Three-axis variable-pitch grabbing manipulator

Abstract

The three-axis variable-distance grabbing manipulator comprises a rack, a longitudinal driving mechanism is fixedly installed at the top end of the rack, a transverse driving mechanism is installed in the middle of the longitudinal driving mechanism, a vertical driving mechanism is installed in the middle of the transverse driving mechanism, and a variable-diameter grabbing control mechanism is installed at the bottom end of the vertical driving mechanism; a variable-diameter grabbing control mechanism is arranged on the base, a plurality of grabbing mechanisms are installed at the bottom end of the variable-diameter grabbing control mechanism, the longitudinal driving mechanism comprises two longitudinal rails and two longitudinal sliding blocks, and the middles of the two longitudinal rails are slidably connected with the bottom ends of the two longitudinal sliding blocks correspondingly. Threads of the lead screw are matched with threads of the movable block, and the movable block is limited by the variable-diameter table matched with the movable block in shape and size, so that the movable block slides along the lead screw, the grabbing distance of the grabbing mechanism is adjusted, the mechanical arm can grab products of different specifications conveniently, and practicability and flexibility are high.

Description

Technical Field

[0001] The invention relates to the technical field of grasping manipulators, in particular to a three-axis variable-distance grasping manipulator. Background Art

[0002] The manipulator uses advanced grasping technology, which can stably and accurately grasp parts of various shapes, sizes and weights. Whether it is regular parts or irregular special-shaped parts, the manipulator can easily handle them. At the same time, they also have adaptive grasping functions, which can automatically adjust the grasping force and method according to the actual situation of the parts to ensure that the parts will not slip or be damaged during the handling process. The manipulator is equipped with a high-precision positioning system to achieve accurate placement of parts. This precise placement feature not only improves production efficiency, but also reduces errors and waste caused by human factors. In addition, the manipulator can replace manual operation in harsh working environments to ensure the health and safety of employees. Modern manipulators integrate a variety of sensors, which can perceive changes in the surrounding environment in real time and make autonomous decisions and adjustments based on preset algorithms. This intelligent perception ability enables the robot to respond flexibly and maintain an efficient and stable working state when facing a complex and changeable production environment. The introduction of the robot can greatly reduce the workload of manual handling and reduce labor costs. At the same time, they can replace manual operations in harsh working environments to ensure the health and safety of employees. This cost-saving and efficiency-enhancing advantage helps companies stand out in the fierce market competition. The robot operates in a standardized manner and moves accurately, so the stable operation ensures the high quality of the product and avoids the problem of defective products caused by human operating errors. In addition, the robot is not picky about the environment and has strong adaptability to the environment. It can perform its work in harsh and dangerous working environments. The robot can complete various expected operations through programming, and its structure and performance combine the advantages of both humans and robots. They can maintain an efficient and stable working state during long-term operations and are suitable for use in scenarios that require long-term operations. In summary, the grasping robot has significant advantages in improving production efficiency, reducing costs, ensuring product quality and adapting to various working environments.

[0003] However, traditional gripping manipulators have the following disadvantages: Traditional gripping robots can usually only grasp objects of a certain shape and size. If you want to grasp objects of other shapes and sizes, you need to replace the gripper parts, which will lead to low production efficiency and increased costs. Summary of the invention

[0004] The purpose of the present invention is to provide a three-axis variable-distance grasping robot to solve the problem that the traditional grasping robot mentioned in the above background technology can usually only grasp objects of a certain shape and size. If you want to grasp objects of other shapes and sizes, you need to replace the grasping parts, which will lead to low production efficiency and increased costs.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a three-axis variable-distance grasping manipulator, comprising a frame, a longitudinal drive mechanism is fixedly installed on the top of the frame, a transverse drive mechanism is installed in the middle of the longitudinal drive mechanism, a vertical drive mechanism is installed in the middle of the transverse drive mechanism, a variable-diameter grasping control mechanism is installed at the bottom end of the vertical drive mechanism, and a plurality of grasping mechanisms are installed at the bottom end of the variable-diameter grasping control mechanism, the longitudinal drive mechanism comprises two longitudinal rails and two longitudinal sliders, the middle parts of the two longitudinal rails are respectively slidably connected to the bottom ends of the two longitudinal sliders, the transverse drive mechanism comprises a transverse rail and a transverse slider, the middle part of the transverse rail is slidably connected to one side of the transverse slider, and the vertical drive mechanism comprises a transverse rail and a transverse slider. The driving mechanism includes a vertical track and an assembly plate, one side of the assembly plate is fixedly connected to one side of the vertical track, the middle part of the vertical track is slidably connected with a vertical slider, the variable diameter grasping control mechanism includes a plurality of length rods and a variable diameter platform, the bottom ends of the plurality of length rods are fixedly connected to the top end of the variable diameter platform, the bottom end of the variable diameter platform is rotatably connected with a lead screw, and a motor with a control chip for driving the lead screw to rotate is fixedly installed on one side of the variable diameter platform, the motor with the control chip is started after being energized, and the motor with the control chip drives the lead screw to rotate, the thread on the surface of the lead screw matches the thread on the inner wall of the movable block, and the movable block is limited by the variable diameter platform whose shape and size match it, so the movable block slides along the lead screw to adjust the grasping distance of the grasping mechanism.

[0006] As a preferred technical solution of the present invention, a plurality of reinforcement frames are fixedly installed on both sides of the two longitudinal rails, the bottom ends of the plurality of reinforcement frames and the bottom ends of the two longitudinal rails are fixedly connected to the frame, and a first reduction motor for driving the longitudinal slider to slide is fixedly installed on the surface of the frame. The first reduction motor is started after being energized, and the first reduction motor drives the longitudinal slider to slide along the longitudinal rail to adjust the longitudinal grasping position of the grasping mechanism, and the first travel switch monitors the sliding position of the longitudinal slider in real time.

[0007] As a preferred technical solution of the present invention, first travel switches are fixedly mounted on the surfaces of the two longitudinal rails.

[0008] As a preferred technical solution of the present invention, baffles are fixedly installed at both ends of the transverse rail, a second travel switch is fixedly installed on the surface of the transverse rail, a second reduction motor for driving the transverse slider to slide is fixedly installed on the top of the transverse rail, and the two sides of the bottom end of the transverse rail are respectively fixedly connected to the top of the longitudinal slider. The second reduction motor is started after being energized, and the second reduction motor drives the transverse slider to slide along the transverse rail to adjust the transverse gripping position of the gripping mechanism, and the second travel switch monitors the sliding position of the transverse slider in real time.

[0009] As a preferred technical solution of the present invention, a connecting platform is fixedly installed at the bottom end of the vertical slider, and a third reduction motor for driving the vertical slider to slide is fixedly installed on the surface of the vertical track. The side of the assembly plate away from the vertical track is fixedly connected to the side opposite to the horizontal slider. The third reduction motor starts after being energized, and the third reduction motor drives the vertical slider to slide along the vertical track to adjust the height of the grabbing mechanism.

[0010] As a preferred technical solution of the present invention, several of the grabbing mechanisms include an opening and closing cylinder and a movable block, the fixed end of the opening and closing cylinder is fixedly connected to the bottom end of the movable block, and two symmetrically arranged clamping rods are fixedly installed on the movable end of the opening and closing cylinder, and grabbing frames are fixedly installed on the opposite sides of the two clamping rods, and silicone blocks are fixedly installed on the opposite sides of the two grabbing frames, several of the movable blocks are threadedly connected to the screw rod, and several of the movable blocks are slidably connected to the reducing table. The opening and closing cylinder performs opening and closing movements, and the opening and closing cylinder drives the two clamping rods to perform relative opening and closing movements. The grabbing frames on the clamping rods clamp and fix the product from both sides through the silicone blocks.

[0011] As a preferred technical solution of the present invention, the top ends of the plurality of length rods are fixedly connected to the side directly opposite to the connecting platform, and the variable diameter grabbing control mechanism is installed on the connecting platform through the length rods.

[0012] As a preferred technical solution of the present invention, the four corners at the bottom of the frame are threadedly connected with a stabilizing adjustment component, and the four stabilizing adjustment components include a mounting block and a shock-absorbing foot. The bottom end of the mounting block is fixedly connected to the top of the shock-absorbing foot, and the top of the mounting block is threadedly connected with a screw. When the user rotates the screw, the thread on the surface of the screw matches the thread on the inner wall of the frame, so that the screw rotates and rises relative to the frame, thereby installing the stabilizing adjustment component on the frame, and the shock-absorbing foot weakens the vibration generated by the frame. As a preferred technical solution of the present invention, the top end of the screw is threadedly connected to the frame, and a locking nut is threadedly connected at the connection between the screw and the frame.

[0013] As a preferred technical solution of the present invention, four rectangularly arranged running wheels are fixedly mounted on the frame, and the running wheels generate friction when in contact with the ground. The running wheels rotate due to the friction force, making it convenient for users to transfer and transport the frame.

[0014] Compared with the prior art, the present invention has the following beneficial effects: (1) By setting up a variable diameter grasping control mechanism, the motor with a control chip drives the screw to rotate, the thread on the surface of the screw matches the thread on the inner wall of the movable block, and the movable block is limited by a variable diameter table whose shape and size match the screw, so the movable block slides along the screw to adjust the grasping distance of the grasping mechanism, which is convenient for the manipulator to grasp products of different specifications, with high practicality and flexibility; (2) By setting a longitudinal driving mechanism, the first reduction motor is started after being energized, and the first reduction motor drives the longitudinal slider to slide along the longitudinal track to adjust the longitudinal grasping position of the grasping mechanism, and the first travel switch monitors the sliding position of the longitudinal slider in real time; (3) By setting a transverse driving mechanism, the second reduction motor is started after being energized, and the second reduction motor drives the transverse slider to slide along the transverse track to adjust the transverse grasping position of the grasping mechanism, and the second travel switch monitors the sliding position of the transverse slider in real time; (4) By setting a vertical driving mechanism, the third reduction motor is started after being energized, and the third reduction motor drives the vertical slider to slide along the vertical track to adjust the height of the grasping mechanism, so that the grasping mechanism can grasp products in multiple positions in real time; (5) The three-axis variable pitch stroke can be adjusted. The three-axis drive can be cylinder positioning, including rodless cylinder and stroke switch control, or servo synchronous belt control, or chain or gear drive to achieve adjustable pitch, or screw or electric cylinder. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a front view of the present invention; Figure 2 is a side view of the present invention; Figure 3 A top view of the present invention; Figure 4 It is a connection diagram of the longitudinal drive mechanism and the transverse drive mechanism of the present invention; Figure 5 It is a connection diagram of the vertical driving mechanism and the horizontal driving mechanism of the present invention; Figure 6 It is a connection diagram of the grabbing mechanism and the variable diameter grabbing control mechanism of the present invention; Figure 7 It is a side view of the grabbing mechanism of the present invention.

[0016] In the figure: 1. frame; 2. stabilizing adjustment component; 21. shock-absorbing foot; 22. mounting block; 23. screw; 24. locking nut; 3. grabbing mechanism; 31. silicone block; 32. grabbing frame; 33. clamping rod; 34. opening and closing cylinder; 35. movable block; 4. variable diameter grabbing control mechanism; 41. length rod; 42. variable diameter table; 43. screw; 44. motor with control chip; 5. longitudinal driving mechanism; 51. longitudinal track; 52. reinforcement frame; 53. longitudinal slider; 54. first reduction motor; 55. first travel switch; 6. transverse driving mechanism; 61. transverse track; 62. second reduction motor; 63. baffle; 64. transverse slider; 65. second travel switch; 7. vertical driving mechanism; 71. third reduction motor; 72. vertical track; 73. assembly plate; 74. vertical slider; 75. connecting table; 8. walking wheel. DETAILED DESCRIPTION

[0017] The following will be combined with 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 making creative work are within the scope of protection of the present invention.

[0018] See also Figure 1-7The present invention provides a three-axis variable-distance grasping manipulator, comprising a frame 1, a longitudinal driving mechanism 5 is fixedly installed on the top of the frame 1, a transverse driving mechanism 6 is installed in the middle of the longitudinal driving mechanism 5, a vertical driving mechanism 7 is installed in the middle of the transverse driving mechanism 6, a variable-diameter grasping control mechanism 4 is installed at the bottom of the vertical driving mechanism 7, and a plurality of grasping mechanisms 3 are installed at the bottom of the variable-diameter grasping control mechanism 4. The longitudinal driving mechanism 5 comprises two longitudinal rails 51 and two longitudinal sliders 53, and the middle parts of the two longitudinal rails 51 are respectively slidably connected to the bottom ends of the two longitudinal sliders 53, the transverse driving mechanism 6 comprises a transverse rail 61 and a transverse slider 64, and the middle part of the transverse rail 61 is slidably connected to one side of the transverse slider 64, and the vertical driving mechanism 7 comprises a vertical rail 72 and an assembly plate 73. One side of the mounting plate 73 is fixedly connected to one side of the vertical track 72, and the middle part of the vertical track 72 is slidably connected with a vertical slider 74. The variable diameter grasping control mechanism 4 includes a plurality of length rods 41 and a variable diameter platform 42. The bottom ends of the plurality of length rods 41 are fixedly connected to the top of the variable diameter platform 42, and the bottom end of the variable diameter platform 42 is rotatably connected with a screw rod 43. A motor 44 with a control chip for driving the screw rod 43 to rotate is fixedly installed on one side of the variable diameter platform 42. The motor 44 with the control chip is started after being energized, and the motor 44 with the control chip drives the screw rod 43 to rotate. The thread on the surface of the screw rod 43 matches the thread on the inner wall of the movable block 35. The movable block 35 is limited by the variable diameter platform 42 whose shape and size match each other, so the movable block 35 slides along the screw rod 43 to adjust the grasping distance of the grasping mechanism 3.

[0019] A plurality of reinforcement frames 52 are fixedly installed on both sides of the two longitudinal rails 51, and the bottom ends of the plurality of reinforcement frames 52 and the bottom ends of the two longitudinal rails 51 are fixedly connected to the frame 1. A first reduction motor 54 for driving the longitudinal slider 53 to slide is fixedly installed on the surface of the frame 1. The first reduction motor 54 is started after being energized, and the first reduction motor 54 drives the longitudinal slider 53 to slide along the longitudinal rail 51 to adjust the longitudinal grasping position of the grasping mechanism 3, and the first travel switch 55 monitors the sliding position of the longitudinal slider 53 in real time.

[0020] A first travel switch 55 is fixedly mounted on the surfaces of the two longitudinal rails 51 .

[0021] Baffles 63 are fixedly installed at both ends of the transverse rail 61, a second travel switch 65 is fixedly installed on the surface of the transverse rail 61, and a second reduction motor 62 for driving the transverse slider 64 to slide is fixedly installed at the top of the transverse rail 61. The two sides of the bottom end of the transverse rail 61 are respectively fixedly connected to the top of the longitudinal slider 53. The second reduction motor 62 is started after being energized, and the second reduction motor 62 drives the transverse slider 64 to slide along the transverse rail 61 to adjust the transverse grasping position of the grasping mechanism 3, and the second travel switch 65 monitors the sliding position of the transverse slider 64 in real time.

[0022] A connecting platform 75 is fixedly installed at the bottom end of the vertical slider 74, and a third reduction motor 71 for driving the vertical slider 74 to slide is fixedly installed on the surface of the vertical track 72. The side of the assembly plate 73 away from the vertical track 72 is fixedly connected to the side opposite to the horizontal slider 64. The third reduction motor 71 starts after being energized, and drives the vertical slider 74 to slide along the vertical track 72 to adjust the height of the grabbing mechanism 3.

[0023] Several grabbing mechanisms 3 include an opening and closing cylinder 34 and a movable block 35. The fixed end of the opening and closing cylinder 34 is fixedly connected to the bottom end of the movable block 35. Two symmetrically arranged clamping rods 33 are fixedly installed on the movable end of the opening and closing cylinder 34. Grabbing frames 32 are fixedly installed on the opposite sides of the two clamping rods 33. Silicone blocks 31 are fixedly installed on the opposite sides of the two grabbing frames 32. Several movable blocks 35 are threadedly connected to the screw rod 43. Several movable blocks 35 are slidably connected to the reducing table 42. The opening and closing cylinder 34 performs an opening and closing movement, and the opening and closing cylinder 34 drives the two clamping rods 33 to perform relative opening and closing movements. The grabbing frames 32 on the clamping rods 33 are clamped and fixed from both sides of the product through the silicone blocks 31.

[0024] The top ends of the plurality of length rods 41 are fixedly connected to the side directly opposite to the connecting platform 75 , and the variable-diameter grabbing control mechanism 4 is installed on the connecting platform 75 through the length rods 41 .

[0025] The four corners at the bottom of the frame 1 are all threadedly connected with the stabilizing adjustment components 2, and the four stabilizing adjustment components 2 include a mounting block 22 and a shock-absorbing foot 21. The bottom end of the mounting block 22 is fixedly connected to the top of the shock-absorbing foot 21, and the top of the mounting block 22 is threadedly connected with a screw rod 23. When the user rotates the screw rod 23, the thread on the surface of the screw rod 23 matches the thread on the inner wall of the frame 1, so that the screw rod 23 rotates and rises relative to the frame 1, thereby installing the stabilizing adjustment component 2 on the frame 1, and the shock-absorbing foot 21 weakens the vibration generated by the frame 1.

[0026] The top end of the screw rod 23 is threadedly connected to the frame 1 , and a locking nut 24 is threadedly connected to the connection between the screw rod 23 and the frame 1 .

[0027] Four running wheels 8 arranged in a rectangular shape are fixedly mounted on the frame 1 . The running wheels 8 generate friction when in contact with the ground. The running wheels 8 rotate due to the friction force, which makes it convenient for users to transfer and transport the frame 1 .

[0028] In the present invention, the user rotates the screw rod 23, and the threads on the surface of the screw rod 23 match the threads on the inner wall of the frame 1, so that the screw rod 23 rotates and rises relative to the frame 1, so that the stabilizing adjustment component 2 is installed on the frame 1, and the shock-absorbing foot 21 weakens the vibration generated by the frame 1. The first reduction motor 54 is powered on and started, and the first reduction motor 54 drives the longitudinal slider 53 to slide along the longitudinal track 51 to adjust the longitudinal grabbing position of the grabbing mechanism 3, and the first stroke switch 55 monitors the sliding position of the longitudinal slider 53 in real time. The second reduction motor 62 is powered on and started, and the second reduction motor 62 drives the transverse slider 64 to slide along the transverse track 61 to adjust the transverse grabbing position of the grabbing mechanism 3, and the second stroke switch 65 monitors the sliding position of the transverse slider 64 in real time. The third reduction motor 71 is powered on and started, and the third reduction motor 71 drives the vertical The slider 74 slides along the vertical track 72 to adjust the height of the grabbing mechanism 3. The motor 44 with the control chip is started after being energized. The motor 44 with the control chip drives the screw rod 43 to rotate. The thread on the surface of the screw rod 43 matches the thread on the inner wall of the movable block 35. The movable block 35 is limited by the reducer 42 whose shape and size match it, so the movable block 35 slides along the screw rod 43 to adjust the grabbing distance of the grabbing mechanism 3. The opening and closing cylinder 34 performs an opening and closing movement, and the opening and closing cylinder 34 drives the two clamping rods 33 to perform relative opening and closing movements. The grabbing frame 32 on the clamping rod 33 is clamped and fixed from both sides of the product through the silicone block 31. The three-axis variable pitch stroke can be adjusted. The three-axis drive can be cylinder positioning, including rodless cylinder and stroke switch control, or servo synchronous belt control, or chain or gear transmission to achieve adjustable variable pitch, or threaded rod or electric cylinder.

[0029] 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 three-axis variable-distance gripping manipulator, comprising a frame (1), characterized in that: A longitudinal driving mechanism (5) is fixedly mounted on the top of the frame (1); a transverse driving mechanism (6) is mounted in the middle of the longitudinal driving mechanism (5); a vertical driving mechanism (7) is mounted in the middle of the transverse driving mechanism (6); a variable diameter grabbing control mechanism (4) is mounted at the bottom of the vertical driving mechanism (7); a plurality of grabbing mechanisms (3) are mounted at the bottom of the variable diameter grabbing control mechanism (4); the longitudinal driving mechanism (5) comprises two longitudinal rails (51) and two longitudinal sliders (53); the middle parts of the two longitudinal rails (51) are slidably connected to the bottom ends of the two longitudinal sliders (53) respectively; the transverse driving mechanism (6) comprises a transverse rail (61) and a transverse slider (64); the transverse rail (61) and the transverse slider (64) are connected to the bottom ends of the two longitudinal sliders (53); The middle part of the vertical track (61) is slidably connected to one side of the horizontal slider (64), the vertical driving mechanism (7) comprises a vertical track (72) and an assembly plate (73), one side of the assembly plate (73) is fixedly connected to one side of the vertical track (72), the middle part of the vertical track (72) is slidably connected to the vertical slider (74), the variable diameter grab control mechanism (4) comprises a plurality of length rods (41) and a variable diameter platform (42), the bottom ends of the plurality of length rods (41) are fixedly connected to the top end of the variable diameter platform (42), the bottom end of the variable diameter platform (42) is rotatably connected to a lead screw (43), and one side of the variable diameter platform (42) is fixedly mounted with a motor (44) with a control chip for driving the lead screw (43) to rotate.

2. A three-axis variable-distance grasping manipulator according to claim 1, characterized in that: A plurality of reinforcement frames (52) are fixedly mounted on both sides of the two longitudinal rails (51); the bottom ends of the plurality of reinforcement frames (52) and the bottom ends of the two longitudinal rails (51) are fixedly connected to the frame (1); and a first reduction motor (54) for driving the longitudinal slider (53) to slide is fixedly mounted on the surface of the frame (1).

3. A three-axis variable-distance grasping manipulator according to claim 1, characterized in that: A first travel switch (55) is fixedly mounted on the surfaces of the two longitudinal rails (51).

4. The three-axis variable-distance grasping manipulator according to claim 1, characterized in that: Baffles (63) are fixedly mounted on both ends of the transverse track (61), a second travel switch (65) is fixedly mounted on the surface of the transverse track (61), a second reduction motor (62) for driving the transverse slider (64) to slide is fixedly mounted on the top end of the transverse track (61), and both sides of the bottom end of the transverse track (61) are respectively fixedly connected to the top end of the longitudinal slider (53).

5. The three-axis variable-distance grasping manipulator according to claim 1, characterized in that: A connecting platform (75) is fixedly mounted on the bottom end of the vertical slider (74), a third reduction motor (71) for driving the vertical slider (74) to slide is fixedly mounted on the surface of the vertical track (72), and a side of the assembly plate (73) away from the vertical track (72) is fixedly connected to a side directly opposite to the horizontal slider (64).

6. The three-axis variable-distance grasping manipulator according to claim 1, characterized in that: The plurality of gripping mechanisms (3) each comprise an opening and closing cylinder (34) and a movable block (35); the fixed end of the opening and closing cylinder (34) is fixedly connected to the bottom end of the movable block (35); the movable end of the opening and closing cylinder (34) is fixedly mounted with two symmetrically arranged clamping rods (33); a gripping frame (32) is fixedly mounted on opposite sides of the two clamping rods (33); a silicone block (31) is fixedly mounted on opposite sides of the two gripping frames (32); the plurality of movable blocks (35) are threadedly connected to the screw rod (43); and the plurality of movable blocks (35) are slidably connected to the diameter reducing table (42).

7. The three-axis variable-distance grasping manipulator according to claim 5, characterized in that: The top ends of the plurality of length rods (41) are fixedly connected to a side directly opposite to the connecting platform (75).

8. The three-axis variable-distance grasping manipulator according to claim 1, characterized in that: The four corners at the bottom end of the frame (1) are all threadedly connected to a stabilizing adjustment component (2), and the four stabilizing adjustment components (2) each include a mounting block (22) and a shock-absorbing foot (21), the bottom end of the mounting block (22) is fixedly connected to the top end of the shock-absorbing foot (21), and the top end of the mounting block (22) is threadedly connected to a screw rod (23).

9. The three-axis variable-distance grasping manipulator according to claim 8, characterized in that: The top end of the screw rod (23) is threadedly connected to the frame (1), and a locking nut (24) is threadedly connected to the connection between the screw rod (23) and the frame (1).

10. The three-axis variable-distance grasping manipulator according to claim 1, characterized in that: Four traveling wheels (8) arranged in a rectangular shape are fixedly mounted on the frame (1).

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