CN210704796U

CN210704796U - But autogiration's transport manipulator

Info

Publication number: CN210704796U
Application number: CN201921643840.4U
Authority: CN
Inventors: 璧佃唉; 赵谦
Original assignee: Suzhou Tangtai Plastic Products Co Ltd
Current assignee: Wanlian Zhida Shandong Intelligent Equipment Co ltd
Priority date: 2019-09-29
Filing date: 2019-09-29
Publication date: 2020-06-09
Anticipated expiration: 2029-09-29

Abstract

The utility model discloses a but autogiration's transport manipulator, including the carrier, install the mechanical arm device on the carrier, install the controller on the carrier, the last torque induction formula autogiration device that is equipped with of mechanical arm device, install telescopic grabbing device on the torque induction formula autogiration device. Detect the atress condition of snatching the base through static torque sensor, thereby size and direction control rotating electrical machines according to the moment of torsion carry out corresponding rotation, thereby autogiration, staff's control has been made things convenient for, staff's operation can be saved again simultaneously, carry out spacing protection through the frictional force between cowl and the spacing axis of rotation simultaneously, thereby stability when guaranteeing the transport manipulator transport, and through the support of cowl, the condition that the rotation axis can not take place to drop when can effectual assurance transport heavier goods, thereby the operation of effectual assurance device.

Description

But autogiration's transport manipulator

Technical Field

The utility model relates to a manipulator correlation equipment field, especially a but autogiration's transport manipulator.

Background

With the continuous improvement of the automation level of a factory, the production efficiency of the factory is gradually improved, but large structural members and production data in the factory generally exceed 80 kilograms and need to be carried by a plurality of people, so that the production efficiency and the production safety are seriously influenced.

In the CN 201610276506.4-handling robot, the gripping action is achieved by a gripping mechanism. The fingers are driven to open and close through the finger hydraulic cylinder, so that the object is grabbed; the two hydraulic motors with the hands rotate at the same speed in the same direction or in the same speed in the opposite direction to realize the revolution of the finger grabbing mechanism around a first shaft and a second shaft by 90 degrees or the rotation of the finger grabbing mechanism around a third shaft by 360 degrees, and the grabbing posture is adjusted; the 360-degree rotation of the hand grasping mechanism is realized through the wrist joint; the wrist hydraulic motor drives the wrist revolving shaft to rotate, so that 360-degree rotary motion of the hand grasping mechanism is further realized, and the hand grasping mechanism and the L-shaped arm move in a circular range through arm joints; the arm hydraulic motor drives the arm rotating shaft to rotate, so that the hand grasping mechanism and the L-shaped arm can move in a circular range; the hand grasping mechanism moves up and down through a four-bar mechanism; one end of the large arm is driven to move up and down by a hydraulic cylinder of the four-bar mechanism, and the hand-held mechanism moves up and down by the lever principle; the hand grasping mechanism, the L-shaped arm and the four-bar mechanism move within 360 degrees in a circular range through the waist joint; the waist hydraulic motor drives the waist revolving shaft to rotate, so that the hand grasping mechanism, the L-shaped arm and the four-bar mechanism move within a circular range by 360 degrees; the whole device is jacked up by extending the supporting hydraulic cylinder, so that the whole device is parked.

However, in the conventional conveying manipulator, the rotation of the goods is required to be performed due to the angle of the goods during the conveying process, and most of the rotation of the conveying manipulator is required to be controlled by the controller, so that the automatic rotation of the conveying manipulator cannot be performed quickly according to the intention of the worker.

SUMMERY OF THE UTILITY MODEL

The utility model aims at solving the above problem, but an autogiration's transport manipulator has been designed, has autogiration's function, has solved current transport manipulator and can't carry out the pivoted problem according to staff's wish fast when the transport goods need rotate, detects the atress condition of goods through torque sensor to snatch through rotating and hold the drive goods and carry out autogiration, the effectual operation of having saved the staff makes the transport manipulator more practical.

The technical scheme of the utility model is that the carrying manipulator capable of automatically rotating comprises a carrying vehicle, wherein a mechanical arm device is arranged on the carrying vehicle, a controller is arranged on the carrying vehicle, a torque induction type automatic rotating device is arranged on the mechanical arm device, and a telescopic gripping device is arranged on the torque induction type automatic rotating device;

the torque induction type automatic rotating device comprises a grabbing arm, wherein a rotating groove is formed in the center of the lower surface of the grabbing arm, rotating bearings are arranged at the upper end and the lower end inside the rotating groove, rotating shafts are arranged in the rotating bearings, a limiting rotating shaft is arranged between the two rotating shafts, a circular friction plate is sleeved on the limiting rotating shaft and fixedly connected with the limiting rotating shaft, limiting baffles are arranged at the upper end and the lower end of the limiting rotating shaft, a plurality of ball holes are formed in the outer ends of the side surfaces of the limiting baffles, the ball holes are uniformly distributed on the limiting baffles, rolling balls are arranged in the ball holes, three electric telescopic rods are arranged at the center inside the rotating groove, an arc baffle is arranged at the telescopic end of each electric telescopic rod and is in sliding connection with the rolling balls, and the inner diameter of the arc baffle is the same as the diameter, an arc-shaped friction plate is mounted on the side surface of the arc-shaped baffle plate, the arc-shaped friction plate is in movable contact with the annular friction plate, an inclined supporting rod is mounted below the electric telescopic rod, two ends of the inclined supporting rod are fixedly connected with the electric telescopic rod and the rotating groove respectively, a rotating motor is mounted above the inside of the rotating groove, a speed reducer is mounted below the rotating motor, the input end of the speed reducer is fixedly connected with the rotating end of the rotating motor, a static torque sensor is mounted between the output end of the speed reducer and the rotating shaft, and the static torque sensor is fixedly connected with the rotating groove;

the telescopic grabbing device comprises a grabbing base installed at the lower end of a rotating shaft, a grabbing motor is installed at the center of the inner upper surface of the grabbing base, a driving belt wheel is installed at the rotating end of the grabbing motor, four corners of the lower surface of the grabbing base are provided with grabbing columns, two grabbing shafts are arranged on the two sides of the inner portion of each grabbing column, the grabbing shafts are connected with the grabbing bearing seats through grabbing bearings, the two grabbing shafts are connected through gear sets, a double-groove belt wheel is installed above one grabbing shaft, a transmission belt is installed between the double-groove belt wheels, a driving belt is sleeved between one double-groove belt wheel and the driving belt wheel, and a telescopic supporting plate device is installed on the grabbing column.

The telescopic supporting plate device comprises a sliding supporting plate opening formed below the surface of the outer side of the grabbing column, a sliding supporting plate is movably mounted in the sliding supporting plate opening, a gear groove is formed in the upper surface of the sliding supporting plate, gear groove guide rails are mounted on the side surfaces of the two sides of the interior of the gear groove, a grabbing gear is mounted at the lower end of the grabbing shaft, and the grabbing gear is meshed with the gear groove guide rails.

The mechanical arm device comprises a three-axis automatic mechanical arm installed at the center of the upper surface of the carrier, and one end of the three-axis automatic mechanical arm is fixedly connected with the grabbing arm.

The inside of the sliding support plate is provided with a square through groove, and a supporting cross bar is movably arranged in the two corresponding square through grooves.

And a pressure sensor is arranged between the electric telescopic rod and the arc-shaped baffle.

And a horizontal sensor is arranged in the center of the lower surface of the grabbing base.

The outer diameter of the arc-shaped baffle is larger than the diameter of the rotating shaft.

One end of the sliding support plate is an inclined surface.

Utilize the technical scheme of the utility model a but automatic rotation's transport manipulator of preparation:

the carrying manipulator detects the stress condition of the grabbing base through the static torque sensor, so that the rotating motor is controlled to rotate correspondingly according to the torque and the direction, automatic rotation is realized, the control of workers is facilitated, the operation of the workers can be saved, meanwhile, the limiting protection is realized through the friction force between the arc baffle and the limiting rotating shaft, the stability of the carrying manipulator during carrying is ensured, and the situation that the rotating shaft cannot fall off during carrying of heavy goods can be effectively ensured through the support of the arc baffle, so that the operation of the device is effectively ensured;

this transport manipulator through set up the slip layer board that can stretch out and draw back on four snatch the post to carry the goods through slip layer board, and through inserting the support whippletree in slip layer board, thereby effectual assurance slip layer board's intensity prevents that slip layer board from taking place to warp, carries through the bottom from the goods simultaneously, can effectually guarantee that the cargo handling is not damaged, guarantees the security of goods.

Drawings

Fig. 1 is a schematic structural view of an automatically rotatable handling robot according to the present invention;

fig. 2 is a schematic view of the torque induction type automatic rotating apparatus of the present invention;

fig. 3 is a partially enlarged view of the torque induction type automatic rotating apparatus of the present invention;

fig. 4 is a schematic view of the telescopic gripping device of the present invention;

fig. 5 is a schematic view of the grasping shaft according to the present invention;

fig. 6 is a schematic view of the sliding pallet of the present invention;

in the figure, 1, a carrier; 2. a controller; 3. a gripper arm; 4. rotating the groove; 5. a rotating bearing; 6. a rotating shaft; 7. a limiting rotating shaft; 8. a circular friction plate; 9. a limit baffle; 10. a ball hole; 11. rolling the ball; 12. an electric telescopic rod; 13. an arc-shaped baffle plate; 14. an arc-shaped friction plate; 15. an inclined support rod; 16. a rotating electric machine; 17. a speed reducer; 18. a static torque sensor; 19. grabbing a base; 20. a grabbing motor; 21. a drive pulley; 22. grabbing the column; 23. grabbing the shaft; 24. grabbing the bearing; 25. grabbing a bearing seat; 26. a gear set; 27. a double grooved pulley; 28. a drive belt; 29. a drive belt; 30. sliding the pallet mouth; 31. a sliding support plate; 32. a gear groove; 33. a gear groove guide rail; 34. grabbing the gear; 35. a three-axis automated robotic arm; 36. a square through groove; 37. supporting the horizontal bar; 38. a pressure sensor; 39. a level sensor.

Detailed Description

The invention is described in detail below with reference to the accompanying drawings, as shown in fig. 1-6, in this embodiment:

in the device, a storage battery pack can be placed on the carrier 1, so that power is supplied to the device through the storage battery pack, the storage battery pack is electrically connected with the controller 2, the electric telescopic rod 12, the rotating motor 16, the grabbing motor 20 and the three-axis automatic mechanical arm 35 to supply power, the controller 2 is a PLC (programmable logic controller) of FX1N-40MT-001 model, a control signal output end of the controller 2 is electrically connected with the electric telescopic rod 12, the rotating motor 16, the grabbing motor 20 and the three-axis automatic mechanical arm 35 through transistors respectively, a signal receiving end of the controller 2 is electrically connected with signal transmitting ends of the static torque sensor 18, the pressure sensor 38 and the horizontal sensor 39 through transistors, and therefore operation of the device is controlled.

The invention is characterized in that the torque sensing type automatic rotating device comprises a grabbing arm 3, a rotating groove 4 is formed in the center of the lower surface of the grabbing arm 3, rotating bearings 5 are arranged at the upper end and the lower end inside the rotating groove 4, rotating shafts 6 are arranged in the rotating bearings 5, a limiting rotating shaft 7 is arranged between the two rotating shafts 6, a circular ring-shaped friction plate 8 is sleeved on the limiting rotating shaft 7, the circular ring-shaped friction plate 8 is fixedly connected with the limiting rotating shaft 7, limiting baffle plates 9 are arranged at the upper end and the lower end of the limiting rotating shaft 7, a plurality of ball holes 10 are formed in the outer end of the side surface of each limiting baffle plate 9, the ball holes 10 are uniformly distributed on the limiting baffle plates 9, rolling balls 11 are arranged in the ball holes 10, three electric telescopic rods 12 are arranged at the center inside the rotating groove 4, and arc-shaped baffle plates 13 are arranged at the telescopic ends of the, an arc baffle 13 is connected with rolling balls 11 in a sliding mode, the inner diameter of the arc baffle 13 is the same as the diameter of a limiting rotating shaft 7, an arc friction plate 14 is installed on the side surface of the arc baffle 13, the arc friction plate 14 is in movable contact with a circular ring friction plate 8, an inclined support rod 15 is installed below an electric telescopic rod 12, two ends of the inclined support rod 15 are fixedly connected with the electric telescopic rod 12 and a rotating groove 4 respectively, a rotating motor 16 is installed above the inner portion of the rotating groove 4, a speed reducer 17 is installed below the rotating motor 16, the input end of the speed reducer 17 is fixedly connected with the rotating end of the rotating motor 16, a static torque sensor 18 is installed between the output end of the speed reducer 17 and the rotating shaft 6, and; detect the atress condition of goods through static torque sensor 18, thereby control rotating electrical machines 16 according to the atress condition and carry out the rotation in corresponding position, control rotation angle's size through the size of atress, thereby can carry out the automatically regulated of angle according to staff's wish, thereby make things convenient for staff's use, can effectual saving staff's operation, simultaneously fix rotation axis 6 through the friction force of arc friction piece 14 that sets up on cowl 13 and the ring shape friction piece 8 on the spacing axis of rotation 7, thereby guarantee stability in the cargo handling process, prevent that the goods from taking place to rock, spacing sliding connection through cowl 13 and two upper and lower limit baffle 9, thereby the effectual handling manipulator of having guaranteed is when carrying heavier goods, the condition that rotation axis 6 can not take place to drop, thereby make the device can be steady, And (4) safe operation.

The invention is characterized in that the structure design of the telescopic grabbing device is combined with the attached drawings 1, 4, 5 and 6, the telescopic grabbing device comprises a grabbing base 19 arranged at the lower end of a rotating shaft 6, a grabbing motor 20 arranged at the center of the upper surface inside the grabbing base 19, a driving belt pulley 21 arranged at the rotating end of the grabbing motor 20, grabbing columns 22 arranged at four corners of the lower surface of the grabbing base 19, two grabbing shafts 23 arranged at two sides inside the grabbing columns 22, the grabbing shafts 23 and the grabbing columns 22 are connected through grabbing bearings 24 and grabbing bearing seats 25, the two grabbing shafts 23 are connected through a gear set 26, a double-groove belt pulley 27 arranged above one grabbing shaft 23, a transmission belt 28 arranged between the double-groove belt pulleys 27 and the driving belt pulley 21, a driving belt 29 sleeved between one double-groove belt pulley 27 and the driving belt pulley 21, and a sliding support plate opening 30 arranged below the outer side surface of the grabbing column 22, a sliding support plate 31 is movably mounted in the sliding support plate opening 30, a gear groove 32 is formed in the upper surface of the sliding support plate 31, gear groove guide rails 33 are mounted on the side surfaces of two sides in the gear groove 32, a grabbing gear 34 is mounted at the lower end of the grabbing shaft 23, the grabbing gear 34 is meshed with the gear groove guide rails 33, a square through groove 36 is formed in the sliding support plate 31, and a supporting cross bar 37 is movably mounted in the two corresponding square through grooves 36; rotate through snatching motor 20 and drive slip layer board 31 and stretch out and draw back to lift up the goods, and insert slip layer board 31 in through supporting horizontal pole 37, thereby the effectual intensity of guaranteeing slip layer board 31 makes the more safe, stable of cargo handling, drive four slip layer boards 31 through snatching motor 20 and stretch out and draw back, cost that can effectual save set makes the device structure simpler.

In this device, the position that the arm 3 was snatched in the arm device is adjusted through installing the automatic robotic arm 35 of triaxial on carrier 1 to conveniently snatch arm 3 and carry out the transport and deposit of goods, simultaneously through level sensor 39 and the cooperation of the automatic robotic arm 35 of triaxial, make and snatch base 19 and remain the level all the time, thereby the steady transport that carries out the goods guarantees the safety of goods.

The working principle of the device is as follows: when goods need to be carried, a worker manually moves the carrier 1 to one side of the goods;

at this time, the three-axis automatic mechanical arm 35 is controlled to start working, the three-axis automatic mechanical arm 35 controls the grabbing arm 3 to start adjusting, so that the grabbing base at the lower end of the grabbing arm 3 moves to the position above the goods, and then the grabbing arm 3 is controlled by the three-axis automatic mechanical arm 35 to start moving downwards, so that the goods are located at the centers of the four grabbing columns 22;

at this time, the grabbing motor 20 is controlled to start working, the grabbing motor 20 rotates to drive the driving belt pulley 21 to rotate, the driving belt pulley 21 drives one of the double-groove belt pulleys 27 to start rotating under the action of the driving belt 29, the double-groove belt pulley 27 drives the other double-groove belt pulley 27 to rotate under the action of the driving belt 28, so that the four double-groove belt pulleys 27 synchronously rotate, the double-groove belt pulley 27 rotates to drive the grabbing shaft 23 to start rotating, the grabbing shaft 23 drives the other grabbing shaft 23 to reversely rotate under the action of the gear set 26, and the rotation of the grabbing shaft 23 drives the grabbing gear 34 to start rotating, and by the rotation of the two grabbing gears 34 with opposite rotation directions, so that the sliding pallet 31 slowly slides out of the sliding pallet opening 30, and the goods are moved above the sliding pallet 31 through the inclined surface at one end of the sliding pallet 31, thereby completing the grabbing of the goods;

after the goods are grabbed, when the weight of the goods is large, at the moment, a worker can manually insert the supporting cross bar 37 into the square through grooves 36 in the corresponding group of the sliding support plates 31 so as to support the sliding support plates 31, the sliding support plates 31 are prevented from being deformed to cause the falling of the goods due to overlarge weight of the goods, and when the weight of the goods is small, the supporting cross bar 37 does not need to be inserted;

at the moment, the three-axis automatic mechanical arm 35 is controlled to start to ascend so as to lift the goods, at the moment, a worker can manually push the carrier 1 to move so as to carry out the carrying of the goods, and in the carrying process, when the goods need to rotate, the worker can control the rotating motor 16 to work through the controller 2 so as to control the goods to rotate, and can also manually push the grabbing base 19 to rotate so as to control the goods to rotate;

when a worker pushes the grabbing base 19, the grabbing base 19 transmits a driving force to the rotating shaft 6, so that the rotating shaft 6 generates a torque force, the torque force condition received by the rotating shaft 6 is detected through the static torque sensor 18, so that the rotating motor 16 is controlled to work according to the torque force magnitude and the torque force direction detected by the static torque sensor 18, the electric telescopic rod 12 is controlled to contract, the arc baffle 13 begins to contract when the electric telescopic rod 12 contracts, so that the arc friction plate 14 is separated from the circular friction plate 8, so that the rotating shaft 6 can rotate, at the moment, the rotating motor 16 rotates to drive the speed reducer 17 to rotate, the speed reducer 17 drives the rotating shaft 6 to rotate, so that the grabbing base 19 starts to rotate along the stress direction, and after the grabbing base 19 rotates to an angle corresponding to the torque force, the rotating motor 16 is controlled to stop working, and the electric, the arc-shaped friction plate 14 is contacted with the circular ring-shaped friction plate 8, the rotating shaft 6 is fixed by the friction between the arc-shaped friction plate 14 and the circular ring-shaped friction plate 8, and a worker can push the grabbing base 19 for a plurality of times, so that the goods are adjusted to a proper position;

when a worker directly controls the rotating motor 16 to rotate, the controller 2 firstly controls the electric telescopic rod 12 to contract to release the rotating shaft 6, so that the rotating shaft 6 can rotate, and then controls the rotating motor 16 to rotate, so that the rotating shaft 6 drives the grabbing base 19 to rotate, and when the rotating shaft is rotated to a proper position, the rotating motor 16 is controlled to stop working together, and meanwhile, the electric telescopic rod 12 is controlled to extend out to lock the rotating shaft 6;

at the moment, the worker can control the grabbing motor 20 to rotate reversely, the grabbing motor 20 rotates reversely, so that the grabbing shaft 23 drives the grabbing gear 34 to rotate reversely, the sliding support plate 31 is drawn out from the bottom of the goods, and the goods are put down;

when the inside of the sliding supporting plate 31 is inserted into the supporting cross bar 37, a worker needs to manually pull out the supporting cross bar 37 and then control the grabbing motor 20 to rotate reversely, so that the goods are put down;

in the operation process of the device, the pressure between the arc-shaped baffle plate 13 and the limiting rotating shaft 7 is detected through the pressure sensor 38, when the pressure reaches a set value, the friction force between the arc-shaped friction plate 14 and the circular ring-shaped friction plate 8 reaches the set value, and the rotating shaft 6 is fixed;

in the device operation process, detect the levelness of snatching base 19 through level sensor 39, when the levelness of snatching base 19 is less than the setting value, then adjust through controlling the automatic robotic arm of triaxial to the levelness that makes snatch base 19 is in fixed range, thereby guarantees the steady transportation of goods, prevents to take place to drop and lead to the goods to damage in the freight transportation.

Above-mentioned technical scheme has only embodied the utility model discloses technical scheme's preferred technical scheme, some changes that this technical field's technical personnel probably made to some parts wherein have all embodied the utility model discloses a principle belongs to within the protection scope of the utility model.

Claims

1. The carrying manipulator capable of automatically rotating comprises a carrying vehicle (1), wherein a mechanical arm device is mounted on the carrying vehicle (1), and a controller (2) is mounted on the carrying vehicle (1), and is characterized in that a torque induction type automatic rotating device is arranged on the mechanical arm device, and a telescopic grabbing device is mounted on the torque induction type automatic rotating device;

the torque induction type automatic rotating device comprises a grabbing arm (3), wherein a rotating groove (4) is formed in the center of the lower surface of the grabbing arm (3), rotating bearings (5) are installed at the upper end and the lower end inside the rotating groove (4), rotating shafts (6) are installed in the rotating bearings (5), a limiting rotating shaft (7) is installed between the two rotating shafts (6), a circular ring-shaped friction plate (8) is sleeved on the limiting rotating shaft (7), the circular ring-shaped friction plate (8) is fixedly connected with the limiting rotating shaft (7), limiting baffle plates (9) are installed at the upper end and the lower end of the limiting rotating shaft (7), a plurality of ball holes (10) are formed in the outer end of the side surface of each limiting baffle plate (9), the ball holes (10) are uniformly distributed on the limiting baffle plates (9), and balls (11) are installed in the ball holes (, the electric telescopic handle is characterized in that three electric telescopic handles (12) are installed at the inner center of the rotary groove (4), an arc baffle (13) is installed at the telescopic end of each electric telescopic handle (12), each arc baffle (13) is connected with a rolling ball (11) in a sliding mode, the inner diameter of each arc baffle (13) is the same as the diameter of the limiting rotating shaft (7), an arc friction plate (14) is installed on the side surface of each arc baffle (13), each arc friction plate (14) is in movable contact with a circular friction plate (8), an inclined supporting rod (15) is installed below each electric telescopic handle (12), two ends of each inclined supporting rod (15) are fixedly connected with the electric telescopic handles (12) and the rotary groove (4) respectively, a rotary motor (16) is installed above the inner portion of the rotary groove (4), and a speed reducer (17) is installed below each rotary motor (, the input end of the speed reducer (17) is fixedly connected with the rotating end of the rotating motor (16), a static torque sensor (18) is installed between the output end of the speed reducer (17) and the rotating shaft (6), and the static torque sensor (18) is fixedly connected with the rotating groove (4);

the telescopic grabbing device comprises a grabbing base (19) installed at the lower end of the rotating shaft (6), a grabbing motor (20) is installed at the center of the inner upper surface of the grabbing base (19), a driving belt pulley (21) is installed at the rotating end of the grabbing motor (20), grabbing columns (22) are installed at four corners of the lower surface of the grabbing base (19), two grabbing shafts (23) are arranged on two sides of the inner portion of each grabbing column (22), the grabbing shafts (23) are connected with the grabbing columns (22) through grabbing bearings (24) and grabbing bearing seats (25), the two grabbing shafts (23) are connected through gear sets (26), a double-groove belt pulley (27) is installed above one grabbing shaft (23), a transmission belt (28) is installed between the double-groove belt pulleys (27), and a driving belt (29) is sleeved between one of the double-groove belt pulleys (27) and the driving belt pulley (21), and a telescopic supporting plate device is arranged on the grabbing column (22).

2. The conveying manipulator capable of automatically rotating according to claim 1, wherein the retractable supporting plate device comprises a sliding supporting plate opening (30) formed below the outer side surface of the grabbing column (22), a sliding supporting plate (31) is movably mounted in the sliding supporting plate opening (30), a gear groove (32) is formed in the upper surface of the sliding supporting plate (31), gear groove guide rails (33) are mounted on the side surfaces of two sides in the gear groove (32), a grabbing gear (34) is mounted at the lower end of the grabbing shaft (23), and the grabbing gear (34) is meshed with the gear groove guide rails (33).

3. The automated rotatable handling robot of claim 1, wherein the robot arm device comprises a three-axis automated robot arm (35) mounted at the center of the upper surface of the handling vehicle (1), and one end of the three-axis automated robot arm (35) is fixedly connected to the gripping arm (3).

4. The automatic rotatable carrying manipulator as claimed in claim 2, wherein the sliding support plate (31) is provided with square through grooves (36) inside, and the two corresponding square through grooves (36) are movably provided with supporting cross bars (37).

5. The handling manipulator capable of automatically rotating according to claim 1, characterized in that a pressure sensor (38) is installed between the electric telescopic rod (12) and the arc-shaped baffle (13).

6. An automatically rotatable handling robot according to claim 1, characterised in that a level sensor (39) is mounted in the centre of the lower surface of the gripping foot (19).

7. An automatically rotatable handling robot according to claim 1, characterized in that the outer diameter of the arc-shaped barrier (13) is larger than the diameter of the rotation axis (6).

8. An automatically rotatable handling robot according to claim 2, characterized in that one end of the sliding blade (31) is an inclined surface.