A multi-degree-of-freedom manipulator fixture based on mechanical processing

Abstract

The present invention belongs to the field of mechanical processing technology, and in particular to a multi-degree-of-freedom manipulator fixture based on mechanical processing. Aiming at the problem that the debris generated during the mechanical processing of the workpiece will scratch the surface of the workpiece when it contacts the tool again, and the accumulation of debris will affect the flow and cooling effect of the cutting fluid, the following scheme is proposed, including a fixed frame and a fixed seat, the bottom of the fixed frame is provided with an angle adjustment component and a fixed component, and the angle adjustment component includes a movable ring, and the movable ring is movably connected to the bottom of the fixed frame. The multi-degree-of-freedom manipulator fixture based on mechanical processing disclosed by the present invention has the advantages of timely cleaning and collecting metal debris generated during the mechanical processing of the workpiece, avoiding scratching the surface of the workpiece, improving the quality and accuracy of the processed surface, and collecting metal debris to avoid accumulation affecting the flow and cooling effect of the cutting fluid, thereby improving the beneficial effects of cutting performance.

Description

Technical Field

[0001] The invention relates to the technical field of mechanical processing, and in particular to a multi-degree-of-freedom manipulator clamp based on mechanical processing. Background Art

[0002] Machining refers to the process of changing the shape, size or performance of a workpiece through a mechanical device. It can be divided into cutting and pressure processing according to the difference in processing methods. Machining is an important part of modern manufacturing.

[0003] A manipulator is an automatic device that can imitate certain movements and functions of human hands and arms and is used to grab, move objects or operate tools according to a fixed program. It can be programmed to complete various expected tasks, and has the advantages of both humans and mechanical machines in structure and performance. The manipulator is the earliest industrial robot and also the earliest modern robot. It can replace heavy human labor to realize mechanization and automation of production, and can operate in harmful environments to protect personal safety.

[0004] In the prior art, during the mechanical processing, the workpiece will produce debris after cutting, grinding, etc. The metal debris may adhere to the tool or the workpiece. When it contacts the tool again, it will scratch the surface of the workpiece, reducing the quality and accuracy of the machined surface. In addition, the accumulation of metal debris will affect the flow and cooling effect of the cutting fluid, thereby reducing the cutting performance. Summary of the invention

[0005] The present invention discloses a multi-degree-of-freedom manipulator fixture based on mechanical processing, aiming to solve the technical problems in the background technology that the debris generated during the mechanical processing of the workpiece will adhere to the tool or the workpiece, and when it contacts the tool again, it will scratch the surface of the workpiece, and the accumulation of metal debris will affect the flow and cooling effect of the cutting fluid.

[0006] The present invention proposes a multi-degree-of-freedom manipulator clamp based on mechanical processing, which includes a fixed frame and a fixed seat. The bottom of the fixed frame is provided with an angle adjustment component and a fixed component, and the angle adjustment component includes a movable ring, which is movably connected to the bottom of the fixed frame. The fixed component includes a fixed plate, and the bottom of the fixed plate is fixedly connected with a fixed frame, and a cleaning component and a clamping component are arranged inside the fixed frame. The clamping component includes a movable ring frame, and the movable ring frame is movably connected to the bottom of the fixed plate.

[0007] In a preferred solution, a mounting hole 1 is provided on the movable ring frame, and a movable ring is movably connected in the mounting hole 1, a collecting bin is fixedly connected to the inner wall of the movable ring, a gear ring 1 is fixedly connected to the top outer wall of the movable ring, and a motor 2 is arranged at the bottom of the fixed plate, and the output end of the motor 2 is connected to a gear 1 through a coupling, and the gear 1 and the gear ring 1 are meshed with each other.

[0008] In a preferred embodiment, a negative pressure pump and a collecting box are fixedly connected to the top of the fixed plate, and the negative pressure pump and the collecting box are connected to each other. A circular hole is provided at the bottom of the collecting box, and an exhaust pipe is fixedly connected inside the circular hole. The end of the exhaust pipe away from the collecting box is connected to the top of the collecting bin through a bearing.

[0009] In a preferred embodiment, an air pump is fixedly connected to the top of the fixed plate, and an air filter is fixedly connected to the air outlet of the air pump, a plurality of circular holes 2 with equal circumferences are provided at the bottom of the air filter, and air outlet pipes are fixedly connected to the plurality of circular holes 2, a plurality of air jet pipes are fixedly connected to the bottom of the fixed frame, a plurality of circular holes 3 are provided on the fixed frame, and ends of the plurality of air outlet pipes away from the air filter are fixedly connected to the corresponding air jet pipes through the corresponding circular holes 3.

[0010] By providing a cleaning component, a pure air flow is sent into the jet pipe through the air outlet pipe through the air pump and the air filter, so as to blow off the debris generated in the workpiece processing process and cool the workpiece to avoid it adhering to the tool and scratching the workpiece surface, thereby improving the quality and accuracy of the processed surface; a negative pressure state is generated inside the collection bin through a negative pressure pump, and the blown-off debris is collected into the collection box through the exhaust pipe, and at the same time, the motor is started to rotate gear one, meshing with rotating gear ring one, driving the movable ring and the collection bin to rotate, so as to better collect debris from all directions and avoid clogging of the collection bin by debris.

[0011] In a preferred solution, the movable ring frame is provided with a plurality of circumferentially equidistant arc grooves, and sliding rods are slidably connected in the plurality of arc grooves, movable clamps are fixedly connected to the bottoms of the plurality of sliding rods, a plurality of circumferentially equidistant fixed clamps are fixedly connected to the bottom of the fixed frame, a gear ring 2 is fixedly connected to the outer wall of the movable ring frame, a motor 3 is fixedly connected to the bottom of the fixed plate, an output end of the motor 3 is connected to a gear 2 via a coupling, and the gear 2 and the gear ring 2 are meshed with each other.

[0012] By providing a clamping assembly, motor three rotates gear two, meshing and rotating gear ring two drives the movable ring frame to rotate, forcing the sliding rod to slide in the arc groove, driving the movable clamping claw to move, and multiple workpieces can be clamped at the same time, thereby improving work efficiency and convenience.

[0013] In a preferred solution, the bottom of the movable ring is fixedly connected to an adjustment seat, and the bottom of the fixed frame is fixedly connected to an electric push rod, the output end of the electric push rod is fixedly connected to a mounting frame, the inner wall of the mounting frame is fixedly connected to a motor 1, the output end of the motor 1 is connected to a driving gear through a coupling, a gear groove is opened on the fixed plate, and the gear groove is located below the driving gear.

[0014] By providing an angle adjustment component, the driving gear is pushed into the gear groove by the electric push rod, and the driving gear is rotated by the motor to drive the lower clamping component to rotate as a whole. The angle of the clamping component can be quickly adjusted according to different needs to increase the use effect of the device. The time consumed can be reduced by quickly adjusting the angle of the clamping component, thereby increasing the working efficiency of the device.

[0015] In a preferred solution, two mounting parts are fixedly connected to the top of the adjustment seat, and two mounting parts are each provided with a mounting hole 2, and threaded rods are movably connected in the two mounting holes 2, and the outer walls of the ends of the two threaded rods close to each other are fixedly connected to driven gears, and the outer walls of the ends of the two threaded rods away from the corresponding driven gears are threadedly connected to sliding blocks.

[0016] In a preferred solution, the adjustment seat is provided with two sliding grooves, and the two sliding blocks slide in the corresponding sliding grooves, the two sliding blocks are provided with two circular holes four, and movable rods are slidably connected in the multiple circular holes four, and the two movable rods on the same side are fixedly connected to the same stop block at one end away from the corresponding sliding block, and the outer walls of the multiple movable rods are surrounded by springs, one end of the multiple springs is fixedly connected to the corresponding sliding block, and the other end is fixedly connected to the corresponding stop block.

[0017] In a preferred solution, a hydraulic cylinder is fixedly connected to the top of the fixed seat, and a driving end of the hydraulic cylinder is fixedly connected to a cross beam, a mounting hole three is opened on the cross beam, a rotating rod is movably connected in the mounting hole three, a motor four is arranged on the top of the cross beam, an output end of the motor four passes through the mounting hole three and is fixedly connected to the rotating rod, and the bottom of the rotating rod is connected to the connecting seat through a hinge.

[0018] In a preferred embodiment, the connecting seat is provided with a groove 1, and a support rod is fixedly connected in the groove 1, the support rod is provided with a round hole 5, and a thin rod 1 is fixedly connected in the round hole 5, one side of the rotating rod is fixedly connected to a mounting seat, the mounting seat is provided with a groove 2, and a thin rod 2 is fixedly connected in the groove 2, the outside of the thin rod 2 is movably connected to a hydraulic rod, the driving end of the hydraulic rod is fixedly connected to a movable part, and the movable part is movably connected to the thin rod 1.

[0019] By providing a fixing component, the electric push rod drives the driving gear to mesh with the two driven gears, and the motor drives the driving gear to mesh and rotate the driven gear, which drives the threaded rod to rotate, so that the sliding block drives the stop block to move close to the inner wall of the fixed frame to fix the device. At the same time, the stability of the machining process can be further improved by the spring and the movable rod, and the vibration can be reduced.

[0020] From the above, it can be seen that the multi-degree-of-freedom manipulator clamp based on mechanical processing provided by the present invention has the beneficial effect of timely cleaning and collecting metal debris generated by the workpiece during the mechanical processing process, avoiding scratching the workpiece surface, improving the processing surface quality and accuracy, and collecting metal debris to avoid accumulation affecting the flow and cooling effect of the cutting fluid, thereby improving the cutting performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of the overall structure of a multi-degree-of-freedom manipulator fixture based on mechanical processing proposed by the present invention;

[0022] Figure 2 This is a cross-sectional view of the internal structure of a multi-degree-of-freedom manipulator fixture based on mechanical processing proposed by the present invention;

[0023] Figure 3 A cross-sectional view of the angle adjustment component structure of a multi-degree-of-freedom manipulator fixture based on mechanical processing proposed by the present invention;

[0024] Figure 4 This is a schematic diagram of the bottom-up structure of a multi-degree-of-freedom manipulator fixture based on mechanical processing proposed by the present invention;

[0025] Figure 5 A schematic diagram of the internal structure of a clamping assembly of a multi-degree-of-freedom manipulator clamp based on mechanical processing proposed by the present invention;

[0026] Figure 6 A schematic diagram of the internal structure of a cleaning component of a multi-degree-of-freedom manipulator fixture based on mechanical processing proposed by the present invention;

[0027] Figure 7 This is a schematic diagram of the jaw structure of a clamping assembly of a multi-degree-of-freedom manipulator clamp based on mechanical processing proposed by the present invention.

[0028] In the figure: 1. fixed frame; 2. angle adjustment component; 201. adjustment seat; 202. movable ring; 203. gear slot; 204. electric push rod; 205. mounting frame; 206. motor 1; 207. driving gear; 3. fixed component; 301. spring; 302. stop block; 303. mounting piece; 304. threaded rod; 305. sliding block; 306. movable rod; 307. driven gear; 308. fixed plate; 4. fixed frame; 5. cleaning component; 501. movable ring; 502. collection bin; 503. motor 2; 504. gear 1; 505. exhaust Tube; 506, negative pressure pump; 507, collecting box; 508, exhaust pipe; 509, air filter; 510, air pump; 511, gear ring one; 512, jet pipe; 6, clamping assembly; 601, movable ring frame; 602, gear ring two; 603, gear two; 604, motor three; 605, arc groove; 606, sliding rod; 607, movable clamping claw; 608, fixed clamping claw; 7, fixed seat; 8, hydraulic cylinder; 9, crossbeam; 10, rotating rod; 11, motor four; 12, mounting seat; 13, hydraulic rod; 14, movable part; 15, support rod; 16, connecting seat. DETAILED DESCRIPTION

[0029] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0030] The multi-degree-of-freedom manipulator fixture based on mechanical processing disclosed in the present invention is mainly used in scenarios where debris generated after cutting, grinding, etc. of a workpiece will adhere to the tool or the workpiece, and when it contacts the tool again, it will scratch the surface of the workpiece, and the accumulation of metal debris will affect the flow and cooling effect of the cutting fluid.

[0031] Reference Figure 1-7 A multi-degree-of-freedom manipulator clamp based on mechanical processing includes a fixed frame 1 and a fixed seat 7. The bottom of the fixed frame 1 is provided with an angle adjustment component 2 and a fixed component 3, and the angle adjustment component 2 includes a movable ring 202, and the movable ring 202 is movably connected to the bottom of the fixed frame 1. The fixed component 3 includes a fixed plate 308, and the bottom of the fixed plate 308 is fixedly connected with a fixed frame 4. The interior of the fixed frame 4 is provided with a cleaning component 5 and a clamping component 6. The clamping component 6 includes a movable ring frame 601, and the movable ring frame 601 is movably connected to the bottom of the fixed plate 308.

[0032] Reference Figure 1 , Figure 4 and Figure 5A mounting hole 1 is provided on the movable ring frame 601, and a movable ring 501 is movably connected in the mounting hole 1, a collecting bin 502 is fixedly connected to the inner wall of the movable ring 501, a gear ring 1 511 is fixedly connected to the top outer wall of the movable ring 501, a motor 2 503 is provided at the bottom of the fixed plate 308, an output end of the motor 2 503 is connected to a gear 1 504 through a coupling, and the gear 1 504 and the gear ring 1 511 are meshed with each other.

[0033] Reference Figure 1 , Figure 2 and Figure 6 A negative pressure pump 506 and a collection box 507 are fixedly connected to the top of the fixed plate 308, and the negative pressure pump 506 and the collection box 507 are connected to each other. A circular hole 1 is opened at the bottom of the collection box 507, and an exhaust pipe 505 is fixedly connected in the circular hole 1. The end of the exhaust pipe 505 away from the collection box 507 is connected to the top of the collection bin 502 through a bearing.

[0034] Reference Figure 1 , Figure 2 and Figure 6 An air pump 510 is fixedly connected to the top of the fixed plate 308, and an air filter 509 is fixedly connected to the air outlet of the air pump 510. A plurality of circular holes 2 with equal circumferences are provided at the bottom of the air filter 509, and an air outlet pipe 508 is fixedly connected to each of the plurality of circular holes 2. A plurality of air jet pipes 512 with equal circumferences are fixedly connected to the bottom of the fixed frame 4, and a plurality of circular holes 3 are provided on the fixed frame 4. One end of each of the plurality of air outlet pipes 508 away from the air filter 509 passes through the corresponding circular hole 3 and is fixedly connected to the corresponding air jet pipe 512.

[0035] In a specific application scenario, during the machining process of the workpiece, the air pump 510 is started to pass through the air filter 509, and the pure air flow is sent into the jet pipe 512 through the air outlet pipe 508 for spraying, so as to blow off the debris generated during the machining of the workpiece and cool the workpiece; the negative pressure pump 506 is started to generate a negative pressure state inside the collection bin 502, and the blown-off debris is collected into the collection box 507 through the exhaust pipe 505, and at the same time, the motor 2 503 is started to rotate the gear 1 504, which meshes with the rotating gear ring 1 511, drives the movable ring 501 and the collection bin 502 to rotate, collects debris from all directions, and crushes the debris inside the collection bin 502 to avoid blockage.

[0036] Reference Figure 1 , Figure 5 and Figure 7A plurality of arc grooves 605 with equal circumference distance are provided on the movable ring frame 601, and sliding rods 606 are slidably connected in the plurality of arc grooves 605, and movable clamps 607 are fixedly connected to the bottom of the plurality of sliding rods 606, and a plurality of fixed clamps 608 with equal circumference distance are fixedly connected to the bottom of the fixed frame 4, a gear ring 2 602 is fixedly connected to the outer wall of the movable ring frame 601, and a motor 3 604 is fixedly connected to the bottom of the fixed plate 308, and the output end of the motor 3 604 is connected to a gear 2 603 through a coupling, and the gear 2 603 and the gear ring 2 602 are meshed with each other.

[0037] In a specific application scenario, when clamping a workpiece, start the motor three 604 to rotate the gear two 603, meshing the rotating gear ring two 602 to drive the movable ring frame 601 to rotate, forcing the sliding rod 606 to slide in the arc groove 605, driving the movable clamping claw 607 to move, and clamping multiple workpieces at the same time.

[0038] Reference Figure 1 , Figure 2 and Figure 3 The bottom of the movable ring 202 is fixedly connected to the adjustment seat 201, and the bottom of the fixed frame 1 is fixedly connected to the electric push rod 204, the output end of the electric push rod 204 is fixedly connected to the installation frame 205, the inner wall of the installation frame 205 is fixedly connected to the motor 206, the output end of the motor 206 is connected to the driving gear 207 through a coupling, and a gear groove 203 is opened on the fixed plate 308, and the gear groove 203 is located below the driving gear 207.

[0039] In a specific application scenario, when adjusting the angle of the fixture and the workpiece, start the electric push rod 204 to push the driving gear 207 into the gear slot 203, start the motor 1 206 to rotate the driving gear 207, and drive the lower clamping assembly 6 to rotate as a whole to adjust the angle.

[0040] Reference Figure 1 , Figure 2 and Figure 3 Two mounting parts 303 are fixedly connected to the top of the adjustment seat 201, and two mounting holes 2 are opened on the two mounting parts 303. Threaded rods 304 are movably connected in the two mounting holes 2. The outer walls of the ends of the two threaded rods 304 close to each other are fixedly connected to driven gears 307, and the outer walls of the ends of the two threaded rods 304 away from the corresponding driven gears 307 are threadedly connected to sliding blocks 305.

[0041] Reference Figure 1 , Figure 2 and Figure 3Two sliding grooves are provided on the adjustment seat 201, and the two sliding blocks 305 slide in the corresponding sliding grooves. Two round holes four are provided on the two sliding blocks 305, and movable rods 306 are slidably connected in the multiple round holes four. The two movable rods 306 located on the same side are fixedly connected to the same stop block 302 at one end away from the corresponding sliding block 305. The outer walls of the multiple movable rods 306 are surrounded by springs 301, and one end of the multiple springs 301 is fixedly connected to the corresponding sliding block 305, and the other end is fixedly connected to the corresponding stop block 302.

[0042] Reference Figure 1 A hydraulic cylinder 8 is fixedly connected to the top of the fixed seat 7, and a cross beam 9 is fixedly connected to the driving end of the hydraulic cylinder 8. A mounting hole three is opened on the cross beam 9, and a rotating rod 10 is movably connected in the mounting hole three. A motor four 11 is arranged on the top of the cross beam 9, and the output end of the motor four 11 passes through the mounting hole three and is fixedly connected to the rotating rod 10. The bottom of the rotating rod 10 is connected to a connecting seat 16 through a hinge.

[0043] Reference Figure 1 A groove 1 is provided on the connecting seat 16, and a support rod 15 is fixedly connected in the groove 1. A round hole 5 is provided on the support rod 15, and a thin rod 1 is fixedly connected in the round hole 5. A mounting seat 12 is fixedly connected to one side of the rotating rod 10. A groove 2 is provided on the mounting seat 12, and a thin rod 2 is fixedly connected in the groove 2. A hydraulic rod 13 is movably connected to the outside of the thin rod 2. A movable part 14 is fixedly connected to the driving end of the hydraulic rod 13, and the movable part 14 is movably connected to the thin rod 1.

[0044] In a specific application scenario, before processing, start the hydraulic cylinder 8 to adjust the device to a specified height, start the hydraulic rod 13 to push the fixture to an appropriate angle, start the motor four 11 to rotate the rotating rod 10, and rotate the fixture to a specified angle; when the angle adjustment is completed, start the electric push rod 204 to drive the active gear 207 to engage with the two driven gears 307, start the motor 1 206 to drive the active gear 207, engage and rotate the driven gear 307, drive the threaded rod 304 to rotate, and make the sliding block 305 drive the block 302 to move close to the inner wall of the fixed frame 1 to fix the device, and further improve the stability and reduce vibration through the extrusion force of the spring 301.

[0045] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A multi-degree-of-freedom manipulator fixture based on mechanical processing, comprising a fixed frame (1) and a fixed seat (7), It is characterized in that The bottom of the fixed frame (1) is provided with an angle adjustment component (2) and a fixed component (3), and the angle adjustment component (2) includes a movable ring (202), and the movable ring (202) is movably connected to the bottom of the fixed frame (1), and the fixed component (3) includes a fixed plate (308), and the bottom of the fixed plate (308) is fixedly connected to a fixed frame (4), and the interior of the fixed frame (4) is provided with a cleaning component (5) and a clamping component (6), and the clamping component (6) includes a movable ring frame (601), and the movable ring frame (601) is movably connected to the bottom of the fixed plate (308); The movable ring frame (601) is provided with a plurality of arc grooves (605) with equal circumference distance, and the plurality of arc grooves (605) are all slidably connected with sliding rods (606), the bottoms of the plurality of sliding rods (606) are all fixedly connected with movable clamps (607), the bottom of the fixed frame (4) is fixedly connected with a plurality of fixed clamps (608) with equal circumference distance, the outer wall of the movable ring frame (601) is fixedly connected with a gear ring 2 (602), the bottom of the fixed plate (308) is fixedly connected with a motor 3 (604), the output end of the motor 3 (604) is connected with a gear 2 (603) via a coupling, and the gear 2 (603) and the gear ring 2 (602) are meshed with each other; The bottom of the movable ring (202) is fixedly connected to an adjustment seat (201), and the bottom of the fixed frame (1) is fixedly connected to an electric push rod (204), the output end of the electric push rod (204) is fixedly connected to a mounting frame (205), the inner wall of the mounting frame (205) is fixedly connected to a motor 1 (206), the output end of the motor 1 (206) is connected to a driving gear (207) via a coupling, and a gear groove (203) is provided on the fixed plate (308), and the gear groove (203) is located below the driving gear (207); The top of the adjustment seat (201) is fixedly connected to two mounting members (303), and the two mounting members (303) are each provided with a second mounting hole, and the two second mounting holes are each movably connected to a threaded rod (304), and the outer walls of the ends of the two threaded rods (304) close to each other are each fixedly connected to a driven gear (307), and the outer walls of the ends of the two threaded rods (304) away from the corresponding driven gear (307) are each threadedly connected to a sliding block (305); The adjustment seat (201) is provided with two sliding grooves, and the two sliding blocks (305) are slidable in the corresponding sliding grooves. The two sliding blocks (305) are provided with two round holes (4), and movable rods (306) are slidably connected in the plurality of round holes (4). The two movable rods (306) located on the same side are fixedly connected to the same stop block (302) at one end away from the corresponding sliding block (305). The outer walls of the plurality of movable rods (306) are surrounded by springs (301), and one end of the plurality of springs (301) is fixedly connected to the corresponding sliding block (305), and the other end is fixedly connected to the corresponding stop block (302).

2. A multi-degree-of-freedom manipulator fixture based on mechanical processing according to claim 1, It is characterized in that The movable ring frame (601) is provided with a mounting hole 1, and a movable ring (501) is movably connected in the mounting hole 1, the inner wall of the movable ring (501) is fixedly connected to a collecting bin (502), the top outer wall of the movable ring (501) is fixedly connected to a gear ring 1 (511), and a motor 2 (503) is arranged at the bottom of the fixed plate (308), and the output end of the motor 2 (503) is connected to a gear 1 (504) via a coupling, and the gear 1 (504) and the gear ring 1 (511) are meshed with each other.

3. A multi-degree-of-freedom manipulator fixture based on mechanical processing according to claim 2, It is characterized in that A negative pressure pump (506) and a collection box (507) are fixedly connected to the top of the fixed plate (308), and the negative pressure pump (506) and the collection box (507) are connected to each other. A circular hole 1 is provided at the bottom of the collection box (507), and an air extraction pipe (505) is fixedly connected to the circular hole 1. One end of the air extraction pipe (505) away from the collection box (507) is connected to the top of the collection bin (502) via a bearing.

4. A multi-degree-of-freedom manipulator fixture based on mechanical processing according to claim 1, It is characterized in that The top of the fixed plate (308) is fixedly connected to an air pump (510), and the air outlet of the air pump (510) is fixedly connected to an air filter (509). The bottom of the air filter (509) is provided with a plurality of circular holes (II) with equal circumference distances, and each of the plurality of circular holes (II) is fixedly connected to an air outlet pipe (508). The bottom of the fixed frame (4) is fixedly connected to a plurality of air jet pipes (512) with equal circumference distances, and the fixed frame (4) is provided with a plurality of circular holes (III), and ends of the plurality of air outlet pipes (508) away from the air filter (509) are all passed through a corresponding circular hole (III) and fixedly connected to a corresponding air jet pipe (512).

5. A multi-degree-of-freedom manipulator fixture based on mechanical processing according to claim 1, It is characterized in that The top of the fixed seat (7) is fixedly connected to a hydraulic cylinder (8), and the driving end of the hydraulic cylinder (8) is fixedly connected to a crossbeam (9), a mounting hole three is provided on the crossbeam (9), a rotating rod (10) is movably connected in the mounting hole three, a motor four (11) is arranged on the top of the crossbeam (9), an output end of the motor four (11) passes through the mounting hole three and is fixedly connected to the rotating rod (10), and the bottom of the rotating rod (10) is connected to a connecting seat (16) via a hinge.

6. A multi-degree-of-freedom manipulator fixture based on mechanical processing according to claim 5, It is characterized in that The connecting seat (16) is provided with a groove 1, and a support rod (15) is fixedly connected in the groove 1; the support rod (15) is provided with a round hole 5, and a thin rod 1 is fixedly connected in the round hole 5; one side of the rotating rod (10) is fixedly connected to a mounting seat (12); the mounting seat (12) is provided with a groove 2, and a thin rod 2 is fixedly connected in the groove 2; the outside of the thin rod 2 is movably connected to a hydraulic rod (13); a movable part (14) is fixedly connected to the driving end of the hydraulic rod (13); and the movable part (14) is movably connected to the thin rod 1.

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