A manipulator for milling reducer housing

Abstract

The invention discloses a manipulator for milling a reducer housing, which belongs to the technical field of reducer processing. A plurality of groups of reducer housings are transported on a conveying roller, a swing seat is movably provided on the inner side of a vertical plate, a sliding arm is slidably provided in a sliding cavity, a rotating drum is movably provided in the middle of a mounting plate, a rotating gear ring is fixedly connected to the top of the rotating drum, two groups of mutually cooperating racks are slidably provided on a bottom plate, and a clamping plate is fixedly connected to the end of the rack; a punching device is slidably provided on the sliding seat; a lifting groove is provided on the top of a lifting seat, and a circular top plate is provided on the top of a moving plate; a rotating cavity is provided on the top of the top plate, a rotating boss is movably provided in the rotating cavity, and a drilling machine is fixedly provided on the rotating boss. The invention can intermittently mesh with a meshing tooth plate through an eccentric gear, and the driving arm will intermittently drive the ratchet gear, and at this time the drilling machine rotates and reciprocates at the same time, thereby drilling holes in the annular edge portion for multiple intervals, and this design improves work efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of reducer processing, in particular to a manipulator used for milling a reducer shell. Background Art

[0002] A reducer is an independent component consisting of a gear drive, worm drive, or gear-worm drive enclosed in a rigid housing. It is often used as a reduction transmission device between the prime mover and the working machine. It plays the role of matching the speed and transmitting the torque between the prime mover and the working machine or the actuator, and is widely used in modern machinery. Reducers are generally used for low-speed and high-torque transmission equipment. The power of an electric motor, internal combustion engine or other high-speed operation is decelerated by meshing the gear with a small number of teeth on the input shaft of the reducer with the large gear on the output shaft. Ordinary reducers will also have several pairs of gears with the same principle to achieve the ideal deceleration effect. The ratio of the number of teeth of the large and small gears is the transmission ratio.

[0003] The patent application with publication number CN117226920A discloses an EVA sheet automatic punching, slitting and unloading integrated machine, including an upper frame and a lower frame, a plate straightening machine and a label printer are arranged in the lower frame, and a sheet punching and slitting mechanism, a sheet dragging mechanism, a deviation correction and unloading mechanism and a labeling mechanism are arranged on the upper frame from left to right. The sheet punching and slitting mechanism includes a first slide, an unwinding machine and a guide channel, and a shearing component, a first translation component and a punching component are arranged on the first slide in sequence. The lifting and adsorption component includes a first lifting cylinder and a second lifting cylinder, and the sliding ends of the second lifting cylinder, the first material taking cylinder and the second material taking cylinder are fixedly connected with a vacuum suction cup. This technical solution can adapt to the integrated processing of automatic punching, slitting, transfer and unloading of EVA sheets, and improve production efficiency and processing quality.

[0004] However, the automatic punching equipment disclosed above has a general degree of automation, is time-consuming and labor-intensive, cannot automatically load and unload the processed parts, and has a general degree of freedom, lacking a high-degree-of-freedom clamping robot. Summary of the invention

[0005] The purpose of the present invention is to provide a robot for milling the reducer housing in order to solve the problems that the existing automatic punching equipment has a general degree of automation, is time-consuming and labor-intensive, cannot automatically load and unload the parts to be processed, has a general degree of freedom, and lacks a high-degree-of-freedom clamping robot.

[0006] To achieve the above-mentioned purpose, the technical scheme of the present invention is: a manipulator for milling a reducer housing, comprising a conveying roller, a clamping mechanism and a punching mechanism, wherein the conveying roller conveys multiple groups of reducer housings, and the bottom of the reducer housing is provided with an edge portion to be punched; the clamping mechanism comprises a vertical plate fixedly arranged on the side of the conveying roller, a swing seat is movably arranged on the inner side of the vertical plate, a sliding cavity is opened inside the swing seat, a sliding arm is slidably arranged in the sliding cavity, a fixed column is fixedly arranged at the bottom of the sliding arm, and a mounting plate is fixedly arranged at the end of the fixed column; a rotating drum is movably installed in the middle of the mounting plate, and a rotating gear ring is fixedly connected to the top of the rotating drum, A bottom plate is provided at the bottom of the rotating drum, and two groups of mutually cooperating racks are slidably provided on the bottom plate, and a clamping plate is fixedly connected to the end of the rack; the punching mechanism includes a fixed frame fixedly provided on the side of the conveying roller, and a vertical sliding seat is provided on the top of the fixed frame, and a punching device is slidably provided on the sliding seat; the punching device includes two groups of lifting seats slidably provided on the side of the sliding seat, a lifting groove is provided on the top of the lifting seat, a moving plate is slidably provided in the lifting groove, and a circular top plate is provided on the top of the moving plate; a rotating cavity is provided on the top of the top plate, a rotating boss is movably installed in the rotating cavity, and a drilling rig is fixedly provided on the rotating boss.

[0007] As a further solution of the present invention: a swing motor is also installed on the vertical plate, the output end of the swing motor is connected to the active arm, the end of the active arm is connected to the driven arm, and a swing plate is also movably arranged on the vertical plate, the swing plate is located between the swing seat and the swing motor, the other end of the driven arm is movably connected to the middle part of the swing plate; the other end of the fixed column is movably connected to the top of the swing plate.

[0008] As a further solution of the present invention: a clamping motor is installed on the top of the base plate, and the output end of the clamping motor is connected to a driving gear meshing with the racks on both sides.

[0009] As a further solution of the present invention: a rotating motor is also installed at the bottom of the mounting plate, and an output end of the rotating motor is connected to a rotating gear meshing with the rotating gear ring.

[0010] As a further solution of the present invention: a first rotating shaft is movably installed between the lifting seats, and a second rotating shaft is movably installed between the moving plates; eccentric gears meshing with each other are installed in the middle of the first rotating shaft and the second rotating shaft, a first linkage wheel is also installed on the first rotating shaft, and a second linkage wheel is also installed on the second rotating shaft; the first linkage wheel and the second linkage wheel are both eccentric structures, a groove portion is provided on the side surface of the first linkage wheel, and a protrusion matching the groove portion is provided on the side surface of the second linkage wheel.

[0011] As a further solution of the present invention: an operating motor connected to the first rotating shaft is also installed on the side of the lifting seat.

[0012] As a further solution of the present invention: a slide groove is opened on the inner side of the sliding seat, a sliding block cooperating with the slide groove is fixedly provided on the bottom of the lifting seat, and a cylinder is also installed on the side of the fixing frame, and the output end of the cylinder is connected to the lifting seat.

[0013] As a further solution of the present invention: a return spring is also connected to the inner wall of the lifting groove, and the top of the return spring is connected to the bottom of the moving plate.

[0014] As a further solution of the present invention: a sliding groove is provided at the bottom of the top plate, a meshing tooth plate cooperating with the eccentric gear is slidably installed in the sliding groove, a ratchet gear rotatably arranged in the rotating cavity is provided at the bottom of the rotating boss, and a driving arm cooperating with the ratchet gear is provided on the side of the meshing tooth plate; a fixed plate is also provided in the rotating cavity, and the inner side of the fixed plate is connected to the side of the meshing tooth plate through multiple sets of restoring springs.

[0015] As a further solution of the present invention: a control panel is also provided on the vertical plate.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. The present invention can convey the reduction housing to be processed to the bottom of the clamping mechanism through the conveying roller. Under the cooperation of the swing plate and the driven arm, the sliding arm will slide along the swing seat while deflecting. When the rack is in a horizontal position, the clamping plate just clamps the reduction housing. When the rack moves to a vertical position, the punching device can automatically punch holes on the edge. This design is ingenious and effective, which improves the automation level and feeding efficiency of the manipulator used for milling the reducer housing;

[0018] 2. The present invention can drive the top plate to reciprocate up and down through the eccentric gear, so as to drill holes in the edge. And when the eccentric gear rotates, it can intermittently mesh with the meshing tooth plate above. When the meshing tooth plate moves along the sliding cavity, the driving arm will intermittently drive the ratchet gear, thereby further driving the rotating boss to rotate intermittently. At this time, the drill on the rotating boss rotates and reciprocates up and down, so as to perform multiple interval drillings on the annular edge. This design improves the working efficiency of the manipulator used for milling the reducer housing. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present invention will be further explained below in conjunction with the accompanying drawings and embodiments:

[0020] Figure 1 It is a three-dimensional structural diagram of the present invention;

[0021] Figure 2 It is a partial three-dimensional structural diagram of the conveying roller in the present invention;

[0022] Figure 3 It is a three-dimensional structural diagram of the driven arm and the swing plate in the present invention;

[0023] Figure 4 The three-dimensional structure of the clamping plate in the present invention Figure 1 ;

[0024] Figure 5 The three-dimensional structure of the clamping plate in the present invention Figure 2 ;

[0025] Figure 6 It is a three-dimensional structural diagram of the punching device in the present invention;

[0026] Figure 7 is a cross-sectional view of the punching device of the present invention;

[0027] Figure 8 It is a partial three-dimensional structural diagram of the punching device in the present invention;

[0028] Fig. 9 It is a three-dimensional structural diagram of the rotating boss in the present invention.

[0029] Description of reference numerals:

[0030] 1. conveying roller; 101. reduction gear box; 102. edge portion;

[0031] 2. Clamping mechanism; 201. Vertical plate; 202. Swinging motor; 203. Active arm; 204. Driven arm; 205. Swinging plate; 206. Swinging seat; 207. Sliding cavity; 208. Sliding arm; 209. Fixed column; 210. Mounting plate; 211. Rotating drum; 212. Rotating gear ring; 213. Bottom plate; 214. Rack; 215. Clamping plate; 216. Clamping motor; 217. Active gear; 218. Rotating motor; 219. Rotating gear;

[0032] 3. Punching mechanism; 301. Fixed frame; 302. Sliding seat; 303. Slide groove; 304. Cylinder; 305. Punching device; 306. Lifting seat; 307. Lifting groove; 308. Moving plate; 309. Top plate; 310. First rotating shaft; 311. Second rotating shaft; 312. Eccentric gear; 313. First linkage wheel; 314. Second linkage wheel; 315. Groove portion; 316. Protrusion portion; 317. Working motor; 318. Return spring; 319. Rotating chamber; 320. Sliding groove; 321. Meshing gear plate; 322. Driving arm; 323. Fixed plate; 324. Restoration spring; 325. Rotating boss; 326. Ratchet gear; 327. Drilling machine; 328. Sliding block. DETAILED DESCRIPTION

[0033] The following will be combined with the attached Figures 1 to 9 The technical solution of the present invention is described clearly and completely. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. 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.

[0034] The present invention provides a manipulator for milling a reducer housing through improvement, such as Figure 1-Figure 9 As shown, it includes a conveying roller 1, a clamping mechanism 2 and a punching mechanism 3. The conveying roller 1 is provided with multiple groups of reduction housings 101, and the bottom of the reduction housing 101 is provided with an edge portion 102 to be punched; the clamping mechanism 2 includes a vertical plate 201 fixedly arranged on the side of the conveying roller 1, and a swing seat 206 is movably arranged on the inner side of the vertical plate 201, and a sliding cavity 207 is opened inside the swing seat 206, and a sliding arm 208 is slidably arranged in the sliding cavity 207, and a penetrating fixed column 209 is fixedly arranged at the bottom of the sliding arm 208, and a mounting plate 210 is fixedly arranged at the end of the fixed column 209; a rotating drum 211 is movably installed in the middle of the mounting plate 210, and a rotating gear ring 212 is fixedly connected to the top of the rotating drum 211, and a bottom plate 213 is arranged at the bottom of the rotating drum 211, and the bottom plate 213 Two sets of mutually cooperating racks 214 are slidably arranged on the upper side, and the ends of the racks 214 are fixedly connected with clamping plates 215; the punching mechanism 3 includes a fixed frame 301 fixedly arranged on the side of the conveying roller 1, and a vertical sliding seat 302 is arranged on the top of the fixed frame 301, and a punching device 305 is slidably arranged on the sliding seat 302; the punching device 305 includes two sets of lifting seats 306 slidably arranged on the side of the sliding seat 302, and a lifting groove 307 is provided on the top of the lifting seat 306, and a moving plate 308 is slidably arranged in the lifting groove 307, and a circular top plate 309 is arranged on the top of the moving plate 308; a rotating cavity 319 is provided on the top of the top plate 309, and a rotating boss 325 is movably installed in the rotating cavity 319, and a drilling rig 327 is fixedly arranged on the rotating boss 325.

[0035] In this embodiment: the manipulator used for milling the reducer housing is mainly divided into three parts: a conveying roller 1, a clamping mechanism 2 and a punching mechanism 3. When the device is in use, firstly, multiple groups of reduction housings 101 are placed on the conveying roller 1 at intervals and the conveying roller 1 is driven to rotate. When the reduction housing 101 moves to the bottom of the clamping mechanism 2, the clamping motor 216 is started, and at this time, the racks 214 and the clamping plates 215 on both sides move inward and grab the reduction housing 101. Then start the swing motor 202 and the rotating motor 218. When the swing motor 202 drives the active arm 203 to rotate, the fixed column 209 and the mounting plate 210 drive the reduction housing 101 and the clamping plate 215 to move from a vertical state to a horizontal state. And driven by the rotating gear 219, the reduction housing 101 will rotate 90 degrees. Finally, the operating motor 317 is started again. When the second rotating shaft 311 drives the eccentric gear 312 to rotate clockwise, it can intermittently mesh with the meshing tooth plate 321 above. When the meshing tooth plate 321 slides along the sliding groove 320, the driving arm 322 at the front end will intermittently drive the ratchet gear 326, thereby further driving the rotating boss 325 to rotate intermittently. At this time, the drill 327 on the rotating boss 325 rotates and reciprocates left and right. When the drill 327 moves left and right, it just punches holes in the edge portion 102 of the reduction box body 101. When the drill 327 retracts to the right, the rotating boss 325 rotates, thereby punching holes in the edge portion 102 at intervals. After the punching of the arc portion on one side of the edge portion 102 is completed, the cylinder 304 is started and the drill 327 is used to punch holes in the arc portion on the other side.

[0036] See attached Figure 1 -Attached Figure 2 A swing motor 202 is also installed on the vertical plate 201, and the output end of the swing motor 202 is connected to the active arm 203, and the end of the active arm 203 is connected to the driven arm 204. A swing plate 205 is also movably arranged on the vertical plate 201, and the swing plate 205 is located between the swing seat 206 and the swing motor 202. The other end of the driven arm 204 is movably connected to the middle part of the swing plate 205; the other end of the fixed column 209 is movably connected to the top of the swing plate 205.

[0037] In this embodiment: when the driven arm 204 drives the swing plate 205 to move, the sliding arm 208 can swing back and forth relative to the swing seat 206, and the swing amplitude of the sliding arm 208 is 90 degrees, thereby driving the fixed column 209 and the mounting plate 210 to reciprocate between the vertical and horizontal states.

[0038] See attached Figure 4 -Attached Figure 5 A clamping motor 216 is installed on the top of the bottom plate 213 , and an output end of the clamping motor 216 is connected to a driving gear 217 meshing with the racks 214 on both sides.

[0039] In this embodiment, a clamping motor 216 is designed to drive the racks 214 on both sides to move synchronously outward or inward, thereby realizing the grabbing and putting down of the reduction gearbox 101 .

[0040] See attached Figure 4 -Attached Figure 5 A rotating motor 218 is also installed at the bottom of the mounting plate 210 , and an output end of the rotating motor 218 is connected to a rotating gear 219 meshing with the rotating gear ring 212 .

[0041] In this embodiment: after the clamping plate 215 clamps the reduction gear box 101 on the conveying roller 1, the reduction gear box 101 and the clamping plate 215 will rotate 90 degrees under the drive of the rotating motor 218 to keep the reduction gear box 101 in a horizontal state, thereby facilitating subsequent punching operations.

[0042] See attached Figure 6 -Attached Figure 7 A first rotating shaft 310 is movably installed between the lifting seats 306, and a second rotating shaft 311 is movably installed between the moving plates 308; eccentric gears 312 that mesh with each other are installed in the middle of the first rotating shaft 310 and the second rotating shaft 311, a first linkage wheel 313 is also installed on the first rotating shaft 310, and a second linkage wheel 314 is also installed on the second rotating shaft 311; the first linkage wheel 313 and the second linkage wheel 314 are both eccentric structures, a groove portion 315 is provided on the side of the first linkage wheel 313, and a protrusion 316 that cooperates with the groove portion 315 is provided on the side of the second linkage wheel 314.

[0043] In this embodiment: when the first rotating shaft 310 rotates, under the meshing of the upper and lower sets of eccentric gears 312, the moving plate 308 and the top plate 309 will reciprocate up and down along the lifting seat 306, and the first linkage wheel 313 and the second linkage wheel 314 can further improve the stability of the eccentric gear 312 when it is meshing.

[0044] See attached Figure 6 -Attached Figure 8 An operating motor 317 connected to the first rotating shaft 310 is also installed on the side of the lifting seat 306.

[0045] In this embodiment, in order to drive the first rotating shaft 310 to rotate and further punch holes in the edge portion 102 , an operating motor 317 is designed.

[0046] See attached Figure 1 -Attached Figure 2A slide groove 303 is provided on the inner side of the sliding seat 302, a slider 328 cooperating with the slide groove 303 is fixedly provided on the bottom of the lifting seat 306, and a cylinder 304 is also installed on the side of the fixed frame 301, and the output end of the cylinder 304 is connected to the lifting seat 306.

[0047] In this embodiment, since the reduction gearbox body 101 and the edge portion 102 are elliptical, a cylinder 304 is designed to punch holes in the arc portions on both sides of the edge portion 102.

[0048] See attached Figure 6 A return spring 318 is also connected to the inner wall of the lifting groove 307 , and the top of the return spring 318 is connected to the bottom of the moving plate 308 .

[0049] In this embodiment, in order to keep the two sets of eccentric gears 312 in a meshing state and further improve stability, a return spring 318 is designed.

[0050] See attached Figure 7 -Attached Fig. 9 A sliding groove 320 is provided at the bottom of the top plate 309, and a meshing tooth plate 321 cooperating with the eccentric gear 312 is slidably installed in the sliding groove 320. A ratchet gear 326 rotatably arranged in the rotating cavity 319 is provided at the bottom of the rotating boss 325, and a driving arm 322 cooperating with the ratchet gear 326 is provided on the side of the meshing tooth plate 321; a fixed plate 323 is also provided in the rotating cavity 319, and the inner side of the fixed plate 323 is connected to the side of the meshing tooth plate 321 through multiple sets of return springs 324.

[0051] In this embodiment: when the second rotating shaft 311 drives the eccentric gear 312 to rotate clockwise, it can intermittently mesh with the meshing tooth plate 321 above. When the meshing tooth plate 321 slides along the sliding groove 320, the driving arm 322 at the front end will intermittently drive the ratchet gear 326, thereby further driving the rotating boss 325 to rotate intermittently, and at this time, the drill 327 on the rotating boss 325 rotates while reciprocating left and right. When the eccentric gear 312 on the second rotating shaft 311 is disengaged from the meshing tooth plate 321, the meshing tooth plate 321 returns to its original position under the action of multiple groups of return springs 324. In other words, when the drill 327 moves left and right, it just punches holes in the edge portion 102 of the reduction box body 101. When the drill 327 retracts to the right, the rotating boss 325 rotates, thereby punching holes in the edge portion 102 at intervals.

[0052] See attached Figure 1 -Attached Figure 2 A control panel is also provided on the vertical plate 201.

[0053] In this embodiment: the manipulator used for milling the reducer housing is mainly divided into three parts: a conveying roller 1, a clamping mechanism 2 and a punching mechanism 3. When the device is in use, firstly, multiple groups of reduction housings 101 are placed on the conveying roller 1 at intervals and the conveying roller 1 is driven to rotate. When the reduction housing 101 moves to the bottom of the clamping mechanism 2, the clamping motor 216 is started, and at this time, the racks 214 and the clamping plates 215 on both sides move inward and grab the reduction housing 101. Then start the swing motor 202 and the rotating motor 218. When the swing motor 202 drives the active arm 203 to rotate, the fixed column 209 and the mounting plate 210 drive the reduction housing 101 and the clamping plate 215 to move from a vertical state to a horizontal state. And driven by the rotating gear 219, the reduction housing 101 will rotate 90 degrees. Finally, the operating motor 317 is started again. When the second rotating shaft 311 drives the eccentric gear 312 to rotate clockwise, it can intermittently mesh with the meshing tooth plate 321 above. When the meshing tooth plate 321 slides along the sliding groove 320, the driving arm 322 at the front end will intermittently drive the ratchet gear 326, thereby further driving the rotating boss 325 to rotate intermittently. At this time, the drill 327 on the rotating boss 325 rotates and reciprocates left and right. When the drill 327 moves left and right, it just punches holes in the edge portion 102 of the reduction box body 101. When the drill 327 retracts to the right, the rotating boss 325 rotates, thereby punching holes in the edge portion 102 at intervals. After the punching of the arc portion on one side of the edge portion 102 is completed, the cylinder 304 is started and the drill 327 is used to punch holes in the arc portion on the other side. After the punching is completed, the rotating motor 218 is started again to rotate the reduction box body 101 90 degrees. Driven by the swing motor 202, the reduction box 101 and the clamping plate 215 move from a horizontal state to a vertical state. At this time, the reduction box 101 is located directly above the conveying roller 1, and then the clamping motor 216 is started to put the box down.

[0054] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and inventive features disclosed herein.

Claims

1. A manipulator for milling a reducer housing, comprising a conveying roller (1), a clamping mechanism (2) and a punching mechanism (3), characterized in that: A plurality of groups of reduction gearboxes (101) are conveyed on the conveying roller (1), and an edge portion (102) to be punched is provided at the bottom of the reduction gearbox (101); The clamping mechanism (2) comprises a vertical plate (201) fixedly arranged on the side of the conveying roller (1); a swing seat (206) is movably arranged on the inner side of the vertical plate (201); a sliding cavity (207) is provided inside the swing seat (206); a sliding arm (208) is slidably arranged in the sliding cavity (207); a penetrating fixed column (209) is fixedly arranged at the bottom of the sliding arm (208); a mounting plate (210) is fixedly arranged at the end of the fixed column (209); a rotating drum (211) is movably mounted in the middle of the mounting plate (210); a rotating gear ring (212) is fixedly connected to the top of the rotating drum (211); a bottom plate (213) is arranged at the bottom of the rotating drum (211); two sets of mutually cooperating racks (214) are slidably arranged on the bottom plate (213); and a clamping plate (215) is fixedly connected to the end of the rack (214); The punching mechanism (3) comprises a fixed frame (301) fixedly arranged on the side of the conveying roller (1), a vertical sliding seat (302) being arranged on the top of the fixed frame (301), and a punching device (305) being slidably arranged on the sliding seat (302); the punching device (305) comprises two sets of lifting seats (306) slidably arranged on the side of the sliding seat (302), a lifting groove (307) being provided on the top of the lifting seat (306), a moving plate (308) being slidably arranged in the lifting groove (307), and a circular top plate (309) being provided on the top of the moving plate (308); a rotating cavity (319) being provided on the top of the top plate (309), a rotating boss (325) being movably installed in the rotating cavity (319), and a drilling machine (325) being fixedly arranged on the rotating boss (325). (327); a swing motor (202) is also mounted on the vertical plate (201); the output end of the swing motor (202) is connected to a driving arm (203); the end of the driving arm (203) is connected to a driven arm (204); a swing plate (205) is also movably arranged on the vertical plate (201); the swing plate (205) is located between the swing seat (206) and the swing motor (202); the other end of the driven arm (204) is movably connected to the middle of the swing plate (205); the other end of the fixed column (209) is movably connected to the top of the swing plate (205); a rotating motor (218) is also mounted on the bottom of the mounting plate (210); the output end of the rotating motor (218) is connected to a rotating gear (219) meshing with the rotating gear ring (212).

2. A manipulator for milling a reducer housing according to claim 1, characterized in that: A clamping motor (216) is installed on the top of the bottom plate (213), and an output end of the clamping motor (216) is connected to a driving gear (217) meshing with the racks (214) on both sides.

3. A manipulator for milling a reducer housing according to any one of claims 1 to 2, characterized in that: A first rotating shaft (310) is movably mounted between the lifting seats (306), and a second rotating shaft (311) is movably mounted between the moving plates (308); mutually meshing eccentric gears (312) are mounted in the middle of the first rotating shaft (310) and the second rotating shaft (311); a first interlocking wheel (313) is also mounted on the first rotating shaft (310), and a second interlocking wheel (314) is also mounted on the second rotating shaft (311); both the first interlocking wheel (313) and the second interlocking wheel (314) are eccentric structures, a groove portion (315) is provided on the side surface of the first interlocking wheel (313), and a protrusion (316) matching the groove portion (315) is provided on the side surface of the second interlocking wheel (314).

4. A manipulator for milling a reducer housing according to claim 3, characterized in that: An operating motor (317) connected to the first rotating shaft (310) is also installed on the side of the lifting seat (306).

5. A manipulator for milling a reducer housing according to any one of claims 1 to 2, characterized in that: A slide groove (303) is provided on the inner side of the sliding seat (302), a sliding block (328) cooperating with the slide groove (303) is fixedly provided on the bottom of the lifting seat (306), and a cylinder (304) is also installed on the side of the fixing frame (301), and the output end of the cylinder (304) is connected to the lifting seat (306).

6. A manipulator for milling a reducer housing according to any one of claims 1 to 2, characterized in that: A return spring (318) is also connected to the inner wall of the lifting groove (307), and the top of the return spring (318) is connected to the bottom of the moving plate (308).

7. The manipulator for milling a reducer housing according to claim 3, characterized in that: A sliding groove (320) is provided at the bottom of the top plate (309), and a meshing tooth plate (321) cooperating with the eccentric gear (312) is slidably installed in the sliding groove (320). A ratchet gear (326) rotatably arranged in the rotating cavity (319) is provided at the bottom of the rotating boss (325), and a driving arm (322) cooperating with the ratchet gear (326) is provided on the side of the meshing tooth plate (321); a fixed plate (323) is also provided in the rotating cavity (319), and the inner side of the fixed plate (323) is connected to the side of the meshing tooth plate (321) via a plurality of sets of return springs (324).

8. A manipulator for milling a reducer housing according to any one of claims 1 to 2, characterized in that: A control panel is also provided on the vertical plate (201).

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