swing arm mechanism 3 and is used to adjust the attitude of the adsorption frame 5. The attitude adjustment mechanism 4 includes a second support rod 41 and a leveling cylinder 42. The upper end of the second support rod 41 is hinged to the end of the swing arm 31, and the lower end is fixedly connected to the adsorption frame 5. The cylinder body end of the leveling cylinder 42 is hinged to the swing arm 31, and the piston rod end is hinged to the second support rod 41. When the swing arm 31 swings, causing the attitude of the adsorption frame 5 to change, the leveling cylinder 42 actively extends and retracts, driving the second support rod 41 to swing around its upper hinge point, thereby adjusting the attitude of the adsorption frame 5 so that it is approximately parallel to the pressure ring plane 101 of the drawn sheet 100 before contacting the sheet material.

[0047] The adsorption frame 5 is fixedly connected to the second support rod 41 of the attitude adjustment mechanism 4. The adsorption frame 5 includes a frame body 51, which is composed of a main beam 511 and multiple secondary beams 512. The main beam 511 is a round steel pipe and is connected to the second support rod 41. The multiple secondary beams 512 are also round steel pipes, which are set perpendicular to the main beam 511 and welded to it or fixed by clamps to form a comb-like or grid-like structure. This comb-like or grid-like structure allows the suction cup assembly 6 to avoid the sloping area 102 of the drawn sheet 100 and only be distributed in the area corresponding to the pressure ring plane 101, improving the targeting of the adsorption.

[0048] Multiple suction cup assemblies 6 are distributed on multiple sub-beams 512. Each suction cup assembly 6 includes a suction cup body 61 and a connecting seat connecting the suction cup body 61 to the sub-beam 512. The connecting seat includes a ball joint 62, a ball socket 63, and a lateral adjustment mechanism 64.

[0049] One end of the ball-end rod 62 is threadedly connected to the suction cup body 61, and the other end is ball-shaped. A ball socket 63 accommodates the ball end of the ball-end rod 62, allowing the ball-end rod 62 to rotate freely within it, and permitting the suction cup body 61 to oscillate within a range of ±8°. The ball socket 63 also contains an elastic damping element 631, specifically a rubber O-ring, which contacts the ball-end surface of the ball-end rod 62, providing appropriate rotational damping to prevent the suction cup body 61 from wobbling during transport.

[0050] In this embodiment, the lateral adjustment mechanism 64 is a passive floating structure. It includes a slider 641, a guide rail 642, and a return spring 643. The guide rail 642 is fixedly mounted on the sub-beam 512, the slider 641 is slidably fitted on the guide rail 642, and the slider 641 is fixedly connected to the ball socket seat 63. The return spring 643 is a compression spring, disposed between the ends of the slider 641 and the guide rail 642, holding the slider 641 in a centered position. This structure allows the suction cup body 61 to have approximately ±30mm of lateral movement freedom in a direction parallel to the pressure ring plane 101.

[0051] The vacuum system 7 includes a vacuum pump 71, a main air pipe 72, a manifold 73, multiple branch air pipes 74, and independent control valves 75. The vacuum pump 71 is mounted on the frame 1 and generates negative pressure. The main air pipe 72 is arranged along the cantilever beam 22, the frame structure 32, and the swing arm 31, transmitting the negative pressure from the vacuum pump 71 to the vicinity of the adsorption frame 5. The manifold 73 is mounted on the main beam 511 and connected to the main air pipe 72, used to split one air source into multiple paths. The multiple branch air pipes 74 are respectively connected to the manifold 73 and the internal air passages of the ball joint 62 of each suction cup assembly 6. Each branch air pipe 74 is equipped with an independent control valve 75, used to individually control the on / off state of the corresponding suction cup body 61.

[0052] Work process:

[0053] In the initial state, the swing cylinder 34 is in the retracted state, the swing arm 31 is raised, and the adsorption frame 5 is in a high position. The motor 21 drives the cantilever beam 22 to rotate, moving the adsorption frame 5 above the drawn sheet 100 in the waiting area.

[0054] The swing cylinder 34 extends, driving the swing arm 31 to swing downwards, causing the entire adsorption frame 5 to descend. During the descent, the arc trajectory of the swing arm 31 will cause a certain change in the posture of the adsorption frame 5. To address this, the leveling cylinder 42 adjusts in real time according to a preset program or the swing angle of the swing arm 31, ensuring that the adsorption frame 5 is approximately parallel to the pressure ring plane 101 before contacting the sheet metal. The ball joint structure (ball head rod 62 + ball socket 63) of the suction cup assembly 6 provides the final minor tilt compensation, ensuring that the suction cup lip is fully engaged.

[0055] When the suction cup body 61 contacts the workpiece, if it falls on the ramp area 102, the workpiece generates a lateral reaction force on the suction cup body 61. This lateral reaction force overcomes the elastic force of the return spring 643, pushing the slider 641 to slide along the guide rail 642, causing the suction cup body 61 to automatically slide into the area of ​​the pressure ring plane 101. At the same time, if the pressure ring plane 101 has a slight tilt (such as ±3°), the ball head rod 62 automatically rotates within the ball socket 63, causing the lip of the suction cup body 61 to fully conform to the plane. The elastic damping element 631 provides appropriate damping to prevent the suction cup from shaking excessively.

[0056] Once all suction cup bodies 61 are in position, the vacuum pump 71 starts, and negative pressure is transmitted to each suction cup body 61 through the main air pipe 72, the manifold 73, and the branch air pipe 74, firmly adsorbing the drawn sheet 100. If a suction cup cannot establish an effective vacuum due to local defects in the workpiece, its corresponding independent control valve 75 can be closed without affecting the operation of other suction cups.

[0057] After adsorption is complete, the swing cylinder 34 retracts, driving the swing arm 31 to swing upward and lift the drawn sheet 100. The motor 21 drives the cantilever beam 22 to rotate, transferring the sheet above the press worktable. The swing cylinder 34 extends again, placing the sheet on the press die. The independent control valve 75 switches, allowing compressed air to backflush, causing the suction cup body 61 to release the sheet.

[0058] This invention utilizes a ball joint structure formed by the ball joint rod 62 and the ball socket seat 63 to achieve passive self-adaptation of the suction cup body 61 to the slight tilt of the pressure ring plane 101, ensuring complete contact of the suction cup lip and improving sealing and adsorption reliability. A passive floating lateral adjustment mechanism 64, composed of a slider 641, guide rail 642, and return spring 643, automatically compensates for system positioning errors, reducing the equipment's requirements for positioning accuracy and enabling reliable adsorption without a complex vision positioning system. The leveling cylinder 42 performs coarse adjustment of the adsorption frame 5, while the ball joint structure performs fine adjustment; these two components form a graded compensation, improving the accuracy of posture adjustment. All of the above structures are purely mechanical passive self-adaptive, low-cost, fast-responding, and easy to maintain, making them particularly suitable for semi-automatic or low-cost automated scenarios.

[0059] As a further explanation of this embodiment, those skilled in the art can add conventional safety protection mechanisms according to actual needs. For example, a swingable anti-fall hook can be installed on the suction frame 5. When the suction cup successfully adsorbs the material, the anti-fall hook swings under the action of a driving component (such as a small cylinder) to below the drawn sheet 100, hooking the edge of the sheet or a process hole, providing mechanical anti-fall protection in the event of an unexpected failure of the vacuum system. Such anti-fall design is a conventional safety measure in the art and can be selected and configured according to actual safety level requirements.

[0060] Example 2

[0061] The difference between this embodiment and Embodiment 1 lies in the structure of the lateral adjustment mechanism 64.

[0062] In this embodiment, the lateral adjustment mechanism 64 is an actively driven structure. It includes a linear drive module 65, a position sensor 66, and a controller 8. The linear drive module 65 is a miniature electric cylinder, fixedly mounted on the secondary beam 512, and its output end is connected to the ball socket 63, which can drive the suction cup body 61 to move precisely within a range of ±30mm. The position sensor 66 is a laser displacement sensor, mounted on the main beam 511 or the secondary beam 512, which scans the drawn sheet 100 before the suction frame 5 descends to obtain the actual position coordinates of the pressure ring plane 101. The controller 8 is a PLC, which is electrically connected to the linear drive module 65 and the position sensor 66 respectively.

[0063] Working process: Before the suction frame 5 descends, the position sensor 66 scans the drawn sheet 100, obtains the position information of the pressure ring plane 101, and sends it to the controller 8. The controller 8 compares the preset initial position of the suction cups with the detected position of the pressure ring plane 101, calculates the target movement amount of each suction cup body 61, and controls the linear drive module 65 to drive the suction cup body 61 to move precisely above the pressure ring plane 101. Subsequently, the suction frame 5 descends, the suction cup body 61 contacts the pressure ring plane 101, and the ball joint structure adaptively fits the inclined surface to complete the suction.

[0064] This invention, through active lateral adjustment, can handle a wider range of positioning errors (such as sheet placement deviations of ±50mm) and has a fast response speed, making it suitable for high-speed production cycles. Combined with feedback from position sensor 66, it achieves fully automatic positioning compensation, further reducing manual intervention.

[0065] Example 3

[0066] This embodiment further optimizes the flexibility of the gas path system based on the above embodiments.

[0067] Each suction cup assembly 6 has a through-hole air passage inside its ball joint 62, which is connected to the bronchus 74 via a flexible hose. The flexible hose has sufficient length and flexibility to accommodate the swinging and movement of the suction cup body 61 under the action of the ball joint structure and the lateral adjustment mechanism, thus avoiding air passage interference or breakage.

[0068] This invention, through the use of flexible hoses, ensures the continuity and reliability of the air path during the suction cup movement, extends the service life of the pipeline, and simplifies installation and maintenance.

[0069] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A pneumatic feeding robot, characterized in that, include: Rack (1); The cantilever rotation mechanism (2) is mounted on the frame (1) and is capable of rotating around a vertical axis; The swing arm mechanism (3) is connected to the cantilever rotation mechanism (2) and includes a swing arm (31) that can swing up and down. An attitude adjustment mechanism (4) is connected to the end of the swing arm (31) and is used to adjust the attitude of the adsorption frame (5); The suction frame (5), connected to the posture adjustment mechanism (4), includes a frame (51) and multiple suction cup assemblies (6) disposed on the frame (51). The frame (51) includes: a main beam (511), connected to the posture adjustment mechanism (4); and multiple secondary beams (512), which are perpendicular to the main beam (511) and fixedly connected to it to form a comb-like or grid-like structure. The multiple suction cup assemblies (6) are distributed on the multiple secondary beams (512). A vacuum system (7) is connected to the air passage of the plurality of suction cup assemblies (6) to provide negative pressure; The suction cup assembly (6) includes a suction cup body (61) and a connecting seat connecting the suction cup body (61) and the frame (51); The connecting seat includes: a ball head rod (62), one end of which is connected to the suction cup body (61), and the other end is ball-shaped; a ball socket seat (63), which accommodates the ball head end of the ball head rod (62), allowing the suction cup body (61) to swing omnidirectionally relative to the frame (51) to adapt to the surface tilt of the pressure ring plane (101) of the drawn sheet (100); and a lateral adjustment mechanism (64), which is connected between the ball socket seat (63) and the frame (51). The lateral adjustment mechanism (64) is a passive floating structure, comprising: a slider (641) fixedly connected to the ball socket (63); a guide rail (642) fixedly installed on the frame (51), wherein the slider (641) is slidably engaged on the guide rail (642); and a return spring (643) disposed between the ends of the slider (641) and the guide rail (642) for holding the slider (641) in a centered position. The passive floating lateral adjustment mechanism (64) gives the suction cup body (61) a lateral movement degree of freedom in the direction parallel to the pressure ring plane (101). When the suction cup body (61) falls on the slope area (102) of the drawn sheet (100), the lateral reaction force generated by the workpiece on the suction cup body (61) drives the lateral adjustment mechanism (64) to make the suction cup body (61) automatically slide into the pressure ring plane (101) area to compensate for the positioning error between the adsorption frame (5) and the drawn sheet (100).

2. The pneumatic loading robot according to claim 1, characterized in that, The ball socket (63) is provided with an elastic damping element (631), which contacts the ball head surface of the ball head rod (62) to provide rotational damping.

3. The pneumatic feeding robot according to claim 1, characterized in that, The attitude adjustment mechanism (4) includes: The second support rod (41) is hinged at the upper end to the end of the swing arm (31) and fixedly connected at the lower end to the adsorption frame (5); The leveling cylinder (42) has its cylinder body end hinged to the swing arm (31) and its piston rod end hinged to the second support rod (41). The extension and retraction of the leveling cylinder (42) can drive the second support rod (41) to swing around its upper hinge point, thereby adjusting the posture of the adsorption frame (5).

4. A pneumatic feeding robot according to claim 3, characterized in that, The swing arm mechanism (3) also includes: The frame structure (32) is connected to the cantilever rotation mechanism (2) and can rotate about the vertical axis. The frame structure (32) is hinged to the swing arm (31); The swing cylinder (34) has its cylinder body hinged to the frame structure (32) and its piston rod hinged to the swing arm (31), and is used to drive the swing arm (31) to swing up and down.

5. A pneumatic feeding robot according to claim 1, characterized in that, The vacuum system (7) includes: A vacuum pump (71) is mounted on a frame (1); The main air pipe (72) is arranged along the cantilever rotation mechanism (2) and the swing arm mechanism (3); The manifold (73) is installed on the adsorption frame (5) and connected to the main air pipe (72) to split the air path; Multiple bronchial tubes (74) are respectively connected to the manifold (73) and each suction cup assembly (6); Each of the said bronchus (74) is provided with an independent control valve (75).

6. A pneumatic feeding robot according to claim 1, characterized in that, The ball head rod (62) of the suction cup assembly (6) has a through air channel inside, which is connected to the vacuum system (7) through a flexible hose.

Images