Multifunctional manipulator for spool

Abstract

The invention relates to a spool multifunctional manipulator which comprises a disc grabbing manipulator main board, a clamping jaw mechanism, at least one centering mechanism, at least one disc pressing mechanism, at least one visual positioning mechanism and a spool grabbing inductive switch, the clamping jaw mechanism is installed on the disc grabbing manipulator main board, and the clamping jaw mechanism comprises two sets of side edge clamping jaw clamping mechanisms; each group of side clamping jaw mechanism comprises a first executing mechanism, a first guide rod, a first linkage rod and at least one first clamping jaw, the first executing mechanism controls the first linkage rod through the first guide rod to drive the first clamping jaw to move, the centering mechanism is mounted below the disc grabbing manipulator main plate, and the centering mechanism comprises a second executing mechanism and a centering shaft head; the plate pressing mechanism is installed below the plate grabbing mechanical arm main plate, and the visual positioning mechanism is installed below the plate grabbing mechanical arm main plate. The device has multiple purposes and can be used for visually photographing, grabbing the spool, grabbing the partition plate and removing the partition plate attached to the bottom of the spool when the spool is grabbed.

Description

Technical Field

[0001] The invention relates to a manipulator structure, in particular to an I-shaped wheel multifunctional manipulator for stacking and unstacking I-shaped wheels. Background Art

[0002] The finished I-shaped wheels after the steel cord winding is completed will be stacked in a certain order, generally from top to bottom. During the stacking process, each layer of I-shaped wheels will generally be separated by partitions to separate the I-shaped wheels and ensure the stability of the stacking.

[0003] Subsequently, it is necessary to test various indicators of these finished I-shaped wheels, such as the arc height detection of the steel cord, the straightness of the steel cord, the residual torsion of the steel cord, etc. The finished I-shaped wheels stacked together need to be destackered and transported to the conveyor belts of various testing points. The tested finished I-shaped wheels will also be arranged in a fixed position in a certain order, and then transported to the designated position for stacking.

[0004] Traditionally, workers use a crane to lift and depalletize the goods. This is a time-consuming and labor-intensive manual operation that also poses a safety hazard. In addition, only one I-shaped wheel can be lifted at a time, which is inefficient and cannot be fully automated. Summary of the invention

[0005] In order to solve the problems of time-consuming, labor-intensive, low-efficiency and poor safety in traditional palletizing and stacking transportation, the present invention proposes an I-wheel multifunctional manipulator to solve this problem.

[0006] A multifunctional manipulator for an I-shaped wheel comprises a mainboard of a grabbing manipulator, a claw mechanism, at least one centering mechanism, at least one pressure plate mechanism, at least one visual positioning mechanism and an induction switch for grabbing an I-shaped wheel, wherein the claw mechanism is installed on the mainboard of the grabbing manipulator, and the claw mechanism comprises two groups of side claw clamping mechanisms, which are arranged on both sides of the bottom edge of the I-shaped wheel to be grabbed and are arranged in parallel, and each group of side claw mechanisms comprises a first actuator, a first guide rod, a first linkage rod and at least one first claw, and the first actuator controls the first linkage rod through the first guide rod to drive the first claw to move to achieve the gripping and loosening of the edge of the I-shaped wheel to be grabbed, and the first claw is L-shaped, and each first claw corresponding to the two groups of side claw clamping mechanisms constitutes a station to be grabbed of the I-shaped wheel, and the The centering mechanism is installed below the main board of the grabbing robot, and the centering mechanism includes a second actuator and a centering shaft head. The centering shaft head is fixed on the protruding end of the protruding rod of the second actuator, and the centering shaft head is facing the center hole of the bottom surface of the I-shaped wheel to be grasped. The pressure plate mechanism is installed below the main board of the grabbing robot, and the pressure plate mechanism includes a fixed rod, a telescopic rod that is telescoped in the fixed rod but does not slide out, a frustum part and a pressure plate part. One end of the fixed rod is fixedly connected to the main board of the grabbing robot, and the frustum part is fixed on the outer circle of the other end. The pressure plate part is fixed at one end of the telescopic rod away from the fixed rod, and a first spring is provided between the frustum part and the pressure plate part. The telescopic rod is facing the bottom surface of the I-shaped wheel to be grasped but avoids the center hole of the I-shaped wheel to be grasped. The visual positioning mechanism is installed below the main board of the grabbing robot.

[0007] In order to be able to move or put on the partition, at least one suction cup mechanism is also included. The suction cup mechanism is installed under the grabbing robot main board. The suction cup mechanism includes a connecting rod, a suction cup and a grabbing partition sensing switch. The connecting rod passes through the grabbing robot main board and can slide on the grabbing robot main board but will not slide out. The other end of the connecting rod is connected to the suction cup, and a second spring is provided between the suction cup and the grabbing robot main board.

[0008] When the I-shaped wheel is grabbed, if the partition at the bottom of the I-shaped wheel is lifted up and cannot be removed, in order to remove the partition, a partition mechanism is also included. The partition mechanism is installed under the main board of the grabbing robot. The partition mechanism includes a partition sensing switch and a partition device. The partition sensing switch and the partition mechanism must be staggered and cannot overlap with the bottom surface of the I-shaped wheel to be grabbed. The partition device is a cylinder or a rigid chain telescopic mechanism.

[0009] Further, as a preference, each set of side claw clamping mechanisms includes four first claws, and the four first claws are installed on the first linkage rod. The four first claws corresponding to the two sets of side claw clamping mechanisms constitute the four I-shaped wheels' waiting-to-grasp stations, there are four centering mechanisms, eight pressure plate mechanisms, and four suction cup mechanisms, and each waiting-to-grasp station corresponds to two first claws, one centering mechanism, two pressure plate mechanisms, and one suction cup mechanism.

[0010] Further, as a preference, the claw mechanism also includes two groups of intermediate claw clamping mechanism groups located in the middle of the main board of the grabbing manipulator, the two groups of intermediate claw clamping mechanism groups are arranged in parallel and are also arranged in parallel with the two groups of side claw clamping mechanisms, each group of intermediate claw clamping mechanism groups includes two intermediate claw clamping mechanisms arranged opposite to each other and the working directions of the two intermediate claw clamping mechanisms are in a straight line, each intermediate claw clamping mechanism includes a third actuator, a second guide rod, a second linkage rod and two second claws installed on the second linkage rod, the third actuator controls the second linkage rod through the second guide rod to drive the two second claws to move, the second claw is in an inverted T shape, and the first claw and the second claw, the second claw and the second claw, and the second claw and the first claw, which are adjacent in the parallel direction, each constitute an I-shaped wheel to be grasped station, totaling twelve I-shaped wheel to be grasped stations.

[0011] Specifically, there are two visual positioning mechanisms and they are respectively arranged in the middle of the two middle claw clamping mechanisms in the same group, there are twelve centering mechanisms, there are twenty-eight pressure plate mechanisms, and there are eight suction cup mechanisms. The grabbing stations of each I-shaped wheel on both sides of the parallel direction correspond to one centering mechanism, two pressure plate mechanisms and one suction cup mechanism respectively, and the grabbing stations of each I-shaped wheel in the middle of the parallel direction correspond to one centering mechanism and three pressure plate mechanisms respectively.

[0012] In order to adapt to different I-wheel center holes, a large sleeve for matching different I-wheel center holes is provided on the side of the extension rod of the second actuator close to the centering shaft. The large sleeve can slide on the extension rod, and a third spring is provided between the large sleeve and the second actuator.

[0013] Further, specifically, a safety grabbing limit switch is also provided on the mainboard of the grabbing robot.

[0014] The invention has the following benefits: (1) the device is a multi-purpose device, which can take visual photos, grab the I-shaped wheel, grab the partition, and remove the partition that is attached to the bottom of the I-shaped wheel when grabbing the I-shaped wheel. (2) the grabbed I-shaped wheel will not shake during transportation, and the transportation is more stable and safer. (3) twelve I-shaped wheels can be stacked and unstacked at one time, which is very efficient. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a front view of the I-shaped wheel multifunctional manipulator of the present invention grabbing the I-shaped wheel when removing the stack.

[0016] Figure 2 This is a left view of the I-shaped wheel multifunctional manipulator of the present invention grabbing the I-shaped wheel when removing the stack.

[0017] Figure 3 This is a top view of the I-shaped wheel multifunctional manipulator of the present invention grabbing the I-shaped wheel when removing the stack.

[0018] Figure 4 This is a front view of the I-shaped wheel multifunctional manipulator of the present invention releasing the I-shaped wheel.

[0019] Figure 5 This is a left view of the I-shaped wheel multifunctional manipulator of the present invention releasing the I-shaped wheel.

[0020] Figure 6 This is a top view of the I-shaped wheel multifunctional manipulator of the present invention releasing the I-shaped wheel.

[0021] Figure 7 yes Figure 4 A cross-sectional view of

[0022] Figure 8 This is the front view of the I-shaped wheel multifunctional manipulator sucking the partition plate of the present invention.

[0023] Fig. 9 This is a left view of the I-shaped wheel multifunctional manipulator suction partition of the present invention.

[0024] Fig.10 This is a top view of the I-shaped wheel multifunctional manipulator suction partition of the present invention.

[0025] Fig.11 This is a structural front view of the side claw clamping mechanism of the I-shaped wheel multifunctional manipulator of the present invention when grabbing the I-shaped wheel.

[0026] Fig.12 This is a structural front view of the side claw clamping mechanism of the I-shaped wheel multifunctional manipulator of the present invention when the I-shaped wheel is released.

[0027] Fig.13 This is a structural front view of the middle clamping mechanism of the I-shaped wheel multifunctional manipulator of the present invention when grasping the I-shaped wheel.

[0028] Fig.14 This is a structural front view of the middle clamping mechanism of the I-shaped wheel multifunctional manipulator of the present invention when the I-shaped wheel is released.

[0029] Fig.15 It is a left view of the structure of the side claw clamping mechanism and the middle claw clamping mechanism of the I-shaped wheel multifunctional manipulator of the present invention.

[0030] Fig.16 This is the original state diagram of the centering mechanism of the I-shaped wheel multifunctional manipulator of the present invention.

[0031] Fig.17 This is a state diagram of the large shaft sleeve of the centering mechanism of the I-shaped wheel multifunctional manipulator of the present invention extending into the center hole of the I-shaped wheel.

[0032] Fig.18 This is a state diagram of the centering shaft head of the centering mechanism of the I-shaped wheel multifunctional manipulator of the present invention extending into the center hole of the I-shaped wheel,

[0033] Fig.19 It is a structural schematic diagram of the pressure plate mechanism of the I-shaped wheel multifunctional manipulator of the present invention.

[0034] Fig. 20 It is a structural schematic diagram of the suction cup mechanism of the I-shaped wheel multifunctional manipulator of the present invention.

[0035] 1-grabbing robot main board; 2-first actuator, 3-first guide rod, 4-first linkage rod, 5-first claw, 6-second actuator, 7-centering shaft head, 8-visual positioning mechanism, 9-grabbing I-wheel induction switch, 10-fixing rod, 11-telescopic rod, 12-cone part, 13-pressure plate part, 14-first spring, 15-large shaft sleeve, 16-third spring, 17-safety grabbing limit switch, 18-connecting rod, 19-suction cup, 20-second spring, 21-partition opening induction switch, 22-partition opening device, 23-third actuator, 24-second guide rod, 25-second linkage rod, 26-second claw, 27-grabbing partition induction switch, 28-partition. DETAILED DESCRIPTION

[0036] 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.

[0037] Embodiment 1: A station to be grasped of an I-shaped wheel, a multifunctional manipulator for an I-shaped wheel, comprising a gripping manipulator mainboard 1, a clamping claw mechanism, a centering mechanism, two pressure plate mechanisms, a visual positioning mechanism 8 and a gripping I-shaped wheel induction switch 9, wherein the clamping claw mechanism is mounted on the gripping manipulator mainboard 1, and the clamping claw mechanism comprises two sets of side clamping claw clamping mechanisms, which are arranged on both sides of the bottom edge of the I-shaped wheel to be grasped and are arranged in parallel, and each set of side clamping claw mechanisms comprises a first actuator 2, The first guide rod 3, the first linkage rod 4 and a first claw 5, the first actuator 2 controls the first linkage rod 4 through the first guide rod 3 to drive the first claw 5 to move to achieve the gripping and loosening of the edge of the I-shaped wheel to be grasped, the first claw 5 is L-shaped, and each first claw 5 corresponding to the two sets of side claw clamping mechanisms constitutes a position to be grasped of the I-shaped wheel, the centering mechanism is installed below the main board 1 of the grabbing manipulator, the centering mechanism includes a second actuator 6 and a centering shaft head 7, and the centering shaft head 7 is fixed on the second actuator On the extended end of the extended rod of the structure 6, the centering shaft head 7 is right at the center hole of the bottom surface of the I-shaped wheel to be grasped, and the pressure plate mechanism is installed below the main board 1 of the grasping manipulator. The pressure plate mechanism includes a fixed rod 10, a telescopic rod 11 that is telescopic in the fixed rod 10 but does not slide out, a frustum portion 12 and a pressure plate portion 13. One end of the fixed rod 10 is fixedly connected to the main board 1 of the grasping manipulator, and the frustum portion 12 is fixed on the outer circle of the other end. The end of the telescopic rod 11 away from the fixed rod 10 is fixed to the pressure plate portion 13, and the frustum portion 12 and the pressure plate portion 13 are fixed. A first spring 14 is provided, and the telescopic rod 11 is facing the bottom surface of the I-wheel to be grasped but avoids the center hole of the I-wheel to be grasped, and the visual positioning mechanism 8 is installed below the main board 1 of the grabbing robot; a large shaft sleeve 15 for matching the center holes of different I-wheels is also provided on the side of the extension rod of the second actuator 6 close to the centering shaft head 7, and the large shaft sleeve 15 can slide on the extension rod 11, and a third spring 16 is provided between the large shaft sleeve 15 and the second actuator 6; a safety grasping limit switch 17 is also provided on the main board 1 of the grabbing robot.

[0038] Embodiment 2: Based on Embodiment 1, it further includes at least one suction cup mechanism, which is installed below the grabbing robot main board 1. The suction cup mechanism includes a connecting rod 18, a suction cup 19 and a grabbing partition sensing switch 27. The connecting rod 18 passes through the grabbing robot main board 1 and can slide on the grabbing robot main board 1 but will not slide out. The connecting rod 18 is perpendicular to the grabbing robot main board 1. The other end of the connecting rod 18 is connected to the suction cup 19. A second spring 20 is provided between the suction cup 19 and the grabbing robot main board 1.

[0039] Embodiment 3: On the basis of Embodiment 2, it also includes a partition mechanism, which is installed below the main board 1 of the grabbing robot. The partition mechanism includes a partition sensing switch 21 and a partition device 22. The partition sensing switch 21 and the partition device 22 need to be staggered and cannot overlap with the bottom surface of the I-shaped wheel to be grasped. The partition device 22 is a cylinder or a rigid chain telescopic mechanism.

[0040] Embodiment 4: Different from Embodiments 1, 2 and 3, here is a row of four I-shaped wheels to be grasped stations, each set of side claw clamping mechanisms includes four first claws 5, and the four first claws 5 are installed on the first linkage rod 4. The four first claws 5 corresponding to the two sets of side claw clamping mechanisms constitute the four I-shaped wheels to be grasped stations, there are four centering mechanisms, eight pressure plate mechanisms, and four suction cup mechanisms, and each station to be grasped corresponds to two first claws 5, one centering mechanism, two pressure plate mechanisms and one suction cup mechanism.

[0041] like Figure 1-20 As shown, Example 5: On the basis of Example 4, eight more I-shaped wheel waiting positions are added, with a total of twelve I-shaped wheel waiting positions. The claw mechanism also includes two groups of intermediate claw clamping mechanism groups located in the middle of the main board of the grabbing manipulator. The two groups of intermediate claw clamping mechanism groups are arranged in parallel and are also arranged in parallel with the two groups of side claw clamping mechanisms. Each group of intermediate claw clamping mechanism groups includes two intermediate claw clamping mechanisms arranged opposite to each other and the working directions of the two intermediate claw clamping mechanisms are in a straight line. Each intermediate claw clamping mechanism includes a third actuator 23, a second guide rod 24, a second linkage rod 25 and two second claws 26 installed on the second linkage rod 25. The third actuator 23 controls the second linkage rod 25 through the second guide rod 24 to drive the two second claws 26 to move. The second claws 26 It is in an inverted T shape, and the first claw 5 and the second claw 26, the second claw 26 and the second claw 26, and the second claw 26 and the first claw 5, which are adjacent in the parallel direction, each constitute an I-shaped wheel waiting to be grasped station, and there are a total of twelve I-shaped wheel waiting to be grasped stations; there are two visual positioning mechanisms 8 and they are respectively arranged in the middle of the two middle claw clamping mechanisms in the same group, there are twelve centering mechanisms, twenty-eight pressure plate mechanisms, and eight suction cup mechanisms, and each I-shaped wheel grasping station on both sides of the parallel direction corresponds to a centering mechanism, two pressure plate mechanisms and one suction cup mechanism, and the two pressure plate mechanisms and one suction cup mechanism are distributed in a herringbone shape here, and each I-shaped wheel grasping station in the middle of the parallel direction corresponds to a centering mechanism and three pressure plate mechanisms, and the three pressure plate mechanisms are also distributed in a herringbone shape.

[0042] Here is the working principle of Example 5: the I-shaped wheel multifunctional manipulator can be hoisted in a track that can automatically move up, down, left, right, front and back in the coordinate system. The stacked finished I-shaped wheels are also within the working range of the coordinate system. When the multifunctional manipulator moves to the top of the stacked finished I-shaped wheels, the visual positioning mechanism 8 starts to work and takes pictures. According to the visual feedback data, when the grabbing partition sensing switch 27 recognizes that there is a partition on the top of the I-shaped wheel, the I-shaped wheel multifunctional manipulator moves down, and uses eight suction cup mechanisms to suck the partition, and releases the partition 28 after moving to the specified position, and then returns to the top of the I-shaped wheel for destacking. At this time, the centering shaft head 7 of the centering mechanism is in a retracted state, and the I-shaped wheel multifunctional manipulator moves down, and uses the pressure plate mechanism to press the bottom surface of each I-shaped wheel respectively. At this time, the suction cup mechanism After the structure contacts the bottom surface of the I-wheel during the downward pressing process, it moves upward due to the action of the second spring 20, and the first actuator 2 and the third actuator 23 work, driving the first clamping claw 5 and the second clamping claw 26 to move and clamp the I-wheel, grabbing twelve I-wheels at one time and moving upward. If the partition 28 at the bottom of the I-wheel is lifted up by the I-wheel and does not fall off, the partition induction switch 21 will detect it and give a signal, and the protruding end of the partition device 22 will extend to knock off the partition 28. If the partition 28 at the bottom of the I-wheel is not lifted up by the I-wheel, the partition device 22 will not work, and it will go directly to the conveyor belt of a certain detection point. Because of the dual cooperation of the pressure plate mechanism and the clamping claw, the I-wheel will not shake or deviate during transportation. After transportation, the multifunctional manipulator will grab another group of I-wheels as needed. The wheel goes to other inspection points. When a finished I-wheel inspection point is inspected, the finished I-wheel will be sent to a fixed position. The fixed position here happens to be the flat position of twelve I-wheels with limit positions, and the arrangement is exactly the same as the position of the multifunctional manipulator to be used to grab the I-wheel. The I-wheel multifunctional manipulator moves to the top of this place and then moves down, and uses the pressure plate mechanism to press the bottom surface of each I-wheel respectively. At this time, the suction cup mechanism contacts the bottom surface of the I-wheel during the downward pressing process and moves upward due to the action of the second spring 20. At this time, the extended end of the second actuator 6 extends out to drive the centering shaft head 7 to extend into the center hole of the I-wheel to be grabbed for centering. The first actuator 2 and the third actuator 23 work, driving the first clamping claw 5 and the second clamping claw 26 to move and clamp the I-wheel, and then The multifunctional I-wheel manipulator drives twelve I-wheels to move to the top of the partition 28 at the stacking location. The visual positioning mechanism 8 takes a photo of the partition 28 and feeds back the data before stacking. The centering mechanism makes the placement of the I-wheel for stacking more accurate. If the center hole of the I-wheel is smaller and slightly larger than the diameter of the centering shaft head 7, the centering shaft head 7 of the centering mechanism is just inserted into the center hole of the I-wheel, and the large shaft sleeve 15 moves up under the action of the third spring 16. If the center hole of the I-wheel is slightly larger than the diameter of the large shaft sleeve 15, then the large shaft sleeve 15 is inserted into the center hole of the I-wheel. It is worth mentioning here that when the partition sensing switch 27 and the I-wheel sensing switch 9 fail to work, the safety grasping limit switch 17 is actuated, a signal is given, and the machine stops automatically, which plays a protective role.

[0043] The above are only preferred specific implementation modes of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical solutions and inventive concepts of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A multifunctional I-shaped wheel manipulator, characterized in that: It includes a main board of a grabbing manipulator, a claw mechanism, at least one centering mechanism, at least one pressure plate mechanism, at least one visual positioning mechanism and an I-shaped wheel grabbing induction switch. The claw mechanism is installed on the main board of the grabbing manipulator. The claw mechanism includes two groups of side claw clamping mechanisms. The two groups of side claw clamping mechanisms are arranged on both sides of the bottom edge of the I-shaped wheel to be grabbed and are arranged in parallel. Each group of side claw mechanisms includes a first actuator, a first guide rod, a first linkage rod and at least one first claw. The first actuator controls the first linkage rod through the first guide rod to drive the first claw to move to achieve the gripping and loosening of the edge of the I-shaped wheel to be grabbed. The first claw is L-shaped. Each first claw corresponding to the two groups of side claw clamping mechanisms constitutes a station to be grabbed of the I-shaped wheel. The centering mechanism is installed Below the main board of the grabbing robot, the centering mechanism includes a second actuator and a centering shaft head, the centering shaft head is fixed on the protruding end of the protruding rod of the second actuator, the centering shaft head is facing the center hole of the bottom surface of the I-shaped wheel to be grasped, and the pressure plate mechanism is installed below the main board of the grabbing robot. The pressure plate mechanism includes a fixed rod, a telescopic rod that telescopes inside the fixed rod but does not slide out, a frustum part and a pressure plate part. One end of the fixed rod is fixedly connected to the main board of the grabbing robot, and the frustum part is fixed on the outer circle of the other end. The pressure plate part is fixed at one end of the telescopic rod away from the fixed rod, and a first spring is provided between the frustum part and the pressure plate part. The telescopic rod is facing the bottom surface of the I-shaped wheel to be grasped but avoids the center hole of the I-shaped wheel to be grasped, and the visual positioning mechanism is installed below the main board of the grabbing robot.

2. The multifunctional I-shaped wheel manipulator according to claim 1 is characterized in that: It also includes at least one suction cup mechanism, which is installed under the grabbing robot main board. The suction cup mechanism includes a connecting rod, a suction cup and a grabbing partition sensing switch. The connecting rod passes through the grabbing robot main board and can slide on the grabbing robot main board but will not slide out. The other end of the connecting rod is connected to the suction cup, and a second spring is provided between the suction cup and the grabbing robot main board.

3. The multifunctional I-shaped wheel manipulator according to claim 2 is characterized in that: It also includes a partition mechanism, which is installed below the main board of the grabbing robot. The partition mechanism includes a partition sensing switch and a partition device. The partition sensing switch and the partition device must be staggered and cannot overlap with the bottom surface of the I-shaped wheel to be grasped. The partition device is a cylinder or a rigid chain telescopic mechanism.

4. The multifunctional I-shaped wheel manipulator according to claim 3 is characterized in that: Each set of side claw clamping mechanisms includes four first claws, and the four first claws are installed on the first linkage rod. The four first claws corresponding to the two sets of side claw clamping mechanisms constitute the waiting-to-grasp stations of four I-shaped wheels. There are four centering mechanisms, eight pressure plate mechanisms, and four suction cup mechanisms. Each waiting-to-grasp station corresponds to two first claws, one centering mechanism, two pressure plate mechanisms, and one suction cup mechanism.

5. The multifunctional I-shaped wheel manipulator according to claim 4 is characterized in that: The clamping mechanism also includes two groups of intermediate clamping mechanism groups located in the middle of the main board of the grabbing manipulator. The two groups of intermediate clamping mechanism groups are arranged in parallel and are also arranged in parallel with the two groups of side clamping mechanisms. Each group of intermediate clamping mechanism groups includes two intermediate clamping mechanisms arranged opposite to each other and the working directions of the two intermediate clamping mechanisms are in a straight line. Each intermediate clamping mechanism includes a third actuator, a second guide rod, a second linkage rod and two second clamping claws installed on the second linkage rod. The third actuator controls the second linkage rod through the second guide rod to drive the two second clamping claws to move. The second clamping claw is in an inverted T shape. The first clamping claw and the second clamping claw, the second clamping claw and the second clamping claw, and the second clamping claw and the first clamping claw, which are adjacent in the parallel direction, constitute an I-shaped wheel waiting to be grasped station, totaling twelve I-shaped wheel waiting to be grasped stations.

6. The multifunctional I-shaped wheel manipulator according to claim 5, characterized in that: There are two visual positioning mechanisms, which are respectively arranged in the middle of the two middle claw clamping mechanisms in the same group. There are twelve centering mechanisms, twenty-eight pressure plate mechanisms, and eight suction cup mechanisms. The grabbing stations of each I-shaped wheel on both sides of the parallel direction correspond to one centering mechanism, two pressure plate mechanisms and one suction cup mechanism respectively, and the grabbing stations of each I-shaped wheel in the middle of the parallel direction correspond to one centering mechanism and three pressure plate mechanisms respectively.

7. The multifunctional I-shaped wheel manipulator according to claim 6, characterized in that: A large sleeve for matching the center holes of different spools is also provided on the side of the extension rod of the second actuator close to the centering shaft. The large sleeve can slide on the extension rod, and a third spring is provided between the large sleeve and the second actuator.

8. The multifunctional I-shaped wheel manipulator according to claim 7 is characterized in that: The main board of the grabbing manipulator is also provided with a safety grabbing limit switch.

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