Net cutting robot
By designing a net-cutting robot and employing a net-cutting and center-of-gravity adjustment mechanism, the problem of underwater robots getting trapped in fishing nets was solved, enabling automatic net cutting and improving the flexibility and efficiency of underwater operations, thus avoiding manual rescue.
Patent Information
- Application Number
- CN202520599028.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-01
- Publication Date
- 2026-02-27
- Estimated Expiration
- 2035-04-01
AI Technical Summary
Underwater robots cannot penetrate fishing nets, resulting in them getting caught and unable to escape on their own, requiring manual rescue, which is costly and inefficient.
Design a net-cutting robot equipped with a net-cutting mechanism, a cutting rotation mechanism, a cutting telescopic mechanism, an opening and closing protective cover, and a center of gravity adjustment mechanism. The net-cutting shears are driven to rotate, extend, and open and close by a cutting motor and a rotary motor. Combined with a robotic arm and a counterweight motor to adjust the center of gravity, the net can be automatically cut.
It enables automatic cutting of fishing nets, eliminating the need for manual rescue, improving the flexibility and efficiency of underwater operations, and reducing rescue costs.
Smart Images
Figure CN223947965U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of underwater operation equipment technology, specifically to a net-cutting robot. Background Technology
[0002] During marine fishing operations, flexible netting equipment such as fishing nets often need to be deployed in the ocean for several days. The nets need to be retrieved using buoys and other markers. However, due to the randomness and harshness of the marine environment, fishing nets often become unstable due to tides, waves, and ocean currents, scattering in the ocean and migrating to vast areas with ocean currents. When underwater robots encounter fishing nets during underwater operations, they cannot penetrate them. Once caught in the net, the underwater robot cannot escape on its own and thus cannot complete the underwater operation, requiring manual rescue, which is costly. Summary of the Invention
[0003] The purpose of this invention is to address the shortcomings of existing technologies by providing a cleverly designed, highly flexible net-cutting robot capable of cutting fishing nets without the need for rescue.
[0004] To achieve the above objectives, the technical solution adopted by this utility model is as follows:
[0005] A net-cutting robot includes a frame, characterized in that: the frame is equipped with a net-cutting mechanism, the net-cutting mechanism includes net-breaking scissors and a cutting motor, the front end of the frame is equipped with relatively opening and closing net-breaking scissors, the net-breaking scissors are driven by the cutting motor, the cutting motor is fixedly connected to the frame, so that when the robot encounters a fishing net while performing underwater tasks, it can activate the cutting motor to drive the net-breaking scissors to open and close, thereby cutting the fishing net.
[0006] The frame of this utility model is provided with a shearing and rotating mechanism, which includes a rotary motor. The rotary motor is located between the shearing motor and the frame. The output shaft of the rotary motor is fixedly connected to the shearing motor. The rotary motor is mounted on the frame so as to drive the shearing motor to rotate, thereby driving the mesh-breaking shears to rotate.
[0007] The present invention describes a shearing telescopic mechanism mounted on a frame. This mechanism includes a telescopic drive motor and a telescopic lead screw. The telescopic drive motor and the telescopic lead screw are both housed within the frame. Guide telescopic slide rails are provided on both sides of the telescopic lead screw. The lead screw is driven by the telescopic drive motor and is fixedly connected to the frame via bearings. The guide telescopic slide rails and the telescopic drive motor are also fixedly connected to the frame. A rotary motor is fixedly connected to the lead screw nut of the telescopic lead screw and is slidably connected to the guide telescopic slide rails via a slide rail. The telescopic drive motor drives the lead screw to rotate, which in turn moves the lead screw nut. The lead screw nut then drives the rotary motor, thereby causing the shears to telescopically move.
[0008] The rack front end is provided with a shearing extension hole, so that the net breaking shears can extend out of the rack and be placed in front of the rack.
[0009] The rack front end is provided with an opening and closing shield, the upper end of the opening and closing shield is hinged to the rack, the lower part of the opening and closing shield is driven by a shield driving cylinder, one end of the shield driving cylinder is hinged to the rack, and the other end is hinged to the opening and closing shield, so that the opening and closing shield is driven by the shield driving cylinder to be opened or closed, the opening and closing shield is opened, and the net breaking shears can extend out of the rack.
[0010] The rack front end is provided with a shearing extension hole, so that the net breaking shears can extend out of the rack and be placed in front of the rack.
[0011] The net breaking shears comprise a first net breaking shear and a second net breaking shear,
[0012] The first net breaking shear and the second net breaking shear are hinged to the shearing plate through a shaft, the screw nut of the shearing screw rod is provided with a first connecting rod and a second connecting rod on both sides, one end of the first connecting rod is hinged to the first net breaking shear, the other end is hinged to the screw nut of the shearing screw rod, one end of the second connecting rod is hinged to the second net breaking shear, and the other end is hinged to the screw nut of the shearing screw rod, the screw nut of the shearing screw rod is in sliding connection with the shearing plate, and the shearing plate is fixedly connected with the shearing motor, so that the screw rod of the shearing screw rod is driven to rotate by the shearing motor, the screw nut is moved, and the first net breaking shear and the second net breaking shear are driven to open and close.
[0013] The rack is provided with a mechanical hand which can extend out of the rack or be placed on the inner side of the rack, so that the mechanical hand can be extended out during use and be retracted during non-use.
[0014] The rack is provided with a mechanical hand storage bin, one side of the mechanical hand storage bin is provided with a fixing seat, the fixing seat is fixedly connected with the rack, a mechanical hand is arranged on the fixing seat, a turnover driving cylinder is arranged between the fixing seat and the mechanical hand, the mechanical hand is hinged to the fixing seat, one end of the turnover driving cylinder is hinged to the fixing seat, and the other end is hinged to the mechanical arm of the mechanical hand, so that the mechanical arm of the mechanical hand is driven to rotate by the turnover driving cylinder, and the mechanical hand is extended out of the mechanical hand storage bin.
[0015] The rack is provided with a center of gravity adjusting mechanism, the center of gravity adjusting mechanism comprises a counterweight and a counterweight motor, the rack is provided with a counterweight, the counterweight is in sliding connection with the rack, and the counterweight is driven by the counterweight motor, so that the counterweight is driven to reciprocate by the counterweight motor to adjust the center of gravity of the rack, and the center of gravity of the rack is balanced when the net breaking shears extend out and the mechanical hand moves.
[0016] The frame of this utility model is provided with a center of gravity adjustment screw. The screw of the center of gravity adjustment screw is driven by a counterweight motor, which is fixed on the frame. The screw of the center of gravity adjustment screw is fixedly connected to the frame via a bearing. The nut of the center of gravity adjustment screw is fixedly connected to the counterweight. The counterweight motor drives the screw of the center of gravity adjustment screw to rotate, thereby moving the nut. The nut moves with the counterweight, thus adjusting the center of gravity of the frame.
[0017] This utility model, due to the above-mentioned structure, has the advantages of ingenious structure, ability to cut fishing nets, no need for rescue, and high flexibility. Attached Figure Description
[0018] Figure 1 This is a schematic diagram of the structure of this utility model.
[0019] Figure 2 This is another structural schematic diagram of the present invention.
[0020] Figure 3 This is a utility model Figure 1 The main view.
[0021] Figure 4 This is a schematic diagram of the fishing net cutting mechanism in this utility model being retracted into the frame.
[0022] Figure 5 This is a utility model Figure 1 Enlarged schematic diagram of the shearing mechanism of the fishing net.
[0023] Figure 6 This is a utility model Figure 5 Enlarged diagram of the scissor closure of the net breaking mechanism.
[0024] Figure 7 This is a utility model Figure 2 Enlarged schematic diagram of the shearing mechanism of the fishing net.
[0025] Figure 8 This is a utility model Figure 7 Enlarged diagram of the scissor closure of the net breaking mechanism.
[0026] Figure 9 This is a schematic diagram of the robotic arm opening or retracting in this utility model.
[0027] Figure 10 This is an enlarged schematic diagram of the center of gravity adjustment mechanism in this utility model.
[0028] Figure 11 This is a utility model Figure 10 The main view.
[0029] Mark: frame 1, fishing net shearing mechanism 2, net breaking scissors 3, shearing motor 4, shearing rotation mechanism 5, rotation motor 6, shearing telescopic mechanism 7, telescopic drive motor 8, telescopic lead screw 9, shearing extension hole 10, guide telescopic slide rail 11, shearing lead screw 12, shearing plate 13, first net breaking scissors 14, second net breaking scissors 15, first connecting rod 16, second connecting rod 17, mechanical hand 18, mechanical hand storage bin 19, fixed seat 20, turnover drive cylinder 21, gravity center adjusting mechanism 22, counterweight 23, counterweight motor 24, gravity center adjusting lead screw 25, open-close shield 26, shield drive cylinder 27. DETAILED DESCRIPTION
[0030] The specific embodiments of the utility model are described in further detail below in combination with the drawings.
[0031] A net cutting robot, comprising a frame 1, characterized in that the frame 1 is provided with a fishing net shearing mechanism 2; the fishing net shearing mechanism 2 comprises net breaking scissors 3 and a shearing motor 4; the front end of the frame 1 is provided with the net breaking scissors 3 which are relatively openable and closable; the net breaking scissors 3 are driven by the shearing motor 4; the shearing motor 4 is fixedly connected with the frame 1; when the robot performs underwater tasks and encounters fishing nets, the shearing motor is started to drive the net breaking scissors to open and close, so that the fishing nets are cut.
[0032] The frame 1 is provided with a shearing rotation mechanism 5; the shearing rotation mechanism 5 comprises a rotation motor 6; the shearing motor 4 and the frame 1 are provided with the rotation motor 6; the output shaft of the rotation motor 6 is fixedly connected with the shearing motor 4; the rotation motor 6 is installed on the frame 1; the shearing motor is driven to rotate by the rotation motor; and then the net breaking scissors are driven to rotate.
[0033] The net breaking scissors 3 can be extended out of the frame 1 and placed in front of the frame 1; the frame 1 is provided with a shearing telescopic mechanism 7; the shearing telescopic mechanism 7 comprises a telescopic drive motor 8 and a telescopic lead screw 9; the frame 1 is provided with the telescopic drive motor 8; the frame 1 is provided with the telescopic lead screw 9; the two sides of the telescopic lead screw 9 are provided with guide telescopic slide rails 11; the screw rod of the telescopic lead screw 9 is driven by the telescopic drive motor 8; the screw rod of the telescopic lead screw 9 is fixedly connected with the frame 1 through a bearing; the guide telescopic slide rails 11 and the telescopic drive motor 8 are fixedly connected with the frame 1 respectively; the rotation motor 6 is fixedly connected with the nut of the telescopic lead screw 9; the rotation motor 6 is slidingly connected with the guide telescopic slide rails 11 through a sliding channel; the screw rod of the telescopic lead screw is driven to rotate by the telescopic drive motor; the nut is driven to move; the nut drives the rotation motor to move; and then the shears are driven to move telescopically.
[0034] The front end of the frame 1 is provided with a shears extension hole 10, so that the net breaking scissors 3 can be extended out of the frame and placed in front of the frame.
[0035] The utility model discloses the rack 1 front end is equipped with the open and shut shield 26, the open and shut shield 26 upper end is hinged with the rack 1, and the open and shut shield 26 lower part is driven through the shield drive cylinder 27, one end of the shield drive cylinder 27 is hinged with the rack 1, and the other end is hinged with the open and shut shield 26, to drive the open and shut shield to open or close through the shield drive cylinder, and the open and shut shield opens, and the net breaking scissors is convenient to stretch out the rack.
[0036] The utility model discloses the net breaking scissors 3 and the shearing motor 4 between being equipped with the shearing lead screw 12, the screw rod of shearing lead screw 12 is fixed on the shearing plate 13 through the bearing, the screw rod of shearing lead screw 12 is driven by the shearing motor 4, the net breaking scissors 3 includes the first net breaking scissors 14 and the second net breaking scissors 15, the first net breaking scissors 14 and the second net breaking scissors 15 are hinged with the shearing plate 13 through the shaft, the nut of shearing lead screw 12 is equipped with the first connecting rod 16 and the second connecting rod 17 on both sides, one end of the first connecting rod 16 is hinged with the first net breaking scissors 14, and the other end is hinged with the nut of shearing lead screw 12, one end of the second connecting rod 17 is hinged with the second net breaking scissors 15, and the other end is hinged with the nut of shearing lead screw 12, the nut of shearing lead screw 12 and shearing plate 13 sliding connection, the shearing plate 13 is fixedly connected with the shearing motor 4, to drive the screw rod rotation of shearing lead screw through the shearing motor, so that the nut moves, drives the first net breaking scissors and the second net breaking scissors open and shut.
[0037] The utility model discloses the rack 1 at least one side is equipped with the mechanical hand 18 that can stretch out the rack 1 or is placed in the inside of the rack 1, to stretch out the mechanical hand when using, and the mechanical hand 18 is recycled when not using.
[0038] The utility model discloses the rack 1 at least one side is equipped with the mechanical hand storage compartment 19, one side of the mechanical hand storage compartment 19 is equipped with the fixed seat 20, the fixed seat 20 is fixedly connected with the rack 1, be equipped with the mechanical hand 18 on the fixed seat 20, be equipped with the turnover drive cylinder 21 between the fixed seat 20 and the mechanical hand 18, the mechanical hand 18 is hinged with the fixed seat 20, one end of the turnover drive cylinder 21 is hinged with the fixed seat 20, and the other end is hinged with the mechanical arm of the mechanical hand 18, to drive the mechanical arm rotation of the mechanical hand through the turnover drive cylinder, and the mechanical hand is stretched out the mechanical number storage compartment.
[0039] The utility model discloses the rack 1 is equipped with the gravity center adjusting mechanism 22, the gravity center adjusting mechanism 22 includes the counterweight 23 and counterweight motor 24, be equipped with the counterweight 23 on the rack 1, the counterweight 23 is slidingly connected with the rack 1, the counterweight 23 is driven by the counterweight motor 24, to drive the counterweight reciprocating movement adjusting the gravity center of the rack through the counterweight motor, is used for balancing the gravity center variation of the rack when the net breaking scissors stretch out operation, the mechanical hand action.
[0040] The utility model discloses the rack 1 is equipped with the gravity center adjusting screw rod 25, the screw rod of gravity center adjusting screw rod 25 is by counterweight motor 24 drive, counterweight motor 24 is fixed on the rack 1, the screw rod of gravity center adjusting screw rod 25 is through bearing and fixed connection with the rack 1, the nut of gravity center adjusting screw rod 25 is fixed with counterweight 23, to drive the screw rod rotation of gravity center adjusting screw rod through counterweight motor, realize the nut removal, the nut moves with counterweight, adjusts the gravity center of rack.
[0041] As attached Figures 1-11 , the utility model discloses the net cutting robot is underwater unmanned vehicle, the rack 1 is equipped with control system, propeller, camera device and so on existing component, control system such as PLC control system, cutting motor 4, rotating motor 6, telescopic drive motor 8, manipulator 18, overturn drive cylinder 21, counterweight motor 24, shield drive cylinder 27 all are controlled by control system,
[0042] The rack 1 front end is provided with fishing net shearing mechanism 2, and the fishing net shearing mechanism 2 has two structures, and the first kind is as attached Figure 1 , attached Figure 5 And attached Figure 6 , the first net-breaking scissors 14 and the second net-breaking scissors 15 are driven to open and close by the cutting motor 4, one side of the first net-breaking scissors 14 and the second net-breaking scissors 15 opposite is blade, the first net-breaking scissors 14 and the second net-breaking scissors 15 can cut the fishing net clamped after closing, thereby avoiding the fishing net of cutting net robot,
[0043] The second kind is as attached Figure 2 , attached Figure 7 , attached Figure 8 , the first net-breaking scissors 14 and the second net-breaking scissors 15 are also driven to open and close by the cutting motor 4, and the difference from the first kind is as attached Figure 8 , the first net-breaking scissors 14 and the second net-breaking scissors 15 can cross and close, and the shearing force is stronger, and the structure of the two net-breaking scissors can be selected and installed according to requirements,
[0044] The first net-breaking scissors 14 and the second net-breaking scissors 15 can rotate in the application, are driven to rotate 360 ° by rotating motor 6 first net-breaking scissors 14 and second net-breaking scissors 15, realize multi-angle net-breaking, first net-breaking scissors 14 and second net-breaking scissors 15 can extend the rack 1 and be placed at the front end of the rack 1, as attached Figure 1 , the rack 1 front end is equipped with scissors extension hole 10, or as attached Figure 2 , the rack 1 front end is equipped with open and close shield 26, and the open and close shield 26 can be driven to open by shield drive cylinder 27, after first net-breaking scissors 14 and second net-breaking scissors 15 close, after the scissors extension hole 10 or open and close shield 26 opens, extend the rack 1, and be placed in front of the rack 1,
[0045] When not in use, as shown in the attached document Figure 4 The first and second net-breaking shears 14 and 15 are placed inside the frame 1, without protruding from the frame 1, as shown in the attached diagram. Figure 1 and attached Figure 2 A robotic arm 18 may be installed on one or both sides of the front of the frame 1. The robotic arm 18 adopts existing technology and includes at least one robotic arm. Adjacent robotic arms can be connected by a drive cylinder to achieve swinging or flipping, as shown in the attached figure. Figure 4 When the robotic arm 18 is not in use, it returns to the robotic arm storage compartment 19 via the tilting drive cylinder 21, reducing the travel resistance of the frame 1, as shown in the attached diagram. Figure 9 When the robotic arm 18 is in use, the telescopic rod of the flip drive cylinder 21 retracts, causing the robotic arm 18 to rotate forward. The robotic arm 18 then rotates out of the robotic arm storage compartment 19. When the robotic arm 18 has multiple robotic arms, a flip drive cylinder is provided between adjacent robotic arms to adjust the angle between adjacent robotic arms, facilitating rotation during use. When not in use, all robotic arms are aligned in a straight line and retracted into the robotic arm storage compartment 19. The robotic claw can be an openable and closable mechanical shear, used to assist the net-cutting shears 3 in cutting the fishing net. The robotic claw can also be a clamping claw, used for underwater salvage and clamping operations. The structure of the robotic arm can be configured according to requirements.
[0046] As attached Figure 1 In this invention, a robotic arm 18 is positioned at the front of the frame 1. After flipping, the robotic arm 18 can extend towards the front of the frame 1. A net-breaking shear 3 is also positioned at the front of the frame, extending forward and positioned in front of the frame 1. When the net-breaking shear 3 extends forward from the frame 1 while the robotic arm 18 extends towards the front of the frame 1, the robotic arm 18 is positioned in front of the net-breaking shear 3 and can grip an object. The first net-breaking shear 14 and the second net-breaking shear 15 open and close to cut the object gripped by the robotic arm 18.
[0047] As attached Figures 1-2 Appendix Figures 10-11The utility model discloses a center of gravity adjusting mechanism 22 is arranged at the rear part of frame 1, and counterweight 22 is driven by counterweight motor 24 and can move back and forth to adjust when net breaking scissors 3 is stretched out to frame operation, and mechanical arm 18 mechanical arm storage bin 19 is turned over and placed on the outside of frame 1 operation, the center of gravity of frame 1 will change, and the center of gravity change amount when net breaking scissors, mechanical arm act is balanced by the back and forth movement of counterweight 22, compared with prior art, the utility model widens the ability of cutting net robot underwater operation, makes cutting net robot when underwater operation, can automatically cut open fishing net and so on winding object, will not be trapped, and cutting net robot is more flexible when underwater operation, indirectly improves underwater operation efficiency, and the width of the fishing net that is cut after the first net breaking scissors 14 and second net breaking scissors 15 open can be greater than the outer diameter of frame 1, and cutting net robot passes through fishing net fast, in addition, the utility model discloses a mechanical arm on both sides of frame 1 cooperates with net breaking scissors and operates together, improves the diversity and flexibility of robot underwater operation, makes that unmanned vehicle can satisfy more underwater operation demand, and cooperates center of gravity adjusting mechanism, makes frame 1 keep the center of gravity stable when net breaking scissors, mechanical arm operate.
[0048] The utility model discloses a center of gravity adjusting mechanism 22 is arranged at the rear part of frame 1, and counterweight 22 is driven by counterweight motor 24 and can move back and forth to adjust when net breaking scissors 3 is stretched out to frame operation, and mechanical arm 18 mechanical arm storage bin 19 is turned over and placed on the outside of frame 1 operation, the center of gravity of frame 1 will change, and the center of gravity change amount when net breaking scissors, mechanical arm act is balanced by the back and forth movement of counterweight 22, compared with prior art, the utility model widens the ability of cutting net robot underwater operation, makes cutting net robot when underwater operation, can automatically cut open fishing net and so on winding object, will not be trapped, and cutting net robot is more flexible when underwater operation, indirectly improves underwater operation efficiency, and the width of the fishing net that is cut after the first net breaking scissors 14 and second net breaking scissors 15 open can be greater than the outer diameter of frame 1, and cutting net robot passes through fishing net fast, in addition, the utility model discloses a mechanical arm on both sides of frame 1 cooperates with net breaking scissors and operates together, improves the diversity and flexibility of robot underwater operation, makes that unmanned vehicle can satisfy more underwater operation demand, and cooperates center of gravity adjusting mechanism, makes frame 1 keep the center of gravity stable when net breaking scissors, mechanical arm operate.
Claims
1. A web cutting robot comprising a frame (1), characterized in that: The rack (1) is provided with a fishing net shearing mechanism (2), the fishing net shearing mechanism (2) includes a net-breaking scissors (3) and a shearing motor (4), the rack (1) is provided with the net-breaking scissors (3) that is relatively opened and closed at the front end, the net-breaking scissors (3) are driven by the shearing motor (4), and the shearing motor (4) is fixedly connected with the rack (1).
2. A web cutting robot according to claim 1, characterized in that The rack (1) is provided with a shearing rotating mechanism (5), the shearing rotating mechanism (5) includes a rotating motor (6), the shearing motor (4) and the rack (1) are provided with the rotating motor (6), the output shaft of the rotating motor (6) is fixedly connected with the shearing motor (4), and the rotating motor (6) is installed on the rack (1).
3. A web cutting robot according to claim 1 or 2, characterized in that: The rack (1) is provided with a shearing telescopic mechanism (7), the shearing telescopic mechanism (7) includes a telescopic drive motor (8), the rack (1) is provided with the telescopic drive motor (8), and the fishing net shearing mechanism (2) is driven by the telescopic drive motor (8).
4. A web cutting robot according to claim 3, characterized in that: The rack (1) is provided with a telescopic lead screw (9), both sides of the telescopic lead screw (9) are provided with a guide telescopic slide rail (11), the screw rod of the telescopic lead screw (9) is driven by the telescopic drive motor (8), the screw rod of the telescopic lead screw (9) is fixedly connected with the rack (1) through a bearing, the guide telescopic slide rail (11) and the telescopic drive motor (8) are fixedly connected with the rack (1) respectively, the fishing net shearing mechanism (2) is fixedly connected with the nut of the telescopic lead screw (9), and the fishing net shearing mechanism (2) is slidably connected with the rack (1).
5. A web cutting robot according to claim 1 or 2 or 4, characterized in that: The net-breaking scissors (3) and the shearing motor (4) are provided with a shearing lead screw (12), the screw rod of the shearing lead screw (12) is fixed on a shearing plate (13) through a bearing, the screw rod of the shearing lead screw (12) is driven by the shearing motor (4), the net-breaking scissors (3) include a first net-breaking scissors (14) and a second net-breaking scissors (15), the first net-breaking scissors (14) and the second net-breaking scissors (15) are hingedly connected with the shearing plate (13) through a shaft, both sides of the nut of the shearing lead screw (12) are provided with a first connecting rod (16) and a second connecting rod (17), one end of the first connecting rod (16) is hingedly connected with the first net-breaking scissors (14), the other end is hingedly connected with the nut of the shearing lead screw (12), one end of the second connecting rod (17) is hingedly connected with the second net-breaking scissors (15), the other end is hingedly connected with the nut of the shearing lead screw (12), the nut of the shearing lead screw (12) is slidably connected with the shearing plate (13), and the shearing plate (13) is fixedly connected with the shearing motor (4).
6. A web cutting robot according to claim 1 or 2 or 4, characterized in that: At least one side of the rack (1) is provided with a mechanical hand (18) that can extend out of the rack (1) or be placed on the inner side of the rack (1).
7. A web cutting robot according to claim 6, characterized in that: The rack (1) is provided with a mechanical hand storage bin (19) on at least one side, the mechanical hand storage bin (19) is provided with a fixed seat (20) on one side, the fixed seat (20) is fixedly connected with the rack (1), the mechanical hand (18) is arranged on the fixed seat (20), the fixed seat (20) and the mechanical hand (18) are provided with a turnover driving cylinder (21), the mechanical hand (18) is hinged with the fixed seat (20), one end of the turnover driving cylinder (21) is hinged with the fixed seat (20), and the other end is hinged with the mechanical arm of the mechanical hand (18).
8. A web cutting robot according to claim 1 or 2 or 4 or 7, characterized in that: The rack (1) is provided with a gravity center adjusting mechanism (22), the gravity center adjusting mechanism (22) comprises a counterweight (23) and a counterweight motor (24), the rack (1) is provided with the counterweight (23), the counterweight (23) is slidably connected with the rack (1), and the counterweight (23) is driven by the counterweight motor (24).
9. A web cutting robot according to claim 8, characterized in that: The rack (1) is provided with a gravity center adjusting screw (25), the screw rod of the gravity center adjusting screw (25) is driven by the counterweight motor (24), the counterweight motor (24) is fixed on the rack (1), the screw rod of the gravity center adjusting screw (25) is fixedly connected with the rack (1) through a bearing, and the nut of the gravity center adjusting screw (25) is fixedly connected with the counterweight (23).
10. A web cutting robot according to claim 1 or 2 or 4 or 7 or 9, characterized in that: The rack (1) is provided with a scissor extension hole (10) at the front end, or the rack (1) is provided with an opening and closing shield (26) at the front end, the upper end of the opening and closing shield (26) is hinged with the rack (1), the lower part of the opening and closing shield (26) is driven by a shield driving cylinder (27), one end of the shield driving cylinder (27) is hinged with the rack (1), and the other end is hinged with the opening and closing shield (26).