CN220680823U - Transfer manipulator - Google Patents

Abstract

The utility model relates to a transfer manipulator which comprises a clamping device and a base, wherein a supporting structure is arranged on the side of the base, the clamping device is fixedly connected to the top of the supporting structure and is positioned on one side of the base and above the base, a speed reducing device is arranged on the base and comprises a speed reducing turntable and a speed reducing driving piece, the speed reducing turntable is of a hollow disc structure in the interior, a turntable center hole is formed in the center position, the speed reducing driving piece is positioned at the bottom of one side of the speed reducing turntable, the clamping device is positioned above the speed reducing turntable, a lifting structure is arranged between the clamping device and the speed reducing turntable, two ends of the lifting structure are respectively connected with the clamping device and the turntable center hole of the speed reducing turntable, the clamping device comprises a plurality of clamping structures, and the clamping structures are distributed at the edge of the clamping device at intervals. Compared with the prior art, the utility model has the advantages of stability, no shaking, high working efficiency and the like.

Description

Transfer manipulator

Technical Field

The utility model relates to the field of manipulators, in particular to a transfer manipulator.

Background

In some production lines, a transfer robot is provided between two adjacent pieces of equipment to transfer the workpiece. The traditional transfer manipulator is provided with a rotating mechanism and a lifting mechanism, after the manipulator grabs a workpiece, the workpiece is transferred and transported through the rotating mechanism, and then the workpiece is put down through the lifting mechanism, so that the transfer of the workpiece is completed. In addition, the rotating mechanism of the transfer manipulator in the prior art is driven by a belt and rollers, and due to friction and relative sliding between the belt and the rollers, shaking in the working process is large, accuracy is low, the belt is adopted for driving, two or more rollers are required to be equipped under normal conditions, the occupied space is large, the transfer manipulator cannot be installed and used in some compact production lines, and the practicability is poor.

Therefore, aiming at the problems in the prior art, the utility model provides the transfer manipulator which is stable and free from shaking and has high working efficiency.

Disclosure of Invention

The utility model aims to provide a transfer manipulator which is stable and free from shaking and has high working efficiency.

The utility model provides a transfer manipulator, includes clamping device and base, the base side is equipped with bearing structure, clamping device connects to be fixed the bearing structure top is located one side of base, and is located the base top, be equipped with decelerator on the base, decelerator includes reduction carousel and reduction driver, reduction carousel is inside hollow cavity disc structure, and central point puts the department and is equipped with carousel centre bore, the reduction driver is located the bottom of reduction carousel one side, clamping device is located reduction carousel top, be equipped with elevation structure between clamping device and the reduction carousel, elevation structure's both ends respectively with clamping device and reduction carousel's carousel centre bore are connected, clamping device includes a plurality of clamping structure, a plurality of clamping structure interval distributions are in clamping device's edge.

In the technical scheme, the transfer manipulator comprises the clamping device and the base, wherein one side of the base is provided with the supporting structure, the clamping device is positioned on one side, close to the base, of the top of the supporting structure and is fixed above the base through the supporting structure, the base is provided with the speed reducing device, the speed reducing device comprises a speed reducing turntable and a speed reducing driving piece, the speed reducing turntable is internally hollow, the center position of the speed reducing turntable is provided with a disc structure with a turntable center hole, the speed reducing driving piece is positioned on one side of the bottom of the speed reducing turntable, the speed reducing turntable can rotate in the forward and reverse directions under the driving of the speed reducing driving piece, so that the structure or a part connected with the turntable center hole can be driven to rotate, in the prior art, the manipulator positioned between two working procedures can mostly adopt belts and rollers to carry out transmission and driving of rotary motion, because the friction and relative sliding between the belts and the rollers are relatively large, the precision is also low, and the belt is adopted to carry out transmission, in general cases, two or more rollers are required to occupy the automatic space, the automatic space is occupied, the vibration is difficult to be reduced, the vibration is difficult to be applied to the production and the rotation of the turntable is more compact, and the vibration is suitable for the production and the rotation of the turntable can be used as a large-size-reduction structure to be used for the rotation and has a large-size rotation structure, and can be used for the vibration and a large-size, and can be used for the production and a large-size, and can be used to be well to be used to and a small; the clamping device is located above the speed reduction turntable, a lifting structure is arranged between the clamping device and the speed reduction turntable, one end of the lifting structure is fixedly connected with a turntable center hole of the speed reduction turntable, the other end of the lifting structure is fixedly connected with the hijacking device, the lifting structure can rotate along with the speed reduction turntable so as to drive the clamping device to rotate together, the clamping device comprises a plurality of clamping structures, the clamping structures can be distributed at the edge positions of the clamping device at certain intervals or at different intervals according to actual production needs or the conditions of the distance between the two mechanisms and the like, in the using process, the clamping device can rotate along with the speed reduction turntable and the lifting structure at the bottom, so that the rest stations synchronously put down workpieces when clamping the workpieces from one side or multiple side stations, the synchronous taking and putting down of the workpieces at multiple stations are realized, compared with the transfer manipulator which rotates to the other side after clamping from one side in the prior art, the operating time is obviously reduced, and the working efficiency of the manipulator is greatly improved.

Further, the lifting structure comprises a shaft sleeve and a rotating shaft, the shaft sleeve is positioned at the bottom of the rotating shaft, a shaft hole matched with the rotating shaft is formed in the shaft sleeve, and the rotating shaft is in sliding connection with the shaft sleeve through the shaft hole.

In the above technical scheme, the lifting structure comprises a shaft sleeve and a rotating shaft, wherein the shaft sleeve is positioned at the bottom of the rotating shaft, the center of the shaft sleeve is provided with a shaft hole matched with the rotating shaft, the rotating shaft is a spline shaft, a longitudinal key groove is formed in the surface of the rotating shaft, the shaft sleeve is connected with the shaft sleeve in a sliding manner in the vertical direction through the shaft hole, the effect of lifting up and down is achieved, and the lifting structure can rotate along with the shaft sleeve.

Further, a rotating seat is further arranged at the bottom of the shaft sleeve, the shaft sleeve is fixedly connected with the rotating seat, and the rotating seat is fixed on the speed reduction turntable and rotates along with the speed reduction turntable.

In the above technical scheme, the shaft sleeve bottom is still connected with the roating seat, the roating seat is fixed on the speed reduction carousel, along with the rotation of speed reduction carousel is rotary motion, the shaft sleeve is connected and is fixed with the roating seat, can be in the drive of roating seat is rotatory, also can drive the pivot that links to each other with the shaft sleeve simultaneously and rotate.

Further, the top of the rotating shaft is provided with a fixing seat, the fixing seat is fixed at the top of the rotating shaft, the top of the fixing seat is provided with a plurality of guide posts, a plurality of through holes matched with the guide posts are formed in the fixing seat, and the guide posts are in sliding connection with the fixing seat through the through holes.

In the above technical scheme, the top of pivot is connected with the fixing base, the fixing base can rotate along with the pivot, the fixing base top still is equipped with a plurality of guide posts, and the edge position department of fixing base still opens a plurality of confession guide post male through-holes, the fixing base passes through the through-hole constitutes sliding connection with the guide post, can follow the guide post reciprocates.

Further, the plurality of clamping structures are fixedly connected to the side face of the fixing base, and matched clamping jaws are arranged at the bottoms of the plurality of clamping structures.

According to the technical scheme, the clamping device comprises the plurality of clamping devices, the plurality of clamping devices are connected and fixed on the side face of the fixing seat at the same or different intervals according to specific production requirements, the clamping structures are provided with the clamping jaws and can clamp and place workpiece pieces, the workpiece can be clamped and placed simultaneously by arranging the clamping structures, synchronous workpiece placing is achieved, synchronous workpiece taking and placing of multiple stations is achieved, and the working efficiency of the manipulator is greatly improved.

Further, one side of the speed reduction turntable, which is far away from the speed reduction driving piece, is provided with a lifting driving piece, and the lifting driving piece is connected with a lifting shaft through the inside of the speed reduction turntable and the center hole of the turntable.

In the above technical scheme, the speed reduction carousel still be equipped with the lift driving piece for one side of speed reduction driving piece, lift driving piece adopts servo electric jar or upper and lower electric jar etc. can become rectilinear movement's driving piece with motor rotary motion, the output of lift driving piece can pass through the inside hollow structure of speed reduction carousel, through carousel centre bore with the lift axle links to each other, drives the pivot carries out the elevating movement about, thereby can the drive connection at the pivot top the fixed block slides along the guide post from top to bottom, and drives the gripping structure carries out the reciprocating, realizes snatching or placing the action from top to bottom of manipulator.

Further, the supporting structure comprises a supporting rod and a supporting plate, wherein the supporting plate which is perpendicular to the supporting rod is fixedly connected to the top of the supporting rod, and one end, away from the supporting rod, of the supporting plate is connected with the clamping device.

In the above technical scheme, bearing structure includes bracing piece and backup pad, the backup pad with the top vertical fixation of bracing piece is the state of cantilever type, backup pad one end with the top of bracing piece links to each other, the other end with the fixing base that clamping device is connected links to each other, in the manipulator use, the bottom of bracing piece can be fixed, provides the effect of support for other structures.

Further, a wiring hole is formed in one side, away from the clamping device, of the top of the supporting plate, and a junction box is arranged on one side of the wiring hole.

In the above technical scheme, the backup pad is kept away from one side of clamping device is opened there is the wiring hole, promptly the upper surface of backup pad, clamping device connects the lower surface at the backup pad, the wiring hole is used for making electric wire or other circuits of clamping device or other parts pass through, wiring hole one side is equipped with the terminal box for it is regular to carry out the circuit, prevents because of the circuit is disordered for the manipulator is twined or is pulled in the motion process, influences the use of manipulator.

Further, an air valve ring is arranged at the position where the top of the clamping device is connected with the supporting plate.

In the above technical scheme, the clamping device top still is equipped with the air valve ring, the air valve ring is located clamping device and backup pad are connected the position department for the power and the gas of connecing of manipulator.

Further, the movable plate is arranged below the base, a plurality of stand columns are arranged between the base and the movable plate, through holes matched with the stand columns are formed in the edges of the base and the movable plate, and the base and the movable plate are fixedly connected through the stand columns.

In the above technical scheme, still be equipped with the fly leaf below the base, be equipped with a plurality of stands between on base and the fly leaf, the border position of base and fly leaf all is equipped with a plurality of corresponding through-holes, a plurality of stands make through a plurality of through-holes the base is connected with the fly leaf, the fly leaf can play spacing effect, reserves certain safe space, prevents that the manipulator from taking place the collision in the use, protects the safety of manipulator major structure.

Compared with the prior art, the transfer manipulator has the following beneficial effects:

the transfer manipulator is provided with the speed reduction turntable with the hollow disc structure to drive rotary motion, compared with belt drive in the prior art, occupied space is remarkably reduced, the transfer manipulator can be suitable for production in more occasions, the matching precision of the disc structure is higher, vibration generated by friction or matching gaps in the motion process can be greatly reduced, and the use effect of stability and no shaking is achieved.

The transfer manipulator is provided with the clamping device, the clamping device comprises a plurality of clamping structures which can be lifted and rotated along with the lifting structure and the speed reduction turntable, one or more of the clamping structures can clamp the workpiece in the use process, and the rest stations synchronously put down the workpiece, so that the synchronous picking and placing of the multi-station multi-workpiece is realized.

Drawings

Fig. 1 is a schematic structural diagram of an embodiment of a transfer robot according to the present utility model.

Fig. 2 is a partial enlarged view a in fig. 1.

Fig. 3 is a partial enlarged view B in fig. 1.

Detailed Description

The transfer robot of the present utility model will be described in further detail with reference to specific embodiments and drawings.

Referring to fig. 1 to 3, in a non-limiting embodiment of the present utility model, a transfer manipulator includes a clamping device 20 and a base 10, a supporting structure 50 is disposed on a side of the base 10, the clamping device 20 is fixedly connected to a top of the supporting structure 50 and is located on one side of the base 10 and is located above the base 10, a speed reducing device 30 is disposed on the base 10, the speed reducing device 30 includes a speed reducing turntable 31 and a speed reducing driving member 32, the speed reducing turntable 31 is a hollow disk structure with a hollow interior, a turntable center hole 33 is disposed at a center position, the speed reducing driving member 32 is located at a bottom of one side of the speed reducing turntable 31, the clamping device 20 is located above the speed reducing turntable 31, a lifting structure 40 is disposed between the clamping device 20 and the speed reducing turntable 31, two ends of the lifting structure 40 are respectively connected to the clamping device 20 and the turntable center hole 33 of the speed reducing turntable 31, the clamping device 20 includes a plurality of clamping structures 21, and the plurality of clamping structures 21 are distributed at intervals on edges of the clamping device 20. In this embodiment, the transfer manipulator of the present utility model includes a clamping device 20 and a base 10, one side of the base 10 is provided with a supporting structure 50, the clamping device 20 is located at one side of the top of the supporting structure 50 near the base 10, and is fixed above the base 10 by the supporting structure 50, the base 10 is provided with a speed reducing device 30, the speed reducing device 30 includes a speed reducing turntable 31 and a speed reducing driving member 32, the speed reducing turntable 31 is hollow, and a disk structure with a turntable central hole 33 is provided at the central position, the speed reducing driving member 32 is located at one side of the bottom of the speed reducing turntable 31, the speed reducing turntable 31 can rotate in the forward and reverse directions under the driving of the speed reducing driving member 32, so that a structure or a component connected with the turntable central hole 33 can be driven to rotate, in the prior art, the manipulator which is positioned between the two working procedures and is used for helping the workpiece to transfer is mostly driven and driven by adopting the belt and the roller, because the friction and the relative sliding between the belt and the roller are relatively large, the precision is low, the belt is adopted for driving, two or more rollers are usually required to be equipped, the occupied space is large, and the manipulator is difficult to be suitable for a compact automatic production line, the transfer manipulator adopts the speed reducing device 30 with the hollow turntable as a driving part for the rotating motion of the manipulator, on one hand, the structure fixed in the turntable central hole 33 is driven to rotate by the speed reducing turntable 31, the matching precision of the disc structure is high, the vibration in the motion process can be greatly reduced, the vibration is eliminated, on the other hand, compared with the belt driving in the prior art, the occupied space is obviously reduced, can be suitable for production in more occasions; the clamping device is located above the deceleration turntable 31, a lifting structure 40 is arranged between the clamping device 20 and the deceleration turntable 31, one end of the lifting structure 40 is fixedly connected with a turntable central hole 33 of the deceleration turntable 31, the other end of the lifting structure 40 is fixedly connected with the hijacking device, the lifting structure 40 can rotate along with the deceleration turntable 31 so as to drive the clamping device 20 to rotate together, the clamping device 20 comprises a plurality of clamping structures 21, the plurality of clamping structures 21 can be distributed at the edge positions of the clamping device 20 at certain intervals or at different intervals according to actual production needs or the conditions of the distance between the two mechanisms and the like, in the use process, the clamping device 20 can rotate along with the deceleration turntable 31 and the lifting structure 40 at the bottom, so that the rest stations synchronously put down workpieces while clamping the workpieces from one side or multiple side stations, compared with the transfer manipulator which rotates to the other side after clamping in the prior art, the operation time is remarkably shortened, and the work efficiency of the manipulator is greatly improved; in this embodiment, preferably, the speed reduction driving member 32 is a servo motor, which can provide rotation power for the speed reduction turntable 31 and control the rotation speed.

Referring to fig. 1 to 3, in a non-limiting embodiment of the present utility model, the lifting structure 40 includes a shaft sleeve 42 and a shaft 41, the shaft sleeve 42 is located at the bottom of the shaft 41, a shaft hole matched with the shaft 41 is provided in the shaft sleeve 42, and the shaft 41 is slidably connected with the shaft sleeve 42 through the shaft hole. In this embodiment, the lifting structure 40 includes a shaft sleeve 42 and a rotating shaft 41, where the shaft sleeve 42 is located at the bottom of the rotating shaft 41, a shaft hole matched with the rotating shaft 41 is provided in the center of the shaft sleeve 42, and the rotating shaft 41 and the shaft sleeve 42 form a sliding connection in the up-down direction through the shaft hole, so as to achieve an up-down lifting effect, and can perform a rotary motion along with the shaft sleeve 42; in this embodiment, preferably, the rotating shaft 41 is a spline shaft, the surface of the spline shaft is provided with a longitudinal key slot, the shaft sleeve 42 is internally provided with a longitudinal key slot matched with the rotating shaft 41, so that the rotating shaft 41 and the shaft sleeve 42 are conveniently matched and fixed, and lifting and rotating movements are performed.

Referring to fig. 1 to 3, in a non-limiting embodiment of the present utility model, a rotating seat 43 is further disposed at the bottom of the shaft sleeve 42, the shaft sleeve 42 is fixedly connected to the rotating seat 43, and the rotating seat 43 is fixed on the speed reduction turntable 31 and rotates along with the speed reduction turntable 31. In this embodiment, the bottom of the shaft sleeve 42 is further connected with a rotating seat 43, the rotating seat 43 is fixed on the reduction turntable 31, and performs a rotational motion along with the rotation of the reduction turntable 31, the shaft sleeve 42 is connected and fixed with the rotating seat 43, and can rotate under the driving of the rotating seat 43, and simultaneously can also drive the rotating shaft 41 connected with the shaft sleeve 42 to rotate.

Referring to fig. 1 to 3, in a non-limiting embodiment of the present utility model, a fixing seat 23 is disposed at the top of the rotating shaft 41, the fixing seat 23 is fixed at the top of the rotating shaft 41, a plurality of guide posts 24 are disposed at the top of the fixing seat 23, and a plurality of through holes matched with the guide posts 24 are formed on the top of the fixing seat, and the plurality of guide posts 24 are slidably connected with the fixing seat 23 through the through holes. In this embodiment, a fixed seat 23 is connected to the top of the rotating shaft 41, the fixed seat 23 can rotate along with the rotating shaft 41, a plurality of guide posts 24 are further provided on the top of the fixed seat 23, a plurality of through holes for inserting the guide posts 24 are further provided at the edge position of the fixed seat 23, and the fixed seat 23 is slidably connected with the guide posts 24 through the through holes and can move up and down along the guide posts 24; in this embodiment, specifically, 4 guide posts 24 are provided, and are respectively located at four corners of the top of the fixing block.

Referring to fig. 1 to 2, in a non-limiting embodiment of the present utility model, the plurality of clamping structures 21 are fixedly connected to the side surface of the fixing base 23, and the bottoms of the plurality of clamping structures 21 are respectively provided with a matched clamping jaw 22. In this embodiment, the clamping device 20 of the present utility model includes a plurality of clamping devices 20, the plurality of clamping devices 20 are connected and fixed on the side surface of the fixing seat 23 at the same or different intervals according to specific production requirements, the plurality of clamping structures 21 are all provided with clamping jaws 22, so that workpiece pieces can be clamped and placed, and by arranging the plurality of clamping structures 21, the workpiece can be clamped and simultaneously put down, so that synchronous picking and placing of multiple work pieces at multiple stations are realized, and the working efficiency of the manipulator is greatly improved; in this embodiment, specifically, 2 clamping structures 21 are provided for conveying and synchronously picking and placing the workpieces between the turntables of two adjacent working procedures, and of course, the number of the clamping structures 21 may also be increased according to actual production needs.

Referring to fig. 1 to 3, in a non-limiting embodiment of the present utility model, a lifting driving member 44 is disposed on a side of the reduction turntable 31 away from the reduction driving member 32, and the lifting driving member 44 is connected to a lifting shaft through the inside of the reduction turntable 31 and the turntable central hole 33. In this embodiment, the side of the deceleration turntable 31 opposite to the deceleration driving member 32 is further provided with a lifting driving member 44, preferably, the lifting driving member 44 adopts an up-down servo cylinder, so that the rotation motion of the servo motor can be converted into linear motion, and the lifting structure 40 is driven, the output end of the lifting driving member 44 can pass through the hollow structure inside the deceleration turntable 31, and is connected with the lifting shaft through the turntable central hole 33, so as to drive the rotating shaft 41 to perform up-down lifting motion, thereby driving the fixed block connected to the top of the rotating shaft 41 to slide up and down along the guide post 24, and driving the clamping structure 21 to perform up-down movement, so as to implement up-down grabbing or placing actions of the manipulator.

Referring to fig. 1 to 2, in a non-limiting embodiment of the present utility model, the supporting structure 50 includes a supporting rod 51 and a supporting plate 52, the supporting plate 52 is fixedly connected to the top of the supporting rod 51, and one end of the supporting plate 52 away from the supporting rod 51 is connected to the clamping device 20. In this embodiment, the supporting structure 50 includes a supporting rod 51 and a supporting plate 52, the supporting plate 52 is vertically fixed to the top end of the supporting rod 51, and is in a cantilever state, one end of the supporting plate 52 is connected to the top end of the supporting rod 51, and the other end of the supporting plate 52 is connected to the fixing seat 23 to which the clamping device 20 is connected, and during the use of the manipulator, the bottom of the supporting rod 51 is fixed to provide a supporting function for other structures.

Referring to fig. 1 to 2, in a non-limiting embodiment of the present utility model, a wiring hole 54 is formed on a side of the top of the supporting plate 52 away from the clamping device 20, and a junction box 55 is disposed on one side of the wiring hole 54. In this embodiment, a wiring hole 54 is formed on a side of the support plate 52 away from the clamping device 20, that is, on the upper surface of the support plate 52, the clamping device 20 is connected to the lower surface of the support plate 52, the wiring hole 54 is used for allowing wires or other wires of the clamping device 20 or other components to pass through, and a wiring box 55 is disposed on a side of the wiring hole 54, so as to regulate the wires and prevent the use of the manipulator from being wound or pulled in the movement process due to disorder of the wires.

Referring to fig. 1 to 2, in a non-limiting embodiment of the present utility model, an air valve ring 53 is further provided at a position where the top of the clamping device 20 is connected to the support plate 52. In this embodiment, an air valve ring 53 is further disposed at the top of the clamping device 20, and the air valve ring 53 is located at a position where the clamping device 20 is connected to the support plate 52, so as to connect the power and the air of the manipulator.

Referring to fig. 1 to 3, in a non-limiting embodiment of the present utility model, a movable plate 11 is disposed under the base 10, a plurality of columns 12 are disposed between the base 10 and the movable plate 11, through holes matched with the columns 12 are disposed at edges of the base 10 and the movable plate 11, and the base 10 and the movable plate 11 are connected and fixed through the columns 12. In this embodiment, a movable plate 11 is further disposed below the base 10, a plurality of columns 12 are disposed between the base 10 and the movable plate 11, a plurality of corresponding through holes are disposed at edge positions of the base 10 and the movable plate 11, the plurality of columns 12 connect the base 10 and the movable plate 11 through the plurality of through holes, the movable plate 11 can play a limiting role, a certain safety space is reserved, collision of a manipulator in a use process is prevented, and safety of a main structure of the manipulator is protected; in this embodiment, specifically, 4 columns 12 are provided and are located at the edge positions of the base 10 and the movable plate 11, respectively.

In the description of the present utility model, it should be understood that the terms such as "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the drawings, are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model.

Furthermore, in the description of the present utility model, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

In the present utility model, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

While the utility model has been described in conjunction with the specific embodiments above, it is evident that many alternatives, modifications and variations will be apparent to those skilled in the art in light of the foregoing description. Accordingly, all such alternatives, modifications, and variations are included within the spirit and scope of the following claims.

Claims (10)

1. The utility model provides a transfer manipulator, includes clamping device and base, the base side is equipped with bearing structure, clamping device connects to be fixed the bearing structure top is located one side of base, and is located the base top, its characterized in that, be equipped with decelerator on the base, decelerator includes reduction carousel and reduction driving piece, the reduction carousel is inside hollow disc structure, and central point department is equipped with the carousel centre bore, the reduction driving piece is located the bottom of reduction carousel one side, clamping device is located the reduction carousel top, be equipped with elevation structure between clamping device and the reduction carousel, elevation structure's both ends respectively with clamping device and reduction carousel's carousel centre bore are connected, clamping device includes a plurality of clamping structure, a plurality of clamping structure interval distributions are in clamping device's edge.

2. The transfer manipulator according to claim 1, wherein the lifting structure comprises a shaft sleeve and a rotating shaft, the shaft sleeve is positioned at the bottom of the rotating shaft, a shaft hole matched with the rotating shaft is formed in the shaft sleeve, and the rotating shaft is in sliding connection with the shaft sleeve through the shaft hole.

3. The transfer manipulator of claim 2, wherein a rotating base is further provided at the bottom of the shaft sleeve, the shaft sleeve is fixedly connected to the rotating base, and the rotating base is fixed to the speed reduction turntable and rotates with the speed reduction turntable.

4. The transfer manipulator according to claim 2, wherein the top of the rotating shaft is provided with a fixing seat, the fixing seat is fixed on the top of the rotating shaft, the top of the fixing seat is provided with a plurality of guide posts, a plurality of through holes matched with the guide posts are formed in the fixing seat, and the guide posts and the fixing seat form sliding connection through the through holes.

5. The transfer manipulator of claim 4, wherein the plurality of clamping structures are fixedly connected to the side of the fixed base, and the bottoms of the plurality of clamping structures are provided with matched clamping jaws.

6. The transfer robot of claim 1, wherein a lifting drive member is provided on a side of the reduction turntable remote from the reduction drive member, and the lifting drive member is coupled to the lifting shaft through an interior of the reduction turntable and a central hole of the turntable.

7. The transfer manipulator of claim 1, wherein the support structure comprises a support rod and a support plate, wherein the support plate is fixedly connected to the top of the support rod, and one end of the support plate away from the support rod is connected to the clamping device.

8. The transfer robot of claim 7, wherein a wire hole is formed in a side of the top of the support plate away from the clamping device, and a junction box is arranged on one side of the wire hole.

9. The transfer robot of claim 8, wherein an air valve ring is further provided at a position where the top of the clamping device is connected to the support plate.

10. The transfer manipulator according to claim 1, wherein a movable plate is arranged below the base, a plurality of stand columns are arranged between the base and the movable plate, through holes matched with the stand columns are formed in the edges of the base and the movable plate, and the base and the movable plate are fixedly connected through the stand columns.