Clamping and positioning structure of automatic manipulator

Abstract

The invention provides a clamping and positioning structure of an automatic manipulator, and relates to the field of clamping and positioning structures.The clamping and positioning structure of the automatic manipulator comprises a mounting ring and a placing ring, the mounting ring is fixedly connected with the placing ring, and a plurality of grooves are formed in the periphery, close to the edge, of the side wall of a fixing column; a plurality of grooves are formed in the fixing column, first electromagnetic blocks are installed in the multiple grooves of the fixing column, a second electromagnetic block and a third electromagnetic block are installed in the two grooves of the rotating plate respectively, the magnetism of the second electromagnetic block is opposite to that of the first electromagnetic block, and the magnetism of the third electromagnetic block is the same as that of the first electromagnetic block. The electrified first electromagnetic block has magnetism, the magnetism of the first electromagnetic block is the same as that of a third electromagnetic block located at the lower end of the rotating plate, so that repulsion occurs, the magnetism of the second electromagnetic block is opposite to that of the first electromagnetic block, and the opposite poles attract each other, so that the clamping and positioning assembly is more stable.

Description

Technical Field

[0001] The invention relates to the field of clamping and positioning structures, and in particular to a clamping and positioning structure of an automated manipulator. Background Art

[0002] An automated manipulator is a highly integrated electromechanical device that mimics the functions of human arms and hands and is used to perform a variety of automated tasks. These manipulators are usually composed of multiple joints, drives, sensors, and control systems, and are capable of performing a variety of operations such as precise positioning, grasping, handling, assembly, welding, painting, and inspection.

[0003] When the existing automated manipulator is in use, it needs to be clamped and positioned, and is generally connected to other components by plate welding or threaded connection. When the automated manipulator moves an object from one workstation to another, when the automated manipulator is in a horizontal state for transportation, the total weight of the automated manipulator and the object clamped by the automated manipulator acts on the welding part or the threaded connection. The heavier the object clamped by the automated manipulator, the greater the force acting on the welding part or the threaded connection. Since the gravity of the object clamped by the automated manipulator is vertically downward, the upper end of the connected plate tends to move toward the direction of the heavy object, and the lower end of the plate tends to move away from the direction of the heavy object. The force on the plate is relatively uneven at this time, and the force generated by this trend acts on the welding part or the threaded connection, which easily causes a certain deformation of the plate and the parts connected to it, affecting the transportation of the object to a certain extent.

[0004] Therefore, it is necessary to provide a new clamping and positioning structure of an automated manipulator to solve the above technical problems. Summary of the invention

[0005] In order to solve the above technical problems, the present invention provides a clamping and positioning structure of an automated manipulator.

[0006] The clamping and positioning structure of the automated manipulator provided by the patent of the present invention includes a mounting ring and a placement ring, including a mounting ring and a placement ring, the mounting ring is fixedly connected to the placement ring, a clamping and positioning assembly is arranged on the inner side of the placement ring, a fixed column is fixedly connected inside the placement ring, a plurality of grooves are provided around the side wall of the fixed column near the edge, and a first electromagnetic block is installed in each of the plurality of grooves of the fixed column, a rotating plate is rotatably connected to the inner side of the placement ring, two grooves are provided on the side wall of the rotating plate facing the fixed column, a second electromagnetic block and a third electromagnetic block are respectively installed in the two grooves of the rotating plate, wherein the second electromagnetic block has opposite magnetic properties to the first electromagnetic block, and the third electromagnetic block has the same magnetic properties as the first electromagnetic block, a counterweight block is installed on the side wall of the rotating plate away from the third electromagnetic block, and the counterweight block and the third electromagnetic block are located at the same end of the rotating plate.

[0007] In the clamping and positioning structure of the above-mentioned automated manipulator, a plurality of elastic telescopic parts are installed around the fixed column near the center of the circle, and the plurality of elastic telescopic parts are respectively arranged corresponding to a plurality of first electromagnetic blocks. A conductive device is arranged in a groove opened on the side wall of the fixed column away from the first electromagnetic block, and two extrusion columns are also installed on the side wall of the rotating plate. The two extrusion columns are respectively arranged corresponding to the first electromagnetic block and the third electromagnetic block, and the extrusion columns can extrude the elastic telescopic parts.

[0008] In the clamping and positioning structure of the above-mentioned automated manipulator, a plurality of support rods are fixedly connected to the periphery of the rotating plate, the ends of the plurality of support rods are fixedly connected to movable balls, and the plurality of movable balls are movably arranged in a circle of grooves opened on the inner wall of the placement ring.

[0009] In the clamping and positioning structure of the above-mentioned automated manipulator, the elastic telescopic part includes a movable column, a retaining ring and a conductive part. The movable column is movably inserted into the socket opened in the fixed column. The end of the movable column is an arc portion, and the other end of the movable column extends into the groove where the conductive device is located. A retaining ring is fixedly sleeved on one end of the movable column away from the arc portion, and an elastic part for connecting to the inner wall of the groove of the fixed column is installed on the retaining ring. One end of the conductive part is installed on the movable column, and the other end of the conductive part is installed on the first electromagnetic block.

[0010] In the clamping and positioning structure of the above-mentioned automated manipulator, the elastic part includes a telescopic rod and a spring, the two ends of the telescopic rod are respectively fixedly connected to the bottom wall of the inner cavity of the fixed column groove and the side wall of the retaining ring, the spring is movably mounted on the telescopic rod, and the two ends of the spring are respectively fixedly connected to the bottom wall of the inner cavity of the fixed column groove and the side wall of the retaining ring.

[0011] In the clamping and positioning structure of the above-mentioned automated manipulator, the conductive part includes a connecting plate, a wire and a connecting plate, one end of the connecting plate is fixedly connected to the movable column, the other end of the connecting plate is fixedly connected to the connecting plate, one end of the wire is connected to the first electromagnetic block, and the other end of the wire is connected to the connecting plate.

[0012] In the clamping and positioning structure of the above-mentioned automated manipulator, the conductive device includes a conductive ring, a mounting plate and a conductive column, one end of the mounting plate is fixedly mounted on the conductive ring, and the other end of the mounting plate is fixedly connected to the inner wall of the fixing column groove, one end of the conductive column is connected to the conductive ring, and the other end of the conductive column extends to the outside of the placement ring.

[0013] In the clamping and positioning structure of the above-mentioned automated manipulator, the clamping and positioning assembly includes a mounting frame, a driving member and a plurality of transmission members. The mounting frame is mounted on the mounting ring, and the mounting frame is fixedly connected to the fixed column. The driving member and the plurality of transmission members are all mounted on the mounting frame, and the driving member can drive the plurality of transmission members to rotate.

[0014] In the clamping and positioning structure of the above-mentioned automated manipulator, the driving member includes a support plate, a motor and a first bevel gear, one end of the support plate is fixedly connected to the mounting frame, the other end of the support plate is fixedly connected to the motor, and the output end of the motor is fixedly connected to the first bevel gear.

[0015] In the clamping and positioning structure of the above-mentioned automated manipulator, the transmission part includes a threaded rod, a second bevel gear, a clamping plate and two vertical plates. The two vertical plates are fixedly mounted on the inner wall of the mounting frame. The threaded rod is movably connected to the two vertical plates. One end of the threaded rod is fixedly connected to the second bevel gear. The first bevel gear is meshed with the second bevel gear. One end of the clamping plate is threadedly connected to the threaded rod, and the clamping plate is movably inserted into a through hole opened on the side wall of the mounting frame.

[0016] Compared with the related art, the clamping and positioning structure of the automated manipulator provided by the present invention has the following beneficial effects: When the manipulator is transferring items, at this time, under the action of the counterweight block, the rotating plate, the third electromagnetic block is located at the bottom, the second electromagnetic block is located at the top, and the extrusion column corresponding to the third electromagnetic block squeezes the arc surface located below the fixed column at this time, the arc surface drives the movable column to move, the movable column drives the connecting plate and the connecting plate to move, the spring and the telescopic rod are stretched, and the side wall of the connecting plate contacts the conductive ring, so that the first electromagnetic block under the fixed column is energized. The energized first electromagnetic block has magnetism, and the first electromagnetic block and the third electromagnetic block located at the lower end of the rotating plate have the same magnetism, so repulsion occurs, and the repulsive force exerts a pushing force on the bottom of the fixed column and the bottom of the mounting frame. The force is opposite to the force of the fixed column and the trend of the fixed column away from the weight. Similarly, the arc surface at the upper end of the fixed column is squeezed by the extrusion column, so that the connecting plate at this location contacts the conductive ring, so that the first electromagnetic block at this location is energized. The first electromagnetic block at this location has magnetism. Since the magnetism of the second electromagnetic block is opposite to that of the first electromagnetic block, opposite charges attract. Therefore, under the action of the first electromagnetic block and the second electromagnetic block, a pulling force is applied to the upper end of the fixed column and the top of the mounting frame. The pulling force at this time is opposite to the force of the fixed column and the trend of the fixed column approaching the weight. The magnetic attraction at the top and the repulsion at the bottom make the clamping and positioning assembly more stable. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1A schematic diagram of the structure of the clamping and positioning structure of the automated manipulator provided by the present invention; Figure 2 for Figure 1 A schematic structural diagram of another angle of the structure shown; Figure 3 for Figure 1 a schematic diagram of the structure of the decomposition shown; Figure 4 for Figure 3 A schematic structural diagram of another angle of the structure shown; Figure 5 for Figure 1 The structural schematic diagram of the rotating plate, the second electromagnetic block and the third electromagnetic block shown; Figure 6 for Figure 1 A schematic diagram of the structure of the fixed column, the first electromagnetic block and a plurality of elastic telescopic members of the structure shown; Figure 7 for Figure 6 A schematic structural diagram of another angle of the structure shown; Figure 8 for Figure 6 a schematic diagram of the decomposed structure of the structure shown; Fig. 9 for Figure 6 The structural schematic diagram of the fixed column shown; Fig.10 for Figure 8 The structural schematic diagram of the first electromagnetic block and the elastic telescopic member shown; Fig.11 for Figure 3 A schematic diagram of the structure of the clamping and positioning assembly and the mounting ring of the structure shown; Fig.12 for Fig.11 A schematic structural diagram of a cross-section of the structure shown.

[0018] Numbers in the figure: 1. Mounting ring; 2. Fixed column; 3. First electromagnetic block; 4. Rotating plate; 5. Second electromagnetic block; 6. Third electromagnetic block; 7. Counterweight; 8. Placement ring; 9. Support rod; 10. Active ball; 11. Extrusion column; 12. Active column; 13. Arc surface; 14. Retaining ring; 15. Telescopic rod; 16. Spring; 17. Wire; 18. Conductive ring; 19. Mounting plate; 20. Conductive column; 21. Socket; 22. Mounting frame; 23. Motor; 24. Support plate; 25. First bevel gear; 26. Vertical plate; 27. Threaded rod; 28. Second bevel gear; 29. ​​Clamping plate; 30. Connecting plate; 31. Connecting plate. DETAILED DESCRIPTION

[0019] The present invention is further described below in conjunction with the accompanying drawings and implementation methods.

[0020] Please refer to Figure 1-Figure 12 ,in, Figure 1 A schematic diagram of the structure of the clamping and positioning structure of the automated manipulator provided by the present invention; Figure 2 for Figure 1 A schematic structural diagram of another angle of the structure shown; Figure 3 for Figure 1 a schematic diagram of the decomposed structure of the structure shown; Figure 4 for Figure 3 A schematic structural diagram of another angle of the structure shown; Figure 5 for Figure 1 The structural schematic diagram of the rotating plate, the second electromagnetic block and the third electromagnetic block shown; Figure 6 for Figure 1 A schematic diagram of the structure of the fixed column, the first electromagnetic block and a plurality of elastic telescopic members of the structure shown; Figure 7 for Figure 6 A schematic structural diagram of another angle of the structure shown; Figure 8 for Figure 6 a schematic diagram of the decomposed structure of the structure shown; Fig. 9 for Figure 6 The structural schematic diagram of the fixed column shown; Fig.10 for Figure 8 The structural schematic diagram of the first electromagnetic block and the elastic telescopic member shown; Fig.11 for Figure 3 A schematic diagram of the structure of the clamping and positioning assembly and the mounting ring of the structure shown; Fig.12 for Fig.11 A schematic structural diagram of a cross-section of the structure shown.

[0021] In the specific implementation process, Figure 1-Figure 12As shown, a mounting ring 1 and a placing ring 8 are provided, wherein the mounting ring 1 is fixedly connected to the placing ring 8, a clamping and positioning assembly is provided on the inner side of the placing ring 8, and the clamping and positioning assembly is installed on the mounting ring 1, a fixing column 2 is fixedly connected inside the placing ring 8, and the fixing column 2 is fixedly connected to the clamping and positioning assembly, a plurality of grooves are provided around the side wall of the fixing column 2 near the edge, and a first electromagnetic block 3 is installed in each of the plurality of grooves of the fixing column 2, a plurality of elastic telescopic parts are provided around the fixed column 2 near the center of the circle, and the plurality of elastic telescopic parts are respectively provided corresponding to the plurality of first electromagnetic blocks 3, a conductive device is provided in the groove provided on the side wall of the fixing column 2 away from the first electromagnetic block 3, a rotating plate 4 is rotatably connected to the inner side of the placing ring 8, two grooves are provided on the side wall of the rotating plate 4 facing the fixing column 2, a second electromagnetic block 5 and a third electromagnetic block 6 are respectively installed in the two grooves of the rotating plate 4, wherein the second electromagnetic block 5 has an opposite magnetic property to the first electromagnetic block 3, and the third electromagnetic block 6 has the same magnetic property to the first electromagnetic block 3, a counterweight block 7 is provided on the side wall of the rotating plate 4 away from the third electromagnetic block 6, and the counterweight block 7 and the third electromagnetic block 6 are respectively provided The block 6 is located at the same end of the rotating plate 4, the second electromagnetic block 5 and the third electromagnetic block 6 are in a powered state, a power supply device can be installed on the rotating plate 4, the power supply device is electrically connected to the second electromagnetic block 5 and the third electromagnetic block 6, and two extrusion columns 11 are also installed on the side wall of the rotating plate 4, the two extrusion columns 11 are respectively arranged corresponding to the first electromagnetic block 3 and the third electromagnetic block 6, and the extrusion columns 11 can squeeze the elastic telescopic member, and the periphery of the rotating plate 4 is fixedly connected to a plurality of support rods 9, and the ends of the plurality of support rods 9 are fixedly connected to movable balls 10 , multiple movable balls 10 are movably arranged in a circle of grooves opened on the inner wall of the placement ring 8. The first electromagnetic block 3 that is energized has magnetism. The first electromagnetic block 3 has the same magnetism as the third electromagnetic block 6 located at the lower end of the rotating plate 4, so repulsion occurs. Since the magnetism of the second electromagnetic block 5 is opposite to that of the first electromagnetic block 3, opposite charges attract. Therefore, at this time, under the action of the first electromagnetic block 3 and the second electromagnetic block 5, a pulling force is applied to the upper end of the fixed column 2 and the top of the mounting frame 22, so that the magnetism above attracts and the magnetism below repels, thereby improving stability.

[0022] The elastic telescopic member includes a movable column 12, a retaining ring 14 and a conductive member. The movable column 12 is movably inserted into the socket 21 opened in the fixed column 2. The end of the movable column 12 is an arc portion 13. The other end of the movable column 12 extends into the groove where the conductive device is located. The end of the movable column 12 away from the arc portion 13 is fixedly sleeved with a retaining ring 14. The retaining ring 14 is installed with an elastic member for connecting with the inner wall of the groove of the fixed column 2. One end of the conductive member is installed on the movable column 12, and the other end of the conductive member is installed on the first electromagnetic block 3. The elastic member includes a telescopic rod 15 and a spring 16, the two ends of the telescopic rod 15 are respectively fixedly connected to the bottom wall of the inner cavity of the groove of the fixed column 2 and the side wall of the retaining ring 14, the spring 16 is movably sleeved on the telescopic rod 15, and the telescopic rod 15 can be composed of a rod body and a sleeve, wherein one end of the rod body can move in the sleeve, the other end of the rod body is connected to the side wall of the retaining ring 14, and one end of the sleeve is connected to the bottom wall of the inner cavity of the groove of the fixed column 2, and the two ends of the spring 16 are respectively fixedly connected to the bottom wall of the inner cavity of the groove of the fixed column 2 and the side wall of the retaining ring 14, and the conductive member includes a connecting plate 31, a wire 17 and a connecting plate 3 0, one end of the connecting plate 31 is fixedly connected to the movable column 12, the other end of the connecting plate 31 is fixedly connected to the connecting plate 30, one end of the wire 17 is connected to the first electromagnetic block 3, the other end of the wire 17 is connected to the connecting plate 30, the conductive device includes a conductive ring 18, a mounting plate 19 and a conductive column 20, one end of the mounting plate 19 is fixedly mounted on the conductive ring 18, the other end of the mounting plate 19 is fixedly connected to the inner wall of the groove of the fixed column 2, one end of the conductive column 20 is connected to the conductive ring 18, the other end of the conductive column 20 extends to the outside of the placement ring 8, the conductive column 20 is electrically connected to the external power supply equipment. Under the action of the counterweight block 7, the rotating plate 4 has the third electromagnetic block 6 located at the bottom and the second electromagnetic block 5 located at the top. The extrusion column 11 corresponding to the third electromagnetic block 6 squeezes the arc surface 13 located below the fixed column 2 at this time. The arc surface 13 drives the movable column 12 to move, and the movable column 12 drives the connecting plate 31 and the connecting plate 30 to move. The spring 16 and the telescopic rod 15 are stretched, and the side wall of the connecting plate 30 contacts the conductive ring 18, so that the first electromagnetic block 3 under the fixed column 2 is energized.

[0023] The clamping and positioning assembly includes a mounting frame 22, a driving member and a plurality of transmission members. The mounting frame 22 is mounted on the mounting ring 1. The installation here can be welded or bolted. The driving member and the plurality of transmission members are all mounted on the mounting frame 22. The mounting frame 22 is fixedly connected to the fixing column 2. The driving member can drive the plurality of transmission members to rotate. The driving member includes a support plate 24, a motor 23 and a first bevel gear 25. One end of the support plate 24 is fixedly connected to the mounting frame 22, and the other end of the support plate 24 is fixedly connected to the motor 23. The output end of the motor 23 is fixedly connected to the first bevel gear 25. The transmission member includes a threaded rod 27, a second bevel gear 28, a clamping plate 29 and two vertical plates 26. The two vertical plates 26 are all fixedly installed on the inner wall of the mounting frame 22, the threaded rod 27 is movably connected to the two vertical plates 26, one end of the threaded rod 27 is fixedly connected to the second bevel gear 28, the first bevel gear 25 is meshed with the second bevel gear 28, one end of the clamping plate 29 is threadedly connected to the threaded rod 27, and the clamping plate 29 is movably inserted into the through hole opened in the side wall of the mounting frame 22, the chassis of the automated manipulator is placed between the multiple clamping plates 29, then, the first bevel gear 25 is driven to rotate by the motor 23, and the first bevel gear 25 drives the multiple second bevel gears 28 to rotate, so that the multiple threaded rods 27 are rotated, and the multiple clamping plates 29 are close to each other to complete the clamping of the manipulator.

[0024] The working principle provided by the patent of the present invention is as follows: when the device is used, the chassis of the automated manipulator is placed between a plurality of clamping plates 29, and then the first bevel gear 25 is driven to rotate by the motor 23, and the first bevel gear 25 drives a plurality of second bevel gears 28 to rotate, thereby causing a plurality of threaded rods 27 to rotate, and a plurality of clamping plates 29 are brought close to each other to clamp the manipulator, and when the manipulator is transferring items, at this time, the rotating plate 4 is under the action of the counterweight block 7, the third electromagnetic block 6 is located at the bottom, and the second electromagnetic block 5 is located at the top The extrusion column 11 corresponding to the third electromagnetic block 6 squeezes the arc surface 13 located below the fixed column 2 at this time, and the arc surface 13 drives the movable column 12 to move, and the movable column 12 drives the connecting plate 31 and the connecting plate 30 to move, and the spring 16 and the telescopic rod 15 are stretched, and the side wall of the connecting plate 30 contacts the conductive ring 18, so that the first electromagnetic block 3 below the fixed column 2 is energized. The energized first electromagnetic block 3 has magnetism, and the first electromagnetic block 3 has the same magnetism as the third electromagnetic block 6 located at the lower end of the rotating plate 4, so there is a repulsion situation, and the repulsive force A thrust is applied to the bottom of the fixed column 2 and the bottom of the mounting frame 22, which is opposite to the force of the fixed column 2 and the fixed column 2 moving away from the heavy object. Similarly, the arc surface 13 at the upper end of the fixed column 2 is squeezed by the squeezing column 11, so that the connecting plate 30 at this location contacts the conductive ring 18, so that the first electromagnetic block 3 at this location is energized. The first electromagnetic block 3 at this location has magnetism. Since the second electromagnetic block 5 has opposite magnetism to the first electromagnetic block 3, opposite charges attract each other. Therefore, under the action of the first electromagnetic block 3 and the second electromagnetic block 5, the upper end of the fixed column 2 and the mounting frame 2 are pushed. 2, the pulling force is applied above the fixed column 2 and the force of the fixed column 2 approaching the weight. The magnetic attraction above and the magnetic repulsion below make the clamping and positioning assembly more stable. In addition, when the device is in use, through the counterweight block 7, when the manipulator rotates, the rotating plate 4 can move under the action of the counterweight block 7, and the multiple movable balls 10 move in the groove of the placement ring 8, so that the end of the rotating plate 4 equipped with the third electromagnetic block 6 is always at the lower end, so that the device can be suitable for rotation at various angles.

[0025] The circuits and controls involved in the patent of this invention are all prior art and will not be elaborated on here.

[0026] The above description is only an embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the present invention's patent specification and drawings, or directly or indirectly used in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A clamping and positioning structure of an automated manipulator, characterized in that: The invention comprises a mounting ring (1) and a placement ring (8), wherein the mounting ring (1) is fixedly connected to the placement ring (8), a clamping and positioning assembly is arranged on the inner side of the placement ring (8), a fixed column (2) is fixedly connected to the inner side of the placement ring (8), a plurality of grooves are arranged on the side wall of the fixed column (2) near the edge, and a first electromagnetic block (3) is installed in each of the plurality of grooves of the fixed column (2), a rotating plate (4) is rotatably connected to the inner side of the placement ring (8), two grooves are arranged on the side wall of the rotating plate (4) facing the fixed column (2), a second electromagnetic block (5) and a third electromagnetic block (6) are respectively installed in the two grooves of the rotating plate (4), wherein the second electromagnetic block (5) has opposite magnetic properties to the first electromagnetic block (3), and the third electromagnetic block (6) has the same magnetic properties as the first electromagnetic block (3), a counterweight block (7) is installed on the side wall of the rotating plate (4) away from the third electromagnetic block (6), and the counterweight block (7) and the third electromagnetic block (6) are located at the same end of the rotating plate (4).

2. The clamping and positioning structure of the automated manipulator according to claim 1, characterized in that: A plurality of elastic telescopic parts are installed around the fixed column (2) near the center of the circle, and the plurality of elastic telescopic parts are respectively arranged corresponding to the plurality of first electromagnetic blocks (3). A conductive device is arranged in a groove provided on the side wall of the fixed column (2) away from the first electromagnetic block (3). Two extrusion columns (11) are also installed on the side wall of the rotating plate (4). The two extrusion columns (11) are respectively arranged corresponding to the first electromagnetic block (3) and the third electromagnetic block (6), and the extrusion columns (11) can extrude the elastic telescopic parts.

3. The clamping and positioning structure of the automated manipulator according to claim 2, characterized in that: A plurality of support rods (9) are fixedly connected to the periphery of the rotating plate (4), and movable balls (10) are fixedly connected to the ends of the plurality of support rods (9). The plurality of movable balls (10) are movably arranged in a circle of grooves formed on the inner wall of the placement ring (8).

4. The clamping and positioning structure of the automated manipulator according to claim 3, characterized in that: The elastic telescopic member comprises a movable column (12), a retaining ring (14) and a conductive member. The movable column (12) is movably inserted into a socket (21) provided in the fixed column (2). The end of the movable column (12) is an arcuate portion (13). The other end of the movable column (12) extends into a groove where a conductive device is located. The end of the movable column (12) away from the arcuate portion (13) is fixedly sleeved with a retaining ring (14). The retaining ring (14) is provided with an elastic member for connecting to the inner wall of the groove of the fixed column (2). One end of the conductive member is installed on the movable column (12), and the other end of the conductive member is installed on the first electromagnetic block (3).

5. The clamping and positioning structure of the automated manipulator according to claim 4, characterized in that: The elastic member comprises a telescopic rod (15) and a spring (16), the two ends of the telescopic rod (15) being respectively fixedly connected to the bottom wall of the inner cavity of the groove of the fixed column (2) and the side wall of the retaining ring (14), the spring (16) being movably sleeved on the telescopic rod (15), the two ends of the spring (16) being respectively fixedly connected to the bottom wall of the inner cavity of the groove of the fixed column (2) and the side wall of the retaining ring (14).

6. The clamping and positioning structure of the automated manipulator according to claim 5, characterized in that: The conductive member comprises a connecting plate (31), a wire (17) and a connecting plate (30); one end of the connecting plate (31) is fixedly connected to the movable column (12), and the other end of the connecting plate (31) is fixedly connected to the connecting plate (30); one end of the wire (17) is connected to the first electromagnetic block (3), and the other end of the wire (17) is connected to the connecting plate (30).

7. The clamping and positioning structure of the automated manipulator according to claim 6, characterized in that: The conductive device comprises a conductive ring (18), a mounting plate (19) and a conductive column (20); one end of the mounting plate (19) is fixedly mounted on the conductive ring (18), the other end of the mounting plate (19) is fixedly connected to the inner wall of the groove of the fixed column (2); one end of the conductive column (20) is connected to the conductive ring (18), and the other end of the conductive column (20) extends to the outside of the placement ring (8).

8. The clamping and positioning structure of the automated manipulator according to claim 7, characterized in that: The clamping and positioning assembly comprises a mounting frame (22), a driving member, and a plurality of transmission members; the mounting frame (22) is mounted on the mounting ring (1); the mounting frame (22) is fixedly connected to a fixing column (2); the driving member and the plurality of transmission members are all mounted on the mounting frame (22); and the driving member can drive the plurality of transmission members to rotate.

9. The clamping and positioning structure of the automated manipulator according to claim 8, characterized in that: The driving member comprises a support plate (24), a motor (23) and a first bevel gear (25); one end of the support plate (24) is fixedly connected to the mounting frame (22); the other end of the support plate (24) is fixedly connected to the motor (23); and the output end of the motor (23) is fixedly connected to the first bevel gear (25).

10. The clamping and positioning structure of the automated manipulator according to claim 9, characterized in that: The transmission member comprises a threaded rod (27), a second bevel gear (28), a clamping plate (29) and two vertical plates (26); the two vertical plates (26) are fixedly mounted on the inner wall of the mounting frame (22); the threaded rod (27) is movably connected to the two vertical plates (26); one end of the threaded rod (27) is fixedly connected to the second bevel gear (28); the first bevel gear (25) is meshed with the second bevel gear (28); one end of the clamping plate (29) is threadedly connected to the threaded rod (27); and the clamping plate (29) is movably inserted into a through hole provided in the side wall of the mounting frame (22).

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