Pick fiber head, pick fiber, air pick and industrial robot provided with air pick

Abstract

The utility model discloses a pickaxe fiber head, a pickaxe fiber, an air pickaxe and an industrial robot provided with the air pickaxe, the pickaxe fiber head comprises a connecting seat and an end head, the pickaxe fiber head is fixedly connected with the pickaxe fiber through the connecting seat, and the end head is a deslagging action part of the pickaxe fiber head. The size of the first end, connected with the connecting base, of the end is smaller than that of the second end, away from the connecting base, of the end, and the structure with the large end and the small end is provided with an inclined side wall and an outwards-protruding end edge protruding edge. The pick fiber head is installed on a pick fiber, then the pick fiber and an air pick body are connected to form the slag removal air pick, then the slag removal air pick is installed on an industrial robot, automatic, continuous and efficient slag removal can be conducted, the protruding edge at the bottom of the end can serve as a fulcrum to abut against a furnace opening, and thick slag and hard slag solidified at the furnace opening can be effectively removed conveniently; and the wear-resistant alloy layer is further arranged on the surface of the end head, so that the end head is firmer and longer in service life.

Description

Technical Field

[0001] The present application relates to the technical field of metal smelting slag removal equipment, and in particular to a pneumatic pick for smelting furnace slag removal, and specifically to a pick fiber head that can help the pneumatic pick to efficiently remove slag, as well as a pick fiber, a pneumatic pick and an industrial robot equipped with the pick fiber head. Background Art

[0002] A pneumatic pick is a construction tool that uses compressed air as a power source to break hard objects by impact. The pneumatic pick mainly includes a pneumatic pick body, a pick chisel (steel chisel) detachably connected to the pneumatic pick body, and a handle provided on the pneumatic pick body for the convenience of construction workers to hold.

[0003] The existing pickaxe tips at the working end are square, flat or pointed. When clamped by a robot, such pickaxes cannot obtain a fulcrum at the edge like manual operation to allow the pickaxe to work efficiently. Therefore, when the robot drives the pickaxe to remove slag, it cannot effectively remove the thick slag and hard slag solidified at the furnace mouth. These thick slag and hard slag still need to be removed manually, resulting in the slag removal process not being able to completely get rid of human participation, the robot cannot work continuously and effectively, and the slag removal efficiency is relatively low. Therefore, it is necessary to propose a new technical solution to solve the above problems. Utility Model Content

[0004] The present application provides a pick head, a pick fiber, a pneumatic pick and an industrial robot equipped with a pneumatic pick, so as to solve the problem that a traditional pick head is difficult to meet the slag removal needs of a robot.

[0005] In order to achieve the above objectives, this application provides the following technical solutions:

[0006] In the first aspect, the present application provides a pick fiber head, including a pick fiber head body, the pick fiber head body including a connecting part and an acting part, the connecting part including a connecting seat for connecting and fixing to the pick fiber, the acting part including an end head connected to the connecting seat, the end head is a truncated cone-shaped structure or a prism-shaped structure, the size of the first end of the end head connected to the connecting seat is smaller than the size of the second end thereof, the first end and the second end are arranged opposite to each other, and a wear-resistant metal layer is arranged on the surface of the end head.

[0007] In one embodiment of the present application, the connecting seat includes a cylindrical connecting tube, which is used to fit and plug into the pick fiber, and the connecting tube is welded and fixed to the pick fiber.

[0008] In another embodiment of the present application, the connecting seat includes a cylindrical connecting tube, which is used to adapt and plug into the pick fiber. The tube wall of the connecting tube is provided with a mounting hole for passing a pin. The mounting hole is arranged along the radial direction of the connecting tube, and the connecting tube and the pick fiber are connected and fixed by the pin.

[0009] In one embodiment of the present application, the end head is a hollow structure, and the end head is connected to the connecting pipe.

[0010] In one embodiment of the present application, the end head includes a truncated cone or prism-shaped metal substrate, and a wear-resistant alloy layer is formed on the outer surface of the metal substrate.

[0011] In another embodiment of the present application, the end head includes a first substrate and a second substrate, the first substrate and the second substrate are both hollow cones, the small diameter end of the first substrate is connected to the connecting seat, the large diameter end of the first substrate is connected to the small diameter end of the second substrate, the first substrate is a metal substrate, and the second substrate is a wear-resistant alloy substrate.

[0012] In a second aspect, the present application provides a pick fiber, including a pick fiber body, wherein the pick fiber body is a slender rod-shaped structure, and the end of the pick fiber body is connected to the above-mentioned pick fiber head.

[0013] In a third aspect, the present application provides a pneumatic pick, comprising a pneumatic pick body and a pick fiber detachably connected to the pneumatic pick body, wherein the end of the pick fiber is connected to the above-mentioned pick fiber head.

[0014] In a fourth aspect, the present application provides an industrial robot, including a six-axis robot, wherein a connecting flange is installed at the execution end of the six-axis robot, a pneumatic pick body is installed at the center of the connecting flange, an end of the pneumatic pick body facing away from the connecting flange is connected to a pick fiber, and the end of the pick fiber facing away from the pneumatic pick body is connected to the above-mentioned pick fiber head.

[0015] In one embodiment of the present application, the connecting flange of the execution end of the six-axis robot is connected to the pick fiber support frame, and the pick fiber support frame includes a plurality of strip ribs, and the plurality of strip ribs form a hollow cylindrical mounting frame. The first end of the cylindrical mounting frame is connected to a flange plate, and the flange plate and the connecting flange are fastened by bolts. The second end of the cylindrical mounting frame is provided with a sleeve allowing the pick fiber to pass through; the pneumatic pick body is located in the cylindrical mounting frame, and the pick fiber connected to the pneumatic pick body extends outward from the sleeve.

[0016] Compared with the prior art, this application has at least the following beneficial effects:

[0017] 1. The present application provides a pick fiber head, the pick fiber head body includes a connecting seat and an end head, the pick fiber head is connected and fixed by the connecting seat and the pick fiber, the end head is the slag removal function part of the pick fiber head, the end head in the present application is a truncated cone-shaped structure or a prism-shaped structure, the size of the first end of the end head connected to the connecting seat is smaller than the size of the second end thereof away from the connecting seat, this structure with one end being larger than the other end having an inclined side wall and an end edge ridge protruding outward, if this pick fiber head is installed on the pick fiber and driven by a robot for slag removal operation, then no matter how the robot rotates or moves the pick fiber, the truncated cone-shaped end head or the prism-shaped end head can remove slag through the edge ridge, and the edge ridge can also be used as a fulcrum to lean against the furnace mouth, so as to facilitate the effective removal of thick slag and hard slag solidified at the furnace mouth; furthermore, the present application also arranges a wear-resistant metal layer on the surface of the end head to make it stronger and have a longer service life. Therefore, the pick fiber head provided by the present application can meet the slag removal needs of the robot without manual assistance, match the movement of the robot and realize continuous operation.

[0018] 2. In one embodiment of the present application, the connection seat on the pick fiber head is a cylindrical connection tube that is adapted to be plugged into the pick fiber. During installation, the connection tube can be welded and fixed to the pick fiber, and the connection is reliable.

[0019] 3. In one embodiment of the present application, a mounting hole for inserting a pin is provided on the tube wall of the connecting tube. During installation, the pin can be inserted into the mounting hole to achieve reliable fastening of the connecting tube and the pick fiber, and this detachable connection method is convenient for replacing the pick drill bit.

[0020] 4. In one embodiment of the present application, the end head is a hollow structure, that is, a hollow cone or a hollow prism structure, similar to a trumpet shape. Compared with a solid structure, the hollow structure can reduce the amount of material used and reduce the weight of the pick fiber head while meeting the use requirements.

[0021] 5. In one embodiment of the present application, the end cap includes a metal substrate and a wear-resistant alloy layer arranged on the outer surface of the metal substrate. In a production example, common metal materials (such as carbon steel, stainless steel and other common low-cost materials) can be used as the substrate of the end cap. In order to enhance the wear resistance of the end cap and extend its service life, a wear-resistant alloy layer is sprayed on the outside of the metal substrate. In this way, the production cost can be reduced while meeting the application requirements of the end cap.

[0022] 6. In one embodiment of the present application, the end cap can be composed of a first substrate and a second substrate, both of which are hollow cones, the small diameter end of the first substrate is connected to the connecting seat, and the large diameter end of the first substrate is connected to the small diameter end of the second substrate. During specific processing, the first substrate can be processed with common metal materials (such as carbon steel, stainless steel and other common low-cost materials), and the second substrate can be processed with wear-resistant alloy materials. The connection between the first substrate and the second substrate is welded and fixed, so that the production cost can be reduced while meeting the application requirements of the end cap.

[0023] 7. The present application also provides a pick fiber, the end of which is connected to the above-mentioned pick fiber head. The pick fiber equipped with the pick fiber head of the present application can effectively remove the thick slag and hard slag solidified at the furnace mouth, meeting the slag removal requirements of the robot.

[0024] 8. The present application also provides a pneumatic pick, comprising a pneumatic pick body and a pick fiber detachably connected to the pneumatic pick body, the end of the pick fiber being connected to the above-mentioned pick fiber head. The pneumatic pick can be driven by a robot to effectively remove thick slag and hard slag solidified at the furnace mouth.

[0025] 9. The present application also provides an industrial robot, including a six-axis robot, wherein a connecting flange is installed at the execution end of the six-axis robot, a pneumatic pick body is installed at the center of the connecting flange, the end of the pneumatic pick body away from the connecting flange is connected to a pick fiber, and the end of the pick fiber away from the pneumatic pick body is connected to the above-mentioned pick fiber head. When the robot drives the pneumatic pick to perform slag removal operations, no matter how the robot rotates or moves the pick fiber, the truncated cone-shaped end head or the prism-shaped end head can remove slag through the edge ridges, and the edge ridges can also serve as a fulcrum to lean against the furnace mouth, so as to effectively remove the thick slag and hard slag solidified at the furnace mouth and achieve efficient slag removal.

[0026] 10. In one embodiment of the present application, the industrial robot provided by the present application is also provided with a pick fiber support frame, which includes a hollow cylindrical mounting frame surrounded by a plurality of strip ribs, and a flange is arranged at the first end of the cylindrical mounting frame, which not only serves to connect and fix the plurality of strip ribs, but also can realize a rigid connection with a robot arm or other action mechanism when in use, so as to realize mechanized operation; the pneumatic pick body extends into the cylindrical mounting frame and is connected with the pick fiber inserted into the cylindrical mounting frame, and a plurality of sleeves for installing the pick fiber are arranged in sequence inside the cylindrical mounting frame. When in use, the pick fiber is passed through the sleeve and then connected to the pneumatic pick body, and the sleeve can limit the installation and support the pick fiber to prevent the front end of the pick fiber from sagging, thereby facilitating accurate positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can also be obtained based on these drawings. It should be understood that the specific shapes and structures shown in the drawings should not usually be regarded as limiting conditions for implementing the present application; for example, based on the technical concepts and exemplary drawings disclosed in the present application, those skilled in the art are able to easily make routine adjustments or further optimizations to the increase / decrease / attribution division, specific shapes, positional relationships, connection methods, and dimensional ratios of certain units (components).

[0028] Figure 1 A schematic diagram of the three-dimensional structure of a pick fiber head provided by the present application in one embodiment at a viewing angle;

[0029] Figure 2 A schematic diagram of the three-dimensional structure of a pick fiber head provided by the present application in one embodiment at another viewing angle;

[0030] Figure 3 It is a schematic diagram of the connection state between the pick fiber head and the pick fiber provided by the present application in an embodiment;

[0031] Figure 4 This is a schematic diagram of the assembly structure in which a pick fiber head, a pick fiber, a pneumatic pick body, a pick fiber support frame and a connecting flange at the end of a six-axis robot are integrally assembled in one embodiment.

[0032] Description of reference numerals:

[0033] A. Pickaxe fiber head body;

[0034] 01. Connecting pipe; 02. End; 03. Mounting hole;

[0035] B. Pick fiber support frame;

[0036] 1. Strip ribs; 2. Flange; 3. Casing;

[0037] C. Pick fiber body;

[0038] D. Pneumatic pick body;

[0039] E. Connecting flange. DETAILED DESCRIPTION

[0040] The present application is further described below in detail through specific embodiments in conjunction with the accompanying drawings.

[0041] In the description of this application: unless otherwise specified, "plurality" means two or more. The terms "first", "second", etc. in this application are intended to distinguish the objects referred to, and do not have special meanings in terms of technical connotations (for example, they should not be understood as emphasizing the importance or order, etc.). Expressions such as "including", "comprising", "having", etc. also mean "not limited to" (certain units, components, materials, steps, etc.).

[0042] When using the oxygen bottom blowing direct lead smelting method for lead smelting, the charge is added from the top of the smelting furnace, and oxygen-rich air is sent to the bottom to stir the molten pool. The charge is smelted in the molten pool, and the crude lead, high-lead slag and flue gas produced are discharged from the lead outlet, slag outlet and smoke outlet respectively. Due to slag jumping in the bottom blowing furnace, slag will form at the feed inlet and affect the flow of goods into the furnace body. Therefore, the slag at the top feed inlet of the bottom blowing furnace should be removed. The traditional slag removal method is to use manual methods to clean it regularly with an air hammer. It takes about 15 minutes for manual slag removal, and the manual operation time is about 2 minutes. The labor intensity of the workers is high and the working environment is relatively harsh.

[0043] The inventors realize that the current manual slag removal method is inefficient, costly, labor-intensive and has potential safety hazards, and a mechanized slag removal solution should be provided. To this end, the inventors have combined practice to carry out technical innovation and proposed that pneumatic picks can be used for slag removal. In order to further free workers from slag removal operations, achieve staff reduction and efficiency improvement, and improve the safety of slag removal, the pneumatic picks can also be installed on the robotic arm for automated slag removal. During the research and development process, the inventors found that the traditional pick fiber, when clamped by the robot, cannot obtain a fulcrum at the edge like manual operation to allow the draft pick to work efficiently. Therefore, when the robot drives the pick fiber to remove slag, it cannot effectively remove the thick slag and hard slag solidified at the furnace mouth. These thick slag and hard slag still need to be removed manually, resulting in the slag removal process cannot completely get rid of human participation, the robot cannot work continuously and effectively, and the slag removal efficiency is relatively low. Based on this, the present application provides a pick fiber head that can help the slag removal pneumatic pick to efficiently slag, so as to meet the application needs of robot slag removal. The structure of the pick fiber head is described in detail below in conjunction with the embodiments.

[0044] Embodiment 1

[0045] This embodiment provides a pick fiber head, such as Figure 1 , 2 The pick fiber head includes a pick fiber head body A, and the pick fiber head body A includes a connecting part and an active part. The connecting part includes a connecting seat for connecting and fixing with the pick fiber, and the active part includes an end head 02 connected with the connecting seat. The end head 02 is a truncated cone structure or a prism structure. The size of the first end of the end head 02 connected to the connecting seat is smaller than the size of the second end thereof. The first end and the second end are arranged opposite to each other, and a wear-resistant metal layer is arranged on the surface of the end head 02.

[0046] The present application designs the end 02 of the pick head to be a structure with one end larger and the other end smaller, and this structure has inclined side walls and outwardly protruding end edge ridges. If this pick head is installed on the pick and driven by a robot to perform slag removal operations, no matter how the robot rotates or moves the pick, the truncated cone-shaped end 02 or the prism-shaped end 02 can remove slag through the edge ridges, and the edge ridges can also be used as a fulcrum to lean against the furnace mouth, so as to facilitate the effective removal of thick slag and hard slag solidified at the furnace mouth. In addition, the present application also sets a wear-resistant metal layer on the surface of the end 02 to make it stronger and have a longer service life. Therefore, the pick head provided by the present application can meet the robot's slag removal needs without manual assistance, match the robot's movement and achieve continuous work.

[0047] In a more specific embodiment, the end 02 can be any prism structure, such as a triangular prism, a quadrangular prism, a pentagonal prism, etc., which can be customized according to needs.

[0048] In a more specific embodiment, the end 02 can be directly made of wear-resistant alloy material, or the end 02 can be divided into a truncated cone-shaped first substrate and a truncated cone-shaped second substrate, the small diameter end of the first substrate is connected to the connecting seat, the large diameter end of the first substrate is connected to the small diameter end of the second substrate, and the connection between the first substrate and the second substrate is welded and fixed, wherein the first substrate is a metal substrate, and common low-cost metal materials can be used for processing, and the second substrate is a wear-resistant alloy substrate, and wear-resistant alloy materials can be used for processing. The wear-resistant alloy layer can be made of the following common materials: cemented carbide (tungsten-cobalt alloy sintered by tungsten carbide powder and cobalt powder), tungsten carbide, high-speed steel (steel containing a high proportion of carbon and cemented carbide elements (such as tungsten, cobalt, molybdenum, chromium, etc.)), etc.

[0049] In a more specific embodiment, the end cap 02 includes a truncated cone or prism-shaped metal substrate, and a wear-resistant alloy layer is formed on the outer surface of the metal substrate. The wear-resistant alloy layer can be sprayed on the entire outer surface of the metal substrate, or only on the outer surface of the side wall near the second end of the end cap 02. The selection can be made based on actual needs and processing costs.

[0050] In a more specific embodiment, the above-mentioned connecting seat is a cylindrical connecting tube 01, and the connecting tube 01 is used to adapt and plug with the pick fiber, and the connecting tube 01 is welded and fixed to the pick fiber.

[0051] In another more specific embodiment, a mounting hole 03 for inserting a pin is provided on the wall of the connecting tube 01, and the mounting hole 03 is arranged along the radial direction of the connecting tube 01, and the connecting tube 01 is connected and fixed to the pick fiber by the pin. Figure 3 .

[0052] In a more specific embodiment, the end head 02 in the present application is a hollow structure, and the end head 02 is connected to the connecting tube 01, that is, the end head 02 is a hollow cone or a hollow prism structure, similar to a trumpet shape. Compared with the solid structure, the hollow structure can reduce the material consumption and reduce the weight of the fiber pick head while meeting the use requirements.

[0053] Embodiment 2

[0054] This embodiment provides a pick, including a pick body C in the shape of a slender rod, and a pick head provided in embodiment 1 is installed at the end of the pick body C. The pick equipped with the pick head of the present application can effectively remove thick slag and hard slag solidified at the furnace mouth, meeting the slag removal requirements of robots.

[0055] Embodiment 3

[0056] This embodiment provides a pneumatic pick, comprising a pneumatic pick body D and a pick fiber detachably connected to the pneumatic pick body D, the end of the pick fiber being connected to the pick fiber head of the aforementioned embodiment 1. The pneumatic pick can effectively remove thick slag and hard slag solidified at the furnace mouth under the drive of a robot.

[0057] Embodiment 4

[0058] The present embodiment provides an industrial robot, including a six-axis robot, wherein a connecting flange E is installed at the execution end of the six-axis robot, a pneumatic pick body D is installed at the center of the connecting flange E, the end of the pneumatic pick body D facing away from the connecting flange E is connected to a pick fiber, and the end of the pick fiber facing away from the pneumatic pick body D is connected to the pick fiber head of the aforementioned embodiment one.

[0059] Since the length of the pick fiber installed on the pneumatic pick is generally 1.5 meters to 2.4 meters, and the diameter is generally not more than 30 mm, the front end of the pick fiber tends to sag during use, and it is not easy to align with the target point. If the pneumatic pick is connected to a robotic arm, the front end of the pick fiber will sag, making it difficult to accurately position it, which will affect the slag removal efficiency and effect of the robotic arm.

[0060] Therefore, this embodiment provides a pick fiber support frame B, which can support the pick fiber installed on the slag removal pneumatic pick. The assembly structure of the pick fiber head body A, the pick fiber body C, the pneumatic pick body D and the pick fiber support frame B and the connection flange E of the six-axis robot execution end can be seen in Figure 4 .

[0061] In a specific embodiment, the pick fiber support frame B includes a plurality of strip ribs 1, and the plurality of strip ribs 1 form a hollow cylindrical mounting frame. The first end of the cylindrical mounting frame is connected with a flange 2, which not only serves to connect and fix the plurality of strip ribs 1, but also can be rigidly connected with a mechanical arm or other action mechanism when in use to realize mechanized operation; a plurality of sleeves 3 for mounting the pick fibers are arranged in the cylindrical mounting frame, and the plurality of sleeves 3 are arranged in sequence and spaced along the length direction of the cylindrical mounting frame, and the central axis of the sleeve 3 is parallel to the length direction of the cylindrical mounting frame, and a sleeve 3 is arranged at the second end of the cylindrical mounting frame, so that the pick fiber can be inserted from the second end of the cylindrical mounting frame, and the pick fiber passes through each sleeve 3 in turn and is connected to the pneumatic pick body D, and the sleeve 3 can play the role of limiting installation and supporting stability for the pick fiber, preventing the front end of the pick fiber from sagging, and facilitating accurate positioning; the sleeve 3 in the cylindrical mounting frame is fixedly connected with the strip ribs 1. In a specific production example, the sleeve 3 can be welded to the strip ribs 1.

[0062] When the industrial robot provided in this embodiment is used for automatic slag removal, the laser radar and visual detection system on the industrial robot are used to intelligently identify the slag formation at the feed port, and the six-axis robot drives the pick to move and position the slag removal. The above-mentioned pick support frame can support the pick so that it does not sag, ensure accurate positioning, and facilitate robot positioning. The pick head can effectively remove the thick slag and hard slag solidified at the furnace mouth without manual assistance, matching the movement of the robot and achieving continuous work, thereby improving the slag removal effect and efficiency. It can be seen that the application of this industrial robot can liberate workers from slag removal operations, achieve reduced staff and increased efficiency, and automate slag removal.

[0063] The technical features of the above embodiments may be arbitrarily combined (as long as there is no contradiction in the combination of these technical features). To make the description concise, not all possible combinations of the technical features in the above embodiments are described; these embodiments that are not explicitly written should also be considered to be within the scope of this specification.

[0064] The above is a relatively specific and detailed description of the present application through general description and specific embodiments. It should be understood that, based on the technical concept of the present application, several conventional adjustments or further innovations can be made to these specific embodiments; however, as long as they do not deviate from the technical concept of the present application, the technical solutions obtained by these conventional adjustments or further innovations also fall within the scope of protection of the claims of the present application.

Claims

1. A pick fiber head, characterized in that: It includes a pick fiber head body, the pick fiber head body includes a connecting part and an active part, the connecting part includes a connecting seat for connecting and fixing to the pick fiber, the active part includes an end head connected to the connecting seat, the end head is a truncated cone structure or a prism structure, the size of the first end of the end head connected to the connecting seat is smaller than the size of the second end thereof, the first end and the second end are arranged opposite to each other, and a wear-resistant metal layer is arranged on the surface of the end head.

2. The pick fiber head according to claim 1, characterized in that: The connecting seat comprises a cylindrical connecting tube, and the connecting tube is used to be adapted and plugged with the pick fiber, and the connecting tube is fixed to the pick fiber by welding.

3. The pick fiber head according to claim 1, characterized in that: The connecting seat includes a cylindrical connecting tube, which is used to fit and plug into the pick fiber. The tube wall of the connecting tube is provided with a mounting hole for passing a pin. The mounting hole is arranged along the radial direction of the connecting tube. The connecting tube and the pick fiber are connected and fixed by the pin.

4. The pick fiber head according to claim 2 or 3, characterized in that: The end head is a hollow structure, and the end head is communicated with the connecting pipe.

5. The pick fiber head according to claim 1, characterized in that: The end head comprises a truncated cone-shaped or prism-shaped metal matrix, and a wear-resistant alloy layer is formed on the outer surface of the metal matrix.

6. The pick fiber head according to claim 1, characterized in that: The end head includes a first substrate and a second substrate, both of which are hollow truncated cones, the small diameter end of the first substrate is connected to the connecting seat, the large diameter end of the first substrate is connected to the small diameter end of the second substrate, the first substrate is a metal substrate, and the second substrate is a wear-resistant alloy substrate.

7. A pick fiber, characterized in that: It comprises a pick fiber body, which is a slender rod-shaped structure, and the end of the pick fiber body is connected to the pick fiber head described in any one of claims 1-6.

8. A pneumatic pick, comprising a pneumatic pick body and a pick fiber detachably connected to the pneumatic pick body, characterized in that: The end of the pick fiber is connected to the pick fiber head described in any one of claims 1-6.

9. An industrial robot, characterized in that: It comprises a six-axis robot, the execution end of which is provided with a connecting flange, a pneumatic pick body is provided at the center of the connecting flange, an end of the pneumatic pick body facing away from the connecting flange is connected to a pick fiber, and an end of the pick fiber facing away from the pneumatic pick body is connected to a pick fiber head as described in any one of claims 1 to 6.

10. The industrial robot according to claim 9, characterized in that: The connecting flange is connected to a pick fiber support frame, and the pick fiber support frame includes a plurality of strip ribs, and the plurality of strip ribs form a hollow cylindrical mounting frame. A flange is connected to the first end of the cylindrical mounting frame, and the flange is fastened to the connecting flange by bolts. A sleeve is provided at the second end of the cylindrical mounting frame for allowing the pick fiber to pass through; the pneumatic pick body is located in the cylindrical mounting frame, and the pick fiber connected to the pneumatic pick body extends outward from the sleeve.

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