A manipulator for a crawler plate automatic feeding robot

Abstract

The present invention discloses a manipulator for a track plate automatic feeding robot, which relates to the field of manipulators and comprises a processing device, wherein the top of the processing device is fixedly connected with a feeding port, the outer surface of the processing device is fixedly connected with a discharging end, the outer surface of the processing device is fixedly connected with a feeding plate, the bottom of the feeding plate is fixedly connected with a supporting frame, the outer surface of the feeding plate is fixedly connected with a temporary placing table, a side groove is provided on a side of the feeding plate close to the temporary placing table, a manipulator unit is fixedly connected with the inner wall of the side groove, the bottom of the feeding plate is fixedly connected with a driving device, the output end of the driving device is fixedly connected with a transmission crawler, and the top of the feeding plate is symmetrically provided with side blocking plates, the transmission crawler drives the material to move upward, and at the same time the manipulator mechanism will move synchronously with the material, and protect the material from being smoothly transmitted to the processing device, and clamp the material and put it into the feeding port for subsequent processing such as processing.

Description

Technical Field

[0001] The invention relates to the technical field of manipulators, in particular to a manipulator for a track plate automatic feeding robot. Background Art

[0002] It integrates advanced mechanical structure, intelligent control system and precise sensing technology. The mechanical structure is exquisitely designed, multiple joints can rotate flexibly, and the telescopic arm can extend freely, giving it a wide working space and excellent flexibility. It can easily cope with small spaces and long-distance operations. The intelligent control system is like its "brain", which accurately plans each step of the action based on programmable logic to adapt to the needs of different materials and feeding processes. Advanced sensing technology enables it to have "perception" capabilities. Through visual recognition and force sensors, it can accurately locate the position of materials and judge the grasping force to ensure stable grasping and safe transportation. This robot greatly improves the efficiency and quality of feeding, reduces labor costs, and brings higher benefits and competitiveness to industrial production.

[0003] In the process of automatic loading of track plates, robots are also needed to assist. Most existing robots are automated arms whose work is controlled by programs. When an inclined surface is required during the loading process, due to the influence of factors such as the material's own gravity shape and the surface of the track plate, there is a risk of the material slipping when the robot grabs the material for loading. Summary of the invention

[0004] In view of the deficiencies in the prior art, the technical solution adopted by the present invention to solve the technical problems is as follows: a manipulator for an automatic feeding robot for track plates described in the present invention comprises a processing device, the top of the processing device is fixedly connected with a loading port, the outer surface of the processing device is fixedly connected with a discharging end, the outer surface of the processing device is fixedly connected with a feeding plate, the bottom of the feeding plate is fixedly connected with a supporting frame, the outer surface of the feeding plate is fixedly connected with a temporary placing table, a side groove is provided on a side of the feeding plate close to the temporary placing table, a mechanical arm unit is fixedly connected to the inner wall of the side groove, the bottom of the feeding plate is fixedly connected with a driving device, the output end of the driving device is fixedly connected with a transmission crawler, the top of the feeding plate is symmetrically provided with side blocking plates, and the side blocking plates are located at both ends of the transmission crawler;

[0005] The mechanical arm unit includes a guide rod, the outer surface of the guide rod is slidably connected to a moving device, the top of the moving device is fixedly connected to a first mechanical arm, the top of the first mechanical arm is fixedly connected to a second mechanical arm, the end of the second mechanical arm away from the first mechanical arm is fixedly connected to a third mechanical arm, the outer surface of the third mechanical arm is fixedly connected to a telescopic rod 1, the top of the telescopic rod 1 is fixedly connected to a clamping mechanism, the outer surface of the first mechanical arm is fixedly connected to an anti-slip mechanism, the top of the moving device is fixedly connected to a support plate 1, and the side of the support plate 1 close to the transmission crawler is fixedly connected to a positioning camera 1;

[0006] The anti-slip mechanism includes a support block 1, an inner wall of the support block 1 is fixedly connected to a telescopic rod 2, an end of the telescopic rod 2 away from the support block 1 is fixedly connected to a support plate 2, the inner wall of the support plate 2 is symmetrically provided with side grooves, the outer surface of the side grooves is fixedly connected to a cleaning mechanism, the outer surface of the support plate 2 is fixedly connected to a telescopic rod 3, and an end of the telescopic rod 3 away from the support plate 2 is fixedly connected to a stop plate.

[0007] Preferably, both ends of the guide rod are fixedly connected to the outer surface of the side groove, and the outer surface of the support block 1 is fixedly connected to the outer surface of the first mechanical arm.

[0008] Preferably, the cleaning mechanism includes a telescopic spring 1, one end of which is fixedly connected to a sliding plate, the outer surface of the sliding plate is fixedly connected to a support plate 3, a brush 1 is evenly arranged on the bottom of the support plate 3, the top of the brush 1 is fixedly connected to the bottom of the support plate 3, a scratch plate is fixedly connected to the outer surface of the support plate 3, the inner wall of the support plate 2 is fixedly connected to an inner column, one end of the inner column is fixedly connected to an extrusion plate, the side of the extrusion plate away from the inner column is in contact with the outer surface of the support plate 3, and the bottom of the extrusion plate is fixedly connected to a poking plate.

[0009] Preferably, one end of the telescopic spring away from the sliding plate is fixedly connected to the outer surface of the side groove, and the outer surface of the sliding plate is slidably connected to the outer surface of the side groove.

[0010] Preferably, the clamping mechanism includes a rotating platform, the top of the rotating platform is fixedly connected to a support block 2, the outer surface of the rotating platform is fixedly connected to a support plate 4, the top of the support plate 4 is fixedly connected to a lighting lamp, clamping arm units are symmetrically arranged on both sides of the support block 2, and the outer surface of the support block 2 is fixedly connected to an auxiliary mechanism.

[0011] Preferably, the clamping arm unit includes a clamping plate, an inner groove is provided at one end of the clamping plate away from the supporting block 2, an anti-falling mechanism is evenly provided on the outer surface of the inner groove, a round tube is fixedly connected to the inner wall of the inner groove, a telescopic spring 2 is fixedly connected to the inner wall of the round tube, a magnetic column is fixedly connected to one end of the telescopic spring 2, and a positioning column is fixedly connected to one end of the magnetic column away from the telescopic spring 2.

[0012] Preferably, the anti-falling mechanism includes a rotating shaft three, the outer surface of the rotating shaft three is fixedly connected to a rotating column, the outer surface of the rotating column is evenly provided with rubber blocks, the inner wall of the rubber block is fixedly connected to a pressure sensor, the rotating column is evenly provided with circular holes on one side close to the positioning column, and the inner wall of the rotating column is fixedly connected to an electromagnetic plate.

[0013] Preferably, the bottom of the clamping plate is rotatably connected to the outer surface of the supporting block 2, and both ends of the rotating shaft 3 are fixedly connected to the outer surface of the inner groove.

[0014] Preferably, the auxiliary mechanism includes a fixed plate 1, the bottom of which is fixedly connected to the outer surface of the support block 2, the outer surface of the fixed plate 1 is fixedly connected to a telescopic rod 4, the outer surface of the telescopic rod 4 is fixedly connected to the fixed plate 2, the outer surface of the fixed plate 2 is fixedly connected to a servo motor, the output end of the servo motor is fixedly connected to a rotating rod, the outer surface of the rotating rod is fixedly connected to a toggle plate, and the bottom of the fixed plate 2 is fixedly connected to a cleaning mechanism.

[0015] Preferably, the cleaning mechanism includes a base plate, the top of the base plate is fixedly connected to the bottom of the fixed plate two, the outer surface of the base plate is rotatably connected to a rotating shaft one, one end of the rotating shaft one is fixedly connected to a disc one, the end of the rotating rod away from the servo motor is fixedly connected to a disc two, the inner wall of the base plate is rotatably connected to the rotating shaft two, one end of the rotating shaft two is fixedly connected to a disc three, the outer surface of the disc three is sleeved with a chain, and the outer surface of the rotating shaft two is fixedly connected to a brush two.

[0016] The beneficial effects of the present invention are as follows:

[0017] 1. The present invention sets an anti-slip mechanism, and the positioning camera 1 will be aimed at the transmitted material, and the moving device will move along the guide rod along with the material. When the material moves to the inclined plane and slides downward, the telescopic rod 2 will extend the support plate 2, so that the stop plate is in the center of the transmission crawler. When the material slides downward on the inclined plane, the stop plate will stop the material from falling, and the telescopic rod 3 will push the material back to its original position.

[0018] 2. The present invention is provided with a cleaning mechanism, and the scraper will scrape against the transmission track, thereby scraping off larger impurities on the transmission track, and at the same time, the brush will also brush off the dust on the transmission track, avoiding excessive slippage of the surface of the transmission track. When the support plate 2 moves to the bottom of the device and the transmission track stops rotating, the telescopic spring 1 will recover, which will drive the support plate 3 to collide with the extrusion plate, thereby causing the support plate 3 and the extrusion plate to vibrate, and at the same time, the poking plate also moves the brush 1 to make the dust and impurities on the scratch plate and the brush 1 fall off.

[0019] 3. The present invention sets a clamping arm unit and an auxiliary mechanism to assist the material in rotating. At this time, the rotating column and the rotating shaft three will also be driven to rotate, so as to make more rubber blocks contact with the material as much as possible, thereby increasing the clamping friction. When a certain number of rubber blocks are in contact with the outer surface of the material, the pressure sensor in the rubber block will transmit an electrical signal and make the electromagnet generate magnetic force, thereby adsorbing the magnetic column and making the positioning column enter the circular hole, thereby limiting the rotation of the rotating shaft three and the rotating column, so that the material is clamped stably.

[0020] 4. The present invention sets up a dust cleaning mechanism, which drives the rotating shaft 2 to rotate through the transmission of the disc 1, the disc 2, the disc 3 and the chain, so that the brush 2 brushes the positioning camera 2 to prevent dust from falling from the material and adhering to the positioning camera 2, thereby affecting the subsequent positioning of the object by the positioning camera 2 and causing the grasping failure. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural schematic diagram of the present invention.

[0022] Figure 2 It is a partial structural schematic diagram of the present invention.

[0023] Figure 3 It is a structural schematic diagram of the mechanical arm unit of the present invention.

[0024] Figure 4 It is a partial structural schematic diagram of the robot arm unit of the present invention.

[0025] Figure 5 It is a structural schematic diagram of the anti-slip mechanism of the present invention.

[0026] Figure 6 It is a structural schematic diagram of the cleaning mechanism of the present invention.

[0027] Figure 7 It is a partial structural schematic diagram of the cleaning mechanism of the present invention.

[0028] Figure 8 It is a structural schematic diagram of the clamping mechanism of the present invention.

[0029] Fig. 9It is a structural schematic diagram of the clamping arm unit of the present invention.

[0030] Fig.10 It is a structural schematic diagram of the anti-falling mechanism of the present invention.

[0031] Fig.11 yes Fig.10 Enlarged view of point A in the middle.

[0032] Fig.12 It is a structural schematic diagram of the auxiliary mechanism of the present invention.

[0033] Fig.13 It is a structural schematic diagram of the dust cleaning mechanism of the present invention.

[0034] Fig.14 It is a partial structural schematic diagram of the dust cleaning mechanism of the present invention.

[0035] In the figure: 1, processing device; 2, feeding port; 3, discharging end; 4, loading plate; 5, support frame; 6, side trough; 7, mechanical arm unit; 8, driving device; 9, transmission crawler; 10, temporary placement table; 11, side blocking plate; 71, guide rod; 72, moving device; 73, first mechanical arm; 74, second mechanical arm; 75, third mechanical arm; 76, telescopic rod 1; 77, clamping mechanism; 78, anti-slip mechanism; 79, support plate 1; 710, Positioning camera 1; 781, support block 1; 782, telescopic rod 2; 783, support plate 2; 784, side groove; 785, telescopic rod 3; 786, stop plate; 787, cleaning mechanism; 7871, telescopic spring 1; 7872, sliding plate; 7873, inner column; 7874, squeezing plate; 7875, support plate 3; 7876, brush 1; 7877, scratch plate; 7878, poking plate; 771, rotating platform; 772, support plate 4; 7 73, lighting lamp; 774, support block 2; 775, clamping arm unit; 776, positioning camera 2; 777, auxiliary mechanism; 7751, clamping plate; 7752, inner groove; 7753, anti-falling mechanism; 7754, round tube; 7755, telescopic spring 2; 7756, magnetic column; 7757, positioning column; 77531, rotating shaft 3; 77532, rotating column; 77533, rubber block; 77534, pressure sensor; 77535, round hole; 77536, electromagnetic plate; 7771, fixed plate one; 7772, telescopic rod four; 7773, fixed plate two; 7774, servo motor; 7775, rotating rod; 7776, toggle plate; 7777, dust cleaning mechanism; 77771, bottom plate; 77772, rotating shaft one; 77773, disc one; 77774, disc two; 77775, disc three; 77776, chain; 77777, rotating shaft two; 77778, brush two. DETAILED DESCRIPTION

[0036] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. The embodiments of the present invention are provided for the purpose of illustration and description, and are not intended to be exhaustive or to limit the present invention to the disclosed forms. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments are selected and described in order to better illustrate the principles and practical applications of the present invention, and to enable those of ordinary skill in the art to understand the present invention and thereby design various embodiments with various modifications suitable for specific uses.

[0037] Example 1, using Figure 1-Figure 14 A manipulator for a track shoe automatic loading robot according to an embodiment of the present invention is described as follows.

[0038] like Figure 1-Figure 2 As shown, a manipulator for a track plate automatic feeding robot of the present invention comprises a processing device 1, a loading port 2 is fixedly connected to the top of the processing device 1, a discharging end 3 is fixedly connected to the outer surface of the processing device 1, a feeding plate 4 is fixedly connected to the outer surface of the processing device 1, a supporting frame 5 is fixedly connected to the bottom of the feeding plate 4, a temporary placement table 10 is fixedly connected to the outer surface of the feeding plate 4, a side groove 6 is arranged on the side of the feeding plate 4 close to the temporary placement table 10, a mechanical arm unit 7 is fixedly connected to the inner wall of the side groove 6, a driving device 8 is fixedly connected to the bottom of the feeding plate 4, a transmission track 9 is fixedly connected to the output end of the driving device 8, and side blocking plates 11 are symmetrically arranged on the top of the feeding plate 4, and the side blocking plates 11 are located at both ends of the transmission track 9;

[0039] When the present invention is working, the staff will first place the object on the transmission crawler 9, and then start the driving device 8, so that the transmission crawler 9 drives the material to move upward, and at the same time the robotic arm mechanism will move synchronously with the material, and protect the material from being smoothly transmitted to the processing device 1, and clamp the material into the inlet 2 for processing and other subsequent treatments.

[0040] like Figure 3-Figure 4 As shown, the mechanical arm unit 7 includes a guide rod 71, the outer surface of the guide rod 71 is slidably connected to a moving device 72, the top of the moving device 72 is fixedly connected to a first mechanical arm 73, the top of the first mechanical arm 73 is fixedly connected to a second mechanical arm 74, the end of the second mechanical arm 74 away from the first mechanical arm 73 is fixedly connected to a third mechanical arm 75, the outer surface of the third mechanical arm 75 is fixedly connected to a telescopic rod 76, the top of the telescopic rod 76 is fixedly connected to a clamping mechanism 77, the outer surface of the first mechanical arm 73 is fixedly connected to an anti-slip mechanism 78, the top of the moving device 72 is fixedly connected to a support plate 79, and the side of the support plate 79 close to the transmission crawler 9 is fixedly connected to a positioning camera 710;

[0041] The moving device 72 moves along the guide rod 71 , and the first mechanical arm 73 , the second mechanical arm 74 and the third mechanical arm 75 rotate autonomously.

[0042] like Figure 5 As shown, the anti-slip mechanism 78 includes a support block 1 781, the inner wall of the support block 1 781 is fixedly connected with a telescopic rod 2 782, the end of the telescopic rod 2 782 away from the support block 1 781 is fixedly connected with a support plate 2 783, the inner wall of the support plate 2 783 is symmetrically provided with side grooves 784, the outer surface of the side grooves 784 is fixedly connected with a cleaning mechanism 787, the outer surface of the support plate 2 783 is fixedly connected with a telescopic rod 3 785, and the end of the telescopic rod 3 785 away from the support plate 2 783 is fixedly connected with a stop plate 786.

[0043] Due to dust and impurities adhering to the transmission track 9 and the gravity of the material itself, the material may slide downward. When the driving device 8 drives the transmission track 9 to rotate and drives the transmitted material to move, the positioning camera 1 710 will be aimed at the transmitted material, and the moving device 72 will also move along the guide rod 71 with the material. When the material moves to the inclined surface and slides downward, the telescopic rod 2 782 will extend out of the support plate 2 783, so that the baffle plate is in the center of the transmission track 9. When the material slides downward on the inclined surface, the baffle plate 786 will stop the material from falling, and the telescopic rod 3 785 will push the material back to its original position.

[0044] Both ends of the guide rod 71 are fixedly connected to the outer surface of the side groove 6 , and the outer surface of the support block 781 is fixedly connected to the outer surface of the first mechanical arm 73 .

[0045] like Figure 6-Figure 7 As shown, the cleaning mechanism 787 includes a telescopic spring 7871, one end of which is fixedly connected to a sliding plate 7872, the outer surface of the sliding plate 7872 is fixedly connected to a support plate 3 7875, the bottom of the support plate 3 7875 is evenly provided with a brush 7876, the top of the brush 7876 is fixedly connected to the bottom of the support plate 3 7875, the outer surface of the support plate 3 7875 is fixedly connected to a scratch plate 7877, the inner wall of the support plate 2 783 is fixedly connected to an inner column 7873, one end of the inner column 7873 is fixedly connected to an extrusion plate 7874, the side of the extrusion plate 7874 away from the inner column 7873 is in contact with the outer surface of the support plate 3 7875, and the bottom of the extrusion plate 7874 is fixedly connected to a poking plate 7878.

[0046] When the support plate 2 783 moves along the transmission track 9, the scraper will scrape against the transmission track 9, thereby scraping off larger impurities on the transmission track 9. At the same time, the brush 1 7876 will also brush off the dust on the transmission track 9, preventing the surface of the transmission track 9 from slipping too much. At the same time, the friction generated by the scraping will cause the sliding plate 7872 to compress the telescopic spring 1 7871. Since under normal circumstances, the telescopic spring 1 7871 is in a compressed state, when the support plate 2 783 moves to the bottom of the device and the transmission track 9 stops rotating, the telescopic spring 1 7871 will recover, which will drive the support plate 3 7875 to collide with the extrusion plate 7874, thereby causing the support plate 3 7875 and the extrusion plate 7874 to vibrate. At the same time, the poking plate 7878 also moves the brush 1 7876 to cause the dust and impurities on the scratch plate 7877 and the brush 1 7876 to fall off.

[0047] One end of the telescopic spring 7871 away from the sliding plate 7872 is fixedly connected to the outer surface of the side groove 784 , and the outer surface of the sliding plate 7872 is slidably connected to the outer surface of the side groove 784 .

[0048] The specific workflow is as follows:

[0049] During operation, the driving device 8 drives the transmission track 9 to rotate and drives the transmitted material to move. The positioning camera 710 will be aimed at the transmitted material. At the same time, the moving device 72 will also move along the guide rod 71 along with the material. When the material moves to the inclined surface and slides downward, the telescopic rod 782 will extend out of the support plate 783, so that the baffle plate is in the center of the transmission track 9. When the material slides downward on the inclined surface, the baffle plate 786 will block the material from falling. At the same time, the scraper will rub against the transmission track 9, thereby scraping off the larger impurities on the transmission track 9. At the same time, the brush 7876 will also brush off the dust on the transmission track 9.

[0050] Embodiment 2, use Figure 1-Figure 14 A manipulator for a track shoe automatic loading robot according to an embodiment of the present invention is described as follows.

[0051] like Figure 8 As shown, a manipulator for a crawler plate automatic loading robot of the present invention is based on the first embodiment, and a clamping mechanism 77 includes a rotating platform 771, the top of the rotating platform 771 is fixedly connected to a support block 2 774, the outer surface of the rotating platform 771 is fixedly connected to a support plate 4 772, the top of the support plate 4 772 is fixedly connected to a lighting lamp 773, clamping arm units 775 are symmetrically arranged on both sides of the support block 2 774, and the outer surface of the support block 2 774 is fixedly connected to an auxiliary mechanism 777.

[0052] When an object needs to be clamped and placed in the processing device 1, the lighting lamp 773 provides brightness to facilitate the grasping and grasping arm unit 775 to grasp the object.

[0053] like Figure 9-11 As shown, the clamping arm unit 775 includes a clamping plate 7751, an inner groove 7752 is provided at one end of the clamping plate 7751 away from the supporting block 2 774, an anti-falling mechanism 7753 is evenly provided on the outer surface of the inner groove 7752, a round tube 7754 is fixedly connected to the inner wall of the inner groove 7752, a telescopic spring 2 7755 is fixedly connected to the inner wall of the round tube 7754, a magnetic column 7756 is fixedly connected to one end of the telescopic spring 2 7755, and a locking column 7757 is fixedly connected to the end of the magnetic column 7756 away from the telescopic spring 2 7755.

[0054] like Fig.10 As shown, the anti-falling mechanism 7753 includes a rotating shaft 3 77531, the outer surface of the rotating shaft 3 77531 is fixedly connected to a rotating column 77532, the outer surface of the rotating column 77532 is evenly provided with rubber blocks 77533, the inner wall of the rubber block 77533 is fixedly connected to a pressure sensor 77534, circular holes 77535 are evenly provided on one side of the rotating column 77532 close to the locking column 7757, and the inner wall of the rotating column 77532 is fixedly connected to an electromagnetic plate 77536.

[0055] The clamping plate 7751 will clamp the material, and the rubber block 77533 on the rotating column 77532 will also come into contact with the material. Since the shapes and sizes of the materials are different, the materials may fall, and the auxiliary mechanism 777 helps to rotate the materials. At this time, the rotating column 77532 and the rotating shaft three 77531 will also be driven to rotate, and as many rubber blocks 77533 as possible will come into contact with the material, thereby increasing the clamping friction. When a certain number of rubber blocks 77533 come into contact with the outer surface of the material, the pressure sensor 77534 in the rubber block 77533 will transmit an electrical signal and enable the electromagnet to generate magnetic force, thereby adsorbing the magnetic column 7756 and allowing the positioning column 7757 to enter the circular hole 77535, thereby limiting the rotation of the rotating shaft three 77531 and the rotating column 77532, so that the material is clamped stably.

[0056] The bottom of the clamping plate 7751 is rotatably connected to the outer surface of the second supporting block 774 , and both ends of the third rotating shaft 77531 are fixedly connected to the outer surface of the inner groove 7752 .

[0057] like Fig.12As shown, the auxiliary mechanism 777 includes a fixed plate 7771, the bottom of which is fixedly connected to the outer surface of the support block 774, the outer surface of the fixed plate 7771 is fixedly connected to a telescopic rod 4 7772, the outer surface of the telescopic rod 4 7772 is fixedly connected to a fixed plate 2 7773, the outer surface of the fixed plate 2 7773 is fixedly connected to a servo motor 7774, the output end of the servo motor 7774 is fixedly connected to a rotating rod 7775, the outer surface of the rotating rod 7775 is fixedly connected to a toggle plate 7776, and the bottom of the fixed plate 2 7773 is fixedly connected to a cleaning mechanism 7777.

[0058] While the clamping arm unit 775 is working, the telescopic rod four 7772 will drive the fixed plate two 7773 to move toward the material, and the servo motor 7774 will drive the rotating rod 7775 and the toggle plate 7776 to rotate. Through the transmission of the disk one 77773, the disk two 77774 and the disk three 77775 and the chain 77776, the rotating shaft two 77777 will be driven to rotate, so that the brush two 77778 will brush the positioning camera two 776 to prevent dust from falling from the material and sticking to the positioning camera two 776, thereby affecting the subsequent positioning of the object by the positioning camera two 776 and causing the grasping failure.

[0059] like Figure 13-14 As shown, the cleaning mechanism 7777 includes a base plate 77771, the top of the base plate 77771 is fixedly connected to the bottom of the fixed plate 2 7773, the outer surface of the base plate 77771 is rotatably connected to the rotating shaft 1 77772, one end of the rotating shaft 1 77772 is fixedly connected to the disc 1 77773, the end of the rotating rod 7775 away from the servo motor 7774 is fixedly connected to the disc 2 77774, the inner wall of the base plate 77771 is rotatably connected to the rotating shaft 2 77777, one end of the rotating shaft 2 77777 is fixedly connected to the disc 3 77775, the outer surface of the disc 3 77775 is sleeved with a chain 77776, and the outer surface of the rotating shaft 2 77777 is fixedly connected to the brush 2 77778.

[0060] The specific workflow is as follows:

[0061] During operation, the clamping plate 7751 clamps the material, and the rubber block 77533 on the rotating column 77532 also comes into contact with the material. The telescopic rod 4 7772 drives the fixed plate 2 7773 to move toward the material, and the servo motor 7774 drives the rotating rod 7775 and the shifting plate 7776 to rotate, shifting the material to rotate, and making as many rubber blocks 77533 as possible come into contact with the material, thereby increasing the friction of the clamping. When a certain number of rubber blocks 77533 come into contact with the outer surface of the material, the rubber blocks 77 The pressure sensor 77534 in 533 will transmit an electrical signal and enable the electromagnet to generate magnetic force, thereby attracting the magnetic column 7756 and allowing the positioning column 7757 to enter the circular hole 77535, thereby limiting the rotation of the rotating shaft three 77531 and the rotating column 77532. At the same time, through the transmission of the disk one 77773, the disk two 77774, the disk three 77775 and the chain 77776, the rotating shaft two 77777 will be driven to rotate, so that the brush two 77778 will brush the positioning camera two 776.

[0062] Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field and related fields without creative work should fall within the scope of protection of the present invention. The structures, devices and operating methods not specifically described and explained in the present invention are implemented according to the conventional means in the field unless otherwise specified and limited.

Claims

1. A manipulator for a track plate automatic feeding robot, comprising a processing device (1), characterized in that: The top of the processing device (1) is fixedly connected with a loading port (2), the outer surface of the processing device (1) is fixedly connected with a discharging end (3), the outer surface of the processing device (1) is fixedly connected with a loading plate (4), the bottom of the loading plate (4) is fixedly connected with a supporting frame (5), the outer surface of the loading plate (4) is fixedly connected with a temporary placement table (10), a side groove (6) is provided on the side of the loading plate (4) close to the temporary placement table (10), the inner wall of the side groove (6) is fixedly connected with a mechanical arm unit (7), the bottom of the loading plate (4) is fixedly connected with a driving device (8), the output end of the driving device (8) is fixedly connected with a transmission crawler (9), and the top of the loading plate (4) is symmetrically provided with side blocking plates (11), and the side blocking plates (11) are located at both ends of the transmission crawler (9); The mechanical arm unit (7) comprises a guide rod (71), the outer surface of the guide rod (71) is slidably connected to a moving device (72), the top of the moving device (72) is fixedly connected to a first mechanical arm (73), the top of the first mechanical arm (73) is fixedly connected to a second mechanical arm (74), the end of the second mechanical arm (74) away from the first mechanical arm (73) is fixedly connected to a third mechanical arm (75), the outer surface of the third mechanical arm (75) is fixedly connected to a telescopic rod (76), the top of the telescopic rod (76) is fixedly connected to a clamping mechanism (77), the outer surface of the first mechanical arm (73) is fixedly connected to an anti-slip mechanism (78), the top of the moving device (72) is fixedly connected to a support plate (79), and the side of the support plate (79) close to the transmission crawler (9) is fixedly connected to a positioning camera (710); The anti-slip mechanism (78) comprises a support block 1 (781), the inner wall of the support block 1 (781) is fixedly connected with a telescopic rod 2 (782), the end of the telescopic rod 2 (782) away from the support block 1 (781) is fixedly connected with a support plate 2 (783), the inner wall of the support plate 2 (783) is symmetrically provided with side grooves (784), the outer surface of the side grooves (784) is fixedly connected with a cleaning mechanism (787), the outer surface of the support plate 2 (783) is fixedly connected with a telescopic rod 3 (785), and the end of the telescopic rod 3 (785) away from the support plate 2 (783) is fixedly connected with a stop plate (786).

2. The manipulator for the automatic track shoe feeding robot according to claim 1, characterized in that: The two ends of the guide rod (71) are fixedly connected to the outer surface of the side groove (6), and the outer surface of the support block 1 (781) is fixedly connected to the outer surface of the first mechanical arm (73).

3. The manipulator for the automatic track shoe feeding robot according to claim 1, characterized in that: The cleaning mechanism (787) comprises a telescopic spring (7871), one end of which is fixedly connected to a sliding plate (7872), the outer surface of which is fixedly connected to a support plate (7875), the bottom of which is evenly provided with a brush (7876), the top of which is fixedly connected to the bottom of the support plate (7875), and the support plate (7875) is provided with a brush (7876). The outer surface of plate three (7875) is fixedly connected with a scratch plate (7877), the inner wall of the support plate two (783) is fixedly connected with an inner column (7873), one end of the inner column (7873) is fixedly connected with an extrusion plate (7874), the side of the extrusion plate (7874) away from the inner column (7873) is in contact with the outer surface of the support plate three (7875), and the bottom of the extrusion plate (7874) is fixedly connected with a poking plate (7878).

4. The manipulator for the automatic track shoe feeding robot according to claim 3, characterized in that: One end of the telescopic spring (7871) away from the sliding plate (7872) is fixedly connected to the outer surface of the side groove (784), and the outer surface of the sliding plate (7872) is slidably connected to the outer surface of the side groove (784).

5. The manipulator for the automatic track shoe feeding robot according to claim 1, characterized in that: The clamping mechanism (77) includes a rotating platform (771), the top of the rotating platform (771) is fixedly connected to a support block 2 (774), the outer surface of the rotating platform (771) is fixedly connected to a support plate 4 (772), the top of the support plate 4 (772) is fixedly connected to a lighting lamp (773), clamping arm units (775) are symmetrically arranged on both sides of the support block 2 (774), and the outer surface of the support block 2 (774) is fixedly connected to an auxiliary mechanism (777).

6. The manipulator for the automatic track shoe feeding robot according to claim 5, characterized in that: The clamping arm unit (775) comprises a clamping plate (7751), an inner groove (7752) is arranged at one end of the clamping plate (7751) away from the second supporting block (774), an anti-falling mechanism (7753) is evenly arranged on the outer surface of the inner groove (7752), a round tube (7754) is fixedly connected to the inner wall of the inner groove (7752), a telescopic spring (7755) is fixedly connected to the inner wall of the round tube (7754), a magnetic column (7756) is fixedly connected to one end of the telescopic spring (7755), and a positioning column (7757) is fixedly connected to one end of the magnetic column (7756) away from the second telescopic spring (7755).

7. The manipulator for the automatic track shoe feeding robot according to claim 6, characterized in that: The anti-falling mechanism (7753) comprises a rotating shaft three (77531), the outer surface of the rotating shaft three (77531) is fixedly connected to a rotating column (77532), the outer surface of the rotating column (77532) is evenly provided with rubber blocks (77533), the inner wall of the rubber block (77533) is fixedly connected to a pressure sensor (77534), a side of the rotating column (77532) close to the locking column (7757) is evenly provided with circular holes (77535), and the inner wall of the rotating column (77532) is fixedly connected to an electromagnetic plate (77536).

8. The manipulator for the automatic track shoe feeding robot according to claim 7, characterized in that: The bottom of the clamping plate (7751) is rotatably connected to the outer surface of the second supporting block (774), and the two ends of the third rotating shaft (77531) are fixedly connected to the outer surface of the inner groove (7752).

9. The manipulator for the automatic track shoe feeding robot according to claim 5, characterized in that: The auxiliary mechanism (777) comprises a fixing plate 1 (7771), the bottom of which is fixedly connected to the outer surface of a supporting block 2 (774), the outer surface of which is fixedly connected to a telescopic rod 4 (7772), the outer surface of which is fixedly connected to a fixing plate 2 (7773), the outer surface of which is fixedly connected to a servo motor (7774), the output end of which is fixedly connected to a rotating rod (7775), the outer surface of which is fixedly connected to a toggle plate (7776), and the bottom of which is fixedly connected to a dust cleaning mechanism (7777).

10. The manipulator for the automatic track shoe feeding robot according to claim 9, characterized in that: The cleaning mechanism (7777) includes a base plate (77771), the top of the base plate (77771) is fixedly connected to the bottom of a second fixed plate (7773), the outer surface of the base plate (77771) is rotatably connected to a first rotating shaft (77772), one end of the first rotating shaft (77772) is fixedly connected to a first disc (77773), one end of the rotating rod (7775) away from the servo motor (7774) is fixedly connected to a second disc (77774), the inner wall of the base plate (77771) is rotatably connected to a second rotating shaft (77777), one end of the second rotating shaft (77777) is fixedly connected to a third disc (77775), the outer surface of the third disc (77775) is sleeved with a chain (77776), and the outer surface of the second rotating shaft (77777) is fixedly connected to a second brush (77778).

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