Manipulator

Abstract

The utility model belongs to the technical field of robots, and designs a manipulator. The manipulator comprises a clamping assembly which comprises a mounting seat and a clamping unit, and the clamping unit is mounted on the mounting seat; the connecting assembly comprises a connecting seat, a hoop and a locking piece, the hoop is mounted on the connecting seat and used for hooping or loosening the mounting seat, and the locking piece is mounted on the hoop and used for locking the hoop when the mounting seat is hooped by the hoop; the connecting base is controlled to drive the clamping assembly to move to the target position, so that the clamping unit can clamp or loosen the target element at the target position. The manipulator provided by the utility model can improve the replacement efficiency.

Description

Technical Field

[0001] This application relates to the field of robot technology, and particularly to a manipulator. Background Art

[0002] With the development of robot technology, manipulators capable of gripping and transferring target components have been applied to various industries. A manipulator generally includes a driving component and a clamping component. The clamping component is used to clamp or release a target component, and the driving component is used to drive the clamping component to drive the target component for transfer.

[0003] However, according to the change of the structure or size of the target component, the clamping component needs to be replaced. The traditional replacement method is complex and troublesome, and the replacement efficiency is low. Summary of the Utility Model

[0004] Based on this, it is necessary to provide a manipulator capable of improving the replacement efficiency for the above problems.

[0005] A manipulator, the manipulator includes:

[0006] A clamping component, including a mounting seat and a clamping unit, the clamping unit is mounted on the mounting seat; and

[0007] A connecting component, including a connecting seat, a hoop and a locking member, the hoop is mounted on the connecting seat and is used to tighten or loosen the mounting seat, the locking member is mounted on the hoop and is used to lock the hoop when the hoop tightens the mounting seat;

[0008] Wherein, the connecting seat is controlled to drive the clamping component to move to a target position, so that the clamping unit can clamp or release a target component at the target position.

[0009] In some embodiments, the hoop includes a first hoop portion and a second hoop portion, the first hoop portion and the second hoop portion are oppositely arranged, and the first hoop portion and the second hoop portion are opened by an external force to release the target component, or closed by an external force to tighten the target component. The locking member is mounted on the first hoop portion and the second hoop portion and is used to lock the first hoop portion and the second hoop portion when the first hoop portion and the second hoop portion tighten the target component.

[0010] In some embodiments, the first ends of the first hoop portion and the second hoop portion are oppositely arranged and connected, and the second ends of the first hoop portion and the second hoop portion are oppositely arranged and define an elastic notch that can be opened and closed. The locking member is mounted on the second ends of the first hoop portion and the second hoop portion and is used to lock the second ends of the first hoop portion and the second hoop portion when the first hoop portion and the second hoop portion tighten the target component.

[0011] In some of these embodiments, the locking member includes a screw rod. Threaded holes are provided at the positions of the first hoop portion and the second hoop portion that face each other. The screw rod passes through the threaded holes of the first hoop portion and the second hoop portion, and locks the first hoop portion and the second hoop portion when screwed with the threaded holes of the first hoop portion and the second hoop portion.

[0012] In some of these embodiments, the locking member further includes a handle, and the handle is connected to the screw rod.

[0013] In some of these embodiments, the mounting seat includes a mounting portion and a connecting convex portion. The clamping unit is mounted on the bottom side of the mounting portion, and the connecting convex portion is mounted on the top side of the mounting portion. The hoop tightens or loosens the connecting convex portion.

[0014] In some of these embodiments, a clamping hole is provided in the connecting seat; the hoop has a central hole. The hoop is located on the bottom side of the connecting seat, and the central hole faces the clamping hole. The connecting convex portion sequentially passes through the central hole and the clamping hole and is clamped with the clamping hole.

[0015] In some of these embodiments, a rotation stopping post is formed in the clamping hole of the connecting seat. An inward depression is formed on the outer side wall of the connecting convex portion to form a rotation stopping groove, and the rotation stopping groove extends to the top surface of the connecting convex portion away from the mounting portion. At least a part of the rotation stopping post cooperates with the rotation stopping groove to prevent the clamping assembly from rotating relative to the connecting assembly.

[0016] In some of these embodiments, there are multiple rotation stopping posts and multiple rotation stopping grooves, and they are all arranged along the circumferential direction of the connecting convex portion, and the rotation stopping posts and the rotation stopping grooves cooperate with each other one by one.

[0017] In some of these embodiments, a driving assembly is further included. The driving assembly is in transmission connection with the connecting seat and is used to drive the connecting assembly to drive the clamping assembly to move to a target position.

[0018] For the above-mentioned manipulator, by designing the connecting assembly to include a connecting seat, a hoop and a locking member, the hoop is mounted on the connecting seat, and the hoop, the locking member and the mounting seat cooperate, so that the connection between the connecting assembly and the clamping assembly can be realized. And the way that the hoop tightens or loosens the mounting seat, by simply operating the hoop, the separation and assembly operations of the connecting assembly and the clamping assembly can be accurately and efficiently completed. The replacement operation of the clamping assembly is fast and simple, and the replacement efficiency of the clamping assembly is high. Moreover, the mounting positions of the hoop and the mounting seat are also flexible and changeable, and the installation is more flexible. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1Schematic diagram of the structure of a manipulator when the clamping unit in the manipulator is at the target position and clamps or releases the target element in an embodiment of the present application;

[0020] Figure 2 For Figure 1 Front view of the manipulator shown;

[0021] Figure 3 For Figure 2 Cross-sectional view of the manipulator shown along the A-A direction;

[0022] Figure 4 For Figure 2 Schematic diagram of the structure of the manipulator shown after removing the connecting seat;

[0023] Figure 5 For Figure 2 Schematic diagram of the structure of the connecting component in the manipulator shown;

[0024] Figure 6 For Figure 2 Schematic diagram of the structure of the clamping component in the manipulator shown.

[0025] Reference numerals in the drawings:

[0026] 1. Manipulator; 2. Target element;

[0027] 10. Clamping component; 20. Connecting component;

[0028] 11. Mounting seat; 111. Mounting part; 112. Connecting convex part; 113. Anti-rotation groove; 12. Clamping unit 1212;

[0029] 21. Connecting seat; 211. Clamping hole; 212. Anti-rotation column; 22. Hoop; 221. First hoop part; 222. Second hoop part; 223. Elastic notch; 224. Threaded hole; 225. Central hole; 23. Locking part; 231. Screw; 232. Handle. Detailed implementation manners

[0030] In order to make the above-mentioned objects, features, and advantages of the present application more obvious and understandable, the following will describe the detailed implementation manners of the present application in conjunction with the accompanying drawings. Many specific details are set forth in the following description in order to fully understand the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the connotation of the present application. Therefore, the present application is not limited by the specific embodiments disclosed below.

[0031] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the present application.

[0032] In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0033] In the present application, unless otherwise clearly specified and limited, the terms "mounted", "connected", "coupled", "fixed", etc. shall be construed in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication of two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0034] In the present application, unless otherwise clearly specified and limited, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0035] It should be noted that when an element is referred to as "fixed to" or "disposed on" another element, it can be directly on the other element or there may also be an intermediate element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intermediate element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are only for illustrative purposes and do not represent the only implementation.

[0036] Please refer to Figure 1 , this application provides a manipulator 1 for transferring a target element 2. Among them, the target element 2 can be the battery rod, nozzle, etc. of the atomization device, or it can also be the components of other devices.

[0037] The manipulator 1 includes a driving component, a clamping component 10 and a connecting component 20. The driving component is connected to the clamping component 10 through the connecting component 20. The driving component is used to drive the connecting component 20 to drive the clamping component 10 to move to the target position. The clamping component 10 is used to clamp or release the target element 2 at the target position.

[0038] Taking the assembly position of the target element 2 as the target position as an example, after the clamping component 10 moves to the assembly position, the target element 2 is released to facilitate the subsequent assembly of the target element 2. Taking the storage position of the target element 2 as the target position as an example, after the clamping component moves to the storage position, the target element 2 is clamped to facilitate the subsequent transfer of the target element 2 to the assembly position for assembly.

[0039] As an example, the driving component can be a three-axis driving component, or it can also be a four-axis driving component, or it can also be a lifting component, etc. The driving component is a conventional design in the art and is not specifically limited here.

[0040] Please refer to again Figure 1 and at the same time refer to Figures 2 to 6 , the clamping component 10 includes a mounting seat 11 and a clamping unit 12. The clamping unit 12 is mounted on the mounting seat 11. The connecting component 20 includes a connecting seat 21, a hoop 22 and a locking member 23. The hoop 22 is mounted on the connecting seat 21 and is used to tighten or loosen the mounting seat 11. The locking member 23 is mounted on the hoop 22 and is used to lock the hoop 22 when the hoop 22 tightens the mounting seat 11.

[0041] Among them, the connecting seat 21 is controlled to drive the clamping component 10 to move to the target position so that the clamping unit 12 can clamp or release the target element 2 at the target position. Specifically, the driving component is in transmission connection with the connecting seat 21 and is used to drive the connecting component 20 to drive the clamping component 10 to move to the target position.

[0042] Specifically, the mounting seat 11 is used to mount the clamping unit 12 and connect with the connecting assembly 20. The mounting seat 11 can be made of stainless steel, aluminum alloy or other materials with good mechanical strength.

[0043] As an example, the mounting seat 11 may include a mounting portion 111 and a connecting protrusion 112, the mounting portion 111 is plate-shaped, the clamping unit 12 is installed on the bottom side of the mounting seat 11, the connecting protrusion 112 is installed on the top side of the mounting seat 11, and the clamp 22 tightens or loosens the connecting protrusion 112. This layout method is conducive to improving the compactness of the component layout inside the manipulator 1.

[0044] The clamping unit 12 is used to clamp or release the target element 2. The clamping unit 12 may be one or more. For example, taking two clamping units 12 as an example, the two clamping units 12 are arranged at intervals along the length direction of the mounting portion 111. Multiple clamping units 12 can act on target elements 2 at multiple target positions at the same time, which is beneficial to improving the working efficiency of the manipulator 1.

[0045] The clamping unit 12 is of conventional design in the art, and thus will not be described in detail herein.

[0046] The connection seat 21 is used to install the clamp 22, and can be connected to the driving assembly in a transmission manner. The clamp 22 is used to tighten or loosen the mounting seat 11. The locking member 23 locks the clamp 22 when the clamp 22 tightens the mounting seat 11, so as to improve the reliability and stability of the connection between the clamp 22 and the mounting seat 11. When the clamp 22 tightens the mounting seat 11, the power of the driving assembly can be transmitted to the clamp assembly 10 through the connection seat 21 and the clamp 22 in sequence, so as to achieve the position change of the clamp assembly 10.

[0047] In the conventional manipulator 1, the mounting seat 11 of the clamping assembly 10 is connected to the driving assembly by a plurality of screws. This connection method has the following defects: (a) each screw needs to be installed in alignment with the corresponding threaded holes 224 on the mounting seat 11 and the driving assembly, and this installation method results in a fixed installation position between the mounting seat 11 and the driving assembly, and the installation flexibility is poor; (b) when replacing, it is necessary to disassemble and assemble a plurality of screws, which is complicated, troublesome and time-consuming, and the replacement efficiency is low.

[0048] In the present application, by designing the connecting component 20 to include a connecting seat 21, a hoop 22 and a locking member 23, the hoop 22 is installed on the connecting seat 21, and the hoop 22, the locking member 23 and the mounting seat 11 cooperate to realize the connection between the connecting component 20 and the clamping component 10. The way the hoop 22 clamps or loosens the mounting seat 11 is that by simply operating the hoop 22, the separation and assembly operations of the connecting component 20 and the clamping component 10 can be accurately and efficiently completed. The replacement operation of the clamping component 10 is fast and simple, and the replacement efficiency of the clamping component 10 is high. Moreover, the installation positions of the hoop 22 and the mounting seat 11 are also flexible and changeable, and the installation is more flexible. In this way, by replacing different clamping components 10, the manipulator 1 can clamp or loosen target elements 2 of different structures and / or sizes to adapt to the production of different products, and the production efficiency is high.

[0049] Please refer to again Figure 2 、 Figure 4 and Figure 5 , in some alternative embodiments, the hoop 22 includes a first hoop portion 221 and a second hoop portion 222. The first hoop portion 221 and the second hoop portion 222 are oppositely arranged, and the first hoop portion 221 and the second hoop portion 222 are opened by an external force to loosen the target element 2, or closed by an external force to clamp the target element 2. The locking member 23 is installed on the first hoop portion 221 and the second hoop portion 222 and is used to lock the first hoop portion 221 and the second hoop portion 222 when the first hoop portion 221 and the second hoop portion 222 clamp the target element 2.

[0050] Specifically, both the first hoop portion 221 and the second hoop portion 222 have a first end and a second end.

[0051] As an example, the first ends of the first hoop portion 221 and the second hoop portion 222 are opposite and spaced apart, and the second ends of the second hoop portion 222 and the second hoop portion 222 are also opposite and spaced apart. There are two locking members 23. When the first hoop portion 221 and the second hoop portion 222 clamp the target element 2, the first ends of the first hoop portion 221 and the second hoop portion 222, and the second ends of the first hoop portion 221 and the second hoop portion 222 are all connected by the locking members 23. The tighter the first hoop portion 221 and the second hoop portion 222 are clamped, the smaller the distance between the first hoop portion 221 and the second hoop portion 222; the looser the first hoop portion 221 and the second hoop portion 222 are clamped, the larger the distance between the first hoop portion 221 and the second hoop portion 222. In this embodiment, by adjusting the interval between the first hoop portion 221 and the second hoop portion 222, the hoop 22 can clamp target elements 2 of different sizes, and the applicable range is wide.

[0052] As an example, the first ends of the first clamping portion 221 and the second clamping portion 222 can be oppositely arranged and connected, and the second ends of the first clamping portion 221 and the second clamping portion 222 are oppositely arranged and define an elastic notch 223 that can be opened and closed. The locking member 23 is installed at the second ends of the first clamping portion 221 and the second clamping portion 222 and is used to lock the second ends of the first clamping portion 221 and the second clamping portion 222 when the first clamping portion 221 and the second clamping portion 222 clamp the target element 2. The tighter the first clamping portion 221 and the second clamping portion 222 are clamped, the smaller the elastic notch 223 is, and the looser the first clamping portion 221 and the second clamping portion 222 are clamped, the larger the elastic notch 223 is. In this embodiment, while being able to clamp or loosen the mounting base 11, the number of components of the manipulator 1 can be reduced, facilitating the simplification of the structure of the manipulator 1 and reducing the manufacturing cost of the manipulator 1.

[0053] In the above two embodiments, the power for adjusting the clamping degree of the first clamping portion 221 and the second clamping portion 222 can be directly provided by human force or the locking member 23. If it is directly provided by the locking member 23, the locking member 23 drives the first clamping portion 221 and the second clamping portion 222 to lock or loosen the mounting base 11.

[0054] Further, in some alternative embodiments, the locking member 23 includes a screw 231, and threaded holes 224 are formed at the opposite positions of the first clamping portion 221 and the second clamping portion 222. The screw 231 passes through the threaded holes 224 of the first clamping portion 221 and the second clamping portion 222 and locks the first clamping portion 221 and the second clamping portion 222 when screwed into the threaded holes 224 of the first clamping portion 221 and the second clamping portion 222. By operating the screw 231 to tighten with the threaded holes 224 of the first clamping portion 221 and the second clamping portion 222, the hoop 22 can achieve self-locking and clamping of the mounting base 11 at the same time. By operating the screw 231 to loosen from the threaded holes 224 of the first clamping portion 221 and the second clamping portion 222, the hoop 22 can achieve unlocking and loosening of the mounting base 11 at the same time. This method is simple and easy to operate, can quickly realize the replacement of the clamping assembly 10, saves production time and cost, and improves work efficiency.

[0055] Further, in some alternative embodiments, the locking member 23 further includes a handle 232, and the handle 232 is connected to the screw 231. During actual operation, the operator holds the handle 232 to apply force and operates the handle 232 and the screw 231 to rotate, so as to realize the loosening or tightening of the screw 231 with the first screw portion and the second screw portion. This design can achieve the alignment and replacement of the clamping assembly 10 without additional tools, saves manpower, simplifies the process flow, and improves work efficiency.

[0056] Please refer to again Figure 3 、 Figure 4 and Figure 6, in some alternative embodiments, a clamping hole 211 is formed in the connecting seat 21; the hoop 22 has a central hole 225, the hoop 22 is located on the bottom side of the connecting seat 21, and the central hole 225 faces the clamping hole 211. The connecting convex portion 112 sequentially passes through the central hole 225 and the clamping hole 211, and is clamped with the clamping hole 211.

[0057] During actual operation, after the connecting convex portion 112 sequentially passes through the central hole 225 and the clamping hole 211 and is clamped and positioned with the clamping hole 211, then operate the handle 232 to tighten the screw 231, so that the hoop 22 can tightly hold the connecting convex portion 112, which is beneficial to improving the reliability of the connection between the connecting component 20 and the clamping component 10.

[0058] In some alternative embodiments, an anti-rotation post 212 is formed in the clamping hole 211 of the connecting seat 21. An anti-rotation groove 113 is formed by inward depression of the outer side wall of the connecting convex portion 112, and the anti-rotation groove 113 extends to the top surface of the connecting convex portion 112 away from the mounting portion 111. At least part of the anti-rotation post 212 cooperates with the anti-rotation groove 113 to prevent the clamping component 10 from rotating relative to the connecting component 20.

[0059] During actual assembly, the connecting convex portion 112 is inserted into the central hole 225 and the clamping hole 211 from top to bottom in sequence, and the anti-rotation post 212 is inserted into the anti-rotation groove 113 from top to bottom, so as to prevent the clamping component 10 from rotating relative to the connecting component 20 during the assembly process of the connecting component 20 and the clamping component 10. In this way, the clamping component 10 can be accurately positioned and installed with the connecting component 20.

[0060] In some embodiments, both the anti-rotation post 212 and the anti-rotation groove 113 are multiple, and are both arranged along the circumferential direction of the connecting convex portion 112, and the anti-rotation post 212 and the anti-rotation groove 113 correspond to each other one by one. This design can improve the reliability of the positioning between the connecting component 20 and the clamping component 10, and further reduce the possibility of the clamping component 10 rotating relative to the connecting component 20.

[0061] Next, the replacement process of the clamping component 10 will be described in detail.

[0062] Operate the handle 232 to drive the screw 231 to rotate, loosen the hoop 22. Then, operate the connecting convex portion 112 to sequentially withdraw from the clamping hole 211 of the connecting seat 21 and the central hole 225 of the hoop 22. Then, replace the new clamping component 10, and operate the connecting convex portion 112 of the new clamping component 10 to sequentially pass through the central hole 225 of the hoop 22 and the clamping hole 211 of the connecting seat 21 from bottom to top, and the connecting convex portion 112 is clamped with the clamping hole 211. Finally, operate the handle 232 to tighten the screw 231, and the hoop 22 tightly holds the connecting convex portion 112, then the replacement of the clamping component 10 can be realized.

[0063] The above-mentioned manipulator 1 is designed such that the connection component 20 includes a connection base 21, a hoop 22 and a locking member 23. The hoop 22 is installed on the connection base 21, and the hoop 22, the locking member 23 and the mounting base 11 cooperate to enable the connection between the connection component 20 and the clamping component 10. By the way that the hoop 22 holds or loosens the mounting base 11, simply operating the hoop 22 can accurately and efficiently complete the separation and assembly operations of the connection component 20 and the clamping component 10. The replacement operation of the clamping component 10 is fast and simple, and the replacement efficiency of the clamping component 10 is high. Moreover, the installation positions of the hoop 22 and the mounting base 11 are also flexible and changeable, making the installation more flexible.

[0064] The technical features of the above-described embodiments can be combined arbitrarily. For the sake of concise description, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope recorded in this specification.

[0065] The above-described embodiments only represent several implementation manners of the present application. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the patent application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several deformations and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the appended claims.

Claims

1. A manipulator, characterized in that, The manipulator includes: A clamping assembly (10), including a mounting base (11) and a clamping unit (12), where the clamping unit (12) is mounted on the mounting base (11); and A connecting assembly (20), including a connecting seat (21), a hoop (22) and a locking member (23), where the hoop (22) is mounted on the connecting seat (21) and is used to tighten or loosen the mounting base (11), and the locking member (23) is mounted on the hoop (22) and is used to lock the hoop (22) when the hoop (22) tightens the mounting base (11); Wherein, the connecting seat (21) is controlled to drive the clamping assembly (10) to move to a target position, so that the clamping unit (12) can clamp or loosen a target element (2) at the target position.

2. The manipulator according to claim 1, characterized in that, The hoop (22) includes a first hoop portion (221) and a second hoop portion (222), the first hoop portion (221) and the second hoop portion (222) are oppositely arranged, and the first hoop portion (221) and the second hoop portion (222) are opened by an external force to loosen the target element (2), or are closed by an external force to tighten the target element (2), and the locking member (23) is mounted on the first hoop portion (221) and the second hoop portion (222) and is used to lock the first hoop portion (221) and the second hoop portion (222) when the first hoop portion (221) and the second hoop portion (222) tighten the target element (2).

3. The manipulator according to claim 2, wherein, The first ends of the first hoop portion (221) and the second hoop portion (222) are oppositely arranged and connected, the second ends of the first hoop portion (221) and the second hoop portion (222) are oppositely arranged and define an elastic notch (223) that can open and close, and the locking member (23) is mounted on the second ends of the first hoop portion (221) and the second hoop portion (222) and is used to lock the second ends of the first hoop portion (221) and the second hoop portion (222) when the first hoop portion (221) and the second hoop portion (222) tighten the target element (2).

4. The manipulator according to claim 2 or 3, characterized in that, The locking member (23) includes a screw (231), threaded holes (224) are provided at the opposite positions of the first hoop portion (221) and the second hoop portion (222), the screw (231) passes through the threaded holes (224) of the first hoop portion (221) and the second hoop portion (222), and locks the first hoop portion (221) and the second hoop portion (222) when screwed together with the threaded holes (224) of the first hoop portion (221) and the second hoop portion (222).

5. The manipulator according to claim 4, characterized in that, The locking member (23) further includes a handle (232), and the handle (232) is connected to the screw (231).

6. The manipulator according to claim 1, wherein The mounting base (11) includes a mounting portion (111) and a connecting convex portion (112), the clamping unit (12) is mounted on the bottom side of the mounting portion (111), the connecting convex portion (112) is mounted on the top side of the mounting portion (111), and the hoop (22) tightens or loosens the connecting convex portion (112).

7. The manipulator according to claim 6, characterized in that, The connecting seat (21) is provided with a clamping hole (211); the hoop (22) has a central hole (225), the hoop (22) is located on the bottom side of the connecting seat (21), and the central hole (225) faces the clamping hole (211). The connecting convex part (112) sequentially passes through the central hole (225) and the clamping hole (211) and is clamped with the clamping hole (211).

8. The manipulator according to claim 7, wherein A rotation stopping column (212) is formed in the clamping hole (211) of the connecting seat (21). An outer side wall of the connecting convex part (112) is recessed inward to form a rotation stopping groove (113), and the rotation stopping groove (113) extends to the top surface of the connecting convex part (112) far from the installation part (111). At least a part of the rotation stopping column (212) cooperates with the rotation stopping groove (113) to prevent the clamping assembly (10) from rotating relative to the connecting assembly (20).

9. The manipulator according to claim 8, characterized in that, Both the rotation stopping column (212) and the rotation stopping groove (113) are multiple, and are both arranged along the circumferential direction of the connecting convex part (112), and the rotation stopping column (212) and the rotation stopping groove (113) are in one-to-one correspondence and cooperation.

10. The manipulator according to claim 1, wherein, It further includes a driving assembly, which is in transmission connection with the connecting seat (21) and is used to drive the connecting assembly (20) to drive the clamping assembly (10) to move to a target position.

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