Large-through-hole type infinite rotating push-pull device

Abstract

The invention discloses a large through hole type infinite rotation push-pull device which comprises a through hole type infinite rotation assembly, an up-down push-pull assembly and a clamping assembly, and the through hole type infinite rotation assembly comprises a second motor, a second gear connected with an output shaft of the second motor, a first gear meshed with the second gear and a second bearing. By means of the innovative design of the push-pull block, the first bearing and a mechanism matched with the push-pull block and the first bearing, a motor screw hole, a main stress hole of the clamping jaw up-down push-pull assembly and a push-pull block U-shaped groove are arranged in an offset mode, and the clamping jaw up-down push-pull assembly is arranged in the clamping jaw up-down push-pull assembly. The size of the motor can be effectively reduced, meanwhile, the overall through hole design of the up-down push-pull assembly can be achieved, interference with the motor is avoided, the through hole design problem is ingeniously solved, clamping and infinite rotating actions can be achieved without the through hole, the motor interference problem is solved, and the machining efficiency is improved. And a large through hole can be manufactured by a small motor.

Description

Technical Field

[0001] The invention belongs to the technical field of electric claw clamps, and in particular, is a large through-hole type infinitely rotating push-pull device. Background Art

[0002] Automation equipment can accurately complete various fixed mechanical actions and free up manpower, and is therefore gradually being applied to all walks of life. In laboratories, medical institutions, processing plants and other usage scenarios, an automation device that can both clamp and rotate is mainly used to tighten or remove small parts such as bottle caps. This type of target action is currently widely achieved using conductive slip rings.

[0003] Conductive slip rings are also called brushes, carbon brushes, collector rings, collector rings, collector rings, swivels, and rotating electrical joints. They are specially used to transmit power supply and signal power supply during unlimited continuous rotation.

[0004] The prior art discloses a hollow infinitely rotating electric clamp, application number 2021116047900, which discloses a hollow infinitely rotating electric clamp, which realizes the operation of a vertical push-pull actuator by setting a hollow motor, including an electric rotating assembly, a hollow electric push-pull assembly, a hollow clamp assembly and a control assembly. The device has an ingenious structure and is suitable for small through-holes. The invention has the following shortcomings:

[0005] If a large through hole is required, this solution has a significant disadvantage, which is that it requires an oversized hollow motor. An oversized hollow motor is not only difficult to manufacture, but also causes the entire electric gripper device to be too large, the structure is not compact enough, and the installation is inconvenient and the cost is high.

[0006] Therefore, it is necessary to conduct research to provide a solution to solve the above-mentioned defects in the prior art. Summary of the invention

[0007] The present invention is an improvement made to address the deficiencies in the prior art, and provides a visual-tactile fusion micro needle holding device for an acupuncture robot.

[0008] In order to achieve the above object, the specific technical scheme of the present invention is as follows:

[0009] The invention discloses a large through-hole type infinitely rotating push-pull device, which comprises a through-hole type infinitely rotating component, an upper and lower push-pull component, and a clamping component. The through-hole type infinitely rotating component comprises a second motor, a second gear connected to an output shaft of the second motor, a first gear meshing with the second gear, a second bearing, and a rotating head fixedly connected to an outer ring of the second bearing, and the outer ring of the second bearing is fixedly connected to the gear; the upper and lower push-pull components comprise a first motor, a push-pull block connected to an output screw of the first motor, a first bearing embedded on an inner wall of a through-hole of the push-pull block, a hollow pull rod fixedly connected to an inner ring of the first bearing, and the axis of the through-hole is not in the same straight line as the axis of the output screw of the first motor, the lower parts of the hollow pull rod and the rotating head are connected with the clamping component, and the second through-hole of the cover shell, the through-hole of the push-pull block, the through-hole of the hollow pull rod, and the through-hole of the rotating head are connected and coaxial.

[0010] As a further improvement, the present invention also includes a cover shell, which is a shell-like structure with a cover shell cavity, and the upper surface is sequentially provided with a first through hole of the first motor cover shell for fixing the first motor and for passing the first motor output screw, a second through hole of the cover shell located in the middle shell and coaxial with the hollow pull rod and the central axis of the first bearing, and a third through hole of the cover shell for fixing the second motor and for passing the second motor output shaft; a first groove of the cover shell in a vertical direction is provided on the inner wall of the cover shell cavity for slidingly connecting with the push-pull block guide block up and down, and the push-pull block can slide up and down in the cover shell cavity driven by the output screw of the first motor.

[0011] As a further improvement, the push-pull block described in the present invention includes a connected screw hole, a semicircular push-pull block through hole located on the edge of the screw hole, and a push-pull block guide block arranged on the side wall of the push-pull block. A push-pull block U-shaped groove for fixing the outer ring of the first bearing is opened on the inner wall of the through hole, and the push-pull block guide block is matched with the first groove of the cover shell.

[0012] As a further improvement, the clamping assembly described in the present invention includes an L-shaped lever arm movably connected to the lower part of the hollow pull rod through a first pin shaft, a finger slidably connected to the L-shaped lever arm ball head at the other end of the L-shaped lever arm, and a slide rail fixed to the lower surface of the rotating head. The finger is slidably connected to the slide groove starting from the bottom of the slide rail through a raised ball on the upper part. A slide rail through hole is provided on the slide rail for the L-shaped lever arm to pass through. An L-shaped lever arm through hole is provided at the middle bend of the L-shaped lever arm for passing through a second pin shaft and fixed to the rotating head through the second pin shaft.

[0013] As a further improvement, the upper end of the hollow pull rod described in the present invention is a hollow pull rod boss clamped on the inner ring of the first bearing, and the lower end is provided with a hollow pull rod through hole connected and fixed to the first pin shaft, and the outer ring of the first bearing is clamped and fixed in the push-pull block U-shaped groove opened on the inner wall of the push-pull block through hole.

[0014] As a further improvement, a bottom fixing plate is connected and fixed under the cover shell of the present invention, and a through hole for the hollow pull rod to pass through is formed on the bottom fixing plate, and a through hole for placing the second gear groove and the first gear is also formed on the bottom fixing plate.

[0015] As a further improvement, the second bearing described in the present invention includes a second bearing inner ring fixedly connected to the bottom fixing plate, a second bearing outer ring fixedly connected to the first gear inner ring, and a second bearing rolling element between the second bearing inner ring and the second bearing outer ring.

[0016] As a further improvement, the rotating head described in the present invention is provided with a rotating head through hole for the hollow pull rod to pass through, an upper cavity for the L-shaped lever arm to rotate along the second pin shaft, a rotating head through hole is provided on the side wall of the cavity for connecting the second pin shaft, and a lower cavity for fixedly connecting the slide rail is also provided corresponding to the lower part of the upper cavity.

[0017] As a further improvement, the finger described in the present invention includes an upper horizontal block and a lower vertical block perpendicular to the upper horizontal surface. Ball bearings are provided on both sides of the upper horizontal block. The balls are all located in slide grooves provided on the slide rails. A clamping claw connection hole is provided on the lower vertical block.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1) The present invention adopts the innovative design of the push-pull block, the first bearing, and the mechanism that cooperates with each other, and sets the motor screw hole and the main force-bearing hole of the upper and lower push-pull assembly of the clamping jaw, and the U-shaped groove 402 of the push-pull block offset (different from the publicly disclosed hollow invention motor shaft and push-pull block upper and lower coaxial setting), which can effectively reduce the size of the motor while realizing the overall through-hole design of the upper and lower push-pull assembly, and will not interfere with the motor, cleverly solving the through-hole design problem, and the structure can also achieve clamping and infinite rotation without a through-hole. The motor interference problem is solved, and a small motor can also be made with a large through-hole.

[0020] 2) The second bearing not only clamps the hollow pull rod and drives the hollow pull rod to slide up and down, but also reduces the friction of the hollow pull rod as the first gear rotates, cleverly solving the interference problem of synchronous and asynchronous motion between rotational motion and linear motion, and also plays the role of supporting the smooth rotation of the rotating head and the second gear and bearing the axial force. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the structure of the device of the present invention;

[0022] Figure 2 is a schematic cross-sectional view of the device of the present invention;

[0023] Figure 3 is an exploded schematic diagram of the device of the present invention;

[0024] Figure 4 It is a schematic diagram of the cover structure of the present invention;

[0025] Figure 5 It is a schematic diagram of the push-pull block structure of the present invention;

[0026] Figure 6 It is a schematic diagram of the hollow pull rod structure of the present invention;

[0027] Figure 7 It is a structural schematic diagram of the rotating head of the present invention.

[0028] In the figure: 1-first driver, 2-first motor, 201-first motor output screw, 3-housing, 301-housing first through hole, 302-housing second through hole, 303-housing third through hole, 304-housing first groove, 305-housing cavity, 4-push-pull block, 401-screw hole, 402-push-pull block U-shaped groove, 403-push-pull block guide block, 5-first bearing, 501-first bearing inner ring, 502-first bearing rolling element, 503-first bearing outer ring, 6-hollow pull rod, 601-hollow pull rod boss, 602-hollow pull rod through hole, 603-hollow pull rod through hole, 7-first pin shaft, 8-L-shaped lever arm, 80 1-L-type lever arm U-shaped groove, 802-L-type lever arm through hole, 803-L-type lever arm ball head, 9-second pin shaft, 10-slide rail, 1001-slide rail through hole, 11-finger, 1101-finger groove, 12-rotating head, 1201-rotating head through hole, 1202-rotating head through hole, 1203-upper oral cavity, 1204-slide rail fixing hole, 13-second bearing, 1301-second bearing inner ring, 1302-second bearing rolling element, 1303-second bearing outer ring, 14-first gear, 15-bottom fixing plate, 16-second gear, 17-second motor, 1701-second motor output shaft, 18-second driver controller. DETAILED DESCRIPTION

[0029] The technical solution of the present invention is further described below by means of specific embodiments in conjunction with the accompanying drawings:

[0030] The invention discloses a large through-hole type infinitely rotating push-pull device. Figure 1 It is a schematic diagram of the structure of the device of the present invention; Figure 2 is a schematic cross-sectional view of the device of the present invention; Figure 3 is an exploded schematic diagram of the device of the present invention;

[0031] The device includes a through-hole type infinite rotation component, an upper and lower push-pull component, and a clamping component. The through-hole type infinite rotation component includes a second motor 17, a second gear 16 connected to the second motor output shaft 1701, a first gear 14 meshing with the second gear 16, a second bearing 13, and a rotating head 12 fixedly connected to the second bearing outer ring 1303, and the outer ring of the second bearing 13 is fixedly connected to the gear; the upper and lower push-pull component includes a first motor 2, a push-pull block 4 connected to the first motor output screw 201, a first bearing 5 embedded in the inner wall of the through-hole of the push-pull block 4, and a hollow pull rod 6 fixedly connected to the first bearing inner ring 501, and the lower part of the hollow pull rod 6 and the rotating head 12 are both connected to the clamping component. The second bearing 13 includes a second bearing inner ring 1301 fixedly connected to the bottom fixing plate 15, a second bearing outer ring 1303 fixedly connected to the inner ring of the first gear 14, and a second bearing rolling body 1302 between the second bearing inner ring 1301 and the second bearing outer ring 1303. The first driver 1 is connected to the upper surface of the first motor 2 , and the second driver 18 is connected to the upper surface of the second motor 17 .

[0032] Figure 4 It is a schematic diagram of the structure of the cover 3 of the present invention. The cover 3 is a shell-like structure with a cavity of the cover 3. The upper surface is provided with a first through hole 301 of the cover for fixing the first motor 2 and for passing the first motor output screw 201, a second through hole 302 of the cover located in the middle, and a third through hole 303 of the cover for fixing the second motor 17 and for passing the second motor output shaft 1701. The inner wall of the cavity of the cover 3 is provided with a first groove of the cover 3 in a vertical direction for sliding up and down with the push-pull block guide block 403, and the push-pull block 4 slides up and down in the cavity of the cover 3. The bottom fixing plate 15 is connected and fixed to the bottom of the cover 3. The bottom fixing plate 15 is provided with a through hole for the hollow pull rod 6 to pass through, and is also provided with a groove for placing the second gear 16 and a through hole for the first gear 14.

[0033] Figure 5 It is a schematic diagram of the structure of the push-pull block 4 of the present invention; the push-pull block 4 includes a connected screw hole 401, a semicircular push-pull block 4 through hole located on the side of the screw hole 401 and a push-pull block guide block 403 arranged on the side wall of the push-pull block 4, and a push-pull block U-shaped groove 402 for fixing the first bearing outer ring 503 is provided on the inner wall of the through hole, and the push-pull block guide block 403 is matched with the first groove of the cover shell 3.

[0034] The clamping assembly includes an L-shaped lever arm 8 movably connected to the lower part of the hollow pull rod 6 through a first pin shaft 7, and a finger 11 slidably connected to the L-shaped lever arm ball head 803 at the other end of the L-shaped lever arm 8. The finger 11 includes an upper horizontal block and a lower vertical block perpendicular to the upper horizontal surface. Ball bearings are provided on both sides of the upper horizontal block. The balls are all located in the slide grooves provided on the slide rail 10. The lower vertical block is provided with a clamping claw connection hole. The slide rail 10 is fixed to the lower surface of the rotating head 12. The finger 11 is slidably connected to the slide groove provided below the slide rail 10 through the protruding balls provided on the upper horizontal block. The slide rail 10 is provided with a slide rail through hole 1001 for the L-shaped lever arm 8 to pass through. The middle bend of the L-shaped lever arm 8 is provided with an L-shaped lever arm through hole 802 for passing through the second pin shaft 9 and fixed to the rotating head 12 through the second pin shaft 9. The L-shaped lever arm ball head 803 is located in a finger groove 1101 opened on the upper surface of the finger 11 , and is connected to the finger groove 1101 by sliding and rolling.

[0035] Figure 6 It is a schematic diagram of the structure of the hollow pull rod 6 of the present invention; the upper end of the hollow pull rod 6 is a hollow pull rod boss 601 that is clamped on the first bearing inner ring 501, and the lower end is provided with a hollow pull rod through hole 602 that is connected and fixed to the first pin shaft 7, and the first bearing outer ring 503 is clamped and fixed in the push-pull block U-shaped groove 402 opened on the inner wall of the through hole of the push-pull block 4.

[0036] Figure 7 1 is a schematic diagram of the structure of the rotating head 12 of the present invention. The rotating head 12 is provided with a rotating head through hole 1202 for the hollow pull rod 6 to pass through, an upper cavity 1203 for the L-shaped lever arm 8 to rotate along the second pin 9, a rotating head through hole 1202 is provided on the side wall of the cavity for connecting the second pin 9, and a lower cavity for fixing and connecting the slide rail 10 is also provided at the lower part corresponding to the upper cavity 1203. A slide rail fixing hole 1204 is also provided inside the rotating head 12 for connecting and fixing with the slide rail 10.

[0037] The second through hole 302 of the housing, the through hole of the push-pull block 4, the through hole 603 of the hollow pull rod, and the through hole 1201 of the rotating head are connected and coaxial.

[0038] The first motor 2 can drive the push-pull block 4 to move up and down along the cover shell 3, and then drive the first bearing 5 connected to the push-pull block 4 and the hollow pull rod 6 fixedly connected to the inner ring 501 of the first bearing to move up and down. At the same time, the hollow pull rod 6 can also realize rotational movement under the action of external force, thereby realizing vertical movement and rotational movement. Through the ingenious setting of the first bearing 5, the vertical movement and rotational movement are independent of each other.

[0039] The gear transmission is changed to other transmission methods, such as synchronous belt, flat belt, toothed belt, chain, etc.

[0040] This solution preferably has a built-in drive controller, which has a compact structure, and the motor drive controller can be external, and the wiring control is complicated.

[0041] Key implementation principles:

[0042] The first drive controller 1 controls the rotation of the first motor output screw 201, drives the screw hole 401 on the push-pull block 4 that is threadedly engaged with the first motor output screw 201 to move up and down, thereby driving the push-pull block 4 to move up and down in the cover 3. When the push-pull block 4 moves upward, it will drive the first bearing outer ring 503 of the first bearing 5 that is clamped in the U-shaped groove 402 of the push-pull block to move up and down. When the first bearing outer ring 503 moves upward, it will drive the first bearing rolling body 502 to move upward. The upward movement of the first bearing rolling body 502 will further drive the first bearing inner ring 501 to move upward. The upward movement of the first bearing inner ring 501 will drive the hollow pull rod boss 601 that is fixedly connected to the first bearing inner ring 501 through the hollow pull rod boss 601. The pull rod 6 moves upward, and the upward movement of the hollow pull rod 6 will drive the first pin 7 set inside the hollow pull rod through hole 602 to move upward. The upward movement of the first pin 7 will drive the L-shaped lever arm 8 matched and clamped with the first pin 7 through the L-shaped lever arm U-shaped groove 801 to rotate around the second pin 9 movably connected through the L-shaped lever arm through hole 802. The second pin 9 is fixedly set on the rotating head through hole 1202 of the rotating head 12. The rotation of the L-shaped lever arm 8 around the second pin 9 will drive the L-shaped lever arm ball head 803 located in the finger groove 1101 set on the finger 11 to roll and slide, thereby driving the horizontal block on the finger 11 to move left and right along the slide groove opened on the slide rail 10. Two or more L-shaped lever arms 8 are symmetrically set on the left and right.

[0043] Since the force is mutual, the push-pull block 4 moves upward under the drive of the first motor 2, and the first motor 2 has a tendency to move downward. Therefore, the first motor 2 is fixed on the cover 3, and the cover 3 is fixedly arranged with the external frame. At this time, the first motor 2 cannot move downward, so the push-pull block 4 will definitely move up and down under the drive of the first motor 2. Since the upward movement of the push-pull block 4 will definitely drive the second pin 9 to move upward, the second pin 9 is fixedly connected to the rotating head 12 through the rotating head through hole 1202, and the rotating head 12 is fixedly connected to the second bearing 13 through the second bearing outer ring 1303. The second bearing 13 rotates the second bearing inner ring 1301 and the second bearing outer ring 1303 through the second bearing rolling body 1302. The second bearing 13 is fixedly connected to the bottom fixing plate 15 through the second bearing inner ring 1301, and the bottom fixing plate 15 is fixedly connected to the cover 3. At this time, the clamping assembly can fully realize the movement of the fingers 11 towards or away from each other under the drive of the upper and lower push-pull assemblies.

[0044] In order to realize the rotatable movement of the clamping assembly, the hollow pull rod 6 is matched and slidably connected with the rotating head 12 through the rotating head through hole 1201, and can only realize up and down movement but not relative rotational movement. If the rotational movement is to be realized, it is necessary to drive the rotating head 12 to rotate. Therefore, a second bearing 13 is arranged on the rotating head 12, and the second bearing 13 is fixedly connected to the first gear 14 through the upper part of the second bearing outer ring 1303. The first gear 14 can realize rotational movement relative to the bottom fixed plate 15 under the action of external force. Therefore, a second gear 16 is matched and arranged on the outside of the first gear 14, and the second gear 16 is fixedly connected to the second motor output shaft 1701 of the second motor 17, and a second driver 1 is arranged on the top of the second motor 17 8. The second motor 17 can make the second motor output shaft 1701 generate rotational motion under the control of the second driver 18, thereby driving the second gear 16 fixedly connected to the second motor output shaft 1701 to rotate. The rotation of the second gear 16 will drive the first gear 14 meshing therewith to rotate. The rotation of the first gear 14 will drive the rotating head 12 fixedly connected to the bottom of the first gear 14 to rotate. The rotation of the rotating head 12 will drive the clamping assembly to rotate. The rotation of the clamping assembly will inevitably drive the hollow pull rod 6 to rotate, and the hollow pull rod 6 will move up and down under the drive of the push-pull block 4. Therefore, the ingenious setting of the first bearing 5 cleverly solves the problem of mechanical transmission interference, thereby realizing a large hollow, and also realizing clamping and rotational motion.

[0045] The above examples are only specific embodiments of the present invention. Obviously, the present invention is not limited to the above examples, and there are many variations. All variations that can be directly derived or associated with the content disclosed by a person skilled in the art should be considered as the protection scope of the present invention.

Claims

1. A large through-hole type infinitely rotating push-pull device, characterized in that: The device comprises a through-hole type infinite rotation component, an up-and-down push-pull component, and a clamping component. The through-hole type infinite rotation component comprises a second motor (17), a second gear (16) connected to the output shaft (1701) of the second motor, a first gear (14) meshing with the second gear (16), a second bearing (13), and a rotating head (12) fixedly connected to the outer ring (1303) of the second bearing, wherein the outer ring of the second bearing (13) is fixedly connected to the gear; the up-and-down push-pull component comprises a first motor (2), a second gear (16) connected to the output shaft (1701) of the first motor, a first gear (14) meshing with the second gear (16), a second bearing (13), and a rotating head (12) fixedly connected to the outer ring (1303) of the second bearing; and the outer ring of the second bearing (13) is fixedly connected to the gear. A push-pull block (4) connected to the output screw (201), a first bearing (5) embedded in the inner wall of the through hole of the push-pull block (4), a hollow pull rod (6) fixedly connected to the inner ring (501) of the first bearing, and the axis of the through hole is not in the same straight line with the axis of the first motor output screw (201), the lower part of the hollow pull rod (6) and the rotating head (12) are connected with a clamping component, and the second through hole (302) of the cover shell, the through hole of the push-pull block (4), the through hole of the hollow pull rod (603), and the through hole of the rotating head (1201) are connected and coaxial.

2. The large through-hole infinitely rotating push-pull device according to claim 1, characterized in that: The invention also includes a cover shell (3), wherein the cover shell (3) is a shell-like structure having a cover shell cavity (305), and the upper surface is provided with a first cover shell through hole (301) for fixing the first motor (2) and for passing the first motor output screw (201), a second cover shell through hole (302) located in the middle and coaxial with the central axis of the hollow pull rod (6) and the first bearing (5), and a third cover shell through hole (303) for fixing the second motor (17) and for passing the second motor output shaft (1701); a first cover shell groove (304) in a vertical direction is provided on the inner wall of the cover shell cavity (305) for being slidably connected to the push-pull block guide block (403) up and down, and the push-pull block (4) can slide up and down in the cover shell cavity (305) driven by the first motor output screw (201).

3. The large through-hole infinitely rotating push-pull device according to claim 2, characterized in that: The push-pull block (4) comprises a connected screw hole (401), a semicircular push-pull block (4) through hole located on the side of the screw hole (401), and a push-pull block guide block (403) arranged on the side wall of the push-pull block (4); a push-pull block U-shaped groove (402) for fixing the first bearing outer ring (503) is provided on the inner wall of the through hole; and the push-pull block guide block (403) is matched with the first groove (304) of the cover shell.

4. The large through-hole type infinitely rotating push-pull device according to claim 3, characterized in that: The clamping assembly comprises an L-shaped lever arm (8) movably connected to the lower part of the hollow pull rod (6) through a first pin shaft (7), a finger (11) slidably connected to the L-shaped lever arm ball head (803) at the other end of the L-shaped lever arm (8), and a slide rail (10) fixed to the lower surface of the rotating head (12). The finger (11) is slidably connected to a slide groove provided below the slide rail (10) through a ball protruding from the upper part. A slide rail through hole (1001) is provided on the slide rail (10) for the L-shaped lever arm (8) to pass through. An L-shaped lever arm through hole (802) is provided at the middle bend of the L-shaped lever arm (8) for passing through a second pin shaft (9) and fixed to the rotating head (12) through the second pin shaft (9).

5. The large through-hole infinitely rotating push-pull device according to claim 1, 2, 3 or 4, characterized in that: The upper end of the hollow pull rod (6) is a hollow pull rod boss (601) that is clamped on the first bearing inner ring (501), and the lower end is provided with a hollow pull rod through hole (602) that is connected and fixed to the first pin shaft (7). The first bearing outer ring (503) is clamped and fixed in the push-pull block U-shaped groove (402) opened on the inner wall of the through hole of the push-pull block (4).

6. The large through-hole infinitely rotating push-pull device according to claim 5, characterized in that: A bottom fixing plate (15) is connected and fixed to the lower part of the cover shell (3), and the bottom fixing plate (15) is provided with a through hole for the hollow pull rod (6) to pass through, and is also provided with a groove for placing the second gear (16) and a through hole for the first gear (14).

7. The large through-hole infinitely rotating push-pull device according to claim 6, characterized in that: The second bearing (13) comprises a second bearing inner ring (1301) fixedly connected to the bottom fixing plate (15), a second bearing outer ring (1303) fixedly connected to the inner ring of the first gear (14), and a second bearing rolling element (1302) between the second bearing inner ring (1301) and the second bearing outer ring (1303).

8. The large through-hole infinitely rotating push-pull device according to claim 6 or 7, characterized in that: The rotating head (12) is provided with a rotating head through hole (1202) for the hollow pull rod (6) to pass through, and an upper cavity (1203) for the L-shaped lever arm (8) to rotate along the second pin shaft (9). The side wall of the cavity is provided with a rotating head through hole (1202) for connecting the second pin shaft (9), and a lower cavity for fixing and connecting the slide rail (10) is also provided at the lower part corresponding to the upper cavity (1203).

9. The large through-hole infinitely rotating push-pull device according to claim 8, characterized in that: The finger (11) comprises an upper horizontal block and a lower vertical block perpendicular to the upper horizontal surface. Ball bearings are arranged on both sides of the upper horizontal block. The ball bearings are located in a slide groove arranged on the slide rail (10). A clamping claw connection hole is opened on the lower vertical block.

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