Wheel hub carrying manipulator

A wheel hub carrying manipulator, comprising:

• a stand column which is fixed in the vertical direction and a forearm driving device, wherein the forearm driving device is respectively hinged to an upper cantilever and a lower cantilever which are hinged to the stand column from top to bottom in the vertical direction;
• a cantilever driving device capable of driving the upper cantilever and/or the lower cantilever to rotate around the stand column in the up-down direction;
• a forearm lever, wherein one end of the forearm lever is connected with the forearm driving device, the other end of the forearm lever is connected with a claw hand driving device, and the forearm lever can stretch, retract and rotate under the driving effect of the forearm driving device;
• and
• a claw hand device, wherein the claw hand device comprises:
• a claw hand fixing component and a claw hand assembly, the claw hand fixing component is fixedly connected to the forearm lever, and the claw hand assembly is hinged to the claw hand fixing component;
• and an upper portion of the claw hand assembly is hinged to one end of a connecting rod, the other end of the connecting rod is hinged to the claw hand driving device, and the claw hand driving device can drive the claw hand assembly to clamp a wheel hub by supporting the inner wall of the wheel hub and release the wheel hub through the connecting rod,
• wherein the claw hand assembly includes:
• a first connecting rod,
• a second connecting rod,
• a third connecting rod,
• a fourth connecting rod, and
• a fifth connecting rod,
• the first connecting rod is successively hinged to the connecting rod, the claw hand fixing component, the third connecting rod and the fourth connecting rod from top to bottom,
• the second connecting rod is positioned on the inner side of the first connecting rod, an upper portion and a lower portion of the second connecting rod are successively hinged to the fixing component and the third connecting rod, and
• the fifth connecting rod is positioned on the inner side of the second connecting rod, and is successively hinged to the third connecting rod and the fourth connecting rod from top to bottom,
• the first connecting rod, the second connecting rod, the third connecting rod and the claw hand fixing component form a first four-rod linkage mechanism,
• the first connecting rod, the third connecting rod, the fourth connecting rod and the fifth connecting rod form a second four-rod linkage mechanism,
• the claw hand driving device drives the first connecting rod to rotate around the claw hand fixing component through the connecting rod so as to drive the second four-rod linkage mechanism to move horizontally and stably.