CN215037624U - Numerical control mechanical arm - Google Patents

Abstract

The embodiment of the utility model provides a numerical control manipulator, which comprises a frame and a beam, wherein the beam is fixedly arranged at the top of the frame along the horizontal direction; the supporting device comprises a supporting arm and a vertical beam, wherein one end of the supporting arm is arranged on the cross beam in a sliding manner along the horizontal direction, and the vertical beam is arranged at the other end of the supporting arm in a sliding manner along the vertical direction; and the bottom of the vertical beam is fixedly provided with a material grabbing mechanism. The numerical control manipulator of the utility model respectively bears the action stress in a certain direction through the self structures of the cross beam, the supporting arm, the vertical beam and the material grabbing mechanism and the connecting parts among the structures, thereby realizing convenient plate grabbing operation and simultaneously having higher mechanical bearing performance, and the structural design is simple and reasonable; in addition, the numerical control mechanical arm can be widely applied to various fields of carrying and transporting various types of plates, and is wide in application range.

Description

Numerical control mechanical arm

Technical Field

The utility model relates to a panel processing machinery equipment technical field, concretely relates to numerical control manipulator.

Background

A manipulator is an automatic operating device which can imitate certain motion functions of a human hand and an arm and is used for grabbing, carrying objects or operating tools according to a fixed program. The manipulator can replace the heavy labor of people to realize the mechanization and automation of production, can operate under harmful environment to protect the personal safety, and is widely applied to departments of mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and the like. In the field of production and manufacturing equipment, a mechanical arm has become a main mechanical device for carrying and conveying large-scale plates.

The mechanical arm commonly used for taking and placing the plate at present is generally of a suction cup type and a grabbing type. The sucker type manipulator needs to be provided with an air source supply system, so that the investment cost is high, and the sucker type manipulator is difficult to popularize and use in the actual production and manufacturing process. Although the grabbing type numerical control manipulator has simple structural design and low production cost, the following technical problems generally exist: the traditional grabbing numerical control manipulator generally comprises a plurality of beam structures, and the beam structures are connected in a matched mode in a fixed assembly mode or a sliding assembly mode. In such structural design mode, the mechanical bearing performance requirement to each beam body structure self and the junction between each beam body structure is higher, if unreasonable setting, structural damage's condition appears very easily to lead to digit control manipulator life to be short.

Therefore, there is a need in the art to provide a numerically controlled manipulator with high structural reliability and strong versatility.

SUMMERY OF THE UTILITY MODEL

To above defect and not enough, the utility model provides a numerical control manipulator, this numerical control manipulator have that mechanical bearing capacity is strong, application range is wide and the characteristics of the packing transportation of being convenient for.

A numerically controlled manipulator, comprising:

the beam is fixedly arranged at the top of the rack along the horizontal direction;

the supporting device comprises a supporting arm and a vertical beam, wherein one end of the supporting arm is arranged on the cross beam in a sliding manner along the horizontal direction, and the vertical beam is arranged at the other end of the supporting arm in a sliding manner along the vertical direction;

and the bottom of the vertical beam is fixedly provided with a material grabbing mechanism.

Furthermore, the support arm is provided with an installation part at a position corresponding to the side edge of the cross beam, and the first driving mechanism is fixedly arranged on the installation part.

Further, the device also comprises a first gear and a first rack, wherein the first gear is fixedly connected with an output shaft of the first driving mechanism, the first rack is fixedly arranged on the cross beam, and the first gear is meshed with the first rack.

Further, the first gear is a straight gear, and the first rack is a straight rack.

The movable base is fixedly arranged at the other end of the supporting arm, and the vertical beam is arranged on the movable base in a sliding manner along the vertical direction;

wherein, remove the seat with erect and be equipped with the inside lining reinforcing plate between the roof beam, the inside lining reinforcing plate with remove the seat and be the integrated into one piece structure.

The movable base is fixedly arranged on the movable base, the second gear is fixedly connected with an output shaft of the second driving mechanism, the second rack is fixedly arranged on the vertical beam, and the second gear is meshed with the second rack.

Further, the second gear is a helical gear, and the second rack is a helical rack.

Furthermore, the material grabbing mechanism comprises a material grabbing bracket and a plate grabbing claw mechanism, and the plate grabbing claw mechanism comprises an adjusting arm structure, a clamping jaw structure and a material falling prevention clamping jaw;

the adjusting arm structure is detachably or slidably arranged on the material grabbing support, and the clamping jaw structure and the material falling prevention clamping jaw are rotatably arranged at one end, far away from the material grabbing support, of the adjusting arm structure.

Furthermore, the plate grabbing claw mechanism further comprises a first air cylinder, the movable end of the first air cylinder is rotatably connected with the top end of the clamping jaw structure, and a clamping jaw mounting plate is arranged at the bottom end of the clamping jaw structure;

the gripper mechanism further comprises a second cylinder, the movable end of the second cylinder is rotatably connected with the top end of the anti-falling clamping jaw, and the bottom end of the anti-falling clamping jaw is provided with a clamping hook portion.

Furthermore, the material grabbing mechanism further comprises a stroke limiting column, and the stroke limiting column is fixedly arranged at the bottom of the material grabbing support.

The utility model provides a numerical control manipulator, which comprises a frame and a beam, wherein the beam is fixedly arranged at the top of the frame along the horizontal direction; the support device also comprises a support arm and a vertical beam, wherein one end of the support arm can be arranged on the cross beam in a sliding manner along the horizontal direction, and the vertical beam can be arranged at the other end of the support arm in a sliding manner along the vertical direction; still including grabbing the material mechanism, should grab the fixed bottom that sets up at perpendicular roof beam of material mechanism. Wherein, a larger storage platform is arranged on the frame and used for placing and containing various large-scale plates to be transported. The beam is fixedly arranged at the top of the frame and used as a basic supporting structure for supporting the sliding of the arm. Meanwhile, the whole beam structure is arranged along the horizontal direction, so that the sliding track of the supporting arm is ensured to be along the horizontal direction when the supporting arm slides on the beam, and therefore the plate grabbed by the grabbing mechanism at the bottom of the vertical beam moves horizontally, and the accurate carrying and transportation of the plate at different horizontal positions are completed. In addition, the vertical beam slides up and down along the vertical direction on the moving seat, so that the material grabbing mechanism at the bottom of the vertical beam is driven to move up and down to complete grabbing and transporting operations of multiple groups of plates.

Specifically, a grabbing type numerical control manipulator in the prior art generally includes a plurality of beam structures, and the beam structures are connected in a matching manner through a fixed assembly or a slidable assembly. In such structural design mode, the requirement on the mechanical bearing performance of each beam body structure and the connection part between the beam body structures is high, and if the structure is unreasonably arranged, the structure is easily damaged. And the technical scheme of the utility model among, can follow the gliding support arm of horizontal direction, set up on the support arm and can follow the gliding perpendicular roof beam of vertical direction and set up the material mechanism of grabbing that is used for snatching panel on erecting the roof beam through setting up on the crossbeam, also through these three kinds of connection assembly relations, can realize grabbing the optional position adjustment of material mechanism in three-dimensional space's certain limit. In addition, through these three kinds of connection assembly relations, the utility model discloses a crossbeam, support arm, perpendicular roof beam and grab the self structure of material mechanism and the connection position between each structure equally divide and do not only bear the effect stress of a certain direction, and each part mechanics bearing performance is good, and structural stability is high, can wide application in each field of various types of panel transport transportation, and application range is wide.

Therefore, the utility model provides a numerical control manipulator compares in prior art, has following beneficial effect at least:

firstly, the self structures of the cross beam, the supporting arm, the vertical beam and the material grabbing mechanism and the connecting parts among the structures of the utility model respectively bear the action stress in a certain direction, so that the board grabbing operation is convenient, and simultaneously, the board grabbing mechanism has higher mechanical bearing performance, and the structural design is simple and reasonable;

secondly, the integrally formed lining reinforcing plate is arranged between the moving seat and the vertical beam to serve as an intermediate connecting structure of the moving seat and the vertical beam, so that the situation that the moving seat and the vertical beam are over stressed and even structurally damaged due to direct connection can be avoided, the structural stability and firmness between the moving seat and the vertical beam are obviously improved, and the service life of the numerical control manipulator is prolonged;

the utility model discloses a through setting up first actuating mechanism at the corresponding installation department of side of crossbeam (also be the inboard position of numerical control manipulator), can reduce its shared packing space and transportation space by a wide margin, thereby make the utility model discloses a packing transportation convenience of manipulator is high, and packs the cost of transportation and hang down.

Drawings

Fig. 1 is a schematic structural diagram of a numerical control manipulator according to the present invention;

FIG. 2 is a partially enlarged schematic view of the circled portion shown in FIG. 1;

FIG. 3 is a schematic structural view of the vertical beam and the movable base of the present invention;

FIG. 4 is a partially enlarged schematic view of the circled portion shown in FIG. 3;

fig. 5 is a schematic view of the material grasping mechanism of the present invention;

fig. 6 is a schematic structural view of the gripper mechanism of the present invention;

fig. 7 is another schematic structural view of the gripper mechanism of the present invention;

fig. 8 is another schematic view of the material grasping mechanism of the present invention;

description of reference numerals: 1. a frame; 2. a cross beam; 3. a support arm; 31. an installation part; 4. erecting a beam; 5. a material grabbing mechanism; 6. a first drive mechanism; 7. a first rack; 8. a movable seat; 81. a lining reinforcing plate; 9. a second drive mechanism; 10. a second rack; 11. a limit stop block; 12. a material grabbing bracket; 13. a plate grabbing claw mechanism; 14. an adjusting arm structure; 15. a jaw structure; 151. a clamping jaw mounting plate; 16. a first cylinder; 17. the material falling prevention clamping jaw; 171. a hook portion; 18. a second cylinder; 19. a travel limit column.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

Referring to fig. 1, according to the embodiment of the present invention, the numerically controlled mechanical arm includes a frame 1 and a beam 2, and the beam 2 is fixedly disposed on the top of the frame 1 along the horizontal direction; the device also comprises a supporting arm 3 and a vertical beam 4, wherein one end of the supporting arm 3 can be arranged on the cross beam 2 in a sliding manner along the horizontal direction, and the vertical beam 4 can be arranged at the other end of the supporting arm 3 in a sliding manner along the vertical direction; still including grabbing the material mechanism, grab the fixed bottom that sets up at perpendicular roof beam of material mechanism. Wherein, a larger storage platform is arranged on the frame 1 and is used for placing and containing various large-scale plates to be transported. The beam 2 is fixedly arranged on the top of the frame 1 and serves as a basic support structure for the sliding of the support arm 3. Meanwhile, the whole structure of the cross beam 2 is arranged along the horizontal direction, so that when the supporting arm 3 slides on the cross beam 2, the sliding track is along the horizontal direction, and therefore the plate horizontally moves, which is grabbed by the grabbing mechanism 5 at the bottom of the vertical beam 4, and the accurate carrying and transportation of the plate at different horizontal positions are completed. In addition, the vertical beam 4 slides up and down along the vertical direction on the other end of the supporting arm 3, so that the material grabbing mechanism 5 at the bottom of the vertical beam 4 is driven to move up and down to complete grabbing and transporting operations of a plurality of groups of plates.

The utility model discloses an in the embodiment, can follow gliding support arm 3 of horizontal direction, set up on support arm 3 and can follow gliding perpendicular roof beam 4 of vertical direction and set up the material mechanism 5 of grabbing that is used for snatching panel on erecting roof beam 4 through setting up on crossbeam 2, also be through these three kinds of connection assembly relations, can realize grabbing the arbitrary position adjustment of material mechanism 5 in three-dimensional space's certain limit. In addition, through these three kinds of connection assembly relations, the utility model discloses a crossbeam 2, support arm 3, erect roof beam 4 and grab the connection position between 5 self structure of material mechanism and each structure and equally divide and do not only bear the effect stress of a certain direction, and each part mechanics bearing capacity is good, and structural stability is high, can wide application in each field of various types of panel transport transportation, and application range is wide. Generally speaking, the utility model discloses a numerical control manipulator passes through crossbeam 2, support arm 3, erects roof beam 4 and grabs the connection assembly relation between the material mechanism 5, when realizing making things convenient for panel to snatch the operation, still has higher mechanics bearing performance concurrently, and structural design is simple reasonable.

Referring to fig. 1 and 2, in an embodiment of the present invention, the numerically controlled manipulator further includes a first driving mechanism 6, the supporting arm 3 is provided with an installation portion 31 at a position corresponding to a side of the cross beam 2, and the first driving mechanism 6 is fixedly disposed on the installation portion 31. Specifically, the mounting portion 31 is disposed corresponding to a side edge of the cross member 2, that is, the mounting position of the first driving mechanism 6 is specifically an inner side of the numerical robot apparatus. After installing first actuating mechanism 6 on the numerical control manipulator, the space that first actuating mechanism 6 occupy is the intrinsic space that the support arm 3 originally occupied for, and need not set up specific mounted position and occupation space for first actuating mechanism 6, also need not occupy the extra packing space of manipulator or transportation space. Through this kind of structural design, can make the utility model discloses a numerical control manipulator height under user state or the non-user state all is far less than traditional manipulator's height (more specifically, can shorten 18% height at least), when making things convenient for the operator to the manipulator packing transportation, also enables its shared packaging space and transportation space and shows and reduce to reduce manipulator equipment's packaging cost and cost of transportation by a wide margin. Further, since the first drive mechanism 6 is disposed at the numerically controlled inner side position of the robot arm, not at the top position of the numerically controlled robot arm, the rate of damage of the first drive mechanism 6 due to collision with a foreign object can be significantly reduced.

Referring to fig. 2, in a preferred embodiment of the present invention, the numerical control manipulator further includes a first gear and a first rack 7, the first gear is fixedly connected to an output shaft of the first driving mechanism 6, the first rack 7 is fixedly disposed on the cross beam 2, and the first gear is engaged with the first rack 7. In the preferred embodiment, the first gear is fixedly arranged on an output shaft at the end of the first driving mechanism 6, and the first driving mechanism 6 drives the first gear to rotate through the output shaft when being started. Meanwhile, the first gear is meshed with the first rack 7 fixedly arranged on the cross beam 2, and the cross beam 2 is fixed, so that the first gear can horizontally move relative to the first rack 7 in the rotating process, and further the first driving mechanism 6 and the support arm 3 can horizontally move on the cross beam 2.

In a further version of this embodiment, the first gear wheel is a spur gear wheel and the first toothed rack 7 is a spur toothed rack. In particular, the meshing transmission between the first gear and the first rack 7 is used for the relative sliding of the supporting arm 3 on the cross beam 2, and the supporting arm 3 is also provided with a moving seat 8, a vertical beam 4 and a material grabbing mechanism 5, so that the weight is large. Therefore, the first gear is set as a straight gear, the first rack 7 is set as a straight rack, and the first gear and the first rack 7 have strong bearing capacity, durability and high structural stability through a matching mode of straight tooth meshing; in addition, the structural design of the straight tooth shape is more convenient for users to process and manufacture.

Referring to fig. 3 and 4, in another embodiment of the present invention, the numerically controlled mechanical arm further includes a moving seat 8, the moving seat 8 is fixed at the other end of the supporting arm 3, and the vertical beam 4 is slidably disposed on the moving seat 8 along the vertical direction. That is to say, vertical beam 4 passes through slide mechanism and slides from top to bottom along vertical direction on removing seat 8 to drive the material mechanism 5 of grabbing of vertical beam 4 bottom and go up and down to reciprocate, make it accomplish the operation of snatching and transporting of multiunit different grade type panel. Wherein, remove and be equipped with inside lining reinforcing plate 81 between seat 8 and the perpendicular roof beam 4, inside lining reinforcing plate 81 and remove seat 8 and be the integrated into one piece structure. Particularly, inside lining reinforcing plate 81 sets up and is removing between seat 8 and the perpendicular roof beam 4, as the intermediate junction structure of the two, can show structural stability and the fastness that improves between removing seat 8 and the perpendicular roof beam 4, and then increases numerical control manipulator's life. More specifically, the movable base 8 and the lining reinforcing plate 81 are integrally formed, and no additional auxiliary fixing structure or supporting structure (such as a screw, a bolt or other connecting component) is required to be arranged between the movable base 8 and the lining reinforcing plate 81, so that the movable base 8 and the lining reinforcing plate 81 can be fixedly connected, and the complexity of the overall structure design is low. Furthermore, integrated into one piece's structural design mode also can reduce the utility model discloses a numerical control manipulator's the processing degree of difficulty, and then reduce the material cost and the processing cost that remove seat 8.

Referring to fig. 4, in a preferred embodiment of the present invention, the numerically controlled manipulator further includes a second driving mechanism 9, a second gear and a second rack 10, the second driving mechanism 9 is fixedly disposed on the movable base 8, the second gear is fixedly connected to an output shaft of the second driving mechanism 9, the second rack 10 is fixedly disposed on the vertical beam 4, and the second gear is in meshing connection with the second rack 10. In the preferred embodiment, the second gear is fixedly disposed on an output shaft at an end of the second driving mechanism 9, and the second driving mechanism 9 drives the second gear to rotate through the output shaft when being started. Simultaneously, the meshing cooperation of second gear and the fixed second rack 10 that sets up on erecting roof beam 4, because erect roof beam 4 and be immovable, gear structure 7 can realize reciprocating for second rack 10 at the pivoted in-process promptly, and then realizes erecting the vertical movement of roof beam 4 on removing seat 8.

In a further version of this embodiment, the second gear is a helical gear and the second rack 10 is a helical rack. Specifically, since the meshing transmission between the second gear and the second rack 10 is used for the relative sliding of the vertical beam 4 on the moving seat 8, and the material grabbing mechanism 5 fixedly arranged at the bottom of the vertical beam 4 is used for grabbing the plate, the requirement on the displacement accuracy of the vertical beam 4 in the vertical direction is high. Therefore, the second gear is set as a helical gear, the second rack 10 is set as a helical rack, and the overlap ratio between the second gear and the second rack 10 is large and the meshing precision is high by the cooperation mode of helical tooth meshing.

Optionally, both ends of the vertical beam 4 and both ends of the cross beam 2 are provided with limit stoppers 11 respectively for stopping and limiting the horizontal movement of the support arm 3 and the vertical movement of the vertical beam 4.

Referring to fig. 5-7, in another embodiment of the present invention, the material gripping mechanism 5 comprises a material gripping bracket 12 and a plate gripping mechanism 13, and the plate gripping mechanism 13 comprises an adjusting arm structure 14, a clamping jaw structure 15 and a material dropping prevention clamping jaw 17. Wherein, the adjusting arm structure 14 is detachably or slidably arranged on the material grabbing bracket 12, and the clamping jaw structure 15 and the material falling prevention clamping jaw 17 are rotatably arranged at one end of the adjusting arm structure 14 far away from the material grabbing bracket 12. In the scheme of the embodiment, the clamping jaw structure 15 is arranged and used for clamping and grabbing various types of plates when the numerical control manipulator works, so that the plate conveying and transporting operations are completed; through setting up anti falling material clamping jaw 17 for prevent to cause grabbing the board claw mechanism 2 and appear grabbing the material shakiness or grabbing the unbalanced problem of material under the board size oversize or the comparatively complicated condition of panel shape that snatchs. More specifically, when the numerical control manipulator grabs a plate, firstly, each group of clamping jaw structures 15 on the plate-grabbing jaw mechanism 13 is controlled to rotate, so that the two clamping jaw structures 15 correspondingly arranged clamp and stably grab the plate between the two clamping jaw structures, and the plate grabbing operation can be completed; then the anti-falling clamping jaw 17 is controlled to rotate, so that the anti-falling clamping jaw 17 clamps the plate, the plate is further stabilized, and unstable material grabbing is avoided.

Referring to fig. 6 and 7, in a preferred embodiment of the present embodiment, the gripper mechanism 13 further includes a first cylinder 16, a movable end of the first cylinder 16 is rotatably connected to a top end of the gripper structure 15, and a bottom end of the gripper structure 15 is provided with a gripper mounting plate 151. In the preferred embodiment, the movable end of the first cylinder 16 is a piston rod in the cylinder structure, and the piston rod can drive the first end of the clamping jaw structure 15 to rotate back and forth through the reciprocating motion in the first cylinder 16. Meanwhile, the middle position of the clamping jaw structure 15 is rotatably connected with the end part of the adjusting arm structure 14, so that the clamping jaw structure 15 forms a rotatable lever structure, and the rotating motion of the clamping jaw structure 15 is realized while the piston rod reciprocates. In addition, when the clamping jaw structure 15 is clamped and stably grasped on the plate, the clamping jaw mounting plate 151 is arranged between the clamping jaw structure 15 and the plate, on one hand, the clamping jaw mounting plate can play a role in further fixing the plate, and on the other hand, the clamping jaw structure 15 can also play a role in strengthening the structural stability.

The plate grabbing mechanism further comprises a second air cylinder 18, the movable end of the second air cylinder 18 is rotatably connected with the top end of the material falling prevention clamping jaw 17, and a clamping hook portion 171 is arranged at the bottom end of the material falling prevention clamping jaw 17. In the preferred scheme, the movable end of the second cylinder 18 is a piston rod in the cylinder structure, and the piston rod can drive the first end of the material falling prevention clamping jaw 17 to rotate back and forth through the reciprocating motion in the second cylinder 18. Meanwhile, the middle position of the material dropping prevention clamping jaw 17 is rotatably connected with the end part of the adjusting arm structure 14, so that the material dropping prevention clamping jaw 17 forms a rotatable lever structure, and the rotating motion of the material dropping prevention clamping jaw 17 is realized while the piston rod of the air cylinder reciprocates. In addition, the clamping jaw structure 4 arranged at the bottom of the material falling prevention clamping jaw 17 is used for clamping and fixing the plate between the material falling prevention clamping jaw and the clamping and fixing jaw, and therefore the further stable operation of the plate can be completed.

Referring to fig. 8, in another alternative of the embodiment, the material grabbing mechanism 5 further comprises a stroke limiting column 19, and the stroke limiting column 19 is fixedly arranged at the bottom of the material grabbing bracket 12. In this alternative, through set up the spacing post of stroke 19 in the bottom of grabbing material support 12, can play the spacing effect of stroke to grabbing material mechanism 5, ensure to grab material mechanism 5 and can accurately descend to preset position when grabbing the material to accomplish the panel and snatch the operation.

To sum up, the utility model provides a numerical control manipulator, through crossbeam 2, support arm 3, erect roof beam 4 and grab the connecting portion between material mechanism 5's self structure and each structure and equally divide and do not only bear the action stress of a certain direction, when realizing making things convenient for panel to snatch the operation, still have higher mechanics bearing capacity concurrently, structural design is simple reasonable. Simultaneously, through removing seat 8 and erecting lining reinforcing plate 81 that sets up integrated into one piece between roof beam 4, make it as the middle connection structure of the two, can avoid appearing removing seat 8 and erecting roof beam 4 and leading to the too big or even damaged condition of structure of stress because of lug connection, show to improve and remove structural stability and fastness between seat 8 and the perpendicular roof beam 4, and then increase numerical control manipulator's life. In addition, through setting up first actuating mechanism 6 at the corresponding installation department 31 of the side of crossbeam 2 (also be the inboard position of numerical control manipulator), can reduce its shared packing space and transportation space by a wide margin, thereby make the utility model discloses a packing transportation convenience of manipulator is high, and packs the cost of transportation and hang down.

Of course, the above is a preferred embodiment of the present invention. It should be noted that, for a person skilled in the art, several modifications and decorations can be made without departing from the basic principle of the present invention, and these modifications and decorations are also considered to be within the scope of the present invention.

Claims (10)

1. A numerically controlled manipulator, comprising:

the beam is fixedly arranged at the top of the rack along the horizontal direction;

the supporting device comprises a supporting arm and a vertical beam, wherein one end of the supporting arm is arranged on the cross beam in a sliding manner along the horizontal direction, and the vertical beam is arranged at the other end of the supporting arm in a sliding manner along the vertical direction;

and the bottom of the vertical beam is fixedly provided with a material grabbing mechanism.

2. The numerical control manipulator according to claim 1, further comprising a first driving mechanism, wherein the support arm is provided with a mounting portion at a position corresponding to a side edge of the cross beam, and the first driving mechanism is fixedly provided on the mounting portion.

3. The numerical control manipulator according to claim 2, further comprising a first gear and a first rack, wherein the first gear is fixedly connected to an output shaft of the first driving mechanism, the first rack is fixedly disposed on the cross beam, and the first gear is engaged with the first rack.

4. The numerically controlled manipulator according to claim 3, wherein the first gear is a spur gear, and the first rack is a spur rack.

5. The numerical control manipulator according to claim 1, further comprising a moving base fixedly disposed at the other end of the support arm, wherein the vertical beam is slidably disposed on the moving base in a vertical direction;

wherein, remove the seat with erect and be equipped with the inside lining reinforcing plate between the roof beam, the inside lining reinforcing plate with remove the seat and be the integrated into one piece structure.

6. The numerical control manipulator according to claim 5, further comprising a second driving mechanism, a second gear and a second rack, wherein the second driving mechanism is fixedly arranged on the movable base, the second gear is fixedly connected with an output shaft of the second driving mechanism, the second rack is fixedly arranged on the vertical beam, and the second gear is meshed with the second rack.

7. The numerical manipulator according to claim 6, wherein the second gear is a helical gear, and the second rack is a helical rack.

8. The numerical control manipulator according to claim 1, wherein the material grabbing mechanism comprises a material grabbing bracket and a plate grabbing claw mechanism, and the plate grabbing claw mechanism comprises an adjusting arm structure, a clamping claw structure and a material falling prevention clamping claw;

the adjusting arm structure is detachably or slidably arranged on the material grabbing support, and the clamping jaw structure and the material falling prevention clamping jaw are rotatably arranged at one end, far away from the material grabbing support, of the adjusting arm structure.

9. The numerical control manipulator according to claim 8, wherein the plate-grabbing claw mechanism further comprises a first air cylinder, the movable end of the first air cylinder is rotatably connected with the top end of the clamping jaw structure, and a clamping jaw mounting plate is arranged at the bottom end of the clamping jaw structure;

the gripper mechanism further comprises a second cylinder, the movable end of the second cylinder is rotatably connected with the top end of the anti-falling clamping jaw, and the bottom end of the anti-falling clamping jaw is provided with a clamping hook portion.

10. The numerical control manipulator according to claim 8, wherein the material grabbing mechanism further comprises a stroke limiting column, and the stroke limiting column is fixedly arranged at the bottom of the material grabbing bracket.

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