Grabbing manipulator structure capable of carrying objects

Abstract

The utility model relates to the field of manipulators, in particular to a grabbing manipulator structure capable of carrying objects. The technical problems that in the prior art, a mechanical arm cannot conveniently and rapidly carry cylindrical lithium batteries, and in the lithium battery grabbing and carrying process, battery packaging boxes cannot be conveniently and rapidly fixed and carried at the same time are solved. According to the technical scheme, the grabbing manipulator structure capable of carrying the objects comprises a bearing plate and a fixing plate fixedly connected to the upper end of the bearing plate; the right end of the fixing plate is fixedly connected with supporting plates which are symmetrical about the center of the fixing plate. By arranging the first clamping plate and the second clamping plate which are step-shaped, cylindrical lithium batteries placed in rows in batches can be conveniently and rapidly clamped, and by arranging the electric cylinder, the first threaded column, the positioning frame and the second clamping plate, synchronous operation can be achieved, so that battery packaging boxes can be conveniently carried at the same time, and the working efficiency is improved. The technical problem is solved.

Description

Technical Field

[0001] The utility model belongs to the field of manipulators, and particularly relates to a grasping manipulator structure capable of carrying objects. Background Art

[0002] With the continuous development of robot technology, manipulators have become an important part of automated production lines. Currently, there are various manipulator structures, including multi-joint manipulators and parallel manipulators, which are applied to different application scenarios such as industrial production, logistics distribution, and medical surgery. However, traditional manipulator structures are usually used to grasp solid objects, and it is not convenient to quickly clamp and carry cylindrical lithium battery structures. During the grasping and carrying process of lithium batteries, it is not convenient to quickly fix and carry the battery packaging boxes at the same time, making it difficult to improve the handling efficiency of lithium batteries. Content of the Utility Model

[0003] In order to overcome the problem that the manipulator in the prior art is not convenient for quickly carrying cylindrical lithium batteries, and it is not convenient to quickly fix and carry the battery packaging boxes at the same time during the grasping and carrying process of lithium batteries.

[0004] The technical solution of the utility model is: a grasping manipulator structure capable of carrying objects, including a bearing plate and a fixing plate fixedly connected to the upper end of the bearing plate; symmetrically arranged support plates are fixedly connected to the right end of the fixing plate with respect to the center of the fixing plate, support blocks symmetrically arranged with respect to the center of the support plates are fixedly connected to the upper ends of the support plates, a storage box is fixedly connected to the upper ends of the four support blocks, uniformly distributed first clamping plates are fixedly connected to the lower end of the bearing plate, through holes are formed through the centers of the left and right ends of the first clamping plates, moving rods are movably arranged on the inner walls of the through holes, uniformly distributed second clamping plates are fixedly connected to the outer walls of the moving rods, the first clamping plates and the second clamping plates are of the same structure, the upper ends of the second clamping plates are in contact with the lower end of the bearing plate, the first clamping plate includes an upper plate and a lower plate, the upper plate and the lower plate are integrally formed, and a step structure is formed between the lower plate and the same side of the upper plate. The first clamping plates and the second clamping plates are symmetrically arranged with respect to the vertical plane where the midpoint of the distance between the first clamping plates and the second clamping plates is located. A first rack is fixedly connected to the right end of the moving rod, an electric cylinder is fixedly connected to the upper end of the fixing plate, a second rack is fixedly connected to the right end of the telescopic rod of the electric cylinder, the tooth grooves at the lower end of the second rack and the tooth grooves at the upper end of the first rack are engaged with each other, first screw holes are formed through the front and rear ends of the second rack, a positioning frame is movably arranged on the upper ends of the two support plates, second screw holes are formed through the front and rear ends of the positioning frame, the inner walls of the second screw holes and the inner walls of the second rack are in the same plane, first threaded columns are threadedly installed on the inner walls of the second rack and the second screw holes, limiting grooves symmetrically arranged with respect to the center of the storage box are formed through the lower end of the storage box, and the front and rear ends of the limiting grooves are in contact with the front and rear ends of the lower part of the positioning frame. A servo handling mechanism for moving the bearing plate is arranged on the left side of the bearing plate.

[0005] Preferably, when using this device to clamp cylindrical lithium batteries, first place the cylindrical lithium batteries in a row, then start the servo handling mechanism to move the carrier plate, start the electric cylinder to move the second rack to the left. The second rack will drive the first rack to move to the left, the first rack drives the moving rod to move to the left, and the moving rod drives the second clamping plate to move to the left, clamping the cylindrical lithium battery between the two stepped first clamping plates and the second clamping plate. At this time, the upper end of the cylindrical lithium battery is in contact with the lower end of the moving rod, which can improve the clamping stability of the cylindrical lithium battery. When it is necessary to handle box-like structures at the same time, place the box on the lower inner wall of the storage box, select a positioning frame with an appropriate thickness according to the width of the box, place the positioning frame on the upper ends of the two support plates, and then thread the first threaded column into the inner walls of the second screw hole and the first screw hole. When the second rack moves, it will drive the positioning frame to move through the first threaded column, making the positioning frame move to the left, and the box placed on the lower inner wall of the storage box can be squeezed and limited to the left and fixed. Then start the servo handling mechanism to move the carrier plate back and forth, and the batch of cylindrical batteries and battery packaging boxes can be handled, solving the problems that the manipulator in the prior art is not convenient for quickly handling cylindrical lithium batteries and is not convenient for quickly fixing and handling battery packaging boxes during the process of grasping and handling lithium batteries.

[0006] Preferably, limit columns are fixedly connected to both the left and right ends of the positioning frame. The length of the limit column at the left end of the positioning frame is greater than the length of the limit column at the right end of the positioning frame. First limit holes are formed through the left and right ends of the support block, and the inner wall of the first limit hole fits with the outer wall of the limit column. The limit column can move along the inner wall of the first limit hole, thus facilitating the stable movement of the positioning frame.

[0007] Preferably, U-shaped blocks are fixedly connected to the ends of the two support plates close to each other. Third screw holes are formed through the front and rear ends of the support plates. An installation plate is movably arranged inside the U-shaped block. Fourth screw holes are formed through the front and rear ends of the installation plate. The fourth screw holes correspond to the third screw holes. A second threaded column is threadedly installed in the inner walls of the third screw hole and the fourth screw hole. Nuts are threadedly installed on the outer walls of the front and rear ends of the second threaded column. Place the installation plate inside the two U-shaped blocks and thread the second threaded column into the inner walls of the third screw hole and the fourth screw hole, and the installation plate can be quickly fixed between the two support plates.

[0008] Preferably, a spring is fixedly connected to the center of the left end of the mounting plate. The left end of the spring is fixedly connected to a positioning post. A groove is formed at the right end of the first rack. The groove and the positioning post are adapted to each other. In this device, the spring is always in a compressed state. Since the groove and the positioning post are adapted to each other, the first rack is always subjected to a leftward pressure from the spring, which will improve the stability of the second clamping plate during movement. Even if the electric cylinder fails, the clamping structure formed by the first clamping plate and the second clamping plate will prevent the cylindrical lithium battery located between the first clamping plate and the second clamping plate from falling downward due to the elastic force of the spring, thereby improving the protection effect of the cylindrical lithium battery during movement.

[0009] Preferably, second limiting holes symmetric about the center of the fixing plate are formed through the left and right ends of the fixing plate. The inner wall of the second limiting hole fits with the outer wall of the limiting post on the left side of the positioning frame. The limiting post can also move along the inner wall of the second limiting hole, which is beneficial to the stable movement of the positioning frame.

[0010] Preferably, the thickness of the second rack is smaller than that of the first rack. Both the second rack and the first rack are made of stainless steel. The setting of making both the second rack and the first rack of stainless steel has a higher strength, which is beneficial to the second rack driving the first rack to move stably.

[0011] Preferably, the servo handling mechanism includes a support body, a bearing seat, a fixed seat, a servo motor, a lead screw, a ball screw pair, a moving block, a handling block, a connecting rod and a dust-proof plate; a support body is arranged on the left side of the bearing plate. A bearing seat is fixedly connected to the front edge of the upper end of the support body. A fixed seat is fixedly connected to the rear edge of the upper end of the support body. A servo motor is fixedly connected to the rear end of the fixed seat. The front end of the output shaft of the servo motor passes through the fixed seat and is fixedly connected to a lead screw through a coupling. The outer wall of the front end of the lead screw fits with the inner wall of the bearing seat. A ball screw pair is movably installed on the outer wall of the lead screw. A moving block is fixedly connected to the outer wall of the ball screw pair. A handling block is fixedly connected to the right end of the moving block. A connecting rod is fixedly connected to the lower end of the handling block. The lower end of the connecting rod is fixedly connected to the upper end of the fixing plate. A dust-proof plate is fixedly connected to the upper ends of the bearing seat and the fixed seat. The upper end of the dust-proof plate fits with the inner wall of the upper end of the moving block. When it is necessary to move the fixing plate, the servo motor is turned on to make the lead screw rotate, and the ball screw pair moves back and forth on the outer wall of the lead screw, so as to realize the rapid movement of the fixing plate.

[0012] The beneficial effects of the present utility model:

[0013] 1. When using this device to clamp cylindrical lithium batteries, first place the cylindrical lithium batteries in a row, then turn on the servo handling mechanism to move the bearing plate, turn on the electric cylinder to move the second rack to the left. The second rack will drive the first rack to move to the left, the first rack drives the moving rod to move to the left, and the moving rod drives the second clamping plate to move to the left, clamping the cylindrical lithium battery between the two stepped first clamping plates and the second clamping plate. At this time, the upper end of the cylindrical lithium battery fits with the lower end of the moving rod, which can improve the clamping stability of the cylindrical lithium battery, realizing the rapid clamping of a batch of cylindrical lithium batteries placed in a row. Then turn on the servo handling mechanism to move the bearing plate back and forth, and the batch of cylindrical batteries can be transported, solving the problem that the manipulator in the prior art is inconvenient for quickly transporting cylindrical lithium batteries;

[0014] 2. When it is necessary to transport box-like structures at the same time, place the box at the lower inner wall of the storage box, select a positioning frame with an appropriate thickness according to the width of the box, place the positioning frame on the upper ends of the two support plates, and then thread the first threaded rod into the inner walls of the second screw hole and the first screw hole. When the second rack moves, it will drive the positioning frame to move through the first threaded rod, making the positioning frame move to the left, and the box placed on the lower inner wall of the storage box can be squeezed and limited to the left for fixation. Then turn on the servo handling mechanism to move the bearing plate back and forth, and the battery packaging box can be transported, solving the problem that the manipulator in the prior art is inconvenient for quickly fixing and transporting the battery packaging box while transporting cylindrical lithium batteries;

[0015] 3. By placing the mounting plate in the inner walls of the two U-shaped blocks and threading the second threaded rod into the inner walls of the third screw hole and the fourth screw hole, the mounting plate can be quickly fixed between the two support plates, facilitating the quick disassembly, installation, and replacement of the mounting plate. In this device, the spring is always in a compressed state. Since the groove and the positioning post are adapted to each other, the first rack is always under the leftward pressure of the spring, which will improve the stability of the second clamping plate when it moves. Even if the electric cylinder fails, the clamping structure formed by the first clamping plate and the second clamping plate will prevent the cylindrical lithium battery located between the first clamping plate and the second clamping plate from falling downward due to the elastic force of the spring, thereby improving the protection effect of the cylindrical lithium battery during movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 Shown is a three-dimensional structural schematic diagram of a load-carrying grasping manipulator structure of the present utility model;

[0017] Figure 2 Shown is a three-dimensional split structural schematic diagram of the first clamping plate and the moving rod of a load-carrying grasping manipulator structure of the present utility model;

[0018] Figure 3The following is a bottom-view three-dimensional exploded structural schematic diagram of the first clamping plate and the second clamping plate of a load-carrying grasping manipulator structure of the present utility model;

[0019] Figure 4 The following is a three-dimensional exploded structural schematic diagram of the positioning frame, the first threaded column and the support block of a load-carrying grasping manipulator structure of the present utility model;

[0020] Figure 5 The following is a three-dimensional exploded structural schematic diagram of the U-shaped block, the mounting plate and the second threaded column of a load-carrying grasping manipulator structure of the present utility model;

[0021] Figure 6 The following is a three-dimensional structural schematic diagram of the fixing plate of a load-carrying grasping manipulator structure of the present utility model;

[0022] Figure 7 The following is a three-dimensional structural schematic diagram of the servo handling mechanism of a load-carrying grasping manipulator structure of the present utility model.

[0023] The reference signs in the drawings are: 1, bearing plate; 2, fixing plate; 3, support plate; 4, support block; 5, storage box; 6, servo handling mechanism; 601, support body; 602, bearing seat; 603, fixed seat; 604, servo motor; 605, lead screw; 606, ball screw pair; 607, moving block; 608, handling block; 609, connecting rod; 610, dust-proof plate; 7, first clamping plate; 8, moving rod; 9, second clamping plate; 10, first rack; 11, groove; 12, electric cylinder; 13, second rack; 14, first screw hole; 15, through hole; 16, positioning frame; 17, second screw hole; 18, limit post; 19, first threaded column; 20, first limit hole; 21, limit groove; 22, U-shaped block; 23, third screw hole; 24, mounting plate; 25, fourth screw hole; 26, second threaded column; 27, nut; 28, spring; 29, positioning post; 30, second limit hole. Detailed implementation manners

[0024] The present utility model will be further described below with reference to the drawings and embodiments.

[0025] Please refer to Figures 1-4, the present utility model provides an embodiment: a grasping manipulator structure capable of carrying objects, including a bearing plate 1 and a fixing plate 2 fixedly connected to the upper end of the bearing plate 1; a support plate 3 symmetrically fixed to the right end of the fixing plate 2 with respect to the center of the fixing plate 2, a support block 4 symmetrically fixed to the upper end of the support plate 3 with respect to the center of the support plate 3, a storage box 5 fixedly connected to the upper ends of the four support blocks 4, a uniformly distributed first clamping plate 7 fixedly connected to the lower end of the bearing plate 1, a through hole 15 is centrally penetrated through the left and right ends of the first clamping plate 7, a moving rod 8 is movably arranged on the inner wall of the through hole 15, a uniformly distributed second clamping plate 9 is fixedly connected to the outer wall of the moving rod 8, the first clamping plate 7 and the second clamping plate 9 have the same structure, the upper end of the second clamping plate 9 is attached to the lower end of the bearing plate 1, the first clamping plate 7 includes an upper plate and a lower plate, the upper plate and the lower plate are integrally formed, a step structure is formed between the lower plate and the same side of the upper plate, the first clamping plate 7 and the second clamping plate 9 are symmetrically arranged with respect to the vertical plane where the midpoint of the distance between the first clamping plate 7 and the second clamping plate 9 is located, a first rack 10 is fixedly connected to the right end of the moving rod 8, an electric cylinder 12 is fixedly connected to the upper end of the fixing plate 2, a second rack 13 is fixedly connected to the right end of the telescopic rod of the electric cylinder 12, the tooth grooves at the lower end of the second rack 13 and the tooth grooves at the upper end of the first rack 10 are meshed with each other, first screw holes 14 are penetrated through the front and rear ends of the second rack 13, a positioning frame 16 is movably arranged on the upper ends of the two support plates 3, second screw holes 17 are penetrated through the front and rear ends of the positioning frame 16, the inner walls of the second screw holes 17 and the inner wall of the second rack 13 are in the same plane, a first threaded column 19 is threadedly installed on the inner walls of the second rack 13 and the second screw holes 17, limiting grooves 21 symmetrically penetrated through the lower end of the storage box 5 with respect to the center of the storage box 5 are provided, the front and rear ends of the limiting grooves 21 are attached to the front and rear ends of the lower part of the positioning frame 16, a servo handling mechanism 6 for moving the bearing plate 1 is arranged to the left of the bearing plate 1.

[0026] Please refer to Figure 4 , in this embodiment, limiting columns 18 are fixedly connected to both the left and right ends of the positioning frame 16, the length of the limiting column 18 at the left end of the positioning frame 16 is greater than the length of the limiting column 18 at the right end of the positioning frame 16, first limiting holes 20 are penetrated through the left and right ends of the support block 4, and the inner wall of the first limiting hole 20 is attached to the outer wall of the limiting column 18.

[0027] Please refer to Figure 5, in this embodiment, U-shaped blocks 22 are fixedly connected to the ends of the two support plates 3 close to each other. Third screw holes 23 are formed through the front and rear ends of the support plates 3. An installation plate 24 is movably arranged on the inner wall of the U-shaped block 22. Fourth screw holes 25 are formed through the front and rear ends of the installation plate 24. The fourth screw holes 25 correspond to the third screw holes 23. Second threaded columns 26 are threadedly installed in the inner walls of the third screw holes 23 and the fourth screw holes 25. Nuts 27 are threadedly installed on the outer walls of the front and rear ends of the second threaded columns 26. A spring 28 is fixedly connected to the center of the left end of the installation plate 24. A positioning column 29 is fixedly connected to the left end of the spring 28. A groove 11 is formed in the right end of the first rack 10. The groove 11 is adapted to the positioning column 29.

[0028] Please refer to Figure 4 and 6 , in this embodiment, second limiting holes 30 symmetrical about the center of the fixing plate 2 are formed through the left and right ends of the fixing plate 2. The inner wall of the second limiting hole 30 is in contact with the outer wall of the left limiting column 18 of the positioning frame 16.

[0029] Please refer to Figure 2 , in this embodiment, the thickness of the second rack 13 is less than that of the first rack 10. Both the second rack 13 and the first rack 10 are made of stainless steel.

[0030] Please refer to Figure 7 , in this embodiment, the servo handling mechanism 6 includes a support body 601, a bearing seat 602, a fixed seat 603, a servo motor 604, a lead screw 605, a ball screw pair 606, a moving block 607, a handling block 608, a connecting rod 609, and a dust-proof plate 610; a support body 601 is arranged to the left of the bearing plate 1. A bearing seat 602 is fixedly connected to the front edge of the upper end of the support body 601. A fixed seat 603 is fixedly connected to the rear edge of the upper end of the support body 601. A servo motor 604 is fixedly connected to the rear end of the fixed seat 603. The front end of the output shaft of the servo motor 604 passes through the fixed seat 603 and is fixedly connected to a lead screw 605 through a coupling. The outer wall of the front end of the lead screw 605 is in contact with the inner wall of the bearing seat 602. A ball screw pair 606 is movably installed on the outer wall of the lead screw 605. A moving block 607 is fixedly connected to the outer wall of the ball screw pair 606. A handling block 608 is fixedly connected to the right end of the moving block 607. A connecting rod 609 is fixedly connected to the lower end of the handling block 608. The lower end of the connecting rod 609 is fixedly connected to the upper end of the fixing plate 2. A dust-proof plate 610 is fixedly connected to the upper ends of the bearing seat 602 and the fixed seat 603. The upper end of the dust-proof plate 610 is in contact with the inner wall of the upper end of the moving block 607.

[0031] When working, first, place the mounting plate 24 on the inner walls of the two U-shaped blocks 22, thread the second threaded column 26 onto the inner walls of the third screw hole 23 and the fourth screw hole 25, and quickly fix the mounting plate 24 to the two support plates 3, so that the groove 11 and the positioning post 29 are adapted to each other, and at the same time, the spring 28 is always in a compressed state;

[0032] When using this device to clamp a cylindrical lithium battery, first place the cylindrical lithium batteries in a row, then turn on the servo handling mechanism 6 to move the carrier plate 1, turn on the electric cylinder 12 to move the second rack 13 to the left, the second rack 13 will drive the first rack 10 to move to the left, the first rack 10 drives the moving rod 8 to move to the left, and the moving rod 8 drives the second clamping plate 9 to move to the left, and the cylindrical lithium battery will be clamped between the two stepped first clamping plates 7 and the second clamping plate 9. At this time, the upper end of the cylindrical lithium battery is in contact with the lower end of the moving rod 8;

[0033] When it is necessary to handle a box-like structure at the same time, place the box on the lower inner wall of the storage box 5, select a positioning frame 16 with a suitable thickness according to the width of the box, place the positioning frame 16 on the upper ends of the two support plates 3, and then thread the first threaded column 19 onto the inner walls of the second screw hole 17 and the first screw hole 14. When the second rack 13 moves, it will drive the positioning frame 16 to move through the first threaded column 19, so that the positioning frame 16 moves to the left, and the box placed on the lower inner wall of the storage box 5 can be squeezed and limited to be fixed to the left;

[0034] After that, turn on the servo motor 604 to rotate the lead screw 605, and the ball screw pair 606 moves back and forth on the outer wall of the lead screw 605, so that the fixed plate 2 can be quickly moved, and then the carrier plate 1 can be moved back and forth, and thus a batch of cylindrical batteries and battery packaging boxes can be handled.

[0035] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the purpose of the present invention.

Claims

1. A grasping manipulator structure capable of carrying objects, comprising a bearing plate (1) and a fixing plate (2) fixedly connected to the upper end of the bearing plate (1); characterized in that: The right end of the fixed plate (2) is fixedly connected with support plates (3) that are symmetric about the center of the fixed plate (2). The upper ends of the support plates (3) are fixedly connected with support blocks (4) that are symmetric about the center of the support plates (3). The upper ends of the four support blocks (4) are fixedly connected with a storage box (5). The lower end of the bearing plate (1) is fixedly connected with uniformly distributed first clamping plates (7). Through holes (15) are centrally perforated through the left and right ends of the first clamping plates (7). A moving rod (8) is movably arranged on the inner wall of the through hole (15). Uniformly distributed second clamping plates (9) are fixedly connected to the outer wall of the moving rod (8). The first clamping plates (7) and the second clamping plates (9) have the same structure. The upper end of the second clamping plate (9) is in contact with the lower end of the bearing plate (1). The first clamping plate (7) includes an upper plate and a lower plate, which are integrally formed. A stepped structure is formed between the lower plate and the same side of the upper plate. The first clamping plates (7) and the second clamping plates (9) are symmetrically arranged with respect to the vertical plane passing through the midpoint of the distance between the first clamping plates (7) and the second clamping plates (9). The right end of the moving rod (8) is fixedly connected with a first rack (10). The upper end of the fixed plate (2) is fixedly connected with an electric cylinder (12). The right end of the telescopic rod of the electric cylinder (12) is fixedly connected with a second rack (13). The tooth grooves at the lower end of the second rack (13) and the tooth grooves at the upper end of the first rack (10) are meshed with each other. First screw holes (14) are perforated through the front and rear ends of the second rack (13). A positioning frame (16) is movably arranged on the upper ends of the two support plates (3). Second screw holes (17) are perforated through the front and rear ends of the positioning frame (16). The inner walls of the second screw holes (17) and the inner wall of the second rack (13) are in the same plane. A first threaded column (19) is threadedly installed on the inner walls of the second rack (13) and the second screw holes (17). Limiting grooves (21) that are symmetric about the center of the storage box (5) are perforated through the lower end of the storage box (5). The front and rear ends of the limiting grooves (21) are in contact with the front and rear ends of the lower part of the positioning frame (16). A servo handling mechanism (6) for moving the bearing plate (1) is arranged to the left of the bearing plate (1).

2. The structure of a grasping manipulator capable of carrying objects according to claim 1, wherein: Limit columns (18) are fixedly connected to both the left and right ends of the positioning frame (16). The length of the limit column (18) at the left end of the positioning frame (16) is greater than the length of the limit column (18) at the right end of the positioning frame (16). First limiting holes (20) are perforated through the left and right ends of the support blocks (4). The inner wall of the first limiting hole (20) is in contact with the outer wall of the limit column (18).

3. The structure of a grasping manipulator capable of carrying objects according to claim 1, wherein: U-shaped blocks (22) are fixedly connected to the mutually approaching ends of the two support plates (3). Third screw holes (23) are perforated through the front and rear ends of the support plates (3). An installation plate (24) is movably arranged on the inner wall of the U-shaped block (22). Fourth screw holes (25) are perforated through the front and rear ends of the installation plate (24). The fourth screw holes (25) correspond to the third screw holes (23). Second threaded columns (26) are threadedly installed on the inner walls of the third screw holes (23) and the fourth screw holes (25). Nuts (27) are threadedly installed on the outer walls of the front and rear ends of the second threaded columns (26).

4. The structure of a grasping manipulator capable of carrying objects according to claim 1, wherein: A spring (28) is fixedly connected to the center of the left end of the mounting plate (24), a positioning post (29) is fixedly connected to the left end of the spring (28), a groove (11) is formed in the right end of the first rack (10), and the groove (11) is adapted to the positioning post (29).

5. The structure of a grasping manipulator capable of carrying objects according to claim 2, characterized in that: Second limiting holes (30) which are symmetric about the center of the fixing plate (2) penetrate through the left and right ends of the fixing plate (2), and the inner wall of the second limiting hole (30) is in contact with the outer wall of the limiting post (18) on the left side of the positioning frame (16).

6. The structure of a grasping manipulator capable of carrying objects according to claim 1, characterized in that: The thickness of the second rack (13) is less than that of the first rack (10), and both the second rack (13) and the first rack (10) are made of stainless steel.

7. The structure of a grasping manipulator capable of carrying objects according to claim 1, characterized in that: The servo handling mechanism (6) includes a support body (601), a bearing seat (602), a fixed seat (603), a servo motor (604), a lead screw (605), a ball screw pair (606), a moving block (607), a handling block (608), a connecting rod (609) and a dust-proof plate (610); a support body (601) is arranged on the left side of the bearing plate (1), a bearing seat (602) is fixedly connected to the front edge of the upper end of the support body (601), a fixed seat (603) is fixedly connected to the rear edge of the upper end of the support body (601), a servo motor (604) is fixedly connected to the rear end of the fixed seat (603), the front end of the output shaft of the servo motor (604) penetrates through the fixed seat (603) and is fixedly connected to a lead screw (605) through a coupling, the outer wall of the front end of the lead screw (605) is in contact with the inner wall of the bearing seat (602), a ball screw pair (606) is movably installed on the outer wall of the lead screw (605), a moving block (607) is fixedly connected to the outer wall of the ball screw pair (606), a handling block (608) is fixedly connected to the right end of the moving block (607), a connecting rod (609) is fixedly connected to the lower end of the handling block (608), the lower end of the connecting rod (609) is fixedly connected to the upper end of the fixing plate (2), a dust-proof plate (610) is fixedly connected to the upper ends of the bearing seat (602) and the fixed seat (603), and the upper end of the dust-proof plate (610) is in contact with the inner wall of the upper end of the moving block (607).

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