CN216265980U

CN216265980U - Mechanical arm

Info

Publication number: CN216265980U
Application number: CN202121730959.2U
Authority: CN
Inventors: 杨胜金
Original assignee: Jiaxing Hengxin Environmental Protection Technology Co ltd
Current assignee: Jiaxing Hengxin Environmental Protection Technology Co ltd
Priority date: 2021-07-28
Filing date: 2021-07-28
Publication date: 2022-04-12
Anticipated expiration: 2031-07-28

Abstract

The utility model discloses a manipulator, which comprises a driving device and a plurality of grabbing devices arranged on the driving device; the driving device comprises a moving frame and a mounting frame fixedly connected to the moving frame; the moving frame comprises two parallel travelling wheel mechanisms and a horizontal connecting rod arranged between the two travelling wheel mechanisms in parallel; the mounting frame comprises a top frame, a bottom frame and a vertical connecting rod connected between the top frame and the bottom frame; a lifting frame is also arranged between the top frame and the bottom frame; the lifting frame is connected to the two vertical connecting rods on the same side in a sliding manner; a fixed connecting rod is fixedly connected between the top frame and the horizontal connecting rod; the gripping device is rotatably connected to the lifting frame; according to the manipulator disclosed by the utility model, the grabbing device can be rotatably connected to the lifting frame, and the grabbing device can be obliquely rotated after being stretched into liquid, so that each workpiece can be well ensured to be fully contacted with the liquid, and a good reaction effect is ensured.

Description

Mechanical arm

Technical Field

The utility model relates to the field of electroplating, in particular to a manipulator.

Background

The crown block is very common in the field of industrial production, and the production efficiency can be effectively improved. In the surface treatment process, especially the passivation treatment process of the metal workpiece, a plurality of procedures such as a light-emitting groove, a rinsing groove, a passivation groove, a rinsing groove and a hot water rinsing groove are involved, and the passivation efficiency can be effectively improved by using a crown block to transfer the metal workpiece. The existing crown block can realize the transfer of the metal workpiece in the field of the surface processing of the metal workpiece, but cannot participate in the surface processing process of the metal workpiece. The surface processing process of the metal processing piece, particularly the passivation process, needs to continuously turn over the metal processing piece arranged in the inner basket in order to ensure the processing effect of the metal processing piece. The basket in the mode such as rope is fixed through current overhead traveling crane, and basket in the unable fine use overhead traveling crane swings, relies on the artifical mode of rocking, both consumes the manpower, hardly guarantees the swing effect again. Meanwhile, personnel can easily collide with the overhead travelling crane when operating the passivation device, and great potential safety hazards exist.

Based on the situation, the utility model provides the manipulator which can effectively solve the problems.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a manipulator. The manipulator disclosed by the utility model is simple in structure and convenient to use, the grabbing device can be rotatably connected to the lifting frame, and the grabbing device can extend into liquid and then obliquely rotate, so that each machined part can be well ensured to be fully contacted with the liquid, and a good reaction effect is ensured; the movable frame and the mounting frame which are fixed together not only better ensure the mounting effect of other components such as the gripping device, but also have better moving capability; the walking wheel mechanism is used for better ensuring the stable movement of the manipulator; the movable frame and the mounting frame are better fixed together through the fixed connecting rod, and better connection strength between the movable frame and the mounting frame is ensured; the lifting function of the manipulator is realized through the lifting frame.

The utility model is realized by the following technical scheme:

a manipulator comprises a driving device and a plurality of grabbing devices arranged on the driving device; the driving device comprises a moving frame and a mounting frame fixedly connected to the moving frame; the moving frame comprises two parallel travelling wheel mechanisms and a horizontal connecting rod arranged between the two travelling wheel mechanisms in parallel; the mounting frame comprises a top frame, a bottom frame and a vertical connecting rod connected between the top frame and the bottom frame; a lifting frame is also arranged between the top frame and the bottom frame; the lifting frame is connected to the two vertical connecting rods on the same side in a sliding manner; a fixed connecting rod is fixedly connected between the top frame and the horizontal connecting rod; the vertical connecting rod is made of I-shaped steel, and grooves are formed in the two sides of the vertical connecting rod; the grabbing device is rotatably connected to the lifting frame.

According to the utility model, the gripping device is rotatably connected to the lifting frame, and the gripping device can extend into liquid and then rotate obliquely, so that each workpiece can be well ensured to be fully contacted with the liquid, and a good reaction effect is ensured; the movable frame and the mounting frame which are fixed together not only better ensure the mounting effect of other components such as a gripping device, but also have better moving capability; the walking wheel mechanism is used for better ensuring the stable movement of the manipulator; the movable frame and the mounting frame are better fixed together through the fixed connecting rod, and better connection strength between the movable frame and the mounting frame is ensured; the lifting function of the manipulator is realized through the lifting frame.

Preferably, the number of the gripping devices is two; the grabbing device comprises a grabbing rack, a grabbing transmission structure embedded in the grabbing rack and a grabbing claw arranged at the bottom end of the grabbing transmission structure; the grabbing rack comprises a first mounting plate arranged at the bottom end of the grabbing rack, a second mounting plate arranged in the middle of the grabbing rack and a third mounting plate arranged at the top end of the grabbing rack; the grabbing transmission structure penetrates through the first mounting plate and is fixed on the first mounting plate;

the grabbing claw comprises a first disc and a second disc which are coaxially arranged, and the second disc is arranged above the first disc; the middle part of the first disc is provided with a first connecting hole; at least three first rotating seats are annularly arranged on the side surface of the first disc at equal intervals; the middle part of the second disc is provided with a second connecting hole; a second rotating seat is arranged on the side surface of the second disc corresponding to the first rotating seat; each second rotating seat can be rotatably connected with a claw arm; a connecting rod is arranged between each first rotating seat and the corresponding claw arm; and a plurality of lightening holes which are arranged at equal intervals are further annularly arranged around the second connecting hole on the second disc.

Preferably, the grabbing transmission structure comprises a first transmission rod embedded in the first connecting hole, a second transmission rod embedded in the second connecting hole and a third transmission rod embedded in the first mounting plate; the third transmission rod is sleeved on the outer side of the second transmission rod, and the second transmission rod is sleeved on the outer side of the first transmission rod; two first bearings embedded at two ends of the inner side of the second transmission rod are arranged between the first transmission rod and the second transmission rod; a second bearing and a third bearing are arranged at two ends of the inner side of the third transmission rod between the second transmission rod and the third transmission rod; the middle part of the outer side of the third transmission rod is also provided with a grabbing fixing plate for fixing the grabbing transmission structure on the first mounting plate;

the top of the second transmission rod is provided with a gear fixing disc; a first gear is fixed on the gear fixing disc; and a rotating motor is further arranged above the second mounting plate, an output shaft of the rotating motor penetrates through the second mounting plate, and a second gear meshed with the first gear is arranged at the end part of the output shaft of the rotating motor.

Preferably, the top end of the first transmission rod is connected with a pushing assembly; the pushing assembly comprises a pushing cylinder fixed on the third mounting plate and a sleeve sleeved at the top end of the first transmission rod; the output rod of the pushing cylinder is connected with the top end of the sleeve; a fourth bearing and a fifth bearing are arranged at the bottom end of the inner side of the sleeve between the sleeve and the first transmission rod; a limiting pipe sleeved at the top end of the first transmission rod is further arranged in the sleeve; the top end of the first transmission rod is provided with a first limiting groove; a second limiting groove is formed in the inner side of the limiting pipe corresponding to the first limiting groove; and two semicircular rings are arranged in the first limiting groove and the second limiting groove.

Preferably, the lifting frame comprises a lifting frame; a plurality of first mounting frames which are parallel to each other are fixed on the inner side of the lifting frame; a plurality of second mounting frames which are parallel to each other are fixed on the outer side of the lifting frame; rollers are arranged at the two ends of the outer side of the lifting frame; four corners of the outer side of the lifting frame are respectively provided with a first guide wheel which is used for being in sliding connection with the vertical connecting rod, and the first guide wheels are embedded in the grooves of the vertical connecting rod; the first guide wheel is fixedly connected to the lifting frame through a guide wheel fixing seat.

Preferably, the first mounting frame is used for mounting the gripping device; two sides of each grabbing device are respectively provided with one first mounting frame; each grabbing device is correspondingly provided with a rotating cylinder; each rotary cylinder is fixedly connected to the tops of the two second mounting frames through a cylinder rotary seat; the bottom of each first mounting frame is provided with a rotating roller, a third rotating seat is sleeved on each rotating roller corresponding to each first mounting frame, and the rotating rollers are fixed on the first mounting frames through the third rotating seats; and a fourth rotating seat sleeved on the rotating roller is arranged at the bottom of the first mounting plate.

Preferably, a counterweight frame is further arranged between the two vertical connecting rods which are not connected with the mounting frame; two sides of the counterweight frame are respectively provided with a second guide wheel embedded in the groove of the vertical connecting rod, and the number of the second guide wheels on each side is two; connecting seats are arranged at the tops of the two sides of the counterweight frame; four steering rollers which are arranged in a matrix form are arranged on the top frame corresponding to the connecting seat; the connecting seat of the counterweight frame is connected with a flexible connecting piece which is connected to the lifting frame through the steering roller;

the two steering rollers are arranged above the counterweight frame; the other two steering rollers are arranged above the lifting frame; a lifting motor is connected between the two steering rollers arranged above the counterweight frame in a transmission manner; and the steering roller is provided with a lifting driving wheel in transmission connection with the flexible connecting piece.

Preferably, the road wheel mechanism comprises a cross beam; both ends of the top of the cross beam are provided with mounting grooves which are formed downwards; a traveling wheel is embedded in the mounting groove; the mounting groove is also covered with a fixed cover plate; the walking wheels penetrate through the bottom of the cross beam, and through holes for accommodating the penetrating parts of the walking wheels are formed in the bottom of the cross beam; and side plates are arranged on two sides of the fixed cover plate and are also fixed on the cross beam.

Preferably, a rotating shaft penetrates through the travelling wheel; the rotating shaft is embedded in the mounting groove in a penetrating manner; the outer sides of the two side plates are also provided with shaft fixing seats sleeved on the rotating shaft; the shaft fixing seat is fixedly connected with the side plate through a bolt; the fixed cover plate is fixedly connected with the cross beam through a bolt; the side plates are fixedly connected with the cross beam through bolts.

Preferably, the walking wheels are rubber wheels.

Compared with the prior art, the utility model has the following advantages and beneficial effects:

the manipulator disclosed by the utility model is simple in structure and convenient to use, the grabbing device can be rotatably connected to the lifting frame, and the grabbing device can extend into liquid and then obliquely rotate, so that each machined part can be well ensured to be fully contacted with the liquid, and a good reaction effect is ensured; the movable frame and the mounting frame which are fixed together not only better ensure the mounting effect of other components such as the gripping device, but also have better moving capability; the walking wheel mechanism is used for better ensuring the stable movement of the manipulator; the movable frame and the mounting frame are better fixed together through the fixed connecting rod, and better connection strength between the movable frame and the mounting frame is ensured; the lifting function of the manipulator is realized through the lifting frame.

Drawings

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

FIG. 2 is a schematic structural view of the gripping device and the lifting frame of the present invention;

FIG. 3 is a schematic structural view of the grasping apparatus according to the present invention;

FIG. 4 is a schematic cross-sectional view of the grasping apparatus according to the present invention;

FIG. 5 is an enlarged view of a portion of the structure shown at A in FIG. 4;

FIG. 6 is a schematic view of a portion of the enlarged structure at B in FIG. 4;

FIG. 7 is a schematic structural diagram of a driving device according to the present invention;

FIG. 8 is a schematic structural view of the head frame of the present invention;

FIG. 9 is a schematic structural diagram of the lifting frame of the utility model;

FIG. 10 is a schematic view of the counterweight frame according to the present invention;

FIG. 11 is a schematic structural view of the traveling wheel mechanism of the present invention;

FIG. 12 is a schematic view of the present invention with the fixed cover removed;

fig. 13 is a schematic structural view of the fixed cover plate and the road wheel of the utility model.

Detailed Description

In order that those skilled in the art will better understand the technical solutions of the present invention, the following description of the preferred embodiments of the present invention is provided in conjunction with specific examples, but it should be understood that the drawings are for illustrative purposes only and should not be construed as limiting the patent; for the purpose of better illustrating the embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted. The positional relationships depicted in the drawings are for illustrative purposes only and are not to be construed as limiting the present patent.

Example 1:

as shown in fig. 1 to 13, a robot arm includes a driving device 3 and a plurality of gripping devices 1 mounted on the driving device 3; the driving device 3 comprises a moving frame 31 and a mounting frame 32 fixedly connected to the moving frame 31; the moving frame 31 comprises two parallel travelling wheel mechanisms 2 and a horizontal connecting rod 311 arranged between the two travelling wheel mechanisms 2 in parallel; the mounting frame 32 comprises a top frame 321, a bottom frame 322 and a vertical connecting rod 323 connected between the top frame 321 and the bottom frame 322; a lifting frame 324 is also arranged between the top frame 321 and the bottom frame 322; the lifting frame 324 can be connected to the two vertical connecting rods 323 on the same side in a sliding manner; a fixed connecting rod 328 is fixedly connected between the top frame 321 and the horizontal connecting rod 311; the vertical connecting rod 323 is I-shaped steel, and grooves are formed in the two sides of the vertical connecting rod 323; the gripping device 1 is rotatably connected to the crane 324.

According to the utility model, the gripping device 1 is rotatably connected to the lifting frame 324, and the gripping device 1 can be obliquely rotated after being stretched into liquid, so that each workpiece can be well ensured to be fully contacted with the liquid, and a good reaction effect is ensured; the movable frame 31 and the mounting frame 32 which are fixed together not only better ensure the mounting effect of other parts such as a gripping device, but also have better moving capability; the walking wheel mechanism 2 is used for better ensuring the stable movement of the manipulator; the movable frame 31 and the mounting frame 32 are better fixed together through the fixed link 328, so that the movable frame 31 and the mounting frame 32 have better connection strength; the lifting and lowering functions of the manipulator are realized by the lifting frame 324.

The I-shaped steel is adopted, so that the structural strength is good, and the groove of the I-shaped steel can be used as a guide rail, so that the structure is simplified.

Further, in another embodiment, the number of gripping devices 1 is two; the grabbing device 1 comprises a grabbing rack 11, a grabbing transmission structure 12 embedded in the grabbing rack 11 and a grabbing claw 13 arranged at the bottom end of the grabbing transmission structure 12; the grabbing rack 11 comprises a first mounting plate 111 arranged at the bottom end of the grabbing rack 11, a second mounting plate 112 arranged in the middle of the grabbing rack 11 and a third mounting plate 113 arranged at the top end of the grabbing rack 11; the grabbing transmission structure 12 penetrates through the first mounting plate 111 and is fixed on the first mounting plate 111;

the grabbing claw 13 is driven by the grabbing transmission structure 12, so that the grabbing function of the grabbing device can be better realized, manual operation is reduced, and the production efficiency is improved; and better connection effect among all parts is better realized through the grabbing rack 11.

The grabbing claw 13 comprises a first disc 131 and a second disc 132 which are coaxially arranged, and the second disc 132 is arranged above the first disc 131; the middle part of the first disc 131 is provided with a first connecting hole; the side surface of the first disc 131 is provided with at least three first rotating seats 1312 in an equidistant ring manner; a second connecting hole is formed in the middle of the second disc 132; a second rotating seat 1322 is provided on a side surface of the second disc 132 corresponding to the first rotating seat 1312; each second rotating seat 1322 is rotatably connected with a claw arm 1323; a connecting rod 1313 is arranged between each first rotating seat 1312 and the corresponding claw arm 1323; the second disk 132 is further provided with a plurality of weight-reducing holes 1324 arranged at equal intervals around the second connecting hole.

The grabbing claw 13 is fixed by the second disc 132, and the claw arm 1323 is opened and closed by moving the first disc 131, so that a good grabbing effect is ensured, and grabbing response is fast.

The dead weight of the second disk 132 is reduced by the lightening holes 1324, and the grabbing effect of the grabbing claw 13 is improved.

Further, in another embodiment, the grabbing transmission structure 12 comprises a first transmission rod 121 embedded in the first connection hole, a second transmission rod 122 embedded in the second connection hole, and a third transmission rod 123 embedded in the first mounting plate 111; the third transmission rod 123 is sleeved on the outer side of the second transmission rod 122, and the second transmission rod 122 is sleeved on the outer side of the first transmission rod 121; two first bearings 1241 embedded at two ends of the inner side of the second transmission rod 122 are arranged between the first transmission rod 121 and the second transmission rod 122; a second bearing 1242 and a third bearing 1243 are respectively arranged at two ends of the inner side of the third transmission rod 123 between the second transmission rod 122 and the third transmission rod 123; the middle part of the outer side of the third transmission rod 123 is further provided with a grabbing fixing plate 1231 for fixing the grabbing transmission structure 12 on the first mounting plate 111;

the first transmission rod 121, the second transmission rod 122 and the third transmission rod 123 are sleeved together, so that the grabbing function of the grabbing claw 13 is realized, and the difficulty in installation and matching among the first transmission rod 121, the second transmission rod 122 and the third transmission rod 123 is reduced.

The first bearing 1241 is an oilless bearing; the second bearing 1242 is a deep groove ball bearing; the third bearing 1243 is a thrust bearing.

A gear fixing disc 1221 is arranged at the top of the second transmission rod 122; a first gear 1222 fixed on the gear fixing disk 1221; a rotating motor 125 is further disposed above the second mounting plate 112, an output shaft of the rotating motor 125 penetrates through the second mounting plate 112, and a second gear 1251 engaged with the first gear 1222 is disposed at an end of the output shaft of the rotating motor 125.

The grabbing claw 13 is driven to rotate by the cooperation of the first gear 1222 and the second gear 1251.

Further, in another embodiment, a pushing assembly 126 is connected to the top end of the first transmission rod 121; the pushing assembly 126 comprises a pushing cylinder 1261 fixed on the third mounting plate 113 and a sleeve 1262 sleeved on the top end of the first transmission rod 121; an output rod of the push cylinder 1261 is connected with the top end of the sleeve 1262; a fourth bearing 1244 and a fifth bearing 1245 are arranged between the sleeve 1262 and the first transmission rod 121 at the bottom end of the inner side of the sleeve 1262; a limiting pipe 1263 sleeved at the top end of the first transmission rod 121 is further arranged in the sleeve 1262; a first limit groove is formed at the top end of the first transmission rod 121; a second limiting groove is formed in the inner side of the limiting pipe 1263 corresponding to the first limiting groove; and two semi-circular 1264 are arranged in the first limiting groove and the second limiting groove.

By the sleeve 1262, the output rod of the push cylinder 1261 is not driven to rotate together when the first transmission rod 121 rotates, so that the abrasion of the piston in the push cylinder 1261 is reduced, and the durability is improved.

The fourth bearing 1244 is a deep groove ball bearing; the fifth bearing 1245 is a thrust bearing.

Further, in another embodiment, the crane 324 includes a lifting frame 3241; a plurality of first installation frames 3242 which are parallel to each other are fixed on the inner side of the lifting frame 3241; a plurality of second mounting frames 3243 which are parallel to each other are fixed on the outer side of the lifting frame 3241; rollers 3244 are arranged at two ends of the outer side of the lifting frame 3241; four corners of the outer side of the lifting frame 3241 are respectively provided with a first guide wheel 3245 which is used for being in sliding connection with the vertical connecting rod 323, and the first guide wheels 3245 are embedded in a groove of the vertical connecting rod 323; the first guide wheel 3245 is fixedly connected to the lifting frame 3241 through a guide wheel fixing seat 3246.

The lifting frame 3241 is matched with the first guide wheel 3245, so that the lifting frame 324 is limited between the two vertical connecting rods 323 and can only move up and down along the vertical connecting rods 323; through the rollers 3244 arranged at the two ends of the outer side of the lifting frame 3241, friction generated when the lifting frame 3241 moves with the vertical connecting rod 323 is reduced, so that the lifting frame 324 moves more smoothly, and the service lives of the lifting frame 3241 and the vertical connecting rod 323 can be prolonged.

Further, in another embodiment, the first mounting frame 3242 is used for mounting the grasping apparatus 1; two sides of each grabbing device 1 are respectively provided with the first mounting frame 3242; each grabbing device 1 is correspondingly provided with a rotating cylinder 41; each rotating cylinder 41 is fixedly connected to the tops of the two second mounting frames 3243 through a cylinder rotating seat 3247; the end part of the output rod of the rotating cylinder 41 is rotatably connected to the side wall of the grabbing rack 11; a rotating roller 3248 is arranged at the bottom of the first mounting frame 3242, a third rotating seat 3249 is sleeved on the rotating roller 3248 corresponding to each first mounting frame 3242, and the rotating roller 3248 is fixed on the first mounting frame 3242 through the third rotating seat 3249; the bottom of the first mounting plate 111 is provided with a fourth rotating seat 42 sleeved on the rotating roller 3248.

The rotating roller 3248, the third rotating seat 3249 and the fourth rotating seat 42 which are sleeved on the rotating roller 3248 are used for realizing the rotatable function of the gripping device 1, and the rotating cylinder 41 is used for driving and controlling the rotation of the gripping device 1.

Further, in another embodiment, a counterweight frame 33 is further disposed between the two vertical connecting rods 323 which are not connected with the mounting frame; two sides of the counterweight frame 33 are respectively provided with a second guide wheel 331 embedded in the groove of the vertical connecting rod 323, and the number of the second guide wheels 331 on each side is two; the top parts of the two sides of the counterweight frame 33 are also provided with connecting seats 332; four steering rollers 325 which are arranged in a matrix form are arranged on the top frame 321 corresponding to the connecting seat 332; the connecting seat 332 of the counterweight frame 33 is connected with a flexible connecting piece which is connected to the lifting frame 324 through the steering roller 325;

the flexible connecting piece is an iron chain or a steel cable.

The two steering rollers 325 are disposed above the weight frame 33; the other two steering rollers 325 are arranged above the lifting frame 324; a lifting motor 326 is connected between the two steering rollers 325 arranged above the counterweight frame 33 in a transmission way; and the steering roller 325 is provided with a lifting transmission wheel 327 in transmission connection with the flexible connecting piece.

Through the counterweight frame 33, the required torque of the lifting motor 326 for driving the lifting frame 324 is reduced, the lifting difficulty is reduced, and the effect of protecting the lifting motor 326 can be achieved.

Further, in another embodiment, the road wheel mechanism 2 includes a cross beam 21; both ends of the top of the cross beam 21 are provided with mounting grooves 22 which are opened downwards; a traveling wheel 23 is embedded in the mounting groove 22; the mounting groove 22 is also covered with a fixed cover plate 24; the walking wheels 23 penetrate through the bottom of the cross beam 21, and through holes 211 for accommodating penetrating parts of the walking wheels 23 are formed in the bottom of the cross beam 21; both sides of the fixed cover plate 24 are provided with side plates 241, and the side plates 241 are also fixed on the cross beam 21.

Through the mounting groove 22 extending downwards from the top of the cross beam 21, the travelling wheels 23 only need to be placed from top to bottom, so that the mounting difficulty of the travelling wheels 23 is reduced, and the maintenance efficiency of the travelling wheels 23 is improved; through the fixed cover plate 24, the travelling wheels 23 can be well fixed on the mounting grooves 22, and the structural strength of the cross beam 21 can be enhanced; through curb plate 241, not only can be better reinforcing right the fixed effect of walking wheel 23, can also better reinforcing the structural strength of crossbeam 21.

Further, in another embodiment, a rotating shaft 231 is penetratingly arranged on the travelling wheel 23; the rotating shaft 231 is embedded in the mounting groove 22 in a penetrating manner; the outer sides of the two side plates 241 are respectively provided with a shaft fixing seat 232 which is sleeved on the rotating shaft 231; the shaft fixing seat 232 is fixedly connected with the side plate 241 through a bolt; the fixed cover plate 24 is fixedly connected with the cross beam 21 through bolts; the side plate 241 is fixedly connected to the cross member 21 by bolts.

The rotating shaft 231 is in transmission connection with a horizontal moving motor.

Further, in another embodiment, the walking wheels 23 are rubber wheels.

Adopt the rubber tyer as walking wheel 23 not only can provide great frictional force, orders about the removal of walking wheel mechanism, the rubber tyer still has absorbing effect moreover, better assurance above-mentioned walking wheel mechanism's even running.

The manipulator of the present invention can be easily manufactured or used by those skilled in the art according to the description of the present invention and the attached drawings, and can produce the positive effects described in the present invention.

Unless otherwise specified, in the present invention, if there is an orientation or positional relationship indicated by terms of "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., based on the orientation or positional relationship shown in the drawings, it is only for convenience of describing the present invention and simplifying the description, rather than to indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore, the terms describing orientation or positional relationship in the present invention are for illustrative purposes only, and should not be construed as limiting the present patent, specific meanings of the above terms can be understood by those of ordinary skill in the art in light of the specific circumstances in conjunction with the accompanying drawings.

Unless expressly stated or limited otherwise, the terms "disposed," "connected," and "connected" are used broadly and encompass, for example, being fixedly connected, detachably connected, or integrally connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and all simple modifications and equivalent variations of the above embodiments according to the technical spirit of the present invention are included in the scope of the present invention.

Claims

1. A manipulator, its characterized in that: comprises a driving device (3) and a plurality of grabbing devices (1) arranged on the driving device (3); the driving device (3) comprises a moving frame (31) and a mounting frame (32) fixedly connected to the moving frame (31); the moving frame (31) comprises two parallel walking wheel mechanisms (2) and a horizontal connecting rod (311) arranged between the two walking wheel mechanisms (2) in parallel; the mounting frame (32) comprises a top frame (321), a bottom frame (322) and a vertical connecting rod (323) connected between the top frame (321) and the bottom frame (322); a lifting frame (324) is also arranged between the top frame (321) and the bottom frame (322); the lifting frame (324) is connected to the two vertical connecting rods (323) on the same side in a sliding manner; a fixed connecting rod (328) is fixedly connected between the top frame (321) and the horizontal connecting rod (311); the vertical connecting rod (323) is I-shaped steel, and grooves are formed in the two sides of the vertical connecting rod (323); the gripping device (1) is rotatably connected to the lifting frame (324).

2. A manipulator according to claim 1, wherein: the number of the gripping devices (1) is two; the grabbing device (1) comprises a grabbing rack (11), a grabbing transmission structure (12) embedded in the grabbing rack (11) and a grabbing claw (13) arranged at the bottom end of the grabbing transmission structure (12); the grabbing rack (11) comprises a first mounting plate (111) arranged at the bottom end of the grabbing rack (11), a second mounting plate (112) arranged in the middle of the grabbing rack (11) and a third mounting plate (113) arranged at the top end of the grabbing rack (11); the grabbing transmission structure (12) penetrates through the first mounting plate (111) and is fixed on the first mounting plate (111);

the grabbing claw (13) comprises a first disc (131) and a second disc (132) which are coaxially arranged, and the second disc (132) is arranged above the first disc (131); the middle part of the first disc (131) is provided with a first connecting hole; the side surface of the first disc (131) is provided with at least three first rotating seats (1312) in an equidistant ring manner; a second connecting hole is formed in the middle of the second disc (132); a second rotating seat (1322) is arranged on the side surface of the second disc (132) corresponding to the first rotating seat (1312); each second rotating seat (1322) is rotatably connected with a claw arm (1323); a connecting rod (1313) is arranged between each first rotating seat (1312) and the corresponding claw arm (1323); the second disk (132) is further provided with a plurality of lightening holes (1324) which are arranged at equal intervals around the second connecting hole in a surrounding mode.

3. A manipulator according to claim 2, wherein: the grabbing transmission structure (12) comprises a first transmission rod (121) embedded in the first connecting hole, a second transmission rod (122) embedded in the second connecting hole and a third transmission rod (123) embedded in the first mounting plate (111); the third transmission rod (123) is sleeved on the outer side of the second transmission rod (122), and the second transmission rod (122) is sleeved on the outer side of the first transmission rod (121); two first bearings (1241) embedded at two ends of the inner side of the second transmission rod (122) are arranged between the first transmission rod (121) and the second transmission rod (122); a second bearing (1242) and a third bearing (1243) are arranged at two ends of the inner side of the third transmission rod (123) between the second transmission rod (122) and the third transmission rod (123); the middle part of the outer side of the third transmission rod (123) is also provided with a grabbing fixing plate (1231) for fixing the grabbing transmission structure (12) on the first mounting plate (111);

a gear fixing disc (1221) is arranged at the top of the second transmission rod (122); a first gear (1222) is fixed on the gear fixing disc (1221); a rotating motor (125) is further arranged above the second mounting plate (112), an output shaft of the rotating motor (125) penetrates through the second mounting plate (112), and a second gear (1251) meshed with the first gear (1222) is arranged at the end part of the output shaft of the rotating motor (125).

4. A manipulator according to claim 3, wherein: the top end of the first transmission rod (121) is connected with a pushing assembly (126); the pushing assembly (126) comprises a pushing cylinder (1261) fixed on the third mounting plate (113) and a sleeve (1262) sleeved on the top end of the first transmission rod (121); the output rod of the push cylinder (1261) is connected with the top end of the sleeve (1262); a fourth bearing (1244) and a fifth bearing (1245) are arranged between the sleeve (1262) and the first transmission rod (121) at the bottom end of the inner side of the sleeve (1262); a limiting pipe (1263) sleeved at the top end of the first transmission rod (121) is further arranged in the sleeve (1262); the top end of the first transmission rod (121) is provided with a first limiting groove; a second limiting groove is formed in the inner side of the limiting pipe (1263) corresponding to the first limiting groove; and two semi-circular grooves (1264) are arranged in the first limiting groove and the second limiting groove.

5. A manipulator according to claim 2, wherein: the lifting frame (324) comprises a lifting frame (3241); a plurality of first mounting frames (3242) which are parallel to each other are fixed on the inner side of the lifting frame (3241); a plurality of second mounting frames (3243) which are parallel to each other are further fixed on the outer side of the lifting frame (3241); rollers (3244) are arranged at two ends of the outer side of the lifting frame (3241); four corners of the outer side of the lifting frame (3241) are respectively provided with a first guide wheel (3245) which is used for being in sliding connection with the vertical connecting rod (323), and the first guide wheels (3245) are embedded in grooves of the vertical connecting rod (323); the first guide wheel (3245) is fixedly connected to the lifting frame (3241) through a guide wheel fixing seat (3246).

6. A manipulator according to claim 5, wherein: the first mounting frame (3242) is used for mounting the grabbing device (1); two sides of each grabbing device (1) are respectively provided with one first mounting frame (3242); each grabbing device (1) is correspondingly provided with a rotating cylinder (41); each rotating cylinder (41) is fixedly connected to the tops of the two second mounting frames (3243) through a cylinder rotating seat (3247); the end part of the output rod of the rotating cylinder (41) is rotatably connected to the side wall of the grabbing rack (11); a rotating roller (3248) is arranged at the bottom of the first mounting frame (3242), a third rotating seat (3249) is sleeved on the rotating roller (3248) corresponding to each first mounting frame (3242), and the rotating roller (3248) is fixed on the first mounting frame (3242) through the third rotating seat (3249); and a fourth rotating seat (42) sleeved on the rotating roller (3248) is arranged at the bottom of the first mounting plate (111).

7. A manipulator according to claim 5, wherein: a counterweight frame (33) is arranged between the two vertical connecting rods (323) which are not connected with the mounting frame; two sides of the counterweight frame (33) are respectively provided with a second guide wheel (331) embedded in the groove of the vertical connecting rod (323), and the number of the second guide wheels (331) on each side is two; the top parts of the two sides of the counterweight frame (33) are provided with connecting seats (332); four steering rollers (325) which are arranged in a matrix are arranged on the top frame (321) corresponding to the connecting seat (332); the connecting seat (332) of the counterweight frame (33) is connected with a flexible connecting piece which is connected to the lifting frame (324) through the steering roller (325);

the two steering rollers (325) are arranged above the counterweight frame (33); the other two steering rollers (325) are arranged above the lifting frame (324); a lifting motor (326) is connected between the two steering rollers (325) arranged above the counterweight frame (33) in a transmission way; and the steering roller (325) is provided with a lifting driving wheel (327) in driving connection with the flexible connecting piece.

8. A manipulator according to claim 1, wherein: the travelling wheel mechanism (2) comprises a cross beam (21); both ends of the top of the cross beam (21) are provided with mounting grooves (22) which are opened downwards; a traveling wheel (23) is embedded in the mounting groove (22); a fixed cover plate (24) is covered on the mounting groove (22); the walking wheels (23) penetrate through the bottom of the cross beam (21), and through holes (211) for accommodating penetrating parts of the walking wheels (23) are formed in the bottom of the cross beam (21); both sides of the fixed cover plate (24) are provided with side plates (241), and the side plates (241) are also fixed on the cross beam (21).

9. A manipulator according to claim 8, wherein: a rotating shaft (231) penetrates through the traveling wheel (23); the rotating shaft (231) is embedded in the mounting groove (22) in a penetrating manner; the outer sides of the two side plates (241) are respectively provided with a shaft fixing seat (232) sleeved on the rotating shaft (231); the shaft fixing seat (232) is fixedly connected with the side plate (241) through a bolt; the fixed cover plate (24) is fixedly connected with the cross beam (21) through bolts; the side plates (241) are fixedly connected with the cross beam (21) through bolts.

10. A manipulator according to claim 8, wherein: the walking wheels (23) are rubber wheels.