A mechanical multi-station grasping manipulator

Abstract

The present invention relates to the technical field of grasping manipulators, and more specifically, to a mechanical multi-station grasping manipulator, comprising a mounting table, a control console, a dust suction seat and a support table, wherein the control console is arranged on the mounting table, the dust suction seat is arranged on the mounting table, the support table is movably arranged on the mounting table and is located on one side of the dust suction seat, the multi-station grasping manipulator also comprises a manipulator assembly and a power output assembly, the manipulator assembly is arranged on the support table and is used for clamping and transporting mechanical parts, the power output assembly is arranged on the mounting table and is connected to the manipulator assembly, and is used for controlling the operation of the manipulator assembly and adjusting the position of the support table; during the whole process, the two fixing methods of clamping and adsorption can be integrated into one, thereby realizing accurate and efficient fixing and transportation of mechanical parts of different shapes, and improving the adaptability of the entire grasping manipulator to the mechanical parts.

Description

Technical Field

[0001] The invention relates to the technical field of grabbing manipulators, and more specifically to a mechanical multi-station grabbing manipulator. Background Art

[0002] A manipulator is an automatic device that can imitate certain movements and functions of human hands and arms, and is used to grab, carry objects or operate tools according to a fixed program. It can replace heavy labor to achieve mechanization and automation of production, and can operate in harmful environments to protect personal safety. Therefore, it is widely used in machinery manufacturing, metallurgy, electronics, light industry, atomic energy and other departments.

[0003] Multi-station grasping robots play an important role in the assembly line work of multi-structure mechanical parts. Existing multi-station grasping robots mainly use clamping and fixing methods to carry mechanical parts. However, the clamping and fixing grasping methods are mostly suitable for mechanical parts with relatively regular contour shapes. When encountering irregularly shaped parts, manual handling is required. The use of clamping and fixing grasping can easily result in poor handling stability and low assembly accuracy of irregularly shaped parts. Summary of the invention

[0004] The purpose of the present invention is to provide a mechanical multi-station grasping robot to solve the problems raised in the above background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A mechanical multi-station grabbing manipulator comprises a mounting platform, a control console, a dust suction seat and a support platform, wherein the control console is arranged on the mounting platform, the dust suction seat is arranged on the mounting platform, the support platform is movably arranged on the mounting platform and is located on one side of the dust suction seat, the multi-station grabbing manipulator further comprises a manipulator assembly and a power output assembly, the manipulator assembly is arranged on the support platform and is used to clamp and transport mechanical parts, the power output assembly is arranged on the mounting platform and is connected to the manipulator assembly and is used to control the operation of the manipulator assembly and adjust the position of the support platform;

[0007] The manipulator assembly includes a plurality of mounting seats, a single manipulator structure and a control structure. The plurality of mounting seats are equidistantly arranged on a support platform. A single manipulator structure is arranged between each mounting seat and the support platform. The single manipulator structure is used to perform the grasping and transportation of mechanical parts. The control structure is arranged on the support platform and connected to each single manipulator structure, and is used to control the operation of the single manipulator structure.

[0008] A further technical solution of the present application: each of the single-body manipulator structures includes a rotating drum, an exhaust component and a grasping execution module, the rotating drum is movably arranged on a support platform, the exhaust component is arranged on the inner side of the rotating drum and is connected to the mounting seat, the grasping execution module is arranged on the support platform and is connected to the rotating drum, and is used to clamp and fix mechanical parts, the rotating drum is connected to a control structure, and the control structure controls the rotation of the rotating drum when working, the exhaust component is connected to the grasping execution module, and when the rotating drum rotates, it controls the exhaust component to work and the grasping execution module to work and adsorb and fix the surface of the mechanical parts.

[0009] A further technical solution of the present application: the control structure includes a rack, a gear ring and a No. 1 electric telescopic rod, the rack being movably arranged in a guide rail formed on the support platform and the two being elastically connected, the No. 1 electric telescopic rod being arranged on the support platform and its movable end being connected to the rack, a gear ring being sleeved on the outer wall of each of the rotating drums, and the gear ring being meshed with the rack.

[0010] A further technical solution of the present application: the grasping execution module includes a sliding seat, an adjustment disk and a grasping piece, the sliding seats are in plurality and are arranged on a support table, the sliding seat and the support table are slidably matched and elastically connected, the adjustment disk is arranged on a rotating drum and concentrically arranged between the two, a plurality of adjustment parts are arranged on the inner wall of the adjustment disk, a plurality of smooth parts smoothly connected to the adjustment parts are arranged on the inner wall of the adjustment disk, the adjustment parts and the smooth parts are located on the moving path of the sliding seat, a grasping piece is arranged on each of the sliding seats, and the grasping pieces clamp the mechanical parts when they move toward each other.

[0011] The present application has a further technical solution: a resistance reducing member is provided between the sliding seat and the adjusting plate, for reducing the friction resistance encountered when the sliding seat and the adjusting portion and the smooth portion are in contact.

[0012] The present application has a further technical solution: the grasping member includes a clamping arm and a suction cup, the clamping arm is arranged on a sliding seat, the clamping arm is Z-shaped, the suction cup is arranged at one end of the clamping arm away from the sliding seat, and the suction cup is connected to the vacuum member.

[0013] The present application has a further technical solution: the vacuum part includes a hollow tube, a piston rod and an adjusting unit, the hollow tube is arranged on a mounting seat and is located on the inner side of a rotating cylinder, the hollow tube includes a main body and a rotating tube movably connected to the main body, the rotating tube is connected to the suction cup through a clamping arm, the piston rod is movably arranged in the hollow tube and the two are elastically connected, the adjusting unit is arranged between the piston rod and the rotating cylinder, and the position of the piston rod in the hollow tube is adjusted by the adjusting unit when the rotating cylinder rotates.

[0014] A further technical solution of the present application is as follows: the adjusting unit includes a push arm, a sliding column and an adjusting groove, the adjusting groove is formed on the inner wall of the rotating cylinder, the sliding column is movably arranged in the adjusting groove, one end of the push arm is movably connected to the piston rod, and the other end of the push arm is connected to the sliding column.

[0015] A further technical solution of the present application is as follows: the power output assembly includes a back plate, a machine base, a stepper motor, a movable seat, a No. 2 electric telescopic rod, a lifting seat and a connecting block, the back plate is arranged on the mounting table, the machine base is movably arranged in a No. 1 horizontal groove formed on the mounting table, the stepper motor is arranged on the machine base, the movable seat is movably arranged in an adjustment groove formed on the back plate, the movable seat is connected to the support table, the adjustment groove is U-shaped, a reciprocating screw is arranged at the output end of the stepper motor, the reciprocating screw slides through the movable seat and the two are threadedly matched, the lifting seat is arranged on the movable seat, a connecting block is movably arranged in the lifting seat, the No. 2 electric telescopic rod is arranged on the mounting table and its movable end is connected to the connecting block, a matching block is movably arranged in the No. 2 horizontal groove formed on the back plate, a guide column is arranged on the movable seat, and the guide column slides through the matching block.

[0016] A further technical solution of the present application is as follows: a pressure sensor is arranged on the inner wall of the lifting seat, the pressure sensor is arranged on the moving path of the connecting block, and the pressure sensor is electrically connected to the No. 1 electric telescopic rod.

[0017] Compared with the prior art, the technical solution provided by the embodiment of the present invention has the following beneficial effects:

[0018] The embodiment of the present invention sets a rotating drum, a vacuum part, a grasping execution module and a suction cup, and utilizes a linkage mechanical structure to control the rotation of the gear ring and the rotating drum during the movement of the rack, thereby realizing the adjustment of the position of the sliding seat. On the one hand, the clamping arm can be used to clamp and fix regular mechanical parts, and on the other hand, the vacuum part and the suction cup can be used to adsorb and fix irregular mechanical parts. During the whole process, the two fixing methods of clamping and adsorption can be integrated into one, thereby realizing accurate and efficient fixing and transportation of mechanical parts of different shapes, and improving the adaptability of the entire grasping robot to the mechanical parts. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 Schematic diagram of the structure of a mechanical multi-station grasping manipulator in an embodiment of the present invention.

[0020] Figure 2 Schematic diagram of the structure of the manipulator assembly in the mechanical multi-station grasping manipulator in an embodiment of the present invention.

[0021] Figure 3 It is a structural schematic diagram of a single manipulator structure in a mechanical multi-station grasping manipulator in an embodiment of the present invention.

[0022] Figure 4 It is a structural schematic diagram of a grasping execution module in a mechanical multi-station grasping robot in an embodiment of the present invention.

[0023] Figure 5 Schematic diagram of the structure of a grabbing member in a mechanical multi-station grabbing robot in an embodiment of the present invention.

[0024] Figure 6 Schematic diagram of the structure of the vacuum part in the mechanical multi-station grasping manipulator in an embodiment of the present invention.

[0025] Figure 7 It is a schematic structural diagram of a power output assembly and a mounting platform in a mechanical multi-station grasping manipulator in an embodiment of the present invention.

[0026] Figure 8 Schematic diagram of the structure of the power output assembly in the mechanical multi-station grasping manipulator in an embodiment of the present invention.

[0027] Explanation of the symbols in the schematic diagram:

[0028] 1-mounting table, 2-control table, 3-support table, 4-dust suction seat, 5-rack, 6-No. 1 electric telescopic rod, 7-guide rail, 8-mounting seat, 9-rotating cylinder, 10-clamping arm, 11-adjusting disk, 12-tooth ring, 13-adjusting part, 14-smooth part, 15-hollow tube, 16-sliding seat, 17-suction cup, 18-roller, 19-adjusting slot, 20-piston rod, 21-push arm, 22-sliding column, 23-No. 2 electric telescopic rod, 24-back plate, 25-stepping motor, 26-No. 1 horizontal slot, 27-machine base, 28-reciprocating screw, 29-adjusting slot, 30-moving seat, 31-guide column, 32-No. 2 horizontal slot, 33-matching block, 34-lifting seat, 35-pressure sensor, 36-connecting block. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. The present invention is further described below in combination with the embodiments.

[0030] See also Figure 1-Figure 8In one embodiment of the present application, a mechanical multi-station grasping manipulator includes a mounting platform 1, a control console 2, a dust suction seat 4 and a support platform 3, wherein the control console 2 is arranged on the mounting platform 1, the dust suction seat 4 is arranged on the mounting platform 1, and the support platform 3 is movably arranged on the mounting platform 1 and is located on one side of the dust suction seat 4. The multi-station grasping manipulator also includes a manipulator assembly and a power output assembly, wherein the manipulator assembly is arranged on the support platform 3 and is used to clamp and transport mechanical parts, and the power output assembly is arranged on the mounting platform 1 and is connected to the manipulator assembly and is used to control the operation of the manipulator assembly and adjust the position of the support platform 3;

[0031] The manipulator assembly includes a plurality of mounting seats 8, a single manipulator structure and a control structure. The plurality of mounting seats 8 are equidistantly arranged on the support platform 3. A single manipulator structure is arranged between each mounting seat 8 and the support platform 3. The single manipulator structure is used to perform the grasping and transportation of mechanical parts. The control structure is arranged on the support platform 3 and connected to each single manipulator structure, and is used to control the operation of the single manipulator structure.

[0032] In a specific case of the present embodiment, each of the single manipulator structures includes a rotating drum 9, an exhaust component and a grasping execution module. The rotating drum 9 is movably arranged on the support platform 3. The exhaust component is arranged on the inner side of the rotating drum 9 and is connected to the mounting seat 8. The grasping execution module is arranged on the support platform 3 and is connected to the rotating drum 9 for clamping and fixing mechanical parts. The rotating drum 9 is connected to a control structure, which controls the rotation of the rotating drum 9 when the control structure is working. The exhaust component is connected to the grasping execution module, which controls the exhaust component to work and the grasping execution module to work and adsorb and fix the surface of the mechanical parts when the rotating drum 9 rotates.

[0033] In another specific case of this embodiment, the control structure includes a rack 5, a gear ring 12 and a No. 1 electric telescopic rod 6, the rack 5 is movably arranged in a guide rail 7 formed on the support platform 3 and the two are elastically connected, the No. 1 electric telescopic rod 6 is arranged on the support platform 3 and its movable end is connected to the rack 5, and a gear ring 12 is sleeved on the outer wall of each of the rotating drums 9, and the gear ring 12 is meshed with the rack 5.

[0034] It should be specially noted that the present embodiment is not limited to the above-mentioned No. 1 electric telescopic rod 6 to adjust the position of the rack 5, and a linear motor or a hydraulic cylinder may also be used instead, which are not listed one by one here.

[0035] In actual application, by installing and fixing the mounting table 1 on the mechanical parts assembly production line and controlling the operation of the power output component through the control console 2, the adjustment of the horizontal and vertical positions of the clamping arm 10 can be realized, and the assembly and transportation of the parts assembly line can be realized. In the process of clamping and fixing the mechanical parts, the control console 2 can be used to control the No. 1 electric telescopic rod 6 to be energized and extended, driving the rack 5 to move along the guide rail 7. Under the meshing action between the rack 5 and the gear ring 12, the rotating drum 9 can be driven to rotate, and the rotating drum 9 can control the grasping execution structure to clamp and fix the mechanical parts.

[0036] See also Figure 1-Figure 6 As another preferred embodiment of the present application, the grabbing execution module includes a sliding seat 16, an adjustment disk 11 and a grabbing piece. The number of the sliding seats 16 is several and they are arranged on the support platform 3. The sliding seat 16 and the support platform 3 are slidably matched and elastically connected. The adjustment disk 11 is set on the rotating drum 9 and is concentrically arranged between the two. A plurality of adjustment parts 13 are arranged on the inner wall of the adjustment disk 11. A plurality of smooth parts 14 smoothly connected to the adjustment parts 13 are arranged on the inner wall of the adjustment disk 11. The adjustment parts 13 and the smooth parts 14 are located on the moving path of the sliding seat 16. A grabbing piece is arranged on each of the sliding seats 16. When the grabbing pieces move toward each other, they clamp the mechanical parts.

[0037] In a specific case of this embodiment, a resistance reducing member is provided between the sliding seat 16 and the adjusting plate 11 to reduce the friction resistance encountered when the sliding seat 16 and the adjusting portion 13 and the smooth portion 14 are in contact with each other.

[0038] In another specific case of this embodiment, the grasping member includes a clamping arm 10 and a suction cup 17, the clamping arm 10 is arranged on a sliding seat 16, the clamping arm 10 is Z-shaped, the suction cup 17 is arranged at one end of the clamping arm 10 away from the sliding seat 16, and the suction cup 17 is connected to the vacuum member.

[0039] It should be particularly noted that the resistance reducing component can be a ball or a roller 18. In the present embodiment, the resistance reducing component is preferably a roller 18. The roller 18 is movably arranged on the sliding seat 16 and slidingly cooperates with the inner wall of the adjusting plate 11. As for the specific model parameters of the roller 18, the best choice can be made according to the actual situation and no specific limitation is made here.

[0040] In actual application, by controlling the operation of the power drive component, the position of the support platform 3 in the vertical and horizontal directions can be adjusted. When controlling the mechanical arm to grasp and release mechanical parts, by controlling the No. 1 electric telescopic rod 6 to be energized and extended or contracted, the rack 5 can be driven to move relative to the gear ring 12. Under the meshing action between the rack 5 and the gear ring 12, the gear ring 12 and the rotating drum 9 are driven to rotate. During the rotation of the rotating drum 9, the adjustment disk 11 can be driven to rotate. During the rotation of the adjustment disk 11, the roller 18 and the adjustment part 13 can be driven to meet. Under the friction between the adjustment part 13 and the roller 18, the sliding seat 16 can be driven to move toward each other, thereby realizing the clamping and fixing of the mechanical parts. When the shape of the mechanical parts is irregular, the vacuum part can be controlled to work synchronously during the rotation of the rotating drum 9, and the suction cup 17 can be directly in contact with the surface of the mechanical parts. The vacuum part is used to draw a vacuum, so as to realize the adsorption and fixing of irregular mechanical parts.

[0041] See also Figure 1-Figure 6 As another preferred embodiment of the present application, the vacuum component includes a hollow tube 15, a piston rod 20 and an adjusting unit. The hollow tube 15 is arranged on the mounting seat 8 and is located on the inner side of the rotating cylinder 9. The hollow tube 15 includes a main body and a rotating tube movably connected to the main body. The rotating tube is connected to the suction cup 17 through the clamping arm 10. The piston rod 20 is movably arranged in the hollow tube 15 and the two are elastically connected. The adjusting unit is arranged between the piston rod 20 and the rotating cylinder 9. When the rotating cylinder 9 rotates, the position of the piston rod 20 in the hollow tube 15 is adjusted by the adjusting unit.

[0042] In this exemplary embodiment, the adjustment unit includes a push arm 21, a slide column 22 and an adjustment groove 19, wherein the adjustment groove 19 is formed on the inner wall of the rotating drum 9, and the slide column 22 is movably arranged in the adjustment groove 19, one end of the push arm 21 is movably connected to the piston rod 20, and the other end of the push arm 21 is connected to the slide column 22.

[0043] When it is necessary to adsorb and fix the surface of an irregular part, the rack 5 and the gear ring 12 are meshed to drive the rotating drum 9 to rotate. Under the sliding cooperation between the slide column 22 and the adjustment groove 19, the position of the piston rod 20 can be adjusted. The piston rod 20 moves upward relative to the hollow tube 15, so that the air in the suction cup 17 can be sucked out. When the clamping arms 10 are closed to the extreme position, the roller 18 reaches the smooth part 14, and by bringing the suction cup 17 into contact with the surface of the mechanical part, the air between the suction cup 17 and the mechanical part can be extracted to reach a vacuum state, thereby achieving adsorption and fixation of the mechanical part.

[0044] See also Figure 1-Figure 8As another preferred embodiment of the present application, the power output assembly includes a back plate 24, a base 27, a stepper motor 25, a movable base 30, a No. 2 electric telescopic rod 23, a lifting base 34 and a connecting block 36. The back plate 24 is arranged on the mounting table 1, the base 27 is movably arranged in the No. 1 transverse groove 26 formed on the mounting table 1, the stepper motor 25 is arranged on the base 27, the movable base 30 is movably arranged in the adjustment groove 29 formed on the back plate 24, the movable base 30 is connected to the support table 3, and the adjustment groove 29 is U-shaped The output end of the stepper motor 25 is provided with a reciprocating screw 28, and the reciprocating screw 28 slides through the moving seat 30 and the two are threadedly matched. The lifting seat 34 is arranged on the moving seat 30, and a connecting block 36 is movably arranged in the lifting seat 34. The second electric telescopic rod 23 is arranged on the mounting platform 1 and its movable end is connected to the connecting block 36. A matching block 33 is movably arranged in the second transverse groove 32 formed on the back plate 24. A guide column 31 is arranged on the moving seat 30, and the guide column 31 slides through the matching block 33.

[0045] In this embodiment, for example, a pressure sensor 35 is provided on the inner wall of the lifting seat 34 , and the pressure sensor 35 is provided on the moving path of the connecting block 36 . The pressure sensor 35 is electrically connected to the first electric telescopic rod 6 .

[0046] In actual application, the control console 2 controls the stepper motor 25 to be powered on and rotated, which can drive the reciprocating screw 28 to rotate. Under the action of the threaded cooperation between the reciprocating screw 28 and the moving seat 30, the moving seat 30 can be driven to move in the vertical direction in the adjustment slot 29. The control console 2 controls the second electric telescopic rod 23 to be powered on and extended, so that under the action of the cooperation between the connecting block 36 and the lifting seat 34, the moving seat 30 and the support table 3 can be controlled to move in the horizontal direction along the adjustment slot 29. During the whole process, the clamping arm 10 can be used to adjust the mechanical parts. After clamping and fixing, the mechanical parts are transported from one side of the back plate 24 to the other side along the adjustment groove 29, thereby realizing the grabbing and transportation of the mechanical parts, and in the process of the reciprocating screw 28 rotating so that the lifting seat 34 follows the moving seat 30 to move up and down, the connecting block 36 and the pressure sensor 35 can meet. When the pressure sensor 35 is pressurized for the first time, the No. 1 electric telescopic rod 6 is controlled to extend to clamp the mechanical parts. When the pressure sensor 35 is pressurized for the second time, the No. 2 electric telescopic rod 23 is controlled to contract to control the release of the mechanical parts.

[0047] How this application works:

[0048] By installing and fixing the mounting platform 1 on the mechanical parts assembly production line, the control console 2 controls the stepping motor 25 to be powered on and rotated, which can drive the reciprocating screw 28 to rotate. Under the action of the threaded cooperation between the reciprocating screw 28 and the moving seat 30, the moving seat 30 can be driven to move in the vertical direction in the adjustment groove 29, and the control console 2 controls the No. 2 electric telescopic rod 23 to be powered on and extended, so that under the action of the cooperation between the connecting block 36 and the lifting seat 34, the moving seat 30 and the support platform 3 can be controlled to move in the horizontal direction along the adjustment groove 29. During the whole process, the clamping arm 10 can be used to clamp and fix the mechanical parts, and then the mechanical parts can be transported from one side of the back plate 24 to the other side along the adjustment groove 29, so as to realize the grabbing and transportation of the mechanical parts. When controlling the mechanical arm to grab and release the mechanical parts, the No. 1 electric telescopic rod 6 is controlled to be powered on and extended or contracted, so as to drive the rack 5 to move relative to the gear ring 12. Under the meshing action between the rack 5 and the gear ring 12, the The gear ring 12 and the rotating drum 9 rotate. During the rotation of the rotating drum 9, the adjusting disk 11 can be driven to rotate. During the rotation of the adjusting disk 11, the roller 18 and the adjusting portion 13 can be driven to meet each other. Under the interference between the adjusting portion 13 and the roller 18, the sliding seat 16 can be driven to move toward each other, thereby realizing the clamping and fixing of the mechanical parts. When it is necessary to adsorb and fix the surface of irregular parts, the rack 5 and the gear ring 12 are engaged to drive the rotating drum 9 to rotate. Under the sliding cooperation between the sliding column 22 and the adjusting groove 19, the position of the piston rod 20 can be adjusted. The piston rod 20 moves upward relative to the hollow tube 15, so that the air in the suction cup 17 can be sucked out. When the clamping arms 10 are closed to the extreme position, the roller 18 reaches the smooth portion 14, and by contacting the suction cup 17 with the surface of the mechanical parts, the air between the suction cup 17 and the mechanical parts can be extracted to reach a vacuum state, thereby realizing the adsorption and fixing of the mechanical parts. And in the process that the reciprocating screw 28 rotates to make the lifting seat 34 move up and down following the moving seat 30, the connecting block 36 and the pressure sensor 35 can meet. When the pressure sensor 35 is pressurized for the first time, the No. 1 electric telescopic rod 6 is controlled to extend to clamp the mechanical parts. When the pressure sensor 35 is pressurized for the second time, the No. 2 electric telescopic rod 23 is controlled to contract to control the release of the mechanical parts.

[0049] The present invention and its embodiments are described schematically above, and the description is not restrictive. The drawings show only one embodiment of the present invention, and the actual structure is not limited thereto. Therefore, if a person skilled in the art is inspired by it and designs a structural method and an embodiment similar to the technical solution without creativity without departing from the purpose of the invention, they shall all fall within the protection scope of the present invention.

[0050] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A mechanical multi-station grabbing manipulator, comprising a mounting platform, a control console, a dust suction seat and a support platform, wherein the control console is arranged on the mounting platform, the dust suction seat is arranged on the mounting platform, and the support platform is movably arranged on the mounting platform and located on one side of the dust suction seat, characterized in that: The multi-station grasping manipulator further comprises a manipulator assembly and a power output assembly, wherein the manipulator assembly is arranged on a support platform and is used for clamping and transporting mechanical parts, and the power output assembly is arranged on a mounting platform and is connected to the manipulator assembly and is used for controlling the operation of the manipulator assembly and adjusting the position of the support platform; The manipulator assembly includes a plurality of mounting seats, a single manipulator structure and a control structure. The plurality of mounting seats are equidistantly arranged on a support platform. A single manipulator structure is arranged between each mounting seat and the support platform. The single manipulator structure is used to perform the grasping and transportation of mechanical parts. The control structure is arranged on the support platform and connected to each single manipulator structure, and is used to control the operation of the single manipulator structure. Each of the single manipulator structures includes a rotating drum, an air suction member and a grabbing execution module, the rotating drum is movably arranged on a support platform, the air suction member is arranged on the inner side of the rotating drum and is connected to the mounting seat, the grabbing execution module is arranged on the support platform and is connected to the rotating drum for clamping and fixing mechanical parts, the rotating drum is connected to a control structure, the control structure controls the rotation of the rotating drum when it is working, the air suction member is connected to the grabbing execution module, and when the rotating drum rotates, the air suction member is controlled to work and the grabbing execution module is controlled to work and adsorb and fix the surface of the mechanical parts; the control structure includes a rack, a gear ring and a No. 1 electric telescopic rod, the rack is movably arranged in a guide rail formed on the support platform and the two are elastically connected, the No. 1 electric telescopic rod It is arranged on the support platform and its movable end is connected to the rack, and a gear ring is sleeved on the outer wall of each rotating cylinder, and the gear ring and the rack are meshed; the grabbing execution module includes a sliding seat, an adjustment disk and a grabbing piece, and the sliding seats are arranged in a ring on the support platform, the sliding seat and the support platform are slidably matched and elastically connected, the adjustment disk is arranged on the rotating cylinder and concentrically arranged between the two, and a plurality of adjustment parts are arranged on the inner wall of the adjustment disk, and a plurality of smooth parts smoothly connected to the adjustment parts are arranged on the inner wall of the adjustment disk, and the adjustment parts and the smooth parts are located on the moving path of the sliding seat, and a grabbing piece is arranged on each sliding seat, and the grabbing pieces clamp the mechanical parts when they move toward each other.

2. The mechanical multi-station grasping manipulator according to claim 1 is characterized in that: A resistance reducing member is arranged between the sliding seat and the adjusting plate, so as to reduce the friction resistance encountered when the sliding seat, the adjusting part and the smooth part are in contact with each other.

3. The mechanical multi-station grasping manipulator according to claim 2 is characterized in that: The grabbing member comprises a clamping arm and a suction cup. The clamping arm is arranged on a sliding seat and is in a Z shape. The suction cup is arranged at one end of the clamping arm away from the sliding seat, and the suction cup is connected to the suction member.

4. The mechanical multi-station grasping manipulator according to claim 3 is characterized in that: The vacuum component includes a hollow tube, a piston rod and an adjusting unit. The hollow tube is arranged on a mounting seat and is located on the inner side of a rotating cylinder. The hollow tube includes a main body and a rotating tube movably connected to the main body. The rotating tube is connected to a suction cup through a clamping arm. The piston rod is movably arranged in the hollow tube and the two are elastically connected. The adjusting unit is arranged between the piston rod and the rotating cylinder. When the rotating cylinder rotates, the position of the piston rod in the hollow tube is adjusted by the adjusting unit.

5. The mechanical multi-station grasping manipulator according to claim 4 is characterized in that: The adjustment unit includes a push arm, a slide column and an adjustment groove, wherein the adjustment groove is formed on the inner wall of the rotating drum, the slide column is movably arranged in the adjustment groove, one end of the push arm is movably connected to the piston rod, and the other end of the push arm is connected to the slide column.

6. The mechanical multi-station grasping manipulator according to claim 5, characterized in that: The power output assembly includes a back plate, a machine base, a stepper motor, a movable seat, a No. 2 electric telescopic rod, a lifting seat and a connecting block. The back plate is arranged on the mounting table, and the machine base is movably arranged in a No. 1 transverse groove formed on the mounting table. The stepper motor is arranged on the machine base, and the movable seat is movably arranged in an adjustment groove formed on the back plate. The movable seat is connected to the support table, and the adjustment groove is U-shaped. A reciprocating screw is arranged at the output end of the stepper motor, and the reciprocating screw slides through the movable seat and the two are threadedly matched. The lifting seat is arranged on the movable seat, and a connecting block is movably arranged in the lifting seat. The No. 2 electric telescopic rod is arranged on the mounting table and its movable end is connected to the connecting block. A matching block is movably arranged in the No. 2 transverse groove formed on the back plate, and a guide column is arranged on the movable seat, and the guide column slides through the matching block.

7. The mechanical multi-station grasping manipulator according to claim 6, characterized in that: A pressure sensor is arranged on the inner wall of the lifting seat, the pressure sensor is arranged on the moving path of the connecting block, and the pressure sensor is electrically connected to the No. 1 electric telescopic rod.

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