Carrying manipulator and variable-pitch feeding device

Abstract

The utility model provides a carrying mechanical arm and a variable-pitch feeding device. The carrying mechanical arm comprises a mounting base, a conveying mechanism and a driving mechanism, the movable seat is arranged on the mounting seat; the sliding driving mechanism is arranged on the mounting seat and is used for driving the movable seat to move on the mounting seat; and the carrying mechanism is arranged on the movable seat and moves between the incoming material station and the incoming material station along with the movement of the movable seat, and the carrying mechanism is used for carrying the products from the incoming material station to the preset station. Through the arrangement of the interval conveying belt, products can be conveniently fed at intervals so as to be matched with the carrying manipulator, the products are conveyed to the distance changing assembly through the carrying manipulator, and after the distance changing assembly receives the products, the distance between the received products is adjusted according to the preset required distance of the next working procedure, so that treatment of the next working procedure is facilitated; and a product variable-pitch conveying mode is adopted, so that the universality of the equipment is improved, the equipment can adapt to products of different specifications, the flexibility requirement of a production line is greatly met, and the production cost is reduced.

Description

TECHNICAL FIELD

[0001] The application relates to a carrying manipulator, in particular to a carrying manipulator and a variable-distance feeding device. BACKGROUND

[0002] In a product production line, in order to improve production efficiency and automation degree, many production lines adopt automatic conveying equipment, which plays a crucial role in material carrying and production processing. For example, in the production and packaging process of products such as bottles, tubes and cans, one or more products usually need to be carried from one device or one process to the next device or the next process by manual or carrying equipment.

[0003] However, manual mode often has the problems of low production efficiency and high labor cost, and many current carrying equipment not only has a complex structure, but also can only realize single straight line movement, and has the problems of great work limitation and insufficient flexibility. CONTENT OF THE UTILITY MODEL

[0004] The embodiment of the application provides a carrying manipulator and a carrying manipulator, so as to solve the problems in the related art, and the technical scheme is as follows:

[0005] In a first aspect, the embodiment of the application provides a carrying manipulator, which comprises:

[0006] A mounting seat;

[0007] A movable seat, which is arranged on the mounting seat;

[0008] A sliding driving mechanism, which is arranged on the mounting seat and is used for driving the movable seat to move on the mounting seat;

[0009] A carrying mechanism, which is rotatably arranged on the movable seat and can move with the movable seat, and is used for carrying products from a feeding station to a preset station.

[0010] In an embodiment,

[0011] The carrying mechanism comprises:

[0012] A first driving member, which is arranged on the movable seat;

[0013] Two swing arms, one end of each of the two swing arms is connected with a driving end of the first driving member, so as to drive the two swing arms to move synchronously;

[0014] The vacuum gripper is arranged between the two swing arms and connected to the other ends of the two swing arms, and is used to adsorb and fix the product thereon. The two swing arms drive the vacuum gripper to move between the incoming material station and the preset station through the driving of the first driving member, so that the vacuum gripper moves the product on the incoming material station to the preset station.

[0015] In an embodiment,

[0016] The conveying mechanism further comprises:

[0017] The connecting rod is arranged on the output end of the first driving member, and one end of each of the two swing arms is in transmission connection with one end of the connecting rod.

[0018] The driven rod is arranged on the vacuum gripper, and the other ends of the two swing arms are in rotation connection with the other ends of the driven rod.

[0019] In an embodiment,

[0020] The conveying mechanism further comprises:

[0021] The two supports are arranged on the movable seat in a spaced manner, and the two ends of the connecting rod pass through the supports and are in rotation connection with the supports.

[0022] In an embodiment,

[0023] The sliding driving mechanism comprises:

[0024] The first belt assembly is in transmission connection with the movable seat.

[0025] The second driving member is arranged on the mounting seat, and the driving end of the second driving member is in transmission connection with the first belt assembly, so that the first belt assembly drives the movable seat to move on the mounting seat through the driving of the second driving member.

[0026] In an embodiment,

[0027] The first belt assembly comprises:

[0028] The driving wheel is installed on the driving end of the second driving member.

[0029] The first transmission belt.

[0030] The driven wheel is in transmission connection with the driving wheel through the first transmission belt.

[0031] The movable seat is provided with a mounting block arranged between the driving wheel and the driven wheel, and the mounting block is connected with the first transmission belt. When the second driving member works, the mounting block moves with the first transmission belt to drive the movable seat to move on the mounting seat.

[0032] In an embodiment, further comprising:

[0033] The sliding drive mechanism further comprises a sensing unit for controlling the movement of the movable seat within the preset area, the sensing unit comprising:

[0034] two sensors arranged in the movement direction of the movable seat, and a preset distance is arranged between the two sensors in the movement direction of the movable seat;

[0035] a sensing sheet arranged on the movable seat and arranged between the two sensors in the movement direction of the movable seat;

[0036] When the sensing sheet moves with the movable seat to the sensing position corresponding to one of the sensors, the second driving member is controlled to work in the opposite direction or stop working, so that the movable seat moves relative to the mounting seat within the preset area.

[0037] In an embodiment, further comprising:

[0038] a sliding mechanism comprising a sliding rail and a sliding block sliding on the sliding rail, the sliding block being arranged on the movable seat, and the sliding rail being arranged on the mounting seat, the sliding block driving the movable seat to slide on the sliding rail under the drive of the sliding drive mechanism.

[0039] In an embodiment,

[0040] further comprising an auxiliary component, the auxiliary component comprising:

[0041] a first transmission wheel coaxially arranged with the connecting rod;

[0042] a second transmission wheel arranged at one end of the driven rod, and the second transmission wheel is in transmission connection with the first transmission wheel through the tension transmission belt.

[0043] In a second aspect, the embodiments of the present application provide a variable-distance feeding device, comprising:

[0044] A carrying robot as described in any one of the above embodiments;

[0045] A pitch conveyor is located on one side of the carrying robot, and a feeding station is arranged on the pitch conveyor, and the pitch conveyor is used to convey products to the feeding station.

[0046] A variable-distance assembly is located on the other side of the carrying robot, and the preset station is arranged on the variable-distance assembly, and the carrying robot is used to move the products from the feeding station of the pitch conveyor to the preset station of the variable-distance assembly, and the variable-distance assembly is used to change the distance of the products on the preset station.

[0047] The advantages or beneficial effects of the above technical solutions at least include:

[0048] The movable seat is driven to move on the mounting seat by the sliding driving mechanism, and the carrying mechanism is rotatably arranged on the movable seat and can move with the movable seat, so that flexible carrying movement is realized, the working flexibility and production efficiency are greatly improved, the flexible working effect is realized, and the production cost is reduced.

[0049] The above summary is only for the purpose of the description and is not intended to limit in any way. In addition to the illustrative aspects, embodiments and features described above, further aspects, embodiments and features will be readily apparent to those skilled in the art by reference to the drawings and the following detailed description. BRIEF DESCRIPTION OF DRAWINGS

[0050] In the drawings, like reference numerals refer to same or similar components throughout the several views, unless otherwise indicated. These drawings are not necessarily to scale, and the various depicted geometric shapes are meant to be exemplary, but not limiting. It should be understood that these drawings are only schematic and are meant to be exemplary and illustrative, and not limiting on the scope of the present application as described herein.

[0051] Figure 1 It is a structure schematic view of the carrying manipulator of the utility model;

[0052] Figure 2 It is a structure schematic view of the variable-distance feeding device of the utility model.

[0053] Reference numeral: 1, variable-distance feeding device;

[0054] 11, pitch conveying belt;

[0055] 12, carrying manipulator;

[0056] 121, mounting seat;

[0057] 122, sliding driving mechanism; 1221, second driving member; 1222, first belt assembly; 1223, sensing unit, 1223-1, inductor, 1223-2, inductive sheet,

[0058] 123, movable seat; 1231, mounting block;

[0059] 124, carrying mechanism; 1241, first driving member; 1242, swing arm; 1243, vacuum gripper; 1244, connecting rod; 1245, support; 1246, driven rod;

[0060] 125, auxiliary component; 1251, first transmission wheel; 1252, second transmission wheel;

[0061] 126, sliding mechanism;

[0062] 13. The variable distance assembly;

[0063] 2. The product. DETAILED DESCRIPTION

[0064] Hereinafter, only certain exemplary embodiments are simply described. As can be appreciated by those skilled in the art, the described embodiments can be modified in various different manners without departing from the spirit or scope of the present application. Therefore, the drawings and descriptions are to be regarded as illustrative in nature rather than restrictive.

[0065] Figure 1 A structural diagram of a carrying manipulator 1 according to an embodiment of the present application is shown. As shown in the drawing, the carrying manipulator 1 can include: Figure 1

[0066] a mounting seat 121;

[0067] a movable seat 123 arranged on the mounting seat 121;

[0068] a sliding driving mechanism 122 arranged on the mounting seat 121, the sliding driving mechanism 122 being configured to drive the movable seat 123 to move relative to the mounting seat 121;

[0069] a carrying mechanism 124 rotatably arranged on the movable seat 123 and capable of moving with the movable seat 123, the carrying mechanism 124 being configured to carry the product 2 from a feeding station to a preset station.

[0070] In the embodiment, the sliding driving mechanism 122 is arranged on the mounting seat 121, the movable seat 123 is driven by the sliding driving mechanism 122 to move on the mounting seat 121, and the carrying mechanism 124 is rotatably arranged on the movable seat 123 and capable of moving with the movable seat 123. The structure is simple, flexible carrying movement can be performed, the working flexibility and production efficiency are greatly improved, the flexible working effect is realized, and the production cost is reduced.

[0071] According to the need, the sliding driving mechanism 122 can drive the movable seat 123 to reciprocate in the conveying direction of the spacing conveying belt and / or the direction in which the product moves when the distance of the variable distance assembly is changed; wherein the carrying mechanism 124 can be arranged between the feeding station and the preset station, so as to realize flexible carrying of the product, and by moving with the movable seat 123, the carrying range and the placing range of the carrying mechanism 124 can be improved, the effect of fast and accurate grabbing and carrying is further realized, the situation of line shutdown waiting is avoided, and the flexibility and flexibility effect of production work are improved.

[0072] As Figures 1-2 ​As shown in one embodiment,

[0073] The carrying mechanism 124 comprises:

[0074] A first driving member 1241, which is arranged on the movable seat 123;

[0075] Two swing arms 1242, one end of each of the two swing arms 1242 is connected with the driving end of the first driving member 1241 to drive the two swing arms 1242 to move synchronously.

[0076] A vacuum gripper 1243, which is arranged between the two swing arms 1242 and connected with the other end of each of the two swing arms 1242, the vacuum gripper 1243 is used to adsorb and fix the product 2 thereon, and the two swing arms 1242 drive the vacuum gripper 1243 to move between the incoming material station and the preset station through the driving of the first driving member 1241, so that the vacuum gripper 1243 moves the product 2 on the incoming material station to the preset station.

[0077] In the embodiment, the carrying mechanism 124 comprises the first driving member 1241, the swing arms 1242 and the vacuum grippers 1243, the vacuum grippers 1243 are rotationally connected with the swing arms 1242, the first driving member 1241 is used to drive the swing arms 1242 to swing to drive the vacuum grippers 1243 to move back and forth between the variable-distance assembly 13 and the pitch conveying belt 11, so as to carry the product 2 on the pitch conveying belt 11 to the variable-distance assembly 13, both ends of the vacuum gripper 1243 are rotationally arranged on the two swing arms 1242, and a bearing is arranged at the connection position, when the vacuum gripper 1243 moves above the variable-distance assembly 13, the product 2 can be placed on the variable-distance assembly 13, so as to facilitate the movement of the product 2.

[0078] Further, the first driving member 1241 is preferably a motor, and can also be other driving assemblies.

[0079] As shown in one embodiment, Figures 1-2 As shown in one embodiment,

[0080] The carrying mechanism 124 further comprises:

[0081] A connecting rod 1244, which is arranged on the output end of the first driving member 1241, one end of each of the two swing arms 1242 is drivingly connected with two ends of the connecting rod 1244.

[0082] A driven rod 1246, the vacuum gripper 1243 is arranged on the driven rod 1246, and the other end of each of the two swing arms 1242 is rotationally connected with two ends of the driven rod 1246.

[0083] In the embodiment, the connecting rod 1244 is arranged between the two swing arms 1242, the swing arms 1242 are driven to rotate by the first driving member 1241, and then the two swing arms 1242 are simultaneously rotated, so as to realize the product 2 being gripped by the vacuum gripper 1243.

[0084] As shown in the drawings, Figures 1-2 In an embodiment,

[0085] The conveying manipulator 1 further comprises:

[0086] Two supports 1245 are arranged on the movable seat 123 at intervals, and the two ends of the connecting rod 1244 penetrate through the supports 1245 and are rotationally connected with the supports 1245.

[0087] In the embodiment, bearings are arranged between the connecting rod 1244 and the supports 1245, the connecting rod 1244 is erected on the movable seat 123 through the supports 1245, so as to facilitate the swing of the swing arms 1242 and the movement of the product 2, and when the vacuum gripper grips the product 2 and rotates, the product 2 passes through the gap between the vacuum gripper and the movable seat 123.

[0088] In an embodiment,

[0089] The sliding driving mechanism 122 comprises:

[0090] A first belt assembly 1222 is in transmission connection with the movable seat 123.

[0091] A second driving member 1221 is arranged on the mounting seat 121, and a driving end of the second driving member 1221 is in transmission connection with the first belt assembly 1222, so as to drive the movable seat 123 to move on the mounting seat 121 through the first belt assembly 1222.

[0092] In the embodiment, the movable seat 123 is driven to move horizontally relative to the mounting seat 121 through the sliding driving mechanism 122, so as to facilitate the conveying mechanism 124 being adjusted to the corresponding position according to the actual position and the placement position of the product 2, and then the product 2 is accurately gripped and conveyed to the preset work station.

[0093] Further, the first belt assembly 1222 comprises:

[0094] A driving wheel is installed on the driving end of the second driving member 1221.

[0095] A first transmission belt.

[0096] A driven wheel is arranged in the moving direction of the movable seat and is in transmission connection with the driving wheel through a first transmission belt;

[0097] The movable seat 123 is provided with a mounting block 1231 arranged between the driving wheel and the driven wheel and in transmission connection or fixed connection with the first transmission belt. When the second driving member 1221 works, the mounting block 1231 moves with the first transmission belt to drive the movable seat 123 to move on the mounting seat 121.

[0098] In the embodiment, the driving wheel is arranged on the driving end of the second driving member 1221, the driven wheel is in transmission connection with the driving wheel through the first transmission belt, and the mounting block 1231 is in transmission connection with the first transmission belt, so that the movable seat 123 is driven to move on the mounting seat 121 when the second driving member 1221 works, thereby ensuring the stability of the work.

[0099] According to the requirement, the sliding driving mechanism 122 can further include a rotating driving unit for driving the movable seat 123 to rotate relative to the mounting seat 121, wherein the rotating driving unit includes a motor.

[0100] In an embodiment,

[0101] The sliding driving mechanism 122 further includes a sensing unit 1223 for controlling the movement of the movable seat 123 in a preset area, and the sensing unit 1223 includes:

[0102] Two sensors 1223-1 arranged in the moving direction of the movable seat 123 and having a preset interval arranged therebetween in the moving direction of the movable seat 123;

[0103] A sensing sheet 1223-2 arranged on the movable seat 123 and arranged between the two sensors 1223-1 in the moving direction of the movable seat 123;

[0104] When the sensing sheet 1223-2 moves with the movable seat 123 to the sensing position corresponding to one of the sensors 1223-1, the second driving member 1221 is controlled to work in the opposite direction or stop working, so that the movable seat 123 moves in the preset area relative to the mounting seat 121.

[0105] In the embodiment, the sensing unit 1223 is further arranged, which includes two sensors 1223-1 arranged on the mounting seat 121 and a sensing sheet 1223-2 arranged on the bottom of the movable seat 123, so as to limit the sliding of the movable seat 123 in the preset area.

[0106] In an embodiment, further comprising:

[0107] The sliding mechanism 126 comprises a sliding rail and a sliding block sliding on the sliding rail, the sliding block is arranged on the movable seat 123, the sliding rail is arranged on the mounting seat 121, and the sliding block drives the movable seat 123 to slide on the sliding rail under the driving of the sliding driving mechanism 122.

[0108] In the embodiment, the movable seat 123 is slidably arranged on the mounting seat 121 through the sliding mechanism 126, so that the movement between the movable seat 123 and the mounting seat 121 is smooth, and the working stability is improved.

[0109] In an embodiment, further comprising:

[0110] The auxiliary component 125 comprises:

[0111] The first transmission wheel 1251 is coaxially arranged with the connecting rod;

[0112] The second transmission wheel 1252 is arranged at one end of the driven rod 1246, and the second transmission wheel 1252 is in transmission connection with the first transmission wheel 1251 through the tension transmission belt.

[0113] In the embodiment, the auxiliary component 125 is arranged to improve the working stability of the carrying mechanism, to realize efficient and stable carrying of the product 2, and to avoid the situation that the direction of the vacuum gripper 1243 is uncontrollable during the movement of the swing arm 1242, so as to prevent the phenomenon of empty grabbing when the product 2 is grabbed.

[0114] According to the need, the auxiliary component is arranged at the end of the movable seat away from the first driving member, the swing arm away from the first driving member is provided with an adjusting member and a tensioning wheel, the tensioning wheel is adjustably arranged on the swing arm through the adjusting member, and the tensioning wheel is pressed on the tension transmission belt to tension the tension transmission belt, so as to provide support force for the swing arm away from the first driving member 1241 and one end of the driven rod 1246.

[0115] According to the need, the first transmission wheel 1251 is rotatably connected with the connecting rod 1244 or the first transmission wheel 1251 does not contact with the connecting rod, so that the first transmission wheel 1251 is driven to rotate by the second transmission wheel 1252, to provide support force for the swing arm away from the first driving member 1241 and one end of the driven rod 1246.

[0116] In an embodiment, the auxiliary component 125 can further comprise a third driving member for driving the first transmission wheel 1251 or the second transmission wheel 1252 to rotate, to drive the vacuum gripper 1243 to rotate.

[0117] In the embodiment, the first transmission wheel 1251 or the second transmission wheel 1252 is driven to rotate by the third driving member 1251, and then the rotation of the vacuum gripper 1243 is controlled, so that the vacuum gripper 1243 is controlled conveniently, and the direction of the vacuum gripper 1243 is not controllable during the movement of the swing arm 1242, so as to prevent the phenomenon of empty grabbing during the grabbing of the product 2.

[0118] Figure 2 A structure diagram of a variable-distance feeding device 1 is shown according to an embodiment of the application. As shown in the figure, the variable-distance feeding device 1 can include: Figure 2

[0119] A carrying manipulator 12 according to any one of the above embodiments;

[0120] A distance conveyor belt 11 located on one side of the carrying manipulator 12, the distance conveyor belt 11 is provided with a feeding station, and the distance conveyor belt 11 is used to convey the product 2 to the feeding station;

[0121] A variable-distance assembly 13 located on the other side of the carrying manipulator 12, the variable-distance assembly 13 is provided with a preset station, the carrying manipulator 12 moves the product 2 from the feeding station of the distance conveyor belt to the preset station of the variable-distance assembly 13, and the variable-distance assembly 13 is used to adjust the distance of the product 2 on the preset station.

[0122] In the embodiment, during the work, after the distance conveyor belt 11 conveys the product 2 to the feeding station, the carrying manipulator 12 grabs a preset number of products 2 on the feeding station and places them on the preset station of the variable-distance assembly 13 (at this time, the variable-distance assembly 13 adjusts the distance according to the distance between the products 2 on the distance conveyor belt / the distance between the products 2 grabbed by the carrying manipulator 12, so as to receive the products 2 carried by the carrying manipulator 12), and after receiving the product 2, the variable-distance assembly 13 adjusts the distance between the received products 2 according to the preset requirement of the next process, so as to facilitate the processing of the next process.

[0123] ​The product 2 is fed with spacing by the spacing conveyor 11, that is, the spacing or preset spacing between the two adjacent products 2, to adapt to the carrying robot 12, and the product 2 is conveyed to the spacing adjusting assembly 13 by the carrying robot 12. After receiving the product 2, the spacing adjusting assembly 13 adjusts the spacing between the received products 2 according to the preset required spacing of the next process, so as to facilitate the next process. The product 2 spacing conveying mode improves the versatility of the equipment, so as to adapt to products 2 of different specifications, greatly meets the flexible demand of the production line, and reduces the production cost. According to the requirement, the spacing conveyor 11 can be a common spacing conveyor on the market, such as a spacing conveyor with baffles or blocks arranged thereon, so that the two adjacent products 2 are separated by the baffles or blocks.

[0124] Further, the spacing adjusting assembly 13 can be a common spacing adjusting module on the market. The spacing adjusting assembly 13 is adjusted according to the gripping spacing of the carrying robot, so as to receive the product 24 gripped by the carrying robot 12. After the product 2 is placed on the spacing adjusting assembly 13, the spacing adjusting assembly 13 adjusts the spacing of the product 2 according to the required spacing of the next process, so as to ensure the accuracy of the spacing between the products 2, and ensure the stable execution of the next process.

[0125] In the product 2 production line, the product 2 needs to be carried by a feeding device and a robot, especially in the pharmaceutical, food, cosmetic and daily chemical industries. The production and packaging process of the product 2 involves multiple links and different types of equipment. In order to improve the production efficiency and automation degree, many production lines adopt automatic conveying equipment. These equipment plays a crucial role in material carrying and production processing. For example, in the production and packaging process of bottles, tubes and cans, one or more products 2 are usually conveyed from one device or one process to the next device or the next process by manual or mechanical hand.

[0126] In this process, the conveying mode and spacing of the product 2 are crucial for the smooth operation of the equipment. In the traditional conveying system, the product 2 is generally designed to be arranged at equal spacing to adapt to the production requirements of the previous device or process. That is, the distance between the products 2 is fixed, which facilitates the operation of the previous device, such as the filling, packaging and other processes of bottles, cans and tubes. However, when the product 2 enters the next process or device, the spacing of the product 2 may change. The current mode usually completes the transfer action by manual operation. This mode needs to be equipped with multiple workers for each production line, which is low in production efficiency and high in labor cost. The spacing feeding device 1 can effectively solve the problem.

[0127] According to the need, the variable-length feeding device 1 is arranged at the side of the grabbing robot, and the product 2 is grabbed by the grabbing robot after the variable-length assembly 13 changes the length, so as to be carried to the next process.

[0128] The functions of the modules in the various devices in the embodiments of the present application can be referred to the corresponding description in the above method, and will not be repeated here.

[0129] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, different embodiments or examples described in the present specification and the features of different embodiments or examples can be combined and combined by those skilled in the art without contradiction.

[0130] In addition, the terms "first", "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0131] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of various changes or replacements within the technical range disclosed in the present application, which should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A handling robot, characterized in that, include: Mounting base; A movable seat, wherein the movable seat is disposed on the mounting base; A sliding drive mechanism is provided on the mounting base, and the sliding drive mechanism is used to drive the movable seat to move on the mounting base; A conveying mechanism is rotatably mounted on the movable seat and can move with the movable seat. The conveying mechanism is used to convey products from the incoming material station to a preset station.

2. The handling robot according to claim 1, characterized in that, The transport mechanism includes: A first driving element is disposed on the movable seat; Two swing arms, one end of each of the two swing arms is connected to the driving end of the first driving member, so as to drive the two swing arms to move synchronously; A vacuum gripper is disposed between two swing arms and connected to the other end of each of the two swing arms. The vacuum gripper is used to adsorb and fix the product thereon. The two swing arms are driven by the first driving member to move the vacuum gripper between the incoming material station and the preset station, so that the vacuum gripper moves the product on the incoming material station to the preset station.

3. A handling robot according to claim 2, characterized in that, The transport mechanism also includes: A connecting rod is provided on the output end of the first driving component, and one end of each of the two swing arms is respectively connected to the two ends of the connecting rod for transmission. The driven rod, the vacuum gripper is mounted on the driven rod, and the two ends of the driven rod are respectively rotatably connected to the other ends of the two swing arms.

4. A handling robot according to claim 3, characterized in that, The handling robot also includes: Two supports are spaced apart on the movable seat, and the two ends of the connecting rod pass through the supports and are rotatably connected to the supports.

5. A handling robot according to claim 1, characterized in that, The sliding drive mechanism includes: A first belt assembly is connected to the movable seat in a driving manner; A second driving member is disposed on the mounting base, and the driving end of the second driving member is connected to the first belt assembly for transmission, so that the first belt assembly drives the movable seat to move on the mounting base through the driving of the second driving member.

6. A handling robot according to claim 5, characterized in that, The first belt assembly includes: A drive wheel, which is mounted on the drive end of the second drive member; First transmission belt; The driven wheel is connected to the driving wheel via the first transmission belt; The movable seat is provided with a mounting block, which is located between the driving wheel and the driven wheel and is connected to the first transmission belt. When the second driving member is working, the mounting block moves with the first transmission belt to drive the movable seat to move on the mounting seat.

7. A handling robot according to claim 5, characterized in that, The sliding drive mechanism further includes a sensing unit, which is used to control the movement of the movable seat within a preset area. The sensing unit includes: Two sensors are provided, which are arranged in the direction of movement of the movable seat, and a preset distance is provided between the two sensors along the direction of movement of the movable seat. A sensing element is disposed on the movable base, and the sensing element is positioned between the two sensors along the movement direction of the movable base; When the sensing plate moves with the movable seat to the sensing position corresponding to one of the sensors, the second driving member is controlled to move in the opposite direction or stop working, so that the movable seat moves relative to the mounting base within the preset area.

8. A handling robot according to claim 1, characterized in that, Also includes: A sliding mechanism includes a slide rail and a slider slidably mounted on the slide rail. The slider is mounted on the movable seat, and the slide rail is mounted on the mounting base. The slider drives the movable seat to slide on the slide rail as driven by the sliding drive mechanism.

9. A handling robot according to claim 3, characterized in that, The conveying mechanism further includes auxiliary components, which include: The first transmission wheel is coaxially arranged with the connecting rod; The second transmission wheel is disposed at one end of the driven rod, and the second transmission wheel is connected to the first transmission wheel via a tension transmission belt.

10. A variable-pitch feeding device, characterized in that, include: A handling robot as described in any one of claims 1-9; A spaced conveyor belt is located on one side of the handling robot, and the material receiving station is provided on the spaced conveyor belt. The spaced conveyor belt is used to transport the product to the material receiving station. A pitch-changing assembly is located on the other side of the handling robot. The pitch-changing assembly is provided with the preset station. The handling robot is used to move the product from the material receiving station of the pitch conveyor belt to the preset station of the pitch-changing assembly. The pitch-changing assembly is used to change the pitch of the product at the preset station.

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