A parallel manipulator for grabbing dolls

Abstract

The present invention is applicable to the field of manipulator technology, and provides a parallel manipulator for grabbing dolls, including a mounting column, and also including: four mounting grooves one evenly arranged at the lower end of the mounting column, and arc-shaped grab bars are rotatably connected in the four mounting grooves one; a driving mechanism is arranged on the mounting column, and the driving mechanism is used to drive the four arc-shaped grab bars to rotate synchronously in opposite directions or in opposite directions; the inner sides of the four arc-shaped grab bars are all arranged with arc-shaped guide grooves, and the outer sides of the four arc-shaped grab bars are all arranged with arc-shaped sink grooves; a plurality of guide sliders are slidably connected in the arc-shaped guide grooves, and a limiting ring is fixed on the side of the plurality of guide sliders away from the arc-shaped grab bars. With the cooperation of the arc-shaped grab bars and the clamping ropes, the accuracy of the manipulator in grabbing dolls is improved, and dolls of different sizes can be clamped, thereby improving the success rate of clamping. The four tightened clamping ropes cooperate with the dolls to limit the arc-shaped grab bars and prevent the arc-shaped grab bars from opening accidentally.

Description

Technical Field

[0001] The invention belongs to the technical field of manipulators, and in particular relates to a parallel manipulator for grabbing dolls. Background Art

[0002] A manipulator is a machine that can grab, move objects or operate tools in space. It can be used in many fields, including industrial manufacturing, medical treatment, agriculture, food processing, building materials and daily life. The selection of manipulators needs to be based on the size of the object.

[0003] For example, in a doll grabbing machine, people control the robot arm to grab the doll, but the robot arm can only grab dolls of one specification. When grabbing a small doll, the doll is easy to fall from the gap of the gripper, which greatly affects the stability of the doll grabbing.

[0004] The above problems are not limited to grabbing dolls. Existing manipulators have the above problems when gripping objects of different sizes, which means that the manipulators need to be designed according to the objects to be gripped. When gripping objects of different sizes, there are problems of low gripping accuracy and poor stability. Summary of the invention

[0005] The purpose of the embodiment of the present invention is to provide a parallel manipulator for grasping dolls, aiming to solve the problem that the manipulator needs to be designed according to the object to be grasped, and there are problems of low grasping accuracy and poor stability when grasping objects of different sizes.

[0006] The present invention is implemented as follows: a parallel manipulator for grabbing dolls comprises a mounting column, and further comprises: four mounting grooves 1 evenly arranged at the lower end of the mounting column, wherein the four mounting grooves 1 are rotatably connected with arc-shaped grab bars; a driving mechanism is arranged on the mounting column, and the driving mechanism is used to drive the four arc-shaped grab bars to rotate synchronously in the same direction or in the opposite direction; the inner sides of the four arc-shaped grab bars are arranged with arc-shaped guide grooves, and the outer sides of the four arc-shaped grab bars are arranged with arc-shaped sinking grooves; a plurality of guide sliders are slidably connected in the arc-shaped guide grooves, and a limiting ring is fixed on the side of the plurality of guide sliders away from the arc-shaped grab bars; a compression spring 1 is arranged between every two guide sliders, and a compression spring is fixedly connected to the guide slider farthest from the mounting column. 2. The end of the compression spring 2 is fixed in the arc guide groove; the arc grab bar is provided with a U-shaped reversing groove, and the two ends of the U-shaped reversing groove are respectively connected with the arc guide groove and the arc sink groove; the four arc grab bars are provided with clamping ropes, and the clamping ropes pass through a plurality of limiting rings, U-shaped reversing grooves and arc sink grooves in sequence, and one end of the clamping rope located on the outside of the arc grab bar extends into the mounting column, and the other ends of the four clamping ropes are fixedly connected together to form a cross shape; a winding mechanism is provided on the mounting column, and the winding mechanism is used to wind and release the end of the clamping rope located in the mounting column; the upper end of the mounting column is connected with a parallel robotic arm mechanism, and the parallel robotic arm mechanism is used to drive the mounting column to move.

[0007] According to a further technical solution, an arc-shaped support shaft is fixed in the arc-shaped guide groove, the arc-shaped support shaft passes through a plurality of guide sliding blocks, and the first compression spring and the second compression spring are both sleeved on the arc-shaped support shaft.

[0008] A further technical solution is that the driving mechanism includes a guide groove 1 arranged in the mounting column, a sliding frame is slidably connected in the guide groove 1, four mounting blocks are evenly fixed to the lower end of the sliding frame, racks are embedded and fixed on the side walls of the four mounting blocks, an electric telescopic rod is fixed in the guide groove 1, the telescopic end of the electric telescopic rod is fixed to the lower end of the sliding frame, and a mounting groove 2 is arranged at one end of the four arc-shaped grab bars close to the mounting column, a gear is arranged in the mounting groove 2, the gear is fixed at the rotation center of the arc-shaped grab bar, and the four gears are respectively meshed with four racks.

[0009] A further technical solution is that the winding mechanism includes an installation slot three arranged in the installation column, a main gear is rotatably connected in the installation slot three, a motor is fixed in the installation slot three, the rotating end of the motor is fixedly connected to the main gear, four winding sleeves are evenly rotatably connected in the installation slot three, driven gears are fixed on the four winding sleeves, the four driven gears are meshed with the main gear, four rope grooves are evenly arranged at the lower end of the installation column, the ends of the four rope grooves extend into the installation slot three, one end of the four clamping ropes located on the outside of the arc-shaped grab bar extends into the installation slot three respectively through the four rope grooves, and the ends of the four clamping ropes are respectively fixed on the four winding sleeves.

[0010] According to a further technical solution, the parallel robotic arm mechanism comprises a mounting plate 1 and a mounting plate 2, the upper end of the mounting plate 1 being rotatably connected to two connecting rods 1, and the lower end of the mounting plate being fixed with two motors 3, the rotating ends of the two motors 3 being respectively fixedly connected to the rotating centers of the two connecting rods 1, the ends of the two connecting rods 1 being rotatably connected to connecting rod 2, the ends of the two connecting rods 2 being rotatably connected to threaded sleeves, the two threaded sleeves being fixed on the mounting plate 2, a rotating assembly being provided on the mounting plate 1, the rotating assembly being used to drive the mounting plate 1 to rotate, the mounting column being connected to the mounting plate 2 via a lifting assembly, and the lifting assembly being used to drive the mounting column to move up and down.

[0011] According to a further technical solution, the rotating assembly includes a connecting rod fixed to the upper end of the mounting plate 1, and a motor 2, wherein the rotating end of the motor 2 is fixed to the upper end of the connecting rod.

[0012] According to a further technical solution, the lifting assembly includes a mounting plate three, the upper end of which is rotatably connected to two screw rods, the two screw rods are respectively threadedly connected in two threaded sleeves, a motor four is fixed to the lower end of the mounting plate three, the rotating end of the motor four is fixedly connected to one of the screw rods, and the two screw rods are connected through a belt drive assembly.

[0013] According to a further technical solution, the belt drive assembly includes two synchronous pulleys fixed on two screw rods, and the two synchronous pulleys are connected by a synchronous belt drive.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] 1. The winding mechanism winds up the end of the clamping rope located in the installation column, and the clamping rope compresses the multiple guide sliders. The multiple guide sliders overcome the elastic force of the compression spring 1 and the compression spring 2 and gather toward the end of the arc-shaped grab bar. The four clamping ropes are located at one end of the inner side of the arc-shaped grab bar to form a cross. The cross-shaped clamping rope clamps the upper part of the doll, thereby preventing the small doll from falling from the gap between the adjacent arc-shaped grab bars, so that the present invention can clamp dolls of different sizes;

[0016] 2. The four tightened clamping ropes and the doll can limit the arc grab bar and prevent it from opening accidentally;

[0017] 3. With the cooperation of the arc-shaped grab bar and the clamping rope, the accuracy of the robotic arm in grabbing dolls is improved, and dolls of different sizes can be clamped, thereby improving the success rate of clamping. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic diagram of the structure of a parallel manipulator for grabbing a doll provided by the present invention;

[0019] Figure 2 The present invention provides Figure 1 Structural diagram of the parallel manipulator mechanism;

[0020] Figure 3 The present invention provides Figure 1 Schematic diagram of the structure after removing the parallel robot arm mechanism;

[0021] Figure 4 The present invention provides Figure 3 Schematic diagram of the internal structure of the middle mounting column;

[0022] Figure 5 The present invention provides Figure 4 A is a schematic diagram of the enlarged structure of the middle part;

[0023] Figure 6 The present invention provides Figure 3 Schematic diagram of the structure after removing the mounting column;

[0024] Figure 7 The present invention provides Figure 3 A schematic diagram of the cross-sectional structure of the middle mounting column;

[0025] Figure 8 The present invention provides Figure 1 Schematic diagram of the internal structure of the middle arc grab bar;

[0026] Fig. 9 The present invention provides Figure 8 Schematic diagram of the enlarged structure of B;

[0027] Fig.10 The present invention provides Figure 8 Schematic diagram of the enlarged structure of C in the figure.

[0028] In the attached drawings: mounting column 101, mounting groove 102, arc-shaped grab bar 103, arc-shaped guide groove 104, arc-shaped sinking groove 105, guide slider 106, limit ring 107, arc-shaped support shaft 108, compression spring 109, compression spring 2 110, U-shaped reversing groove 111, clamping rope 112, drive mechanism 2, mounting groove 201, gear 202, guide groove 1 203, sliding frame 204, mounting block 205, rack 206, electric telescopic rod 2 07. Winding mechanism 3, mounting slot three 301, main gear 302, motor one 303, winding sleeve 304, driven gear 305, rope groove 306, rotating assembly 4, connecting rod 401, motor two 402, parallel robotic arm mechanism 5, mounting plate one 501, connecting rod one 502, connecting rod two 503, mounting plate two 504, threaded sleeve 505, motor three 506, lifting assembly 6, mounting plate three 601, screw rod 602, motor four 603. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0030] The specific implementation of the present invention is described in detail below in conjunction with specific embodiments.

[0031] like Figure 1 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Fig. 9 and Fig.10As shown, a parallel manipulator for grabbing dolls provided by an embodiment of the present invention includes a mounting column 101, and also includes: four mounting grooves 102 evenly arranged at the lower end of the mounting column 101, and the four mounting grooves 102 are rotatably connected to arc-shaped grab bars 103; a driving mechanism 2 is arranged on the mounting column 101, and the driving mechanism 2 is used to drive the four arc-shaped grab bars 103 to rotate synchronously in the opposite direction or in the opposite direction; the inner sides of the four arc-shaped grab bars 103 are each provided with an arc-shaped guide groove 104, and the outer sides of the four arc-shaped grab bars 103 are each provided with an arc-shaped sinking groove 105; a plurality of guide sliders 106 are slidably connected in the arc-shaped guide groove 104, and a limiting ring 107 is fixed to the side of the plurality of guide sliders 106 away from the arc-shaped grab bar 103; a compression spring 109 is arranged between every two guide sliders 106, and a compression spring 2 11 is fixedly connected to the guide slider 106 farthest from the mounting column 101 0, the end of the compression spring 110 is fixed in the arc guide groove 104; the arc grab bar 103 is provided with a U-shaped reversing groove 111, and the two ends of the U-shaped reversing groove 111 are respectively connected to the arc guide groove 104 and the arc sink groove 105; the four arc grab bars 103 are provided with clamping ropes 112, and the clamping ropes 112 pass through a plurality of limit rings 107, the U-shaped reversing groove 111 and the arc sink groove 105 in sequence, and the end of the clamping rope 112 located on the outside of the arc grab bar 103 extends into the mounting column 101, and the other ends of the four clamping ropes 112 are fixedly connected together to form a cross; the mounting column 101 is provided with a winding mechanism 3, and the winding mechanism 3 is used to wind and release the end of the clamping rope 112 located in the mounting column 101; the upper end of the mounting column 101 is connected to a parallel mechanical arm mechanism 5, and the parallel mechanical arm mechanism 5 is used to drive the mounting column 101 to move.

[0032] In the embodiment of the present invention, when grabbing a doll, the parallel mechanical arm mechanism 5 drives the installation column 101 to move, and the installation column 101 drives the arc-shaped grabbing rod 103 to move to the clamping position, so that the doll is located between the four arc-shaped grabbing rods 103, and the driving mechanism 2 drives the four arc-shaped grabbing rods 103 to rotate synchronously in the opposite direction, thereby closing the four arc-shaped grabbing rods 103, and the winding mechanism 3 winds up the end of the clamping rope 112 located in the installation column 101, and the clamping rope 112 compresses the multiple guide sliders 106. , multiple guide sliders 106 overcome the elastic force of compression spring 109 and compression spring 2 110 and gather together at the end of the arc-shaped grab bar 103, four clamping ropes 112 are located at one end of the inner side of the arc-shaped grab bar 103 to form a cross, and the cross-shaped clamping rope 112 moves downward, thereby reducing the internal space of the four arc-shaped grab bars 103, and the cross-shaped clamping rope 112 presses the upper part of the doll, so that the four arc-shaped grab bars 103 cooperate with the cross-shaped clamping rope 112 to clamp the doll, thereby preventing the small doll from The gaps between adjacent arc-shaped grab bars 103 are dropped, so that the present invention can clamp dolls of different sizes, and the four tightened clamping ropes 112 cooperate with the dolls to limit the arc-shaped grab bars 103, thereby preventing the arc-shaped grab bars 103 from accidentally opening in the clamped state; when the parallel mechanical arm mechanism 5 moves the mounting column 101 and the arc-shaped grab bar 103 to the release position, the winding mechanism 3 first releases the end of the clamping rope 112 located in the mounting column 101, and the compression spring 109 and the compression spring 2 110 pushes multiple guide sliders 106 to move, so that the top guide slider 106 drives the cross end of the clamping rope 112 to move upward, so that the clamping rope 112 does not clamp the doll, and the driving mechanism 2 drives the four arc-shaped grab bars 103 to rotate synchronously in the opposite direction, so that the four arc-shaped grab bars 103 open and release the doll. With the cooperation of the arc-shaped grab bars 103 and the clamping rope 112, the accuracy of the robot arm in grabbing the doll is improved, and dolls of different sizes can be clamped, thereby improving the success rate of clamping.

[0033] like Figure 6 , Figure 8 , Fig. 9 and Fig.10 As shown, as a preferred embodiment of the present invention, an arc-shaped support shaft 108 is fixed in the arc-shaped guide groove 104 , and the arc-shaped support shaft 108 passes through multiple guide sliders 106 , and the compression spring 1 109 and the compression spring 2 110 are both sleeved on the arc-shaped support shaft 108 .

[0034] In the embodiment of the present invention, the arc-shaped support shaft 108 supports the compression spring 1 109 and the compression spring 2 110 .

[0035] like Figure 1 , Figure 4 , Figure 5 , Figure 6 , Figure 7, Figure 8 and Fig. 9 As shown, as a preferred embodiment of the present invention, the driving mechanism 2 includes a guide groove 203 arranged in the mounting column 101, a sliding frame 204 is slidably connected in the guide groove 203, four mounting blocks 205 are evenly fixed at the lower end of the sliding frame 204, and racks 206 are embedded and fixed on the side walls of the four mounting blocks 205. An electric telescopic rod 207 is fixed in the guide groove 203, and the telescopic end of the electric telescopic rod 207 is fixed at the lower end of the sliding frame 204. The four arc-shaped grab bars 103 are each provided with a mounting groove 201 at one end close to the mounting column 101, and a gear 202 is arranged in the mounting groove 201. The gear 202 is fixed at the rotation center of the arc-shaped grab bar 103, and the four gears 202 are respectively meshed with four racks 206.

[0036] In the embodiment of the present invention, when grabbing a doll, the electric telescopic rod 207 extends, the electric telescopic rod 207 drives the sliding frame 204 to move upward, the sliding frame 204 drives the mounting block 205 to move upward, the mounting block 205 drives the rack 206 to move upward, the rack 206 drives the gear 202 to rotate, the gear 202 drives the arc-shaped grabbing rod 103 to rotate, the four arc-shaped grabbing rods 103 rotate towards each other and clamp the doll, and when releasing the doll, the electric telescopic rod 207 contracts, the electric telescopic rod 207 drives the sliding frame 204 to move downward, the sliding frame 204 drives the mounting block 205 to move downward, the mounting block 205 drives the rack 206 to move downward, the rack 206 drives the gear 202 to reverse, the gear 202 drives the arc-shaped grabbing rod 103 to reverse, the four arc-shaped grabbing rods 103 rotate in the opposite direction, and then the four arc-shaped grabbing rods 103 are opened.

[0037] like Figure 1 , Figure 3 , Figure 4 , Figure 5 , Figure 7 , Figure 8 , Fig. 9 and Fig.10As shown, as a preferred embodiment of the present invention, the winding mechanism 3 includes a mounting slot three 301 arranged in the mounting column 101, a main gear 302 is rotatably connected in the mounting slot three 301, a motor 1 303 is fixed in the mounting slot three 301, the rotating end of the motor 1 303 is fixedly connected to the main gear 302, four winding sleeves 304 are evenly rotatably connected in the mounting slot three 301, a driven gear 305 is fixed on the four winding sleeves 304, the four driven gears 305 are meshed with the main gear 302, four rope grooves 306 are evenly arranged at the lower end of the mounting column 101, the ends of the four rope grooves 306 are extended into the mounting slot three 301, one end of the four clamping ropes 112 located on the outer side of the arc-shaped grab bar 103 respectively extends into the mounting slot three 301 through the four rope grooves 306, and the ends of the four clamping ropes 112 are respectively fixed on the four winding sleeves 304.

[0038] In the embodiment of the present invention, the motor 1 303 drives the main gear 302 to rotate, the main gear 302 drives the four driven gears 305 to rotate, the four driven gears 305 drive the four winding sleeves 304 to rotate, and the rotating winding sleeves 304 wind up and release the clamping rope 112.

[0039] like Figure 1 and Figure 2 As shown, as a preferred embodiment of the present invention, the parallel robotic arm mechanism 5 includes a mounting plate 1 501 and a mounting plate 2 504, the upper end of the mounting plate 1 501 is rotatably connected to two connecting rods 1 502, the lower end of the mounting plate 1 501 is fixed with two motors 3 506, the rotating ends of the two motors 3 506 are respectively fixedly connected to the rotation centers of the two connecting rods 1 502, the ends of the two connecting rods 1 502 are rotatably connected to the connecting rod 2 503, the ends of the two connecting rods 2 503 are rotatably connected to the threaded sleeves 505, the two threaded sleeves 505 are fixed on the mounting plate 2 504, the mounting plate 1 501 is provided with a rotating component 4, the rotating component 4 is used to drive the mounting plate 1 501 to rotate, the mounting column 101 is connected to the mounting plate 2 504 through a lifting component 6, and the lifting component 6 is used to drive the mounting column 101 to move up and down.

[0040] In the embodiment of the present invention, the two motors three 506 respectively drive the two connecting rods one 502 to rotate, and the two connecting rods one 502 drive the threaded sleeve 505 and the mounting plate two 504 to move through the two connecting rods one 502. Under the drive and cooperation of the two motors three 506, the position of the mounting plate two 504 is adjusted, and the grabbing position of the arc-shaped grab bar 103 is adjusted.

[0041] like Figure 1 and Figure 2As shown, as a preferred embodiment of the present invention, the rotating assembly 4 includes a connecting rod 401 fixed to the upper end of the mounting plate 1 501 , and a motor 2 402 , wherein the rotating end of the motor 2 402 is fixed to the upper end of the connecting rod 401 .

[0042] In the embodiment of the present invention, the second motor 402 drives the connecting rod 401 to rotate, and the connecting rod 401 drives the first mounting plate 501 to rotate, thereby adjusting the movement range of the second mounting plate 504 and further expanding the movement range of the second mounting plate 504.

[0043] like Figure 1 and Figure 2 As shown, as a preferred embodiment of the present invention, the lifting component 6 includes a mounting plate three 601, and the upper end of the mounting plate three 601 is rotatably connected to two screw rods 602, and the two screw rods 602 are respectively threadedly connected in two threaded sleeves 505, and the lower end of the mounting plate three 601 is fixed with a motor four 603, and the rotating end of the motor four 603 is fixedly connected to one of the screw rods 602, and the two screw rods 602 are connected by a belt transmission assembly, and the belt transmission assembly includes synchronous pulleys fixed on the two screw rods 602, and the two synchronous pulleys are connected by a synchronous belt transmission.

[0044] In the embodiment of the present invention, the motor four 603 drives the screw rod 602 to rotate, and the screw rod 602 moves on the threaded sleeve 505 through threaded transmission, thereby adjusting the height of the screw rod 602 and the mounting plate three 601, the mounting plate three 601 adjusts the height of the mounting column 101, and the mounting column 101 adjusts the grabbing height of the arc-shaped grab rod 103.

[0045] In the above embodiment of the present invention, a parallel manipulator for grabbing a doll is provided. When grabbing the doll, the parallel manipulator arm mechanism 5 drives the mounting column 101 to move, and the mounting column 101 drives the arc-shaped grabbing rod 103 to move to the clamping position, so that the doll is between the four arc-shaped grabbing rods 103, and the electric telescopic rod 207 is extended, and the electric telescopic rod 207 drives the sliding frame 204 to move upward, and the sliding frame 204 drives the mounting block 205 to move upward, and the mounting block 205 drives the rack 206 to move upward, and the rack 206 drives the gear 202 to rotate, and the gear 202 drives the arc-shaped grabbing rod 103 to rotate, and the four arc-shaped grabbing rods 103 rotate towards each other and clamp the doll, and the motor 303 drives The main gear 302 rotates, and the main gear 302 drives the four driven gears 305 to rotate. The four driven gears 305 drive the four winding sleeves 304 to rotate. The rotating winding sleeve 304 winds up the clamping rope 112, and the clamping rope 112 compresses the multiple guide sliders 106. The multiple guide sliders 106 overcome the elastic force of the compression spring 109 and the compression spring 2 110 and gather to the end of the arc-shaped grab bar 103. The four clamping ropes 112 are located at one end of the inner side of the arc-shaped grab bar 103 to form a cross. The cross-shaped clamping ropes 112 clamp the upper part of the doll, thereby preventing the small doll from falling from the gap between the adjacent arc-shaped grab bars 103, so that the present invention can be used for dolls of different sizes. The doll is clamped, and the four tightened clamping ropes 112 cooperate with the doll to limit the arc grab bar 103 and prevent the arc grab bar 103 from opening accidentally; when the parallel mechanical arm mechanism 5 moves the mounting column 101 and the arc grab bar 103 to the release position, the motor 1 303 drives the main gear 302 to reverse, the main gear 302 drives the four driven gears 305 to reverse, the four driven gears 305 drive the four winding sleeves 304 to reverse, and the reversed winding sleeves 304 release the ends of the clamping ropes 112 located in the mounting column 101, and the compression springs 109 and 110 push the multiple guide sliders 106 to move, thereby causing the uppermost guide slider 106 to drive The cross end of the clamping rope 112 moves upward so that the clamping rope 112 does not clamp the doll, the electric telescopic rod 207 contracts, the electric telescopic rod 207 drives the sliding frame 204 to move downward, the sliding frame 204 drives the mounting block 205 to move downward, the mounting block 205 drives the rack 206 to move downward, the rack 206 drives the gear 202 to reverse, the gear 202 drives the arc-shaped grabbing rod 103 to reverse, the four arc-shaped grabbing rods 103 rotate in the opposite direction, and then the four arc-shaped grabbing rods 103 are opened and the doll is released. With the cooperation of the arc-shaped grabbing rods 103 and the clamping rope 112, the accuracy of the robot arm in grabbing the doll is improved, and dolls of different sizes can be clamped, thereby improving the success rate of clamping.

[0046] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A parallel manipulator for grabbing a doll, comprising a mounting column (101), characterized in that: Also includes: Four mounting grooves (102) are evenly arranged at the lower end of the mounting column (101), and arc-shaped grab bars (103) are rotatably connected in the four mounting grooves (102); The mounting column (101) is provided with a driving mechanism (2), and the driving mechanism (2) is used to drive the four arc-shaped grab bars (103) to rotate synchronously in the same direction or in opposite directions; The inner sides of the four arc-shaped grab bars (103) are all provided with arc-shaped guide grooves (104), and the outer sides of the four arc-shaped grab bars (103) are all provided with arc-shaped sinking grooves (105); A plurality of guide slide blocks (106) are slidably connected in the arc-shaped guide groove (104), and a limiting ring (107) is fixed on one side of the plurality of guide slide blocks (106) away from the arc-shaped grab bar (103); A compression spring 1 (109) is provided between every two guide sliders (106); a compression spring 2 (110) is fixedly connected to the guide slider (106) farthest from the mounting column (101); and a distal end of the compression spring 2 (110) is fixed in the arc-shaped guide groove (104); The arc-shaped grab bar (103) is provided with a U-shaped reversing groove (111), and two ends of the U-shaped reversing groove (111) are respectively connected to the arc-shaped guide groove (104) and the arc-shaped sink groove (105); The four arc-shaped grab bars (103) are each provided with a clamping rope (112), the clamping rope (112) sequentially passes through a plurality of limit rings (107), a U-shaped reversing groove (111) and an arc-shaped sink groove (105), one end of the clamping rope (112) located outside the arc-shaped grab bar (103) extends into the mounting column (101), and the other ends of the four clamping ropes (112) are fixedly connected together to form a cross shape; The installation column (101) is provided with a reeling mechanism (3), and the reeling mechanism (3) is used to reel in and release an end of a clamping rope (112) located in the installation column (101); The upper end of the installation column (101) is connected to a parallel mechanical arm mechanism (5), and the parallel mechanical arm mechanism (5) is used to drive the installation column (101) to move.

2. The parallel manipulator for grabbing dolls according to claim 1, characterized in that: An arc-shaped support shaft (108) is fixed in the arc-shaped guide groove (104), the arc-shaped support shaft (108) passes through a plurality of guide slide blocks (106), and the first compression spring (109) and the second compression spring (110) are both sleeved on the arc-shaped support shaft (108).

3. The parallel manipulator for grabbing dolls according to claim 1, characterized in that: The driving mechanism (2) comprises a guide groove (203) provided in the mounting column (101), wherein a sliding frame (204) is slidably connected in the guide groove (203); Four mounting blocks (205) are evenly fixed at the lower end of the sliding frame (204), racks (206) are embedded and fixed on the side walls of the four mounting blocks (205), an electric telescopic rod (207) is fixed in the guide groove 1 (203), and the telescopic end of the electric telescopic rod (207) is fixed to the lower end of the sliding frame (204); The four arc-shaped grab bars (103) are each provided with a second mounting groove (201) at one end close to the mounting column (101), a gear (202) is provided in the second mounting groove (201), the gear (202) is fixed at the rotation center of the arc-shaped grab bar (103), and the four gears (202) are respectively meshed with four racks (206).

4. The parallel manipulator for grabbing dolls according to claim 1, characterized in that: The winding mechanism (3) comprises a third mounting groove (301) arranged in the mounting column (101), and a main gear (302) is rotatably connected in the third mounting groove (301); A motor 1 (303) is fixed in the installation groove 3 (301), and a rotating end of the motor 1 (303) is fixedly connected to the main gear (302); Four winding sleeves (304) are evenly rotatably connected in the third installation groove (301), and driven gears (305) are fixed on the four winding sleeves (304). The four driven gears (305) are meshed with the main gear (302); Four rope grooves (306) are evenly arranged at the lower end of the installation column (101), and the ends of the four rope grooves (306) extend into the installation groove three (301). One end of the four clamping ropes (112) located outside the arc-shaped grab bar (103) respectively extends into the installation groove three (301) through the four rope grooves (306), and the ends of the four clamping ropes (112) are respectively fixed on four winding sleeves (304).

5. The parallel manipulator for grabbing dolls according to claim 1, characterized in that: The parallel robot arm mechanism (5) comprises a mounting plate 1 (501) and a mounting plate 2 (504), wherein the upper end of the mounting plate 1 (501) is rotatably connected to two connecting rods 1 (502); Two motors three (506) are fixed at the lower end of the mounting plate one (501), and the rotating ends of the two motors three (506) are respectively fixedly connected to the rotating centers of the two connecting rods one (502); The ends of the two connecting rods (502) are rotatably connected to the connecting rod (503), the ends of the two connecting rods (503) are rotatably connected to the threaded sleeves (505), and the two threaded sleeves (505) are fixed on the mounting plate (504); The first mounting plate (501) is provided with a rotating assembly (4), the rotating assembly (4) being used to drive the first mounting plate (501) to rotate, the mounting column (101) being connected to the second mounting plate (504) via a lifting assembly (6), the lifting assembly (6) being used to drive the mounting column (101) to move up and down.

6. The parallel manipulator for grabbing dolls according to claim 5, characterized in that: The rotating assembly (4) comprises a connecting rod (401) fixed to the upper end of the first mounting plate (501), and a second motor (402), wherein the rotating end of the second motor (402) is fixed to the upper end of the connecting rod (401).

7. The parallel manipulator for grabbing dolls according to claim 5, characterized in that: The lifting assembly (6) comprises a third mounting plate (601), the upper end of the third mounting plate (601) being rotatably connected to two screw rods (602), the two screw rods (602) being respectively threadedly connected in two threaded sleeves (505); A motor four (603) is fixed to the lower end of the mounting plate three (601), and the rotating end of the motor four (603) is fixedly connected to one of the screw rods (602), and the two screw rods (602) are connected in transmission via a belt transmission assembly.

8. The parallel manipulator for grabbing dolls according to claim 7, characterized in that: The belt drive assembly comprises two synchronous pulleys fixed on two screw rods (602), and the two synchronous pulleys are connected via a synchronous belt drive.

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