CN217837488U - Variable-pitch module manipulator with automatic cleaning function - Google Patents

Abstract

The utility model belongs to the technical field of the work piece transportation subassembly, specifically be a take automatic function of cleaning's displacement module manipulator, including installation body and cylinder, install horizontal guide rail on the installation body, horizontal guide rail goes up to slide and is provided with a plurality of sliders, and the fixed block that is provided with of one end of horizontal guide rail all installs the mounting bracket on every slider and the fixed block, connects through the connector between two adjacent mounting brackets, and the relative mounting bracket of connector slides and sets up and is provided with limit structure on the mounting bracket, all fixed mounting has the trachea fixing base on every mounting bracket, is provided with the absorption route on the trachea fixing base, sweeps the route, and absorption route intercommunication has the absorption structure, sweeps the route and is connected with and sweeps the structure; the cylinder is installed on the installation body and the output end installs the fixed body, and the fixed body passes through the connector and is connected and should fixed body and connector sliding fit with corresponding the mounting bracket, solves present workpiece surface and remains the problem that has oil stain/water stain and lead to the equipment subassembly that needs in time to be changed.

Description

Variable-pitch module manipulator with automatic cleaning function

Technical Field

The utility model belongs to the technical field of the subassembly is transported to the work piece, specifically is a take automatic displacement module manipulator who cleans the function.

Background

With the development of technology, many manufacturing plants have realized automated production. In the transfer process of some workpieces, the workpieces need to be processed differently at different stations, for example, the workpieces need to have different distances between a first station and a second station, and then the first station or the second station at least needs to have a distance changing function, that is, each station needs to realize the respective processing function of the workpiece, and also needs to adjust the relative position or pose of each structure of the station to adapt to the workpiece in transfer, and at this time, the manipulator which needs the distance changing function realizes simultaneous pick-and-place of a plurality of objects/workpieces.

Prior art CN113245806A gets material manipulator, solved same manipulator and realized required material adjustment function on a plurality of stations, equipment space occupies high problem, the utility model discloses a manipulator body, throw the box module, turn to the transport module and get material displacement module and can dismantle with the action end of manipulator body respectively and be connected, get material displacement module and be used for snatching a plurality of materials of first station and adjust the interval of snatching the adjacent material after, get a plurality of materials that material displacement module will under the drive of manipulator body and place in the second station, turn to the transport module and be used for snatching a plurality of materials on the second station and adjust the position appearance of each material, throw the box module and be used for snatching the material box that is used for filling the material on the first station. The technology has the advantages of integrating multiple material posture adjusting functions, avoiding the superposition of a material posture adjusting structure on a material processing station, simplifying the design of an automatic production line, occupying less equipment space and the like.

But this technique only is applicable to the clean condition that does not have oil stain/water stain in work piece surface, and the work piece is mostly not cleared up after processing on the workshop assembly line, and oil stain/water stain all can remain on the work piece surface basically, if adopt this moment to accomplish absorbent subassembly through gas medium and realize getting and put the work piece, then cause the damage of air supply and the pollution of pipeline easily, need in time change equipment subassembly, and maintenance cost is high and delays production.

SUMMERY OF THE UTILITY MODEL

The utility model aims at any shortcoming of prior art, provide a high-efficient get and put work piece and have the automatic displacement module manipulator that cleans the function, adopt earlier sweep detach oil stain/water stain, the back adsorbs the design that gets to put, solve present workpiece surface and remain oil stain/water stain and lead to the problem that needs in time change equipment subassembly.

For solving the above technical problem, the utility model discloses a technical scheme as follows:

the utility model provides a take automatic displacement module manipulator that cleans function, includes:

the installation body is provided with a horizontal guide rail, the horizontal guide rail is provided with a plurality of sliding blocks in a sliding manner, one end of the horizontal guide rail is fixedly provided with a fixed block, each sliding block and each fixed block are provided with a mounting frame, two adjacent mounting frames are connected through a connecting body, the connecting body is arranged in a sliding manner relative to the mounting frames, a limiting structure is arranged on each mounting frame, a gas pipe fixing seat is fixedly arranged on each mounting frame, an adsorption passage and a purging passage are arranged on each gas pipe fixing seat, the adsorption passage is communicated with an adsorption structure, and the purging passage is connected with a purging structure;

and the cylinder is installed on the installation body, the output end of the cylinder is provided with a fixing body which is arranged along the horizontal guide rail in a sliding manner, the fixing body is connected with the corresponding installation frame through a connecting body, and the fixing body is in sliding fit with the connecting body.

Preferably, the purging passage is located on the inner side of the adsorption passage, and the adsorption structure and the purging structure are rubber cups of horn-shaped structures. When gradually being close to the work piece along with the manipulator, the structure of sweeping can contact the work piece earlier, forms a closed circle in adsorption structure's inside simultaneously, and work piece meeting is adsorbed to adsorption structure, and the air supply of sweeping the structure is not in work, because adsorption structure is at the during operation, inside is in negative pressure state all the time, and then makes the work piece be swept structure and adsorption structure and form dual adsorption effect, simultaneously in the process respective air supply work also can make respectively to sweep the structure and blow and remove stain, adsorption structure adsorbs the processing to the work piece.

Preferably, the bottom of the purging structure is provided with a closing-up structure, when a workpiece and the purging structure are completely contacted, the manipulator continues to move towards the workpiece, the closing-up structure can be turned to the inner side, when the adsorption structure is contacted with the workpiece, the adsorption structure works with an air source connected with the adsorption structure, so that a negative pressure is formed in an area between the purging structure and the adsorption structure, a bulge structure is arranged on the outer side of the bottom of the closing-up structure, a cavity is arranged inside the bulge structure and is communicated with the outside through an exhaust port, along with the continuation of the negative pressure work, the bulge structure can be contacted with the surface of the workpiece and increases the contact surface of the workpiece, the bonding strength is improved, meanwhile, due to the fact that the inner space of the cavity is compressed, when the adsorption structure and the purging structure reach the maximum adsorption strength, the joint surface of the bulge structure and the surface of the workpiece can completely cover the exhaust port, and the bonding strength is further enhanced.

Preferably, a plurality of air supply outlets with consistent rotating directions are arranged at the bottom of the inner side of the closing-in structure at equal intervals, and the top size of each air supply outlet is larger than the bottom size. When the blowing structure works, the internal air flow can realize the accelerated treatment of the air flow through the air supply outlet, and meanwhile, the blown air flow can form a vortex state to completely cover the working surface of the adsorption structure on the surface of the workpiece.

Preferably, the bottom of the adsorption structure is integrally connected with an adsorption auxiliary body, the adsorption auxiliary body comprises an adsorption outer body arranged outside the adsorption structure and an adsorption inner body positioned inside the adsorption structure, a middle adsorption body is arranged between the adsorption outer body and the adsorption inner body, a one-way channel communicated with the adsorption inner body is arranged on the middle adsorption body, and gas enters an area formed by the middle adsorption body and the adsorption outer body through the area formed by the middle adsorption body and the adsorption inner body. When the adsorption outer body of the adsorption auxiliary body contacts the workpiece after the purging structure contacts the workpiece, the adsorption inner body and the middle adsorbent body gradually approach the surface of the workpiece, the middle adsorbent body contacts the surface of the workpiece before the adsorption inner body, the negative pressure strength is continuously increased, gas in the area between the middle adsorbent body and the adsorption outer body enters the area between the middle adsorbent body and the adsorption inner body through the one-way channel, the adsorption inner body contacts the surface of the workpiece after the negative pressure strength is continuously increased, the area surrounded by the adsorption inner body and the middle adsorbent body completely adsorbs the surface of the workpiece under the action of negative pressure, and the power of an external gas source of the adsorption structure can be greatly reduced.

Preferably, the cylinders, the horizontal guide rails and the horizontal guide rails are horizontally provided with two groups, and the output ends of the two groups of cylinders are respectively connected with the sliding blocks of the corresponding groups through the corresponding fixing bodies.

Preferably, the mounting body comprises a first fixing plate, a second fixing plate and a supporting plate located between the first fixing plate and the second fixing plate, the air cylinder is mounted on the supporting plate, and the two groups of horizontal guide rails are mounted on the first fixing plate and the second fixing plate respectively.

Preferably, install driving motor in the backup pad, driving motor's output is installed and is rotated the gear that sets up in the backup pad, and the both sides of gear are matchd and are installed the rack, and two racks are respectively slidable mounting in the backup pad and two racks respectively with fixed plate one and fixed plate two fixed mounting, fixed mounting has the guide bar on fixed plate one and the fixed plate two and the guide bar slides and sets up in the backup pad. Two sets of cylinders are all slidably mounted in the supporting plate so as to be convenient for the first fixing plate and the second fixing plate to move relative to the supporting plate, the gears are driven to rotate through the driving motors, the racks (matched with the guide rods to move) can be driven to drive the first fixing plate and the second fixing plate to move back to back through meshing of the insections, and the distance adjustment of the two sets of adsorption structures is realized.

Preferably, the mounting body is provided with two positioning plates, and one of the two positioning plates is provided with a position sensor. The final position of each mounting frame can be accurately and effectively controlled through the position sensor.

Preferably, every trachea fixing base is including running through the installation body on the mounting bracket, is provided with two adjusting nut of matcing installation on external screw thread and the external screw thread on the installation body. The relative mounting bracket position of trachea fixing base can be carried out the regulation of suitability through adjusting nut in order to satisfy its high efficiency and get the effect of putting.

Compared with the prior art, the beneficial effects of the utility model are that:

(1) The utility model discloses be provided with on the trachea fixing base and adsorb the passageway and sweep the passageway, it has adsorption structure to adsorb the passageway intercommunication, it is connected with and sweeps the structure to sweep the passageway, when using, this manipulator removes to target station department under robotic arm effect, cylinder work drives the solid through the output and removes, it moves to drive the mounting bracket motion in proper order through the connector, mounting bracket and its top shoe are linear motion along horizontal guide, when the expansion end of all connectors is laminated with the limit structure on the slide of mounting bracket, each trachea fixing base moves to final mark position, the manipulator removes to the surface of work piece with each adsorption structure and sweeping the structure under robotic arm effect afterwards, sweep earlier to the work piece surface and clear away oil stain and water stain with the air supply work of sweeping the structural connection, air supply work with adsorption structure connection adsorbs the work piece, robotic arm transports its work piece to goods shelves or lower part station department, the air supply of being connected with adsorption structure is transferred to the ordinary pressure by the negative pressure, the work piece takes place the separation with adsorption structure, the output reverse work of last cylinder will respectively retrieve the mounting bracket to initial condition.

(2) The utility model discloses it is inboard at the absorption route to sweep the route setting, also be equivalent to just setting up adsorption structure in the outside of sweeping the structure, when using, gradually be close to the work piece along with the manipulator, sweep the structure and can contact the work piece earlier, form a closed circle in adsorption structure's inside simultaneously, adsorb the work piece meeting when adsorption structure, the air supply of sweeping the structure is not working, because adsorption structure is at the during operation, inside is in negative pressure state all the time, and then make the work piece be swept structure and adsorption structure and form dual adsorption effect, simultaneously in the process respective air supply work also can make respectively to sweep the structure and blow and remove the stain to the work piece, adsorption structure adsorbs the processing to the work piece.

(3) The utility model discloses bottom sweeping the structure is provided with binding off structure, when at the work piece with sweep the structure and contact the back completely, the manipulator continues when moving to the work piece, binding off structure can be to the inboard turn-ups, after adsorption structure and work piece contact, rather than the air supply work of connecting, make and sweep the regional negative pressure that forms between structure and the adsorption structure, the bottom outside of binding off structure is provided with the uplift structure, the inside of uplift structure is provided with cavity and passes through gas vent and external intercommunication, along with the continuation of negative pressure work, the uplift structure can with work piece surface contact and increase its contact surface, improve joint strength, simultaneously because compress the cavity inner space, when adsorption structure reaches maximum adsorption strength with sweeping the structure, the uplift structure can cover the gas vent completely with work piece surface's faying face, and then further strengthen its joint strength.

(4) The utility model discloses equidistant a plurality of rotations to unanimous supply-air outlet that is provided with in the inboard bottom of binding off structure, when sweeping structure during operation, the air current of inside can realize the accelerated processing of air current through the supply-air outlet, makes the air current of blowing simultaneously can form a vortex state, covers adsorption structure working face on the workpiece surface completely.

(5) The utility model discloses be connected with the adsorption partner in adsorption structure's bottom an organic whole, the adsorption partner contact workpiece surface earlier after sweeping structure contact work piece, along with adsorption structure and the negative pressure intensity who sweeps between the structure progressively continue the reinforcing, adsorb endosome and middle adsorbent can progressively be close to workpiece surface, middle adsorbent can be earlier in adsorbing endosome and workpiece surface contact, negative pressure intensity resumes the reinforcing again, middle adsorbent and the gas of adsorbing the regional inside between the ectosome can enter into middle adsorbent and adsorb between the endosome through one way passage, continuing the reinforcing along with negative pressure intensity, adsorb the endosome and contact workpiece surface, and will adsorb the endosome and the regional complete adsorption workpiece surface that adsorbs that the middle adsorbent encloses under the negative pressure effect, can greatly reduce the power of the external air supply of adsorption structure.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a connection diagram of the mounting body and the mounting frame of the present invention;

FIG. 3 is a connection diagram of the first fixing plate, the second fixing plate and the supporting plate of the present invention;

FIG. 4 is a connection diagram of the connection body, the fixing block and the mounting frame of the present invention;

fig. 5 is a connection diagram of the adsorption structure and the purge structure according to an embodiment of the present invention;

fig. 6 is a connection diagram of the adsorption structure and the purge structure according to an embodiment of the present invention;

fig. 7 is a connection diagram of the adsorption structure and the purging structure according to an embodiment of the present invention;

fig. 8 is a connection diagram of the adsorption structure and the purge structure according to an embodiment of the present invention;

FIG. 9 is a diagram showing the connection between the adsorption structure and the purge structure in FIG. 8;

fig. 10 is a connection diagram of the adsorption structure and the purge structure according to an embodiment of the present invention;

FIG. 11 is a cross-sectional view of the purge structure of FIG. 10;

FIG. 12 is an enlarged view of a portion of FIG. 11 at A;

fig. 13 is a connection diagram of the adsorption structure and the purge structure according to an embodiment of the present invention;

FIG. 14 is a cross-sectional view of the adsorption structure of FIG. 13;

FIG. 15 is an enlarged view of a portion of FIG. 14 at B;

fig. 16 is a connection diagram of an adsorption passage and a purge passage according to an embodiment of the present invention;

fig. 17 is a distribution diagram of the air supply opening after the closing structure of the present invention is unfolded.

Detailed Description

As shown in fig. 1 to 4, a variable pitch module robot with an automatic cleaning function includes: the installation body 10 is provided with a horizontal guide rail 20, the horizontal guide rail 20 is provided with a plurality of sliding blocks 30 in a sliding mode, the sliding blocks adopt an MGN7C type, one end of the horizontal guide rail 20 is fixedly provided with a fixed block 40, each sliding block 30 and the fixed block 40 are provided with mounting frames 60, each horizontal guide rail 20 is provided with four mounting frames 60, each mounting frame 60 is provided with two sliding blocks 30, two adjacent mounting frames 60 are connected through a connecting body 50, each connecting body 50 is of an I-shaped structure, one end of each connecting body 50 is fixed on one of the mounting frames 60, the other end of each connecting body 50 is arranged in a sliding mode relative to the corresponding mounting frame 60, a slide way is arranged on each mounting frame 60 and used for enabling the head of each connecting body 50 to slide, one end of the slide way of each mounting frame 60 is provided with a limiting structure and used for limiting the maximum distance between the two mounting frames 60, two air pipe fixing bases 70 are fixedly installed on each mounting frame 60, each air pipe fixing base 70 is provided with an adsorption passage 80 and a purging passage 90, the adsorption passage 80 is communicated with an adsorption structure 81, the purging passage 90 is connected with a purging structure 91, the adsorption structure 81, the purging passage 81 can adopt a suction cup gas source, all external gas source can adopt a suction nozzle, and an external connection passage 80, and an external purging gas source is connected with an external purging external gas source, and an external connection 90, and an external purging external gas source is needed to be connected with the external purging external gas source.

The manipulator further comprises an air cylinder 100 installed on the installation body 10, a fixing body 110 arranged along the horizontal guide rail 20 in a sliding mode is installed at the output end of the air cylinder 100, the fixing body 110 is connected with the corresponding installation frame 60 through a connecting body 50, and the fixing body 110 is in sliding fit with the connecting body 50.

When the pneumatic manipulator is used, the manipulator moves to a target station under the action of a mechanical arm, the air cylinder 100 works to drive the fixing body 110 to move through the output end, the mounting frame 60 is sequentially driven to move through the connecting body 50, the mounting frame 60 and the upper sliding block 30 of the mounting frame make linear motion along the horizontal guide rail 20, when the movable ends of all the connecting bodies 50 are attached to the limiting structures on the slide ways of the mounting frame 60, all the air pipe fixing seats 70 move to a final mark position, then the manipulator moves all the adsorption structures 81 and the blowing structures 91 to the surface of a workpiece under the action of the manipulator, an air source connected with the blowing structures 91 firstly blows and removes oil stains and water stains on the surface of the workpiece, the air source connected with the adsorption structures 81 works to adsorb the workpiece, the manipulator transfers the workpiece to a shelf or a lower station, the air source connected with the adsorption structures 81 is transferred to normal pressure from negative pressure, the workpiece is separated from the adsorption structures 81, and finally the output end of the air cylinder 100 works reversely to recover all the mounting frames 60 to an initial state.

As a preferable mode, as shown in fig. 5 and fig. 6, the purging passage 90 is located inside the adsorption passage 80, the adsorption structure 81 is located outside the purging structure 91, the adsorption structure 81 and the purging structure 91 are rubber cups with horn-shaped structures, the purging structure 91 is partially exposed outside the adsorption structure 81, the exposed part is 2 to 3mm in length, when the manipulator gradually approaches the workpiece, the purging structure 91 first contacts the workpiece, a closed ring is formed inside the adsorption structure 81, the air source of the purging structure 81 does not work, after the adsorption structure 91 adsorbs the workpiece, since the adsorption structure 91 is always in a negative pressure state when the adsorption structure 91 works, the workpiece is further purged by the purging structure 81 and the adsorption structure 91 to form a dual adsorption effect, and meanwhile, when the respective air sources work in the process, the purging structure 91 can respectively purge the stain from the workpiece, and the adsorption structure 81 can perform adsorption treatment on the workpiece.

As a preferable mode, as shown in fig. 7, 8 and 9, a closing structure 911 is provided at the bottom of the purging structure 91, when the robot arm continues to move towards the workpiece after the workpiece and the purging structure 91 are completely contacted, the closing structure 911 turns inwards, when the adsorption structure 81 is contacted with the workpiece, an air source connected with the adsorption structure 81 is operated, so that a negative pressure is formed in an area between the purging structure 91 and the adsorption structure 81, a raised structure 912 is provided at the outer side of the bottom of the closing structure 911, a cavity is provided inside the raised structure 912, and the cavity is communicated with the outside through an air outlet 913, as the negative pressure operation continues, the raised structure 912 is contacted with the surface of the workpiece and increases the contact surface thereof, so as to increase the bonding strength, and at the same time, due to the internal space of the cavity being compressed, when the adsorption structure 81 and the purging structure 91 reach the maximum adsorption strength, the bonding surface of the raised structure 912 and the surface of the workpiece completely covers the air outlet 913, so as to further increase the bonding strength.

As shown in fig. 10, 11 and 17, preferably, a plurality of air blowing ports 914 with the same rotation direction are arranged at equal intervals at the bottom of the inner side of the closing structure 911, the top dimension of the air blowing ports 914 is larger than the bottom dimension, when the purging structure 91 operates, the internal air flow can be accelerated through the air blowing ports 914, and at the same time, the blown air flow can form a vortex state to completely cover the working surface of the adsorption structure 81 on the surface of the workpiece.

As a preferred mode, as shown in fig. 13 to 15, an adsorption sub-body 811 is integrally connected to a bottom of the adsorption structure 81, the adsorption sub-body 811 includes an adsorption outer body 8111 disposed outside the adsorption structure 81 and an adsorption inner body 8112 disposed inside the adsorption structure 81, an intermediate adsorption body 8113 is disposed between the adsorption outer body 8111 and the adsorption inner body 8112, a unidirectional passage 8114 communicating with the adsorption inner body 8112 is disposed on the intermediate adsorption body 8113, the unidirectional passage 8114 is two flexible thin film bodies through electrostatic adsorption, when a region composed of the intermediate adsorption body 8113 and the adsorption outer body 8111 enters a region composed of the intermediate adsorption body 8113 and the adsorption inner body 8112, and when the direction is reversed, the gas is blocked, the gas enters the region composed of the intermediate adsorption body 8113 and the adsorption outer body 8111 through the unidirectional passage 8114, the gas enters the region composed of the intermediate adsorption outer body 8113 and the adsorption inner body 8112, when the adsorption outer body 8111 of the adsorption sub-body 8113 and adsorption outer body 8112 contact the adsorption structure 91 after the purge structure 91 contacts the workpiece, the adsorption structure, the adsorption outer body 8113 and the adsorption inner body 8112 contact with the adsorption structure, the adsorption outer body 8113 and the adsorption structure further increases the adsorption sub-body 8112, the adsorption sub-body 8113 and the adsorption sub-body 8113 contacts the adsorption sub-body 8112 adsorption structure, and the adsorption sub-body 8113 contacts the adsorption structure, the adsorption sub-body 8112.

As a preferable mode, as shown in fig. 1 and fig. 2, two sets of cylinders 100 and horizontal guide rails 20 are horizontally arranged, the output ends of the two sets of cylinders 100 are respectively connected with the corresponding sets of sliders 30 through the corresponding fixing bodies 110, and the two sets of horizontal guide rails 20 are provided with two rows of adsorption structures 81 and purging structures 91, so that the pick-and-place efficiency is greatly improved.

As a preferable mode, as shown in fig. 1 to 3, the mounting body 10 includes a first fixing plate 101, a second fixing plate 102, and a supporting plate 103 located between the first fixing plate 101 and the second fixing plate 102, the cylinder 100 is mounted on the supporting plate 103, and the two sets of horizontal guide rails 20 are respectively mounted on the first fixing plate 101 and the second fixing plate 102.

As a preferable mode, as shown in fig. 2 and fig. 3, a driving motor 1031 is mounted on the support plate 103, a gear 1033 rotatably disposed on the support plate 103 is mounted at an output end of the driving motor 1031, racks 1032 are mounted on two sides of the gear 1033 in a matching manner, the two racks 1032 are respectively slidably mounted on the support plate 103, the two racks 1032 are respectively fixedly mounted on the first fixing plate 101 and the second fixing plate 102, guide bars 1034 are fixedly mounted on the first fixing plate 101 and the second fixing plate 102, and the guide bars 1034 are slidably mounted on the support plate 103, so as to adapt to the movement of the first fixing plate 101 and the second fixing plate 102 relative to the support plate 103, the gear 1033 is driven to rotate by the driving motor 1031, and the racks 1032 (which cooperate with the guide bars 1034 to move) are driven to drive the first fixing plate 101 and the second fixing plate 102 to move back and back to back through meshing of the insections, thereby realizing the adjustment of the distance between the two sets of the adsorption structures 81.

As a preferable mode, as shown in fig. 1, two positioning plates 104 are mounted on the mounting body 10, and a position sensor 105 is mounted on each of the positioning plates 104, so that the final position of each mounting bracket 60 can be accurately and effectively controlled by the position sensor 105.

As a preferable mode, as shown in fig. 5 to 8 and 16, instead of a complicated distance adjustment structure of the absorption structure 81, a simple structure is used to achieve similar effects, each of the air tube fixing bases 70 includes an installation body 71 penetrating through the installation frame 60, an external thread is provided on the installation body 71, two adjusting nuts 72 are fittingly installed on the external thread, and the position of the air tube fixing base 70 relative to the installation frame 60 can be properly adjusted by adjusting the adjusting nuts 72 to meet the effect of efficient taking and placing.

Claims (10)

1. The utility model provides a take automatic displacement module manipulator that cleans function which characterized in that includes:

the mounting structure comprises a mounting body (10), a horizontal guide rail (20) is mounted on the mounting body (10), a plurality of sliding blocks (30) are arranged on the horizontal guide rail (20) in a sliding mode, a fixed block (40) is fixedly arranged at one end of the horizontal guide rail (20), mounting frames (60) are mounted on each sliding block (30) and each fixed block (40), two adjacent mounting frames (60) are connected through a connecting body (50), each connecting body (50) is arranged in a sliding mode relative to the corresponding mounting frame (60), a limiting structure is arranged on each mounting frame (60), a gas pipe fixing seat (70) is fixedly mounted on each mounting frame (60), an adsorption passage (80) and a purging passage (90) are arranged on each gas pipe fixing seat (70), the adsorption passage (80) is communicated with an adsorption structure (81), and the purging passage (90) is connected with a purging structure (91);

and the air cylinder (100) is installed on the installation body (10), the output end of the air cylinder (100) is provided with a fixing body (110) which is arranged in a sliding mode along the horizontal guide rail (20), the fixing body (110) is connected with the corresponding installation frame (60) through the connecting body (50), and the fixing body (110) is in sliding fit with the connecting body (50).

2. The variable pitch module manipulator with the automatic cleaning function as claimed in claim 1, wherein the purging channel (90) is located inside the adsorption channel (80), and the adsorption structure (81) and the purging structure (91) are rubber cups with horn-shaped structures.

3. The variable pitch module manipulator with the automatic cleaning function as claimed in claim 1 or 2, wherein a closing structure (911) is arranged at the bottom of the purging structure (91), a bulge structure (912) is arranged at the outer side of the bottom of the closing structure (911), a cavity is arranged in the bulge structure (912), and the cavity is communicated with the outside through an exhaust port (913).

4. The variable pitch modular manipulator with the automatic cleaning function as claimed in claim 3, wherein a plurality of air supply outlets (914) with the same rotation direction are arranged at equal intervals at the bottom of the inner side of the closing structure (911), and the top size of the air supply outlets (914) is larger than the bottom size.

5. The variable-pitch module manipulator with the automatic cleaning function according to claim 1 or 2, wherein an adsorption auxiliary body (811) is integrally connected to the bottom of the adsorption structure (81), the adsorption auxiliary body (811) comprises an adsorption outer body (8111) arranged on the outer side of the adsorption structure (81) and an adsorption inner body (8112) arranged on the inner side of the adsorption structure (81), a middle adsorption body (8113) is arranged between the adsorption outer body (8111) and the adsorption inner body (8112), a one-way passage (8114) communicated with the adsorption inner body (8112) is arranged on the middle adsorption body (8113), and gas enters an area formed by the middle adsorption body (8113) and the adsorption outer body (8111) through the one-way passage and then enters an area formed by the middle adsorption body (8113) and the adsorption inner body (8112).

6. The variable pitch module manipulator with the automatic cleaning function as claimed in claim 1, wherein two groups of cylinders (100) and horizontal guide rails (20) are horizontally arranged, and the output ends of the two groups of cylinders (100) are respectively connected with the corresponding groups of sliders (30) through corresponding fixing bodies (110).

7. The variable pitch module manipulator with the automatic cleaning function as claimed in claim 6, wherein the mounting body (10) comprises a first fixing plate (101), a second fixing plate (102) and a supporting plate (103) positioned between the first fixing plate (101) and the second fixing plate (102), the air cylinder (100) is mounted on the supporting plate (103), and the two groups of horizontal guide rails (20) are respectively mounted on the first fixing plate (101) and the second fixing plate (102).

8. The variable pitch modular manipulator with the automatic cleaning function as claimed in claim 7, wherein a driving motor (1031) is mounted on the supporting plate (103), a gear (1033) rotatably disposed on the supporting plate (103) is mounted at an output end of the driving motor (1031), racks (1032) are mounted on two sides of the gear (1033) in a matching manner, the two racks (1032) are respectively slidably mounted on the supporting plate (103) and the two racks (1032) are respectively fixedly mounted with the first fixing plate (101) and the second fixing plate (102), guide rods (1034) are fixedly mounted on the first fixing plate (101) and the second fixing plate (102) and the guide rods (1034) are slidably disposed on the supporting plate (103).

9. The robot with the automatic sweeping function of the pitch changing module as claimed in claim 1, wherein two positioning plates (104) are mounted on the mounting body (10), and a position sensor (105) is mounted on each positioning plate (104).

10. The variable pitch module manipulator with the automatic cleaning function as claimed in claim 1, wherein each air pipe fixing seat (70) comprises a mounting body (71) penetrating through the mounting frame (60), the mounting body (71) is provided with an external thread, and the external thread is provided with two adjusting nuts (72) in a matching manner.

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