CN211867835U

CN211867835U - Mechanical control type automatic discharging manipulator

Info

Publication number: CN211867835U
Application number: CN201821683091.3U
Authority: CN
Inventors: 史先春; 沈梅; 郭煜; 陈业富; 储伟建; 刘雷
Original assignee: Anhui University of Science and Technology
Current assignee: Anhui University of Science and Technology
Priority date: 2018-10-17
Filing date: 2018-10-17
Publication date: 2020-11-06
Anticipated expiration: 2028-10-17

Abstract

The utility model relates to a manipulator field especially relates to an automatic unloading manipulator of mechanical control formula, including base, pneumatic mechanism, movable rod, box body, first fixture, the mechanism that opens and shuts, push type switch, regulation and control mechanism, mold processing, power pack and conveyer belt. The utility model utilizes the pneumatic mechanism to push the clamping manipulator, the pressing switch can move along the bottom surface of the movable rod, when the clamping mechanism moves to the two sides of the workpiece, the first extrusion block can press the switch, so that the clamping mechanism can clamp the workpiece, and automatic clamping is realized; when the switch is powered on, the second extrusion block is flush with the first extrusion block, so that the clamping mechanism can keep a clamping state when the pneumatic rod is in a withdrawing state; when the work piece moved to the conveyer belt top, the push type switch just can reset the outage to make the mechanism that opens and shuts drive fixture and open, make the work piece drop to on the conveyer belt, realize the unloading and carry, and adjustment mechanism also can shift up and reset, realize the circulation operation.

Description

Mechanical control type automatic discharging manipulator

Technical Field

The utility model relates to a manipulator field especially relates to an automatic unloading manipulator of mechanical control formula.

Background

The manipulator is an automatic operation device which can imitate certain motion functions of a human hand and an arm and is used for grabbing and carrying objects or operating tools according to a fixed program; in a mold processing production line, a manipulator is arranged beside a mold and used for taking out a workpiece in a high-temperature state to realize blanking.

In order to ensure that the manipulator can normally realize taking and placing, a plurality of sensors are arranged to judge the position of the manipulator and receive data by using a computer program to control the manipulator, so that a plurality of electronic elements are needed, various electronic elements are easy to damage under high-temperature environment and long-time working condition, once a certain element or computer program fails, the whole processing line needs to be stopped, the production efficiency is seriously influenced, and the detection of the electronic elements and the program is time-consuming and labor-consuming.

Therefore, a mechanical control type automatic blanking manipulator is provided for solving the problems.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a can realize automatic centre gripping and get, put the automatic unloading manipulator of mechanical control formula of piece to solve above-mentioned technical problem.

The utility model discloses a solve above-mentioned technical problem, adopt following technical scheme to realize:

designing a mechanical control type automatic blanking manipulator, which comprises a base; the pneumatic mechanism is arranged at one end of the surface of the base; the movable rod is arranged at the end part of the pneumatic mechanism, and the bottom surface of the movable rod is provided with a moving groove; a first extrusion block is arranged at one end, close to the pneumatic mechanism, in the moving groove, and the areas, except the first extrusion block, in the moving groove are a moving area and a blanking area in sequence; the blanking area is positioned at the outer end part of the moving groove; the pressing switch is positioned on the top surface of the base, and the top end of the pressing switch is embedded into the moving groove; the first extrusion block is used for extruding the push type switch; the push switch is electrically connected with the power supply box; the regulating mechanism comprises a third spring, a fixing plate, a second extrusion block and a second electromagnet, and the second extrusion block is positioned at the top of the motion area; the length of the second extrusion block is the same as that of the motion area, the top of the moving groove is provided with a through hole structure which is distributed opposite to the second extrusion block, and the top surface of the second extrusion block is provided with the fixing plate; the area of the fixing plate is larger than that of the second extrusion block, and the fixing plate is made of an iron material; the top surface of the fixed plate is fixedly connected with one end of the third spring, and the other end of the third spring is fixedly connected with the inner wall of the movable rod; the fixed plate is connected with the inner wall of the movable rod in a sliding mode, and the second electromagnets are arranged at two ends of the bottom of the fixed plate; the second electromagnet is electrically connected with the push type switch; the box body is positioned at the end part of the movable rod; the first clamping mechanism is rotatably connected to one side of the interior of the box body; the second clamping mechanisms are symmetrically distributed with the first clamping mechanisms, and the structures of the second clamping mechanisms and the first clamping mechanisms are the same; the first clamping mechanism and the second clamping mechanism are used for fixing a workpiece; the opening and closing mechanism is rotationally connected with the first clamping mechanism and the second clamping mechanism and is used for controlling the clamping mechanisms to open and close; the processing mould is arranged at the top of the base and is arranged on one side of the box body at intervals; the first clamping mechanism, the second clamping mechanism and the opening and closing position of the processing mold are distributed oppositely; the conveying belt is located between the processing die and the pneumatic mechanism and located at the bottom of the box body.

Preferably, the pneumatic mechanism comprises a cylinder and a pneumatic rod, and the cylinder is fixed on the surface of the base; the inside cup joint of cylinder the pneumatic rod, just the end connection of pneumatic rod the movable rod.

Preferably, the first clamping mechanism comprises a swing rod and a clamping plate; the inner end part of the swing rod is rotatably connected with the inner wall of the box body, and the outer end part of the swing rod is provided with the clamping plate.

Preferably, the angle between the clamping plate and the swing rod is 135 degrees, and the rotation angle of the swing rod is 0-45 degrees.

Preferably, the opening and closing mechanism comprises a limiting pipe, a mounting rod, a first connecting rod, a second connecting rod, a sliding rod, a first electromagnet, a central column and a second spring, and the first connecting rod and the second connecting rod are symmetrically distributed; the bottom end of the first connecting rod is rotatably connected with the inner side wall of the swing rod, and the top end of the first connecting rod is rotatably connected with the central column; the bottom end of the second connecting rod is rotatably connected with the second clamping mechanism, and the top end of the second connecting rod is rotatably connected with the central column; the top surface of the central column is vertically and fixedly connected with the sliding rod, and the sliding rod penetrates through the limiting pipe in a sliding manner; the limiting pipe is fixedly connected with the inner wall of the box body through the mounting rod; a pressing plate is vertically arranged on the outer wall of the area, located on the limiting pipe, of the sliding rod, and the bottom surface of the pressing plate is fixedly connected with the second spring; the second spring is arranged inside the limiting pipe, and the sliding rod penetrates through the middle of the second spring; the top surface of clamp plate is equipped with first electro-magnet.

Preferably, the inner wall of grip block equidistance distributes and has supporting mechanism, just supporting mechanism is linear array distribution.

Preferably, the supporting mechanism comprises a supporting rod, a supporting pipe and a first spring, and the supporting rod penetrates through the inner wall of the clamping plate in a sliding manner; the inner end of the supporting rod is embedded into the supporting tube, the first spring is installed inside the supporting tube, and the end of the first spring is fixedly connected with the supporting rod.

The utility model has the advantages that:

the utility model controls the automatic pick-and-place circular operation of the manipulator mainly in a mechanical transmission mode, so that the working performance of the manipulator is more stable, the service life is longer, and when a fault occurs, the fault device can be quickly found and replaced and maintained because the number of devices is less; when the clamping mechanism moves to the two sides of the workpiece, the first extrusion block presses the switch, so that the clamping mechanism can clamp the workpiece, and automatic clamping is realized; when the switch is powered on, the second extrusion block is flush with the first extrusion block, so that the clamping mechanism can keep a clamping state when the pneumatic rod is in a withdrawing state; when the work piece moved to the conveyer belt top, the push type switch just can reset the outage to make the mechanism that opens and shuts drive fixture and open, make the work piece drop to on the conveyer belt, realize the unloading and carry, and adjustment mechanism also can shift up and reset, realize the circulation operation.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic view of the internal connection structure of the case body of the present invention;

fig. 3 is a schematic structural view of the opening and closing mechanism of the present invention;

fig. 4 is a schematic structural view of a first clamping mechanism of the present invention;

fig. 5 is a schematic structural view of the power-on state of the push switch of the present invention;

fig. 6 is the schematic diagram of the structure of the power-off state of the push switch of the present invention.

Reference numerals: 1. the automatic feeding device comprises a base, 2, a pneumatic mechanism, 21, an air cylinder, 22, a pneumatic rod, 3, a movable rod, 31, a moving groove, 311, a moving area, 312, a blanking area, 32, a first extrusion block, 4, a box body, 5, a first clamping mechanism, 51, a swing rod, 52, a clamping plate, 53, a supporting mechanism, 531, a support rod, 532, a support pipe, 533, a first spring, 6, an opening and closing mechanism, 61, a limiting pipe, 62, an installation rod, 63, a first connecting rod, 64, a second connecting rod, 65, a sliding rod, 651, a pressing plate, 66, a first electromagnet, 67, a central column, 68, a second spring, 7, a second clamping mechanism, 8, a pressing switch, 9, a regulating and controlling mechanism, 91, a third spring, 92, a fixing plate, 93, a second extrusion block, 94, a second electromagnet, 9a, a processing mold, 9b, a power supply box, 9c and a conveying belt.

Detailed Description

In order to make the technical means, the creation features, the achievement purposes and the functions of the present invention easy to understand, the present invention will be further explained below with reference to the following embodiments and the accompanying drawings, but the following embodiments are only the preferred embodiments of the present invention, and not all embodiments are included. Based on the embodiments in the implementation, other embodiments obtained by those skilled in the art without any creative work belong to the protection scope of the present invention.

Specific embodiments of the present invention will be described below with reference to the accompanying drawings.

As shown in fig. 1-6, a mechanical control type automatic blanking manipulator comprises a base 1; the pneumatic mechanism 2 is arranged at one end of the surface of the base 1; the pneumatic mechanism 2 comprises a cylinder 21 and a pneumatic rod 22, and the cylinder 21 is fixed on the surface of the base 1; the pneumatic rod 22 is sleeved inside the cylinder 21, and the end of the pneumatic rod 22 is connected with the movable rod 3; the movable rod 3 is arranged at the end part of the pneumatic mechanism 2, and a moving groove 31 is formed in the bottom surface of the movable rod 3; a first extrusion block 32 is arranged at one end of the interior of the moving groove 31 close to the pneumatic mechanism 2, and the areas of the interior of the moving groove 31 except the first extrusion block 32 are a moving area 311 and a blanking area 312 in sequence; the blanking area 312 is located at the outer end of the moving slot 31; the movement process of the movable rod 3 can be controlled through the pneumatic mechanism 2; the pressing switch 8 is positioned on the top surface of the base 1, and the top end of the pressing switch 8 is embedded in the moving groove 31; the first pressing block 32 is used for pressing the press type switch 8; the push switch 8 is electrically connected with the power supply box 9 b; when the push switch 8 is in contact with the first extrusion block 32, the switch can be pressed down to be electrified, and when the switch moves between the movement area 311 and the blanking area 312 without the extrusion block, the switch is in a power-off state to realize mechanical control;

the regulating mechanism 9 comprises a second spring 91, a fixing plate 92, a second pressing block 93 and a second electromagnet 94, and the second pressing block 93 is positioned at the top of the moving area 311; the length of the second pressing block 93 is the same as that of the moving area 311, the top of the moving groove 31 is provided with through hole structures distributed opposite to the second pressing block 93, and the top surface of the second pressing block 93 is provided with the fixing plate 92; the area of the fixing plate 92 is larger than that of the second pressing block 93, and the fixing plate 92 is made of a ferrous material; the top surface of the fixed plate 92 is fixedly connected with one end of the second spring 91, and the other end of the second spring 91 is fixedly connected with the inner wall of the movable rod 3; the fixed plate 92 is connected with the inner wall of the movable rod 3 in a sliding manner, and the second electromagnets 94 are arranged at two ends of the bottom of the fixed plate 92; the second electromagnet 94 is electrically connected with the push switch 8; when the switch is powered on, the second extrusion block 93 extends into the motion area 311 and is flush with the first extrusion block 32, so that the switch is in a power-on state when passing through the motion area 311, and a workpiece is guaranteed to be clamped;

the box body 4 is positioned at the end part of the movable rod 3; the first clamping mechanism 5 is rotatably connected to one side inside the box body 4; the second clamping mechanisms 7 are symmetrically distributed with the first clamping mechanisms 5, and the structures of the second clamping mechanisms 7 and the first clamping mechanisms 5 are the same; the first clamping mechanism 5 and the second clamping mechanism 7 are used for fixing a workpiece; the opening and closing mechanism 6 is rotatably connected with the first clamping mechanism 5 and the second clamping mechanism 7, and the opening and closing mechanism 6 is used for controlling the clamping mechanisms to open and close; the processing mold 9a is arranged at the top of the base 1, and the processing mold 9a is arranged at one side of the box body 4 at intervals; the first clamping mechanism 5, the second clamping mechanism 7 and the opening and closing part of the processing mold 9a are distributed oppositely; the conveying belt 9c is positioned between the processing mold 9a and the pneumatic mechanism 2, and the conveying belt 9c is positioned at the bottom of the box body 4; the switch controls the clamping mechanism to take the workpiece out from between the upper template and the lower template, and then the workpiece is put down at the top of the conveying belt 9 c.

Further, the first clamping mechanism 5 comprises a swing rod 51 and a clamping plate 52; the inner end part of the swing rod 51 is rotatably connected with the inner wall of the box body 4, and the outer end part of the swing rod 51 is provided with the clamping plate 52; the angle between the clamping plate 52 and the swing rod 51 is 135 degrees, and the rotation angle of the swing rod 51 is 0-45 degrees; the opening and closing mechanism 6 comprises a limiting pipe 61, a mounting rod 62, a first connecting rod 63, a second connecting rod 64, a sliding rod 65, a first electromagnet 66, a central column 67 and a second spring 68, and the first connecting rod 63 and the second connecting rod 64 are symmetrically distributed; the bottom end of the first connecting rod 63 is rotatably connected with the inner side wall of the swing rod 51, and the top end of the first connecting rod 63 is rotatably connected with the central column 67; the bottom end of the second connecting rod 64 is rotatably connected with the second clamping mechanism 7, and the top end of the second connecting rod 64 is rotatably connected with the central column 67; the top surface of the central column 67 is vertically and fixedly connected with the sliding rod 65, and the sliding rod 65 penetrates through the limiting tube 61 in a sliding manner; the limiting pipe 61 is fixedly connected with the inner wall of the box body 4 through the mounting rod 62; a pressing plate 651 is vertically arranged on the outer wall of the area, located on the limiting pipe 61, of the sliding rod 65, and the bottom surface of the pressing plate 651 is fixedly connected with the second spring 68; the second spring 68 is mounted inside the limiting tube 61, and the sliding rod 65 penetrates through the middle of the second spring 68; the top surface of the pressing plate 651 is provided with the first electromagnet 66; the clamping mechanism is controlled to rotate by the vertical movement of the opening and closing mechanism 6, so that workpieces with different widths can be clamped and fixed.

The implementation mode is as follows: in the initial state, the pneumatic rod 22 is retracted into the cylinder 21, the press switch 8 is fixed in the blanking area 312 at the end of the movable rod 3, and the clamping mechanism is positioned at the top of the conveyer belt 6; when the injection molding of the workpiece is finished and the workpiece needs to be taken, the air cylinder 21 drives the pneumatic rod 22 to move outwards, the pneumatic rod 22 further pushes the movable rod 3 to move, the first clamping mechanism 5 and the second clamping mechanism 7 approach the mold, the switch slides along the blanking area 312 and the moving area 311, when the switch moves to the bottom of the first extrusion block 32, the clamping mechanisms move to the outer side of the workpiece, and the first extrusion block 32 extrudes the switch, so that the switch is conductive;

the first electromagnet 66 is electrified, the adsorption pressing plate 651 slides upwards and stretches the second spring 68, the sliding rod 65 moves upwards along the limiting pipe 61 so as to drive the central column 67 to move upwards, the first connecting rod 63 and the second connecting rod 64 are rotatably connected with the central column 67 and the clamping mechanism, the two connecting rods are mutually closed and drive the swing rod 51 to rotate, and further drive the clamping plate 52 to be closed together, so that the workpiece is clamped;

when the switch is pressed to be powered on, the second electromagnet 94 is powered on, so that the iron fixing plate 92 is adsorbed downwards, the second extrusion block 93 moves downwards and extends into the movement area 311, and the second extrusion block 93 is flush with the first extrusion block 32;

after the workpiece is clamped, the air cylinder 21 retracts the pneumatic rod 22, at the moment, the switch moves outwards along the first extrusion block 32 and the second extrusion block 93, so that the switch is still in an electrified state through the movement area 311 in the retracting process of the movable rod 54, the clamping mechanism is in a clamping state, when the switch is separated from the second extrusion block 93 and moves to the blanking area 312, the workpiece moves to the top of the conveying belt 9c, the switch is bounced upwards to be powered off, the first electromagnet 66 and the second electromagnet 94 lose magnetism, the second spring 68 drives the pressing plate 651 to move downwards and further drives the center post 67 to move downwards, and the two clamping mechanisms expand outwards under the pushing of the connecting rod, so that the workpiece falls onto the conveying belt 9c, and automatic output is realized; the third spring 91 drives the fixing plate 92 to move upwards, so that the second extrusion block 93 leaves the movement area 311, when the next processing is performed, the switch passes through the movement area without the extrusion block again, the opening of the clamping mechanism is ensured, and the mechanical circular taking and placing of the parts are realized.

Further, the inner wall of the clamping plate 52 is equidistantly distributed with supporting mechanisms 53, and the supporting mechanisms 53 are distributed in a linear array; the supporting mechanism 53 includes a supporting rod 531, a supporting tube 532 and a first spring 533, and the supporting rod 531 is slidably inserted through the inner wall of the clamping plate 52; the inner end of the supporting rod 531 is embedded in the supporting tube 532, the first spring 533 is installed in the supporting tube 532, and the end of the first spring 533 is fixedly connected to the supporting rod 531.

During clamping, the outer wall of the workpiece contacts the corresponding supporting rod 531, and the supporting rod 531 is extruded to be embedded into the supporting tube 532 and compress the first spring 533, so that each supporting mechanism 53 can be attached to the workpiece to the maximum extent, the workpiece clamping device is suitable for workpiece taking requirements of workpieces in different shapes, and is wide in application range and high in clamping strength.

The electrical components that appear in this application all external intercommunication have external power supply and switch when using.

The present invention relates to circuits and electrical components and modules, all of which are prior art, and which are fully implemented by those skilled in the art, without further elaboration, and is not intended to be limited by the scope of the claims which follow.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It should be understood by those skilled in the art that the present invention is not limited by the above embodiments, and the description in the above embodiments and the description is only preferred examples of the present invention, and is not intended to limit the present invention, and that the present invention can have various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications all fall into the scope of the claimed invention. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. The utility model provides an automatic unloading manipulator of mechanical control formula which characterized in that includes:

a base (1);

the pneumatic mechanism (2), the pneumatic mechanism (2) is installed at one end of the surface of the base (1);

the movable rod (3) is arranged at the end part of the pneumatic mechanism (2), and a moving groove (31) is formed in the bottom surface of the movable rod (3); a first extrusion block (32) is arranged at one end, close to the pneumatic mechanism (2), in the moving groove (31), and the areas, except the first extrusion block (32), in the moving groove (31) are a moving area (311) and a blanking area (312) in sequence; the blanking area (312) is positioned at the outer end part of the moving groove (31);

the push switch (8) is positioned on the top surface of the base (1), and the top end of the push switch (8) is embedded in the moving groove (31); the first extrusion block (32) is used for extruding the push type switch (8); the push switch (8) is electrically connected with the power supply box (9 b);

the adjusting and controlling mechanism (9) comprises a third spring (91), a fixing plate (92), a second extrusion block (93) and a second electromagnet (94), and the second extrusion block (93) is positioned at the top of the moving area (311); the length of the second extrusion block (93) is the same as that of the motion area (311), the top of the moving groove (31) is provided with through hole structures distributed opposite to the second extrusion block (93), and the top surface of the second extrusion block (93) is provided with the fixing plate (92); the area of the fixing plate (92) is larger than that of the second pressing block (93), and the fixing plate (92) is made of a ferrous material; the top surface of the fixed plate (92) is fixedly connected with one end of the third spring (91), and the other end of the third spring (91) is fixedly connected with the inner wall of the movable rod (3); the fixed plate (92) is connected with the inner wall of the movable rod (3) in a sliding mode, and the second electromagnets (94) are arranged at two ends of the bottom of the fixed plate (92); the second electromagnet (94) is electrically connected with the push switch (8);

the box body (4), the box body (4) is positioned at the end part of the movable rod (3);

the first clamping mechanism (5), the first clamping mechanism (5) is rotatably connected to one side of the interior of the box body (4);

the second clamping mechanisms (7) and the first clamping mechanisms (5) are symmetrically distributed, and the structures of the second clamping mechanisms (7) and the first clamping mechanisms (5) are the same; the first clamping mechanism (5) and the second clamping mechanism (7) are used for fixing a workpiece;

the opening and closing mechanism (6), the opening and closing mechanism (6) is rotatably connected with the first clamping mechanism (5) and the second clamping mechanism (7), and the opening and closing mechanism (6) is used for controlling the clamping mechanisms to open and close;

the processing mould (9a) is arranged at the top of the base (1), and the processing mould (9a) is arranged at one side of the box body (4) at intervals; the first clamping mechanism (5), the second clamping mechanism (7) and the opening and closing position of the processing mold (9a) are distributed oppositely;

the conveying belt (9c) is located between the processing mold (9a) and the pneumatic mechanism (2), and the conveying belt (9c) is located at the bottom of the box body (4).

2. The mechanically controlled automatic feeding manipulator according to claim 1, characterized in that: the pneumatic mechanism (2) comprises a cylinder (21) and a pneumatic rod (22), and the cylinder (21) is fixed on the surface of the base (1); the pneumatic rod (22) is sleeved inside the air cylinder (21), and the end part of the pneumatic rod (22) is connected with the movable rod (3).

3. The mechanically controlled automatic feeding manipulator according to claim 1, characterized in that: the first clamping mechanism (5) comprises a swing rod (51) and a clamping plate (52); the inner end part of the swing rod (51) is rotatably connected with the inner wall of the box body (4), and the clamping plate (52) is arranged at the outer end part of the swing rod (51).

4. The mechanically controlled automatic feeding manipulator according to claim 3, characterized in that: the angle between the clamping plate (52) and the swing rod (51) is 135 degrees, and the rotation angle of the swing rod (51) is 0-45 degrees.

5. The mechanically controlled automatic feeding manipulator according to claim 3, characterized in that: the opening and closing mechanism (6) comprises a limiting pipe (61), a mounting rod (62), a first connecting rod (63), a second connecting rod (64), a sliding rod (65), a first electromagnet (66), a central column (67) and a second spring (68), and the first connecting rod (63) and the second connecting rod (64) are symmetrically distributed; the bottom end of the first connecting rod (63) is rotatably connected with the inner side wall of the swing rod (51), and the top end of the first connecting rod (63) is rotatably connected with the central column (67); the bottom end of the second connecting rod (64) is rotatably connected with the second clamping mechanism (7), and the top end of the second connecting rod (64) is rotatably connected with the central column (67); the top surface of the central column (67) is vertically and fixedly connected with the sliding rod (65), and the sliding rod (65) penetrates through the limiting tube (61) in a sliding manner; the limiting pipe (61) is fixedly connected with the inner wall of the box body (4) through the mounting rod (62); an iron pressing plate (651) is vertically arranged on the outer wall of the area, located on the limiting pipe (61), of the sliding rod (65), and the bottom surface of the pressing plate (651) is fixedly connected with the second spring (68); the second spring (68) is arranged inside the limiting pipe (61), and the sliding rod (65) penetrates through the middle of the second spring (68); the top surface of the pressing plate (651) is provided with the first electromagnet (66), and the first electromagnet (66) is electrically connected with the push type switch (8).

6. The mechanically controlled automatic feeding manipulator according to claim 3, characterized in that: supporting mechanisms (53) are distributed on the inner wall of the clamping plate (52) at equal intervals, and the supporting mechanisms (53) are distributed in a linear array.

7. The mechanically controlled automatic feeding manipulator according to claim 6, wherein: the supporting mechanism (53) comprises a supporting rod (531), a supporting pipe (532) and a first spring (533), and the supporting rod (531) penetrates through the inner wall of the clamping plate (52) in a sliding mode; the inner end of the supporting rod (531) is embedded into the supporting tube (532), the first spring (533) is installed inside the supporting tube (532), and the end of the first spring (533) is fixedly connected with the supporting rod (531).