Multi-arm transfer robot

Abstract

The invention belongs to the technical field of robots, and provides a multi-arm transfer robot which comprises a moving mechanism, a first guide rail is mounted at the top of the moving mechanism, a main rod is erected at the top of the first guide rail, a second guide rail is mounted at the top of the main rod, and a wireless controller is mounted at the top of the second guide rail. Gear grooves are formed in the first guide rail and the second guide rail, and gear tables are mounted on the inner walls of the gear grooves; the traction mechanisms are mounted between the first guide rails and the gear grooves, and a lifting mechanism is mounted between the traction mechanisms; the multiple carrying mechanisms are installed on the first guide rail and the second guide rail, and the wireless controller controls operation of the traction mechanism, the lifting mechanism and the mechanical arm on each carrying mechanism. Through mutual cooperation of a single group of carrying mechanisms or a plurality of groups of carrying mechanisms, carrying and complex arrangement and combination of a single object and a plurality of objects can be achieved, and the device is more flexible.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, in particular to a multi-arm transport robot. Background Art

[0002] In modern industrial production, logistics and warehousing, etc., handling is a basic and important task. Traditional handling methods partially rely on manual operation, which is not only inefficient and labor-intensive, but also poses safety hazards in some dangerous and harsh working environments. With the development of automation technology, handling robots are gradually being widely used.

[0003] However, existing handling robots mostly use a single arm for handling and can only carry one item at a time. It is difficult to efficiently complete tasks that require carrying multiple different items at the same time or performing complex arrangements and combinations of items. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides a multi-arm transport robot to solve the problem that the transport robots in the prior art mostly use a single arm for transporting and can only transport one object at a time, resulting in low efficiency.

[0005] A multi-arm handling robot, comprising:

[0006] A mobile mechanism, wherein a first guide rail is installed on the top of the mobile mechanism, a main rod is mounted on the top of the first guide rail, a second guide rail is installed on the top of the main rod, a wireless controller is installed on the top of the second guide rail, gear grooves are opened inside the first guide rail and the second guide rail, and a gear table is installed on the inner wall of the gear groove;

[0007] A traction mechanism, the traction mechanism is installed between the first guide rail and the gear groove, and a lifting mechanism is installed between the traction mechanisms;

[0008] The traction mechanism comprises a traction box extending and installed at the top and bottom of the lifting mechanism, a motor is installed inside the traction box, an output end of the motor is connected to a gear shaft extending into the gear slot, and an outer gear of the gear shaft is meshed with a gear table on the inner wall of the gear slot;

[0009] A mechanical arm, the mechanical arm is installed on a side of the lifting mechanism away from the main rod;

[0010] The robot arm includes a slide seat connected to the lifting mechanism, one side of the slide seat is rotatably connected to a large arm, one side of the large arm is rotatably connected to a small arm, one side of the small arm is rotatably connected to a mounting seat, and an end effector is installed inside the mounting seat.

[0011] Preferably, the mechanical arm further comprises a rotating disk rotatably connected to one side of the forearm, and one side of the rotating disk is connected to the mounting seat.

[0012] Preferably, the mechanical arm further comprises a connecting platform mounted on the forearm and the rear end of the mounting seat, and an electric push rod is rotatably connected between the connecting platforms.

[0013] Preferably, a plurality of mounting frames are installed on the top of the second guide rail outside the wireless controller, and a camera is installed on each of the mounting frames.

[0014] Preferably, a circular ring frame is installed on the periphery of the main rod, and a hanging ring is installed on the side of the lifting mechanism close to the main rod, and the hanging ring is suspended on the circular ring frame.

[0015] Preferably, a reinforcement platform is installed on the periphery of the main rod, and the reinforcement platform is connected to the first guide rail and the second guide rail respectively.

[0016] Preferably, the moving mechanism comprises an electric chassis installed at the bottom of the first guide rail, and wheels are rotatably installed at the bottom of the electric chassis.

[0017] Preferably, the moving mechanism further comprises a bracket installed on the periphery of the electric chassis, and legs are rotatably mounted inside the bracket.

[0018] Preferably, the lifting mechanism comprises a slide rail installed between the traction boxes, a motor is installed inside the slide rail, and a screw is connected to the bottom of the motor;

[0019] The side surface of the slide rail is provided with a slide groove to meet the sliding of the slide seat, and the screw rod is sleeved on the periphery of the slide seat.

[0020] Preferably, the lifting mechanism further comprises a guide rod installed inside the slide slot, and the guide rod extends through the slide seat inside the slide slot.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] 1. The present invention installs multiple groups of transport mechanisms on the first guide rail and the second guide rail. The wireless controller controls the operation of the traction mechanism, the lifting mechanism and the mechanical arm on each group of transport mechanisms. It can realize the transport and complex arrangement and combination of single and multiple objects through the cooperation of a single group of transport mechanisms or multiple groups of transport mechanisms, making the device more flexible.

[0023] 2. The present invention uses a multi-joint design of the robotic arm and a replaceable end effector to enable the robot to adapt to the handling needs of objects of different shapes, sizes and materials. The combination of the camera and the wireless controller enables the robot to flexibly plan paths in complex environments, avoid obstacles, and adapt to various work scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 A perspective view of the present invention;

[0025] Figure 2 A bottom view of the present invention;

[0026] Figure 3 It is a structural schematic diagram of the moving mechanism and the main rod of the present invention;

[0027] Figure 4 It is a partial cross-sectional view of the traction mechanism and the lifting mechanism of the present invention;

[0028] Figure 5 A partial cross-sectional view of the first guide rail and the second guide rail of the present invention;

[0029] Figure 6 It is a partial cross-sectional view of the lifting mechanism of the present invention.

[0030] In the figure:

[0031] 1. Moving mechanism; 101. Electric chassis; 102. Bracket; 103. Outrigger; 2. First guide rail; 3. Second guide rail; 4. Gear groove; 5. Main rod; 6. Ring frame; 7. Wireless controller; 8. Camera; 9. Traction mechanism; 901. Traction box; 902. Motor; 903. Gear shaft; 10. Lifting mechanism; 1001. Slide rail; 1002. Motor; 1003. Screw rod; 1004. Slide groove; 1005. Guide rod; 11. Robotic arm; 1101. Slide seat; 1102. Upper arm; 1103. Lower arm; 1104. Rotating disk; 1105. Mounting seat; 1106. End effector; 1107. Connecting table; 1108. Electric push rod; 12. Hanging ring; 13. Reinforcement table. DETAILED DESCRIPTION

[0032] 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. It should be pointed out that the drawings are schematic and not drawn to scale. For the sake of clarity and convenience in the figures, the relative sizes and proportions of the parts shown in the figures are exaggerated or reduced in size, and any size is only exemplary and not restrictive.

[0033] As attached Figure 1 , Attachment Figure 2 , Attachment Figure 3 , Attachment Figure 4 , Attachment Figure 5 and attached Figure 6 As shown:

[0034] Embodiment 1: The present invention provides a multi-arm handling robot, comprising:

[0035] A mobile mechanism 1, a first guide rail 2 is installed on the top of the mobile mechanism 1, a main rod 5 is mounted on the top of the first guide rail 2, a second guide rail 3 is installed on the top of the main rod 5, a wireless controller 7 is installed on the top of the second guide rail 3, a gear groove 4 is opened inside the first guide rail 2 and the second guide rail 3, and a gear table is installed on the inner wall of the gear groove 4;

[0036] A traction mechanism 9, which is installed between the first guide rail 2 and the gear groove 4, and a lifting mechanism 10 is installed between the traction mechanism 9;

[0037] The traction mechanism 9 includes a traction box 901 extending and installed at the top and bottom of the lifting mechanism 10, and a motor 902 is installed inside the traction box 901. The output end of the motor 902 is connected to a gear shaft 903 extending to the inside of the gear slot 4, and the outer gear of the gear shaft 903 is meshed with the gear table on the inner wall of the gear slot 4.

[0038] A mechanical arm 11, which is installed on a side of the lifting mechanism 10 away from the main rod 5;

[0039] The robot arm 11 includes a slide 1101 connected to the lifting mechanism 10, one side of the slide 1101 is rotatably connected to the upper arm 1102, one side of the upper arm 1102 is rotatably connected to the lower arm 1103, one side of the lower arm 1103 is rotatably connected to the mounting seat 1105, and the end effector 1106 is installed inside the mounting seat 1105.

[0040] Among them, the lifting mechanism 10, the robotic arm 11 and the two traction mechanisms 9 constitute a group of transporting mechanisms, and the transporting mechanisms are preferably four groups. Both the upper arm 1102 and the lower arm 1103 are equipped with driving devices. The end effector 1106 can be replaced with different types such as clamps and suction cups according to different transporting tasks to adapt to the grasping of objects of different shapes and materials.

[0041] As can be seen from the above, after the device is moved to the specified position by the mobile mechanism 1, the wireless controller 7 is wirelessly connected to the external terminal, and the external terminal programs the operation between the device structures according to the working requirements, and controls the operation of the device through the wireless controller 7;

[0042] The motor 902 inside the traction mechanism 9 drives the gear shaft 903 to rotate during operation. Since the outer gear of the gear shaft 903 is meshed with the gear table on the inner wall of the gear groove 4 inside the first guide rail 2 and the second guide rail 3, the traction mechanism 9 can rotate and move around the main rod 5 along the gear groove 4, thereby changing the working range of the lifting mechanism 10 and the mechanical arm 11;

[0043] During the operation of the robot arm 11, the driving devices are arranged inside the upper arm 1102 and the lower arm 1103, so that the slide 1101, the upper arm 1102 and the lower arm 1103 can be extended and bent at different angles, and the position of the end effector 1106 can be changed. The grabbing piece assembled at the bottom of the end effector 1106 can grab, lift, move and place the goods, so as to complete the handling of the goods. During the operation of the lifting mechanism 10, the robot arm 11 can be lifted and moved up and down according to the needs, so as to expand the working range of the robot arm 11 and improve the working performance of the device;

[0044] The operation of the traction mechanism 9, the lifting mechanism 10 and the mechanical arm 11 on each group of conveying mechanisms is controlled by the wireless controller 7, so that the conveying can be realized through the cooperation of a single group of conveying mechanisms or multiple groups of conveying mechanisms, making the device more flexible.

[0045] As attached Figure 1 , Attachment Figure 2 , Attachment Figure 4 and attached Figure 6 As shown:

[0046] Specifically, regarding the above-mentioned mechanical arm 11, the mechanical arm 11 further includes a rotating disk 1104 rotatably connected to one side of the small arm 1103, and one side of the rotating disk 1104 is connected to the mounting seat 1105;

[0047] The mechanical arm 11 further includes a connecting platform 1107 assembled on the rear end of the forearm 1103 and the mounting seat 1105 , and an electric push rod 1108 is rotatably connected between the connecting platform 1107 .

[0048] The electric push rod 1108 and the connecting platform 1107 can be disassembled and assembled for use according to needs.

[0049] As can be seen from the above, when the connecting platform 1107 is assembled between the electric push rods 1108, the connecting platform 1107 and the electric push rods 1108 can increase the strength between the small arm 1103 and the mounting seat 1105 structure, and by controlling the extension and retraction of the electric push rods 1108, auxiliary pulling force and pushing force can be applied to the flip adjustment of the mounting seat 1105 during use, thereby improving the load-bearing capacity of the small arm 1103 and the mounting seat 1105;

[0050] When the connecting platform 1107 is removed from the electric push rod 1108, the mounting base 1105 can be rotated and adjusted using the rotating disk 1104 during the transportation process, thereby changing the angle of the end effector 1106, realizing the extraction and storage of objects at different positions, making the robot arm 11 more flexible.

[0051] As attached Figure 1 , Attachment Figure 2 and attached Figure 3 As shown:

[0052] Specifically, regarding the above-mentioned wireless controller 7, a plurality of mounting frames are installed on the top of the second guide rail 3 outside the wireless controller 7, and a camera 8 is installed on each mounting frame.

[0053] The cameras 8 are distributed around the top of the second guide rail 3 to ensure shooting without blind spots.

[0054] As can be seen from the above, the camera 8 can be used to capture and record the surrounding environment of the device when in use, and transmit the captured content to the inside of the wireless controller 7, so that the working process of the device can be recorded, realizing remote observation while facilitating subsequent tracing. The combination of the camera 8 and the wireless controller 7 enables the robot to flexibly plan paths in complex environments, avoid obstacles, and adapt to various work scenarios.

[0055] As attached Figure 1 , Attachment Figure 2 , Attachment Figure 3 , Attachment Figure 4 and attached Figure 5 As shown:

[0056] Specifically, regarding the main rod 5, a circular ring frame 6 is installed on the periphery of the main rod 5, and a hanging ring 12 is installed on the side of the lifting mechanism 10 close to the main rod 5, and the hanging ring 12 is suspended on the circular ring frame 6;

[0057] A reinforcement platform 13 is installed on the periphery of the main rod 5, and the reinforcement platform 13 is connected to the first guide rail 2 and the second guide rail 3 respectively.

[0058] The hanging ring 12 adopts a semicircular structure, and the bottom of the circular ring frame 6 is connected to the outer wall of the main rod 5 through a plurality of supporting rods, and the supporting rods will not affect the movement of the hanging ring 12 on the circular ring frame 6.

[0059] As can be seen from the above, the lifting mechanism 10 can be supported by the hanging ring 12 and the circular frame 6 during use, thereby reducing the pressure exerted by the lifting mechanism 10 on the traction mechanism 9 and preventing the traction mechanism 9 from being overloaded and damaged. When the lifting mechanism 10 is driven by the traction mechanism 9 to rotate and move, the hanging ring 12 moves on the circular frame 6 at the same time. While supporting the lifting mechanism 10, the circular frame 6 can also guide the trajectory of the lifting mechanism 10, so that the movement of the lifting mechanism 10 is more stable.

[0060] The reinforcement platform 13 can expand the contact area between the main rod 5 and the first guide rail 2 and the second guide rail 3 during use, improve the bending resistance of the connection between the main rod 5 and the first guide rail 2 and the second guide rail 3, and make the structure more stable.

[0061] As attached Figure 1 , Attachment Figure 2 and attached Figure 3 As shown:

[0062] Specifically, regarding the above-mentioned mobile mechanism 1, the mobile mechanism 1 includes an electric chassis 101 installed at the bottom of the first guide rail 2, and wheels are rotatably installed at the bottom of the electric chassis 101;

[0063] The mobile mechanism 1 further comprises a bracket 102 installed on the periphery of the electric chassis 101 , and a leg 103 is rotatably mounted inside the bracket 102 .

[0064] The mobile mechanism 1 and the wireless controller 7 are electrically connected.

[0065] As can be seen from the above, the electric chassis 101 can use the wheels to move and adjust the position of the device as needed under the control of the wireless controller 7, thereby changing the position of the device. After the electric chassis 101 moves to the specified position, the support legs 103 are rotated and adjusted. During the rotation of the support legs 103, the bottom pad is pressed and contacted with the ground, increasing the friction between the bottom of the mobile mechanism 1 and the ground, making the mobile mechanism 1 more stable.

[0066] The working principle of the present invention is as follows: the wireless connection between the wireless controller 7 and the external terminal is utilized, the external terminal programs the operation between the device structures according to the working requirements, and the operation of the device is controlled by the wireless controller 7. The electric chassis 101 can use the wheels to move and adjust the position of the device according to the requirements under the control of the wireless controller 7, and change the position of the device. After the electric chassis 101 moves to the specified position, the outriggers 103 are rotated and adjusted. During the rotation of the outriggers 103, the pad at the bottom is pressed and contacted with the ground, thereby increasing the friction between the bottom of the mobile mechanism 1 and the ground.

[0067] After the device is moved to the designated position, the motor 902 inside the traction mechanism 9 drives the gear shaft 903 to rotate during operation. Since the outer gear of the gear shaft 903 is meshed with the gear table on the inner wall of the gear groove 4 inside the first guide rail 2 and the second guide rail 3, the traction mechanism 9 can rotate and move around the main rod 5 along the gear groove 4, thereby changing the working range of the lifting mechanism 10 and the mechanical arm 11;

[0068] When the lifting mechanism 10 is driven by the traction mechanism 9 to rotate, the hanging ring 12 moves on the circular frame 6 at the same time. The circular frame 6 not only supports the lifting mechanism 10, but also guides the moving trajectory of the lifting mechanism 10, so that the movement of the lifting mechanism 10 is more stable.

[0069] During the operation of the robot arm 11, the driving devices are arranged inside the upper arm 1102 and the lower arm 1103, so that the slide 1101, the upper arm 1102 and the lower arm 1103 can be extended and bent at different angles, and the position of the end effector 1106 can be changed. The grabbing piece installed at the bottom of the end effector 1106 can grab, lift, move and place the goods, so as to complete the handling of the goods.

[0070] When the connecting platform 1107 is assembled between the electric push rods 1108, the connecting platform 1107 and the electric push rods 1108 can increase the strength between the small arm 1103 and the mounting seat 1105 structure. By controlling the extension and retraction of the electric push rods 1108, auxiliary pulling force and pushing force can be applied to the flip adjustment of the mounting seat 1105 during use, thereby improving the load-bearing capacity of the small arm 1103 and the mounting seat 1105.

[0071] When the connecting platform 1107 is removed from the electric push rod 1108, the mounting base 1105 can be rotated and adjusted by the rotating disk 1104 during the transportation process, thereby changing the angle of the end effector 1106, realizing the extraction and storage of objects at different positions, making the robot arm 11 more flexible;

[0072] During the operation of the lifting mechanism 10, the mechanical arm 11 can be lifted and lowered as required, thereby expanding the working range of the mechanical arm 11 and improving the working performance of the device;

[0073] The operation of the traction mechanism 9, the lifting mechanism 10 and the mechanical arm 11 on each group of the transport mechanism is controlled by the wireless controller 7, so that the transport can be realized by a single group of transport mechanisms or multiple groups of transport mechanisms cooperating with each other, making the device more flexible;

[0074] The camera 8 can be used to capture and record the surrounding environment of the device when in use, and the captured content can be transmitted to the inside of the wireless controller 7, so that the working process of the device can be recorded, realizing remote observation and facilitating subsequent tracing. The combination of the camera 8 and the wireless controller 7 enables the robot to flexibly plan paths in complex environments, avoid obstacles, and adapt to various working scenarios.

[0075] As attached Figure 1 , Attachment Figure 2 , Attachment Figure 4 and attached Figure 6 As shown:

[0076] Embodiment 2: This embodiment is basically the same as the previous embodiment, except that:

[0077] The lifting mechanism 10 includes a slide rail 1001 installed between the traction boxes 901, a motor 1002 is installed inside the slide rail 1001, and a screw rod 1003 is connected to the bottom of the motor 1002;

[0078] The side of the slide rail 1001 is provided with a slide groove 1004 to meet the sliding of the slide seat 1101, and the screw rod 1003 is sleeved on the periphery of the slide seat 1101;

[0079] The lifting mechanism 10 further includes a guide rod 1005 installed inside the slide slot 1004 , and the guide rod 1005 extends through the slide seat 1101 inside the slide slot 1004 .

[0080] The bottom of the screw rod 1003 is connected to the slide rail 1001 via a bearing, and a threaded hole and a through hole matching the screw rod 1003 and the guide rod 1005 are provided inside the slide seat 1101 .

[0081] As can be seen from the above, when the motor 1002 is powered on, the output end drives the screw 1003 to rotate forward and reverse. During the rotation of the screw 1003, the external thread is used to squeeze the slide 1101. The slide 1101 moves up and down under the guidance of the slide groove 1004, changing the spatial height of the robot 11 to achieve multi-space operation and make the robot 11 more flexible. The guide rod 1005 can guide the trajectory of the slide 1101 to avoid rotation of the slide 1101 during the up and down movement, making the movement of the robot 11 more stable.

[0082] In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. "Multiple" means two or more, unless otherwise clearly and specifically defined.

[0083] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0084] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0085] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0086] In the drawings of the embodiments disclosed in the present invention, only the structures related to the embodiments disclosed in the present invention are involved, and other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of the present invention can be combined with each other.

[0087] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A multi-arm handling robot, characterized in that: include: A mobile mechanism (1), wherein a first guide rail (2) is installed on the top of the mobile mechanism (1), a main rod (5) is mounted on the top of the first guide rail (2), a second guide rail (3) is installed on the top of the main rod (5), a wireless controller (7) is installed on the top of the second guide rail (3), a gear groove (4) is opened inside the first guide rail (2) and the second guide rail (3), and a gear table is installed on the inner wall of the gear groove (4); A traction mechanism (9), the traction mechanism (9) being installed between the first guide rail (2) and the gear groove (4), and a lifting mechanism (10) being installed between the traction mechanism (9); The traction mechanism (9) comprises a traction box (901) which is extended and installed at the top and bottom of the lifting mechanism (10); a motor (902) is installed inside the traction box (901); an output end of the motor (902) is connected to a gear shaft (903) which extends into the gear groove (4); and an external gear of the gear shaft (903) is meshed with a gear table on the inner wall of the gear groove (4); A mechanical arm (11), the mechanical arm (11) being installed on a side of the lifting mechanism (10) away from the main rod (5); The robot arm (11) comprises a slide (1101) connected to a lifting mechanism (10); one side of the slide (1101) is rotatably connected to a large arm (1102); one side of the large arm (1102) is rotatably connected to a small arm (1103); one side of the small arm (1103) is rotatably connected to a mounting seat (1105); an end effector (1106) is installed inside the mounting seat (1105).

2. A multi-arm handling robot according to claim 1, characterized in that: The mechanical arm (11) further comprises a rotating disk (1104) rotatably connected to one side of the forearm (1103), and one side of the rotating disk (1104) is connected to the mounting seat (1105).

3. A multi-arm handling robot according to claim 2, characterized in that: The mechanical arm (11) further comprises a connecting platform (1107) mounted on the rear end of the forearm (1103) and the mounting seat (1105), and an electric push rod (1108) is rotatably connected between the connecting platform (1107).

4. The multi-arm handling robot according to claim 1, characterized in that: A plurality of mounting frames are installed on the top of the second guide rail (3) outside the wireless controller (7), and a camera (8) is installed on each of the mounting frames.

5. The multi-arm handling robot according to claim 1, characterized in that: A circular ring frame (6) is installed on the periphery of the main rod (5), and a hanging ring (12) is installed on the side of the lifting mechanism (10) close to the main rod (5), and the hanging ring (12) is suspended on the circular ring frame (6).

6. The multi-arm handling robot according to claim 5, characterized in that: A reinforcement platform (13) is installed on the periphery of the main rod (5), and the reinforcement platform (13) is connected to the first guide rail (2) and the second guide rail (3) respectively.

7. The multi-arm handling robot according to claim 1, characterized in that: The moving mechanism (1) comprises an electric chassis (101) mounted on the bottom of the first guide rail (2), and wheels are rotatably mounted on the bottom of the electric chassis (101).

8. The multi-arm handling robot according to claim 7, characterized in that: The moving mechanism (1) further comprises a bracket (102) mounted on the periphery of the electric chassis (101), and a support leg (103) is rotatably mounted inside the bracket (102).

9. The multi-arm handling robot according to claim 1, characterized in that: The lifting mechanism (10) comprises a slide rail (1001) installed between the traction boxes (901), a motor (1002) is installed inside the slide rail (1001), and a screw rod (1003) is connected to the bottom of the motor (1002); The side of the slide rail (1001) is provided with a slide groove (1004) for the slide seat (1101) to slide, and the screw rod (1003) is sleeved on the periphery of the slide seat (1101).

10. The multi-arm handling robot according to claim 9, characterized in that: The lifting mechanism (10) further comprises a guide rod (1005) installed inside the slide groove (1004), and the guide rod (1005) penetrates and extends to the slide seat (1101) inside the slide groove (1004).

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