Manipulator, stock bin feeding and discharging system and laser drilling machine

Abstract

The utility model belongs to the technical field of manipulators, and particularly relates to a manipulator, a stock bin feeding and discharging system and a laser drilling machine. The manipulator comprises a mounting frame, a first driving part, an avoiding part and a plurality of suction cup assemblies, the output end of the first driving part is connected with the mounting frame, the avoiding part and the suction cup assemblies are arranged on the mounting frame, the first driving part can drive the suction cup assemblies to be close to or away from the stock bin, and the suction cup assemblies are used for adsorbing material plates in the stock bin; the avoiding piece is provided with a first avoiding groove, and the first avoiding groove penetrates through the mounting frame in the moving direction of the suction cup assembly so as to avoid the limiting piece of the stock bin when the stock bin abuts against the suction cup assembly. According to the feeding device, the avoiding piece is arranged on the mounting frame, when the suction cup assembly and the stock bin can abut against each other, the limiting piece on the stock bin can penetrate through the first avoiding groove of the avoiding piece to form avoiding, the situation that the stock bin and the mounting frame interfere with each other and collide with each other is avoided, and the stock bin and the mechanical arm are prevented from being damaged.

Description

Technical Field

[0001] The utility model belongs to the technical field of manipulators, and in particular relates to a manipulator, a material bin loading and unloading system and a laser drilling machine. Background Art

[0002] The silo loading and unloading system is an automated board loading and unloading device for the laser drilling machine. Compared with the traditional loading and unloading system, its most significant feature is the detachability of the silo. Because the silo is a standard box-type silo, the silo and the equipment can be separated, which has a high flowability, allowing the PCB board to flow together with the silo between various processes without manual loading and unloading, and the safety and processing quality of the PCB board have been greatly improved.

[0003] There are multiple PCB boards stacked in the silo, which are limited by limiters. As the robot grabs the PCB boards in the silo layer by layer, the silo will gradually rise, and the stacking height of the PCB boards in the silo will become smaller and smaller, and the height of the highest PCB board from the ground remains unchanged. As the silo rises, the limiters become higher and higher, and there is a risk of collision between the limiters and the robot, which may cause damage to the silo and the robot. Utility Model Content

[0004] The technical problem to be solved by the utility model is: in view of the problem that there is a risk of collision between the existing manipulator and the silo, a manipulator, a silo loading and unloading system and a laser drilling machine are provided.

[0005] In order to solve the above technical problems, on the one hand, the embodiment of the utility model provides a manipulator, comprising a mounting frame, a first driving member, an avoidance member and a plurality of suction cup assemblies, wherein the output end of the first driving member is connected to the mounting frame, the avoidance member and the suction cup assembly are arranged on the mounting frame, the first driving member can drive the suction cup assembly to approach or move away from a material bin, and the suction cup assembly is used to absorb a material plate in the material bin;

[0006] The avoidance member is provided with a first avoidance groove, which passes through the mounting frame in the movement direction of the suction cup assembly, so as to avoid the limiting member of the silo when the silo abuts against the suction cup assembly.

[0007] Optionally, the avoidance member includes an annular connecting portion and a folding portion, the first avoidance groove is arranged on the annular connecting portion, the folding portion is folded from the edge of the annular connecting portion in a direction away from the first avoidance groove, and the folding portion is connected to the mounting frame.

[0008] Optionally, a plurality of avoidance members are provided, and the avoidance members and the suction cup assembly are arranged at intervals.

[0009] Optionally, the mounting frame comprises a first cross bar, a second cross bar, a first longitudinal bar, a second longitudinal bar and a transition plate, the first cross bar, the first longitudinal bar, the second cross bar and the second longitudinal bar are sequentially connected end to end, the first cross bar and the second cross bar are arranged opposite to each other, and the first longitudinal bar and the second longitudinal bar are arranged opposite to each other;

[0010] The transition plate is installed between the first cross bar and the second cross bar, and the output end of the first driving member is connected to the transition plate.

[0011] Optionally, the avoidance member includes a first avoidance member and a second avoidance member, wherein the first avoidance member is connected to the first cross bar and extends in the longitudinal direction, and the second avoidance member is connected to the first longitudinal bar and extends in the transverse direction.

[0012] Optionally, the manipulator also includes a material shaking assembly arranged on the mounting frame, the material shaking assembly includes a material shaking cylinder and a first suction cup, the first suction cup is connected to the output end of the material shaking cylinder, and the first suction cup is used to adsorb the material plate and shake it under the drive of the material shaking cylinder.

[0013] On the other hand, an embodiment of the utility model provides a silo loading and unloading system, comprising a silo and the manipulator as described above, wherein the silo comprises a bottom plate, a plurality of first fixed limit members and a plurality of movable limit members, each of the first fixed limit members is arranged opposite to the corresponding movable limit member, the first fixed limit member is fixedly connected to the bottom plate, the movable limit member is slidably connected to the bottom plate, and the first fixed limit member and the movable limit member enclose a material plate channel for stacking the material plates;

[0014] The suction cup assembly is used to suck the material sheet in the material sheet channel; the first avoidance groove is used to avoid the movable limiting member.

[0015] Optionally, the movable limiting member is higher than the surface of the material sheet when the suction cup assembly sucks the material sheet.

[0016] Optionally, the silo also includes a plurality of sliding connectors and a plurality of sliders, the sliding connectors being mounted on the base plate, the sliding connectors being provided with slide grooves extending along their length directions, each of the sliders being connected to the corresponding movable limiting members, and each of the sliders being disposed in the corresponding slide grooves and being capable of moving along the corresponding slide grooves.

[0017] Optionally, a second avoidance groove is provided on the bottom plate, and one end of the movable position-limiting member close to the bottom plate passes through the second avoidance groove and is connected to the sliding block.

[0018] Optionally, the silo further includes a plurality of second fixed stoppers, and the plurality of first fixed stoppers and the plurality of second fixed stoppers are arranged along an edge of the bottom plate.

[0019] Optionally, the silo loading and unloading system also includes a frame, a lifting assembly and a second driving member, the lifting assembly and the second driving member are arranged on the frame, and the output end of the lifting assembly is connected to the silo; the first driving member is slidably connected to the second driving member, the second driving member is used to drive the first driving member and the suction cup assembly to move horizontally, and the first driving member is used to drive the suction cup assembly to move in the vertical direction.

[0020] On the other hand, an embodiment of the utility model provides a laser drilling machine, including the silo loading and unloading system as described above.

[0021] Implementing the embodiments of the utility model has the following beneficial effects:

[0022] The robot provided by the embodiment of the utility model has an avoidance member arranged on the mounting frame. When the suction cup assembly of the robot sucks the material plate, the suction cup assembly and the material bin can abut against each other. At this time, the limiting member on the material bin can pass through the first avoidance groove of the avoidance member to form an avoidance, which can avoid interference and collision between the material bin and the mounting frame, and further avoid damage to the material bin and the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of a silo loading and unloading system provided by an embodiment of the utility model;

[0024] Figure 2 It is a schematic diagram of a silo provided in one embodiment of the utility model;

[0025] Figure 3 This is an exploded view of a silo provided in one embodiment of the utility model;

[0026] Figure 4 It is a schematic diagram of the cooperation between the movable stopper and the sliding connection member provided in one embodiment of the utility model;

[0027] Figure 5 It is a schematic diagram of a manipulator and a material shaking assembly provided in one embodiment of the utility model;

[0028] Figure 6 It is a schematic diagram of a avoidance member provided in one embodiment of the utility model.

[0029] The reference numerals in the specification are as follows:

[0030] 1. Manipulator; 11. Mounting frame; 111. First crossbar; 112. First longitudinal bar; 113. Second crossbar; 114. Second longitudinal bar; 115. Transition plate; 12. Suction cup assembly; 121. Second suction cup; 122. Second connecting plate; 123. Second locking member; 13. Avoidance member; 131. First avoidance groove; 132. Ring connecting portion; 133. Folding portion; 14. First driving member; 15. Second driving member;

[0031] 2. material shaking assembly; 21. material shaking cylinder; 22. first suction cup; 23. first connecting plate; 24. first locking member;

[0032] 3. Bin; 31. Bottom plate; 311. Second avoidance groove; 32. First fixed stopper; 33. Second fixed stopper; 34. Movable stopper; 35. Sliding connector; 351. Slide; 36. Sliding block; 37. Sheet channel;

[0033] 4. Frame; 41. Lifting assembly. DETAILED DESCRIPTION

[0034] In order to make the technical problems, technical solutions and beneficial effects solved by the utility model more clear, the utility model is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the utility model and are not used to limit the utility model.

[0035] like Figures 1 to 6 As shown, on the one hand, an embodiment of the utility model provides a manipulator 1, including a mounting frame 11, a first driving member 14, an avoidance member 13 and a plurality of suction cup assemblies 12, the output end of the first driving member 14 is connected to the mounting frame 11, and the avoidance member 13 and the suction cup assembly 12 are mounted on the mounting frame 11. The first driving member 14 can drive the mounting frame 11 to move, thereby making the suction cup assembly 12 approach or move away from the material bin, and the suction cup assembly 12 is used to absorb the material plate in the material bin 3. The avoidance member 13 is provided with a first avoidance groove 131, and the first avoidance groove 131 passes through the mounting frame 11 in the movement direction of the suction cup assembly 12, so as to avoid the limit member on the material bin 3 when the material bin 3 abuts against the suction cup assembly 12.

[0036] Multiple boards are stacked in the silo 3, and the height of the highest board from the ground is controlled by the beam sensor. After each board grabbing by the suction cup assembly 12, the silo 3 descends for 2 seconds and then rises again until the top PCB board in the silo 3 blocks the light of the beam sensor and stops rising. In this process, the stacking height of the PCB boards becomes smaller and smaller, and the height of the highest board from the ground remains unchanged, so the limiter on the silo 3 will become higher and higher, and the limiter will collide with the mounting frame 11.

[0037] In this embodiment, a avoidance member 13 is provided on the mounting frame 11, so that when the suction cup assembly 12 of the manipulator 1 sucks the material plate, the suction cup assembly 12 and the material bin can abut against each other. At this time, the limiting member on the material bin can pass through the first avoidance groove 131 of the avoidance member 13 to form an avoidance, thereby avoiding interference and collision between the material bin and the mounting frame 11, and avoiding damage to the material bin and the manipulator 1.

[0038] Preferably, the first driving member 14 is composed of at least one cylinder. Specifically, the first driving member 14 includes a first cylinder and a second cylinder. The first cylinder is installed on the silo loading and unloading system. The output end of the first cylinder is connected to the second cylinder. The output end of the second cylinder is connected to the mounting frame 11. The combined use of multiple cylinders can enable the first driving member 14 to have a larger operating stroke.

[0039] In one embodiment, if Figure 6 As shown, the avoidance member 13 includes an annular connecting portion 132 and a folding portion 133. The first avoidance groove 131 is arranged on the annular connecting portion 132. The folding portion 133 is folded from the edge of the annular connecting portion 132 in a direction away from the first avoidance groove 131. The folding portion 133 is connected to the main body of the mounting frame 11 through a right-angle seat to realize the connection between the avoidance member 13 and the mounting frame 11, thereby avoiding the collision between the limiting member of the silo 3 and the mounting frame 11.

[0040] In one embodiment, a plurality of avoidance members 13 are provided, and the avoidance members 13 and the suction cup assemblies 12 are spaced apart. All adjustable trajectories of the suction cup assemblies 12 on the manipulator 1 are blocked outside the avoidance members 13 to avoid interference between the suction cup assemblies 12 and the limiting members on the silo.

[0041] In one embodiment, if Figure 6 As shown, the mounting frame 11 includes a first crossbar 111, a first longitudinal bar 112, a second crossbar 113, a second longitudinal bar 114 and a transition plate 115. The first crossbar 111, the first longitudinal bar 112, the second crossbar 113 and the second longitudinal bar 114 are connected end to end in sequence to form a frame structure. The first crossbar 111 and the second crossbar 113 are arranged opposite to each other, and the first longitudinal bar 112 and the second longitudinal bar 114 are arranged opposite to each other. The suction cup assembly 12 is installed on the frame structure. The transition plate 115 is installed between the first crossbar 111 and the second crossbar 113. The output end of the first driving member 14 is connected to the transition plate 115. The transition plate 115 facilitates the connection between the first driving member 14 and the mounting frame 11, so that the first driving member 14 drives the mounting frame 11 to move up and down.

[0042] In a specific embodiment, the avoidance member 13 includes a first avoidance member and a second avoidance member, and the first avoidance member and the second avoidance member have the same structure and can avoid different limit members. Among them, the first avoidance member is connected to the first cross bar 111 and extends in the longitudinal direction, and the first avoidance groove 131 of the first avoidance member extends in the longitudinal direction. The second avoidance member is connected to the first longitudinal bar 112 and extends in the transverse direction, and the first avoidance groove 131 on the second avoidance member extends in the transverse direction. The sheets of different sizes in the silo 3 have limit members in different installation positions. The first avoidance member and the second avoidance member can take into account the avoidance of the limit members in different installation positions. No matter how the limit members are adjusted, the limit members can pass through the first avoidance groove 131 to avoid interference with the manipulator 1.

[0043] In one embodiment, if Figure 5 As shown, the manipulator 1 also includes a material shaking assembly 2 arranged on the mounting frame 11, and the material shaking assembly 2 includes a material shaking cylinder 21 and a first suction cup 22. The first suction cup 22 is connected to the output end of the material shaking cylinder 21, and the first suction cup 22 is used to adsorb the material plate. The first suction cup 22 is shaken under the drive of the material shaking cylinder 21, so that the sticky plate parts on the material plate due to electrostatic adsorption fall off, thereby achieving the purpose of the manipulator 1 grabbing one material plate each time.

[0044] In one embodiment, the material shaking assembly 2 also includes a first connecting plate 23 and a first locking member 24. The material shaking cylinder 21 is installed on the first connecting plate 23. The first connecting plate 23 is connected to the mounting frame 11 through the first locking member 24. A first groove is set on the first connecting plate 23. The first locking member 24 passes through the first groove and is connected to the mounting frame 11. When the first locking member 24 is in a locked state, the first connecting plate 23 is temporarily fixed to the mounting frame 11. When the first locking member 24 is in a loosened state, the first connecting plate 23 moves, which enables the first locking member 24 to move along the first groove, thereby adjusting the position of the first suction cup 22 so that the first suction cup 22 can adapt to the adsorption of sheets of different sizes.

[0045] In one embodiment, the suction cup assembly 12 includes a second suction cup 121, a second connecting plate 122 and a second locking member 123. The second suction cup 121 is connected to the second connecting plate 122, and the second connecting plate 122 is connected to the mounting frame 11 through the second locking member 123. The structure of the second connecting plate 122 and the second locking member 123 is the same as that of the first connecting plate 23 and the first locking member 24, and will not be repeated. By loosening or locking the second locking member 123, the position of the second suction cup 121 can be adjusted, so that the second suction cup 121 can adapt to the adsorption of sheets of different sizes. Among them, the first suction cup 22 and the second suction cup 121 can contact the sheet at the same time to suck the material.

[0046] On the other hand, an embodiment of the utility model provides a silo loading and unloading system, including a silo 3 and the manipulator 1 of the above embodiment, the silo 3 includes a bottom plate 31, a plurality of first fixed stoppers 32 and a plurality of movable stoppers 34, each first fixed stopper 32 is arranged opposite to the corresponding movable stopper 34, the first fixed stopper 32 is fixedly connected to the bottom plate 31, the movable stopper 34 is slidably connected to the bottom plate 31, the first fixed stopper 32 and the movable stopper 34 can enclose to form a material plate channel 37, the material plate channel 37 is used to stack material plates, the first driving member 14 can drive the mounting frame 11 to move up and down in the material plate channel 37, so that the suction cup assembly 12 can absorb the material plate in the material plate channel 37. The first avoidance groove 131 is used to avoid the movable stopper 34. When the suction cup assembly 12 absorbs the material plate, the end of the movable stopper 34 away from the bottom plate 31 can pass through the first avoidance groove 131, thereby avoiding the movable stopper 34. After the material suction is completed, the material shaking component 2 shakes the material sheet grabbed by the robot 1 from the material sheet channel 37 , so that the plate parts adhering to the material sheet fall into the material sheet channel 37 .

[0047] When the existing silo is in use, the PCB boards are positioned at the lower left corner regardless of the size of the board. Under normal circumstances, the PCB boards carried by the silo are always in a horizontal and stable state during transportation or processing, and even if the PCB boards have a slight offset, it will not affect production. However, in some special cases, due to static electricity between layers, PCB boards are easy to stick together and difficult to separate. Robot 1 can grab two or more stuck PCB boards at a time. After robot 1 grabs the boards, silo 3 will drop. When silo 3 drops to a large height and moves away from robot 1, it makes room for the sticky boards to fall, and at the same time reduces the effect of static electricity of the remaining PCB boards in the silo on the grabbed sticky boards. When the sticky board peels off and falls into the silo, due to the large drop height, it will drift under the influence of air resistance under the board. If the drift distance is large, it will affect the next round of grabbing.

[0048] In the present embodiment, when the robot 1 grabs two or more PCB boards that are stuck together at one time, the robot 1 drives the material board and the stuck panels stuck to the material board to move in the material board channel 37, and shakes the material board through the shaking assembly 2 so that the stuck panels can fall off. Due to the restrictions of the first fixed limiter 32 and the movable limiter 34, the shaken off stuck panels will enter the material board channel 37, so that the dropped stuck panels will not be affected by air resistance and deviate, and the robot 1 can smoothly carry out the next round of grabbing, so that the loading and unloading system of the silo can work normally.

[0049] In one embodiment, the number of movable limit members 34 is consistent with the number of avoidance members 13, and the first avoidance groove 131 of each avoidance member 13 can avoid the corresponding movable limit member 34. When the movable limit member 34 slides on the bottom plate 31, the end of the movable limit member 34 away from the bottom plate 31 can move in the first avoidance groove 131, and the adjustment range of the movable limit member 34 does not exceed the first avoidance groove 131, so that no matter how the movable member is adjusted, the movable limit member 34 can pass through the first avoidance groove 131 to avoid interference with the robot 1.

[0050] In one embodiment, after the suction cup assembly 12 sucks the sheet material, the first driving member 14 of the manipulator 1 drives the sheet material to move in the sheet material channel 37. During this process, the movable stopper 34 is always higher than the plate surface of the sheet material grabbed by the suction cup assembly 12, so that the sheet material will not be separated from the sheet material channel 37 during the process of the manipulator 1 taking the material. After the material shaking assembly 2 shakes the material, the fallen adhered sheet material can smoothly enter the sheet material channel 37. After the shaking of the material is completed, the manipulator 1 moves upward to take out the sheet material from the silo 3.

[0051] In one embodiment, if Figure 2 As shown, the movable limiting member 34 is slidably connected to the bottom plate 31, and the position of the movable limiting member 34 on the bottom plate 31 can be adjusted, thereby adjusting the size of the sheet material channel 37, so that the sheet material channel 37 can adapt to sheets of different sizes and improve the scope of use.

[0052] In one embodiment, if Figure 3 , Figure 4 As shown, the silo 3 also includes a plurality of sliding connectors 35 and a plurality of sliders 36. The number of the sliding connectors 35 is consistent with the number of the movable limit members 34. The sliding connectors 35 are installed on the base plate 31. The sliding connectors 35 are provided with slide grooves 351 extending along their length directions. Each slider 36 is connected to a corresponding movable limit member 34. Each slider 36 is arranged in a corresponding slide groove 351 and can move along the corresponding slide groove 351. Through the cooperation of the sliders 36 and the slide grooves 351, the movable limit member 34 can move along the slide grooves 351, thereby realizing the adjustment of the movable limit member 34 on the base plate 31.

[0053] Preferably, the movable stopper 34 is a rod-shaped structure, the slider 36 is provided with an internal threaded hole, the movable stopper 34 is provided with an external thread threadedly matched with the internal threaded hole, and the movable stopper 34 is threadedly connected to the slider 36 .

[0054] In one embodiment, the number of movable stoppers 34 is determined according to the size of the sheet material in the sheet material channel 37 to ensure that the fallen sheet material will not be offset.

[0055] Preferably, if Figure 2As shown, two movable limit members 34 are provided, namely a first movable limit member and a second movable limit member, wherein the first movable limit member can slide longitudinally relative to the bottom plate 31, and the first avoidance member can avoid the first movable limit member, and the second movable limit member can slide transversely, and the second avoidance member can avoid the second movable limit member.

[0056] In one embodiment, if Figure 3 As shown, the sliding connection member 35 includes a first plate, a second plate and a third plate, the first plate is connected to the base plate 31, the second plate and the third plate are installed on the first plate, the second plate and the third plate are arranged opposite to each other, the first plate, the second plate and the third plate are enclosed to form a slide groove 351, and the slide groove 351 is U-shaped.

[0057] In one embodiment, if Figure 2 As shown, a sheet of material is placed on the upper surface of the bottom plate 31, a sliding connector 35 is arranged on the lower surface of the bottom plate 31, a second avoidance groove 311 is arranged on the bottom plate 31, and the second avoidance groove 311 is arranged to penetrate along the thickness direction of the bottom plate 31, and an end of the movable stopper 34 close to the bottom plate 31 passes through the second avoidance groove 311 and is connected to the slider 36. The length of the second avoidance groove 311 is consistent with the length of the slide groove 351. When the slider 36 moves in the slide groove 351, it can drive the movable stopper 34 to move in the second avoidance groove 311, and avoid through the second avoidance groove 311, so as to prevent the sliding connector 35 from interfering with the sheet of material placed on the bottom plate 31.

[0058] In one embodiment, if Figure 2 As shown, the silo 3 further includes a plurality of second fixed stoppers 33, and a plurality of first fixed stoppers 32 and a plurality of second fixed stoppers 33 are arranged along the edge of the bottom plate 31 to form a fence of the silo 3. The area enclosed by the plurality of first fixed stoppers 32 and the plurality of second fixed stoppers 33 is larger than the sheet channel 37, and the size of the sheet channel 37 can be adjusted by sliding the movable stopper 34.

[0059] When placing the material sheet, the material sheet abuts against the first fixed limit member 32, and the movable limit member 34 is slid until it abuts against the material sheet, thereby accommodating the material sheet in the material sheet channel 37. The maximum size of the material sheet that can be accommodated in the silo 3 is determined by the first fixed limit member 32 and the second fixed limit member 33.

[0060] In one embodiment, if Figure 1As shown, the silo loading and unloading system includes a frame 4, a lifting assembly 41 and a second driving member 15. The lifting assembly 41 and the second driving member 15 are arranged on the frame 4. The output end of the lifting assembly 41 is connected to the silo 3, and can drive the silo 3 to move up and down. After the manipulator 1 grabs the plate, the lifting assembly 41 can drive the silo 3 to move downward, so that the material plate grabbed by the manipulator 1 gradually moves away from the bottom plate 31 of the silo 3. After the grabbed material plate moves to the next process, the lifting assembly 41 can drive the silo 3 to move upward, so that the manipulator 1 can grab the next plate.

[0061] In one embodiment, if Figure 5 , Figure 6 As shown, the first driving member 14 is slidably connected to the second driving member 15, and the second driving member 15 can drive the first driving member 14 and the suction cup assembly 12 to move in the lateral direction, and the first driving member 14 can drive the suction cup assembly 12 to move in the vertical direction. Preferably, the second driving member 15 is driven by a motor to drive the screw rod to rotate.

[0062] When grabbing the material sheet, the second driving member 15 drives the suction cup assembly 12 to move horizontally to the top of the material sheet channel 37 of the silo 3, and the first driving member 14 drives the suction cup assembly 12 to descend to grab the sheet. After the suction cup assembly 12 absorbs the material sheet, the lifting assembly 41 drives the silo 3 to descend. At this time, the movable stopper 34 is higher than the surface of the material sheet. After the material is shaken, the first driving member 14 drives the suction cup assembly 12 to continue to rise until the movable stopper 34 is no longer higher than the surface of the material sheet, and the material sheet is separated from the material sheet channel 37, which is convenient for handing over to the next process.

[0063] On the other hand, an embodiment of the utility model provides a laser drilling machine, including the silo loading and unloading system of the above embodiment.

[0064] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A robot, characterized in that: It comprises a mounting frame, a first driving member, an avoidance member and a plurality of suction cup assemblies, wherein the output end of the first driving member is connected to the mounting frame, the avoidance member and the suction cup assembly are arranged on the mounting frame, the first driving member can drive the suction cup assembly to approach or move away from the silo, and the suction cup assembly is used to absorb the material plate in the silo; The avoidance member is provided with a first avoidance groove, which passes through the mounting frame in the movement direction of the suction cup assembly, so as to avoid the limiting member of the silo when the silo abuts against the suction cup assembly.

2. The robot according to claim 1, characterized in that: The avoidance member includes an annular connecting portion and a folding portion, the first avoidance groove is arranged on the annular connecting portion, the folding portion is folded from the edge of the annular connecting portion toward a direction away from the first avoidance groove, and the folding portion is connected to the mounting frame.

3. The robot according to claim 1, characterized in that: A plurality of avoidance members are provided, and the avoidance members and the suction cup assembly are arranged at intervals.

4. The robot according to claim 1, characterized in that: The mounting frame comprises a first cross bar, a second cross bar, a first longitudinal bar, a second longitudinal bar and a transition plate, wherein the first cross bar, the first longitudinal bar, the second cross bar and the second longitudinal bar are sequentially connected end to end, the first cross bar and the second cross bar are arranged opposite to each other, and the first longitudinal bar and the second longitudinal bar are arranged opposite to each other; The transition plate is installed between the first cross bar and the second cross bar, and the output end of the first driving member is connected to the transition plate.

5. The robot according to claim 4, characterized in that: The avoidance member includes a first avoidance member and a second avoidance member, wherein the first avoidance member is connected to the first cross bar and extends in the longitudinal direction, and the second avoidance member is connected to the first longitudinal bar and extends in the transverse direction.

6. The robot according to claim 1, characterized in that: The manipulator also includes a material shaking assembly arranged on the mounting frame, and the material shaking assembly includes a material shaking cylinder and a first suction cup, the first suction cup is connected to the output end of the material shaking cylinder, and the first suction cup is used to absorb the material plate and shake it under the drive of the material shaking cylinder.

7. A silo loading and unloading system, characterized in that: A material bin and a manipulator as claimed in any one of claims 1 to 6, wherein the material bin comprises a bottom plate, a plurality of first fixed limit members and a plurality of movable limit members, each of the first fixed limit members is arranged opposite to the corresponding movable limit member, the first fixed limit member is fixed to the bottom plate, the movable limit member is slidably connected to the bottom plate, and the first fixed limit member and the movable limit member enclose a material plate channel for stacking the material plates; The suction cup assembly is used to suck the material sheet in the material sheet channel; The first avoidance groove is used to avoid the movable limiting member.

8. The silo loading and unloading system according to claim 7, characterized in that: The movable limiting member is higher than the plate surface of the material plate when the suction cup assembly absorbs the material plate.

9. The silo loading and unloading system according to claim 7, characterized in that: The silo also includes a plurality of sliding connectors and a plurality of sliders, wherein the sliding connectors are mounted on the bottom plate, and the sliding connectors are provided with slide grooves extending along their length directions, and each of the sliders is connected to the corresponding movable limiting member, and each of the sliders is disposed in the corresponding slide groove and can move along the corresponding slide groove.

10. The silo loading and unloading system according to claim 9, characterized in that: The bottom plate is provided with a second avoidance groove, and one end of the movable stopper close to the bottom plate passes through the second avoidance groove and is connected to the sliding block.

11. The silo loading and unloading system according to claim 7, characterized in that: The silo further includes a plurality of second fixed stoppers, and the plurality of first fixed stoppers and the plurality of second fixed stoppers are arranged along the edge of the bottom plate.

12. The silo loading and unloading system according to claim 7, characterized in that: The silo loading and unloading system also includes a frame, a lifting assembly and a second driving member. The lifting assembly and the second driving member are arranged on the frame, and the output end of the lifting assembly is connected to the silo; the first driving member is slidably connected to the second driving member, and the second driving member is used to drive the first driving member and the suction cup assembly to move horizontally, and the first driving member is used to drive the suction cup assembly to move in the vertical direction.

13. A laser drilling machine, characterized in that: It comprises the silo loading and unloading system as described in any one of claims 7-12.

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