CN218255140U

CN218255140U - Full-automatic desktop type five-axis manipulator

Info

Publication number: CN218255140U
Application number: CN202222126321.9U
Authority: CN
Inventors: 张学彦
Original assignee: Xixun Technology Dongguan Co ltd
Current assignee: Xixun Technology Dongguan Co ltd
Priority date: 2022-08-12
Filing date: 2022-08-12
Publication date: 2023-01-10
Anticipated expiration: 2032-08-12

Abstract

The utility model belongs to the technical field of the manipulator, a full-automatic five-axis manipulator of desktop type is proposed, include: the device comprises a material taking device, a gluing device, a discharging device and a fixing plate; the material taking device is provided with a first grabbing mechanism capable of moving along the Z axis, and the first grabbing mechanism is provided with a first grabbing part; the coating device comprises a coating X-axis mechanism, a coating Z-axis mechanism and a coating Y-axis mechanism, wherein the coating X-axis mechanism is provided with a bearing clamp capable of moving along an X axis; the coating Z-axis mechanism is arranged on the coating Y-axis mechanism, the coating Y-axis mechanism is used for driving the coating Z-axis mechanism to move along the Y axis, and the coating Z-axis mechanism is provided with a coating part capable of moving along the Z axis; the discharging device is provided with a second grabbing mechanism capable of moving along the Z axis, and the second grabbing mechanism is provided with a second grabbing part; the first grabbing portion, the bearing clamp and the second grabbing portion are located on the same side of the fixing plate. The full-automatic desktop type five-axis manipulator can be suitable for various production lines, and can perform full-automatic gluing operation on products.

Description

Full-automatic desktop type five-axis manipulator

Technical Field

The utility model relates to a manipulator technical field especially relates to a five manipulators of full-automatic desktop type.

Background

At present, the manipulator of carrying out rubber coating or soldering tin in the market mainly is three-axis manipulator, and this kind of three-axis manipulator can only carry out semi-automatic rubber coating or soldering tin, exists the drawback that still needs artifical supplementary blowing and unload promptly in the during operation, does not reach full-automatic operation, and the production operation cost is high, has hindered production efficiency's improvement simultaneously.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model provides a five manipulators of full-automatic desktop type for solve the unable full-automatic rubber coating of current triaxial manipulator or soldering tin and lead to the production cost height, hinder the problem that production efficiency improves.

In order to reach above-mentioned one or partly or whole mesh or other purposes, the utility model provides a five manipulators of full-automatic desktop type, include: the device comprises a material taking device, a gluing device, a discharging device and a fixing plate; wherein, the first and the second end of the pipe are connected with each other,

the material taking device is provided with a first grabbing mechanism capable of moving along the Z axis, and the first grabbing mechanism comprises a first grabbing part;

the coating device comprises a coating X-axis mechanism, a coating Z-axis mechanism and a coating Y-axis mechanism, wherein the coating X-axis mechanism is provided with a bearing clamp capable of moving along an X axis; the coating Z-axis mechanism is arranged on the coating Y-axis mechanism, the coating Y-axis mechanism is used for driving the coating Z-axis mechanism to move along a Y axis, and the coating Z-axis mechanism is provided with a coating part or a soldering tin part which can move along a Z axis;

the discharging device is provided with a second grabbing mechanism capable of moving along the Z axis, and the second grabbing mechanism comprises a second grabbing part;

the first grabbing portion, the bearing clamp and the second grabbing portion are located on the same side of the fixing plate.

Further, the extracting apparatus still includes: the first grabbing mechanism comprises a first supporting part, a first driving motor, a first synchronous belt and a first guide rail, and further comprises a first supporting arm;

the first supporting part is connected with the fixing plate and comprises a first supporting plate perpendicular to the fixing plate, the first synchronous belt and the first guide rail are arranged on the first supporting plate, and the first synchronous belt and the first guide rail are parallel to each other;

the first driving motor is connected to the first supporting plate, and a driving shaft of the first driving motor is connected to the first synchronous belt;

first bracing arm one end is equipped with first slider and first connecting block, first slider sliding connection first guide rail, first connecting block is connected first synchronous belt, first portion of snatching is connected the first bracing arm other end.

Further, the first grasping portion includes: first finger cylinder and first anchor clamps of snatching, first finger cylinder is equipped with first gas claw, first anchor clamps of snatching are connected first gas claw.

Further, the extracting apparatus still includes: the first detection switch is arranged on the top end of the first supporting plate and located on one side of the first guide rail, the first supporting arm is connected with the first induction piece arranged at one end of the first sliding block, and the first detection switch is provided with a first detection groove for detecting the first induction piece.

Further, the discharge device still includes: the second grabbing mechanism further comprises a second supporting arm;

the second supporting part is connected with the fixing plate and comprises a second supporting plate vertical to the fixing plate, the second synchronous belt and the second guide rail are arranged on the second supporting plate, and the second synchronous belt and the second guide rail are parallel to each other;

the second driving motor is connected to the supporting plate, and a driving shaft of the second driving motor is connected to the second synchronous belt;

second support arm one end is equipped with second slider and second connecting block, second slider sliding connection the second guide rail, the second connecting block is connected the second hold-in range, the second snatchs a connection the second support arm other end.

Further, the second grasping portion includes: the second finger cylinder is provided with a second pneumatic claw, and the second grabbing clamp is connected with the second pneumatic claw.

Further, the discharge device still includes: the second detection switch is arranged at the top end of the second support plate and located on one side of the second guide rail, a second induction piece is further arranged at one end, connected with the second sliding block, of the second support arm, and a second detection groove for detecting the second induction piece is formed in the second detection switch.

Further, the coating X-axis mechanism further comprises: a third driving motor, a third synchronous belt and a third guide rail; wherein the content of the first and second substances,

the third guide rail is connected to the bottom of the fixing plate, the third driving motor is connected to the fixing plate, and a driving shaft of the third driving motor is connected with the third synchronous belt; bearing fixture one end and being equipped with third slider and third connecting block, third slider sliding connection the third guide rail, the third connecting block is connected the third hold-in range.

Further, the paint Y-axis mechanism further includes: the third supporting part, a fourth driving motor, a fourth synchronous belt and a fourth guide rail; the coating Z-axis mechanism further comprises: the fourth supporting part, a fifth driving motor, a fifth synchronous belt, a fifth guide rail and a third supporting arm;

the third supporting part comprises a third supporting plate, the fourth synchronous belt and the fourth guide rail are both arranged on the third supporting plate, the fourth synchronous belt and the fourth guide rail are parallel to each other, and the fourth synchronous belt and the fourth guide rail are both perpendicular to the third guide rail; the fourth driving motor is connected to the fixing plate, and a driving shaft of the fourth driving motor is connected to the fourth synchronous belt;

the fourth supporting part is connected with the fourth guide rail in a sliding manner, a fourth supporting plate vertical to the fixing plate is further connected onto the fourth supporting part, the fifth synchronous belt and the fifth guide rail are both arranged on the fourth supporting plate, and the fifth synchronous belt and the fifth guide rail are parallel to each other; the fifth driving motor is connected to the fourth supporting plate, and a driving shaft of the fifth driving motor is connected to the fifth synchronous belt;

a fourth sliding block and a fourth connecting block are arranged at one end of the third supporting arm, the fourth sliding block is connected with the fifth guide rail in a sliding mode, the fourth connecting block is connected with the fifth synchronous belt, when the coating Z-axis mechanism is arranged on the coating part, the coating part comprises a gluing needle head and a needle head support, the needle head support is connected with the other end of the third supporting arm, and the gluing needle head is connected to the needle head support; and when the coating Z-axis mechanism is arranged on the soldering part, the gluing needle head is replaced by a soldering machine head.

Further, the coating X-axis mechanism further comprises: a third detection switch; the coating Y-axis mechanism further comprises: a fourth detection switch; the coating Z-axis mechanism further comprises: a fifth detection switch;

the third detection switch is arranged on the fixed plate and is positioned at one end, close to the material taking device, of the third guide rail, the bearing clamp is further provided with a third induction sheet, and the third detection switch is provided with a third detection groove for detecting the third induction sheet;

the fourth detection switch is arranged on the third support plate and is positioned on one side of the tail end of the fourth guide rail, the fourth support part is also provided with a fourth induction sheet, and the fourth detection switch is provided with a fourth detection groove for detecting the fourth induction sheet;

the fifth detection switch is arranged at the top end of the fourth supporting plate and located on one side of the fifth guide rail, a fifth induction sheet is further arranged at one end, connected with the fourth slider, of the third supporting arm, and the fifth detection switch is provided with a fifth detection groove for detecting the fifth induction sheet.

Implement the embodiment of the utility model provides a, will have following beneficial effect:

the utility model provides a five-axis manipulator of full-automatic desktop type, because first portion of snatching, it all lies in same one side of fixed plate to bear anchor clamps and second portion of snatching, can arrange five-axis manipulator of full-automatic desktop type by the assembly line, get from the assembly line by first portion of snatching and place after treating the rubber coating product and bear on the anchor clamps, through coating X axle mechanism, coating Z axle mechanism and coating Y axle mechanism mutually support and carry out the coating operation to this product, later snatch by the second portion of snatching and put back the assembly line with the good product of rubber coating, accomplish full-automatic rubber coating operation. The full-automatic desktop type five-axis manipulator is suitable for various assembly line operations, small in size, convenient to debug, capable of setting the gluing or soldering range to be 300mm 90mm 100mm, efficient and accurate.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Wherein:

fig. 1 is a schematic structural diagram of an embodiment of a full-automatic desktop five-axis robot of the present invention;

fig. 2 is a schematic structural view of an embodiment of a material taking device according to the present invention;

fig. 3 is a schematic structural view of the discharging device of the present invention;

FIG. 4 is a schematic structural view of an embodiment of the Y-axis coating mechanism and the Z-axis coating mechanism of the present invention;

FIG. 5 is another view of FIG. 4;

fig. 6 is a schematic structural diagram of an embodiment of the glue spreading device of the present invention.

Reference numerals:

1. a material taking device; 11. a first grasping mechanism; 111. a first grasping portion; 1111. a first finger cylinder; 1112. a first gripping jig; 112. a first support arm; 1121. a first slider; 1122. a first connection block; 1123. a first sensing piece; 12. a first support section; 13. a first drive motor; 14. a first synchronization belt; 15. a first guide rail; 16. a first detection switch;

2. a gluing device; 21. a coating X-axis mechanism; 215. a third drive motor; 212. a third synchronous belt; 213. a third guide rail; 214. a third detection switch; 211. carrying a clamp; 2111. a third slider; 2112. a third connecting block; 2113. a third induction sheet; 22. a coating Z-axis mechanism; 221. a coating section; 2211. gluing a needle head; 2212. a needle holder; 222. a fourth support portion; 2221. a fourth sensing piece; 223. a fifth drive motor; 224. a fifth synchronous belt; 225. a fifth guide rail; 226. a third support arm; 2261. a fourth slider; 2262. a fourth connecting block; 2263. a fifth induction sheet; 227. a fifth detection switch; 23. a paint Y-axis mechanism; 231. a third support portion; 232. a fourth drive motor; 233. a fourth synchronous belt; 234. a fourth guide rail; 235. a fourth detection switch;

3. a discharge device; 31. a second grasping mechanism; 311. a second grasping portion; 3111. a second finger cylinder; 3112. a second gripping jig; 312. a second support arm; 3121. a second slider; 3122. a second connecting block; 3123. a second sensing piece; 32. a second support portion; 33. a second drive motor; 34. a second synchronous belt; 35. a second guide rail; 36. a second detection switch;

4. and (7) fixing the plate.

Detailed Description

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs; the terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention; the terms "including" and "having," and any variations thereof, in the description and claims of the invention and the above description of the drawings are intended to cover non-exclusive inclusions. The terms "first," "second," and the like in the description and in the claims, or in the drawings, are used for distinguishing between different objects and not necessarily for describing a particular sequential or chronological order.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the invention. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.

In order to make the technical solution of the present invention better understood, the technical solution of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings.

Referring to fig. 1 to 6, a first embodiment of the present invention provides a full-automatic desktop type five-axis robot, including: the device comprises a material taking device 1, a gluing device 2, a discharging device 3 and a fixing plate 4; wherein the content of the first and second substances,

the material taking device 1 is provided with a first grabbing mechanism 11 capable of moving along the Z axis, and the first grabbing mechanism 11 is provided with a first grabbing part 111;

the gluing device 2 comprises a coating X-axis mechanism 21, a coating Z-axis mechanism 22 and a coating Y-axis mechanism 23, wherein the coating X-axis mechanism 21 is provided with a bearing clamp 211 capable of moving along an X axis; the coating Z-axis mechanism 22 is arranged on the coating Y-axis mechanism 23, the coating Y-axis mechanism 23 is used for driving the coating Z-axis mechanism 22 to move along the Y axis, and the coating Z-axis mechanism 22 is provided with a coating part 221 capable of moving along the Z axis;

the discharging device 3 is provided with a second grabbing mechanism 31 capable of moving along the Z axis, and the second grabbing mechanism 31 is provided with a second grabbing part 311;

the first gripping portion 111, the carrying jig 211 and the second gripping portion 311 are all located on the same side of the fixing plate 4.

In this embodiment, the first grabbing portion 111, the carrying fixture 211 and the second grabbing portion 311 are all located on the same side of the fixing plate 4, and when the components are arranged, all of the components are located right above the production line, that is, when the first grabbing portion 111 descends, the components can directly grab the product to be glued on the production line, and the manner in which the first grabbing portion 111 identifies the product to be glued can be implemented by some existing identification technologies. After the first grabbing part 111 grabs and lifts the product, the bearing clamp 211 is moved to the position below the lifted product, the product is placed on the bearing clamp 211 by the first grabbing part 111, then the bearing clamp 211 is controlled to move to the position below the coating part 221, the coating X-axis mechanism 21, the coating Z-axis mechanism 22 and the coating Y-axis mechanism 23 are matched with each other to complete the coating operation, finally the coated product is moved to the position below the second grabbing part 311, and the product is placed back to the production line by the second grabbing part 311. The principle of the soldering operation and the gluing operation is similar, and the description is omitted.

In one embodiment, the material extracting apparatus 1 further comprises: a first support part 12, a first driving motor 13, a first timing belt 14, a first guide rail 15, and a first support arm 112;

the first supporting part 12 is connected with the fixing plate 4, the first supporting part 12 comprises a first supporting plate perpendicular to the fixing plate 4, a first synchronous belt 14 and a first guide rail 15 are arranged on the first supporting plate, and the first synchronous belt 14 and the first guide rail 15 are parallel to each other;

the first driving motor 13 is connected to the first supporting plate, and a driving shaft of the first driving motor 13 is connected with the first synchronous belt 14;

the first support arm 112 has a first slider 1121 and a first connecting block 1122 at one end thereof, the first slider 1121 is slidably connected to the first guide rail 15, the first connecting block 1122 is connected to the first synchronous belt 14, and the first catching portion 111 is connected to the other end of the first support arm 112.

In this embodiment, the first supporting portion 12 may be formed by a square column and a first supporting plate, and the square column is mainly used for assisting to fix the first supporting plate. The material taking device 1 controls the first synchronous belt 14 to rotate through the first driving motor 13, and the first supporting arm 112 is connected to the first synchronous belt 14 through the first connecting block 1122, and meanwhile, the first supporting arm 112 is further connected to the first guide rail 15 through the first slider 1121, so that the first supporting arm 112 can slide on the first guide rail 15 when the first synchronous belt 14 rotates, and thus, the function of moving on the Z axis is provided.

In one embodiment, the first catching portion 111 includes: first finger cylinder 1111 and first gripping anchor clamps 1112, first finger cylinder 1111 is equipped with first pneumatic claw, and first gripping anchor clamps 1112 are connected with first pneumatic claw.

In this embodiment, the number of the first air jaws of the finger cylinder is generally two, and the number of the first grabbing clamp 1112 is also generally two, that is, the two first air jaws of the finger cylinder control the two first grabbing clamps 1112 respectively to realize opening and closing actions, that is, to realize grabbing and putting down functions.

In one embodiment, the material extracting apparatus 1 further comprises: the first detection switch 16 is disposed on the top end of the first support plate and located on one side of the first guide rail 15, a first sensing piece 1123 is further disposed at one end of the first support arm 112 connected to the first slider 1121, and the first detection switch 16 has a first detection groove for detecting the first sensing piece 1123.

In this embodiment, the first detection switch 16 is a component for detecting the position of the supporting arm, and when the first sensing tab 1123 is snapped into the first detection slot, a detection signal is generated to indicate that the supporting arm has moved to the limit position, and the operation of the first driving motor 13 is stopped by the detection signal, so as to prevent the operation of the device from being mistaken.

In one embodiment, the discharge device 3 further comprises: a second support part 32, a second driving motor 33, a second timing belt 34, a second guide rail 35, and a second support arm 312;

the second supporting part 32 is connected with the fixing plate 4, the second supporting part 32 comprises a second supporting plate perpendicular to the fixing plate 4, the second timing belt 34 and the second guide rail 35 are both arranged on the second supporting plate, and the second timing belt 34 and the second guide rail 35 are parallel to each other;

the second driving motor 33 is connected to the support plate, and a driving shaft of the second driving motor 33 is connected to the second timing belt 34;

one end of the second support arm 312 is provided with a second slider 3121 and a second connecting block 3122, the second slider 3121 is slidably connected to the second guide rail 35, the second connecting block 3122 is connected to the second timing belt 34, and the second grabbing portion 311 is connected to the other end of the second support arm 312.

In one embodiment, the second grip portion 311 includes: second finger cylinder 3111 and second snatch anchor clamps 3112, second finger cylinder 3111 is equipped with the second air claw, and second snatch anchor clamps 3112 is connected the second air claw.

In one embodiment, the discharge device 3 further comprises: the second detection switch 36, the second detection switch 36 is arranged on the top end of the second support plate and is located on one side of the second guide rail 35, the second support arm 312 is connected with the second slider 3121, the second sensing piece 3123 is further arranged at one end of the second support arm, and the second detection switch 36 has a second detection groove for detecting the second sensing piece 3123.

In the above embodiments related to the discharging device 3, the discharging device 3 and the material taking device 1 have the same structure and the same working principle, and are not described again.

In one embodiment, the coating X-axis mechanism 21 further includes: a third drive motor 215, a third timing belt 212, and a third guide rail 213; wherein the content of the first and second substances,

the third guide rail 213 is connected to the bottom of the fixing plate 4, the third driving motor 215 is connected to the fixing plate 4, and the driving shaft of the third driving motor 215 is connected to the third timing belt 212; one end of the bearing clamp 211 is provided with a third slider 2111 and a third connecting block 2112, the third slider 2111 is slidably connected with a third guide rail 213, and the third connecting block 2112 is connected with a third synchronous belt 212.

In this embodiment, the movement principle of the X-axis mechanism 21 for coating material is similar to the movement principle of the first support arm 112 in the material taking device 1, and the structure is also similar, so that the description can be omitted by analogy in the previous embodiments.

In one embodiment, the paint Y-axis mechanism 23 further includes: a third support 231, a fourth driving motor 232, a fourth timing belt 233, and a fourth guide 234; the paint Z-axis mechanism 22 further includes: a fourth support portion 222, a fifth driving motor 223, a fifth timing belt 224, a fifth guide rail 225, and a third support arm 226;

the third supporting part 231 includes a third supporting plate, the fourth timing belt 233 and the fourth guide rail 234 are both disposed on the third supporting plate, the fourth timing belt 233 and the fourth guide rail 234 are parallel to each other, and the fourth timing belt 233 and the fourth guide rail 234 are both perpendicular to the third guide rail 213; the fourth driving motor 232 is connected to the fixing plate 4, and a driving shaft of the fourth driving motor 232 is connected to the fourth timing belt 233;

the fourth supporting part 222 is slidably connected with the fourth guide rail 234, the fourth supporting part 222 is further connected with a fourth supporting plate for vertically fixing the plate 4, the fifth timing belt 224 and the fifth guide rail 225 are both arranged on the fourth supporting plate, and the fifth timing belt 224 and the fifth guide rail 225 are parallel to each other; the fifth driving motor 223 is connected to the fourth supporting plate, and a driving shaft of the fifth driving motor 223 is connected to the fifth timing belt 224;

one end of the third support arm 226 is provided with a fourth slider 2261 and a fourth connecting block 2262, the fourth slider 2261 is slidably connected to the fifth guide rail 225, the fourth connecting block 2262 is connected to the fifth synchronous belt 224, when the coating Z-axis mechanism 22 is provided with the coating part 221, the coating part 221 comprises a coating needle 2211 and a needle holder 2212, the needle holder 2212 is connected to the other end of the third support arm 226, and the coating needle 2211 is connected to the needle holder 2212; when the coating Z-axis mechanism 22 is provided with a soldering portion, the gluing needle 2211 is replaced with a soldering machine head.

In this embodiment, the third supporting portion 231 may be formed by connecting a horizontally disposed square column to the third supporting plate. The fourth supporting portion 222 may be formed by connecting a sliding block to a fourth supporting plate through a connecting plate or a connecting block. Since the entire fourth support portion 222 is disposed on the fourth track, the paint Z-axis mechanism 22 can be controlled by the paint Y-axis mechanism 23, i.e., the paint Z-axis mechanism 22 can be moved along the fourth track, i.e., along the Y-axis, when controlled.

In one embodiment, the coating X-axis mechanism 21 further includes: a third detection switch 214; the paint Y-axis mechanism 23 further includes: a fourth detection switch 235; the paint Z-axis mechanism 22 further includes: a fifth detection switch 227;

the third detection switch 214 is arranged on the fixing plate 4 and is located at one end of the third guide rail 213 close to the material taking device 1, the bearing fixture 211 is further provided with a third induction sheet 2113, and the third detection switch 214 is provided with a third detection groove for detecting the third induction sheet 2113;

the fourth detecting switch 235 is disposed on the third supporting plate and located at one side of the end of the fourth guide rail 234, the fourth supporting portion 222 is further provided with a fourth sensing piece 2221, and the fourth detecting switch 235 has a fourth detecting slot for detecting the fourth sensing piece 2221;

the fifth detecting switch 227 is disposed at the top end of the fourth supporting plate and located at one side of the fifth guiding rail 225, a fifth sensing piece 2263 is further disposed at one end of the third supporting arm 226 connected to the fourth slider 2261, and the fifth detecting switch 227 has a fifth detecting slot for detecting the fifth sensing piece 2263.

In this embodiment, the operation principle and the structure of the third detection switch 214, the fourth detection switch 235 and the fifth detection switch 227 are similar to those of the first detection switch 16 in the foregoing embodiment, and can be analogized from the foregoing embodiment, and the description is omitted.

It is to be understood that the above-described embodiments are merely exemplary of the invention, and are not intended to limit the scope of the invention. The present invention may be embodied in many different forms and, on the contrary, these embodiments are provided so that this disclosure will be thorough and complete. Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes in the embodiments and modifications can be made, and equivalents may be substituted for elements thereof. All utilize the equivalent structure that the content of the utility model discloses a specification and attached drawing was done, direct or indirect application is in other relevant technical field, all is in the same way the utility model discloses within the patent protection scope.

Claims

1. The utility model provides a five manipulators of full-automatic desktop type which characterized in that: the method comprises the following steps: the material taking device, the gluing device, the discharging device and the fixing plate; wherein, the first and the second end of the pipe are connected with each other,

2. The full-automatic desktop five-axis manipulator of claim 1, wherein: the extracting device still includes: the first grabbing mechanism comprises a first supporting part, a first driving motor, a first synchronous belt and a first guide rail, and further comprises a first supporting arm;

first support arm one end is equipped with first slider and first connecting block, first slider sliding connection first guide rail, first connecting block is connected first synchronous belt, the first portion of snatching is connected the first support arm other end.

3. The full-automatic desktop five-axis manipulator of claim 2, wherein: the first grasping portion includes: first finger cylinder and first anchor clamps of snatching, first finger cylinder is equipped with first gas claw, first anchor clamps of snatching are connected first gas claw.

4. The full-automatic desktop five-axis manipulator of claim 2, wherein: the extracting device still includes: the first detection switch is arranged on the top end of the first supporting plate and located on one side of the first guide rail, the first supporting arm is connected with the first induction piece arranged at one end of the first sliding block, and the first detection switch is provided with a first detection groove for detecting the first induction piece.

5. The full-automatic desktop five-axis manipulator of claim 1, wherein: the discharge apparatus further comprises: the second grabbing mechanism further comprises a second supporting arm;

the second supporting part is connected with the fixing plate and comprises a second supporting plate perpendicular to the fixing plate, the second synchronous belt and the second guide rail are both arranged on the second supporting plate and are parallel to each other;

6. The full-automatic desktop five-axis manipulator of claim 5, wherein: the second grasping portion includes: the second finger cylinder is provided with a second pneumatic claw, and the second grabbing clamp is connected with the second pneumatic claw.

7. The full-automatic desktop five-axis manipulator of claim 5, wherein: the discharge apparatus further comprises: the second detection switch is arranged at the top end of the second support plate and located on one side of the second guide rail, a second induction sheet is further arranged at one end, connected with the second sliding block, of the second support arm, and the second detection switch is provided with a second detection groove for detecting the second induction sheet.

8. The full-automatic desktop five-axis manipulator of claim 1, wherein: the coating X-axis mechanism further comprises: a third driving motor, a third synchronous belt and a third guide rail; wherein the content of the first and second substances,

9. The full-automatic desktop five-axis manipulator of claim 8, wherein: the coating Y-axis mechanism further comprises: the third supporting part, a fourth driving motor, a fourth synchronous belt and a fourth guide rail; the coating Z-axis mechanism further comprises: the fourth supporting part, a fifth driving motor, a fifth synchronous belt, a fifth guide rail and a third supporting arm;

10. The full-automatic desktop five-axis manipulator of claim 9, wherein: the coating X-axis mechanism further comprises: a third detection switch; the coating Y-axis mechanism further comprises: a fourth detection switch; the coating Z-axis mechanism further comprises: a fifth detection switch;