Pneumatic rotating manipulator with adjustable torque and adjustable rotating speed

Abstract

The utility model belongs to the technical field of manipulators, and discloses a torque-adjustable and rotating-speed-adjustable pneumatic rotating manipulator which comprises a hand-operated direction valve and a rotating cylinder, the hand-operated direction valve is provided with an air inlet and two air outlets, the air inlet is connected with an air pump through an air inlet pipe, the air outlets are connected with an air pressure adjusting valve, and the rotating cylinder is provided with two air valves. Outlets of the air pressure adjusting valves are connected with the corresponding air valves through control air pipes, reduction gearboxes are arranged on the rotating air cylinders, input shafts of the reduction gearboxes are connected with output shafts of the rotating air cylinders, torque-adjustable assemblies are arranged on the output shafts, and mechanical clamping jaws are connected to the sides, away from the reduction gearboxes, of the torque-adjustable assemblies. A worker controls the mechanical clamping jaw to rotate the mechanical valve through the manual reversing valve in a safe area, the worker is prevented from entering a dangerous area, the personal safety of the worker is guaranteed, the mechanical clamping jaw adopts a pure pneumatic driving mode, and raw material combustion explosion caused by electric leakage of an electromagnetic valve is avoided.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a pneumatic rotary manipulator with adjustable torque and adjustable speed. Background Art

[0002] Explosives are substances that can burn intensely (i.e., explode) in a very short period of time. They are substances that explode under the influence of a certain amount of external energy. Generally speaking, the chemical and physical properties of explosives are stable. However, regardless of whether the environment is sealed or not, the amount of explosives used, or even in the absence of external oxygen, as long as there is strong energy (provided by the detonator) to stimulate them, the explosives will perform stable detonation-like work on the outside world. When explosives explode, they release a large amount of heat energy and produce high-temperature, high-pressure gases, which can destroy, throw, and compress surrounding materials. The explosives production process uses flammable and explosive raw materials, which are usually transported through pipelines or containers. Valves are installed at the outlets of pipelines and containers for control.

[0003] Currently, there are two options for valves: one is to set up a mechanical valve controlled by staff, and the other is to set up a solenoid valve controlled by an electrical signal. Due to the flammable and explosive nature of raw materials, the mechanical valve control method by staff could endanger the personal safety of workers if an accident occurs in the area. The solenoid valve control method with an electrical signal has the risk of causing combustion and explosion of raw materials if the solenoid valve leaks. Utility Model Content

[0004] In order to solve the above problems, the utility model provides a pneumatic rotary manipulator with adjustable torque and adjustable speed.

[0005] The above-mentioned technical purpose of the present utility model is achieved through the following technical solutions: a pneumatic rotary manipulator with adjustable torque and adjustable speed, comprising a manual reversing valve and a rotary cylinder, the manual reversing valve having an air inlet and two air outlets, the air inlet being connected to the air pump through an air inlet pipe, the air outlet being connected to an air pressure regulating valve, the rotary cylinder having two valves, the outlet of the air pressure regulating valve being connected to the corresponding valves through a control air pipe, a reduction gear box being provided on the rotary cylinder, the input shaft of the reduction gear box being connected to the output shaft of the rotary cylinder, an adjustable torque component being provided on the output shaft, and the adjustable torque component being connected to a mechanical clamp on the side away from the reduction gear box.

[0006] By adopting the above technical solution, a manual reversing valve, a rotary cylinder, a reduction gearbox, an adjustable torque assembly, and a mechanical gripper are provided. The manual reversing valve controls the airflow from either the left or right outlet of the two outlets, thereby controlling the forward or reverse rotation of the rotary cylinder. The input shaft of the reduction gearbox is connected to the output shaft of the rotary cylinder, and the output shaft is connected to the adjustable torque assembly, reducing the rotational speed of the adjustable torque assembly and the mechanical gripper. The air pressure at the outlet is controlled by a pneumatic regulating valve, thereby controlling the rotational speed of the rotary cylinder and, in turn, the rotational speed of the mechanical gripper. By adjusting the adjustable torque assembly, the mechanical gripper is able to prevent the force output by the reduction gearbox from being transmitted to the mechanical gripper when encountering excessive resistance. This prevents the mechanical gripper from forcibly rotating the mechanical valve even if it malfunctions or corrodes, potentially damaging it. Workers can control the mechanical gripper's rotation of the mechanical valve from a safe area using the manual reversing valve, preventing them from entering hazardous areas and ensuring their personal safety. The mechanical gripper is driven purely pneumatically, preventing leakage from the solenoid valve, which could cause combustion or explosion of the raw materials.

[0007] Furthermore, the torque-adjustable assembly includes a mounting post connected to the output shaft of the reduction gearbox, the mounting post is provided with a receiving groove along the length direction of the mounting post at one end away from the reduction gearbox, a baffle, a first sliding post, and a second sliding post are sequentially slidably arranged in the receiving groove in the direction away from the reduction gearbox, a first compression spring is arranged in the receiving groove, one end of the first compression spring abuts against the bottom of the receiving groove, and the other end abuts against the baffle, a plurality of vertical teeth are circumferentially spaced apart on one side of the first sliding post adjacent to the second sliding post, and the second sliding post is provided with tooth grooves corresponding to the vertical teeth, The mounting post is provided with sliding grooves circumferentially spaced apart at one end away from the reduction gear box, a slider connected to the second sliding post is slidingly provided in the sliding groove, a screw cover is provided at one end of the mounting post away from the reduction gear box, an external thread is provided at one end of the mounting post away from the reduction gear box, an internal thread is provided in the screw cover, the mounting post and the screw cover are threadedly connected through external and internal threads, a connecting rod is coaxially provided on the first sliding post, a through hole is coaxially provided on the second sliding post, a through hole is coaxially provided on the screw cover, the connecting rod passes through the through hole and the through hole and is connected to the mechanical clamp.

[0008] By adopting the above technical solution, a mounting post, a receiving groove, a baffle, a first sliding post, a second sliding post, a first compression spring, vertical teeth, tooth grooves, a slide, a slider, a screw cover, a connecting rod, a through hole, and a through hole are provided. The baffle, the first sliding post, and the second sliding post are pushed toward the screw cover by the first compression spring, so that the second sliding post abuts against the screw cover and the vertical teeth are engaged in the tooth grooves. The slide and the slider limit the circumferential position of the second sliding post, so that when the mounting post rotates, the second sliding post is driven to rotate, and the first sliding post and the mechanical clamp are driven to rotate under the cooperation of the vertical teeth and the tooth grooves. When the mechanical clamp encounters a large resistance and cannot rotate, the first sliding post is also unable to rotate. However, the second sliding post still rotates, causing the first sliding post to slide toward the first compression spring, and the vertical teeth are separated from the tooth grooves. Then, the vertical teeth are pushed by the first compression spring to cooperate with the next tooth groove in the rotation direction, and then separate again, and this process is repeated continuously. By twisting the cap, the positions of the first sliding column, the second sliding column and the baffle are changed, thereby changing the thrust of the first compression spring on the first sliding column and the second sliding column, making the vertical teeth and the tooth grooves easier or more difficult to separate, thereby controlling the torque of the mechanical gripper.

[0009] Furthermore, a hexagonal groove is provided on the side of the first sliding column away from the second sliding column, a hexagonal block is slidably provided in the hexagonal groove, a second compression spring is provided in the hexagonal groove, one end of the second compression spring abuts the baffle and the other end abuts the hexagonal block, a circular hole is provided at the bottom of the hexagonal groove that passes through the second sliding column, the circular hole is coaxial with the through hole and has the same size, the orifice area of ​​the circular hole is smaller than the area of ​​the bottom of the hexagonal groove, the connecting rod is slidably provided in the circular hole near the side of the reduction gearbox and the end portion is connected to the hexagonal block.

[0010] By adopting the above technical solution, a hexagonal slot, a hexagonal block, a second compression spring, and a circular hole are provided. The hexagonal slot and block constrain the connecting rod circumferentially, thereby driving the connecting rod's rotation when the first sliding post rotates. When the mechanical gripper is impacted by an external force, the hexagonal block slides within the hexagonal slot, compressing the second compression spring and protecting the adjustable torque assembly from damage. After the impact, the second compression spring releases its force, resetting the gripper.

[0011] Furthermore, the mechanical clamp includes a connecting column and a clamping block. The connecting rod is provided with an external thread on the tube body outside the mounting column. A threaded hole is concentrically opened on the connecting column. The connecting column is threadedly connected to the connecting rod through the threaded hole and the external thread.

[0012] By adopting the above technical solution, the connecting column is threadedly connected to the connecting rod through the threaded hole and the external thread, which is convenient for disassembly and installation during production and maintenance.

[0013] Furthermore, a protective sleeve is provided on the side of the reduction box away from the rotating cylinder. The inner diameter of the protective sleeve is larger than the diameter of the mounting column. The end of the protective sleeve away from the reduction box is arranged near the clamping block.

[0014] By adopting the above technical solution, a protective sleeve is further provided on the side of the reduction box away from the rotating cylinder to protect the adjustable torque component and avoid damage caused by bumps.

[0015] Furthermore, a support bearing is provided at one end of the protective sleeve away from the reduction gearbox, the outer ring of the support bearing is connected to the inner wall of the protective sleeve, and the inner ring is connected to the connecting column.

[0016] By adopting the above technical solution, a support bearing is provided at the end of the protective sleeve away from the reduction gearbox to support the mechanical clamp, thereby ensuring the accuracy and stability of the rotation of the mechanical clamp.

[0017] In summary, the utility model has the following beneficial effects: In this application, a manual reversing valve, a rotary cylinder, a reduction gear, an adjustable torque component, and a mechanical clamp are provided, and the manual reversing valve is used to control the airflow to be discharged from the left air outlet or the right air outlet of the two air outlets, thereby controlling the forward or reverse rotation of the rotary cylinder. The input shaft of the reduction gear is connected to the output shaft of the rotary cylinder, and the output shaft is connected to the adjustable torque component, so as to reduce the rotation speed of the adjustable torque component and the mechanical clamp. The air pressure of the air outlet is controlled by the air pressure regulating valve, thereby controlling the rotation speed of the rotary cylinder, and then controlling the rotation speed of the mechanical clamp. By adjusting the adjustable torque component, it is ensured that the adjustable torque component can prevent the force output by the reduction gear from being transmitted to the mechanical clamp when the mechanical clamp is subjected to excessive resistance, so as to avoid the mechanical clamp still forcibly rotating the mechanical valve when the mechanical valve fails or rusts, causing the mechanical valve to be completely damaged. Workers in the safe area control the mechanical gripper to rotate the mechanical valve through a manual reversing valve to prevent them from entering the dangerous area, ensuring their personal safety. The mechanical gripper adopts a purely pneumatic drive method to avoid leakage of the solenoid valve that may cause combustion and explosion of raw materials. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the utility model;

[0019] Figure 2 This is a schematic diagram of the explosion structure of an embodiment of the utility model;

[0020] Figure 3 This is a schematic structural diagram of the torque-adjustable component portion of an embodiment of the utility model;

[0021] Figure 4 It is a cross-sectional view of the torque-adjustable component portion of an embodiment of the utility model;

[0022] Figure 5This is a structural diagram of the mounting column and the first sliding column of an embodiment of the utility model;

[0023] Figure 6 This is a schematic structural diagram of the first sliding column portion of an embodiment of the present utility model;

[0024] Figure 7 This is a schematic structural diagram of the second sliding column portion of an embodiment of the present utility model;

[0025] Figure 8 It is a cross-sectional view of the mechanical gripper according to an embodiment of the present utility model.

[0026] In the figure: 10. Manual reversing valve; 11. Air inlet; 12. Air outlet; 13. Air inlet pipe; 14. Control air pipe; 15. Air pressure regulating valve; 20. Rotary cylinder; 21. Valve; 22. Reducer; 23. Protective sleeve; 24. Support bearing; 30. Adjustable torque assembly; 31. Mounting column; 32. Receiving groove; 33. Baffle; 34. First sliding column; 341. Vertical tooth; 342. Connecting rod; 343. Hexagonal groove; 344. Hexagonal block; 345. Second compression spring; 346. Round hole; 35. Second sliding column; 351. Tooth groove; 352. Through hole; 36. First compression spring; 37. Slide groove; 38. Slider; 39. Tightening cover; 391. Through hole; 40. Mechanical gripper; 41. Connecting column; 42. Clamping block; 43. Threaded hole. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application; it is obvious that the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0028] like Figure 1-8As shown, the embodiment of the present application discloses a pneumatic rotary manipulator with adjustable torque and adjustable speed, including a manual reversing valve 10, a rotary cylinder 20, a reduction gear box 22, an adjustable torque component 30, and a mechanical gripper 40. The manual reversing valve 10 has an air inlet 11 and two air outlets 12. The air inlet 11 is connected to the air pump through an air inlet pipe 13, and the air outlet 12 is connected to an air pressure regulating valve 15. The rotary cylinder 20 has two valves 21. The outlet of the air pressure regulating valve 15 is connected to the corresponding valve 21 through a control air pipe 14. The manual reversing valve 10 is used to control the air flow to be discharged from the left air outlet 12 or the right air outlet 12 of the two air outlets 12, thereby controlling the forward or reverse rotation of the rotary cylinder 20. The air pressure regulating valve 15 controls the size of the outlet pressure of the air outlet 12, thereby controlling the speed of the rotary cylinder 20. The rotary cylinder 20 is provided with a reduction gearbox 22. The input shaft of the reduction gearbox 22 is connected to the output shaft of the rotary cylinder 20, and the output shaft is connected to the adjustable torque assembly 30, thereby reducing the rotation speed of the adjustable torque assembly 30. The mechanical gripper 40 is provided on the side of the adjustable torque assembly 30 away from the reduction gearbox 22. When the adjustable torque assembly 30 rotates, the mechanical gripper 40 is driven to rotate. In the specific setting, a mounting bracket can be provided in front of the valve to be controlled, the rotary cylinder 20 is mounted on the mounting bracket, and the mechanical gripper 40 is connected to the valve. Subsequently, the manual reversing valve 10 is provided in a safe area, and the manual reversing valve 10 and the rotary cylinder 20 are connected via a control air pipe 14. The staff in the safe area controls the mechanical gripper 40 to rotate the mechanical valve through the manual reversing valve 10, preventing the staff from entering the dangerous area and ensuring their personal safety. The mechanical gripper 40 adopts a purely pneumatic drive mode, which avoids the solenoid valve from leaking electricity and causing the raw materials to burn or explode.

[0029] Specifically, the torque-adjustable assembly 30 includes a mounting post 31, a baffle 33, a first sliding post 34, a second sliding post 35, a first compression spring 36, and a screw cap 39. A mounting hole is coaxially defined on the mounting post 31, the diameter of which is consistent with the diameter of the output shaft of the reduction gearbox 22. A screw hole is defined on the outer wall of the mounting post 31, extending toward the mounting hole. After the mounting post 31 is inserted through the mounting hole onto the output shaft of the reduction gearbox 22, the screw is screwed into the screw hole until the end of the screw abuts against the output shaft of the reduction gearbox 22, thereby connecting the mounting post 31 to the output shaft of the reduction gearbox 22. A receiving slot 32 is defined along the length of the mounting post 31 at the end of the mounting post 31 away from the reduction gearbox 22. The baffle 33, the first sliding post 34, and the second sliding post 35 are sequentially slidably disposed within the receiving slot 32 in a direction away from the reduction gearbox 22, allowing the baffle 33, the first sliding post 34, and the second sliding post 35 to slide within the receiving slot 32 along the length of the receiving slot 32. The first compression spring 36 is disposed in the receiving groove 32 , with one end abutting against the bottom of the receiving groove 32 and the other end abutting against the baffle 33 , so that the first compression spring 36 provides the baffle 33 with a thrust toward the first sliding post 34 .

[0030] A plurality of vertical teeth 341 are circumferentially spaced apart on the side of the first sliding post 34 adjacent to the second sliding post 35. The second sliding post 35 has tooth grooves 351 corresponding to the vertical teeth 341. Slide grooves 37 are circumferentially spaced apart on the end of the mounting post 31 away from the reduction gearbox 22. A slider 38 connected to the second sliding post 35 slides within the slide groove 37. The slide grooves 37 and slider 38 circumferentially limit the second sliding post 35, so that rotation of the mounting post 31 drives the second sliding post 35 as well. The mounting post 31 has an external thread on the end away from the reduction gearbox 22, and a screw cap 39 has an internal thread. The mounting post 31 and screw cap 39 are threadedly connected via the external and internal threads, making it easy to adjust the position of the screw cap 39 by turning it. A connecting rod 342 is coaxially disposed on the first sliding post 34, a through hole 352 is coaxially disposed on the second sliding post 35, and a through hole 391 is coaxially disposed on the screw cap 39. The connecting rod 342 passes through the through hole 352 and the through hole 391 to connect with the mechanical clamp 40. When the mounting post 31 rotates, it drives the second sliding post 35 to rotate. The first compression spring 36 pushes the baffle 33, the first sliding post 34, and the second sliding post 35 toward the screw cap 39, causing the second sliding post 35 to abut against the screw cap 39 and the vertical teeth 341 to engage the tooth grooves 351. This causes the second sliding post 35 to drive the first sliding post 34, the connecting rod 342, and the mechanical clamp 40 to rotate, thereby tightening the valve. When the mechanical gripper 40 encounters significant resistance and is unable to rotate, the first sliding post 34 also cannot rotate. However, the second sliding post 35 continues to rotate, causing the first sliding post 34 to slide toward the first compression spring 36 under the action of the vertical tooth 341. The vertical tooth 341 separates from the tooth groove 351, and then is pushed by the first compression spring 36, causing the vertical tooth 341 to mate with the next tooth groove 351 in the rotational direction, and then separate again, and this process repeats. By twisting the cap 39 to change the position of the first sliding post 34, the second sliding post 35, and the baffle 33, the thrust of the first compression spring 36 on the first sliding post 34 and the second sliding post 35 is changed, making the vertical tooth 341 easier or harder to separate from the tooth groove 351, thereby controlling the torque of the mechanical gripper.

[0031] During installation, a hexagonal slot 343 is defined on the side of the first sliding post 34 away from the second sliding post 35. A hexagonal block 344 is slidably disposed within the hexagonal slot 343, allowing the hexagonal block 344 to slide within the slot. A second compression spring 345 is disposed within the slot 343, one end of the second compression spring 345 abutting against the baffle 33 and the other end against the hexagonal block 344. A circular hole 346 is defined at the bottom of the hexagonal slot 343, penetrating the second sliding post 35. The circular hole 346 is concentric with the through hole 352 and is the same size. The opening area of ​​the circular hole 346 is smaller than the area of ​​the bottom of the hexagonal slot 343, preventing the hexagonal block 344 from sliding into the circular hole 346. Connecting rod 342 slides within circular hole 346 near the side of reduction gearbox 22, with its end connected to hexagonal block 344. The hexagonal slot 343 and hexagonal block 344 circumferentially constrain connecting rod 342, thereby driving the connecting rod 342 in rotation when the first sliding post 34 rotates. When the mechanical gripper 40 is impacted by an external force, the hexagonal block 344 slides within the hexagonal slot 343, compressing the second compression spring 345 and protecting the adjustable torque assembly 30 from damage. After the impact, the second compression spring 345 releases its force, resetting the gripper.

[0032] The mechanical gripper 40 includes a connecting column 41 and a clamping block 42. An external thread is provided on the tube body of the connecting rod 342 located outside the mounting column 31. A threaded hole 43 is concentrically provided on the connecting column 41. The connecting column 41 is threadedly connected to the connecting rod 342 through the threaded hole 43 and the external thread, which facilitates disassembly and installation during production and maintenance. A top screw hole is provided on the connecting column 41, the length direction of which is perpendicular to the threaded hole 43 and connected to the threaded hole 43. The top screw is screwed into the top screw hole until the end abuts against the connecting rod 342, further fixing the connecting rod 342 to the connecting column 41. A protective sleeve 23 is also provided on the side of the reduction gear 22 away from the rotary cylinder 20. The inner diameter of the protective sleeve 23 is larger than the diameter of the mounting column 31. The protective sleeve 23 is arranged near the clamping block 42 at the end away from the reduction gear 22 to protect the adjustable torque component 30 and avoid damage caused by bumps. A support bearing 24 is provided at the end of the protective sleeve 23 away from the reduction gear box 22. The outer ring of the support bearing 24 is connected to the inner wall of the protective sleeve 23, and the inner ring is connected to the connecting column 41. The support bearing 24 supports the mechanical clamp 40 to ensure the accuracy and stability of the rotation of the mechanical clamp 40.

[0033] The operating principle of a pneumatic rotary manipulator with adjustable torque and adjustable speed in this embodiment is as follows: the staff pulls the manual reversing valve 10 to control the air flow pumped out by the air pump to be discharged from the left air outlet 12 or the right air outlet 12, thereby controlling the forward and reverse rotation of the rotating cylinder 20, and then controlling the adjustable torque component 30 and the mechanical clamp 40 to twist the valve forward and reverse; when the mechanical clamp 40 is unable to rotate due to large resistance, the first sliding column 34 is also unable to rotate, but the second sliding column 35 still rotates so that the first sliding column 34 slides toward the first compression spring 36 under the action of the vertical tooth 341, and the vertical tooth 341 is separated from the tooth groove 351, and then is pushed by the first compression spring 36 so that the vertical tooth 341 cooperates with the next tooth groove 351 in the rotation direction, and then separates again, and repeats continuously, to avoid the mechanical clamp 40 forcibly rotating the valve when the valve fails or rusts, causing the valve to be completely damaged. The staff controls the mechanical gripper 40 to rotate the mechanical valve through the manual reversing valve 10 in the safe area, preventing the staff from entering the dangerous area and ensuring the personal safety of the staff. The mechanical gripper 40 adopts a purely pneumatic drive method, which avoids the solenoid valve leakage and causes the raw materials to burn and explode.

[0034] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiment. All technical solutions based on the concept of the present invention are within the scope of protection of the present invention. It should be noted that for those skilled in the art, certain improvements and modifications that do not depart from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A pneumatic rotary manipulator with adjustable torque and adjustable speed, characterized by: The invention comprises a manual reversing valve (10) and a rotary cylinder (20), wherein the manual reversing valve (10) has an air inlet (11) and two air outlets (12), wherein the air inlet (11) is connected to an air pump via an air inlet pipe (13), and the air outlet (12) is connected to an air pressure regulating valve (15). The rotary cylinder (20) has two air valves (21), and the outlet of the air pressure regulating valve (15) is connected to the corresponding air valve (21) via a control air pipe (14). The rotary cylinder (20) is provided with a reduction box (22), wherein the input shaft of the reduction box (22) is connected to the output shaft of the rotary cylinder (20), and an adjustable torque component (30) is provided on the output shaft, and the adjustable torque component (30) is connected to a mechanical clamp (40) on the side away from the reduction box (22).

2. The pneumatic rotary manipulator with adjustable torque and adjustable speed according to claim 1, characterized in that: The adjustable torque assembly (30) includes a mounting post (31) connected to the output shaft of the reduction gearbox (22), and an accommodating groove (32) is provided at one end of the mounting post (31) away from the reduction gearbox (22) along the length direction of the mounting post (31). A baffle (33), a first sliding post (34), and a second sliding post (35) are sequentially slidably provided in the accommodating groove (32) in the direction away from the reduction gearbox (22). A first compression spring (36) is provided in the accommodating groove (32), one end of the first compression spring (36) abuts against the bottom of the accommodating groove (32), and the other end abuts against the baffle (33). A plurality of vertical teeth (341) are circumferentially spaced apart on one side of the first sliding post (34) adjacent to the second sliding post (35), and a tooth groove (351) is provided on the second sliding post (35) corresponding to the vertical teeth (341). The end of the mounting post (31) away from the reduction gear box (22) is provided with a sliding groove (37) at intervals in the circumferential direction, and a slider (38) connected to the second sliding post (35) is slidably provided in the sliding groove (37), and a screw cover (39) is provided at the end of the mounting post (31) away from the reduction gear box (22). The end of the mounting post (31) away from the reduction gear box (22) is provided with an external thread, and the screw cover (39) is provided with an internal thread. The mounting post (31) and the screw cover (39) are connected through external and internal threads. A connecting rod (342) is provided on the first sliding post (34) in the same core, a through hole (352) is provided on the second sliding post (35) in the same core, and a through hole (391) is provided on the screw cover (39) in the same core. The connecting rod (342) passes through the through hole (352) and the through hole (391) to be connected to the mechanical clamp (40).

3. The pneumatic rotary manipulator with adjustable torque and adjustable speed according to claim 2, characterized in that: A hexagonal groove (343) is provided on the side of the first sliding column (34) away from the second sliding column (35), a hexagonal block (344) is slidably provided in the hexagonal groove (343), a second compression spring (345) is provided in the hexagonal groove (343), one end of the second compression spring (345) is in contact with the baffle (33), and the other end is in contact with the hexagonal block (344), a circular hole (346) penetrating the second sliding column (35) is provided at the bottom of the hexagonal groove (343), the circular hole (346) and the through hole (352) are coaxial and of the same size, the opening area of ​​the circular hole (346) is smaller than the area of ​​the bottom of the hexagonal groove (343), the connecting rod (342) is slidably provided in the circular hole (346) on the side adjacent to the reduction box (22), and the end portion is connected to the hexagonal block (344).

4. The pneumatic rotary manipulator with adjustable torque and adjustable speed according to claim 2, characterized in that: The mechanical clamp (40) includes a connecting column (41) and a clamping block (42); the connecting rod (342) is provided with an external thread on the tube body located outside the mounting column (31); a threaded hole (43) is coaxially opened on the connecting column (41); the connecting column (41) is threadedly connected to the connecting rod (342) through the threaded hole (43) and the external thread.

5. The pneumatic rotary manipulator with adjustable torque and adjustable speed according to claim 4, characterized in that: A protective sleeve (23) is further provided on the side of the reduction box (22) away from the rotary cylinder (20). The inner diameter of the protective sleeve (23) is larger than the diameter of the mounting column (31). The end of the protective sleeve (23) away from the reduction box (22) is arranged adjacent to the clamping block (42).

6. The pneumatic rotary manipulator with adjustable torque and adjustable speed according to claim 5, characterized in that: A support bearing (24) is provided at one end of the protective sleeve (23) away from the reduction box (22); the outer ring of the support bearing (24) is connected to the inner wall of the protective sleeve (23), and the inner ring is connected to the connecting column (41).

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