An automatic material handling device for equipment manufacturing

Abstract

The application discloses a kind of material automatic handling device for equipment manufacturing, it is related to equipment manufacturing automation material handling technical field, including car body, infrared sensor is arranged around car body;The carrying device, through the basis clamping structure of synchronous opening and closing of multiple groups of L-shaped clamping plates linked by turntable, regular material bottom supporting block is matched with rubber pad to realize lateral limiting, rely on circumferential sliding groove and arc groove transmission to ensure that multiple clamping plates are synchronous centering, can quickly adapt to various outer diameter specifications conventional workpieces, independent special-shaped self-adapting fitting component is integrated on clamping plate, hydraulic rod drives clamping jaw to swing in notch hinged, front elastic end can independently fit concave-convex special-shaped workpiece profile, utilize elastic deformation to compensate workpiece shape error, realize no-suspension full-adhesion clamping, layered clamping structure distinguishes coarse positioning and fine self-adapting, without manual installation of auxiliary accessories, give consideration to standard parts and special-shaped part clamping demand, effectively solve the pain points of unstable special-shaped material clamping and workpiece damage.

Description

Technical Field

[0001] This invention relates to the field of automated material handling technology in equipment manufacturing, and specifically to an automated material handling device for equipment manufacturing. Background Technology

[0002] Material handling in equipment manufacturing refers to the activities of transferring, transshipping, storing, and distributing various heavy components, raw materials, semi-finished products, and finished products during the production process. It spans the entire process from material preparation, processing, and assembly to finished product shipment, involving cross-workstation and cross-area movement within the workshop, as well as transportation between factory areas.

[0003] Most existing handling and clamping mechanisms adopt fixed rigid jaw structures with fixed jaw opening and closing strokes. The overall size is difficult to adjust synchronously over a wide range. The clamping configuration can only match standard block and cylindrical materials with regular shapes. The structure has a single dimension of adaptability. When dealing with a large number of blanks and irregularly shaped parts with concave and convex surfaces, the rigid jaws can only contact the workpiece surface at a single point. This can easily lead to local suspension, insecure clamping, or local compression and overload. It cannot reliably fix irregularly shaped materials, and the workpiece is prone to slipping and falling during transportation. It also often damages the surface of precision parts. The clamping operation of irregularly shaped workpieces requires manual installation of shims to assist in positioning, which seriously hinders the efficiency of automated production. Summary of the Invention

[0004] The purpose of this invention is to provide an automatic material handling device for equipment manufacturing, so as to solve the problems of fixed rigid gripper structures in the prior art which are difficult to grip irregularly shaped parts, are easy to damage the parts, and require manual padding.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an automatic material handling device for equipment manufacturing, comprising a vehicle body, infrared sensors arranged around the vehicle body, a touch operation terminal installed on the vehicle body, a bracket at the top of the vehicle body, the bracket including a support column fixed to the top surface of the vehicle body, a movable column slidably connected inside the support column, an adjustment component inside the bracket, the adjustment component being used to drive the movable column to rise and fall along the support column, a receiving gimbal at the top of the movable column, an angle encoder installed on the upper end face of the rotating shaft of the receiving gimbal, attitude tilt sensors installed at the four corners of the bottom of the receiving gimbal, and the adjustment component also being used to drive the receiving gimbal to rotate around its own rotating shaft;

[0006] The receiving platform is equipped with a clamping assembly, which includes several sliding grooves arranged circumferentially along the receiving platform and multiple L-shaped clamping plates corresponding to the sliding grooves. Each L-shaped clamping plate has an insertion shaft at its top, which slides inside the sliding groove. A bottom support block is provided at the bottom of the L-shaped clamping plate, and a rubber pad is provided on the inner side of the L-shaped clamping plate. The clamping assembly also includes a driving component and multiple irregularly shaped adaptive fitting components. The driving component is used to drive the multiple L-shaped clamping plates to synchronously close and open to clamp the material. The irregularly shaped adaptive fitting components are installed on the L-shaped clamping plates to adapt to the shape of the irregularly shaped material and adjust the clamping pressure.

[0007] Furthermore, the adjustment component includes a first driving member fixedly connected inside the support column, a lead screw fixedly connected to the output end of the first driving member, and a second driving member fixedly connected inside the moving column.

[0008] Furthermore, the movable column is threaded onto the outside of the lead screw, and the output shaft of the second drive component is connected to the rotating shaft of the receiving gimbal.

[0009] Furthermore, the driving component includes a turntable rotatably connected to the bottom of the receiving gimbal, the turntable having an arc-shaped groove, and a third driving component fixedly connected to the top of the receiving gimbal.

[0010] Furthermore, the output end of the third driving component is fixedly connected to the turntable, and the turntable is rotated and assembled on the bottom surface of the receiving gimbal. The number of the arc-shaped grooves corresponds one-to-one with the sliding grooves, and the insert shafts on each of the L-shaped clamps are inserted into the arc-shaped grooves.

[0011] Furthermore, the irregularly shaped adaptive fitting component includes a slot formed in the L-shaped clamping plate, a clamping claw is hinged in the slot, an elastic end is fixedly connected to the end of the clamping claw, and a hydraulic rod is rotatably connected to the L-shaped clamping plate.

[0012] Furthermore, the slot is formed on the side wall of the L-shaped clamp, and the telescopic end of the hydraulic rod is hinged to the gripper.

[0013] Furthermore, the bottom of the vehicle body is provided with several Mecanum wheels, which serve as the vehicle body's walking support wheels.

[0014] Furthermore, the extension and retraction of the hydraulic rod can cause the gripper to swing around the hinge point, and the elastic end adheres to the outer wall of the material as the gripper moves.

[0015] Furthermore, the rubber pad is attached to the side wall surface of the L-shaped clamping plate facing the clamping center, and the rubber pad and the elastic end together form the material clamping contact surface.

[0016] Compared with existing technologies, the present invention provides an automatic material handling device for equipment manufacturing. It employs a basic clamping structure with a turntable linkage and multiple sets of L-shaped clamps opening and closing synchronously. A bottom support block with rubber pads provides lateral positioning for regular materials. Circumferential sliding grooves and arc-shaped grooves ensure synchronous centering of the multiple clamps, allowing for rapid adaptation to various standard workpieces with different outer diameters. Independent self-adaptive fitting components are integrated into the clamps. Hydraulic rods drive the grippers to hinge and swing at the groove openings. The elastic front end can autonomously fit the contours of uneven workpieces, using elastic deformation to compensate for workpiece shape errors, achieving full-fit clamping without suspension. The layered clamping structure distinguishes between coarse positioning and fine adaptive clamping, eliminating the need for manual installation of auxiliary accessories. It caters to both standard and irregularly shaped parts, effectively solving the problems of unstable clamping of irregularly shaped materials and easy damage to workpieces. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this invention. For those skilled in the art, other drawings can be obtained based on these drawings.

[0018] Figure 1 This is a schematic diagram of the overall structure provided for an embodiment of the present invention;

[0019] Figure 2 A top view provided for an embodiment of the present invention;

[0020] Figure 3 This is a cross-sectional view at point AA;

[0021] Figure 4 for Figure 3 Enlarged structural diagram at point B;

[0022] Figure 5 This is a schematic diagram of the clamping assembly provided in an embodiment of the present invention;

[0023] Figure 6 This is an exploded view of the clamping assembly provided in an embodiment of the present invention.

[0024] Explanation of reference numerals in the attached figures:

[0025] 1. Vehicle body; 2. Mecanum wheel; 3. Infrared sensor; 4. Touch operation terminal; 5. Bracket; 51. Support column; 52. Moving column; 6. Gimbal receiving platform; 61. Attitude tilt sensor; 7. Angle encoder; 8. Adjustment component; 81. First drive component; 82. Lead screw; 83. Second drive component; 9. Clamping component; 91. Slide groove; 92. L-shaped clamp; 921. Insert shaft; 922. Base block; 923. Rubber pad; 93. Drive component; 931. Turntable; 932. Arc groove; 933. Third drive component; 94. Irregularly shaped adaptive fitting component; 941. Groove; 942. Gripper; 943. Elastic end; 944. Hydraulic rod. Detailed Implementation

[0026] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0027] As attached Figure 1 To be continued Figure 6 As shown:

[0028] Example 1:

[0029] This invention provides an automated material handling device for equipment manufacturing, comprising a vehicle body 1, infrared sensors 3 arranged around the vehicle body 1, a touch-screen terminal 4 mounted on the vehicle body 1, a bracket 5 at the top of the vehicle body 1, the bracket 5 including a support column 51 fixed to the top surface of the vehicle body 1, a movable column 52 slidably connected inside the support column 51, an adjustment component 8 inside the bracket 5 for driving the movable column 52 to rise and fall along the support column 51, a receiving gimbal 6 at the top of the movable column 52, an angle encoder 7 mounted on the upper end face of the rotating shaft of the receiving gimbal 6, and attitude tilt sensors 61 at the four corners of the bottom of the receiving gimbal 6. The adjustment component 8 is also used to drive the receiving gimbal 6 to rotate around its own rotating shaft. The vehicle body 1 serves as the base for the device's movement and installation, bearing the weight of the entire machine and the load of the materials being handled. The infrared sensors 3 are arranged around the vehicle body 1 to detect obstacles and personnel on the vehicle body 1's path in real time. Upon detecting an obstacle, the feedback control system decelerates and stops to avoid collisions and damage to the device. Touch-screen operation is also available. Terminal 4 is used for operators to manually input handling parameters, switch between automatic and manual modes, and view equipment operating status and fault alarm information, realizing human-machine interaction control. Bracket 5 is used to provide a vertical lifting and lowering installation base for receiving gimbal 6 and upper clamping component 9, and to isolate the interference of vehicle body 1 vibration on the clamping mechanism. Support column 51 provides a guide and limit installation cavity for the lifting and lowering of moving column 52, with built-in first drive component 81 and lead screw 82, constraining moving column 52 to slide only vertically. Moving column 52 is used to support receiving gimbal 6, receiving gimbal 6 is used to support clamping component 9, and can drive clamping component 9 to adjust. Attitude tilt sensor 61 is used to collect gimbal tilt data in real time, and to provide feedback signals when the machine body shakes or the material is tilted, so that the control system can finely adjust the gimbal level to avoid material tipping. Angle encoder 7 is used to collect the actual rotation angle of gimbal in real time and form a rotation closed loop control to ensure workpiece alignment accuracy and eliminate the angle error caused by transmission gap. Adjustment component 8 is used to realize the height adjustment of clamping mechanism and gimbal rotation attitude adjustment.

[0030] A clamping assembly 9 is provided on the receiving gimbal 6. The clamping assembly 9 includes several sliding grooves 91 arranged around the circumference of the receiving gimbal 6, and multiple L-shaped clamping plates 92 corresponding to the sliding grooves 91. Each L-shaped clamping plate 92 has a pin 921 at its top, which slides inside the sliding groove 91. A bottom support block 922 is provided at the bottom of the L-shaped clamping plate 92, and a rubber pad 923 is provided on the inner side of the L-shaped clamping plate 92. The clamping assembly 9 also includes a driving component 93 and multiple irregularly shaped adaptive fitting components 94. The driving component 93 is used to drive the multiple L-shaped clamping plates 92 to synchronously close and open to clamp the material. The irregularly shaped adaptive fitting components 94 are installed on the L-shaped clamping plates 92 to adapt to the shape of the irregularly shaped material and adjust the clamping pressure. The clamping assembly 9 is used to lift and clamp the material. The sliding grooves 91 are arranged around the receiving gimbal 6. The gimbal 6 is evenly spaced around the circumference, providing radial guidance and limiting for the insertion shaft 921. This ensures that the L-shaped clamping plate 92 opens and closes synchronously only along the radial direction. The L-shaped clamping plate 92 relies on the bottom support block 922 to support the lower end of the material and the side rubber pad 923 on the side wall of the clamping plate to hold the side of the material, forming the main body for material clamping. The clamping plate body provides the mounting base for the slot 941, hydraulic rod 944, and gripper 942. The insertion shaft 921 is simultaneously inserted into the slide groove 91 and the arc groove 932 of the turntable 931. The displacement of the arc groove 932 drives the clamping plate to move radially. The bottom support block 922 is horizontally located at the bottom of the L-shaped clamping plate 92, facing the clamping center, supporting the workpiece from the bottom of the material and bearing the entire weight of the material to prevent the material from falling downwards due to its own weight. The rubber pad 923 is used to increase the clamping friction, buffer hard contact, and prevent the clamping plate from scratching the outer wall of the workpiece.

[0031] The bottom of the vehicle body 1 is equipped with several Mecanum wheels 2. The Mecanum wheels 2 serve as the walking support wheels of the vehicle body 1. The Mecanum wheels 2 are used to enable the vehicle body 1 to move forward and backward, move laterally, and turn in place in all directions. They are suitable for the complex ground of the equipment workshop with narrow workstations and dense equipment, and improve the flexibility of transportation.

[0032] The driving component 93 includes a turntable 931 rotatably connected to the bottom of the receiving gimbal 6. An arc-shaped groove 932 is provided on the turntable 931. A third driving component 933 is fixedly connected to the top of the receiving gimbal 6. After the third driving component 933 drives the turntable 931 to rotate, the groove wall of the arc-shaped groove 932 squeezes the insert shaft 921, which is converted into radial displacement of the clamping plate. The arc-shaped groove 932 uses a curved trajectory to realize the conversion of the circular motion of the turntable 931 into the radial linear motion of the clamping plate, ensuring that multiple sets of clamping plates are fed synchronously. The third driving component 933 is a motor. The output shaft of the third driving component 933 is connected to the turntable 931, providing a power source for the rotation of the turntable 931.

[0033] The output end of the third drive unit 933 is fixedly connected to the turntable 931. The turntable 931 is rotated and assembled on the bottom surface of the receiving gimbal 6. The number of arc-shaped grooves 932 corresponds one-to-one with the sliding grooves 91. The insert shafts 921 on each L-shaped clamp 92 are inserted into the arc-shaped grooves 932.

[0034] The irregularly shaped adaptive fitting component 94 includes a slot 941 opened on an L-shaped clamping plate 92. A gripper 942 is hinged in the slot 941. An elastic end 943 is fixedly connected to the end of the gripper 942. A hydraulic rod 944 is rotatably connected to the L-shaped clamping plate 92. The slot 941 provides the gripper 942 with hinged installation space and swing limit. The gripper 942 is hinged inside the slot 941 and swings around the hinge point driven by the hydraulic rod 944. It fits the uneven surface of the irregularly shaped material with the elastic end 943. When the elastic end 943 clamps, it generates elastic deformation to buffer the clamping pressure and prevent the precision workpiece from being squeezed and deformed. The hydraulic rod 944 drives the gripper 942 to swing by its own extension and retraction. The clamping pressure is precisely controlled by the size of the oil pressure.

[0035] The slot 941 is formed on the side wall of the L-shaped clamping plate 92. The telescopic end of the hydraulic rod 944 is hinged to the gripper 942. The slot 941 provides a swing installation space for the gripper 942, which can limit the swing stroke of the gripper 942 and prevent the gripper 942 from deviating from the preset motion trajectory. The telescopic end of the hydraulic rod 944 is hinged to the gripper 942. The two-point hinge forms a linkage drive structure, which realizes the linear extension and retraction of the hydraulic rod 944 into the rotational swing of the gripper 942.

[0036] The extension and retraction of the hydraulic rod 944 can drive the gripper 942 to swing around the hinge point. The clamping force can be changed by adjusting the oil supply pressure of the hydraulic rod 944. The elastic end 943 follows the movement of the gripper 942 to fit the outer wall of the material. It adapts to the unevenness of the workpiece surface by its own elastic deformation, buffers the clamping impact force, and prevents hard contact from scratching the workpiece.

[0037] Rubber pad 923 is attached to the side wall surface of L-shaped clamp 92 facing the clamping center. Regular materials are directly contacted and limited by rubber pad 923. Rubber pad 923 and elastic end 943 together form the material clamping contact surface, which are adapted to the clamping contact requirements of standard parts and irregular parts respectively. The dual structure improves the clamping anti-slip performance.

[0038] Working Principle: The operator sets the handling parameters through the touch-screen terminal 4 on the vehicle body 1. The equipment moves omnidirectionally using the Mecanum wheels 2 at the bottom. Infrared sensors 3 deployed around the vehicle body 1 detect obstacles in real time along the route. If an obstacle is encountered, the machine automatically stops to avoid it. After arriving at the material handling station, the first drive component 81 of the internal adjustment assembly 8 of the support 5 drives the lead screw 82 to rotate. Through the threaded transmission, the moving column 52 is vertically raised and lowered along the support column 51, adjusting the receiving platform 6 and the entire clamping assembly 9 to the appropriate clamping height for the material. The third drive component 933 drives the turntable 931 to rotate. The arc groove 932 on the turntable 931 presses the insert shaft 921, causing multiple L-shaped clamping plates 92 to synchronously converge towards the center along the sliding groove 91 of the receiving platform 6. The bottom support block 922 of the L-shaped clamping plate 92 supports the weight of the material, and the inner rubber pad 923 fits against the side wall of the workpiece to complete the rough clamping of the standard workpiece. The hydraulic system is hinged at the slot 941 of the L-shaped clamping plate 92. As the hydraulic rod 944 extends, the hydraulic rod 944, with its hinged linkage structure at both ends, pulls the gripper 942 to swing around the hinge fulcrum within the slot 941. The elastic end 943 at the front end of the gripper 942 undergoes slight deformation autonomously with the curved surface of the workpiece and closely fits the uneven outer wall of the irregular material. The hydraulic system precisely controls the clamping force by controlling the oil pressure, and the deformation of the elastic end 943 compensates for the dimensional deviation of the blank, avoiding single-point crushing damage or local suspension and insecure clamping. During the transfer, the rubber pad 923 and the elastic end 943 combine to form a double anti-slip clamping surface. The attitude tilt sensor 61 and the angle encoder 7 continuously link and correct the deviation in real time. When unloading, the hydraulic rod 944 is first contracted to make the gripper 942 detach from the workpiece surface, and then the turntable 931 is driven to open the L-shaped clamping plate 92 to achieve stable unloading and transfer of various irregular parts. During the clamping process, the attitude tilt sensor 61 at the bottom of the gimbal 6 monitors the horizontal status in real time, and the angle encoder 7 at the end of the rotating shaft provides feedback data.

[0039] Example 2:

[0040] This embodiment is basically the same as the previous embodiment, except that the adjustment component 8 includes a first drive member 81 fixedly connected inside the support column 51, a lead screw 82 fixedly connected to the output end of the first drive member 81, and a second drive member 83 fixedly connected inside the moving column 52. The first drive member 81 is a motor, and the output torque of the first drive member 81 drives the lead screw 82 to rotate. The moving column 52 is driven to rise and fall by means of thread transmission, so as to realize a wide range of height adjustment of the clamping mechanism. The lead screw 82 is connected to the output end of the first drive member 81 and is threadedly engaged with the moving column 52, converting the rotational motion into the linear lifting motion of the moving column 52. The thread self-locking ensures that the height is fixed and does not slip. The second drive member 83 is a motor, and the output shaft of the second drive member 83 is connected to the rotating shaft of the receiving gimbal 6, driving the receiving gimbal 6 to rotate in all directions, so as to realize the overall angle adjustment of the clamping component 9.

[0041] The movable column 52 is threaded onto the outside of the lead screw 82, and the output shaft of the second drive component 83 is connected to the rotating shaft of the receiving gimbal 6.

[0042] Working principle: After arriving at the material picking station, the first drive component 81 of the internal adjustment component 8 of the bracket 5 drives the lead screw 82 to rotate, and drives the moving column 52 to rise and fall vertically along the support column 51 through the thread transmission, adjusting the receiving gimbal 6 and the entire clamping assembly 9 to the appropriate clamping height for the material. The second drive component 83 finely adjusts the rotation angle of the receiving gimbal 6 as needed to correct the material posture.

[0043] Example 3:

[0044] This embodiment is basically the same as the previous embodiment, except that it is adapted to fully automated unmanned production line operation scenarios. The device eliminates the operation mode of manually entering parameters one by one. It can connect to the workshop MES system to receive batch continuous handling instructions and autonomously plan the travel route. During the movement, the infrared sensor 3 works with the vehicle body 1 walking control system to intelligently avoid the workstation debris. The system automatically matches the lifting height of the lead screw 82, the clamping stroke, and the output oil pressure of the hydraulic rod 944 based on the material shape and material data entered in the background. Light precision parts automatically lower the hydraulic clamping pressure, and heavy blanks increase the clamping load. During the transfer process, the tilt data collected by the attitude tilt sensor 61 is transmitted back to the control system in real time. The gimbal 6 automatically rotates and levels itself in real time based on the closed-loop data of the angle encoder 7. After the unloading of a single process is completed, the equipment automatically receives the next transfer task and continuously completes the continuous loading and unloading operation of the production line without interruption, minimizing manual intervention.

[0045] The foregoing has only described certain exemplary embodiments of the present invention by way of illustration. Undoubtedly, those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the foregoing drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. An automated material handling device for equipment manufacturing, comprising a vehicle body (1), characterized in that, Infrared sensors (3) are arranged around the vehicle body (1). A touch operation terminal (4) is installed on the vehicle body (1). A bracket (5) is set at the top of the vehicle body (1). The bracket (5) includes a support column (51) fixed to the top surface of the vehicle body (1). A movable column (52) is slidably connected inside the support column (51). An adjustment component (8) is provided inside the bracket (5). The adjustment component (8) is used to drive the movable column (52) to rise and fall along the support column (51). A receiving gimbal (6) is set at the top of the movable column (52). An angle encoder (7) is installed on the upper end face of the rotating shaft of the receiving gimbal (6). An attitude tilt sensor (61) is set at each of the four corners of the bottom of the receiving gimbal (6). The adjustment component (8) is also used to drive the receiving gimbal (6) to rotate around its own rotating shaft. The receiving platform (6) is provided with a clamping assembly (9). The clamping assembly (9) includes several sliding grooves (91) arranged around the circumference of the receiving platform (6) and multiple L-shaped clamping plates (92) corresponding to the sliding grooves (91). Each L-shaped clamping plate (92) has a pin (921) at its top. The pin (921) is slidably disposed inside the sliding groove (91). The bottom of the L-shaped clamping plate (92) is provided with a bottom support block (922). The inner side of the L-shaped clamping plate (92) is provided with a rubber pad (923). The clamping assembly (9) also includes a driving component (93) and multiple irregularly shaped adaptive fitting components (94). The driving component (93) is used to drive the multiple L-shaped clamping plates (92) to synchronously close and open to clamp the material. The irregularly shaped adaptive fitting components (94) are installed on the L-shaped clamping plates (92) and are used to adapt to the shape of the irregularly shaped material and adjust the clamping pressure.

2. The automatic material handling device for equipment manufacturing according to claim 1, characterized in that, The adjustment component (8) includes a first drive member (81) fixedly connected inside the support column (51), a lead screw (82) fixedly connected to the output end of the first drive member (81), and a second drive member (83) fixedly connected inside the moving column (52).

3. The automatic material handling device for equipment manufacturing according to claim 2, characterized in that, The movable column (52) is threaded onto the outside of the lead screw (82), and the output shaft of the second drive unit (83) is connected to the rotating shaft of the receiving gimbal (6).

4. The automatic material handling device for equipment manufacturing according to claim 1, characterized in that, The driving component (93) includes a turntable (931) rotatably connected to the bottom of the receiving gimbal (6), the turntable (931) having an arc groove (932), and a third driving component (933) fixedly connected to the top of the receiving gimbal (6).

5. The automatic material handling device for equipment manufacturing according to claim 4, characterized in that, The output end of the third driving component (933) is fixedly connected to the turntable (931). The turntable (931) is rotated and assembled on the bottom surface of the receiving gimbal (6). The number of the arc grooves (932) corresponds one-to-one with the sliding grooves (91). The insert shafts (921) on each of the L-shaped clamps (92) are inserted into the arc grooves (932).

6. The automatic material handling device for equipment manufacturing according to claim 1, characterized in that, The irregular adaptive fitting component (94) includes a slot (941) opened on an L-shaped clamp (92), a gripper (942) is hinged in the slot (941), an elastic end (943) is fixedly connected to the end of the gripper (942), and a hydraulic rod (944) is rotatably connected to the L-shaped clamp (92).

7. The automatic material handling device for equipment manufacturing according to claim 6, characterized in that, The slot (941) is opened on the side wall of the L-shaped clamp (92), and the telescopic end of the hydraulic rod (944) is hinged to the gripper (942).

8. The automatic material handling device for equipment manufacturing according to claim 1, characterized in that, The bottom of the vehicle body (1) is provided with a number of Mecanum wheels (2), which serve as the walking support wheels of the vehicle body (1).

9. An automatic material handling device for equipment manufacturing according to claim 6, characterized in that, The extension and retraction of the hydraulic rod (944) can drive the gripper (942) to swing around the hinge point, and the elastic end (943) follows the movement of the gripper (942) to fit against the outer wall of the material.

10. An automatic material handling device for equipment manufacturing according to claim 9, characterized in that, The rubber pad (923) is attached to the side wall surface of the L-shaped clamp (92) facing the clamping center. The rubber pad (923) and the elastic end (943) together form the material clamping contact surface.

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