Screwing type mechanical arm for feeding and discharging of winding disc

Abstract

The utility model provides a screwing type mechanical arm for feeding and discharging of a winding disc, and belongs to the technical field of mechanical arms. Comprising a barrel body, one side of the barrel body is fixedly connected with a sealing cover, the side, away from the sealing cover, of the barrel body is sleeved with a limiting barrel, one side of the limiting barrel is provided with a rotating shaft penetrating through the limiting barrel and extending into the barrel body, and the rotating shaft is provided with a groove in the limiting barrel. The inner wall of one side of the interior of the groove is a third inclined face, and the outer surface of the limiting cylinder is provided with a fixing mechanism which can be fixed to the groove in a matched mode and slide the rotating shaft. According to the clamping device, the limiting cylinder and the fixing mechanism are arranged, clamping of the clamping jaws can be controlled by pressing the fixing strip, when the multiple clamping jaws clamp an object, the fixing strip cannot be pressed any more, the clamping jaws can just grab the object, the situation that the surface of the object is damaged easily due to the fact that force is applied too large when the clamping jaws grab the object is effectively prevented, and the clamping efficiency is improved. And the object cannot be grabbed if the applied force is too small.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, and particularly relates to a tightening type manipulator for loading and unloading coil reels. Background Art

[0002] In the loading and unloading of coil reels, the initial design of the equipment mainly considered the manual loading and unloading method. However, with the continuous change of production requirements and the progress of technology, this traditional loading and unloading method can no longer meet the needs of modern industry. In order to improve production efficiency and automation, automated equipment such as robotic arms or robots is usually required.

[0003] When the existing manipulator grabs an object, it needs to directly contact the surface of the object and apply force before it can grab the object. The sizes and models of the objects to be grabbed vary. If the manipulator applies too much force when grabbing the object, it is easy to damage the surface of the object. If the force applied is too small, the object cannot be grabbed. Therefore, this application provides a tightening type manipulator for loading and unloading coil reels to meet the requirements. Content of the Utility Model

[0004] The technical problem to be solved by the utility model is to provide a tightening type manipulator for loading and unloading coil reels to solve the problem that when the existing manipulator grabs an object, it needs to directly contact the surface of the object and apply force before it can grab the object. The sizes and models of the objects to be grabbed vary. If the manipulator applies too much force when grabbing the object, it is easy to damage the surface of the object. If the force applied is too small, the object cannot be grabbed.

[0005] To solve the above technical problem, the utility model provides the following technical solutions:

[0006] A tightening type manipulator for loading and unloading coiling reels, comprising a cylinder body, one side of the cylinder body is fixedly connected with a closed cover, one side of the closed cover far from the cylinder body is fixedly connected with an adjusting block, a limiting cylinder is sleeved on one side of the cylinder body far from the closed cover, one side of the limiting cylinder is provided with a rotating shaft penetrating through the limiting cylinder and extending into the cylinder body, one end of the rotating shaft inside the cylinder body is fixedly connected with a fourth convex block in the shape of "Y", three equally spaced sliding grooves are formed in the inner wall of the cylinder body, the side surface of the fourth convex block is fixedly connected with a plurality of equally spaced second sliding blocks, the second sliding blocks are slidably connected with the sliding grooves, the outer surface of the rotating shaft is fixedly connected with a plurality of support bars, the support bars are all fixedly connected with the inner wall of the limiting cylinder, a groove is formed in the inner part of the rotating shaft inside the limiting cylinder, one inner wall side of the groove is a third inclined surface, a fixing mechanism for cooperating with the groove to fix and slide the rotating shaft is installed on the outer surface of the limiting cylinder, the fixing mechanism includes a fixing bar penetrating through the limiting cylinder and extending into the groove, one end of the fixing bar inside the groove is provided with a first inclined surface, tooth grooves are formed at the top and bottom of the fixing bar, limiting covers are fixedly connected above and below the fixing bar on the limiting cylinder, a first spring is fixedly connected inside the limiting cover, one end of the first spring far from the limiting cover is fixedly connected with a fixing block, the fixing block is adapted to the tooth groove, one side of the fixing block is fixedly connected with a connecting bar, a second inclined surface is formed at one end of the connecting bar far from the fixing block, and limiting bars for limiting the fixing bar are fixedly connected inside the limiting cylinder at the top and bottom of the fixing bar.

[0007] Preferably, three equally spaced connecting frames are fixedly connected to the outer surface of the adjusting block, clamping jaws are installed inside the connecting frames, the middle bending part of the clamping jaws is rotatably connected with the connecting frames, one end of the clamping jaws is fixedly connected with a first convex block, the first convex block penetrates through one side of the cylinder body, a fourth inclined surface is formed at the bottom of the first convex block, and the limiting cylinder can limit one end of the clamping jaw fixedly connected with the first convex block.

[0008] Preferably, a second convex block is fixedly connected to one side of the rotating connection part of the clamping jaw close to the cylinder body, connecting blocks are fixedly connected to one side of the end heads of the fourth convex blocks close to the closed cover, the connecting blocks penetrate through the closed cover and are fixedly connected with a third convex block, first rotating wheels are fixedly connected to both sides of the third convex block, second rotating wheels are fixedly connected to both sides of the second convex block, and the first rotating wheels and the second rotating wheels are sleeved with the same limiting frame.

[0009] Preferably, a first sliding block that can abut against the second inclined surface on the connecting bar is slidably connected to the outer surface of the limiting cylinder.

[0010] Preferably, a second spring is fixedly connected to the side of the fourth bump away from the rotating shaft, and one end of the second spring away from the fourth bump is fixedly connected to the closed cover.

[0011] Preferably, two limiting blocks are fixedly connected to the sides of the clamping jaws away from each other.

[0012] Compared with the prior art, the utility model has at least the following beneficial effects:

[0013] In the above solution, by setting the limiting cylinder and the fixing mechanism, during operation, first press the fixing strip, so that the first inclined surface at one end of the fixing strip presses the third inclined surface inside the groove, causing the rotating shaft to move to one side under force. When the fixing strip is pressed and moved, the fixing block will continuously release the limiting extrusion of the fixing strip against the first spring along the tooth groove and then reset to fit the tooth groove again to limit the fixing strip. When the rotating shaft moves, it will drive the limiting cylinder to move through the support strip, releasing the limit on one end of the clamping jaw. When the rotating shaft moves, it will also drive the fourth bump to move. When the fourth bump moves, it will contact the fourth inclined surface on the first bump, and the fourth bump will also drive the third bump to contact the second bump through the connecting block. When the fourth bump contacts the fourth inclined surface on the first bump, it will drive the first bump to move, assisting the first bump to leave the cylinder body. When the third bump contacts the second bump, it will drive the clamping jaw to rotate, so that one end of the clamping jaw approaches the adjusting block to clamp the object. When multiple clamping jaws clamp the coil reel, the rotating shaft will no longer move, so that the fixing strip can no longer be pushed, and the fixing block will stop at a certain position in the tooth groove to limit the fixing strip, thereby preventing the fixing strip from rebounding. At this time, the rotating shaft can be rotated by the motor. When the rotating shaft rotates, it drives the limiting cylinder to rotate through the support strip, and when the rotating shaft rotates, it will also make the cylinder body rotate through the cooperation of the second slider and the chute, and then make the clamping jaw rotate through the closed cover and the adjusting block, thereby driving the coil reel to rotate for loading and unloading operations. The advantage of this is that the clamping of the clamping jaw can be controlled by pressing the fixing strip. When multiple clamping jaws clamp an object, the fixing strip will no longer be pressed, enabling the clamping jaw to just grasp the object, effectively preventing the problem that the clamping jaw applies too much force when grasping an object, which is likely to damage the surface of the object, and applying too little force will result in the inability to grasp the object.

[0014] By setting the first slider, when it is necessary to stop grasping, slide the first slider towards the connecting bar. After the first slider abuts against the second inclined surface on the connecting bar, the connecting bar will move in a direction away from each other, driving the fixed block to move within the limit cover, compressing the first spring, releasing the limit on the fixed bar. At this time, the second spring rebounds and resets, enabling the rotating shaft to move and reset, driving the fixed bar to reset. When the hand is released and the force applied to the first slider stops, the fixed block fits back into the tooth groove under the action of the first spring to limit the fixed bar. When the rotating shaft resets, it drives the fourth convex block to reset, drives the first runner on the third convex block to move through the connecting block. When the first runner moves, it drives the second convex block through the limit frame and the second runner, and the second convex block drives the clamping jaws to rotate, causing the multiple clamping jaws to move away from each other, thus enabling the clamping jaws to stop grasping the object. Through the limit block, it is prevented that when the clamping jaws are performing the clamping and rotating operation, the line to be wound moves along the clamping jaws towards the direction close to the cylinder body, so that the line to be wound leaves the coiling disk and causes the problem of line breakage. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The drawings incorporated herein and constituting a part of the specification illustrate embodiments of the present disclosure, and together with the specification are further used to explain the principles of the present disclosure and enable those skilled in the relevant art to implement and use the present disclosure.

[0016] Figure 1 Schematic three-dimensional structure diagram of a tightening type manipulator for loading and unloading of coiling disks;

[0017] Figure 2 Schematic cross-sectional three-dimensional structure diagram of a tightening type manipulator for loading and unloading of coiling disks;

[0018] Figure 3 Schematic three-dimensional structure diagram of a fixing mechanism;

[0019] Figure 4 For Figure 2 Enlarged structure diagram at position A in

[0020] Figure 5 For Figure 2 Enlarged structure diagram at position B in

[0021] Figure 6 For Figure 1 Enlarged structure diagram at position C in

[0022] [REFERENCE NUMERALS]

[0023] 1. Cylinder body; 2. Closed cover; 3. Adjusting block; 4. Claw; 5. Connecting frame; 6. Fixing mechanism; 601. Fixing strip; 602. First inclined surface; 603. Tooth groove; 604. Limiting cover; 605. Fixing block; 606. Connecting strip; 607. Second inclined surface; 608. Limiting strip; 609. First spring; 7. First slider; 8. First convex block; 9. Limiting cylinder; 10. Rotating shaft; 11. Groove; 12. Third inclined surface; 13. Connecting block; 14. Supporting strip; 15. Sliding groove; 16. Second convex block; 17. Third convex block; 18. First runner; 19. Second runner; 20. Limiting frame; 21. Fourth convex block; 22. Second slider; 23. Fourth inclined surface; 24. Second spring; 25. Limiting block.

[0024] As shown in the figure, in order to clearly implement the structure of the embodiments of the present invention, specific structures and devices are marked in the figure. However, this is only for schematic purposes and is not intended to limit the present invention to this specific structure, device, and environment. According to specific needs, those of ordinary skill in the art can adjust or modify these devices and environments, and the adjustments or modifications still fall within the scope of the appended claims. Detailed implementation manners

[0025] The following describes in detail a tightening type manipulator for loading and unloading coiling reels provided by the present invention with reference to the accompanying drawings and specific embodiments. At the same time, it should be noted here that in order to make the embodiments more detailed, the following embodiments are the best and preferred embodiments. For some well-known technologies, those skilled in the art can also adopt other alternative methods for implementation; moreover, the accompanying drawings are only for more specifically describing the embodiments and are not intended to specifically limit the present invention.

[0026] It should be noted that in the specification, when referring to "an embodiment", "embodiment", "exemplary embodiment", "some embodiments", etc., it indicates that the described embodiment may include specific features, structures, or characteristics, but not necessarily every embodiment includes such specific features, structures, or characteristics. Additionally, when combining an embodiment to describe a specific feature, structure, or characteristic, implementing such feature, structure, or characteristic in combination with other embodiments (whether explicitly described or not) should be within the knowledge of those skilled in the relevant art.

[0027] Generally, terms can be understood at least in part from their use in context. For example, at least in part depending on the context, the term "one or more" used herein can be used to describe any feature, structure, or characteristic in a singular sense, or can be used to describe a combination of features, structures, or characteristics in a plural sense. Additionally, the term "based on" can be understood as not necessarily intended to convey a set of exclusive factors, but rather, at least in part depending on the context, allowing for the existence of other factors that may not be explicitly described.

[0028] It will be understood that the terms "on", "above", and "over" in the present disclosure should be construed in the broadest manner such that "on" not only means "directly on" something, but also includes the meaning of being "on" something with intervening features or layers therebetween, and "above" or "over" not only means "above" or "over" something, but may also include the meaning of being "above" or "over" something with no intervening features or layers therebetween.

[0029] In addition, spatially relative terms such as "under", "below", "lower", "above", "upper", etc. may be used herein for convenience of description to describe the relationship of one element or feature to another or other elements or features, as shown in the figures. Spatially relative terms are intended to encompass different orientations in the use or operation of the device in addition to the orientation depicted in the figures. The device may be oriented in other ways, and the spatially relative descriptors used herein may be interpreted accordingly.

[0030] Such as Figures 1 - 6As shown in the figure, an embodiment of the present utility model provides a tightening type manipulator for loading and unloading coil reels, which includes a cylinder body 1. One side of the cylinder body 1 is fixedly connected with a closed cover 2. One side of the closed cover 2 far away from the cylinder body 1 is fixedly connected with an adjusting block 3. A limiting cylinder 9 is sleeved on one side of the cylinder body 1 far away from the closed cover 2. One side of the limiting cylinder 9 is provided with a rotating shaft 10 that penetrates through the limiting cylinder 9 and extends into the cylinder body 1. One end of the rotating shaft 10 inside the cylinder body 1 is fixedly connected with a fourth convex block 21 in the shape of "Y". Three equally spaced sliding grooves 15 are opened on the inner wall of the cylinder body 1. The side surface of the fourth convex block 21 is fixedly connected with a plurality of equally spaced second sliding blocks 22. The second sliding blocks 22 are slidably connected with the sliding grooves 15. A plurality of support bars 14 are fixedly connected to the outer surface of the rotating shaft 10. The support bars 14 are all fixedly connected with the inner wall of the limiting cylinder 9. A groove 11 is opened inside the limiting cylinder 9 on the rotating shaft 10. One inner wall side of the groove 11 is a third inclined surface 12. A fixing mechanism 6 for fixing and sliding the rotating shaft 10 in cooperation with the groove 11 is installed on the outer surface of the limiting cylinder 9. The fixing mechanism 6 includes a fixing bar 601 that penetrates through the limiting cylinder 9 and extends into the groove 11. One end of the fixing bar 601 inside the groove 11 is provided with a first inclined surface 602. Tooth grooves 603 are opened on the top and bottom of the fixing bar 601. Limiting covers 604 are fixedly connected above and below the fixing bar 601 on the limiting cylinder 9. A first spring 609 is fixedly connected inside the limiting cover 604. One end of the first spring 609 far away from the limiting cover 604 is fixedly connected with a fixing block 605. The fixing block 605 is adapted to the tooth groove 603. One side of the fixing block 605 is fixedly connected with a connecting bar 606. One end of the connecting bar 606 far away from the fixing block 605 is provided with a second inclined surface 607. Limiting bars 608 for limiting the fixing bar 601 are fixedly connected inside the limiting cylinder 9 on the top and bottom of the fixing bar 601. Three equally spaced connecting frames 5 are fixedly connected to the outer surface of the adjusting block 3. Claw jaws 4 are installed inside the connecting frames 5. The middle bent part of the claw jaws 4 is rotatably connected with the connecting frames 5. One end of the claw jaws 4 is fixedly connected with a first convex block 8. The first convex block 8 penetrates through one side of the cylinder body 1. A fourth inclined surface 23 is opened at the bottom of the first convex block 8. The limiting cylinder 9 can limit one end of the claw jaws 4 fixedly connected with the first convex block 8. One side of the rotating connection part of the claw jaws 4 close to the cylinder body 1 is fixedly connected with a second convex block 16. Connecting blocks 13 are fixedly connected to the ends of the fourth convex block 21 close to the closed cover 2. The connecting blocks 13 penetrate through the closed cover 2 and are fixedly connected with third convex blocks 17. First runners 18 are fixedly connected to both sides of the third convex block 17. Second runners 19 are fixedly connected to both sides of the second convex block 16. The first runners 18 and the second runners 19 are sleeved with the same limiting frame 20.

[0031] By setting the limiting cylinder 9 and the fixing mechanism 6, when working, the fixing strip 601 is first pressed to make the first inclined surface 602 at one end of the fixing strip 601 squeeze the third inclined surface 12 inside the groove 11, so that the rotating shaft 10 is forced to move to one side. When the fixing strip 601 is pressed and moved, the fixing block 605 will continuously release the limiting position of the fixing strip 601 along the tooth groove 603, squeeze the first spring 609, and then reset to fit the tooth groove 603 again to limit the fixing strip 601. When the rotating shaft 10 moves, it will be brought by the support strip 14 The movable limit cylinder 9 moves to release the limit on one end of the clamping jaw 4. When the rotating shaft 10 moves, it will also drive the fourth protrusion 21 to move. When the fourth protrusion 21 moves, it will conflict with the fourth inclined surface 23 on the first protrusion 8, and the fourth protrusion 21 will also drive the third protrusion 17 to conflict with the second protrusion 16 through the connecting block 13. When the fourth protrusion 21 conflicts with the fourth inclined surface 23 on the first protrusion 8, it drives the first protrusion 8 to move, assisting the first protrusion 8 to leave the cylinder 1, and when the third protrusion 17 conflicts with the second protrusion 16, it drives The clamping jaw 4 rotates so that one end of the clamping jaw 4 is close to the adjusting block 3 to clamp the object. When multiple clamping jaws 4 clamp the coil, the rotating shaft 10 will no longer move, so that the fixing bar 601 can no longer be pushed. The fixing block 605 will stop at a certain position of the tooth groove 603 to limit the fixing bar 601, thereby preventing the fixing bar 601 from rebounding. At this time, the rotating shaft 10 can be rotated by the motor. When the rotating shaft 10 rotates, the limiting cylinder 9 is driven to rotate through the support bar 14, and when the rotating shaft 10 rotates, it will also pass through the second slider 2 2 and the slide groove 15 allow the cylinder 1 to rotate, and then the clamping claw 4 is rotated through the closing cover 2 and the adjusting block 3, thereby driving the coil disk to rotate and perform loading and unloading operations. The advantage of this is that the clamping of the clamping claw 4 can be controlled by pressing the fixing bar 601. When multiple clamping claws 4 clamp an object, the fixing bar 601 will not be pressed again, allowing the clamping claw 4 to just grab the object, effectively preventing the clamping claw 4 from applying too much force when grabbing the object, which may easily cause damage to the surface of the object, and preventing the object from being unable to be grabbed if the force is too small.

[0032] like Figures 1 - 3 , Figure 5 and Figure 6 As shown, the outer surface of the limit cylinder 9 is slidably connected to a first slider 7 that can interfere with the second inclined surface 607 on the connecting strip 606, the side of the fourth protrusion 21 away from the rotating shaft 10 is fixedly connected to the second spring 24, the end of the second spring 24 away from the fourth protrusion 21 is fixedly connected to the closing cover 2, and the sides of the clamping jaws 4 away from each other are fixedly connected to two limit blocks 25.

[0033] By setting the first slider 7, when it is necessary to stop grasping, slide the first slider 7 in the direction of the connecting bar 606. After the first slider 7 abuts against the second inclined surface 607 on the connecting bar 606, the connecting bar 606 will move in the direction away from each other, driving the fixed block 605 to move within the limit cover 604, squeezing the first spring 609, releasing the limit on the fixed bar 601. At this time, the second spring 24 rebounds and resets, enabling the rotating shaft 10 to move and reset, driving the fixed bar 601 to reset. When the hand is released and the force applied to the first slider 7 is stopped, the fixed block 605 fits with the tooth groove 603 again under the action of the first spring 609 to limit the fixed bar 601. When the rotating shaft 10 resets, it drives the fourth convex block 21 to reset, drives the first runner 18 on the third convex block 17 to move through the connecting block 13. When the first runner 18 moves, it drives the second convex block 16 through the limit frame 20 and the second runner 19, and the second convex block 16 drives the clamping jaws 4 to rotate, causing the multiple clamping jaws 4 to move away from each other, so that the clamping jaws 4 can stop grasping the object. Through the limit block 25, it is prevented that when the clamping jaws 4 perform the clamping and rotating operation, the wire to be wound moves along the clamping jaws 4 in the direction close to the cylinder 1, so that the wire to be wound leaves the coiling disc and causes the wire to break.

[0034] The technical solution provided by the utility model is to set the limiting cylinder 9 and the fixing mechanism 6. When working, the fixing strip 601 is first pressed to make the first inclined surface 602 at one end of the fixing strip 601 squeeze the third inclined surface 12 inside the groove 11, so that the rotating shaft 10 is forced to move to one side. When the fixing strip 601 is pressed and moved, the fixing block 605 will continuously release the limiting position of the fixing strip 601 along the tooth groove 603 and squeeze the first spring 609, and then reset and re-fit with the tooth groove 603 to limit the fixing strip 601. The rotating shaft 10 is moving. When the fourth protrusion 21 is moved, it will drive the limiting cylinder 9 to move through the support bar 14 to release the limit on one end of the clamping claw 4. When the rotating shaft 10 moves, it will also drive the fourth protrusion 21 to move. When the fourth protrusion 21 moves, it will conflict with the fourth inclined surface 23 on the first protrusion 8, and the fourth protrusion 21 will also drive the third protrusion 17 to conflict with the second protrusion 16 through the connecting block 13. When the fourth protrusion 21 conflicts with the fourth inclined surface 23 on the first protrusion 8, it drives the first protrusion 8 to move, assisting the first protrusion 8 to leave the cylinder 1. When the third protrusion 17 conflicts with the second protrusion 1 6, the clamping jaws 4 are driven to rotate, so that one end of the clamping jaws 4 is close to the adjusting block 3 to clamp the object. When multiple clamping jaws 4 clamp the coil disk, the rotating shaft 10 will no longer move, so that the fixing bar 601 can no longer be pushed, and the fixing block 605 will stop at a certain position of the tooth groove 603 to limit the fixing bar 601, so as to prevent the fixing bar 601 from rebounding. At this time, the rotating shaft 10 can be rotated by the motor. When the rotating shaft 10 rotates, the limiting cylinder 9 is driven to rotate through the support bar 14, and the rotating shaft 10 will also rotate through the second The cooperation between the slider 22 and the slide groove 15 allows the cylinder 1 to rotate and then the clamping jaws 4 to rotate through the closing cover 2 and the adjusting block 3, thereby driving the coil disk to rotate for loading and unloading operations. The advantage of this is that the clamping of the clamping jaws 4 can be controlled by pressing the fixing bar 601. When multiple clamping jaws 4 clamp an object, the fixing bar 601 will no longer be pressed, allowing the clamping jaws 4 to just grab the object, effectively preventing the clamping jaws 4 from applying too much force when grabbing the object, which may cause damage to the surface of the object, and preventing the object from being unable to be grabbed if the force is too small.

[0035] By setting the first slider 7, when it is necessary to stop grasping, slide the first slider 7 towards the connecting bar 606. After the first slider 7 abuts against the second inclined surface 607 on the connecting bar 606, the connecting bar 606 will move in a direction away from each other, driving the fixed block 605 to move within the limit cover 604, squeezing the first spring 609, releasing the limit on the fixed bar 601. At this time, the second spring 24 rebounds and resets, enabling the rotating shaft 10 to move and reset, driving the fixed bar 601 to reset. When the hand is released and the force applied to the first slider 7 stops, the fixed block 605 fits back with the tooth groove 603 under the action of the first spring 609 to limit the fixed bar 601. When the rotating shaft 10 resets, it drives the fourth convex block 21 to reset, drives the first runner 18 on the third convex block 17 to move through the connecting block 13. When the first runner 18 moves, it drives the second convex block 16 through the limit frame 20 and the second runner 19, and the second convex block 16 drives the clamping jaws 4 to rotate, causing the multiple clamping jaws 4 to move away from each other, thus enabling the clamping jaws 4 to stop grasping the object. Through the limit block 25, it is prevented that when the clamping jaws 4 perform the clamping and rotating operation, the line to be wound moves along the clamping jaws 4 towards the direction close to the cylinder 1, so that the line to be wound leaves the coiling disc and causes the line to break.

Claims

1. A screw-on manipulator for loading and unloading coils, characterized in that: include: A cylinder (1), one side of the cylinder (1) is fixedly connected to a closing cover (2), a side of the closing cover (2) away from the cylinder (1) is fixedly connected to an adjusting block (3), a side of the cylinder (1) away from the closing cover (2) is sleeved with a limiting cylinder (9), one side of the limiting cylinder (9) is provided with a rotating shaft (10) penetrating the limiting cylinder (9) and extending into the cylinder (1), one end of the rotating shaft (10) inside the cylinder (1) is fixedly connected to a fourth protrusion (21) in the shape of a "Y", the inner wall of the cylinder (1) is provided with three equidistantly arranged sliding grooves (15), the fourth protrusion (21) is provided with a plurality of protrusions (21) extending from the inner wall of the cylinder (1) and ... A plurality of second sliding blocks (22) arranged at equal intervals are fixedly connected to the side surface of the block (21), and the second sliding blocks (22) are slidably connected to the slide groove (15). A plurality of support bars (14) are fixedly connected to the outer surface of the rotating shaft (10), and the support bars (14) are fixedly connected to the inner wall of the limiting cylinder (9). The rotating shaft (10) is provided with a groove (11) inside the limiting cylinder (9), and the inner wall of one side of the groove (11) is a third inclined surface (12). A fixing mechanism (6) is installed on the outer surface of the limiting cylinder (9) and can cooperate with the groove (11) to fix and slide the rotating shaft (10). The fixing mechanism (6) comprises a fixing strip (601) which passes through the limiting cylinder (9) and extends into the groove (11); a first inclined surface (602) is provided at one end of the fixing strip (601) inside the groove (11); tooth grooves (603) are provided at the top and bottom of the fixing strip (601); a limiting cover (604) is fixedly connected to the limiting cylinder (9) above and below the fixing strip (601); a first spring (609) is fixedly connected to the inside of the limiting cover (604); and the first spring (609) is provided at the top and bottom of the fixing strip (601). A fixing block (605) is fixedly connected to one end of the fixing block (609) away from the limiting cover (604), and the fixing block (605) is matched with the tooth groove (603). A connecting strip (606) is fixedly connected to one side of the fixing block (605), and a second inclined surface (607) is provided at one end of the connecting strip (606) away from the fixing block (605). The top and bottom of the fixing strip (601) are fixedly connected to limiting strips (608) for limiting the fixing strip (601) inside the limiting cylinder (9).

2. The screw-on manipulator for loading and unloading coils according to claim 1 is characterized in that: The outer surface of the adjustment block (3) is fixedly connected to three equidistantly arranged connection frames (5), a clamping jaw (4) is installed inside the connection frame (5), the middle bending part of the clamping jaw (4) is rotatably connected to the connection frame (5), one end of the clamping jaw (4) is fixedly connected to a first protrusion (8), the first protrusion (8) passes through one side of the cylinder (1), a fourth inclined surface (23) is provided at the bottom of the first protrusion (8), and the limiting cylinder (9) can limit the end of the clamping jaw (4) fixedly connected to the first protrusion (8).

3. The screw-on manipulator for loading and unloading coils according to claim 2 is characterized in that: A second protrusion (16) is fixedly connected to a rotating connection of the clamping jaw (4) on a side close to the barrel (1), and an end of the fourth protrusion (21) is fixedly connected to a connecting block (13) on a side close to the closing cover (2). The connecting block (13) passes through the closing cover (2) and is fixedly connected to a third protrusion (17). Both sides of the third protrusion (17) are fixedly connected to a first rotating wheel (18), and both sides of the second protrusion (16) are fixedly connected to a second rotating wheel (19). The first rotating wheel (18) and the second rotating wheel (19) are sleeved with a same limiting frame (20).

4. The screw-on manipulator for loading and unloading coils according to claim 1 is characterized in that: The outer surface of the limiting cylinder (9) is slidably connected to a first sliding block (7) that can abut against the second inclined surface (607) on the connecting strip (606).

5. The screw-on manipulator for loading and unloading coils according to claim 1 is characterized in that: A second spring (24) is fixedly connected to a side of the fourth protrusion (21) away from the rotating shaft (10), and an end of the second spring (24) away from the fourth protrusion (21) is fixedly connected to the closing cover (2).

6. The screw-on manipulator for loading and unloading coils according to claim 2 is characterized in that: Two limit blocks (25) are fixedly connected to the sides of the clamping jaws (4) that are away from each other.

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