Carrying robot suitable for clamping multiple heavy objects

Abstract

The carrying robot comprises a main body stress frame, the main body stress frame is of a square frame structure, a lifting mechanism is arranged in the main body stress frame, the lifting mechanism is connected with a mechanical arm mechanism, the mechanical arm mechanism is connected with a clamping mechanism, and a clamping jaw translation mechanism is further arranged on the mechanical arm mechanism; the clamping mechanism is used for clamping a heavy object, the mechanical arm mechanism is used for supporting the clamping mechanism, the clamping jaw translation mechanism is used for enabling the clamping mechanism to move along the mechanical arm mechanism, and the lifting mechanism is used for enabling the mechanical arm mechanism to ascend and descend so as to drive the clamping mechanism to ascend and descend; a camera is arranged at the top of the main body stress frame, and a robot moving mechanism is arranged at the bottom of the main body stress frame and used for moving the transfer robot. The carrying robot can carry a plurality of objects at the same time, certain flexibility is kept, and meanwhile the high load bearing capacity is achieved.

Description

Technical Field

[0001] The invention belongs to the technical field of material handling equipment and relates to a handling robot suitable for clamping multiple objects. Background Art

[0002] In industrial production, traditional lifting and handling equipment that relies on manual operation has many limitations. For example, in the loading and transportation of port cargo, the efficiency of workers operating cranes is easily affected by factors such as fatigue, and the efficiency and accuracy decrease after long-term operation. In the transportation of materials on the production line, this traditional method also limits the overall efficiency. At the same time, for precision industries such as electronic chip manufacturing and high-precision medical device production, both the loading of parts and the palletizing of products require extremely high precision, which is difficult to meet with traditional cranes. In addition, the types and specifications of modern industrial products are diversified, and production needs to be more flexible. Traditional fixed-function cranes cannot adapt to changes quickly. The handling robot has obvious advantages. It can work uninterruptedly, and the speed and trajectory can be precisely programmed and controlled. It can work efficiently during loading and transportation. Through high-precision sensors and advanced control systems, it can achieve precise positioning and operation to meet the precision requirements of precision production. It can also change work tasks and modes through programming to adapt to various task changes such as palletizing in the production of different products.

[0003] The Chinese patent with publication date of September 13, 2024 and publication number CN118636108A discloses a five-axis truss robot suitable for clamping different equipment. The universal flange is moved to a position close to the equipment through a moving mechanism, and then the A-axis servo motor can drive the A-rotation axis to rotate, so that the position of the B-axis U-shaped structure can be adjusted, and then the B-axis servo motor drives the B-rotation axis to rotate, so that the position of the universal flange can be adjusted. The position of the universal flange can be adjusted by rotating the A-rotation axis and the B-rotation axis to align it completely with the threaded hole connection of the equipment, and then the universal flange is used to fix various equipment, thereby improving the flexibility of the entire device when in use. The robot has more redundant degrees of freedom and is more flexible, but it cannot deliver heavy objects to the far end.

[0004] The Chinese patent with a publication date of May 14, 2024 and publication number CN118025794B discloses an "octopus" modular clamping logistics handling robot. By setting up multiple different types of gripper mechanisms and controlling each gripper mechanism separately, it solves the problem that the robot's tasks become very complicated due to the variety of goods and styles in warehousing and transportation. The logistics handling robot has a large coverage area and can carry multiple objects at the same time, but its remote load-bearing capacity is weak.

[0005] In summary, the handling robots currently used are mostly multi-axis robotic arm types. This type of multi-axis robotic arm-based type sacrifices load-bearing capacity in exchange for flexibility, especially remote load-bearing capacity, and can only carry one object at a time. Some technologies use multi-gripper handling solutions, but load-bearing capacity is still a shortcoming. Summary of the invention

[0006] The purpose of the present invention is to provide a handling robot suitable for clamping multiple objects, which can carry multiple objects at the same time and has a strong load-bearing capacity while maintaining a certain degree of flexibility.

[0007] The technical solution adopted by the present invention is a handling robot suitable for clamping multiple objects, including a main force frame, which is a square frame structure, with a lifting mechanism arranged inside, the lifting mechanism is connected to a mechanical arm mechanism, the mechanical arm mechanism is connected to a clamping mechanism, and a clamping claw translation mechanism is also arranged on the mechanical arm mechanism; the clamping mechanism is used to clamp heavy objects, the mechanical arm mechanism is used to support the clamping mechanism, the clamping claw translation mechanism is used to move the clamping mechanism along the mechanical arm mechanism, and the lifting mechanism is used to lift and lower the mechanical arm mechanism, thereby driving the clamping mechanism to lift and lower; a camera is arranged on the top of the main force frame, and a robot moving mechanism is arranged on the bottom of the main force frame, whose function is to move the handling robot.

[0008] The present invention is also characterized in that: The lifting mechanism includes a plate-shaped lifting platform horizontally arranged inside the main force frame, and also includes a plurality of screw stepper motors fixed to the top of the main force frame, and the screw ends of the screw stepper motors are fixed to the bottom of the main force frame; the screw passes through the lifting platform and is vertically arranged with the lifting platform; a flange nut is provided at the connection between the screw and the lifting platform, the flange nut is fixed on the lifting platform, and the internal thread of the flange nut cooperates with the external thread of the screw.

[0009] The lifting mechanism also includes a number of guide rails, the two ends of which are respectively fixedly connected to the top and bottom of the main force frame; the guide rails are arranged parallel to the screw rod, and the guide rails pass through the lifting platform; a linear bearing is arranged at the connection between the guide rails and the lifting platform, the linear bearing is sleeved outside the guide rails, and the linear bearing is fixed on the lifting platform.

[0010] The mechanical arm mechanism includes a connecting and fixing seat fixed at the center of the lifting platform, the connecting and fixing seat is connected to five lifting arms, the lifting arms are laid on the surface of the lifting platform, one end of the lifting arms is connected to the connecting and fixing seat, and the other end extends outside the lifting platform.

[0011] The five booms are fan-shaped as a whole. In the fan-shaped area, the five booms are evenly distributed, and the angle between adjacent booms is 60°.

[0012] The connecting and fixing seat is also connected with a supporting rod, and the supporting rod is vertically arranged with the lifting platform; a steel wire rope is connected between the end of the lifting arm and the top end of the supporting rod.

[0013] The clamping mechanism includes an extension plate sleeved on the outside of the boom, the extension plate is hollow, and its length is greater than the thickness of the boom; a slider is provided at the top of the extension plate, a connecting plate is fixedly connected to the upper end of the extension plate, and a clamping claw connecting piece is fixedly connected to the lower end; the clamping claw connecting piece is connected to an active clamping plate and a driven clamping plate through pins, and the active clamping plate and the driven clamping plate are meshed through meshing gears; a servo is provided on the clamping claw connecting piece, and the servo steering wheel is installed on the active clamping plate and connected to the servo.

[0014] The clamping jaw translation mechanism includes a slide rail fixedly laid on the surface of the boom, the slide rail is used in conjunction with the slider of the clamping mechanism, and a belt is arranged above the slide rail; the clamping jaw translation mechanism also includes a stepper motor arranged on the connecting plate, the rotating shaft of the stepper motor passes through the connecting plate and a synchronous wheel is fixedly connected to the rotating shaft, and two pulleys are also arranged on the connecting plate; after the belt passes through one of the pulleys, the synchronous wheel and the other pulley in turn, the two ends are fixed to the slide rail or the boom.

[0015] The robot moving mechanism includes four supports arranged at the bottom of the main force frame, wheels and closed-loop stepper motors are arranged on both sides of the supports, the wheels are installed on the output shaft of the closed-loop stepper motor, and the wheels and the closed-loop stepper motor are connected to the main force frame through the supports.

[0016] The beneficial effects of the present invention are: (1) The five lifting arms of the robot of the present invention are symmetrically distributed to form a fan-shaped area, which effectively expands the grasping range of the handling robot and improves the handling efficiency; (2) The clamping structure of the robot of the present invention is driven by a digital servo, and the opening and closing angle between the active clamping plate and the driven clamping plate is large. The clamping plate can also be replaced according to the shape of the object to be transported, which increases the types and scale of heavy objects that the robot can clamp, and enhances the adaptability and versatility of the robot; (3) The gripping mechanism of the robot of the present invention can slide along the boom, and the lifting mechanism enables the boom to rise or fall. This arrangement further expands the robot's grasping range. A steel wire rope traction is arranged at the end of the boom, which greatly improves the load-bearing capacity of the boom, thereby achieving a strong load-bearing capacity while maintaining a certain degree of flexibility. (4) The lifting mechanism of the robot of the present invention is driven by a screw stepper motor, and the flange nut and guide rail are arranged to realize the smooth lifting and lowering of the entire mechanical arm mechanism and the clamping mechanism; the stepper motor, slide rail, belt, synchronous wheel and pulley are arranged to realize the smooth translation of the entire clamping mechanism, further improving the stability and accuracy of the handling operation; (5) The robot of the present invention has a compact structure, is easy to operate, has high precision and strong adaptability, and can be widely used in industrial automation, warehousing and logistics and other fields to improve production efficiency and reduce labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of the handling robot of the present invention; Figure 2 The structure diagram of the lifting mechanism in the handling robot of the present invention is shown in FIG. Figure 1 ; Figure 3 The structure diagram of the lifting mechanism in the handling robot of the present invention is shown in FIG. Figure 2 ; Figure 4 It is a structural schematic diagram of the clamping mechanism in the handling robot of the present invention; Figure 5 The schematic diagram of the local structure of the clamping mechanism in the handling robot of the present invention is Figure 1 ; Figure 6 The schematic diagram of the local structure of the clamping mechanism in the handling robot of the present invention is Figure 2 ; Figure 7 It is a schematic diagram of the coordination between the clamping mechanism and the clamping claw translation mechanism in the handling robot of the present invention; Figure 8 It is a schematic diagram of the structure of the gripper translation mechanism in the handling robot of the present invention; Fig. 9 is a cross-sectional view of a gripper translation mechanism in a handling robot of the present invention; Fig.10 It is a schematic diagram of the bottom structure of the lifting platform in the handling robot of the present invention; Fig.11 It is a structural schematic diagram of the robot moving mechanism in the handling robot of the present invention.

[0018] In the figure, 1. the main force frame; 21. Lifting platform, 22. Screw stepper motor, 23. Screw, 24. Guide rail, 25. Flange nut, 26. Linear bearing, 27. Guide rail fixing seat, 28. Screw fixing seat; 31. extension plate, 32. connecting plate, 33. clamping claw connecting piece, 34. pin, 35. active clamping plate, 36. driven clamping plate, 37. steering gear, 38. steering gear steering disc, 39. slider, 310. meshing gear; 41. Slide rail, 42. Belt, 43. Stepper motor, 44. Synchronous wheel, 45. Pulley; 51. Support, 52. Wheel, 53. Closed-loop stepper motor; 61. Support rod, 62. Connecting fixed seat, 63. Lifting arm, 64. Steel wire rope; 7. Camera bracket. DETAILED DESCRIPTION

[0019] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0020] Example 1 The present invention is applicable to a handling robot for holding multiple objects, the structure of which is as follows: Figure 1 As shown, it includes a main force-bearing frame 1, which is a square frame structure built with profiles and plays a role in supporting the entire transport robot.

[0021] The main force frame 1 is provided with a lifting mechanism inside, which serves to raise or lower the clamping mechanism of the robot to hold the heavy object. Figure 2 and Figure 3 As shown, the lifting mechanism includes a plate-shaped lifting platform 21 horizontally arranged inside the main force frame 1, and also includes a plurality of screw stepper motors 22 fixed to the top of the main force frame 1, and the end of the screw 23 of the screw stepper motor 22 is fixed to the bottom of the main force frame 1 through a screw fixing seat 28. The lifting mechanism also includes a plurality of guide rails 24, and the two ends of the guide rails 24 are respectively fixed to the top and bottom of the main force frame 1 through guide rail fixing seats 27. The guide rails 24 are arranged in parallel with the screw 23, and both pass through the lifting platform 21 and are arranged vertically with the lifting platform 21. A flange nut 25 is provided at the connection between the screw 23 and the lifting platform 21, and the flange nut 25 is fixed on the lifting platform 21, and the internal thread of the flange nut 25 cooperates with the external thread of the screw 23. A linear bearing 26 is provided at the connection between the guide rail 24 and the lifting platform 21, and the linear bearing 26 is sleeved outside the guide rail 24, and the linear bearing 26 is fixed on the lifting platform 21.

[0022] The lifting mechanism is driven by a screw stepper motor 22. After the screw stepper motor 22 is started, it drives the screw 23 to rotate. Under the cooperation of the screw 23 and the flange nut 25 threads, the lifting platform 21 rises or falls, and the rotational motion of the screw 23 is converted into the lifting motion of the lifting platform 21. The screw 23 and the guide rail 24 can ensure the stability and accuracy of the lifting process. The screw design fully considers the problem of inconsistent motor speed that may be faced in actual applications, such as speed fluctuations caused by factors such as failure or load differences. The screw has a certain elasticity and adaptability, which can compensate and alleviate these speed differences to a certain extent, thereby ensuring the stable operation of the lifting platform and reducing the risk of failure caused by mechanical errors. In addition, the use of linear bearings 26 with circular guide rails 24 ensures that the lifting platform always maintains an absolute horizontal state during the lifting process, effectively avoiding operational errors or safety risks that may be caused by shaking or tilting.

[0023] like Figure 1As shown, the lifting mechanism is connected to a mechanical arm mechanism, and the function of the mechanical arm mechanism is to support the clamping mechanism of the robot to grab the heavy object. The mechanical arm mechanism includes a support rod 61 vertically arranged at the center of the lifting platform 21, and the support rod 61 is fastened to the lifting platform 21 through a connecting and fixing seat 62. The connecting and fixing seat 62 is also connected to five lifting arms 63, and the lifting arms 63 are laid on the surface of the lifting platform 21, one end of which is connected to the connecting and fixing seat 62, and the other end extends outside the lifting platform 21. The five lifting arms 63 are fan-shaped as a whole, and the five lifting arms 63 are evenly distributed in the fan-shaped area, and the angle between the lifting arms 63 is preferably 60°. A wire rope 64 is connected between the end of the lifting arm 63 and the top of the support rod 61 to support the lifting arm 63.

[0024] The lifting mechanism raises or lowers the support rod 61, the lifting arm 63, and the steel wire 64 as a whole. The five lifting arms 63, the steel wire 64, the support rod 61, and the lifting platform 21 form a stable pentagonal pyramid structure. The steel wire 64 can reduce the deformation of the lifting arm 63 caused by hanging heavy objects at the far end of the lifting arm 63, so that the robot can be used to carry heavier objects.

[0025] The part of the lifting arm 63 outside the lifting platform 21 is provided with a clamping mechanism, which is used to clamp heavy objects and is driven by a digital steering gear. Figure 4-Figure 7 As shown, the clamping mechanism includes an extension plate 31 sleeved outside the boom 63. The extension plate 31 is hollow, and its length is greater than the thickness of the boom 63, that is, it can move up and down a certain distance outside the boom 63. A slider 39 is provided at the top of the extension plate 31, which is used for the clamping mechanism to slide along the boom 63. The upper end of the extension plate 31 is fixedly connected to a connecting plate 32, and the lower end is fixedly connected to a clamping claw connecting member 33. The clamping claw connecting member 33 is connected to an active clamping plate 35 and a driven clamping plate 36 through a pin 34, and the active clamping plate 35 and the driven clamping plate 36 are meshed through a meshing gear 310. A steering gear 37 is provided on the clamping claw connecting member 33, and a steering gear steering disc 38 is installed on the active clamping plate 35 and connected to the steering gear 37.

[0026] The servo 37 drives the servo steering wheel 38, and the servo steering wheel 38 drives the active clamping plate 35 to rotate around the pin 34. Under the action of the meshing gear 310, the driven clamping plate 36 is driven to rotate around the pin 34. After the two are opened at a certain angle, they can be used to clamp heavy objects. With the plumb line (negative half axis of the y-axis) as the 0° reference and the clockwise direction as the positive, the active clamping plate 35 can rotate from 0 to 75°, and the driven clamping plate 36 can rotate from 0 to -75°. The two are added together to complete the opening and closing angle of 0°-150°, forming a double-sided opening and closing design, and the opening and closing angle is twice that of the single-sided opening and closing. In addition, different special-shaped clamping plates can be replaced according to the different objects that the robot needs to clamp, and different special-shaped protrusions can adapt to different shapes and friction requirements.

[0027] like Figure 1 , Figure 7-Figure 9 As shown, the part of the boom 63 outside the lifting platform 21 is provided with a clamping claw translation mechanism, which is used to enable the clamping mechanism to move along the boom 63. The clamping claw translation mechanism includes a slide rail 41 fixedly laid on the surface of the boom 63, the slide rail 41 is used in conjunction with the slider 39 of the clamping mechanism, a belt 42 is provided above the slide rail 41, and both ends of the belt 42 are fixed to the slide rail 41 or the boom 63. The clamping claw translation mechanism is driven by a stepper motor 43, which is provided on the connecting plate 32 of the clamping mechanism, the rotating shaft of the stepper motor 43 passes through the connecting plate 32 and a synchronous wheel 44 is fixed on the rotating shaft, and two pulleys 45 are also provided on the connecting plate 32, the belt 42 passes through one of the pulleys 45, the synchronous wheel 44 and the other pulley 45 in turn, and the two pulleys 45 are responsible for tensioning the belt 42 on both sides of the synchronous wheel 44 to prevent the synchronous wheel 44 from slipping on the belt 42.

[0028] The closed-loop stepper motor 43 is started, which drives the synchronous wheel 44 to rotate. The two ends of the belt 42 are fixed and cannot move. Therefore, under the rotation of the synchronous wheel 44, the synchronous wheel 44 rolls along the belt 42, and then drives the slider 39 of the clamping mechanism to slide along the slide rail 41, so as to realize the smooth translation of the clamping mechanism on the lifting arm 63, which not only ensures the precise movement of the clamping mechanism, but also ensures its stability and reliability.

[0029] like Fig.10 , Fig.11 As shown, a robot moving mechanism is provided at the bottom of the main force frame 1, and its function is to move the entire handling robot, which includes four supports 51 provided at the bottom of the main force frame 1, and wheels 52 and closed-loop stepper motors 53 are provided on both sides of the supports 51, and the wheels 52 are mounted on the output shaft of the closed-loop stepper motor 53, and the wheels 52 and the closed-loop stepper motor 53 are connected to the main force frame 1 through the supports 51. When working, the output shaft of the closed-loop stepper motor 53 drives the wheels 52 to rotate to ensure the accuracy of the travel route.

[0030] A camera is also provided on the top of the main force frame 1. Figure 1 As shown, the camera is arranged on the camera bracket 7, and is used to accurately identify the position of the object to be clamped, so as to achieve precise clamping and transportation.

[0031] The present invention is applicable to the following workflow of a handling robot for multiple object clamping: The camera identifies the location of the heavy object to be clamped, the robot moving mechanism moves the transport robot to the appropriate position, the gripper translation mechanism moves the clamping mechanism above the heavy object, and then under the action of the lifting mechanism, the clamping mechanism descends, clamps the heavy object and then rises again, and the robot moves to the designated position to realize the transport of the heavy object.

[0032] The five lifting arms 63 in the robot of the present invention are evenly distributed at an angle of 60°, and each lifting arm 63 is equipped with a clamping mechanism. Such a design significantly increases the area that the robot can clamp in situ. It should be noted that the fan-shaped coverage area of ​​the lifting arms 63 is toward the forward direction of the robot, so there is no need to install an additional lifting arm 63 behind the robot.

[0033] The setting of the extension plate 31 enables the robot to have the ability to grab objects behind obstacles. When grabbing, the lifting platform first rises to make the clamping mechanism higher than the obstacle, and then the clamping mechanism is moved to the top of the object behind the obstacle through the clamping claw translation mechanism. At this time, the lifting platform is lowered again, and the clamping mechanism can grab the object. If there is no extension plate 31, the obstacle will block the descent of the crane arm 63, and the clamping mechanism will not be able to grab the object behind the obstacle. The more the extension plate 31 is extended longitudinally, the stronger the ability of the clamping mechanism to bypass the obstacle by lifting.

[0034] Example 2 The present embodiment is suitable for a handling robot for clamping multiple objects, and comprises a main force frame 1. The main force frame 1 is a square frame structure, wherein a lifting mechanism is arranged inside the main force frame 1, wherein the lifting mechanism is connected to a mechanical arm mechanism, wherein the mechanical arm mechanism is connected to a clamping mechanism, and wherein a clamping claw translation mechanism is arranged on the mechanical arm mechanism; the clamping mechanism is used to clamp heavy objects, the mechanical arm mechanism is used to support the clamping mechanism, the clamping claw translation mechanism is used to move the clamping mechanism along the mechanical arm mechanism, and the lifting mechanism is used to lift and lower the mechanical arm mechanism, thereby driving the clamping mechanism to lift and lower; a camera is arranged on the top of the main force frame 1, and a robot moving mechanism is arranged on the bottom of the main force frame 1, wherein the function of the camera is to move the handling robot.

[0035] Example 3 On the basis of Example 2, the lifting mechanism includes a plate-shaped lifting platform 21 horizontally arranged inside the main force frame 1, and also includes a plurality of screw stepper motors 22 fixed to the top of the main force frame 1, and the end of the screw 23 of the screw stepper motor 22 is fixed to the bottom of the main force frame 1; the screw 23 passes through the lifting platform 21 and is vertically arranged with the lifting platform 21; a flange nut 25 is provided at the connection between the screw 23 and the lifting platform 21, and the flange nut 25 is fixed on the lifting platform 21, and the internal thread of the flange nut 25 cooperates with the external thread of the screw 23.

[0036] Example 4 On the basis of Example 3, the lifting mechanism also includes a plurality of guide rails 24, the two ends of which are respectively fixedly connected to the top and the bottom of the main force frame 1; the guide rails 24 are arranged parallel to the screw rod 23, and the guide rails 24 pass through the lifting platform 21; a linear bearing 26 is arranged at the connection between the guide rails 24 and the lifting platform 21, and the linear bearing 26 is sleeved outside the guide rails 24, and the linear bearing 26 is fixed on the lifting platform 21.

[0037] Example 5 Based on Example 4, the robotic arm mechanism includes a connecting and fixing base 62 fixed at the center of the lifting platform 21, and the connecting and fixing base 62 is connected to five lifting arms 63. The lifting arms 63 are laid on the surface of the lifting platform 21, one end of which is connected to the connecting and fixing base 62, and the other end extends outside the lifting platform 21.

[0038] The five lifting arms 63 are fan-shaped as a whole. In the fan-shaped area, the five lifting arms 63 are evenly distributed, and the angle between adjacent lifting arms 63 is 60°.

[0039] The connecting and fixing seat 62 is also connected to a support rod 61 , and the support rod 61 is vertically arranged with the lifting platform 21 ; a steel wire rope 64 is connected between the end of the lifting arm 63 and the top of the support rod 61 .

[0040] Example 6 On the basis of Example 5, the clamping mechanism includes an extension plate 31 which is sleeved on the outside of the boom 63. The extension plate 31 is hollow and its length is greater than the thickness of the boom 63. A slider 39 is provided at the top of the extension plate 31. The upper end of the extension plate 31 is fixedly connected to a connecting plate 32, and the lower end of the extension plate 31 is fixedly connected to a clamping claw connector 33. The clamping claw connector 33 is connected to an active clamping plate 35 and a driven clamping plate 36 through a pin 34, and the active clamping plate 35 and the driven clamping plate 36 are meshed through a meshing gear 310. A servo 37 is provided on the clamping claw connector 33, and a servo steering wheel 38 is installed on the active clamping plate 35 and connected to the servo 37.

Claims

1. A handling robot suitable for multiple object gripping, characterized in that: The invention comprises a main force frame (1), which is a square frame structure, and is provided with a lifting mechanism inside. The lifting mechanism is connected to a mechanical arm mechanism, and the mechanical arm mechanism is connected to a clamping mechanism. The mechanical arm mechanism is also provided with a clamping claw translation mechanism. The clamping mechanism is used to clamp heavy objects, the mechanical arm mechanism is used to support the clamping mechanism, the clamping claw translation mechanism is used to move the clamping mechanism along the mechanical arm mechanism, and the lifting mechanism is used to lift the mechanical arm mechanism, thereby driving the clamping mechanism to lift. A camera is provided on the top of the main force frame (1), and a robot moving mechanism is provided at the bottom of the main force frame (1), and its function is to move the handling robot.

2. The handling robot suitable for multiple object clamping according to claim 1, characterized in that: The lifting mechanism comprises a plate-shaped lifting platform (21) horizontally arranged inside the main force frame (1), and also comprises a plurality of screw stepper motors (22) fixed to the top of the main force frame (1), wherein the end of the screw (23) of the screw stepper motor (22) is fixed to the bottom of the main force frame (1); the screw (23) passes through the lifting platform (21) and is arranged vertically with the lifting platform (21); a flange nut (25) is arranged at the connection between the screw (23) and the lifting platform (21), the flange nut (25) is fixed on the lifting platform (21), and the internal thread of the flange nut (25) matches the external thread of the screw (23).

3. The handling robot suitable for multiple object clamping according to claim 2, characterized in that: The lifting mechanism further comprises a plurality of guide rails (24), the two ends of the guide rails (24) being respectively fixedly connected to the top and the bottom of the main force-bearing frame (1); the guide rails (24) are arranged in parallel with the lead screw (23), and the guide rails (24) pass through the lifting platform (21); a linear bearing (26) is arranged at the connection between the guide rails (24) and the lifting platform (21), the linear bearing (26) is sleeved outside the guide rails (24), and the linear bearing (26) is fixed on the lifting platform (21).

4. The handling robot suitable for multiple object clamping according to claim 2, characterized in that: The mechanical arm mechanism comprises a connecting and fixing seat (62) fixed at the center of the lifting platform (21), the connecting and fixing seat (62) being connected to five lifting arms (63), the lifting arms (63) being laid on the surface of the lifting platform (21), one end of which is connected to the connecting and fixing seat (62), and the other end of which extends outside the lifting platform (21).

5. The handling robot suitable for multiple object clamping according to claim 4, characterized in that: The five lifting arms (63) are fan-shaped as a whole. In the fan-shaped area, the five lifting arms (63) are evenly distributed, and the angle between adjacent lifting arms (63) is 60°.

6. The handling robot suitable for multiple object clamping according to claim 4, characterized in that: The connecting and fixing seat (62) is also connected to a support rod (61), and the support rod (61) is arranged vertically with the lifting platform (21); a steel wire rope (64) is connected between the end of the lifting arm (63) and the top of the support rod (61).

7. The handling robot suitable for multiple object clamping according to claim 4, characterized in that: The clamping mechanism comprises an extension plate (31) sleeved on the outside of the boom (63), the extension plate (31) being hollow and having a length greater than the thickness of the boom (63); a slider (39) being arranged at the top end of the extension plate (31), a connecting plate (32) being fixedly connected to the upper end of the extension plate (31), and a clamping claw connecting piece (33) being fixedly connected to the lower end; the clamping claw connecting piece (33) being connected to an active clamping plate (35) and a driven clamping plate (36) via a pin (34), the active clamping plate (35) and the driven clamping plate (36) being meshed via a meshing gear (310); a steering gear (37) being arranged on the clamping claw connecting piece (33), and a steering gear steering disc (38) being mounted on the active clamping plate (35) and connected to the steering gear (37).

8. The handling robot suitable for multiple object clamping according to claim 7, characterized in that: The clamping jaw translation mechanism comprises a slide rail (41) fixedly laid on the surface of the lifting arm (63), the slide rail (41) cooperates with the slider (39) of the clamping mechanism, and a belt (42) is arranged above the slide rail (41); the clamping jaw translation mechanism also comprises a stepping motor (43) arranged on the connecting plate (32), the rotating shaft of the stepping motor (43) passes through the connecting plate (32) and a synchronous wheel (44) is fixedly connected to the rotating shaft, and two pulleys (45) are also arranged on the connecting plate (32); after the belt (42) passes through one of the pulleys (45), the synchronous wheel (44) and the other pulley (45) in sequence, the two ends of the belt (42) are fixed to the slide rail (41) or the lifting arm (63).

9. The handling robot suitable for multiple object clamping according to claim 1, characterized in that: The robot moving mechanism comprises four supports (51) arranged at the bottom of a main force-bearing frame (1), wheels (52) and a closed-loop stepping motor (53) are respectively arranged on both sides of the supports (51), the wheels (52) are mounted on the output shaft of the closed-loop stepping motor (53), and the wheels (52) and the closed-loop stepping motor (53) are connected to the main force-bearing frame (1) via the supports (51).

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