CN112045660A

CN112045660A - SCARA high-speed parallel manipulator

Info

Publication number: CN112045660A
Application number: CN202010874026.4A
Authority: CN
Inventors: 孙浩; 齐鹏
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-08-26
Filing date: 2020-08-26
Publication date: 2020-12-08

Abstract

The invention discloses an SCARA high-speed parallel manipulator which comprises a bottom plate and a first protective cushion, wherein a first bearing is arranged at the top of the bottom plate, a movable plate is connected inside the first bearing, a clamping plate is arranged on the outer wall of the movable plate, a first groove is formed in the bottom of the clamping plate in advance, a second groove is formed in the bottom of the first groove in advance, a clamping hole is formed in the inner wall of the second groove, a second bearing is connected to the inner wall of an action box, a movable rod penetrates through the inner portion of the second bearing, a rotating shaft penetrates through the inner portion of the movable rod, a storage box is fixed on the outer wall of the rotating shaft, a clamping groove is reserved in the inner wall of the storage box, an activated carbon layer is arranged at the bottom of a partition plate, the first protective cushion is arranged on the outer wall of the bottom plate, and a movable shaft is arranged. The invention can quickly assemble and disassemble the mechanical base, can protect articles from accidental falling, and can store spare articles and repair tools in a classified manner.

Description

SCARA high-speed parallel manipulator

Technical Field

The invention relates to the technical field of manipulators, in particular to a SCARA high-speed parallel manipulator.

Background

The manipulator is a device which can imitate certain characteristics of human fingers to complete similar actions, and can grab and carry objects or input an operation method for automatic operation according to a specific program, so that heavy labor can be solved for people, and mechanization and automation are realized.

The existing mechanical arm on the market is generally an integrated machine, when a fault occurs and a chassis needs to be repaired, a mechanical motorized device on the top needs to be disassembled, the mechanical arm is complex and difficult to install, the problem that articles fall off may occur in the process that the mechanical arm continuously transfers and extracts the articles, the periphery of the falling articles cannot be protected, and spare articles and repair tools cannot be stored in a classified mode;

in addition, a drawing box for storing files is arranged on the common SCARA high-speed parallel manipulator, and the drawing box in the SCARA high-speed parallel manipulator is deep, so that a user can not conveniently take the files in the drawing box, and the files are often damaged due to the inconvenience of taking the files. The existing drawing box is not provided with a clamp for automatically clamping files, so that the files are often disordered when the drawing box is drawn, and people are inconvenient to use.

Therefore, a SCARA high-speed parallel manipulator is provided.

Disclosure of Invention

The invention aims to provide a SCARA high-speed parallel manipulator, which can be used for quickly mounting and dismounting a mechanical base, protecting articles from accidental falling and storing spare articles and repair tools in a classified manner; on the other hand, the file can be conveniently taken, and the use is convenient; to solve the problems set forth in the background art described above.

In order to achieve the purpose, the invention provides the following technical scheme: a SCARA high-speed parallel manipulator comprises a bottom plate and a first protection pad, wherein a first bearing is arranged at the top of the bottom plate, a movable plate is connected inside the first bearing, a clamping plate is arranged on the outer wall of the movable plate, a first groove is preset at the bottom of the clamping plate, a second groove is preset at the bottom of the first groove, a clamping hole is formed in the inner wall of the second groove, an action box is installed inside the clamping hole, a second bearing is connected to the inner wall of the action box, a movable rod penetrates through the inside of the second bearing, a rotating shaft penetrates through the inside of the movable rod, a storage box is fixed on the outer wall of the rotating shaft, a clamping groove is reserved on the inner wall of the storage box, a separation plate penetrates through the inside of the clamping groove, an activated carbon layer is arranged at the bottom of the separation plate, an antifouling pad is connected to the outer wall of the activated carbon layer, the first protection pad is arranged on, and the outer wall of the first protection pad is provided with a movable shaft, and the outer wall of the movable shaft is connected with a second protection pad.

Preferably, the movable plate and the bottom plate form a rotating structure through the first bearing, the movable plate and the clamping plate form a nested structure, and the clamping plate and the bottom plate form a sliding structure through the first groove.

Preferably, the action box forms a sliding structure with the bottom plate through the second groove, and the action box and the clamping hole form a clamping structure.

Preferably, the clamping groove and the partition plate form a clamping structure, the partition plate and the central axis of the storage box coincide with each other, and the storage box forms a rotating structure through the rotating shaft and the acting box.

Preferably, the activated carbon layer is tightly attached to the antifouling pad, and the antifouling pad is bonded to the action box through glue.

Preferably, the first protection pad and the second protection pad form a turnover installation structure through the movable shaft, and the first protection pad is symmetrically arranged about the central axis of the bottom plate.

The bottom plate is internally provided with the baffle plate, the baffle plate is fixedly connected with the box plate, vertical plates are arranged on the left side and the right side of the baffle plate, the vertical plates are fixedly connected with the baffle plate, the inner side walls of the vertical plates are provided with slide rails, the slide rails are fixedly connected with the vertical plates, the outer side walls of the slide rails are provided with the pull box, the pull box is slidably connected with the slide rails, and the pull box further comprises a box plate, an inner plate and an outer plate; the box plate is vertically and fixedly connected with the inner plate and the outer plate which are parallel to each other; the front surface of the outer plate of the drawing box is provided with a card buckle, the card buckle is fixedly connected with the drawing box, a drawing handle is arranged below the card buckle, the drawing handle is fixedly connected with the drawing box, the inner side wall of the outer plate is arc-shaped, and the radian of the inner wall of the arc-shaped outer plate extends to the plate of the drawing box; the box plate is provided with a push-out module; the pushing module is used for automatically pushing the files in the drawing box out along the arc-shaped inner wall of the outer plate when the drawing box is drawn out, so that the files extend out of the upper end of the outer plate towards one end of the front surface of the outer plate.

The drawing box is located at the top of the partition plate and is in sliding connection with the partition plate.

The push-out module comprises a push plate, a pull wire, an elastic rope and two guide wheels, a section of sliding groove for the push plate to slide is formed in the upper surface of the box plate, a U-shaped wire groove is transversely formed in the middle of the box plate, one end of the U-shaped wire groove is communicated with the sliding groove, and the other end of the U-shaped wire groove penetrates through the inner plate; the guide wheels are fixed at two corners of the U-shaped wire casing; the push plate is vertical to the box plate and is in sliding connection with the box plate, and the push plate is parallel to the inner plate; one end of the pull wire is connected with the lower end of the push plate, the other end of the pull wire penetrates through the U-shaped wire groove, the two guide wheels in the U-shaped wire groove and the inner plate and then is fixedly connected to the inner wall of the box plate, one end of the elastic rope is connected with the inner plate, and the other end of the elastic rope is connected with the push plate.

Furthermore, an elastic air bag I and a baffle plate tightly attached to the upper end of the elastic air bag I are arranged on the inner plate, an extrusion rod is arranged below the elastic air bag I, and the elastic air bag I is positioned between the inner plate and the push plate; the extrusion rod is fixed on the elastic rope and is always positioned right below the first elastic air bag, and the extrusion rod is used for extruding the first elastic air bag; a second spherical-segment-shaped elastic air bag is arranged on the surface of the side, close to the outer plate, of the box plate; the second elastic air bag is communicated with the first elastic air bag through an air pipe.

Further, an arc-shaped through groove and an arc-shaped rubber plate penetrating through the arc-shaped through groove are formed in the upper portion of the inner plate; one end of the arc-shaped rubber plate is connected with an elastic pull rope, the other end of the elastic pull rope is connected with the inner wall of the box plate, and the other end of the arc-shaped rubber plate is provided with a roller; the roller is rotatably connected with the end part of the arc-shaped rubber plate.

Further, a guide plate matched with the arc-shaped rubber plate is arranged at the upper end of the arc-shaped rubber plate; one end of the guide plate is fixedly connected with the inner plate, and the guide plate faces to one side with the push plate.

Compared with the prior art, the invention has the beneficial effects that:

1. the device rotates the movable plate under the action of the first bearing, the movable plate drives the mechanical device connected with the outer wall to move to a place where an article needs to be extracted, and after the moving is finished, the clamping plate slides on the top of the bottom plate under the action of the first groove, so that the clamping plate is clamped and nested to the outer wall of the movable plate and can be fixed by using the screw rod, the grabbing position of the manipulator can be fixed, and when the manipulator is damaged, the base can be quickly disassembled and repaired;

2. the device disclosed by the invention has the advantages that the storage box is pulled upwards, so that the storage box drives the movable rod to rotate under the action of the second bearing under the action of the rotating shaft, the partition plates are taken out of the clamping grooves for sorting, and the activated carbon layer is placed at the bottom of the storage box, so that the problem that an internal iron tool is corroded can be prevented;

3. according to the device, the first protection pad can be placed on the outer wall of the bottom plate in a fitting manner, the second protection pad is rotated under the action of the movable shaft, and the first protection pad and the second protection pad surround the outer wall of the bottom plate, so that when an accident of falling objects occurs in the process of transferring the objects by the manipulator, the protection pad can surround the objects, and the objects are prevented from being damaged and people are prevented from being injured.

4. According to the invention, the push-out module is arranged in the pull-out box, so that when the pull-out box is pulled out by a half, the push-out module can automatically push out the file on the bottom plate of the pull-out box towards the outer plate, and one end of the file slides out of a part of the arc-shaped inner wall of the outer plate, so that a user can take out the file conveniently, and the file is prevented from being damaged when being taken out.

5. According to the invention, the drawing box, the push-out module, the elastic air bag I, the extrusion rod and the elastic air bag II are functionally related to each other, so that the elastic air bag II is inflated and expanded after the drawing box is drawn by a half, and the push plate slides more smoothly along the arc-shaped inner wall of the outer plate when pushing a file, thereby improving the thoroughness of the problem solved by the invention and optimizing the basic scheme of the invention.

Drawings

FIG. 1 is a schematic front perspective view of the present invention;

FIG. 2 is a schematic front sectional view of the present invention;

FIG. 3 is a schematic top view of a first protection pad of the present invention.

FIG. 4 is a front view of the drawer of the present invention;

FIG. 5 is a schematic view of the interior of the drawer box of the present invention;

in the figure: 1. a base plate; 2. a partition plate; 21. a vertical plate; 22. a slide rail; 3. drawing the box; 31. a card buckle; 32. a pull handle; 34. a plate shaft; 35. cover plate handles, 34, boxboards; 35. an inner plate; 36. an outer plate; 4. a push-out module; 41. pushing the plate; 42. a pull wire; 43. an elastic cord; 341. a U-shaped wire slot; 5. a first elastic air bag; 51. a baffle plate; 52. an extrusion stem; 53. a second elastic air bag; 6. an arc-shaped rubber plate; 61. a roller; 7. a guide plate; 9. a second bearing; 10. a movable rod; 11. a rotating shaft; 12. a storage box; 13. a card slot; 14. a partition plate; 15. an activated carbon layer; 16. a soil resistant pad; 17. a first protective pad; 18. a movable shaft; 19. a second protective pad; 81. a first bearing; 82. a movable plate; 83. clamping a plate; 84. a first groove; 85. a second groove; 86. a clamping hole; 87. and (4) an action box.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1 to 5, the present invention provides a technical solution: a SCARA high-speed parallel manipulator comprises a bottom plate 1, a first bearing 81, a movable plate 82, a clamping plate 83, a first groove 84, a second groove 85, a clamping hole 86, an action box 87, a second bearing 9, a movable rod 10, a rotating shaft 11, a storage box 12, a clamping groove 13, a separation plate 14, an activated carbon layer 15, an anti-fouling pad 16, a first protection pad 17, a movable shaft 18 and a second protection pad 19, wherein the top of the bottom plate 1 is provided with the first bearing 81, the inside of the first bearing 81 is connected with the movable plate 82, the outer wall of the movable plate 82 is provided with the clamping plate 83, the bottom of the clamping plate 83 is preset with the first groove 84, the bottom of the first groove 84 is preset with the second groove 85, the inner wall of the second groove 85 is provided with the clamping hole 86, the action box 87 is installed inside the clamping hole 86, the inner wall of the action box 87 is connected with the second bearing 9, the movable rod 10 penetrates through the inside of the second bearing 9, and the rotating shaft 11 penetrates through the, the outer wall of pivot 11 is fixed with deposits case 12, and the inner wall of depositing case 12 is reserved has draw-in groove 13 to draw-in groove 13's inside has run through division board 14, and division board 14's bottom is provided with activated carbon layer 15, and activated carbon layer 15's outer wall is connected with antifouling pad 16, and first protection pad 17 sets up in the outer wall of bottom plate 1, and the outer wall of first protection pad 17 is provided with loose axle 18, and the outer wall connection of loose axle 18 has the second to protect and fills up 19.

Further, the movable plate 82 and the bottom plate 1 form a rotating structure through the first bearing 81, the movable plate 82 and the catch plate 83 form a nested structure, and the catch plate 83 and the bottom plate 1 form a sliding structure through the first groove 84.

Through adopting above-mentioned technical scheme, the adjustment of angle is shifted can be carried out to fly leaf 82 under the effect of first bearing 81, can use cardboard 83 to fix the outer wall of fly leaf 82, further fixes the angle of fly leaf 82.

Furthermore, the action box 87 and the bottom plate 1 form a sliding structure through the second groove 85, and the action box 87 and the clamping hole 86 form a clamping structure.

Through adopting above-mentioned technical scheme, can slide out the inside of bottom plate 1 through second recess 85 with effect case 87 and carry out the arrangement of instrument, the lug of effect case 87 bottom can carry out the block with card hole 86, avoids rocking of effect case 87.

Furthermore, the clamping groove 13 and the partition plate 14 form a clamping structure, the partition plate 14 coincides with the central axis of the storage box 12, and the storage box 12 and the action box 87 form a rotating structure through the rotating shaft 11.

Through adopting above-mentioned technical scheme, division board 14 can be placed in the inside of draw-in groove 13 and deposit the inside space classification of case 12, can rotate under the effect of pivot 11 and deposit case 12 and carry out the arrangement of instrument.

Further, the activated carbon layer 15 and the anti-fouling pad 16 are tightly attached, and the anti-fouling pad 16 and the action box 87 are bonded by glue.

Through adopting above-mentioned technical scheme, place activated carbon layer 15 in depositing case 12 bottom to the problem of inside iron instrument corrosion can be prevented.

Further, the first protection pad 17 and the second protection pad 19 form a turnover installation structure through the movable shaft 18, and the first protection pad 17 is symmetrically arranged about the central axis of the bottom plate 1.

Through adopting above-mentioned technical scheme, place the laminating of first protection pad 17 in the outer wall of bottom plate 1, rotate second protection pad 19 under the effect of loose axle 18, make first protection pad 17 and second protection pad 19 surround the outer wall of bottom plate 1, can further prevent that article from dropping.

Further, the partition board 2 is arranged inside the bottom board 1, the partition board 2 is fixedly connected with the bottom board 1, vertical boards 21 are arranged on the left side and the right side of the partition board 2, the vertical boards 21 are fixedly connected with the partition board 2, slide rails 22 are arranged on the inner side walls of the vertical boards 21, the slide rails 22 are fixedly connected with the vertical boards 21, the outer side walls of the slide rails 22 are provided with the drawing box 3, the drawing box 3 is slidably connected with the slide rails 22, and the drawing box 3 further comprises a box board 34, an inner board 35 and an outer board 36; the box plate 34 is vertically and fixedly connected with an inner plate 35 and an outer plate 36 which are parallel to each other; a card buckle 31 is arranged on the front surface of an outer plate 36 of the drawing box 3, the card buckle 31 is fixedly connected with the drawing box 3, a drawing handle 32 is arranged below the card buckle 31, the drawing handle 32 is fixedly connected with the drawing box 3, the inner side wall of the outer plate 36 is arc-shaped, and the radian of the inner wall of the arc-shaped outer plate 36 extends to a box plate 34 of the drawing box 3; the box plate 34 is provided with a push-out module 4; the push-out module 4 is used for automatically pushing out the files in the drawing box 3 along the arc-shaped inner wall of the outer plate 36 when the drawing box 3 is drawn out, so that the files extend out of the upper end of the outer plate 36 towards one end of the front surface of the outer plate 36. During the use, will open upper cabinet door 14, pulling pull case 3, at this moment, pull case 3 will slide on slide rail 22, and after pull case 3 was pulled out half, release module 4 can be automatic with the file of 34 on the boxboard of pull case 3 to planking 36 direction release, the one end of file will be along planking 36 arc shape inner wall roll-off part of shape, thereby the person of facilitating the use takes out the file, after the user used the file, manually put back the file in pull case 3, push pull case 3 into, accomplish putting back of file.

Further, the drawing box 3 is located at the top of the partition board 2, and the drawing box 3 is connected with the partition board 2 in a sliding mode.

Further, the push-out module 4 includes a push plate 41, a pull wire 42, an elastic rope 43 and two guide wheels, the upper surface of the box plate 34 is provided with a sliding groove for the push plate 41 to slide, the middle part of the box plate 34 is transversely provided with a U-shaped wire slot 341, one end of the U-shaped wire slot 341 is communicated with the sliding groove, and the other end of the U-shaped wire slot 341 penetrates through the inner plate 35; the guide wheels are fixed at two corners of the U-shaped wire groove 341; the push plate 41 is perpendicular to the box plate 34 and is connected with the box plate 34 in a sliding mode, and the push plate 41 is parallel to the inner plate 35; one end of the stay wire 42 is connected with the lower end of the push plate 41, the other end of the stay wire 42 passes through the U-shaped slot 341, the two guide wheels in the U-shaped slot 341 and the inner plate 35 and then is fixedly connected to the inner wall of the bottom plate 1, one end of the elastic rope 43 is connected with the inner plate 35, and the other end of the elastic rope 43 is connected with the push plate 41. When in use, after the pull-out box 3 is pulled out by half manually, due to the limitation of the length of the pull-out wire 42, the pull-out wire 42 is straightened by the two guide wheels in the pull-out box 3 which is pulled outwards, and the pull-out wire 42 pulls the push plate 41 to slide towards the direction of the outer plate 36 on the box plate 34, and because the push plate 41 is positioned at one end of a document, so that the sliding push plate 41 pushes the document to be pushed outwardly along the arc-shaped inner wall of the outer plate 36, thereby realizing the situation that the documents in the drawing box 3 are automatically pushed out after the drawing box 3 is pulled to pass through half, facilitating the user to take out the documents in the drawing box 3, when the user returns the drawing box 3 after the user uses the document to put back the drawing box 3, the pull wire 42 is loosened, the push plate 41 automatically returns to reset under the action of the elastic rope 43, the length of the pull wire 42 can be adjusted according to actual requirements, so that the document is pushed out after the drawing box 3 is pulled out of a proper position.

Furthermore, an elastic air bag I5 and a baffle 51 tightly attached to the upper end of the elastic air bag I5 are arranged on the inner plate 35, an extrusion rod 52 is arranged below the elastic air bag I5, and the elastic air bag I5 is positioned between the inner plate 35 and the push plate 41; the extrusion rod 52 is fixed on the elastic rope 43, the extrusion rod 52 is always positioned right below the elastic air bag I5, and the extrusion rod 52 is used for extruding the elastic air bag I5; a second spherical-segment-shaped elastic air bag 53 is arranged on the surface of the box plate 34 close to one side of the outer plate 36; the second elastic air bag 53 is communicated with the first elastic air bag 5 through an air pipe. When the drawing box is used, when the pushing plate 41 slides towards the direction of the outer plate 36, the elastic rope 43 is gradually straightened, so that the first 5 of the box elastic air bags is gradually closed by the extrusion rod 52 positioned under the first 5 of the elastic air bags and the first 5 of the elastic air bags is extruded, the first 5 of the elastic air bags is inflated towards the second 53 of the elastic air bags, the second 53 of the sphere-shaped elastic air bags is smaller than a hemisphere, the second 53 of the sphere-shaped elastic air bags jacks up one end, located in the direction of the outer plate 36, of a file, so that the file can slide outwards along the arc-shaped inner wall of the outer plate 36 more smoothly, the file is prevented from being clamped at the connecting part of the outer plate 36 and the box plate 34, the second 53 of the elastic air bags is arranged, the length of the arc-shaped inner wall of the outer plate 36 along the box plate 34 can.

Further, an arc-shaped through groove and an arc-shaped rubber plate 6 penetrating through the arc-shaped through groove are arranged at the upper part of the inner plate 35; one end of the arc-shaped rubber plate 6 is connected with an elastic pull rope, the other end of the elastic pull rope is connected with the inner wall of the bottom plate 1, and the other end of the arc-shaped rubber plate 6 is provided with a roller 61; the roller 61 is rotatably connected to the end of the arc-shaped rubber sheet 6. During the use, when pushing pull case 3 inwards, the one end of arc rubber slab 6 can support on 1 inner wall of bottom plate, thereby make arc rubber slab 6 slide along the arc logical groove, the one end that is provided with roller 61 on the arc rubber slab 6 can the downward sloping removal, thereby realize that arc rubber slab 6 extrudees the file in the pull case 3, arc rubber slab 6 presss from both sides the file with the cooperation of boxboard 34, roller 61 can roll on the file surface simultaneously, avoid having great frictional force between arc rubber slab 6 and the file, thereby avoided the file by the fish tail, when pull case 3 is by outside pulling, arc rubber slab 6 resets and unclamps the file under the effect of elasticity stay cord.

Further, a guide plate 7 matched with the arc-shaped rubber plate 6 is arranged at the upper end of the arc-shaped rubber plate 6; one end of the guide plate 7 is fixedly connected with the inner plate 35, and the guide plate 7 faces to one side with the push plate 41. During the use, deflector 7 is used for the arc rubber slab 6 to lead when slope slides towards boxboard 34, is favorable to the better and boxboard 34 cooperation centre gripping file of arc rubber slab 6, avoids the file to become in disorder and has improved the inside volume of depositing the file of pull case 3 when pull case 3.

Furthermore, the gas extruded by the elastic air bag I5 in the scheme can meet the use requirement of the elastic air bag II 53, and the gas in the elastic air bag II 53 can be supplied by an external gas source; a channel can be arranged in the inner plate 35, so that an air pipe between the second elastic air bag 53 and the first elastic air bag 5 can be installed through the channel.

The working principle is as follows: firstly, the movable plate 82 is rotated under the action of the first bearing 81, the movable plate 82 drives a mechanical device connected with the outer wall to move to a place where articles need to be taken, after the articles are transferred, the clamping plate 83 slides on the top of the bottom plate 1 under the action of the first groove 84, so that the clamping plate 83 is clamped and embedded on the outer wall of the movable plate 82, the movable plate can be fixed by using a screw rod, when a containing space in the bottom plate 1 needs to be subjected to tool classification, the storage box 12 is pulled upwards, the storage box 12 drives the movable rod 10 to rotate under the action of the second bearing 9 under the action of the rotating shaft 11, the partition plates 14 are taken out of the clamping grooves 13 for classification, the activated carbon layer 15 is placed at the bottom of the storage box 12, the problem of corrosion of internal iron tools can be prevented, the antifouling pad 16 can prevent materials in the activated carbon layer 15 from making the inside of the action box 87 difficult to clean, the action box 87 is pulled outwards, so that the action box 87 slides out of the bottom plate 1 through the second groove 85, after the tool is placed, the action box 87 slides into the second groove 85, and when a lug at the bottom of the action box 87 is clamped into the clamping hole 86 in a sliding manner, the action box 87 is fixed;

can place the laminating of first protection pad 17 in the outer wall of bottom plate 1, rotate second protection pad 19 under the effect of loose axle 18, make first protection pad 17 and second protection pad 19 surround the outer wall of bottom plate 1, further prevent the problem that article dropped. Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. A SCARA high-speed parallel manipulator, includes bottom plate (1) and first protection pad (17), its characterized in that: the top of the bottom plate (1) is provided with a first bearing (81), a movable plate (82) is connected inside the first bearing (81), a clamping plate (83) is arranged on the outer wall of the movable plate (82), a first groove (84) is pre-arranged at the bottom of the clamping plate (83), a second groove (85) is pre-arranged at the bottom of the first groove (84), a clamping hole (86) is formed in the inner wall of the second groove (85), an action box (87) is installed inside the clamping hole (86), a second bearing (9) is connected to the inner wall of the action box (87), a movable rod (10) penetrates through the inside of the second bearing (9), a rotating shaft (11) penetrates through the inside of the movable rod (10), a storage box (12) is fixed on the outer wall of the rotating shaft (11), a clamping groove (13) is pre-arranged on the inner wall of the storage box (12), and a partition plate (14) penetrates through the inside of the clamping groove (13), the bottom of division board (14) is provided with activated carbon layer (15), and the outer wall connection of activated carbon layer (15) has antifouling pad (16), first protection pad (17) set up in the outer wall of bottom plate (1), and the outer wall of first protection pad (17) is provided with loose axle (18) to the outer wall connection of loose axle (18) has second protection pad (19).

2. A SCARA high-speed parallel robot according to claim 1, characterized in that: the movable plate (82) and the bottom plate (1) form a rotating structure through the first bearing (81), the movable plate (82) and the clamping plate (83) form a nested structure, and the clamping plate (83) and the bottom plate (1) form a sliding structure through the first groove (84).

3. A SCARA high-speed parallel robot according to claim 1, characterized in that: the action box (87) and the bottom plate (1) form a sliding structure through the second groove (85), and the action box (87) and the clamping hole (86) form a clamping structure.

4. A SCARA high-speed parallel robot according to claim 1, characterized in that: the clamping groove (13) and the partition plate (14) form a clamping structure, the partition plate (14) coincides with the central axis of the storage box (12), and the storage box (12) and the action box (87) form a rotating structure through the rotating shaft (11).

5. A SCARA high-speed parallel robot according to claim 1, characterized in that: the activated carbon layer (15) is tightly attached to the antifouling pad (16), and the antifouling pad (16) is bonded to the action box (87) through glue.

6. A SCARA high-speed parallel robot according to claim 1, characterized in that: the first protection pad (17) and the second protection pad (19) form a turnover mounting structure through a movable shaft (18), and the first protection pad (17) is symmetrically arranged relative to the central axis of the bottom plate (1).

7. A SCARA high-speed parallel robot according to claim 1, characterized in that: the inner part of the bottom plate (1) is provided with the partition plate (2), the partition plate (2) is fixedly connected with the bottom plate (1), vertical plates (21) are arranged on the left side and the right side of the partition plate (2), the vertical plates (21) are fixedly connected with the partition plate (2), slide rails (22) are arranged on the inner side walls of the vertical plates (21), the slide rails (22) are fixedly connected with the vertical plates (21), the outer side walls of the slide rails (22) are provided with drawing boxes (3), the drawing boxes (3) are slidably connected with the slide rails (22), and each drawing box (3) further comprises a box plate (34), an inner plate (35) and an outer plate (36); the box plate (34) is vertically and fixedly connected with an inner plate (35) and an outer plate (36) which are parallel to each other; a card buckle (31) is arranged on the front surface of an outer plate (36) of the drawing box (3), the card buckle (31) is fixedly connected with the drawing box (3), a drawing handle (32) is arranged below the card buckle (31), the drawing handle (32) is fixedly connected with the drawing box (3), the inner side wall of the outer plate (36) is arc-shaped, and the radian of the inner wall of the arc-shaped outer plate (36) extends to a box plate (34) of the drawing box (3); the box plate (34) is provided with a push-out module (4); the push-out module (4) is used for automatically pushing out the files in the pull-out box (3) along the arc-shaped inner wall of the outer plate (36) when the pull-out box (3) is pulled out, so that the files extend out of the upper end of the outer plate (36) towards one end of the front surface of the outer plate (36); the drawing box (3) is located at the top of the partition plate (2), and the drawing box (3) is connected with the partition plate (2) in a sliding mode.

8. A SCARA high-speed parallel robot according to claim 7, characterized in that: the push-out module (4) comprises a push plate (41), a pull wire (42), an elastic rope (43) and two guide wheels, wherein a sliding groove for the push plate (41) to slide is formed in the upper surface of the box plate (34), a U-shaped wire groove (341) is transversely formed in the middle of the box plate (34), one end of the U-shaped wire groove (341) is communicated with the sliding groove, and the other end of the U-shaped wire groove (341) penetrates through the inner plate (35); the guide wheels are fixed at two corners of the U-shaped wire casing (341); the push plate (41) is vertical to the box plate (34) and is connected with the box plate (34) in a sliding way, and the push plate (41) is parallel to the inner plate (35); one end of a pull wire (42) is connected with the lower end of the push plate (41), the other end of the pull wire (42) penetrates through the U-shaped wire groove (341), two guide wheels in the U-shaped wire groove (341) and the inner plate (35) and then is fixedly connected to the inner wall of the bottom plate (1), one end of the elastic rope (43) is connected with the inner plate (35), and the other end of the elastic rope (43) is connected with the push plate (41).

9. A SCARA high-speed parallel robot according to claim 8, characterized in that: the inner plate (35) is provided with a first elastic air bag (5) and a baffle (51) tightly attached to the upper end of the first elastic air bag (5), an extrusion rod (52) is arranged below the first elastic air bag (5), and the first elastic air bag (5) is positioned between the inner plate (35) and the push plate (41); the extrusion rod (52) is fixed on the elastic rope (43), the extrusion rod (52) is always positioned right below the elastic air bag I (5), and the extrusion rod (52) is used for extruding the elastic air bag I (5); a second spherical-segment-shaped elastic air bag (53) is arranged on the surface of one side, close to the outer plate (36), of the box plate (34); the second elastic air bag (53) is communicated with the first elastic air bag (5) through an air pipe.

10. A SCARA high-speed parallel robot according to claim 9, characterized in that: the upper part of the inner plate (35) is provided with an arc-shaped through groove and an arc-shaped rubber plate (6) penetrating through the arc-shaped through groove; one end of the arc-shaped rubber plate (6) is connected with an elastic pull rope, the other end of the elastic pull rope is connected with the inner wall of the bottom plate (1), and the other end of the arc-shaped rubber plate (6) is provided with a roller (61); the roller (61) is rotationally connected with the end part of the arc-shaped rubber plate (6); the upper end of the arc-shaped rubber plate (6) is provided with a guide plate (7) matched with the arc-shaped rubber plate (6); one end of the guide plate (7) is fixedly connected with the inner plate (35) and the guide plate (7) faces to one side of the push plate (41).