Material transfer manipulator with detection device
By integrating a camera and a gripper mechanism into the material transfer robot and combining it with a deep learning model, efficient material transfer and accurate defect detection are achieved, solving the problems of low efficiency and insufficient detection accuracy in existing technologies and improving production efficiency and product quality.
Patent Information
- Application Number
- CN202511237543.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-09-01
- Publication Date
- 2025-10-03
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
Existing material transfer robots have deficiencies in precision, adaptability and detection capabilities, resulting in low manual transfer efficiency and reduced detection accuracy, making it difficult to meet complex production needs.
A material transfer robot with a detection device was designed. It uses a camera and a gripper mechanism, combined with a deep learning model for visual scanning and material identification. It achieves precise grasping and positioning through XYZ-axis movement, and is equipped with a hydraulic cylinder to adjust the camera shooting angle to improve detection accuracy.
It achieves efficient material transfer and accurate defect detection, reduces manual operation errors, improves production efficiency and product quality, and reduces the detection error rate.
Smart Images
Figure CN120735084A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of material transfer manipulators, in particular to a material transfer manipulator with a detection device. Background Art
[0002] In modern manufacturing, material transfer is a crucial part of the production process, and its degree of automation impacts the efficiency of the entire production system. Material transfer robots, as the core equipment for automated material transfer, have been widely used, but they still have shortcomings in terms of accuracy, adaptability, and detection capabilities, making it difficult to meet complex production needs. Specifically: Traditional manual transfer methods are inefficient and difficult to meet the needs of large-scale production. Manual operations are prone to errors, which can damage workpieces, affect product quality, and increase production costs. At the same time, during the material transfer process, there is often a lack of effective detection methods. The detection of processing defects in workpieces still requires manual observation and identification. Manual visual inspection cannot guarantee error-free operation for a long time, resulting in a decrease in detection accuracy.
[0003] To solve the above problems, we propose a material transfer robot with a detection device to solve the above problems. Summary of the Invention
[0004] In order to solve the technical problems that the existing manual transfer method is inefficient and requires manual observation and identification processing, resulting in reduced detection accuracy, the present invention provides a material transfer robot with a detection device.
[0005] The present invention is implemented by the following technical solution: a material transfer manipulator with a detection device, comprising a base and a guide rail mounting beam, wherein the guide rail mounting beam is fixedly connected to the top of the base, one end of the guide rail mounting beam is movably connected to a linear guide rail, one end of the inner portion of the linear guide rail is movably connected to a column, one end of the linear guide rail is fixedly connected to a protective cover, a camera is provided at one end of the bottom of the column, and a clamping mechanism is provided at the bottom end of the column; wherein, the bottom of the linear guide rail is fixedly connected to a fixed base, the fixed base is slidably connected to the top of the guide rail mounting beam, a first servo motor is arranged inside the protective cover, the bottom of the first servo motor is fixedly connected to a first gear, one end of the first gear is meshedly connected to a first rack, the first rack is fixedly connected to the top of the guide rail mounting beam, the top of the linear guide rail is slidably connected to a movable table, one end of the movable table is provided with a second servo motor, the bottom of the second servo motor is fixedly connected to a second gear, one side of the second gear is meshedly connected to the second rack, the second rack is fixedly connected to the top of the linear guide rail, a third servo motor is arranged on one side of the top of the movable table, one end of the third servo motor is fixedly connected to a third gear, one end of the third gear is meshedly connected to the third rack, and the third rack is fixedly connected to one side of the column; Secondly, one side of the bottom of the column is fixedly connected to a cross beam, a hydraulic cylinder is provided inside the cross beam, one end of the hydraulic cylinder is fixedly connected to a connecting head, one end of the cross beam is provided with a mounting plate, the camera is fixedly connected to the outer side of the mounting plate, the inner side of the mounting plate is fixedly connected to a rotating block, the connecting head is rotatably connected to the inside of the rotating block, one end of the rotating block is rotatably connected to a fixed shaft, both ends of the fixed shaft are fixedly connected to the inner side of the cross beam, the bottom of the column is fixedly connected to the vertical beam, and the clamping mechanism is fixedly connected to the bottom of the vertical beam.
[0006] Preferably, two first sliding grooves are fixedly connected to both ends of the bottom of the fixed base, two first sliding blocks are fixedly connected to both sides of the top of the guide rail mounting beam, and the first sliding grooves are slidably connected to the outside of the first sliding blocks.
[0007] Preferably, two second slide grooves are fixedly connected to both ends of the bottom of the movable platform, two second sliders are fixedly connected to the top of the linear guide rail, and the second slide grooves are slidably connected to the outside of the second sliders.
[0008] Preferably, the top of the movable platform is fixedly connected with a third sliding groove, one side of the column is fixedly connected with a third sliding block, and the third sliding groove is slidably connected to the outside of the third sliding block.
[0009] Preferably, the top of the fixed base is fixedly connected to a first drag chain, one end of the first drag chain is fixedly connected to one side of the guide rail mounting beam, one end of the top of the movable platform is fixedly connected to a second drag chain, one end of the second drag chain is fixedly connected to one side of the linear guide rail, and the top of the movable platform is fixedly connected to a third drag chain, one end of the third drag chain is fixedly connected to one side of the column.
[0010] Preferably, a rotating shaft is fixedly connected to the interior of the crossbeam, and one end of the hydraulic cylinder is rotatably connected to the exterior of the rotating shaft.
[0011] Preferably, the clamping mechanism includes a top plate and a clamping jaw, the bottom of the vertical beam is fixedly connected to the top of the top plate, a fourth servo motor is provided on the top of the top plate, the bottom of the fourth servo motor is fixedly connected to a driving wheel, the bottom of the driving wheel is fixedly connected to a transmission screw, the bottom of the transmission screw is threadedly connected to a threaded seat, the bottom of the top plate is fixedly connected to a plurality of movable rods, the bottom of the movable rod is hingedly connected to the top of the clamping jaw, the inner side of the clamping jaw is hingedly connected to a connecting rod, and one end of the connecting rod is hingedly connected to the outside of the threaded seat.
[0012] Preferably, the bottom of the transmission screw is fixedly connected to a limit ring, and the top of the transmission screw is rotatably connected to the inside of the top plate.
[0013] Compared with the prior art, the present invention has the following beneficial effects: When the present invention is in use, by starting the first servo motor, the first servo motor will drive the first gear to rotate along one side of the first rack, and the fixed base will drive the linear guide to move along the X-axis direction, and then start the second servo motor, the second servo motor will drive the second gear to rotate along one side of the second rack, and the movable table will drive the linear guide to move along the Y-axis direction, and then start the third servo motor, the third servo motor will drive the third gear to rotate along one side of the third rack, and the column will drive the camera and the clamping mechanism to move along the Z-axis direction, so that the clamping mechanism moves to directly above the material. The camera first visually scans the material on the first conveyor belt, and uses a deep learning model to compare the collected image with a standard template containing size, surface and other parameters. If there is damage such as cracks, the clamp 7 will grab it and put it into the recycling box via the XYZ axis; if there is no damage, the clamp 7 grabs it, combines the visual compensation material position, and moves it to the next conveyor belt designated station via the XYZ axis.
[0014] When the present invention is in use, by starting the hydraulic cylinder, the hydraulic cylinder will push the connecting head to move, and the connecting head will rotate along the inside of the rotating block. At the same time, the connecting head drives the rotating block to move, and the rotating block will rotate around the outside of the fixed axis, so that the rotating block drives the mounting plate to rotate around the fixed axis, thereby allowing the camera to rotate to facilitate adjustment of the shooting angle.
[0015] When the present invention is in use, by starting the fourth servo motor, the fourth servo motor will drive the active wheel to rotate, the active wheel will drive the transmission screw to rotate, the rotation of the transmission screw will drive the threaded seat to move upward, the upward movement of the threaded seat will drive one end of the multiple connecting rods to move upward, so that the other end of the connecting rod pulls the top of the clamping jaw to move, and the top of the clamping jaw is hingedly connected to the bottom of the movable rod, so that the multiple clamping jaws rotate inward around the bottom of the multiple movable rods respectively, so that the multiple clamping jaws are retracted inward to grab the material. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the connection structure between the guide rail mounting beam and the linear guide rail of the present invention; Figure 3 Schematic diagram of the connection structure of the linear guide rail and the column of the present invention; Figure 4 This is a schematic diagram of the position structure of the camera and the clamping mechanism of the present invention; Figure 5 This is a schematic diagram of the camera connection structure of the present invention; Figure 6 It is a schematic diagram of the specific structure of the clamping mechanism of the present invention.
[0017] In the figure: 1. Base; 2. Guide rail mounting beam; 3. Linear guide rail; 4. Column; 5. Protective cover; 6. Camera; 7. Gripping mechanism; 8. Fixed base; 9. First servo motor; 10. First gear; 11. First rack; 12. First chute; 13. First slider; 14. First drag chain; 15. Movable platform; 16. Second servo motor; 17. Second gear; 18. Second rack; 19. Second chute; 20. Second slider; 21. Second drag chain; 22. Three servo motors; 23. Third gear; 24. Third rack; 25. Third slide; 26. Third slider; 27. Third drag chain; 28. Crossbeam; 29. Hydraulic cylinder; 30. Mounting plate; 31. Rotating shaft; 32. Connector; 33. Rotating block; 34. Fixed shaft; 35. Vertical beam; 36. Fourth servo motor; 37. Driving wheel; 38. Top plate; 39. Transmission screw; 40. Threaded seat; 41. Movable rod; 42. Clamp; 43. Connecting rod; 44. Limiting ring. DETAILED DESCRIPTION
[0018] The present invention will be further described below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that, under the premise of no conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.
[0019] Example 1: Please refer to Figure 1 - Figure 6, a material transfer robot with a detection device in this embodiment includes a base 1 and a guide rail mounting beam 2, the guide rail mounting beam 2 is fixedly connected to the top of the base 1, one end of the guide rail mounting beam 2 is movably connected to a linear guide rail 3, one end of the inner side of the linear guide rail 3 is movably connected to a column 4, one end of the linear guide rail 3 is fixedly connected to a protective cover 5, a camera 6 is provided at the bottom end of the column 4, a clamping mechanism 7 is provided at the bottom end of the column 4, the bottom of the linear guide rail 3 is fixedly connected to a fixed base 8, the fixed base 8 is slidably connected to the top of the guide rail mounting beam 2, a first servo motor 9 is provided inside the protective cover 5, the bottom of the first servo motor 9 is fixedly connected to a first gear 10, one end of the first gear 10 is meshedly connected to a first rack 11, the first rack 11 is fixedly connected to the top of the guide rail mounting beam 2, the top of the linear guide rail 3 is slidably connected to a movable platform 15, one end of the movable platform 15 is provided with a second servo motor 16, and the bottom of the second servo motor 16 is fixedly connected to a second gear 17 One side of the second gear 17 is meshedly connected to the second rack 18, and the second rack 18 is fixedly connected to the top of the linear guide 3. A third servo motor 22 is provided on the top side of the movable table 15. One end of the third servo motor 22 is fixedly connected to the third gear 23. One end of the third gear 23 is meshedly connected to the third rack 24. The third rack 24 is fixedly connected to one side of the column 4. The bottom side is fixedly connected to the crossbeam 28. A hydraulic cylinder 29 is provided inside the crossbeam 28. The hydraulic cylinder 2 One end of 9 is fixedly connected to the connecting head 32, one end of the crossbeam 28 is provided with a mounting plate 30, the camera 6 is fixedly connected to the outside of the mounting plate 30, the inner side of the mounting plate 30 is fixedly connected to the rotating block 33, the connecting head 32 is rotatably connected to the inside of the rotating block 33, one end of the rotating block 33 is rotatably connected to the fixed shaft 34, both ends of the fixed shaft 34 are fixedly connected to the inner side of the crossbeam 28, the bottom of the column 4 is fixedly connected to the vertical beam 35, and the clamping mechanism 7 is fixedly connected to the bottom of the vertical beam 35; Among them, when it is necessary to grab and transport the material, the first servo motor 9 is started, the first servo motor 9 will drive the first gear 10 to rotate, and the first gear 10 rotates along one side of the first rack 11, thereby driving the fixed base 8 to move horizontally along the top of the guide rail mounting beam 2, and the fixed base 8 will drive the linear guide 3 to move along the X-axis direction, and then the second servo motor 16 is started, the second servo motor 16 will drive the second gear 17 to rotate, and the second gear 17 rotates along one side of the second rack 18, thereby driving the movable platform 15 to move horizontally along the top of the linear guide 3, and the movable platform 15 will drive the linear guide 3 to move along the Y-axis direction, and then the third servo motor 22 is started, the third servo motor 22 will drive the third gear 23 to rotate, and the third gear 23 rotates along one side of the third rack 24, thereby driving the column 4 to move in the vertical direction inside the linear guide 3, and the column 4 will drive the camera 6 and the clamping mechanism 7 to move along the Z-axis direction, so that the clamping mechanism 7 moves to the top of the material to grab it; Next, camera 6 starts visual scanning of the material on the first conveyor belt. Using built-in image algorithms (such as a deep learning defect detection model), the captured material appearance image is compared with a pre-set "standard template of undamaged material" for analysis, including parameters such as dimensional tolerance, surface flatness, and crack / defect characteristics. If the material is identified to have damage features such as cracks, deformations, or defects, and the algorithm determines that the similarity is lower than the qualified threshold, such as a 95% match, the gripper mechanism 7 grabs the material and positions it above the recycling bin via the XYZ axis linkage, accurately placing the scrapped product. If the image matching degree meets the qualified standard, such as ≥95%, the gripper mechanism 7 grabs the material and, relying on the XYZ axis coordinate positioning system and combining the actual position compensation of the material identified by visual recognition, transfers the material and places it on the designated station of the next conveyor belt to connect to the subsequent processing and packaging process; Furthermore, when the shooting angle of the camera 6 needs to be adjusted, the hydraulic cylinder 29 is activated, and the hydraulic cylinder 29 pushes the connecting head 32 to move, and the connecting head 32 rotates along the inside of the rotating block 33. At the same time, the connecting head 32 drives the rotating block 33 to move, and the rotating block 33 rotates around the outside of the fixed axis 34, so that the rotating block 33 drives the mounting plate 30 to rotate around the fixed axis 34, thereby rotating the camera 6 to facilitate the adjustment of the shooting angle; Different types of materials may have different shapes on the conveyor belt, or the same type of materials may have slightly different appearances due to production processes. Adjusting the shooting angle allows the camera to capture complete and clear material feature surfaces. Whether detecting surface cracks or identifying dimensional tolerances, comprehensive and effective image information can be obtained, improving the accuracy of defect detection. Precise shooting angles enable the imaging algorithm to obtain high-quality, feature-complete material images, reducing misjudgments due to poor viewing angles. This makes the judgment of "whether the material is damaged" more reliable, reduces the risk of good products being misjudged as scrap and the risk of scrap products being diverted to the next process, and ensures product quality and production efficiency. Furthermore, a rotating shaft 31 is fixedly connected to the interior of the crossbeam 28, and one end of the hydraulic cylinder 29 is rotatably connected to the exterior of the rotating shaft 31. When the hydraulic cylinder 29 pushes the connecting head 32 and drives the rotating block 33 to rotate, one end of the hydraulic cylinder 29 will rotate around the exterior of the rotating shaft 31. Furthermore, two first slide grooves 12 are fixedly connected to both ends of the bottom of the fixed base 8, and two first sliders 13 are fixedly connected to both sides of the top of the guide rail mounting beam 2. The first slide grooves 12 are slidably connected to the outside of the first sliders 13. When the fixed base 8 moves along the top of the guide rail mounting beam 2, the first slide grooves 12 at the bottom of the fixed base 8 will slide along the outside of the first rack 11. By providing the first rack 11 and the first slide grooves 12, the fixed base 8 can maintain a stable state when moving along the top of the guide rail mounting beam 2. Furthermore, two second slide grooves 19 are fixedly connected to both ends of the bottom of the movable platform 15, and two second sliders 20 are fixedly connected to the top of the linear guide 3. The second slide grooves 19 are slidably connected to the outside of the second sliders 20. When the movable platform 15 moves along the top of the linear guide 3, the second slide grooves 19 at the bottom of the movable platform 15 will slide along the outside of the second sliders 20. By providing the second slide grooves 19 and the second sliders 20, the movable platform 15 can maintain a stable state when moving along the top of the linear guide 3. Furthermore, a third slide groove 25 is fixedly connected to the top of the movable platform 15, and a third slider 26 is fixedly connected to one side of the column 4. The third slide groove 25 is slidably connected to the outside of the third slider 26. When the column 4 moves along the inside of the linear guide 3, the third slide groove 25 on the top of the movable platform 15 will slide along the outside of the third slider 26. By providing the third slide groove 25 and the third slider 26, the column 4 can maintain a stable state when moving up and down along the inside of the linear guide 3. Furthermore, the top of the fixed base 8 is fixedly connected to a first drag chain 14, one end of the first drag chain 14 is fixedly connected to one side of the guide rail mounting beam 2, one end of the top of the movable platform 15 is fixedly connected to a second drag chain 21, one end of the second drag chain 21 is fixedly connected to one side of the linear guide rail 3, the top of the movable platform 15 is fixedly connected to a third drag chain 27, one end of the third drag chain 27 is fixedly connected to one side of the column 4; Among them, a first drag chain 14 is provided for storing and protecting cables, air pipes, etc. connected during the X-axis movement, and moves synchronously with the X-axis to avoid entanglement and wear of the pipelines; a second drag chain 21 is provided for storing and protecting cables, air pipes, etc. connected during the Y-axis movement, and moves synchronously with the Y-axis to avoid entanglement and wear of the pipelines; a third drag chain 27 is provided for storing and protecting cables, air pipes, etc. connected during the Z-axis movement, and moves synchronously with the Z-axis to avoid entanglement and wear of the pipelines; Furthermore, the clamping mechanism 7 includes a top plate 38 and a clamping jaw 42. The bottom of the vertical beam 35 is fixedly connected to the top of the top plate 38. A fourth servo motor 36 is provided on the top of the top plate 38. The bottom of the fourth servo motor 36 is fixedly connected to a driving wheel 37. The bottom of the driving wheel 37 is fixedly connected to a transmission screw 39. The bottom of the transmission screw 39 is threadedly connected to a threaded seat 40. The bottom of the top plate 38 is fixedly connected to a plurality of movable rods 41. The bottom of the movable rod 41 is hingedly connected to the top of the clamping jaw 42. The inner side of the clamping jaw 42 is hingedly connected to a connecting rod 43. One end of the connecting rod 43 is hingedly connected to the outside of the threaded seat 40. Among them, when the clamping mechanism 7 grabs the material, the fourth servo motor 36 is started, the fourth servo motor 36 will drive the driving wheel 37 to rotate, the driving wheel 37 will drive the transmission screw 39 to rotate, the rotation of the transmission screw 39 will drive the threaded seat 40 to move upward, the upward movement of the threaded seat 40 will drive one end of the multiple connecting rods 43 to move upward, so that the other end of the connecting rod 43 pulls the top of the clamping jaw 42 to move, and the top of the clamping jaw 42 is hingedly connected to the bottom of the movable rod 41, so that the multiple clamping jaws 42 rotate inward around the bottom of the multiple movable rods 41 respectively, so that the multiple clamping jaws 42 are retracted inward to grab the material; Furthermore, the bottom of the transmission screw 39 is fixedly connected to a limit ring 44, and the top of the transmission screw 39 is rotatably connected to the inside of the top plate 38. By setting the limit ring 44, the limit ring 44 will limit the movement of the threaded seat 40 to prevent the threaded seat 40 from detaching from the bottom of the transmission screw 39.
[0020] Working principle: By starting the first servo motor 9, the first servo motor 9 will drive the first gear 10 to rotate along one side of the first rack 11, and the fixed base 8 will drive the linear guide 3 to move along the X-axis direction, and then start the second servo motor 16, the second servo motor 16 will drive the second gear 17 to rotate along one side of the second rack 18, and the movable table 15 will drive the linear guide 3 to move along the Y-axis direction, and then start the third servo motor 22, the third servo motor 22 will drive the third gear 23 to rotate along one side of the third rack 24, and the column 4 will drive the camera 6 and the clamping mechanism 7 to move along the Z-axis direction, so that the clamping mechanism 7 moves to the top of the material, and the material is first identified by the camera 6 to determine whether the material is damaged. If it is damaged, the clamping mechanism 7 will put the material into the recycling box through the XYZ axis after grabbing it. If it is not damaged, the clamping mechanism 7 will place the material on the next conveyor belt after grabbing it for processing and packaging in the next process.
[0021] The above embodiments are only preferred embodiments of the present invention and cannot be used to limit the scope of protection of the present invention. Any non-substantial changes and replacements made by technicians in this field on the basis of the present invention fall within the scope of protection required by the present invention.
Claims
1. A material transfer manipulator with a detection device, comprising a base (1) and a guide rail mounting beam (2), characterized in that: The guide rail mounting beam (2) is fixedly connected to the top of the base (1), one end of the guide rail mounting beam (2) is movably connected to a linear guide rail (3), one end inside the linear guide rail (3) is movably connected to a column (4), one end of the linear guide rail (3) is fixedly connected to a protective cover (5), a camera (6) is provided at one end of the bottom of the column (4), and a clamping mechanism (7) is provided at the bottom end of the column (4); The bottom of the linear guide rail (3) is fixedly connected to a fixed base (8), the fixed base (8) is slidably connected to the top of the guide rail mounting beam (2), a first servo motor (9) is provided inside the protective cover (5), the bottom of the first servo motor (9) is fixedly connected to a first gear (10), one end of the first gear (10) is meshingly connected to a first rack (11), the first rack (11) is fixedly connected to the top of the guide rail mounting beam (2), the top of the linear guide rail (3) is slidably connected to a movable table (15), one end of the movable table (15) is provided with a first gear (11). Two servo motors (16), the bottom of the second servo motor (16) is fixedly connected to a second gear (17), one side of the second gear (17) is meshedly connected to a second rack (18), the second rack (18) is fixedly connected to the top of the linear guide rail (3), a third servo motor (22) is provided on one side of the top of the movable table (15), one end of the third servo motor (22) is fixedly connected to a third gear (23), one end of the third gear (23) is meshedly connected to a third rack (24), and the third rack (24) is fixedly connected to one side of the column (4); Secondly, one side of the bottom of the column (4) is fixedly connected to a crossbeam (28), a hydraulic cylinder (29) is provided inside the crossbeam (28), one end of the hydraulic cylinder (29) is fixedly connected to a connector (32), one end of the crossbeam (28) is provided with a mounting plate (30), the camera (6) is fixedly connected to the outside of the mounting plate (30), the inside of the mounting plate (30) is fixedly connected to a rotating block (33), the connector (32) is rotatably connected to the inside of the rotating block (33), one end of the rotating block (33) is rotatably connected to a fixed shaft (34), both ends of the fixed shaft (34) are fixedly connected to the inside of the crossbeam (28), the bottom of the column (4) is fixedly connected to a vertical beam (35), and the clamping mechanism (7) is fixedly connected to the bottom of the vertical beam (35).
2. A material transfer robot with a detection device according to claim 1, characterized in that: Two first slide grooves (12) are fixedly connected to both ends of the bottom of the fixed base (8), two first sliders (13) are fixedly connected to both sides of the top of the guide rail mounting beam (2), and the first slide grooves (12) are slidably connected to the outside of the first sliders (13).
3. The material transfer robot with a detection device according to claim 1, characterized in that: Two second slide grooves (19) are fixedly connected to both ends of the bottom of the movable platform (15), and two second sliders (20) are fixedly connected to the top of the linear guide rail (3), and the second slide grooves (19) are slidably connected to the outside of the second sliders (20).
4. The material transfer robot with a detection device according to claim 1, characterized in that: The top of the movable platform (15) is fixedly connected to a third slide groove (25), one side of the column (4) is fixedly connected to a third slider (26), and the third slide groove (25) is slidably connected to the outside of the third slider (26).
5. The material transfer robot with a detection device according to claim 1, characterized in that: The top of the fixed base (8) is fixedly connected to a first drag chain (14), one end of which is fixedly connected to one side of the guide rail mounting beam (2); the top end of the movable platform (15) is fixedly connected to a second drag chain (21), one end of which is fixedly connected to one side of the linear guide rail (3); the top of the movable platform (15) is fixedly connected to a third drag chain (27), one end of which is fixedly connected to one side of the column (4).
6. The material transfer robot with a detection device according to claim 1, characterized in that: The interior of the crossbeam (28) is fixedly connected to a rotating shaft (31), and one end of the hydraulic cylinder (29) is rotatably connected to the exterior of the rotating shaft (31).
7. The material transfer robot with a detection device according to claim 1, characterized in that: The clamping mechanism (7) includes a top plate (38) and a clamping jaw (42), the bottom of the vertical beam (35) is fixedly connected to the top of the top plate (38), a fourth servo motor (36) is provided on the top of the top plate (38), the bottom of the fourth servo motor (36) is fixedly connected to a driving wheel (37), the bottom of the driving wheel (37) is fixedly connected to a transmission screw (39), the bottom of the transmission screw (39) is threadedly connected to a threaded seat (40), the bottom of the top plate (38) is fixedly connected to a plurality of movable rods (41), the bottom of the movable rod (41) is hingedly connected to the top of the clamping jaw (42), the inner side of the clamping jaw (42) is hingedly connected to a connecting rod (43), and one end of the connecting rod (43) is hingedly connected to the outside of the threaded seat (40).
8. The material transfer robot with a detection device according to claim 7, characterized in that: The bottom of the transmission screw (39) is fixedly connected to a limit ring (44), and the top of the transmission screw (39) is rotatably connected to the inside of the top plate (38).