Vertical four-axis self-adaptive material taking manipulator

Abstract

The utility model relates to the technical field of automatic manipulators, and discloses a vertical four-axis self-adaptive material taking manipulator which comprises a stand column assembly, an X-axis moving assembly, a Y-axis moving assembly, a Z-axis moving assembly, a rotating arm assembly and a self-adaptive clamp assembly. The H steel body is provided with a line drag chain operation bin and a balance weight bin, the X-axis moving assembly is arranged at the bottom of the stand column assembly and comprises a ground rail plate, a plurality of X-axis linear guide rails, an X-axis rack and an X-axis servo motor, and the X-axis linear guide rails are fixedly installed on the ground rail plate. The X-axis servo motor drives the X-axis rack to move along the linear guide rail, so that the H steel body reaches a target area, the rotating arm assembly adjusts the material taking angle under the action of the driving motor, and the Y-axis servo motor drives the clamp to stretch forwards and align, so that accurate positioning and stable material taking are realized, and the stability of the manipulator is improved.

Description

Technical Field

[0001] This utility model relates to the field of automated robotic arm technology, and in particular to a vertical four-axis adaptive material handling robotic arm. Background Technology

[0002] With the continuous development of industrial automation, robotic arms are increasingly widely used in intelligent manufacturing, logistics handling, and precision assembly. Modern production lines have increasingly higher requirements for automation, especially in high-efficiency, high-precision material handling and pick-and-place operations, where robotic arms have become indispensable equipment. Faced with large-scale production and diverse workpiece types, robotic arms not only need to have precise pick-and-place capabilities but also need to maintain stable operation in complex environments to adapt to the development needs of modern intelligent manufacturing.

[0003] Currently, automated material handling robots on the market are mainly used in industries such as automobile manufacturing, metal processing, electronic assembly, and warehousing and logistics. These robots typically employ multi-axis motion structures, combined with visual recognition or sensor feedback, to achieve automatic alignment and pick-and-place operations. In certain high-precision fields, such as semiconductor manufacturing and precision instrument assembly, some high-end robots can optimize operational accuracy through flexible gripping or force control technology.

[0004] However, existing robotic arms use rigid clamping mechanisms, which are difficult to adaptively adjust to subtle deviations in the workpiece, resulting in a high failure rate. When placing the workpiece, the arm is susceptible to vibration and shaking due to inertia, leading to significant errors in the final workpiece position. Furthermore, the cable management of existing robotic arms is relatively simple, making them prone to tangling or pulling during operation, which affects the system's stability and lifespan over long-term use. To address these issues, those skilled in the art propose a vertical four-axis adaptive robotic arm. Utility Model Content

[0005] To overcome the above shortcomings, this utility model provides a vertical four-axis adaptive material handling robot, which aims to improve the existing material handling robot's inability to adaptively adjust according to the slight deviation of the workpiece, resulting in a high failure rate in material handling. When the robot places the workpiece, it is easily affected by the motion inertia, resulting in vibration and shaking, which leads to a large error in the final position of the workpiece.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a vertical four-axis adaptive material handling robot, comprising a column assembly, an X-axis moving assembly, a Y-axis moving assembly, a Z-axis moving assembly, a rotating arm assembly, and an adaptive clamping assembly. The column assembly is vertically arranged and includes an H-steel body. The H-steel body is provided with a cable chain running chamber and a counterweight chamber. The X-axis moving assembly is located at the bottom of the column assembly and includes a ground rail plate, multiple X-axis linear guides, an X-axis rack, and an X-axis servo motor. The X-axis linear guides are fixedly mounted on the ground rail plate. An X-axis servo motor is arranged outside the X-axis linear guides. The X-axis rack is arranged on the ground rail plate and meshes with the output end of the X-axis servo motor. An X-axis sensor baffle is installed on the top of the ground rail plate. The bottom of the H-steel body is installed outside the X-axis linear guides.

[0007] Furthermore, the Z-axis moving assembly is located on the outside of the column assembly. The Z-axis moving assembly includes multiple Z-axis linear guides, a Z-axis rack, and a Z-axis servo motor. The Z-axis linear guides are fixedly installed on the outside of the H-steel body. The Z-axis servo motor is located outside the Z-axis linear guides. The Z-axis rack is fixedly connected to the outside of the H-steel body. The output end of the Z-axis servo motor is meshed with one side of the Z-axis rack. A Z-axis sensor is located outside the H-steel body. A limit sensor three is located at the bottom of the H-steel body. Limit sensors one and two are located on both sides of the bottom of the H-steel body.

[0008] Furthermore, the rotating arm assembly is disposed outside the column assembly. The rotating arm assembly includes a drive motor, a gear, a screw, and a connecting block. The drive motor is installed outside the H-beam body. The output end of the drive motor is fixedly connected to the screw. The gear is rotatably connected to the outside of the H-beam body. The screw is meshed with the gear. A connecting block is installed on one side of the gear.

[0009] Furthermore, the Y-axis moving assembly is disposed on one side of the rotating arm assembly. The Y-axis moving assembly includes multiple Y-axis linear guides, a Y-axis rack, and a Y-axis servo motor. The external Y-axis linear guides are fixedly connected to the outside of the connecting block. The Y-axis servo motor is mounted on the outside of the Y-axis linear guides. The external Y-axis rack is fixedly connected to the outside of the connecting block. The output end of the Y-axis servo motor is meshed with one side of the Y-axis rack.

[0010] Furthermore, the adaptive clamping assembly is disposed outside the Y-axis moving assembly. The adaptive clamping assembly includes a solenoid valve box, which is mounted outside the Y-axis linear guide. Two lateral adjustment guides are provided at the bottom of the solenoid valve box. A fixing block is provided outside the lateral adjustment guides. Multiple floating springs are mounted on the top of the fixing block. A Y-axis buffer sensor is mounted on the top of the floating springs. A clamping mounting floating plate is mounted on one side of the fixing block. A gripping clamp is mounted outside the clamping mounting floating plate. One end of the gripping clamp is fixedly connected to a clamping body. Two triangular wedges are provided at both ends of the fixing block. Wedge cylinders are mounted on the outer side of the triangular wedges. A self-adjusting pneumatic assembly is installed between the two wedge cylinders. A buffer sensor baffle is provided outside the lateral adjustment guides. A buffer spring is provided on one side of the lateral adjustment guides.

[0011] Furthermore, the cable carrier running compartment is located on the front of the H-beam body, the counterweight compartment is located on the side of the H-beam body, a counterweight guide rod is fixedly connected inside the counterweight compartment, a counterweight block is slidably connected to the outside of the counterweight guide rod, a counterweight guard plate is provided outside the counterweight compartment, and a Z-axis cable carrier is provided inside the cable carrier running compartment.

[0012] Furthermore, an X-axis cable groove is fixedly connected to the top of the ground rail plate, and a Y-axis drag chain groove is fixedly connected to the outside of the connecting block. The X-axis cable groove and the Y-axis drag chain groove are used to protect the cable.

[0013] Furthermore, a negative limit sensor is installed at the end of the connecting block near the gear, and a positive limit sensor is installed at the end of the connecting block away from the negative limit sensor.

[0014] This utility model has the following beneficial effects:

[0015] 1. In this utility model, the X-axis rack is driven by the X-axis servo motor to move along the linear guide rail, so that the H-steel body reaches the target area. The rotating arm assembly adjusts the picking angle under the action of the drive motor. The Y-axis servo motor drives the fixture to extend forward and align. The Z-axis servo motor drives the fixture assembly to descend. In this way, precise positioning and stable picking are achieved. Compared with the traditional single-axis control scheme, it solves the problems of low picking accuracy, poor adaptability and overtravel risk, and improves the stability and operation efficiency of the robot.

[0016] 2. In this utility model, a floating spring provides vertical flexible floating, allowing for fine adjustment of the fixture mounting floating plate. Simultaneously, the lateral adjustment guide rail drives the fixture body to move left and right to adapt to workpiece deviations. If the error is small, the wedge cylinder pushes out the triangular wedge to fix the fixture, improving clamping accuracy. If the error exceeds the limit, the wedge cylinder retracts, and the fixture enters a flexible alignment mode. The self-adjusting pneumatic component assists in adjustment to ensure clamping stability. The solenoid valve box controls the fixture to clamp the workpiece, the buffer spring absorbs the impact force, and the Z-axis servo motor drives the fixture assembly to rise to a safe height. In this way, the combination of flexible floating and rigid locking improves clamping accuracy and error adaptability. Compared with traditional rigid clamping mechanisms, it solves the problems of poor error compatibility, insufficient clamping stability, and weak impact absorption capacity, thereby improving the material handling success rate and system stability. Attached Figure Description

[0017] Figure 1 This is a perspective view of a vertical four-axis adaptive material handling robot proposed in this utility model;

[0018] Figure 2 This is a schematic diagram of the counterweight guide rod structure of a vertical four-axis adaptive material handling robot proposed in this utility model;

[0019] Figure 3 This is a schematic diagram of the counterweight guard plate structure of a vertical four-axis adaptive material handling robot proposed in this utility model.

[0020] Figure 4 This is a schematic diagram of the screw structure of a vertical four-axis adaptive material handling robot proposed in this utility model;

[0021] Figure 5 This is a schematic diagram of the electromagnetic valve box structure of a vertical four-axis adaptive material handling robot proposed in this utility model.

[0022] Figure 6 This is a schematic diagram of the Y-axis rack and pinion structure of a vertical four-axis adaptive material handling robot proposed in this utility model.

[0023] Figure 7 This is a schematic diagram of the buffer spring structure of a vertical four-axis adaptive material handling robot proposed in this utility model;

[0024] Figure 8 This is a schematic diagram of the fixture mounting floating plate structure of a vertical four-axis adaptive material handling robot proposed in this utility model.

[0025] Figure 9 This is a schematic diagram of the fixed block structure of a vertical four-axis adaptive material handling robot proposed in this utility model.

[0026] Legend:

[0027] 1. Column assembly; 101. H-steel body; 102. Counterweight bin; 103. Cable drag chain operating bin; 2. X-axis moving assembly; 201. Ground rail plate; 202. X-axis servo motor; 203. X-axis cable trough; 204. X-axis rack; 205. X-axis sensor baffle; 206. X-axis linear guide; 3. Z-axis moving assembly; 301. Z-axis linear guide; 302. Z-axis rack; 303. Z-axis cable drag chain; 304. Z-axis sensor; 305. Z-axis servo motor; 306. Counterweight guide rod; 307. Counterweight block; 308. Counterweight guard plate; 4. Y-axis moving assembly; 401. Negative limit sensor; 402. Y-axis linear guide; 403. Positive limit sensor; 404. Y-axis rack; 405. Y-axis servo motor; 406. Y-axis cable carrier groove; 407. Y-axis buffer sensor; 5. Rotary arm assembly; 501. Drive motor; 502. Screw; 503. Gear; 504. Connecting block; 6. Adaptive clamp assembly; 601. Solenoid valve box; 602. Gripping clamp; 603. Buffer sensor baffle; 604. Lateral adjustment guide rail; 605. Buffer spring; 606. Self-adjusting pneumatic assembly; 607. Clamp mounting floating plate; 608. Clamp body; 609. Wedge cylinder; 610. Floating spring; 611. Fixing block; 612. Triangular wedge; 7. Limit sensor one; 8. Limit sensor two; 9. Limit sensor three. Detailed Implementation

[0028] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0029] Reference Figure 1 , Figure 2 and Figure 3This utility model provides an embodiment of a vertical four-axis adaptive material handling robot, comprising a column assembly 1, an X-axis moving assembly 2, a Y-axis moving assembly 4, a Z-axis moving assembly 3, a rotating arm assembly 5, and an adaptive clamping assembly 6. The column assembly 1 is vertically arranged and includes an H-steel body 101. The H-steel body 101 is provided with a cable carrier running chamber 103 and a counterweight chamber 102. The cable carrier running chamber 103 is used to manage the arrangement and movement of cables during the operation of the robot. The counterweight chamber 102 is used to place counterweights 307. The X-axis moving assembly 2 is located at the bottom of the column assembly 1 and includes a ground rail plate 201 and multiple X-axis linear guides. The system includes a guide rail 206, an X-axis rack 204, and an X-axis servo motor 202. The X-axis linear guide rail 206 is fixedly mounted on the ground rail plate 201 and is used to guide the H-steel body 101 to move smoothly along the X-axis direction. The X-axis servo motor 202 is installed on the outside of the X-axis linear guide rail 206. The X-axis rack 204 is mounted on the ground rail plate 201 and meshes with the output end of the X-axis servo motor 202. An X-axis sensor baffle 205 is installed on the top of the ground rail plate 201 and is used to provide position feedback signals. The bottom of the H-steel body 101 is installed on the outside of the X-axis linear guide rail 206. The top of the ground rail plate 201 is fixedly connected to an X-axis cable groove 203, which is used to carry and protect the cable in the X-axis direction. The outside of the connecting block 504 is fixedly connected to a Y-axis drag chain groove 406, which is used to protect the cable in the Y-axis direction. The X-axis cable groove 203 and the Y-axis drag chain groove 406 are used to protect the cable.

[0030] Reference Figure 1 , Figure 2 and Figure 4The Z-axis moving assembly 3 is located on the outside of the column assembly 1. The Z-axis moving assembly 3 includes multiple Z-axis linear guides 301, a Z-axis rack 302, and a Z-axis servo motor 305. The Z-axis linear guides 301 are fixedly installed on the outside of the H-steel body 101, providing stable guiding support. The Z-axis servo motor 305 is located outside the Z-axis linear guides 301. The Z-axis rack 302 is fixedly connected to the outside of the H-steel body 101. The Z-axis servo motor 305 serves as the drive source, cooperating with the Z-axis rack 302 to move the Y-axis moving assembly 4 up and down along the Z-axis linear guides 301, ensuring rapid response of the fixture. The Z-axis servo motor 305... The output end is meshed with one side of the Z-axis rack 302. A Z-axis sensor 304 is installed on the outside of the H-steel body 101. The Z-axis sensor 304 is used to monitor the position information of the Z-axis moving component 3 in real time to ensure that the adaptive clamping component 6 can accurately align with the target workpiece. A limit sensor 3 9 is installed at the bottom of the H-steel body 101. The limit sensor 3 9 is used to detect the lowest safe position of the Z-axis to prevent the adaptive clamping component 6 from being damaged by collision or overload during descent. Limit sensors 1 7 and 2 8 are installed on both sides of the bottom of the H-steel body 101. Limit sensors 1 7 and 2 8 are used to monitor the boundary state of the Z-axis movement and provide an over-limit alarm function. The cable carrier operating chamber 103 is located on the front of the H-steel body 101. The cable carrier operating chamber 103 accommodates and guides the internal cables and pipes. The counterweight chamber 102 is located on the side of the H-steel body 101. A counterweight guide rod 306 is fixedly connected inside the counterweight chamber 102. The counterweight guide rod 306 is used for precise sliding adjustment of the counterweight block 307 within the counterweight chamber 102. The counterweight block 307 is slidably connected to the outside of the counterweight guide rod 306. By adjusting the position and weight of the counterweight block 307, dynamic balance of the robotic arm system is achieved. A counterweight guard plate 308 is provided on the outside of the counterweight chamber 102 to provide additional protection. The Z-axis cable carrier 303 is installed inside the cable carrier operating chamber 103.

[0031] Reference Figure 1 , Figure 2 and Figure 4The rotating arm assembly 5 is disposed outside the column assembly 1. The rotating arm assembly 5 includes a drive motor 501, a gear 503, a screw 502, and a connecting block 504. The drive motor 501 is mounted outside the H-steel body 101 and provides power to drive the screw 502 to rotate. The output end of the drive motor 501 is fixedly connected to the screw 502, which engages with the gear 503 to rotate. The gear 503 is rotatably connected to the outside of the H-steel body 101, and the screw 502... A gear 503 is externally meshed with the robot arm. A connecting block 504 is installed on one side of the gear 503. The gear 503 is used to drive the connecting block 504 for adjustment. A negative limit sensor 401 is installed on the end of the connecting block 504 closest to the gear 503. The negative limit sensor 401 is used to detect whether the robot arm has reached the negative limit position during the movement. A positive limit sensor 403 is installed on the end of the connecting block 504 furthest from the negative limit sensor 401. The positive limit sensor 403 is used to monitor the operation of the robot arm at the positive limit position.

[0032] Reference Figure 4 , Figure 5 and Figure 6 The Y-axis moving component 4 is located on one side of the rotating arm component 5. The Y-axis moving component 4 includes multiple Y-axis linear guides 402, a Y-axis rack 404, and a Y-axis servo motor 405. The Y-axis linear guides 402 are externally fixedly connected to the outside of the connecting block 504. The Y-axis linear guides 402 provide stable support and guidance in the Y-axis direction. The Y-axis servo motor 405 is mounted on the outside of the Y-axis linear guides 402. The Y-axis rack 404 is externally fixedly connected to the outside of the connecting block 504. The output end of the Y-axis servo motor 405 meshes with the drive Y-axis rack 404 to drive the fixture along the Y-axis direction. The output end of the Y-axis servo motor 405 is meshed with one side of the Y-axis rack 404.

[0033] Reference Figure 7 , Figure 8 and Figure 9The adaptive clamping assembly 6 is located outside the Y-axis moving assembly 4. The adaptive clamping assembly 6 includes a solenoid valve box 601, which is mounted outside the Y-axis linear guide 402. The solenoid valve box 601 provides electromagnetic control for the entire clamping system, ensuring precise execution of the clamping action. Two lateral adjustment guides 604 are located at the bottom of the solenoid valve box 601, providing adjustment space for the clamping assembly in the lateral direction. A fixing block 611 is located outside the lateral adjustment guides 604, and multiple floating springs 610 are mounted on the top of the fixing block 611. The floating springs 610 provide flexible floating capability for the clamp, allowing for fine-tuning in the vertical direction to adapt to height differences of different workpieces. A Y-axis buffer sensor 407 is mounted on the top of the floating springs 610, detecting whether the clamp has reached the predetermined position and providing feedback to prevent overtravel or inaccurate positioning. A clamping mounting floating plate 607 is mounted on one side of the fixing block 611. The fixture mounting floating plate 607 is used to flexibly adjust the position of the fixture, allowing the fixture body 608 to better adapt to the actual positional changes of the workpiece. A gripping fixture 602 is mounted on the outside of the fixture mounting floating plate 607. One end of the gripping fixture 602 is fixedly connected to the fixture body 608. The gripping fixture 602 is responsible for gripping the workpiece and fixing it through the fixture body 608. Two triangular wedges 612 are provided at both ends of the fixing block 611. A wedge cylinder 609 is mounted on the outside of the triangular wedges 612. The triangular wedge 612 works in conjunction with the wedge cylinder 609. The rigid fixation of the clamp is achieved by pushing the wedge cylinder 609. A self-adjusting pneumatic component 606 is installed between the two wedge cylinders 609. A buffer sensor baffle 603 is set on the outside of the transverse adjustment guide rail 604 to monitor the movement status of the clamp and ensure that the clamp does not generate excessive impact force. A buffer spring 605 is set on one side of the transverse adjustment guide rail 604. The buffer spring 605 is used for buffering and effectively reduces the impact force during the clamping process. The triangular wedge 612 is driven by the corresponding wedge cylinder 609. When the wedge cylinder 609 retracts, the fixture body 608 can float up and down along the fixture mounting floating plate 607. When the wedge cylinder 609 extends, the fixture body 608 is locked in a rigid state. At this time, the fixing effect of the fixture is enhanced, ensuring that the workpiece will not shift or loosen during handling or processing. The wedge cylinder 609 provides the dual functions of rigid locking and flexible floating of the fixture.

[0034] Working principle: The control system detects the initial position of each component and drives the X-axis rack 204 along the X-axis linear guide 206 via the X-axis servo motor 202, causing the H-steel body 101 to move along the ground rail 201 to the target material picking area. Simultaneously, the X-axis sensor baffle 205 provides position signal feedback. After reaching the target area, the rotating arm assembly 5 begins to adjust the picking angle. The drive motor 501 drives the screw 502 to rotate, causing it to mesh with the gear 503, thereby driving the connecting block 504 to rotate. This causes the rotating arm assembly 5 to rotate around the H-steel body 101 to a specified angle. Subsequently, the Y-axis servo motor 4... 05 drives the Y-axis rack 404 to extend forward along the Y-axis linear guide 402, causing the adaptive fixture assembly 6 to extend towards the target workpiece and accurately align itself according to the actual position of the target workpiece. During the Y-axis movement, the negative limit sensor 401 and the positive limit sensor 403 monitor the position in real time to ensure motion accuracy. After the Y-axis adjustment is completed, the Z-axis servo motor 305 starts, driving the Z-axis rack 302 to descend along the Z-axis linear guide 301, causing the adaptive fixture assembly 6 to approach the target workpiece. At the same time, the Z-axis sensor 304 and the limit sensor 403 assist in detecting the height of the fixture reaching the target workpiece to prevent overtravel.

[0035] The floating spring 610 provides flexible vertical floating capability, allowing the fixture mounting floating plate 607 to make fine adjustments in the vertical direction within a certain range. Simultaneously, the lateral adjustment guide rail 604 drives the fixture body 608 to move left and right to accommodate deviations in the target workpiece. If the target workpiece error is small, the fixture maintains a rigid precision alignment mode, i.e., the wedge cylinder 609 extends the triangular wedge 612, fixing the fixture body 608 onto the fixture mounting floating plate 607 to improve clamping accuracy. If the target workpiece error exceeds the limit, the wedge cylinder 609 retracts the triangular wedge 612. 12. The fixture enters a flexible alignment mode, with the self-adjusting pneumatic component 606 providing auxiliary adjustment capabilities to ensure that the fixture can accurately clamp the workpiece. Once the clamping position is confirmed, the solenoid valve box 601 controls the gripping fixture 602 to perform the clamping action. The buffer spring 605 provides a buffering function to reduce the impact force generated during the clamping process. At the same time, the buffer sensor baffle 603 works with the Y-axis buffer sensor 407 to monitor the clamping status. After clamping is completed, the Z-axis servo motor 305 drives the Z-axis component to rise, so that the adaptive fixture component 6 lifts the workpiece to a safe height.

[0036] Subsequently, the Y-axis servo motor 405 drives the Y-axis assembly to retract, causing the robot arm to return to the target placement area. At the same time, the X-axis servo motor 202 drives the assembly to move along the X-axis linear guide rail 206, allowing the robot arm to reach the target placement area. The rotating arm assembly 5 adjusts the placement angle under the action of the drive motor 501. Finally, the adaptive clamp assembly 6 releases, releasing the workpiece to the target position. The entire process is managed by the cable drag chain running chamber 103, which ensures the stability of the cable during the operation of the robot arm. Meanwhile, the counterweight block 307 in the counterweight chamber 102 provides balance support through the counterweight guide rod 306, reducing vibration and off-center load during the operation of the robot arm. After the robot arm completes the placement, each axis returns to its initial position, waiting for the next material picking task.

[0037] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A vertical four-axis adaptive material handling robot, comprising a column assembly (1), an X-axis moving assembly (2), a Y-axis moving assembly (4), a Z-axis moving assembly (3), a rotating arm assembly (5), and an adaptive clamping assembly (6), characterized in that: The column assembly (1) is vertically arranged and includes an H-steel body (101). The H-steel body (101) is provided with a cable drag chain running chamber (103) and a counterweight chamber (102). The X-axis moving assembly (2) is located at the bottom of the column assembly (1) and includes a ground rail plate (201), multiple X-axis linear guides (206), an X-axis rack (204), and an X-axis servo motor (202). The X-axis linear guides (206) are fixedly installed on the ground rail plate (201). The X-axis servo motor (202) is provided outside the X-axis linear guides (206). The X-axis rack (204) is provided on the ground rail plate (201) and meshes with the output end of the X-axis servo motor (202). An X-axis sensor baffle (205) is installed on the top of the ground rail plate (201). The bottom of the H-steel body (101) is installed outside the X-axis linear guides (206).

2. A vertical four-axis adaptive picking manipulator according to claim 1, characterized in that, The Z-axis moving assembly (3) is located on the outside of the column assembly (1). The Z-axis moving assembly (3) includes multiple Z-axis linear guides (301), a Z-axis rack (302), and a Z-axis servo motor (305). The Z-axis linear guides (301) are fixedly installed on the outside of the H-steel body (101). The Z-axis servo motor (305) is located outside the Z-axis linear guides (301). The Z-axis rack (302) is fixedly connected to the outside of the H-steel body (101). The output end of the Z-axis servo motor (305) is meshed with one side of the Z-axis rack (302). The Z-axis sensor (304) is located outside the H-steel body (101). The bottom of the H-steel body (101) is equipped with a limit sensor three (9). The bottom sides of the H-steel body (101) are equipped with limit sensor one (7) and limit sensor two (8).

3. A vertical four-axis adaptive picking manipulator according to claim 1, wherein, The rotating arm assembly (5) is disposed outside the column assembly (1). The rotating arm assembly (5) includes a drive motor (501), a gear (503), a screw (502), and a connecting block (504). The drive motor (501) is installed outside the H-steel body (101). The output end of the drive motor (501) is fixedly connected to the screw (502). The gear (503) is rotatably connected to the outside of the H-steel body (101). The screw (502) is meshed with the gear (503) on the outside. The connecting block (504) is installed on one side of the gear (503).

4. A vertical four-axis adaptive picking manipulator according to claim 3, wherein, The Y-axis moving assembly (4) is disposed on one side of the rotating arm assembly (5). The Y-axis moving assembly (4) includes multiple Y-axis linear guides (402), a Y-axis rack (404), and a Y-axis servo motor (405). The Y-axis linear guides (402) are fixedly connected to the outside of the connecting block (504). The Y-axis servo motor (405) is mounted on the outside of the Y-axis linear guides (402). The Y-axis rack (404) is fixedly connected to the outside of the connecting block (504). The output end of the Y-axis servo motor (405) is meshed with one side of the Y-axis rack (404).

5. A vertical four-axis adaptive picking manipulator according to claim 4, wherein, The adaptive clamping assembly (6) is disposed outside the Y-axis moving assembly (4). The adaptive clamping assembly (6) includes a solenoid valve box (601). The solenoid valve box (601) is mounted outside the Y-axis linear guide rail (402). Two transverse adjustment guide rails (604) are provided at the bottom of the solenoid valve box (601). A fixing block (611) is provided outside the transverse adjustment guide rail (604). Multiple floating springs (610) are installed on the top of the fixing block (611). A Y-axis buffer sensor (407) is installed on the top of the floating springs (610). A clamp is installed on one side of the fixing block (611). The fixture has a floating plate (607) for mounting, and a gripping fixture (602) is mounted on the outside of the floating plate (607). One end of the gripping fixture (602) is fixedly connected to a fixture body (608). Two triangular wedges (612) are provided at both ends of the fixing block (611). A wedge cylinder (609) is installed on the outside of the triangular wedge (612). A self-adjusting pneumatic assembly (606) is installed between the two wedge cylinders (609). A buffer sensor baffle (603) is provided on the outside of the transverse adjustment guide rail (604). A buffer spring (605) is provided on one side of the transverse adjustment guide rail (604).

6. A vertical four-axis adaptive picking manipulator according to claim 1, wherein, The cable carrier operating bin (103) is located on the front of the H-steel body (101), the counterweight bin (102) is located on the side of the H-steel body (101), the counterweight guide rod (306) is fixedly connected inside the counterweight bin (102), the counterweight block (307) is slidably connected to the outside of the counterweight guide rod (306), the counterweight guard plate (308) is provided on the outside of the counterweight bin (102), and the Z-axis cable carrier (303) is provided inside the cable carrier operating bin (103).

7. A vertical four-axis adaptive picking manipulator according to claim 3, wherein, The top of the ground rail plate (201) is fixedly connected to an X-axis cable groove (203), and the outside of the connecting block (504) is fixedly connected to a Y-axis drag chain groove (406). The X-axis cable groove (203) and the Y-axis drag chain groove (406) are used to protect the cable.

8. A vertical four-axis adaptive picking manipulator according to claim 4, wherein, A negative limit sensor (401) is installed at the end of the connecting block (504) near the gear (503), and a positive limit sensor (403) is installed at the end of the connecting block (504) away from the negative limit sensor (401).

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