CN202174248U

CN202174248U - Manipulator

Info

Publication number: CN202174248U
Application number: CN2011201470720U
Authority: CN
Inventors: 孟秋华
Original assignee: Individual
Current assignee: Individual
Priority date: 2011-05-04
Filing date: 2011-05-04
Publication date: 2012-03-28
Anticipated expiration: 2021-05-04

Abstract

The utility model relates to a manipulator which comprises connection arms, finger components, a first driving mechanism and a second driving mechanism. The first driving mechanism is used for driving the finger components to do linear reciprocating motion in a horizontal plane; the second driving mechanism is used for driving the finger components to do circular motion in the horizontal plane; the first ends of the connection arms are connected with the finger components, and the second ends are connected with the first driving mechanism and the second driving mechanism. The manipulator is characterized by further comprising a third driving mechanism used for driving the connection arms to rotate in a vertical plane; the third driving mechanism comprises a third motor, a third worm, a third worm wheel and a rotating base; the third worm is connected with an output shaft of the third motor; the third worm wheel is connected with the rotating base through a shaft coupler; the third motor, the third worm and the third worm wheel are arranged in a third shell; and the rotating base is arranged on the side wall of the third shell and connected with the second ends of the connection arms. Compared with the prior art, the manipulator disclosed by the utility model can move in a three-dimensional space.

Description

Manipulator

Technical field

The utility model relates to a kind of manipulator.

Background technology

Metal-working plants such as existing Digit Control Machine Tool, automatic lathe, instrument automatic lathe; Though realized the automation processing of workpiece; But the extracting of workpiece, placement etc. must the workman manual operations, so in fact the overall process of workpiece processing belongs to semiautomation operation.People have studied various manipulators and have replaced the manually-operated part for this reason.

Like publication number is that CN102019616A promptly discloses < a kind of electronic catching robot >; It comprises the first direction of principal axis travel mechanism, the second direction of principal axis travel mechanism, the 3rd direction of principal axis travel mechanism and a manipulator part; This manipulator part comprises finger motor, last finger, following finger, leading screw and nut; Finger motor and leading screw are fixedly connected on down on the finger; Last finger is connected with nut; The first direction of principal axis travel mechanism comprises first spindle motor, first axis rail, first synchronous band and first synchronous band briquetting; First spindle motor is with through first synchronously and first synchronous band briquetting driving device hand unit moves back and forth along first axis rail; The second direction of principal axis travel mechanism comprises second spindle motor, second axis rail, second band and second synchronous briquetting synchronously, second spindle motor through second synchronously band move back and forth along second axis rail with second synchronous briquetting driving device hand unit, the 3rd direction of principal axis travel mechanism comprise the 3rd spindle motor, the 3rd axis rail, the 3rd synchronously band and the 3rd synchronously band briquetting driving device hand unit along the reciprocating motion of the 3rd axis rail.

Manipulator in this patent application can be located in the arbitrfary point on the direct coordinate in plane.But can not in three-dimensional space, locate.

Summary of the invention

The utility model technical problem to be solved is that the present situation to prior art provides a kind of and can in three-dimensional space, locate and manipulator that control accuracy is high.

The utility model solves the problems of the technologies described above the technical scheme that is adopted: this manipulator; Comprise linking arm, finger assembly and drive the finger assembly and in horizontal plane, do first driving mechanism of straight reciprocating motion and drive second driving mechanism that the finger assembly moves in a circle in horizontal plane; Wherein, First end of said linking arm connects described finger assembly; Second end of said linking arm connects described first driving mechanism and second driving mechanism, it is characterized in that this manipulator also comprises the 3rd driving mechanism that the said linking arm of driving rotates at vertical guide, and the 3rd driving mechanism comprises the 3rd motor, the 3rd worm screw, the 3rd worm gear and the rotating base that are connected with the output shaft of the 3rd motor; The 3rd worm gear connects rotating base through shaft coupling; And described the 3rd motor, the 3rd worm screw and the 3rd worm gear are arranged in the 3rd housing, and described rotating base is arranged on the sidewall of housing and with second end of said linking arm and is connected.

Described first driving mechanism and second driving mechanism can use various structure of the prior art, the for example driving mechanism in the background technology.Preferably, consider the structure of matching used lathe, described first driving mechanism can comprise and is arranged on the lip-deep base of lathe, slide block, first motor and first screw mandrel; Wherein, said slide block is slidingly arranged on the base, and an end of said first screw mandrel connects the output shaft of said first motor; The other end of first screw mandrel is fixedly connected with described base; First nut sleeve is located on first screw mandrel, and, this first nut and described slide block interlock.This structure can be according to the structure of lathe, base is installed on the upper surface of lathe as the platform that carries these other parts of manipulator.

On the basis of such scheme; Described first driving mechanism can comprise base, slide block, first motor and first screw mandrel; Wherein, Said slide block can be slidingly arranged on the said base, and an end of said first screw mandrel connects the output shaft of said first motor, and the other end of first screw mandrel is fixedly connected with described base.

Described second driving mechanism can be arranged on the described slide block; This second driving mechanism comprises second motor, second worm screw, second worm gear and second rotating disk that are connected with the output shaft of second motor, and described second rotating disk is connected with described second worm gear through shaft coupling.

In order to take into account the connection between each mechanism and to adapt to governable area on the lathe, as improvement, described second rotating disk is provided with support, and an end of said linking arm connects the other end of this support; Also be provided with first micro-adjusting mechanism that can change the linking arm position on perpendicular to the direction of linking arm on the other end of support; This first micro-adjusting mechanism comprises the first fine setting motor, the first fine setting screw mandrel that is connected with the output shaft of this first fine setting motor, this first fine setting screw mandrel and described the 3rd housing interlock.This design can be finely tuned the front and back position of finger assembly on vertical guide, so that it aims at the Workpiece clamping head on the lathe.

Described manipulator also comprises second micro-adjusting mechanism that can on the direction of said linking arm, change the linking arm relative position; Described second micro-adjusting mechanism comprises the second fine setting motor, the second fine setting screw mandrel that is connected with the output shaft of the second fine setting motor, and this second fine setting screw mandrel drives second end that connects said linking arm.This design can be finely tuned the relative distance between linking arm and the base, to be suitable for the processing request of different workpieces.

In the above-mentioned scenarios; Described finger assembly can use various extracting structure of the prior art; Consider the concrete structure that needs to cooperate lathe; Preferably, described finger assembly comprises at least two fingers, head rod, second connecting rod, positioning head, driving wheel, motor and can the output torque of motor be delivered to the transmission mechanism of driving wheel; Wherein, described transmission mechanism is arranged between said motor and the said driving wheel, and said driving wheel is provided with mounting hole; The quantity of head rod, second connecting rod and mounting hole is corresponding with the quantity of said finger; Wherein, corresponding each finger that connects of first end of each head rod, second end of each head rod is corresponding to connect each described second connecting rod, one end, and head rod is vertical each other with second connecting rod; The other end of each second connecting rod is arranged in each corresponding mounting hole through bearing pin, and the other end of connecting rod is articulated with an end of corresponding finger; Be provided with ccontaining each second connecting rod in the said positioning head and limit second groove of the second connecting rod direction of motion; Be provided with first groove of ccontaining each head rod on the perisporium of positioning head corresponding to each head rod, and the middle part of each head rod is connected with the side-wall shaft of said first groove; The end face of the said finger of subtend is provided with groove on the said positioning head, and spring is arranged in this groove and conflicts on thimble, and this thimble passes the thimble shell and exposes, and described thimble shell is connected with described positioning head.

Said finger assembly also comprises the flexible telescoping mechanism of the said finger of driving, and this telescoping mechanism comprises sleeve, the flexible screw mandrel that is set in outside the said cover core and drives the flexible motor that the screw mandrel that stretches rotates; Wherein said flexible screw mandrel is fixedly connected with described cover core.

Consider picking and placeing of whorl work piece, described finger assembly can also comprise the rotating mechanism that drives said sleeve rotation, and this rotating mechanism comprises rotary electric machine, drives the worm and worm wheel that rotate by this rotary electric machine, and said worm gear is connected with described sleeve.

This manipulator also comprises and is used for the feed table that place work piece supplies said finger assembly to take, put; Be provided with annular recess in the said feed table; Be provided with gear band in this groove, described gear is meshed with driving gear set, and described driving gear set connects the output shaft of feeding motor; And the upper surface of said gear band is provided with dismountable workseat that is used for place work piece.

Above-mentioned manipulator can be provided with a cover, through rotation direction, the angle of each motor of programme-control, thus the automatic clamping and placing of completion workpiece.In order to raise the efficiency, can adopt two cover robot devices, a cover is used in the Workpiece clamping head that grabbing workpiece is placed into lathe, another set ofly is used to take off to the workpiece of completion of processing and is placed into preposition.This two covers manipulator is symmetrical set, but it can a shared base.Concrete scheme is following:

Described base is provided with slide rail; Slide rail is provided with two slide blocks, described linking arm, finger assembly and drive the finger assembly and in horizontal plane, do first driving mechanism of straight reciprocating motion and drive second driving mechanism that the finger assembly moves in a circle and drive said linking arm in horizontal plane and be provided with two covers in the equal correspondence of the 3rd driving mechanism that vertical guide rotates.

Compared with prior art, the utility model makes the manipulator that the utility model provided in three-dimensional space, to operate owing to be provided with the said linking arm of driving at the 3rd driving mechanism that vertical guide rotates, and has strengthened the applicability of this manipulator; The design of pointing telescoping mechanism in the assembly has simultaneously further enlarged the scope of application of this manipulator, can grasp the workpiece of virtually any size, and the design of rotating mechanism has then increased the automation mechanized operation of this manipulator double thread butt joint workpiece in the finger assembly; In a word, the manipulator applicability that the utility model provided is wide, and automaticity is high.

Description of drawings

Fig. 1 is the schematic perspective view of the utility model embodiment assembly structure;

Fig. 2 is the three-dimensional exploded view of first driving mechanism among the utility model embodiment;

Fig. 3 is the schematic perspective view of the first driving mechanism assembly structure among the utility model embodiment;

Fig. 4 is the cutaway view of first driving mechanism;

Fig. 5 is the three-dimensional exploded view of second driving mechanism among the utility model embodiment;

Fig. 6 is the schematic perspective view of motor, worm gear, worm screw and rotating disk assembly structure in second driving mechanism among the utility model embodiment;

Fig. 7 is the schematic perspective view of first micro-adjusting mechanism middle part sub-unit assembly structure among the utility model embodiment;

Fig. 8 is the three-dimensional exploded view of the 3rd driving mechanism among the utility model embodiment;

Fig. 9 is a schematic perspective view of removing assembly structure behind the pedestal in the utility model embodiment the 3rd driving mechanism;

Figure 10 is the schematic perspective view of second micro-adjusting mechanism middle part sub-unit assembly structure among the utility model embodiment;

Figure 11 is the schematic perspective view (not comprising housing) of finger mechanism assembly structure among the utility model embodiment;

Figure 12 and Figure 13 are the planar structure sketch map of the other two kinds of driving wheels of the utility model;

Figure 14 is the schematic perspective view (not comprising sleeve) of telescoping mechanism assembly structure among the utility model embodiment;

Figure 15 is the schematic perspective view (not comprising housing) of the first rotating mechanism assembly structure among the utility model embodiment;

Figure 16 is the schematic perspective view (not comprising housing) of the second rotating mechanism assembly structure among the utility model embodiment;

Figure 17 is the three-dimensional exploded view of feed table among the utility model embodiment;

Figure 18 is a schematic perspective view of removing feed table remaining part assembly structure behind the base among the utility model embodiment;

Figure 19 and Figure 20 are the schematic perspective view of two duties of manipulator among the utility model embodiment;

Figure 21 is the schematic perspective view of the decomposition texture of finger mechanism among the utility model embodiment;

Figure 22 is the cutaway view of finger mechanism assembly structure among the utility model embodiment.

The specific embodiment

Embodiment describes in further detail the utility model below in conjunction with accompanying drawing.

To shown in Figure 22, this manipulator comprises like Fig. 1:

First driving mechanism 1, like Fig. 2, Fig. 3 and shown in Figure 4, first driving mechanism has two, the shared base 11 of these two first driving mechanisms, base 11 is provided with slide rail 12, and the middle part of base 11 is provided with mounting groove 13; Two slide block 14 subtends are arranged on the slide rail 12.Two first motors 15, first screw mandrels 16 are arranged in the mounting groove 13, and one section of first screw mandrel 16 is passed Connection Block 17 and is connected with the output shaft of first motor, and the other end axle of first screw mandrel is located on the sidewall of mounting groove 13; First nut 18 is threaded on first screw mandrel 16, and first nut 18 is fixedly connected with slide block 14.During work, first motor rotates, and drives the first screw mandrel original place and rotates, and first nut that is screwed onto on the screw mandrel is moved back and forth on first screw mandrel, thereby drive slide block 14 is moved back and forth.

Second driving mechanism 2, like Fig. 5 and shown in Figure 6, it comprises second motor 21, second worm screw 22, second worm gear 23 and second rotating disk 24 that are connected with the output shaft of second motor.Wherein, second motor 21, second worm screw 22 and second worm gear 23 are arranged in second housing 25, and second rotating disk 24 is arranged on outside second housing 25.Second housing 25 is fixed on the slide block 14 through screw, and second rotating disk 24 is connected with second worm gear 23 through shaft coupling 26.The operation principle of second driving mechanism is: second motor rotates and drives second worm screw, second worm gear, second dial rotation successively.

Be fixed with support 3 on second rotating disk, as shown in Figure 5, an end of support 3 is fixed on second rotating disk 24, so support 3 and second rotating disk, 24 interlocks.The other end of support 3 is provided with first micro-adjusting mechanism 4.

First micro-adjusting mechanism 4, the relative position of adjustment workpiece and lathe dog before and after being used for.As shown in Figure 7, it comprises the first fine setting motor 41, the first fine setting screw mandrel 42 that is connected with the output shaft of this first fine setting motor 41, is bolted with nut 43 and described the 3rd housing interlock on this first fine setting screw mandrel 42.

The 3rd driving mechanism 5 like Fig. 8 and shown in Figure 9, comprises motor 51, drives worm screw 52, the worm gear 53 that is connected with the output shaft of motor, and this worm gear 53 connects rotating base 55 through shaft coupling 54; Wherein, motor 51, worm screw 52 and worm gear 53 are arranged in the 3rd housing 56, and a side plate of the 3rd housing 56 is provided with the hole that supplies shaft coupling to be connected with rotating base 55, and rotating base 55 is pressed close to this side plate.Thereby 43 fixed connections of the nut in first micro-adjusting mechanism and this side plate opposing sideplates pass to the 3rd housing 56 with the motion of nut 43.The operation principle of the 3rd driving mechanism 5 is: motor 51 will move and pass to worm screw, worm gear, shaft coupling, rotating base 55 successively, rotate thereby drive the linking arm 6 that is fixed on the rotating base.

In the present embodiment, the location for firm linking arm 6 is provided with the collar 61, and the collar 61 ring sets are at second end of linking arm 6, and rotating base 55 and the collar 61 are connected through screw.Linking arm 6 is for having the tubular structure that connects cavity.

The motion of above-mentioned first driving mechanism 1, second driving mechanism 2 is delivered to linking arm 6 through support 3.

Second micro-adjusting mechanism 7, shown in figure 10, be used to regulate the length that linking arm stretches out the collar 61, thereby be suitable for the workpiece of different size; It comprises second the fine setting motor 71 with second the fine setting motor output shaft be connected second the fine setting screw mandrel 72; Second end of this second fine setting screw mandrel 72 is arranged in the cavity of linking arm 6 through the nut that is screwed onto on the second fine setting screw mandrel, and fixes with linking arm 6.The operation principle of second micro-adjusting mechanism 7 is that the second fine setting driven by motor, the second fine setting screw mandrel rotates; Thereby the nut that drive is screwed onto on the second fine setting screw mandrel moves back and forth along the second fine setting screw mandrel direction, thereby on the direction of the second fine setting screw mandrel, finely tunes the position of the relative collar 61 of linking arm.

Point assembly 8, comprise the finger mechanism 81 of extracting, place work piece, drive the flexible telescoping mechanism 82 of said finger, drive said finger mechanism first rotating mechanism 83 that rotates on the spot and second rotating mechanism 84 that drives the finger mechanism rotary head.

Like Figure 11, Figure 21 and shown in Figure 22, the finger mechanism 81 in the present embodiment comprises three fingers 811, the three groups of connecting rods 812, driving wheel 813, positioning head 818, motor 814 and the transmission mechanism 815 that are connected with each finger respectively.Described transmission mechanism is arranged between said motor and the said driving wheel, is used for carry-over moment; Being provided with of transmission mechanism can be adopted driving gear set as required, also can adopt multiple sets of teeth wheels or worm gear, worm screw to come amplifying moment or change transmission direction; Transmission mechanism in the present embodiment comprises the gear train 8151 that is connected with motor 814 and the worm screw 8152 that is in transmission connection with this gear train, worm gear 8153, connects driving wheel 813 through bearing on the end of worm gear 8153; Offer three mounting holes 817 on the driving wheel 813; Each is organized connecting rod 812 and comprises the head rod 8121 and second connecting rod 8122 respectively; Wherein an end of head rod 8121 connects corresponding finger 811 respectively; The other end of head rod 8121 is fixedly connected an end of second connecting rod 8122; And head rod 8121 is vertical each other with second connecting rod 8122, and the other end of each second connecting rod 8122 is respectively equipped with bearing pin 816, and each bearing pin 816 is spacing respectively in the mounting hole 817 of correspondence.Be provided with three ccontaining each second connecting rods in the positioning head 818 and limit second groove 8181 of the second connecting rod direction of motion; Be provided with first groove 8182 of three ccontaining each head rods on the perisporium of positioning head corresponding to each head rod, and the middle part of each second connecting rod is located at through 8183 of bearing pins on the sidewall of first groove; The end face middle part of subtend finger is provided with groove 8184 on 818 positioning heads, and spring 8185 is arranged in this groove 8184 and conflicts on thimble 8186, and thimble 8186 passes thimble shell 8187 and exposes, and the thimble shell is fixedly connected with positioning head.The operation principle of finger mechanism 81 is that motor passes through transmission mechanism rotating drive wheel; Rotation along with driving wheel; Thereby the position that bearing pin changes in mounting hole makes second connecting rod rise or descend down the spacing of second groove, then line of motion is delivered to head rod, and making head rod serves as that axle rotates with bearing pin 8183; Each finger of drive opens or closes up, thereby puts down or grabbing workpiece; And thimble can be conflicted all the time to stop under the effect of spring and referred to the workpiece that mechanism is grasped, so that grasp more firmly, avoids grasping unstable workpiece and between each finger, misses.

Above-mentioned finger also can be provided with two, four, or is provided with a plurality ofly as required, and the quantity of mounting hole is corresponding with the quantity of finger on the group number of said connecting rod and the driving wheel.Figure 12 and shown in Figure 13 be the shape of the driving wheel of two and four fingers.

Above-mentioned finger mechanism is arranged in the cover core 818, the cover core 818 outer sleeves that also are arranged with.

Telescoping mechanism 82, comprise be set in the outer sleeve 821 of core 817, be arranged in the sleeve 821 flexible screw mandrel 822 and through motor 823, gear 825, worm screw 826, worm gear 827, transmission drive the flexible motor 823 that flexible screw mandrel 822 rotates; Flexible screw mandrel 822 upper ring caps have nut 824, and nut 824 is fixedly connected with cover core 817.The operation principle of this telescoping mechanism is: flexible motor through gear, worm screw, worm gear, pass motion to flexible screw mandrel; Flexible screw mandrel passes motion to cover core 817 through the nut that is spirally connected above that, thereby makes the finger mechanism that is arranged in the cover core 817 stretch, contract.

First rotating mechanism 83; Shown in figure 15, this mechanism is used for rotating finger mechanism, to make things convenient for picking and placeing of whorl work piece; It comprises rotary electric machine 831, drives worm screw 832 and the worm gear 833 that rotates by this rotary electric machine, and worm gear 833 is fixedly connected with the end face of sleeve 821 through shaft coupling; Rotating mechanism 83 in the present embodiment also is arranged in the housing 834, to play protection mechanism parts and effect attractive in appearance.First end of linking arm is fixedly connected housing 834.The operation principle of this rotating mechanism is: rotary electric machine rotates through the sleeve that worm screw, worm gear drives are fixedly connected with worm gear; The finger mechanism that drives interior telescoping mechanism of sleeve and cover in-core rotates together, thereby lathe is twisted or twisted to the workpiece that finger mechanism grasped from lathe.

Second rotating mechanism 84; Be used for second rotating mechanism that the parts in drive sleeve and the sleeve rotate together; Shown in figure 16; This second rotating mechanism comprises second rotary electric machine 841, the worm screw 842, worm gear 843 and the rotating seat 844 that are connected with the output shaft of second rotary electric machine, and this worm gear 843 connects rotating seat 844 through shaft coupling, and rotating seat 844 is fixedly connected with sleeve 821.Second rotating mechanism 84 also is arranged in the housing, and its operation principle is that second rotary electric machine rotates through worm screw, worm-gear driven sleeve, thereby all parts in the sleeve are rotated together.

In order to increase work efficiency, the manipulator in the present embodiment has two, as previously mentioned; The shared base of first driving mechanism of these two manipulators, other parts are two covers, and these two manipulators are that the center is symmetrical set with the position that places workpiece on the lathe; Like this; In a manipulator grabbing workpiece, another manipulator takes off the workpiece that processes from lathe, has improved operating efficiency greatly.

Present embodiment has also designed feed table 9 especially and has been used to place and the convenient position of grasping of conveying workpieces finger assembly in one's hands.Like Figure 17 and shown in Figure 180, be provided with annular recess 91 in this feed table 9, be provided with gear band 92 in the groove 91, gear band 92 transmission that is meshed with driving gear set 96, driving gear set 96 connects the output shaft of feeding motors 93; The upper surface of gear band is provided with dismountable workseat 94 that is used for place work piece; Also be provided with optoelectronic switch 95 in the crawl position of finger assembly on the feed table 9.The operation principle of this feed table is: after the finger assembly grasps away the workpiece on the feed table 9; Optoelectronic switch 95 starts feeding motor 93; Feeding motor 93 rotates through driving gear set driven gear band, and when next workpiece touched optoelectronic switch, optoelectronic switch cut out the feeding motor; Gear band stops operating, stay where one is, pending further orders or the like the extracting of finger assembly of this workpiece that touches optoelectronic switch.Workseat is replaceable, with the convenient workpiece of placing different structure.

The operation principle of above-mentioned manipulator is: when needing grabbing workpiece; At first be that finger mechanism work will be grasped the workpiece on the feed table; The second driving mechanism work then; In horizontal plane, be rotationally connected arm with workpiece corresponding position to the lathe, and the first driving mechanism work then is transported to workpiece more near position corresponding on the lathe once more; The job order of above-mentioned first driving mechanism and second driving mechanism can be exchanged.Be the 3rd driving mechanism work then, turning of work piece in vertical guide is delivered to workpiece in the Workpiece clamping head of lathe.

When the 3rd driving mechanism work finishes, the finger assembly reaches the position of Workpiece clamping head on the lathe, but workpiece at interval a bit of distance the time, can start the distance that second micro-adjusting mechanism regulates between workpiece and the Workpiece clamping head and reach appropriate position; And when departing from the position of Workpiece clamping head before and after the workpiece, can start first micro-adjusting mechanism and come the position of front and back adjusting workpiece extremely suitable.

In addition, according to the structure and the size of workpiece, can also be respectively or start telescopic component simultaneously and runner assembly work is suitable for the different working demand.

Claims

1. manipulator; Comprise linking arm, finger assembly and drive the finger assembly and in horizontal plane, do first driving mechanism of straight reciprocating motion and drive second driving mechanism that the finger assembly moves in a circle in horizontal plane; Wherein, First end of said linking arm connects described finger assembly; Second end of said linking arm connects described first driving mechanism and second driving mechanism, it is characterized in that this manipulator also comprises the 3rd driving mechanism that the said linking arm of driving rotates at vertical guide, and the 3rd driving mechanism comprises the 3rd motor, the 3rd worm screw, the 3rd worm gear and the rotating base that are connected with the output shaft of the 3rd motor; The 3rd worm gear connects rotating base through shaft coupling; And described the 3rd motor, the 3rd worm screw and the 3rd worm gear are arranged in the 3rd housing, and described rotating base is arranged on the sidewall of housing and with second end of said linking arm and is connected.

2. manipulator according to claim 1 is characterized in that described first driving mechanism comprises to be arranged on the lip-deep base of lathe, slide block, first motor and first screw mandrel, wherein; Said slide block can be slidingly arranged on the said base; One end of said first screw mandrel connects the output shaft of said first motor, and the other end of first screw mandrel is connected with described base, and first nut sleeve is located on first screw mandrel; And, this first nut and described slide block interlock.

3. manipulator according to claim 2; It is characterized in that described second driving mechanism is arranged on the described slide block; This second driving mechanism comprises second motor, second worm screw, second worm gear and second rotating disk that are connected with the output shaft of second motor, and described second rotating disk is connected with described second worm gear through shaft coupling.

4. manipulator according to claim 3 is characterized in that described second rotating disk is provided with support, and an end of said linking arm connects the other end of this support; Also be provided with first micro-adjusting mechanism that can change the linking arm position on perpendicular to the direction of linking arm on the other end of support; This first micro-adjusting mechanism comprises the first fine setting motor, the first fine setting screw mandrel that is connected with the output shaft of this first fine setting motor, this first fine setting screw mandrel and described the 3rd housing interlock.

5. manipulator according to claim 4; It is characterized in that described manipulator also comprises second micro-adjusting mechanism that can on the direction of said linking arm, change the linking arm relative position; Described second micro-adjusting mechanism comprises the second fine setting motor, the second fine setting screw mandrel that is connected with the output shaft of the second fine setting motor, and this second fine setting screw mandrel drives second end that connects said linking arm.

6. according to the described manipulator of the arbitrary claim of claim 1 to 5, it is characterized in that described finger assembly comprises at least two fingers, head rod, second connecting rod, driving wheel, positioning head, motor and can the output torque of motor be delivered to the transmission mechanism of driving wheel; Wherein, described transmission mechanism is arranged between said motor and the said driving wheel, and said driving wheel is provided with mounting hole; The quantity of head rod, second connecting rod and mounting hole is corresponding with the quantity of said finger; Wherein, corresponding each finger that connects of first end of each head rod, second end of each head rod is corresponding to connect each described second connecting rod, one end, and head rod is vertical each other with second connecting rod; The other end of each second connecting rod is arranged in each corresponding mounting hole through bearing pin, and the other end of connecting rod is articulated with an end of corresponding finger; Be provided with ccontaining each second connecting rod in the said positioning head and limit second groove of the second connecting rod direction of motion; Be provided with first groove of ccontaining each head rod on the perisporium of positioning head corresponding to each head rod, and the middle part of each head rod is connected with the side-wall shaft of said first groove; The end face of the said finger of subtend is provided with groove on the said positioning head, and spring is arranged in this groove and conflicts on thimble, and this thimble passes the thimble shell and exposes, and described thimble shell is connected with described positioning head.

7. manipulator according to claim 6 is characterized in that said finger assembly also comprises the flexible telescoping mechanism of the said finger of driving, and this telescoping mechanism comprises sleeve, the flexible screw mandrel that is set in outside the said cover core and drives the flexible motor that the screw mandrel that stretches rotates; Wherein said flexible screw mandrel is fixedly connected with described cover core.

8. manipulator according to claim 7; It is characterized in that described finger assembly also comprises the rotating mechanism that drives said sleeve rotation; This rotating mechanism comprises rotary electric machine, drives the worm and worm wheel that rotate by this rotary electric machine, and said worm gear is connected with described sleeve.

9. manipulator according to claim 8; It is characterized in that also being provided with on the sidewall of said sleeve second rotating mechanism that the parts in drive sleeve and the sleeve rotate together; Described second rotating mechanism comprise second rotary electric machine, with the worm and worm wheel that the output shaft of second rotary electric machine is connected, this worm gear connects described sleeve through shaft coupling.

10. manipulator according to claim 9; It is characterized in that this manipulator also comprises is used for the feed table that place work piece supplies said finger assembly to take, put; Be provided with annular recess in the said feed table; Be provided with gear band in this groove, described gear is meshed with driving gear set, and described driving gear set connects the output shaft of feeding motor; And the upper surface of said gear band is provided with dismountable workseat that is used for place work piece.