Novel automatic feeding and discharging robot manipulator

Abstract

The invention discloses a novel automatic feeding and discharging robot manipulator, which belongs to the technical field of mechanical arms and comprises a mechanical arm main body, a supporting frame is arranged at the end part of the mechanical arm main body, a double-shaft motor is fixedly mounted on the front end surface in the supporting frame, a workpiece is arranged on the front side of the supporting frame, and a grabbing mechanism is arranged in the supporting frame. The grabbing mechanism comprises a propelling grabbing assembly arranged on the front side of the double-shaft motor. According to the scheme, by arranging the grabbing mechanism and the adjusting assembly, precise shape matching of the fan-shaped workpiece is achieved, a worker can adjust the radian of a clamping curved surface according to the curvature characteristic of the workpiece, it is ensured that the clamping surface and the outer contour of the workpiece are kept in a full-contact state, and the clamping stability of the special-shaped workpiece can be remarkably improved through the cooperative adjusting mechanism; the intermittent loosening phenomenon caused by a traditional clamping mode is thoroughly eliminated, and the operation safety and the system reliability of complex structural parts in the high-speed carrying operation are guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical arms, and more specifically to a novel automatic loading and unloading robot manipulator. Background Art

[0002] Loading and unloading robots can meet the requirements of "fast / large-scale processing rhythm", "saving labor costs", "improving production efficiency", etc., and have become the ideal choice for more and more factories. For users, they can quickly adjust product structure and expand production capacity, and can greatly reduce the labor intensity of industrial workers.

[0003] The existing loading and unloading robot arm includes a mounting frame, a driving cylinder arranged on the mounting frame, and a clamping claw detachably arranged at the end of the mounting frame and used to clamp the workpiece, and the driving cylinder is used to drive the clamping claw to clamp or release. This type of robot arm can only clamp fixed materials when clamping. The robot arm that clamps the box cannot clamp spherical materials, disc materials, and sleeve materials. The clamping terminal needs to be replaced according to the type of material, which affects efficiency.

[0004] The Chinese patent with the authorization publication number CN221539825U discloses a new type of automatic loading and unloading robot arm. By setting a movable mounting plate, a dovetail slider, a rotary motor, a multifunctional clamping claw and a flat anti-sliding block, it is beneficial for the multifunctional clamping claw and the flat anti-sliding block to cooperate with each other to clamp different types of materials, reduce the number of terminal replacements, and improve the efficiency of loading and unloading.

[0005] Although the new automatic loading and unloading robot arm has the ability to clamp multiple types of materials, it is limited by the limitations of the adaptive adjustment mechanism when grasping fan-shaped workpieces with significant characteristic shapes, exposing the technical bottleneck of insufficient fit between the clamping system and the workpiece surface. Specifically, the end effector fails to fully adapt to the curvature radius and fan-shaped structural characteristics of the workpiece for adaptive adjustment, resulting in local stress concentration and excessive clearance on the clamping contact surface, which ultimately leads to insufficient clamping stability. During the handling process, this incomplete constraint state can easily cause the workpiece posture to shift or even slip, seriously affecting the safety and reliability of loading and unloading operations. Summary of the invention

[0006] In view of the problems existing in the prior art, the purpose of the present invention is to provide a new type of automatic loading and unloading robot manipulator, which can provide better clamping stability for special workpieces.

[0007] To solve the above problems, the present invention adopts the following technical solutions.

[0008] A novel automatic loading and unloading robot manipulator comprises a robot arm body, a support frame is provided at the end of the robot arm body, a dual-axis motor is fixedly installed on the internal front end surface of the support frame, a workpiece is provided on the front side of the support frame, a grasping mechanism is provided inside the support frame, the grasping mechanism comprises a propulsion grasping assembly arranged on the front side of the dual-axis motor, the propulsion grasping assembly comprises a threaded rod fixedly installed at the ends of the output shafts at both ends of the dual-axis motor, the other end of the threaded rod is rotatably connected to the inner wall of the support frame, the outer surface of the threaded rod is spirally connected to a threaded sleeve, the outer front side of the threaded sleeve is rotatably connected to a connecting rod, a top plate is provided on the rear side of the workpiece, a top block is fixedly installed on the rear end surface of the top plate, and two groups of connecting rods are rotatably connected to the top block.

[0009] The propulsion and grabbing assembly includes a grab hook member arranged inside the top plate, the grab hook member includes an inner cavity opened inside the top block, a force-bearing plate is slidably connected inside the inner cavity, and a spring is fixedly installed between the force-bearing plate and the inner wall of the inner cavity.

[0010] A slide groove 1 is provided on the inner rear side of the top block, a slide plate is slidably connected inside the slide groove 1, a connecting rod is fixedly installed on the front end surface of the slide plate, one end of the connecting rod extends into the inner cavity and is fixedly connected to the force-bearing plate.

[0011] A support member 1 is fixedly installed on the upper end surface of the top block, and a gear 1 is rotatably connected to the upper end of the support member 1. A clamping claw is fixedly installed on the outer surface of the gear 1, and the clamping claw is arranged in an L shape. A rack is meshed on the lower side of the gear 1, and the rack is fixedly connected to the slide plate.

[0012] The grabbing mechanism also includes a lateral grabbing assembly arranged on both sides of the support frame, and the lateral grabbing assembly includes a gear shaft arranged on one side of the support frame, one end of the threaded rod extends to the outside of the support frame and is fixedly connected to the gear shaft, one side of the gear shaft is meshed with a gear 2, and a rotating rod 1 is rotatably connected between the gear 2 and the support frame.

[0013] A fixed column is fixedly installed on the left end face of the support frame, and a transmission rod 1 is rotatably connected to the outer surface of the fixed column. A slide groove 2 is provided on the left end face of the transmission rod 1. An eccentric column 1 is eccentrically installed on the left end face of the gear 2. The eccentric column 1 is slidably connected to the slide groove 2, and a semicircular plate 1 is fixedly installed on one end of the transmission rod 1.

[0014] A transmission rod 2 is arranged on the left side of the transmission rod 1, and the transmission rod 2 is rotatably connected to the outer surface of the fixed column. A gear 3 is arranged on the left side of the transmission rod 2, and the gear 3 is meshed with the gear shaft. The left end face of the gear 3 is rotatably connected to the rotating rod 2, and a connecting plate is fixedly installed between the rotating rod 2 and the fixed column.

[0015] The left end face of the transmission rod 2 is provided with a slide groove 3, the right end face of the gear 3 is eccentrically mounted with an eccentric column 2, the eccentric column 2 is fixedly connected to the slide groove 3, and one end of the transmission rod 2 is fixedly mounted with a semicircular plate 2.

[0016] A slide rail is fixedly installed on the end of the front end surface of the support frame, and the semicircular plate 1 and the semicircular plate 2 are both slidably connected to the slide rail. The ends of the semicircular plate 1 and the semicircular plate 2 are both provided with adjustment parts, and the two groups of adjustment parts are symmetrically arranged.

[0017] The lateral grabbing assembly includes an adjusting member arranged inside, and the adjusting member includes a supporting member 2 on which the ends of semicircular plate 1 and semicircular plate 2 are fixedly installed, the end of the supporting member 2 is rotatably connected with a bolt, the outer surface of the bolt is spirally connected with a nut, and the other end of the bolt is fixedly installed with a clamp.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] (1) This solution achieves precise shape matching for fan-shaped workpieces by setting up a gripping mechanism and an adjustment component. The staff can adjust the curvature of the clamping surface according to the curvature characteristics of the workpiece to ensure that the clamping surface and the outer contour of the workpiece are in full contact. This coordinated adjustment mechanism can significantly improve the clamping stability of special-shaped workpieces, completely eliminate the intermittent loosening phenomenon caused by traditional clamping methods, and ensure the operational safety and system reliability of complex structural parts in high-speed handling operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0021] Figure 2 For the present invention Figure 1 The enlarged schematic diagram at A in the middle;

[0022] Figure 3 For the present invention Figure 1 The enlarged schematic diagram of point B in the middle;

[0023] Figure 4 For the present invention Figure 1 The enlarged schematic diagram at C in the middle;

[0024] Figure 5 It is a cross-sectional view of the overall structure of the present invention;

[0025] Figure 6 For the present invention Figure 5 Enlarged schematic diagram at point D in the middle.

[0026] Description of the numbers in the figure:

[0027] 1. Robot arm body; 2. Support frame; 3. Dual-axis motor; 4. Threaded rod; 5. Threaded sleeve; 6. Connecting rod; 7. Top block; 8. Top plate; 9. Workpiece; 10. Inner cavity; 11. Force plate; 12. Spring; 13. Slideway 1; 14. Slide plate; 15. Connecting rod; 16. Rack; 17. Support member 1; 18. Gear 1; 19. Clamp; 20. Gear shaft; 21. Rotating rod 1; 22. Gear 2; 23. Eccentric column 1; 24. Fixed column; 25. Transmission rod 1; 26. Slideway 2; 27. Slide rail; 28. Semicircular plate 1; 29. ​​Connecting plate; 30. Rotating rod 2; 31. Gear 3; 32. Transmission rod 2; 33. Slideway 3; 34. Eccentric column 2; 35. Semicircular plate 2; 36. Support member 2; 37. Clamp; 38. Bolt; 39. Nut. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention; it is obvious that the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments, and all other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making creative work are within the scope of protection of the present invention.

[0029] See also Figures 1 to 6 A novel automatic loading and unloading robot manipulator comprises a robot arm body 1, a support frame 2 is arranged at the end of the robot arm body 1, a dual-axis motor 3 is fixedly installed on the internal front end surface of the support frame 2, a workpiece 9 is arranged on the front side of the support frame 2, a grasping mechanism is arranged inside the support frame 2, the grasping mechanism comprises a propulsion grasping assembly arranged on the front side of the dual-axis motor 3, the propulsion grasping assembly comprises a threaded rod 4 fixedly installed at the ends of the output shafts at both ends of the dual-axis motor 3, the other end of the threaded rod 4 is rotatably connected to the inner wall of the support frame 2, a threaded sleeve 5 is spirally connected to the outer surface of the threaded sleeve 5, a connecting rod 6 is rotatably connected to the front side of the outer surface of the threaded sleeve 5, a top plate 8 is arranged on the rear side of the workpiece 9, a top block 7 is fixedly installed on the rear end surface of the top plate 8, and two sets of connecting rods 6 are rotatably connected to the top block 7.

[0030] There are two groups of transverse grasping components, which are symmetrically arranged on both sides of the support frame 2. Secondly, when the fan-shaped workpiece 9 needs to be grasped, the grasping mechanism on the support frame 2 is controlled by the robot arm body 1 to face the workpiece 9 from above, and then the double-axis motor 3 is started to make the two groups of threaded rods 4 of the double-axis motor 3 rotate synchronously, and the threaded sleeve 5 connected by the spiral transmission on the outer surface of the threaded rod 4 will carry the connecting rod 6 to move synchronously toward the double-axis motor 3. The two groups of connecting rods 6 are both rotatably connected to the top block 7 on the top plate 8, so that the top plate 8 will be driven to advance toward the workpiece 9, and release and fit tightly with the upper end surface of the placed workpiece 9;

[0031] The propulsion and grabbing assembly includes a grab hook member arranged inside the top plate 8, and the grab hook member includes an inner cavity 10 opened inside the top block 7. A force-bearing plate 11 is slidably connected inside the inner cavity 10, and a spring 12 is fixedly installed between the force-bearing plate 11 and the inner wall of the inner cavity 10.

[0032] A slide groove 13 is provided on the inner rear side of the top block 7, and a slide plate 14 is slidably connected inside the slide groove 13. A connecting rod 15 is fixedly installed on the front end surface of the slide plate 14. One end of the connecting rod 15 extends into the inner cavity 10 and is fixedly connected to the force-bearing plate 11.

[0033] A support member 17 is fixedly installed on the upper end surface of the top block 7, and a gear 18 is rotatably connected to the upper end of the support member 17. A clamping claw 19 is fixedly installed on the outer surface of the gear 18. The clamping claw 19 is L-shaped. A rack 16 is meshed on the lower side of the gear 18, and the rack 16 is fixedly connected to the slide plate 14.

[0034] Before the top plate 8 contacts the workpiece 9, the force plate 11 will first contact the workpiece 9, and as the top plate 8 continues to advance, the force plate 11 will squeeze the spring 12 into the inner cavity 10, and then make the slide plate 14 slide backward in the slide groove 13 through the connecting rod 15. When the slide plate 14 slides, it will carry the rack 16 to move, and the rack 16 will mesh with the gear 18, so the gear 18 will rotate, and the gear 18 will synchronously carry the jaws 19 to deflect, and the two sets of jaws 19 will deflect synchronously to clamp the workpiece 9 to a limit.

[0035] The grabbing mechanism also includes a lateral grabbing assembly arranged on both sides of the support frame 2, and the lateral grabbing assembly includes a gear shaft 20 arranged on one side of the support frame 2. One end of the threaded rod 4 extends to the outside of the support frame 2 and is fixedly connected to the gear shaft 20. A gear 2 22 is meshed with one side of the gear shaft 20, and a rotating rod 1 21 is rotatably connected between the gear 22 and the support frame 2.

[0036] A fixed column 24 is fixedly installed on the left end surface of the support frame 2, and a transmission rod 25 is rotatably connected to the outer surface of the fixed column 24. A slide groove 26 is provided on the left end surface of the transmission rod 25. An eccentric column 23 is eccentrically installed on the left end surface of the gear 22. The eccentric column 23 is slidably connected to the slide groove 26, and a semicircular plate 28 is fixedly installed on one end of the transmission rod 25.

[0037] A transmission rod 2 32 is provided on the left side of the transmission rod 1 25, and the transmission rod 2 32 is rotatably connected to the outer surface of the fixed column 24. A gear 31 is provided on the left side of the transmission rod 2 32, and the gear 31 is meshed with the gear shaft 20. The left end face of the gear 31 is rotatably connected to the rotating rod 2 30, and a connecting plate 29 is fixedly installed between the rotating rod 2 30 and the fixed column 24.

[0038] A slide groove 33 is provided on the left end surface of the transmission rod 2 32 , an eccentric column 2 34 is eccentrically installed on the right end surface of the gear 3 31 , the eccentric column 2 34 is fixedly connected to the slide groove 33 , and a semicircular plate 2 35 is fixedly installed on one end of the transmission rod 2 32 .

[0039] A slide rail 27 is fixedly installed on the front end of the support frame 2. Semicircular plate 1 28 and semicircular plate 2 35 are both slidably connected to the slide rail 27. Adjustment parts are provided at the ends of semicircular plate 1 28 and semicircular plate 2 35. The two sets of adjustment parts are symmetrically arranged.

[0040] Secondly, the threaded rod 4 will carry the gear shaft 20 to rotate, and the gear 2 22 and the gear 3 31 are both meshed with the gear shaft 20, so the gear 2 22 will carry the eccentric column 1 23 to rotate, and the gear 3 31 will carry the eccentric column 2 34 to rotate. The eccentric column 1 23 and the eccentric column 2 34 are staggered and symmetrically arranged, and the eccentric column 1 23 is slidably connected with the slide groove 2 26 on the transmission rod 1 25. Therefore, as the eccentric column 1 23 moves half a circle, the transmission rod 1 25 will rotate clockwise around the fixed column 24, and the other end of the transmission rod 1 25 The semicircular plate 1 28 will move clockwise inside the slide rail 27. Similarly, the eccentric column 2 34 is slidably connected to the slide groove 33 on the transmission rod 2 32. Therefore, as the eccentric column 2 34 moves half a circle, the transmission rod 2 32 will rotate counterclockwise around the fixed column 24, and the semicircular plate 2 35 at the other end of the transmission rod 2 32 will move counterclockwise inside the slide rail 27. The semicircular plate 1 28 and the semicircular plate 2 35 will carry their respective adjustment components to contact the upper and lower end surfaces of the workpiece 9, thereby clamping and fixing.

[0041] The lateral grabbing assembly includes an adjusting member arranged inside, which includes a supporting member 2 36 on which the ends of the semicircular plate 1 28 and the semicircular plate 2 35 are fixedly installed. The end of the supporting member 2 36 is rotatably connected with a bolt 38, and the outer surface of the bolt 38 is spirally connected with a nut 39, and the other end of the bolt 38 is fixedly installed with a clamping plate 37.

[0042] When it is necessary to grasp a workpiece 9 with different curvatures, the operator can loosen the nut 39 with a wrench, and then turn the bolt 38 to rotate the bolt 38 and the clamp 37 to adjust the tilt angle, and then reversely twist the nut 39 with the wrench again to make the nut 39 fit tightly against the support frame 2, thereby locking the clamp 37. The clamp 37 is set in an L shape, which can better clamp the workpiece 9.

[0043] When the existing equipment is used to grasp the fan-shaped workpiece 9 with significant characteristic morphology, it is limited by the limitations of the adaptive adjustment mechanism, exposing the technical bottleneck of insufficient fit between the clamping system and the curved surface of the workpiece 9. Specifically, the end effector fails to fully adapt to the curvature radius and fan-shaped structural characteristics of the workpiece 9 for adaptive adjustment, resulting in local stress concentration and excessive clearance on the clamping contact surface, which ultimately leads to insufficient clamping stability. During the handling process, this incomplete constraint state is prone to cause the workpiece 9 to shift or even slip, seriously affecting the safety and reliability of loading and unloading operations. Therefore, this solution achieves precise morphological matching for the fan-shaped workpiece 9 by setting a grasping mechanism and an adjustment component. The staff can adjust the curvature of the clamping surface according to the curvature characteristics of the workpiece 9 to ensure that the clamping surface and the outer contour of the workpiece 9 are in full contact. The coordinated adjustment mechanism can significantly improve the clamping stability of the special-shaped workpiece 9, completely eliminate the intermittent loosening caused by the traditional clamping method, and ensure the operational safety and system reliability of complex structural parts in high-speed handling operations.

[0044] Method of use: There are two groups of transverse grasping components, which are symmetrically arranged on both sides of the support frame 2. When the fan-shaped workpiece 9 needs to be grasped, the grasping mechanism on the support frame 2 is controlled by the robot arm body 1 to face the workpiece 9 from above, and then the dual-axis motor 3 is started to make the two groups of threaded rods 4 of the dual-axis motor 3 rotate synchronously, and the threaded sleeve 5 connected by the spiral transmission on the outer surface of the threaded rod 4 will carry the connecting rod 6 to move synchronously toward the dual-axis motor 3. The two groups of connecting rods 6 are both rotatably connected to the top block 7 on the top plate 8, so that the top plate 8 will be driven to advance toward the workpiece 9, and release and fit tightly with the upper end surface of the placed workpiece 9;

[0045] Before the top plate 8 contacts the workpiece 9, the force plate 11 will first contact the workpiece 9, and as the top plate 8 continues to advance, the force plate 11 will squeeze the spring 12 into the inner cavity 10, and then the slide plate 14 will slide backward in the slide groove 13 through the connecting rod 15. While the slide plate 14 slides, it will carry the rack 16 to move, and the rack 16 will mesh with the gear 18, so the gear 18 will rotate, and the gear 18 will synchronously carry the clamping jaws 19 to deflect, and the two sets of clamping jaws 19 will deflect synchronously to clamp the workpiece 9 to a limit position;

[0046] Secondly, the threaded rod 4 will carry the gear shaft 20 to rotate, and the gear 2 22 and the gear 3 31 are both meshed with the gear shaft 20, so the gear 2 22 will carry the eccentric column 1 23 to rotate, and the gear 3 31 will carry the eccentric column 2 34 to rotate. The eccentric column 1 23 and the eccentric column 2 34 are staggered and symmetrically arranged, and the eccentric column 1 23 is slidably connected with the slide groove 2 26 on the transmission rod 1 25. Therefore, as the eccentric column 1 23 moves half a circle, the transmission rod 1 25 will rotate clockwise around the fixed column 24, and the other end of the transmission rod 1 25 The semicircular plate 1 28 will move clockwise inside the slide rail 27. Similarly, the eccentric column 2 34 is slidably connected to the slide groove 33 on the transmission rod 2 32. Therefore, as the eccentric column 2 34 moves half a circle, the transmission rod 2 32 will rotate counterclockwise around the fixed column 24, and the semicircular plate 2 35 at the other end of the transmission rod 2 32 will move counterclockwise inside the slide rail 27. The semicircular plate 1 28 and the semicircular plate 2 35 will carry their respective adjustment components to contact the upper and lower end surfaces of the workpiece 9, thereby clamping and fixing.

[0047] When it is necessary to grasp a workpiece 9 with different curvatures, the operator can loosen the nut 39 with a wrench, and then turn the bolt 38 to rotate the bolt 38 and the clamp 37 to adjust the tilt angle, and then reversely twist the nut 39 with the wrench again to make the nut 39 fit tightly against the support frame 2, thereby locking the clamp 37. The clamp 37 is set in an L shape, which can better clamp the workpiece 9.

[0048] The above is only a preferred specific implementation of the present invention; however, the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical solution and its improved conception within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A novel automatic loading and unloading robot manipulator, comprising a robot arm body (1), the end of the robot arm body (1) is provided with a support frame (2), characterized in that: A dual-axis motor (3) is fixedly mounted on the front end surface of the support frame (2), a workpiece (9) is arranged on the front side of the support frame (2), a gripping mechanism is arranged inside the support frame (2), the gripping mechanism comprises a propulsion gripping assembly arranged on the front side of the dual-axis motor (3), the propulsion gripping assembly comprises a threaded rod (4) fixedly mounted at the ends of the output shafts at both ends of the dual-axis motor (3), the other end of the threaded rod (4) is rotatably connected to the inner wall of the support frame (2), the outer surface of the threaded rod (4) is spirally connected to a threaded sleeve (5), the outer front side of the threaded sleeve (5) is rotatably connected to a connecting rod (6), a top plate (8) is arranged on the rear side of the workpiece (9), a top block (7) is fixedly mounted on the rear end surface of the top plate (8), and two groups of connecting rods (6) are rotatably connected to the top block (7).

2. According to claim 1, the novel automatic loading and unloading robot manipulator is characterized in that: The propulsion and grabbing assembly comprises a grabbing hook member arranged inside the top plate (8), the grabbing hook member comprises an inner cavity (10) opened inside the top block (7), a force-bearing plate (11) is slidably connected inside the inner cavity (10), and a spring (12) is fixedly installed between the force-bearing plate (11) and the inner wall of the inner cavity (10).

3. According to claim 2, the novel automatic loading and unloading robot manipulator is characterized in that: A slide groove (13) is provided on the inner rear side of the top block (7), and a slide plate (14) is slidably connected to the interior of the slide groove (13). A connecting rod (15) is fixedly installed on the front end surface of the slide plate (14), and one end of the connecting rod (15) extends into the interior of the inner cavity (10) and is fixedly connected to the force-bearing plate (11).

4. The novel automatic loading and unloading robot manipulator according to claim 3 is characterized in that: A support member 1 (17) is fixedly mounted on the upper end surface of the top block (7); a gear 1 (18) is rotatably connected to the upper end of the support member 1 (17); a clamping claw (19) is fixedly mounted on the outer surface of the gear 1 (18); the clamping claw (19) is arranged in an L shape; a rack (16) is meshed with the lower side of the gear 1 (18); and the rack (16) is fixedly connected to the slide plate (14).

5. The novel automatic loading and unloading robot manipulator according to claim 4 is characterized in that: The gripping mechanism further comprises a transverse gripping assembly arranged on both sides of the support frame (2), the transverse gripping assembly comprising a gear shaft (20) arranged on one side of the support frame (2), one end of the threaded rod (4) extending to the outside of the support frame (2) and fixedly connected to the gear shaft (20), one side of the gear shaft (20) being meshed with a second gear (22), and a rotating rod (21) being rotationally connected between the second gear (22) and the support frame (2).

6. The novel automatic loading and unloading robot manipulator according to claim 5 is characterized in that: A fixed column (24) is fixedly mounted on the left end surface of the support frame (2), and a transmission rod (25) is rotatably connected to the outer surface of the fixed column (24). A sliding groove (26) is provided on the left end surface of the transmission rod (25). An eccentric column (23) is eccentrically mounted on the left end surface of the gear (22), and the eccentric column (23) is slidably connected to the sliding groove (26). A semicircular plate (28) is fixedly mounted on one end of the transmission rod (25).

7. The novel automatic loading and unloading robot manipulator according to claim 6 is characterized in that: A transmission rod 2 (32) is arranged on the left side of the transmission rod 1 (25), and the transmission rod 2 (32) is rotatably connected to the outer surface of the fixed column (24). A gear 3 (31) is arranged on the left side of the transmission rod 2 (32), and the gear 3 (31) is meshed with the gear shaft (20). The left end surface of the gear 3 (31) is rotatably connected to the rotating rod 2 (30), and a connecting plate (29) is fixedly installed between the rotating rod 2 (30) and the fixed column (24).

8. The novel automatic loading and unloading robot manipulator according to claim 7 is characterized in that: The left end surface of the transmission rod 2 (32) is provided with a sliding groove 3 (33), the right end surface of the gear 3 (31) is eccentrically mounted with an eccentric column 2 (34), the eccentric column 2 (34) is fixedly connected to the sliding groove 3 (33), and one end of the transmission rod 2 (32) is fixedly mounted with a semicircular plate 2 (35).

9. The novel automatic loading and unloading robot manipulator according to claim 8 is characterized in that: A slide rail (27) is fixedly mounted on the end of the front end face of the support frame (2), and the semicircular plate 1 (28) and the semicircular plate 2 (35) are both slidably connected to the slide rail (27). Adjustment parts are arranged at the ends of the semicircular plate 1 (28) and the semicircular plate 2 (35), and the two groups of adjustment parts are symmetrically arranged.

10. The novel automatic loading and unloading robot manipulator according to claim 9 is characterized in that: The lateral grabbing assembly includes an adjusting member arranged inside, and the adjusting member includes a supporting member (36) fixedly mounted at the ends of the semicircular plate (28) and the semicircular plate (35), the end of the supporting member (36) is rotatably connected with a bolt (38), the outer surface of the bolt (38) is spirally connected with a nut (39), and the other end of the bolt (38) is fixedly mounted with a clamping plate (37).

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