Transfer manipulator

Abstract

The present invention relates to the field of manipulators, and in particular to a transfer manipulator. The transfer manipulator comprises an arm, an air pressure control system, and a plurality of suction cups, and further comprises a cylinder, a lifting rod, and a piston plate; the cylinder is vertically arranged, the lower end of the cylinder is fixedly connected to a lower end cover, and the piston plate is located in the cylinder and is slidably connected to the inner wall of the cylinder in the vertical direction; the lower end of the lifting rod is fixedly connected to the piston plate, and the upper end of the lifting rod is fixedly connected to the arm; the piston plate, the lower end cover, and the cylinder define a closed cavity, the suction cups are fixedly connected to the lower surface of the lower end cover, respectively, and the inner spaces of the suction cups are communicated with the closed cavity; an air supply channel is provided in the lifting rod, the upper end of the lifting rod is provided with an air nozzle, the air nozzle is connected to the air pressure control system by means of a guide pipe, and the lower end of the lifting rod is communicated with the closed cavity; a first air pressure sensor is provided in the closed cavity, and the first air pressure sensor is connected to the air pressure control system. Falling-off of a workpiece due to air leakage of a certain suction cup can be avoided, thereby making it possible for air pressure measurement and calculation work.

Description

A loading and unloading robot Technical Field

[0001] The present application relates to the field of robots, and in particular to a loading and unloading robot. Background Art

[0002] The loading and unloading robot is an automated device used to move products from one workstation to another. It is usually composed of a drive system, an arm, and a gripper. The gripper of the robot mainly includes the holding type, the suction type, and the lifting type. The suction type robot includes the magnetic suction type and the suction cup suction type. The magnetic suction type robot is suitable for clamping magnetic metal workpieces, and the suction cup robot can clamp non-magnetic metal workpieces (the workpiece is required to have a smooth and flat surface of the suction area).

[0003] The air pressure control system of a conventional suction-cup manipulator is connected to each suction cup on the manipulator via an air duct, which allows the suction cups to be pumped or deflated. Since the suction cups are typically arranged in parallel, in some cases, if one suction cup leaks due to an uneven suction area, it will release pressure on the other suction cups, reducing the suction force exerted by each suction cup on the workpiece. During the process of gripping and transporting a workpiece, if a gap is created between the suction cup and the workpiece surface (due to excessive force, vibration, or an uneven suction position), the suction force of the suction cup on the workpiece will suddenly change (increase), causing the workpiece to shake or even fall.

[0004] Summary of the Invention

[0005] In view of this, a loading and unloading robot is proposed to reduce the shaking of the workpiece and the risk of the workpiece falling when air leakage occurs locally in a suction cup.

[0006] The present application provides a loading and unloading robot, comprising an arm, an air pressure control system, a plurality of suction cups, a cylinder, a lifting rod, and a piston plate;

[0007] The cylinder is arranged vertically, and a lower end cover is fixedly connected to the lower end of the cylinder. The piston plate is located inside the cylinder and is slidably connected to the inner wall of the cylinder along the vertical direction. The piston plate is sealed with the inner wall of the cylinder.

[0008] The lifting rod is vertically arranged and the lower end is located inside the cylinder. The lifting rod is located above the piston plate and the lower end is fixedly connected to the piston plate. The upper end of the lifting rod is fixedly connected to the arm.

[0009] The piston plate, the lower end cover, and the cylinder body form a closed cavity, and each of the suction cups is fixedly connected to the lower surface of the lower end cover, and the internal space of the suction cup is connected to the closed cavity;

[0010] The lifting rod has an air supply channel inside, an air nozzle is provided at the upper end of the lifting rod, and the air nozzle is connected to the air pressure control system through a conduit, and the lower end of the lifting rod is connected to the closed cavity;

[0011] A first air pressure sensor is provided in the closed cavity, and the first air pressure sensor is connected to the air pressure control system. The first air pressure sensor is used to detect the air pressure value in the closed cavity to obtain a first detection result and transmit the first detection result to the air pressure control system. The air pressure control system adjusts the power of exhausting the closed cavity according to the first detection result.

[0012] In some possible embodiments of the present application, the lower end cover is provided with a plurality of first through holes, an air guide tube is fixedly connected to the upper end of each suction cup, the air guide tube is plugged into the first through hole, the upper end of the air guide tube extends into the closed cavity, and the internal space of the suction cup is connected to the closed cavity through the air guide tube;

[0013] The upper end of each air guide tube is connected to a first solenoid valve, which is used to control the connection state between the suction cup and the closed cavity. Each first solenoid valve is respectively connected to the air pressure control system, and the air pressure control system controls the operation of the first solenoid valve according to the first detection result.

[0014] In some possible embodiments of the present application, a second air pressure sensor is fixedly connected to the inner wall of each air duct, and each second air pressure sensor is respectively connected to the air pressure control system. The second air pressure sensor is used to detect the air pressure value of the internal space of the suction cup to obtain a second detection result, and transmit the second detection result to the air pressure control system. The air pressure control system controls the operation of the first solenoid valve according to the second detection result.

[0015] In some possible implementations of the present application, a communication port is provided at the center of the piston plate, and the lower end of the gas transmission channel is connected to the closed cavity through the communication port;

[0016] A second solenoid valve is fixedly connected to the lower surface of the piston plate, and the second solenoid valve is used to control the communication state between the gas transmission channel and the closed cavity;

[0017] The second solenoid valve is connected to the air pressure control system, and the air pressure control system controls the operation of the second solenoid valve according to the first detection result.

[0018] In some possible implementations of the present application, a limit plate is provided in the closed cavity, the limit plate is fixedly connected to the inner wall of the closed cavity, and the lower surface of the limit plate is higher than the top surface of the first solenoid valve.

[0019] In some possible embodiments of the present application, an upper end of the cylinder is fixedly connected to an upper end cover, a guide hole is provided in the center of the upper end cover, the lifting rod is inserted into the guide hole and is slidably connected to the guide hole along the up and down directions, a pressure relief port is provided on the upper end cover, an open cavity is formed between the piston plate and the upper end cover, and the pressure relief port is used to relieve pressure in the open cavity.

[0020] In some possible embodiments of the present application, the lower end of the lifting rod is fixedly connected to a lower flange, the lower flange is fixedly connected to the upper surface of the piston plate, the upper surface of the lower flange is fixedly connected to a limit switch, the limit switch is connected to the air pressure control system, the limit switch is used to detect the distance between the lower flange and the upper end cover to obtain a third detection result, and transmit the third detection result to the air pressure control system, and the air pressure control system adjusts the power of pumping air into the closed cavity according to the third detection result.

[0021] In some possible implementations of the present application, an upper end of the lifting rod is fixedly connected to an upper flange, and the upper flange is used to be fixedly connected to the arm.

[0022] In some possible embodiments of the present application, a spring is provided in the closed cavity, the spring is vertically arranged, the upper end of the spring is fixedly connected to the lower surface of the piston plate, and the lower end of the spring is fixedly connected to the upper surface of the lower end cover.

[0023] In some possible implementations of the present application, the spring is in a stretched state.

[0024] Effects of the Invention

[0025] During the working process, the translation drive system of the manipulator drives the arm of the manipulator to move so that the suction cup is directly above the workpiece. The lifting drive system of the manipulator drives the arm of the manipulator to move so that the suction cup is against the upper surface of the workpiece. The air pressure control system evacuates the closed cavity, the air pressure inside the suction cup decreases, and the atmospheric pressure presses the workpiece on the suction cup to absorb the workpiece. After the workpiece is sucked, the air pressure control system stops evacuating the closed cavity and maintains the pressure in the closed cavity. The air pressure in the closed cavity at this time is the initial air pressure; the lifting drive system and the translation drive system drive the arm of the manipulator to move and transport the sucked workpiece. During the transportation process, if a suction cup suddenly leaks, the air pressure in the closed cavity will rise sharply. The first air pressure sensor detects the sudden rise in air pressure. In this process In the process, the piston plate moves upward relative to the cylinder, reducing the speed of increasing air pressure in the closed chamber, providing time for the detection work of the first air pressure sensor, and providing time for the air pressure control system to calculate the first detection result. When the air pressure control system calculates that the air pressure increase rate is greater than the preset value, the closed chamber is continued to be evacuated until the air pressure in the closed chamber returns to the initial state and then the air pumping is stopped. This cycle helps to avoid the workpiece from falling or unstable transportation due to air leakage from a suction cup. The piston plate can move relative to the cylinder to automatically adjust the air pressure in the closed chamber to balance the weight of the workpiece, which helps to avoid the workpiece from falling off due to air leakage from a suction cup. At the same time, it also provides time for air pressure detection and calculation, which helps to avoid the workpiece from falling off before the detection and calculation results are completed. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate exemplary embodiments, features, and aspects of the application and, together with the description, serve to explain the principles of the application.

[0027] FIG1 shows a schematic structural diagram of a loading and unloading robot provided by an exemplary embodiment of the present application.

[0028] FIG2 shows a schematic structural diagram of the connection between a cylinder, an upper end cover, a lower end cover, and a piston plate provided by another exemplary embodiment of the present application.

[0029] Description of Reference Numerals

[0030] 100. Arm; 102. Suction cup; 104. Cylinder; 106. Lifting rod; 108. Piston plate; 110. Lower end cover; 112. Closed cavity; 114. Air delivery channel; 116. Air nozzle; 118. First air pressure sensor; 120. First through hole; 122. Air guide tube; 124. First solenoid valve; 126. Second air pressure sensor; 128. Connecting port; 130. Second solenoid valve; 132. Limit plate; 134. Upper end cover; 136. Guide hole; 138. Pressure relief port; 140. Open cavity; 142. Lower flange; 144. Travel switch; 146. Upper flange; 148. Spring; 150. Workpiece. DETAILED DESCRIPTION

[0031] Various exemplary embodiments, features and aspects of the present application will be described in detail below with reference to the accompanying drawings. The same reference numerals in the drawings represent elements with the same or similar functions. Although various aspects of the embodiments are shown in the drawings, the drawings are not necessarily drawn to scale unless otherwise indicated. The special word "exemplary" here means "used as an example, embodiment or illustrative". Any embodiment described here as "exemplary" is not necessarily interpreted as being superior or better than other embodiments. In addition, in order to better illustrate the present application, those skilled in the art will understand that numerous specific details are given in each embodiment below. The present application can also be implemented without certain specific details. In some embodiments, methods, means and elements well known to those skilled in the art are not described in detail in order to highlight the main purpose of the present application.

[0032] As shown in Figures 1 and 2, an embodiment of the present application provides a loading and unloading robot, including an arm 100, an air pressure control system, a plurality of suction cups 102, a cylinder 104, a lifting rod 106, and a piston plate 108; the cylinder 104 is vertically arranged, and the lower end of the cylinder 104 is fixedly connected to the lower end cover 110, the piston plate 108 is located inside the cylinder 104 and is slidably connected to the inner wall of the cylinder 104 in the vertical direction, and the piston plate 108 is connected to the inner wall of the cylinder 104. The walls are sealed together; the lifting rod 106 is vertically arranged and the lower end is located inside the cylinder 104. The lifting rod 106 is located above the piston plate 108 and the lower end is fixedly connected to the piston plate 108. The upper end of the lifting rod 106 is fixedly connected to the arm 100; the piston plate 108, the lower end cover 110, and the cylinder 104 are surrounded by a closed cavity 112. Each suction cup 102 is fixedly connected to the lower surface of the lower end cover 110, and the internal space of the suction cup 102 is connected to the closed cavity 112. There is an air supply channel 114 inside the lifting rod 106, and an air nozzle 116 is provided at the upper end of the lifting rod 106. The air nozzle 116 is connected to the air pressure control system through a conduit, and the lower end of the lifting rod 106 is connected to the closed cavity 112; a first air pressure sensor 118 is provided in the closed cavity 112, and the first air pressure sensor 118 is connected to the air pressure control system. The first air pressure sensor 118 is used to detect the air pressure value in the closed cavity 112 to obtain a first detection result and transmit the first detection result to the air pressure control system. The air pressure control system adjusts the power of pumping air into the closed cavity 112 according to the first detection result.

[0033] The loading and unloading manipulator provided in this embodiment has the following features: during operation, the translation drive system of the manipulator drives the arm 100 of the manipulator to move, so that the suction cup 102 is directly above the workpiece 150; the lifting drive system of the manipulator drives the arm 100 of the manipulator to move, so that the suction cup 102 is attached to the upper surface of the workpiece 150; the air pressure control system evacuates the closed cavity 112, the air pressure inside the suction cup 102 is reduced, and the atmospheric pressure presses the workpiece 150 onto the suction cup 102, so that the workpiece 150 is sucked; after the workpiece 150 is sucked, the air pressure control system stops evacuating the closed cavity 112 and closes the closed cavity 112. The pressure in the cavity 112 is maintained (the channel for air flow backflow is closed). At this time, the air pressure in the closed cavity 112 is the initial air pressure (for example, set to 3 kPa); the lifting drive system and the translation drive system drive the arm 100 of the manipulator to move and transport the sucked workpiece 150. During the transportation process, if a suction cup 102 suddenly leaks, the air pressure in the closed cavity 112 rises suddenly, and the first air pressure sensor 118 detects the sudden increase in air pressure (that is, the first detection result, for example, the air pressure increases by 2 kPa within 0.5 seconds). During this process, the piston plate 108 moves upward relative to the cylinder 104. The speed of increasing the air pressure in the closed chamber 112 is reduced to provide time for the detection work of the first air pressure sensor 118 and the air pressure control system to calculate the first detection result. When the air pressure control system calculates that the air pressure increase speed is greater than the preset value (the preset value is set to 1 kPa every 0.25 seconds), the closed chamber 112 is continuously evacuated until the air pressure in the closed chamber 112 returns to the initial state and then the air is stopped. Such a cycle of work helps to avoid the workpiece 150 from falling or being handled unsteadily due to leakage of a certain suction cup 102, and the piston plate 108 can move relative to the cylinder 104. Automatically adjusting the air pressure in the closed cavity 112 to balance the weight of the workpiece 150 helps to avoid the workpiece 150 from falling off due to a leakage in a suction cup 102. It also provides time for air pressure detection and calculation, helping to avoid the workpiece 150 from falling off before the detection and calculation results are completed. In order to avoid insufficient suction due to long-term slow leakage, a maximum air pressure preset value is set, for example, to 6 kPa, that is, when the air pressure value in the closed cavity 112 exceeds 6 kPa, the air pressure control system evacuates the closed cavity 112 to restore the air pressure in the closed cavity 112 to its initial state (3 kPa).

[0034] In some exemplary implementations of the present embodiment, a plurality of first through holes 120 are provided on the lower end cover 110, and an air guide tube 122 is fixedly connected to the upper end of each suction cup 102, the air guide tube 122 is plugged into the first through hole 120, and the upper end of the air guide tube 122 extends into the closed cavity 112, and the internal space of the suction cup 102 is connected to the closed cavity 112 through the air guide tube 122; the upper end of each air guide tube 122 is connected to a first solenoid valve 124, and the first solenoid valve 124 is used to control the communication state between the suction cup 102 and the closed cavity 112, and each first solenoid valve 124 is respectively connected to the air pressure control system, and the air pressure control system controls the operation of the first solenoid valve 124 according to the first detection result.

[0035] Through the above exemplary implementation of this embodiment, when an increase in air pressure is detected, it indicates that there is an air leakage in the suction cup 102, and the air pressure control system controls each first solenoid valve 124 to close one by one. For example, there are three suction cups 102 in total. First, the first first solenoid valve 124 is controlled to be closed. If the air pressure continues to increase, the second first solenoid valve 124 is controlled to be closed. If the air pressure no longer increases, it indicates that there is an air leakage in the second suction cup 102; then the air pressure control system evacuates the closed cavity 112 until the air pressure inside the closed cavity 112 returns to the initial state; closing the leaking suction cup 102 helps to prevent the leaking suction cup 102 from causing the internal air pressure of other suction cups 102 to increase. If the third suction cup 102 is leaking, the three first solenoid valves 124 are finally in a closed state, and the internal air pressure of the first suction cup 102 and the second suction cup 102 are still close to the initial state, and can continue to provide suction to the workpiece 150.

[0036] In some exemplary implementations of this embodiment, a second air pressure sensor 126 is fixedly connected to the inner wall of each air duct 122, and each second air pressure sensor 126 is respectively connected to the air pressure control system. The second air pressure sensor 126 is used to detect the air pressure value of the internal space of the suction cup 102 to obtain a second detection result, and transmit the second detection result to the air pressure control system. The air pressure control system controls the operation of the first solenoid valve 124 according to the second detection result.

[0037] Through the above exemplary implementation of this embodiment, before transportation, after the suction cup 102 sucks the workpiece 150, the air pressure control system controls each first solenoid valve 124 to close. During the transportation process, if it is detected that the internal air pressure of the first suction cup 102 increases, it means that there is an air leak in the first suction cup 102. At the same time, if the internal air pressure of the second suction cup 102 and the third suction cup 102 does not increase, it means that there is no air leak in the second suction cup 102 and the third suction cup 102. At this time, the second first solenoid valve 124 and the third first solenoid valve 124 are opened to connect the second suction cup 102 and the third suction cup 102 with the closed cavity 112, and the second suction cup 102 and the third suction cup 102 obtain the adaptive air pressure regulation function of the piston plate 108; the second first solenoid valve 124 and the third first solenoid valve 124 can also be closed, and the first first solenoid valve 124 is opened. The air pressure control system continuously pumps air into the closed cavity 112 to keep the internal air pressure of the closed cavity 112 and the first suction cup 102 close to the initial state air pressure.

[0038] In some exemplary implementations of this embodiment, a connecting port 128 is provided at the center of the piston plate 108, and the lower end of the gas supply channel 114 is connected to the closed chamber 112 through the connecting port 128; a second solenoid valve 130 is fixedly connected to the lower surface of the piston plate 108, and the second solenoid valve 130 is used to control the connection state between the gas supply channel 114 and the closed chamber 112; the second solenoid valve 130 is connected to the air pressure control system, and the air pressure control system controls the operation of the second solenoid valve 130 according to the first detection result.

[0039] Through the above exemplary implementation of this embodiment, when the air pressure in the closed chamber 112 is in the initial state, the air pressure control system controls the second solenoid valve 130 to close, and relies on the sliding of the piston to achieve adaptive pressure maintenance of the closed chamber 112. When there is a slow air leakage, the piston gradually slides upward, and the internal volume of the closed chamber 112 gradually increases, so that the air pressure in the closed chamber 112 is maintained close to the initial state.

[0040] In some exemplary implementations of this embodiment, a limiting plate 132 is provided in the closed cavity 112 . The limiting plate 132 is fixedly connected to the inner wall of the closed cavity 112 , and the lower surface of the limiting plate 132 is higher than the top surface of the first solenoid valve 124 .

[0041] Through the above-mentioned exemplary implementation of this embodiment, in the initial state, the piston plate 108 is pressed together with the limit plate 132 to prevent the piston plate 108 from pressing onto the first solenoid valve 124 or touching the lower end cover 110, thereby forming a closed cavity 112 in the initial state, so that the closed cavity 112 can vertically buffer and reduce vibration of the workpiece 150 during transportation.

[0042] In some exemplary implementations of this embodiment, the upper end of the cylinder 104 is fixedly connected to an upper end cover 134, a guide hole 136 is provided in the center of the upper end cover 134, the lifting rod 106 is inserted into the guide hole 136 and is slidably connected to the guide hole 136 along the up and down directions, a pressure relief port 138 is provided on the upper end cover 134, and an open cavity 140 is formed between the piston plate 108 and the upper end cover 134, and the pressure relief port 138 is used to relieve pressure in the open cavity 140.

[0043] Through the above exemplary implementation of this embodiment, the piston plate 108 moves upward until it abuts against the upper end cover 134 and cannot move further upward, thereby preventing the piston plate 108 from sliding out of the cylinder 104. At this time, if the air pressure inside the closed chamber 112 continues to increase to be greater than the maximum air pressure preset value, the air pressure control system will evacuate the closed chamber 112 to restore the air pressure inside the closed chamber 112 to its initial state. At this time, the piston plate 108 returns to its initial position, continues to provide time for detection and calculation, and provides buffering and vibration reduction for the workpiece 150.

[0044] In some exemplary implementations of this embodiment, the lower end of the lifting rod 106 is fixedly connected to a lower flange 142, the lower flange 142 is fixedly connected to the upper surface of the piston plate 108, the upper surface of the lower flange 142 is fixedly connected to a limit switch 144, the limit switch 144 is connected to the air pressure control system, the limit switch 144 is used to detect the distance between the lower flange 142 and the upper end cover 134 to obtain a third detection result, and transmit the third detection result to the air pressure control system, and the air pressure control system adjusts the power of pumping air into the closed cavity 112 according to the third detection result.

[0045] Through the above exemplary implementation of this embodiment, the limit switch 144 can adopt a contact switch or an infrared distance sensor. When the limit switch 144 is triggered, the air pressure control system evacuates air before closing. When the air pressure control system evacuates air from the closed cavity 112, the first solenoid valve 124 corresponding to the leaking suction cup 102 is closed, and the other first solenoid valves 124 and the second solenoid valve 130 are opened.

[0046] In some exemplary implementations of this embodiment, an upper end of the lifting rod 106 is fixedly connected to an upper flange 146 , and the upper flange 146 is used to be fixedly connected to the arm 100 .

[0047] In some exemplary embodiments of this embodiment, a spring 148 is provided in the closed cavity 112, and the spring 148 is vertically arranged. The upper end of the spring 148 is fixedly connected to the lower surface of the piston plate 108, and the lower end of the spring 148 is fixedly connected to the upper surface of the lower end cover 110.

[0048] In some exemplary implementations of this embodiment, the spring 148 is in a stretched state.

[0049] Through the above exemplary implementation of this embodiment, the spring 148 can provide a certain damping for the upward movement of the piston plate 108. When the air pressure in the closed chamber 112 increases, it prevents the piston plate 108 from sliding upward quickly to restore the air pressure in the closed chamber 112, so that the first air pressure sensor 118 can detect the air pressure in the closed chamber 112.

[0050] It should be noted that "up" and "down" refer to the viewing directions of the accompanying drawings, as indicated by the directional arrows in FIG1 . The arm 100, translation drive system, lifting drive system, and pneumatic control system are identical to those of the prior art and are therefore not described in detail in this embodiment. It should also be understood that the controller in the pneumatic control system stores a computer program that is executed by a processor to implement the control methods described in the exemplary embodiments described above.

[0051] The embodiments of the present application have been described above. The above description is illustrative and not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is selected to best explain the principles of the embodiments, their practical applications, or improvements to the technology in the market, or to enable other persons skilled in the art to understand the embodiments disclosed herein.

Claims

1. A loading and unloading robot, comprising an arm, an air pressure control system, and a plurality of suction cups, characterized in that: It also includes a cylinder, a lifting rod, and a piston plate; The cylinder is arranged vertically, a lower end cover is fixedly connected to the lower end of the cylinder, the piston plate is located inside the cylinder and is slidably connected to the inner wall of the cylinder along the vertical direction, and the piston plate is sealed with the inner wall of the cylinder; The lifting rod is vertically arranged and the lower end is located inside the cylinder, the lifting rod is located above the piston plate and the lower end is fixedly connected to the piston plate, and the upper end of the lifting rod is fixedly connected to the arm; The piston plate, the lower end cover, and the cylinder body surround a closed cavity, each of the suction cups is fixedly connected to the lower surface of the lower end cover, and the internal space of the suction cup is connected to the closed cavity; The lifting rod has an air delivery channel inside, an air nozzle is provided at the upper end of the lifting rod, the air nozzle is connected to the air pressure control system through a conduit, and the lower end of the lifting rod is connected to the closed cavity; A first air pressure sensor is provided in the closed cavity, and the first air pressure sensor is connected to the air pressure control system. The first air pressure sensor is used to detect the air pressure value in the closed cavity to obtain a first detection result and transmit the first detection result to the air pressure control system. The air pressure control system adjusts the power of exhausting the closed cavity according to the first detection result.

2. The loading and unloading robot according to claim 1 is characterized in that: The lower end cover is provided with a plurality of first through holes, and an air guide tube is fixedly connected to the upper end of each suction cup, the air guide tube is plugged into the first through hole, the upper end of the air guide tube extends into the closed cavity, and the internal space of the suction cup is connected with the closed cavity through the air guide tube; The upper end of each air guide tube is connected to a first solenoid valve, which is used to control the connection state between the suction cup and the closed cavity. Each first solenoid valve is respectively connected to the air pressure control system, and the air pressure control system controls the operation of the first solenoid valve according to the first detection result.

3. The loading and unloading robot according to claim 2 is characterized in that: A second air pressure sensor is fixedly connected to the inner wall of each air guide tube, and each second air pressure sensor is respectively connected to the air pressure control system. The second air pressure sensor is used to detect the air pressure value of the internal space of the suction cup to obtain a second detection result, and transmit the second detection result to the air pressure control system. The air pressure control system controls the operation of the first solenoid valve according to the second detection result.

4. The loading and unloading robot according to claim 3 is characterized in that: A communication port is provided at the center of the piston plate, and the lower end of the gas delivery channel is connected with the closed cavity through the communication port; A second solenoid valve is fixedly connected to the lower surface of the piston plate, and the second solenoid valve is used to control the communication state between the gas transmission channel and the closed cavity; The second solenoid valve is connected to the air pressure control system, and the air pressure control system controls the operation of the second solenoid valve according to the first detection result.

5. The loading and unloading robot according to claim 2 is characterized in that: A limit plate is provided in the closed cavity, the limit plate is fixedly connected to the inner wall of the closed cavity, and the lower surface of the limit plate is higher than the top surface of the first solenoid valve.

6. The loading and unloading robot according to claim 1, characterized in that: The upper end of the cylinder is fixedly connected to an upper end cover, a guide hole is provided in the center of the upper end cover, the lifting rod is inserted into the guide hole and is slidably connected to the guide hole along the up and down directions, a pressure relief port is provided on the upper end cover, an open cavity is formed between the piston plate and the upper end cover, and the pressure relief port is used to relieve pressure in the open cavity.

7. The loading and unloading robot according to claim 6, characterized in that: The lower end of the lifting rod is fixedly connected with a lower flange, and the lower flange is fixedly connected to the upper surface of the piston plate. The upper surface of the lower flange is fixedly connected with a travel switch, and the travel switch is connected to the air pressure control system. The travel switch is used to detect the distance between the lower flange and the upper end cover to obtain a third detection result, and transmit the third detection result to the air pressure control system, and the air pressure control system adjusts the power of pumping air into the closed chamber according to the third detection result.

8. The loading and unloading robot according to claim 1, characterized in that: An upper flange is fixedly connected to the upper end of the lifting rod, and the upper flange is used to be fixedly connected to the arm.

9. The loading and unloading robot according to claim 1, characterized in that: A spring is arranged in the closed cavity, and the spring is arranged vertically. The upper end of the spring is fixedly connected to the lower surface of the piston plate, and the lower end of the spring is fixedly connected to the upper surface of the lower end cover.

10. The loading and unloading robot according to claim 9, characterized in that: The spring is in a stretched state.

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