Manipulator device for full-automatic knitting machine

Abstract

The invention discloses a manipulator device for a full-automatic knitting machine, and relates to the technical field of knitting equipment. The automatic feeding device comprises a rack plate 37 and further comprises a mechanical arm assembly, a mechanical arm clamping and releasing control assembly, a mechanical arm clamping and releasing power assembly, a mechanical arm swing feeding control assembly and a mechanical arm swing feeding power assembly. The mechanical arm assembly is arranged in front of the rack plate 37, and the mechanical arm clamping and releasing control assembly and the mechanical arm swing feeding control assembly are both arranged in front of the mechanical arm assembly. The mechanical arm clamping and releasing power assembly and the mechanical arm swing feeding power assembly are both arranged behind the rack plate 37 and connected with the mechanical arm clamping and releasing control assembly and the mechanical arm swing feeding control assembly respectively. The clamping mechanism has the advantages of being capable of accurately clamping and sending out in a swinging mode, suitable for clamping and sending out woven materials of full-automatic weaving equipment and the like, is used in cooperation with a full-automatic weaving machine, and can be used for weaving various mats, various curtains and various decorative fabrics.

Description

Technical Field

[0001] The invention relates to the technical field of knitting equipment, in particular to a manipulator device for a full-automatic knitting machine. Background Art

[0002] In the prior art, the weaving equipment used for weaving various mats, curtains and decorative fabrics mostly uses manual feeding to input the weaving materials during the weaving process. Although there are a small number of automatic feeding equipment, the feeding is generally not uniform. As a result, the woven products are neither neat nor flat, which affects the product quality.

[0003] The Chinese patent (patent application number is 201921506134.5) discloses a "manipulator for gripping components to be packaged in a braiding machine", which includes a circular ring, a crossbeam, a gear ring, a fixed shaft, a middle block, an articulated seat I, an oblique connecting rod, a gate-shaped piece, a motor I, a gear I, a stop pin, an arm, an articulated seat II and a clamp. The circular ring is fixedly connected to the crossbeam, the outer periphery of the circular ring is fixedly connected to the gear ring, the lower middle part of the crossbeam is fixedly connected to the fixed shaft, the middle block is slidably connected to the fixed shaft, the articulated seat I is provided on the middle block, the upper end of the oblique connecting rod is hingedly connected to the articulated seat I, the gate-shaped piece is slidably connected to the outer ring of the circular ring, two stop pins are relatively arranged on the gate-shaped piece, the two stop pins are in contact with the inner circumference of the circular ring, the motor I is fixedly connected to the gate-shaped piece, and the gear I is fixedly connected to the output shaft of the motor I.

[0004] Another Chinese patent (patent application number 201520922892.0) discloses "a warp knitting machine with a robot", which includes a weaving mechanism, a comb transverse movement mechanism, a warp feeding mechanism, and a pulling and winding mechanism. The pulling and winding mechanism includes a motor and a cloth winding shaft. The motor is connected to the cloth winding shaft through a belt drive or a chain drive mechanism. The warp knitting machine also includes an automatic gripping device, which includes a gantry, a base slide rail, a crossbeam, and a mechanical claw; the warp knitting machine also includes a lubricating oil circulation device, which includes an oil pump, and the oil pump includes an oil inlet pipe, an oil outlet pipe, a pump body, an impeller and a pump shaft; the warp knitting machine can quickly cool the temperature of the lubricating oil.

[0005] There is also a Chinese patent (patent application number 202311391832.6) disclosed in the "Manipulator Coordination Device for Processing Special-shaped Workpieces in a Weaving Machine", which includes: a circular weaving machine, which is used to weave special-shaped workpieces, and the mandrel of the special-shaped workpiece is arranged through the circular weaving machine; a manipulator unit and a follow-up support unit, which are respectively arranged on both sides of the circular weaving machine, and the manipulator unit and the follow-up support unit clamp the two ends of the mandrel of the special-shaped workpiece. This invention clamps large-sized special-shaped workpieces by manipulator units and follow-up support units, realizes the support and feeding of large-sized special-shaped workpieces during weaving, adjusts the vertical position of the mandrel of the special-shaped workpiece according to its own shape, ensures that the weaving position of the mandrel of the special-shaped workpiece is always located in the center of the circular weaving machine, improves the consistency of yarn tension in all directions of the mandrel of the special-shaped workpiece during weaving, and improves the weaving quality.

[0006] There is also a Chinese patent (patent application number is 202310024851.9) disclosed in "An auxiliary weaving robot for a carbon fiber braiding machine", and the key points of its technical solution include: a base, a pasting assembly is fixedly connected to the base, and the pasting assembly includes a feed box, a first vertical plate, a first motor, a disc, a telescopic part and a dipping part. The feed box is fixedly connected to the base, the first vertical plate is fixedly connected to the base, and the first vertical plate is spaced apart from the feed box, and the first motor is fixedly connected to the first vertical plate. An auxiliary weaving robot for a carbon fiber braiding machine has the effect that, by setting an end fixing mechanism in conjunction with the feed box, the first vertical plate, the first motor, the disc, the telescopic part and the dipping part, the device can automatically fix the end of the carbon fiber line to the braiding tube, thereby making the weaving process more coherent, simplifying the operation process, and reducing the output of labor to a certain extent, making it more convenient for the operator to use. Summary of the invention

[0007] In view of the deficiencies in the prior art, the technical problem to be solved by the present invention is to provide a robot device that can accurately clamp and swing to deliver the knitting material and is suitable for clamping and delivering the knitting material of fully automatic knitting equipment.

[0008] In order to solve the above technical problems, the technical solution adopted by the present invention is to invent a manipulator device for a fully automatic braiding machine, including a frame plate 37, and also including a manipulator assembly, a manipulator clamping and releasing control assembly, a manipulator clamping and releasing power assembly, a manipulator swing feeding control assembly and a manipulator swing feeding power assembly; the manipulator assembly is arranged in front of the frame plate 37, the manipulator clamping and releasing control assembly and the manipulator swing feeding control assembly are both arranged in front of the manipulator assembly, the manipulator clamping and releasing power assembly and the manipulator swing feeding power assembly are both arranged behind the frame plate 37, and are respectively connected to the manipulator clamping and releasing control assembly and the manipulator swing feeding control assembly;

[0009] The manipulator assembly comprises a material holding plate 2, a movable clamp arm 3, a static clamp arm 4, a slide groove bottom plate 7, a left slide groove plate 36 and a right slide groove plate 27; the left slide groove plate 36 and the right slide groove plate 27 are respectively arranged on the left and right sides of the slide groove bottom plate 7, and the upper and lower parts thereof are respectively provided with sliding holes in the left and right directions for wearing the static clamp arm 4 and the movable clamp arm 3; the movable clamp arm 3 is in the shape of an "∟"-shaped long bar, and the static clamp arm 4 is in the shape of a long bar, and a material holding groove 54 is opened in the middle part of the upper side of the material holding plate 2, and its upper right side is connected to the rear side of the left end portion of the static clamp arm 4; the left end "I" part of the movable clamp arm 3 is inclined to the right, and the left end face of the static clamp arm 4 is inclined to the left, and the upper right side of the left end "I" part of the movable clamp arm 3 and the upper part of the left end face of the static clamp arm 4 constitute the manipulator clamping mouth; the back of the slide groove bottom plate 7 is connected to the manipulator swing feeding control component.

[0010] The manipulator clamping and releasing control assembly comprises a static clamping arm sliding mechanism, a dynamic clamping arm sliding mechanism, a clamping and releasing swinging mechanism and a clamping and releasing swinging mechanism reset mechanism;

[0011] The static clamp arm sliding mechanism comprises a static clamp arm sliding block 29, a static clamp arm sliding block bearing 31, a static clamp arm sliding block bearing pin 13 and a static clamp arm sliding block clamping screw 12; the upper and lower parts of the static clamp arm sliding block 29 are respectively provided with sliding holes in the left and right directions for inserting the static clamp arm 4 and the dynamic clamp arm 3; the static clamp arm sliding block clamping screw 12 is arranged at the upper part of the static clamp arm sliding block 29, and is used to connect the static clamp arm sliding block 29 with the static clamp arm 4 as a whole; the static clamp arm sliding block bearing pin 13 arranges the static clamp arm sliding block bearing 31 at the front middle part of the static clamp arm sliding block 29;

[0012] The movable clamp arm sliding mechanism comprises a movable clamp arm sliding block 8, a movable clamp arm sliding block bearing 10, a movable clamp arm sliding block bearing pin 49 and a movable clamp arm sliding block clamping screw 32; the upper and lower parts of the movable clamp arm sliding block 8 are respectively provided with sliding holes in left and right directions for inserting the static clamp arm 4 and the movable clamp arm 3; the movable clamp arm sliding block clamping screw 32 is arranged at the lower part of the movable clamp arm sliding block 8, and is used to connect the movable clamp arm sliding block 8 with the movable clamp arm 3 as a whole; the movable clamp arm sliding block bearing pin 49 arranges the movable and static clamp arm sliding block bearing 10 in the front middle part of the movable clamp arm sliding block 8;

[0013] The clamping and releasing swing mechanism comprises a clamping and releasing swinging surface rod 11 and a clamping and releasing swinging inner rod 26. The clamping and releasing swinging surface rod 11 is in the shape of the letter "C", and a clamping and releasing swinging cam 33 is arranged in the middle thereof; the clamping and releasing swinging surface rod 11 is arranged in front of the slide groove bottom plate 7, and the clamping and releasing swinging cam 33 therein is located between the dynamic and static clamping arm sliding block bearing 10 and the static clamping arm sliding block bearing 31; the clamping and releasing swinging inner rod 26 is arranged at the back of the slide groove bottom plate 7, and its upper and lower ends are respectively connected to the upper and lower ends of the clamping and releasing swinging surface rod 11 through the upper connecting screw 15 and the lower connecting screw 20 to form a whole; the back of the clamping and releasing swinging inner rod 26 is connected to the manipulator clamping and releasing power assembly;

[0014] The clamping and releasing swing mechanism reset mechanism includes a clamping and releasing swing mechanism reset spring 34, a clamping and releasing swing mechanism reset spring left hanging screw 35 and a static clamp arm sliding block bearing pin 13. The clamping and releasing swing mechanism reset spring left hanging screw 35 is arranged at the front end of the movable clamp arm sliding block bearing pin 49, and the two ends of the clamping and releasing swing mechanism reset spring 34 are respectively hooked between the clamping and releasing swing mechanism reset spring left hanging screw 35 and the movable clamp arm sliding block bearing pin 49.

[0015] The clamping and releasing swing mechanism reset mechanism also includes an extension plate 30 and a clamping and releasing swing mechanism reset spring right hanging screw 28. The left end of the extension plate 30 is set at the front end of the static clamp arm sliding block bearing 31 by the static clamp arm sliding block bearing pin 13. The two ends of the clamping and releasing swing mechanism reset spring 34 are respectively hooked between the clamping and releasing swing mechanism reset spring left hanging screw 35 and the clamping and releasing swing mechanism reset spring right hanging screw 28 set at the right end of the extension plate 30.

[0016] The manipulator clamping and releasing power assembly includes a manipulator clamping and releasing power shaft 39, a manipulator clamping and releasing power bearing seat 38, a manipulator clamping and releasing power shaft crank arm 18, a manipulator clamping and releasing power shaft crank arm joint 19, a manipulator clamping and releasing power cam connecting rod 24 and a manipulator clamping and releasing power cam mechanism;

[0017] The front end of the manipulator clamping and releasing power shaft 39 is connected to the middle part of the clamping and releasing swinging inner rod 26, and the rear part thereof passes through the right side of the frame plate 37 backwards, and passes through the manipulator clamping and releasing power bearing seat 38 arranged behind the frame plate 37, and then one end of the manipulator clamping and releasing power shaft crank arm 18 is installed; the other end of the manipulator clamping and releasing power shaft crank arm 18 is hinged to the manipulator clamping and releasing power shaft crank arm joint 19 through the manipulator clamping and releasing power shaft crank arm pin 17, the upper end of the manipulator clamping and releasing power cam connecting rod 24 is connected to the lower end of the manipulator clamping and releasing power shaft crank arm joint 19, and the lower end of the manipulator clamping and releasing power cam connecting rod 24 is connected to the manipulator clamping and releasing power cam mechanism.

[0018] At both ends of the inner hole of the manipulator clamping and releasing dynamic bearing seat 38, a manipulator clamping and releasing dynamic bearing 52 is respectively arranged.

[0019] The manipulator swing feeding control assembly includes a manipulator swing feeding pushing mechanism and a manipulator swing feeding resetting mechanism;

[0020] The manipulator swing feeding pushing mechanism includes a manipulator swing feeding pushing rod 9, a manipulator swing feeding pushing shaft 43 and a manipulator swing feeding pushing bearing seat 48, and an arc-shaped groove 51 is provided in the front middle of the slide groove bottom plate 7; the manipulator swing feeding pushing bearing seat 48 is arranged behind the left middle part of the slide groove bottom plate 7, the lower end of the manipulator swing feeding pushing rod 9 is connected to the front end of the manipulator swing feeding pushing shaft 43, and the upper end of the manipulator swing feeding pushing rod 9 is against the left upper step of the arc-shaped groove 51; the rear part of the manipulator swing feeding pushing shaft 43 passes through the slide groove bottom plate 7 and then passes through the manipulator swing feeding pushing bearing seat 48, and then passes through the middle right part of the frame plate 37 backwards, and is connected to the manipulator swing feeding power component;

[0021] The manipulator swing feeding reset mechanism includes a manipulator swing feeding reset spring 22, an upper hook plate 16 of the manipulator swing feeding reset spring and a lower hook plate 23 of the manipulator swing feeding reset spring. The left end of the upper hook plate 16 of the manipulator swing feeding reset spring is fixed to the front upper end of the right slide plate 27 by the right slide plate screw 14, and the lower hook plate 23 of the manipulator swing feeding reset spring is arranged at the front lower right part of the frame plate 37. The upper and lower ends of the manipulator swing feeding reset spring 22 are respectively hooked on the right end 47 of the upper hook plate 16 of the manipulator swing feeding reset spring and the lower part of the lower hook plate 23 of the manipulator swing feeding reset spring.

[0022] At both ends of the inner hole of the manipulator swing feeding pushing bearing seat 48, manipulator swing feeding pushing bearings 50 are respectively arranged.

[0023] The manipulator swing feeding power assembly includes a manipulator swing feeding driving shaft 43, a manipulator swing feeding driving shaft rear bearing seat 41, a manipulator swing feeding driving shaft crank arm 44, a manipulator swing feeding driving shaft crank arm joint 46, a manipulator swing feeding driving power cam connecting rod 25 and a manipulator swing feeding driving cam mechanism;

[0024] The manipulator swing feeding push shaft 43 that passes through the rear end of the manipulator swing feeding push bearing seat 48 passes backwards out of the manipulator swing feeding push shaft rear bearing seat 41 arranged at the middle and right position behind the frame plate 37, and then one end of the manipulator swing feeding push shaft crank arm 44 is mounted; the other end of the manipulator swing feeding push shaft crank arm 44 is hinged to the manipulator swing feeding push shaft crank arm joint 46 through the manipulator swing feeding push shaft crank arm pin 45, the upper end of the manipulator swing feeding push power cam connecting rod 25 is connected to the lower end of the manipulator swing feeding push shaft crank arm joint 46, and the lower end of the manipulator swing feeding push power cam connecting rod 25 is connected to the manipulator swing feeding push cam mechanism.

[0025] At both ends of the inner hole of the rear bearing seat 41 of the manipulator swing feeding pushing shaft, rear bearings 53 of the manipulator swing feeding pushing shaft are respectively arranged.

[0026] The cross-sections of the movable clamping arm 3 and the static clamping arm 4 are circular, rectangular or triangular.

[0027] The manipulator device for the fully automatic braiding machine of the present invention adopts a manipulator clamping and releasing power component to provide power, and the manipulator clamping and releasing control component controls the manipulator component to achieve precise clamping of the braided material; at the same time, a manipulator swing feeding power component is used to provide power, and the manipulator swing feeding control component controls the manipulator component to achieve swinging and delivering of the braided material clamped by the manipulator component. Therefore, it is suitable for the feeding, clamping and delivering of fully automatic braiding equipment, which can avoid the reduction in the quality of the woven products due to uneven feeding and can improve production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a front view schematic diagram of the present invention;

[0029] Figure 2 is a rear view schematic diagram of the present invention;

[0030] Figure 3 is a top view schematic diagram of the present invention;

[0031] Figure 4 It is a schematic top cross-sectional view along the AA axis of the present invention;

[0032] Figure 5 It is a partial enlarged schematic diagram of H of the present invention;

[0033] Figure 6 It is a partial enlarged schematic diagram of K of the present invention;

[0034] Figure 7 It is a partially enlarged schematic view of S of the present invention.

[0035] In the figure:

[0036] 1 is the discharge hole, 2 is the material holding plate, 3 is the dynamic clamp arm, 4 is the static clamp arm, 5 is the feed trough, 6 is the left slide plate screw, 7 is the slide bottom plate, 8 is the dynamic clamp arm sliding block, 9 is the manipulator swing feeding push rod, 10 is the dynamic and static clamp arm sliding block bearing, 11 is the clamping and releasing swing surface rod, 12 is the static clamp arm sliding block clamping screw, 13 is the static clamp arm sliding block bearing pin, 14 is the right slide plate screw, 15 is the upper connecting screw, 16 is the manipulator swing feeding reset spring upper hook plate, 17 is the manipulator clamping and releasing power shaft crank arm pin, 18 is the crank arm of the power shaft for clamping and releasing the manipulator, 19 is the crank arm joint for clamping and releasing the power shaft, 20 is the lower connecting screw, 21 is the screw of the lower hook plate of the reset spring of the manipulator swing feeding, 22 is the reset spring of the manipulator swing feeding, 23 is the lower hook plate of the reset spring of the manipulator swing feeding, 24 is the power cam connecting rod for clamping and releasing the manipulator, 25 is the power cam connecting rod for pushing the manipulator swing feeding, 26 is the inner rod for clamping and releasing the swing, 27 is the right slide plate, 28 is the right hanging screw for clamping and releasing the reset spring of the swing mechanism, 29 is The static clamp arm sliding block, 30 is an extension plate, 31 is a static clamp arm sliding block bearing, 32 is a clamping screw of the dynamic clamp arm sliding block, 33 is a clamping and releasing swing cam, 34 is a clamping and releasing swing mechanism reset spring, 35 is a clamping and releasing swing mechanism reset spring left hanging screw, 36 is a left slide plate, 37 is a frame plate, 38 is a manipulator clamping and releasing power bearing seat, 39 is a manipulator clamping and releasing power shaft, 40 is a manipulator clamping and releasing power shaft crank screw, 41 is a manipulator swing feed push shaft rear bearing seat, 42 is a manipulator swing The movable feed push shaft crank arm screw, 43 is the manipulator swing feed push shaft, 44 is the manipulator swing feed push shaft crank arm, 45 is the manipulator swing feed push shaft crank arm pin, 46 is the manipulator swing feed push shaft crank arm joint, 47 is the right end, 48 is the manipulator swing feed push bearing seat, 49 is the movable clamp arm sliding block bearing pin, 50 is the manipulator swing feed push bearing, 51 is the arc-shaped groove, 52 is the manipulator clamping and releasing power bearing, 53 is the manipulator swing feed push shaft rear bearing, 54 is the material storage groove. DETAILED DESCRIPTION

[0037] The present invention is further described below in conjunction with the accompanying drawings and embodiments. The following description is in the form of examples, but the protection scope of the present invention should not be limited thereto.

[0038] Description of relevant directions in this manual:

[0039] Figure 1 and Figure 5 The up, down, left, and right in the image are the actual up, down, left, and right. The front and inside are the actual front and back respectively.

[0040] Figure 2The up and down in the picture are the actual up and down, the front and inside are the actual back and front respectively, and the left and right are the actual right and left respectively;

[0041] Figure 3 , Figure 4 , Figure 6 , Figure 7 The left and right are the actual left and right, the top and bottom are the actual back and front, and the front and inside are the actual top and bottom.

[0042] Embodiment 1:

[0043] The robot device for the fully automatic braiding machine of this embodiment is composed of a frame plate 37, a robot assembly, a robot clamping and releasing control assembly, a robot clamping and releasing power assembly, a robot swing feeding control assembly and a robot swing feeding power assembly.

[0044] The frame plate 37 is a rectangular plate, and a feed chute 5 is provided downwardly on the middle left of its upper side, and is connected to the discharge hole 1 facing leftward at the middle upper position.

[0045] The manipulator assembly is composed of a material holding plate 2 , a movable clamping arm 3 , a static clamping arm 4 , a slide groove bottom plate 7 , a left slide groove plate 36 and a right slide groove plate 27 .

[0046] The slide groove bottom plate 7 is a transversely arranged rectangular plate, and a circular arc groove 51 is provided in the middle thereof. The long strip-shaped left slide groove plate 36 and the right slide groove plate 27 are respectively arranged on the left and right sides of the slide groove bottom plate 7 (respectively fixed by two left slide groove plate screws 6 and two right slide groove plate screws 14), and the upper and lower parts thereof are respectively provided with sliding holes in the left and right directions for inserting the static clamp arm 4 and the movable clamp arm 3.

[0047] The movable clamp arm 3 is in the shape of an "∟" (i.e., an "L" shape tilted to the left) long rod, and the height of the left end "I" portion is relatively small and tilted to the right; the static clamp arm 4 is in the shape of a long rod, and its left end face is tilted to the left; the cross-sections of the movable clamp arm 3 and the static clamp arm 4 are circular, rectangular, triangular or other shapes (rectangular in this example), and the upper right side of the left end "I" portion of the movable clamp arm 3 and the upper part of the left end face of the static clamp arm 4 form the manipulator clamping opening.

[0048] The material receiving plate 2 is a rectangular thin plate with a material receiving groove 54 in the middle of its upper side, and its upper right side is connected to the rear side of the left end of the static clamping arm 4. The left end "I" part of the movable clamping arm 3 can slide left and right against the front of the material receiving plate 2.

[0049] The manipulator clamping and releasing control component is composed of a static clamping arm sliding mechanism, a dynamic clamping arm sliding mechanism, a clamping and releasing swing mechanism and a clamping and releasing swing mechanism reset mechanism.

[0050] The static clamp arm sliding mechanism is composed of a static clamp arm sliding block 29 , a static clamp arm sliding block bearing 31 , a static clamp arm sliding block bearing pin 13 and a static clamp arm sliding block clamping screw 12 .

[0051] The static clamp arm sliding block 29 is in the shape of a long strip, and its upper and lower parts are respectively provided with sliding holes in the left and right directions for inserting the static clamp arm 4 and the dynamic clamp arm 3; the static clamp arm sliding block clamping screw 12 is arranged on the upper part of the static clamp arm sliding block 29, and is used to connect the static clamp arm sliding block 29 and the static clamp arm 4 as a whole; the static clamp arm sliding block bearing 31 is arranged in the front middle part of the static clamp arm sliding block 29, and is fixed by the static clamp arm sliding block bearing pin 13.

[0052] The movable clamp arm sliding mechanism is composed of a movable clamp arm sliding block 8, a movable and stationary clamp arm sliding block bearing 10, a movable clamp arm sliding block bearing pin 49 and a movable clamp arm sliding block clamping screw 32.

[0053] The movable clamp arm sliding block 8 is also in the shape of a long strip, and its upper and lower parts are respectively provided with sliding holes in the left and right directions for inserting the static clamp arm 4 and the movable clamp arm 3; the movable clamp arm sliding block clamping screw 32 is arranged at the lower part of the movable clamp arm sliding block 8, and is used to connect the movable clamp arm sliding block 8 and the movable clamp arm 3 as a whole; the movable and static clamp arm sliding block bearings 10 are arranged in the front middle part of the movable clamp arm sliding block 8, and are fixed by the movable clamp arm sliding block bearing pin 49.

[0054] The clamping and releasing swing mechanism is composed of a clamping and releasing swing surface rod 11 and a clamping and releasing swing inner rod 26.

[0055] The clamping and releasing swinging surface rod 11 is in the shape of the letter "C", and a clamping and releasing swinging cam 33 shaped like a gourd in both directions (i.e., in the up and down directions) is arranged in the middle of the left side. The clamping and releasing swinging surface rod 11 is arranged in front of the slide groove bottom plate 7, and the clamping and releasing swinging cam 33 therein is located between the dynamic and static clamp arm sliding block bearing 10 and the static clamp arm sliding block bearing 31.

[0056] The clamping and releasing swinging inner rod 26 is in a "(" shape and is arranged behind the slide groove bottom plate 7 and in front of the frame plate 37. Its upper and lower ends are respectively connected to the upper and lower ends of the clamping and releasing swinging surface rod 11 (i.e., the two ends of C) through the upper connecting screw 15 and the lower connecting screw 20; behind the clamping and releasing swinging inner rod 26, a manipulator clamping and releasing power shaft 39 is fixed that passes through the frame plate 37 backwards.

[0057] The clamping and releasing swing mechanism reset mechanism is composed of a clamping and releasing swing mechanism reset spring 34, a clamping and releasing swing mechanism reset spring left hanging screw 35 and a static clamp arm sliding block bearing pin 13.

[0058] The left-hanging screw 35 of the reset spring of the clamping and releasing swing mechanism is arranged at the front end of the bearing pin 49 of the movable clamp arm sliding block, and the two ends of the reset spring 34 of the clamping and releasing swing mechanism are respectively hooked between the left-hanging screw 35 of the reset spring of the clamping and releasing swing mechanism and the bearing pin 49 of the movable clamp arm sliding block. (Another scheme is: the reset mechanism of the clamping and releasing swing mechanism also includes an extension plate 30 and a right-hanging screw 28 of the reset spring of the clamping and releasing swing mechanism, and the left end of the extension plate 30 is arranged at the front end of the static clamp arm sliding block bearing 31 by the bearing pin 13 of the static clamp arm sliding block, and the two ends of the reset spring 34 of the clamping and releasing swing mechanism are respectively hooked between the left-hanging screw 35 of the reset spring of the clamping and releasing swing mechanism and the right-hanging screw 28 of the reset spring of the clamping and releasing swing mechanism arranged at the right end of the extension plate 30).

[0059] The manipulator clamping and releasing power assembly is composed of a manipulator clamping and releasing power shaft 39, a manipulator clamping and releasing power bearing seat 38, and a manipulator clamping and releasing power shaft crank arm 18.

[0060] The front end of the manipulator clamping and releasing power shaft 39 is connected to the middle part of the clamping and releasing swinging inner rod 26, and its rear part passes backward through the right side of the frame plate 37, and passes through the manipulator clamping and releasing power bearing seat 38 arranged behind the frame plate 37, and then is installed on one end of the manipulator clamping and releasing power shaft crank arm 18, which is fixed by the manipulator clamping and releasing power shaft crank arm screw 40.

[0061] The inner hole of the manipulator clamping and releasing dynamic bearing seat 38 is large at both ends and small in the middle, and the two ends are respectively provided with manipulator clamping and releasing dynamic bearings 52. The manipulator clamping and releasing dynamic shaft 39 is a stepped shaft, and its step abuts against the inner ring of the manipulator clamping and releasing dynamic bearing 52 at the front end, and the outer ring of the manipulator clamping and releasing dynamic bearing 52 at the rear end is positioned by a hole retaining ring (not marked in the figure).

[0062] The manipulator swing feeding control component is composed of a manipulator swing feeding pushing mechanism and a manipulator swing feeding resetting mechanism.

[0063] The manipulator swing feeding pushing mechanism is composed of a manipulator swing feeding pushing rod 9, a manipulator swing feeding pushing shaft 43 and a manipulator swing feeding pushing bearing seat 48.

[0064] The manipulator swing feed push bearing seat 48 is arranged behind the left part of the slide bottom plate 7; the manipulator swing feed push rod 9 is The manipulator swing feeding push shaft 43 is a double-step shaft, the rear part of which passes through the bottom plate 7 of the slide groove and then passes through the manipulator swing feeding push bearing seat 48, and then passes through the middle and right part of the frame plate 37, and is connected to the manipulator swing feeding power assembly.

[0065] At both ends of the inner hole of the manipulator swing feed pushing bearing seat 48, a manipulator swing feed pushing bearing 50 is respectively arranged, and an isolation gasket (not marked in the figure) is set in the middle. The front step of the manipulator swing feed pushing shaft 43 abuts against the inner ring of the manipulator swing feed pushing bearing 50 at the front end, and the outer ring of the manipulator swing feed pushing bearing 50 at the rear end is positioned by a hole retaining ring (not marked in the figure).

[0066] The manipulator swing feeding reset mechanism is composed of a manipulator swing feeding reset spring 22, an upper hook plate 16 of the manipulator swing feeding reset spring and a lower hook plate 23 of the manipulator swing feeding reset spring.

[0067] The left end of the upper hook plate 16 of the manipulator swing feeding reset spring is fixed to the front upper end of the right slide plate 27 by the right slide plate screw 14, and the lower hook plate 23 of the manipulator swing feeding reset spring is fixed to the front lower right part of the frame plate 37 by the lower hook plate screw 21 of the manipulator swing feeding reset spring, and the upper and lower ends of the manipulator swing feeding reset spring 22 are respectively hooked on the right end 47 of the upper hook plate 16 of the manipulator swing feeding reset spring and the lower part of the lower hook plate 23 of the manipulator swing feeding reset spring.

[0068] The manipulator swing feeding power assembly is composed of a manipulator swing feeding driving shaft 43, a manipulator swing feeding driving shaft rear bearing seat 41, and a manipulator swing feeding driving shaft crank arm 44.

[0069] The manipulator swing feed push shaft 43 that passes through the rear end of the manipulator swing feed push bearing seat 48 passes through the manipulator swing feed push shaft rear bearing seat 41 arranged in the middle right position behind the frame plate 37, and then is covered with one end of the manipulator swing feed push shaft crank arm 44, and is fixed by the manipulator swing feed push shaft crank arm screw 42.

[0070] The inner hole of the rear bearing seat 41 of the manipulator swing feeding pushing shaft is large at both ends and small in the middle, and the rear bearings 53 of the manipulator swing feeding pushing shaft are respectively arranged at both ends. The inner ring of the rear bearing 53 of the manipulator swing feeding pushing shaft at the front end is supported by the rear step of the manipulator swing feeding pushing shaft 43, and the outer ring of the rear bearing 53 of the manipulator swing feeding pushing shaft at the rear end is positioned by a hole retaining ring (not marked in the figure).

[0071] The robot device for the fully automatic braiding machine of this embodiment is used in conjunction with the fully automatic braiding machine.

[0072] When in use, the end of the braided material moves downward along the left wall of the feed trough 5 of the frame plate 37 (the middle right cavity of the feed trough 5 is controlled by other devices of the fully automatic braiding machine to avoid a large amount of braided material falling in at the same time and causing congestion) to the material receiving groove 54 opened in the middle part of the upper side of the material receiving plate 2 between the upper right side of the left end "I" part of the dynamic clamping arm 3 and the upper part of the left end face of the static clamping arm 4. At this time, the robot clamping and releasing power shaft crank arm 18, under the action of external force, drives the robot clamping and releasing power shaft 39 to rotate counterclockwise, and then drives the clamping and releasing swinging inner rod 26 together with the clamping and releasing swinging surface rod 11 to swing counterclockwise (see Figure 1 and Figure 5 ), then, the clamping and releasing swing cam 33 clamped by the dynamic and static clamp arm sliding block bearing 10 and the static clamp arm sliding block bearing 31 also swings downward, and exits the clamping of the dynamic and static clamp arm sliding block bearing 10 and the static clamp arm sliding block bearing 31. At this time, under the action of the reset spring 34 of the clamping and releasing swing mechanism, the dynamic clamp arm sliding block 8 moves the dynamic clamp arm 3 to the right, and at the same time, the static clamp arm sliding block 29 moves the static clamp arm 4 to the left, until the manipulator clamp formed by the upper right side of the left end "I" part of the dynamic clamp arm 3 and the upper part of the left end face of the static clamp arm 4 clamps the braided material; then, the manipulator swing feeding push shaft crank arm 44, under the action of external force, drives the manipulator swing feeding push shaft 43 together with the manipulator swing feeding push rod 9 to rotate counterclockwise (see Figure 1 and Figure 5 ), since the upper end of the manipulator swing feeding push rod 9 abuts against the upper left step of the arc-shaped groove 51 in front of the chute bottom plate 7, the counterclockwise rotation of the manipulator swing feeding push rod 9 immediately causes the chute bottom plate 7 together with the movable clamping arm 3 and the static clamping arm 4 and the woven material clamped by them to swing to the lower left to the discharge hole 1 of the frame plate 37, and the manipulator clamping and releasing power shaft crank arm 18 is under the action of external force, causing the manipulator clamping and releasing power shaft 39 to rotate clockwise, and then, causes the clamping and releasing swinging inner rod 26 together with the clamping and releasing swinging surface rod 11 to swing clockwise (see Figure 1 and Figure 5), with the clamping and releasing swing cam 33 swinging upward, squeezing the dynamic and static clamp arm sliding block bearing 10 and the static clamp arm sliding block bearing 31 apart, and allowing the dynamic and static clamp arm sliding block bearing 10 and the static clamp arm sliding block bearing 31 to clamp the clamping and releasing swing cam 33. At the same time, the dynamic clamp arm sliding block 8 moves the dynamic clamp arm 3 to the left, and the static clamp arm sliding block 29 moves the static clamp arm 4 to the right, thereby releasing the clamping of the manipulator clamp on the braided material. Then, the pushing device of the fully automatic braiding machine pushes the braided material that has been released to the left out of the material storage groove 54 to the discharge hole 1, and the feeding roller of the fully automatic braiding machine transports it into the fully automatic braiding machine; then, the manipulator swing feeding push shaft crank arm 44, under the action of external force, drives the manipulator swing feeding push shaft 43 together with the manipulator swing feeding push rod 9 to rotate clockwise (see Figure 1 and Figure 5 ), at this time, the upper end of the manipulator swing feeding push rod 9 gives up the resistance to the upper left step of the arc-shaped groove 51 in front of the slide groove bottom plate 7. Therefore, under the action of the manipulator swing feeding reset spring 22, the slide groove bottom plate 7 also moves in a clockwise direction, together with the movable clamping arm 3 and the static clamping arm 4 to return to their original positions. At this point, the clamping and swing feeding process of a woven material is completed.

[0073] Embodiment 2:

[0074] The robot device for the fully automatic braiding machine of this embodiment is an improvement on the embodiment 1, and the difference between the robot device and the embodiment 1 is that:

[0075] First, the manipulator clamping and releasing power assembly is composed of a manipulator clamping and releasing power shaft 39, a manipulator clamping and releasing power bearing seat 38, a manipulator clamping and releasing power shaft crank arm 18, a manipulator clamping and releasing power shaft crank arm joint 19 (a fisheye joint, i.e. a self-lubricating rod end joint bearing), a manipulator clamping and releasing power cam connecting rod 24 and a manipulator clamping and releasing power cam mechanism (not shown in the figure).

[0076] The front end of the manipulator clamping and releasing power shaft 39 is connected to the middle part of the clamping and releasing swinging inner rod 26, and its rear part passes through the right side of the frame plate 37 backwards, and passes through the manipulator clamping and releasing power bearing seat 38 arranged behind the frame plate 37, and then one end of the manipulator clamping and releasing power shaft crank arm 18 is installed; the other end of the manipulator clamping and releasing power shaft crank arm 18 is hinged to the manipulator clamping and releasing power shaft crank arm joint 19 through the manipulator clamping and releasing power shaft crank arm pin 17, the upper end of the manipulator clamping and releasing power cam connecting rod 24 is connected to the lower end of the manipulator clamping and releasing power shaft crank arm joint 19, and the lower end of the manipulator clamping and releasing power cam connecting rod 24 is connected to the manipulator clamping and releasing power cam mechanism.

[0077] Second, the manipulator swing feeding power assembly is composed of a manipulator swing feeding driving shaft 43, a manipulator swing feeding driving shaft rear bearing seat 41, a manipulator swing feeding driving shaft crank arm 44, a manipulator swing feeding driving shaft crank arm joint 46 (a fisheye joint, i.e. a self-lubricating rod end joint bearing), a manipulator swing feeding driving power cam connecting rod 25 and a manipulator swing feeding driving cam mechanism (not drawn in the figure).

[0078] The manipulator swing feeding push shaft 43 that passes through the rear end of the manipulator swing feeding push bearing seat 48 passes backwards through the manipulator swing feeding push shaft rear bearing seat 41 arranged at the middle and right position behind the frame plate 37, and then one end of the manipulator swing feeding push shaft crank arm 44 is mounted; the other end of the manipulator swing feeding push shaft crank arm 44 is hinged to the manipulator swing feeding push shaft crank arm joint 46 through the manipulator swing feeding push shaft crank arm pin 45, the upper end of the manipulator swing feeding push power cam connecting rod 25 is connected to the lower end of the manipulator swing feeding push shaft crank arm joint 46, and the lower end of the manipulator swing feeding push power cam connecting rod 25 is connected to the manipulator swing feeding push cam mechanism.

[0079] During use, when the manipulator clamping and releasing power cam mechanism moves the manipulator clamping and releasing power cam connecting rod 24 upward, it drives the manipulator clamping and releasing power shaft crank arm 18 together with the manipulator clamping and releasing power shaft 39 to rotate counterclockwise, and then drives the clamping and releasing swinging inner rod 26 together with the clamping and releasing swinging surface rod 11 to swing counterclockwise (see Figure 1 and Figure 5 ), then, the clamping and releasing swing cam 33 clamped by the dynamic and static clamp arm sliding block bearing 10 and the static clamp arm sliding block bearing 31 also swings downward, and exits the clamping of the dynamic and static clamp arm sliding block bearing 10 and the static clamp arm sliding block bearing 31. At this time, under the action of the reset spring 34 of the clamping and releasing swing mechanism, the dynamic clamp arm sliding block 8 moves the dynamic clamp arm 3 to the right, and at the same time, the static clamp arm sliding block 29 moves the static clamp arm 4 to the left, until the manipulator clamp formed by the upper right side of the left end "I" part of the dynamic clamp arm 3 and the upper part of the left end surface of the static clamp arm 4 clamps the woven material; then, the manipulator swing feeding push cam mechanism drives the manipulator swing feeding push power cam connecting rod 25 to move downward, driving the manipulator swing feeding push shaft crank arm 44 together with the manipulator swing feeding push shaft 43 together with the manipulator swing feeding push rod 9 to rotate counterclockwise (see Figure 1 and Figure 5), since the upper end of the manipulator swing feeding push rod 9 abuts against the upper left step of the arc-shaped groove 51 in front of the slide groove bottom plate 7, the counterclockwise rotation of the manipulator swing feeding push rod 9 immediately drives the slide groove bottom plate 7 together with the movable clamping arm 3 and the static clamping arm 4 and the woven material clamped by them to swing to the lower left to the discharge hole 1 of the frame plate 37, the manipulator clamping and releasing power cam mechanism drives the manipulator clamping and releasing power cam connecting rod 24 to move downward, drives the manipulator clamping and releasing power shaft crank arm 18 together with the manipulator clamping and releasing power shaft 39 to rotate clockwise, and then drives the clamping and releasing swinging inner rod 26 together with the clamping and releasing swinging surface rod 11 to swing clockwise (see Figure 1 and Figure 5 ), and swings upward with the clamping and releasing swing cam 33, squeezes the dynamic and static clamp arm sliding block bearing 10 and the static clamp arm sliding block bearing 31, and allows the dynamic and static clamp arm sliding block bearing 10 and the static clamp arm sliding block bearing 31 to clamp the clamping and releasing swing cam 33. At the same time, the dynamic clamp arm sliding block 8 moves the dynamic clamp arm 3 to the left, and the static clamp arm sliding block 29 moves the static clamp arm 4 to the right, thereby releasing the clamping of the manipulator clamp on the braided material. Then, the pushing device of the fully automatic braiding machine pushes the braided material that has been released to the left from the material storage groove 54 to the discharge hole 1, and the feeding roller of the fully automatic braiding machine transports it into the fully automatic braiding machine; then, the manipulator swing feeding push cam mechanism drives the manipulator swing feeding push power cam connecting rod 25 to move upward, and drives the manipulator swing feeding push shaft crank arm 44 and the manipulator swing feeding push shaft 43 together with the manipulator swing feeding push rod 9 to rotate clockwise (see Figure 1 and Figure 5 ), at this time, the upper end of the manipulator swing feeding push rod 9 gives up the resistance to the upper left step of the arc-shaped groove 51 in front of the slide groove bottom plate 7. Therefore, under the action of the manipulator swing feeding reset spring 22, the slide groove bottom plate 7 also moves in a clockwise direction, together with the movable clamping arm 3 and the static clamping arm 4 to return to their original positions. At this point, the clamping and swing feeding process of a woven material is completed.

[0080] The rest is basically the same as in Example 1 and will not be described again.

[0081] The manipulator device for the full-automatic weaving machine of the present invention is used in conjunction with the full-automatic weaving machine and can weave various mats, various curtains and various decorative fabrics.

Claims

1. A robot device for a fully automatic braiding machine, comprising a frame plate (37), characterized in that: It also includes a manipulator assembly, a manipulator clamping and releasing control assembly, a manipulator clamping and releasing power assembly, a manipulator swing feeding control assembly and a manipulator swing feeding power assembly; the manipulator assembly is arranged in front of the frame plate (37), the manipulator clamping and releasing control assembly and the manipulator swing feeding control assembly are both arranged in front of the manipulator assembly, the manipulator clamping and releasing power assembly and the manipulator swing feeding power assembly are both arranged in the back of the frame plate (37), and are respectively connected to the manipulator clamping and releasing control assembly and the manipulator swing feeding control assembly; The manipulator assembly comprises a material holding plate (2), a movable clamping arm (3), a static clamping arm (4), a slide groove bottom plate (7), a left slide groove plate (36) and a right slide groove plate (27); the left slide groove plate (36) and the right slide groove plate (27) are respectively arranged on the left and right sides of the slide groove bottom plate (7), and the upper and lower parts thereof are respectively provided with sliding holes in the left and right directions for inserting the static clamping arm (4) and the movable clamping arm (3); the movable clamping arm (3) is in the shape of a "∟"-shaped long bar, and the static clamping arm (4) is in the shape of a long bar. A material holding groove (54) is provided in the middle part of the upper side of the material holding plate (2), and the upper right side thereof is connected to the rear side of the left end portion of the static clamping arm (4); the upper right side of the left end "I" portion of the movable clamping arm (3) and the upper part of the left end surface of the static clamping arm (4) constitute a manipulator clamping opening; the rear side of the slide groove bottom plate (7) is connected to a manipulator swing feeding control assembly.

2. The robot device for a fully automatic braiding machine according to claim 1, characterized in that: The manipulator clamping and releasing control assembly comprises a static clamping arm sliding mechanism, a dynamic clamping arm sliding mechanism, a clamping and releasing swinging mechanism and a clamping and releasing swinging mechanism reset mechanism; The static clamp arm sliding mechanism comprises a static clamp arm sliding block (29), a static clamp arm sliding block bearing (31), a static clamp arm sliding block bearing pin (13) and a static clamp arm sliding block clamping screw (12); the upper and lower parts of the static clamp arm sliding block (29) are respectively provided with sliding holes in left and right directions for inserting the static clamp arm (4) and the dynamic clamp arm (3); the static clamp arm sliding block clamping screw (12) is arranged on the upper part of the static clamp arm sliding block (29) for connecting the static clamp arm sliding block (29) and the static clamp arm (4) as a whole; the static clamp arm sliding block bearing pin (13) arranges the static clamp arm sliding block bearing (31) in the middle of the front of the static clamp arm sliding block (29); The movable clamp arm sliding mechanism comprises a movable clamp arm sliding block (8), a movable clamp arm sliding block bearing (10), a movable clamp arm sliding block bearing pin (49) and a movable clamp arm sliding block clamping screw (32); the upper and lower parts of the movable clamp arm sliding block (8) are respectively provided with sliding holes in left and right directions for inserting the static clamp arm (4) and the movable clamp arm (3); the movable clamp arm sliding block clamping screw (32) is arranged at the lower part of the movable clamp arm sliding block (8) for connecting the movable clamp arm sliding block (8) and the movable clamp arm (3) as a whole; the movable clamp arm sliding block bearing pin (49) arranges the movable and static clamp arm sliding block bearing (10) at the front middle part of the movable clamp arm sliding block (8); The clamping and releasing swing mechanism comprises a clamping and releasing swinging surface rod (11) and a clamping and releasing swinging inner rod (26); the clamping and releasing swinging surface rod (11) is in the shape of the letter "C", and a clamping and releasing swinging cam (33) is arranged in the middle thereof; the clamping and releasing swinging surface rod (11) is arranged in front of the slide groove bottom plate (7), and the clamping and releasing swinging cam (33) therein is located between the dynamic and static clamping arm sliding block bearing (10) and the static clamping arm sliding block bearing (31); the clamping and releasing swinging inner rod (26) is arranged at the rear of the slide groove bottom plate (7), and its upper and lower ends are respectively connected to the upper and lower ends of the clamping and releasing swinging surface rod (11) through an upper connecting screw rod (15) and a lower connecting screw rod (20) to form an integral body; the rear of the clamping and releasing swinging inner rod (26) is connected to the manipulator clamping and releasing power assembly; The clamping and releasing swing mechanism reset mechanism comprises a clamping and releasing swing mechanism reset spring (34), a clamping and releasing swing mechanism reset spring left hanging screw (35) and a static clamp arm sliding block bearing pin (13), wherein the clamping and releasing swing mechanism reset spring left hanging screw (35) is arranged at the front end of the movable clamp arm sliding block bearing pin (49), and the two ends of the clamping and releasing swing mechanism reset spring (34) are respectively hooked between the clamping and releasing swing mechanism reset spring left hanging screw (35) and the movable clamp arm sliding block bearing pin (49).

3. The robot device for a fully automatic braiding machine according to claim 2, characterized in that: The clamping and releasing swing mechanism reset mechanism also includes an extension plate (30) and a clamping and releasing swing mechanism reset spring right hanging screw (28), the left end of the extension plate (30) is arranged at the front end of the static clamp arm sliding block bearing (31) by the static clamp arm sliding block bearing pin (13), and the two ends of the clamping and releasing swing mechanism reset spring (34) are respectively hooked between the clamping and releasing swing mechanism reset spring left hanging screw (35) and the clamping and releasing swing mechanism reset spring right hanging screw (28) arranged at the right end of the extension plate (30).

4. The robot device for a fully automatic braiding machine according to claim 1, characterized in that: The manipulator clamping and releasing power assembly comprises a manipulator clamping and releasing power shaft (39), a manipulator clamping and releasing power bearing seat (38), and a manipulator clamping and releasing power shaft crank arm (18); The front end of the manipulator clamping and releasing power shaft (39) is connected to the middle part of the clamping and releasing swinging inner rod (26), and the rear part thereof passes through the right side of the frame plate (37) and the manipulator clamping and releasing power bearing seat (38) arranged behind the frame plate (37), and is then mounted on one end of the manipulator clamping and releasing power shaft crank arm (18).

5. The robot device for a fully automatic braiding machine according to claim 4, characterized in that: Manipulator gripping and releasing power bearings (52) are respectively arranged at both ends of the inner hole of the manipulator gripping and releasing power bearing seat (38).

6. The robot device for a fully automatic braiding machine according to claim 1, characterized in that: The manipulator swing feeding control assembly includes a manipulator swing feeding pushing mechanism and a manipulator swing feeding resetting mechanism; The manipulator swing feeding pushing mechanism comprises a manipulator swing feeding pushing rod (9), a manipulator swing feeding pushing shaft (43) and a manipulator swing feeding pushing bearing seat (48), and a circular arc groove (51) is provided in the front middle of the slide groove bottom plate (7); the manipulator swing feeding pushing bearing seat (48) is arranged behind the left middle part of the slide groove bottom plate (7), the lower end of the manipulator swing feeding pushing rod (9) is connected to the front end of the manipulator swing feeding pushing shaft (43), and the upper end of the manipulator swing feeding pushing rod (9) is against the left upper step of the circular arc groove (51); the rear part of the manipulator swing feeding pushing shaft (43) passes through the slide groove bottom plate (7) and then passes through the manipulator swing feeding pushing bearing seat (48), and then passes through the middle right part of the frame plate (37) backwards, and is connected to the manipulator swing feeding power assembly; The manipulator swing feeding reset mechanism comprises a manipulator swing feeding reset spring (22), an upper hook plate (16) of the manipulator swing feeding reset spring and a lower hook plate (23) of the manipulator swing feeding reset spring. The left end of the upper hook plate (16) of the manipulator swing feeding reset spring is fixed to the upper front end of the right slide plate (27) by a right slide plate screw (14). The lower hook plate (23) of the manipulator swing feeding reset spring is arranged at the lower right part of the front of the frame plate (37). The upper and lower ends of the manipulator swing feeding reset spring (22) are respectively hooked to the right end (47) of the upper hook plate (16) of the manipulator swing feeding reset spring and the lower part of the lower hook plate (23) of the manipulator swing feeding reset spring.

7. The robot device for a fully automatic braiding machine according to claim 6, characterized in that: Manipulator swing feeding pushing bearings (50) are respectively arranged at both ends of the inner hole of the manipulator swing feeding pushing bearing seat (48).

8. The robot device for a fully automatic braiding machine according to claim 1, characterized in that: The manipulator swing feeding power assembly comprises a manipulator swing feeding driving shaft (43), a manipulator swing feeding driving shaft rear bearing seat (41), and a manipulator swing feeding driving shaft crank arm (44); The manipulator swing feeding pushing shaft (43) passing through the rear end of the manipulator swing feeding pushing bearing seat (48) passes through the manipulator swing feeding pushing shaft rear bearing seat (41) arranged at the middle right position behind the frame plate (37) and is then mounted on one end of the manipulator swing feeding pushing shaft crank arm (44).

9. The robot device for a fully automatic braiding machine according to claim 8, characterized in that: Rear bearings (53) of the manipulator swing feeding pushing shaft are respectively arranged at both ends of the inner hole of the rear bearing seat (41) of the manipulator swing feeding pushing shaft.

10. The robot device for a fully automatic braiding machine according to any one of claims 1 to 9, characterized in that: The cross-sections of the movable clamping arm (3) and the static clamping arm (4) are circular, rectangular or triangular.

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