Manipulator clamping mechanism

Abstract

The utility model relates to the technical field of manipulators, in particular to a manipulator clamping mechanism which comprises a connecting frame. Two clamping jaws are fixedly connected to the middle of the connecting frame. The two clamping jaws are oppositely arranged; a plurality of groups of first elastic telescopic rods are fixedly connected to the side wall of the clamping jaw; the multiple sets of first elastic telescopic rods are distributed on the side wall of the clamping jaw at equal intervals. The end part of the first elastic telescopic rod is fixedly connected with a fixed block; the side walls of the two fixing blocks close to each other are fixedly connected with an elastic belt. The middle part of the elastic belt is fixedly connected with two rubber blocks; the clamping jaw can effectively clamp objects of different sizes and shapes through the first elastic telescopic rod, the clamping jaw can adapt to the objects of different sizes, the clamping range of the clamping jaw can be flexibly adjusted, the contact area between the clamping jaw and the objects can be effectively increased, and the clamping stability of the clamping jaw can be effectively improved; and the problem that an object which is irregular in shape or easy to slide shakes or slips in the clamping process is effectively solved.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a manipulator clamping mechanism. Background Art

[0002] A manipulator is an automatic device that can imitate the movements of human hands and arms to grasp, move objects or operate tools according to a fixed procedure.

[0003] The robot performs its work tasks through mechanical devices, sensors and control systems, and is widely used in many industries such as mechanical manufacturing, electronics and light industry. The robot first senses the surrounding environment and the state of the work object through sensors, obtains data on position, shape, force, etc., and determines the robot's action mode and path speed according to the set work task to perform operations such as grasping, placement, assembly and transportation.

[0004] When the robot is clamping objects of different shapes and sizes, the contact area between the gripper and the object is reduced, resulting in the robot's loose clamping and causing the object to shake or slip. Utility Model Content

[0005] In order to solve the above technical problems, the utility model provides a manipulator clamping mechanism;

[0006] In one embodiment of the utility model, a connecting frame is included; two clamping jaws are fixedly connected to the middle of the connecting frame; the two clamping jaws are arranged oppositely; multiple groups of first elastic telescopic rods are fixedly connected to the side walls of the clamping jaws; multiple groups of the first elastic telescopic rods are equidistantly distributed on the side walls of the clamping jaws; a fixed block is fixedly connected to the end of the first elastic telescopic rod; two side walls of the fixed blocks close to each other are fixedly connected to elastic bands; two rubber blocks are fixedly connected to the middle of the elastic band; the first elastic telescopic rod can effectively enable the clamping jaw to clamp objects of different sizes and shapes, can adapt to objects of different sizes, can enable the clamping jaw to flexibly adjust the clamping range, effectively increase the contact area between the clamping jaw and the object, can effectively increase the stability of the clamping jaw, effectively reduce the problem of shaking or slipping of irregularly shaped or easily sliding objects during the clamping process, effectively reduce the damage caused by slipping during the clamping process of the object, and the elastic expansion and contraction of the elastic band can adaptively adjust the grasped object, can fit the surface of the object to provide better friction and gripping force, can provide a certain elastic support for the fixed block, and effectively increase the stability and reliability of the clamping.

[0007] In one embodiment of the utility model, a suction cup is fixedly connected to the side wall of the fixed block; the suction cup is fixedly connected to the side away from the first elastic telescopic rod; the suction cup can effectively and tightly adsorb on the surface of the object during the process of clamping the object, which can effectively reduce the object from falling off or moving during the clamping process. The strong adsorption force of the suction cup enables the clamp to easily clamp objects of various shapes and materials, and can reduce damage to the surface of the object during the clamping process, reduce damage caused when clamping fragile or sensitive materials, and effectively improve the gripping performance and operating efficiency of the clamp.

[0008] In one embodiment of the utility model, the end of the clamping jaw is fixedly connected to a fixing rod; the middle part of the fixing rod is rotatably connected to a roller; the roller reduces the friction between the end of the clamping jaw and the surface of the object during the clamping process, and can effectively enable the object to smoothly enter the middle of the two clamping jaws when the clamping jaw moves horizontally to clamp the object, effectively reducing the tipping or movement of the object caused by the end of the clamping jaw contacting the object, and can effectively reduce the direct contact and friction between the end of the clamping jaw and the object, effectively reduce the resistance generated during the clamping process, and effectively reduce the damage to the surface of the object.

[0009] In one embodiment of the utility model, an oil box is fixedly connected to the top of the connecting frame; an oil inlet pipe is fixedly connected to the middle of the oil box; two oil outlet pipes are fixedly connected to the side walls of the oil box; the two oil outlet pipes are arranged opposite to each other; two sponge blocks are fixedly connected to the middle of the connecting frame; the two sponge blocks are fixedly connected at positions close to one end of two clamps; the ends of the oil outlet pipes are fixedly connected to the tops of the corresponding sponge blocks; the lubricating oil enters the clamp connection position through the sponge blocks, which can effectively reduce the friction between the components and the wear of the clamps due to friction over a long period of time. The heat and wear particles generated by friction can be effectively reduced through lubrication, which can effectively make the movement of the clamp connection more stable and smooth, effectively reduce the problem of jamming or vibration of the clamps due to friction over a long period of time, and effectively increase the stability of the clamp operation accuracy.

[0010] In one embodiment of the utility model, the clamping claw is independently fixedly connected to a second elastic telescopic rod; the end of the second elastic telescopic rod is slidably connected to a slide rail; the side wall of the second elastic telescopic rod is fixedly connected to a first spring; the other end of the first spring is fixedly connected to the end of the slide rail; the first spring is fixedly connected to the inside of the slide rail; the end of the slide rail is fixedly connected to a magnetic block; the magnetic block is fixedly connected to an end away from the first spring; the two magnetic blocks attract each other when they are close; the slide rail can effectively support the bottom of the object when clamping the object, provide stable support for the object clamping process, effectively reduce shaking or tilting during transportation or processing, effectively improve the accuracy and efficiency of the object clamping operation, and effectively reduce the problem of objects falling due to loss of stability, thereby effectively improving the overall work efficiency and effectively increasing the stability and safety of the object clamping process.

[0011] In one embodiment of the utility model, two second springs are fixedly connected to the middle part of the connecting frame; the two second springs are fixedly connected between the two clamping claws; the ends of the two second springs are fixedly connected to elastic plates; the elastic plates are arranged in an arc shape; the second springs and the elastic plates can effectively reduce the impact force generated when the object is clamped, effectively absorb and disperse the impact force generated during the clamping process, effectively reduce the damage caused by the impact during the clamping process, effectively increase the stability of the clamping operation, effectively reduce the problem of operational errors or object falling off due to vibration and impact, and the smooth clamping operation can enable the manipulator to complete the clamping more quickly and accurately, thereby improving the working efficiency of the clamping.

[0012] In one embodiment of the utility model, an elastic pad is fixedly connected to the side wall of the elastic plate; the elastic pad is fixedly connected to the side away from the second spring; the elastic pad can effectively reduce the friction between the elastic plate and the surface of the object, effectively reduce the impact force generated by the friction of the elastic plate on the surface of the object, effectively reduce the scratches on the surface of the object caused by the elastic plate clamping the object, and effectively increase the integrity of the object during the clamping process.

[0013] In one embodiment of the utility model, a rubber pad is installed in the middle of the roller; the rubber pad is fixedly connected to the middle of the roller; the rubber pad can effectively increase the friction when the roller contacts the object, so that the rotation efficiency can be improved when the roller contacts the object, and the slippage when the roller contacts the object can be effectively reduced, and the firmness of the contact between the roller and the object can be effectively increased, so that the process of the clamping claws clamping the object is smoother.

[0014] The above technical solution of the utility model has the following advantages compared with the prior art:

[0015] The robot clamping mechanism described in the utility model can effectively enable the clamping claws to clamp objects of different sizes and shapes through the first elastic telescopic rod, can adapt to objects of different sizes, can enable the clamping claws to flexibly adjust the clamping range, effectively increase the contact area between the clamping claws and the object, can effectively increase the stability of the clamping claws, and effectively reduce the problem of shaking or slipping of irregularly shaped or easily sliding objects during the clamping process.

[0016] The mechanical arm clamping mechanism described in the utility model can effectively and tightly adsorb on the surface of the object through the suction cup during the clamping process, can effectively reduce the object from falling off or moving during the clamping process, and can reduce the damage to the surface of the object during the clamping process. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to make the content of the utility model more clearly understood, the utility model is further described in detail below based on specific embodiments of the utility model in combination with the accompanying drawings.

[0018] Figure 1 It is a three-dimensional diagram of a manipulator clamping mechanism in the utility model;

[0019] Figure 2 It is a structural schematic diagram of the elastic band in the utility model;

[0020] Figure 3 It is a structural schematic diagram of the suction cup in the utility model;

[0021] Figure 4 It is a structural schematic diagram of the oil box of the utility model;

[0022] Figure 5 It is a structural schematic diagram of the elastic plate in the utility model;

[0023] Explanation of the reference numerals in the drawings in the specification: 1. Connecting frame; 11. Clamping claw; 12. First elastic telescopic rod; 13. Fixed block; 14. Elastic belt; 15. Rubber block; 2. Suction cup; 3. Fixed rod; 31. Roller; 4. Oil box; 41. Oil inlet pipe; 42. Oil outlet pipe; 43. Sponge block; 5. Second elastic telescopic rod; 51. Slide rail; 52. First spring; 53. Magnetic block; 6. Second spring; 61. Elastic plate; 7. Elastic pad; 8. Rubber pad. DETAILED DESCRIPTION

[0024] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention.

[0025] Reference Figures 1 to 3As shown, it includes a connecting frame 1; two clamping jaws 11 are fixedly connected to the middle of the connecting frame 1; the two clamping jaws 11 are arranged oppositely; multiple groups of first elastic telescopic rods 12 are fixedly connected to the side walls of the clamping jaws 11; multiple groups of the first elastic telescopic rods 12 are equidistantly distributed on the side walls of the clamping jaws 11; the ends of the first elastic telescopic rods 12 are fixedly connected to fixed blocks 13; the side walls of the two fixed blocks 13 close to each other are fixedly connected to elastic belts 14; two rubber blocks 15 are fixedly connected to the middle of the elastic belt 14; when working, one end of the connecting frame 1 is connected to the mechanical arm, the mechanical arm is rotated by the motor, and the object is grasped by controlling the two clamping jaws 11. When the object is clamped by the two clamping jaws 11, the surface of the object is supported by the fixed block 13. When the surface of the object is uneven, the first elastic telescopic rod 12 elastically contracts when subjected to pressure, and the elastic belt 14 between the two fixed blocks 13 is used. It fits tightly with the surface of the object, so that the elastic band 14 tightens the surface of the object, and the rubber block 15 fits with the surface of the object to generate friction between the elastic band 14 and the object. The first elastic telescopic rod 12 can effectively enable the clamping jaw 11 to clamp objects of different sizes and shapes, and can adapt to objects of different sizes. The clamping jaw 11 can flexibly adjust the clamping range, effectively increase the contact area between the clamping jaw 11 and the object, and effectively increase the clamping stability of the clamping jaw 11, effectively reduce the problem of shaking or slipping of irregularly shaped or easily sliding objects during the clamping process, and effectively reduce the damage caused by slipping during the clamping process of the object. The elastic expansion and contraction of the elastic band 14 can adaptively adjust the grasped object, fit the surface of the object to provide better friction and gripping force, and provide a certain elastic support for the fixed block 13, effectively increasing the stability and reliability of the clamping.

[0026] Reference Figures 1 to 3 As shown, the side wall of the fixed block 13 is fixedly connected with a suction cup 2; the suction cup 2 is fixedly connected to the side away from the first elastic telescopic rod 12; when working, in the process of clamping the object, the suction cup 2 is first fitted with the surface of the object, and when pressure is applied to the object, an air-tight cavity is formed inside the suction cup 2, forming a negative pressure area to suck the object, and the suction cup 2 can effectively be tightly adsorbed on the surface of the object during the process of clamping the object, which can effectively reduce the object from falling off or moving during the clamping process, and the strong adsorption force of the suction cup 2 enables the clamping jaws 11 to easily clamp objects of various shapes and materials, and can reduce the damage to the surface of the object during the clamping process, reduce the damage caused when clamping fragile or sensitive materials, and effectively increase the gripping performance and operating efficiency of the clamping jaws 11.

[0027] Reference Figure 1 and Figure 4As shown, the end of the clamping jaw 11 is fixedly connected to the fixing rod 3; the middle part of the fixing rod 3 is rotatably connected to the roller 31; during operation, when the clamping jaw 11 clamps an object, when the end of the clamping jaw 11 moves to both sides of the object, when the object contacts the two rollers 31, the roller 31 rotates in the middle part of the fixing rod 3 through the movement of the clamping jaw 11, and the friction between the end of the clamping jaw 11 and the surface of the object is reduced by the roller 31 during the process of clamping the object, which can effectively make the clamping jaw 11 translate to clamp the object so that the object can smoothly enter the middle part of the two clamping jaws 11, effectively reduce the tipping or movement of the object caused by the end of the clamping jaw 11 contacting the object, and can effectively reduce the direct contact and friction between the end of the clamping jaw 11 and the object, effectively reduce the resistance generated during the clamping process, and effectively reduce the damage to the surface of the object.

[0028] Reference Figure 1 , Figure 4 , Figure 5 As shown, an oil box 4 is fixedly connected to the top of the connecting frame 1; an oil inlet pipe 41 is fixedly connected to the middle of the oil box 4; two oil outlet pipes 42 are fixedly connected to the side wall of the oil box 4; the two oil outlet pipes 42 are arranged oppositely; two sponge blocks 43 are fixedly connected to the middle of the connecting frame 1; the two sponge blocks 43 are fixedly connected at positions close to one end of the two clamping jaws 11; the ends of the oil outlet pipes 42 are fixedly connected to the tops of the corresponding sponge blocks 43; when working, the lubricating oil is placed in the oil box 4 for storage through the oil inlet pipe 41, the lubricating oil flows out through the oil outlet pipe 42, and the lubricating oil flows to the inside of the sponge block 43 through the ends of the oil outlet pipe 42. When performing the clamping action, the end moves toward the sponge block 43 and is squeezed toward the sponge block 43. After the sponge block 43 is squeezed, the lubricating oil flows out at the connection of the clamp 11. The lubricating oil enters the connection position of the clamp 11 through the sponge block 43, which can effectively reduce the friction between the components, and effectively reduce the wear of the clamp 11 due to friction when used for a long time. The heat and wear particles generated by friction can be effectively reduced through lubrication, which can effectively make the movement of the connection of the clamp 11 more stable and smooth, effectively reduce the problem of jamming or vibration of the clamp 11 due to friction when used for a long time, and effectively increase the stability of the operating accuracy of the clamp 11.

[0029] Reference Figure 1 and Figure 5As shown, the clamping jaw 11 is independently fixed with a second elastic telescopic rod 5; the end of the second elastic telescopic rod 5 is slidably connected to a slide rail 51; the side wall of the second elastic telescopic rod 5 is fixed with a first spring 52; the other end of the first spring 52 is fixed to the end of the slide rail 51; the first spring 52 is fixed inside the slide rail 51; the end of the slide rail 51 is fixed with a magnetic block 53; the magnetic block 53 is fixed to the end away from the first spring 52; the two magnetic blocks 53 attract each other when they are close to each other; during operation, when the clamping jaw 11 clamps an object, when the slide rail 51 contacts with the desktop, the second elastic telescopic rod 5 is elastically contracted, and when the object is clamped and lifted, the second elastic telescopic rod 5 is reset by elasticity, and at the same time, the two clamping jaws 11 are in a state of being close to each other when clamping the object, so that the two magnetic blocks 53 attract each other when they are close to each other. The blocks 53 attract each other through strong magnetism, causing the slide rail 51 to move inward. At this time, the first spring 52 elastically contracts inside the slide rail 51, and the bottom of the object is supported by the slide rail 51. When the two clamping jaws 11 release the object and move away from each other, the two magnetic blocks 53 separate. At this time, the first spring 52 elastically resets to cause the slide rail 51 to move outward. The slide rail 51 can effectively support the bottom of the object when clamping the object, and can provide stable support for the object clamping process, effectively reduce shaking or tilting during transportation or processing, effectively improve the accuracy and efficiency of the object clamping operation, and can effectively reduce the problem of objects falling due to loss of stability, thereby effectively improving the overall work efficiency and effectively increasing the stability and safety of the object clamping process.

[0030] Reference Figure 1 and Figure 5 As shown, two second springs 6 are fixedly connected to the middle part of the connecting frame 1; the two second springs 6 are fixedly connected between the two clamping jaws 11; the ends of the two second springs 6 are fixedly connected with elastic plates 61; the elastic plates 61 are arranged in an arc shape; during operation, when the clamping jaws 11 clamp an object, the ends of the connecting frame 1 are in contact with the surface of the object through the elastic plates 61, and the impact when the elastic plates 61 contact the object is elastically absorbed by the second springs 6. The impact force generated when the object is clamped can be effectively reduced by the second springs 6 and the elastic plates 61, and the impact force generated during the clamping process can be effectively absorbed and dispersed, and the damage caused by the impact during the clamping process can be effectively reduced. The stability of the clamping operation can be effectively increased, and the problem of operating errors or object falling off caused by vibration and impact can be effectively reduced. The smooth clamping operation can enable the manipulator to complete the clamping more quickly and accurately, thereby improving the working efficiency of the clamping.

[0031] Reference Figure 1 , Figure 4 , Figure 5As shown, the side wall of the elastic plate 61 is fixed with an elastic pad 7; the elastic pad 7 is fixed on the side away from the second spring 6; during operation, when an object is clamped, the elastic plate 61 is in contact with the surface of the object through the elastic pad 7, and the elastic pad 7 can effectively reduce the friction between the elastic plate 61 and the surface of the object, and can effectively reduce the impact force caused by the friction of the elastic plate 61 on the surface of the object, and can effectively reduce the scratches on the surface of the object caused by the elastic plate 61 in the process of clamping the object, and can effectively increase the integrity of the object in the clamping process.

[0032] Reference Figure 1 and Figure 4 As shown, a rubber pad 8 is installed in the middle of the roller 31; the rubber pad 8 is fixedly connected to the middle of the roller 31; during operation, when an object contacts the roller 31, the rubber pad 8 fits the surface of the object, and the rubber pad 8 can effectively increase the friction when the roller 31 contacts the object, so that the rotation efficiency can be improved when the roller 31 contacts the object, and the sliding when the roller 31 contacts the object can be effectively reduced, and the firmness of the contact between the roller 31 and the object can be effectively increased, so that the clamping jaws 11 can clamp the object more smoothly.

[0033] When working, one end of the connecting frame 1 is connected to the mechanical arm, and the mechanical arm is rotated by the motor, and the object is grasped by controlling the two clamping claws 11. When the object is clamped by the two clamping claws 11, the surface of the object is supported by the fixing block 13. When the surface of the object is uneven, the first elastic telescopic rod 12 is elastically contracted under pressure, and the elastic belt 14 between the two fixing blocks 13 is closely attached to the surface of the object, so that the elastic belt 14 tightens the surface of the object, and the rubber block 15 is attached to the surface of the object to generate friction between the elastic belt 14 and the object, so that the object is grasped. During the clamping process, the suction cup 2 is firstly fitted with the surface of the object, and when the object is clamped and pressure is applied, an air-tight cavity is formed inside the suction cup 2, forming a negative pressure area to suck the object. When the clamping jaws 11 clamp the object, the ends of the clamping jaws 11 move to both sides of the object. When the object contacts the two rollers 31, the rollers 31 rotate in the middle of the fixed rod 3 through the movement of the clamping jaws 11. The lubricating oil is placed in the oil box 4 for storage through the oil inlet pipe 41, and the lubricating oil flows out through the oil outlet pipe 42. The lubricating oil flows to the inside of the sponge block 43 through the end of the oil outlet pipe 42. When the two clamping jaws 11 are in contact with the two rollers 31, the rollers 31 rotate in the middle of the fixed rod 3. The lubricating oil is placed in the oil box 4 for storage through the oil inlet pipe 41. The lubricating oil flows out through the oil outlet pipe 42. The lubricating oil flows to the inside of the sponge block 43 through the end of the oil outlet pipe 42. During the clamping action, the end portion moves toward the sponge block 43 and squeezes the sponge block 43. After the sponge block 43 is squeezed, the lubricating oil flows out at the connection of the clamping jaws 11. When the clamping jaws 11 clamp the object, when the slide rail 51 contacts the desktop, it is elastically contracted through the second elastic telescopic rod 5. When the object is clamped and lifted, the second elastic telescopic rod 5 is reset by elasticity. At the same time, the two clamping jaws 11 are in a state of being close to each other when clamping the object, so that the two magnetic blocks 53 are attracted to each other through strong magnetism, so that the slide rail 51 moves inward. At this time, the first spring 52 is elastically pressed inside the slide rail 51. Contraction, the bottom of the object is supported by the slide rail 51, when the two clamping jaws 11 release the object and move away from each other, the two magnetic blocks 53 are separated, and the first spring 52 is elastically reset to make the slide rail 51 move outward, when the clamping jaws 11 clamp the object, the end of the connecting frame 1 is in contact with the surface of the object through the elastic plate 61, and the impact of the elastic plate 61 in contact with the object is elastically absorbed by the second spring 6. When the object is clamped, the elastic plate 61 is in contact with the surface of the object through the elastic pad 7, and when the object is in contact with the roller 31, it is fitted with the surface of the object through the rubber pad 8.

[0034] Obviously, the above embodiments are merely examples for the purpose of clear explanation and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from these are still within the scope of protection of the invention of the utility model.

Claims

1. A manipulator clamping mechanism, comprising a connecting frame (1); characterized in that: Two clamping jaws (11) are fixedly connected to the middle of the connecting frame (1); the two clamping jaws (11) are arranged opposite to each other; a plurality of groups of first elastic telescopic rods (12) are fixedly connected to the side walls of the clamping jaws (11); the plurality of groups of first elastic telescopic rods (12) are evenly distributed on the side walls of the clamping jaws (11); a fixing block (13) is fixedly connected to the end of the first elastic telescopic rod (12); an elastic band (14) is fixedly connected to the side walls of two mutually adjacent fixing blocks (13); and two rubber blocks (15) are fixedly connected to the middle of the elastic band (14).

2. A manipulator clamping mechanism according to claim 1, characterized in that: A suction cup (2) is fixedly connected to the side wall of the fixed block (13); the suction cup (2) is fixedly connected to a side away from the first elastic telescopic rod (12).

3. A manipulator clamping mechanism according to claim 2, characterized in that: The end of the clamping claw (11) is fixedly connected to a fixing rod (3); the middle of the fixing rod (3) is rotatably connected to a roller (31).

4. A manipulator clamping mechanism according to claim 3, characterized in that: An oil box (4) is fixedly connected to the top of the connecting frame (1); an oil inlet pipe (41) is fixedly connected to the middle of the oil box (4); two oil outlet pipes (42) are fixedly connected to the side wall of the oil box (4); the two oil outlet pipes (42) are arranged opposite to each other; two sponge blocks (43) are fixedly connected to the middle of the connecting frame (1); the two sponge blocks (43) are fixedly connected at positions close to one end of the two clamping claws (11); and the ends of the oil outlet pipes (42) are fixedly connected to the tops of the corresponding sponge blocks (43).

5. A manipulator clamping mechanism according to claim 4, characterized in that: The clamping claw (11) is independently fixedly connected to a second elastic telescopic rod (5); the end of the second elastic telescopic rod (5) is slidably connected to a slide rail (51); the side wall of the second elastic telescopic rod (5) is fixedly connected to a first spring (52); the other end of the first spring (52) is fixedly connected to the end of the slide rail (51); the first spring (52) is fixedly connected inside the slide rail (51); a magnetic block (53) is fixedly connected to the end of the slide rail (51); the magnetic block (53) is fixedly connected to an end away from the first spring (52); and the two magnetic blocks (53) attract each other when they are close to each other.

6. A manipulator clamping mechanism according to claim 5, characterized in that: Two second springs (6) are fixedly connected to the middle of the connecting frame (1); the two second springs (6) are fixedly connected between two clamping claws (11); elastic plates (61) are fixedly connected to the ends of the two second springs (6); and the elastic plates (61) are arranged in an arc shape.

7. A manipulator clamping mechanism according to claim 6, characterized in that: An elastic pad (7) is fixedly connected to the side wall of the elastic plate (61); the elastic pad (7) is fixedly connected to a side away from the second spring (6).

8. A manipulator clamping mechanism according to claim 7, characterized in that: A rubber pad (8) is installed in the middle of the roller (31); the rubber pad (8) is fixed to the middle of the roller (31).

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