Field angle manipulator with parallel movement and clamping method

Abstract

The invention discloses an opening angle manipulator with a parallel movement function and a clamping method. The problem that in the prior art, the opening angle manipulator is poor in cuboid material grabbing effect is solved. The flare angle manipulator comprises an upper shell seat and a linear driving part, a clamping jaw is hinged in the upper shell seat, a translation positioning pin is arranged on the clamping jaw, a sliding block is arranged on the side wall of the upper shell seat, a guide sliding groove is formed in the sliding block, and the translation positioning pin is in sliding fit with the guide sliding groove. The translation positioning pin is connected with the linear driving piece through the connecting rod assembly, and the linear driving piece drives the clamping jaw to conduct opening angle motion and then conduct translation motion through the connecting rod assembly. The clamping jaw of the field angle manipulator performs rotation and translation separately, rotation is performed firstly and then translation is performed, and the movement is simple and reliable. And meanwhile, the opening angle motion and the translation motion of rotation are integrated into one set of motion mechanism, and are driven by the same driving piece, so that the mechanism is compact, does not occupy too much space, is convenient for a customer to arrange in a narrow space, and is higher in flexibility.

Description

Technical Field

[0001] The present invention relates to the technical field of robotics, and particularly to a manipulator. Background Art

[0002] In an automatic production line, various types of manipulators are increasingly widely used. Modern manipulators adopt various electrical, mechanical, hydraulic, and pneumatic transmission mechanisms and are controlled by an electronic system to imitate the actions of a human arm and fingers; and the structures of their grippers are also various. Most existing manipulators adopt an angular opening type or a translational type. And the general structure of an existing translational gripper is divided into a wedge structure, a rack and pinion structure, etc. The wedge structure utilizes the triangular relationship of the inclined plane to change the vertical movement into a horizontal movement. The rack and pinion structure can, first, synchronize the movements of multiple pistons, and second, separate the external movement and the piston movement. An existing translational gripper, such as a double-link manipulator for grasping cubic materials with the publication number of CN 218462219 U, can only grasp conventional items such as circular or square ones. Especially when grasping a circular item, if a V-shaped gripper is used to grasp the circle, the V-shaped part needs to be avoided from the item, that is, a larger translational distance is required. And a larger translational distance requires a larger guide groove and a larger piston stroke, which further leads to an increase in the volume of the translational gripper. For an existing angular opening manipulator, such as a double-claw robotic arm mechanism for a numerical control hot forging manipulator with the publication number of CN 212218534 U, basically, the gripper rotates along a fulcrum. Therefore, such a gripper has a good grasping effect on circular objects, but a very poor grasping effect on cuboids. In summary, the existing angular opening manipulators have the problems of limited material grasping range and poor grasping effect on cuboid materials. Summary of the Invention

[0003] Aiming at the deficiencies in the above background art, the present invention proposes an angular opening manipulator with parallel movement and a clamping method, which solves the problem of poor grasping effect of the angular opening manipulator on cuboid materials in the prior art.

[0004] The technical solution of the present invention is realized as follows: An angular opening manipulator with parallel movement includes an upper housing seat and a linear driving member. A gripper is hinged inside the upper housing seat. A translational positioning pin is provided on the gripper. A slider is provided on the side wall of the upper housing seat. A guiding sliding groove is provided on the slider. The translational positioning pin is slidably matched with the guiding sliding groove, and the translational positioning pin is connected to the linear driving member through a link assembly. The linear driving member drives the gripper to perform an angular opening movement first and then a translational movement through the link assembly. Through the above structural design, the manipulator not only has the characteristics of small volume and flexible movement of an angular opening manipulator, but also has the advantage of good grasping effect on cuboid items.

[0005] Further preferably, the slider includes a left slider and a right slider symmetrically arranged. The left slider and the right slider are disposed on the left and right sides of the jaw, and the jaw is connected between the left slider and the right slider through a first pin shaft. A waist-shaped hole is longitudinally formed in the lower part of the jaw. The translation positioning pin is located in the waist-shaped hole, and a copper sleeve is provided on the translation positioning pin. The two ends of the copper sleeve are respectively located in the corresponding guiding chutes. The jaw rotates around the first pin shaft to perform an angular movement. The copper sleeve is located in the guiding chute. During the movement of the jaw, the copper sleeve moves in the guiding chute. After the jaw completes the angular movement, the translation positioning pin and the copper sleeve push the slider to translate and slide through the guiding chute, driving the jaw to perform a translation movement.

[0006] Further preferably, the jaw includes a left jaw and a right jaw. The left slider corresponding to the left jaw and the left slider corresponding to the right jaw are both slidably connected to the first guiding rod. The right slider corresponding to the left jaw and the right slider corresponding to the right jaw are both slidably connected to the second guiding rod. The first guiding rod and the second guiding rod are arranged horizontally and in parallel in the upper housing base. The left jaw and the right jaw have a certain translation distance to achieve a translation movement, so as to firmly grip a rectangular article.

[0007] Further preferably, U-shaped limiting grooves corresponding to the left slider and the right slider are formed on the left and right inner walls of the upper housing base. A translation gap is left between the left slider and the corresponding U-shaped limiting groove in the horizontal direction, and a translation gap is left between the right slider and the corresponding U-shaped limiting groove in the horizontal direction.

[0008] Further preferably, the connecting rod assembly includes a connecting rod and a transmission frame. Ear seats are symmetrically provided on both sides of the transmission frame. One end of the connecting rod is hinged to the translation positioning pin, and the other end is connected to the ear seat through a second pin shaft. The transmission frame is connected to the linear driving member.

[0009] Further preferably, a guiding mechanism is provided on the transmission frame. The guiding mechanism includes a vertical guiding rod provided on the transmission frame and a guiding bushing provided in the upper housing base. The vertical guiding rod is slidably matched with the guiding bushing.

[0010] Further preferably, the guiding bushing is a rod longitudinally arranged in the upper housing base, and a light hole corresponding to the vertical guiding rod is formed on the rod.

[0011] Further preferably, the linear driving member includes a lower housing. An air cylinder chamber is formed in the lower housing. A sealing disc is provided at the bottom of the upper housing base, and the sealing disc is hermetically connected to the air cylinder chamber. A piston rod is provided in the air cylinder chamber. The piston rod passes upward through the sealing disc and extends into the upper housing base. An air hole communicating with the air cylinder chamber is formed on the lower housing.

[0012] Further preferably, a magnetic ring mounting bracket matched with the air cylinder chamber is threadedly connected to the bottom of the piston rod. By adjusting the distance between the magnetic ring mounting bracket and the piston rod, the maximum opening angle of the jaw is controlled. A dust-proof plate is provided at the top of the upper housing base.

[0013] A clamping method for a manipulator, using the angled manipulator with parallel movement described above, including an angled movement and a translation movement; the process of the angled movement is as follows: the piston rod of the linear drive extends upward, drives the jaws to rotate around the first pin shaft through the connecting rod assembly, and the translation positioning pin moves along the guiding chute to the top. At the same time, the translation positioning pin moves from the bottommost part of the kidney-shaped hole to the topmost part, and the jaws perform a pre-clamping action; the process of the translation movement is as follows: the piston rod of the linear drive continues to extend upward, and through the connecting rod assembly and the translation positioning pin, it pushes the slider to translate toward the center of the two jaws, driving the jaws to perform a translation and re-clamping action.

[0014] The beneficial effects of the present invention are as follows: The jaws of the angled manipulator of the present invention perform rotation and translation separately, first rotating and then translating, with simple and reliable movement. At the same time, the present invention integrates the angled movement of rotation and the translation movement into a set of movement mechanisms, and is driven by the same drive member, with a compact structure, not occupying too much space, facilitating the customer to arrange in a narrow space, and having higher flexibility. The manipulator of the present invention not only has the characteristics of a small volume and flexible movement of the angled manipulator, but also has the advantage of a good grasping effect on rectangular parallelepiped items; it achieves the integration and optimization of the two structures and has a wider scope of application. According to this structure, a series of manipulator products can be developed for customers to choose from to adapt to market demands; at the same time, customers have a lot of independent space when designing the jaws.

[0015] The rotation and translation integrated structure of the present invention converts the rotational movement along a fulcrum into the combination of a rotational movement along a fulcrum and a movement in a sliding chute. By using the fulcrum and the guiding chute, some components can move along the guiding chute during the rotation process, and the component where the guiding chute is located can perform axial movement along a certain axis. The fulcrum can serve as both a rotation axis and a force-bearing rod for translation; the movement is smooth, easy to control, and the opening angle can be adjusted. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0017] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic side view of the present invention; Figure 3 It is a schematic diagram of the structure of the present invention after removing the upper housing seat and one left slider; Figure 4 It is a schematic diagram of the internal structure of the present invention; Figure 5 Schematic diagram of the upper housing seat structure of the present invention; Figure 6 Schematic diagram of the slider structure of the present invention; Figure 7 Schematic diagram of the design of the center line of the guiding chute of the present invention. Specific embodiments

[0018] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0019] Embodiment 1, as Figure 1 、 2 shown, a jaw manipulator with parallel movement includes an upper housing seat 1 and a linear drive member 2; the upper housing seat is the main support structure of the manipulator, and the linear drive member is the main power structure of the manipulator. A jaw 3 is hinged in the upper housing seat 1, and a translation positioning pin 4 is provided on the jaw 3. The translation positioning pin is used as a connecting member with the linear drive member and is also a limiting member for the movement of the jaw 3, and cooperates with the guiding chute on the slider to ensure that the jaw performs a clamping action along a specified route. A slider 5 is provided on the side wall of the upper housing seat 1, and the slider can slide horizontally relative to the upper housing seat; a guiding chute 51 is provided on the slider 5, and the guiding chute is located on the side of the slider facing the jaw. The translation positioning pin 4 is slidably engaged with the guiding chute 51, and the translation positioning pin 4 is connected to the linear drive member 2 through a link assembly. The linear drive member 2 drives the jaw 3 to perform a first angular movement and then a translation movement through the link assembly; the linear drive member 2 can be an oil cylinder or a cylinder. Through the above structural design integration, the manipulator not only has the characteristics of a small volume and flexible movement of a jaw manipulator, but also has the advantage of good grasping effect on cuboid items.

[0020] As Figure 3As shown, in this embodiment, the slider 5 includes a left slider 501 and a right slider 502 which are symmetrically arranged. The left slider 501 and the right slider 502 are arranged on the left and right sides of the jaw 3, and the jaw 3 is connected between the left slider 501 and the right slider 502 through a first pin shaft 6. The connection points of the first pin shaft 6 with the left slider 501 and the right slider 502 are the fifth design points, and the jaw rotates around the fifth design points. A waist-shaped hole 31 is longitudinally formed in the lower part of the jaw 3. The translation positioning pin 4 is located in the waist-shaped hole 31. A copper sleeve 16 is provided on the translation positioning pin 4. The design of the copper sleeve is to reduce the wear of the translation positioning pin and at the same time improve the strength of the translation positioning pin 4 to push the slider during the translation process, so as to provide a better grasping effect. The two ends of the copper sleeve 16 are respectively located in the corresponding guiding chutes 51, realizing the cooperation between the translation positioning pin and the guiding chute. Taking the lowest end of the translation positioning pin 4 in the guiding chute as the first design point, and taking the point where the translation positioning pin 4 is at the same height as the fifth design point in the vertical direction as the second design point. When the translation positioning pin 4 is at the lowest end of the waist-shaped hole 31 during the opening angle movement process, the position of the translation positioning pin 4 in the guiding chute 51 is the third point. When the opening angle is less than 120 degrees, that is, when the translation positioning pin 4 is between the first design point and the third design point, the translation positioning pin 4 is also at the lowest end of the waist-shaped hole 32. When the translation positioning pin 4 moves between the third design point and the sixth design point, the translation positioning pin will move from the lowest end of the waist-shaped hole 31 to the highest end. Before the opening angle movement, the translation positioning pin can be at any point between the first design point and the third design point, and this arbitrary point has a direct relationship with the height of the 205 magnetic ring mounting bracket. When the opening angle movement is completed, the position of the translation positioning pin 4 in the guiding chute 51 is the sixth design point. When the translation positioning pin 4 is at the third design point, the opening angle of the jaw is 120°, and when it is at the sixth design point, the opening angle of the jaw is 90°. The center line of the guiding chute 51 is at least three line segments: from bottom to top, the first segment is the perpendicular line between the first design point and the second design point, the second segment is an arc drawn with the fifth design point as the center and the distance between the fifth design point and the second design point as the radius, that is, the arc segment between the second design point and the third design point, and the line segment formed by the third design point and the fifth design point and the line segment formed by the second design point and the fifth design point form a 60-degree angle; the third segment is the arc segment between the third design point and the sixth design point, and this arc segment is externally tangent to the second arc segment. According to needs, a fourth segment can also be set. The fourth segment is a vertical line segment, and this vertical line is parallel to the first vertical line segment; as Figure 7 shown; the design of the guiding chute is completed in this way, so that it cooperates with the translation positioning pin shaft to complete the opening angle + translation movement of the manipulator, and at the same time ensure the compactness of the structure.

[0021] Embodiment 2, as Figure 4As shown in the figure, there is an angle-opening manipulator with parallel movement. On the basis of Embodiment 1, in this embodiment, the clamping jaw 3 includes a left clamping jaw 3-1 and a right clamping jaw 3-2. The left clamping jaw and the right clamping jaw are relative to the upper housing base, and their structures are the same and they are arranged oppositely. A dust-proof plate 15 is provided on the top of the upper housing base 1; the dust-proof plate is an I-shaped plate to adapt to the clamping actions of the left and right clamping jaws. The left sliding blocks 501 corresponding to the left clamping jaw 3-1 and the left sliding blocks 501 corresponding to the right clamping jaw 3-2 are both slidably connected to the first guide rod 7, and the right sliding blocks 502 corresponding to the left clamping jaw 3-1 and the right sliding blocks 502 corresponding to the right clamping jaw 3-2 are both slidably connected to the second guide rod 8. The first guide rod 7 and the second guide rod 8 are arranged horizontally and parallel to each other inside the upper housing base 1; during the movement of the clamping jaw, the left sliding blocks 501 corresponding to the left clamping jaw 3-1 and the left sliding blocks 501 corresponding to the right clamping jaw 3-2 can only perform horizontal movement towards the middle. Similarly, the right sliding blocks 502 corresponding to the left clamping jaw 3-1 and the right sliding blocks 502 corresponding to the right clamping jaw 3-2 can also only perform horizontal movement towards the middle.

[0022] In this embodiment, U-shaped limiting grooves 101 corresponding to the left sliding blocks 501 and the right sliding blocks 502 are formed on the left and right inner walls of the upper housing base 1. There is a translation gap in the horizontal direction between the left sliding block 501 and the corresponding U-shaped limiting groove 101, and there is a translation gap in the horizontal direction between the right sliding block 502 and the corresponding U-shaped limiting groove 101; one clamping jaw corresponds to one left sliding block and one right sliding block, and there is a translation gap in the horizontal direction between the sliding block and the corresponding U-shaped limiting groove, so that the clamping jaw can perform a certain translation movement after completing the angle-opening movement, realizing the integration of the two actions in terms of structure and function.

[0023] In this embodiment, the connecting rod assembly includes a connecting rod 9 and a transmission frame 10. Ear seats 11 are symmetrically arranged on both sides of the transmission frame 10. One end of the connecting rod 9 is hinged to the translation positioning pin 4, and the other end is connected to the ear seat 11 through a second pin shaft 12. The transmission frame 10 is connected to the linear drive member 2. One transmission frame is connected to two connecting rods, and the two connecting rods are respectively connected to the left jaw 3-1 and the right jaw 3-2. The linear drive member drives the connecting rod and the corresponding jaw to perform a rotational opening angle movement first and then a translation movement through the transmission frame. Specifically, the linear drive member drives the transmission frame to move upward. While the connecting rod 9 rotates around the second pin shaft 12 and moves upward, it drives the jaw to rotate around the first pin shaft. The slider cannot move up and down due to the guiding rod. Before moving upward, the translation positioning pin 4 is at the bottommost of the guiding chute. When the transmission frame 10 moves upward, the connecting rod 9 drives the translation positioning pin 4 to move upward. Then the translation positioning pin 4 will move upward in the guiding chute. Since the jaw is connected to the slider through the first pin shaft and the slider cannot move upward, the jaw cannot move upward either. At this time, the jaw will rotate around the first pin shaft under the action of the translation positioning pin, and the opening angle α will decrease from large to 90 degrees, that is, the opening angle movement is completed. The transmission rod continues to move upward under the action of the linear drive member. At this time, the slider will move a certain distance toward the middle under the limitation of the guiding rod and stop when reaching the limit, completing the parallel movement.

[0024] Embodiment 3, a jaw manipulator with parallel movement. On the basis of Embodiment 1 or 2, a guiding mechanism is provided on the transmission frame 10 in this embodiment. Specifically, the guiding mechanism includes a vertical guiding rod 13 provided on the transmission frame 10 and a guiding bushing 14 provided in the upper housing base 1. The vertical guiding rod 13 is in sliding fit with the guiding bushing 14 to ensure the smooth up and down movement of the transmission frame in the vertical direction. In this embodiment, it is preferably that the guiding bushing 14 is a rod longitudinally arranged in the upper housing base 1, making full use of the internal space of the upper housing base. A light hole corresponding to the vertical guiding rod 13 is provided on the rod. The vertical guiding rod and the light hole are coaxially arranged to ensure the stability of the up and down movement of the transmission frame.

[0025] In this embodiment, as a preference, the linear drive member 2 includes a lower housing 201. An air chamber 202 is provided in the lower housing 201. A sealing disc 102 is provided at the bottom of the upper housing base 1. The sealing disc 102 is hermetically connected to the air chamber 202. Specifically, the sealing disc is located at the upper part of the air chamber, and a sealing ring is provided between the two to ensure the airtightness of the working state of the air chamber. A piston rod 203 is provided in the air chamber 202. The piston rod 203 passes upward through the sealing disc 102 and extends into the upper housing base 1. The piston rod 203 is connected to the transmission frame 10. An air hole 204 communicating with the air chamber 202 is provided on the lower housing 201. The air hole 204 is divided into an air inlet hole and an air outlet hole. The air inlet hole is connected to an external air source. After air intake, the piston rod moves upward, so that the opening angle α of the jaw will decrease from large to 90 degrees and no longer change, completing the clamping action.

[0026] In this embodiment, preferably, a magnetic ring mounting bracket 205 that cooperates with the pneumatic chamber 202 is threadedly connected to the bottom of the piston rod 203; specifically, a threaded hole is provided at the bottom of the piston rod, and a threaded post is provided at the center of the magnetic ring mounting bracket 205, and the threaded post is in threaded cooperation with the threaded hole; by adjusting the distance between the magnetic ring mounting bracket 205 and the piston rod 203, the maximum opening angle of the jaw 3 is controlled; the larger the distance between the magnetic ring mounting bracket 205 and the piston rod 203, the larger the opening angle; by adjusting the height of the magnetic ring mounting bracket 205, the opening angle can be adjusted to a maximum of 120 degrees.

[0027] In addition, during the clamping process, both the opening angle stage and the translation stage can be designed to clamp the article. When designing the matching fingers, the length and shape of the jaws can be designed according to the size of the article, the opening angle, etc. Additionally, in the actual application process, customers will design jaws with different shapes and lengths according to the size and shape of their own parts to meet the clamping action; because the workpieces vary greatly, the jaws are provided by the equipment manufacturer, and the jaws are generally designed and produced by the integrator or the end customer themselves.

[0028] Embodiment 4, a method for clamping by a manipulator, using the opening angle manipulator with parallel movement described in Embodiment 3, including an opening angle movement and a translation movement; the opening angle movement process is as follows: the piston rod 203 of the linear drive member 2 extends upward, drives the jaw 3 to rotate around the first pin shaft 6 through the link assembly, the translation positioning pin 4 moves along the guide chute 51 to the top, and at the same time, the translation positioning pin 4 moves from the bottommost part of the kidney-shaped hole 31 to the topmost part, and the jaw 3 performs a pre-clamping action; at this time, the piston rod has not yet reached the limit. The translation movement process is as follows: the piston rod 203 of the linear drive member 2 continues to extend upward, and through the link assembly and the translation positioning pin 4, the slider 5 is pushed to translate towards the center of the two jaws, thereby driving the jaw 3 to perform a translation and re-clamping action. Connecting the rotational movement of the opening angle jaws with the subsequent translation movement can, in addition to satisfying the grasping of circular articles, also grasp cuboids like translation jaws; it enriches the applicable range of the opening angle manipulator for articles while retaining the advantage of the small volume of the opening angle manipulator.

[0029] It should be noted that from the above structure, if the angle-opening manipulator is to have a translation function, a possible structure is that the angle-opening itself has already changed the up-and-down movement of the piston into a rotational movement along a fulcrum (the rotation angle does not exceed 90 degrees). If a translation movement is added, then the rotational movement (one section of it) needs to be changed into a translation movement. There are the following two methods to change the rotational movement into a translation movement. Solution 1: A gear drives a rack. The translation distance in this way depends on the rotation angle and the sizes (tooth profile parameters) of the gear and the rack. How much translation distance can be converted within a certain rotation angle. The designed volume is relatively large, not compact, and the process is complex, with a relatively high processing cost and low practical value. Solution 2: Convert the rotational movement along a fulcrum into a combination of a rotational movement along a fulcrum and a movement in a guiding chute. Utilize the fulcrum, and the guiding chute is such that some of its components can move along the guiding chute during the rotation, and the component where the guiding chute is located can move axially along a certain axis. The fulcrum can serve as both a rotation axis and a force-bearing rod for translation. The present invention selects Solution 2, which has practical application value. However, the above-mentioned gear-driven rack solution belongs to the same inventive concept as the present invention and should also be within the protection scope of the present invention.

[0030] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "vertical", "horizontal", "upper", "lower", "front", "rear", "left", "right", "level", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention.

[0031] In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood through specific circumstances.

[0032] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An angular manipulator capable of parallel movement, comprising an upper housing (1) and a linear drive member (2), characterized in that: A clamping jaw (3) is hingedly connected inside the upper shell seat (1), and a translation positioning pin (4) is provided on the clamping jaw (3). A sliding block (5) is provided on the side wall of the upper shell seat (1), and a guide slide groove (51) is provided on the sliding block (5). The translation positioning pin (4) and the guide slide groove (51) are slidably matched, and the translation positioning pin (4) is connected to the linear drive member (2) through a connecting rod assembly. The linear drive member (2) drives the clamping jaw (3) to perform an angular movement first and then a translation movement through the connecting rod assembly.

2. The angular manipulator with parallel movement according to claim 1, characterized in that: The slider (5) comprises a left slider (501) and a right slider (502) which are symmetrically arranged. The left slider (501) and the right slider (502) are arranged on the left and right sides of the clamping jaw (3), and the clamping jaw (3) is connected between the left slider (501) and the right slider (502) via a first pin shaft (6). A waist hole (31) is longitudinally provided at the lower part of the clamping jaw (3), and the translation positioning pin (4) is located in the waist hole (31). A copper sleeve (16) is provided on the translation positioning pin (4), and two ends of the copper sleeve (16) are respectively located in corresponding guide grooves (51).

3. The angular manipulator with parallel movement according to claim 2, characterized in that: The clamping jaw (3) comprises a left clamping jaw (3-1) and a right clamping jaw (3-2); a left slider (501) corresponding to the left clamping jaw (3-1) and a left slider (501) corresponding to the right clamping jaw (3-2) are both slidably connected to a first guide rod (7); a right slider (502) corresponding to the left clamping jaw (3-1) and a right slider (502) corresponding to the right clamping jaw (3-2) are both slidably connected to a second guide rod (8); the first guide rod (7) and the second guide rod (8) are arranged in parallel in a horizontal direction inside the upper shell seat (1).

4. The angular manipulator with parallel movement according to claim 2 or 3, characterized in that: The left and right inner walls of the upper shell seat (1) are provided with U-shaped limit grooves (101) corresponding to the left slider (501) and the right slider (502); a translation gap is left between the left slider (501) and the corresponding U-shaped limit groove (101) in the horizontal direction; and a translation gap is left between the right slider (502) and the corresponding U-shaped limit groove (101) in the horizontal direction.

5. The angular manipulator with parallel movement according to claim 1 or 3, characterized in that: The connecting rod assembly comprises a connecting rod (9) and a transmission frame (10), ear seats (11) are symmetrically provided on both sides of the transmission frame (10), one end of the connecting rod (9) is hinged to the translation positioning pin (4), and the other end is connected to the ear seat (11) through a second pin shaft (12), and the transmission frame (10) is connected to the linear drive member (2).

6. The angular manipulator with parallel movement according to claim 5, characterized in that: The transmission frame (10) is provided with a guide mechanism; the guide mechanism comprises a vertical guide rod (13) arranged on the transmission frame (10) and a guide shaft sleeve (14) arranged in the upper shell seat (1), and the vertical guide rod (13) and the guide shaft sleeve (14) are slidably matched.

7. The angular manipulator with parallel movement according to claim 6, characterized in that: The guide shaft sleeve (14) is a rod member arranged in the upper shell seat (1) along the longitudinal direction, and a light hole corresponding to the vertical guide rod (13) is opened on the rod member.

8. The angular manipulator with parallel movement according to claim 1 or 7, characterized in that: The linear drive member (2) comprises a lower shell (201), a pneumatic chamber (202) is provided in the lower shell (201), a sealing disk (102) is provided at the bottom of the upper shell seat (1), the sealing disk (102) is sealedly connected to the pneumatic chamber (202), a piston rod (203) is provided in the pneumatic chamber (202), the piston rod (203) passes through the sealing disk (102) upwards and extends into the upper shell seat (1), and an air hole (204) is provided on the lower shell (201) and communicates with the pneumatic chamber (202).

9. The angular manipulator with parallel movement according to claim 8, characterized in that: The bottom of the piston rod (203) is threadedly connected to a magnetic ring mounting frame (205) that matches the pneumatic chamber (202); the maximum opening angle of the clamping jaws (3) is controlled by adjusting the distance between the magnetic ring mounting frame (205) and the piston rod (203); and a dustproof plate (15) is provided on the top of the upper shell seat (1).

10. A robot clamping method, characterized in that: The angular expansion manipulator with parallel movement as claimed in any one of claims 1 to 9 comprises angular expansion movement and translational movement; the angular expansion movement process is as follows: the piston rod (203) of the linear drive member (2) extends upward, drives the clamping jaw (3) to rotate around the first pin shaft (6) through the connecting rod assembly, and the translation positioning pin (4) moves to the top along the guide slot (51), and at the same time, the translation positioning pin (4) moves from the bottom of the waist hole (31) to the top, and the clamping jaw (3) performs a pre-clamping action; The translation movement process is as follows: the piston rod (203) of the linear drive member (2) continues to extend upward, and pushes the slider (5) to translate toward the center of the two clamping jaws through the connecting rod assembly and the translation positioning pin (4), thereby driving the clamping jaws (3) to translate and then clamp.

Images