CN110405793B

CN110405793B - Heavy-duty manipulator

Info

Publication number: CN110405793B
Application number: CN201910795596.1A
Authority: CN
Inventors: 朱强; 黄部东; 彭凡; 刘轶
Original assignee: Kocel Intelligent Machinery Ltd
Current assignee: Kocel Intelligent Machinery Ltd
Priority date: 2019-08-27
Filing date: 2019-08-27
Publication date: 2023-11-03
Anticipated expiration: 2039-08-27
Also published as: CN110405793A

Abstract

The utility model provides a heavy load manipulator, includes arm, connecting device, executive device, the arm passes through connecting device is connected with executive device, realizes that an arm realizes snatching or relief cut or multiple function switch such as cutting or welding, uses three jar arms more stable, is applicable to the heavy load field moreover, and the structure of arm satisfies snatchs and the needs of relief cut to realize saving cost, steady safe work's purpose.

Description

Heavy-duty manipulator

Technical Field

The invention relates to the field of manipulators, in particular to a heavy-duty manipulator.

Background

Mechanical arms are widely studied as key equipment which is important in manufacturing equipment, and are mainly applied to the fields of machinery, metallurgy, casting and the like. It can replace the heavy and dangerous manual work of people to a certain extent. Especially, in traditional casting trade, because foundry goods weight, size are great, the transport difficulty, still select the manual foundry goods of carrying out simultaneously to polish, not only inefficiency, recruitment cost are high, and harm is big to the human body moreover. Many working procedures need to be carried out on the mechanical hand subsequently, but if various mechanical hands are respectively arranged on the production line, the cost is high, and a universal heavy-duty mechanical hand suitable for production needs to be provided at present so as to reduce the cost, improve the post-treatment efficiency of castings and reduce the labor intensity.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides a heavy-duty manipulator, and one technical problem solved by one aspect of the invention is to use the same manipulator and then switch different execution devices to realize different functions.

The invention solves the technical problems by adopting a technical scheme that:

the heavy-duty manipulator comprises a mechanical arm, a connecting device and an executing device, wherein the mechanical arm is connected with the executing device through the connecting device, the mechanical arm comprises a fixed seat, an oil cylinder group, a vertical arm group, a first T-shaped piece, a horizontal arm group and a connector, the oil cylinder group comprises a second T-shaped piece, a vertical telescopic cylinder, a balanced telescopic cylinder and a horizontal telescopic cylinder, the vertical arm group comprises a vertical arm, a vertical connecting rod, a supporting connecting rod and a third T-shaped piece, and the horizontal arm group comprises a horizontal arm and a horizontal connecting rod; the vertical telescopic cylinder, the balance telescopic cylinder and the horizontal telescopic cylinder are sequentially arranged in the same plane from bottom to top, one ends of the vertical telescopic cylinder, the balance telescopic cylinder and the horizontal telescopic cylinder are respectively hinged to three ends of the second T-shaped piece, the fixed seat is fixedly connected with the middle part of the second T-shaped piece, the lower part of the vertical arm is branched towards the direction of the cylinder group, namely, the lower part of the vertical arm is branched in a shape of a Bu-shaped branch, the upper part of one side of the vertical arm, which is close to the cylinder group, is hinged to the horizontal telescopic cylinder, the lower part of the vertical arm is hinged to one end of the balance telescopic cylinder, the lower end of the vertical arm is hinged to one end of the middle part of the third T-shaped piece, the fixed seat is simultaneously hinged to one end of the vertical arm and one end of the third T-shaped piece, one end of the third T-shaped piece is hinged to the vertical telescopic cylinder, the opposite end of the third T-shaped piece is hinged to the support rod, the upper part of the vertical arm is hinged to one end of the first T-shaped piece, the first T-shaped piece is hinged to one end of the middle part, the first T-shaped piece is hinged to one end of the vertical arm, the first T-shaped piece is hinged to one end of the support arm, the first T-shaped piece is hinged to one end of the vertical arm, the first T-shaped piece is hinged to one end of the vertical arm, the lower end of the vertical arm is hinged to the lower end of the vertical arm and one end of the third T piece, the end of the third T piece is hinged end, the end is hinged to one end, one end and the end of the end and the vertical T end and the end is opposite end and the end; the connecting line distance of the hinge points at the two ends of the horizontal connecting rod is equal to the connecting line distance of the hinge points at the two ends of the horizontal arm.

The mechanical arm with the three cylinders is more suitable for the field of heavy load, is stable and safe, and is better in relief grinding effect and high in flatness after relief grinding. The connecting line distance of the hinge points at the two ends of the horizontal connecting rod is equal to the connecting line distance of the hinge points at the two ends of the horizontal arm, so that the connector is stable, the horizontal state is maintained, the carrying and the holding are convenient, and the relief grinding is also facilitated to be smooth. The connector is ensured to be always in a horizontal state, and the head pitching, the tilting and other movements can be controlled conveniently.

Preferably, the fixing seat has a double-layer structure, namely, the oil cylinder group and the third T-shaped piece are clamped in the middle; the lower part of the vertical connecting rod is provided with two parallel branches, namely, the two sides of the fixed seat are hinged with the fixed seat; the upper part of the support connecting rod is provided with two parallel branches, namely the two sides of the horizontal arm are hinged with the horizontal arm.

The reinforced structure ensures that the whole structure is stable, is suitable for the heavy-load field, improves the safety, and reduces the stress of one side due to the fact that acting force is dispersed to two sides.

Preferably, the rotary base comprises a fixed disc and a rotary drive, wherein the fixed disc is fixedly connected with the bottom of the fixed seat, and the rotary drive drives the fixed disc to rotate.

The multi-station work is realized, and the waiting time is reduced.

Preferably, the horizontal connecting rod comprises a buffer and a horizontal rod, one end of the buffer is hinged with the first T-shaped piece, the other end of the buffer is hinged with the horizontal rod, and the other end of the horizontal rod is hinged with the connector; the buffer comprises a sleeve A, a sleeve B, a piston rod, a spring and an adjusting collar, wherein the sleeve A is in a cylinder shape with one end being open, the sleeve B is in a cylinder shape with one end being open, the piston rod is arranged in the middle, the piston rod is fixedly connected with the closed end, the sleeve B is tightly sleeved outside the sleeve A, the free end of the piston rod is positioned in the sleeve A, the adjusting collar is sleeved outside the closed end of the sleeve A, the adjusting collar is in threaded connection with the sleeve A, and after the sleeve A and the sleeve B are sleeved together, the spring is sleeved outside the sleeve A, namely one end of the spring is contacted with the adjusting collar, and the other end of the spring is contacted with the sleeve B.

The buffer is added on the horizontal connecting rod, when the mechanical arm moves up and down, the mechanical structure is protected, and the buffer is better than hydraulic buffering because the hydraulic reaction is lagged, the effect is poor, the spring reaction is timely, the effect is good, and the mechanical arm moves up and down more stably. The pressure born by other parts of the manipulator can be effectively reduced, the structural strength is improved, and the movement is more stable.

Preferably, the connecting device comprises a driving end, a switching end and a mounting head, the switching end comprises a fixed panel, a main shaft, a bevel gear A, a bevel gear B, a bevel gear C, a sliding block A, a sliding block B, a threaded rod and a limiting frame, one end of the main shaft penetrates through the fixed panel, the bevel gear A is arranged at the end of the main shaft, the other end of the main shaft is connected with the driving end, the main shaft is vertically arranged with the threaded rod, the bevel gear A and the bevel gear B are fixed on the threaded rod and meshed with the bevel gear A from two sides of the bevel gear A respectively, two free ends of the threaded rod are in threaded connection with the sliding block A and the sliding block B respectively, external threads connected with the threaded rod A and external threads connected with the sliding block B are opposite in direction, namely, the driving end drives the bevel gear A on the main shaft to forward or reverse, the bevel gear A drives the bevel gear B and the bevel gear C to rotate the threaded rod, and the threaded rod drives the sliding block A and the sliding block B to move relatively close to or relatively far away from each other; the mounting head is cylindrical with one end open, and the inner wall of the closed end is provided with a mounting groove matched with the sliding block A and the sliding block B, namely, the switching end and the mounting head are connected or separated through the sliding block A and the sliding block B.

The connecting device is used for realizing the switching of the grabbing device and the relief grinding device, the efficiency is high, the switching is fast, the mounting head is fixed on the grabbing device or the relief grinding device, and after the switching station is reached, the driving end drives the switching end to be separated from the mounting head, and then the switching end is replaced, so that the efficiency is high and the speed is fast.

Preferably, the executing device is one of a gripping device, a relief grinding device, a cutting device or a welding device.

Preferably, the gripping device comprises a fixed disc, gripping arms, a horizontal cylinder and an inclined cylinder, wherein the fixed disc is fixedly connected with the closed end of the mounting head, the fixed disc is hinged with two gripping arms which are oppositely arranged, one end of the horizontal rod is hinged with one side of the upper parts of the gripping arms, the other end of the horizontal rod is hinged with the upper parts of the gripping arms on the opposite side, one end of the inclined cylinder is hinged with the inner side of one of the upper parts of the gripping arms, and the other end of the inclined cylinder is hinged with the inner side of the gripping arm on the opposite side after being inclined downwards, namely, the horizontal rod and the inclined cylinder are elongated or shortened to drive the opposite two gripping arms to open and close relatively.

The gripping device is clamped tightly, is safe to grip, has double-cylinder control and double-layer protection, and is more stable to grip while improving the safety.

Preferably, the grabbing arm comprises an arm body and a grabbing block, one end of the arm body is hinged to the fixed disc, the other opposite end of the arm body is provided with the grabbing block, the grabbing block is arranged on two opposite sides of the grabbing arm, namely, the grabbing block is arranged on the inner side of the grabbing arm, a groove matched with the grabbing block is formed in the arm body, the grabbing block is fixed in the groove through a bolt, and the upper surface of the grabbing block protrudes out of the surface of the arm body.

Because the tip of grabbing arm is the position of easily wearing and tearing, just needs whole change after the frequent wearing and tearing, and the cost is higher, utilizes detachable grab the piece on the one hand to practice thrift the cost, only changes the grab piece just, on the other hand can add the grab piece as required, changes grabbing arm end structure, extension application like this.

Preferably, the relief grinding device comprises a mounting frame, a motor and a grinding head, wherein one end of the mounting frame is fixedly connected with the closed end of the mounting head, the motor and the grinding head are mounted on the mounting frame, and the motor drives the grinding head to rotate.

Preferably, the polishing head comprises a shell, a rotating shaft, a fixing pin, a conical member and a grinding wheel, wherein the shell is fixedly connected with the mounting frame, the rotating shaft is installed in the shell through a bearing, the rotating shaft is connected with the motor, the rotating shaft is hollow and tubular, an opening at one end of the rotating shaft is in a horn shape matched with the conical member, the conical member is fixedly connected with the grinding wheel, the conical member is arranged in the horn-shaped opening and is connected with the rotating shaft, the fixing pin enters the rotating shaft from the opposite other end of the fixing pin and is connected with the conical member, and the fixing pin, the conical member and the rotating shaft are assembled into a detachable integrated structure.

Compared with the traditional loose broach mechanism, the structure is simpler, the structure is compact, the space is saved, the axial size is greatly reduced, and the cost is low.

According to the technical scheme, the grabbing, relief grinding, cutting or polishing multiple functions of one mechanical arm are switched, the three-cylinder mechanical arm is stable, the three-cylinder mechanical arm is suitable for the heavy-load field, the grabbing and relief grinding requirements are met by the mechanical arm, and therefore the purposes of saving cost and stably and safely working are achieved.

Drawings

Fig. 1 is a schematic structural view of a robot arm of a heavy duty robot according to an embodiment of the present disclosure.

Fig. 2 is a schematic structural view of a heavy-duty manipulator according to an embodiment of the present disclosure after a manipulator hiding a fixing base.

Fig. 3 is a schematic diagram of a partially cut-away configuration of a robotic arm of a heavy duty manipulator according to one embodiment of the present disclosure.

Fig. 4 is a cross-sectional view of a bumper of a heavy duty manipulator according to one embodiment of the present disclosure.

Fig. 5 is a schematic view of a certain working state of a heavy-duty manipulator according to an embodiment of the disclosure.

Fig. 6 is a schematic view of a certain working state of a heavy-duty manipulator according to an embodiment of the disclosure.

Fig. 7 is a schematic view illustrating a certain working state of a heavy-duty manipulator according to an embodiment of the disclosure.

Fig. 8 is a schematic view of a certain working state of a heavy-duty manipulator according to an embodiment of the disclosure.

Fig. 9 is a schematic structural view of an assembled connector and a part of a connecting device of a heavy-duty manipulator according to an embodiment of the present disclosure.

Fig. 10 is a schematic structural view of a switching end of a connection device of a heavy-duty manipulator according to an embodiment of the present disclosure.

Fig. 11 is a schematic structural view of a connection device mounting head of a heavy duty manipulator according to one embodiment of the present disclosure.

Fig. 12 is an open state view of a gripping device with a mounting head mounted to a heavy duty manipulator according to one embodiment of the present disclosure.

Fig. 13 is a gripping device gripping state diagram of a heavy duty manipulator mounted with a mounting head according to one embodiment of the present disclosure.

Fig. 14 is a schematic structural view of a reload robot gripping arm according to an embodiment of the present disclosure.

Fig. 15 is a schematic structural view of a relief grinding device with a mounting head mounted to a heavy duty manipulator according to one embodiment of the present disclosure.

Fig. 16 is a cross-sectional view of a heavy duty manipulator polishing head according to one embodiment of the present disclosure after disassembly.

In the figure: arm 10, mount 11, cylinder group 12, second T-piece 120, vertical telescopic cylinder 121, balanced telescopic cylinder 122, horizontal telescopic cylinder 123, vertical arm group 13, vertical arm 130, vertical link 131, support link 132, third T-piece 133, first T-piece 14, horizontal arm group 15, horizontal arm 150, horizontal link 151, buffer 1510, sleeve a15101, sleeve B15102, piston rod 15103, spring 15104, adjustment collar 15105, horizontal rod 1511, connector 16, connecting device 20, drive end 21, switch end 22, fixed panel 220, spindle 221, bevel gear a222, bevel gear B223, bevel gear C224, slider a225, slider B226, threaded rod 227, limit bracket 228, mounting head 23, gripping device 30, fixed disk 31, gripping arm 32, arm body 320, grip block 321, horizontal cylinder 33, tilt cylinder 34, relief device 40, mounting bracket 41, motor 42, sanding head 43, housing 430, rotating shaft 431, fixed pin 432, cone 433, grinding wheel 434, swivel base 50.

Detailed Description

A technical solution of an embodiment of the present invention is further described in detail with reference to the accompanying drawings.

Example 1:

referring to fig. 1-3, a heavy-duty manipulator comprises a manipulator arm 10, a connecting device 20 and an executing device, wherein the manipulator arm 10 is connected with the executing device through the connecting device 20. The executing device is one of the grabbing device 30, the relief grinding device 40, the cutting device or the welding device, then the heavy-duty manipulator can be arranged on the heavy-duty AGV and then move in a workshop, the executing device is arranged at a certain station or a plurality of stations, then free switching of the executing components of the manipulator is realized, and meanwhile, the free movement of the heavy-duty manipulator is matched with and completes various works.

The mechanical arm 10 comprises a fixed seat 11, an oil cylinder group 12, a vertical arm group 13, a first T-shaped piece 14, a horizontal arm 150 group 15 and a connector 16.

The cylinder group 12 includes a second T-piece 120, a vertical telescopic cylinder 121, a balanced telescopic cylinder 122, and a horizontal telescopic cylinder 123.

The vertical arm set 13 includes a vertical arm 130, a vertical link 131, a support link 132, and a third T-piece 133.

The set of horizontal arms 150 15 includes horizontal arms 150 and horizontal links 151.

The vertical telescopic cylinder 121, the balance telescopic cylinder 122 and the horizontal telescopic cylinder 123 are sequentially arranged in the same plane from bottom to top, one ends of the vertical telescopic cylinder 121, the balance telescopic cylinder 122 and the horizontal telescopic cylinder 123 are respectively hinged at three ends of the second T-shaped piece 120, the fixing seat 11 is fixedly connected with the middle part of the second T-shaped piece 120, the lower part of the vertical arm 130 is branched towards the direction of the cylinder group 12, namely, the lower part of the vertical arm 130 is in a shape of a Bu-shaped branch, the upper part of one side of the vertical arm 130 close to the cylinder group 12 is hinged with the horizontal telescopic cylinder 123, the lower part of the vertical arm 130 is hinged with one end of the third T-shaped piece 133 positioned at the middle part, the fixing seat 11 is simultaneously hinged with the lower end of the vertical arm 130 and one end of the third T-shaped piece 133, the third T-shaped member 133 is close to one end of the cylinder group 12 and hinged to the vertical telescopic cylinder 121, the opposite other end of the third T-shaped member is hinged to the supporting link 132, the upper portion of the vertical arm 130 is hinged to one end of the first T-shaped member 14 located in the middle, one end of the first T-shaped member 14 is close to one end of the cylinder group 12 and hinged to one end of the vertical link 131, the opposite other end of the first T-shaped member is hinged to one end of the horizontal link 151, the other end of the vertical link 131 is hinged to the fixing base 11, the other end of the supporting link 132 is hinged to the horizontal arm 150, the upper portion of the same side of the connecting head 16 is hinged to the horizontal link 151, the lower portion of the connecting head 16 is hinged to the horizontal arm 150, and the connecting head 16 is fixed to the connecting device 20.

The fixing seat 11 has a double-layer structure, namely, the oil cylinder group 12 and the third T-shaped piece 133 are clamped in the middle; the lower part of the vertical connecting rod 131 is provided with two parallel branches, namely, the two sides of the fixed seat 11 are hinged with the fixed seat 11; the upper part of the support link 132 is formed as two parallel branches, i.e., hinged to the horizontal arm 150 from both sides of the horizontal arm 150.

Wherein the vertical arm 130, the vertical link 131, and the support link 132 are parallel to each other, and the horizontal arm 150 and the horizontal link 151 are parallel to each other. The connecting distance between the hinge points at the two ends of the horizontal link 151 is equal to the connecting distance between the hinge points at the two ends of the horizontal arm 150.

Example 2:

referring to fig. 4, on the basis of embodiment 1, the horizontal connecting rod 151 is divided into two parts, a buffer 1510 is added, and specifically, the horizontal connecting rod 151 includes the buffer 1510 and a horizontal rod 1511, one end of the buffer 1510 is hinged with the first T-shaped piece 14, the other end is hinged with the horizontal rod 1511, and the other end of the horizontal rod 1511 is hinged with the connecting head 16; the buffer 1510 comprises a sleeve A15101, a sleeve B15102, a piston rod 15103, a spring 15104 and an adjusting collar 15105, wherein the sleeve A15101 is in a cylinder shape with one end being open, the sleeve B15102 is in a cylinder shape with one end being open, the middle is provided with the piston rod 15103, the piston rod 15103 is fixedly connected with the closed end, the sleeve B15102 is tightly sleeved on the outer side of the sleeve A15101, the free end of the piston rod 15103 is positioned in the sleeve A15101, the outer side of the closed end of the sleeve A15101 is sleeved with the adjusting collar 15105, the adjusting collar 15105 is in threaded connection with the sleeve A15101, the spring 15104 is sleeved on the outer side of the sleeve A15101 and the sleeve B15102, namely one end of the spring 15104 is in contact with the adjusting collar 15105, and the other end is in contact with the sleeve B15102.

Example 3:

referring to fig. 5-8, on the basis of embodiment 1 or embodiment 2, a swivel base 50 is included, the swivel base 50 includes a fixed disc 31 and a swivel drive, the fixed disc 31 is fixedly connected with the bottom of the fixed seat 11, and the swivel drive drives the fixed disc 31 to rotate. The heavy-duty manipulator can complete the movement in all directions up, down, left, right, front and back.

Example 4:

referring to fig. 9-11, on the basis of embodiments 1-3, the connecting device 20 includes a driving end 21, a switching end 22 and a mounting head 23, where the switching end 22 includes a fixed panel 220, a main shaft 221, a bevel gear a222, a bevel gear B223, a bevel gear C224, a slider a225, a slider B226, a threaded rod 227 and a limiting frame 228, one end of the main shaft 221 penetrates through the fixed panel 220, the end is provided with a bevel gear a222, the other end of the main shaft 221 is connected with the driving end 21, the main shaft 221 is vertically arranged with the threaded rod 227, the bevel gear a222 and the bevel gear B223 are fixed on the threaded rod 227, and meshed with the bevel gear a222 from two sides of the bevel gear a222, two free ends of the threaded rod are respectively connected with the slider a225 and the slider B226 in a threaded manner, and external threads of the threaded rod 227 connected with the threaded rod a 227 are opposite in direction to external threads of the threaded rod 227, that the driving end 21 drives the bevel gear a222 or the bevel gear a225 to rotate relative to the threaded rod a driven by the bevel gear a225 or the bevel gear a 227, and the driven by the bevel gear a 224 is moved relative to the threaded rod a driven by the bevel gear a225 and the slider B224; the mounting head 23 is cylindrical with an opening at one end, and the inner wall of the closed end is provided with a mounting groove matched with the sliding block A225 and the sliding block B226, namely, the switching end 22 and the mounting head 23 are connected or separated through the sliding block A225 and the sliding block B226.

Example 5:

referring to fig. 12-14, on the basis of embodiment 4, the performing device is a gripping device 30, the gripping device 30 includes a fixed disc 31, a gripping arm 32, a horizontal cylinder 33 and an inclined cylinder 34, the fixed disc 31 is fixedly connected with the closed end of the mounting head 23, the fixed disc 31 is hinged with two opposite gripping arms 32, one end of a horizontal rod 1511 is hinged with the upper part of one gripping arm 32, the other end is hinged with the upper part of the opposite gripping arm 32, one end of the inclined cylinder 34 is hinged with the inner side of the upper part of one gripping arm 32, and the other end is hinged with the inner side of the opposite gripping arm 32 after being inclined downwards, namely, the horizontal rod 1511 and the inclined cylinder 34 are extended or shortened to drive the opposite two gripping arms 32 to open and close relatively.

The grabbing arm 32 includes the arm body 320, the tongs piece 321, arm body 320 one end with fixed disk 31 articulates, and the opposite other end is provided with tongs piece 321, tongs piece 321 sets up two tongs piece 32 opposite one side, promptly tongs piece 321 sets up the inboard of grabbing arm 32, be provided with on the arm body 320 with tongs piece 321 assorted recess, tongs piece 321 passes through the bolt fastening in the recess, the upper surface of tongs piece 321 outstanding in arm body 320 surface.

Example 6:

referring to fig. 15-16, on the basis of embodiment 4, the executing device is a relief grinding device 40, the relief grinding device 40 comprises a mounting frame 41, a motor 42 and a grinding head 43, one end of the mounting frame 41 is fixedly connected with the closed end of the mounting head 23, the motor 42 and the grinding head 43 are mounted on the mounting frame 41, and the motor 42 drives the grinding head 43 to rotate.

The polishing head 43 comprises a shell 430, a rotating shaft 431, a fixed pin 432, a conical member 433 and a grinding wheel 434, wherein the shell 430 is fixedly connected with the mounting frame 41, the rotating shaft 431 is installed in the shell 430 in a bearing manner, the rotating shaft 431 is connected with the motor 42, the rotating shaft 431 is hollow and tubular, an opening at one end of the rotating shaft 431 is in a horn shape matched with the conical member 433, the conical member 433 is fixedly connected with the grinding wheel 434, the conical member 433 is arranged in the horn-shaped opening and is connected with the rotating shaft 431, the fixed pin 432 enters the rotating shaft 431 from the opposite end and is connected with the conical member 433, and the fixed pin 432, the conical member 433 and the rotating shaft 431 are assembled into a detachable integral structure.

Claims

1. A heavy duty manipulator, characterized in that: the mechanical arm is connected with the executing device through the connecting device, the mechanical arm comprises a fixed seat, an oil cylinder group, a vertical arm group, a first T-shaped piece, a horizontal arm group and a connector, the oil cylinder group comprises a second T-shaped piece, a vertical telescopic cylinder, a balanced telescopic cylinder and a horizontal telescopic cylinder, the vertical arm group comprises a vertical arm, a vertical connecting rod, a supporting connecting rod and a third T-shaped piece, and the horizontal arm group comprises a horizontal arm and a horizontal connecting rod; the vertical telescopic cylinder, the balance telescopic cylinder and the horizontal telescopic cylinder are sequentially arranged in the same plane from bottom to top, one ends of the vertical telescopic cylinder, the balance telescopic cylinder and the horizontal telescopic cylinder are respectively hinged to three ends of the second T-shaped piece, the fixed seat is fixedly connected with the middle part of the second T-shaped piece, the lower part of the vertical arm is branched towards the direction of the cylinder group, namely, the lower part of the vertical arm is branched in a shape of a Chinese character Bu, the upper part of one side of the vertical arm is hinged to the horizontal telescopic cylinder, the lower part of the vertical arm is hinged to the balance telescopic cylinder, the lower end of the vertical arm is hinged to one end of the middle part of the third T-shaped piece, the fixed seat is simultaneously hinged to the lower end of the vertical arm and one end of the third T-shaped piece, one end of the third T-shaped piece is hinged to the vertical telescopic cylinder, the opposite other end of the third T-shaped piece is hinged to the supporting connecting rod, the upper part of the vertical arm is hinged to one end of the first T-shaped piece, the first T-shaped piece is hinged to one end of the middle part of the vertical arm, the first T-shaped piece is hinged to one end of the supporting rod, the first T-shaped piece is hinged to one end of the vertical arm, the vertical arm is hinged to one end of the supporting rod, the other end of the first T-shaped piece is hinged to one end of the horizontal connecting rod, the other end of the vertical arm is hinged to one end of the supporting rod, the horizontal connecting rod, the vertical arm is hinged to one end of the other end of the vertical arm, and the vertical arm is hinged to one end of the other end, and the vertical connecting rod is hinged to one end, and one end of the vertical connecting rod is; the connecting line distance of the hinge points at the two ends of the horizontal connecting rod is equal to the connecting line distance of the hinge points at the two ends of the horizontal arm.

2. The heavy duty manipulator of claim 1, wherein: the fixed seat is of a double-layer structure, namely the oil cylinder group and the third T-shaped piece are clamped in the middle; the lower part of the vertical connecting rod is provided with two parallel branches, namely, the two sides of the fixed seat are hinged with the fixed seat; the upper part of the support connecting rod is provided with two parallel branches, namely the two sides of the horizontal arm are hinged with the horizontal arm.

3. The heavy duty manipulator of claim 1, wherein: the rotary base comprises a fixed disc and rotary driving, the fixed disc is fixedly connected with the bottom of the fixed seat, and the rotary driving drives the fixed disc to rotate.

4. The heavy duty manipulator of claim 1, wherein: the horizontal connecting rod comprises a buffer and a horizontal rod, one end of the buffer is hinged with the first T-shaped piece, the other end of the buffer is hinged with the horizontal rod, and the other end of the horizontal rod is hinged with the connector; the buffer comprises a sleeve A, a sleeve B, a piston rod, a spring and an adjusting collar, wherein the sleeve A is in a cylinder shape with one end being open, the sleeve B is in a cylinder shape with one end being open, the piston rod is arranged in the middle, the piston rod is fixedly connected with the closed end, the sleeve B is tightly sleeved outside the sleeve A, the free end of the piston rod is positioned in the sleeve A, the adjusting collar is sleeved outside the closed end of the sleeve A, the adjusting collar is in threaded connection with the sleeve A, and after the sleeve A and the sleeve B are sleeved together, the spring is sleeved outside the sleeve A, namely one end of the spring is contacted with the adjusting collar, and the other end of the spring is contacted with the sleeve B.

5. The heavy duty manipulator of claim 1, wherein: the connecting device comprises a driving end, a switching end and a mounting head, wherein the switching end comprises a fixed panel, a main shaft, a bevel gear A, a bevel gear B, a bevel gear C, a sliding block A, a sliding block B, a threaded rod and a limiting frame, one end of the main shaft penetrates through the fixed panel, the bevel gear A is arranged at the end of the main shaft, the other end of the main shaft is connected with the driving end, the main shaft is vertically arranged with the threaded rod, the bevel gear A and the bevel gear B are fixed on the threaded rod and meshed with the bevel gear A from two sides of the bevel gear A respectively, two free ends of the threaded rod are in threaded connection with the sliding block A and the sliding block B respectively, external threads connected with the threaded rod and the sliding block B are opposite in direction, namely, the driving end drives the bevel gear A on the main shaft to forward or reverse, the bevel gear B and the bevel gear C are driven to rotate, and the threaded rod drives the sliding block A and the sliding block B to move relatively close to or relatively far away from each other; the mounting head is cylindrical with one end open, and the inner wall of the closed end is provided with a mounting groove matched with the sliding block A and the sliding block B, namely, the switching end and the mounting head are connected or separated through the sliding block A and the sliding block B.

6. The heavy duty manipulator of claim 5, wherein: the executing device is one of a grabbing device, a relief grinding device, a cutting device or a welding device.

7. The heavy duty manipulator of claim 6, wherein: the grabbing device comprises a fixed disc, grabbing arms, a horizontal cylinder and an inclined cylinder, wherein the fixed disc is fixedly connected with the closed end of the mounting head, the fixed disc is hinged to two grabbing arms which are oppositely arranged, one end of the horizontal cylinder is hinged to one side of the grabbing arms, the other end of the horizontal cylinder is hinged to the upper parts of the grabbing arms on the opposite side, one end of the inclined cylinder is hinged to the inner side of one grabbing arm, the other end of the inclined cylinder is hinged to the inner side of the grabbing arm on the opposite side after being inclined downwards, and the horizontal cylinder and the inclined cylinder are extended or shortened to drive the two opposite grabbing arms to open and close relatively.

8. The heavy duty manipulator of claim 7, wherein: the grabbing arm comprises an arm body and a grabbing block, one end of the arm body is hinged to the fixed disc, the other opposite end of the arm body is provided with the grabbing block, the grabbing block is arranged on two opposite sides of the grabbing arm, namely, the grabbing block is arranged on the inner side of the grabbing arm, a groove matched with the grabbing block is formed in the arm body, the grabbing block is fixed in the groove through a bolt, and the upper surface of the grabbing block protrudes out of the surface of the arm body.

9. The heavy duty manipulator of claim 6, wherein: the relief grinding device comprises a mounting frame, a motor and a grinding head, wherein one end of the mounting frame is fixedly connected with the closed end of the mounting head, the motor and the grinding head are mounted on the mounting frame, and the motor drives the grinding head to rotate.

10. The heavy duty manipulator of claim 9, wherein: the utility model provides a grinding head, including shell, rotation axis, fixed pin, cone, emery wheel, the shell with mounting bracket fixed connection, rotation axis bearing installs in the shell, just the rotation axis with the motor is connected, the rotation axis be hollow tubular, and the opening of one end be with cone assorted loudspeaker form, the cone with emery wheel fixed connection, the cone sets up in loudspeaker form opening, and with the rotation axis is connected, the fixed pin gets into from relative other end in the rotation axis, and with the cone is connected, wherein the fixed pin the cone with the rotation axis equipment is detachable integral structure.