Turnover turntable mechanism for manipulator

Abstract

The turnover turntable mechanism comprises a manipulator bottom frame, a mounting block and an electric push rod, the mounting block is fixedly connected to one side of the upper end of the manipulator bottom frame, a first rotating column is fixedly connected to the interior of the mounting block, and a turnover shell is rotationally connected to the surface of the first rotating column; a rotating assembly is arranged in the overturning shell, an overturning assembly is jointly arranged between the rotating assembly and the manipulator bottom frame, and a limiting assembly is jointly arranged between the overturning assembly and the rotating assembly. According to the mechanical arm device, the angle of the rotating assembly is automatically adjusted by the limiting assembly according to the angle between the mechanical arm device and the conveyor, goods can be stably placed on the surface of the conveyor through the mechanical arm bodies conveniently, and when an electric push rod operates, two first ball head structures can be used for driving the two mechanical arm bodies to operate to clamp the goods; and the effect that the cargo carrying efficiency can be effectively improved is achieved.

Description

Technical Field

[0001] The invention belongs to the technical field of manipulators, and in particular relates to a reversible turntable mechanism for a manipulator. Background Art

[0002] In modern industrial production, robots are used more and more widely. However, existing robots have certain limitations in operational flexibility and versatility. Traditional turntable mechanisms can often only rotate in a single direction, which makes it difficult to meet the needs of complex work scenarios, such as grasping, placing and processing workpieces at different angles.

[0003] In some transport machines that need to transfer goods upward, it cannot be guaranteed that the transport machine is placed parallel or nearly parallel to the robot every time. When the transport machine and the robot are placed at a certain angle, the robot cannot automatically adjust the turntable flip angle according to the angle between the transport machine and the robot, thereby transporting the goods to the surface of the transport machine. Summary of the invention

[0004] The purpose of the present invention is to provide a flippable turntable mechanism for a robot, which has the advantage of automatically adjusting the rotation angle of the robot according to the position angle of the conveying machine and the robot, and cleaning the metal debris caused by wear while adjusting the flip height of the robot.

[0005] The above technical purpose of the present invention is achieved through the following technical solutions: a flippable turntable mechanism for a manipulator, comprising a manipulator base frame, a mounting block and an electric push rod, the mounting block is fixedly connected to one side of the upper end of the manipulator base frame, a first rotating column is fixedly connected inside the mounting block, a flip shell is rotatably connected to the surface of the first rotating column, a rotating assembly is arranged inside the flip shell, a flip assembly is commonly arranged between the rotating assembly and the manipulator base frame, and a limiting assembly is commonly arranged between the flip assembly and the rotating assembly.

[0006] By adopting the above technical solution, the flipping assembly is used to drive the height adjustment of the manipulator body, the rotating assembly is used to adjust the rotation angle of the manipulator body, and the limit assembly is used to limit the rotation angle of the rotating assembly. When the electric push rod is running, two sets of first ball head structures will be used to drive the two sets of manipulator bodies to clamp cargo. The inner diameter of the circular end face of the ball socket of the first ball head structure is smaller than the diameter of the ball head.

[0007] The present invention is further configured as follows: the rotating assembly includes a motor and a second screw, the motor is fixedly connected to one end inside the flip shell, the second screw is fixedly connected to the output end of the motor, a second bevel gear is fixedly connected to the surface of the second screw, and a top block is threadedly connected to the surface of the second screw.

[0008] By adopting the above technical solution, the motor is used to provide power for the rotation of the second screw rod and the second bevel gear and for the movement of the top block.

[0009] The present invention is further configured as follows: a spring push rod is bolted inside the top block, a concave plate is fixedly connected to the piston end of the spring push rod, first hinges are fixedly connected to both sides of the concave plate surface, two groups of the first hinge surfaces are fixedly connected to cover plates, and two groups of oil-absorbing cotton are fixedly connected to one end of the top block.

[0010] By adopting the above technical solution, the oil-absorbing cotton is used to provide lubrication for the device, and the spring push rod is used to push the concave plate to reset after moving.

[0011] The present invention is further configured as follows: a top plate is fixedly connected to the middle of one side of the concave plate, a ball head of a third ball head structure is fixedly connected to one end of the flip shell, a torsion spring is sleeved on the surface of the third ball head structure, a turntable is fixedly connected between the ball socket of the third ball head structure and the torsion spring, and a groove is opened on the surface of the turntable.

[0012] By adopting the above technical solution, when the top plate pushes the turntable, the turntable will rotate using the third ball head structure, thereby rotating the manipulator body. The torsion spring is used to drive the turntable to reset, and the inner diameter of the circular end face of the ball socket of the third ball head structure is smaller than the ball head diameter.

[0013] The present invention is further configured as follows: the flipping assembly includes a sliding rod and a rotating rod, the two groups of the sliding rods are respectively slidably connected to the two sides of the inside of the manipulator base frame, the two groups of the rotating rods are respectively fixedly connected to one side of the two groups of sliding rods, the surfaces of the two groups of rotating rods are both rotatably connected with a flap, and the upper surface of the flap is fixedly connected with a first rotating shaft.

[0014] By adopting the above technical solution, the flap can be rotated by the rotating rod, so that the flap can adapt to the angle change when the first screw rod moves upward.

[0015] The present invention is further configured as follows: a brush is fixedly connected to the upper end of the first rotating shaft, a first screw rod is commonly threadedly connected between the brush and the flap, a fixed block is rotatably connected to the surface of the first screw rod, and a slider is slidably connected to the inside of the fixed block.

[0016] By adopting the above technical solution, the brush can clean the metal debris on the surface of the first screw rod, and the sliding block sliding inside the fixed block can prevent the flip assembly and the limit assembly from getting stuck.

[0017] The present invention is further configured as follows: a ball socket of a second ball head structure is fixedly connected to one side of the surface of the slider, a telescopic spring is fixedly connected between the slider and one side of the inner wall of the fixed block, one end of the first screw rod is fixedly connected to a first bevel gear, and the first bevel gear and the second bevel gear are meshingly connected, one end of the first screw rod is rotatably connected to a mounting plate, and the mounting plate is welded to the lower surface of the flip shell.

[0018] With the above technical solution, the telescopic spring is used to drive the sliding block to reset after moving, and the inner diameter of the circular end surface of the ball socket of the second ball head structure is smaller than the diameter of the ball head.

[0019] The present invention is further configured as follows: the limit assembly includes a limit shell, a slide plate and a movable plate, the limit shell is fixedly connected to one end of one side of the flip shell surface, the limit shell is slidably connected to the inside of the limit shell, one end of the slide plate is fixedly connected to the first top column, and the other end of the slide plate is fixedly connected to the fourth ball head structure.

[0020] By adopting the above technical solution, when one end of the slide is subjected to tension, the slide will drive the first top column to move horizontally, making it easier for the first top column to limit the turntable, and the inner diameter of the circular end surface of the ball socket of the fourth ball head structure is smaller than the diameter of the ball head.

[0021] The present invention is further configured as follows: the movable plate is fixedly connected to one end of the ball socket of the fourth ball head structure, the other end of the movable plate is fixedly connected to the ball socket of the fifth ball head structure, the ball head surface of the fifth ball head structure is fixedly connected to a pull rod, one end of the pull rod is fixedly connected to a second hinge, the surface of the second hinge is fixedly connected to a measuring rod, the inside of the measuring rod is fixedly connected to a second rotating column, the lower end of the second rotating column is fixedly connected to a second rotating shaft, one side of the upper end of the second rotating shaft is fixedly connected to the ball socket of the seventh ball head structure, the ball head surface of the seventh ball head structure is fixedly connected to a second top column, and the other end of the second top column is fixedly connected to the ball head surface of the second ball head structure.

[0022] By adopting the above technical solution, when the second top column pulls the measuring rod, the other end of the measuring rod will stick to the surface of the conveying machine, thereby completing the angle between the device and the conveying machine, and then the rotating assembly can only rotate to a certain position. The inner diameter of the circular end face of the ball socket of the fifth ball head structure and the seventh ball head structure is smaller than the ball head diameter.

[0023] The present invention is further configured as follows: a fixed plate is fixedly connected to one side of the rotating component, two groups of manipulator bodies are rotatably connected to the surface of the fixed plate, a first ball head structure is fixedly connected between the two groups of manipulator bodies, and the electric push rod is fixedly connected between the two groups of first ball head structures.

[0024] In summary, the present invention has the following beneficial effects: When in use, start the rotating component. During the operation of the rotating component, it will drive the manipulator body to rotate, and the rotating component has a lubrication function inside to prevent wear caused by long-term operation of the rotating component. During the operation of the rotating component, it will drive the flip component to move upward, thereby driving the flip shell and the manipulator body to rotate upward and adjust the angle. During the operation of the flip component, it will automatically run the function of cleaning metal debris. Because the internal metal structure of the flip component will produce metal debris due to wear when it runs for a long time, if it is not cleaned, it will affect the normal use of the equipment. The limit component is used to associate the flip component and the rotating component. When the flip component drives the manipulator body to rotate upward, it will pull the limit component to operate, so that the limit component automatically adjusts the angle of the rotating component according to the angle between the manipulator device and the conveyor, so that the manipulator body can stably place the goods on the conveyor surface. When the electric push rod is running, the two sets of first ball head structures will be used to drive the two sets of manipulator bodies to clamp the goods, thereby effectively improving the efficiency of cargo handling. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic three-dimensional diagram of the overall structure of the present invention; Figure 2 is a schematic three-dimensional diagram of the top block structure of the present invention; Figure 3 is a schematic three-dimensional diagram of the structure of the first bevel gear of the present invention; Figure 4 Is a schematic perspective view of the fixed block structure of the present invention; Figure 5 is a schematic three-dimensional diagram of the first rotating shaft structure of the present invention; Figure 6 is a schematic three-dimensional diagram of the top plate structure of the present invention; Figure 7 It is a schematic three-dimensional diagram of the structure of the robot body of the present invention; Figure 8 is a schematic three-dimensional diagram of the first top column structure of the present invention; Fig. 9 is a schematic three-dimensional diagram of the pull rod structure of the present invention; Fig.10 It is a schematic three-dimensional diagram of the first screw rod structure of the present invention.

[0026] Reference numerals: 1. Manipulator chassis; 2. Mounting block; 3. First rotating column; 4. Turning shell; 5. Turning assembly; 501. First bevel gear; 502. Fixed block; 503. Sliding block; 504. Second ball head structure; 505. Telescopic spring; 506. Brush; 507. First screw rod; 508. Turn plate; 509. Sliding rod; 510. Rotating rod; 511. First rotating shaft; 512. Mounting plate; 6. Rotating assembly; 601. Motor; 602. Second screw rod; 603. Second bevel gear; 604. Ejector block; 605. Spring ejector; 606. Oil-absorbing cotton; 607. Concave plate; 608. First Hinge; 609, cover plate; 610, top plate; 611, torsion spring; 612, third ball head structure; 613, turntable; 614, groove; 7, limit assembly; 701, limit shell; 702, slide plate; 703, first top column; 704, fourth ball head structure; 705, movable plate; 706, fifth ball head structure; 707, pull rod; 708, second top column; 709, second rotating shaft; 710, second hinge; 711, second rotating column; 712, measuring rod; 713, seventh ball head structure; 8, fixed plate; 9, robot body; 10, first ball head structure; 11, electric push rod. DETAILED DESCRIPTION

[0027] The present invention is further described in detail below in conjunction with the accompanying drawings.

[0028] Embodiment 1: refer to Figure 1-10 A reversible turntable mechanism for a manipulator comprises a manipulator base frame 1, a mounting block 2 and an electric push rod 11, the mounting block 2 is fixedly connected to one side of the upper end of the manipulator base frame 1, a first rotating column 3 is fixedly connected inside the mounting block 2, a flip shell 4 is rotatably connected to the surface of the first rotating column 3, a rotating component 6 is arranged inside the flip shell 4, a flip component 5 is commonly arranged between the rotating component 6 and the manipulator base frame 1, a limiting component 7 is commonly arranged between the flip component 5 and the rotating component 6, a fixed plate 8 is fixedly connected to one side of the rotating component 6, two groups of manipulator bodies 9 are rotatably connected to the surface of the fixed plate 8, a first ball head structure 10 is fixedly connected between the two groups of manipulator bodies 9, and an electric push rod 11 is fixedly connected between the two groups of first ball head structures 10.

[0029] Brief description of the use process: When in use, start the rotating component 6. During the operation of the rotating component 6, it will drive the manipulator body 9 to rotate, and the rotating component 6 has a lubrication function inside, which can prevent the wear caused by the long-term operation of the rotating component 6. During the operation of the rotating component 6, it will drive the flip component 5 to move up, thereby driving the flip shell 4 and the manipulator body 9 to turn up and adjust the angle. During the operation of the flip component 5, the function of cleaning metal debris will automatically run, because the internal metal structure of the flip component 5 will produce metal debris due to wear when it runs for a long time. If it is not cleaned, it will affect the normal use of the equipment. The limit component 7 is used to associate the flip component 5 and the rotating component 6. When the flip component 5 drives the manipulator body 9 to turn up, it will pull the limit component 7 to run, which is convenient for the manipulator body 9 to stably place the goods on the conveyor surface. When the electric push rod 11 is running, the two groups of first ball head structures 10 will be used to drive the two groups of manipulator bodies 9 to clamp the goods, thereby effectively improving the efficiency of cargo handling.

[0030] Embodiment 2: Based on Example 1, Figure 2 and Figure 6 The rotating assembly 6 includes a motor 601 and a second screw rod 602. The motor 601 is fixedly connected to one end of the inside of the flip shell 4. The second screw rod 602 is fixedly connected to the output end of the motor 601. The surface of the second screw rod 602 is fixedly connected to the second bevel gear 603. The surface of the second screw rod 602 is threadedly connected to a top block 604. The inside of the top block 604 is bolted with a spring top rod 605. The piston end of the spring top rod 605 is fixedly connected to a concave plate 607. Both sides of the surface of the concave plate 607 are fixedly connected to first hinges. Chain 608, the surfaces of the two groups of first hinges 608 are fixedly connected with cover plates 609, one end of the top block 604 is fixedly connected with two groups of oil-absorbing cotton 606; the middle part of one side of the concave plate 607 is fixedly connected with a top plate 610, one end of the flip shell 4 is fixedly connected with a ball head of a third ball head structure 612, the surface of the third ball head structure 612 is sleeved with a torsion spring 611, and a turntable 613 is fixedly connected between the ball socket of the third ball head structure 612 and the torsion spring 611, and a groove 614 is opened on the surface of the turntable 613.

[0031] Brief description of the usage process: When the motor 601 is running, it will drive the second screw rod 602 to rotate, thereby driving the top block 604 to move forward. When the top block 604 moves forward to a certain distance, the top plate 610 will contact the turntable 613. Because the surface of the turntable 613 is an inclined surface, when the top plate 610 squeezes the inclined surface of the turntable 613, the groove 614 will be stuck on the surface of the first top column 703, limiting the rotation angle of the turntable 613. Because in this process, the top block 604 will push the inclined surface of the turntable 613, so that the turntable 613 uses the squeezed inclined surface to rotate counterclockwise on the surface of the third ball head structure 612. At the same time, since one side of the turntable 613 is pushed by the top block 604, the turntable 613 will use the third ball head structure 612 to tilt to one side. During the tilting process, the turntable 613 will be blocked by the first top column 703, thereby completing the angle change of the turntable 613. , it is convenient for the robot body 9 to place goods, the torsion spring 611 is used to drive the rotated turntable 613 and the robot body 9 to reset, and when the top plate 610 pushes the turntable 613, the top plate 610 and the concave plate 607 will be squeezed into the top block 604. In this process, due to the obstruction of one end of the top block 604, when pushing the concave plate 607, the cover plate 609 will use the first hinge 608 to flip to a state of close contact with the top plate 610, so that the concave plate 607 and the cover plate 609 are stored in the top block 604, and then the oil-absorbing cotton 606 (a part of the lubricating oil is stored inside at the beginning) will be exposed and contact with the turntable 613, increasing a certain degree of lubrication on the surface of the turntable 613, and the spring push rod 605 is used to drive the top plate 610 to reset, so as to facilitate the rotation of the robot body 9 and clean the surface of the turntable 613.

[0032] Embodiment 3: Based on Example 2, Figure 3-5 The flip assembly 5 includes a slide bar 509 and a rotating rod 510. The two sets of slide bars 509 are respectively slidably connected to the two sides of the inside of the manipulator chassis 1. The two sets of rotating rods 510 are respectively fixedly connected to one side of the two sets of slide bars 509. The surfaces of the two sets of rotating rods 510 are both rotatably connected to a flap 508. The upper surface of the flap 508 is fixedly connected to a first rotating shaft 511; the upper end of the first rotating shaft 511 is fixedly connected to a brush 506. The brush 506 and the flap 508 are both threadedly connected to a first screw rod 507. The surface of the first screw rod 507 is rotatably connected to A fixed block 502, with a slider 503 slidably connected inside the fixed block 502; a ball socket of a second ball head structure 504 is fixedly connected to one side of the surface of the slider 503, a telescopic spring 505 is fixedly connected between the slider 503 and one side of the inner wall of the fixed block 502, one end of the first screw rod 507 is fixedly connected to the first bevel gear 501, and the first bevel gear 501 and the second bevel gear 603 are meshingly connected, one end of the first screw rod 507 is rotatably connected to a mounting plate 512, and the mounting plate 512 is welded to the lower surface of the flip shell 4.

[0033] When the second bevel gear 603 rotates, it will drive the first bevel gear 501 to rotate, and the first screw rod 507 will move up. During the upward movement of the first screw rod 507, the first screw rod 507 moves up inside the flap 508, and the flap 508 does not move up. Because the second screw rod 602 changes its angle upward, the angle with the robot base 1 will continue to increase, so the first screw rod 507 will follow the change in the angle of the second screw rod 602 and tilt to one side. The tilt of the first screw rod 507 will drive the flap 508 to rotate between the sliding rod 509 using the rotating rod 510. At the same time, the rotating rod 510 is thickened and will not Due to the force, the flap 508 is deformed, and the flap 508 also slides to one side using the slide bar 509, and in order to prevent it from getting stuck, the slide bar 509 slides inside the manipulator chassis 1. Due to the design of the first rotating shaft 511, when the first screw rod 507 moves upward, because the brush 506 and the first screw rod 507 are threadedly connected, and the first rotating shaft 511 is arranged between the brush 506 and the flap 508, when the first screw rod 507 rotates, the bristles of the brush 506 are in contact with the surface of the first screw rod 507, so when the first screw rod 507 rotates, it will drive the brush 506 to move forward using the first rotating shaft 511. The first screw rod 507 rotates to clean the metal debris on the surface of the first screw rod 507 while avoiding the rotation force of the first screw rod 507 from damaging the brush 506, thereby extending the service life of the brush 506 and preventing these debris from increasing the degree of wear on the first screw rod 507 and the flap 508. When the flip assembly 5 drives the limit assembly 7 to adjust to a suitable position (the flip assembly 5 is used to adjust the flip angle of the device, and the limit assembly 7 is used to limit the rotation angle of the manipulator body 9), and the flip assembly 5 needs to drive the manipulator body 9 to continue to rotate upward, the limit assembly 7 will use the second ball head structure 504 (the limit assembly 7 is connected to the second ball head structure 504 through the second ball head structure 504). The flip assembly 5 is connected to pull the slider 503 to move inside the fixed block 502 to prevent it from getting stuck. Because when the first screw rod 507 moves up and drives the device to continue to flip up, the fixed block will also move up, and the second top column 708 will be used to pull the measuring rod 712 to rotate. When the measuring rod 712 rotates to a certain position, it will be resisted by the conveying device. In order to prevent it from getting stuck, the second top column 708 will pull the slider 503 to slide inside the fixed block 502 for buffering, and the telescopic spring 505 is used to drive the slider 503 to reset, thereby achieving the effect of facilitating the adjustment of the rotation height of the manipulator body 9 and preventing metal debris from affecting the internal structure.

[0034] Embodiment 4: Based on Example 3, Figure 8-10The limiting assembly 7 includes a limiting shell 701, a slide plate 702 and a movable plate 705. The limiting shell 701 is fixedly connected to one end of the surface of the flip shell 4. The limiting shell 701 is slidably connected to the slide plate 702 inside. One end of the slide plate 702 is fixedly connected to the first top column 703, and the other end of the slide plate 702 is fixedly connected to the ball head of the fourth ball head structure 704; the movable plate 705 is fixedly connected to one end of the ball socket of the fourth ball head structure 704, and the other end of the movable plate 705 is fixedly connected to the ball socket of the fifth ball head structure 706. The ball head surface of the fifth ball head structure 706 A pull rod 707 is fixedly connected to the surface, one end of the pull rod 707 is fixedly connected to the second hinge 710, a measuring rod 712 is fixedly connected to the surface of the second hinge 710, a second rotating column 711 is fixedly connected inside the measuring rod 712, and a second rotating shaft 709 is fixedly connected to the lower end of the second rotating column 711; a ball socket of the seventh ball head structure 713 is fixedly connected to one side of the upper end of the second rotating shaft 709, the ball head surface of the seventh ball head structure 713 is fixedly connected to the second top column 708, and the other end of the second top column 708 is fixedly connected to the ball head surface of the second ball head structure 504.

[0035] Brief description of the usage process: When the fixed block 502 moves upward, the use of the seventh ball head structure 713 will cause the second top column 708 to pull the measuring rod 712 to rotate counterclockwise on the surface of the second rotating column 711 using the second rotating shaft 709. When the measuring rod 712 contacts the conveying device next to it, it will stop rotating and stop the pull rod 707 from pulling the slide plate 702 (when placing the manipulator device, one end of the manipulator base frame 1 is attached to one end of the conveyor). Moreover, due to the design of the movable plate 705 between the fourth ball head structure 704 and the fifth ball head structure 706, the pull rod 707 will pull the slide plate 702 to slide obliquely downward inside the limit shell 701, thereby driving the first top column 703 to move. The position of the first top column 703 determines the angle at which the turntable 613 can be tilted, thereby facilitating the limitation of the rotation angle of the manipulator body 9, so that it is suitable for conveyors in a variety of different placement positions.

[0036] This specific embodiment is merely an explanation of the present invention and is not a limitation of the present invention. After reading this specification, those skilled in the art may make non-creative modifications to the present embodiment as needed. However, as long as they are within the scope of the claims of the present invention, they are protected by the patent law.

Claims

1. A reversible turntable mechanism for a manipulator, comprising a manipulator chassis (1), a mounting block (2) and an electric push rod (11), characterized in that: The mounting block (2) is fixedly connected to one side of the upper end of the manipulator base frame (1); a first rotating column (3) is fixedly connected inside the mounting block (2); a flip shell (4) is rotatably connected to the surface of the first rotating column (3); a rotating component (6) is arranged inside the flip shell (4); a flip component (5) is arranged between the rotating component (6) and the manipulator base frame (1); and a limit position component (7) is arranged between the flip component (5) and the rotating component (6).

2. A reversible turntable mechanism for a manipulator according to claim 1, characterized in that: The rotating assembly (6) comprises a motor (601) and a second screw rod (602); the motor (601) is fixedly connected to one end inside the flip shell (4); the second screw rod (602) is fixedly connected to the output end of the motor (601); a second bevel gear (603) is fixedly connected to the surface of the second screw rod (602); and a top block (604) is threadedly connected to the surface of the second screw rod (602).

3. The reversible turntable mechanism for a robot according to claim 2, characterized in that: A spring push rod (605) is bolted inside the push block (604); a concave plate (607) is fixedly connected to the piston end of the spring push rod (605); first hinges (608) are fixedly connected to both sides of the surface of the concave plate (607); cover plates (609) are fixedly connected to the surfaces of two groups of the first hinges (608); and two groups of oil-absorbing cotton (606) are fixedly connected to one end of the push block (604).

4. The reversible turntable mechanism for a robot according to claim 3, characterized in that: A top plate (610) is fixedly connected to the middle of one side of the concave plate (607), a ball head of a third ball head structure (612) is fixedly connected to one end of the flip shell (4), a torsion spring (611) is sleeved on the surface of the third ball head structure (612), a rotating disk (613) is fixedly connected between the ball socket of the third ball head structure (612) and the torsion spring (611), and a groove (614) is provided on the surface of the rotating disk (613).

5. The reversible turntable mechanism for a robot according to claim 2, characterized in that: The flip assembly (5) comprises a sliding rod (509) and a rotating rod (510), wherein two groups of the sliding rods (509) are respectively slidably connected to two sides of the inside of the manipulator base frame (1), and two groups of the rotating rods (510) are respectively fixedly connected to one side of the two groups of sliding rods (509), and the surfaces of the two groups of the rotating rods (510) are both rotatably connected to a flap (508), and the upper surface of the flap (508) is fixedly connected to a first rotating shaft (511).

6. The reversible turntable mechanism for a robot according to claim 5, characterized in that: A brush (506) is fixedly connected to the upper end of the first rotating shaft (511); a first screw rod (507) is threadedly connected between the brush (506) and the flap (508); a fixed block (502) is rotatably connected to the surface of the first screw rod (507); and a sliding block (503) is slidably connected to the interior of the fixed block (502).

7. The reversible turntable mechanism for a robot according to claim 6, characterized in that: A ball socket of a second ball head structure (504) is fixedly connected to one side of the surface of the slider (503); a telescopic spring (505) is fixedly connected between the slider (503) and one side of the inner wall of the fixed block (502); one end of the first screw rod (507) is fixedly connected to a first bevel gear (501), and the first bevel gear (501) and the second bevel gear (603) are meshingly connected; one end of the first screw rod (507) is rotatably connected to a mounting plate (512), and the mounting plate (512) is welded to the lower surface of the flip shell (4).

8. The reversible turntable mechanism for a robot according to claim 7, characterized in that: The limiting assembly (7) comprises a limiting shell (701), a slide plate (702) and a movable plate (705); the limiting shell (701) is fixedly connected to one end of one side of the surface of the flip shell (4); the limiting shell (701) is slidably connected to the slide plate (702) inside; one end of the slide plate (702) is fixedly connected to a first top column (703); and the other end of the slide plate (702) is fixedly connected to a fourth ball head structure (704).

9. The reversible turntable mechanism for a robot according to claim 8, characterized in that: The movable plate (705) is fixedly connected to one end of the ball socket of the fourth ball head structure (704), and the other end of the movable plate (705) is fixedly connected to the ball socket of the fifth ball head structure (706). The surface of the ball head of the fifth ball head structure (706) is fixedly connected to a pull rod (707). One end of the pull rod (707) is fixedly connected to a second hinge (710). The surface of the second hinge (710) is fixedly connected to a measuring rod (712). The inside of the measuring rod (712) is fixedly connected to a second rotating column (711). The lower end of the second rotating column (711) is fixedly connected to a second rotating shaft (709). One side of the upper end of the second rotating shaft (709) is fixedly connected to the ball socket of the seventh ball head structure (713). The surface of the ball head of the seventh ball head structure (713) is fixedly connected to a second top column (708). The other end of the second top column (708) is fixedly connected to the surface of the ball head of the second ball head structure (504).

10. The reversible turntable mechanism for a robot according to claim 9, characterized in that: A fixed plate (8) is fixedly connected to one side of the rotating assembly (6); two groups of manipulator bodies (9) are rotatably connected to the surface of the fixed plate (8); a first ball head structure (10) is fixedly connected between the two groups of manipulator bodies (9); and the electric push rod (11) is fixedly connected between the two groups of first ball head structures (10).

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