Manipulator for carrying

Abstract

The invention discloses a manipulator for carrying, which belongs to the technical field of manipulator carrying and comprises an industrial manipulator fixedly connected with a main body connecting plate, three groups of three-jaw clamping mechanisms are fixedly mounted on the main body connecting plate, and a lifting mechanism is arranged in the main body connecting plate; according to the manipulator for carrying, the driving assembly can be driven to move through the lifting mechanism, the driving assembly drives the two-way screw rod to rotate through the self-adaption assembly, the two arc-shaped clamping plates are driven to get close to each other, the outer side of a workpiece is clamped, and the workpiece is moved to the position under the three-jaw clamping mechanism from the initial position; a workpiece can be pre-fixed to the accurate position before being clamped and carried, the positioning precision and grabbing reliability during workpiece carrying can be improved, grabbing failure or claw finger abrasion caused by workpiece displacement can be avoided, meanwhile, the production efficiency and the takt time stability can be improved, and the production cost is reduced. And the grabbing deviation caused by a visual positioning blind area or a mechanical arm motion error is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulator handling, and particularly to a manipulator for handling. Background Art

[0002] An industrial robot is a multi-joint manipulator or multi-degree-of-freedom automation device for the industrial field. It can execute various complex tasks through programming and has characteristics such as high precision, high efficiency, and high reliability, and is widely used in various links of the manufacturing industry. An industrial robot handling manipulator is a device that realizes automated material handling through program control and is widely used in industries such as automobile manufacturing, electronics, food, and chemical industry. It has advantages such as high precision, high speed, high flexibility, and continuous operation for 24 hours, and can replace manual labor to complete repetitive, heavy, or dangerous handling tasks. The handling end clamping mechanism is a key component in an industrial robot or automation system for grasping, handling, and placing workpieces. Among them, the inner support type clamping mechanism is widely used in the handling of flange plates.

[0003] After retrieval, a patent with the Chinese patent authorization number CN218462206U discloses a manipulator for handling, including a support plate. A slider is slidably connected inside the support plate. A jaw is fixedly connected to the slider. The jaw contacts the support plate. A fixed frame is fixedly connected to the support plate. A cylinder is arranged inside the fixed frame. An installation plate is fixedly connected to the cylinder. The installation plate contacts the fixed frame. A positioning block is fixedly connected to the installation plate. The positioning block is slidably connected inside the fixed frame. A disassembly mechanism is arranged on the fixed frame. The following deficiencies exist in the above patent: The flange plate may have a position offset during processing or transmission due to vibration, conveyor belt error, etc., and may deviate from the working range of the manipulator due to transmission error, resulting in the three jaws being unable to insert into the inner hole, causing an empty grab or collision accident; the flange plate may rotate or tilt during transmission, and only one side is stressed when the three jaws are externally supported, resulting in an abnormal posture of the workpiece after grasping, affecting subsequent processes (such as being unable to align the installation holes during assembly), and greatly reducing the handling efficiency of the flange plate. Summary of the Invention

[0004] The purpose of the present invention is to solve the problem in the prior art that due to transmission error, it may deviate from the working range of the manipulator, resulting in the three jaws being unable to insert into the inner hole of the flange plate workpiece, causing an empty grab or collision accident, and to propose a manipulator for handling.

[0005] In order to achieve the above purpose, the present invention adopts the following technical solutions: A handling robot comprises an industrial robot fixedly connected to a main body connecting plate, three groups of three-jaw clamping mechanisms are fixedly installed on the main body connecting plate, a lifting mechanism is arranged inside the main body connecting plate, the three-jaw clamping mechanism comprises a fixing seat fixedly installed at the bottom of the main body connecting plate, and also comprises a bidirectional screw rotatably connected to the fixing seat, two threaded plates are symmetrically threaded on the bidirectional screw, guide groove plates corresponding to the threaded plates are fixedly connected on both sides of the fixing seat, arc-shaped clamping plates are fixedly connected to the bottoms of the two threaded plates, a driving assembly is arranged between the lifting mechanism and the main body connecting plate, and an adaptive assembly is arranged between the driving assembly and the bidirectional screw.

[0006] Preferably, the lifting mechanism includes a lifting rod slidably connected in the main connecting plate, the three groups of three-claw clamping mechanisms are respectively fixedly installed at the bottom of the lifting rod and the two sides of the main connecting plate, and the three-claw clamping mechanism also includes a cylinder fixedly installed on a fixed seat.

[0007] Preferably, the output end of the cylinder is fixedly connected to a mounting plate, a first rack is fixedly connected to the mounting plate, a first gear meshing with the first rack is rotatably connected to the fixed seat, and a turntable is fixedly connected to the first gear.

[0008] Preferably, the turntable is provided with three arc holes, each of which is slidably connected to a sliding rod, the fixed seat is fixedly connected to three rectangular slot plates, each of which is fixedly connected to a guide rod, the guide rod is slidably connected to a slide plate, and each of the guide rods is sleeved with a first spring.

[0009] Preferably, the two ends of the first spring are respectively against the rectangular groove plate and the slide plate, the bottom of each slide plate is fixedly connected with an L-shaped plate, each L-shaped plate is respectively fixedly connected with each slide rod, and each L-shaped plate is fixedly connected with a clamping plate.

[0010] Preferably, the lifting mechanism also includes a servo motor fixedly mounted on the top of the main connecting plate, the output end of the servo motor is fixedly connected to a lifting screw, the lifting rod is threadedly connected to the lifting screw, extension plates are fixedly connected on both sides of the lifting rod, and sliding grooves corresponding to the extension plates are provided on both side walls of the main connecting plate.

[0011] Preferably, the driving component includes a support rod rotatably connected to one side of the lifting rod, a notch is provided on the fixed seat, the adaptive component includes a sleeve rotatably connected to the notch of the fixed seat, a synchronous belt is connected to the support rod for transmission, a fixed pulley is fixedly connected in the main body connecting plate, and a pull rope is slidably arranged on the fixed pulley.

[0012] Preferably, a second gear is fixedly connected to the support rod. One end of the pulling rope is fixedly connected to a second rack that meshes with the second gear. The other end of the pulling rope is fixedly connected to the lifting rod. One side of the second rack is fixedly connected to a guide plate. A vertical groove is formed in the inner wall of the main body connecting plate. A vertical rod is fixedly connected in the vertical groove of the main body connecting plate. The guide plate is slidably connected to the vertical rod. A second spring is sleeved on the vertical rod. Two ends of the second spring abut against the guide plate and the vertical groove of the main body connecting plate respectively.

[0013] Preferably, the adaptive component further includes a plurality of driving plates hinged to the inner wall of the sleeve. A torsion spring is fixedly connected between each driving plate and the sleeve. The torsion force of the torsion spring is greater than the elastic force of the second spring. A plurality of baffles are fixedly connected to the inner wall of the sleeve. The sleeve is sleeved outside the bidirectional screw. A plurality of driven plates are fixedly connected to the outer wall of the bidirectional screw in a circumferential manner.

[0014] Preferably, a rectangular plate is fixedly connected to one side of the guide plate. Two cylindrical barrels are fixedly connected to the top wall of the main body connecting plate. A piston is slidably connected in each of the two cylindrical barrels. A push rod is fixedly connected between each of the two pistons and the rectangular plate. A connecting pipe is fixedly communicated between each of the two cylindrical barrels and each of the two arc-shaped clamping plates. A cavity is formed in each of the two arc-shaped clamping plates. A plurality of round holes are formed in each of the two arc-shaped clamping plates.

[0015] Compared with the prior art, the present invention provides a handling manipulator, which has the following beneficial effects: 1. For this handling manipulator, the lifting mechanism drives the driving component to move. The driving component drives the bidirectional screw to rotate through the adaptive component, driving the two arc-shaped clamping plates to approach each other, clamping the outside of the workpiece, and moving the workpiece from the initial position to directly below the three-jaw clamping mechanism. It can pre-fix the workpiece to an accurate position in advance before clamping and transporting the workpiece, which helps to improve the positioning accuracy and grasping reliability during workpiece handling, can avoid grasping failure or finger wear caused by workpiece displacement, and can also improve production efficiency and beat stability, avoiding grasping deviation caused by visual positioning blind spots or robotic arm movement errors.

[0016] 2. For this handling manipulator, by starting the servo motor to drive the lifting screw to rotate, the lifting rod slides vertically downward under the guiding and sliding action of the two extension plates in the sliding groove of the main body connecting plate, and then drives the entire three-jaw clamping mechanism at the bottom of the lifting rod to move downward to clamp and transport the workpiece at a deeper position, which helps the materials in the storage bin to be placed more compactly and increases the storage capacity.

[0017] 3. While the manipulator for handling moves through the lifting mechanism, it automatically enables the cooperation between the adaptive component and the bidirectional screw. When the torsion spring is compressed, the sleeve automatically stops driving the bidirectional screw to rotate, cutting off the driving force of the bidirectional screw, and controlling the clamping force of the arc-shaped clamping plate on the workpiece within a preset threshold, avoiding applying excessive pressure to easily deformable workpieces such as aluminum alloys and thin-walled steels, ensuring that the surface accuracy of the workpiece is not damaged. Moreover, before pre-fixing the workpiece, it can automatically drive the push rod through the guide plate to remove impurities, debris, etc. on the surface of the workpiece by the two arc-shaped clamping plates simultaneously, ensuring the cleanliness of the fitting surface between the arc-shaped clamping plate and the workpiece. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 Schematic diagram of the overall structure of a manipulator for handling proposed by the present invention; Figure 2 Schematic diagram of the side structure of a manipulator for handling proposed by the present invention; Figure 3 Schematic diagram of the structure of the main body connecting plate in a manipulator for handling proposed by the present invention; Figure 4 Schematic diagram of the internal structure of the main body connecting plate in a manipulator for handling proposed by the present invention; Figure 5 Schematic diagram of the structure of the cylindrical barrel, connecting pipe, and synchronous belt in a manipulator for handling proposed by the present invention; Figure 6 Proposed by the present invention Figure 5 Schematic diagram of part A; Figure 7 Proposed by the present invention Figure 5 Schematic diagram of part B; Figure 8 Schematic diagram of the structure of the three-jaw clamping mechanism in a manipulator for handling proposed by the present invention; Figure 9 Proposed by the present invention Figure 8 Schematic diagram of part C; Figure 10 Schematic diagram of the right view of the sleeve, second gear, pulling rope, and second rack in a manipulator for handling proposed by the present invention; Figure 11 Proposed by the present invention Figure 10 Schematic diagram of part D; Figure 12 Schematic diagram of the structure of the fixed seat and the cylindrical barrel in a manipulator for handling proposed by the present invention; Figure 13 Proposed by the present invention Figure 12 Schematic diagram of part E; Figure 14Schematic diagram of the lifting rod, lifting screw, and extension plate in a handling manipulator proposed by the present invention.

[0019] In the figure: 1. Industrial manipulator; 2. Main body connecting plate; 3. Three-jaw clamping mechanism; 301. Fixed seat; 302. Cylinder; 303. Mounting plate; 304. First rack; 305. First gear; 306. Turntable; 307. Arc-shaped hole; 308. Slide bar; 309. Rectangular groove plate; 310. Guide rod; 311. Slide plate; 312. First spring; 313. L-shaped plate; 314. Clamping plate; 4. Lifting mechanism; 401. Lifting rod; 402. Servo motor; 403. Lifting screw; 404. Extension plate; 5. Bidirectional screw; 6. Arc-shaped clamping plate; 7. Driving assembly; 701. Support rod; 702. Synchronous belt; 703. Fixed pulley; 704. Pulling rope; 705. Second gear; 706. Second rack; 707. Guide plate; 708. Vertical rod; 709. Second spring; 8. Adaptive assembly; 801. Sleeve; 802. Driving plate; 803. Torsion spring; 804. Baffle; 805. Driven plate; 9. Rectangular plate; 10. Cylindrical barrel; 11. Piston; 12. Push rod; 13. Connecting pipe; 14. Round hole; 15. Threaded plate; 16. Guide groove plate. Detailed implementation mode

[0020] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments.

[0021] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0022] Example 1: Refer to Figures 1 - 14, A manipulator for handling, comprising: an industrial manipulator 1 fixedly connected with a main body connecting plate 2, three three-jaw clamping mechanisms 3 fixedly installed on the main body connecting plate 2, a lifting mechanism 4 arranged inside the main body connecting plate 2, the three-jaw clamping mechanism 3 including a fixed seat 301 fixedly installed at the bottom of the main body connecting plate 2, and further comprising: a bidirectional screw 5 rotatably connected to the fixed seat 301, two thread plates 15 symmetrically threadedly connected to the bidirectional screw 5, guide groove plates 16 fixedly connected to both sides of the fixed seat 301 corresponding to the thread plates 15, arc-shaped clamping plates 6 fixedly connected to the bottoms of the two thread plates 15, a driving component 7 arranged between the lifting mechanism 4 and the main body connecting plate 2, and an adaptive component 8 arranged between the driving component 7 and the bidirectional screw 5.

[0023] In the present invention, when handling a workpiece, one of the three-jaw clamping mechanisms 3 on the main body connecting plate 2 is driven by the industrial manipulator 1 to move to a suitable position for grasping and handling. When taking materials from a deeper position at the bottom of the material box, the three-jaw clamping mechanism 3 is driven by the lifting mechanism 4 to move down to the bottom. During the process of driving the three-jaw clamping mechanism 3 to move downward, the driving component 7 will be driven to move. The driving component 7 drives the bidirectional screw 5 to rotate through the adaptive component 8, so that the two thread plates 15 approach each other under the guidance of the guide groove plates 16, and then drive the two arc-shaped clamping plates 6 to approach each other to clamp the outside of the workpiece, so that the workpiece moves from the initial position to directly below the three-jaw clamping mechanism 3. It can pre-fix the workpiece to an accurate position in advance before clamping and handling the workpiece. Subsequently, the three-jaw clamping mechanism 3 grabs the flange plate, which helps to improve the positioning accuracy and grasping reliability during workpiece handling, can avoid grasping failure or finger wear caused by workpiece displacement, and can also improve production efficiency and beat stability, and avoid grasping deviation caused by visual positioning blind spots or robotic arm movement errors.

[0024] Embodiment 2: Refer to Figures 3 - 14 , which is basically the same as Embodiment 1. Further, the lifting mechanism 4 includes a lifting rod 401 slidably connected inside the main body connecting plate 2. The three three-jaw clamping mechanisms 3 are respectively fixedly installed at the bottom of the lifting rod 401 and on both sides of the main body connecting plate 2. The three-jaw clamping mechanism 3 further includes a cylinder 302 fixedly installed on the fixed seat 301.

[0025] The output end of the cylinder 302 is fixedly connected with a mounting plate 303, a first rack 304 is fixedly connected to the mounting plate 303, a first gear 305 meshing with the first rack 304 is rotatably connected to the fixed seat 301, and a turntable 306 is fixedly connected to the first gear 305.

[0026] Three arc holes 307 are opened on the turntable 306, and a sliding rod 308 is slidably connected in each arc hole 307. Three rectangular slot plates 309 are fixedly connected to the fixed seat 301, and a guide rod 310 is fixedly connected in each rectangular slot plate 309. A slide plate 311 is slidably connected to the guide rod 310, and a first spring 312 is sleeved on each guide rod 310.

[0027] The two ends of the first spring 312 are respectively against the rectangular groove plate 309 and the slide plate 311 , and the bottom of each slide plate 311 is fixedly connected with an L-shaped plate 313 , and each L-shaped plate 313 is respectively fixedly connected with each slide rod 308 , and each L-shaped plate 313 is fixedly connected with a clamping plate 314 .

[0028] In the present invention, when the workpiece is transported, the industrial robot 1 drives the three-claw clamping mechanism 3 to move to a position where it can grasp. The first rack 304 is driven to move by starting the cylinder 302 and meshed with the first gear 305, so that the first gear 305 rotates and drives the turntable 306 to rotate at the same time. The L-shaped plate 313 is guided and slid in the rectangular groove plate 309 by the slide plate 311. The turntable 306 drives multiple slide bars 308 to slide along the arc hole 307 while rotating, and then drives the L-shaped plate 313 and the clamping plate 314 to slide, so that the three clamping plates 314 expand and slide outward at the same time, and the flange workpiece is supported and fixed externally. Then, the workpiece is transported to the processing position by the industrial robot 1, and the first rack 304 is reset by the cylinder 302, so that the turntable 306 rotates in the opposite direction, driving the clamping plate 314 to release the external support force on the workpiece, so that the workpiece can be separated from the industrial robot 1.

[0029] The lifting mechanism 4 also includes a servo motor 402 fixedly installed on the top of the main connecting plate 2, the output end of the servo motor 402 is fixedly connected to the lifting screw 403, the lifting rod 401 is threadedly connected to the lifting screw 403, and the two sides of the lifting rod 401 are fixedly connected to the extension plate 404, and the two side walls of the main connecting plate 2 are provided with sliding grooves corresponding to the extension plate 404.

[0030] In the present invention, when the industrial robot 1 drives the three-claw clamping mechanism 3 on the main connecting plate 2 to transport the workpiece at a deeper position in the material frame, the servo motor 402 can be started to drive the lifting screw 403 to rotate, and the lifting rod 401 is guided and slid in the slide groove of the main connecting plate 2 through two extension plates 404, so that the lifting rod 401 slides vertically downward, and then drives the three-claw clamping mechanism 3 at the bottom of the lifting rod 401 to move downward as a whole, so as to clamp and transport the workpiece at a deeper position, which helps to place the materials in the silo more compactly and increase the storage capacity.

[0031] Example 3: Reference Figures 4 - 11, which is basically the same as the first embodiment, and further, the driving component 7 includes a support rod 701 rotatably connected to one side of the lifting rod 401, a notch is provided on the fixed seat 301, and the adaptive component 8 includes a sleeve 801 rotatably connected to the notch of the fixed seat 301, a synchronous belt 702 is transmission-connected between the sleeve 801 and the support rod 701, a fixed pulley 703 is fixedly connected inside the main connecting plate 2, and a pull rope 704 is slidably provided on the fixed pulley 703.

[0032] A second gear 705 is fixedly connected to the support rod 701, one end of the pull rope 704 is fixedly connected to a second rack 706 meshing with the second gear 705, the other end of the pull rope 704 is fixedly connected to the lifting rod 401, one side of the second rack 706 is fixedly connected to a guide plate 707, a vertical groove is opened on the inner wall of the main connecting plate 2, a vertical rod 708 is fixedly connected in the vertical groove of the main connecting plate 2, the guide plate 707 is slidably connected to the vertical rod 708, and a second spring 709 is sleeved on the vertical rod 708, and the two ends of the second spring 709 are respectively against the vertical grooves of the guide plate 707 and the main connecting plate 2.

[0033] In the present invention, when the lifting rod 401 slides downward, the pull rope 704 will be pulled downward under the guidance of the fixed pulley 703. At this time, the other end of the pull rope 704 will pull the second rack 706 to move, and the second rack 706 slides on the vertical rod 708 in the vertical groove of the main connecting plate 2 through the guide plate 707, and at the same time compresses the second spring 709, so that the second rack 706 can stably slide vertically upward and engage with the second gear 705, so that the second gear 705 rotates, thereby driving the support rod 701 to rotate, and automatically rotating the sleeve 801 through the synchronous belt 702; when the lifting rod 401 is reset upward, the second spring 709 can automatically make the guide plate 707 slide downward on the vertical rod 708, thereby automatically making the second rack 706 slide downward and reset, so that the second gear 705 can rotate in the opposite direction.

[0034] The adaptive component 8 also includes a plurality of driving plates 802 hinged on the inner wall of the sleeve 801, and a torsion spring 803 is fixedly connected between each driving plate 802 and the sleeve 801. The torsion force of the torsion spring 803 is greater than the elastic force of the second spring 709. A plurality of baffles 804 are fixedly connected to the inner wall of the sleeve 801. The sleeve 801 is sleeved on the outside of the bidirectional screw 5, and a plurality of driven plates 805 are fixedly connected around the outer wall of the bidirectional screw 5. The driven plates 805 are against the driving plates 802 and are not connected to each other, so as to prevent the driving plates 802 from rotating in the opposite direction. When the sleeve 801 reverses, the bidirectional screw 5 can be driven to reverse.

[0035] In the present invention, while the sleeve 801 rotates, it also drives a plurality of drive plates 802 on its inner wall to rotate synchronously. The plurality of drive plates 802 stably follow the rotation of the sleeve 801 under the support of the torsion springs 803. Each drive plate 802 abuts against each driven plate 805 on the bidirectional screw 5 respectively, automatically causing the bidirectional screw 5 to rotate, thereby automatically causing the two arc-shaped clamping plates 6 to approach each other to clamp, correct the deviation of, and pre-fix the workpiece. When the two arc-shaped clamping plates 6 are completely in contact with the workpiece, at this time, when the lifting rod 401 continues to move downward, the sleeve 801 is still rotating. At this time, in order to prevent the bidirectional screw 5 from continuing to rotate, through the torsion springs 803 on its inner wall, the plurality of drive plates 802 automatically rotate in the direction of the torsion springs 803 and slide away from the driven plates 805, thereby automatically causing the bidirectional screw 5 to rotate, so that the arc-shaped clamping plates 6 can keep the workpiece fixed without continuing to apply a clamping force. This helps when the industrial manipulator 1 transports workpieces with larger weights and sizes. While pre-fixing the workpiece in advance, it will not over-fix the workpiece and affect the appearance and quality of the workpiece. After the workpiece is pre-fixed, then start the three-jaw clamping mechanism 3 to externally support and fix the workpiece, which can form a double fixation to ensure that the workpiece will not fall off, and greatly improve the stability of the industrial manipulator 1 during the process of transporting the workpiece.

[0036] Embodiment 4: Refer to Figures 4 - 14 , which is basically the same as Embodiment 1. Further, a rectangular plate 9 is fixedly connected to one side of the guide plate 707, two cylindrical barrels 10 are fixedly connected to the top wall of the main body connecting plate 2, pistons 11 are slidably connected in both of the two cylindrical barrels 10, push rods 12 are fixedly connected between the two pistons 11 and the rectangular plate 9, connecting pipes 13 are fixedly communicated between the two cylindrical barrels 10 and the two arc-shaped clamping plates 6 respectively, cavities are formed in both of the two arc-shaped clamping plates 6, and a plurality of round holes 14 are formed in both of the two arc-shaped clamping plates 6.

[0037] In the present invention, when the lifting rod 401 moves downward to raise the second rack 706, it will also drive the rectangular plate 9 to move upward. When the rectangular plate 9 moves upward, it will push two push rods 12 upward simultaneously, causing the two pistons 11 in the two cylindrical barrels 10 to slide upward simultaneously, compressing the gas in the cylindrical barrels 10. The gas in the two cylindrical barrels 10 is respectively transported through two connecting pipes 13 into the cavities of the two arc-shaped clamping plates 6, and then ejected from a plurality of round holes 14, so as to blow off impurities, debris, oil stains, etc. on the outside of the workpiece in advance before the workpiece is pre-fixed, making the fit between the arc-shaped clamping plate 6 and the workpiece closer, reducing the influence of impurities and debris on the surface of the workpiece, ensuring accurate positioning and stable posture when the workpiece is pre-fixed, and avoiding position deviation or poor contact caused by debris and impurities; reducing the pollution and wear of the oil stain on the grasping surface of the manipulator, improving the grasping reliability, preventing slipping and falling off or damage to the workpiece; when the lifting rod 401 resets upward, the rectangular plate 9 automatically resets downward, enabling the cylindrical barrel 10 to automatically inhale gas through the round holes 14 on the arc-shaped clamping plate 6 for storage, so as to facilitate the processing of the next workpiece.

[0038] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, making equivalent substitutions or changes, should be covered by the protection scope of the present invention.

Claims

1. A manipulator for handling, comprising: An industrial robot (1) fixedly connected with a main body connecting plate (2), three three-jaw clamping mechanisms (3) are fixedly installed on the main body connecting plate (2), and it is characterized in that a lifting mechanism (4) is arranged in the main body connecting plate (2), and the three-jaw clamping mechanism (3) includes a fixed seat (301) fixedly installed at the bottom of the main body connecting plate (2), and further includes: A bidirectional screw rod (5) rotatably connected to the fixed seat (301), two threaded plates (15) are symmetrically threadedly connected to the bidirectional screw rod (5), guide groove plates (16) corresponding to the threaded plates (15) are fixedly connected to both sides of the fixed seat (301), arc-shaped clamping plates (6) are fixedly connected to the bottoms of the two threaded plates (15), a driving component (7) is arranged between the lifting mechanism (4) and the main body connecting plate (2), and an adaptive component (8) is arranged between the driving component (7) and the bidirectional screw rod (5); The driving component (7) includes a support rod (701) rotatably connected to one side of the lifting rod (401), a fixed pulley (703) is fixedly connected inside the main body connecting plate (2), a pulling rope (704) is slidably arranged on the fixed pulley (703), a second gear (705) is fixedly connected to the support rod (701), one end of the pulling rope (704) is fixedly connected with a second rack (706) meshing with the second gear (705), the other end of the pulling rope (704) is fixedly connected with the lifting rod (401), a guide plate (707) is fixedly connected to one side of the second rack (706), a vertical groove is opened on the inner wall of the main body connecting plate (2), a vertical rod (708) is fixedly connected in the vertical groove of the main body connecting plate (2), the guide plate (707) is slidably connected to the vertical rod (708), a second spring (709) is sleeved on the vertical rod (708), and two ends of the second spring (709) are respectively abutted against the guide plate (707) and the vertical groove of the main body connecting plate (2).

2. The manipulator for handling according to claim 1, characterized in that, The lifting mechanism (4) includes a lifting rod (401) slidably connected inside the main body connecting plate (2), the three three-jaw clamping mechanisms (3) are respectively fixedly installed at the bottom of the lifting rod (401) and on both sides of the main body connecting plate (2), and the three-jaw clamping mechanism (3) further includes a cylinder (302) fixedly installed on the fixed seat (301).

3. The manipulator for handling according to claim 2, characterized in that, The output end of the cylinder (302) is fixedly connected with a mounting plate (303), a first rack (304) is fixedly connected to the mounting plate (303), a first gear (305) meshing with the first rack (304) is rotatably connected to the fixed seat (301), and a turntable (306) is fixedly connected to the first gear (305).

4. The manipulator for handling according to claim 3, characterized in that, Three arc-shaped holes (307) are formed in the turntable (306), and a sliding rod (308) is slidably connected in each arc-shaped hole (307). Three rectangular groove plates (309) are fixedly connected to the fixed seat (301), and a guide rod (310) is fixedly connected in each rectangular groove plate (309). A sliding plate (311) is slidably connected to the guide rod (310), and a first spring (312) is sleeved on each guide rod (310).

5. The manipulator for handling according to claim 4, characterized in that, Two ends of the first spring (312) are respectively abutted against the rectangular groove plate (309) and the sliding plate (311). An L-shaped plate (313) is fixedly connected to the bottom of each sliding plate (311). Each L-shaped plate (313) is fixedly connected to each sliding rod (308), and a clamping plate (314) is fixedly connected to each L-shaped plate (313).

6. The manipulator for handling according to claim 2, characterized in that, The lifting mechanism (4) further includes a servo motor (402) fixedly installed on the top of the main body connecting plate (2). An output end of the servo motor (402) is fixedly connected to a lifting screw rod (403). The lifting rod (401) is threadedly connected to the lifting screw rod (403). Extension plates (404) are fixedly connected to two sides of the lifting rod (401), and sliding grooves corresponding to the extension plates (404) are formed in two side walls of the main body connecting plate (2).

7. A manipulator for handling, characterized in that, according to claim 1 A notch is formed in the fixed seat (301). The adaptive component (8) includes a sleeve (801) rotatably connected to the notch of the fixed seat (301), and a synchronous belt (702) is drivingly connected between the sleeve (801) and the support rod (701).

8. A manipulator for handling, characterized in that, according to claim 7 The adaptive component (8) further includes a plurality of driving plates (802) hinged to the inner wall of the sleeve (801). A torsion spring (803) is fixedly connected between each driving plate (802) and the sleeve (801). The torque of the torsion spring (803) is greater than the elastic force of the second spring (709). A plurality of baffle plates (804) are fixedly connected to the inner wall of the sleeve (801). The sleeve (801) is sleeved outside the bidirectional screw rod (5), and a plurality of driven plates (805) are fixedly connected to the outer wall of the bidirectional screw rod (5) in a circle.

9. The manipulator for handling according to claim 8, wherein, A rectangular plate (9) is fixedly connected to one side of the guide plate (707). Two cylindrical barrels (10) are fixedly connected to the top wall of the main body connecting plate (2). A piston (11) is slidably connected in each of the two cylindrical barrels (10). A push rod (12) is fixedly connected between each piston (11) and the rectangular plate (9). Connecting pipes (13) are fixedly communicated between the two cylindrical barrels (10) and the two arc-shaped clamping plates (6). Cavities are formed in the two arc-shaped clamping plates (6), and a plurality of round holes (14) are formed in the two arc-shaped clamping plates (6).

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