CN211192562U

CN211192562U - Pipe feeding manipulator device

Info

Publication number: CN211192562U
Application number: CN201921899915.5U
Authority: CN
Inventors: 顾忠新; 刘长坤; 闫瑞雪; 马耀滨
Original assignee: Jinan Bodor Laser Co Ltd
Current assignee: Jinan Bodor Laser Co Ltd
Priority date: 2019-11-05
Filing date: 2019-11-05
Publication date: 2020-08-07
Anticipated expiration: 2029-11-05

Abstract

The utility model provides a pipe feeding manipulator device, which relates to the field of laser cutting and comprises at least one group of manipulator units, wherein each manipulator unit comprises a manipulator fixing part, a jaw part and a clutch part; the manipulator fixing part comprises a fixing frame, a manipulator arm and a driving unit, the manipulator arm is slidably mounted on the fixing frame, the manipulator arm is connected with or disconnected from the driving unit through a clutch part, and the end part of the manipulator arm is connected with a jaw part; the jaw part comprises a jaw mounting plate and a clamp, the clamp comprises an upper clamp and a lower clamp, the upper clamp and the lower clamp are respectively installed on the jaw mounting plate in a lifting mode, and movable supporting plates are respectively installed on clamping surfaces of the upper clamp and the lower clamp. The utility model discloses tubular product feeding manipulator device can realize the pay-off to different tubular products, different tube wall thickness, and can effectively avoid the damage that causes the tubular product because the atress inequality.

Description

Pipe feeding manipulator device

Technical Field

The utility model belongs to the laser cutting field, concretely relates to tubular product pay-off manipulator device.

Background

The laser pipe cutting machine has the characteristics of high precision, quick cutting, no limitation to cutting patterns, smooth cut, low processing cost and the like, and gradually replaces the traditional pipe cutting process equipment.

In the process of feeding the pipes, the pipes are quickly and accurately conveyed to a processing position, so that the efficiency of the whole processing process can be improved, the processing quality is ensured, and the feeding efficiency is particularly improved in the multi-variety and small-batch processing production. However, the existing pipe feeding mode mostly adopts manual feeding, the feeding efficiency is low, and certain operation danger exists. In addition, when transporting tubular product to the chuck, if the chuck location is inaccurate or produce the scheduling problem that squints, easily produce the collision tubular product, because of the uneven problem that causes damage tubular product of atress when centre gripping tubular product, influence the quality of tubular product.

SUMMERY OF THE UTILITY MODEL

For solving the lower problem of the tubular product processing production efficiency of prior art's tubular product pay-off degree of automation difference, to many varieties, small batch, the utility model provides a tubular product pay-off manipulator device can realize the pay-off to different tubular product length, different tube wall thickness, and can effectively avoid the damage that causes the tubular product because the atress inequality.

The utility model provides a pipe feeding manipulator device, which comprises at least one group of manipulator units, wherein each manipulator unit comprises a manipulator fixing part, a jaw part and a clutch part; the manipulator fixing part comprises a fixing frame, a manipulator arm and a driving unit, the manipulator arm is slidably mounted on the fixing frame, the manipulator arm is connected with or disconnected from the driving unit through a clutch part, and the end part of the manipulator arm is connected with a jaw part; the jaw part comprises a jaw mounting plate and a clamp, the clamp comprises an upper clamp and a lower clamp, the upper clamp and the lower clamp are respectively installed on the jaw mounting plate in a lifting mode, and movable supporting plates are respectively installed on clamping surfaces of the upper clamp and the lower clamp.

Further, drive unit includes hold-in range, pivot and driving motor, the hold-in range is installed on the mount through a plurality of pivots, driving motor is connected with one of them pivot, robotic arm passes through separation and reunion portion and is connected with the hold-in range.

Further, manipulator fixed part includes first guide rail and first slider, first guide rail is installed on the mount, robotic arm passes through first slider slidable mounting on first guide rail.

Furthermore, the clutch part comprises a first cylinder, a clutch plate, a clutch guide seat, a clutch block and a clutch limiting block; the clutch guide seat is fixedly arranged on the side surface of the mechanical arm, a first notch which penetrates through the clutch guide seat is formed in the clutch guide seat, the first notch is matched with the clutch plate in structure, the middle part of the clutch plate is hinged with the clutch guide seat, and the clutch plate is arranged in the first notch; one end of the clutch plate is hinged with a piston rod of a first air cylinder through a connecting piece, and the first air cylinder is hinged with the mechanical arm through a support; the clutch block is buckled on the synchronous belt, the clutch block is provided with a second notch matched with the clutch plate, and the first notch is matched with the second notch in position; the clutch limiting block is fixedly connected with the fixing frame and is provided with a third notch matched with the clutch plate; when the clutch part needs to be closed, when the free end of the clutch plate is positioned in the second notch, the clutch part is closed, and when the clutch part needs to be disengaged, when the free end of the clutch plate is positioned in the third notch, the clutch part is disengaged.

Furthermore, the separation and reunion portion includes the separation and reunion baffle, the separation and reunion baffle sets up the side at separation and reunion guide holder, the separation and reunion baffle is located the one side that the mount was kept away from to the separation and reunion piece, the separation and reunion baffle contacts with the separation and reunion piece.

Further, the clamp includes the skeleton of keeping silent, guiding axle and spring, be provided with position complex guiding hole on backup pad and the skeleton of keeping silent respectively, the spring suit is on the guiding axle, the guiding axle passes the guiding hole, the backup pad passes through the cooperation movable mounting of guiding axle and guiding hole on the skeleton of keeping silent, the both sides of backup pad all contact with the spring.

Further, the clamp comprises a bearing support and a bearing, the bearing support is arranged on the jaw framework, the bearing is rotatably arranged on the bearing support, and the supporting plate is in sliding contact with the bearing.

Further, the jaw mounting plate comprises a second guide rail, a third guide rail, a second sliding block, a third sliding block, a rack, a centering gear and a second cylinder; the second guide rail is installed in the one side that the mounting panel of keeping silent is close to the clamp, the third guide rail is installed in the one side that the mounting panel of keeping silent deviates from the clamp, second guide rail and second slider sliding fit, third guide rail and third slider sliding fit, the second slider is provided with two pairs, respectively with last clamp and the jaw skeleton coupling of clamp down, the third slider sets up on the rack, the rack is provided with two, two rack parallel arrangement in the both sides of centering gear, the rack all with centering gear engagement, two racks pass through the connecting plate respectively with last clamp and the jaw skeleton coupling of clamp down, one of them rack is connected with the piston rod of second cylinder.

Furthermore, the two end faces of the jaw mounting plate are provided with positioning plates.

Further, the clamp includes the locking Assembly, the locking Assembly includes third cylinder, uide bushing and fitting pin, the third cylinder is fixed in on the uide bushing, the piston rod of third cylinder passes the uide bushing and is connected with the fitting pin, the locking Assembly is located the skeleton of keeping silent, be provided with in the backup pad with fitting pin position complex waist type hole to the messenger can not produce the interference to the fitting pin uide bushing that stretches out when the backup pad slides.

The beneficial effects of the utility model reside in that, the utility model provides a tubular product pay-off manipulator device can conveniently transport tubular product to the chuck center from dividing material portion through a plurality of manipulator units concerted action, wherein every manipulator unit's manipulator all is connected or breaks off through separation and reunion portion with drive unit, during the operation, can adjust the use quantity of manipulator unit according to the length of tubular product, long tubular product accessible separation and reunion portion and a plurality of manipulator unit transport in coordination, short tubular product can only be transferred partial manipulator unit and transported tubular product, tubular product pay-off manipulator device's adaptability to tubular product length has been guaranteed.

In addition, the jaw part of each manipulator unit is provided with a liftable upper clamp and a liftable lower clamp, so that the device can be suitable for pipes with different pipe diameters.

Meanwhile, the supporting plate can be movably arranged on the clamping surfaces of the upper clamp and the lower clamp, so that the adaptability of the clamp is enhanced, the position of the pipe can be self-adjusted to a certain degree, the phenomenon that the pipe is damaged due to inaccurate positioning and deviation of the chuck when the device is in butt joint with the chuck is avoided, and the quality of the pipe is guaranteed.

The utility model relates to a principle is reliable, and simple structure has very extensive application prospect.

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, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is the overall structure schematic diagram 1 of the pipe feeding manipulator device of the present invention.

Fig. 2 is the overall structure schematic diagram 2 of the pipe feeding manipulator device of the present invention.

Fig. 3 is a schematic view of the clutch portion structure of the present invention 1.

Fig. 4 is a schematic view of the clutch portion structure of the present invention 2.

Fig. 5 is a schematic view of the structure of the jaw portion of the present invention 1.

Fig. 6 is a schematic view of the structure of the jaw portion of the present invention 2.

In the figure, 1, a manipulator fixing part, 11, a fixing frame, 12, a manipulator, 13, a synchronous belt, 14, a first guide rail, 15, a first sliding block, 16 and a bracket;

2. the clutch comprises a clutch part 21, a first cylinder 22, a fisheye joint 23, a clutch plate 24, a clutch guide seat 25, a clutch block 26, a clutch limiting block 27, a first clutch pin 28, a second clutch pin 29 and a clutch baffle;

3. the jaw part, 31, the jaw mounting plate, 311, the second guide rail, 312, the third guide rail, 313, the second slider, 314, the third slider, 315, the rack, 316, the centering gear, 32, the jaw framework, 33, the support plate, 331, the polyurethane pad, 34, the guide shaft, 35, the spring, 36, the bearing bracket, 361, the bearing, 37, the second cylinder, 38, the positioning plate, 39, the locking pin, 391, the guide sleeve, 392 and the third cylinder.

Detailed Description

In order to make the technical solutions in the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only one embodiment of the present invention, but not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts shall belong to the protection scope of the present invention.

As shown in fig. 1 and 2, a tube feeding manipulator device includes at least one set of manipulator units, the manipulator units cooperate to transport a tube from a material distributing portion to a chuck center position, and the manipulator unit mainly includes a manipulator fixing portion 1, a jaw portion 3, and a clutch portion 2.

The manipulator fixing part 1 comprises a fixing frame 11, a manipulator 12 and a driving unit, wherein the manipulator 12 is slidably mounted on the fixing frame 11, the manipulator 12 is connected with or disconnected from the driving unit through a clutch part 2, and the end part of the manipulator 12 is connected with a jaw part 3; the jaw part 3 comprises a jaw mounting plate 31 and a clamp, the clamp comprises an upper clamp and a lower clamp, the upper clamp and the lower clamp are respectively installed on the jaw mounting plate 31 in a lifting mode, and movable supporting plates 33 are respectively installed on clamping surfaces of the upper clamp and the lower clamp.

As shown in fig. 1 to 4, the manipulator fixing part 1 includes a first guide rail 14 and a first slider 15, the first guide rail 14 is mounted on the fixing frame 11, and the manipulator 12 is slidably mounted on the first guide rail 14 through the first slider 15.

Specifically, drive unit includes hold-in range 13, pivot and driving motor, hold-in range 13 is installed on mount 11 through a plurality of pivots, driving motor is connected with one of them pivot, robotic arm 12 is connected or breaks off through separation and reunion portion 2 and hold-in range 13, and when separation and reunion portion 2 was in the closure state, robotic arm 12 carried out the displacement along with hold-in range 13's transmission, and when separation and reunion portion 2 was in the disengagement state, robotic arm 12 position kept motionless relative mount 11.

Further, as shown in fig. 3 to 4, the clutch part 2 includes a first cylinder 21, a clutch plate 23, a clutch guide 24, a clutch block 25 and a clutch stopper 26.

As shown in fig. 3-4, the clutch guide seat 24 is fixedly installed on the side surface of the mechanical arm 12, a first through notch is formed in the clutch guide seat 24, the width of the first notch is adapted to the clutch plate 23, the middle portion of the clutch plate 23 is hinged to the clutch guide seat 24 through a second clutch pin 28, the clutch plate 23 is arranged in the first notch, and the clutch plate 23 can rotate around the second clutch pin 28; one end of the clutch plate 23 is hinged with a piston rod of the first cylinder 21 through the fisheye joint 22 and the first clutch pin 27, and the first cylinder 21 is hinged with the mechanical arm 12 through the bracket 16.

The clutch block 25 is fixedly connected to the synchronous belt 13 through an upper buckling piece and a lower bearing piece, the buckling piece is buckled on the bearing piece, a gap is reserved between the buckling piece and the bearing piece, the synchronous belt 13 penetrates through the space between the buckling piece and the bearing piece, a second notch matched with the clutch plate 23 is formed in the clutch block 25, and the first notch and the second notch are correspondingly arranged; the clutch limiting block 26 is fixedly connected with the fixing frame 11, the clutch limiting block 26 is located on one side of the clutch block 25 close to the fixing frame 11, and the clutch limiting block 26 is provided with a third notch matched with the clutch plate 23.

When the clutch part 2 needs to be closed, the free end of the clutch plate 23 is located in the second notch, the mechanical arm 12 moves synchronously along with the clutch guide seat 24, the clutch block 25 and the synchronous belt 13 under the action of the clutch plate 23, when the clutch part 2 needs to be separated, the free end of the clutch plate 23 leaves the second notch and enters the third notch, so that the clutch guide seat 24 and the clutch limiting block 26 are connected through the clutch plate 23, the synchronous belt 13 drives the clutch block 25 to move synchronously, other structural positions of the clutch part 2 are relatively fixed, the position of the mechanical arm 12 is kept unchanged, and the position of the jaw part 3 is relatively unchanged.

Further, the clutch part 2 comprises a clutch baffle 29, the clutch baffle 29 is arranged on the side surface of the clutch guide seat 24, the clutch baffle 29 is positioned on the side of the clutch block 25 far away from the fixed frame 11, and the clutch baffle 29 is in contact with the clutch block 25. When the clutch part 2 needs to be closed, the clutch plate 23 may cause the clutch block 25 to swing due to the existence of friction force during the insertion of the clutch block 25, and the clutch damper 29 may effectively prevent the clutch block 25 from swinging.

As shown in fig. 5-6, the clamp includes a jaw framework 32, a guide shaft 34, a spring 35, a bearing bracket 36, and a bearing 361, and the jaw mounting plate 31 includes a second guide rail 311, a third guide rail 312, a second slider 313, a third slider 314, a rack 315, and a centering gear 316.

The vice skeleton 32 of keeping silent installs respectively at last clamp and lower clamp, backup pad 33 movable mounting is on the vice skeleton 32 of keeping silent, second guide rail 311 is installed on the one side that the mounting panel 31 of keeping silent is close to the clamp, third guide rail 312 is installed on the one side that the mounting panel 31 of keeping silent deviates from the clamp, second guide rail 311 mainly plays the direction with second slider 313 sliding fit and does the usefulness, third guide rail 312 mainly plays the drive linkage effect with third slider 314 sliding fit.

Wherein, the second slide block 313 is provided with two pairs and is respectively connected with the jaw framework 32 of the upper clamp and the lower clamp, and the third slide block 314 is arranged on the rack 315. Specifically, the rack 315 includes a rack i and a rack ii, the rack i and the rack ii are respectively located on two sides of the centering gear 316, the rack i and the rack ii are both meshed with the centering gear 316, the rack i and the rack ii are arranged in parallel, the rack i is connected with the jaw framework 32 of the upper clamp through a connecting plate, the rack ii is connected with the jaw framework 32 of the lower clamp through another connecting plate, one of the rack i and the rack ii is connected with a piston rod of the second cylinder 37 to obtain power, the second cylinder 37 drives the rack i and the rack ii to do linear motion, and opening or closing of the jaws is further realized.

As shown in fig. 5, guide holes are respectively disposed on the support plate 33 and the jaw framework 32, the spring 35 is sleeved on the guide shaft 34, the guide shaft 34 penetrates through the guide holes, the support plate 33 is movably mounted on the jaw framework 32 through the cooperation of the guide shaft 34 and the guide holes, the support plate 33 can freely slide on the guide shaft 34, and both sides of the support plate 33 are in contact with the spring 35 to ensure that the support plate 33 can smoothly reset after moving. When the chuck comes to get the material, probably fix a position inaccurate and produce the skew, collide tubular product, backup pad 33 can slide along guiding axle 34, can effectively avoid producing the influence to the chuck precision.

The bearing support 36 is arranged on the jaw framework 32, the bearing 361 is rotatably arranged on the bearing support 36, and the support plate 33 is in sliding contact with the bearing 361 to ensure that the support plate 33 moves smoothly.

In order to facilitate the positioning of the pipes, preferably, the two end surfaces of the jaw mounting plate 31 are provided with positioning plates 38, the positioning plates 38 are provided with detection switches, and when the detection switches detect the pipes, the mechanical arms stop moving forward, so as to ensure that the positioning is consistent when the multiple pipe feeding mechanical arm devices act simultaneously.

Further, in order to lock the pipe and prevent the pipe from falling out of the jaw portion 3 when the device is used, the clamp includes a locking assembly, the locking assembly includes a third cylinder 392, a guide sleeve 391 and a locking pin 39, the third cylinder 392 is fixed on the guide sleeve 391, a piston rod of the third cylinder 392 passes through the guide sleeve 391 and is connected with the locking pin 39, the locking pin 39 can freely shuttle in the guide sleeve 391, the locking assembly is located in the jaw framework 32, and a kidney-shaped hole matched with the locking pin 39 in position is arranged on the support plate 33, so that the support plate does not interfere with the protruding locking pin guide sleeve when sliding. When the jaws are closed and a tube is clamped, the second cylinder 37 drives the locking pin 39 to extend and lock the tube, so that the tube does not come out of the jaw portion 3 when the manipulator device is operated.

Preferably, the supporting plate 33 is fixedly connected with the polyurethane pad 331, and the polyurethane pad 331 can effectively improve the friction force after the jaw portion 3 clamps the pipe, so that the pipe is safely and reliably conveyed.

The invention is described in further detail below by means of specific examples:

as shown in fig. 1 to 6, when the length of the tube is relatively long, the system determines that all the manipulator feeding devices need to operate, the rod cavity of the first cylinder 21 in the clutch part 2 needs to be ventilated to ensure that the clutch plate 23 cannot be disengaged from the clutch block 25, the synchronous belt 13 rotates and drives the manipulator 12 to move forward through the clutch part 2, the manipulator 12 drives the jaw part 3 to move forward, when the tube contacts the positioning plate 38, the detection switch detects the tube, the synchronous belt 13 stops moving, the manipulator 12 stops moving forward, the jaw part 3 starts to operate, the second cylinder 37 drives the rack 315 to move and drives the jaw framework 32 to move relatively, the support plate 33 and the polyurethane pad 331 move along with the rack and clamp the tube, and at this time, the third cylinder 392 drives the locking pin 39 to extend and lock the tube, so that when the manipulator operates, the pipe does not fall off the jaw 3.

The mechanical arm 12 continues to drive the jaw part 3 to move, the pipe is conveyed to the center position of the chuck of the host machine, at the moment, the chuck moves and clamps the pipe, the chuck can be positioned inaccurately and generates the problems of deviation and the like, the pipe is collided, the support plate 33 slides along the guide shaft 34, the position of the pipe is automatically adjusted, and the influence on the precision of the chuck can be effectively avoided.

When the chuck clamps the pipe and the idler pulls the pipe, the third cylinder 392 drives the locking pin 39 to retract into the guide sleeve 391. The second cylinder 37 is provided with a rod cavity for ventilation and drives the rack 315 to move reversely, the jaw framework 32 moves the jaws to open, the mechanical arm 12 drives the jaw part 3 to retract to the initial position, if the position deviation occurs in the chuck clamping process, the supporting plate 33 returns to the original position along the guide shaft 34 under the action of the spring 35 in the jaw opening process, and the feeding process is finished.

When the length of the pipe is short, the system needs to judge that a plurality of mechanical arms need to extend out and give instructions, and mechanical arm units which do not need to act need to be ventilated at the rodless cavity of the first cylinder 21 in the clutch part 2, so that the clutch plate 23 is ensured to be separated from the clutch block 25 and enter the clutch limiting block 26, the mechanical arm 12 is locked, and the jaw part 3 cannot move, and therefore the consistency of the positions of the mechanical arm device and other mechanical arm devices can be effectively ensured when the mechanical arm device acts again. When the clutch part 2 of the manipulator device is disengaged, other manipulator devices move forwards together and clamp materials, and the actions are repeated.

The utility model provides a tubular product pay-off manipulator device can conveniently transport tubular product to the chuck center from dividing the material portion through a plurality of manipulator units concerted action, wherein every manipulator unit's manipulator all is connected or breaks off through separation and reunion portion 2 and drive unit, during the operation, can adjust the use quantity of manipulator unit according to the length of tubular product, long tubular product adopts a plurality of manipulator units to transport in coordination, short tubular product can only be transferred partial manipulator unit and carry out the centre gripping transportation to tubular product, tubular product pay-off manipulator device's adaptability to tubular product length has been guaranteed.

In addition, the jaw part 3 of each manipulator unit is provided with a liftable upper clamp and a liftable lower clamp, so that the device can be suitable for pipes with different pipe diameters.

Meanwhile, the supporting plate 33 can be movably arranged on the clamping surfaces of the upper clamp and the lower clamp, so that the adaptability of the clamp is enhanced, the position of the pipe can be self-adjusted to a certain degree, the phenomenon that the pipe is damaged due to inaccurate positioning and deviation of a chuck when the device is used for butting the chuck is avoided, and the quality of the pipe is ensured.

Although the present invention has been described in detail by referring to the drawings in conjunction with the preferred embodiments, the present invention is not limited thereto. Various equivalent modifications or substitutions can be made on the embodiments of the present invention by those skilled in the art without departing from the spirit and substance of the present invention, and these modifications or substitutions are intended to be within the scope of the present invention/any person skilled in the art can easily conceive of changes or substitutions within the technical scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. The utility model provides a tubular product pay-off manipulator device which characterized in that: the manipulator unit comprises a manipulator fixing part (1), a jaw part (3) and a clutch part (2);

the manipulator fixing part (1) comprises a fixing frame (11), a mechanical arm (12) and a driving unit, the mechanical arm (12) is slidably mounted on the fixing frame (11), the mechanical arm (12) is connected or disconnected with the driving unit through a clutch part (2), and the end part of the mechanical arm (12) is connected with the jaw part (3);

the jaw part (3) comprises a jaw mounting plate (31) and a clamp, the clamp comprises an upper clamp and a lower clamp, the upper clamp and the lower clamp are respectively installed on the jaw mounting plate (31) in a lifting mode, and movable supporting plates (33) are respectively installed on the clamping surfaces of the upper clamp and the lower clamp.

2. The tube feeding robot device according to claim 1, characterized in that: the clutch part (2) comprises a first cylinder (21), a clutch plate (23), a clutch guide seat (24), a clutch block (25) and a clutch limiting block (26);

the clutch guide seat (24) is fixedly arranged on the side surface of the mechanical arm (12), a first through notch is formed in the clutch guide seat (24), the middle part of the clutch plate (23) is hinged with the clutch guide seat (24), and the clutch plate (23) is arranged in the first notch;

one end of the clutch plate (23) is hinged with a piston rod of a first cylinder (21) through a connecting piece, and the first cylinder (21) is hinged with the mechanical arm (12) through a bracket (16);

the clutch block (25) is buckled on the synchronous belt (13), the clutch block (25) is provided with a second notch matched with the clutch plate (23), and the first notch and the second notch are correspondingly arranged;

the clutch limiting block (26) is fixedly connected with the fixing frame (11), and the clutch limiting block (26) is provided with a third notch matched with the clutch plate (23);

when the free end of the clutch plate (23) is positioned in the second notch, the clutch part (2) is closed; when the free end of the clutch plate (23) is positioned in the third notch, the clutch part (2) is disengaged.

3. The tube feeding robot device according to claim 2, characterized in that: clutch portion (2) are including separation and reunion baffle (29), separation and reunion baffle (29) set up the side at separation and reunion guide holder (24), separation and reunion baffle (29) are located separation and reunion piece (25) and keep away from one side of mount (11), separation and reunion baffle (29) and separation and reunion piece (25) contact.

4. The tube feeding robot device according to claim 2, characterized in that: the drive unit comprises a synchronous belt (13), a rotating shaft and a driving motor, the synchronous belt (13) is installed on the fixing frame (11) through a plurality of rotating shafts, the driving motor is connected with one of the rotating shafts, and the mechanical arm (12) is connected or disconnected with the synchronous belt (13) through the clutch part (2).

5. The tube feeding robot device according to claim 4, wherein: the manipulator fixing part (1) comprises a first guide rail (14) and a first sliding block (15), the first guide rail (14) is installed on the fixed frame (11), and the mechanical arm (12) is installed on the first guide rail (14) in a sliding mode through the first sliding block (15).

6. The tube feeding robot device according to any one of claims 1 to 5, characterized in that: the clamp is including keeping silent skeleton (32), guiding axle (34) and spring (35), be provided with the guiding hole on backup pad (33) and the skeleton (32) of keeping silent respectively, spring (35) suit is on guiding axle (34), the guiding hole is passed in guiding axle (34), backup pad (33) are movably installed on the skeleton (32) of keeping silent through the cooperation of guiding axle (34) and guiding hole, the both sides of backup pad (33) all contact with spring (35).

7. The tube feeding robot device according to claim 6, wherein: the clamp comprises a bearing support (36) and a bearing (361), the bearing support (36) is arranged on the jaw framework (32), the bearing (361) is rotatably arranged on the bearing support (36), and the supporting plate (33) is in sliding contact with the bearing (361).

8. The tube feeding robot device according to claim 6, wherein: the jaw mounting plate (31) comprises a second guide rail (311), a third guide rail (312), a second sliding block (313), a third sliding block (314), a rack (315), a centering gear (316) and a second air cylinder (37);

the second guide rail (311) is arranged on one surface, close to the clamp, of the jaw mounting plate (31), the third guide rail (312) is arranged on one surface, away from the clamp, of the jaw mounting plate (31), the second guide rail (311) is in sliding fit with the second sliding block (313), and the third guide rail (312) is in sliding fit with the third sliding block (314);

the second sliding block (313) is arranged on jaw frameworks (32) of the upper clamp and the lower clamp respectively, the third sliding block (314) is arranged on a rack (315), two racks (315) are arranged, the two racks (315) are arranged on two sides of a centering gear (316) in parallel, the racks (315) are meshed with the centering gear (316), the two racks (315) are connected with the jaw frameworks (32) of the upper clamp and the lower clamp respectively through connecting plates, and one rack (315) is connected with a piston rod of a second cylinder (37).

9. The tube feeding robot device according to claim 6, wherein: and positioning plates (38) are arranged on two end faces of the jaw mounting plate (31).

10. The tube feeding robot device according to claim 6, wherein: the clamp comprises a locking assembly, the locking assembly comprises a third cylinder (392), a guide sleeve (391) and a locking pin (39), the third cylinder (392) is fixed on the guide sleeve (391), a piston rod of the third cylinder (392) penetrates through the guide sleeve (391) to be connected with the locking pin (39), the locking assembly is located in a jaw framework (32), and a kidney-shaped hole matched with the locking pin (39) in position is formed in a supporting plate (33).