A multifunctional smart handling mechanical arm

Abstract

The present invention discloses a multifunctional force-handling robot arm, which specifically relates to the technical field of robot arms, including a mounting seat connected to the robot arm; a plurality of clamping seats, which are slidably connected to the mounting seat along the axial array of the mounting seat and can slide freely along the radial direction of the mounting seat; a plurality of airbags, which are correspondingly mounted on the plurality of clamping seats, and a clamping space is surrounded by the plurality of airbags; a driving mechanism, which is used to drive the plurality of clamping seats to move synchronously, so that the plurality of airbags can clamp the workpiece surface together. The present invention provides a clamping seat, an airbag and a driving mechanism, and the driving mechanism drives the plurality of clamping seats to move synchronously, so that the plurality of airbags can clamp the workpiece together. Since the airbag itself is deformable, the airbag can adapt to the surface shape of the workpiece. In addition, the clamping force of the airbag on the workpiece will not be too large to affect the workpiece surface, so it is suitable for clamping light-weight, thin-walled and high-surface-quality workpieces.

Description

Technical Field

[0001] The present invention relates to the technical field of robotic arms, and more specifically, to a multifunctional and powerful transporting robotic arm. Background Art

[0002] The robot arm is a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity and strong coupling. Due to its unique operational flexibility, it has been widely used in industrial assembly, safety and explosion-proof and other fields.

[0003] When carrying out turnover and transportation of items, some companies will use a robotic arm to perform the operation. After searching, it was found that a robotic arm is disclosed in Chinese Patent No. CN103213120B, which includes a bracket, a transverse driving mechanism, a vertical driving mechanism and a clamping mechanism. The vertical driving mechanism is horizontally slidably installed on the bracket, the transverse driving mechanism is installed on the bracket and drives the vertical driving mechanism to move horizontally; the vertical driving mechanism drives the clamping mechanism to move up and down; the clamping mechanism includes a bearing plate, a pushing unit and at least two claws, the bearing plate is connected to the output end of the vertical driving mechanism, the pushing unit is arranged on the bearing plate, and the pushing unit pushes the two claws to open or close.

[0004] In the above-mentioned prior art, two clamping jaws are used to clamp the object. However, when clamping light objects or workpieces with high surface quality requirements, the clamping jaws are driven by the pushing unit to move relative to each other, so that the two clamping jaws clamp the object to achieve the clamping of the object. When the clamping force of the clamping jaws is too large, the surface of the object or workpiece may be clamped, thereby causing product damage. When the clamping force of the clamping jaws is small, the object or workpiece may fall. In addition, the clamping surfaces of some objects or workpieces are irregular, while the cross-section of one side of the existing clamping jaws for clamping objects is usually flat, which results in a smaller clamping area for the object, thereby affecting the clamping strength for the object. Summary of the invention

[0005] In order to overcome the above-mentioned defects of the prior art, an embodiment of the present invention provides a multifunctional smart transport robot arm. The technical problem to be solved by the present invention is that the clamping claws on the robot arm in the prior art cannot adapt to the clamping force of objects by themselves, and the clamping claws cannot match objects with clamping surfaces of different shapes.

[0006] To achieve the above object, the present invention provides the following technical solution: a multifunctional smart handling robot arm, comprising:

[0007] A mounting base connected to the robotic arm;

[0008] A plurality of clamping seats are slidably connected to the mounting seat in an axial array along the mounting seat and can freely slide along the radial direction of the mounting seat;

[0009] A plurality of air bags are installed correspondingly on the plurality of clamping seats, and a clamping space is enclosed between the plurality of air bags;

[0010] The driving mechanism is used to drive the plurality of clamping seats to move synchronously, so that the plurality of air bags clamp the surface of the workpiece together.

[0011] like Figure 1-10 As shown, the specific implementation method is: the robot arm drives the mounting seat to move to a suitable position, and makes the workpiece to be clamped be located between the airbags of multiple clamping seats, and then drives the multiple clamping seats to move relatively through the driving mechanism, so that the multiple airbags can clamp the workpiece together. Since the airbag itself is deformable, the airbag can adapt to the surface shape of the workpiece. In addition, the clamping force of the airbag on the workpiece will not be too large to affect the surface of the workpiece.

[0012] In another preferred embodiment, the driving mechanism comprises:

[0013] A slider having a T-shaped cross section and fixed to the clamping seat, wherein a sliding groove for the slider to engage is provided in the mounting seat, and the slider and the sliding groove form a sliding fit;

[0014] A sliding pin, fixedly connected to the sliding block;

[0015] The rotating disk is rotatably connected to the mounting seat by installing a rotating shaft. The mounting seat is provided with an air-avoiding groove through which the rotating disk can freely pass. A plurality of arc-shaped grooves are provided on the end surface of the rotating disk. One end of the arc-shaped groove in the arc length direction extends toward the radial inner side of the rotating disk. The sliding pin is correspondingly inserted into the arc-shaped groove and can slide along the arc length direction of the arc-shaped groove. The rotating disk is driven to rotate by a motor installed in the air-avoiding groove.

[0016] By connecting the motor to an external power source and turning it on, the motor can drive the rotating shaft to rotate, and when the rotating shaft rotates, it can drive the rotating disk to rotate, so that the sliding pin can slide in the arc groove and gradually move toward the radial inner direction of the rotating disk. When moving, it can drive multiple clamping seats to move synchronously toward the radial inner direction of the rotating disk, so that the airbags on the multiple clamping seats can clamp the object or workpiece together. Since multiple clamping seats can clamp the object synchronously, the object will not be moved due to interference when clamping the object.

[0017] In another preferred embodiment, the driving mechanism is further provided with a detection component, and the detection component is used to detect whether the multiple airbags clamp the object.

[0018] A detection component is provided to detect whether the airbag has clamped the object, thereby preventing the airbag from failing to clamp the object and causing the object to move, thereby causing the object to fall during the turnover process.

[0019] In another preferred embodiment, the detection component includes:

[0020] A bracket, fixedly connected to the top surface of the mounting seat;

[0021] A drive sleeve is coaxially threadedly provided on the upper end of the rotating shaft, and a through hole is provided on the bracket for the drive sleeve to freely pass through, and the drive sleeve is connected to the through hole key;

[0022] A detection column is coaxially telescopically inserted into the upper end of the driving sleeve, and the driving sleeve is provided with a sliding hole for the detection column to be inserted, and the detection column and the sliding hole form a sliding fit;

[0023] A sliding block is engaged with the sliding hole and can slide freely up and down;

[0024] A pressure sensor is installed in the sliding hole and abuts against the surface of the sliding block;

[0025] The spring is vertically installed in the sliding hole and is arranged between the sliding block and the detection column. The two ends of the spring in the elastic force direction elastically press against the sliding block and the detection column respectively.

[0026] When the plurality of clamping seats move in the radial inner direction of the rotating disk, the rotating disk will rotate, and the rotation can drive the driving sleeve to threadably engage with the rotating shaft. Since the driving sleeve is connected to the bracket by a key, the driving sleeve will move vertically. When moving vertically, the end of the detection column can move upward and collide with the object clamped by the airbag. When collided, as the detection column continues to move, the detection column will compress the spring and increase the pressure of the sliding block on the pressure sensor. The pressure sensor collects the pressure signal and feeds it back to the external control device. The control device analyzes the pressure of the sliding block on the pressure sensor corresponding to the moving stroke of the detection column. In this way, it can quickly analyze whether the detection column has been against the object. Since the detection process is carried out synchronously with the process of the workpiece being clamped by the airbag, the clamping state of the airbag can be quickly analyzed, and the overall operation time is shortened.

[0027] In another preferred embodiment, a short pin is passed through the lower end of the detection column, and a waist-shaped hole for the short pin to be inserted is opened on the outer wall of the driving sleeve. The length direction of the waist-shaped hole is parallel to the axial direction of the driving sleeve, and the short pin slides freely in the waist-shaped hole.

[0028] The short pin slides in the waist-shaped hole, so that the detection column can slide freely on the driving sleeve and will not be separated from the driving sleeve.

[0029] In another preferred embodiment, the clamping seat is provided with a limiting bin for limiting the position of the airbag, so that when the volume of the airbag expands and the article is clamped, no displacement will occur, thereby being able to clamp the article more stably.

[0030] In another preferred embodiment, an inflation mechanism for inflating the airbag is provided on the mounting seat, and the inflation mechanism uses the movement of the clamping seat as a power.

[0031] In another preferred embodiment, the inflation mechanism comprises:

[0032] A fixing sleeve, horizontally fixed to the mounting seat, and a communicating cavity is provided inside the fixing sleeve;

[0033] A connecting tube is fixedly connected to the clamping seat, a cavity is provided in the clamping seat, the cavity is communicated with the connecting tube, the airbag is connected with the cavity through a short tube, and the connecting tube is coaxially inserted into the fixing sleeve to the communicating cavity;

[0034] The piston is fixedly connected to one end of the connecting pipe that penetrates into the connecting cavity, and the piston is engaged with the connecting cavity. The piston and the connecting cavity form a sliding fit. One end of the connecting pipe adjacent to the piston is provided with an air inlet that penetrates the interior of the connecting pipe.

[0035] The connecting tube slides in the fixed sleeve by moving the clamping seat toward the radial inner side of the mounting seat. When sliding, the piston compresses the air in the fixed sleeve, so that the compressed air enters the connecting tube from the air inlet, and then enters the connecting cavity, and enters the airbag from the short tube, thereby inflating the interior of the airbag. After the airbag is inflated, it expands itself, thereby better clamping the object and ensuring the clamping force of the object. In addition, only after the volume of the airbag expands can it generate a better clamping force on the irregular surface of the object or workpiece.

[0036] In another preferred embodiment, an air vent in the form of a through hole is provided at one end of the fixing sleeve away from the mounting seat.

[0037] By providing the air vent, when the piston slides in the fixing sleeve in a direction away from the mounting seat, no air resistance will be generated in the fixing sleeve.

[0038] Technical effects and advantages of the present invention:

[0039] 1. The present invention provides a clamping seat, an airbag and a driving mechanism, and the driving mechanism drives multiple clamping seats to move synchronously, so that multiple airbags can clamp the workpiece together. Since the airbag itself is deformable, the airbag can adapt to the surface shape of the workpiece. In addition, the clamping force of the airbag on the workpiece will not be too large to affect the surface of the workpiece. Since the clamping force on the workpiece is a flexible force or a forming force, it is suitable for clamping light-weight, thin-walled workpieces with high surface quality requirements;

[0040] 2. The present invention provides a rotating disk and a sliding pin, and the motor can drive the rotating shaft to rotate. When the rotating shaft rotates, the rotating disk can be driven to rotate, so that the sliding pin can slide in the arc groove and gradually move toward the radial inner side of the rotating disk. When moving, it can drive multiple clamping seats to move synchronously toward the radial inner side of the rotating disk, so that the airbags on the multiple clamping seats can clamp the object or workpiece together. Since the multiple clamping seats can clamp the object synchronously, the object will not be moved due to interference when clamping the object;

[0041] 3. The present invention sets a detection component and rotates the rotating disk, which can drive the driving sleeve to threadably engage with the rotating shaft during rotation. Since the driving sleeve is connected to the bracket through a key, the driving sleeve will move vertically. During the vertical movement, the end of the detection column can move upward and abut against the object clamped by the airbag. When abutting against each other, as the detection column continues to move, the detection column will compress the spring and increase the pressure of the sliding block on the pressure sensor. The pressure sensor collects the pressure signal and feeds it back to the external control device. The control device analyzes the pressure of the sliding block on the pressure sensor corresponding to the moving stroke of the detection column. In this way, it can quickly analyze whether the detection column has abutted against the object. Since the detection process is carried out synchronously with the process of the workpiece being clamped by the airbag, the clamping state of the airbag can be quickly analyzed, and the overall operation time is shortened. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 This is a schematic diagram of the overall structure of a multifunctional power handling robot arm of the present invention;

[0043] Figure 2 This is a schematic diagram of an exploded decomposition of a multifunctional power handling robot arm of the present invention;

[0044] Figure 3 for Figure 2 A magnified schematic diagram of the local structure at point A;

[0045] Figure 4 This is a schematic diagram of a multifunctional power handling robot arm of the present invention from an upward angle;

[0046] Figure 5 This is a schematic diagram of the structure of a mounting seat in a multifunctional smart handling robot arm of the present invention;

[0047] Figure 6 It is a schematic cross-sectional structural diagram of a mounting seat in a multifunctional power handling robot arm of the present invention;

[0048] Figure 7 This is a schematic diagram of the connection structure between the detection column and the driving sleeve in a multifunctional smart handling robot arm of the present invention;

[0049] Figure 8 for Figure 7 Schematic diagram of structural cross-section in FIG.

[0050] Fig. 9 It is a structural schematic diagram of a clamping seat in a multifunctional smart handling robot arm of the present invention;

[0051] Fig.10 It is a schematic cross-sectional view of the structure of a clamping seat in a multifunctional smart handling robot arm of the present invention.

[0052] The accompanying drawings are marked as: 1-fixed seat, 2-mounting seat, 3-fixed sleeve, 4-clamping seat, 5-airbag, 6-limit bin, 7-sliding groove, 8-motor, 9-connecting cavity, 10-rotating disk, 11-sliding pin, 12-sliding block, 13-connecting pipe, 14-piston, 15-rotating shaft, 16-arc groove, 17-short tube, 18-driving sleeve, 19-pressure sensor, 20-sliding block, 21-spring, 22-detection column, 23-bracket, 24-short pin, 25-waist-shaped hole, 26-cavity, 27-air inlet. DETAILED DESCRIPTION

[0053] 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.

[0054] like Figure 1-10As shown, the present invention provides a multifunctional smart handling robot arm, including a fixing seat 1 installed on an external robot arm by screw connection, and a mounting seat 2 is welded on the fixing seat 1, the mounting seat 2 is connected to the robot arm, and the external robot arm will drive the mounting seat 2 to move, and four clamping seats 4 are slidably connected to the mounting seat 2 along its axial array. Specifically, a slider 12 with a T-shaped cross section is welded to the lower end of the clamping seat 4, and a sliding groove 7 for the slider 12 to engage is opened on the mounting seat 2, and the slider 12 and the sliding groove 7 form a sliding The airbags 5 are bonded to the inner side of the clamping seat 4. When the workpiece is clamped, the mounting seat 2 is first driven by the robot arm to move to a suitable position, and the workpiece to be clamped is located in the clamping space surrounded by the airbags of the multiple clamping seats 4. Then, the four clamping seats are moved relative to each other, so that the four airbags 5 can clamp the workpiece together. Since the airbags 5 themselves are deformable, they can adapt to the surface shape of the workpiece. In addition, the clamping force of the airbags 5 on the workpiece will not be too large to affect the surface of the workpiece.

[0055] Since the four clamping seats 4 need to move synchronously, Figure 2 As shown, in this embodiment, a sliding pin 11 is vertically welded on the bottom surface of the slider 12 in the mounting seat 2. In addition, a rotating disk 10 is rotatably connected to the mounting seat 2 by installing a rotating shaft 15, and the rotating shaft 15 is rotatably connected to the mounting seat 2 by installing a bearing, so that the rotating disk 10 is rotatably connected to the mounting seat 2. At the same time, a clearance groove is provided on the mounting seat 2 for the rotating disk 10 to rotate freely through. A plurality of arc grooves 16 are provided on the end surface of the rotating disk 10, and one end of the arc groove 16 in the arc length direction extends toward the radial inner side of the rotating disk 10. The sliding pin 11 is correspondingly inserted into the arc groove 16 and can slide along the arc length direction of the arc groove 16. The rotating disk 10 is driven by an electric motor installed in the clearance groove. The machine 8 drives it to rotate. When the motor 8 is powered by an external power supply, the motor 8 will drive the rotating disk 10 to rotate. When the rotating disk 10 rotates, the four sliding pins 11 can slide in the four arc-shaped grooves 16 respectively. Since one end of the arc length direction of the arc-shaped groove extends toward the radial inner side of the mounting seat, when the sliding pin 11 slides in the arc groove, it will slide toward the radial inner side of the mounting seat, and then it can drive the four clamping seats to move synchronously toward the radial inner side of the mounting seat until the airbags on the four clamping seats can clamp the workpiece. Since only the rotation of the rotating disk is required to drive the four clamping seats to move synchronously, the airbags on the clamping seat 4 can clamp the object synchronously, which is convenient to operate and has a simple structure.

[0056] Since the airbag 5 cannot detect whether the workpiece is clamped when it is clamped, if the workpiece is not clamped and the mounting base 2 is moved at this time, the workpiece will fall from between the airbags 5 during the transfer process. Figure 2 , 3As shown in Figures 7 and 8, in this embodiment, a bracket 23 is welded on the top surface of the mounting seat 2, the bracket 23 is U-shaped, and the vertical section of the bracket 23 is welded to the mounting seat, a threaded hole is provided at the upper end of the rotating shaft 15, a driving sleeve 18 is threadedly penetrated by the thread in the threaded hole, the upper end of the driving sleeve 18 exposes the rotating shaft 15, and a through hole is provided on the bracket 23 for the driving sleeve 18 to move freely through, the driving sleeve 18 is connected with the through hole key, and a detection column 22 is telescopically inserted at the upper end of the driving sleeve 18, a sliding hole is provided on the driving sleeve 18 for the detection column 22 to be inserted, the detection column 22 and the sliding hole form a sliding fit, a sliding block 20 that can slide freely up and down is engaged in the sliding hole, a pressure sensor 19 is bonded in the sliding hole, the pressure sensor 19 is against the surface of the sliding block 20, and a spring 21 is vertically installed in the sliding hole, the spring 21 is arranged between the sliding block 20 and the detection column 22, and the two ends of the spring 21 in the elastic force direction elastically press against the sliding block 20, When the four clamping seats 2 move in the radial inner direction of the rotating disk 10, the rotating disk 10 will rotate, and the rotation can drive the drive sleeve 18 to threadedly engage with the rotating shaft 15. Since the drive sleeve 18 is connected to the bracket 23 by a key, the drive sleeve 18 will move vertically. When moving vertically, the end of the detection column 22 can move upward and abut against the surface of the workpiece clamped by the airbag 5. When abutting, as the detection column 22 continues to move, the detection column 22 will compress the spring 21 and increase the pressure of the sliding block 20 on the pressure sensor 19. The pressure sensor collects the pressure signal and feeds it back to the external control device. The control device analyzes the pressure of the sliding block on the pressure sensor corresponding to the moving stroke of the detection column. In this way, it can quickly analyze whether the detection column has abutted against the object. Since the detection process is synchronized with the process of the workpiece being clamped by the airbag, the clamping state of the airbag can be quickly analyzed.

[0057] When the detection column 22 is extended and inserted in the sliding hole, the detection column 22 may be separated from the opening of the sliding hole. Figure 7 , 8 As shown, in the present embodiment, a short pin 24 is passed through the lower end of the detection column 22, and a waist-shaped hole 25 for the short pin 24 to be inserted is opened on the outer wall of the driving sleeve 18. The length direction of the waist-shaped hole 25 is parallel to the axial direction of the driving sleeve 18, and the short pin 24 slides freely in the waist-shaped hole 25. By sliding the short pin in the waist-shaped hole, the detection column can slide freely on the driving sleeve and will not fall off from the driving sleeve. In addition, the short pin can be made of stainless steel, so that the short pin has better wear resistance.

[0058] Since the airbag is usually bonded to the clamping seat 4, the airbag may be offset when clamping the workpiece, resulting in poor clamping effect of the airbag on the workpiece. Figure 1 , 2As shown, in this embodiment, a limiting bin 6 for limiting the position of the airbag 5 is provided on the clamping seat 4, and the airbag 5 is installed in the limiting bin 6, and the limiting bin 6 limits the position of the airbag.

[0059] When the airbag 5 is clamping the workpiece, in order to make the airbag 5 deform, so that the shape of the airbag 5 matches the shape of the clamped surface of the workpiece, or in other words, the airbag 5 deforms itself to make the shape of the airbag consistent with the shape of the clamped surface of the workpiece, so that the airbag can press against most of the clamped surface of the workpiece. Figure 2 As shown, in this embodiment, a fixing sleeve 3 is horizontally welded on the mounting seat 2, a connecting cavity 9 is provided inside the fixing sleeve 3, a cavity 26 is provided inside the clamping seat 4, the cavity 26 is communicated with the connecting pipe 13, the airbag 5 is connected with the cavity 26 through the short tube 17, the connecting pipe 13 coaxially penetrates the fixing sleeve 3 to the connecting cavity 9, one end of the connecting pipe 13 penetrating into the connecting cavity 9 is connected with the piston 14, and the piston 14 is engaged with the connecting cavity 9, the piston 14 and the connecting cavity 9 form a sliding fit, and one end of the connecting pipe 13 adjacent to the piston 14 is provided with an air inlet 27 which is communicated with the inside thereof, and the connecting pipe slides in the fixing sleeve through the clamping seat moving toward the radial inner side of the mounting seat, When sliding, the piston will compress the air in the fixed sleeve, so that the compressed air enters the connecting pipe from the air inlet, and then enters the connecting cavity, and enters the airbag from the short tube, thereby inflating the interior of the airbag. After the interior of the airbag is inflated, it expands itself, and thus can better clamp the object and ensure the clamping force of the object. In addition, only after the volume of the airbag expands can it produce a better clamping force on the irregular surface of the object or workpiece. An air vent in the form of a through hole is opened at one end of the fixed sleeve 3 away from the mounting seat 2, so that when the piston 14 slides toward the outside of the mounting seat 2, the piston 14 will not generate air resistance in the connecting cavity, thereby avoiding the feeling of blockage during sliding.

[0060] Finally, a few points should be explained: First, in the description of this application, it should be noted that, unless otherwise specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, which may refer to mechanical connection or electrical connection, or internal communication between two components, or direct connection. "upper", "lower", "left", "right", etc. are only used to indicate relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship may change;

[0061] Secondly: 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;

[0062] Finally: The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. 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 multifunctional power handling robot arm, characterized in that: include: A mounting base (2) connected to the robotic arm; A plurality of clamping seats (4) are slidably connected to the mounting seat (2) in an array along the axial direction of the mounting seat (2) and are capable of sliding freely along the radial direction of the mounting seat (2); A plurality of air bags (5) are mounted correspondingly on the plurality of clamping seats (4), and a clamping space is enclosed between the plurality of air bags (5); A driving mechanism, used for driving the plurality of clamping seats (4) to move synchronously, so that the plurality of air bags (5) clamp the surface of the workpiece together; The mounting seat (2) is provided with an inflation mechanism for inflating the airbag (5), and the inflation mechanism uses the movement of the clamping seat (4) as a driving force; The inflation mechanism comprises: A fixing sleeve (3) is horizontally fixed to the mounting seat (2), and a connecting cavity (9) is provided inside the fixing sleeve (3); A connecting tube (13) is fixedly connected to the clamping seat (4); a cavity (26) is provided in the clamping seat (4); the cavity (26) is communicated with the connecting tube (13); the airbag (5) is connected with the cavity (26) via a short tube (17); the connecting tube (13) coaxially penetrates the fixing sleeve (3) to the communicating cavity (9); The piston (14) is fixedly connected to one end of the connecting tube (13) that penetrates into the connecting cavity (9), and the piston (14) is engaged with the connecting cavity (9). The piston (14) and the connecting cavity (9) form a sliding fit. The end of the connecting tube (13) adjacent to the piston (14) is provided with an air inlet (27) that penetrates the interior of the connecting tube (13).

2. A multifunctional smart handling robot arm according to claim 1, characterized in that: The driving mechanism comprises: A slider (12) has a T-shaped cross section, and the slider (12) is fixed to the clamping seat (4). A sliding groove (7) for the slider (12) to engage is provided in the mounting seat (2), and the slider (12) and the sliding groove (7) form a sliding fit; A sliding pin (11) fixedly connected to the sliding block (12); The rotating disk (10) is rotatably connected to the mounting seat (2) via a mounting shaft (15); the mounting seat (2) is provided with a clearance groove through which the rotating disk (10) can freely pass when rotating; a plurality of arc grooves (16) are provided on the end surface of the rotating disk (10); one end of the arc groove (16) in the arc length direction extends toward the radial inner side of the rotating disk (10); the sliding pin (11) is correspondingly inserted into the arc groove (16) and can slide along the arc length direction of the arc groove (16); the rotating disk (10) is driven to rotate by a motor (8) installed in the clearance groove.

3. A multifunctional power handling robot arm according to claim 2, characterized in that: The driving mechanism is also provided with a detection component, which is used to detect whether the multiple airbags (5) clamp an object.

4. The multifunctional smart handling robot arm according to claim 3, characterized in that: The detection component comprises: A bracket (23) fixedly connected to the top surface of the mounting seat (2); A drive sleeve (18) is coaxially threadedly penetrated at the upper end of the rotating shaft (15), and the bracket (23) is provided with a through hole through which the drive sleeve (18) can freely move, and the drive sleeve (18) is connected to a through hole key; A detection column (22) is coaxially telescopically inserted into the upper end of the drive sleeve (18); the drive sleeve (18) is provided with a sliding hole for the detection column (22) to be inserted into; the detection column (22) and the sliding hole form a sliding fit; A sliding block (20) is engaged with the sliding hole and can slide freely up and down; A pressure sensor (19) is installed in the sliding hole and abuts against the surface of the sliding block (20); The spring (21) is vertically mounted in the sliding hole and is disposed between the sliding block (20) and the detection column (22). Both ends of the spring (21) in the elastic force direction elastically press against the sliding block (20) and the detection column (22) respectively.

5. The multifunctional smart handling robot arm according to claim 4, characterized in that: A short pin (24) is inserted through the lower end of the detection column (22), and a waist-shaped hole (25) for the short pin (24) to be inserted is opened on the outer wall of the driving sleeve (18), the length direction of the waist-shaped hole (25) is parallel to the axial direction of the driving sleeve (18), and the short pin (24) can slide freely in the waist-shaped hole (25).

6. The multifunctional smart handling robot arm according to claim 1, characterized in that: The clamping seat (4) is provided with a limiting bin (6) for limiting the position of the airbag (5).

7. The multifunctional smart handling robot arm according to claim 1, characterized in that: An air vent in the form of a through hole is provided at one end of the fixing sleeve (3) away from the mounting seat (2).

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