Truss manipulator rotating structure for insufficient space in machine tool

Abstract

The invention provides a truss manipulator rotating structure for insufficient space in a machine tool, which takes the vertical movement direction of a truss manipulator as the Y direction, and comprises a truss connecting assembly and a moving part detachably connected with the Y axis of the truss manipulator, the rotating mechanism is hoisted by a truss connecting assembly, the mounting position of the rotating mechanism relative to the Y axis can be adjusted in the X direction and the Z direction through the truss connecting assembly, a space-variable mounting plate and the tail end gripper are driven by a rotating air cylinder to rotate around the central axis of a rotating shaft of the rotating air cylinder, and the cross section of the rotating shaft forms an included angle of 45 degrees with the XZ plane and the XY plane and is perpendicular to the YZ plane; the pair of tail end claws serve as a discharging claw and a feeding claw correspondingly, at the beginning, the central axis of the feeding claw is arranged in the Y direction, and the central axis of the discharging claw is arranged in the Z direction; a pressing elastic pad arranged on the feeding paw can assist in discharging by means of elastic force. The device can adapt to internal rotation of a machine tool in a narrow area, and feeding and discharging are more stable and reliable.

Description

Technical Field

[0001] The invention relates to a truss manipulator, and more particularly to a truss manipulator rotating structure used for insufficient space in a machine tool. Background Art

[0002] The space inside some CNC machine tools in traditional truss robot production lines is limited, especially in the vertical direction. The tailstock chain plate and chip conveyor are installed under the machine tool spindle chuck, which causes interference when the traditional truss robot flips inside the machine tool after completing the material picking action. The common solution is to lift the material out of the machine tool range first, and then load the material after completing the flip outside the machine. This will increase the complexity of the robot's movements, extend the robot's working cycle, affect the efficiency of the production line, and is not conducive to capacity optimization. Summary of the invention

[0003] In order to solve the above technical problems, the present invention proposes a truss manipulator rotation structure for use in machine tools with insufficient space. The structure can adapt to the rotation inside a machine tool with a narrow area, simplify the movement of the truss manipulator in this process, shorten its working cycle, and make loading and unloading more stable and reliable.

[0004] To achieve the above object, the present invention adopts the following technical solution:

[0005] A truss manipulator rotating structure for a machine tool with insufficient space, the structural feature of which is that the vertical movement direction of the truss manipulator is the Y direction, and the truss manipulator rotating structure is assembled on the moving part of the Y axis of the truss manipulator as an end effector, comprising:

[0006] A truss connection assembly for detachably connecting the moving parts of the Y-axis of the truss manipulator;

[0007] The rotating mechanism is detachably hoisted by the truss connection assembly, and the installation position relative to the Y axis is adjustable along the X direction and the Z direction respectively through the truss connection assembly. The variable space mounting plate and the end gripper are driven by the rotating cylinder to rotate around the central axis of the rotating cylinder rotating axis. The cross section of the rotating axis is at an angle of 45° with both the XZ plane and the XY plane, and is perpendicular to the YZ plane;

[0008] The variable space mounting plate is used to detachably mount a pair of the end grippers, which are used as a material unloading gripper and a material loading gripper respectively. Initially, the central axis of the material loading gripper is arranged along the Y direction, with the gripping surface facing downward, and the central axis of the material unloading gripper is arranged along the Z direction, with the gripping surface facing the side away from the rotating mechanism.

[0009] The end gripper contacts the material to be grasped by pressing the spring pad, and the pressing spring pad can assist the end gripper in unloading the material by means of the elastic force parallel to the center axis of the gripper.

[0010] The structural characteristics of the present invention also lie in:

[0011] It also includes at least one group of air blowing components, which are installed on the variable space mounting plate at the position where the loading gripper and / or the unloading gripper are located. The air blowing component includes an air blowing base and an air pipe. A spherical air cavity is formed inside the air blowing base. The spherical air cavity is connected to an air inlet pipe with a spherical valve through an air inlet, and is connected to an external air source through the air inlet pipe to receive compressed air from the external air source. The air pipe is connected to the air outlet, and the air pipe is freely connected to a flat air nozzle. The blowing direction of the air nozzle is adjustable and is used for spraying the area where the loading gripper and / or the unloading gripper are located.

[0012] The air pipe is a copper pipe with a diameter of 6 mm.

[0013] In the truss connection assembly:

[0014] The upper positioning boss forms a boss structure corresponding to the outer dimensions of the inner cavity of the moving part of the Y-axis of the truss manipulator, and the boss structure is adaptively inserted into the inner cavity of the moving part from the bottom of the moving part of the Y-axis of the truss manipulator and fastened by bolts, and a boss base with a reserved screw hole is formed at the bottom of the boss structure;

[0015] The lower mounting plate is used to assemble with the boss base of the upper positioning boss, and a plurality of mounting screw holes are provided in accordance with the aperture and position distribution of the reserved screw holes, and the mounting screw holes are spaced apart along the X direction and the Z direction, respectively. The upper positioning boss can be aligned with the mounting screw holes at different positions through the reserved screw holes, so as to adjust the mounting position of the rotating mechanism hoisted by the lower mounting plate along the X direction and the Z direction;

[0016] The upper positioning boss and the lower mounting plate together form a hollow structure for routing pipelines.

[0017] In the rotating mechanism:

[0018] The rotary cylinder is hoisted on the truss connection assembly through a triangular fixing block. The triangular fixing block is formed with a hollow structure for pipeline routing. The rotary cylinder is installed through a mounting surface that is at an angle of 45° to the XZ plane and the XY plane and perpendicular to the YZ plane. The mounting surface of the triangular fixing block has assembly screw holes and locating pin holes, and is connected to the fixed end of the rotary cylinder at the assembly screw holes and the locating pin holes through bolts and locating pins. The rotating shaft of the rotary cylinder has a flange connection plate, and the variable space mounting plate is installed through the flange connection plate via bolts.

[0019] The variable space mounting plate is assembled on the rotating axis of the rotating cylinder through bolts via a main mounting surface perpendicular to the rotating axis of the rotating cylinder; the loading gripper is hoisted through a loading gripper mounting surface perpendicular to the Y direction of the truss manipulator; the unloading gripper is installed through a unloading gripper mounting surface perpendicular to the Z direction of the truss manipulator; the loading gripper mounting surface and the unloading gripper mounting surface form an angle of 135° with the main mounting surface respectively.

[0020] The unloading gripper is a pneumatic finger;

[0021] The feeding gripper is a pneumatic finger provided with the pressing spring pad. The jaws of the pneumatic finger are driven by a cylinder and can be opened or closed with the central axis of the pneumatic finger as the center. The pressing spring pad is arranged on the grasping surface of the pneumatic finger and is centrally placed between the jaws. It can contact the material to be grasped through one side facing the material to be grasped, and the other side is connected to a plurality of springs equidistantly distributed along the circumferential direction around the central axis of the pneumatic finger. The deformation direction of the spring is arranged along the central axis of the pneumatic finger. It is in a natural state initially and is compressed when the feeding gripper grasps the material.

[0022] The pneumatic finger is a three-finger gripper.

[0023] The pressing spring pad is a central radial plate structure, and a plurality of pressing arms are formed centrally and radially around the central axis of the pneumatic finger, and each pressing arm is staggeredly distributed with each clamping claw.

[0024] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0025] 1. It can adapt to the internal rotation of machine tools with narrow areas, simplify the movements of the truss manipulator in this process, shorten its working cycle, and is beneficial to the efficiency of the truss manipulator production line and the optimization of production capacity;

[0026] A triangular fixing block is used to make the cross section of the rotating axis of the rotating cylinder form an angle of 45° with both the XZ plane and the XY plane and be perpendicular to the YZ plane. A variable space mounting plate with a specific structure is used to connect the output end of the rotating cylinder, and the central axis of the loading gripper on the variable space mounting plate is set along the Y direction with the gripping surface facing downward, and the central axis of the unloading gripper on the variable space mounting plate is set along the Z direction with the gripping surface facing the side away from the rotating mechanism. Through the relative position relationship between the variable space mounting plate and the rotating cylinder, and between the rotating axis of the rotating cylinder and the Y axis of the truss manipulator, the original loading and unloading along the Y direction can be transformed into the horizontal plane (XZ plane) direction, so that the original positions of the unloading gripper and the loading gripper remain unchanged after rotation, but the rotation radius can be reduced by 50% along the Y direction, thereby improving the production status of the traditional truss manipulator production line in which the flipping action of the truss manipulator is interfered due to the limited space in the machine tool;

[0027] 2. The loading and unloading stability of the end gripper is better;

[0028] By configuring a pressing spring pad for the end gripper, the pressing spring pad contacts the material to be grasped during loading, compressing the spring, and providing pre-pressure by relying on the elastic force of the spring, the stability of loading and unloading is improved, so that the material can fit more naturally on the machine tool claw or the downstream conveyor belt when being unloaded;

[0029] 3. With cleaning function;

[0030] By configuring an air blowing assembly at the loading gripper and / or unloading gripper on the variable space mounting plate, the flat air nozzle of the air blowing assembly is used to spray a linear airflow, so that the iron filings remaining at the machine tool gripper can be cleaned during loading and / or unloading. The position of the air nozzle and the spraying direction are flexibly adjustable through the copper air pipe;

[0031] 4. The installation between the truss manipulator is stable and reliable, convenient and adjustable;

[0032] By setting up a truss connection assembly, the upper positioning boss is used to ensure a stable and reliable connection with the moving parts of the Y-axis of the truss manipulator, and the lower mounting plate is used to adapt to the adjustment function along the X and Z directions within a certain range, thereby further improving the adaptability of the rotating structure to the confined space in the machine tool. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0034] Figure 2 It is an exploded structural diagram of the truss connection assembly;

[0035] Figure 3 It is a structural diagram of the rotating mechanism;

[0036] Figure 4 It is a schematic diagram of the assembly structure of the variable space mounting plate and the end gripper;

[0037] Figure 5 It is a structural schematic diagram of a variable space mounting plate;

[0038] Figure 6 It is a schematic diagram of the structure of the end gripper;

[0039] Figure 7 It is a schematic diagram of the structure of the air blowing assembly;

[0040] Figure 8 It is a schematic diagram of the cross-sectional structure inside the air blowing component.

[0041] In the figure:

[0042] 1Y-axis moving parts;

[0043] 2 truss connection assembly; 211 boss structure; 212 boss base; 213 reserved screw hole; 22 lower mounting plate; 221 mounting screw hole;

[0044] 3 rotating mechanism; 31 triangular fixed block; 32 rotating cylinder;

[0045] 4 variable space mounting plate; 41 main mounting surface; 42 loading hand claw mounting surface; 43 unloading hand claw mounting surface;

[0046] 5 end gripper; 51 pneumatic finger; 52 pressing spring pad; 521 pressing arm; 53 spring; 54 unloading gripper; 55 loading gripper;

[0047] 6 air blowing assembly; 61 air blowing base; 611 spherical air cavity; 612 air inlet; 613 air outlet; 62 air pipe; 63 air nozzle. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in combination with the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0049] Please refer to Figures 1 to 8 , with the vertical movement direction of the truss manipulator as the Y direction, the truss manipulator rotating structure for insufficient space in the machine tool of this embodiment is assembled as the end effector on the moving part 1 of the Y axis of the truss manipulator, including:

[0050] A truss connection assembly 2, used for detachably connecting the moving part 1 of the Y-axis of the truss manipulator;

[0051] The rotating mechanism 3 is detachably hoisted by the truss connection assembly 2. The installation position relative to the Y axis can be adjusted along the X direction and the Z direction respectively through the truss connection assembly 2. The variable space installation plate 4 and the end gripper 5 are driven by the rotating cylinder 32 to rotate around the central axis of the rotating axis of the rotating cylinder 32. The cross section of the rotating axis is at an angle of 45° with both the XZ plane and the XY plane, and is perpendicular to the YZ plane.

[0052] The variable space mounting plate 4 is used to detachably mount a pair of end grippers 5, which are used as a material discharging gripper 54 and a material loading gripper 55 respectively. Initially, the central axis of the material loading gripper 55 is arranged along the Y direction, with the gripping surface facing downward, and the central axis of the material discharging gripper 54 is arranged along the Z direction, with the gripping surface facing the side away from the rotating mechanism 3;

[0053] The end gripper 5 contacts the material to be grasped by pressing the spring pad 52. The spring pad 52 can assist the end gripper 5 in unloading the material by means of the elastic force parallel to the center axis of the gripper.

[0054] In a specific implementation, the corresponding structural setting of the truss manipulator rotation structure also includes:

[0055] It also includes an air blowing assembly 6, which is installed at the position of the loading gripper 55 and / or the unloading gripper 54 on the variable space mounting plate 4. The air blowing assembly 6 includes an air blowing base 61 and an air pipe 62. A spherical air cavity 611 is formed inside the air blowing base 61. The spherical air cavity 611 is connected to the air inlet pipe 62 with a spherical valve through the air inlet 612, and is connected to an external air source through the air inlet pipe 62 to receive compressed air from the external air source. The air pipe 62 is connected to the air outlet 613. The free end of the air pipe 62 is detachably connected to a flat air nozzle 63, so that the blown air flow is linear. The blowing direction of the air nozzle 63 is adjustable, and is used to blow the area where the loading gripper 55 and / or the unloading gripper 54 are located. When the truss manipulator completes the loading action of the machine tool clamping claw through the loading gripper 55, the linear air flow is sprayed through the air blowing assembly 6, which is conducive to cleaning the residual iron filings from the previous operation at the machine tool clamping claw.

[0056] The air pipe 62 is a copper pipe with a diameter of 6 mm and is deformable to adjust the position and blowing direction of the air nozzle 63. The air nozzle 63 can be made of nylon plastic.

[0057] In the Truss Connection Component 2:

[0058] The upper positioning boss is formed into a boss structure 211 corresponding to the inner cavity outer dimensions of the moving component 1 of the Y-axis of the truss manipulator. The boss structure 211 is adapted to be inserted into the inner cavity of the moving component from the bottom of the moving component 1 of the Y-axis of the truss manipulator and fastened by bolts. A boss base 212 with a reserved screw hole 213 is formed at the bottom of the boss structure 211. In this embodiment, the moving component 1 of the Y-axis of the truss manipulator is a vertically arranged aluminum profile with a through cavity structure. The outer contour of the boss structure 211 is designed corresponding to the outer dimensions of the cavity of the aluminum profile, so that the boss structure 211 can be adapted to be inserted into it from the bottom of the aluminum profile. If the moving component 1 of the Y-axis of the truss manipulator is of other outer structures, the boss structure 211 can be adapted to be set so that the upper positioning boss can be assembled with it without interfering with the motion trajectory of the Y-axis moving component.

[0059] The lower mounting plate 22 is used to assemble with the boss base 212 of the upper positioning boss. A plurality of mounting screw holes 221 are provided corresponding to the aperture and position distribution of the reserved screw holes 213. The mounting screw holes 221 are spaced apart along the X direction and the Z direction. The upper positioning boss can be aligned with the mounting screw holes 221 at different positions through the reserved screw holes 213, so as to adjust the mounting position of the rotating mechanism 3 hoisted by the lower mounting plate 22 along the X direction and the Z direction.

[0060] The upper positioning boss and the lower mounting plate 22 together form a hollow structure for routing pipelines.

[0061] In the rotating mechanism 3:

[0062] The rotating cylinder 32 is hoisted on the truss connection assembly 2 through the triangular fixing block 31. The triangular fixing block 31 is formed with a hollow structure for pipeline routing. The rotating cylinder 32 is installed through a mounting surface that is 45° with the XZ plane and the XY plane and perpendicular to the YZ plane. The mounting surface of the triangular fixing block 31 has assembly screw holes and positioning pin holes. The fixed end of the rotating cylinder 32 is connected to the assembly screw holes and positioning pin holes through bolts and positioning pins. The rotating shaft of the rotating cylinder 32 has a flange connection plate, and the variable space mounting plate 4 is installed through the flange connection plate through bolts; the positioning pin can be used to ensure the rotation accuracy of the rotating cylinder 32. The rotating cylinder 32 can drive the variable space mounting plate 4 and the end gripper 5 to rotate within a range of 180° around the central axis of the rotating shaft. The specific positions of the assembly screw holes and the positioning pin holes are distributed in accordance with the shape structure of the fixed end of the rotating cylinder 32.

[0063] The variable space mounting plate 4 is assembled on the rotating axis of the rotating cylinder 32 through a main mounting surface 41 which is perpendicular to the rotating axis of the rotating cylinder 32 by bolts; the loading claw 55 is hoisted through the loading claw mounting surface 42 which is perpendicular to the Y direction of the truss manipulator, and the unloading claw 54 is installed through the unloading claw mounting surface 43 which is perpendicular to the Z direction of the truss manipulator; the loading claw mounting surface 42 and the unloading claw mounting surface 43 are respectively at an angle of 135° with the main mounting surface 41; the variable space mounting plate 4 is reserved with holes and grooves to facilitate the fixing of the restraining air pipe 62 and the cylinder sensor wiring harness of the end claw 5, and corresponding mounting holes are also reserved for installing the air blowing assembly 6. By designing the variable space mounting plate 4 as a three-section plate structure, and the relative position relationship between the variable space mounting plate 4 and the rotating cylinder 32, and between the rotating axis of the rotating cylinder 32 and the Y axis of the truss manipulator, the original loading and unloading along the Y direction can be transformed into a horizontal plane (XZ plane) direction, so that the original positions of the unloading claw 54 and the loading claw 55 remain unchanged after rotation, but the rotation radius along the Y direction can be reduced by 50%, so that the truss manipulator rotation structure of this embodiment can be better suitable for rotation inside machine tools with narrow areas.

[0064] The unloading gripper 54 is a pneumatic finger 51;

[0065] The feeding gripper 55 is a pneumatic finger 51 provided with a pressing spring pad 52. The jaws of the pneumatic finger 51 are driven by a cylinder and can be opened or closed with the central axis of the pneumatic finger 51 as the center. The pressing spring pad 52 is arranged on the grasping surface of the pneumatic finger 51 and is centrally placed between the jaws. It can contact the material to be grasped through the side facing the material to be grasped, and the other side is connected to a plurality of springs 53 distributed equidistantly along the circumferential direction around the central axis of the pneumatic finger 51. The deformation direction of the spring 53 is arranged along the central axis of the pneumatic finger 51. It is in a natural state initially and is compressed when the feeding gripper 55 grasps the material.

[0066] The pneumatic finger 51 is a three-finger gripper.

[0067] The pressing spring pad 52 is a central radial plate structure, and a plurality of pressing arms 521 are formed radially around the central axis of the pneumatic finger 51, and each pressing arm 521 is staggered with each clamping claw. In this embodiment, the pressing spring pad 52 is formed with three pressing arms 521, and the three pressing arms 521 and the three clamping claws of the three-finger clamp are staggered and evenly spaced along the circumferential direction around the central axis of the pneumatic finger 51, and each pressing arm 521 is elastically connected to the feeding claw 55 through a spring 53. A pressing spring pad 52 is set by a spring 53, so that when the truss manipulator loads materials, the pressing spring pad 52 is used to contact the material to be grasped, and the spring 53 is compressed through the contact. It remains compressed during the process of the pneumatic finger 51 clamping the material to complete the loading action. When the pneumatic finger 51 of the loading gripper 55 opens to unload the material to the machine tool claw, the elastic force of the spring 53 allows the pressing spring pad 52 to provide pre-pressure to the material, so that the material can fit more naturally on the machine tool claw.

[0068] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A truss manipulator rotating structure for insufficient space in a machine tool, characterized in that: Taking the vertical movement direction of the truss manipulator as the Y direction, the truss manipulator rotating structure is assembled on the moving part of the Y axis of the truss manipulator as the end effector, including: A truss connection assembly for detachably connecting the moving parts of the Y-axis of the truss manipulator; The rotating mechanism is detachably hoisted by the truss connection assembly, and the installation position relative to the Y axis is adjustable along the X direction and the Z direction respectively through the truss connection assembly. The variable space mounting plate and the end gripper are driven by the rotating cylinder to rotate around the central axis of the rotating cylinder rotating axis. The cross section of the rotating axis is at an angle of 45° with both the XZ plane and the XY plane, and is perpendicular to the YZ plane; The variable space mounting plate is used to detachably mount a pair of the end grippers, which are used as a material unloading gripper and a material loading gripper respectively. Initially, the central axis of the material loading gripper is arranged along the Y direction, with the gripping surface facing downward, and the central axis of the material unloading gripper is arranged along the Z direction, with the gripping surface facing the side away from the rotating mechanism. The loading gripper contacts the material to be grasped by pressing the spring pad, and the pressing spring pad can assist the loading gripper in unloading the material by means of the elastic force parallel to the center axis of the gripper.

2. The truss manipulator rotating structure for insufficient space in a machine tool according to claim 1 is characterized in that: It also includes at least one group of air blowing components, which are installed on the variable space mounting plate at the position where the loading gripper and / or the unloading gripper are located. The air blowing component includes an air blowing base and an air pipe. A spherical air cavity is formed inside the air blowing base. The spherical air cavity is connected to an air inlet pipe with a spherical valve through an air inlet, and is connected to an external air source through the air inlet pipe to receive compressed air from the external air source. The air pipe is connected to the air outlet, and the air pipe is freely connected to a flat air nozzle. The blowing direction of the air nozzle is adjustable and is used for spraying the area where the loading gripper and / or the unloading gripper are located.

3. The truss manipulator rotating structure for insufficient space in a machine tool according to claim 2 is characterized in that: The air pipe is a copper pipe with a diameter of 6 mm.

4. The truss manipulator rotating structure for insufficient space in a machine tool according to claim 1 is characterized in that: In the truss connection assembly: The upper positioning boss forms a boss structure corresponding to the outer dimensions of the inner cavity of the moving part of the Y-axis of the truss manipulator, and the boss structure is adaptively inserted into the inner cavity of the moving part from the bottom of the moving part of the Y-axis of the truss manipulator and fastened by bolts, and a boss base with a reserved screw hole is formed at the bottom of the boss structure; The lower mounting plate is used to assemble with the boss base of the upper positioning boss, and a plurality of mounting screw holes are provided in accordance with the aperture and position distribution of the reserved screw holes, and the mounting screw holes are spaced apart along the X direction and the Z direction, respectively. The upper positioning boss can be aligned with the mounting screw holes at different positions through the reserved screw holes, so as to adjust the mounting position of the rotating mechanism hoisted by the lower mounting plate along the X direction and the Z direction; The upper positioning boss and the lower mounting plate together form a hollow structure for routing pipelines.

5. The truss manipulator rotating structure for insufficient space in a machine tool according to claim 1 is characterized in that: In the rotating mechanism: The rotary cylinder is hoisted on the truss connection assembly through a triangular fixing block. The triangular fixing block is formed with a hollow structure for pipeline routing. The rotary cylinder is installed through a mounting surface that is at an angle of 45° to the XZ plane and the XY plane and perpendicular to the YZ plane. The mounting surface of the triangular fixing block has assembly screw holes and locating pin holes, and is connected to the fixed end of the rotary cylinder at the assembly screw holes and the locating pin holes through bolts and locating pins. The rotating shaft of the rotary cylinder has a flange connection plate, and the variable space mounting plate is installed through the flange connection plate via bolts.

6. The truss manipulator rotating structure for insufficient space in a machine tool according to claim 1 or 5, characterized in that: The variable space mounting plate is assembled on the rotating axis of the rotating cylinder through bolts via a main mounting surface perpendicular to the rotating axis of the rotating cylinder; the loading gripper is hoisted through a loading gripper mounting surface perpendicular to the Y direction of the truss manipulator; the unloading gripper is installed through a unloading gripper mounting surface perpendicular to the Z direction of the truss manipulator; the loading gripper mounting surface and the unloading gripper mounting surface form an angle of 135° with the main mounting surface respectively.

7. The truss manipulator rotating structure for insufficient space in a machine tool according to claim 1 is characterized in that: The unloading gripper is a pneumatic finger; The feeding gripper is a pneumatic finger provided with the pressing spring pad. The jaws of the pneumatic finger are driven by a cylinder and can be opened or closed with the central axis of the pneumatic finger as the center. The pressing spring pad is arranged on the grasping surface of the pneumatic finger and is centrally placed between the jaws. It can contact the material to be grasped through one side facing the material to be grasped, and the other side is connected to a plurality of springs equidistantly distributed along the circumferential direction around the central axis of the pneumatic finger. The deformation direction of the spring is arranged along the central axis of the pneumatic finger. It is in a natural state initially and is compressed when the feeding gripper grasps the material.

8. The truss manipulator rotating structure for insufficient space in a machine tool according to claim 7 is characterized in that: The pneumatic finger is a three-finger gripper.

9. The truss manipulator rotating structure for insufficient space in a machine tool according to claim 7 is characterized in that: The pressing spring pad is a central radial plate structure, and a plurality of pressing arms are formed centrally and radially around the central axis of the pneumatic finger, and each pressing arm is staggeredly distributed with each clamping claw.

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