Robot-based suction feeding device compatible with various pipe fittings

Abstract

The utility model discloses a robot-based sucking and feeding device compatible with various pipe fittings, which comprises an overall fixing frame, a feeding belt conveying line, a chain plate conveying line, a carrier mechanism, a connecting belt conveying line, a backflow belt conveying line, a camera recognition mechanism and a robot sucking mechanism, the feeding belt conveying line, the chain plate conveying line, the connecting belt conveying line and the backflow belt conveying line are arranged on the overall fixing frame, the outlet end of the feeding belt conveying line is connected with the connecting belt conveying line, and the outlet end of the connecting belt conveying line is connected with the inlet end of the backflow belt conveying line. A carrier mechanism is arranged on the chain plate conveying line, and the camera recognition mechanism and the robot suction mechanism are arranged above the feeding belt conveying line. The pipe fitting conveying device can convey pipe fitting products, automatically recognize the pipe fitting products and finally suck and place the pipe fitting products to convey the pipe fitting products according to fixed postures, is compatible with various types of pipe fittings, and is good in carrier compatibility.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of pipe fitting production packaging with inserts, particularly to a robot-based suction feeding device compatible with multiple pipe fittings. BACKGROUND

[0002] Pipe fittings with inserts (female elbow fittings, male elbow fittings, female tee fittings, male tee fittings, female connector fittings, male connector fittings) need to have a two-dimensional code for query and anti-counterfeiting engraved on the surface at a fixed position during automatic production and packaging, and then flow into the back end for bagging and packaging processes. Therefore, a device is needed to arrange and convey the above pipe fittings with inserts in a fixed posture to cooperate with a laser engraving machine for fixed-point engraving, ensuring the uniformity and aesthetics of the anti-counterfeit two-dimensional code engraving, thereby improving product quality. Moreover, the existing product carriers are not compatible enough and cannot meet the positioning of multiple different types of pipe fittings with inserts. SUMMARY

[0003] To solve the above problems, the utility model aims to provide a robot-based suction feeding device compatible with multiple pipe fittings, which conveys pipe fitting products, automatically identifies them, and finally sucks and places them to be conveyed in a fixed posture. The compatibility of the product carrier is high.

[0004] The technical problem solved by the utility model can be solved by the following technical scheme: a robot-based suction feeding device compatible with multiple pipe fittings, comprising a general fixed frame, a feeding belt conveying line, a chain plate conveying line, a carrier mechanism, a connecting belt conveying line, a return belt conveying line, a camera recognition mechanism, and a robot suction mechanism. The feeding belt conveying line, chain plate conveying line, connecting belt conveying line, and return belt conveying line are arranged on the general fixed frame. The outlet end of the feeding belt conveying line is connected to the connecting belt conveying line. The outlet end of the connecting belt conveying line is connected to the inlet end of the return belt conveying line. The carrier mechanism is arranged on the chain plate conveying line. The camera recognition mechanism and the robot suction mechanism are arranged above the feeding belt conveying line.

[0005] The robot suction mechanism comprises a robot fixed frame, a vane rotary cylinder, a rotary cylinder fixed frame, a suction disc fixed frame, a suction disc, and a SCARA robot. The SCARA robot is arranged on the robot fixed frame. The movable head of the SCARA robot is provided with a rotary cylinder fixed frame. The rotary cylinder fixed frame is provided with a vane rotary cylinder. The rotary shaft of the vane rotary cylinder is connected to the suction disc fixed frame. The suction disc is fixed on the suction disc fixed frame. The suction disc is connected to a vacuum suction air pipe quick connector.

[0006] The camera recognition mechanism comprises a camera recognition mechanism frame, a camera fixing frame and a recognition camera, the camera recognition mechanism frame is hollow, an upper portion of the camera recognition mechanism frame is provided with an opening, the camera recognition mechanism frame is provided with the camera fixing frame at the top, the recognition camera is fixed on the camera fixing frame, and a lens of the recognition camera vertically faces downward and extends into the opening.

[0007] The camera recognition mechanism frame is fixedly connected with the rack of the feeding belt conveying line through screws.

[0008] The top of the camera recognition mechanism frame is provided with three pairs of camera recognition mounting holes, the camera recognition mounting holes are located on both sides of the opening, the camera recognition mounting holes are waist-shaped holes, and the camera fixing frame is connected with the recognition mounting holes through screws.

[0009] The camera recognition mounting holes comprise a left-side camera recognition mechanism camera mounting hole, a middle camera recognition mechanism camera mounting hole and a right-side camera recognition mechanism camera mounting hole, when the recognition camera and the camera fixing frame are mounted on the left-side camera recognition mechanism camera mounting hole, a left-side camera recognition mechanism is formed, and the recognition camera of the left-side camera recognition mechanism is located above the left side of the feeding belt conveying line; when the recognition camera and the camera fixing frame are mounted on the middle camera recognition mechanism camera mounting hole, a middle camera recognition mechanism is formed, and the recognition camera of the middle camera recognition mechanism is located above the middle of the feeding belt conveying line; and when the recognition camera and the camera fixing frame are mounted on the right-side camera recognition mechanism camera mounting hole, a right-side camera recognition mechanism is formed, and the recognition camera of the right-side camera recognition mechanism is located above the right side of the feeding belt conveying line.

[0010] The carrier mechanism comprises a carrier carrier, a female three-way female bend positioning pin, a female-to-male left limiting plate, a female-to-male right limiting plate and a male bend male three-way positioning hole, the carrier carrier is fixed on the conveying chain plate of the chain plate conveying line, the carrier carrier is provided with the male bend male three-way positioning hole and the female three-way female bend positioning pin, and the two side faces of the carrier carrier are respectively provided with the female-to-male left limiting plate and the female-to-male right limiting plate.

[0011] The feeding belt conveying line is arranged at the rear side of the chain plate conveying line and is fixedly connected with the general fixing frame through screws, the connecting belt conveying line is arranged at the right side of the feeding belt conveying line and is fixedly connected with the general fixing frame through screws, and the return belt conveying line is arranged at the rear side of the feeding belt conveying line and the connecting belt conveying line and is fixedly connected with the general fixing frame through screws.

[0012] The conveying belt surface of the connecting belt conveying line is lower than the conveying belt surface of the feeding belt conveying line, and the conveying belt surface of the return belt conveying line is lower than the conveying belt surface of the connecting belt conveying line.

[0013] The utility model discloses a carrier mechanism is equipped with female male limit stop, male bend male tee positioning hole, female bend female tee positioning pin, can satisfy the positioning of various different types of pipe fittings with insert, and the compatibility is strong, and the flexible program is high. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 It is overall structure schematic diagram of the utility model device;

[0015] Figure 2 It is the overhead view of overall structure of the utility model device;

[0016] Figure 3 It is the structure schematic diagram of robot suction mechanism of the utility model device;

[0017] Figure 4 It is the front view of rotating suction mechanism of the utility model device;

[0018] Figure 5 It is the structure schematic diagram of camera identification mechanism of the utility model device;

[0019] Figure 6 It is the structure schematic diagram of carrier mechanism of the utility model device;

[0020] Figure 7 It is the structure schematic diagram of pipe fitting product with insert;

[0021] In the figure: 1 is the overall fixed frame, 2 is the chain plate conveying line, 3 is the feeding belt conveying line, 4 is the left side camera recognition mechanism, 5 is the left side robot suction mechanism, 6 is the middle camera recognition mechanism, 7 is the middle robot suction mechanism, 8 is the right side camera recognition mechanism, 9 is the right side robot suction mechanism, 10 is the return belt conveying line, 11 is the connecting belt conveying line, 12 is the carrier mechanism, 13 is the SCARA robot, 14 is the suction chuck, 15 is the blade rotary cylinder, 16 is the rotary cylinder fixed frame, 17 is the robot fixed frame, 18 is the vacuum suction air pipe quick connector, 19 is the chuck fixed frame, 20 is the camera recognition mechanism frame, 21 is the left side camera recognition mechanism camera mounting hole, 22 is the middle camera recognition mechanism camera mounting hole, 23 is the right side camera recognition mechanism camera mounting hole, 24 is the camera fixed frame, 25 is the recognition camera, 26 is the left side limit plate of female-to-male connection, 27 is the carrier carrier, 28 is the female three-way female elbow positioning pin, 29 is the male elbow male three-way positioning hole, 30 is the male elbow pipe fitting, 31 is the female elbow pipe fitting, 32 is the male three-way pipe fitting, 33 is the female three-way pipe fitting, 34 is the female connecting pipe fitting, 35 is the male connecting pipe fitting, 36 is the right side limit plate of female-to-male connection. DETAILED DESCRIPTION

[0022] In order to make the technical means, creative features, purposes and effects realized by the utility model easy to understand, the utility model is further described below in combination with specific drawings.

[0023] In the description of the utility model, it should be understood that the orientation or position relationship indicated by the terms "one end", "the other end", "outer side", "upper", "inner side", "horizontal", "coaxial", "central", "end", "length", "outer end" and the like is based on the orientation or position relationship shown in the drawings, and is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, therefore it cannot be understood as a limitation on the utility model.

[0024] In combination with the drawings Figures 1 to 6As shown, the embodiment discloses a kind of based on robot's compatible multiple pipe suction feeding device, pipe product can be transported and then automatically identified last suction and placed so that it is transported according to fixed posture, including overall fixed frame 1, feeding belt conveying line 3, chain plate conveying line 2, carrier mechanism 12, link belt conveying line 11, backflow belt conveying line 10, camera recognition mechanism and robot suction mechanism, the feeding belt conveying line 3, chain plate conveying line 2, link belt conveying line 11, backflow belt conveying line 10 are arranged on overall fixed frame 1, the outlet end of the feeding belt conveying line 3 is connected with link belt conveying line 11, the outlet end of link belt conveying line 11 is connected with the import end of backflow belt conveying line 10, carrier mechanism 12 is provided on chain plate conveying line 2, camera recognition mechanism and robot suction mechanism are arranged above feeding belt conveying line 3.

[0025] The feeding belt conveying line 3 is arranged at the back side of chain plate conveying line 2 and is connected and fixed with overall fixed frame 1 by 24 hexagon socket screws, the link belt conveying line 11 is arranged at the right side of feeding belt conveying line 3 and is connected and fixed with overall fixed frame 1 by 8 hexagon socket screws, the backflow belt conveying line 10 is arranged at the back side of feeding belt conveying line 3 and link belt conveying line 11 and is connected and fixed with overall fixed frame 1 by 24 hexagon socket screws.

[0026] The conveying belt surface of link belt conveying line 11 is lower than the conveying belt surface of feeding belt conveying line 3, and the conveying belt surface of backflow belt conveying line 10 is lower than the conveying belt surface of link belt conveying line 11. The height of the conveying belt surface of feeding belt conveying line 3, link belt conveying line 11 and backflow belt conveying line 10 decreases in turn, to ensure that the pipe not sucked away can smoothly enter link belt conveying line 11 from feeding belt conveying line 3 and finally fall into backflow belt conveying line 10, to improve the stability of the device.

[0027] The robot suction mechanism comprises a robot fixing frame 17, a blade rotating cylinder 15, a rotating cylinder fixing frame 16, a suction disc fixing frame 19, a suction disc 14 and a SCARA robot 13, the robot fixing frame 17 is connected and fixed with the general fixing frame 1 through eight internal hexagonal screws, the SCARA robot 13 is connected and fixed with the robot fixing frame 17 through six internal hexagonal screws, the movable head of the SCARA robot 13 is connected with the rotating cylinder fixing frame 16 through four internal hexagonal screws, the rotating cylinder fixing frame 16 is connected and fixed with the blade rotating cylinder 15 through four internal hexagonal screws, the rotating shaft of the blade rotating cylinder 15 is connected with the suction disc fixing frame 16, the suction disc fixing frame 16 is sleeved outside the rotating shaft of the blade rotating cylinder 15 and is locked and fixed through one internal hexagonal screw, the suction disc 14 is fixed on the suction disc fixing frame 19, the suction disc 14 is connected with a vacuum suction air pipe quick connector 18, the vacuum suction air pipe quick connector 18 is connected and fixed with the suction disc 14 through threads, the vacuum suction air pipe quick connector 18 is used for connecting a vacuum PU air pipe to introduce vacuum so that the suction disc 14 generates suction force. The combination of the SCARA robot 13 and the blade rotating mechanism enables the suction action to rotate and move around the robot arm swing, to move up and down and rotate swing, to improve the flexibility of suction and to lay a good foundation for compatible grabbing of various types of pipe fittings.

[0028] The robot suction mechanism comprises a left robot suction mechanism 5, a middle robot suction mechanism 7 and a right robot suction mechanism 9, and the left robot suction mechanism 5, the middle robot suction mechanism 7 and the right robot suction mechanism 9 have the same structure. The left robot suction mechanism 5 is located to the right of the left camera recognition mechanism 4. The middle robot suction mechanism 7 is located to the right of the middle camera recognition mechanism 6. The right robot suction mechanism 9 is located to the right of the right camera recognition mechanism 8.

[0029] The camera recognition mechanism comprises a camera recognition mechanism frame 20, a camera fixing frame 24 and a recognition camera 25, the camera recognition mechanism frame 20 is hollow, an opening is arranged on the upper portion of the camera recognition mechanism frame 20, the camera fixing frame 24 is arranged on the top of the camera recognition mechanism frame 20, the recognition camera 25 is fixed on the camera fixing frame 24 through four internal hexagonal screws, the lens of the recognition camera 25 is vertically downward and extends into the opening.

[0030] Three pairs of camera recognition mounting holes are arranged on the top of the camera recognition mechanism frame 20, the camera recognition mounting holes are located on both sides of the opening, the camera recognition mounting holes are waist-shaped holes, the camera fixing frame 24 is connected with the recognition mounting holes through screws. The camera recognition mechanism frame 20 is connected and fixed with the rack of the feeding belt conveying line 3 through eight internal hexagonal screws.

[0031] The camera recognition mounting hole includes a left camera recognition mechanism camera mounting hole 21, a middle camera recognition mechanism camera mounting hole 22, and a right camera recognition mechanism camera mounting hole 23. When the recognition camera 25 and the camera fixing frame 24 are mounted on the left camera recognition mechanism camera mounting hole 21, a left camera recognition mechanism 4 is formed, and the recognition camera of the left camera recognition mechanism 4 is located above the left side of the feeding belt conveying line 3. When the recognition camera 25 and the camera fixing frame 24 are mounted on the middle camera recognition mechanism camera mounting hole 22, a middle camera recognition mechanism 6 is formed, and the recognition camera of the middle camera recognition mechanism 6 is located above the middle of the feeding belt conveying line 3. When the recognition camera 25 and the camera fixing frame 24 are mounted on the right camera recognition mechanism camera mounting hole 23, a right camera recognition mechanism 8 is formed, and the recognition camera of the right camera recognition mechanism 8 is located above the right side of the feeding belt conveying line 3. The combination of the three sets of camera recognition mechanisms and the three sets of robot suction mechanisms can cover the entire feeding belt conveying line 3, improve the suction efficiency of the pipe fittings with inserts, and maximize the performance of the rear-end laser marking machine and the packaging machine.

[0032] The carrier mechanism 12 includes a carrier carrier 27, a female three-way female bend positioning pin 28, a female-male left limiting plate 26, a female-male right limiting plate 36, and a male bend male three-way positioning hole 29. The carrier carrier 27 is fixed on the conveying chain plate of the chain plate conveying line 2, and the carrier carrier is provided with a male bend male three-way positioning hole 29 and a female three-way female bend positioning pin 28. The male bend male three-way positioning hole 29 is used for the insertion positioning of the male bend pipe fitting 30 and the male three-way pipe fitting 32, and the female three-way female bend positioning pin 28 is used for the placement positioning of the female three-way pipe fitting 33 and the female bend pipe fitting 31. The two side surfaces of the carrier carrier 27 are respectively provided with a female-male left limiting plate 26 and a female-male right limiting plate 36, and the female-male limiting plate is located on one side of the female three-way female bend positioning pin 28 and the male bend male three-way positioning hole 29. The female-male left limiting plate 26 and the female-male right limiting plate 36 are respectively connected and fixed with the carrier carrier 27 by two internal hexagonal screws. The female-male left limiting plate 26 and the female-male right limiting plate 36 are combined and mainly used for the limiting positioning of the female pipe fitting 35 and the male pipe fitting 34. The carrier mechanism 12 is uniformly distributed on the conveying chain plate of the chain plate conveying line 2 and is connected and fixed with the chain plate conveying line by three internal hexagonal screws. The carrier mechanism 12 is provided with a female-male limiting plate, a male bend male three-way positioning hole 29, and a female bend female three-way positioning pin 28, which can meet the positioning of various types of pipe fittings with inserts (female bend pipe fitting 31, male bend pipe fitting 30, female three-way pipe fitting 33, male three-way pipe fitting 32, female pipe fitting 34, and male pipe fitting 35), and can be compatible with various types of pipe fittings, with strong compatibility and high flexibility.

[0033] As Figure 7As shown, the male elbow pipe fitting 30 is an elbow pipe fitting with a male thread on one end, the female elbow pipe fitting 31 is an elbow pipe fitting with a female thread on one end, the male tee pipe fitting 32 is a tee pipe fitting with a male thread on one end, the female tee pipe fitting 33 is a tee pipe fitting with a female thread on one end, the male nipple pipe fitting 35 is a straight pipe fitting with a male thread on one end, and the female nipple pipe fitting 34 is a straight pipe fitting with a female thread on one end.

[0034] The specific implementation process of the device in the production process is as follows: the pipe product is lifted from the left side of the storage lifting mechanism and falls into the feeding conveying belt line 3 and is driven by the feeding belt conveying line 3 to the right. In the process of being driven by the feeding conveying line 3 to the right, the left camera recognition mechanism 4, the middle camera recognition mechanism 6 and the right camera recognition mechanism 8 perform omnidirectional position recognition on the pipe on the feeding conveying line 3. Among them, the left robot suction mechanism 5 is matched with the left camera recognition mechanism 4 to recognize the pipe and perform fixed-point suction and placement, the middle robot suction mechanism 7 is matched with the middle camera recognition mechanism 6 to recognize the pipe and perform fixed-point suction and placement, and the right robot suction mechanism 9 is matched with the right camera recognition mechanism 8 to recognize the pipe and perform fixed-point suction and placement. The combination of the three sets of camera recognition mechanisms and the three sets of robot suction mechanisms can cover the entire feeding belt conveying line 3. In the suction process, the vacuum introduced by the vacuum suction air pipe quick plug 18 makes the suction sucker 14 suck the pipe, then the circular arc rotation and up-down movement of the SCARA robot 13 are combined, and the rotation swing of the blade rotary cylinder 15 is used to place the pipe on the fixed position of the carrier mechanism 12. Finally, the vacuum of the vacuum suction air pipe quick plug 18 is closed, the suction sucker 14 releases the pipe on the fixed position of the carrier mechanism 12, and the robot suction mechanism is combined with the camera recognition mechanism to perform the next pipe recognition and suction. Among them, the female elbow pipe 31 and the female tee pipe 33 are placed on the female tee female elbow positioning pin 28 with the female thread downward, the male elbow pipe 30 and the male tee pipe 32 are inserted into the male elbow male tee positioning hole 29 with the male thread downward, and the female connector pipe 34 and the male connector pipe 35 are placed between the female connector left limiting plate 26 and the female connector right limiting plate 36 with the thread forward. In this process, the chain plate conveying line 2 drives the carrier mechanism 12 on the upper side to move to the right continuously, the robot suction mechanism is combined with the camera recognition mechanism to place the pipe on the carrier mechanism 12 of the chain plate conveying line 2 in a fixed posture, and then the pipe on the carrier mechanism 12 is driven by the chain plate conveying line 2 to continue to move to the right and is marked by the rear-end laser marking machine to enter the rear-end packaging mechanism for packaging treatment. The pipe not sucked by the robot suction mechanism falls into the connecting belt conveying line 11 and is driven by the connecting belt conveying line 11 to move backward and falls into the backflow belt conveying line 10, and finally is driven by the backflow belt conveying line 10 to move to the left and falls back into the front-end storage lifting mechanism and is lifted back by the storage lifting mechanism and falls into the feeding belt conveying line 3 to continue to be conveyed to the right and be recognized by the camera recognition mechanism and placed by the robot suction mechanism. In this way, the device is repeatedly operated and the operation is completed.

[0035] The above merely describes preferred embodiments of the present application, and is not intended to limit the present application in any form. Any simple modification, equivalent change or modification made according to the technical principle of the present application to the above embodiments still falls within the scope of the present application.

Claims

1. A robot-based suction and loading device compatible with various pipe fittings, comprising an overall fixing frame (1), a feeding belt conveyor line (3), a chain plate conveyor line (2), a carrier mechanism (12), a connecting belt conveyor line (11), a return belt conveyor line (10), a camera recognition mechanism and a robot suction mechanism, characterized in that: The feeding belt conveying line (3), the chain plate conveying line (2), the connecting belt conveying line (11) and the return belt conveying line (10) are arranged on the overall fixed frame (1), the outlet end of the feeding belt conveying line (3) is connected with the connecting belt conveying line (11), the outlet end of the connecting belt conveying line (11) is connected with the inlet end of the return belt conveying line (10), the chain plate conveying line (2) is provided with a carrier mechanism (12), and the camera recognition mechanism and the robot suction mechanism are arranged above the feeding belt conveying line (3).

2. The robot-based, multi-tube compatible suction feeding device of claim 1, wherein: The robot suction mechanism comprises a robot fixed frame (17), a vane rotating cylinder (15), a rotating cylinder fixed frame (16), a suction disc fixed frame (19), a suction disc (14) and a SCARA robot (13), the SCARA robot (13) is arranged on the robot fixed frame (17), the movable head of the SCARA robot (13) is provided with the rotating cylinder fixed frame (16), the rotating cylinder fixed frame (16) is provided with the vane rotating cylinder (15), the rotating shaft of the vane rotating cylinder (15) is connected with the suction disc fixed frame (19), the suction disc (14) is fixed on the suction disc fixed frame (19), and the suction disc (14) is connected with a vacuum suction air pipe quick connector (18). 3.The robot-based multi-tube compatible suction feeding device of claim 1, wherein: The camera recognition mechanism comprises a camera recognition mechanism frame (20), a camera fixed frame (24) and an identification camera (25), the camera recognition mechanism frame (20) is hollow, an opening is arranged at the upper portion of the camera recognition mechanism frame (20), the camera fixed frame (24) is arranged at the top of the camera recognition mechanism frame (20), the identification camera (25) is fixed on the camera fixed frame (24), and the lens of the identification camera (25) vertically faces downward and extends into the opening.

4. The robot-based, multi-tube compatible suction feeding device of claim 3, wherein: The camera recognition mechanism frame (20) is connected and fixed with the rack of the feeding belt conveying line (3) through screws.

5. The robot-based, multi-tube compatible suction feeding device of claim 3, wherein: The top of the camera recognition mechanism frame (20) is provided with three pairs of camera recognition mounting holes, the camera recognition mounting holes are located on the two sides of the opening, the camera recognition mounting holes are waist-shaped holes, and the camera fixed frame (24) is connected with the recognition mounting holes through screws.

6. The robot-based, multi-tube compatible suction feed device of claim 5, wherein: The camera recognition mounting hole comprises a left camera recognition mechanism camera mounting hole (21), a middle camera recognition mechanism camera mounting hole (22), and a right camera recognition mechanism camera mounting hole (23). When the recognition camera (25) and the camera fixing frame (24) are mounted on the left camera recognition mechanism camera mounting hole (21), a left camera recognition mechanism (4) is formed, and the recognition camera of the left camera recognition mechanism (4) is located above the left side of the feeding belt conveying line (3). When the recognition camera (25) and the camera fixing frame (24) are mounted on the middle camera recognition mechanism camera mounting hole (22), a middle camera recognition mechanism (6) is formed, and the recognition camera of the middle camera recognition mechanism (6) is located above the middle of the feeding belt conveying line (3). When the recognition camera (25) and the camera fixing frame (24) are mounted on the right camera recognition mechanism camera mounting hole (23), a right camera recognition mechanism (8) is formed, and the recognition camera of the right camera recognition mechanism (8) is located above the right side of the feeding belt conveying line (3).

7. The robot-based, multi-tube compatible suction feed device of claim 1, wherein: The carrier mechanism (12) comprises a carrier carrier (27), a female three-way female bend positioning pin (28), a female-to-male left limiting plate (26), a female-to-male right limiting plate (36), and a male bend male three-way positioning hole (29). The carrier carrier (27) is fixed on the conveying chain plate of the chain plate conveying line (2), and the carrier carrier is provided with a male bend male three-way positioning hole (29) and a female three-way female bend positioning pin (28). The two side surfaces of the carrier carrier (27) are respectively provided with a female-to-male left limiting plate (26) and a female-to-male right limiting plate (36). 8.The robot-based multi-tube compatible suction feeding device of claim 1, wherein: The feeding belt conveying line (3) is arranged on the rear side of the chain plate conveying line (2) and is fixed with the overall fixing frame (1) through screw connection. The connecting belt conveying line (11) is arranged on the right side of the feeding belt conveying line (3) and is fixed with the overall fixing frame (1) through screw connection. The return belt conveying line (10) is arranged on the rear side of the feeding belt conveying line (3) and the connecting belt conveying line (11) and is fixed with the overall fixing frame (1) through screw connection.

9. The robot-based, multi-tube compatible suction feeding device of claim 1, wherein: The conveying belt surface of the connecting belt conveying line (11) is lower than the conveying belt surface of the feeding belt conveying line (3), and the conveying belt surface of the return belt conveying line (10) is lower than the conveying belt surface of the connecting belt conveying line (11).

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