CN108127645B

CN108127645B - Manipulator and working method thereof

Info

Publication number: CN108127645B
Application number: CN201810020809.9A
Authority: CN
Inventors: 不公告发明人
Original assignee: Haimen Mao Mao Art Design Co ltd
Current assignee: Haimen Mao Mao Art Design Co.,Ltd.
Priority date: 2016-06-23
Filing date: 2016-06-23
Publication date: 2020-07-24
Anticipated expiration: 2036-06-23
Also published as: CN106002946B; CN106002946A; CN108127645A

Abstract

The invention relates to a manipulator and a working method thereof, comprising a delta parallel mechanism and a feeding device; the delta parallel mechanism is positioned under the feeding device, and the upper end of the delta parallel mechanism is connected with the feeding device. The automatic feeding device has the functions of azimuth angle adjustment and feeding, can realize the function of automatic feeding for sewage purification in the sewage treatment and purification process, has high intelligent degree, convenient and flexible azimuth angle adjustment and high feeding speed and distance, solves the problems of large workload, high danger, low efficiency and the like of feeding by the existing manual boat, and effectively protects water resources.

Description

Manipulator and working method thereof

The application has the following application numbers: 201610471621.7, filing date: the invention is filed in 2016, 06, 23 and is named as a working manipulator for a large-area sewage purification environment-friendly robot.

Technical Field

The invention relates to the technical field of sewage treatment, in particular to an operating manipulator for an environment-friendly robot for large-area sewage purification.

Background

The water pollution is the water with reduced or lost use value caused by harmful chemical substances, pollutes the environment, and the water contains acid, alkali, oxidant, copper, cadmium, mercury, arsenic and other compounds and benzene, dichloroethane, glycol and other organic poisons, which can kill aquatic organisms and affect the drinking water source and scenic spot landscape; when the organic matters in the sewage are decomposed by microorganisms, oxygen in the sewage is consumed, so that the life of aquatic organisms is influenced, and after dissolved oxygen in the sewage is exhausted, the organic matters are subjected to anaerobic decomposition to generate unpleasant gases such as hydrogen sulfide and mercaptan, so that the water quality is further deteriorated. China is a country with water resource shortage and frequent water disasters, the total amount of water resources occupies the sixth position of the world, the per-capita occupancy is only 2500 cubic meters, which is about 1/4 of the per-capita water volume of the world, and the 110 th position in the world is listed as one of 13 water-deficient countries by the united nations; for years, the quality of Chinese water resources is continuously reduced, the water environment is continuously worsened, water shortage and accidents caused by pollution are continuously caused, so that not only is the factory stopped, the agricultural production is reduced, but also the factory is even no longer harvested, but also adverse social effects and large economic losses are caused, the sustainable development of the society is seriously threatened, and the survival of human beings is threatened.

At present, the sewage treatment method by a chemical method is a physical method, a chemical method and a biological method, wherein the chemical method is used for treating the sewage, namely chemical medicines are put into the sewage, and the sewage is purified by utilizing chemical reaction or physical and chemical effects. In view of the above, the invention provides an operation manipulator for an environment-friendly robot for large-area sewage purification.

Disclosure of Invention

In order to make up the defects of the prior art, the invention provides an operating manipulator for a large-area sewage purification environment-friendly robot.

The technical problem to be solved by the invention is realized by adopting the following technical scheme.

An operation manipulator for an environment-friendly robot for purifying large-area sewage comprises a delta parallel mechanism and a feeding device; the delta parallel mechanism is positioned under the feeding device, and the upper end of the delta parallel mechanism is connected with the feeding device.

As a further improvement of the invention, the delta parallel mechanism comprises a fixed platform, a movable platform, a motor base, a parallel motor, a first rotating shaft, a first connecting rod, a rotating pin, a second connecting rod, a second rotating shaft, a rotating base and a limiting spring; the fixed platform and the movable platform are both in a circular structure, the movable platform is positioned right above the fixed platform, the number of the motor bases and the rotating bases is three, the motor bases are fixed on the upper end surface of the fixed platform in a regular triangle shape by taking the circle center of the fixed platform as the center, the rotating bases are arranged on the lower end surface of the movable platform in a regular triangle shape by taking the circle center of the movable platform as the center, the mounting positions of the motor bases and the mounting positions of the rotating bases are respectively in one-to-one correspondence, the parallel motors are fixedly mounted through the motor bases and adopt speed-adjustable double-shaft output motors, one end of a first rotating shaft is connected with a main shaft of the parallel motor, the other end of the first rotating shaft is connected with the upper end of the first connecting rod, the lower end of the first connecting rod is connected with the upper end of a second connecting rod through a rotating pin, the lower end of the second connecting rod is connected, the rotating bearing is fixed with the upper end face of the movable platform, the upper end of the rotating base is provided with a double-end sleeve matched with the second rotating shaft, the middle part of the inner side of the first connecting rod and the middle part of the inner side of the second connecting rod are respectively provided with a first mounting seat and a second mounting seat, the limiting spring is positioned between the first mounting seat and the second mounting seat, the upper end of the limiting spring is connected with the first mounting seat, and the lower end of the limiting spring is connected with the second mounting seat; when the device works, the rotation of the parallel motor drives the rotation of the first rotating shaft, the first connecting rod is coaxially connected with the first rotating shaft, so that the rotation of the second connecting rod is driven by the rotation of the first connecting rod, the motion of the movable platform is further driven, the jitter of the delta parallel mechanism during motion is reduced by the limiting spring, the motion stability of the delta parallel mechanism is improved, the delta parallel mechanism has higher rigidity, flexible motion, stable structure, strong bearing capacity and high fine motion precision compared with the serial mechanism, the delta parallel mechanism can move in six freedom directions of three translation and three rotation in space, the motion space is small, the motion speed is high, the motion flexibility is good, the delta parallel mechanism is applied to the device, on one hand, the effect of adjusting the integral azimuth angle during feeding of the feeding device is achieved, so that the device can carry out feeding operation in all directions under various attitude angles, the feeding is convenient and fast, and the feeding range is wide; on the other hand, the delta parallel mechanism improves the shock absorption performance of the invention, and the feeding device is always in a horizontal stable state even in a bumpy or unbalanced state, so that the problem that the feeding operation cannot be carried out due to overlarge jitter or obliqueness during the feeding operation of the feeding device is prevented, and the stability and the safety during the feeding operation of the invention are further improved.

As a further improvement of the invention, the feeding device comprises a feeding pedestal, a feeding mechanism and a storage barrel; the feeding mechanisms are respectively and symmetrically arranged along the central axis of the feeding pedestal, and the storage cylinder is positioned at the central position of the upper end of the feeding pedestal; the feeding mechanism comprises a feeding lug seat, a first rotating shaft, a feeding support, a second rotating shaft, a shoveling support, a feeding bucket, a power mechanism, a first compression spring and a second compression spring; the lower end of the feeding support is connected with a feeding lug seat through a first rotating shaft, the upper end of the feeding support is connected with one end of a shoveling support through a second rotating shaft, the feeding support is of a ladder-shaped structure, cross rods are arranged on the inner side of the feeding support at equal intervals, the shoveling support is of a hydraulic telescopic rectangular frame structure, a feeding shovel bucket is fixed at the other end of the shoveling support, the cross section of the feeding shovel bucket is of a fan-shaped structure, a power mechanism is positioned below the feeding support, a first compression spring is positioned between a feeding pedestal and the feeding support, a first rotating column is arranged at the upper end of the first compression spring, the first rotating column is hinged on the cross rod of the feeding support, a first connecting seat is arranged at the lower end of the first compression spring, the first connecting seat is fixed on the upper end face of the feeding pedestal, a second compression spring is positioned on the inner side of the first compression spring, and a second rotating column is, the second rotary column is hinged to the cross rod of the feeding support, a second connecting seat is arranged at the lower end of the second compression spring, and the second connecting seat is fixed on the upper end face of the feeding pedestal.

As a further improvement of the invention, the power mechanism comprises a power rotating shaft, a driven pulley, a steel wire rope, a driving pulley, a transition shaft, a bearing with a seat, a driven gear, a driving gear, a power motor, a movable motor seat and an electric guide rail, and the number of the driven pulley, the steel wire rope, the driving pulley, the transition shaft and the bearing with the seat is two; the power rotating shaft penetrates through the upper end of the feeding support, the driven pulleys are symmetrically fixed at two ends of the power rotating shaft respectively, one end of a steel wire rope is fixed on the driven pulley, the other end of the steel wire rope is wound on the driving pulley, one end of a transition shaft is connected with the driving pulley through a key, a driving gear is installed at the other end of the transition shaft, the middle of the transition shaft is fixed on the upper end face of the feeding pedestal through a bearing with a seat, the driving gear is fixed on an output shaft of a power motor, the driving gear is meshed with the driven gear, the power motor is installed on an electric guide rail through a movable motor seat, the cross section of the electric guide rail is of an I.

When the feeding is carried out, firstly, the feeding bucket is driven to move downwards in an inclined manner through the extension movement of the shoveling bracket, and when the feeding bucket extends deep into chemical purification medicine powder or particles stored in the storage barrel, the feeding bucket is driven to move upwards in an inclined manner through the contraction movement of the shoveling bracket, so that the feeding function of the feeding bucket is realized; then, the movable motor base moves inwards on the electric guide rail to drive the power motor to move inwards, when a driving gear and a driven gear which are coaxially mounted with an output shaft of the power motor are meshed, the driving gear is driven to rotate through the rotation of the power motor, the driving gear is meshed with the driven gear, the driven gear is coaxially and fixedly mounted with a driving pulley, so that the rotation of the driving pulley is realized, the effect of contracting a steel wire rope is achieved, the steel wire rope is connected with the driven pulley, the driven pulley is fixed with a power rotating shaft, the power rotating shaft is fixed on a feeding support, so that under the action of the pulling force of the steel wire rope, the feeding support rotates anticlockwise by taking a first rotating shaft as a rotating shaft, and a first compression spring and a second compression spring are in a highly compressed state; the feeding support rapidly rotates clockwise by taking the first rotating shaft as the rotating shaft under the action of the compression restoring force of the first compression spring and the second compression spring, so that the feeding bucket is driven to be thrown outwards, and the feeding effect is achieved; finally, after the chemical purifying medicine powder or particles are thrown out, the feeding support rotates anticlockwise by taking the first rotating shaft as a rotating shaft under the action of the stretching restoring force of the first compression spring and the second compression spring, so that the function of withdrawing the feeding bucket is realized; the feeding device can realize the functions of automatic feeding and feeding, and has the advantages of high whole-process intelligent degree, simple and quick feeding, high feeding speed and long distance.

Compared with the prior art, the invention has the following advantages:

(1) the automatic feeding device has the functions of azimuth angle adjustment and feeding, can realize the function of automatic feeding for sewage purification in the sewage treatment and purification process, has high intelligent degree, convenient and flexible azimuth angle adjustment and high feeding speed and distance, solves the problems of large workload, high danger, low efficiency and the like of feeding by the existing manual boat, and effectively protects water resources.

(2) The delta parallel mechanism can move in six freedom directions of three translation and three rotation in space, has small movement space, high movement speed and good movement flexibility, and plays a role in adjusting the overall azimuth angle when the feeding device feeds materials on one hand, so that the feeding device can carry out all-around feeding operation under various attitude angles, and is convenient and quick to feed materials and wide in feeding range; on the other hand, the delta parallel mechanism improves the shock absorption performance of the invention, and the feeding device is always in a horizontal stable state even in a bumpy or unbalanced state, so that the problem that the feeding operation cannot be carried out due to overlarge jitter or obliqueness during the feeding operation of the feeding device is prevented, and the stability and the safety during the feeding operation of the invention are further improved.

(3) The feeding device can realize the functions of automatic charging and feeding, and has the advantages of high whole-process intelligent degree, simple and quick charging, high feeding speed and long distance.

Drawings

The invention is further illustrated with reference to the following figures and examples.

FIG. 1 is a schematic perspective view of the present invention;

FIG. 2 is a schematic perspective view of a delta parallel mechanism of the present invention;

FIG. 3 is a schematic perspective view of the feeding device of the present invention;

fig. 4 is a schematic perspective view of the feeding mechanism of the present invention.

Detailed Description

In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further explained below by combining the specific drawings.

As shown in fig. 1 to 4, an operation manipulator for a large-area sewage purification environment-friendly robot comprises a delta parallel mechanism 4 and a feeding device 5; the delta parallel mechanism 4 is positioned under the feeding device 5, and the upper end of the delta parallel mechanism 4 is connected with the feeding device 5.

As shown in fig. 1 and fig. 2, the delta parallel mechanism 4 includes a fixed platform 41, a movable platform 42, a motor base 43, a parallel motor 44, a first rotating shaft 45, a first connecting rod 46, a rotating pin 47, a second connecting rod 48, a second rotating shaft 49, a rotating base 410 and a limit spring 411; the fixed platform 41 and the movable platform 42 are both in a circular structure, the movable platform 42 is positioned right above the fixed platform 41, the number of the motor bases 43 and the rotary bases 410 is three, the motor bases 43 are fixed on the upper end surface of the fixed platform 41 in an equilateral triangle shape by taking the circle center of the fixed platform 41 as the center, the rotary bases 410 are arranged on the lower end surface of the movable platform 42 in an equilateral triangle shape by taking the circle center of the movable platform 42 as the center, the installation positions of the motor bases 43 and the installation positions of the rotary bases 410 are respectively in one-to-one correspondence, the parallel motors 44 are fixedly installed through the motor bases 43, the parallel motors 44 adopt speed-adjustable double-shaft output motors, one end of a first rotating shaft 45 is connected with the main shaft of the parallel motors 44, the other end of the first rotating shaft 45 is connected with the upper end of the first connecting rod 46, the lower end of the first connecting rod 46 is connected with the upper end of a second connecting rod 48, the other end of the second rotating shaft 49 is installed on the rotating base 410, a rotating bearing is arranged at the lower end of the rotating base 410 and is fixed with the upper end face of the movable platform 42, a double-end sleeve matched with the second rotating shaft 49 is arranged at the upper end of the rotating base 410, a first installation seat and a second installation seat are respectively arranged in the middle of the inner side of the first connecting rod 46 and the middle of the inner side of the second connecting rod 48, the limiting spring 411 is located between the first installation seat and the second installation seat, the upper end of the limiting spring 411 is connected with the first installation seat, and the lower end of the limiting spring 411 is connected with the second installation seat; during specific work, the parallel motor 44 rotates to drive the first rotating shaft 45 to rotate, the first connecting rod 46 is coaxially connected with the first rotating shaft 45, the second connecting rod 48 is driven to rotate through the rotation of the first connecting rod 46, the movable platform 42 is driven to move, the jitter of the delta parallel mechanism 4 during movement is reduced through the limiting spring 411, the movement stability of the delta parallel mechanism 4 is improved, compared with a serial mechanism, the delta parallel mechanism 4 is large in rigidity, flexible in movement, stable in structure, high in bearing capacity and high in fine movement precision, the delta parallel mechanism 4 can move in six freedom directions of three-translation and three-rotation in space, and is small in movement space, high in movement speed and good in movement flexibility; the delta parallel mechanism 4 is applied to the invention, on one hand, the function of adjusting the whole azimuth angle when the feeding device 5 feeds materials is achieved, so that the invention can carry out feeding operation in all directions under various attitude angles, the feeding is convenient and fast, and the feeding range is wide; on the other hand, the delta parallel mechanism 4 improves the shock absorption performance of the invention, and the feeding device 5 is always in a horizontal stable state even in a bumpy or unbalanced state, so that the problem that the feeding operation cannot be carried out due to overlarge jitter or obliqueness in the feeding operation of the feeding device 5 is prevented, and the stability and the safety in the feeding operation of the invention are further improved.

As shown in fig. 3 and 4, the feeding device 5 includes a feeding pedestal 51, a feeding mechanism 52 and a storage cylinder 53; the number of the feeding mechanisms 52 is four, the feeding mechanisms 52 are respectively and symmetrically arranged along the central axis of the feeding pedestal 51, and the storage barrel 53 is positioned at the central position of the upper end of the feeding pedestal 51; the feeding mechanism 52 comprises a feeding lug seat 521, a first rotating shaft 522, a feeding bracket 523, a second rotating shaft 524, a shoveling bracket 525, a feeding bucket 526, a power mechanism 527, a first compression spring 528 and a second compression spring 529; the lower end of the feeding support 523 is connected with the feeding lug seat 521 through a first rotating shaft 522, the upper end of the feeding support 523 is connected with one end of the shoveling support 525 through a second rotating shaft 524, the feeding support 523 is in a ladder-shaped structure, cross rods are arranged on the inner side of the feeding support 523 at equal intervals, the shoveling support 525 adopts a hydraulic telescopic rectangular frame structure, the feeding bucket 526 is fixed at the other end of the shoveling support 525, the cross section of the feeding bucket 526 is in a fan-shaped structure, a power mechanism 527 is positioned below the feeding support 523, a first compression spring 528 is positioned between the feeding pedestal 521 and the feeding support 523, a first rotary column is arranged at the upper end of the first compression spring 528, the first rotary column is hinged on the cross rod of the feeding support 523, a first connecting seat is arranged at the lower end of the first compression spring 528, the first connecting seat is fixed on the upper end face of the feeding pedestal 51, a second compression spring 529 is positioned on the inner side of the first, and second compression spring 529 upper end is provided with the second rotary column, and the second rotary column articulates on the horizontal pole of throwing material support 523, and second compression spring 529 lower extreme is provided with the second connecting seat, and the second connecting seat is fixed on throwing material pedestal 51 up end.

As shown in fig. 3 and 4, the power mechanism 527 includes a power shaft 5271, a driven pulley 5272, a wire rope 5273, a driving pulley 5274, a transition shaft 5275, a seated bearing 5276, a driven gear 5277, a driving gear 5278, a power motor 5279, a movable motor seat 527a and a power guide 527b, and the number of the driven pulley 5272, the wire rope 5273, the driving pulley 5274, the transition shaft 5275 and the seated bearing 5276 is two; the feeding device is characterized in that the power rotating shaft 5271 penetrates through the upper end of the feeding support 523, the driven pulleys 5272 are symmetrically fixed at two ends of the power rotating shaft 5271 respectively, one end of a steel wire rope 5273 is fixed on the driven pulley 5272, the other end of the steel wire rope 5273 is wound on the driving pulley 5274, one end of a transition shaft 5275 is connected with the driving pulley 5274 through a key, the other end of the transition shaft 5275 is provided with a driving gear 5278, the middle of the transition shaft 5275 is fixed on the upper end face of the feeding pedestal 51 through a bearing 5276 with a seat, the driving gear 5278 is fixed on an output shaft of a power motor 5279, the driving gear 5278 is meshed with the driven gear 5277, the power motor 5279 is arranged on an electric guide rail 527b through a moving motor seat 527a, the cross section of the electric guide rail 527 b.

As shown in fig. 3 and 4, during specific feeding, firstly, the extension movement of the shoveling bracket 525 drives the feeding bucket 526 to move obliquely downward, and when the feeding bucket 526 extends deep into the chemical purification drug powder or particles stored in the storage cylinder 53, the contraction movement of the shoveling bracket 525 drives the feeding bucket 526 to move obliquely upward, thereby realizing the function of feeding the feeding bucket 526; then the inner side of the power motor 5279 is driven to move by the inward movement of the movable motor seat 527a on the electric guide rail 527b, when the driving gear 5278 coaxially mounted with the output shaft of the power motor 5279 is engaged with the driven gear 5277, the rotation of the power motor 5279 drives the driving gear 5278 to rotate, the driving gear 5278 is meshed with the driven gear 5277, the driven gear 5277 and the driving pulley 5274 are coaxially and fixedly arranged, thereby realizing the rotation of the driving pulley 5274 and achieving the effect of contracting the steel wire rope 5273, the steel wire rope 5273 is connected with the driven pulley 5272, the driven pulley 5272 is fixed with the power rotating shaft 5271, the power rotating shaft 5271 is fixed on the feeding bracket 523, therefore, under the action of the tensile force of the steel wire rope 5273, the feeding support 523 rotates counterclockwise by taking the first rotating shaft 522 as a rotating shaft, and the first compression spring 528 and the second compression spring 529 are in a highly compressed state; the movable motor base 527a moves outwards on the electric guide rail 527b to drive the power motor 5279 to move outwards, the driving gear 5278 and the driven gear 5277 are in a separated state, and under the action of the compression restoring force of the first compression spring 528 and the second compression spring 529, the feeding support 523 rapidly rotates clockwise by taking the first rotating shaft 522 as a rotating shaft, so that the feeding bucket 526 is driven to be thrown outwards, and the feeding effect is achieved; finally, after the chemical purification drug powder or particles are thrown out, the feeding support 523 rotates counterclockwise by taking the first rotating shaft 522 as a rotating shaft under the action of the stretching restoring force of the first compression spring 528 and the second compression spring 529, so that the function of withdrawing the feeding bucket 526 is realized; the feeding device 5 can realize the functions of automatic feeding and feeding, and has the advantages of high whole-process intelligent degree, simple and quick feeding, high feeding speed and long distance.

The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, and that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. A manipulator, its characterized in that: comprises a delta parallel mechanism and a feeding device; the delta parallel mechanism is positioned right below the feeding device, and the upper end of the delta parallel mechanism is connected with the feeding device; the feeding device can realize the functions of automatic charging and feeding, and the delta parallel mechanism is used for adjusting the overall azimuth angle of the feeding device during feeding;

the feeding device comprises a feeding pedestal, a feeding mechanism and a storage barrel; the feeding mechanisms are respectively and symmetrically arranged along the central axis of the feeding pedestal, and the storage barrel is positioned at the central position of the upper end of the feeding pedestal; the number of the feeding mechanisms is four; the feeding mechanism comprises a feeding lug seat, a first rotating shaft, a feeding support, a second rotating shaft, a shoveling support, a feeding bucket, a power mechanism, a first compression spring and a second compression spring; the lower end of the feeding support is connected with a feeding lug seat through a first rotating shaft, the upper end of the feeding support is connected with one end of a shoveling support through a second rotating shaft, the feeding support is of a ladder-shaped structure, cross rods are arranged on the inner side of the feeding support at equal intervals, the shoveling support is of a hydraulic telescopic rectangular frame structure, a feeding shovel bucket is fixed at the other end of the shoveling support, the cross section of the feeding shovel bucket is of a fan-shaped structure, a power mechanism is positioned below the feeding support, a first compression spring is positioned between a feeding pedestal and the feeding support, a first rotating column is arranged at the upper end of the first compression spring, the first rotating column is hinged on the cross rod of the feeding support, a first connecting seat is arranged at the lower end of the first compression spring, the first connecting seat is fixed on the upper end face of the feeding pedestal, a second compression spring is positioned on the inner side of the first compression spring, and a second rotating column is, the second rotating column is hinged to the cross rod of the feeding support, the lower end of the second compression spring is provided with a second connecting seat, and the second connecting seat is fixed on the upper end surface of the feeding pedestal;

power unit include power pivot, driven pulley, wire rope, drive pulley, transition axle, take a bearing, driven gear, driving gear, motor power, mobile motor seat and electronic guide rail, the power pivot pass and throw material support upper end, driven pulley symmetry respectively fixes at power pivot both ends, wire rope one end is fixed on driven pulley, the wire rope other end winding is on the drive pulley, adopt the key to be connected between transition axle one end and the drive pulley, the driving gear is installed to the transition axle other end, the transition axle middle part is fixed on throwing material pedestal up end through taking a bearing, the driving gear is fixed on motor power's the output shaft, and the driving gear meshes with driven gear mutually, motor power installs on electronic guide rail through the mobile motor seat, electronic guide rail is fixed on throwing material pedestal up end.

2. The robot hand according to claim 1, wherein: the delta parallel mechanism comprises a fixed platform, a movable platform, a motor base, a parallel motor, a first rotating shaft, a first connecting rod, a rotating pin, a second connecting rod, a second rotating shaft, a rotating base and a limiting spring; the fixed platform and the movable platform are both in a circular structure, the movable platform is positioned right above the fixed platform, the number of the motor bases and the rotating bases is three, the motor bases are fixed on the upper end surface of the fixed platform in a regular triangle shape by taking the circle center of the fixed platform as the center, the rotating bases are arranged on the lower end surface of the movable platform in a regular triangle shape by taking the circle center of the movable platform as the center, the mounting positions of the motor bases and the mounting positions of the rotating bases are respectively in one-to-one correspondence, the parallel motors are fixedly mounted through the motor bases and adopt speed-adjustable double-shaft output motors, one end of a first rotating shaft is connected with a main shaft of the parallel motor, the other end of the first rotating shaft is connected with the upper end of the first connecting rod, the lower end of the first connecting rod is connected with the upper end of a second connecting rod through a rotating pin, the lower end of the second connecting rod is connected, and the rotating bearing is fixed with the upper end surface of the movable platform.

3. The robot hand according to claim 2, wherein: the upper end of the rotating base is provided with a double-end sleeve matched with the second rotating shaft, the middle part of the inner side of the first connecting rod and the middle part of the inner side of the second connecting rod are respectively provided with a first mounting seat and a second mounting seat, the limiting spring is positioned between the first mounting seat and the second mounting seat, the upper end of the limiting spring is connected with the first mounting seat, and the lower end of the limiting spring is connected with the second mounting seat.

4. The robot hand according to claim 2 or 3, characterized in that: the number of the motor bases and the number of the rotating bases are three.

5. The robot hand according to claim 1, wherein: the cross section of the electric guide rail is of an I-shaped structure; the number of the driven pulleys, the steel wire ropes, the driving pulleys, the transition shafts and the bearings with the seats is two.

6. The working method of the manipulator is characterized in that: the working method of the manipulator comprises the following steps:

when the feeding is carried out, firstly, the feeding bucket is driven to move downwards in an inclined mode through the extension movement of the shoveling support, and when the feeding bucket extends deep into chemical purification medicine powder or particles stored in the storage cylinder, the feeding bucket is driven to move upwards in an inclined mode through the contraction movement of the shoveling support, so that the feeding of the feeding bucket is realized;

then, the movable motor base moves inwards on the electric guide rail to drive the inner side of the power motor to move, when a driving gear coaxially mounted with an output shaft of the power motor is meshed with a driven gear, the driving gear is driven to rotate through the rotation of the power motor, the feeding support rotates anticlockwise by taking the first rotating shaft as a rotating shaft under the action of the tensile force of the steel wire rope, and the first compression spring and the second compression spring are in a highly compressed state;

the feeding support rapidly rotates clockwise by taking the first rotating shaft as the rotating shaft under the action of the compression restoring force of the first compression spring and the second compression spring to drive the feeding bucket to be thrown outwards, so that the feeding effect is achieved;

and finally, after the chemical purification medicine powder or particles are thrown out, the feeding support rotates anticlockwise by taking the first rotating shaft as a rotating shaft under the action of the stretching restoring force of the first compression spring and the second compression spring.