Manipulator for carrying short pipes

Abstract

The utility model relates to the field of manipulator industry, in particular to a manipulator for carrying short pipes, which comprises a manipulator body. A support assembly is arranged on the manipulator body, and a first moving assembly and a second moving assembly which are used for moving are arranged on the support assembly. By arranging the first clamping assemblies and the second clamping assemblies, short pipes placed in rows can be rapidly clamped, then the first electric cylinder and the second electric cylinder are started, the first protection block is made to be close to the center of the first clamping block, the second protection block is made to be close to the center of the second clamping block, and then the short pipes are clamped. The two ends, clamped by the first clamping block and the second clamping block, of the short pipe can be limited and fixed, at the moment, the first fixing rod and the second fixing rod can be attached to the inner wall of the short pipe, protection on the short pipe can be improved, and the short pipe can be effectively prevented from falling off.

Description

Technical Field

[0001] The utility model belongs to the field of manipulator industry, and specifically relates to a manipulator for transporting short pipes. Background Art

[0002] With the acceleration of my country's industrialization process, short tube materials are increasingly used in the manufacturing industry. For example, in the petroleum, chemical, construction and other industries, short tubes are an important part of connecting pipelines, and their transportation demand is also growing. The traditional short tube transportation method mainly relies on manpower. In order to improve the efficiency of short tube transportation, reduce labor intensity and ensure operation safety, in recent years, short tubes are usually transported by manipulators. The manipulators in the prior art are usually equipped with mechanical claws at the output end, and the short tubes are quickly grabbed by opening and closing the mechanical claws. However, the manipulators in the prior art are usually difficult to quickly grab and transport short tubes placed in rows in batches, and it is difficult to improve the stability of short tubes during transportation, which needs further improvement. Utility Model Content

[0003] In order to overcome the problem that the robot in the prior art is usually difficult to quickly grab and transport the short tubes placed in rows in batches, and it is difficult to improve the stability of the short tubes during transportation.

[0004] The technical solution of the utility model is: a manipulator for transporting short tubes, comprising a manipulator body; a bracket assembly is arranged on the manipulator body, a first moving assembly and a second moving assembly for moving are arranged on the bracket assembly, a first clamping assembly for clamping the short tube is arranged on the first moving assembly, and a second clamping assembly for clamping the short tube is arranged on the second moving assembly;

[0005] The bracket assembly includes a first fixed block, an arc block, a connecting block, a first U-shaped block, a first fixed plate, a mounting block and a limiting hole; the output end of the manipulator body is fixedly connected to the first fixed block, the front and rear ends of the first fixed block are fixedly connected to two arc blocks symmetrical about the center of the first fixed block, the lower end of the arc block is fixedly connected to the connecting block, the lower ends of the two connecting blocks are fixedly connected to the first U-shaped block, the front and rear ends of the inner wall of one of the first U-shaped blocks are fixedly connected to the first fixed plate, the top surface of the inner wall of the other first U-shaped block is fixedly connected to the mounting block, and the left and right ends of the mounting block are penetrated to provide limiting holes;

[0006] The first moving assembly includes a support block, a first servo motor, a first bearing seat, a second bearing seat, a first screw rod, a first wire sleeve, a moving block and a second fixed plate; the upper ends of the two first U-shaped blocks are fixedly connected to the support block, the right end of the support block is fixedly connected to the first servo motor, the upper end of the support block is fixedly connected to the first bearing seat and the second bearing seat, the left end of the output shaft of the support block passes through the support block and the first bearing seat and is fixedly connected to the first screw rod, the left end outer wall of the first screw rod is fitted with the inner wall of the second bearing seat, a plurality of first wire sleeves are movably installed on the outer wall of the first screw rod, the outer wall of the first wire sleeve is fixedly connected to the moving block, and the lower end of the moving block is fixedly connected to two second fixed plates;

[0007] The first clamping assembly includes a first clamping block, a second U-shaped block, a threaded column, a limiting cylinder, a linear bearing, a first protective cylinder, a first electric cylinder, a first protective block and a first fixed rod; a first clamping block is movably arranged below the moving block, a second U-shaped block is fixedly connected to the left end of the first clamping block, and the front and rear ends of the second U-shaped block are respectively fitted with one end of the two second fixing plates close to each other, and the two second fixing plates and the front and rear ends of the second U-shaped block are threadedly installed with evenly distributed threaded columns, the left and right ends of the first clamping block are fixedly connected to the limiting cylinder in the center, and the left and right ends of the first clamping block are fixedly connected to two linear bearings symmetrically about the center of the limiting cylinder, and the front and rear ends of the first clamping block are fixedly connected to three evenly distributed first protective cylinders, and the front and rear inner walls of the first protective cylinder located in the middle of the three first protective cylinders are fixedly connected to the first electric cylinder, a first protective block is fixedly connected to the output shaft of the first electric cylinder, and an end of the first protective block close to the center of the first clamping block is fixedly connected to the first fixed rod;

[0008] The second moving assembly includes a second servo motor and a second screw rod; the right end of the first fixed plate is fixedly connected to the second servo motor, the left end of the output shaft of the second servo motor passes through the first fixed plate and is fixedly connected to the second screw rod, the outer wall of the left end of the second screw rod is in contact with the inner wall of the limiting hole, and the outer wall of the second servo motor is also in contact with the inner wall of the limiting cylinder;

[0009] The second clamping assembly includes a second thread sleeve, a second clamping block, a fixed cylinder, a guide rod, a second protective cylinder, a second electric cylinder, a second protective block and a second fixed rod; the second thread sleeve is movably mounted on the outer wall of the first thread sleeve, the second clamping block is fixedly connected to the outer wall of the second thread sleeve, the left and right ends of the second clamping block are through-type fixedly connected with two fixed cylinders symmetrical to the second thread sleeve, the inner wall of the fixed cylinder is fixedly connected with a guide rod, the outer wall of the left end of the guide rod is fitted with the inner wall of the linear bearing, the front and rear ends of the second clamping block are through-type fixedly connected with three evenly distributed second protective cylinders, the front and rear inner walls of the second protective cylinder located in the middle of the three second protective cylinders are both fixedly connected with the second electric cylinder, the second protective block is fixedly connected to the output shaft of the second electric cylinder, and the second fixed rod is fixedly connected to one end of the second protective block close to the center of the second clamping block.

[0010] Preferably, when in use, the manipulator body is turned on to adjust the position of the bracket assembly, the first moving assembly is turned on to adjust the position of the first clamping assembly, the second moving assembly is turned on to adjust the position of the second clamping assembly, and the second moving assembly and the second clamping assembly are used to grab the short tube. Specifically, the first servo motor is turned on to rotate the first screw rod, and the multiple first thread sleeves will move along the outer wall of the first screw rod. The movement of the moving block will drive the second fixed plate to move. The second U-shaped block is threadedly fixed to the two second fixed plates by multiple threaded columns. The movement of the second fixed plate will drive the second U-shaped block to move, thereby adjusting the position of the first clamping block left and right, and then the second servo motor is turned on to rotate the second screw rod, and the second thread sleeve will move left and right along the outer wall of the second screw rod. When the first clamping block and the second clamping block are close to each other, the short tube can be quickly clamped. Since multiple first clamping assemblies and second clamping assemblies are set, the short tubes placed in a row can be quickly clamped. Then, the first electric cylinder and the second electric cylinder are turned on to make the first protective block approach the center of the first clamping block, and the second protective block approach the center of the second clamping block, so that the two ends of the short tube clamped by the first clamping block and the second clamping block can be limited and fixed. At this time, the first fixing rod and the second fixing rod will also fit with the inner wall of the short tube, which can improve the protection of the short tube and effectively prevent the short tube from falling. This solves the problem that the robot in the prior art is usually difficult to quickly grab and transport short tubes placed in rows in batches, and it is difficult to improve the stability of the short tubes during transportation.

[0011] Preferably, the first U-shaped block is in an inverted "U" shape, and the two first U-shaped blocks are symmetrical about the center of the first fixed block. The inverted "U" shape of the first U-shaped block can improve the protection of the first clamping assembly and the second clamping assembly.

[0012] Preferably, the first movable component includes a second fixed block, a screw hole and a camera; the second fixed block is fixedly connected to the middle of the front and rear ends of the movable block, and screw holes are penetrated at the upper and lower ends of the second fixed block, and the camera is threadedly installed on the inner wall of the screw hole. The camera is threadedly installed on the inner wall of the screw hole, so that the camera can be quickly installed on the second fixed block. When working, the camera can be turned on to record video, which is convenient for the staff to operate the device.

[0013] Preferably, the central axis of the limiting hole, the central axis of the limiting cylinder and the central axis of the second thread sleeve are collinear, the inner diameter of the limiting cylinder and the inner diameter of the second thread sleeve are equal, and the central axis of the limiting cylinder and the central axis of the second thread sleeve are collinear, which facilitates the stable rotation of the second screw rod.

[0014] Preferably, the first moving component also includes a limiting slot and a limiting block; the supporting block is in a "U" shape, and a limiting slot is provided at the lower end of the supporting block, and the limiting slot is through-set at the left and right ends of the supporting block, and the bottom surface of the inner wall of the moving block is fixedly connected to the limiting block, and the front and rear ends of the limiting block are fitted with the front and rear end surfaces of the inner wall of the limiting slot. When the moving block moves in the left and right directions, the limiting block will move along the front and rear end surfaces of the inner wall of the limiting slot, thereby facilitating the movement of the limiting block.

[0015] Preferably, the outer contour of the left end face of the first clamping block overlaps with the outer contour of the right end face of the second clamping block, and the front and rear ends of the first clamping block and the front and rear ends of the second clamping block are of the same structure, which facilitates the quick and stable clamping of the short tube.

[0016] Preferably, the distance between the front and rear ends of the first U-shaped block is greater than the distance between the front and rear ends of the first protective tube, the front and rear ends of the first protective tube are flush with the front and rear ends of the second protective tube, the front and rear ends of the first protective tube pass through the front and rear ends of the first clamping block and extend to the outside of the first clamping block, the length of the first U-shaped block is greater than the length of the first clamping block, and can provide better protection for the first clamping block and the second clamping block, and the length of the first protective tube is greater than the length of the first clamping block, so as to better protect the clamped short tube.

[0017] Beneficial effects of the utility model:

[0018] 1. Adjust the position of the bracket assembly by opening the manipulator body, open the first moving assembly to adjust the position of the first clamping assembly, open the second moving assembly to adjust the position of the second clamping assembly, and use the second moving assembly and the second clamping assembly to grab the short tube. Specifically, turn on the first servo motor to rotate the first screw rod, and the multiple first thread sleeves will move along the outer wall of the first screw rod. The movement of the moving block will drive the second fixed plate to move. The second U-shaped block is threadedly fixed on the two second fixed plates by multiple threaded columns. The movement of the second fixed plate will drive the second U-shaped block to move, thereby adjusting the position of the first clamping block left and right, and then turn on the second servo motor to rotate the second screw rod, and the second thread sleeve will move left and right along the outer wall of the second screw rod. When the first clamping block and the second clamping block are close to each other, the short tube can be quickly clamped. Since a plurality of first clamping assemblies and second clamping assemblies are provided, the short tubes placed in a row can be quickly clamped. Then, the first electric cylinder and the second electric cylinder are turned on to make the first protective block close to the center of the first clamping block and the second protective block close to the center of the second clamping block, so that the two ends of the short tube clamped by the first clamping block and the second clamping block can be limited and fixed. At this time, the first fixing rod and the second fixing rod will also fit with the inner wall of the short tube, which can improve the protection of the short tube and effectively prevent the short tube from falling off, thereby solving the problem that the robot in the prior art is usually difficult to quickly grab and transport the short tubes placed in a row in batches and it is difficult to improve the stability of the short tubes during transportation.

[0019] 2. The first U-shaped block is arranged in an inverted "U" shape, so that the protection of the first clamping assembly and the second clamping assembly can be improved. The length of the first U-shaped block is greater than the length of the first clamping block, so that the first clamping block and the second clamping block can be better protected. The length of the first protective tube is greater than the length of the first clamping block, so that the clamped short tube can be better protected.

[0020] 3. By installing the camera thread on the inner wall of the screw hole, the camera can be quickly installed on the second fixed block. When working, the camera can be turned on to record video, which is convenient for the staff to operate the device. When the movable block moves in the left and right directions, the limit block will move along the front and rear end surfaces of the inner wall of the limit groove, thereby facilitating the movement of the limit block. The front and rear ends of the first clamping block and the front and rear ends of the second clamping block are set with the same structure, which is convenient for fast and stable clamping of the short tube. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 What is shown is a three-dimensional structural schematic diagram of a manipulator for transporting short tubes according to the utility model;

[0022] Figure 2The present invention shows a schematic diagram of the three-dimensional structure of a support assembly and a first moving assembly of a manipulator for transporting short pipes;

[0023] Figure 3 What is shown is a three-dimensional structural schematic diagram of a first moving component of a manipulator for transporting short tubes according to the utility model;

[0024] Figure 4 What is shown is a schematic diagram of the three-dimensional structure of a first clamping assembly and a second clamping assembly of a manipulator for handling short tubes of the utility model;

[0025] Figure 5 What is shown is a three-dimensional structural schematic diagram of a second moving component of a manipulator for transporting short tubes according to the utility model.

[0026] The marks in the attached drawings are: 1. Manipulator body; 2. Bracket assembly; 201. First fixed block; 202. Arc block; 203. Connecting block; 204. First U-shaped block; 205. First fixed plate; 206. Mounting block; 207. Limiting hole; 3. First moving assembly; 301. Support block; 302. First servo motor; 303. First bearing seat; 304. Second bearing seat; 305. First screw rod; 306. First screw sleeve; 307. Moving block; 308. Second fixed block; 309. Screw hole; 310. Camera; 311. Limiting groove; 312. Limiting block; 313. Second fixed Plate; 4, first clamping assembly; 401, first clamping block; 402, second U-shaped block; 403, threaded column; 404, limiting cylinder; 405, linear bearing; 406, first protective cylinder; 407, first electric cylinder; 408, first protective block; 409, first fixed rod; 5, second moving assembly; 501, second servo motor; 502, second screw rod; 6, second clamping assembly; 601, second thread sleeve; 602, second clamping block; 603, fixed cylinder; 604, guide rod; 605, second protective cylinder; 606, second electric cylinder; 607, second protective block; 608, second fixed rod. DETAILED DESCRIPTION

[0027] The utility model is further described below in conjunction with the accompanying drawings and embodiments.

[0028] See also Figure 1-5 The utility model provides an embodiment: a manipulator for transporting short tubes, comprising a manipulator body 1; a bracket assembly 2 is arranged on the manipulator body 1, a first moving assembly 3 and a second moving assembly 5 for movement are arranged on the bracket assembly 2, a first clamping assembly 4 for clamping the short tube is arranged on the first moving assembly 3, and a second clamping assembly 6 for clamping the short tube is arranged on the second moving assembly 5;

[0029] The bracket assembly 2 includes a first fixed block 201, an arc block 202, a connecting block 203, a first U-shaped block 204, a first fixed plate 205, a mounting block 206 and a limiting hole 207; the output end of the manipulator body 1 is fixedly connected to the first fixed block 201, and the front and rear ends of the first fixed block 201 are fixedly connected to two arc blocks 202 symmetrical about the center of the first fixed block 201, the lower end of the arc block 202 is fixedly connected to the connecting block 203, and the lower ends of the two connecting blocks 203 are fixedly connected to the first U-shaped block 204, the front and rear ends of the inner wall of one of the first U-shaped blocks 204 are fixedly connected to the first fixed plate 205, and the top surface of the inner wall of the other first U-shaped block 204 is fixedly connected to the mounting block 206, and the left and right ends of the mounting block 206 are penetrated to provide limiting holes 207;

[0030] The first moving assembly 3 includes a support block 301, a first servo motor 302, a first bearing seat 303, a second bearing seat 304, a first screw rod 305, a first wire sleeve 306, a moving block 307 and a second fixed plate 313; the upper ends of the two first U-shaped blocks 204 are fixedly connected to the support block 301, the right end of the support block 301 is fixedly connected to the first servo motor 302, the upper end of the support block 301 is fixedly connected to the first bearing seat 303 and the second bearing seat 304, the left end of the output shaft of the support block 301 passes through the support block 301 and the first bearing seat 303 and is fixedly connected to the first screw rod 305, the left end outer wall of the first screw rod 305 is fitted with the inner wall of the second bearing seat 304, the outer wall of the first screw rod 305 is movably installed with a plurality of first wire sleeves 306, the outer wall of the first wire sleeve 306 is fixedly connected to the moving block 307, and the lower end of the moving block 307 is fixedly connected to two second fixed plates 313;

[0031] The first clamping assembly 4 includes a first clamping block 401, a second U-shaped block 402, a threaded column 403, a limiting cylinder 404, a linear bearing 405, a first protective cylinder 406, a first electric cylinder 407, a first protective block 408 and a first fixed rod 409; the first clamping block 401 is movably arranged below the moving block 307, the left end of the first clamping block 401 is fixedly connected to the second U-shaped block 402, the front and rear ends of the second U-shaped block 402 are respectively fitted with one end of the two second fixing plates 313 close to each other, and the two second fixing plates 313 and the front and rear ends of the second U-shaped block 402 are threadedly installed with evenly distributed threaded columns 403 The left and right ends of the first clamping block 401 are fixedly connected to a limiting cylinder 404 in the center, and the left and right ends of the first clamping block 401 are fixedly connected to two linear bearings 405 symmetrically about the center of the limiting cylinder 404. The front and rear ends of the first clamping block 401 are fixedly connected to three evenly distributed first protective cylinders 406. The inner walls of the front and rear ends of the first protective cylinder 406 located in the middle of the three first protective cylinders 406 are fixedly connected to the first electric cylinder 407. The output shaft of the first electric cylinder 407 is fixedly connected to a first protective block 408, and one end of the first protective block 408 close to the center of the first clamping block 401 is fixedly connected to a first fixing rod 409;

[0032] The second moving assembly 5 includes a second servo motor 501 and a second screw rod 502; the right end of the first fixed plate 205 is fixedly connected to the second servo motor 501, the left end of the output shaft of the second servo motor 501 passes through the first fixed plate 205 and is fixedly connected to the second screw rod 502, the left end outer wall of the second screw rod 502 is in contact with the inner wall of the limiting hole 207, and the outer wall of the second servo motor 501 is also in contact with the inner wall of the limiting cylinder 404;

[0033] The second clamping assembly 6 includes a second thread sleeve 601, a second clamping block 602, a fixed cylinder 603, a guide rod 604, a second protective cylinder 605, a second electric cylinder 606, a second protective block 607 and a second fixed rod 608; the outer wall of the first threaded rod 305 is movably mounted with the second thread sleeve 601, the outer wall of the second thread sleeve 601 is fixedly connected with the second clamping block 602, the left and right ends of the second clamping block 602 are through-type fixedly connected with two fixed cylinders 603 symmetrical about the second thread sleeve 601, and the inner wall of the fixed cylinder 603 is fixedly connected with the second thread sleeve 601. A guide rod 604 is connected, and the outer wall of the left end of the guide rod 604 is fitted with the inner wall of the linear bearing 405. Three evenly distributed second protective cylinders 605 are fixedly connected through the front and rear ends of the second clamping block 602. The inner walls of the front and rear ends of the second protective cylinder 605 located in the middle of the three second protective cylinders 605 are fixedly connected to the second electric cylinder 606. A second protective block 607 is fixedly connected to the output shaft of the second electric cylinder 606. The second protective block 607 is fixedly connected to a second fixing rod 608 at one end close to the center of the second clamping block 602.

[0034] See also Figure 2In this embodiment, the first U-shaped block 204 is in an inverted “U” shape, and the two first U-shaped blocks 204 are symmetrical about the center of the first fixed block 201 .

[0035] See also Figure 3 In this embodiment, the first moving component 3 includes a second fixed block 308, a screw hole 309 and a camera 310; the second fixed block 308 is fixedly connected to the middle of the front and rear ends of the moving block 307, and screw holes 309 are opened through the upper and lower ends of the second fixed block 308, and the camera 310 is threadedly installed on the inner wall of the screw hole 309.

[0036] See also Figure 2 and 4 In this embodiment, the central axis of the limiting hole 207, the central axis of the limiting cylinder 404 and the central axis of the second wire sleeve 601 are collinear, and the inner diameter of the limiting cylinder 404 is equal to the inner diameter of the second wire sleeve 601.

[0037] See also Figure 2 and 3 In this embodiment, the first moving component 3 also includes a limiting groove 311 and a limiting block 312; the support block 301 is "U"-shaped, and a limiting groove 311 is provided at the lower end of the support block 301, and the limiting groove 311 is through-set at the left and right ends of the support block 301, and the bottom surface of the inner wall of the moving block 307 is fixedly connected to the limiting block 312, and the front and rear ends of the limiting block 312 are in contact with the front and rear end surfaces of the inner wall of the limiting groove 311.

[0038] See also Figure 4 In this embodiment, the outer contour of the left end face of the first clamping block 401 overlaps with the outer contour of the right end face of the second clamping block 602, and the front and rear ends of the first clamping block 401 and the front and rear ends of the second clamping block 602 have the same structure.

[0039] See also Figure 1-4 In this embodiment, the distance between the front and rear ends of the first U-shaped block 204 is greater than the distance between the front and rear ends of the first protective tube 406, the front and rear ends of the first protective tube 406 are flush with the front and rear ends of the second protective tube 605, and the front and rear ends of the first protective tube 406 pass through the front and rear ends of the first clamping block 401 and extend to the outside of the first clamping block 401.

[0040] When working, first, the camera 310 is threadedly installed on the inner wall of the screw hole 309, so that the camera 310 can be quickly installed on the second fixing block 308, and then the camera 310 can be turned on to record, which is convenient for the staff to operate the device;

[0041] Next, the manipulator body 1 is turned on to adjust the position of the bracket assembly 2, and the first servo motor 302 is turned on to rotate the first screw rod 305, and the plurality of first thread sleeves 306 will move along the outer wall of the first screw rod 305, and the movement of the moving block 307 will drive the second fixed plate 313 to move, and the second U-shaped block 402 is threadedly fixed on the two second fixed plates 313 by the plurality of threaded columns 403, and the movement of the second fixed plate 313 will drive the second U-shaped block 402 to move, thereby adjusting the position of the first clamping block 401 to the left and right;

[0042] Then, the second servo motor 501 is turned on to rotate the second screw rod 502, and the second wire sleeve 601 moves left and right along the outer wall of the second screw rod 502, and the second wire sleeve 601 drives the second clamping block 602 to move left and right. When the first clamping block 401 and the second clamping block 602 are close to each other, the short tube can be quickly clamped. Since a plurality of first clamping assemblies 4 and second clamping assemblies 6 are provided, the short tubes placed in a row can be quickly clamped.

[0043] Afterwards, turn on the first electric cylinder 407 and the second electric cylinder 606, so that the first protective block 408 approaches the center of the first clamping block 401, and the second protective block 607 approaches the center of the second clamping block 602, so that the two ends of the short tube clamped by the first clamping block 401 and the second clamping block 602 can be limited and fixed. At this time, the first fixing rod 409 and the second fixing rod 608 will also fit with the inner wall of the short tube, which can improve the protection of the short tube and effectively prevent the short tube from falling. Then, turn on the manipulator body 1 to quickly move the multiple short tubes clamped.

[0044] The embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge scope of those skilled in the art without departing from the purpose of the present invention.

Claims

1. A robot for handling short tubes, comprising a robot body (1); characterized in that: A support assembly (2) is provided on the manipulator body (1); a first moving assembly (3) and a second moving assembly (5) for movement are provided on the support assembly (2); a first clamping assembly (4) for clamping a short tube is provided on the first moving assembly (3); and a second clamping assembly (6) for clamping a short tube is provided on the second moving assembly (5); The bracket assembly (2) comprises a first fixed block (201), an arc block (202), a connecting block (203), a first U-shaped block (204), a first fixed plate (205), a mounting block (206) and a limiting hole (207); the output end of the manipulator body (1) is fixedly connected to the first fixed block (201); the front and rear ends of the first fixed block (201) are fixedly connected to two arc blocks (202) symmetrical about the center of the first fixed block (201); the lower end of the arc block (202) is fixedly connected to the connecting block (203); the lower ends of the two connecting blocks (203) are fixedly connected to the first U-shaped block (204); the front and rear ends of the inner wall of one of the first U-shaped blocks (204) are fixedly connected to the first fixed plate (205); the top surface of the inner wall of the other first U-shaped block (204) is fixedly connected to the mounting block (206); and the limiting holes (207) are provided through the left and right ends of the mounting block (206); The first moving assembly (3) comprises a support block (301), a first servo motor (302), a first bearing seat (303), a second bearing seat (304), a first screw rod (305), a first screw sleeve (306), a moving block (307) and a second fixed plate (313); the upper ends of the two first U-shaped blocks (204) are fixedly connected to the support block (301), the right end of the support block (301) is fixedly connected to the first servo motor (302), and the upper end of the support block (301) is fixedly connected to the first bearing seat (303). and a second bearing seat (304), the left end of the output shaft of the support block (301) passes through the support block (301) and the first bearing seat (303) and is fixedly connected to a first screw rod (305), the left end outer wall of the first screw rod (305) is in contact with the inner wall of the second bearing seat (304), a plurality of first thread sleeves (306) are movably mounted on the outer wall of the first thread rod (305), a moving block (307) is fixedly connected to the outer wall of the first thread sleeve (306), and the lower end of the moving block (307) is fixedly connected to two second fixing plates (313); The first clamping assembly (4) comprises a first clamping block (401), a second U-shaped block (402), a threaded column (403), a limiting cylinder (404), a linear bearing (405), a first protective cylinder (406), a first electric cylinder (407), a first protective block (408) and a first fixed rod (409); the first clamping block (401) is movably arranged below the moving block (307); the second U-shaped block (402) is fixedly connected to the left end of the first clamping block (401); the front and rear ends of the second U-shaped block (402) are respectively fitted with the ends of the two second fixing plates (313) that are close to each other; the two second fixing plates (313) and the front and rear ends of the second U-shaped block (402) are threadedly installed with evenly distributed threaded columns ( 403), the left and right ends of the first clamping block (401) are centrally connected to a limiting cylinder (404), the left and right ends of the first clamping block (401) are connected to two linear bearings (405) symmetrically about the center of the limiting cylinder (404), the front and rear ends of the first clamping block (401) are connected to three evenly distributed first protective cylinders (406), the front and rear inner walls of the first protective cylinder (406) located in the middle of the three first protective cylinders (406) are both connected to a first electric cylinder (407), the output shaft of the first electric cylinder (407) is connected to a first protective block (408), and one end of the first protective block (408) close to the center of the first clamping block (401) is connected to a first fixing rod (409); The second moving assembly (5) comprises a second servo motor (501) and a second screw rod (502); the second servo motor (501) is fixedly connected to the right end of the first fixed plate (205); the left end of the output shaft of the second servo motor (501) passes through the first fixed plate (205) and is fixedly connected to the second screw rod (502); the outer wall of the left end of the second screw rod (502) is in contact with the inner wall of the limiting hole (207); and the outer wall of the second servo motor (501) is also in contact with the inner wall of the limiting cylinder (404); The second clamping assembly (6) comprises a second thread sleeve (601), a second clamping block (602), a fixing cylinder (603), a guide rod (604), a second protective cylinder (605), a second electric cylinder (606), a second protective block (607) and a second fixing rod (608); the second thread sleeve (601) is movably mounted on the outer wall of the first thread rod (305); the second clamping block (602) is fixedly connected to the outer wall of the second thread sleeve (601); two fixing cylinders (603) symmetrical about the second thread sleeve (601) are fixedly connected to the left and right ends of the second clamping block (602); the fixing cylinders (603) are fixedly connected to the left and right ends of the second thread sleeve (601); The inner wall of the second clamping block (602) is fixedly connected to a guide rod (604), the outer wall of the left end of the guide rod (604) is in contact with the inner wall of the linear bearing (405), three evenly distributed second protective cylinders (605) are fixedly connected through the front and rear ends of the second clamping block (602), the inner walls of the front and rear ends of the second protective cylinder (605) located in the middle of the three second protective cylinders (605) are fixedly connected to the second electric cylinder (606), the output shaft of the second electric cylinder (606) is fixedly connected to a second protective block (607), and one end of the second protective block (607) close to the center of the second clamping block (602) is fixedly connected to a second fixing rod (608).

2. A robot for handling short tubes according to claim 1, characterized in that: The first U-shaped block (204) is in an inverted "U" shape, and the two first U-shaped blocks (204) are symmetrical about the center of the first fixed block (201).

3. A robot for handling short tubes according to claim 1, characterized in that: The first moving assembly (3) comprises a second fixed block (308), a screw hole (309) and a camera (310); the second fixed block (308) is fixedly connected to the middle of the front and rear ends of the moving block (307); the screw holes (309) are penetrated through the upper and lower ends of the second fixed block (308); and the camera (310) is threadedly mounted on the inner wall of the screw hole (309).

4. A robot for handling short tubes according to claim 1, characterized in that: The central axis of the limiting hole (207), the central axis of the limiting cylinder (404) and the central axis of the second thread sleeve (601) are collinear, and the inner diameter of the limiting cylinder (404) is equal to the inner diameter of the second thread sleeve (601).

5. A robot for handling short tubes according to claim 1, characterized in that: The first moving assembly (3) further comprises a limiting groove (311) and a limiting block (312); the supporting block (301) is in a "U" shape, the limiting groove (311) is provided at the lower end of the supporting block (301), the limiting groove (311) is arranged through the left and right ends of the supporting block (301), the bottom surface of the inner wall of the moving block (307) is fixedly connected to the limiting block (312), and the front and rear ends of the limiting block (312) are in contact with the front and rear end surfaces of the inner wall of the limiting groove (311).

6. A robot for handling short tubes according to claim 1, characterized in that: The outer contour of the left end surface of the first clamping block (401) overlaps with the outer contour of the right end surface of the second clamping block (602), and the front and rear ends of the first clamping block (401) and the front and rear ends of the second clamping block (602) have the same structure.

7. A robot for handling short tubes according to claim 1, characterized in that: The distance between the front and rear ends of the first U-shaped block (204) is greater than the distance between the front and rear ends of the first protective tube (406), the front and rear ends of the first protective tube (406) are flush with the front and rear ends of the second protective tube (605), and the front and rear ends of the first protective tube (406) penetrate the front and rear ends of the first clamping block (401) and extend to the outside of the first clamping block (401).

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