Industrial robot with moving mechanism

Abstract

The utility model discloses an industrial robot with a moving mechanism, and relates to the technical field of industrial robots. An industrial robot is arranged on the upper side of the base, and four uniform and symmetrical moving mechanisms are arranged on the lower side of the base; the industrial robot comprises a rotating base, a first swing assembly, a second swing assembly and a mechanical claw, the rotating base is fixedly connected to the upper side of the base, the rotating base is arranged in the middle of the upper side of the base, the first swing assembly is arranged on the upper side of the rotating base, the second swing assembly is arranged on the upper side of the first swing assembly, and the mechanical claw is arranged on the upper side of the second swing assembly. The moving mechanism comprises rotating discs, a mounting base, a moving assembly, a first braking mechanism and a second braking mechanism, the four rotating discs which are evenly and symmetrically distributed are rotationally arranged on the lower side of the base, moving of the industrial robot can be achieved, moving is convenient, the production efficiency can be improved, the braking mechanisms are arranged, braking can be stable, the stability of the device is improved, and practicability is high.

Description

Technical Field

[0001] The utility model relates to the technical field of industrial robots, in particular to an industrial robot with a moving mechanism. Background Technique

[0002] With the continuous progress and development of society and the increasing level of science and technology, robots, as an indispensable part of the field of artificial intelligence, have naturally developed greatly. In addition to the most common household robots in our daily lives, industrial robots also play an irreplaceable role in various industries.

[0003] Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices widely used in the industrial field. They are controlled by a computer and have functions such as movement, automatic navigation, multi-sensor control, and network interaction. They can rely on their own power sources and control capabilities to achieve various industrial processing and manufacturing functions. Industrial robots are widely used in various industrial fields such as electronics, logistics, and chemical industry.

[0004] Most of the existing industrial robots can only work in the same designated area, which is not convenient for movement and affects production efficiency. For this reason, we propose an industrial robot with a moving mechanism. Content of the Utility Model

[0005] The technical problem to be solved by the utility model is to overcome the existing defects, provide an industrial robot with a moving mechanism, which can realize the movement of the industrial robot, is convenient for movement, is beneficial to improving production efficiency, has a braking mechanism, can brake stably, improves the stability of the device, and has high practicability, and can effectively solve the problems in the background technique.

[0006] To achieve the above purpose, the utility model provides the following technical scheme: an industrial robot with a moving mechanism includes a base;

[0007] An industrial robot is arranged on the upper side of the base, and four uniformly and symmetrically arranged moving mechanisms are arranged on the lower side of the base;

[0008] The industrial robot includes a rotating base, a first swinging assembly, a second swinging assembly and a mechanical claw. The rotating base is fixedly connected to the upper side of the base. The rotating base is arranged in the middle of the upper side of the base. The first swinging assembly is arranged on the upper side of the rotating base. The second swinging assembly is arranged on the upper side of the first swinging assembly. The mechanical claw is arranged on the upper side of the second swinging assembly;

[0009] The moving mechanism includes a turntable, a mounting seat, a moving component, a braking mechanism I and a braking mechanism II. Four turntables are rotatably provided on the lower side of the base, which are evenly and symmetrically distributed. A mounting seat is fixedly connected to the lower side of each turntable. A moving component is provided on the lower side of each mounting seat. The moving component includes a double-output shaft motor, moving rollers, connecting blocks, U-shaped connecting rods, support rods and fixed bearings. A double-output shaft motor is provided on the lower side of each mounting seat. The output ends on the front and rear sides of each double-output shaft motor are fixedly connected to the moving rollers. A connecting block is fixedly connected to the left end of each double-output shaft motor. The upper side of the connecting block is fixedly connected to the mounting seat. The outer sides of the two moving rollers are fixedly connected to the outer ring of the fixed bearing. The inner ring of the fixed bearing is fixedly connected to the U-shaped connecting rod. The upper side of the U-shaped connecting rod is fixedly connected to the support rod. The upper side of the support rod is fixedly connected to the mounting seat. The braking mechanism I and the braking mechanism II are provided at the rear side of the moving roller.

[0010] The turntable enables the moving mechanism to change direction. The mounting seat is used to fix the moving component. The braking mechanism I and the braking mechanism II are used for braking the moving mechanism. After starting the double-output shaft motor, it can drive the moving rollers to rotate, so as to realize the movement of the industrial robot, which is convenient for movement and beneficial to improving production efficiency. The settings of the connecting block, U-shaped connecting rod, support rod and fixed bearing can ensure the normal rotation of the moving rollers and improve the stability of the device.

[0011] Furthermore, the braking mechanism I includes a hydraulic push rod, a bidirectional connecting rod, a fixed rod, a fixed ball, a U-shaped brake pad, a connecting seat, an electric telescopic rod and a cylindrical compression spring. The hydraulic push rod is fixedly connected to the right end of the mounting seat. The right end of the hydraulic push rod is fixedly connected to the middle of the bidirectional connecting rod. Fixed rods are fixedly connected to both the front and rear ends of the bidirectional connecting rod. A fixed ball is fixedly sleeved on the end of the fixed rod far away from the bidirectional connecting rod. A U-shaped brake pad is provided at the right end of the moving roller. A connecting seat is fixedly provided at the right end of the U-shaped brake pad. An electric telescopic rod is fixedly connected to the upper side of the connecting seat. The upper output end of the electric telescopic rod is fixedly connected to the lower side of the fixed ball. The electric telescopic rod is sleeved with a cylindrical compression spring on the outside.

[0012] When braking is required, control the hydraulic push rod to push the bidirectional connecting rod to move outward, which can provide an adjustment space for the U-shaped brake pad. Then control the electric telescopic rod to push the U-shaped brake pad, so that the U-shaped brake pad slowly contacts the moving roller, and friction is generated between the U-shaped brake pad and the moving roller, thereby realizing the braking process of the moving roller.

[0013] Furthermore, the braking mechanism II includes a connecting cross bar, a U-shaped mounting frame and a brake pad. The front and rear sides of the U-shaped brake pad are fixedly connected to the U-shaped mounting frame through two symmetrically distributed connecting cross bars. A brake pad is fixedly provided at the bottom of the U-shaped mounting frame.

[0014] When the hydraulic push rod is pushed to a certain extent, the electric telescopic rod can push the brake pads at the bottom of the U-shaped mounting frame to contact the bottom surface, so that the brake pads generate friction with the bottom surface to further brake the moving roller.

[0015] Further, the rotating base includes a chassis, a circular groove and a driving motor I. The chassis is fixedly installed on the upper side of the base. A circular groove is opened in the middle of the upper side of the chassis. A rotating chassis is rotatably arranged in the circular groove. The upper side of the rotating chassis is fixedly connected to the output end of the driving motor I, and the driving motor I is fixed on the rotating chassis.

[0016] Starting the driving motor I can drive the rotating chassis to rotate in the circular groove, so that the industrial robot can rotate, facilitating the machining process.

[0017] Further, the first swing assembly includes a first fixed seat, a first swing arm and a driving motor II. The first fixed seat is fixedly arranged on the upper side of the driving motor I. The first swing arm is rotatably arranged on the upper side of the first fixed seat. The first rotating shaft passes through the first swing arm and is rotatably connected to the inside of the first fixed seat. The front side of the first rotating shaft is fixedly connected to the output end of the driving motor II.

[0018] Starting the driving motor II can drive the first swing arm and the first rotating shaft to rotate, so that the industrial robot can rotate at the first angle.

[0019] Further, the second swing assembly includes a robotic arm, a second fixed seat, a second swing arm and a driving motor III. The left end of the upper side of the first swing arm is fixedly connected to the robotic arm. The left end of the robotic arm is fixedly connected to the second fixed seat. The second swing arm is rotatably connected to the left end of the second fixed seat. The second rotating shaft passes through the second swing arm and is rotatably connected to the second fixed seat. The front side of the second rotating shaft is fixedly connected to the output end of the driving motor III. A robotic claw is fixedly arranged on the lower side of the second swing arm.

[0020] Starting the driving motor III can drive the second rotating shaft to rotate, so that the second swing arm can be driven to rotate, realizing the rotation of the industrial robot at the second angle, with a wide range of applications.

[0021] Compared with the prior art, the beneficial effects of the present utility model are as follows: The industrial robot with a moving mechanism has the following advantages:

[0022] 1. The turntable enables the moving mechanism to change direction. The mounting seat is used to fix the moving component. The first braking mechanism and the second braking mechanism are used for braking the moving mechanism. After starting the double-output shaft motor, the moving roller can be driven to rotate, so that the industrial robot can move, which is convenient for movement and beneficial to improving production efficiency. The settings of the connecting block, U-shaped connecting rod, support rod and fixed bearing can ensure the normal rotation of the moving roller and improve the stability of the device.

[0023] 2. When braking is required, control the hydraulic push rod to push the bidirectional connecting rod outward, which can provide an adjustment space for the U-shaped brake pad. Then control the electric telescopic rod to push the U-shaped brake pad so that the U-shaped brake pad slowly contacts the moving roller, and friction is generated between the U-shaped brake pad and the moving roller, thereby realizing the braking process of the moving roller.

[0024] 3. When the hydraulic push rod is pushed to a certain extent, the electric telescopic rod can push the brake pad at the bottom of the U-shaped mounting frame to contact the bottom surface, so that friction is generated between the brake pad and the bottom surface to further brake the moving roller. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a front isometric view of the structure of the present utility model.

[0026] Figure 2 It is a front isometric view of the moving mechanism of the structure of the present utility model.

[0027] Figure 3 It is a rear isometric view of the moving mechanism of the structure of the present utility model.

[0028] In the figure: 1 base, 2 industrial robot, 21 rotating base, 211 chassis, 212 circular groove, 213 driving motor 1, 22 swing assembly 1, 221 fixing seat 1, 222 swing arm 1, 223 driving motor 2, 23 swing assembly 2, 231 robotic arm, 232 fixing seat 2, 233 swing arm 2, 234 driving motor 3, 24 mechanical claw, 3 moving mechanism, 31 turntable, 32 mounting seat, 33 moving assembly, 331 double-output shaft motor, 332 moving roller, 333 connecting block, 334 U-shaped connecting rod, 335 support rod, 336 fixed bearing, 34 braking mechanism 1, 341 hydraulic push rod, 342 bidirectional connecting rod, 343 fixed rod, 344 fixed ball, 345 U-shaped brake pad, 346 connecting seat, 347 electric telescopic rod, 348 cylindrical compression spring, 35 braking mechanism 2, 351 connecting cross bar, 352 U-shaped mounting frame, 353 brake pad. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0029] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.

[0030] Please refer to Figures 1-3 , this embodiment provides a technical solution: An industrial robot with a moving mechanism includes a base 1;

[0031] An industrial robot 2 is provided on the upper side of the base 1, and four uniformly and symmetrically arranged moving mechanisms 3 are provided on the lower side of the base 1;

[0032] The industrial robot 2 includes a rotating base 21, a first swinging component 22, a second swinging component 23 and a mechanical claw 24. The rotating base 21 is fixedly connected to the upper side of the base 1. The rotating base 21 is provided in the middle of the upper side of the base 1. The first swinging component 22 is provided on the upper side of the rotating base 21. The second swinging component 23 is provided on the upper side of the first swinging component 22. The mechanical claw 24 is provided on the upper side of the second swinging component 23;

[0033] The moving mechanism 3 includes a turntable 31, a mounting seat 32, a moving component 33, a first braking mechanism 34 and a second braking mechanism 35. Four uniformly and symmetrically distributed turntables 31 are rotatably provided on the lower side of the base 1. A mounting seat 32 is fixedly connected to the lower side of each turntable 31. A moving component 33 is provided on the lower side of each mounting seat 32. The moving component 33 includes a double-output shaft motor 331, a moving roller 332, a connecting block 333, a U-shaped connecting rod 334, a support rod 335 and a fixed bearing 336. A double-output shaft motor 331 is provided on the lower side of each mounting seat 32. The output ends on the front and rear sides of each double-output shaft motor 331 are fixedly connected to the moving roller 332. A connecting block 333 is fixedly connected to the left end of each double-output shaft motor 331. The upper side of the connecting block 333 is fixedly connected to the mounting seat 32. The outer sides of the two moving rollers 332 are fixedly connected to the outer ring of the fixed bearing 336. The inner ring of the fixed bearing 336 is fixedly connected to the U-shaped connecting rod 334. The upper side of the U-shaped connecting rod 334 is fixedly connected to the support rod 335. The upper side of the support rod 335 is fixedly connected to the mounting seat 32. The first braking mechanism 34 and the second braking mechanism 35 are provided at the rear side of the moving roller 332.

[0034] The turntable 31 enables the moving mechanism 3 to change its direction. The mounting seat 32 is used to fix the moving component 33. The first braking mechanism 34 and the second braking mechanism 35 are used for braking the moving mechanism 3. After starting the double-output shaft motor 331, it can drive the moving roller 332 to rotate, so as to realize the movement of the industrial robot, which is convenient for movement and beneficial to improving production efficiency. The settings of the connecting block 333, the U-shaped connecting rod 334, the support rod 335 and the fixed bearing 336 can ensure the normal rotation of the moving roller 332 and improve the stability of the device.

[0035] Among them, the first braking mechanism 34 includes a hydraulic push rod 341, a bidirectional connecting rod 342, a fixed rod 343, a fixed ball 344, a U-shaped brake pad 345, a connecting seat 346, an electric telescopic rod 347 and a cylindrical compression spring 348. The right end of the mounting seat 32 is fixedly connected to the hydraulic push rod 341. The right end of the hydraulic push rod 341 is fixedly connected to the middle of the bidirectional connecting rod 342. Fixed rods 343 are fixedly connected to both the front and rear ends of the bidirectional connecting rod 342. A fixed ball 344 is fixedly sleeved on the end of the fixed rod 343 away from the bidirectional connecting rod 342. A U-shaped brake pad 345 is provided at the right end of the moving roller 332. A connecting seat 346 is fixedly provided at the right end of the U-shaped brake pad 345. An electric telescopic rod 347 is fixedly connected to the upper side of the connecting seat 346. The upper output end of the electric telescopic rod 347 is fixedly connected to the lower side of the fixed ball 344. A cylindrical compression spring 348 is sleeved outside the electric telescopic rod 347.

[0036] When braking is required, control the hydraulic push rod 341 to push the bidirectional connecting rod 342 to move outward, which can provide an adjustment space for the U-shaped brake pad 345. Then control the electric telescopic rod 347 to push the U-shaped brake pad 345, so that the U-shaped brake pad 345 slowly contacts the moving roller 332, and friction is generated between the U-shaped brake pad 345 and the moving roller 332, thereby realizing the braking process of the moving roller 332.

[0037] The second braking mechanism 35 includes a connecting cross bar 351, a U-shaped mounting frame 352 and a brake pad 353. The front and rear sides of the U-shaped brake pad 345 are fixedly connected to the U-shaped mounting frame 352 through two symmetrically distributed connecting cross bars 351. A brake pad 353 is fixedly provided at the bottom of the U-shaped mounting frame 352.

[0038] When the hydraulic push rod 341 is pushed to a certain extent, the electric telescopic rod 347 can push the brake pad 353 at the bottom of the U-shaped mounting frame 352 to contact the bottom surface, so that friction is generated between the brake pad 353 and the bottom surface, and the moving roller 332 is further braked.

[0039] The rotating base 21 includes a chassis 211, a circular groove 212 and a first driving motor 213. The chassis 211 is fixedly installed on the upper side of the base 1. A circular groove 212 is opened in the middle of the upper side of the chassis 211. A rotating chassis is rotatably provided in the circular groove 212. The upper side of the rotating chassis is fixedly connected to the output end of the first driving motor 213. The first driving motor 213 is fixed on the rotating chassis.

[0040] Start the first driving motor 213, which can drive the rotating chassis to rotate in the circular groove 212, thereby realizing the rotation of the industrial robot and facilitating the mechanical processing process.

[0041] The swing assembly one 22 includes a fixed seat one 221, a swing arm one 222, and a drive motor two 223. A fixed seat one 221 is fixedly arranged on the upper side of the drive motor one 213. A swing arm one 222 is rotatably arranged on the upper side of the fixed seat one 221. A rotating shaft one passes through the swing arm one 222 and is rotatably connected to the inside of the fixed seat one 221. The front side of the rotating shaft one is fixedly connected to the output end of the drive motor two 223.

[0042] Starting the drive motor two 223 can drive the swing arm one 222 and the rotating shaft one to rotate, thereby realizing the rotation of the first angle of the industrial robot.

[0043] The swing assembly two 23 includes a robotic arm 231, a fixed seat two 232, a swing arm two 233, and a drive motor three 234. A robotic arm 231 is fixedly connected to the left end of the upper side of the swing arm one 222. A fixed seat two 232 is fixedly connected to the left end of the robotic arm 231. A swing arm two 233 is rotatably connected to the left end of the fixed seat two 232. A rotating shaft two passes through the swing arm two 233 and is rotatably connected to the fixed seat two 232. The front side of the rotating shaft two is fixedly connected to the output end of the drive motor three 234. A robotic claw 24 is fixedly arranged on the lower side of the swing arm two 233.

[0044] Starting the drive motor three 234 can drive the rotating shaft two to rotate, thereby driving the swing arm two 233 to rotate and realizing the rotation of the second angle of the industrial robot, with a wide range of applications.

[0045] The working principle of an industrial robot with a moving mechanism provided by the utility model is as follows: The turntable 31 enables the moving mechanism 3 to change its direction. The mounting base 32 is used to fix the moving component 33. The braking mechanism I 34 and the braking mechanism II 35 are used for braking the moving mechanism 3. After starting the double-output shaft motor 331, it can drive the moving roller 332 to rotate, thereby enabling the movement of the industrial robot, which is convenient for movement and conducive to improving production efficiency. The settings of the connecting block 333, U-shaped connecting rod 334, support rod 335, and fixed bearing 336 can ensure the normal rotation of the moving roller 332 and improve the stability of the device. When braking is required, control the hydraulic push rod 341 to push the bidirectional connecting rod 342 outward to provide adjustment space for the U-shaped brake pad 345. Then control the electric telescopic rod 347 to push the U-shaped brake pad 345 so that the U-shaped brake pad 345 slowly contacts the moving roller 332, and friction is generated between the U-shaped brake pad 345 and the moving roller 332, thereby realizing the braking process of the moving roller 332. When the hydraulic push rod 341 is pushed to a certain extent, the electric telescopic rod 347 can push the brake pad 353 at the bottom of the U-shaped mounting frame 352 to contact the bottom surface, so that friction is generated between the brake pad 353 and the bottom surface to further brake the moving roller 332. Starting the driving motor I 213 can drive the rotating chassis to rotate in the circular groove 212, thereby enabling the rotation of the industrial robot, which is convenient for realizing the machining process. Starting the driving motor II 223 can drive the swing arm I 222 and the rotating shaft I to rotate, thereby enabling the rotation of the industrial robot at the first angle. Starting the driving motor III 234 can drive the rotating shaft II to rotate, thereby driving the swing arm II 233 to rotate and realizing the rotation of the industrial robot at the second angle. The scope of application is relatively wide.

[0046] The above are only the embodiments of the present utility model, and do not limit the patent scope of the present utility model accordingly. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present utility model, or directly or indirectly applied in other related technical fields, shall be similarly included in the patent protection scope of the present utility model.

Claims

1. An industrial robot with a moving mechanism, characterized in that: It includes a base (1); An industrial robot (2) is provided on the upper side of the base (1), and four uniformly and symmetrically distributed moving mechanisms (3) are provided on the lower side of the base (1); The industrial robot (2) includes a rotating base (21), a first swinging assembly (22), a second swinging assembly (23) and a mechanical claw (24). A rotating base (21) is fixedly connected to the upper side of the base (1). A rotating base (21) is provided in the middle of the upper side of the base (1). A first swinging assembly (22) is provided on the upper side of the rotating base (21). A second swinging assembly (23) is provided on the upper side of the first swinging assembly (22). A mechanical claw (24) is provided on the upper side of the second swinging assembly (23); The moving mechanism (3) includes a turntable (31), a mounting seat (32), a moving assembly (33), a first braking mechanism (34) and a second braking mechanism (35). Four uniformly and symmetrically distributed turntables (31) are rotatably provided on the lower side of the base (1). A mounting seat (32) is fixedly connected to the lower side of each turntable (31). A moving assembly (33) is provided on the lower side of each mounting seat (32). The moving assembly (33) includes a double-output shaft motor (331), a moving roller (332), a connecting block (333), a U-shaped connecting rod (334), a support rod (335) and a fixed bearing (336). A double-output shaft motor (331) is provided on the lower side of each mounting seat (32). The output ends on the front and rear sides of each double-output shaft motor (331) are fixedly connected to the moving roller (332). A connecting block (333) is fixedly connected to the left end of each double-output shaft motor (331). The upper side of the connecting block (333) is fixedly connected to the mounting seat (32). The outer sides of the two moving rollers (332) are fixedly connected to the outer ring of the fixed bearing (336). The inner ring of the fixed bearing (336) is fixedly connected to the U-shaped connecting rod (334). The upper side of the U-shaped connecting rod (334) is fixedly connected to the support rod (335). The upper side of the support rod (335) is fixedly connected to the mounting seat (32). A first braking mechanism (34) and a second braking mechanism (35) are provided behind the moving roller (332).

2. The industrial robot with a moving mechanism according to claim 1, characterized in that: The braking mechanism 1 (34) includes a hydraulic push rod (341), a bidirectional connecting rod (342), a fixed rod (343), a fixed ball (344), a U-shaped brake pad (345), a connecting seat (346), an electric telescopic rod (347) and a cylindrical compression spring (348). The right end of the mounting seat (32) is fixedly connected to the hydraulic push rod (341). The right end of the hydraulic push rod (341) is fixedly connected to the middle of the bidirectional connecting rod (342). Both the front and rear ends of the bidirectional connecting rod (342) are fixedly connected to the fixed rod (343). A fixed ball (344) is fixedly sleeved on the end of the fixed rod (343) far from the bidirectional connecting rod (342). A U-shaped brake pad (345) is provided at the right end of the moving roller (332). The right end of the U-shaped brake pad (345) is fixedly provided with a connecting seat (346). The upper side of the connecting seat (346) is fixedly connected to the electric telescopic rod (347). The upper output end of the electric telescopic rod (347) is fixedly connected to the lower side of the fixed ball (344). A cylindrical compression spring (348) is sleeved outside the electric telescopic rod (347).

3. The industrial robot with a moving mechanism according to claim 2, wherein: The braking mechanism 2 (35) includes a connecting cross bar (351), a U-shaped mounting frame (352) and a brake pad (353). The front and rear sides of the U-shaped brake pad (345) are fixedly connected to the U-shaped mounting frame (352) through two symmetrically distributed connecting cross bars (351). The brake pad (353) is fixedly provided at the bottom of the U-shaped mounting frame (352).

4. The industrial robot with a moving mechanism according to claim 1, characterized in that: The rotating base (21) includes a chassis (211), a circular groove (212) and a driving motor 1 (213). The chassis (211) is fixedly installed on the upper side of the base (1). A circular groove (212) is opened in the middle of the upper side of the chassis (211). A rotating chassis is rotatably provided in the circular groove (212). The upper side of the rotating chassis is fixedly connected to the output end of the driving motor 1 (213). The driving motor 1 (213) is fixed on the rotating chassis.

5. The industrial robot with a moving mechanism according to claim 4, characterized in that: The swinging assembly 1 (22) includes a fixed seat 1 (221), a swinging arm 1 (222) and a driving motor 2 (223). The fixed seat 1 (221) is fixedly provided on the upper side of the driving motor 1 (213). The swinging arm 1 (222) is rotatably provided on the upper side of the fixed seat 1 (221). The rotating shaft 1 passes through the swinging arm 1 (222) and is rotatably connected to the inside of the fixed seat 1 (221). The front side of the rotating shaft 1 is fixedly connected to the output end of the driving motor 2 (223).

6. The industrial robot with a moving mechanism according to claim 5, wherein: The second swing component (23) includes a robotic arm (231), a second fixed seat (232), a second swing arm (233), and a third driving motor (234). The left end of the upper side of the first swing arm (222) is fixedly connected to the robotic arm (231). The left end of the robotic arm (231) is fixedly connected to the second fixed seat (232). The left end of the second fixed seat (232) is rotatably connected to the second swing arm (233). The second rotating shaft passes through the second swing arm (233) and is rotatably connected to the second fixed seat (232). The front side of the second rotating shaft is fixedly connected to the output end of the third driving motor (234). A mechanical claw (24) is fixedly provided on the lower side of the second swing arm (233).

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