CN218402489U

CN218402489U - Linkage bullet formula buckle robot that adorns

Info

Publication number: CN218402489U
Application number: CN202222729051.0U
Authority: CN
Inventors: 刘文杰; 李明
Original assignee: Sichuan Yujia Molding Co ltd
Current assignee: Sichuan Yujia Molding Co ltd
Priority date: 2022-10-17
Filing date: 2022-10-17
Publication date: 2023-01-31
Anticipated expiration: 2032-10-17

Abstract

The utility model discloses a linkage dress bullet formula buckle robot, charging tray and six robots on the workstation including workstation and the vibration of setting on the workstation, be provided with the loading mechanism on the executive arm of six robots, be provided with linkage loading mechanism between charging tray and the six robots in the vibration, linkage loading mechanism includes first linear loading cartridge clip and sharp push mechanism, the orbital end of charging tray conveying on the extreme lower position butt joint vibration of first linear loading cartridge clip, loading mechanism includes the mounting panel and sets firmly the second linear loading cartridge clip on the mounting panel, the mounting panel is installed on the executive arm of six robots, when first linear loading cartridge clip removed to the highest position, second linear loading cartridge clip and sharp push mechanism dock the both ends at first linear loading cartridge clip respectively. Adopt the loading material loading mode, a plurality of buckles of clamping to once snatch the operation and can carry out material loading operation many times, optimized the material loading route, shortened the operation route of buckle material loading, promoted the material loading efficiency of buckle.

Description

Linkage bullet formula buckle robot that adorns

Technical Field

The utility model relates to a buckle robot field specifically is a linkage dress bullet formula buckle robot.

Background

At present, in industrial production, the feeding action of the buckle needs to be completed so as to feed the buckle to a station needing to be processed. Along with the development of automation technology, in order to obtain higher material loading efficiency, the material loading of buckle is usually accomplished by arm formula robot, in order to satisfy the needs of material loading degree of freedom, adopt six robots to carry out the automatic feeding of buckle more, the buckle centre gripping material loading that arranges on will vibrating the material loading dish through six robots's centre gripping arm is in appointed station department, this mode leads to six robots can only snatch a buckle at every turn and carry out the material loading, it snatchs and the material loading action to need six robots to reciprocate to carry out the buckle, six robots once snatchs and the material loading route is longer, do not rationally optimize six robots's operation route, the material loading efficiency that leads to the buckle still has great promotion space.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to overcome prior art not enough, provide a linkage dress bullet formula buckle robot, adopt the dress bullet material loading mode, a plurality of buckles of clamping to once snatch the operation and can carry out material loading operation many times, optimized the material loading route, shortened the operation route of buckle material loading, promoted the material loading efficiency of buckle.

The purpose of the utility model is realized through the following technical scheme: the utility model provides a linkage loading bullet formula buckle robot, includes the workstation, be provided with vibration charging tray and six robots on the workstation, be provided with the loading mechanism on six robots's the execution arm, be provided with linkage loading mechanism between charging tray and the six robots in the vibration, linkage loading mechanism includes first linear loading cartridge clip and sharp push mechanism, first linear loading cartridge clip is located between charging tray and the sharp push mechanism in the vibration, first linear loading cartridge clip along the direction of height of workstation removes, the lowest position butt joint of first linear loading cartridge clip the orbital end of charging tray conveying on the vibration, the highest position of first linear loading cartridge clip is located on sharp push mechanism's the flexible propelling movement route, loading mechanism includes mounting panel, second linear loading cartridge clip and loading spring, the mounting panel is installed on six robots's the execution arm, second linear loading cartridge clip is fixed to be installed on the mounting panel, the top that second linear loading cartridge clip and first linear loading cartridge clip all offered the top of cartridge clip all runs through when the straight line loading cartridge clip moves the straight line push lever, second linear loading cartridge clip is used for the straight line push lever, the straight line loading cartridge clip moves on the straight line push lever, second linear loading cartridge clip is provided with the straight line push lever, straight line loading mechanism.

The effect of adopting the technical scheme is that the first linear cartridge clip is positioned at the lowest position and is butted with a conveying track of the vibrating feeding plate, the buckles are tidily arranged and conveyed in the cartridge loading groove of the first linear cartridge clip through the vibrating feeding plate, then the six-axis robot drives the second linear cartridge clip to move, so that the second linear cartridge clip is butted with one end, away from the linear pushing mechanism, of the first linear cartridge clip, then the buckles on the first linear cartridge clip are pushed to the second linear cartridge clip through the linear pushing mechanism, the effect of clamping a plurality of buckles at one time is realized, the second linear cartridge clip is brought to the feeding station through the six-axis robot, then the buckles are pushed to the feeding path of the feeding arm one by one through the cartridge loading deflector rod, and finally the buckles on the second linear cartridge clip are fed one by one through the feeding arm, so that multiple times of feeding operation can be carried out through one-time grabbing operation, the feeding path is optimized, the operation path of buckle feeding is shortened, and the feeding efficiency of the buckles is improved.

In some embodiments, sharp push mechanism includes mounting bracket and sharp propelling movement cylinder, sharp propelling movement cylinder level sets up on the mounting bracket, be provided with cylinder start button on the mounting bracket, first straight line dress cartridge clip is kept away from sharp pushing mechanism's one end slides and wears to be equipped with the rectangle draw runner, the slip direction of rectangle draw runner is on a parallel with the flexible direction of sharp propelling movement cylinder, the rectangle draw runner is kept away from the top and the bottom of sharp propelling movement cylinder one end all are equipped with the wedge face, work as when first straight line dress cartridge clip removes to the highest position, cylinder start button is located on the removal route of rectangle draw runner.

In some embodiments, the first linear cartridge clip is provided with a first round hole, a second round hole and a third round hole in sequence along the length direction, the diameter of the first round hole is equal to that of the third round hole, the diameter of the second round hole is larger than that of the first round hole, the rectangular sliding strip is arranged in the first round hole, the second round hole and the third round hole in a sliding mode, the rectangular sliding strip is fixedly sleeved with a limiting disc, the limiting disc is located in the second round hole, the rectangular sliding strip is sleeved with a spring, one end of the spring is connected to the limiting disc, and the other end of the spring is connected to a step formed by the second round hole and the third round hole.

In some embodiments, a switch groove is formed in one end, close to the first linear cartridge clip, of the conveying rail, a vibration loading tray switch is arranged in the switch groove, and when the first linear cartridge clip is in butt joint with the conveying rail, the rectangular sliding strip penetrates into the switch groove and extrudes the vibration loading tray switch to enable the vibration loading tray to be started.

In some embodiments, two sets of first cylinders are vertically arranged on the workbench, a top plate is installed on a telescopic shaft of each first cylinder, a first rodless cylinder is horizontally installed on the top plate, and the first linear cartridge clip is installed on a sliding seat of the first rodless cylinder.

In some embodiments, a second rodless cylinder is horizontally mounted on the mounting plate, a mounting seat is arranged on a sliding seat of the second rodless cylinder, the moving direction of the mounting seat is parallel to the length direction of the second linear loading clamp, and the loading deflector rod is arranged on the mounting seat.

In some embodiments, a screw is fixed at the bottom of the mounting seat, the loading deflector rod is in a 7-shaped shape, a transverse plate of the loading deflector rod is slidably sleeved on the screw, an upper nut and a lower nut are in threaded connection with the screw, and the transverse plate of the loading deflector rod is located between the upper nut and the lower nut.

In some embodiments, the feeding arm comprises a vertical cylinder and a horizontal cylinder, the vertical cylinder is vertically installed on the mounting plate, a telescopic rod of the vertical cylinder is connected with a V-shaped clamp, the horizontal cylinder is horizontally installed on the mounting plate, the horizontal cylinder is perpendicular to the second linear cartridge clip, a telescopic shaft of the horizontal cylinder is connected with an L-shaped seat, a top surface of the horizontal seat of the L-shaped seat is flush with a bottom surface of a cartridge loading groove of the second linear cartridge clip, and the L-shaped seat is located on a moving path of the V-shaped clamp when the horizontal cylinder is in a normal state.

In some embodiments, a negative pressure cavity is formed between the inner wall and the outer wall of the V-shaped clamp, a negative pressure hole communicated with the negative pressure cavity is formed in the inner wall of the V-shaped clamp, and a negative pressure pump is arranged on the six-axis robot and is communicated with the negative pressure cavity of the V-shaped clamp through an air pipe.

The utility model has the advantages that:

the first linear cartridge loading clamp is located at the lowest position and is in butt joint with a conveying rail of a vibrating feeding plate, the fasteners are conveyed in a cartridge loading groove of the first linear cartridge loading clamp in an orderly mode through the vibrating feeding plate, then the six-axis robot drives the second linear cartridge loading clamp to move, the second linear cartridge loading clamp is in butt joint with one end, away from the linear pushing mechanism, of the first linear cartridge loading clamp, then the fasteners on the first linear cartridge loading clamp are pushed to the second linear cartridge loading clamp through the linear pushing mechanism, the effect of clamping a plurality of fasteners at one time is achieved, the second linear cartridge loading clamp is brought to a feeding station through the six-axis robot, then the fasteners are pushed to a feeding path of a feeding arm one by one through the cartridge loading mechanism, finally the fasteners on the second linear cartridge loading clamp are fed one by one through the feeding arm, therefore, multiple times of feeding operation can be carried out through one-time grabbing operation, the feeding path is optimized, the operation path of fastener feeding deflector rod is shortened, and the feeding efficiency of the fasteners is improved.

Drawings

Fig. 1 is a schematic diagram of a loading state of a linkage loading type buckle robot of the present invention;

fig. 2 is a schematic view of the feeding of the vibrating feeding tray in the linkage bullet-loading type buckle robot of the present invention;

fig. 3 is a schematic diagram of the highest position of the first linear clip in the linkage clip-loading type buckle robot of the present invention;

fig. 4 is a schematic view of an internal structure of a first linear clip in the linkage clip-loading type buckle robot of the present invention;

FIG. 5 is a perspective view of a vibrating feeding tray in the linkage bullet-loading type buckle robot of the present invention;

FIG. 6 is an enlarged view of FIG. 5 at A;

fig. 7 is a schematic cross-sectional view of a V-shaped clamp in the linkage spring-loaded buckle robot of the present invention;

in the figure, 1-workbench, 2-vibration feeding tray, 3-six-axis robot, 4-first linear cartridge loading clamp, 5-mounting plate, 6-second linear cartridge loading clamp, 7-loading deflector rod, 8-feeding arm, 9-rectangular slide bar, 10-mounting frame, 11-linear pushing cylinder, 12-cylinder starting button, 13-wedge surface, 14-first round hole, 15-second round hole, 16-third round hole, 17-limiting plate, 18-spring, 19-first cylinder, 20-top plate, 21-first rodless cylinder, 22-second rodless cylinder, 23-mounting seat, 24-screw rod, 25-upper nut, 26-lower nut, 27-vertical cylinder, 28-horizontal cylinder, 29-V clamp, 30-L seat, 31-negative pressure hole, 32-air pump, 33-air pipe, 34-switch groove and 35-vibration feeding tray switch.

Detailed Description

The technical solutions of the present invention are further described in detail below with reference to the accompanying drawings, but the scope of the present invention is not limited to the following descriptions.

As shown in fig. 1 to 7, a linkage loading type buckle robot comprises a workbench 1, a vibration loading tray 2 and a six-axis robot 3 are arranged on the workbench 1, a loading mechanism is arranged on an executing arm of the six-axis robot 3, the loading mechanism is driven by the six-axis robot to move in multiple degrees of freedom, the loading mechanism can move to the vibration loading tray 2 for buckle loading and can also move to a buckle loading station for buckle loading, a linkage loading mechanism is arranged between the vibration loading tray 2 and the six-axis robot 3, the linkage loading mechanism comprises a first linear loading clamp 4 and a linear pushing mechanism, the first linear loading clamp 4 is positioned between the vibration loading tray 2 and the linear pushing mechanism, the first linear loading clamp 4 moves along the height direction of the workbench 1, the lowest position of the first linear loading clamp 4 is butted with the tail end of a conveying track of the vibration loading tray 2, the highest position of a first linear loading clip 4 is positioned on a telescopic pushing path of a linear pushing mechanism, the loading mechanism comprises a mounting plate 5, a second linear loading clip 6 and a loading deflector rod 7, the mounting plate 5 is mounted on an executing arm of the six-axis robot 3, the second linear loading clip 6 is fixedly mounted on the mounting plate 5, the tops of the second linear loading clip 6 and the first linear loading clip 4 are respectively provided with a loading groove penetrating through the two ends of the second linear loading clip, the loading deflector rod 7 is slidably arranged on the mounting plate 5, the loading deflector rod 7 moves along the length direction of the second linear loading clip 6, the tail end of the loading deflector rod 7 extends into the loading grooves, a loading arm 8 is arranged on the mounting plate 5 and used for loading buckles at the pushing tail end of the second linear loading clip 6, when the first linear loading clip 4 moves to the highest position, the second linear loading clip 6 and the linear pushing mechanism are respectively connected with the two ends of the first linear loading clip 4, when the first linear loading clip 4 is located at the lowest position, one end of the first linear loading clip 4 is in butt joint with a conveying track of the vibrating loading tray 2, the fasteners are adjusted in posture and conveyed along the conveying track through vibration of the vibrating loading tray 2, so that the fasteners are conveyed to a loading groove of the first linear loading clip 4 in an orderly arrangement mode, then the six-axis robot drives the second linear loading clip 6 to move, the second linear loading clip 6 is in butt joint with one end, far away from a linear pushing mechanism, of the first linear loading clip 4, then the fasteners on the first linear loading clip 4 are pushed to the second linear loading clip 6 through the linear pushing mechanism, the effect of clamping a plurality of fasteners at one time is achieved, then the second linear loading clip 6 is brought to a loading station through the six-axis robot 3, then the fasteners are pushed to a loading path of the loading arm 8 through the loading deflector rod 7, finally the fasteners on the second linear loading clip 6 are loaded through the loading arm 8, so that one-time grabbing operation is performed, the loading path one-by-time, the loading operation is realized, the efficiency of the operation of the fasteners is improved, and the efficiency of the loading path is improved.

In some embodiments, as shown in fig. 1 to 4, the linear pushing mechanism includes a mounting frame 10 and a linear pushing cylinder 11, the linear pushing cylinder 11 is horizontally disposed on the mounting frame 10, the fastener on the first linear loading clip 4 is pushed to the second linear loading clip 6 by the extension of the linear pushing cylinder 11, a cylinder start button 12 is disposed on the mounting frame 10, the cylinder start button 12 is used for controlling the opening and closing of the linear pushing cylinder 11, a rectangular slide 9 is slidably disposed through an end of the first linear loading clip 4 away from the linear pushing mechanism, a sliding direction of the rectangular slide 9 is parallel to a telescopic direction of the linear pushing cylinder 11, wedge surfaces 13 are disposed on a top and a bottom of an end of the rectangular slide 9 away from the linear pushing cylinder 11, when the first linear loading clip 4 moves to the linear pushing cylinder 11, the cylinder start button 12 is disposed on a moving path of the rectangular slide 9, when the first linear loading clip 4 moves to the linear pushing cylinder 11 to the linear pushing cylinder 4, the linear pushing cylinder moves to the linear pushing cylinder 6 from the second linear pushing clip 6, the linear pushing cylinder 6 moves to the linear pushing cylinder 6, and the linear pushing cylinder 6, when the linear pushing cylinder 4 moves to the linear pushing cylinder 6 to the linear loading clip 6, the linear pushing cylinder 9 moves to the linear pushing cylinder 6 from the linear pushing cylinder 6 to the linear pushing cylinder 6, the rectangular sliding strip 9 presses the cylinder starting button 12, the linear pushing cylinder 11 is started at the moment, the buckle is pushed to the second linear loading clip 6 through the linear pushing cylinder 11, an operation program of the linear pushing cylinder 11 does not need to be additionally designed, the control of the linear pushing cylinder 11 is directly completed through the butt joint state of the second linear loading clip 6, the loading linkage is realized, the control of the linear pushing cylinder 11 is convenient, and the difficulty of the program design of the equipment at the early stage is reduced; the first linear loading clip 4 is sequentially provided with a first round hole 14, a second round hole 15 and a third round hole 16 along the length direction thereof, the diameter of the first round hole 14 is equal to that of the third round hole 16, the diameter of the second round hole 15 is larger than that of the first round hole 14, a rectangular slide bar 9 is slidably arranged in the first round hole 14, the second round hole 15 and the third round hole 16, a limiting disc 17 is fixedly sleeved on the rectangular slide bar 9, the limiting disc 17 is positioned in the second round hole 15, a spring 18 is sleeved on the rectangular slide bar 9, one end of the spring 18 is connected on the limiting disc 17, the other end of the spring 18 is connected on a step formed by the second round hole 15 and the third round hole 16, when the second linear loading clip 6 is butted with the first linear loading clip 4, the spring 18 is in a compressed state, when the second linear loading clip 6 is separated from the first linear loading clip 4, under the counter-acting force of the spring 18, the rectangular slide bar 9 is separated from the cylinder starting button 12, at the moment, the linear pushing cylinder 11 retracts to the original position, then the first linear loading clip 4 descends, in the descending process, the wedge-shaped surface 13 at the bottom of the rectangular slide bar 9 contacts the top of the conveying track, the spring 18 is extruded under the action of the wedge-shaped surface 13 to enable the rectangular slide bar 9 to move, so that one end, close to the conveying track, of the rectangular slide bar 9 moves into the first linear loading clip 4, the rectangular slide bar 9 does not affect the loading of the buckle, the vibration loading disc 2 can smoothly convey the buckle to the first linear loading clip 4 in a vibration mode, when the six-axis robot 3 drives the second linear loading clip 6 to carry out buckle loading, the first linear loading clip 4 synchronously carries out buckle loading, the loading and the loading are synchronously operated, the time saving effect is further achieved, and the loading efficiency of the buckle is further improved.

Further, as shown in fig. 5 and fig. 6, a switch groove 34 is provided at one end of the conveying track close to the first linear loading clip 4, a vibration loading tray switch 35 is provided in the switch groove 34, when the first linear loading clip 4 is butted with the conveying track, the rectangular slide 9 penetrates into the switch groove 34 and presses the vibration loading tray switch 35 to start the vibration loading tray 2, when the first linear loading clip 4 is butted with the conveying track of the vibration loading tray 2, the switch groove 34 is located on a moving path of the rectangular slide 9, under a reaction force of the spring 18, one end of the rectangular slide 9 provided with the wedge-shaped surface 13 penetrates into the switch groove 34, the vibration loading tray switch 35 is pressed by the rectangular slide 9 to start the vibration loading tray 2, so that the vibration loading tray 2 transfers the buckle vibration to the first linear loading clip 4, thereby adopting a linkage manner, controlling the pneumatic and closing of the vibration loading tray 2 by the state of the first linear loading clip 4, and making the control of the vibration loading tray 2 more accurate; in specific implementation, the wedge-shaped surface 13 of the rectangular slide bar 9 is partially located in the switch groove 34, so that when the first linear loading clip 4 moves up and down, the wedge-shaped surface at the top of the rectangular slide bar can contact with the top wall of the switch groove 34, the rectangular slide bar 9 moves to avoid interference with the first linear loading clip 4, and after the first linear loading clip 4 rises and is separated from the conveying track, the vibrating loading tray switch 35 resets to stop the vibrating loading tray 2, so that the buckle is prevented from being conveyed to the workbench 1.

In some implementations, as shown in fig. 3, two sets of first cylinders 19 are vertically arranged on the workbench 1, a top plate 20 is installed on a telescopic shaft of the first cylinder 19, a first rodless cylinder 21 is horizontally installed on the top plate 20, the first linear cartridge clip 4 is installed on a sliding seat of the first rodless cylinder 21, the first linear cartridge clip 4 on the top plate 20 is driven to lift by stretching of the first cylinder 19, switching of the position state of the first linear cartridge clip 4 is achieved, the first rodless cylinder 21 can drive the first linear cartridge clip 4 to move in the horizontal direction, adjustment of the installation position of the first linear cartridge clip 4 is facilitated, the first linear cartridge clip 4 can be in butt joint with a conveying rail, and therefore installation and positioning of the first linear cartridge clip 4 are more accurate and rapid.

In some embodiments, as shown in fig. 1 and 7, a second rodless cylinder 22 is horizontally mounted on the mounting plate 5, a mounting seat 23 is arranged on a sliding seat of the second rodless cylinder 22, the moving direction of the mounting seat 23 is parallel to the length direction of the second linear loading clip 6, the loading deflector rod 7 is arranged on the mounting seat 23, the loading deflector rod 7 is driven to move by the second rodless cylinder 22, the buckles are pushed to the loading arm 8 one by the loading deflector rod 7, the loading arm comprises a vertical cylinder 27 and a horizontal cylinder 28, the vertical cylinder 27 is vertically mounted on the mounting plate 5, a telescopic rod of the vertical cylinder 27 is connected with a V-shaped clip 29, the horizontal cylinder 28 is horizontally mounted on the mounting plate 5, the horizontal cylinder 28 is perpendicular to the second linear loading clip 6, a telescopic shaft of the horizontal cylinder 28 is connected with an L-shaped seat 30, the top surface of the horizontal seat of the L-shaped seat 30 is flush with the bottom surface of a loading slot of the second linear loading clip 6, when the transverse cylinder 28 is in a normal state, the L-shaped seat 30 is positioned on a moving path of the V-shaped clamp 29, a negative pressure cavity is formed between the inner wall and the outer wall of the V-shaped clamp 29, a negative pressure hole 31 communicated with the negative pressure cavity is formed in the inner wall of the V-shaped clamp 29, a negative pressure pump 32 is arranged on the six-axis robot 3, the negative pressure pump 32 is communicated with the negative pressure cavity of the V-shaped clamp 29 through an air pipe 33, the buckle is pushed to the L-shaped seat 30 by the elastic deflector rod 7, the V-shaped clamp 29 is normally positioned on the moving path of the buckle, the buckle is directly pushed into the V-shaped clamp 29, then the negative pressure pump 32 is started to generate negative pressure in the negative pressure cavity and absorb the buckle through the negative pressure hole 31, then the transverse cylinder 28 and the vertical cylinder 27 synchronously operate, the L-shaped seat 30 is removed by the transverse cylinder 28, the L-shaped seat 30 does not block the movement of the V-shaped clamp 29 any more, the vertical cylinder 27 drives the V-shaped clamp 29 to move close to a loading station, in order to carry out the buckle material loading, after the material loading is accomplished, horizontal cylinder 28 resets with perpendicular cylinder 27 of putting, carries out the material loading of next buckle, and after the buckle material loading on second straight line cartridge clip 6 was accomplished, carries out the dress bullet of buckle with second straight line cartridge clip 6 butt joint first straight line cartridge clip 4 again, realizes the effect of a dress bullet material loading many times.

Further, as shown in fig. 1, a screw 24 is fixed at the bottom of the mounting seat 23, the loading deflector rod 7 is in a 7-shaped shape, a transverse plate of the loading deflector rod 7 is slidably sleeved on the screw 24, an upper nut 25 and a lower nut 26 are in threaded connection with the screw 24, the transverse plate of the loading deflector rod 7 is located between the upper nut 25 and the lower nut 26, the bottom height of the loading deflector rod 7 is adjusted by moving the loading deflector rod 7, so that the loading deflector rod 7 can be pushed in a contact manner for buckles with different sizes, the loading deflector rod 7 is fixed by the upper nut 25 and the lower nut 26, and when the position of the loading deflector rod 7 is adjusted, the upper nut 25 and the lower nut 26 are rotated up and down, so that the adjustment is simple and quick.

In the description of the present invention, it is to be understood that the terms "coaxial", "bottom", "one end", "top", "middle", "other end", "upper", "one side", "top", "inner", "front", "center", "both ends", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention; and as will be appreciated by those skilled in the art, the benefits of the present invention are only better than those of the current embodiments of the prior art under certain circumstances, rather than being directed to the best use in the industry.

The foregoing is illustrative of the preferred embodiments of the present invention, and it is to be understood that the invention is not limited to the precise forms disclosed herein and that the invention is not to be considered as limited to the disclosed embodiments, but is capable of use in various other combinations, modifications, and environments and is capable of changes within the scope of the inventive concept as expressed herein, commensurate with the above teachings, or the skill or knowledge of the relevant art. But that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the invention, which is to be limited only by the claims appended hereto.

Claims

1. The linkage loading type buckle robot comprises a workbench (1), wherein a vibration loading tray (2) and a six-axis robot (3) are arranged on the workbench (1), and is characterized in that a loading mechanism is arranged on an executing arm of the six-axis robot (3), a linkage loading mechanism is arranged between the vibration loading tray (2) and the six-axis robot (3), the linkage loading mechanism comprises a first linear loading clamp (4) and a linear pushing mechanism, the first linear loading clamp (4) is positioned between the vibration loading tray (2) and the linear pushing mechanism, the first linear loading clamp (4) moves along the height direction of the workbench (1), the lowest position of the first linear loading clamp (4) is butted with the tail end of a conveying track of the vibration loading tray (2), the highest position of the first linear loading clamp (4) is positioned on the telescopic pushing path of the linear pushing mechanism, the loading mechanism comprises a mounting plate (5), a second linear loading clamp (6) and a loading deflector rod (7), the second linear loading clamp (7) is mounted on the six-axis robot, the sliding deflector rod (3) penetrates through the second linear loading arm (5), the second linear loading clamp (7) and a fixing deflector rod (7), the loading driving lever (7) moves along the length direction of the second linear loading clip (6), the tail end of the loading driving lever (7) extends into the loading groove, a loading arm (8) is arranged on the mounting plate (5), the loading arm is used for loading the buckle at the tail end of the pushing of the second linear loading clip (6), and when the first linear loading clip (4) moves to the highest position, the second linear loading clip (6) and the linear pushing mechanism are respectively butted at two ends of the first linear loading clip (4).

2. A linkage loading and ejecting type buckle robot according to claim 1, wherein the linear pushing mechanism comprises a mounting frame (10) and a linear pushing cylinder (11), the linear pushing cylinder (11) is horizontally arranged on the mounting frame (10), a cylinder starting button (12) is arranged on the mounting frame (10), a rectangular sliding strip (9) is slidably arranged at one end, away from the linear pushing mechanism, of the first linear loading and ejecting clamp (4), the sliding direction of the rectangular sliding strip (9) is parallel to the telescopic direction of the linear pushing cylinder (11), wedge surfaces (13) are arranged at the top and the bottom of one end, away from the linear pushing cylinder (11), of the rectangular sliding strip (9), and when the first linear loading and ejecting clamp (4) moves to the highest position, the cylinder starting button (12) is located on the moving path of the rectangular sliding strip (9).

3. The linkage bullet-loading type buckle robot according to claim 2, wherein a first round hole (14), a second round hole (15) and a third round hole (16) are sequentially formed in the first linear bullet-loading clamp (4) along the length direction of the first linear bullet-loading clamp, the diameter of the first round hole (14) is equal to that of the third round hole (16), the diameter of the second round hole (15) is larger than that of the first round hole (14), the rectangular sliding strip (9) is slidably arranged in the first round hole (14), the second round hole (15) and the third round hole (16), a limiting disc (17) is fixedly sleeved on the rectangular sliding strip (9), the limiting disc (17) is located in the second round hole (15), a spring (18) is sleeved on the rectangular sliding strip (9), one end of the spring (18) is connected to the limiting disc (17), and the other end of the spring is connected to a step formed by the second round hole (15) and the third round hole (16).

4. A linkage loading and ejecting type buckle robot according to claim 3, wherein a switch groove (34) is formed in one end, close to the first linear loading clip (4), of the conveying track, a vibration loading tray switch (35) is arranged in the switch groove (34), and when the first linear loading clip (4) is in butt joint with the conveying track, the rectangular sliding strip (9) penetrates into the switch groove (34) and presses the vibration loading tray switch (35) to enable the vibration loading tray (2) to be started.

5. A linkage loading and ejecting type buckle robot as claimed in claim 1, wherein two sets of first cylinders (19) are vertically arranged on the working table (1), a top plate (20) is installed on a telescopic shaft of the first cylinders (19), a first rodless cylinder (21) is horizontally installed on the top plate (20), and the first linear loading and ejecting clamp (4) is installed on a sliding seat of the first rodless cylinder (21).

6. A linkage loading type buckle robot as claimed in claim 1, wherein a second rodless cylinder (22) is horizontally mounted on the mounting plate (5), a mounting seat (23) is arranged on a sliding seat of the second rodless cylinder (22), the moving direction of the mounting seat (23) is parallel to the length direction of the second linear loading clamp (6), and the loading deflector rod (7) is arranged on the mounting seat (23).

7. The linkage loading type buckle robot as claimed in claim 6, wherein a screw rod (24) is fixed at the bottom of the mounting seat (23), the loading deflector rod (7) is 7-shaped, a transverse plate of the loading deflector rod (7) is slidably sleeved on the screw rod (24), an upper nut (25) and a lower nut (26) are connected to the screw rod (24) in a threaded manner, and the transverse plate of the loading deflector rod (7) is located between the upper nut (25) and the lower nut (26).

8. A linkage loading elastic buckle robot according to claim 1, wherein the loading arm comprises an upright cylinder (27) and a transverse cylinder (28), the upright cylinder (27) is vertically installed on the mounting plate (5), a V-shaped clamp (29) is connected to a telescopic rod of the upright cylinder (27), the transverse cylinder (28) is horizontally installed on the mounting plate (5), the transverse cylinder (28) is perpendicular to the second linear loading elastic clamp (6), an L-shaped seat (30) is connected to a telescopic shaft of the transverse cylinder (28), a top surface of the transverse seat of the L-shaped seat (30) is flush with a bottom surface of a loading groove of the second linear loading elastic clamp (6), and when the transverse cylinder (28) is in a normal state, the L-shaped seat (30) is located on a moving path of the V-shaped clamp (29).

9. A linkage loading elastic buckle robot as claimed in claim 8, characterized in that a negative pressure cavity is formed between the inner wall and the outer wall of the V-shaped clamp (29), a negative pressure hole (31) communicated with the negative pressure cavity is formed in the inner wall of the V-shaped clamp (29), a negative pressure pump (32) is arranged on the six-axis robot (3), and the negative pressure pump (32) is communicated with the negative pressure cavity of the V-shaped clamp (29) through an air pipe (33).