Flexible clamping jaw for spacer mounting robot and use method of flexible clamping jaw

Abstract

The invention provides a flexible clamping jaw for a spacer mounting robot and a using method of the flexible clamping jaw, and relates to the technical field of spacer mounting, the flexible clamping jaw comprises a mounting base, a sliding base, a rotating device, a rotating joint, power equipment and a pressing clamping jaw, the mounting base is mounted at the output end of the mounting robot, and the sliding base is slidably connected to the mounting base; the input end of the rotating device is connected to the sliding base, the output end of the rotating device is connected to the rotating connector, one side of the rotating connector is connected with the power equipment, and the pressing clamping jaw is connected to the output end of the power equipment and used for clamping or disengaging from the chuck. According to the spacer clamping device, the rotating and sliding component is connected with the pressing clamping jaw, the spacer clamping device has multiple degrees of freedom and can clamp a clamping head of a spacer from all directions, the pressing clamping jaw can be directly moved to a deviation position through the rotating and sliding component, and the clamping effect is good; the pressing clamping jaw can clamp the chuck, and after the chuck is fixedly connected with the split conductor, the chuck can be quickly separated from the split conductor through power equipment, so that the installation operation is relatively flexible.

Description

Technical Field

[0001] The invention relates to the technical field of spacer bar installation, and in particular to a flexible clamping claw used for a spacer bar installation robot and a use method thereof. Background Art

[0002] The requirement for the installation of spacer bars is that the wire clamp of the spacer bars needs to have sufficient gripping force and is not allowed to loosen during long-term operation. Therefore, the spacer bar clamp and the wire need to be locked during installation, and the force required to lock the spacer bar clamp and the wire is very large. For example, Chinese patent CN202411173725.0 discloses a spacer bar installation robot, including a frame, a storage mechanism, a clamping mechanism, a wire clamping mechanism and a locking mechanism. The locking mechanism mentioned is used to grasp and push the self-locking of the spacer bars, but the locking mechanism can only be clamped at the position specified by the robot when in use. If the position of the robot fixing the spacer bar is offset, the clamping will fail when locking the spacer bar claw, and if an offset occurs during the clamping of the clamp, the mechanism will be stuck. The strong clamping force will damage its own structure, causing the robot to fail to install the spacer bar. Summary of the invention

[0003] The purpose of the present invention is to overcome the defects and problems of poor clamping effect and poor structural stability of the spacer bar in the prior art, and to provide a flexible clamping claw for a spacer bar installation robot with good clamping effect and good structural stability and a method of using the same.

[0004] To achieve the above objectives, the technical solution of the present invention is: a flexible clamp for a spacer rod installation robot, comprising a mounting seat, a sliding seat, a rotating device, a rotating joint, a power device, and a clamping clamp, wherein the mounting seat is installed at the output end of the installation robot, the sliding seat is slidably connected to the mounting seat along the length direction of the mounting seat, the input end of the rotating device is connected to the sliding seat, the output end of the rotating device is connected to the rotating joint, one side of the rotating joint is connected to the power device, the clamping clamp is connected to the output end of the power device, and the clamping clamp is used to clamp the chuck of the spacer rod.

[0005] The mounting seat includes a driving motor, a mounting plate, a guide plate, a connecting plate, a lead screw, a slide plate, a slide rail, and a slider. The guide plate is in an inverted U shape, and the mounting plate and the connecting plate are respectively connected to the left and right sides of the guide plate. The driving motor is mounted on the mounting plate, and the output shaft of the driving motor is connected to a driving pulley after passing through the mounting plate. One end of the lead screw is rotatably connected to the connecting plate, and the other end of the lead screw is connected to a driven pulley after passing through the mounting plate. The outer circumferential surfaces of the driving pulley and the driven pulley are wrapped with a synchronous belt, the inner top wall of the guide plate is connected to a slide rail, and a slider is slidably connected to the slide rail, and the outer circumferential surface of the lead screw is threadedly connected to a lead screw nut, one side of the slide plate is connected to the lead screw nut and the slider, and the sliding seat is connected to the other side of the slide plate.

[0006] The rotating device comprises a first rotating plate, a rotating motor, and a rotating assembly, wherein the rotating motor is mounted on the sliding seat, the output shaft of the rotating motor passes through the sliding seat and is connected to one end of the first rotating plate, the input end of the rotating assembly is connected to the other end of the first rotating plate, and the output end of the rotating assembly is connected to the rotating joint;

[0007] The rotary assembly is used to rotate itself in the circumferential direction along the other end of the first rotary plate, driving the rotary joint to rotate along its own axis.

[0008] A mounting shell is provided between the first rotating plate and the rotating motor, a bearing is connected inside the mounting shell, an inner ring of the bearing is sleeved on the output shaft of the rotating motor, a rotating disk is connected to the end of the output shaft of the rotating motor, the rotating disk is rotatably connected to the mounting shell, and an outer side of the rotating disk is connected to one side of the first rotating plate.

[0009] The rotating assembly includes a second rotating plate, a protective cover, a first rotating motor, a second rotating motor, and a driver. The protective cover is connected to one side of the second rotating plate. The first rotating motor, the second rotating motor, and the driver are located in the protective cover. The first rotating motor is installed at one end of the second rotating plate. The output shaft of the first rotating motor passes through the second rotating plate and is connected to the other end of the first rotating plate. The second rotating motor is installed at the other end of the second rotating plate. The output shaft of the second rotating motor passes through the second rotating plate and is connected to the rotating joint. The driver is installed on one side of the second rotating plate and is connected to the first rotating motor and the second rotating motor.

[0010] A first housing is provided between the first rotary motor and the second rotating plate, a first turntable is provided between the first rotating plate and the second rotating plate, the first turntable is fixedly connected to the first rotating plate, the second rotating plate is rotatably connected to the outer circumferential surface of the first turntable, the first housing is connected to the second rotating plate, a first connecting block is connected inside the first housing, and the first connecting block is connected to the output shaft of the first rotary motor through a bearing.

[0011] A second housing is provided between the second rotary motor and the second rotating plate, a rotating seat is rotatably connected inside the second rotating plate, one end of the rotating seat is connected to the rotary joint, and the other end of the rotating seat is connected to a second connecting block, the second connecting block is connected to the output shaft of the second rotary motor through a bearing, and the second connecting block is rotatably connected inside the second housing.

[0012] The rotary joint includes a central axis, a base, a buffer block, and a connecting block. One side of the base is connected to the output end of the rotating device, and the other side of the base is connected to a rolling bearing. One end face of the connecting block is connected to the inner ring of the rolling bearing. A mounting groove is provided in the connecting block, and a plurality of clips are connected to the inner side wall of the mounting groove at intervals. The outer peripheral surface of the central axis is connected to protrusions corresponding to the plurality of clips one by one. One side of the buffer block is located between two adjacent clips, and the other side of the buffer block is located between two adjacent protrusions. One end of the central axis of the buffer block is threadedly connected to the base by a bolt, and the other end face of the connecting block is connected to the power equipment.

[0013] The clamping jaw includes a clamping jaw and a clamping block. The inner wall of the clamping jaw is connected to a slideway. A slide groove matching the slideway is opened on one side of the clamping block. The clamping block is connected to the output end of the power equipment, and the clamping block is slidably connected to the slideway.

[0014] A method for using a flexible clamp for a spacer rod installation robot, the method comprising the following steps:

[0015] First, place the spacer on the split conductor through the installation robot, and then control the clamping jaw to rotate to the clamping position through the rotating device, and then control the sliding seat to slide on the mounting seat to move the clamping jaw to the chuck of the spacer, and then control the power equipment to drive the clamping jaw to clamp the chuck so that the chuck is connected and fixed to one of the conductors of the split conductor, and then control the power equipment to make the clamping jaw detach from the chuck, and at the same time control the clamping jaw to rotate to the other chuck through the rotating device, and repeat the above operations until all the chucks of the spacer are connected and fixed to each conductor of the split conductor one by one.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. In the flexible clamping jaws and the use method of the spacer bar installation robot of the present invention, the clamping jaws are connected by rotating and sliding parts, and have multiple degrees of freedom, and can clamp the clamping head of the spacer bar from all directions. When the position of the robot fixing the spacer bar is offset, the clamping jaws can be directly moved to the offset position by rotating and sliding parts, and the clamping effect is good; the clamping jaws can clamp the clamping head, and after the clamping head is connected and fixed to the split conductor, the clamping head can be quickly detached by the power equipment, and the installation operation is more flexible. Therefore, the present invention has good clamping effect and good structural stability.

[0018] 2. In the flexible clamping claw for the spacer bar installation robot and the use method thereof, the synchronous belt transmission and the screw transmission are adopted, and the slide plate can be driven to slide back and forth by the motor; the first rotating plate and the second rotating plate are provided, and the rotation with multiple degrees of freedom can be realized by adopting multiple rotating joints; the rotation process is made more stable by providing the bearing; the clamping chuck is realized by sliding the pressing block on the clamping claw, and it can be applied to spacer bars of various models and multiple splits. Therefore, the present invention has a wide range of applications and good structural stability.

[0019] 3. In the flexible clamping jaws for the spacer bar installation robot and the use method thereof of the present invention, a plurality of buffer blocks are arranged in the rotary joint, which can allow the clamping jaws to realize rotation, up and down, left and right, and other multi-dimensional directional displacement within a certain range, and play the role of self-regulation and buffering unloading when clamping the spacer bar chuck, and can protect the clamping jaws from being damaged even when a hard collision occurs. Therefore, the present invention has high reliability and good structural stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a structural schematic diagram of the present invention.

[0021] Figure 2 It is a structural schematic diagram of the present invention in working state.

[0022] Figure 3 It is a structural schematic diagram of the mounting seat in the present invention.

[0023] Figure 4 It is a structural schematic diagram of the mounting seat in the present invention.

[0024] Figure 5 It is a structural schematic diagram of the sliding seat in the present invention.

[0025] Figure 6 It is a cross-sectional schematic diagram of the first rotating plate and the rotating motor in the present invention.

[0026] Figure 7It is a cross-sectional schematic diagram of the rotary assembly in the present invention.

[0027] Figure 8 It is a cross-sectional schematic diagram of the rotary joint in the present invention.

[0028] Fig. 9 It is a structural schematic diagram of the connecting block and the buffer block in the present invention.

[0029] Fig.10 It is a structural schematic diagram of the buffer block and the central axis in the present invention.

[0030] Fig.11 It is a structural schematic diagram of the power device and the clamping jaws in the present invention.

[0031] In the figure: split conductor 1, spacer rod 2, chuck 3, mounting seat 4, drive motor 41, mounting plate 42, guide plate 43, connecting plate 44, lead screw 45, slide plate 46, slide rail 47, slide block 48, lead screw nut 49, active pulley 410, driven pulley 411, synchronous belt 412, sliding seat 5, rotating device 6, first rotating plate 61, rotating motor 62, rotating assembly 63, second rotating plate 631, protective cover 632, first rotating motor 633, second rotating motor Machine 634, first shell 635, first turntable 636, first connecting block 637, second shell 638, rotating seat 639, second connecting block 630, driver 64, mounting shell 65, rotating disk 66, bearing 67, rotating joint 7, base 71, rolling bearing 72, connecting block 73, mounting groove 74, clamping strip 75, center axis 76, protrusion 77, bolt 78, buffer block 79, power device 8, clamping jaw 9, clamping jaw 91, clamping block 92, slideway 93. DETAILED DESCRIPTION

[0032] The present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0033] Embodiment 1:

[0034] See also Figure 1 to Figure 2 A flexible clamp for a spacer rod installation robot, comprising a mounting seat 4, a sliding seat 5, a rotating device 6, a rotating joint 7, a power device 8, and a clamping clamp 9. The mounting seat 4 is installed at the output end of the installation robot, the sliding seat 5 is slidably connected to the mounting seat 4 along the length direction of the mounting seat 4, the input end of the rotating device 6 is connected to the sliding seat 5, the output end of the rotating device 6 is connected to the rotating joint 7, one side of the rotating joint 7 is connected to the power device 8, the clamping clamp 9 is connected to the output end of the power device 8, and the clamping clamp 9 is used to clamp the chuck 3 of the spacer rod 2.

[0035] A method for using a flexible clamp for a spacer rod installation robot, the method comprising the following steps:

[0036] First, the spacer bar 2 is placed on the split conductor 1 through the installation robot, and then the clamping jaw 9 is controlled to rotate to the clamping position through the rotating device 6, and then the sliding seat 5 is controlled to slide on the mounting seat 4 to move the clamping jaw 9 to the chuck 3 of the spacer bar 2, and then the power device 8 is controlled to drive the clamping jaw 9 to clamp the chuck 3 so that the chuck 3 is connected and fixed to one of the conductors of the split conductor 1, and then the power device 8 is controlled to make the clamping jaw 9 detach from the chuck 3, and at the same time, the clamping jaw 9 is controlled to rotate to another chuck 3 through the rotating device 6, and the above operation is repeated until all the chucks 3 of the spacer bar 2 are connected and fixed to each conductor of the split conductor 1 one by one.

[0037] Embodiment 2:

[0038] The basic content is the same as that of Example 1, except that:

[0039] See also Figure 3 and Figure 4 The mounting seat 4 includes a driving motor 41, a mounting plate 42, a guide plate 43, a connecting plate 44, a lead screw 45, a slide plate 46, and a slider 48. The guide plate 43 is in an inverted U shape. The mounting plate 42 and the connecting plate 44 are respectively connected to the left and right sides of the guide plate 43. The driving motor 41 is mounted on the mounting plate 42. The output shaft of the driving motor 41 passes through the mounting plate 42 and is connected to a driving pulley 410. One end of the lead screw 45 is rotatably connected to the connecting plate 44. The other end of the lead screw 45 passes through the mounting plate 42 and is connected to a driven pulley 411; the outer circumferences of the driving pulley 410 and the driven pulley 411 are wound with a synchronous belt 412; the inner top wall of the guide plate 43 is connected to a slide rail 47; a slider 48 is slidably connected to the slide rail 47; a lead screw nut 49 is threadedly connected to the outer circumference of the lead screw 45; one side of the slider 46 is connected to the lead screw nut 49 and the slider 48; and the sliding seat 5 is connected to the other side of the slider 46.

[0040] In this embodiment, the guide plate 43 is arranged along the length direction of the split conductor 1. When the position of the clamping jaw 9 needs to be adjusted, the driving motor 41 is controlled to work, so that the active pulley 410 rotates, and the active pulley 410 drives the driven pulley 411 to rotate through the synchronous belt 412, so that the screw 45 rotates and then drives the screw nut 49 to rotate, so that the slide plate 46 slides on the slide rail 47 through the slider 48, and drives the sliding seat 5 to move so that the clamping jaw 9 is close to the chuck 3 of the spacer rod 2.

[0041] Embodiment 3:

[0042] The basic content is the same as that of Example 1, except that:

[0043] See also Figures 5 to 7 The rotating device 6 includes a first rotating plate 61, a rotating motor 62, and a rotating assembly 63. The rotating motor 62 is installed on the sliding seat 5. The output shaft of the rotating motor 62 passes through the sliding seat 5 and is connected to one end of the first rotating plate 61. The input end of the rotating assembly 63 is connected to the other end of the first rotating plate 61. The output end of the rotating assembly 63 is connected to the rotating joint 7.

[0044] The rotating assembly 63 is used to rotate itself in the circumferential direction along the other end of the first rotating plate 61, driving the rotating joint 7 to rotate along its own axis.

[0045] The rotating assembly 63 includes a second rotating plate 631, a protective cover 632, a first rotating motor 633, a second rotating motor 634, and a driver 64. The protective cover 632 is connected to one side of the second rotating plate 631. The first rotating motor 633, the second rotating motor 634, and the driver 64 are located in the protective cover 632. The first rotating motor 633 is installed at one end of the second rotating plate 631. The output shaft of the first rotating motor 633 passes through the second rotating plate 631 and is connected to the other end of the first rotating plate 61. The second rotating motor 634 is installed at the other end of the second rotating plate 631. The output shaft of the second rotating motor 634 passes through the second rotating plate 631 and is connected to the rotating joint 7. The driver 64 is installed at one side of the second rotating plate 631 and is connected to the first rotating motor 633 and the second rotating motor 634.

[0046] In this embodiment, first, the first rotating plate 61 is made to make a circular motion along the output shaft of the rotating motor 62 through the rotating motor 62, so that the clamping jaw 9 quickly approaches the chuck 3, and then the first rotary motor 633 is controlled by the driver 64 to make the second rotating plate 631 make a circular motion along the first rotating plate 61, so that the clamping jaw 9 slightly adjusts its position, and then the second rotary motor 634 is controlled by the driver 64 to make the clamping jaw 9 rotate to a position that can just clamp the chuck 3, and then the clamping jaw 9 is driven by the power device 8 to clamp the chuck 3.

[0047] Embodiment 4:

[0048] The basic content is the same as that of Example 1, except that:

[0049] See also Figure 6 and Figure 7A mounting shell 65 is provided between the first rotating plate 61 and the rotating motor 62, and a bearing 67 is connected inside the mounting shell 65. The inner ring of the bearing 67 is sleeved on the output shaft of the rotating motor 62, and a rotating disk 66 is connected to the end of the output shaft of the rotating motor 62. The rotating disk 66 is rotatably connected in the mounting shell 65, and the outer side of the rotating disk 66 is connected to one side of the first rotating plate 61.

[0050] A first housing 635 is provided between the first rotary motor 633 and the second rotating plate 631, a first turntable 636 is provided between the first rotating plate 61 and the second rotating plate 631, the first turntable 636 is fixedly connected to the first rotating plate 61, the second rotating plate 631 is rotatably connected to the outer circumferential surface of the first turntable 636, the first housing 635 is connected to the second rotating plate 631, a first connecting block 637 is connected inside the first housing 635, and the first connecting block 637 is connected to the output shaft of the first rotary motor 633 through a bearing 67.

[0051] A second housing 638 is provided between the second rotary motor 634 and the second rotating plate 631, and a rotating seat 639 is rotatably connected inside the second rotating plate 631. One end of the rotating seat 639 is connected to the rotary joint 7, and the other end of the rotating seat 639 is connected to a second connecting block 630. The second connecting block 630 is connected to the output shaft of the second rotary motor 634 through a bearing 67, and the second connecting block 630 is rotatably connected inside the second housing 638.

[0052] In this embodiment, when it is necessary to control the rotation of the clamping clamp 9, the rotating disk 66 is driven to rotate by the rotating motor 62. The rotating disk 66 is connected to the first rotating plate 61 by bolts, and then the first rotating plate 61 can be driven to rotate along the axis of the rotating disk 66. At the same time, the first rotary motor 633 is controlled to rotate by the driver 64. Since the first rotary disk 636 is fixedly connected to the first rotating plate 61, when the first rotary motor 633 rotates, it can be equivalent to the shaft not rotating. The first rotary motor 633 rotates by itself. Since the first rotary motor 633 is connected to the second rotating plate 631 through the first housing 635, it will drive the second rotating plate 631 to rotate along the end of the first rotating plate 61. The rotation of the second rotary motor 634 is controlled by the driver 64, which will drive the rotating seat 639 to rotate. The rotating seat 639 rotates with the clamping clamp 9 through the rotating joint 7, thereby driving the clamping clamp 9 to rotate.

[0053] Embodiment 5:

[0054] The basic content is the same as that of Example 1, except that:

[0055] See also Figures 8 to 10 The rotary joint 7 includes a central shaft 76, a base 71, a buffer block 79, and a connecting block 73. One side of the base 71 is connected to the output end of the rotating device 6, and the other side of the base 71 is connected to a rolling bearing 72. One end face of the connecting block 73 is connected to the inner ring of the rolling bearing 72. A mounting groove 74 is provided in the connecting block 73. A plurality of clips 75 are connected to the inner side wall of the mounting groove 74 at intervals. The outer peripheral surface of the central shaft 76 is connected to protrusions 77 corresponding to the plurality of clips 75. One side of the buffer block 79 is located between two adjacent clips 75, and the other side of the buffer block 79 is located between two adjacent protrusions 77. One end of the central shaft 76 is threadedly connected to the base 71 by a bolt 78, and the other end face of the connecting block 73 is connected to the power equipment 8.

[0056] In this embodiment, the buffer block 79 can be made of an elastic rubber block. When the clamping jaws 9 clamp the chuck 3, the buffer block 79 allows the connecting block 73 to rotate slightly on the rolling bearing 72, thereby achieving buffering and unloading. At the same time, the elasticity of the rubber block can allow the clamping jaws 9 to return to the original position, which is convenient for robot positioning.

[0057] Embodiment 6:

[0058] The basic content is the same as that of Example 1, except that:

[0059] See also Fig.11 The clamping jaw 9 includes a clamping jaw 91 and a clamping block 92 . The inner side wall of the clamping jaw 91 is connected with a slideway 93 . The clamping block 92 is connected to the output end of the power device 8 . The clamping block 92 is slidably connected to the slideway 93 .

[0060] In this embodiment, the power device 8 controls the clamping block 92 to slide upward in the clamping claw 91 until it contacts the clamping head 3, so that the clamping head 3 is connected and fixed to the split conductor 1. After fixation, the power device 8 controls the clamping block 92 to slide downward in the clamping claw 91 until it is disengaged from the clamping head 3, thereby achieving the clamping of the clamping head 3. The power device 8 can use a cylinder, and the piston moves in the cylinder to drive the clamping block 92 to make reciprocating linear motion along the clamping claw 91. The cylinder can be driven by hydraulic or electric means.

Claims

1. A flexible gripper for a spacer bar installation robot, characterized in that: The invention comprises a mounting seat (4), a sliding seat (5), a rotating device (6), a rotating joint (7), a power device (8), and a clamping jaw (9), wherein the mounting seat (4) is mounted on the output end of the mounting robot, the sliding seat (5) is slidably connected to the mounting seat (4) along the length direction of the mounting seat (4), the input end of the rotating device (6) is connected to the sliding seat (5), the output end of the rotating device (6) is connected to the rotating joint (7), one side of the rotating joint (7) is connected to the power device (8), the clamping jaw (9) is connected to the output end of the power device (8), and the power device (8) is used to control the clamping jaw (9) to clamp or detach the clamp (3) of the spacer rod (2).

2. A flexible gripper for a spacer bar installation robot according to claim 1, characterized in that: The mounting seat (4) comprises a driving motor (41), a mounting plate (42), a guide plate (43), a connecting plate (44), a lead screw (45), a slide plate (46), and a sliding block (48); the guide plate (43) is in an inverted U shape; the mounting plate (42) and the connecting plate (44) are respectively connected to the left and right sides of the guide plate (43); the driving motor (41) is mounted on the mounting plate (42); the output shaft of the driving motor (41) passes through the mounting plate (42) and is connected to a driving pulley (410); one end of the lead screw (45) is rotatably connected to the connecting plate (44) The other end of the lead screw (45) passes through the mounting plate (42) and is connected to a driven pulley (411); the outer circumferences of the driving pulley (410) and the driven pulley (411) are wound with a synchronous belt (412); the inner top wall of the guide plate (43) is connected to a slide rail (47); a slider (48) is slidably connected to the slide rail (47); the outer circumference of the lead screw (45) is threadedly connected to a lead screw nut (49); one side of the slide plate (46) is connected to the lead screw nut (49) and the slider (48); and the sliding seat (5) is connected to the other side of the slide plate (46).

3. The flexible clamp for a spacer bar installation robot according to claim 1, characterized in that: The rotating device (6) comprises a first rotating plate (61), a rotating motor (62), and a rotating assembly (63); the rotating motor (62) is mounted on the sliding seat (5); the output shaft of the rotating motor (62) passes through the sliding seat (5) and is connected to one end of the first rotating plate (61); the input end of the rotating assembly (63) is connected to the other end of the first rotating plate (61); and the output end of the rotating assembly (63) is connected to the rotating joint (7); The rotating assembly (63) is used to rotate itself in the circumferential direction along the other end of the first rotating plate (61), thereby driving the rotating joint (7) to rotate along its own axis.

4. A flexible gripper for a spacer bar installation robot according to claim 3, characterized in that: A mounting shell (65) is provided between the first rotating plate (61) and the rotating motor (62), a bearing (67) is connected inside the mounting shell (65), an inner ring of the bearing (67) is sleeved on the output shaft of the rotating motor (62), a rotating disk (66) is connected to the end of the output shaft of the rotating motor (62), the rotating disk (66) is rotatably connected inside the mounting shell (65), and an outer side of the rotating disk (66) is connected to one side of the first rotating plate (61).

5. The flexible clamp for a spacer bar installation robot according to claim 3, characterized in that: The rotary assembly (63) comprises a second rotating plate (631), a protective cover (632), a first rotary motor (633), a second rotary motor (634), and a driver (64); the protective cover (632) is connected to one side of the second rotating plate (631); the first rotary motor (633), the second rotary motor (634), and the driver (64) are located in the protective cover (632); the first rotary motor (633) is installed at one end of the second rotating plate (631); The output shaft of the second rotating plate (633) passes through the second rotating plate (631) and is connected to the other end of the first rotating plate (61); the second rotary motor (634) is installed at the other end of the second rotating plate (631); the output shaft of the second rotary motor (634) passes through the second rotating plate (631) and is connected to the rotary joint (7); the driver (64) is installed on one side of the second rotating plate (631) and is connected to the first rotary motor (633) and the second rotary motor (634).

6. The flexible gripper for a spacer bar installation robot according to claim 5, characterized in that: A first housing (635) is provided between the first rotary motor (633) and the second rotating plate (631); a first turntable (636) is provided between the first rotating plate (61) and the second rotating plate (631); the first turntable (636) is fixedly connected to the first rotating plate (61); the second rotating plate (631) is rotatably connected to the outer circumferential surface of the first turntable (636); the first housing (635) is connected to the second rotating plate (631); a first connecting block (637) is connected inside the first housing (635); and the first connecting block (637) is connected to the output shaft of the first rotary motor (633) through a bearing (67).

7. A flexible gripper for a spacer bar installation robot according to claim 6, characterized in that: A second housing (638) is provided between the second rotary motor (634) and the second rotating plate (631); a rotating seat (639) is rotatably connected inside the second rotating plate (631); one end of the rotating seat (639) is connected to the rotary joint (7); the other end of the rotating seat (639) is connected to a second connecting block (630); the second connecting block (630) is connected to the output shaft of the second rotary motor (634) via a bearing (67); and the second connecting block (630) is rotatably connected inside the second housing (638).

8. The flexible clamp for a spacer bar installation robot according to claim 1, characterized in that: The rotary joint (7) comprises a central shaft (76), a base (71), a buffer block (79), and a connecting block (73); one side of the base (71) is connected to the output end of the rotary device (6); the other side of the base (71) is connected to a rolling bearing (72); one end surface of the connecting block (73) is connected to the inner ring of the rolling bearing (72); a mounting groove (74) is provided in the connecting block (73); and a plurality of mounting grooves (74) are connected to the inner side wall of the mounting groove (74) at intervals. The central axis (76) is provided with a plurality of protrusions (77) corresponding to the plurality of the protrusions (75) on the outer peripheral surface thereof, one side of the buffer block (79) is located between two adjacent protrusions (77), and the other side of the buffer block (79) is located between two adjacent protrusions (77). One end of the central axis (76) is threadedly connected to the base (71) by a bolt (78), and the other end surface of the connecting block (73) is connected to the power device (8).

9. The flexible gripper for a spacer bar installation robot according to claim 1, characterized in that: The clamping jaw (9) comprises a clamping jaw (91) and a clamping block (92); the inner side wall of the clamping jaw (91) is connected to a slideway (93); the clamping block (92) is connected to the output end of the power device (8); and the clamping block (92) is slidably connected to the slideway (93).

10. A method for using the flexible clamp for a spacer bar installation robot according to claim 1, characterized in that: The method of use comprises the following steps: First, the spacer bar (2) is placed on the split conductor (1) by means of an installation robot, and then the pressing jaw (9) is controlled to rotate to a clampable position by means of a rotating device (6), and then the sliding seat (5) is controlled to slide on the mounting seat (4) so ​​that the pressing jaw (9) moves to the chuck (3) of the spacer bar (2), and then the power device (8) is controlled to drive the pressing jaw (9) to clamp the chuck (3) so that the chuck (3) is connected and fixed to one of the conductors of the split conductor (1), and then the power device (8) is controlled to make the pressing jaw (9) detach from the chuck (3), and at the same time, the pressing jaw (9) is controlled to rotate to another chuck (3) by means of the rotating device (6), and the above operation is repeated until all the chucks (3) of the spacer bar (2) are connected and fixed to each conductor of the split conductor (1) one by one.

Images