CN220637917U

CN220637917U - Shockproof manipulator device

Info

Publication number: CN220637917U
Application number: CN202322384450.2U
Authority: CN
Inventors: 陈小红; 姜晓强; 尹林志; 邹金桥; 陶勇; 顾其俊; 赵传强
Original assignee: Zhejiang Institute of Mechanical and Electrical Engineering Co Ltd
Current assignee: Zhejiang Institute of Mechanical and Electrical Engineering Co Ltd
Priority date: 2023-09-04
Filing date: 2023-09-04
Publication date: 2024-03-22
Anticipated expiration: 2033-09-04

Abstract

The utility model relates to the technical field of mechanical arm devices, in particular to a shockproof mechanical arm device which comprises a shock absorption device, wherein one end of the top of the shock absorption device is fixedly connected with a first connecting rod, the top of the first connecting rod is fixedly connected with a rotating part, the top of the rotating part is fixedly connected with a threaded block, the threaded block is in transmission connection with a traversing part, one end of the bottom of the shock absorption device is fixedly connected with a first telescopic part, the movable end of the first telescopic part is fixedly connected with a mechanical claw seat, and the bottom of the mechanical claw seat is fixedly connected with a grabbing part. The utility model can achieve the purpose of reducing vibration in the moving process of the mechanical claw and avoiding the falling of the workpiece.

Description

Shockproof manipulator device

Technical Field

The utility model relates to the technical field of manipulator devices, in particular to a shockproof manipulator device.

Background

A robot is a part for gripping a workpiece (or tool) and has various structural forms such as a gripping type, a holding type, an adsorption type, and the like according to the shape, size, weight, material, and operation requirements of the gripped object. With the continuous development of modern industry, the manipulator is increasingly applied to various industries.

Chinese patent CN205255018U discloses a shockproof manipulator device, which can clamp plastic or other soft workpieces, and can effectively avoid the situation that the surfaces of the workpieces are easily damaged, but in the up-and-down movement process of the mechanical claw, the workpieces are easy to drop due to vibration and inertia generated by mechanical movement, so that a shockproof manipulator device is needed to solve the problem.

Disclosure of Invention

The utility model aims to provide a shockproof manipulator device, so as to solve the problems, and achieve the purposes of reducing vibration in the moving process of a mechanical claw and avoiding falling of a workpiece.

In order to achieve the above object, the present utility model provides the following solutions:

the utility model provides a manipulator device takes precautions against earthquakes, includes damping device, damping device top one end rigid coupling has first connecting rod, first connecting rod top rigid coupling has rotation portion, rotation portion top rigid coupling has the screw thread piece, the screw thread piece transmission is connected with sideslip portion, damping device bottom one end rigid coupling has first telescopic machanism, the loose end rigid coupling of first telescopic machanism has the gripper seat, gripper seat bottom rigid coupling has grabbing portion.

Preferably, the damping device comprises a first damping seat, the top of the first damping seat is fixedly connected with the bottom of the first connecting rod, a second damping seat is arranged on one side of the first damping seat, a third connecting rod and a fourth connecting rod are hinged to the top and the bottom of the first damping seat, which are close to one end, respectively, the first damping seat, the second damping seat, the third connecting rod and the fourth connecting rod are hinged to each other in pairs to form a parallelogram structure, one end of an elastic adjusting part is fixedly connected in the fourth connecting rod, the other end of the elastic adjusting part is rotationally connected with the second damping seat, the elastic adjusting part is positioned at one end of the second damping seat and is in transmission connection with a driving part, the driving part is fixedly connected with the top of the first damping seat, and the bottom of the second damping seat is fixedly connected with the top of the first telescopic part.

Preferably, the elastic adjusting part comprises a spring, the spring is located in the fourth connecting rod, one end of the spring is fixedly connected with the inner wall of one end of the fourth connecting rod, the other end of the spring is fixedly connected with a sliding block, the sliding block is in contact with the inner wall of the fourth connecting rod and is arranged in a sliding manner, the other end of the sliding block is fixedly connected with a fifth connecting rod, the end part of the fifth connecting rod is rotationally connected with a first guide wheel, the first guide wheel is connected with a third guide wheel through steel wire rope transmission, one side of the third guide wheel is fixedly connected with a second guide wheel, the second guide wheel is rotationally connected with a second shock mount, one end of the steel wire rope is wound on the third guide wheel, and the other end of the steel wire rope bypasses the first guide wheel and is in transmission connection with the driving part through the side wall of the second guide wheel.

Preferably, the drive part comprises a third motor, the stiff end of the third motor with first shock mount top one end rigid coupling, the output shaft rigid coupling of third motor has the reel, the reel is close to second shock mount one side is provided with the fourth guide pulley that two symmetries set up, the fourth guide pulley with first shock mount rotates to be connected, two the symmetry axis of fourth guide pulley with the midpoint collineation setting of reel rotation axle and space are perpendicular, wire rope's one end is through two twine between the fourth guide pulley on the reel.

Preferably, the first telescopic part comprises a first telescopic rod, the fixed end of the first telescopic rod is fixedly connected with the bottom of the second shock absorption seat, and the movable end of the first telescopic rod is fixedly connected with the top of the mechanical claw seat.

Preferably, the grabbing portion comprises a claw disc, two ends of the claw disc are fixedly connected with one ends of two second supports, two ends of the second supports are fixedly connected with the bottom of the mechanical claw seat, two first claws are symmetrically arranged on the claw disc, the first claws are rotationally connected with the claw disc, one ends of second connecting rods are hinged to the middle portions of the first claws, two ends of the second connecting rods are hinged to one ends of second telescopic portions, and the other ends of the second telescopic portions are fixedly connected with the bottom of the mechanical claw seat.

Preferably, the second telescopic part comprises a second telescopic rod, the fixed end of the second telescopic rod is fixedly connected with the bottom of the mechanical claw seat, and the movable end of the second telescopic rod is hinged with one end of two second connecting rods.

Preferably, the rotating part comprises a second motor, the fixed end of the second motor is fixedly connected with the bottom of the threaded block, and the output end of the second motor is fixedly connected with the top of the first shock absorption seat.

Preferably, the sideslip portion includes the base, base bottom both ends respectively rigid coupling have first support, two rotate between the first support and be connected with the threaded rod, the one end rigid coupling of threaded rod has the output of first motor, the stiff end of first motor with arbitrary first support lateral wall rigid coupling, the threaded rod with screw thread piece threaded connection, the top of screw thread piece with base bottom contact and slip setting.

The utility model has the following technical effects: during the use, snatch the work piece through snatch the portion, can adjust the height of snatch the portion in order to snatch smoothly and remove of work piece through first telescopic part, rotation in the rotation portion drivable snatch portion realization snatch portion place plane, the removal of the work piece of being convenient for, sideslip portion can adjust the snatch portion horizontal position simultaneously, has further increased the movable range of snatch portion. When the one end of sideslip portion reciprocates along the stand, through damping device reducible grabbing portion removes the vertical vibrations that in-process produced, avoid the work piece to be shaken off, improve the stability that the work piece snatched greatly.

Drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions of the prior art, the drawings that are needed in the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of the structure of the present utility model;

FIG. 2 is an enlarged view of a portion of the utility model at A in FIG. 1;

FIG. 3 is a schematic structural diagram of embodiment 2 of the present utility model;

fig. 4 is a schematic view showing the structure of a second claw in embodiment 2 of the present utility model.

1, a base; 2. a threaded rod; 3. a first motor; 4. a first bracket; 5. a screw block; 6. a first link; 7. a damping device; 8. a first telescopic rod; 9. a gripper seat; 10. a second telescopic rod; 11. a second bracket; 12. a first jaw; 13. a second link; 14. a second jaw seat; 15. a second jaw; 16. a claw disk; 17. a second motor; 18. a column; 701. a first shock mount; 702. a third motor; 703. a reel; 704. a third link; 705. a fourth link; 706. a spring; 707. a slide block; 708. a fifth link; 709. the first guide wheel; 710. the second guide wheel; 711. a third guide wheel; 712. the second shock mount; 713. a wire rope; 714. and a fourth guide wheel.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

In order that the above-recited objects, features and advantages of the present utility model will become more readily apparent, a more particular description of the utility model will be rendered by reference to the appended drawings and appended detailed description.

Example 1:

referring to fig. 1-2, the embodiment provides a shockproof manipulator device, which comprises a shock absorber 7, wherein one end of the top of the shock absorber 7 is fixedly connected with a first connecting rod 6, the top of the first connecting rod 6 is fixedly connected with a rotating part, the top of the rotating part is fixedly connected with a threaded block 5, the threaded block 5 is in transmission connection with a traversing part, one end of the bottom of the shock absorber 7 is fixedly connected with a first telescopic part, the movable end of the first telescopic part is fixedly connected with a mechanical gripper seat 9, and the bottom of the mechanical gripper seat 9 is fixedly connected with a grabbing part.

During the use, snatch the work piece through snatch the portion, can adjust the height of snatch the portion in order to snatch smoothly and remove of work piece through first telescopic part, rotation in the rotation portion drivable snatch portion realization snatch portion place plane, the removal of the work piece of being convenient for, sideslip portion can adjust the snatch portion horizontal position simultaneously, has further increased the movable range of snatch portion. When the one end of sideslip portion reciprocates along stand 18, through damping device 7 reducible grabbing portion removes the vertical vibrations that in-process produced, avoids the work piece to be shaken off, improves the stability that the work piece snatched greatly.

One end of the traversing part is fixedly connected with a sliding block, the sliding block is sleeved on the upright post 18 and is arranged in a sliding way with the upright post 18, and a lifting oil cylinder (not shown in the figure) is connected with the sliding block in a transmission way, so that the sliding block can move up and down along the upright post 18, and the lifting of the traversing part is in the prior art and is not repeated here.

Further optimizing scheme, damping device 7 includes first shock absorber 701, first shock absorber 701 top and the rigid coupling of first connecting rod 6 bottom, one side of first shock absorber 701 is provided with second shock absorber 712, the top and the bottom that first shock absorber 701 and second shock absorber 712 are close to one end are articulated respectively to have third connecting rod 704 and fourth connecting rod 705, first shock absorber 701, second shock absorber 712, third connecting rod 704 and fourth connecting rod 705 are articulated and form parallelogram structure two by two, the rigid coupling has the one end of elasticity adjustment part in the fourth connecting rod 705, the other end and the second shock absorber 712 rotation of elasticity adjustment part are connected, the one end transmission that elasticity adjustment part is located second shock absorber 712 is connected with drive part, drive part and the rigid coupling of first shock absorber 701 top, second shock absorber 712 bottom and the rigid coupling of first expansion portion top.

After the first shock absorbing seat 701 is fixedly connected with the bottom of the first connecting rod 6, the second shock absorbing seat 712 can vertically displace relative to the first shock absorbing seat 701, one end, close to the first shock absorbing seat 701, of the fourth connecting rod 705 is fixedly connected with one end of an elastic adjusting part, the other end of the elastic adjusting part is rotationally connected with the second shock absorbing seat 712, the elastic adjusting part is located at one end of the second shock absorbing seat 712 and is in transmission connection with a driving part, and the driving part is fixedly connected with the top of the first shock absorbing seat 701, so that elasticity is provided between the first shock absorbing seat 701 and the second shock absorbing seat 712, supporting force on the second shock absorbing seat 712 is provided by elasticity between the first shock absorbing seat 701 and the second shock absorbing seat 712, vibration generated in the lifting or descending process of the grabbing part is reduced through elasticity, so that a shock absorbing effect is achieved, and meanwhile, the elasticity between the first shock absorbing seat and the second shock absorbing seat 712 can be adjusted through the driving part.

Further in the optimization scheme, the elastic adjusting part comprises a spring 706, the spring 706 is located in a fourth connecting rod 705, one end of the spring 706 is fixedly connected with the inner wall of one end of the fourth connecting rod 705, the other end of the spring 706 is fixedly connected with a sliding block 707, the sliding block 707 is in contact with the inner wall of the fourth connecting rod 705 and is arranged in a sliding mode, the other end of the sliding block 707 is fixedly connected with a fifth connecting rod 708, the end of the fifth connecting rod 708 is rotationally connected with a first guide wheel 709, the first guide wheel 709 is in transmission connection with a third guide wheel 711 through a steel wire rope 713, one side of the third guide wheel 711 is fixedly connected with a second guide wheel 710, the second guide wheel 710 is rotationally connected with a second shock absorber 712, one end of the steel wire rope 713 is wound on the third guide wheel 711, and the other end of the steel wire rope 713 bypasses the first guide wheel 709 and is in transmission connection with the driving part through the side wall of the second guide wheel 710.

Further optimizing scheme, the drive part includes third motor 702, the stiff end of third motor 702 and the one end rigid coupling at first shock mount 701 top, the output shaft rigid coupling of third motor 702 has reel 703, reel 703 is close to second shock mount 712 one side and is provided with the fourth guide pulley 714 that two symmetries set up, fourth guide pulley 714 rotates with first shock mount 701 to be connected, the symmetry axis of two fourth guide pulleys 714 sets up and the space is perpendicular with the mid point collineation of reel 703 axis of rotation, the one end of wire rope 713 twines on reel 703 through between two fourth guide pulleys 714.

When the third motor 702 drives the reel 703 to rotate, the length of the wire rope 713 can be adjusted, so that the spring 706 can be extended or shortened to adjust the elasticity between the first shock absorbing seat 701 and the second shock absorbing seat 712.

The fourth guide wheels 714 symmetrically arranged can ensure that the steel wire rope 713 is horizontally wound on the middle of the winding wheel 703, so that the steel wire rope 713 is prevented from falling off the winding wheel 703 in the winding and unwinding process, and the other end of the steel wire rope 713 bypasses the second guide wheel 710 and then winds on the first guide wheel 709 and then winds on the third guide wheel 711.

When the steel wire rope 713 is shortened, the distance between the first guide wheel 709 and the third guide wheel 711 is shortened, the fifth connecting rod 708 is driven to drive the sliding block 707 to extend the spring 706, and the spring 706 provides stronger tensile force after being stretched, so that the supporting force between the first shock-absorbing seat 701 and the second shock-absorbing seat 712 is increased, the elasticity is reduced, the rigidity is increased, the device is suitable for grabbing objects with larger mass, and vibration generated in the grabbing process has smaller influence on grabbing due to larger mass of a workpiece, and the shock absorption stability in the grabbing process can be realized only by smaller elasticity.

When the steel wire rope 713 stretches, the distance between the first guide wheel 709 and the third guide wheel 711 is prolonged, and then the fifth connecting rod 708 is driven to drive the sliding block 707 to enable the spring 706 to be shortened, the pulling force provided by the shortened spring 706 is weakened, but the elasticity is improved, so that the elasticity of the first shock-absorbing seat 701 and the second shock-absorbing seat 712 is increased, the device is suitable for grabbing objects with smaller quality, and the impact on grabbing caused by vibration generated in the grabbing process is larger due to the fact that the quality of grabbing a workpiece is smaller, the shock absorption effect is increased due to the fact that the elasticity of the first shock-absorbing seat 701 and the second shock-absorbing seat 712 is larger, and further the workpiece is prevented from falling.

A tension sensor (not shown) may be further disposed at the connection between the slider 707 and the spring 706, a gravity sensor (not shown) may be further disposed on the second shock mount 712, and the third motor 702, the gravity sensor and the tension sensor are all electrically connected to a PLC controller, which is preferably a programmable PLC controller.

The grabbing part grabs the quality through the gravity sensor, and then feeds back to the PLC controller, and the PLC controller controls the third motor 702 to rotate forward or reversely so that the steel wire rope 713 stretches or shortens, and the tension sensor feeds back the tension value to the PLC controller, so that automatic adjustment of the stabilizing effect is achieved.

Further optimizing scheme, first telescopic part includes first telescopic link 8, and the stiff end of first telescopic link 8 and second shock mount 712 bottom rigid coupling, the expansion end of first telescopic link 8 and mechanical claw seat 9 top rigid coupling.

Further optimizing scheme, the grabbing part includes claw dish 16, claw dish 16 both ends rigid coupling has the one end of two second supports 11, the other end and the mechanical claw seat 9 bottom rigid coupling of two second supports 11, claw dish 16 symmetry is provided with two first claws 12, first claw 12 is connected with claw dish 16 rotation, the middle part of first claw 12 articulates there is the one end of second connecting rod 13, the other end of two second connecting rods 13 articulates there is the one end of second telescopic part, the other end and the mechanical claw seat 9 bottom rigid coupling of second telescopic part.

Further optimizing scheme, the second telescopic part includes second telescopic link 10, and the stiff end of second telescopic link 10 is fixed with mechanical claw seat 9 bottom rigid coupling, and the expansion end of second telescopic link 10 is articulated with the one end of two second connecting rods 13.

In this embodiment, the operation principle and structure of the gripping portion are disclosed in chinese patent CN205255018U, and are not described herein in detail.

In a further optimized scheme, the rotating part comprises a second motor 17, the fixed end of the second motor 17 is fixedly connected with the bottom of the threaded block 5, and the output end of the second motor 17 is fixedly connected with the top of the first shock absorption seat 701.

Further optimizing scheme, sideslip portion includes base 1, and base 1 bottom both ends are the rigid coupling respectively has first support 4, rotates between two first supports 4 to be connected with threaded rod 2, and the one end rigid coupling of threaded rod 2 has the output of first motor 3, and the stiff end and the arbitrary lateral wall rigid coupling of first support 4 of first motor 3, threaded rod 2 and screw thread piece 5 threaded connection, the top and the base 1 bottom contact of screw thread piece 5 and slip setting.

It should be noted that the screw block 5 is a rectangular block, and the top of the screw block 5 is in contact with the bottom of the base 1 and is slidably disposed, so as to prevent the screw block 5 from rotating along with the rotation of the threaded rod 2.

The working procedure of this embodiment is as follows: during the use, the one end through second telescopic link 10 extension or shorten drive two second connecting rods 13 reciprocates, and then drive the articulated first claw 12 of second connecting rod 13 other end and open or close, and then realize snatching of work piece, after snatching the work piece, accessible first telescopic link 8 adjustment work piece's height, drive damping device 7 in the plane rotation and then realize the rotation of two first claws 12 in the plane through second motor 17, the removal after the work piece snatchs of being convenient for, simultaneously, drive threaded rod 2 through first motor 3 and rotate, make the screw thread piece 5 with threaded rod 2 threaded connection transversely slide along base 1 bottom, with the horizontal position of adjustment two first claws 12, further increase the scope of snatching.

One end of the base 1 moves up and down along the upright 18 through a sliding block and a lifting cylinder (not shown), and when the third motor 702 drives the winding wheel 703 to rotate, the length of the wire rope 713 is adjusted, and the spring 706 is further extended or shortened, so as to adjust the elasticity between the first shock absorbing seat 701 and the second shock absorbing seat 712.

When the steel wire rope 713 stretches, the distance between the first guide wheel 709 and the third guide wheel 711 is prolonged, the fifth connecting rod 708 is driven to drive the sliding block 707 to enable the spring 706 to be shortened, the pulling force provided by the shortened spring 706 is weakened, but the elasticity is improved, so that the elasticity of the first shock-absorbing seat 701 and the second shock-absorbing seat 712 is increased, the steel wire rope is suitable for grabbing objects with smaller quality, the impact on grabbing caused by vibration generated in the grabbing process is larger due to the fact that the grabbing quality of workpieces is smaller, the shock absorption effect is increased due to the fact that the elasticity of the first shock-absorbing seat 701 and the second shock-absorbing seat 712 is larger, the workpieces are prevented from falling, and the grabbing stability of the workpieces is greatly improved.

Example 2:

referring to fig. 3-4, the difference between this embodiment and embodiment 1 is that the bottom of the first claw 12 is detachably connected with the second claw seat 14 through the action of threads, the bottom of the second claw seat 14 is fixedly connected with the second claw 15, the second claw 15 is of a hollow structure, the second claw 15 is made of flexible materials, the inside of the second claw 15 is composed of a plurality of mutually communicated subchambers, one end of the second claw 15 is provided with a water inlet, the other end of the second claw 15 is of a closed structure, the top of the outside of the second claw 15 can be connected with a valve (not shown in the drawing), the other end of the valve is communicated with a water pump (not shown in the drawing), water is injected into the second claw 15 after the valve is opened, when water flows into the closed chambers, the water pressure inside the second claw 15 gradually increases, the left and right surfaces of each small chamber are subjected to the action of the water pressure to generate axial expansion deformation, the expansion deformation superposition of the plurality of small chambers enables the whole second claw 15 to generate radial bending, so that the two second claws 15 take the gesture of pinching workpieces is realized, and the bending angle and the deformation of the second claw 15 are in proportion to the input water pressure.

In the description of the present utility model, it should be understood that the terms "longitudinal," "transverse," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the present utility model, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present utility model.

The above embodiments are only illustrative of the preferred embodiments of the present utility model and are not intended to limit the scope of the present utility model, and various modifications and improvements made by those skilled in the art to the technical solutions of the present utility model should fall within the protection scope defined by the claims of the present utility model without departing from the design spirit of the present utility model.

Claims

1. The utility model provides a manipulator device takes precautions against earthquakes which characterized in that: including damping device (7), damping device (7) top one end rigid coupling has first connecting rod (6), first connecting rod (6) top rigid coupling has rotation portion, rotation portion top rigid coupling has screw thread piece (5), screw thread piece (5) transmission is connected with sideslip portion, damping device (7) bottom one end rigid coupling has first telescopic part, the expansion end rigid coupling of first telescopic part has gripper seat (9), gripper seat (9) bottom rigid coupling has snatchs the portion.

2. The vibration-proof manipulator device according to claim 1, wherein: the damping device (7) comprises a first damping seat (701), the top of the first damping seat (701) is fixedly connected with the bottom of the first connecting rod (6), a second damping seat (712) is arranged on one side of the first damping seat (701), a third connecting rod (704) and a fourth connecting rod (705) are hinged to the top and the bottom of the first damping seat (701) close to one end respectively, the first damping seat (701), the second damping seat (712), the third connecting rod (704) and the fourth connecting rod (705) are hinged to each other in pairs to form a parallelogram structure, one end of an elastic adjusting part is fixedly connected in the fourth connecting rod (705), the other end of the elastic adjusting part is in rotary connection with the second damping seat (712), the elastic adjusting part is located at one end of the second damping seat (712) and is in transmission connection with a driving part, the driving part is fixedly connected with the top of the first damping seat (701), and the bottom of the second damping seat (712) is fixedly connected with the top of the first damping seat.

3. The vibration-proof manipulator device according to claim 2, wherein: the elastic adjusting part comprises a spring (706), the spring (706) is located in the fourth connecting rod (705), one end of the spring (706) is fixedly connected with the inner wall of one end of the fourth connecting rod (705), a sliding block (707) is fixedly connected with the other end of the spring (706), the sliding block (707) is in contact with the inner wall of the fourth connecting rod (705) and is arranged in a sliding mode, a fifth connecting rod (708) is fixedly connected with the other end of the sliding block (707), the end portion of the fifth connecting rod (708) is rotationally connected with a first guide wheel (709), the first guide wheel (709) is connected with a third guide wheel (711) through a steel wire rope (713) in a transmission mode, a second guide wheel (710) is fixedly connected to one side of the third guide wheel (711), one end of the steel wire rope (713) is wound on the third guide wheel (711), and the other end of the steel wire rope (713) is wound around the first guide wheel (709) and is connected with the driving part through the side wall of the second guide wheel (710).

4. A vibration-proof manipulator device according to claim 3, wherein: the drive part comprises a third motor (702), the fixed end of the third motor (702) is fixedly connected with one end of the top of the first shock absorption seat (701), a winding wheel (703) is fixedly connected with an output shaft of the third motor (702), a fourth guide wheel (714) which is symmetrically arranged is arranged on one side of the winding wheel (703) close to the second shock absorption seat (712), the fourth guide wheel (714) is rotationally connected with the first shock absorption seat (701), symmetrical shafts of the fourth guide wheel (714) are arranged in a way that the symmetrical shafts of the fourth guide wheel (714) are in collinear arrangement with the middle point of the rotation shaft of the winding wheel (703) and are vertical in space, and one end of the steel wire rope (713) is wound on the winding wheel (703) through the two fourth guide wheels (714).

5. The vibration-proof manipulator device according to claim 2, wherein: the first telescopic part comprises a first telescopic rod (8), the fixed end of the first telescopic rod (8) is fixedly connected with the bottom of the second shock absorption seat (712), and the movable end of the first telescopic rod (8) is fixedly connected with the top of the mechanical claw seat (9).

6. The vibration-proof manipulator device according to claim 1, wherein: the grabbing part comprises a claw disc (16), two ends of the claw disc (16) are fixedly connected with one ends of two second supports (11), two ends of the second supports (11) are fixedly connected with the bottom of the mechanical claw seat (9), two first claws (12) are symmetrically arranged on the claw disc (16), the first claws (12) are rotationally connected with the claw disc (16), one ends of second connecting rods (13) are hinged to the middle of each first claw (12), one ends of second telescopic parts are hinged to the other ends of the second connecting rods (13), and the other ends of the second telescopic parts are fixedly connected with the bottom of the mechanical claw seat (9).

7. The vibration-proof manipulator device according to claim 6, wherein: the second telescopic part comprises a second telescopic rod (10), the fixed end of the second telescopic rod (10) is fixedly connected with the bottom of the mechanical claw seat (9), and the movable end of the second telescopic rod (10) is hinged with one end of the two second connecting rods (13).

8. The vibration-proof manipulator device according to claim 2, wherein: the rotating part comprises a second motor (17), the fixed end of the second motor (17) is fixedly connected with the bottom of the threaded block (5), and the output end of the second motor (17) is fixedly connected with the top of the first shock absorption seat (701).

9. The vibration-proof manipulator device according to claim 1, wherein: the transverse moving part comprises a base (1), a first support (4) is fixedly connected to two ends of the bottom of the base (1) respectively, a threaded rod (2) is connected between the first supports (4) in a rotating mode, one end of the threaded rod (2) is fixedly connected with the output end of a first motor (3), the fixed end of the first motor (3) is fixedly connected with any side wall of the first support (4), the threaded rod (2) is in threaded connection with a threaded block (5), and the top of the threaded block (5) is in contact with the bottom of the base (1) and is in sliding arrangement.