An intelligent inspection robot for coal conveyor belt tracks

Abstract

The present invention relates to the field of robot technology, and specifically to an intelligent inspection robot for coal conveyor belt tracks, comprising a robot body and a heat dissipation hole opened on one side of the upper end of the robot body, the top of the robot body is rotatably connected to a mechanical arm, the top of the mechanical arm is fixedly connected to a first motor, the output shaft of the first motor passes through the mechanical arm and is fixedly sleeved with a connecting frame, the connecting frame is rotatably connected to the mechanical arm, one end of the connecting frame is fixedly connected to a second motor, the output shaft of the second motor passes through the connecting frame and is fixedly sleeved with a fixed rod, the lower end of the fixed rod is fixedly connected to a circular gear, one side of the circular gear is meshed with a gear set, one end of the gear set is provided with a clamping assembly, and the clamping assembly is used to clamp debris. Compared with the prior art, the present application can walk in a mine with a relatively rugged road surface, which is conducive to the robot body for inspection, the clamping assembly moves to clamp debris, reduces the workload of the staff, and maintains the use of the belt track system.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to an intelligent inspection robot for coal conveyor belt tracks. Background Art

[0002] Based on OCR and image recognition capabilities, the inspection robot can simulate professional manual operations, and perform inspection operations such as click recognition and inspection in various scenarios of the multi-level pages of the entire site and the entire process of financial transactions. It can realize automatic inspection and monitoring of APP pages, and continuously check core functional processes such as APP transactions, marketing activities, and account security 24 hours a day.

[0003] In the prior art, a Chinese patent with the announcement number CN206542117U proposes an inspection robot, which is provided with a manipulator that can complete tasks such as gripping, pulling and rotating, so as to conveniently and quickly inspect the power transmission line. In addition, the inspection robot can fly to the periphery of the power transmission line to be inspected through a flying mechanism and then land on the power transmission line, and make the walking wheels fall on the power transmission line to walk along the power transmission line to inspect the power transmission line. In this way, the inspection robot can automatically complete different tasks such as the inspection robot going online and offline, and inspection, thereby avoiding safety hazards and improving the inspection efficiency. However, in actual application, there are still some problems. The above-mentioned inspection robot needs to be used in a relatively open area when in use, while the coal conveyor belt track is used not only in a relatively open outdoor area, but also in mines with limited space. It is difficult to use a flying robot for inspection, and the use length of the coal conveyor belt track is mostly relatively long. During busy construction periods, the staff may fail to inspect the belt track in the mine in time. However, the maintenance of the belt is very important during use. The coal slag and other debris on the belt need to be cleaned in time, otherwise it is easy to cause problems affecting the coal transportation system. Therefore, we disclose an intelligent inspection robot for coal conveyor belt tracks. Summary of the invention

[0004] In view of this, the purpose of the present invention is to propose an intelligent coal conveyor belt track inspection robot to solve the problem of debris on the coal conveyor belt in the mine not being handled in time.

[0005] Based on the above-mentioned purpose, the present invention provides an intelligent inspection robot for coal conveyor belt tracks, comprising a robot body and a heat dissipation hole opened on one side of the upper end of the robot body, the top of the robot body is rotatably connected to a mechanical arm, the top of the mechanical arm is fixedly connected to a first motor, the output shaft of the first motor passes through the mechanical arm and is fixedly sleeved with a connecting frame, the connecting frame is rotatably connected to the mechanical arm, one end of the connecting frame is fixedly connected to a second motor, the output shaft of the second motor passes through the connecting frame and is fixedly sleeved with a fixing rod, the lower end of the fixing rod is fixedly connected to a circular gear, one side of the circular gear is meshed with a gear group, and one end of the gear group is provided with a clamping assembly, and the clamping assembly is used to clamp debris.

[0006] Preferably, the clamping assembly includes two grabbers rotatably connected to the gear group, the upper ends of the grabbers are rotatably connected to the first connecting rod and the second connecting rod, one end of the first connecting rod and the second connecting rod are rotatably connected to the connecting frame, a buffer assembly is provided in the middle of the grabber, a fastening screw is provided on one side of the upper end of the first connecting rod, and anti-slip teeth are provided on one side of the inner wall of the grabber.

[0007] Preferably, the buffer assembly includes two extrusion rods rotatably connected to the two grabbers, both ends of the extrusion rods are rotatably connected with hinges, one end of the hinge away from the extrusion rod is fixedly connected to the grabber, an oil pressure tank is movably sleeved between the two extrusion rods, a connecting pipe is fixedly connected to the middle of the lower end of the oil pressure tank, one end of the connecting pipe is fixedly connected to a storage box, the storage box is fixedly connected to the connecting frame, a spring is fixedly connected to the middle of the two extrusion rods, the spring is located in the oil pressure tank, and the oil pressure tank and the extrusion rods are both located between the two grabbers.

[0008] Preferably, one end of the connecting pipe is fixedly connected to a boosting pipe, the lower end of the storage box is fixedly connected to a guide block, the side of the guide block is V-shaped, the boosting pipe is located at the upper end of the middle part of the guide block, one end of the storage box is fixedly connected to two spring plates, one end of the two spring plates is fixedly connected to a pressure sensor, the pressure sensor and the connecting pipe are both inclined to the horizontal plane, the pressure sensor and the connecting pipe have the same inclination angle relative to the horizontal plane, and the pressure sensor is electrically connected to the robot body and the second motor.

[0009] Preferably, the gear set includes two gears of the same shape, one end of the gear set is fixedly connected to a connecting block, and the connecting block is rotatably connected to the grabber.

[0010] Preferably, one end of the first connecting rod passes through the connecting frame and is rotatably connected to the gear set.

[0011] Preferably, the inner wall of the grab card is provided with anti-slip edges, one end of the grab card is trapezoidal, and the upper and lower ends between the two grab cards are fixedly connected with folding sheets.

[0012] Preferably, a fourth motor is fixedly connected to one end of the robot body, and an output shaft of the fourth motor passes through the robot body and is fixedly sleeved with the robotic arm.

[0013] Preferably, the other end of the robot body is fixedly connected to a third motor, the output shaft of the third motor is fixedly connected to a rotating roller, and the outside of the rotating roller is sleeved with a belt group.

[0014] Preferably, one end of the belt assembly is fixedly sleeved with a track assembly, and the side surface of the track assembly is trapezoidal.

[0015] The present invention has the following beneficial effects: the robot body drives the mechanical arm to move for inspection, and the fourth motor can drive the mechanical arm to rotate, so that the mechanical arm can rotate according to the position of the debris, which is convenient for use. The side of the crawler group is trapezoidal, so that the crawler group can walk in a mine with a relatively rugged road surface, which is conducive to the robot body to perform inspection;

[0016] When debris is detected on the belt, the first motor drives the connecting frame to rotate, and the second motor drives the circular gear to rotate, so that the circular gear drives the clamping component to move and clamp the debris through the gear set, thereby reducing the workload of the staff and maintaining the use of the belt track system. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A schematic diagram of an embodiment of the present invention;

[0018] Figure 2 It is a schematic diagram of the three-dimensional structure of the connection between the third motor and the belt group of the present invention;

[0019] Figure 3 It is a schematic diagram of the three-dimensional structure of the connection between the second motor, the circular gear and the gear set of the present invention;

[0020] Figure 4 It is a schematic diagram of the three-dimensional structure of the connection of the connection frame, the grabber, the first connection rod and the second connection rod of the present invention;

[0021] Figure 5 It is a partially cutaway three-dimensional structural schematic diagram of the hydraulic box of the present invention;

[0022] Figure 6 It is a partially cutaway three-dimensional structural schematic diagram of a storage box of the present invention;

[0023] Figure 7 For the present invention Figure 5 The enlarged view of point A in the middle;

[0024] Figure 8 For the present invention Figure 6 Enlarged view of point B in the middle.

[0025] Legend:

[0026] 1. Robot body; 2. Robot arm; 3. Connecting frame; 4. First motor; 5. Second motor; 6. Circular gear; 7. Gear set; 8. Grab card; 9. First connecting rod; 10. Second connecting rod; 11. Storage box; 12. Hydraulic box; 13. Extrusion rod; 14. Connecting pipe; 15. Boosting pipe; 16. Guide block; 17. Shrapnel; 18. Pressure sensor; 19. Spring; 20. Folding sheet; 21. Third motor; 22. Belt set; 23. Track set; 24. Fourth motor; 25. Rotating roller; 26. Heat dissipation hole; 27. Fixing rod; 28. Fastening screw; 29. ​​Anti-skid tooth; 30. Articulated part. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] like Figures 1 to 8As shown, a coal conveyor belt track intelligent inspection robot includes a robot body 1 and a heat dissipation hole 26 opened on one side of the upper end of the robot body 1. The top of the robot body 1 is rotatably connected to a mechanical arm 2, and the top of the mechanical arm 2 is fixedly connected to a first motor 4. The output shaft of the first motor 4 passes through the mechanical arm 2 and is fixedly sleeved with a connecting frame 3. The connecting frame 3 is rotatably connected to the mechanical arm 2, and one end of the connecting frame 3 is fixedly connected to a second motor 5. The output shaft of the second motor 5 passes through the connecting frame 3 and is fixedly sleeved with a fixing rod 27. The lower end of the fixing rod 27 is fixedly connected to a circular gear 6, and a gear set 7 is meshed on one side of the circular gear 6. A gripping assembly is provided at one end of the gear set 7. The gripping assembly is used to grip debris. When in use, the robot The top of the body 1 is rotatably connected to the mechanical arm 2, so that the robot body 1 can drive the mechanical arm 2 to move, and a first motor 4 is fixedly connected through the top of the mechanical arm 2, and the output shaft of the first motor 4 passes through the mechanical arm 2 and is fixedly sleeved with a connecting frame 3, so that the first motor 4 can drive the connecting frame 3 to rotate, and a second motor 5 is fixedly connected through one end of the connecting frame 3, and the output shaft of the second motor 5 passes through the connecting frame 3 and is fixedly sleeved with a circular gear 6, one side of the circular gear 6 is meshed with a gear set 7, and a clamping component is provided at one end of the gear set 7, so that the second motor 5 can drive the circular gear 6 to rotate, so that the circular gear 6 drives the clamping component to move and clamp debris through the gear set 7, thereby reducing the workload of the staff and maintaining the use of the belt track system.

[0029] like Figure 3 Figure 5As shown, the clamping assembly includes two grabbers 8 rotatably connected to the gear set 7, the upper ends of the grabbers 8 are rotatably connected to the first connecting rod 9 and the second connecting rod 10, one end of the first connecting rod 9 and the second connecting rod 10 are rotatably connected to the connecting frame 3, a buffer assembly is provided in the middle of the grabber 8, a fastening screw 28 is provided on one side of the upper end of the first connecting rod 9, and an anti-slip tooth 29 is provided on one side of the inner wall of the grabber 8. The buffer assembly includes two extrusion rods 13 rotatably connected to the two grabbers 8, both ends of the extrusion rods 13 are rotatably connected to hinges 30, and one end of the hinge 30 away from the extrusion rods 13 is fixedly connected to the grabber 8, an oil pressure box 12 is movably sleeved between the two extrusion rods 13, and a connecting pipe 14 is fixedly connected to the middle of the lower end of the oil pressure box 12. One end of the connecting pipe 14 The end is fixedly connected with a storage box 11, and the storage box 11 is fixedly connected to the connecting frame 3. The middle parts of the two extrusion rods 13 are fixedly connected with a spring 19, and the spring 19 is located in the oil pressure box 12. The oil pressure box 12 and the extrusion rod 13 are both located between the two grabbers 8. The gear set 7 includes two gears of the same shape. One end of the gear set 7 is fixedly connected with a connecting block, and the connecting block is rotatably connected to the grabber 8. One end of the first connecting rod 9 passes through the connecting frame 3 and is rotatably connected to the gear set 7. The inner wall of the grabber 8 is provided with anti-slip teeth 29. One end of the grabber 8 is trapezoidal. The upper and lower ends of the two grabbers 8 are fixedly connected with a folding piece 20. The two grabbers 8 are rotatably connected by the gear set 7. The upper end of the grabber 8 is rotatably connected with the first connecting rod 9 and the second connecting rod 10. The first connecting rod 9 and one end of the second connecting rod 10 are both rotatably connected to the connecting frame 3, so that the two grabbers 8 move in opposite directions before clamping the debris. After the two grabbers 8 reach the debris position, the second motor 5 drives the grabber 8 to rotate in the opposite direction through the circular gear 6 and the gear set 7, so that the two grabbers 8 move toward each other to clamp the debris. Then the mechanical arm 2 drives the connecting frame 3 and the grabber 8 to move, picks up the debris and moves it to the debris placement place, puts the debris into the placement place, completes the cleaning of the belt debris, and ensures the operation of the belt system. The buffer component includes two extrusion rods 13 rotatably connected to the two grabbers 8, and an oil pressure box 12 is movably sleeved between the two extrusion rods 13. The middle part of the lower end of the oil pressure box 12 is fixedly connected to a connecting pipe 14, and one end of the connecting pipe 14 is fixedly connected to There is a storage box 11, which is fixedly connected to the connecting frame 3, so that when the two grab cards 8 move toward each other, they will drive the extrusion rod 13 to move toward the middle of the oil pressure box 12 to squeeze the hydraulic oil in the oil pressure box 12 into the storage box 11 through the connecting pipe 14, so that the grab cards 8 move toward each other more smoothly and stably, thereby making the success rate of the grab cards 8 to clamp debris higher, and the position after clamping is stable, and it is also difficult for the debris to fall during the movement after clamping, which is more practical. A spring 19 is fixedly connected through the middle of the two extrusion rods 13, and the spring 19 is located in the oil pressure box 12, so that the relative position of the two extrusion rods 13 and the oil pressure box 12 is more stable. The gear group 7 includes two gears of the same shape, and one end of the gear group 7 is fixedly connected to a connecting block.The connecting block is rotatably connected with the grabbing card 8, so that the gear set 7 can drive the two grabbing cards 8 to rotate in opposite directions. The inner wall of the grabbing card 8 is provided with anti-skid edges, and one end of the grabbing card 8 is trapezoidal, so that the grabbing card 8 is easier to clamp debris, and the friction between the grabbing card 8 and the debris is increased, so that the debris is not easy to fall. The upper and lower ends between the two grabbing cards 8 are fixedly connected with folding pieces 20, so that the folding pieces 20 can assist the grabbing card 8 to limit the position of the debris and reduce the occurrence of debris falling.

[0030] like Figures 5 to 7 As shown, one end of the connecting pipe 14 is fixedly connected to a boosting pipe 15, the lower end of the storage box 11 is fixedly connected to a guide block 16, the side of the guide block 16 is V-shaped, the boosting pipe 15 is located at the upper end of the middle of the guide block 16, one end of the storage box 11 is fixedly connected to two springs 17, one end of the two springs 17 is fixedly connected to a pressure sensor 18, the pressure sensor 18 and the connecting pipe 14 are both inclined to the horizontal plane, and the inclination angles of the pressure sensor 18 and the connecting pipe 14 relative to the horizontal plane are the same. The pressure sensor 18 is electrically connected to the robot body 1 and the second motor 5. A booster pipe 15 is fixedly connected to one end of the connecting pipe 14. A guide block 16 is fixedly connected to the lower end of the storage box 11. The side of the guide block 16 is V-shaped. The booster pipe 15 is located at the upper end of the middle of the guide block 16, so that the hydraulic oil can enter the connecting pipe 14 through the booster pipe 15 after being collected at the upper end of the guide block 16, and the flow rate of the hydraulic oil is reduced when it flows out through the booster pipe 15. Two spring pieces 17 are fixedly connected to the end, and one end of the two spring pieces 17 is fixedly connected to a pressure sensor 18. The pressure sensor 18 and the connecting pipe 14 are both inclined to the horizontal plane, and the inclination angle of the pressure sensor 18 and the connecting pipe 14 relative to the horizontal plane is the same. The pressure sensor 18 is electrically connected to the robot body 1, so that when the grab 8 suddenly increases the speed of its rotation towards each other, the extrusion rod 13 will increase the speed of squeezing the hydraulic oil in the oil pressure tank 12, so that when the hydraulic oil flows out of the booster pipe 15 through the connecting pipe 14, the pressure is relatively large, which will impact the outer wall of the pressure sensor 18, so that the pressure sensor 18 senses the pressure and transmits it to the robot body 1 and the second motor 5, so that the second motor 5 stops driving the grab 8 to rotate, avoids the two grabs 8 from colliding violently, causing damage to the grab 8, and prolongs the service life of the grab 8, and enables the robot body 1 to record, so that the staff can inspect and maintain the robot body 1 and the grab 8, and prolong the service life of the robot body 1.

[0031] like Figure 1 and Figure 2As shown, one end of the robot body 1 is fixedly connected to a fourth motor 24, the output shaft of the fourth motor 24 passes through the robot body 1 and is fixedly sleeved with the robot arm 2, the other end of the robot body 1 is fixedly connected to a third motor 21, the output shaft of the third motor 21 is fixedly connected to a rotating roller 25, the outer side of the rotating roller 25 is sleeved with a belt group 22, one end of the belt group 22 is fixedly sleeved with a crawler group 23, the side of the crawler group 23 is trapezoidal, and the fourth motor 24 is fixedly connected to one end of the robot body 1, the output shaft of the fourth motor 24 passes through the robot body 1 and is fixedly sleeved with the robot arm 2. The robot body 1 is fixedly sleeved with the mechanical arm 2, so that the fourth motor 24 can drive the mechanical arm 2 to rotate, and the third motor 21 is fixedly connected to the other end of the robot body 1, and the output shaft of the third motor 21 is fixedly sleeved with a belt group 22, and one end of the belt group 22 is fixedly sleeved with a track group 23, so that the third motor 21 drives the track group 23 to move through the belt group 22, and the side of the track group 23 is trapezoidal, so that the track group 23 can walk in a mine with a relatively rugged road condition, which is beneficial for the robot body 1 to perform inspections.

[0032] Working principle: When in use, the robot body 1 drives the mechanical arm 2 to move for inspection. When debris is detected on the belt, the first motor 4 drives the connecting frame 3 to rotate, and the second motor 5 drives the circular gear 6 to rotate, so that the circular gear 6 drives the gear set 7 to rotate the two connected grabbers 8, so that the two grabbers 8 move in opposite directions before clamping the debris. After the two grabbers 8 reach the debris position, the second motor 5 drives the grabber 8 to rotate in the opposite direction through the circular gear 6 and the gear set 7, so that the two grabbers 8 move towards each other to clamp the debris, and then the mechanical arm 2 drives The connecting frame 3 and the grab card 8 move, pick up the debris and move it to the debris placement, put the debris into the placement, complete the cleaning of the belt debris, and ensure the operation of the belt system. When the two grab cards 8 move toward each other, they will drive the extrusion rod 13 to move toward the middle of the oil pressure box 12 to squeeze the hydraulic oil in the oil pressure box 12 into the storage box 11 through the connecting pipe 14, so that the grab cards 8 move toward each other more smoothly and stably, thereby making the grab cards 8 have a higher success rate in clamping debris, and the position after clamping is stable, which also makes it difficult for debris to fall off during the movement after clamping, and has better practicality.

[0033] After the hydraulic oil is collected at the upper end of the guide block 16, it can enter the connecting pipe 14 through the boosting pipe 15, so that the flow rate of the hydraulic oil is reduced when it flows out through the boosting pipe 15. When the grab 8 suddenly increases the speed of its rotation towards each other, the squeezing rod 13 will increase the speed of squeezing the hydraulic oil in the oil pressure tank 12, so that when the hydraulic oil flows out of the boosting pipe 15 through the connecting pipe 14, the pressure is relatively high, and it impacts the outer wall of the pressure sensor 18, so that the pressure sensor 18 senses the pressure and transmits it to the robot body 1 and the second motor 5, so that the second motor 5 stops driving the grab 8 to rotate, avoiding the two grabs 8 from colliding violently and causing damage to the grab 8, thereby increasing the service life of the grab 8, and allowing the robot body 1 to record, so that the staff can inspect and maintain the robot body 1 and the grab 8, thereby increasing the service life of the robot body 1.

[0034] The fourth motor 24 can drive the robot arm 2 to rotate, so that the robot arm 2 can rotate according to the position of the debris, which is easy to use. The side of the track group 23 is trapezoidal, so that the track group 23 can walk in a mine with a relatively rugged road condition, which is beneficial for the robot body 1 to perform inspections.

[0035] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An intelligent inspection robot for coal conveyor belt tracks, characterized in that: include: A robot body (1) and a heat dissipation hole (26) provided on one side of an upper end of the robot body (1); A mechanical arm (2) rotatably connected to the top of the robot body (1); A first motor (4) is fixedly connected to the top end of the mechanical arm (2), and an output shaft of the first motor (4) passes through the mechanical arm (2); A connecting frame (3) fixedly connected to the output shaft of the first motor (4), the connecting frame (3) being rotationally connected to the mechanical arm (2); A second motor (5) is fixedly connected to one end of the connecting frame (3), and an output shaft of the second motor (5) passes through the connecting frame (3); A fixed rod (27) fixedly connected to the output shaft of the second motor (5), the lower end of the fixed rod (27) being fixedly connected to a circular gear (6); A gear set (7) meshing with one side of the circular gear (6); A gripping assembly, arranged at one end of the gear set (7) and used for gripping debris; The gripping assembly comprises two gripping cards (8) rotatably connected to the gear set (7); the upper ends of the gripping cards (8) are rotatably connected to a first connecting rod (9) and a second connecting rod (10); one end of each of the first connecting rod (9) and the second connecting rod (10) is rotatably connected to the connecting frame (3); a buffer assembly is provided in the middle of the gripping card (8); a fastening screw (28) is provided on one side of the upper end of the first connecting rod (9); and an anti-slip tooth (29) is provided on one side of the inner wall of the gripping card (8); The buffer assembly comprises two extrusion rods (13) rotatably connected to the two grabbers (8), both ends of the extrusion rods (13) are rotatably connected to hinges (30), one end of the hinge (30) away from the extrusion rods (13) is fixedly connected to the grabber (8), an oil pressure box (12) is movably sleeved between the two extrusion rods (13), a connecting pipe (14) is fixedly connected to the middle of the lower end of the oil pressure box (12), one end of the connecting pipe (14) is fixedly connected to a storage box (11), the storage box (11) is fixedly connected to the connecting frame (3), the middle of the two extrusion rods (13) are fixedly connected to a spring (19), the spring (19) is located in the oil pressure box (12), and the oil pressure box (12) and the extrusion rods (13) are both located between the two grabbers (8); One end of the connecting pipe (14) is fixedly connected to a boosting pipe (15); the lower end of the storage box (11) is fixedly connected to a guide block (16); the side surface of the guide block (16) is V-shaped; the boosting pipe (15) is located at the upper end of the middle part of the guide block (16); one end of the storage box (11) is fixedly connected to two spring plates (17); one end of the two spring plates (17) is fixedly connected to a pressure sensor (18); the pressure sensor (18) and the connecting pipe (14) are both arranged to be inclined relative to a horizontal plane; the pressure sensor (18) and the connecting pipe (14) have the same inclination angle relative to the horizontal plane; the pressure sensor (18) is electrically connected to the robot body (1) and the second motor (5).

2. The intelligent inspection robot for coal conveyor belt track according to claim 1 is characterized in that: The gear set (7) comprises two gears of the same shape, one end of the gear set (7) is fixedly connected to a connecting block, the connecting block is rotatably connected to the grab (8), one end of the first connecting rod (9) passes through the connecting frame (3) and is rotatably connected to the gear set (7), an anti-slip edge is provided on the inner wall of the grab (8), one end of the grab (8) is trapezoidal, and upper and lower ends between the two grabs (8) are fixedly connected to folding sheets (20), one end of the robot body (1) is fixedly connected to a fourth motor (24), an output shaft of the fourth motor (24) passes through the robot body (1) and is fixedly sleeved with the robot arm (2), the other end of the robot body (1) is fixedly connected to a third motor (21), the output shaft of the third motor (21) is fixedly connected to a rotating roller (25), the outer portion of the rotating roller (25) is sleeved with a belt set (22), one end of the belt set (22) is fixedly sleeved with a track set (23), and the side surface of the track set (23) is trapezoidal.

Images