A light-load and high-speed handling manipulator

Abstract

The present invention discloses a light-load high-speed handling manipulator, which relates to the technical field of mechanical handling and includes: a fixing unit, including a chassis and a rotating seat arranged on the top of the chassis; a robotic arm unit, including a main robotic arm arranged on the top of the rotating seat and an auxiliary robotic arm arranged on the main robotic arm. By controlling the linkage rod and the moving block through a hydraulic rod, the rotation of the rotating disk and the adjustment of the grasping force are realized. Its linkage rod synchronously controls the opening and closing action of the moving shaft, and the cooperation of the support block and the main buffer rod is used to finely adjust the top pressure between the limiting plate and the clamping plate to adapt to the grasping requirements of different objects. The limiting rod and the clamping plate ensure the stable wrapping of the object and prevent it from slipping during the handling process, improving the adaptability, safety and efficiency of the manipulator, enabling the grasping of goods with different shapes, and at the same time, the grasping force can be adjusted according to the goods.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical handling, and in particular to a light-load high-speed handling manipulator. Background Art

[0002] Currently, a large number of manual workers are used on the packaging production lines in light industries such as food and medicine. With the gradual shortage of labor, the increase in labor costs, and the problem of poor consistency of products in manual operations becoming increasingly prominent, there is an urgent need for a handling manipulator that can replace human hands. Existing light-load handling manipulators are divided into two configurations: parallel and serial, mainly with 6 degrees of freedom and 4 degrees of freedom. In existing serial mechanisms, motors are mostly directly installed on the rotating shafts, increasing the weight of the moving parts to achieve high-speed handling motion.

[0003] Currently, when handling items such as plastic boxes, square barrels, packaging bags, packaging boxes, and bottles in the market, if only the manipulator is used for grasping and handling, when grasping cylindrical or fragile objects, due to the inability of the manipulator to adjust the grasping area, the contact area is small, resulting in unstable handling and the dropping of items. Moreover, it is impossible to adjust different grasping forces when grasping different objects, resulting in damage to the handled items due to excessive grasping force. Summary of the Invention

[0004] In view of the problems existing in the above-mentioned existing light-load high-speed handling manipulators, the present invention is proposed.

[0005] Therefore, the present invention provides a light-load high-speed handling manipulator, and its purpose is to solve the problems that when only using the manipulator for grasping and handling, when grasping cylindrical or fragile objects, due to the inability of the manipulator to adjust the grasping area, the contact area is small, resulting in unstable handling and the dropping of items, and it is impossible to adjust different grasping forces when grasping different objects, resulting in damage to the handled items due to excessive grasping force.

[0006] To solve the above technical problems, the present invention provides the following technical solutions: a fixing unit, including a chassis and a rotating seat arranged on the top of the chassis;

[0007] A robotic arm unit, including a main robotic arm arranged on the top of the rotating seat and an auxiliary robotic arm arranged on the main robotic arm;

[0008] An adjustment unit, including a mounting block arranged on the main robotic arm and an adjustment assembly arranged at the bottom of the mounting block;

[0009] The adjustment assembly includes a moving block arranged at the bottom of the mounting block, a rotating block arranged on one side of the moving block, and a rotating buckle rotatably arranged on the rotating block;

[0010] The handling unit includes a clamping component arranged at the bottom of the adjustment component, a clamping assembly arranged on the clamping component, and a buffer adjustment component arranged at the bottom of the clamping assembly, and the buffer adjustment component is connected to the clamping component;

[0011] The clamping component includes a hydraulic rod arranged at the bottom of the rotating buckle, a linkage rod arranged at the output end of the hydraulic rod, a linkage rotating shaft arranged on the outer diameter of the linkage rod, a rotating disk arranged on the outer diameter of the linkage rotating shaft, and a limiting disk rotatably arranged on the outer diameter of the linkage rotating shaft, and the limiting disk is rotatably connected to the rotating disk;

[0012] A limiting groove is arranged inside the limiting disk, and the limiting groove cooperates with the moving block;

[0013] A sliding groove is arranged inside the rotating disk, a sliding rod is slidably connected inside the sliding groove, a moving slider is rotatably arranged on the outer diameter of the sliding rod, a moving connecting rod is slidably arranged inside the moving slider, the other end of the moving connecting rod is provided with a fixed shaft, a rotating shaft is rotatably arranged at the bottom of the fixed shaft, an electric push rod is arranged at the bottom of the rotating shaft, and the electric push rod is connected to the buffer adjustment component;

[0014] The clamping assembly includes a moving shaft arranged at the bottom of the limiting disk, a first-level connecting rod rotatably arranged inside the moving shaft, a rotating shaft rotatably arranged at the other end of the first-level connecting rod, and a second-level connecting rod arranged on the rotating shaft, and the second-level connecting rod is rotatably connected to the buffer adjustment component;

[0015] By the rotation of the linkage rotating shaft, the rotating disk starts to rotate inside the limiting disk. At the same time, the sliding rod on the sliding groove inside the limiting disk also starts to move along the sliding groove. However, while the sliding rod is moving, it is limited by the limiting groove, so that the sliding rod can only move linearly. At the same time, the moving slider drives the moving connecting rod to move outwards. By the movement of the moving connecting rod, the fixed shaft and the rotating shaft drive the second-level connecting rod to expand and unfold.

[0016] As a preferred solution of the light-load high-speed handling manipulator of the present invention, wherein: a moving block is arranged on the outer diameter of the linkage rod, and the moving block is slidably connected to the linkage rotating shaft.

[0017] As a preferred solution of the light-load high-speed handling manipulator of the present invention, wherein: a moving ring is arranged on the outer diameter of the bottom of the linkage rod, a rotating bracket is rotatably arranged on the outer diameter of the moving ring, and the rotating bracket is rotatably connected to the first-level connecting rod.

[0018] As a preferred embodiment of the light-load high-speed handling manipulator of the present invention, the buffer adjustment assembly includes a support plate disposed at the bottom of the secondary link, a main buffer rod slidably disposed inside the support plate, a top plate disposed at the other end of the main buffer rod, a first buffer rod slidably disposed on both sides of the support plate, a baffle disposed at the other end of the first buffer rod, a support block disposed on the baffle, a second buffer rod slidably disposed on the baffle, and a clamping plate disposed on the second buffer rod.

[0019] As a preferred embodiment of the light-load high-speed handling manipulator of the present invention, one side of the clamping plate is provided with a return spring, and the other end of the return spring is connected to the baffle. The top of the hydraulic rod is provided with a connecting rod, and the connecting rod is rotatably connected to the electric push rod.

[0020] The beneficial effects of the present invention: By controlling the linkage rod and the moving block through the hydraulic rod, the rotation of the rotating disk and the adjustment of the grasping force are realized. Its linkage rod synchronously controls the opening and closing action of the moving shaft, and the cooperation of the support block and the main buffer rod is used to finely adjust the pressing force between the limiting plate and the clamping plate to adapt to the grasping requirements of different objects. The limiting rod and the clamping plate ensure the stable wrapping of the object and prevent it from slipping during handling, improving the adaptability, safety and efficiency of the manipulator, enabling the grasping of goods of different shapes, and at the same time, the grasping force can be adjusted according to the goods. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0022] Figure 1 It is a schematic diagram of the overall structure of the light-load high-speed handling manipulator of the present invention.

[0023] Figure 2 It is a schematic side view structure diagram of the light-load high-speed handling manipulator of the present invention.

[0024] Figure 3 It is a schematic diagram of the manipulator structure of the light-load high-speed handling manipulator of the present invention.

[0025] Figure 4 It is a schematic diagram of the clamping assembly structure of the light-load high-speed handling manipulator of the present invention.

[0026] Figure 5 For the light-load high-speed handling manipulator of the present invention Figure 4 The enlarged structure diagram at A.

[0027] Figure 6This is a schematic structural diagram of the cross-section of the manipulator of the light-load high-speed handling manipulator of the present invention.

[0028] Figure 7 This is for the light-load high-speed handling manipulator of the present invention Figure 6 Schematic enlarged structure diagram at position B.

[0029] Figure 8 This is for the light-load high-speed handling manipulator of the present invention Figure 6 Schematic enlarged structure diagram at position C.

[0030] Figure 9 Schematic structure diagram of the jaw of the light-load high-speed handling manipulator of the present invention.

[0031] Figure 10 Schematic cross-sectional structure diagram of the jaw of the light-load high-speed handling manipulator of the present invention.

[0032] Reference numerals

[0033] 100, fixed unit; 101, chassis; 102, rotating seat; 200, robotic arm unit; 201, auxiliary robotic arm; 202, main robotic arm; 300, adjustment unit; 301, mounting block; 302, adjustment assembly; 302a, moving block; 302b, rotating block; 302c, rotating buckle; 400, handling unit; 401, clamping assembly; 401a, hydraulic rod; 401b, linkage rod; 401b-1, moving clamping block; 401c, limiting disc; 401c-1, limiting groove; 401d, rotating disc; 401d-1, sliding groove; 401e, sliding rod; 401f, moving slider; 401g, moving linkage rod; 401h, fixed shaft; 401l, rotating shaft; 401m, electric push rod; 401p, linkage rotating shaft; 402, clamping component; 402a, moving shaft; 402b, first-level linkage rod; 402c, rotating shaft; 402d, second-level linkage rod; 402e, rotating bracket; 402f, moving ring; 403, buffer adjustment assembly; 403a, support plate; 403b, connecting rod; 403c, main buffer rod; 403d, top plate; 403e, first buffer rod; 403f, baffle; 403g, return spring; 403h, clamping plate; 403l, second buffer rod; 403m, support block. Detailed implementation manners

[0034] To make the above objects, features and advantages of the present invention more obvious and understandable, the following will describe in detail the specific implementation manners of the present invention with reference to the accompanying drawings of the specification.

[0035] Example 1, referring to Figure 1 - Figure 4, which is the first embodiment of the present invention, provides a light-load high-speed handling manipulator. This device includes: a fixing unit 100, which includes a chassis 101 and a rotating seat 102 arranged on the top of the chassis 101. The whole device is fixed through the chassis 101, and rotational adjustment is performed through the rotating seat 102;

[0036] A robotic arm unit 200, which includes a main robotic arm 202 arranged on the top of the rotating seat 102 and a secondary robotic arm 201 arranged on the main robotic arm 202. Through the cooperation of the main robotic arm 202 and the secondary robotic arm 201, an object is handled and moved;

[0037] An adjustment unit 300, which includes a mounting block 301 arranged on the main robotic arm 202 and an adjustment assembly 302 arranged at the bottom of the mounting block 301. Through the mounting block 301 and the adjustment assembly 302 on the main robotic arm 202, the installation and connection of the handling unit 400 can be completed, and rotational adjustment can be performed at the same time; and,

[0038] A handling unit 400, which includes a clamping component 401 arranged at the bottom of the adjustment assembly 302, a clamping assembly 402 arranged on the clamping component 401, and a buffer adjustment component 403 arranged at the bottom of the clamping assembly 402. The buffer adjustment component 403 is connected to the clamping component 401. Through the clamping component 401, the opening range of the clamping assembly 402 can be adjusted, and the expansion and contraction of the clamping assembly 402 can be adjusted for the grasping amplitude. At the same time, through the buffer adjustment component 403, the grasping force of the grasped object can be adjusted and buffered, so that the object can be grasped and handled in a fully wrapped manner.

[0039] Among them, the adjustment assembly 302 includes a moving block 302a arranged at the bottom of the mounting block 301, a rotating block 302b arranged on one side of the moving block 302a, and a rotating buckle 302c rotatably arranged on the rotating block 302b. Through the adjustment assembly 302, the clamping component 401 can be connected, and through the cooperation of the moving block 302a and the rotating block 302b, the clamping component 401 can be rotated and the angle can be adjusted.

[0040] During use, when the goods are grabbed and transported, the main device is fixed by the chassis 101, the auxiliary robot arm 201 and the main robot arm 202 are extended and retracted in coordination, and the grabbing angle of the clamping assembly 401 is adjusted by adjusting the mounting block 301 and the adjustment assembly 302, so that the clamping assembly 401 can align with the goods for grabbing, and the clamping assembly 401 is driven to make the clamping assembly 401 start to move downward with the clamping assembly 402 and the buffer adjustment assembly 403, and the clamping assembly 401 starts to control the expansion angle of the clamping assembly 402 and the buffer adjustment assembly 403, so that the clamping assembly 402 and the buffer adjustment assembly 403 are aligned with the goods for grabbing, and the clamping assembly 401 is driven to ...2 and the buffer adjustment assembly 403 are aligned with the goods for grabbing, and the clamping assembly 401 is driven to start to move downward with the clamping assembly 402 and the buffer adjustment assembly 403, and the clamping assembly 402 3 is gradually unfolded to achieve the best grasping range, and the clamping component 401 moves in the opposite direction, so that the clamping component 401 and the clamping component 402 are gradually retracted to achieve comprehensive wrapping of the object to be transported, and at the same time, the buffer adjustment component 403 is shrunk to fit on the surface of the object, and the buffer structure of the buffer adjustment component 403 is used to adjust the grasping force of the clamping component 402 when the object is grasped, so that the buffer adjustment component 403 can fully fit the object and adjust the grasping force when grasping and transporting, so that objects with different hardness can be effectively grasped and transported, and the adaptability of transportation is improved.

[0041] Example 2, reference Figure 1 - Figure 7 , which is the second embodiment of the present invention. This embodiment is different from the first embodiment in that: a clamping assembly 401 includes a hydraulic rod 401a arranged at the bottom of the rotating buckle 302c, a linkage rod 401b arranged at the output end of the hydraulic rod 401a, a linkage shaft 401p arranged at the outer diameter of the linkage rod 401b, a rotating disk 401d arranged at the outer diameter of the linkage shaft 401p, and a limit plate 401c rotatably arranged at the outer diameter of the linkage shaft 401p, and the limit plate 401c is rotatably connected with the rotating disk 401d, and the linkage rod 401b is moved in the same direction by the movement of the hydraulic rod 401a on the clamping assembly 401, and the dynamic shaft 401p and the rotating disk 401d begin to rotate inside the limit plate 401c to adjust the position and control the expansion.

[0042] Compared with Example 1, further, a moving block 401b-1 is provided on the outer diameter of the linkage rod 401b, and the moving block 401b-1 is slidably connected to the linkage shaft 401p, and the linkage shaft 401p starts to rotate through the movement of the moving block 401b-1.

[0043] Further, a limiting groove 401c-1 is provided inside the limiting disk 401c, and the limiting groove 401c-1 cooperates with the moving clamping block 401b-1. Through the cooperation of the limiting groove 401c-1 and the moving clamping block 401b-1, the moving track of the sliding rod 401e is restricted, so that the sliding rod 401e moves linearly on the limiting disk 401c to control the unfolding amplitude of the moving connecting rod 401g.

[0044] Preferably, a sliding groove 401d-1 is provided inside the rotating disk 401d. A sliding rod 401e is slidably connected inside the sliding groove 401d-1. A moving slider 401f is rotatably arranged on the outer diameter of the sliding rod 401e. A moving connecting rod 401g is slidably arranged inside the moving slider 401f. The other end of the moving connecting rod 401g is provided with a fixed shaft 401h. A rotating shaft 401l is rotatably arranged at the bottom of the fixed shaft 401h. An electric push rod 401m is arranged at the bottom of the rotating shaft 401l, and the electric push rod 401m is connected with the buffer adjustment assembly 403. Through the movement of the sliding rod 401e, the moving slider 401f drives the moving connecting rod 401g to move, and at the same time, the fixed shaft 401h and the rotating shaft 401l drive the secondary connecting rod 402d to unfold.

[0045] Preferably, the clamping assembly 402 includes a moving shaft 402a arranged at the bottom of the limiting disk 401c, a primary connecting rod 402b rotatably arranged inside the moving shaft 402a, a rotating shaft 402c rotatably arranged at the other end of the primary connecting rod 402b, and a secondary connecting rod 402d arranged on the rotating shaft 402c. The secondary connecting rod 402d is rotatably connected with the buffer adjustment assembly 403. By continuously moving the linkage rod 401b downward, the moving ring 402f drives the rotating bracket 402e to adjust the unfolding of the primary connecting rod 402b.

[0046] Preferably, a moving ring 402f is arranged on the outer diameter of the bottom of the linkage rod 401b. A rotating bracket 402e is rotatably arranged on the outer diameter of the moving ring 402f, and the rotating bracket 402e is rotatably connected with the primary connecting rod 402b. The rotating bracket 402e drives the primary connecting rod 402b to adjust the angle and unfold under the support of the moving shaft 402a.

[0047] During use, when grasping an object, the hydraulic rod 401a moves downward, and the linkage rod 401b also starts to move. At the same time, the moving block 401b-1 on the outer diameter of the linkage rod 401b starts to move along the linkage rotating shaft 401p, causing the linkage rotating shaft 401p to start rotating. Through the rotation of the linkage rotating shaft 401p, the rotating disk 401d starts to rotate inside the limiting disk 401c. At the same time, the sliding rod 401e on the sliding groove 401d-1 inside the limiting disk 401c also starts to move along the sliding groove 401d-1. However, while the sliding rod 401e is moving, it is limited by the limiting groove 401c-1, so that the sliding rod 401e can only move linearly. At the same time, the moving slider 401f drives the moving connecting rod 401g to expand and move. Through the movement of the moving connecting rod 401g, the fixed shaft 401h and the rotating shaft 401l drive the secondary connecting rod 402d to expand and unfold, completing the first-level unfolding. By continuing to move the linkage rod 401b downward, the moving ring 402f at the bottom of the linkage rod 401b causes the rotating bracket 402e to start rotating and jacks up the primary connecting rod 402b. Through the rotational cooperation of the rotating shaft 402c, the primary connecting rod 402b also starts to expand and unfold, completing the second-level unfolding. At the same time, the object to be carried is grasped. After the grasping is completed, the hydraulic rod 401a starts to move upward, performing reverse operations, causing the first-level unfolding to start to close initially. However, how to close the second-level unfolding to accurately grasp different goods and start carrying to prevent accidental dropping of the goods.

[0048] The remaining structures are the same as those in Embodiment 1.

[0049] Embodiment 3, referring to Figure 1 - Figure 10 , is the third embodiment of the present invention. The difference between this embodiment and the second embodiment is that the buffer adjustment assembly 403 includes a support plate 403a provided at the bottom of the secondary connecting rod 402d, a main buffer rod 403c slidably disposed inside the support plate 403a, a top plate 403d provided at the other end of the main buffer rod 403c, a first buffer rod 403e slidably disposed on both sides of the support plate 403a, a baffle 403f provided at the other end of the first buffer rod 403e, a support block 403m provided on the baffle 403f, a second buffer rod 403l slidably disposed on the baffle 403f, and a clamping plate 403h provided on the second buffer rod 403l. After grasping the required object through the clamping plate 403h, through the driving of the clamping assembly 401 and the clamping component 402, the clamping plate 403h starts to contract to squeeze the object. When squeezing the object, the second buffer rod 403l and the first buffer rod 403e start to contract, starting to adjust the force on the object. At the same time, the baffle 403f moves and fits against the top plate 403d to start supporting the whole, and starts to grasp the object.

[0050] Compared with Embodiment 2, further, a reset spring 403g is provided on one side of the clamping plate 403h, and the other end of the reset spring 403g is connected to the baffle 403f. A connecting rod 403b is provided at the top of the hydraulic rod 401a, and the connecting rod 403b is rotatably connected to the electric push rod 401m. The reset spring 403g can ensure the up-and-down balance of the clamping plate 403h during grasping, ensuring that the clamping plate 403h can fully wrap around the item for clamping.

[0051] During use, when adjusting the grasping force of the item, the movement of the clamping assembly 401 causes the clamping assembly 401 and the clamping component 402 to start cooperating and expanding. When grasping the item, the clamping plate 403h contacts the item for squeezing and grasping. The buffer rod two 403l at the rear end of 203h starts to perform preliminary buffering. At the same time, the position of the clamping plate 403h is adjusted in real time through the reset spring 403g, so that the clamping plate 403h can always wrap around the surface of the item. At the same time, the reverse extrusion of the item causes the baffle 403f to start moving, and the buffer rod one 403e moves into the support plate 403a for secondary buffering. At the same time, the support block 403m at the rear end of the baffle 403f contacts the top plate 403d. Through the contact of the top plate 403d, a reaction force is generated on the support block 403m and the baffle 403f, causing the clamping plate 403h to be pushed out in the reverse direction, and starting to squeeze and wrap the item for grasping. According to the different items in contact, the grasping force is adjusted, so that the buffer adjustment component 403 can be automatically adjusted when grasping the item, and it can be ensured that the grasping surface always fits the surface of the item, preventing the inability to adjust the grasping force for different objects during grasping, resulting in damage to the transported item due to excessive grasping force.

[0052] The remaining structure is the same as that of Embodiment 2.

[0053] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present invention, and they should all be covered within the scope of the claims of the present invention.

Claims

1. A light-load high-speed handling manipulator, characterized in that: include; The fixing unit (100) comprises a chassis (101) and a rotating seat (102) arranged on the top of the chassis (101); A mechanical arm unit (200), comprising a main mechanical arm (202) arranged on the top of a rotating seat (102), and an auxiliary mechanical arm (201) arranged on the main mechanical arm (202); An adjustment unit (300) comprises a mounting block (301) arranged on the main mechanical arm (202), and an adjustment component (302) arranged at the bottom of the mounting block (301); The adjustment assembly (302) comprises a moving block (302a) arranged at the bottom of the installation block (301), a rotating block (302b) arranged at one side of the moving block (302a), and a rotating buckle (302c) rotatably arranged on the rotating block (302b); The transport unit (400) comprises a clamping assembly (401) arranged at the bottom of the adjustment assembly (302), a clamping assembly (402) arranged on the clamping assembly (401), and a buffering adjustment assembly (403) arranged at the bottom of the clamping assembly (402), wherein the buffering adjustment assembly (403) is connected to the clamping assembly (401); The clamping assembly (401) comprises a hydraulic rod (401a) arranged at the bottom of a rotating buckle (302c), a linkage rod (401b) arranged at the output end of the hydraulic rod (401a), a linkage rotating shaft (401p) arranged at the outer diameter of the linkage rotating shaft (401b), a rotating disk (401d) arranged at the outer diameter of the linkage rotating shaft (401p), and a limiting disk (401c) rotatably arranged at the outer diameter of the linkage rotating shaft (401p), wherein the limiting disk (401c) is rotatably connected to the rotating disk (401d); A limiting groove (401c-1) is provided inside the limiting plate (401c), and the limiting groove (401c-1) cooperates with the moving card block (401b-1); The rotating disk (401d) is provided with a sliding groove (401d-1) inside, the sliding groove (401d-1) is slidably connected inside with a sliding rod (401e), the outer diameter of the sliding rod (401e) is rotatably provided with a moving slider (401f), the moving slider (401f) is slidably provided inside with a moving connecting rod (401g), the other end of the moving connecting rod (401g) is provided with a fixed shaft (401h), the bottom of the fixed shaft (401h) is rotatably provided with a rotating shaft (401l), the bottom of the rotating shaft (401l) is provided with an electric push rod (401m), and the electric push rod (401m) is connected to the buffer adjustment component (403); The clamping assembly (402) comprises a moving shaft (402a) arranged at the bottom of the limiting disk (401c), a primary connecting rod (402b) rotatably arranged inside the moving shaft (402a), a rotating shaft (402c) rotatably arranged at the other end of the primary connecting rod (402b), and a secondary connecting rod (402d) arranged on the rotating shaft (402c), wherein the secondary connecting rod (402d) is rotatably connected to the buffer adjustment assembly (403); the rotating disk (401d) starts to rotate inside the limiting disk (401c) through the rotation of the linkage rotating shaft (401p), and at the same time The sliding rod (401e) on the sliding groove (401d-1) inside the limiting plate (401c) also starts to move along the sliding groove (401d-1), but the sliding rod (401e) is limited by the limiting groove (401c-1) while moving, so that the sliding rod (401e) can only move in a straight line, and at the same time, the moving slider (401f) moves with the moving connecting rod (401g) to expand and move, and through the movement of the moving connecting rod (401g), the fixed shaft (401h) and the rotating shaft (401l) are expanded and unfolded with the secondary connecting rod (402d).

2. The light-load high-speed handling robot according to claim 1, characterized in that: The outer diameter of the linkage rod (401b) is provided with a moving block (401b-1), and the moving block (401b-1) is slidably connected to the linkage rotating shaft (401p).

3. The light-load high-speed handling robot according to claim 2, characterized in that: A moving ring (402f) is provided on the outer diameter of the bottom of the linkage rod (401b), a rotating bracket (402e) is rotatably provided on the outer diameter of the moving ring (402f), and the rotating bracket (402e) is rotatably connected to the primary linkage rod (402b).

4. The light-load high-speed handling robot according to claim 3, characterized in that: The buffer adjustment assembly (403) comprises a support plate (403a) arranged at the bottom of the secondary connecting rod (402d), a main buffer rod (403c) slidably arranged inside the support plate (403a), a top plate (403d) arranged at the other end of the main buffer rod (403c), a buffer rod 1 (403e) slidably arranged on both sides of the support plate (403a), a baffle (403f) arranged at the other end of the buffer rod 1 (403e), a support block (403m) arranged on the baffle (403f), a buffer rod 2 (403l) slidably arranged on the baffle (403f), and a clamp (403h) arranged on the buffer rod 2 (403l).

5. The light-load high-speed handling robot according to claim 4, characterized in that: A return spring (403g) is provided on one side of the clamping plate (403h), and the other end of the return spring (403g) is connected to the baffle (403f). A connecting rod (403b) is provided on the top of the hydraulic rod (401a), and the connecting rod (403b) is rotatably connected to the electric push rod (401m).

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