Manipulator rotary clamp

Abstract

The utility model provides a manipulator rotary type clamp, which relates to the technical field of manipulator clamps and comprises an outer sleeve, a rotary component is arranged in an inner cavity of the outer sleeve, an inner sleeve is fixedly connected to the surface of one side of the rotary component, and a cross-shaped supporting frame is fixedly connected to one side of an inner cavity of the inner sleeve. One side of an inner cavity of the inner sleeve is connected with a storage battery through a supporting column, a moving assembly is arranged on the other side of the inner cavity of the inner sleeve, and two offset assemblies are arranged on the surface of the moving assembly. All-angle steering is achieved through the rotating assembly, the rotating assembly and the moving assembly are connected through the inner sleeve, the inner sleeve and the second forward and reverse motor are supported through the cross-shaped supporting frame, power is provided for the second forward and reverse motor through the storage battery, and the distance between the two offset assemblies is adjusted through the moving assembly. And the contact surface with the materials during clamping is increased through the two offset assemblies.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulator clamps, in particular to a manipulator rotary clamp. Background Art

[0002] The robot is an electromechanical device that realizes mechanized and automated production. It can replace heavy labor of people and operate in harmful environments. Therefore, it is widely used in machinery manufacturing, metallurgy, electronics, light industry and atomic energy. In the field of mechanical assembly, the robot can replace manpower to complete the assembly of mechanical equipment.

[0003] However, in the prior art, the shape of the claws of existing manipulator clamps is generally fixed, and the contact surface is insufficient when clamping objects of different sizes or irregular shapes, resulting in an unsatisfactory clamping effect. Secondly, when using a power-assisted manipulator to clamp materials, the clamps of the power-assisted manipulator generally only have a clamping function and do not have the function of automatic rotation at all angles. If it is necessary to clamp materials with tilted angles or in different directions, it is inconvenient. Utility Model Content

[0004] The purpose of the utility model is to solve the problems existing in the prior art.

[0005] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme: a manipulator rotary clamp, comprising: an outer sleeve, four ends of one side of the inner cavity of the outer sleeve are fixedly installed with mounting blocks, and the surfaces of the four mounting blocks are through-opened with two mounting holes, the inner cavity of the outer sleeve is fixedly embedded with a limit ring, the inner cavity of the outer sleeve is provided with a rotating component, one side surface of the rotating component is fixedly connected with an inner sleeve, the surface of the inner sleeve is fixedly sleeved with a bearing, one side surface of the inner sleeve is fixedly installed with a cover plate, the center of the cover plate surface is through-opened with a through groove 1, baffles are fixedly installed on both sides of the inner cavity of the through groove 1, one side of the inner cavity of the inner sleeve is fixedly connected with a cross support frame, one side of the inner cavity of the inner sleeve is connected to a battery through a support column, the other side of the inner cavity of the inner sleeve is provided with a moving component, and two offset components are provided on the surface of the moving component.

[0006] As a preferred embodiment, the rotating component includes a triangular connecting frame 1, a forward and reverse motor 1 is fixedly installed at the center of one side surface of the triangular connecting frame, the output end of the forward and reverse motor 1 is connected to a rotating shaft 1, a gear 1 is fixedly sleeved on one end surface of the rotating shaft 1, three gears 2 are meshed on the surface of the gear 1, a rotating shaft 2 is embedded at the center of the surfaces of the three gears 2 through bearings, a triangular connecting frame 2 is fixedly sleeved on one end of the three rotating shafts 2, the surfaces of the three gears 2 are meshed with a gear ring, and the surface of the gear ring is provided with an annular cutting groove.

[0007] As a preferred embodiment, the three ends of the triangular connecting frame 1 are fixedly mounted on one side of the inner cavity of the outer sleeve, the other ends of the three rotating shafts 2 are respectively fixedly embedded in the centers of the three ends of the triangular connecting frame 1, one end of the rotating shaft 1 is embedded in the center of the surface of the triangular connecting frame 2 through a bearing, the other end of the rotating shaft 1 is embedded in the center of one side surface of the triangular connecting frame 1 through a bearing, and the annular groove is movably sleeved on the surface of the limit ring.

[0008] As a preferred embodiment, the moving component includes a bidirectional threaded rod, both ends of the bidirectional threaded rod are threadedly sleeved with threaded connecting blocks, the surface of the bidirectional threaded rod is fixedly sleeved with a bevel gear 1, the surface of the bevel gear 1 is meshed with a bevel gear 2, one end of the bevel gear 2 is fixedly installed with a connecting shaft, one end of the connecting shaft is fixedly connected to a forward and reverse motor 2, both ends of the two threaded connecting blocks are movably embedded with limit columns, one end of the two threaded connecting blocks are fixedly installed with extension splints, and the surfaces of the two extension splints are each provided with a through groove 2.

[0009] As a preferred embodiment, the two ends of the bidirectional threaded rod are respectively embedded in the two ends of the center of the inner sleeve inner cavity through bearings, the two ends of the two limit columns are respectively fixedly embedded in the two ends on both sides of the inner sleeve inner cavity, one end of the forward and reverse motor two is fixedly connected to the center of the surface of one side of the cross support frame, the two extension clamps are both movable inside the through slot one, and the two through slots two are both movably sleeved on the surface of the baffle.

[0010] As a preferred embodiment, the offset assembly includes a clamping jaw 1, one end of the clamping jaw 1 is movably connected to a clamping jaw 2 via a movable shaft, one end of a side surface of the clamping jaw 2 is fixedly installed with an inclined clamping plate, one end of the inclined clamping plate is movably connected to a connecting block 1 via a movable shaft, one end of the connecting block 1 is fixedly installed with a cylinder 1, one end of the cylinder 1 is fixedly connected to a connecting block 2, one end of the connecting block 2 is connected to a clamping plate 1 via a movable shaft, one end of a side surface of the clamping jaw 1 is fixedly installed with a clamping plate 2, one end of the clamping plate 2 is movably connected to a connecting block 3 via a movable shaft, one end of the connecting block 3 is fixedly installed with a cylinder 2, one end of the cylinder 2 is fixedly installed with a connecting block 4, and one end of the connecting block 4 is movably connected to a clamping plate 3 via a movable shaft.

[0011] As a preferred embodiment, one end of the clamp plate 1 is fixedly connected to the other end of the surface of one side of the clamp jaw 1, one end of the clamp plate 3 is fixedly connected to one end of the surface of one side of the extended clamp plate, and the two ends of one side of the clamp jaw 1 are connected to the two ends of the inner cavity of one side of the extended clamp plate through a movable shaft.

[0012] As a preferred embodiment, the inner sleeve is movably embedded in one side of the inner cavity of the outer sleeve, one side surface of the bearing is fixedly connected to the inner cavity surface of the outer sleeve, one end of the inner sleeve is fixedly connected to one side surface of the gear ring, and the battery is located on one side of the bottom of the cross support frame.

[0013] Compared with the prior art, the advantages and positive effects of the utility model are:

[0014] 1. The utility model connects the device to an external power source through a line, connects the forward and reverse motors 2 to a battery separately, and starts the device through an external controller. When the device needs to be used, multiple mounting holes are connected to the interface of the robot arm. When the material needs to be clamped, the forward and reverse motors 2 are started through an external controller. The output ends of the forward and reverse motors 2 rotate to drive the bevel gear 2 and the connecting shaft connected thereto to rotate. The rotation of the connecting shaft drives the bevel gear 2 meshing therewith to rotate. The rotation of the bevel gear 2 drives the two-way threaded rod embedded in its surface to rotate. The rotation of the two-way threaded rod drives the threaded connection blocks with thread sleeves on both sides to translate toward the opposite side. The translation of the threaded connection blocks drives the extension splints to translate synchronously. After the two extension splints are adjusted to a suitable spacing, the two cylinders 1 and 2 are started through the external controller to communicate with the air cylinders 1 and 2. Cylinder two, the extension and retraction of the two cylinders two both drive the connecting block three and the clamp plate two connected thereto to move, the movement of the two clamp plates two drives the two clamp claws one connected thereto to deviate to the opposite side until they clamp the material and stop, then the two cylinders one extend and retract, the extension and retraction of the two cylinders one both drive the connecting block one and the inclined clamp plate connected thereto to move, the movement of the two inclined clamp plates drives the two clamp claws two connected thereto to deviate to the opposite side until they clamp the material and stop, at this time, the material can be firmly clamped for transportation, and after transporting to the designated position, the above operation can be performed in reverse to release the clamping, and this method is adopted to solve the problem that the shape of the clamp claws of the existing manipulator clamps is generally fixed, and the offset degree of the clamp claws can be adjusted in sections when clamping objects of different sizes or irregular shapes, thereby increasing the contact surface and achieving a better clamping effect.

[0015] 2. According to the utility model, when it is necessary to clamp materials with an inclined angle, the forward and reverse motors 1 are started through an external controller, and the output ends of the forward and reverse motors 1 rotate to drive the rotating shaft 1 connected thereto to rotate, and the rotating shaft 1 rotates to drive the gear 1 sleeved on its surface to rotate, and the rotation of the gear 1 drives the three gears 2 meshing with it to rotate, and at the same time, the three gears 2 are limited by the triangular connecting frame 2 and the triangular connecting frame 1 through the three rotating shafts 2, and the three gears 2 rotate to drive the gear ring meshing with them to rotate, and the gear ring is limited by the limiting ring sleeved by the annular groove, and when the gear ring rotates, it drives the inner sleeve connected thereto to rotate together, so that the moving assembly and the offset assembly arranged on the surface of the inner sleeve rotate together. After the material is picked up, the forward and reverse motors 1 are reversed to drive the angle of the material to return to the horizontal line, and then normal handling operations can be carried out. In this way, when the power-assisted manipulator is used to clamp materials, the power-assisted manipulator can realize the function of automatic rotation at all angles, and it is also more convenient if it is necessary to clamp materials with inclined angles or in different directions. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A schematic diagram of the three-dimensional structure of a manipulator rotary clamp provided by the utility model;

[0017] Figure 2 A cross-sectional view of an outer sleeve of a manipulator rotary clamp provided by the utility model;

[0018] Figure 3 A three-dimensional structural section view of a manipulator rotary clamp provided by the utility model;

[0019] Figure 4 A three-dimensional structural disassembled diagram of a manipulator rotary clamp provided by the utility model;

[0020] Figure 5 This is a disassembled diagram of a rotating assembly of a manipulator rotating fixture provided by the utility model;

[0021] Figure 6 This is a disassembly diagram of a rotating assembly of a manipulator rotating fixture provided by the utility model;

[0022] Figure 7 A disassembled diagram of a moving component of a manipulator rotary clamp provided by the utility model;

[0023] Figure 8 A plan view of an offset component of a manipulator rotary clamp provided by the utility model.

[0024] Legend:

[0025] 1. Outer sleeve; 101. Mounting block; 102. Mounting hole; 103. Limiting ring; 2. Rotating assembly; 201. Triangular connecting frame 1; 202. Forward and reverse motor 1; 203. Rotating shaft 1; 204. Gear 1; 205. Gear 2; 206. Rotating shaft 2; 207. Triangular connecting frame 2; 208. Gear ring; 209. Ring cut groove; 3. Inner sleeve; 301. Bearing; 302. Cover plate; 303. Through groove 1; 304. Baffle; 305. Cross support frame; 306. Battery; 4. Moving assembly; 401. Double Threaded rod; 402, threaded connecting block; 403, bevel gear one; 404, bevel gear two; 405, connecting shaft; 406, forward and reverse motor two; 407, limit column; 408, extension clamp; 409, through slot two; 5, offset assembly; 501, clamp one; 502, clamp two; 503, tilting clamp; 504, connecting block one; 505, cylinder one; 506, connecting block two; 507, clamp one; 508, clamp two; 509, connecting block three; 510, cylinder two; 511, connecting block four; 512, clamp three. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0027] See also Figure 1-8 The utility model provides a technical solution: a manipulator rotary clamp, comprising: an outer sleeve 1, four ends of one side of the inner cavity of the outer sleeve 1 are fixedly installed with mounting blocks 101, the surfaces of the four mounting blocks 101 are penetrated with two mounting holes 102, the inner cavity of the outer sleeve 1 is fixedly embedded with a limit ring 103, the inner cavity of the outer sleeve 1 is provided with a rotating component 2, one side surface of the rotating component 2 is fixedly connected with an inner sleeve 3, the surface of the inner sleeve 3 is fixedly sleeved with a bearing 301, one side surface of the inner sleeve 3 is fixedly installed with a cover plate 302, the center of the surface of the cover plate 302 is penetrated with a through groove 1 303, baffles 304 are fixedly installed on both sides of the inner cavity of the through groove 1 303, one side of the inner cavity of the inner sleeve 3 is fixedly connected with a cross support frame 305, one side of the inner cavity of the inner sleeve 3 is connected with a battery 306 through a support column, the other side of the inner cavity of the inner sleeve 3 is provided with a moving component 4, and two offset components 5 are provided on the surface of the moving component 4.

[0028] Specifically: the device can be connected to the robot arm through four mounting blocks 101 and multiple mounting holes 102, the limiting ring cutting groove 209 is limited by the limiting ring 103, full-angle steering is achieved through the rotating component 2, the rotating component 2 and the moving component 4 are connected through the inner sleeve 3, the inner sleeve 3 and the forward and reverse motor 2 406 are supported by the cross support frame 305, the forward and reverse motor 2 406 is powered by the battery 306, the distance between the two offset components 5 is adjusted through the moving component 4, and the contact surface with the material during clamping is increased through the two offset components 5.

[0029] In one embodiment, the rotating component 2 includes a triangular connecting frame 201, a forward and reverse motor 202 is fixedly installed at the center of one side surface of the triangular connecting frame 201, the output end of the forward and reverse motor 202 is connected to a rotating shaft 203, one end surface of the rotating shaft 203 is fixedly sleeved with a gear 204, the surface of the gear 204 is meshed with three gears 205, the center of the surfaces of the three gears 205 are embedded with a rotating shaft 206 through bearings, one end of the three rotating shafts 206 is fixedly sleeved with a triangular connecting frame 207, the surfaces of the three gears 205 are meshed with a gear ring 208, and the surface of the gear ring 208 is provided with an annular groove 209.

[0030] Specifically: by starting the forward and reverse motor 202, the output end of the forward and reverse motor 202 rotates to drive the rotating shaft 203 connected thereto to rotate, the rotating shaft 203 rotates to drive the gear 204 sleeved on its surface to rotate, the gear 204 rotates to drive the three gears 2 205 meshing therewith to rotate, and at the same time, the three gears 2 205 are limited by the triangular connecting frame 207 and the triangular connecting frame 201 through the three rotating shafts 206, the three gears 2 205 rotate to drive the gear ring 208 meshing therewith to rotate, and the limiting ring 103 is sleeved on the annular groove 209 to limit the gear ring 208, when the gear ring 208 rotates, it drives the inner sleeve 3 connected thereto to rotate together, so that the moving component 4 and the offset component 5 arranged on the surface of the inner sleeve 3 rotate together.

[0031] In one embodiment, the three ends of the triangular connecting frame 201 are fixedly installed on one side of the inner cavity of the outer sleeve 1, and the other ends of the three rotating shafts 206 are respectively fixedly embedded in the centers of the three ends of the triangular connecting frame 201, one end of the rotating shaft 203 is embedded in the center of the surface of the triangular connecting frame 207 through a bearing, and the other end of the rotating shaft 203 is embedded in the center of one side surface of the triangular connecting frame 201 through a bearing, and the annular groove 209 is movably sleeved on the surface of the limit ring 103.

[0032] Specifically: the three ends of the triangular connecting frame 201 are fixedly installed on one side of the inner cavity of the outer sleeve 1, thereby fixing the triangular connecting frame 201; the other ends of the three rotating shafts 206 are respectively fixedly embedded in the centers of the three ends of the triangular connecting frame 201, thereby fixing the three rotating shafts 206 and the gear 2 205; the rotating shaft 203 is fixed by embedding one end of the rotating shaft 203 through a bearing in the center of the surface of the triangular connecting frame 207; the other end of the rotating shaft 203 is embedded in the center of one side surface of the triangular connecting frame 201 through a bearing, thereby enabling it to be connected to the forward and reverse motor 202 and further support itself; the annular groove 209 is movably sleeved on the surface of the limit ring 103, thereby limiting the gear ring 208 to prevent it from being separated from the three gears 205.

[0033] In one embodiment, the moving component 4 includes a bidirectional threaded rod 401, both ends of the bidirectional threaded rod 401 are threadedly sleeved with threaded connecting blocks 402, the surface of the bidirectional threaded rod 401 is fixedly sleeved with a bevel gear 1 403, the surface of the bevel gear 1 403 is meshed with a bevel gear 2 404, one end of the bevel gear 2 404 is fixedly installed with a connecting shaft 405, one end of the connecting shaft 405 is fixedly connected to a forward and reverse motor 2 406, both ends of the two threaded connecting blocks 402 are movably embedded with limit columns 407, one end of the two threaded connecting blocks 402 are fixedly installed with extension splints 408, and the surfaces of the two extension splints 408 are both penetrated by through grooves 2 409.

[0034] Specifically: by starting the forward and reverse motor 2 406, the output end of the forward and reverse motor 2 406 rotates to drive the bevel gear 2 404 and the connecting shaft 405 connected thereto to rotate, the connecting shaft 405 rotates to drive the bevel gear 2 404 meshing therewith to rotate, the bevel gear 2 404 rotates to drive the bidirectional threaded rod 401 embedded on its surface to rotate, the bidirectional threaded rod 401 rotates to drive the threaded connection blocks 402 with thread sleeves on both sides to translate toward the opposite side, the threaded connection blocks 402 translate to drive the extension splint 408 to translate synchronously.

[0035] In one embodiment, the two ends of the bidirectional threaded rod 401 are respectively embedded in the two ends of the center of the inner cavity of the inner sleeve 3 through bearings, the two ends of the two limit columns 407 are respectively fixedly embedded in the two ends on both sides of the inner cavity of the inner sleeve 3, one end of the forward and reverse motor 2 406 is fixedly connected to the center of the surface of one side of the cross support frame 305, the two extension clamps 408 are both movable inside the through slot 1 303, and the two through slots 2 409 are both movably sleeved on the surface of the baffle 304.

[0036] Specifically: by respectively embedding the two ends of the bidirectional threaded rod 401 at the two ends of the center of the inner cavity of the inner sleeve 3 through bearings, and respectively fixing the two ends of the two limit columns 407 at the two ends on both sides of the inner cavity of the inner sleeve 3, the support of the bidirectional threaded rod 401 and the two limit columns 407 themselves is achieved, and by fixing one end of the forward and reverse motor 2 406 at the center of the surface of one side of the cross support frame 305, the forward and reverse motor 2 406 is fixed.

[0037] In one embodiment, the offset assembly 5 includes a clamping jaw 501, one end of which is movably connected to a clamping jaw 502 via a movable shaft, one end of a side surface of the clamping jaw 502 is fixedly installed with an inclined clamping plate 503, one end of the inclined clamping plate 503 is movably connected to a connecting block 504 via a movable shaft, one end of the connecting block 504 is fixedly installed with a cylinder 505, one end of the cylinder 505 is fixedly connected to a connecting block 506, one end of the connecting block 506 is connected to a clamping plate 507 via a movable shaft, one end of a side surface of the clamping jaw 501 is fixedly installed with a clamping plate 508, one end of the clamping plate 508 is movably connected to a connecting block 3 509 via a movable shaft, one end of the connecting block 3 509 is fixedly installed with a cylinder 2 510, one end of the cylinder 2 510 is fixedly installed with a connecting block 4 511, and one end of the connecting block 4 511 is movably connected to a clamping plate 3 512 via a movable shaft.

[0038] Specifically: by starting the two cylinders 1 505 and the cylinder 2 510, the two cylinders 2 510 extend and retract, driving the connecting block 3 509 and the clamp 2 508 connected thereto to move. The movement of the two clamps 2 508 drives the two clamps 1 501 connected thereto to deviate to the opposite side until the material is clamped and stops. Subsequently, the two cylinders 1 505 extend and retract, and the two cylinders 1 505 extend and retract, driving the connecting block 1 504 and the inclined clamp 503 connected thereto to move. The movement of the two inclined clamps 503 drives the two clamps 2 502 connected thereto to deviate to the opposite side until the material is clamped and stops. At this time, the material can be firmly clamped for transportation.

[0039] In one embodiment, one end of splint 1 507 is fixedly connected to the other end of the surface of one side of clamp 1 501, one end of splint 3 512 is fixedly connected to one end of the surface of one side of extended splint 408, and the two ends of one side of clamp 1 501 are connected to the two ends of the inner cavity of one side of extended splint 408 through a movable shaft.

[0040] Specifically: by fixing one end of splint 1 507 to the other end of the surface of one side of clamp 1 501, and fixing one end of splint 3 512 to one end of the surface of one side of extended splint 408, splint 1 507 and splint 3 512 are fixed, and by connecting the two ends of one side of clamp 1 501 to the two ends of the inner cavity of one side of extended splint 408 through a movable shaft, clamp 1 501 is fixed.

[0041] In one embodiment, the inner sleeve 3 is movably embedded in one side of the inner cavity of the outer sleeve 1, one side surface of the bearing 301 is fixedly connected to the inner cavity surface of the outer sleeve 1, one end of the inner sleeve 3 is fixedly connected to one side surface of the gear ring 208, and the battery 306 is located on one side of the bottom of the cross support frame 305.

[0042] Specifically: the inner sleeve 3 is movably embedded in one side of the inner cavity of the outer sleeve 1 to protect the internal structure, one side surface of the bearing 301 is fixedly connected to the inner cavity surface of the outer sleeve 1 to prevent it from shaking, and one end of the inner sleeve 3 is fixedly connected to one side surface of the gear ring 208, so that the gear ring 208 can drive the inner sleeve 3 to rotate together when it rotates.

[0043] Working principle: the device is connected to an external power source through a line, and the forward and reverse motor 2 406 is connected to the battery 306 separately, and the device is started through an external controller. When the device needs to be used, multiple installation holes 102 are connected to the robot arm interface. When the material needs to be clamped, the forward and reverse motor 2 406 is started through an external controller. The output end of the forward and reverse motor 2 406 rotates to drive the bevel gear 2 404 and the connecting shaft 405 connected thereto to rotate. The connecting shaft 405 rotates to drive the bevel gear 2 404 meshing therewith to rotate. The rotation of the bevel gear 2 404 drives the bidirectional threaded rod 401 embedded in its surface to rotate. The rotation of the bidirectional threaded rod 401 drives the threaded connection block 402 with threads on both sides to translate toward the opposite side, and the threaded connection The block 402 translates and drives the extension clamp 408 to translate synchronously. After the two extension clamps 408 are adjusted to a suitable spacing, the two cylinders 1 505 and the cylinder 2 510 are started by the external controller. The two cylinders 2 510 extend and retract and both drive the connecting block 3 509 and the clamp 2 508 connected thereto to move. The movement of the two clamps 2 508 drives the two clamps 1 501 connected thereto to deviate to the opposite side until the material is clamped and stops. Subsequently, the two cylinders 1 505 extend and retract and both drive the connecting block 1 504 and the inclined clamp 503 connected thereto to move. The movement of the two inclined clamps 503 drives the two clamps 2 502 connected thereto to deviate to the opposite side until the material is clamped and stops. At this time, it can be stabilized. The material is clamped for transportation, and after being transported to the designated location, the above operation can be performed in reverse to release the clamping. This method solves the problem that the shape of the clamping claws of the existing manipulator clamps is generally fixed. When clamping objects of different sizes or irregular shapes, the offset of the clamping claws can be adjusted in sections to increase the contact surface and achieve a better clamping effect. When it is necessary to clamp materials with an inclined angle, the forward and reverse motor 202 is started by an external controller, and the output end of the forward and reverse motor 202 rotates to drive the rotating shaft 203 connected thereto to rotate, and the rotating shaft 203 rotates to drive the gear 204 sleeved on its surface to rotate, and the gear 204 rotates to drive the three gears 205 meshing therewith to rotate, and at the same time, the triangular connecting frame 207 and the triangular connecting frame 20 The three gears 205 are limited by the three rotating shafts 206. The three gears 205 rotate to drive the gear ring 208 meshing therewith to rotate, and the limiting ring 103 is sleeved on the annular groove 209 to limit the gear ring 208. When the gear ring 208 rotates, it drives the inner sleeve 3 connected thereto to rotate together, so that the moving component 4 and the offset component 5 arranged on the surface of the inner sleeve 3 rotate together. After the material is taken, the forward and reverse motors 1 202 are reversed to drive the angle of the material back to the horizontal line, and then normal handling operations can be carried out. In this way, when the power-assisted manipulator is used to clamp the material, the power-assisted manipulator can realize the function of automatic rotation at all angles, and it is also more convenient if materials with inclined angles or different directions need to be clamped.

[0044] The above description is only a preferred embodiment of the present invention and does not limit the present invention in other forms. Any technician familiar with the profession may use the technical content disclosed above to change or modify it into an equivalent embodiment with equivalent changes and apply it to other fields. However, any simple modification, equivalent change and modification made to the above embodiment based on the technical essence of the present invention without departing from the content of the technical solution of the present invention still falls within the protection scope of the technical solution of the present invention.

Claims

1. A manipulator rotary fixture, It is characterized in that include: An outer sleeve (1), four ends of one side of the inner cavity of the outer sleeve (1) are fixedly mounted with mounting blocks (101), the surfaces of the four mounting blocks (101) are each provided with two mounting holes (102), a limiting ring (103) is fixedly embedded in the inner cavity of the outer sleeve (1), a rotating component (2) is arranged in the inner cavity of the outer sleeve (1), one side surface of the rotating component (2) is fixedly connected with an inner sleeve (3), a bearing (301) is fixedly sleeved on the surface of the inner sleeve (3), and one side surface of the inner sleeve (3) is provided with a A cover plate (302) is fixedly installed on the surface, a through groove (303) is opened through the center of the surface of the cover plate (302), baffles (304) are fixedly installed on both sides of the inner cavity of the through groove (303), a cross support frame (305) is fixedly connected to one side of the inner cavity of the inner sleeve (3), a battery (306) is connected to one side of the inner cavity of the inner sleeve (3) through a support column, a moving component (4) is arranged on the other side of the inner cavity of the inner sleeve (3), and two offset components (5) are arranged on the surface of the moving component (4).

2. A manipulator rotary clamp according to claim 1, Features: The rotating assembly (2) comprises a triangular connecting frame (201), a forward and reverse motor (202) is fixedly mounted at the center of one side surface of the triangular connecting frame (201), the output end of the forward and reverse motor (202) is connected to a rotating shaft (203), a gear (204) is fixedly sleeved on one end surface of the rotating shaft (203), three gears (205) are meshed on the surface of the gear (204), a rotating shaft (206) is embedded in the center of the surfaces of the three gears (205) through bearings, a triangular connecting frame (207) is fixedly sleeved on one end of the three rotating shafts (206), the surfaces of the three gears (205) are meshed with a toothed ring (208), and a ring cut groove (209) is provided on the surface of the toothed ring (208).

3. A manipulator rotary clamp according to claim 2, Features: The three ends of the triangular connecting frame (201) are fixedly mounted on one side of the inner cavity of the outer sleeve (1); the other ends of the three rotating shafts (206) are respectively fixedly embedded in the centers of the three ends of the triangular connecting frame (201); one end of the rotating shaft (203) is embedded in the center of the surface of the triangular connecting frame (207) through a bearing; the other end of the rotating shaft (203) is embedded in the center of one side surface of the triangular connecting frame (201) through a bearing; and the annular groove (209) is movably sleeved on the surface of the limiting ring (103).

4. A manipulator rotary clamp according to claim 1, Features: The moving assembly (4) comprises a bidirectional threaded rod (401), both ends of the bidirectional threaded rod (401) are threadedly sleeved with threaded connection blocks (402), a bevel gear 1 (403) is fixedly sleeved on the surface of the bidirectional threaded rod (401), a bevel gear 2 (404) is meshed on the surface of the bevel gear 1 (403), a connecting shaft (405) is fixedly installed on one end of the bevel gear 2 (404), and a forward and reverse motor 2 (406) is fixedly connected to one end of the connecting shaft (405), limiting columns (407) are movably embedded at both ends of the two threaded connection blocks (402), and an extension clamp (408) is fixedly installed on one end of the two threaded connection blocks (402), and a through groove 2 (409) is opened through the surface of the two extension clamps (408).

5. A manipulator rotary clamp according to claim 4, Features: The two ends of the bidirectional threaded rod (401) are respectively embedded in the center of the inner cavity of the inner sleeve (3) through bearings, and the two ends of the two limit columns (407) are respectively fixedly embedded in the two ends on both sides of the inner cavity of the inner sleeve (3). One end of the forward and reverse motor 2 (406) is fixedly connected to the center of the surface of one side of the cross support frame (305), and the two extension clamps (408) are both movable inside the through slot 1 (303), and the two through slots 2 (409) are both movably sleeved on the surface of the baffle (304).

6. A manipulator rotary clamp according to claim 1, Features: The offset assembly (5) comprises a clamping jaw (501), one end of which is movably connected to a clamping jaw (502) via a movable shaft, one end of a side surface of the clamping jaw (502) is fixedly mounted with an inclined clamping plate (503), one end of which is movably connected to a connecting block (504) via a movable shaft, one end of which is fixedly mounted with a cylinder (505), one end of which is fixedly connected to a connecting block (506), and the connecting block One end of the second (506) is connected to a clamp plate one (507) via a movable shaft, one end of the side surface of the clamp plate one (501) is fixedly installed with a clamp plate two (508), one end of the clamp plate two (508) is movably connected to a connecting block three (509) via a movable shaft, one end of the connecting block three (509) is fixedly installed with a cylinder two (510), one end of the cylinder two (510) is fixedly installed with a connecting block four (511), and one end of the connecting block four (511) is movably connected to a clamp plate three (512) via a movable shaft.

7. A manipulator rotary clamp according to claim 6, Features: One end of the clamp plate 1 (507) is fixedly connected to the other end of the surface of one side of the clamp jaw 1 (501), one end of the clamp plate 3 (512) is fixedly connected to one end of the surface of one side of the extended clamp plate (408), and the two ends of one side of the clamp jaw 1 (501) are connected to the two ends of the inner cavity of one side of the extended clamp plate (408) through a movable shaft.

8. The manipulator rotary clamp according to claim 1, Features: The inner sleeve (3) is movably embedded in one side of the inner cavity of the outer sleeve (1), one side surface of the bearing (301) is fixedly connected to the inner cavity surface of the outer sleeve (1), one end of the inner sleeve (3) is fixedly connected to one side surface of the gear ring (208), and the battery (306) is located on one side of the bottom of the cross support frame (305).

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