Adjustable manipulator execution tail end

Abstract

The utility model provides an adjustable manipulator execution tail end, and belongs to the technical field of machinery. The problems that an existing manipulator execution tail end is high in installation difficulty and low in installation efficiency are solved. The adjustable manipulator execution tail end comprises a shell, a rotating frame and a mechanical pneumatic claw, a rotating mechanism capable of driving the rotating frame to rotate is arranged in the shell, the mechanical pneumatic claw is arranged on the rotating frame, an upper connecting base, an adjusting base and a lower connecting base are sequentially arranged at the upper end of the shell, the lower connecting base is fixedly connected with the shell, and the adjusting base is fixedly connected with the shell. The middle of the adjusting seat is hinged to the lower connecting seat, a first adjusting mechanism capable of adjusting the angle of the adjusting seat relative to the lower connecting seat is arranged between the adjusting seat and the lower connecting seat, and a second adjusting mechanism capable of adjusting the horizontal longitudinal position of the adjusting seat relative to the upper connecting seat is arranged between the adjusting seat and the upper connecting seat. The adjustable manipulator execution tail end has the advantages of being capable of being accurately and conveniently installed and reliable in structure.

Description

Technical Field

[0001] The utility model belongs to the technical field of machinery, and relates to an end effector of a manipulator, in particular to an adjustable end effector of a manipulator. Background Technique

[0002] With the progress of science and technology and the rising of labor costs, manipulators are increasingly used in the field of machining. In the past, workers manually loaded and unloaded workpieces for machine tools, but now it has been changed to manipulators, which not only greatly improves the efficiency, but also makes the quality of machined parts more stable. However, currently, the end effectors of manipulators generally use pneumatic grippers, and their connections are all rigid connections. Once an accident occurs and the feeding is inaccurate, collisions will surely occur, resulting in damage to the pneumatic grippers of the manipulator and bringing heavy losses to the enterprise. Therefore, it is necessary to improve the existing mechanism.

[0003] For example, an end effector of a manipulator disclosed in Chinese patent literature (application number: 202322846352.6) includes a mounting base and a connecting base arranged on the mounting base. The connecting base has a cylindrical connecting portion. A mechanical pneumatic gripper is provided at the outer end of the connecting portion. A connecting plate is fixedly connected to the cylinder body of the mechanical pneumatic gripper. A vertically arranged and columnar guiding portion is provided at the outer end of the connecting plate. A copper sleeve is inserted and fixedly connected in the connecting portion. A through guiding hole is provided in the middle of the copper sleeve. The guiding portion is matched with the guiding hole and the guiding portion is inserted into the guiding hole. A spring is provided between the connecting portion and the connecting plate, and both ends of the spring respectively abut against the connecting base and the connecting plate. However, when this end effector of the manipulator is used, the angle and position cannot be adjusted, so the installation difficulty is high and the installation efficiency is low. Summary of the Invention

[0004] The purpose of the present utility model is to address the above problems existing in the prior art and propose an adjustable end effector of a manipulator that can be accurately installed, is easy to install, and has a reliable structure.

[0005] The purpose of the present utility model can be achieved by the following technical solutions: An adjustable end effector of a manipulator includes a housing, a rotating frame, and a mechanical pneumatic gripper. A rotating mechanism capable of driving the rotating frame to rotate is provided inside the housing. The mechanical pneumatic gripper is arranged on the rotating frame. It is characterized in that an upper connecting base, an adjusting base, and a lower connecting base are sequentially provided at the upper end of the housing. The lower connecting base is fixedly connected to the housing. The middle of the adjusting base is hinged to the lower connecting base. An adjusting mechanism one capable of adjusting the angle of the adjusting base relative to the lower connecting base is provided between the adjusting base and the lower connecting base. An adjusting mechanism two capable of adjusting the horizontal longitudinal position of the adjusting base relative to the upper connecting base is provided between the adjusting base and the upper connecting base.

[0006] The execution end of this adjustable manipulator is fixedly connected to the robotic arm through an upper connecting seat. The robotic arm can drive this manipulator to move horizontally back and forth. By adjusting the first adjusting mechanism, the angle of the adjusting seat relative to the lower connecting seat is adjusted, so as to achieve the adjustment of the angle of the mechanical gripper. By adjusting the second adjusting mechanism, the horizontal and longitudinal position of the adjusting seat relative to the upper connecting seat is adjusted, so as to achieve the adjustment of the horizontal and longitudinal position of the mechanical gripper, which is convenient for the accurate installation of the mechanical gripper and has the advantages of convenient installation and reliable structure.

[0007] In the execution end of the above-mentioned adjustable manipulator, hinge seats are fixedly connected to the front and rear ends of the lower connecting seat. The hinge seats are provided with connecting holes arranged horizontally and longitudinally. Screws pass through the connecting holes and the adjusting seat to hinge the adjusting seat to the hinge seat. With the above setting, it has the advantages of convenient manufacturing and simple assembly.

[0008] In the execution end of the above-mentioned adjustable manipulator, the first adjusting mechanism includes adjusting screws one threadedly connected to the middle parts on both sides of the adjusting seat. The lower ends of the adjusting screws one abut against the lower connecting seat. By rotating the two adjusting screws one, the angle of the adjusting seat is adjusted, which has the advantages of convenient adjustment and reliable structure.

[0009] In the execution end of the above-mentioned adjustable manipulator, the two adjusting screws one are symmetrically arranged on both sides of the axis of the connecting hole. The adjusting screws one are symmetrically arranged on both sides of the connecting hole, with uniform force, convenient adjustment, and improved service life.

[0010] In the execution end of the above-mentioned adjustable manipulator, locking nuts are threadedly connected to the adjusting screws one, and the locking nuts press against the adjusting seat. The adjusting screws one are locked by the locking nuts to prevent loosening after adjustment and improve the use reliability.

[0011] In the execution end of the above-mentioned adjustable manipulator, convex upper convex body parts are symmetrically arranged on both sides of the adjusting seat. The adjusting screws one are threadedly connected to the upper convex body parts. Convex lower convex body parts are symmetrically arranged on both sides of the lower connecting seat. The lower ends of the adjusting screws one abut against the lower convex body parts.

[0012] In the execution end of the above-mentioned adjustable manipulator, a positioning groove is provided on the upper end surface of the lower convex body part. A wear-resistant pad is provided in the positioning groove. The lower end surface of the adjusting screw one abuts against the wear-resistant pad. By providing the above-mentioned wear-resistant pad, the wear-resistant effect is improved, thereby improving the service life.

[0013] As another way, in the above-mentioned adjustable manipulator execution end, the adjustment mechanism 1 includes a screw whose lower end is hinged on both sides of the lower connecting seat, the adjustment seat is provided with a strip hole, the screw passes through the strip hole and is threadedly connected with a locking nut, and the locking nut is pressed against the adjustment seat. The screw passes through the strip hole of the adjustment seat and is locked by the locking nut, which has the advantages of convenient adjustment of the angle of the adjustment seat relative to the lower connecting seat and simple structure.

[0014] In the above-mentioned adjustable manipulator execution end, the upper connecting seat, the adjustment seat and the middle part of the lower connecting seat are all provided with through holes with corresponding positions, the cross section of the through holes is rectangular, the front and rear sides of the upper end surface of the adjustment seat are provided with protruding limit parts, and the second adjustment mechanism includes two adjustment screws threadedly connected to the front and rear ends of the upper connecting seat, the two adjustment screws are vertically arranged with the limit parts and the inner end of the two adjustment screws abuts against the limit parts. By rotating one of the two adjustment screws to push the adjustment seat to a suitable position and then locking the other two adjustment screws, the front and rear relative position of the adjustment seat relative to the upper connecting seat can be adjusted, which has the advantages of convenient adjustment and simple and reliable structure.

[0015] In the above-mentioned adjustable manipulator execution end, the lower end surface of the upper connecting seat is provided with a guide groove penetrating front and rear, and the upper end surface of the adjustment seat has a protruding guide part, and the guide part matches the guide groove and the guide part is embedded in the guide groove. By embedding the guide part on the adjustment seat in the guide groove, the structural reliability and stability are improved.

[0016] In the above-mentioned adjustable manipulator execution end, the articulated seat and the lower connecting seat are an integrated structure. The above-mentioned arrangement has the advantages of simple structure and high structural strength.

[0017] In the above-mentioned adjustable end effector of the manipulator, two mechanical grippers are provided on the rotating frame. The mechanical grippers include a loading mechanical gripper and an unloading mechanical gripper. The loading mechanical gripper includes a cylinder body and three gripper bodies arranged at the front end of the cylinder body. The three gripper bodies are evenly arranged around the axis of the cylinder body. A connecting cylinder is coaxially and fixedly connected to the middle of the front end of the cylinder body. A connecting rod is threadedly connected to the connecting cylinder. The outer end of the connecting rod is fixedly connected to a pushing plate. The pushing plate includes a connecting portion fixedly connected to the connecting rod. Three pushing portions are evenly arranged on the outer side of the connecting portion. The pushing portions are perpendicular to the axis of the connecting portion. A spring is provided between the cylinder body of the loading mechanical gripper and the rotating frame. When the loading mechanical gripper clamps the workpiece, the pushing plate abuts against the end face of the workpiece, and then the three gripper bodies clamp the workpiece. Then, the loading mechanical gripper pushes the workpiece to the fixture of the machine tool and compresses the spring. When the loading mechanical gripper releases the workpiece, the spring pushes the loading mechanical gripper and keeps the pushing plate in a state of always pushing the workpiece to push the workpiece in place, which has the advantage of high feeding accuracy. At the same time, the spring plays a role of buffering and protecting.

[0018] In the above-mentioned adjustable end effector of the manipulator, the mechanical gripper includes

[0019] Compared with the prior art, the adjustable end effector of the manipulator has the following advantages:

[0020] 1. By adjusting the first adjusting mechanism to adjust the angle of the adjusting seat relative to the lower connecting seat, the angle of the mechanical gripper can be adjusted accordingly. By adjusting the second adjusting mechanism to adjust the horizontal and longitudinal position of the adjusting seat relative to the upper connecting seat, the horizontal and longitudinal position of the mechanical gripper can be adjusted, which is convenient for the accurate installation of the mechanical gripper and has the advantages of convenient installation and reliable structure;

[0021] 2. The first adjusting mechanism includes adjusting screws one threadedly connected to the middle parts on both sides of the adjusting seat. The lower ends of the adjusting screws one abut against the lower connecting seat. By rotating the two adjusting screws one, the angle of the adjusting seat can be adjusted, which has the advantages of convenient adjustment and reliable structure;

[0022] 3. By rotating one adjusting screw two to push the adjusting seat to a proper position and then locking the other adjusting screw two, the relative front-back position of the adjusting seat relative to the upper connecting seat can be adjusted, which has the advantages of convenient adjustment and simple and reliable structure;

[0023] 4. The upper end face of the adjusting seat has a protruding guiding portion. The guiding portion matches the guiding groove and is embedded in the guiding groove, which improves the structural reliability and stability.

[0024] 5. The upper end face of the lower convex body portion is provided with a positioning groove. A wear-resistant pad is provided in the positioning groove. The lower end face of the adjusting screw one abuts against the wear-resistant pad, which improves the wear-resistant effect and thus improves the service life. Description of the Drawings

[0025] Figure 1 is a three-dimensional schematic diagram of the end effector of an adjustable robotic manipulator.

[0026] Figure 2 is a front view schematic diagram of the end effector of an adjustable robotic manipulator.

[0027] Figure 3 is Figure 2 a partial sectional view schematic diagram of A-A of

[0028] Figure 4 is a sectional view schematic diagram of the end effector of an adjustable robotic manipulator.

[0029] Figure 5 is an exploded view schematic diagram of the end effector of an adjustable robotic manipulator.

[0030] Figure 6 is a sectional view schematic diagram of another solution of the first end effector adjustment mechanism.

[0031] Figure 7 is a partial exploded view schematic diagram of the loading robotic gripper of the end effector.

[0032] In the figure, 1. housing; 2. rotating frame; 3. robotic gripper; 3a. loading robotic gripper; 3a1. jaw body; 3a2. connecting cylinder; 3a3. connecting rod; 3a4. pushing plate; 3a5. connecting part; 3a6. pushing part; 3b. unloading robotic gripper; 3c. spring; 4. rotating mechanism; 4a. motor; 5. upper connecting seat; 5a. guiding groove; 6. adjusting seat; 6a. upper convex part; 6b. limiting part; 6c. guiding part; 6d. strip hole; 7. lower connecting seat; 7a. lower convex part; 7b. positioning groove; 8. first adjusting mechanism; 8a. first adjusting screw; 8b. locking nut; 8c. screw rod; 9. second adjusting mechanism; 9a. second adjusting screw; 10. hinge seat; 10a. connecting hole; 11. through hole; 12. wear-resistant pad; 13. robotic arm. Detailed implementation manners

[0033] The following are specific embodiments of the present invention and in combination with the accompanying drawings, the technical solutions of the present invention are further described, but the present invention is not limited to these embodiments.

[0034] As Figures 1 to 5As shown in the figure, an adjustable end effector of a manipulator includes a housing 1, a rotating frame 2, and a mechanical gripper 3. A rotating mechanism 4 capable of driving the rotating frame 2 to rotate is provided inside the housing 1. The rotating mechanism 4 is a motor 4a with its outer shell fixedly connected inside the housing 1, and the output shaft of the motor 4a is fixedly connected to the rotating frame 2 to drive the rotating frame 2 to rotate through the motor 4a. Specifically, two mechanical grippers 3 are provided on the rotating frame 2, and the mechanical gripper 3 includes a loading mechanical gripper 3a and an unloading mechanical gripper 3b.

[0035] As Figure 7 shown, the loading mechanical gripper 3a includes a cylinder body and three claw bodies 3a1 provided at the front end of the cylinder body. The three claw bodies 3a1 are evenly arranged around the axis of the cylinder body. A connecting cylinder 3a2 is coaxially and fixedly connected to the middle of the front end of the cylinder body. A connecting rod 3a3 is threadedly connected to the connecting cylinder 3a2. The outer end of the connecting rod 3a3 is fixedly connected to a pushing plate 3a4. The pushing plate 3a4 includes a connecting portion 3a5 fixedly connected to the connecting rod 3a3. Three pushing portions 3a6 are evenly provided on the outside of the connecting portion 3a5. The pushing portions 3a6 are perpendicular to the axis of the connecting portion 3a5. A spring 3c is provided between the cylinder body of the loading mechanical gripper 3a and the rotating frame 2.

[0036] An upper connecting seat 5, an adjusting seat 6, and a lower connecting seat 7 are successively provided at the upper end of the housing 1. The lower connecting seat 7 is fixedly connected to the housing 1. The middle of the adjusting seat 6 is hinged to the lower connecting seat 7. An adjusting mechanism 1 8 capable of adjusting the angle of the adjusting seat 6 relative to the lower connecting seat 7 is provided between the adjusting seat 6 and the lower connecting seat 7. An adjusting mechanism 2 9 capable of adjusting the horizontal and longitudinal position of the adjusting seat 6 relative to the upper connecting seat 5 is provided between the adjusting seat 6 and the upper connecting seat 5.

[0037] Hinge seats 10 are fixedly connected to the front and rear ends of the lower connecting seat 7. The hinge seats 10 are provided with horizontally and longitudinally arranged connecting holes 10a. Screws pass through the connecting holes 10a and the adjusting seat 6 to hinge the adjusting seat 6 to the hinge seats 10.

[0038] Convex upper convex body parts 6a are symmetrically provided on both sides of the adjusting seat 6. Convex lower convex body parts 7a are symmetrically provided on both sides of the lower connecting seat 7. The structures and positions of the lower convex body parts 7a and the upper convex body parts 6a correspond one by one. A positioning groove 7b is provided on the upper end surface of the lower convex body part 7a, and a wear-resistant pad 12 is provided in the positioning groove 7b. The adjusting mechanism 1 8 includes an adjusting screw 1 8a threadedly connected to the middle of the upper convex body part 6a of the adjusting seat 6. The lower end of the adjusting screw 1 8a abuts against the wear-resistant pad 12 on the lower convex body part 7a, improving the wear-resistant effect and thus the service life.

[0039] Two adjusting screws 1 8a are symmetrically arranged on both sides of the axis of the connecting hole 10a, with uniform force, convenient adjustment, and improved service life. Locking nuts 8b are threadedly connected to the adjusting screws 1 8a, and the locking nuts 8b press against the adjusting seat 6.

[0040] Through holes 11 corresponding to each other in position are provided in the middle of the upper connecting seat 5, the adjusting seat 6, and the lower connecting seat 7. The cross-section of the through hole 11 is rectangular. Convex limiting parts 6b are provided on both the front and rear sides of the upper end surface of the adjusting seat 6. The adjusting mechanism two 9 includes adjusting screws two 9a threadedly connected to the front and rear ends of the upper connecting seat 5. The adjusting screws two 9a are perpendicular to the limiting parts 6b, and the inner ends of the adjusting screws two 9a abut against the limiting parts 6b. By rotating one adjusting screw two 9a to push the adjusting seat 6 to a proper position and then locking the other adjusting screw two 9a, the relative front-back position of the adjusting seat 6 relative to the upper connecting seat 5 is adjusted, which has the advantages of convenient adjustment, simple and reliable structure.

[0041] A through guide groove 5a penetrating through the front and rear is provided on the lower end surface of the upper connecting seat 5. The upper end surface of the adjusting seat 6 has a protruding guiding part 6c. The guiding part 6c is matched with the guide groove 5a and the guiding part 6c is embedded in the guide groove 5a, which has high adjusting precision and improves the structural reliability and stability.

[0042] As another way, the hinge seat 10 and the lower connecting seat 7 are of an integral structure, which has the advantages of simple structure and high structural strength.

[0043] The execution end of this adjustable manipulator is fixedly connected to the robotic arm through the upper connecting seat 5. The robotic arm can drive this manipulator to reciprocate horizontally. By rotating two adjusting screws one 8a, the angle of the adjusting seat 6 is adjusted. Then, the adjusting screws one 8a are locked through the lock nuts 8b, so as to achieve the adjustment of the angle of the mechanical gripper 3. By rotating one adjusting screw two 9a to push the adjusting seat 6 to a proper position and then locking the other adjusting screw two 9a, the relative front-back position of the adjusting seat 6 relative to the upper connecting seat 5 is adjusted, so as to achieve the adjustment of the horizontal longitudinal position of the mechanical gripper 3, which is convenient for the accurate installation of the mechanical gripper 3 and has the advantages of convenient installation and reliable structure.

[0044] When the mechanical gripper 3 works, specifically, when the feeding mechanical gripper 3a clamps the workpiece, the pushing plate 3a4 abuts against the end surface of the workpiece. Then, the three claw bodies 3a1 clamp the workpiece. Then, the feeding mechanical gripper 3a pushes the workpiece to the fixture of the machine tool and compresses the spring 3c. When the feeding mechanical gripper 3a releases the workpiece, the spring 3c pushes the feeding mechanical gripper 3a and makes the pushing plate 3a4 always keep the state of pushing the workpiece to push the workpiece in place, which has the advantage of high feeding accuracy. At the same time, the spring 3c plays a role of buffering and protecting. After processing, the motor 4a drives the rotating frame 2 to rotate 180 degrees, so that the positions of the feeding mechanical gripper 3a and the discharging mechanical gripper 3b are interchanged. The workpiece on the fixture is clamped and discharged through the discharging mechanical gripper 3b.

[0045] As another way, such as Figure 6As shown, the first adjusting mechanism 8 includes a screw rod 8c whose lower end is hinged to both sides of the lower connecting seat 7. A strip-shaped hole 6d is provided on the adjusting seat 6. The screw rod 8c passes through the strip-shaped hole 6d and is threadedly connected with a locking nut 8b. The locking nut 8b abuts against the adjusting seat 6, which has the advantages of convenient adjustment of the angle of the adjusting seat 6 relative to the lower connecting seat 7 and simple structure.

[0046] The specific embodiments described herein are merely illustrative of the spirit of the present invention. Those skilled in the art to which the present invention pertains can make various modifications or supplements to the described specific embodiments or use similar methods for substitution, but will not deviate from the spirit of the present invention or exceed the scope defined by the appended claims.

Claims

1. An adjustable end effector of a manipulator, comprising a housing (1), a rotating frame (2) and a mechanical gripper (3). A rotating mechanism (4) capable of driving the rotation of the rotating frame (2) is provided inside the housing (1), and it is characterized in that, At the upper end of the described housing (1), an upper connecting seat (5), an adjusting seat (6), and a lower connecting seat (7) are successively provided. The lower connecting seat (7) is fixedly connected to the housing (1). The middle part of the adjusting seat (6) is hinged to the lower connecting seat (7). An adjusting mechanism one (8) capable of adjusting the angle of the adjusting seat (6) relative to the lower connecting seat (7) is provided between the adjusting seat (6) and the lower connecting seat (7). An adjusting mechanism two (9) capable of adjusting the horizontal longitudinal position of the adjusting seat (6) relative to the upper connecting seat (5) is provided between the adjusting seat (6) and the upper connecting seat (5).

2. The adjustable end effector of a robotic manipulator according to claim 1, wherein At the front and rear ends of the described lower connecting seat (7), hinge seats (10) are fixedly connected. The hinge seats (10) are provided with horizontally longitudinally arranged connecting holes (10a). Screws pass through the connecting holes (10a) and the adjusting seat (6) to hinge the adjusting seat (6) to the hinge seats (10).

3. The adjustable end effector of a robotic manipulator according to claim 2, wherein The adjusting mechanism one (8) includes adjusting screws one (8a) threadedly connected to the middle parts on both sides of the adjusting seat (6). The lower ends of the adjusting screws one (8a) abut against the lower connecting seat (7). The two adjusting screws one (8a) are symmetrically arranged on both sides of the axis of the connecting hole (10a).

4. An adjustable end effector of a manipulator according to claim 3, characterized in that, Locking nuts (8b) are threadedly connected to the adjusting screws one (8a). The locking nuts (8b) press against the adjusting seat (6).

5. An adjustable end effector of a robotic manipulator according to claim 3 or 4, characterized in that, On both sides of the adjusting seat (6), protruding upper convex parts (6a) are symmetrically provided. The adjusting screws one (8a) are threadedly connected to the upper convex parts (6a). On both sides of the lower connecting seat (7), lower convex parts (7a) are symmetrically provided. The lower ends of the adjusting screws one (8a) abut against the lower convex parts (7a).

6. The adjustable end effector of a robotic manipulator according to claim 5, wherein On the upper end surface of the lower convex part (7a), a positioning groove (7b) is provided. A wear-resistant pad (12) is provided in the positioning groove (7b). The lower end surface of the adjusting screw one (8a) abuts against the wear-resistant pad (12).

7. An adjustable end effector of a robotic manipulator according to claim 1, wherein, The adjusting mechanism one (8) includes screws (8c) hinged to both sides of the lower connecting seat (7) at the lower ends. A strip-shaped hole (6d) is provided on the adjusting seat (6). The screws (8c) pass through the strip-shaped hole (6d) and are threadedly connected with locking nuts (8b). The locking nuts (8b) press against the adjusting seat (6).

8. An adjustable end effector of a robotic manipulator according to claim 1 or 2 or 3 or 4, characterized in that, Through holes (11) with corresponding positions are provided in the middle parts of the upper connecting seat (5), the adjusting seat (6), and the lower connecting seat (7). The cross-section of the through holes (11) is rectangular. On the front and rear sides of the upper end surface of the adjusting seat (6), protruding limiting parts (6b) are provided. The adjusting mechanism two (9) includes adjusting screws two (9a) threadedly connected to the front and rear ends of the upper connecting seat (5). The adjusting screws two (9a) are perpendicular to the limiting parts (6b) and the inner ends of the adjusting screws two (9a) abut against the limiting parts (6b).

9. An adjustable end effector of a robotic manipulator according to claim 1 or 2 or 3 or 4, characterized in that, The lower end face of the upper connecting seat (5) is provided with a guiding groove (5a) penetrating through the front and rear. The upper end face of the adjusting seat (6) has a protruding guiding portion (6c). The guiding portion (6c) is matched with the guiding groove (5a) and the guiding portion (6c) is embedded in the guiding groove (5a).

10. An adjustable end effector of a robotic manipulator according to claim 1 or 2 or 3 or 4, characterized in that, Two mechanical grippers (3) are provided on the rotating frame (2). The mechanical gripper (3) includes a loading mechanical gripper (3a) and a unloading mechanical gripper. The loading mechanical gripper (3a) includes a cylinder body and three claw bodies (3a1) arranged at the front end of the cylinder body. The three claw bodies (3a1) are evenly arranged around the axis of the cylinder body. A connecting cylinder (3a2) is coaxially and fixedly connected to the middle of the front end of the cylinder body. A connecting rod (3a3) is threadedly connected to the connecting cylinder (3a2). A pushing plate (3a4) is fixedly connected to the outer end of the connecting rod (3a3). The pushing plate (3a4) includes a connecting portion (3a5) fixedly connected to the connecting rod (3a3). Three pushing portions (3a6) are evenly arranged on the outer side of the connecting portion (3a5). The pushing portions (3a6) are perpendicular to the axis of the connecting portion (3a5). A spring (3c) is provided between the cylinder body of the loading mechanical gripper (3a) and the rotating frame (2).

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