Rotary robot provided with manipulator assembly

Abstract

The invention discloses a rotary robot provided with a manipulator assembly, and relates to the technical field of robots, the rotary robot comprises a rotator, a direction changing device is mounted on the surface of the rotator, and a transmission is arranged on the surface of the direction changing device. According to the rotary robot provided with the manipulator assembly, the purposes of multi-dimensional position adjustment and angle accurate fine adjustment are achieved, a base motor drives a rotary table to horizontally rotate by 360 degrees, pitching actions of a large arm and a swing arm are controlled by combining a large arm motor and a small arm motor correspondingly, the spatial position of a manipulator can be rapidly adjusted, and the mechanical arm assembly is more convenient to use. A sliding ball of the direction changing device is matched with a direction changing column in a ball-and-socket mode and matched with a rotating block, a secondary end rotating block and a direction changing push rod of the universal component, multi-dimensional rotation and stretching can be achieved, single-direction movement limitation is broken through, a multi-stage gear meshing structure of the speed reducing component can reduce the output rotating speed of a steering motor through the gear transmission ratio, and action inertia is reduced. And the displacement deviation of the steering arm and the manipulator is smaller.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of robots, in particular to a rotary robot provided with a mechanical hand assembly. BACKGROUND

[0002] A robot is an intelligent device capable of automatically performing tasks, and the core is to replace or assist humans to complete work through the cooperation of mechanical structures, electronic components and software systems. The rotary robot is a type of robot that realizes movement or operation through a rotary joint, a chassis or a structure, and the core feature is to perform circular movement around a fixed shaft.

[0003] The rotary robot provided with the mechanical hand assembly needs manual intervention to adjust the position and switch the program during work, and the work efficiency is low. The rotary robot is difficult to adapt to the continuous production demand of the assembly line, and can only realize simple up and down and left and right turning, and cannot complete multi-dimensional flexible turning (such as fine adjustment of the inclination angle and multi-angle adaptation of the workpiece position), and it is difficult to adjust the complex work angle. SUMMARY

[0004] To solve the above technical problems, the application is implemented by the following technical scheme: a rotary robot provided with a mechanical hand assembly, comprising a rotator, a variable direction device is mounted on the surface of the rotator, a variable speed device is arranged on the surface of the variable direction device, the variable direction device comprises a joint component, the surface of the joint component is in contact with the end of the rotator, a universal component is arranged on the surface of the joint component, the variable speed device comprises a turning component, the outer surface of the turning component is in contact with the end of the variable direction device, a speed reduction component is mounted in the turning component, a connecting component is arranged on the surface of the turning component, the universal component comprises a fixed expansion disc, a rotating shaft is fixedly connected to the inner wall of the fixed expansion disc, a rotating block is rotatably connected to the outer surface of the rotating shaft, a variable direction push rod is fixedly connected to the outer surface of the rotating block, a secondary end rotating block is fixedly connected to the end of the variable direction push rod, a secondary end rotating shaft is rotatably connected to the inner wall of the secondary end rotating block, a secondary end fixed expansion disc is fixedly connected to the end of the secondary end rotating shaft, and the device takes the rotator as a bearing structure, the variable direction device is mounted on the surface of the rotator, and the variable speed device is arranged on the surface of the variable direction device.

[0005] Preferably, the rotator comprises a base component, the base component is arranged at the bottom of the variable direction device, a large arm component is mounted on the top of the base component, and a small arm component is arranged at the end of the large arm component.

[0006] Preferably, the base component comprises a bottom plate, a bottom column is fixedly connected to the outer surface of the bottom plate, a base motor is fixedly connected to the inner wall of the bottom column, a rotating disc is rotatably connected to the top of the bottom column, and the end of the base motor is fixed to the outer surface of the rotating disc. After the base motor is started, the power at the end is directly transmitted to the rotating disc rotatably connected to the top of the bottom column, so that the rotating disc is horizontally rotated around the axis of the bottom column.

[0007] Preferably, the large arm component includes a pad plate, the outer surface of the pad plate is fixed with the outer surface of the turntable, the side surface of the pad plate away from the turntable is fixedly connected with a connecting table, the outer surface of the connecting table is fixedly connected with a large arm motor, the end of the large arm motor is fixedly connected with a transmission shaft, the outer surface of the transmission shaft is rotatable with the inner wall of the connecting table, the inner wall of the connecting table is rotatably connected with a large arm, the inner wall of the large arm is fixed with the outer surface of the transmission shaft, and the rotation of the transmission shaft directly drives the large arm to rotate around the connecting table, so that the pitch angle of the large arm is adjusted.

[0008] Preferably, the small arm component includes a small arm motor, the end of the small arm motor is fixedly connected with a connecting shaft, the outer surface of the connecting shaft is fixedly connected with a swing arm, the outer surface of the connecting shaft is fixed with the inner wall of the large arm, and the outer surface of the swing arm is fixedly connected with a pad table.

[0009] Preferably, the joint component includes an outward push rod, the end of the outward push rod is fixed with the outer surface of the pad table, the end of the outward push rod away from the pad table is fixedly connected with a convex column, the end of the convex column is fixedly connected with a sliding ball, the outer surface of the sliding ball is slidably connected with a direction changing column, the outer surface of the direction changing column is fixedly connected with a dustproof sleeve, the end of the dustproof sleeve is fixed with the outer surface of the outward push rod, and when the outward push rod is stretched or retracted, the stretching distance adjustment of the working end of the manipulator is realized.

[0010] Preferably, the inner wall of the fixed expansion disc is fixed with the outer surface of the outward push rod, the inner wall of the secondary end fixed expansion disc is fixed with the outer surface of the direction changing column, the outer surface of the rotating block is rotatable with the inner wall of the fixed expansion disc, and the outer surface of the secondary end rotating block is rotatable with the inner wall of the secondary end fixed expansion disc. The rotating block at both ends is driven to rotate around the rotating shaft of the fixed expansion disc by the direction changing push rod.

[0011] Preferably, the steering component includes an arm column, the outer surface of the arm column is fixed with the outer surface of the direction changing column, the inner wall of the arm column is fixedly connected with a steering motor, the outer surface of the arm column is rotatably connected with a steering arm, the inner wall of the arm column is provided with a bottom sliding groove, the inner wall of the steering arm is provided with a top sliding groove, the end of the steering motor is fixedly connected with a driving shaft, and the outer surface of the driving shaft is rotatable with the inner wall of the arm column. The steering motor is the main power source of the steering action.

[0012] Preferably, the speed reduction component comprises a shaft end gear, the inner wall of the shaft end gear is fixed with the outer surface of the driving shaft, the outer surface of the shaft end gear is engaged with a transmission gear, the inner wall of the transmission gear is fixedly connected with a guide column, the two ends of the guide column are respectively slidably connected with the inner walls of the bottom sliding groove and the top sliding groove, and the outer surface of the transmission gear is engaged with an inner tooth ring, the outer surface of the inner tooth ring is fixed with the inner wall of the steering arm, and the two ends of the guide column fixed on the transmission gear are embedded in the bottom sliding groove and the top sliding groove, thereby limiting the radial shaking of the transmission gear and enabling the transmission gear to smoothly slide along the sliding grooves.

[0013] Preferably, the connecting component comprises a butt joint end block, the inner wall of the butt joint end block is movably connected with the outer surface of the steering arm, the inner wall of the butt joint end block is rotatably connected with a conversion block, the outer surface of the butt joint end block is fixedly connected with an end motor, the end of the end motor is fixed with the inner wall of the conversion block, and the outer surface of the conversion block is fixedly connected with a mounting end plate, and the end motor is a driving power source for fine adjustment of the operation angle.

[0014] The application provides a rotary robot provided with a mechanical hand assembly. (1) The rotary robot provided with the mechanical hand assembly is adjusted by horizontal rotation and cooperated with multidirectional direction changing, so that a large range of operation space can be covered without moving the equipment body, the equipment can complete horizontal omnidirectional rotation, and combined with arm body pitching, stretching and multidirectional steering, the equipment can easily adapt to operation scenes of different heights and positions, such as workpiece grabbing of different stations of a production line and multi-layer goods carrying of a storage shelf, compared with traditional equipment which needs to frequently adjust the site or move the body, the equipment can quickly respond to complex space requirements, reduce site limitations, improve operation coverage efficiency, avoid operation blind area caused by motion limitation, and better adapt to diversified production and storage scenes.

[0015] (2) The rotary robot provided with the mechanical hand assembly reduces motion inertia through the speed reduction component, effectively reduces action deviation, guarantees fine operation requirements, such as precise part assembly and small workpiece sorting, and can stably complete operations with high precision requirements, avoids operation failure caused by action shaking, reduces fatigue error of manual operation, reduces labor input cost, and adapts to modern continuous production requirements.

[0016] (Three), the rotary robot equipped with the mechanical hand assembly can flexibly replace different types of work execution members through the core connection part, such as the mechanical claw for grabbing solid workpieces, the vacuum suction cup for adsorbing thin films and plates, without modifying the main structure of the equipment, and only by simply replacing the execution member, the function switching can be completed, this design makes the equipment adapt to the work requirements of multiple industries, whether it is part assembly in the manufacturing field, goods handling in the warehouse field, or material sorting in the packaging field, it can be quickly adapted, avoids the need to purchase new equipment due to changes in work types, reduces equipment investment costs, and improves the performance-price ratio and use flexibility of the equipment. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 It is the overall structural schematic diagram of the present application; Figure 2 It is the local cut structure schematic diagram of the present application; Figure 3 It is the local cut structure schematic diagram of the base part and the large arm part of the present application; Figure 4 It is the structure schematic diagram of the direction changer and the speed changer of the present application; Figure 5 It is the local cut structure schematic diagram of the joint part of the present application; Figure 6 It is the cut structure schematic diagram of the joint part connection of the present application; Figure 7 It is the structure schematic diagram of the universal part of the present application; Figure 8 It is the local enlarged structure schematic diagram of the steering part of the present application; Figure 9 It is the local cut structure schematic diagram of the speed reducer part of the present application; Figure 10 It is the structure schematic diagram of the connecting part of the present application.

[0018] In the figure: 1, the rotator; 11, the base part; 111, the bottom plate; 112, the bottom column; 113, the base motor; 114, the turntable; 12, the big arm part; 121, the pad plate; 122, the connecting table; 123, the big arm motor; 124, the big arm; 13, the small arm part; 131, the small arm motor; 132, the swing arm; 133, the connecting shaft; 134, the pad table; 2, the direction changer; 21, the joint part; 211, the outward push rod; 212, the dustproof cover; 213, the direction changing column; 214, the convex column; 215, the sliding ball; 22, the universal part; 221, the fixed expansion disc; 222, the secondary end fixed expansion disc; 223, the rotating block; 224, the direction changing push rod; 225, the secondary end rotating block; 3, the speed changer; 31, the steering part; 311, the arm column; 312, the steering motor; 313, the steering arm; 314, the bottom sliding groove; 315, the top sliding groove; 32, the deceleration part; 321, the shaft end gear; 322, the transmission gear; 323, the guide column; 324, the embedded gear ring; 33, the connecting part; 331, the butt joint end block; 332, the end motor; 333, the adapter block; 334, the mounting end plate. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative work are within the protection scope of the present application.

[0020] Embodiment 1, please refer to Figure 1The application provides a rotary robot provided with a mechanical hand assembly, which comprises a rotator 1, a direction changer 2 mounted on the surface of the rotator 1, and a speed changer 3 arranged on the surface of the direction changer 2, wherein the direction changer 2 comprises a joint part 21, the surface of the joint part 21 is in contact with the end of the rotator 1, and the surface of the joint part 21 is provided with a universal part 22; the speed changer 3 comprises a steering part 31, the outer surface of the steering part 31 is in contact with the end of the direction changer 2, the inside of the steering part 31 is provided with a speed reduction part 32, and the surface of the steering part 31 is provided with a connecting part 33; the universal part 22 comprises a fixed expansion disc 221, the inner wall of the fixed expansion disc 221 is fixedly connected with a rotating shaft, the outer surface of the rotating shaft is rotatably connected with a rotating block 223, the outer surface of the rotating block 223 is fixedly connected with a direction changing push rod 224, the end of the direction changing push rod 224 is fixedly connected with a secondary end rotating block 225, the inner wall of the secondary end rotating block 225 is rotatably connected with a secondary end rotating shaft, the end of the secondary end rotating shaft is fixedly connected with a secondary end fixed expansion disc 222; the outer surface of the steering part 31 of the speed changer 3 is in contact with the end of the direction changer 2, receives the movement transmitted by the direction changer 2 and transmits the movement to subsequent structures, the speed reduction part 32 arranged in the inside of the steering part 31 can adjust the steering speed, reduce the movement inertia and improve the stability and precision of the steering action, and the connecting part 33 arranged on the surface of the steering part 31 serves as a connecting carrier of the mechanical hand executing part, and provides direct structural support and movement transmission interface for the work action such as grabbing and carrying of the mechanical hand.

[0021] Example 2, see Figures 2 to 7On the basis of embodiment 1, the application provides a technical scheme: the rotator 1 comprises a base part 11 arranged at the bottom of the direction changer 2, the top of the base part 11 is provided with a large arm part 12, the end of the large arm part 12 is provided with a small arm part 13, the base part 11 comprises a bottom plate 111, the outer surface of the bottom plate 111 is fixedly connected with a bottom column 112, the inner wall of the bottom column 112 is fixedly connected with a base motor 113, the top of the bottom column 112 is rotationally connected with a rotating disc 114, the end of the base motor 113 is fixed to the outer surface of the rotating disc 114, the large arm part 12 comprises a pad disc 121, the outer surface of the pad disc 121 is fixed to the outer surface of the rotating disc 114, the side surface of the pad disc 121 away from the rotating disc 114 is fixedly connected with a connecting table 122, the outer surface of the connecting table 122 is fixedly connected with a large arm motor 123, the end of the large arm motor 123 is fixedly connected with a transmission shaft, the outer surface of the transmission shaft is rotationally connected with the inner wall of the connecting table 122, the inner wall of the connecting table 122 is rotationally connected with a large arm 124, the inner wall of the large arm 124 is fixed to the outer surface of the transmission shaft, the small arm part 13 comprises a small arm motor 131, the end of the small arm motor 131 is fixedly connected with a connecting shaft 133, the outer surface of the connecting shaft 133 is fixedly connected with a swing arm 132, the outer surface of the connecting shaft 133 is fixed to the inner wall of the large arm 124, the outer surface of the swing arm 132 is fixedly connected with a pad table 134, the joint part 21 comprises an outer extension push rod 211, the end of the outer extension push rod 211 is fixed to the outer surface of the pad table 134, one end of the outer extension push rod 211 away from the pad table 134 is fixedly connected with a convex column 214, the end of the convex column 214 is fixedly connected with a sliding ball 215, the outer surface of the sliding ball 215 is slidingly connected with a direction changing column 213, the outer surface of the direction changing column 213 is fixedly connected with a dustproof sleeve 212, the end of the dustproof sleeve 212 is fixed to the outer surface of the outer extension push rod 211, the inner wall of the fixed expansion disc 221 is fixed to the outer surface of the outer extension push rod 211, the inner wall of the secondary end fixed expansion disc 222 is fixed to the outer surface of the direction changing column 213, the outer surface of the rotating block 223 is rotationally connected with the inner wall of the fixed expansion disc 221, the outer surface of the secondary end rotating block 225 is rotationally connected with the inner wall of the secondary end fixed expansion disc 222, the pad disc 121 fixedly connects the rotating disc 114 and the connecting table 122, so that the rotation of the rotating disc 114 can synchronously drive the connecting table 122 to move, the dustproof sleeve 212 fixed to the outer surface of the direction changing column 213 is fixed to the outer surface of the outer extension push rod 211, which can block dust and impurities from entering the gap between the sliding ball 215 and the direction changing column 213, thereby avoiding component wear, the direction changing push rod 224 pushes the rotating blocks 223 at both ends to rotate around the rotating shaft of the inner wall of the fixed expansion disc 221, on the other hand, the secondary end rotating block 225 is pulled to rotate around the secondary end rotating shaft of the inner wall of the secondary end fixed expansion disc 222, through the active push-pull and double rotating block linkage, the direction changing push rod 224 directly drives the secondary end fixed expansion disc 222 and the connected direction changing column 213 to realize multidimensional rotation relative to the outer extension push rod 211.

[0022] Embodiment 3, please refer toFigures 8 to 10 On the basis of embodiments 1-2, the application provides a technical solution: the steering component 31 includes an arm column 311, the outer surface of the arm column 311 is fixed with the outer surface of the direction-changing column 213, the inner wall of the arm column 311 is fixedly connected with a steering motor 312, the outer surface of the arm column 311 is rotationally connected with a steering arm 313, the inner wall of the arm column 311 is provided with a bottom sliding groove 314, the inner wall of the steering arm 313 is provided with a top sliding groove 315, the end of the steering motor 312 is fixedly connected with a driving shaft, the outer surface of the driving shaft is rotationally connected with the inner wall of the arm column 311, the reduction component 32 includes a shaft end gear 321, the inner wall of the shaft end gear 321 is fixed with the outer surface of the driving shaft, the outer surface of the shaft end gear 321 is engaged with a transmission gear 322, the inner wall of the transmission gear 322 is fixedly connected with a guide column 323, the two ends of the guide column 323 are respectively slidably connected with the inner walls of the bottom sliding groove 314 and the top sliding groove 315, the outer surface of the transmission gear 322 is engaged with an inner-embedded gear ring 324, the outer surface of the inner-embedded gear ring 324 is fixed with the inner wall of the steering arm 313, the connecting component 33 includes a butt joint end block 331, the inner wall of the butt joint end block 331 is movably connected with the outer surface of the steering arm 313, the inner wall of the butt joint end block 331 is rotationally connected with a relay block 333, the outer surface of the butt joint end block 331 is fixedly connected with an end motor 332, the end of the end motor 332 is fixed with the inner wall of the relay block 333, the outer surface of the relay block 333 is fixedly connected with a mounting end plate 334, the bottom sliding groove 314 of the arm column 311 and the top sliding groove 315 of the steering arm 313 constitute a double-limiting guide structure, which provides trajectory constraint for the movement of the subsequent reduction component 32, avoids transmission deviation, the two ends of the guide column 323 fixed on the inner wall of the transmission gear 322 are embedded in the bottom sliding groove 314 and the top sliding groove 315, which not only limits the radial shaking of itself, but also can smoothly slide along the sliding groove, actively reduces the output rotation speed of the steering motor 312 and reduces the movement inertia, finally drives the steering arm 313 to slowly and smoothly rotate around the arm column 311, and realizes the precise fine adjustment of the operation direction of the mechanical hand.

[0023] The working principle of the rotary robot with the mechanical hand assembly will be described in detail below: In use, the base motor 113 in the base part 11 drives the rotating disc 114 to rotate around the base column 112, and the pad disc 121 drives the large arm part 12 to adjust the horizontal position, then the large arm motor 123 drives the large arm 124 to rotate around the connecting table 122 to adjust the pitch angle, at the same time, the small arm motor 131 drives the swing arm 132 to move through the connecting shaft 133, so that the pad table 134 drives the diverter 2 to move to the preset working position, then in the joint part 21 of the diverter 2, the outer extension push rod 211 drives the convex column 214 and the sliding ball 215 to slide in the diverter column 213 to adjust the extension distance, the universal part 22 is fixedly matched with the outer extension push rod 211 and the diverter column 213 through the fixed expansion disc 221 and the secondary end fixed expansion disc 222, so that the rotating block 223 and the secondary end rotating block 225 are driven by the diverter push rod 224 to rotate in multiple dimensions, the dustproof sleeve 212 synchronously protects the joint part, then the steering motor 312 of the speed changer 3 is started, the driving shaft drives the shaft end gear 321 to rotate, the guide column 323 is driven to slide in the bottom sliding groove 314 and the top sliding groove 315 through the meshing transmission gear 322, so as to drive the embedded gear ring 324 and the steering arm 313 to stably rotate to complete the fine adjustment of the working direction, the gear transmission ratio of the speed reduction part 32 improves the action accuracy, then the end motor 332 of the connecting part 33 drives the adapter block 333 to rotate, so that the mechanical hand connected with the mounting end plate 334 performs the preset work such as grabbing and carrying.

[0024] It is to be noted that the relative terms such as first and second and the like are used herein solely to distinguish one entity or action from another, without necessarily requiring or implying any such actual relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element preceded by "comprises a" does not, without more constraints, foreclose the existence of additional identical elements in the process, method, article, or apparatus that comprises the recited element.

[0025] Although embodiments of the present application have been shown and described, it is to be understood that various modifications, substitutions, replacements and changes can be made to these embodiments without departing from the principles and spirit of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A rotary robot equipped with a manipulator assembly, comprising a rotator (1), characterized in that: The surface of the rotator (1) is provided with a direction changer (2), the surface of the direction changer (2) is provided with a speed changer (3), the direction changer (2) comprises a joint part (21), the surface of the joint part (21) is in contact with the end of the rotator (1), the surface of the joint part (21) is provided with a universal part (22), the speed changer (3) comprises a steering part (31), the outer surface of the steering part (31) is in contact with the end of the direction changer (2), the inside of the steering part (31) is provided with a speed reduction part (32), the surface of the steering part (31) is provided with a connecting part (33), the universal part (22) comprises a fixed expansion disc (221), the inner wall of the fixed expansion disc (221) is fixedly connected with a rotating shaft, the outer surface of the rotating shaft is rotatably connected with a rotating block (223), the outer surface of the rotating block (223) is fixedly connected with a direction changing push rod (224), the end of the direction changing push rod (224) is fixedly connected with a secondary end rotating block (225), the inner wall of the secondary end rotating block (225) is rotatably connected with a secondary end rotating shaft, and the end of the secondary end rotating shaft is fixedly connected with a secondary end fixed expansion disc (222).

2. A rotary robot incorporating a manipulator assembly according to claim 1, characterised in that: The rotator (1) comprises a base part (11), the base part (11) is arranged at the bottom of the direction changer (2), and the top of the base part (11) is provided with a large arm part (12).

3. A rotary robot incorporating a manipulator assembly according to claim 2, wherein: The base part (11) comprises a bottom plate (111), the outer surface of the bottom plate (111) is fixedly connected with a bottom column (112), the inner wall of the bottom column (112) is fixedly connected with a base motor (113), the top of the bottom column (112) is rotatably connected with a rotating disc (114), and the end of the base motor (113) is fixed to the outer surface of the rotating disc (114).

4. A rotary robot incorporating a manipulator assembly according to claim 3 wherein: The large arm part (12) comprises a pad disc (121), the outer surface of the pad disc (121) is fixed to the outer surface of the rotating disc (114), one side surface of the pad disc (121) away from the rotating disc (114) is fixedly connected with a connecting table (122), the outer surface of the connecting table (122) is fixedly connected with a large arm motor (123), the end of the large arm motor (123) is fixedly connected with a transmission shaft, the outer surface of the transmission shaft is rotatable with the inner wall of the connecting table (122), the inner wall of the connecting table (122) is rotatably connected with a large arm (124), and the inner wall of the large arm (124) is fixed to the outer surface of the transmission shaft.

5. A rotary robot incorporating a manipulator assembly according to claim 4 wherein: The small arm part (13) comprises a small arm motor (131), the end of the small arm motor (131) is fixedly connected with a connecting shaft (133), the outer surface of the connecting shaft (133) is fixedly connected with a swing arm (132), the outer surface of the connecting shaft (133) is fixed to the inner wall of the large arm (124), and the outer surface of the swing arm (132) is fixedly connected with a pad table (134).

6. A rotary robot incorporating a manipulator assembly according to claim 5 wherein: The joint component (21) comprises an extension push rod (211), the end of the extension push rod (211) is fixed with the outer surface of the pad (134), the end of the extension push rod (211) away from the pad (134) is fixedly connected with a convex column (214), the end of the convex column (214) is fixedly connected with a sliding ball (215), the outer surface of the sliding ball (215) is slidingly connected with a direction changing column (213), the outer surface of the direction changing column (213) is fixedly connected with a dust cover (212), and the end of the dust cover (212) is fixed with the outer surface of the extension push rod (211).

7. A rotary robot incorporating a manipulator assembly according to claim 6 wherein: The inner wall of the fixed expansion disc (221) is fixed with the outer surface of the extension push rod (211), the inner wall of the secondary end fixed expansion disc (222) is fixed with the outer surface of the direction changing column (213), the outer surface of the rotating block (223) is rotatable with the inner wall of the fixed expansion disc (221), and the outer surface of the secondary end rotating block (225) is rotatable with the inner wall of the secondary end fixed expansion disc (222).

8. A rotary robot incorporating a manipulator assembly according to claim 7, wherein: The turning component (31) comprises an arm column (311), the outer surface of the arm column (311) is fixed with the outer surface of the direction changing column (213), the inner wall of the arm column (311) is fixedly connected with a turning motor (312), the outer surface of the arm column (311) is rotatably connected with a turning arm (313), the inner wall of the arm column (311) is provided with a bottom sliding groove (314), the inner wall of the turning arm (313) is provided with a top sliding groove (315), the end of the turning motor (312) is fixedly connected with a driving shaft, and the outer surface of the driving shaft is rotatable with the inner wall of the arm column (311).

9. A rotary robot incorporating a manipulator assembly according to claim 8, wherein: The speed reduction component (32) comprises a shaft end gear (321), the inner wall of the shaft end gear (321) is fixed with the outer surface of the driving shaft, the outer surface of the shaft end gear (321) is engaged with a transmission gear (322), the inner wall of the transmission gear (322) is fixedly connected with a guide column (323), the guide column (323) is slidingly connected with the inner walls of the bottom sliding groove (314) and the top sliding groove (315) respectively, the outer surface of the transmission gear (322) is engaged with an inner embedded gear ring (324), and the outer surface of the inner embedded gear ring (324) is fixed with the inner wall of the turning arm (313).

10. A rotary robot incorporating a manipulator assembly according to claim 9, wherein: The connecting component (33) comprises a butt joint end block (331), the inner wall of the butt joint end block (331) is movably connected with the outer surface of the turning arm (313), the inner wall of the butt joint end block (331) is rotatably connected with a switching block (333), the outer surface of the butt joint end block (331) is fixedly connected with an end motor (332), the end of the end motor (332) is fixed with the inner wall of the switching block (333), and the outer surface of the switching block (333) is fixedly connected with a mounting end plate (334).

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