Wire sorting and grabbing manipulator

Abstract

The utility model relates to the technical field of machining, in particular to a wire sorting and grabbing manipulator which can automatically grab and move a frame, does not need to manually place and move the frame, and is low in labor intensity, labor-saving, high in efficiency, convenient to use and high in practicability. Comprising a moving mechanism, a fixing plate and four sets of clamping mechanisms, the four sets of clamping mechanisms are fixedly installed at the lower end of the fixing plate, the four sets of clamping mechanisms are evenly distributed on the left portion and the right portion of the lower end of the fixing plate, the fixing plate is installed on the moving mechanism, the moving mechanism is used for lifting and moving the fixing plate left and right, and the clamping mechanisms have the clamping and fixing functions.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical processing, in particular to a wire material sorting and grabbing manipulator. Background Art

[0002] The wire mesh frame is a commonly used component, which is widely used in the machinery, chemical and food industries. Figure 4 The wire mesh frame is assembled and welded by a frame and a plurality of steel bars. During production, the worker first places the frame on a welding table, then places a plurality of steel bars on the frame in a grid form, and then fixes and welds the plurality of steel bars and the frame together through a welding mechanism to form a wire mesh frame. The following problems exist during use: when placing the frame on the welding table, the worker needs to bend down to take the frame and then place it on the workbench. During large-scale production and processing, relying on the worker to take the frame for a long time will cause the worker's arm to ache, the labor intensity is high, and it takes up a lot of the worker's time, and the work efficiency is low. Therefore, a robot arm that can automatically grab the frame is needed. Utility Model Content

[0003] In order to solve the above technical problems, the utility model provides a wire sorting and grabbing robot that can automatically grab and move the frame without manual placement and moving of the frame, with low labor intensity, labor saving, high efficiency, easy use and high practicality.

[0004] The wire material sorting and grabbing manipulator of the utility model comprises a moving mechanism, a fixed plate and four groups of clamping mechanisms, the four groups of clamping mechanisms are all fixedly mounted on the lower end of the fixed plate, the four groups of clamping mechanisms are evenly distributed on the left and right parts of the lower end of the fixed plate, the fixed plate is mounted on the moving mechanism, the moving mechanism is used to lift and lower the fixed plate and move it left and right, and the clamping mechanism has the function of clamping and fixing; when producing the wire mesh frame, a plurality of frames are stacked together and placed on the placement rack, the fixed plate is driven by the moving mechanism to descend the four groups of clamping mechanisms until the four groups of clamping mechanisms are in contact with the uppermost frame on the placement rack After the frame is touched, four groups of clamping mechanisms are used to clamp and fix it. After that, the fixing plate is used to drive the four groups of clamping mechanisms to move through the moving mechanism. The four groups of clamping mechanisms drive a frame to move to the upper end of the welding assembly line. After that, the clamping mechanisms are released to make the frame fall on the welding assembly line. After that, multiple steel bars are placed on the frame in the form of a grid and fixed and welded to form a wire mesh frame. When producing the wire mesh frame, the frame can be automatically grabbed and moved without manual placement and movement of the frame. The labor intensity is low, labor is saved, efficiency is improved, it is easy to use, and it is highly practical.

[0005] Preferably, the moving mechanism comprises a bracket, an X-axis translation mechanism and a Y-axis moving mechanism, the X-axis translation mechanism is fixedly mounted on the upper end of the bracket, the Y-axis moving mechanism is mounted on the X-axis translation mechanism, the X-axis translation mechanism is used to move the Y-axis moving mechanism left and right, the Y-axis moving mechanism is provided with a Y-axis lifting arm, the Y-axis lifting arm is mounted on the Y-axis moving mechanism, the Y-axis moving mechanism is used to move the Y-axis lifting arm up and down, and the fixed plate is fixedly mounted on the lower end of the Y-axis lifting arm; when the frame is moved, after the clamping mechanism at the lower end of the fixed plate clamps and fixes the frame, the Y-axis moving mechanism That is, the Y-axis lifting arm can drive the fixed plate to rise and fall, and the fixed plate can drive the clamping mechanism and the frame to rise, and then the Y-axis moving mechanism can drive the Y-axis lifting arm and the fixed plate to move right through the X-axis translation mechanism, and the fixed plate can drive the clamping mechanism and the frame to move right, until the frame moves above the welding assembly line, and then the Y-axis lifting arm can drive the fixed plate to descend, so that the frame is close to the welding assembly line, and then the clamping mechanism is released, so that the frame falls onto the external welding assembly line and is fixedly welded to the steel bars; it can automatically move the frame, avoids manual handling of the frame, and improves convenience.

[0006] Preferably, the clamping mechanism includes a connecting block, an elastic telescopic mechanism, a pneumatic finger cylinder, a wire grasping guide plate and two groups of finger wire grasping fingertips. The connecting block is fixedly mounted on the lower end of the fixed plate, the pneumatic finger cylinder is mounted on the connecting block through the elastic telescopic mechanism, the elastic telescopic mechanism has elasticity in the vertical direction, the wire grasping guide plate is fixedly mounted on the pneumatic finger cylinder, the two groups of finger wire grasping fingertips are respectively mounted on the front and rear parts of the pneumatic finger cylinder, the pneumatic finger cylinder is used to drive the two groups of finger wire grasping fingertips to move closer to or away from each other, a positioning circular groove is provided on the wire grasping guide plate, and a semicircular groove is provided on the finger wire grasping fingertips, and the heights of the positioning circular groove and the semicircular groove are consistent; when the frame is clamped and fixed, the fixed plate is lowered by the Y-axis lifting arm to fix it. The plate enables the elastic telescopic mechanism to drive the pneumatic finger cylinder to descend through the connecting block, and the pneumatic finger cylinder drives the pneumatic finger cylinder and the two groups of finger wire grasping fingertips to descend. During the descending process, the wire grasping guide plate contacts the frame at the upper end of the placement rack until the frame is stuck in the positioning circular groove of the wire grasping guide plate, and then the two groups of finger wire grasping fingertips are driven to approach each other through the pneumatic finger cylinder. During the process of approaching each other, the two groups of finger wire grasping fingertips clamp and fix the frame so that the frame is located in the semicircular grooves of the two groups of finger wire grasping fingertips; the two groups of finger wire grasping fingertips facilitate the clamping and fixing of the frame, and the two groups 18 can be used not only to clamp the frame, but also to clamp and fix other workpieces, such as wire products such as wire frames, wire rings and wire meshes.

[0007] Preferably, the elastic telescopic mechanism includes a fixed block, a linear shaft and a spring, the fixed block is fixedly mounted on the connecting block, the linear shaft is slidably mounted on the fixed block up and down, the upper end of the pneumatic finger cylinder is fixedly connected to the lower end of the linear shaft, and the upper and lower ends of the spring are respectively fixedly mounted on the fixed block and the pneumatic finger cylinder; when the fixed plate descends, the fixed plate causes the four groups of fixed blocks to descend through the four groups of connecting blocks, and the four groups of fixed blocks cause the four groups of pneumatic finger cylinders to drive the connected positioning circular grooves to descend through the four groups of springs, and when the heights of the four sides of the frame are inconsistent, the wire grabbing guide plates on the four clamping mechanisms that first contact the frame will pass through them The connected pneumatic finger cylinder contracts the connected spring until the wire grasping guide plates on the four clamping mechanisms are in contact with the frame, and the frame is stuck in the positioning circular grooves of the four wire grasping guide plates. Then the frame can be clamped and fixed by the wire grasping fingertips of the fingers on the four pneumatic finger cylinders. Through the contractility of the spring, the positioning circular grooves on the four clamping mechanisms can be adjusted in height according to the height of various parts on the frame, avoiding grasping failure caused by inconsistent heights of various parts of the frame. When various parts on the frame are not at the same height, the four clamping mechanisms can still clamp and fix the frame at the same time, thereby improving convenience.

[0008] Preferably, the diameters of the positioning circular groove and the semicircular groove are consistent with the diameter of the frame; through the above arrangement, it is ensured that only one frame can be inserted into the positioning circular groove, so that when the clamping mechanism clamps the frame on the stack of frames, it can only clamp one frame at a time, thereby improving reliability.

[0009] Preferably, it also includes a detection control mechanism, which is fixedly mounted at the lower end of the fixed plate, the detection control mechanism is connected to the Y-axis moving mechanism and the pneumatic finger cylinder, the detection control mechanism is used to control the Y-axis moving mechanism and the pneumatic finger cylinder, and a sensor is arranged at the lower end of the detection control mechanism, the detection control mechanism has a certain contractility, and the height of the sensor is lower than the height of the wire grasping guide plate; when clamping the frame, the Y-axis lifting arm lowers the detection control mechanism through the fixed plate, and at the same time, the fixed plate drives the connecting block to drive the spring to descend, and the spring drives the pneumatic finger cylinder, the wire grasping guide plate and the finger wire grasping fingertips to descend, and during the descending process of the pneumatic finger cylinder, the wire grasping guide plate, the finger wire grasping fingertips and the detection control mechanism, the detection control mechanism first contacts with the frame The touch screen detects and controls the Y-axis moving mechanism to reduce the speed at which the Y-axis lifting arm descends, thereby reducing the speed at which the connecting block descends, causing the connecting block to drive the pneumatic finger cylinder to slowly descend through the spring, and the pneumatic finger cylinder drives the wire grabbing guide plate and the finger wire grabbing fingertips to slowly approach the frame, thereby preventing the wire grabbing guide plate from descending too quickly and colliding with the frame. When various parts of the frame are respectively inserted into the positioning circular grooves of the four groups of wire grabbing guide plates, and the sensors sense a certain pressure, the sensors control the four groups of pneumatic finger cylinders, thereby causing the four groups of pneumatic finger cylinders to respectively drive the two groups of finger wire grabbing fingertips connected thereto to approach each other, so that the finger wire grabbing fingertips can be clamped and fixed to the frame. The provision of a sensing controller improves the reliability during use.

[0010] Compared with the prior art, the utility model has the following beneficial effects: the frame can be automatically grasped and moved, there is no need to manually place and move the frame, the labor intensity is low, labor is saved, the efficiency is high, the use is convenient, and the practicability is high. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a main structural schematic diagram of the utility model;

[0012] Figure 2 It is a schematic diagram of the structure of the fixing plate, the wire grabbing guide plate and the connecting block;

[0013] Figure 3 It is a schematic diagram of the structure of the spring, the finger wire grasping fingertip and the pneumatic finger cylinder;

[0014] Figure 4 It is a structural diagram of the wire mesh frame;

[0015] Figure 5 It is a structural diagram of the border.

[0016] Markings in the attached drawings: 1. Fixed plate; 2. Bracket; 3. X-axis translation mechanism; 4. Y-axis lifting arm; 5. Connecting block; 6. Pneumatic finger cylinder; 7. Wire grabbing guide plate; 8. Wire grabbing fingertip; 9. Positioning circular groove; 10. Semicircular groove; 11. Fixed block; 12. Linear axis; 13. Spring; 14. Detection and control mechanism; 15. Frame; 16. Placement rack; 17. Welding assembly line. DETAILED DESCRIPTION

[0017] In order to facilitate the understanding of the utility model, the utility model will be described more comprehensively below with reference to the relevant drawings. The utility model can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the utility model more thorough and comprehensive.

[0018] Example

[0019] like Figures 1 to 5 The wire material sorting and grabbing manipulator of the utility model comprises a moving mechanism, a fixed plate 1 and four groups of clamping mechanisms. The four groups of clamping mechanisms are all fixedly mounted on the lower end of the fixed plate 1. The four groups of clamping mechanisms are evenly distributed on the left and right parts of the lower end of the fixed plate 1. The fixed plate 1 is mounted on the moving mechanism. The moving mechanism is used to lift and lower the fixed plate 1 and move it left and right. The clamping mechanism has the function of clamping and fixing. When producing the wire mesh frame, a plurality of frames 15 are stacked together and placed on a placement rack 16. The fixed plate 1 is driven by the moving mechanism to descend the four groups of clamping mechanisms until the four groups of clamping mechanisms are in contact with the frame 15 on the uppermost side of the placement rack 16. After the frame 15 is touched, it is clamped and fixed by four groups of clamping mechanisms, and then the fixed plate 1 drives the four groups of clamping mechanisms to move through the moving mechanism, and the four groups of clamping mechanisms drive one frame 15 to move to the upper end of the welding assembly line 17, and then the clamping mechanism is released to make the frame 15 fall on the welding assembly line 17, and then a plurality of steel bars are placed in the form of a grid on the frame 15 and fixed and welded to form a wire mesh frame; when producing the wire mesh frame, it can automatically grab and move the frame, without the need for manual placement and movement of the frame, with low labor intensity, saving labor, improving efficiency, easy use and high practicality.

[0020] like Figure 1The moving mechanism includes a bracket 2, an X-axis translation mechanism 3 and a Y-axis moving mechanism. The X-axis translation mechanism 3 is fixedly mounted on the upper end of the bracket 2, and the Y-axis moving mechanism is mounted on the X-axis translation mechanism 3. The X-axis translation mechanism 3 is used to move the Y-axis moving mechanism left and right. The Y-axis moving mechanism is provided with a Y-axis lifting arm 4, and the Y-axis lifting arm 4 is mounted on the Y-axis moving mechanism. The Y-axis moving mechanism is used to move the Y-axis lifting arm 4 up and down, and the fixed plate 1 is fixedly mounted on the lower end of the Y-axis lifting arm 4. When the frame 15 is moved, after the clamping mechanism at the lower end of the fixed plate 1 clamps and fixes the frame 15, the Y-axis lifting arm 4 can be moved by the Y-axis moving mechanism. The fixed plate 1 is driven to rise and fall, and the fixed plate 1 drives the clamping mechanism and the frame 15 to rise. Then, the Y-axis moving mechanism drives the Y-axis lifting arm 4 and the fixed plate 1 to move to the right through the X-axis translation mechanism 3. The fixed plate 1 drives the clamping mechanism and the frame 15 to move to the right until the frame 15 moves above the welding assembly line 17. Then, the Y-axis lifting arm 4 drives the fixed plate 1 to descend, and then the frame 15 is brought close to the welding assembly line 17. Then, the clamping mechanism is released, and the frame 15 falls onto the external welding assembly line 17 and is fixedly welded to the steel bars. It can automatically move the frame 15, avoids manual handling of the frame 15, and improves convenience.

[0021] like Figure 2 and Figure 3 The clamping mechanism includes a connecting block 5, an elastic telescopic mechanism, a pneumatic finger cylinder 6, a wire grasping guide plate 7 and two groups of finger wire grasping fingertips 8. The connecting block 5 is fixedly mounted on the lower end of the fixed plate 1. The pneumatic finger cylinder 6 is mounted on the connecting block 5 through an elastic telescopic mechanism. The elastic telescopic mechanism has elasticity in the vertical direction. The wire grasping guide plate 7 is fixedly mounted on the pneumatic finger cylinder 6. The two groups of finger wire grasping fingertips 8 are respectively mounted on the front and rear parts of the pneumatic finger cylinder 6. The pneumatic finger cylinder 6 is used to drive the two groups of finger wire grasping fingertips 8 to move closer to or away from each other. A positioning circular groove 9 is provided on the wire grasping guide plate 7, and a semicircular groove 10 is provided on the finger wire grasping fingertips 8. The heights of the positioning circular groove 9 and the semicircular groove 10 are consistent; the frame 15 is clamped and fixed, and the fixed plate 1 is lowered by the Y-axis lifting arm 4, and the fixed plate 1 is The connecting block 5 enables the elastic telescopic mechanism to drive the pneumatic finger cylinder 6 to descend, and the pneumatic finger cylinder 6 drives the pneumatic finger cylinder 6 and the two groups of finger wire-grasping fingertips 8 to descend. The wire-grasping guide plate 7 contacts the frame 15 at the upper end of the placement rack 16 during the descent process, until the frame 15 is stuck in the positioning circular groove 9 of the wire-grasping guide plate 7, and then the two groups of finger wire-grasping fingertips 8 are driven to approach each other through the pneumatic finger cylinder 6. The two groups of finger wire-grasping fingertips 8 clamp and fix the frame 15 during the process of approaching each other, so that the frame 15 is located in the semicircular grooves 10 of the two groups of finger wire-grasping fingertips 8; the two groups of finger wire-grasping fingertips 8 facilitate the clamping and fixing of the frame 15, and the two groups 18 can not only be used to clamp the frame 15, but also can be used to clamp and fix other workpieces, such as wire products such as wire frames, wire rings and wire meshes.

[0022] like Figure 3 The elastic telescopic mechanism includes a fixed block 11, a linear shaft 12 and a spring 13. The fixed block 11 is fixedly mounted on the connecting block 5, and the linear shaft 12 is slidably mounted on the fixed block 11 up and down. The upper end of the pneumatic finger cylinder 6 is fixedly connected to the lower end of the linear shaft 12, and the upper and lower ends of the spring 13 are respectively fixedly mounted on the fixed block 11 and the pneumatic finger cylinder 6; when the fixed plate 1 descends, the fixed plate 1 causes the four groups of fixed blocks 11 to descend through the four groups of connecting blocks 5, and the four groups of fixed blocks 11 cause the four groups of pneumatic finger cylinders 6 to drive the connected positioning circular grooves 9 to descend through the four groups of springs 13. When the heights of the four sides of the frame 15 are inconsistent, the wire grabbing guide plates 7 on the four groups of clamping mechanisms that first contact the frame 15 will The pneumatic finger cylinder 6 connected to it shrinks the spring 13 connected to it until the wire grasping guide plates 7 on the four groups of clamping mechanisms are in contact with the frame 15, and the frame 15 is stuck in the positioning circular grooves 9 of the four groups of wire grasping guide plates 7, and then the frame 15 is clamped and fixed by the finger wire grasping fingertips 8 on the four groups of pneumatic finger cylinders 6; the contractility of the spring 13 makes the positioning circular grooves 9 on the four groups of clamping mechanisms adjustable in height according to the height of various parts on the frame 15, avoiding the failure of grasping caused by inconsistent heights of various parts of the frame 15, and when various parts on the frame 15 are not at the same height, the four groups of clamping mechanisms can still clamp and fix the frame 15 at the same time, thereby improving convenience.

[0023] The diameters of the positioning circular groove 9 and the semicircular groove 10 are consistent with the diameter of the frame 15; through the above arrangement, it is ensured that only one frame 15 can be inserted into the positioning circular groove 9, so that when the clamping mechanism clamps the frame 15 on the stack of frames 15, it can only clamp one frame 15 at a time, thereby improving reliability.

[0024] like Figure 2, the detection control mechanism 14 is fixedly installed at the lower end of the fixed plate 1, the detection control mechanism 14 is connected to the Y-axis moving mechanism and the pneumatic finger cylinder 6, the detection control mechanism 14 is used to control the Y-axis moving mechanism and the pneumatic finger cylinder 6, and a sensor is arranged at the lower end of the detection control mechanism 14, the detection control mechanism 14 has a certain contractility, and the height of the sensor is lower than the height of the wire grasping guide plate 7; when clamping the frame 15, the Y-axis lifting arm 4 descends the detection control mechanism 14 through the fixed plate 1, and at the same time, the fixed plate 1 causes the connecting block 5 to drive the spring 13 to descend, and the spring 13 drives the pneumatic finger cylinder 6, the wire grasping guide plate 7 and the finger wire grasping fingertip 8 to descend, and during the descending process of the pneumatic finger cylinder 6, the wire grasping guide plate 7, the finger wire grasping fingertip 8 and the detection control mechanism 14, the detection control mechanism 14 first connects with the frame 15 After the touch, the detection control mechanism 14 makes the Y-axis moving mechanism reduce the descending speed of the Y-axis lifting arm 4, thereby reducing the descending speed of the connecting block 5, so that the connecting block 5 drives the pneumatic finger cylinder 6 to slowly descend through the spring 13, and the pneumatic finger cylinder 6 drives the wire grasping guide plate 7 and the finger wire grasping fingertip 8 to slowly approach the frame 15, so as to avoid the wire grasping guide plate 7 from colliding with the frame 15 due to the fast descending speed and the frame 15. When various parts of the frame 15 are respectively inserted into the positioning circular grooves 9 of the four groups of wire grasping guide plates 7, and the sensor senses a certain pressure, the sensor controls the four groups of pneumatic finger cylinders 6, so that the four groups of pneumatic finger cylinders 6 respectively drive the two groups of finger wire grasping fingertips 8 connected thereto to approach each other, so that the finger wire grasping fingertips 8 can be clamped and fixed to the frame 15; by providing a sensing controller, the reliability during use is improved.

[0025] In summary, the main beneficial effects of the utility model are:

[0026] 1. It can automatically grab and move wires individually from the pile of wire products.

[0027] 2. By setting up an elastic telescopic mechanism, the frame 15 can be clamped and fixed at the same time by four sets of clamping mechanisms even if the parts need to maintain the same height.

[0028] 3. By setting up the detection control mechanism 14, the descending speed of the Y-axis lifting arm 4 can be controlled, and the height of the grabbing frame 15 can be controlled, thereby improving convenience.

[0029] The X-axis translation mechanism 3, Y-axis lifting arm 4, pneumatic finger cylinder 6, linear axis 12, spring 13 and detection control mechanism 14 of the wire sorting and grasping robot of the utility model are all purchased on the market. Technical personnel in the industry only need to install and operate them according to the accompanying instruction manual, without the need for technical personnel in this field to make creative labor.

[0030] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principle of the present invention. These improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. Wire picking and grabbing robot, characterized in that: The invention comprises a moving mechanism, a fixed plate (1) and four groups of clamping mechanisms. The four groups of clamping mechanisms are all fixedly mounted on the lower end of the fixed plate (1). The four groups of clamping mechanisms are evenly distributed on the left and right parts of the lower end of the fixed plate (1). The fixed plate (1) is mounted on the moving mechanism. The moving mechanism is used to lift and lower the fixed plate (1) and move it left and right. The clamping mechanism has the function of clamping and fixing.

2. The wire picking and grabbing robot according to claim 1, characterized in that: The moving mechanism comprises a bracket (2), an X-axis translation mechanism (3) and a Y-axis moving mechanism, wherein the X-axis translation mechanism (3) is fixedly mounted on the upper end of the bracket (2), the Y-axis moving mechanism is mounted on the X-axis translation mechanism (3), the X-axis translation mechanism (3) is used to move the Y-axis moving mechanism leftward and rightward, the Y-axis moving mechanism is provided with a Y-axis lifting arm (4), the Y-axis lifting arm (4) is mounted on the Y-axis moving mechanism, the Y-axis moving mechanism is used to move the Y-axis lifting arm (4) up and down, and the fixed plate (1) is fixedly mounted on the lower end of the Y-axis lifting arm (4).

3. The wire sorting and grabbing robot according to claim 1, characterized in that: The clamping mechanism comprises a connecting block (5), an elastic telescopic mechanism, a pneumatic finger cylinder (6), a wire grasping guide plate (7) and two groups of finger wire grasping fingertips (8); the connecting block (5) is fixedly mounted on the lower end of the fixed plate (1); the pneumatic finger cylinder (6) is mounted on the connecting block (5) via the elastic telescopic mechanism; the elastic telescopic mechanism has elasticity in the vertical direction; the wire grasping guide plate (7) is fixedly mounted on the pneumatic finger cylinder (6); the two groups of finger wire grasping fingertips (8) are respectively mounted on the front and rear parts of the pneumatic finger cylinder (6); the pneumatic finger cylinder (6) is used to drive the two groups of finger wire grasping fingertips (8) to move closer to or farther from each other; a positioning circular groove (9) is provided on the wire grasping guide plate (7); and a semicircular groove (10) is provided on the finger wire grasping fingertips (8); and the heights of the positioning circular groove (9) and the semicircular groove (10) are consistent.

4. The wire sorting and grabbing robot according to claim 3, characterized in that: The elastic telescopic mechanism comprises a fixed block (11), a linear shaft (12) and a spring (13); the fixed block (11) is fixedly mounted on the connecting block (5); the linear shaft (12) is slidably mounted on the fixed block (11) in an up-and-down manner; the upper end of the pneumatic finger cylinder (6) is fixedly connected to the lower end of the linear shaft (12); and the upper and lower ends of the spring (13) are respectively fixedly mounted on the fixed block (11) and the pneumatic finger cylinder (6).

5. The wire picking and grabbing robot according to claim 3, characterized in that: The diameters of the positioning circular groove (9) and the semicircular groove (10) are consistent with the diameter of the frame (15).

6. The wire picking and grabbing robot according to claim 3, characterized in that: The invention also comprises a detection control mechanism (14), the detection control mechanism (14) is fixedly mounted on the lower end of the fixed plate (1), the detection control mechanism (14) is connected to the Y-axis moving mechanism and the pneumatic finger cylinder (6), the detection control mechanism (14) is used to control the Y-axis moving mechanism and the pneumatic finger cylinder (6), a sensor is arranged at the lower end of the detection control mechanism (14), the detection control mechanism (14) is retractable, and the height of the sensor is lower than the height of the wire grabbing guide plate (7).

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