阅读说明：本技术 机械手 (Mechanical arm ) 是由 郑青焕 于 2019-09-11 设计创作，主要内容包括：本发明属于机械加工设备技术领域,尤其涉及一种机械手,包括X轴移动机构、旋转机构、旋转臂、Z轴移动机构和末端工具件,X轴移动机构的驱动端与旋转机构连接；旋转臂的第一端与旋转机构的驱动端连接并用于带动旋转臂转动,旋转臂的延伸方向与旋转机构的旋转轴线垂直设置,旋转臂的第二端与Z轴移动机构连接,旋转机构的旋转轴线方向与Z轴移动机构的移动方向平行设置,末端工具件与Z轴移动机构的驱动端连接。与现有的机械手相比,该机械手在Y轴方向上的尺寸减小一半,实现了机械手尺寸上的大幅度减小,并且X轴移动机构驱动旋转机构位于其行程的极限位置以及旋转臂转动到与X轴方向平行,增加了X轴方向的行程范围,使其更广的移动范围。(The invention belongs to the technical field of machining equipment, and particularly relates to a manipulator which comprises an X-axis moving mechanism, a rotating arm, a Z-axis moving mechanism and a tail end tool piece, wherein a driving end of the X-axis moving mechanism is connected with the rotating mechanism; the first end of the rotating arm is connected with the driving end of the rotating mechanism and used for driving the rotating arm to rotate, the extending direction of the rotating arm is perpendicular to the rotating axis of the rotating mechanism, the second end of the rotating arm is connected with the Z-axis moving mechanism, the rotating axis direction of the rotating mechanism is parallel to the moving direction of the Z-axis moving mechanism, and the end tool piece is connected with the driving end of the Z-axis moving mechanism. Compared with the existing manipulator, the size of the manipulator in the Y-axis direction is reduced by half, the size of the manipulator is greatly reduced, the X-axis moving mechanism drives the rotating mechanism to be located at the limit position of the stroke of the rotating mechanism and the rotating arm to rotate to be parallel to the X-axis direction, the stroke range of the X-axis direction is increased, and the wider moving range is achieved.)

1. A manipulator, its characterized in that: the X-axis moving mechanism comprises an X-axis moving mechanism, a rotating arm, a Z-axis moving mechanism and a tail end tool piece, wherein a driving end of the X-axis moving mechanism is connected with the rotating mechanism; the first end of the rotating arm is connected with the driving end of the rotating mechanism and used for driving the rotating arm to rotate, the extending direction of the rotating arm is perpendicular to the rotating axis of the rotating mechanism, the second end of the rotating arm is connected with the Z-axis moving mechanism, the rotating axis direction of the rotating mechanism is parallel to the moving direction of the Z-axis moving mechanism, and the end tool piece is connected with the driving end of the Z-axis moving mechanism.

2. The robot hand according to claim 1, wherein: the rotating mechanism comprises a rotating platform and a rotating motor, the fixed end of the rotating platform is installed on the driving end of the X-axis moving mechanism, the first end of the rotating arm is connected with the rotating end of the rotating platform, and the output end of the rotating motor is connected with the rotating platform to drive the rotating end of the rotating platform to rotate.

3. The robot hand according to claim 2, wherein: the rotary platform is a hollow rotary platform.

4. The robot hand according to claim 2, wherein: the stiff end of rotary platform is equipped with first stopper, the first end of swinging boom is equipped with the second stopper, first stopper with the second stopper butt is in order to be used for the restriction the swinging boom rotates.

5. The robot hand according to claim 2, wherein: be equipped with the rotation induction piece on rotary platform's the stiff end, the first of swinging boom is served and is equipped with rotatory proximity switch, works as when the swinging boom rotates preset position, rotatory proximity switch's sense terminal is just right the rotation induction piece.

6. The robot hand according to any one of claims 1 to 5, wherein: the X-axis moving mechanism is a linear module.

7. The robot hand according to any one of claims 1 to 5, wherein: the Z-axis moving mechanism comprises a Z-axis motor, a rack and a Z-axis fixing plate, the rack is installed on the Z-axis fixing plate and extends in the Z-axis direction, the Z-axis motor is installed on a driving end of the rotating mechanism, gear teeth are arranged on an output shaft of the Z-axis motor and meshed with the rack, and a tail end tool piece is connected with the Z-axis fixing plate.

8. The robot hand according to any one of claims 1 to 5, wherein: the manipulator further comprises a first rotating mechanism, the first rotating mechanism is connected with the driving end of the Z-axis moving mechanism, the rotating central shaft of the first rotating mechanism is arranged in parallel to the Z-axis direction, and the end tool piece is connected with the driving end of the first rotating mechanism.

9. The robot hand of claim 8, wherein: and a buffer device used for limiting the first rotating mechanism to move along the Z-axis direction is arranged between the first rotating mechanism and the Z-axis moving mechanism.

10. The robot hand according to any one of claims 1 to 5, wherein: the manipulator further comprises a second rotating mechanism, the second rotating mechanism is connected with the driving end of the Z-axis moving mechanism, and a rotating central shaft of the second rotating mechanism and the Z-axis direction form an included angle; the end tool piece is connected with the driving end of the second rotating mechanism.

Technical Field

The invention belongs to the technical field of machining equipment, and particularly relates to a manipulator.

Background

The existing manipulator is widely applied to common industrial production such as dispensing, plastic dripping, spraying, stacking, sorting, packaging, welding, metal processing, carrying, loading and unloading, assembling, printing and the like, so that the automatic production of the industrial production is realized, and the production efficiency is improved. The existing end tool piece of the manipulator is usually driven by a plurality of linear modules which are connected in sequence and are vertical to each other, and the movement in a three-dimensional space of the end tool piece is realized through the mutual moving and matching among the linear modules, but the occupied space of the linear modules is large, and the moving range of the end tool piece is small.

Disclosure of Invention

The invention aims to provide a manipulator, and aims to solve the technical problems that the manipulator in the prior art is large in occupied space and small in moving range of a tool piece at the tail end.

In order to achieve the purpose, the invention adopts the technical scheme that: a manipulator comprises an X-axis moving mechanism, a rotating arm, a Z-axis moving mechanism and a tail end tool piece, wherein a driving end of the X-axis moving mechanism is connected with the rotating mechanism; the first end of the rotating arm is connected with the driving end of the rotating mechanism and used for driving the rotating arm to rotate, the extending direction of the rotating arm is perpendicular to the rotating axis of the rotating mechanism, the second end of the rotating arm is connected with the Z-axis moving mechanism, the rotating axis direction of the rotating mechanism is parallel to the moving direction of the Z-axis moving mechanism, and the end tool piece is connected with the driving end of the Z-axis moving mechanism.

Optionally, the rotating mechanism includes a rotating platform and a rotating electrical machine, a fixed end of the rotating platform is installed on a driving end of the X-axis moving mechanism, a first end of the rotating arm is connected with a rotating end of the rotating platform, and an output end of the rotating electrical machine is connected with the rotating platform to drive the rotating end of the rotating platform to rotate.

Optionally, the rotating platform is a hollow rotating platform.

Optionally, the stiff end of rotary platform is equipped with first stopper, the first end of swinging boom is equipped with the second stopper, first stopper with the second stopper butt is in order to be used for the restriction the swinging boom rotates.

Optionally, be equipped with the rotation induction piece on rotary platform's the stiff end, the first of swinging boom is served and is equipped with rotatory proximity switch, works as when the swinging boom rotates preset position, rotatory proximity switch's sense terminal is just right the rotation induction piece.

Optionally, the X-axis moving mechanism is a linear module.

Optionally, the Z-axis moving mechanism includes a Z-axis motor, a rack and a Z-axis fixing plate, the rack is installed on the Z-axis fixing plate and extends in the Z-axis direction, the Z-axis motor is installed on the driving end of the rotating mechanism, gear teeth are arranged on an output shaft of the Z-axis motor, the gear teeth are engaged with the rack, and the end tool is connected with the Z-axis fixing plate.

Optionally, the manipulator further includes a first rotating mechanism, the first rotating mechanism is connected to the driving end of the Z-axis moving mechanism, a rotation central axis of the first rotating mechanism is parallel to the Z-axis direction, and the end tool is connected to the driving end of the first rotating mechanism.

Optionally, a buffer device for limiting the movement of the first rotating mechanism along the Z-axis direction is arranged between the first rotating mechanism and the Z-axis moving mechanism.

Optionally, the manipulator further includes a second rotating mechanism, the second rotating mechanism is connected to the driving end of the Z-axis moving mechanism, and a rotation central axis of the second rotating mechanism and the Z-axis direction form an included angle; the end tool piece is connected with the driving end of the second rotating mechanism.

One or more technical solutions in the manipulator provided by the present invention have at least one of the following technical effects: when the tool is used, the X-axis moving mechanism and the Z-axis moving mechanism are respectively used for driving the tail end tool piece to move in the X-axis direction and the Z-axis direction; the rotating mechanism is started, the rotating mechanism drives the rotating arm to rotate, and then the stroke of the mechanical arm in the Y-axis direction is 2 times of the length of the rotating arm; meanwhile, the rotating arm can directly drive the tail end tool piece to move in an XY plane determined by the X-axis direction and the Y-axis direction or in a plane parallel to the XY plane, and the adjustment of the tail end tool piece is simple, convenient and quick.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

Fig. 1 is a schematic structural diagram of a robot provided in an embodiment of the present invention.

Fig. 2 is a sectional view taken along line a-a in fig. 1.

Fig. 3 is an exploded view from one perspective of the robot shown in fig. 1.

Fig. 4 is an exploded view of the robot shown in fig. 1 from another perspective.

Fig. 5 is a partially enlarged view of B in fig. 4.

Fig. 6 is an exploded view of the Z-axis moving mechanism of the robot shown in fig. 1.

Wherein, in the figures, the respective reference numerals:

10-X-axis moving mechanism 20-rotating mechanism 21-rotating platform

22-rotating motor 30-rotating arm 31-rotating proximity switch

32-first slider 33-Z-axis proximity switch 34-second stopper

40-Z-axis moving mechanism 41-Z-axis motor 42-rack

43-Z axis fixing plate 50-end tool piece 60-drag chain

70-first rotating mechanism 71-rotating motor 72-rotating mounting base

73-hollow tube 74-motor cover 80-buffer device

81-buffer induction sheet 82-buffer proximity switch 83-second guide rail

84-second sliding block 85-fourth limiting block 90-table-placing cylinder

211-rotating mounting base 212-rotating disc 213-hollow shaft

214-first limiting block 215-rotary induction sheet 216-X-axis approach switch

431, a first guide rail 432, a third limiting block 433, a Z-axis sensing piece

721 a fifth limiting block.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to fig. 1-6 are exemplary and intended to be used to illustrate the invention, but are not to be construed as limiting the invention.

In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

As shown in fig. 1 to 6, in an embodiment of the present invention, there is provided a robot including an X-axis moving mechanism 10, a rotating mechanism 20, a rotating arm 30, a Z-axis moving mechanism 40, and an end tool 50, wherein a driving end of the X-axis moving mechanism 10 is connected to the rotating mechanism 20; the first end of the rotating arm 30 is connected to the driving end of the rotating mechanism 20 and is used for driving the rotating arm 30 to rotate, the extending direction of the rotating arm 30 is perpendicular to the rotating axis of the rotating mechanism 20, the second end of the rotating arm 30 is connected to the Z-axis moving mechanism 40, the rotating axis direction of the rotating mechanism 20 is parallel to the moving direction of the Z-axis moving mechanism 40, and the end tool 50 is connected to the driving end of the Z-axis moving mechanism 40, wherein the directions of the X-axis, the Y-axis and the Z-axis are shown in fig. 1.

Specifically, when the manipulator of the embodiment of the present invention is used, the X-axis moving mechanism 10 and the Z-axis moving mechanism 40 are respectively used for driving the end tool 50 to move in the X-axis direction and the Z-axis direction; the rotating mechanism 20 is started, the rotating mechanism 20 drives the rotating arm 30 to rotate, and then the stroke of the manipulator in the Y-axis direction is 2 times of the length of the rotating arm 30, compared with the existing manipulator, the size of the manipulator in the Y-axis direction is reduced by half, so that the size of the manipulator is greatly reduced, and when the X-axis moving mechanism 10 drives the rotating mechanism 20 to be located at the limit position of the stroke, the rotating arm 30 can rotate to be parallel to the X-axis direction, the length of the rotating arm 30 can improve the stroke range in the X-axis direction, so that the moving range of the end tool piece 50 is wider; meanwhile, the rotating arm 30 can directly drive the end tooling part 50 to move in the XY plane determined by the X-axis direction and the Y-axis direction or in the XY plane, and the adjustment of the end tooling part 50 is simple, convenient and quick.

Further, the manipulator comprises a control device, the X-axis moving mechanism 10, the rotating mechanism 20 and the Z-axis moving mechanism 40 are all electrically connected with the control device, and the X-axis moving mechanism 10, the rotating mechanism 20 and the Z-axis moving mechanism 40 can effectively improve the working efficiency and the precision of the manipulator under the coordination of the control device.

In another embodiment of the present invention, referring to fig. 1 and 3, the rotation mechanism 20 of the robot is provided and includes a rotation platform 21 and a rotation motor 22, wherein a fixed end of the rotation platform 21 is mounted on a driving end of the X-axis moving mechanism 10, a first end of a rotation arm 30 is connected to a rotation end of the rotation platform 21, and an output end of the rotation motor 22 is connected to the rotation platform 21 for driving the rotation end of the rotation platform 21 to rotate. Specifically, the rotating motor 22 is used as a driving source of the rotating platform 21, the structure of the rotating platform 21 is simple, the rotating arm 30 is driven by the rotating platform to rotate with high precision, the rotating arm 30 rotates stably, the moving precision of the end tool piece 50 is high, the positioning is accurate, and the processing of the end tool piece 50 is more stable and reliable.

In another embodiment of the present invention, referring to fig. 2, the rotary platform 21 of the robot is provided as a hollow rotary platform. Specifically, the hollow rotary platform comprises a rotary mounting seat 211, a rotary disc 212 and a hollow shaft 213, the mounting disc is fixed on the X-axis moving mechanism 10, the rotary disc 212 is connected with the rotary arm 30, the rotary disc 212 is rotatably mounted on the rotary mounting seat 211, the output end of the rotary motor 22 passes through a gear and gear teeth outside the rotary disc 212, the rotary motor 22 drives the rotary disc 212 to rotate so as to realize the rotation of the rotary arm 30, and the hollow shaft 213 is rotatably mounted in the middle of the rotary disc 212, so that the subsequent Z-axis moving mechanism 40 and subsequent cables and air pipes can be directly routed from the hollow shaft 213, and the appearance of the manipulator is neater and more compact.

In another embodiment of the present invention, referring to fig. 1, fig. 3 and fig. 4, a first stopper 214 is disposed at a fixed end of the rotary platform 21 of the robot, a second stopper 34 is disposed at a first end of the rotary arm 30, and the first stopper 214 abuts against the second stopper 34 to limit the rotation of the rotary arm 30. Specifically, the rotating arm 30 is in the rotating process, and is abutted against the first limiting block 214 and the second limiting block 34, so that the rotating arm 30 is prevented from rotating by 360 degrees, and the cable wire and the air pipe in the hollow tube 73 are prevented from being broken.

In another embodiment of the present invention, referring to fig. 1, 3 and 4, a rotation sensing plate 215 is disposed on a fixed end of a rotation platform 21 of the robot, a rotation proximity switch 31 is disposed on a first end of the rotation arm 30, and when the rotation arm 30 rotates to a predetermined position, a detection end of the rotation proximity switch 31 faces the rotation sensing plate 215. Specifically, when the preset position is that the first stopper 214 abuts against the second stopper 34, the rotary proximity switch 31 is opposite to the rotary sensing piece 215, so that the rotary proximity switch 31 can feed back a signal to the control device, the control device sends an instruction to control the rotation of the rotating arm 30, and the cable or the trachea is prevented from being broken due to the fact that the rotating arm 30 rotates too much.

In another embodiment of the present invention, the X-axis moving mechanism 10 of the robot is provided as a linear module. Specifically, rotary platform 21's rotation mount 211 is installed on the slip table of linear module, adopts linear module to drive rotary platform 21 and removes, and then drives end tool 50 and remove, and its simple structure, end tool 50's removal is reliable and stable, and is convenient for end tool 50's control.

Furthermore, the stroke of the linear module can be determined by the required stroke, the stroke of the linear module of the manipulator is 480mm, the new linear module is horizontally arranged, and when a 200W servo motor is selected for driving, the maximum load is 30kg, power is indirectly transmitted between the motor and a lead screw in the linear module through a synchronous belt wheel, and the lead screw lead is 5 mm.

Furthermore, the drag chain 60 is installed on the linear module, so as to facilitate the routing of the cable and the air pipe, and the cable or the air pipe can be effectively prevented from being broken when moving.

Further, referring to fig. 1, 3 and 4, two X-axis proximity switches 216 are installed between the start point and the end point of the stroke of the linear module to prevent the rotary platform 21 from moving out of the start point and the end point in the X-axis direction, and to prevent the cable or the trachea from being broken, one of which is installed on the rotary platform 21 and the other of which is fixed on the linear module.

In another embodiment of the present invention, referring to fig. 3, 4 and 6, the Z-axis moving mechanism 40 of the robot is provided and includes a Z-axis motor 41, a rack 42 and a Z-axis fixing plate 43, the rack 42 is mounted on the Z-axis fixing plate 43 and extends in the Z-axis direction, the Z-axis motor 41 is mounted on the driving end of the rotating mechanism 20, and the output shaft of the Z-axis motor 41 is provided with gear teeth which are engaged with the rack 42. Specifically, the output shaft of the Z-axis motor 41 rotates to drive the rack 42 to move along the Z-axis direction, and further drive the Z-axis fixing plate 43 and the end tool 50 mounted on the Z-axis fixing plate 43 to move along the Z-axis direction, so that the end tool 50 moves along the Z-axis direction.

Furthermore, a first guide rail 431 extending along the Z-axis direction is arranged on the Z-axis fixing plate 43, a first slider 32 is arranged on the rotating arm 30, the first slider 32 is slidably mounted on the first guide rail 431, and under the guiding action of the first guide rail 431 and the first slider 32, the Z-axis fixing plate 43 moves along the Z-axis direction more stably and reliably, so that the problem that the terminal tool piece 50 is inclined or deviated can be effectively avoided, and the movement of the terminal tool piece 50 is stable and reliable.

Further, the Z-axis motor 41 is installed in the rotating arm 30, and an output shaft of the Z-axis motor 41 extends out of the rotating arm 30 and then is meshed with the rack 42, so that the appearance of the manipulator is neater and more compact.

Further, the Z-axis fixing plate 43 is further provided with two third limiting blocks 432 arranged at intervals along the Z-axis direction, the rotating arm 30 is located between the two third limiting blocks 432, and the limitation action of the third limiting blocks 432 can avoid the damage of the manipulator due to the overlarge stroke of the end tool piece 50 in the Z-axis direction. The Z-axis attachment plate 43 is also provided with a tow chain 60 through which the cable and air hose pass to prevent the cable and air hose from becoming entangled and being damaged when the end tool 50 is moved.

Furthermore, two Z-axis proximity switches 33 arranged at intervals in the Z-axis direction are arranged on the second end of the rotating arm 30, two Z-axis sensing pieces 433 arranged at intervals in the Z-axis direction are further mounted on the Z-axis fixing plate 43, and the two Z-axis proximity switches 33 are arranged close to each other, so that when the Z-axis fixing plate 43 moves in the Z-axis direction, the two Z-axis proximity switches 33 are respectively aligned with the corresponding Z-axis sensing pieces 433, and thus, a Z-axis proximity switch 33 feedback signal is sent to the control device, so that the control device can obtain the positions of the Z-axis fixing plate 43 and the end tool 50 mounted on the Z-axis fixing plate 43, and thus, the stroke of the end tool 50 moving to the Z-axis direction is avoided, and the manipulator is prevented from being damaged.

In another embodiment of the present invention, referring to fig. 2, 3 and 4, the robot is further provided with a first rotating mechanism 70, the first rotating mechanism 70 is connected to the driving end of the Z-axis moving mechanism 40, and the rotation center axis of the first rotating mechanism 70 is arranged parallel to the Z-axis direction. Specifically, the first rotating mechanism 70 can directly drive the end tool 50 to rotate, so as to achieve the processing of multi-angle workpieces.

Further, the first rotating mechanism 70 includes a rotating motor 71, a rotating mounting seat 72 and a hollow tube 73, the hollow tube 73 is rotatably mounted in the rotating mounting seat 72 and rotates in the mounting seat, the rotating mounting seat 72 is mounted on the Z-axis fixing plate 43, the hollow tube 73 is connected with the end tool piece 50, the rotating motor 71 is mounted on the rotating mounting seat 72, and the rotating motor 71 is connected with the hollow tube 73 through a gear to drive the rotating hollow tube 73 to rotate, so as to realize the rotation of the end tool piece 50, meanwhile, the subsequent cable and the subsequent air tube can also pass through the hollow tube 73, which is convenient for the routing of the cable and the air tube, and the appearance structure of the manipulator is neat and compact.

Further, a motor cover 74 is provided outside the rotary motor 71 to prevent the operation of the rotary motor 71 from being affected by processed dust and impurities.

Further, install buffer 80 between Z axle fixed plate 43 and the rotation mount pad 72, buffer 80 includes buffering response piece 81 and buffering proximity switch 82, buffering response piece 81 is installed on rotating mount pad 72, buffering proximity switch 82 is installed on Z axle fixed plate 43, when rotating mount pad 72 and moving towards buffering response piece 81 dorsad, buffering proximity switch 82 leaves outside the response scope of buffering response piece 81, thereby make controlling means take place the police dispatch newspaper, prevent that terminal tool 50 from shifting out outside the stroke of Z axle direction, guarantee the stability and the security that terminal tool 50 removed.

In another embodiment of the present invention, referring to fig. 2, 3, 4 and 5, a buffer device 80 for limiting the movement of the first rotating mechanism 70 in the Z-axis direction is provided between the first rotating mechanism 70 and the Z-axis moving mechanism 40 of the robot. Specifically, the buffering device 80 includes a second guide rail 83, a second slider 84, a fifth limiting block 721 and two fourth limiting blocks 85, the second slider 84 is mounted on the Z-axis fixing plate 43, the second guide rail 83 is mounted on the rotation mounting seat 72 and extends along the Z-axis direction, the two fourth limiting blocks 85 are arranged at intervals along the Z-axis direction, the fifth limiting block 721 is mounted on the rotation mounting seat 72, the fifth limiting block 721 is located between the two fourth limiting blocks 85, so that the rotation mounting seat 72 naturally falls under the action of gravity, the fifth limiting block 721 abuts against the fourth limiting blocks 85, so that the fourth stopper 85 supports the first rotation mechanism 70 and the end tool 50, the buffer sensing piece 81 also bears the weight of a portion of the first rotation mechanism 70 and the end tool 50, and the second guide rail 83 and the second slider 84 are used for guiding to prevent the first rotation mechanism 70 and the end tool 50 from being turned over.

In another embodiment of the present invention, referring to fig. 2, 3 and 4, the robot further includes a second rotating mechanism, the second rotating mechanism is connected to the driving end of the Z-axis moving mechanism 40, and a rotation center axis of the second rotating mechanism is disposed at an angle with respect to the Z-axis direction. Specifically, first rotation mechanism 70 is including setting a table cylinder 90, the cylinder body and the hollow tube 73 of setting a table cylinder 90 are connected, be equipped with terminal mount pad on the piston rod of setting a table cylinder 90, be equipped with a plurality of terminal instrument pieces 50 on the terminal mount pad, the quantity of terminal instrument piece 50 can be two, three or more than three, and be the contained angle setting between a plurality of terminal instrument pieces 50, thereby can change different terminal instrument pieces 50 through rotating terminal mount pad like this, can realize the quick replacement of different processing methods, the work efficiency and the application scope of this manipulator are improved.

Further, the axis of the piston rod of the swing table cylinder 90 and the Z-axis direction form an included angle of 45 degrees, the number of the end tool pieces 50 is two, and the included angle of 90 degrees is formed between the two end tool pieces 50, so that the swing table cylinder 90 is started, automatic replacement of the end tool pieces 50 can be realized, one of the two end tool pieces 50 can be set to be the end tool piece 50 for installing a workpiece, the other end tool piece 50 is set to be the end tool piece 50 for rotating the workpiece, a machined workpiece and an unmachined workpiece can be clamped simultaneously, conversion between the machined workpiece and the unmachined workpiece on the machining table can be realized through the rotation angle, and the production efficiency is improved.

The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.