CN107585555A - A kind of material carrying machine hand for production line - Google Patents

Abstract

The present invention relates to material transportation machinery equipment field, specifically a kind of material carrying machine hand for production line.Including base, vertical lifting mechanism, the first rotating mechanism, horizontal mobile mechanism, the second rotating mechanism and manipulator body；Vertical lifting mechanism is arranged on base, and the first rotating mechanism is connected with vertical lifting mechanism, and vertical lifting mechanism can drive the first rotating mechanism to carry out vertical lifting；Horizontal mobile mechanism is connected with the first rotating mechanism, can be rotated with the first rotating mechanism；Described manipulator body is connected by the second rotating mechanism with horizontal mobile mechanism, can be moved horizontally under the drive of horizontal mobile mechanism, and secondary rotating can be carried out under the drive of the second rotating mechanism.The present invention can effectively reduce cost of labor, improve production efficiency, and the material for production line is carried.

Description

A material handling manipulator used in a production line

technical field

The invention relates to the field of material transport machinery and equipment, in particular to a material transport manipulator used in production lines.

Background technique

The assembly line, also known as the assembly line, is an industrial production method. It means that each production unit only focuses on processing a certain segment of work to improve work efficiency and output. It generally includes traction parts, load-bearing components, driving devices, and tensioning devices. , Reversing device and support components. The assembly line has high scalability, and can design the conveying volume, conveying speed, assembly station, and auxiliary parts (including quick connectors, fans, lamps, sockets, craft boards, storage tables, 24V power supplies, air batches, etc.) according to requirements, so it is widely used by enterprises Welcome. The assembly line is an effective combination of man and machine, which fully reflects the flexibility of the equipment. It organically combines the conveying system, accompanying fixtures, online special planes, and testing equipment to meet the conveying requirements of various products. The transmission mode of the conveying line There are synchronous transmission/(mandatory type) and asynchronous transmission/(flexible type). According to the configuration selection, the assembly and delivery requirements can be realized.

In the production of the assembly line mode, the transportation and transshipment between the various assembly lines often become the bottleneck in mass production, especially in the production of some large-scale equipment. Equipment handling will inevitably increase labor costs, reduce production efficiency, and fail to exert the high efficiency of assembly line production.

Contents of the invention

The present invention aims to provide a material handling manipulator used in a production line for reducing labor costs and improving production efficiency.

In order to solve the above technical problems, the technical solution adopted by the present invention is: a material handling manipulator for production lines, including a base, a vertical lifting mechanism, a first rotating mechanism, a horizontal moving mechanism, a second rotating mechanism and a manipulator body; The vertical lifting mechanism is arranged on the base, the first rotating mechanism is connected with the vertical lifting mechanism, and the vertical lifting mechanism can drive the first rotating mechanism to carry out vertical lifting; the horizontal moving mechanism is connected with the first rotating mechanism, and can follow the second A rotating mechanism rotates; the manipulator body is connected with the horizontal moving mechanism through the second rotating mechanism, and can move horizontally under the drive of the horizontal moving mechanism, and can perform secondary rotation under the driving of the second rotating mechanism.

Preferably, the vertical lifting mechanism includes a vertical plate fixed vertically on the base, a ball screw that is rotated on the vertical plate along the height direction, and a first slide rail that is fixed on the vertical plate along the height direction. A lead screw nut is fitted on the bar, a first base is slidably arranged on the first slide rail, and the first base is fixedly connected with the lead screw nut.

Preferably, the base is provided with a first servo motor for driving the ball screw to rotate; the first servo motor passes through the first synchronous wheel on its output shaft, the second synchronous wheel arranged at the bottom of the ball screw and The first synchronous belt drives the ball screw to rotate.

Preferably, the number of the first slide rails is two, each of the first slide rails is slidably provided with two first sliders, and the four first sliders are all fixedly connected to the first base; The two ends of the ball screw are respectively rotatably arranged in the bearing seat fixed on the vertical plate.

Preferably, the first rotating mechanism includes a rotating shaft arranged on the first base, and a second servo motor for driving the rotating shaft is arranged on the first base, and the second servo motor passes through its output shaft The third synchronous wheel, the fourth synchronous wheel arranged at the bottom end of the rotating shaft and the second synchronous belt drive the rotating shaft to rotate.

Preferably, the horizontal movement mechanism includes a main arm with one end fixed on the top of the rotating shaft, second slide rails respectively arranged on both sides of the main arm, second sliders respectively clamped and slid on the two second slide rails, and The second base fixedly connected with the two second sliders; the fifth synchronous wheel and the sixth synchronous wheel connected by the third synchronous belt are respectively rotated at both ends of the main arm, and the third synchronous belt is connected with the first base The seat is fixedly connected, and the third servo motor is installed at the end of the fifth synchronous wheel on the main arm. The output shaft of the third servo motor is provided with the seventh synchronous wheel. The seventh synchronous wheel and the fifth synchronous wheel are driven Belt drive connection.

Preferably, the second rotation mechanism includes a slave arm with one end fixedly connected to the second base, the slave arm is a bar-shaped and hollow box body, and a fourth servo motor is arranged outside the slave arm box body, the second The output shaft of the four servo motors is located in the inner chamber of the slave arm and is provided with the eighth synchronous wheel, and the other end of the inner chamber of the slave arm is provided with the ninth synchronous wheel, and the ninth synchronous wheel is synchronized with the eighth synchronous wheel through the fifth transmission belt. Wheel drive connection.

Preferably, the manipulator body includes a drive unit, two talons and a torque transmission unit for connecting the drive unit and the two talons; the drive unit is a linear cylinder, on the cylinder body of the linear cylinder The two sides of the piston sleeve located in the linear cylinder cavity are respectively provided with vent holes for connecting the air pipe, the piston rod extension end of the linear cylinder is connected with the torque transmission unit, and the cylinder tail end of the linear cylinder is connected with the ninth synchronous wheel ; The torque transmission unit includes a connecting plate fixedly connected to the cylinder body of the linear cylinder, and two gears meshing with each other are rotated on the connecting plate, and the two gears are respectively hinged with one end of the two first connecting rods. The other ends of the first connecting rod are respectively hinged with the corresponding ends of the two second connecting rods, and the other ends of the two second connecting rods are respectively hinged with the extending ends of the piston rods of the linear cylinder. The third connecting rod is fixed, and the ends of the two third connecting rods away from the corresponding gears are respectively hinged with the tails of the two claws, and the middle parts of the two claws are respectively hinged with the ends of the two fourth connecting rods. The other end of the fourth connecting rod is respectively hinged on the connecting plate.

Preferably, between the first connecting rod and the gear, between the first connecting rod and the second connecting rod, between the second connecting rod and the piston rod, between the third connecting rod and the talons, between the fourth connecting rod It is hingedly connected with the connection plate and between the fourth connecting rod and the talons by pins and pin hole structures; the pin hole on the third connecting rod is a strip hole, and is opened along the diameter direction of the corresponding gear.

Preferably, the cylinder body is interposed between two seat plates, and the two seat plates are fixedly connected by a plurality of bolts; the connecting plate is connected to the two seat plates by two connecting pieces with an L-shaped cross section, One side of the two connecting pieces clamps the connecting plate and is fixed by bolts, and the other side is respectively fixed on the ends of the two seat plates by bolts.

Beneficial effect

The present invention has multiple degrees of freedom such as vertical lifting of the rotating shaft, rotating of the rotating shaft, rotation of the second base around the rotating shaft, horizontal movement of the second base, rotation of the manipulator body, opening and closing of the manipulator body, etc., which can satisfy most of the material handling between production lines, It can be installed at the end-to-end position of two assembly lines, which can greatly reduce labor costs and improve production efficiency.

The manipulator body of the present invention uses air pipes to carry out air intake and exhaust, so that a pressure difference is formed in the two chambers separated by the piston sleeve in the inner cavity of the cylinder of the linear cylinder, so that the piston rod of the linear cylinder expands and contracts, and the talons are driven by the torque transmission mechanism. Complete clamping or loosening, and then complete the grasping and placing of the workpiece. In addition, in order to reduce the impact of speed fluctuations and instability factors, the connecting rod at the front end is designed as a gear meshing type. In this way, it can not only reduce the speed loss, prevent the short-term jamming of the manipulator due to the dead point, but also enhance its motion stability, and has good motion neutrality; the driving medium is air, which has the advantages of low cost and energy saving. Environmental protection, easy processing and operation advantages.

Description of drawings

Fig. 1 is the three-dimensional structure schematic diagram of the present invention;

Fig. 2 is the three-dimensional structure schematic diagram of vertical lifting mechanism and first rotating mechanism of the present invention;

Fig. 3 is the exploded schematic view of the vertical lifting mechanism and the first rotating mechanism of the present invention;

4 is a schematic diagram of the arrangement of the first guide rail and the ball screw in the vertical lifting mechanism of the present invention;

Fig. 5 is the schematic diagram of the three-dimensional structure of the horizontal movement mechanism of the present invention;

Fig. 6 is a three-dimensional structural schematic diagram of a second rotating mechanism of the present invention;

7 is a schematic longitudinal sectional view of a second rotating mechanism of the present invention;

Fig. 8 is a schematic diagram of the three-dimensional structure of the manipulator body of the present invention;

Fig. 9 is a sectional view of the manipulator body of the present invention;

Marks in the figure: 1, base, 2, vertical lifting mechanism, 201, vertical plate, 202, ball screw, 203, the first slide rail, 204, screw nut, 205, the first base, 206, the first Servo motor, 207, the first synchronous wheel, 208, the second synchronous wheel, 209, the first slide block, 210, bearing block, 3, the first rotating mechanism, 301, rotating shaft, 302, the second servo motor, 303, the first Three synchronous wheels, 304, the fourth synchronous wheel, 4, horizontal movement mechanism, 401, the main arm, 402, the second slide rail, 403, the second slide block, 404, the second base, 405, the fifth synchronous wheel, 406, the sixth synchronous wheel, 407, the third servo motor, 408, the seventh synchronous wheel, 5, the second rotating mechanism, 501, the slave arm, 502, the fourth servo motor, 503, the eighth synchronous wheel, 504, the first Nine synchronous wheels, 6, manipulator body, 601, drive unit, 601-1, cylinder body, 601-2, piston sleeve, 601-3, air vent, 601-4, piston rod, 601-5, seat plate, 601 -6, connector, 602, talons, 603, torque transmission mechanism, 603-1, connecting plate, 603-2, gear, 603-3, first connecting rod, 603-4, second connecting rod, 603- 5. The third connecting rod, 603-6, the fourth connecting rod.

detailed description

As shown in the figure to figure, a material handling manipulator for a production line of the present invention includes a base 1, a vertical lifting mechanism 2, a first rotating mechanism 3, a horizontal moving mechanism 4, a second rotating mechanism 5 and a manipulator body 6; the vertical lifting mechanism 2 is arranged on the base 1, the first rotating mechanism 3 is connected with the vertical lifting mechanism 2, and the vertical lifting mechanism 2 can drive the first rotating mechanism 3 to carry out vertical lifting; the horizontal moving mechanism 4 and the first The rotating mechanism 3 is connected and can rotate with the first rotating mechanism 3; the manipulator body 6 is connected with the horizontal moving mechanism 4 through the second rotating mechanism 5, and can move horizontally under the drive of the horizontal moving mechanism 4, and The secondary rotation can be carried out under the drive of the second rotation mechanism 5 .

The vertical lifting mechanism 2 includes a vertical plate 201 vertically fixed on the base 1, a ball screw 202 that is rotatably arranged on the vertical plate 201 along the height direction, and a first slide rail 203 that is fixedly arranged on the vertical plate 201 along the height direction, A screw nut 204 is mounted on the ball screw 202 , and a first base 205 is slidably disposed on the first slide rail 203 , and the first base 205 is fixedly connected to the screw nut 204 . The two ends of the ball screw 202 are respectively rotatably arranged in the bearing housing 210 fixed on the vertical plate 201 . A first servo motor 206 for driving the ball screw 202 to rotate is arranged on the base 1 . The first servo motor 206 drives the ball screw 202 to rotate through the first synchronous wheel 207 on its output shaft, the second synchronous wheel 208 arranged at the bottom of the ball screw 202, and the first synchronous belt. The screw nut 204 is moved up and down along the axis of the ball screw 202 , thereby driving the first base 205 to move up and down.

In this embodiment, the number of the first slide rails 203 is two, each of the first slide rails 203 is slidably provided with two first sliders 209, and the four first sliders 209 are connected to the second base 404 The connection is fixed to ensure the stability of the first base 205 during the lifting process.

The first rotating mechanism 3 includes a rotating shaft 301 that is rotatably arranged on the first base 205, on the first base 205 is provided with a second servo motor 302 for driving the rotating shaft 301 to rotate, and the second servo motor 302 passes through its output shaft The third synchronous wheel 303, the fourth synchronous wheel 304 arranged at the bottom of the rotating shaft 301, and the second synchronous belt drive the rotating shaft 301 to rotate, so that the rotating shaft 301 rotates.

The horizontal movement mechanism 4 includes a main arm 401 with one end fixed on the top of the rotating shaft 301, second slide rails 402 respectively arranged on both sides of the main arm 401, and second sliders 403 respectively clamped and slid on the two second slide rails 402. And the second base 404 fixedly connected with the two second sliders 403 can drive the second base 404 to slide along the length direction of the main arm 401; The fifth synchronous wheel 405 and the sixth synchronous wheel 406 connected by transmission, the third synchronous belt is fixedly connected with the first base 205, and the end of the fifth synchronous wheel 405 on the main arm 401 is provided with a third servo motor 407, the second The output shaft of the three servo motors 407 is provided with a seventh synchronous wheel 408, and the seventh synchronous wheel 408 and the fifth synchronous wheel 405 are connected through the fourth transmission belt. Through the sliding of the second base 404 on the main arm 401, the second base 404 rotates around the rotating shaft 301 with different radii of rotation, so as to carry materials with different distances from the rotating shaft 301 or transport materials to a distance from the rotating shaft 301 different locations.

The second rotating mechanism 5 includes a slave arm 501 whose end is fixedly connected to the second base 404. The slave arm 501 is a bar-shaped and hollow box body, and a fourth private motor 502 is arranged outside the slave arm 501 box body. The output shaft of the fourth private server motor 502 is located in the inner cavity of the slave arm 501 and is provided with the eighth synchronous wheel 503, and the other end in the inner cavity of the slave arm 501 is provided with the ninth synchronous wheel 504, and the ninth synchronous wheel 504 passes through the first synchronous wheel. The five transmission belts are connected in transmission with the eighth synchronous wheel 503 .

The manipulator body 6 includes a drive unit 601, two talons 602 and a torque transmission for connecting the drive unit 601 and the two talons 602 and controlling the two talons 602 to complete clamping or loosening according to the output of the drive unit 601 Unit 603. The driving unit 601 is a linear cylinder, the driving medium is compressed air, and the torque transmission unit 603 is mechanical, which not only has low manufacturing cost, but also has a stable structure and a long service life. The cylinder body 601-1 of the linear cylinder is connected with the ninth synchronous pulley, so that the rotation of the fourth motor can rotate with the center of the ninth synchronous pulley, which can change the gripping angle of the manipulator body 6 relative to the material, and is very convenient to use. flexible.

The driving unit 601 includes a cylinder 601-1 with a shaft hole at one end and a piston rod 601-4 with a shaft diameter corresponding to the shaft hole. The piston rod 601-4 is slidably set in the shaft hole through a dynamic seal, one end of which is set in the inner cavity of the cylinder body 601-1, and the other end extends out of the inner cavity of the cylinder body 601-1 and is connected with the torque transmission unit 603. One end of the piston rod 601-4 located in the inner cavity of the cylinder body 601-1 is provided with a piston sleeve 601-2. 1 Sliding along the length of the lumen. The piston sleeve 601-2 divides the inner chamber of the cylinder body 601-1 into two chambers isolated from each other. On the outer wall of the cylinder body 601-1, one end of the two chambers away from each other is respectively provided with a vent for communicating with the trachea. The air hole 601-3 can pass air of different flow rates into the two air holes 601-3, and the piston sleeve 601-2 drives the piston rod 601-4 to perform reciprocating telescopic movement relative to the cylinder body 601-1.

In this embodiment, in order to reduce the impact of the working environment and properly protect the connection between the air pipe and the air hole 601-3, the cylinder body 601-1 is sandwiched between two seat plates 601-5, and the two seat plates 601-5 is fixedly connected by a plurality of bolts, and the ventilation holes 601-3 on the cylinder body 601-1 are set between the gaps between the two seat plates 601-5.

The torque transmission unit 603 includes a connecting plate 603-1 fixed on the cylinder body 601-1. The connecting plate 603-1 is connected with two seat plates 601-5 through two connecting pieces 601-6 with an L-shaped cross section. One side of the block connecting piece 601-6 clamps the connecting plate 603-1 and is fixed by bolts, and the other side is respectively fixed on the ends of the two seat plates 601-5 by bolts. On the connecting plate 603-1, there are two meshingly connected gears 603-2, and the two gears 603-2 are symmetrically arranged on both sides of the extension line of the piston rod 601-4. The first connecting rods 603-3 are respectively hinged on the two gears 603-2, the ends of the two first connecting rods 603-3 away from the gear 603-2 are respectively hinged with the second connecting rods 603-4, and the two second connecting rods 603-3 One end of the connecting rod 603-4 away from the corresponding first connecting rod 603-3 is respectively hinged on the end of the piston rod 601-4 outside the cylinder 601-1, and the two gears 603-2 are respectively provided with corresponding gears. The third connecting rod 603-5 integrally formed by 603-2, the ends of the two third connecting rods 603-5 away from the corresponding gear 603-2 are respectively hinged with the tails of the two talons 602, and the connecting plate 603-1 is away from One end of the cylinder body 601-1 is hinged with two fourth connecting rods 603-6, and the ends of the two fourth connecting rods 603-6 away from the connecting plate 603-1 are respectively hinged in the middle of the two claws 602, and the two The hinge point between the fourth connecting rod 603-6 and the connecting plate 603-1 is located on the extension line of the piston rod 601-4.

In this embodiment, between the first connecting rod 603-3 and the gear 603-2, between the first connecting rod 603-3 and the second connecting rod 603-4, between the second connecting rod 603-4 and the piston rod 601- 4, between the third connecting rod 603-5 and the talons 602, between the fourth connecting rod 603-6 and the connecting plate 603-1, and between the fourth connecting rod 603-6 and the talons 602 through pins It is hingedly connected with the pin-hole structure to ensure that the rotation tracks of all the connecting rods are located on the same or parallel plane, thus having high precision and accuracy. Wherein the pin hole on the third connecting rod 603-5 for hinged connection with the tail of the talons 602 is a bar-shaped hole, and the bar-shaped hole is opened along the diameter direction of the corresponding gear 603-2. By adjusting the hinged position of the third connecting rod 603-5 and the talons 602 through the pin hole of the strip hole shape, that is, adjusting the third connecting rod 603-5 to drive the tail of the talons 602 to be centered on the corresponding gear 603-2 The radius of rotation is used to adjust the clamping or loosening limit angles of the two talons 602, so that the present invention has wider applicability for grabbing objects of various shapes and specifications.

The implementation of the manipulator body 6 will be further described in detail below with reference to the accompanying drawings.

The initial state of the grasping manipulator is as shown in the figure, and the two vent holes 601-3 of the cylinder body 601-1 are all connected with air pipes outside. The entire gripping movement process can be roughly divided into three processes, which will be described in detail below with reference to the figure:

1. When the gas with the same speed is introduced into the two vent holes 601-3 at the same time, since the sealed volumes of the two chambers where the two vent holes 601-3 are located are different, it can be known from the knowledge of pneumatics that the chamber on the right side The formed air pressure will be greater than the pressure of the left chamber, which will make the piston rod 601-4 move to the left, and the opening angle of the two second connecting rods 603-4 will increase, and due to the connection plate 603-1 The position is fixed. It can be seen from the knowledge of mechanics that the opening angle of the two first connecting rods 603-3 is large, and the upper gear 603-2 is driven by the two first connecting rods 603-3 to rotate clockwise, and the lower gear 603-2 rotates counterclockwise, and the next part is equivalent to a four-bar mechanism. It is not difficult to see that the talons 602 will open at this time.

2. When the piston rod 601-4 moves to make the two chambers in the cylinder 601-1 have the same volume, the angle at which the talons 602 open is the largest. Next, the gas velocity leading to the right air hole 601-3 is gradually changed to half of the original gas velocity, then the inner cavity pressure formed in the left chamber will be greater than the inner cavity pressure of the right chamber, and the piston rod will 601-4 will move right. The opening angle of the two second connecting rods 603-4 decreases, which drives the opening angle of the first connecting rod 603-3 to decrease, driving the upper gear 603-2 to rotate counterclockwise, and the lower gear 603-2 Clockwise, the talons 602 will now be closed.

3. When the mechanical talons 602 fully touch the target object, close the trachea channel connected to the right air hole 601-3, then the piston rod 601-4 will move to the right quickly at this time, and the motion transmission process and process Similarly, the target object can be clamped by closing the trachea channel of the left air hole 601-3 until the target object is completely clamped.

When it is necessary to release the target object, just follow the above steps in reverse and do not repeat them.

Claims (10)

1. A material handling manipulator for production lines, characterized in that it includes a base (1), a vertical lifting mechanism (2), a first rotating mechanism (3), a horizontal moving mechanism (4), and a second rotating mechanism (5) and the manipulator body (6); the vertical lifting mechanism (2) is arranged on the base (1), the first rotating mechanism (3) is connected with the vertical lifting mechanism (2), and the vertical lifting mechanism (2) can Drive the first rotating mechanism (3) to lift vertically; the horizontal moving mechanism (4) is connected with the first rotating mechanism (3), and can rotate with the first rotating mechanism (3); the manipulator body (6 ) is connected with the horizontal movement mechanism (4) through the second rotation mechanism (5), and can move horizontally under the drive of the horizontal movement mechanism (4), and can perform secondary rotation under the drive of the second rotation mechanism (5) . 2. A material handling manipulator used in a production line according to claim 1, characterized in that: the vertical lifting mechanism (2) includes a vertical plate (201) vertically fixed on the base (1) and a Rotate the ball screw (202) installed on the vertical plate (201) in the height direction and the first slide rail (203) fixed on the vertical plate (201) along the height direction, and the ball screw (202) is equipped with The lead screw nut (204), the first base (205) is slidably arranged on the first slide rail (203), and the first base (205) is fixedly connected with the lead screw nut (204). 3. A material handling manipulator for production lines according to claim 2, characterized in that: the base (1) is provided with a first servo motor (206) for driving the ball screw (202) to rotate; The first servo motor (206) drives the ball screw through the first synchronous wheel (207) on its output shaft, the second synchronous wheel (208) arranged at the bottom end of the ball screw (202) and the first synchronous belt (202) Turn. 4. A material handling manipulator used in a production line according to claim 2, characterized in that: the number of the first slide rails (203) is two, each of the first slide rails (203) is There are two first sliders (209) for sliding, and the four first sliders (209) are all fixedly connected with the first base (205); the two ends of the ball screw (202) are respectively rotated and set In the bearing block (210) that is fixed on the vertical plate (201). 5. A material handling manipulator used in a production line according to claim 2, characterized in that: the first rotating mechanism (3) includes a rotating shaft (301) mounted on the first base (205) , on the first base (205) there is a second servo motor (302) for driving the rotating shaft (301) to rotate, and the second servo motor (302) passes through the third synchronous wheel (303) on its output shaft 1. The fourth synchronous wheel (304) and the second synchronous belt arranged at the bottom end of the rotating shaft (301) drive the rotating shaft (301) to rotate. 6. A material handling manipulator used in a production line according to claim 5, characterized in that: the horizontal movement mechanism (4) includes a main arm (401) with one end fixed on the top of the rotating shaft (301), respectively set The second sliding rails (402) on both sides of the main arm (401), the second sliding blocks (403) that are respectively clamped and sliding on the two second sliding rails (402), and the two second sliding blocks (403) ) is fixedly connected to the second base (404); the fifth synchronous wheel (405) and the sixth synchronous wheel (406) connected by the third synchronous belt drive are respectively rotated at both ends of the main arm (401), the The three synchronous belts are fixedly connected to the first base (205), and a third servo motor (407) is arranged at one end of the fifth synchronous wheel (405) on the main arm (401), and the output of the third servo motor (407) A seventh synchronous wheel (408) is arranged on the shaft, and the seventh synchronous wheel (408) and the fifth synchronous wheel (405) are connected through the fourth transmission belt. 7. A material handling manipulator used in a production line according to claim 6, characterized in that: the second rotating mechanism (5) includes a slave arm whose end is fixedly connected to the second base (404) (501), the slave arm (501) is a bar-shaped and hollow box body, and a fourth servo motor (502) is arranged outside the box body of the slave arm (501), and the output shaft of the fourth servo motor (502) is located on the slave arm (501) The eighth synchronous wheel (503) is arranged in the inner cavity of the arm (501), and the ninth synchronous wheel (504) is arranged at the other end of the inner cavity of the slave arm (501), and the ninth synchronous wheel (504) passes through the The five transmission belts are connected in transmission with the eighth synchronous wheel (503). 8. A material handling manipulator for production lines according to claim 7, characterized in that: the manipulator body (6) includes a drive unit (601), two claws (602) and a The torque transmission unit (603) connecting the drive unit (601) and the two talons (602); the drive unit (601) is a linear cylinder, which is located on the cylinder body (601-1) of the linear cylinder The two sides of the piston sleeve (601-2) in the cavity are respectively provided with vent holes (601-3) for connecting the air pipe, and the extended end of the piston rod (601-4) of the linear cylinder is connected with the torque transmission unit (603). The tail end of the cylinder body (601-1) of the linear cylinder is connected with the ninth synchronous wheel (504); the torque transmission unit (603) includes a connecting plate fixedly connected with the cylinder body (601-1) of the linear cylinder ( 603-1), two gears (603-2) meshing with each other are arranged on the connecting plate (603-1), and the two gears (603-2) are respectively connected with the two first connecting rods (603-3) One end of the two first connecting rods (603-3) is respectively hinged with one end of the two second connecting rods (603-4), and the other end of the two second connecting rods (603-4) is One end is respectively hinged with the extension end of the piston rod (601-4) of the linear cylinder, and a third connecting rod (603-5) is respectively fixed on the two gears (603-2). (603-5) The end away from the corresponding gear (603-2) is respectively hinged with the tails of the two talons (602), and the middle part of the two talons (602) is connected with the two fourth connecting rods (603-6) One end of the corresponding hinge, and the other ends of the two fourth connecting rods (603-6) are respectively hinged on the connecting plate (603-1). 9. A material handling manipulator used in a production line according to claim 8, characterized in that: between the first connecting rod (603-3) and the gear (603-2), the first connecting rod ( 603-3) and the second connecting rod (603-4), between the second connecting rod (603-4) and the piston rod (601-4), between the third connecting rod (603-5) and the claw ( 602), between the fourth connecting rod (603-6) and the connecting plate (603-1), and between the fourth connecting rod (603-6) and the talons (602) are all hinged by pins and pin-hole structures connection; the pin hole on the third connecting rod (603-5) is a strip hole, and is opened along the diameter direction of the corresponding gear (603-2). 10. A material handling manipulator for production lines according to claim 8, characterized in that: the cylinder body (601-1) is sandwiched between two seat plates (601-5), two The seat plate (601-5) is fixedly connected by multiple bolts; the connecting plate (603-1) is connected to the two seat plates (601-5) through two L-shaped cross-section connectors (601-6) , one side of the two connecting parts (601-6) clamps the connecting plate (603-1) and fixes it with bolts, and the other side is respectively fixed at the ends of the two seat plates (601-5) through bolts.