Rotating disc type manipulator

Abstract

According to the rotating disc type mechanical arm, the opening and closing driving mechanism is driven to slide in the radial direction of the rotating disc through the cam shape design, and opening and closing of the clamping jaw mechanism are controlled. The opening and closing driving mechanism comprises a pushing block and a first sliding block, and the pushing block makes contact with the peripheral face of the cam and slides through the sliding groove. The clamping jaw mechanism is pushed or pulled by the elastic reset mechanism to rotate around the middle portion, and opening and closing are achieved. A first rolling shaft and a second rolling shaft are further arranged to reduce friction, and a limiting block is used for preventing the clamping jaw from being opened too early. A bearing and a mounting shaft are arranged in the middle of the turntable to adapt to cams of different specifications. And the rotating sleeve is linked with the turntable and the speed reducer to realize stable rotation. A material passing open groove, a feeding plate, an inductor and an adjustable support are arranged, materials are detected, and the position is adjusted. According to the manipulator, the flexibility is improved, the number of driving sources is reduced, the manufacturing cost and the maintenance cost are reduced, and the working efficiency is remarkably improved.

Description

Technical Field

[0001] The utility model particularly relates to a turntable type manipulator. Background Art

[0002] In the manufacturing industry, in order to realize fully automatic loading and unloading and other tasks, corresponding unloading devices are required to realize automatic clamping and feeding. For example, the Chinese utility model patent document with the publication number "CN206834279U" discloses a multi-station flip unloading mechanism and a lithium battery winding machine, wherein the multi-station flip unloading mechanism mainly includes a frame, a turntable, a rotating cylinder, a synchronous pulley, a support plate, a connecting plate, a slide rail, a connecting rod, a clamping cylinder, and a clamping claw. The connection relationship between the above structural features can be clearly seen from the drawings of the public document. The servo motor controls the rotation of the synchronous pulley, and then drives the turntable to rotate through the shaft, with the purpose of turning each clamping claw to the working position. The rotating cylinder then drives the connecting plate to rotate. Since the connecting plate is triangular, the extension or retraction of the clamping claw is controlled by the slide rail. Next, the clamping claw cylinder drives the clamping claw to open and close to clamp or put down the material.

[0003] Although the flip unloading mechanism can realize simple material clamping and transportation, it has the following technical defects:

[0004] First, the forward and backward movement of each set of jaws is consistent, that is, at all workstations, all jaws are either extended or retracted at the same time, which cannot meet the working condition requirement of extending only the jaws at a specific workstation. Therefore, the flexibility of the flipping and unloading mechanism is poor.

[0005] Second, each action requires a drive source, such as a servo motor that first controls the rotation of the synchronous pulley, followed by a pneumatic cylinder that rotates the triangular connecting plate, and then a pneumatic cylinder that controls the opening and closing of the gripper. Without any of these power sources, loading and unloading operations are impossible, resulting in a complex structure and high costs.

[0006] Third, because the three power sources cannot work simultaneously, they must be operated in sequence, and each action takes time to complete, so the efficiency is extremely low and cannot meet the needs of high-speed production environments. Utility Model Content

[0007] The technical problem to be solved by the present invention is to provide a turntable manipulator in response to the above-mentioned deficiencies of the existing technology, which realizes the independent opening and closing action of the clamping mechanism by driving the opening and closing drive mechanism through a cam to slide radially, thereby improving flexibility, reducing the number of drive sources, and reducing costs.

[0008] To achieve the above objectives, the present invention provides the following technical solutions:

[0009] A turntable manipulator includes a turntable and a turntable drive mechanism for driving the turntable to rotate, and the turntable is provided with several groups of clamping mechanisms along the circumference. It is characterized in that a cam is hinged in the middle of the turntable, and an opening and closing drive mechanism installed on the turntable is provided between the clamping mechanism and the cam. The opening and closing drive mechanism can slide along the radial direction of the turntable, and the turntable drive mechanism can drive the turntable to rotate around the cam. The opening and closing drive mechanism follows the turntable to rotate around the cam and the end of the opening and closing drive mechanism remains in contact with the outer peripheral surface of the cam, thereby controlling the opening and closing of the clamping mechanism.

[0010] As the turntable rotates around the cam, the end of the opening and closing drive mechanism maintains constant contact with the cam's outer circumference. Due to the cam's design (typically eccentric or irregular), the cam's outer circumference periodically changes its contact position with the end of the opening and closing drive mechanism as the turntable rotates, pushing or pulling the opening and closing drive mechanism to slide radially. This sliding motion is then converted into the opening and closing movement of the gripper mechanism, enabling the gripper to grasp and release the material. Because the gripper mechanisms are independent and can slide radially along the turntable, the opening and closing movement of each set of gripper mechanisms can be independently controlled. This means that at a specific workstation, only the gripper mechanism at that station can be extended or retracted, while the grippers at other stations remain stationary. This significantly increases the flexibility of the turntable manipulator and meets the need for extending the gripper at a specific workstation. Furthermore, the number of drive sources is reduced, requiring only a single turntable drive mechanism to drive the entire turntable and all gripper mechanisms. Furthermore, the simple mechanical structure of the cam and opening and closing drive mechanism reduces manufacturing and maintenance costs. It should be noted that when the turntable rotates, the cam remains in a fixed position.

[0011] The above-mentioned turntable manipulator can be further configured as follows: the opening and closing drive mechanism includes a pushing block, the turntable is provided with a group of slide grooves corresponding to each group of pushing blocks, and a first sliding block adapted to the slide groove is linked under the pushing block, one end of the pushing block remains in contact with the outer peripheral surface of the cam, and the other end extends to the middle of the clamping mechanism, and pushing inclined surfaces are symmetrically provided on both sides of the pushing block, and the clamping mechanism includes two groups of symmetrically distributed clamping jaws, one end of each group of clamping jaws extends to the pushing inclined surface, and the middle part is hinged on the turntable, and each group of clamping jaws is linked with a group of elastic reset mechanisms, and the elastic reset mechanism pushes or pulls the clamping jaws to rotate around the middle of the clamping jaws so that one end of the clamping jaws remains in contact with the pushing inclined surface.

[0012] When the turntable rotates, one end of the push block contacts the outer peripheral surface of the cam (this is mainly because the elastic reset mechanism always pushes or pulls the clamping jaw, causing the end of the clamping jaw to always contact the push slope, exerting a resistance force on the push block). As the shape of the cam changes, the push block is pushed or pulled and slides along the slide groove. The other end of the push block extends to the middle of the clamping jaw mechanism, and push slopes are provided on both sides. When the push block slides along the slide groove, its push slope will push or pull the clamping jaw, causing the clamping jaw to rotate around its center to realize the opening and closing action. The opening and closing action of the clamping jaw mechanism is realized through the cooperation of the cam, the opening and closing drive mechanism (the push block and the specific structure of the push block), and the elastic reset mechanism, reducing the number of drive sources. The entire turntable manipulator only needs one turntable drive mechanism to drive the movement of the entire turntable and all clamping jaw mechanisms, greatly reducing the structural complexity and manufacturing cost. Furthermore, due to the shape of the cam, when the turntable rotates, the push block will contact the cam and produce corresponding sliding at the convex or concave points of the cam, thereby driving the opening and closing actions of each group of clamping mechanisms in turn. The actions of all clamping mechanisms are carried out simultaneously during the rotation of the turntable, without having to wait for the previous action to be completed before the next action, thereby significantly improving work efficiency. Among them, the sliding groove and the first slider are provided so that the push block can slide smoothly along the radial direction of the turntable without offset or jamming, thereby ensuring the accuracy and stability of the opening and closing action. The clamping mechanism is designed as a rotatable clamping jaw, and uses a pushing inclined plane and an elastic reset mechanism to control the opening and closing of the two groups of clamping jaws. Compared with the existing technology, the clamping jaw cylinder is eliminated, the cost is low, and the corresponding speed is small.

[0013] The above-mentioned turntable manipulator can be further configured as follows: the elastic reset mechanism includes a spring seat fixed on the turntable, the spring seat is located on the side facing the clamping jaw and is provided with a first mounting hole, a spring is provided in the first mounting hole, the end of the spring is linked with a push pin, a guide bar is provided between one end and the middle of the clamping jaw, and the push pin remains in contact with the guide bar under the push of the spring.

[0014] As the turntable rotates, if the push block passes the high point of the cam, it moves forward, pushing the inclined surface and squeezing the clamping jaws. The guide strip on the clamping jaws compresses the spring, generating a preload. Once the push block returns to its original position, the spring, acting via the push pin, pushes the clamping jaws back to their original position, achieving the opening and closing action.

[0015] The above-mentioned turntable manipulator can be further configured as follows: one end of the pushing block is hinged with a first roller, the first roller is in rolling contact with the outer peripheral surface of the cam, the outer peripheral surface of the cam is provided with at least one group of protrusions, the two ends of the protrusions are connected to the cam at the connection points, the end of the protrusion is provided with a first limit block fixed on the cam, and the upper part of the pushing block is linked with a second limit block; one end of the clamping jaw is hinged with a second roller, and the second roller is in rolling contact with the pushing inclined surface.

[0016] The rolling contact between the first and second rollers reduces friction and wear, improving the flexibility and accuracy of the push block and jaw movements. The bumps, the high points of the cams, adjust the position of the push block. A first stopper is located above the bumps, and a second stopper is located above the push block. This prevents the jaws from opening prematurely. The jaws open only when they reach the predetermined position, enabling rapid material discharge and preventing them from falling or slipping out.

[0017] The above-mentioned turntable manipulator can be further configured as follows: a second mounting hole is passed through the middle of the turntable, a bearing is provided in the second mounting hole, the bearing is linked to a mounting shaft, the upper end of the mounting shaft is provided with a conical connecting column, the middle of the cam and the upper end of the conical connecting column are both provided with connecting holes, the outer periphery of the conical connecting column is provided with a first strip-shaped pin groove, a conical plug-in hole adapted to the conical connecting column is provided below the cam, the side wall of the conical plug-in hole is provided with a second strip-shaped pin groove corresponding to the first strip-shaped pin groove, and the second strip-shaped pin groove passes through the cam.

[0018] A bearing is placed in the second mounting hole, allowing the turntable to rotate around the cam while the cam remains stationary. The mounting shaft is used to mount the cam. Tapered connecting posts and holes are added to accommodate cams of varying specifications. Inserting a pin between the first and second strip-shaped pin slots secures the cam to the mounting shaft.

[0019] The above-mentioned turntable manipulator can be further configured as follows: a rotating sleeve is linked to the middle and lower part of the turntable, a clearance hole is passed through the middle of the rotating sleeve and is clearance-matched with the installation shaft, and the turntable drive mechanism includes a reducer linked to the rotating sleeve.

[0020] The rotating sleeve is used as a connecting component between the turntable and the reducer. The rotating sleeve is matched with the installation shaft through the clearance hole to achieve smooth rotation of the turntable and avoid wear between the turntable and the installation shaft.

[0021] The above-mentioned turntable-type manipulator can be further configured as follows: the turntable is provided with a material passing opening slot corresponding to each group of clamping mechanisms, a feed plate is provided at one group of material passing opening slots, a strip-shaped detection hole passes through the feed plate, a sensor is installed at the strip-shaped detection hole, the sensor is fixed on the bracket, a second slider is fixedly installed on the bracket, the second slider is slidably connected to a second slide rail, the second slide rail is fixed under the feed plate, and a plurality of groups of fastening nail holes are provided on the second slide rail.

[0022] A feed opening slot is provided to facilitate material entry into the turntable. A feed plate and sensor are added to detect the presence or position of material. Once detected, the turntable begins operation. The sensor is fixed to a bracket, which is slidably connected to a second slide rail via a second slider. The second slide rail is fixed below the feed plate and has several sets of fastening holes for adjusting the sensor's position.

[0023] The present invention will be described in further detail below with reference to the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a partial explosion diagram of an embodiment of the present utility model;

[0025] Figure 2 This is a schematic diagram of the overall structure of an embodiment of the utility model;

[0026] Figure 3 This is a schematic diagram of an overall top view of an embodiment of the utility model;

[0027] Figure 4 This is an exploded schematic diagram of the turntable structure of an embodiment of the present utility model;

[0028] Figure 5 The cam structure of the embodiment of the utility model is shown in FIG. Figure 1 ;

[0029] Figure 6 The cam structure of the embodiment of the utility model is shown in FIG. Figure 2 ;

[0030] Figure 7 This is a schematic diagram of the clamping mechanism of an embodiment of the present utility model;

[0031] Figure 8 Schematic diagram of a push block according to an embodiment of the present invention.

[0032] Label annotation: turntable 1, cam 2, pushing block 3, slide groove 4, first slider 5, pushing inclined plane 6, clamping claw 7, spring seat 8, spring 9, pushing pin 10, guide bar 11, first roller 12, protrusion 13, first limit block 14, second limit block 15, second roller 16, bearing 17, mounting shaft 18, tapered connecting column 19, connecting hole 20, first strip pin groove 21, tapered plug hole 22, second strip pin groove 23, rotating sleeve 24, give way hole 25, reducer 26, material passing opening groove 27, feed plate 28, strip detection hole 29, sensor 30, bracket 31, second slider 32, second slide rail 33. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0034] like Figures 1 to 8 The turntable manipulator shown includes a turntable 1 and a turntable drive mechanism for driving the turntable 1 to rotate. The turntable 1 is provided with several groups of clamping mechanisms along the circumference. An opening and closing drive mechanism installed on the turntable 1 is provided between the clamping mechanism and the cam 2. The opening and closing drive mechanism can slide radially along the turntable 1. A cam 2 is hinged in the middle of the turntable 1. The turntable drive mechanism can drive the turntable 1 to rotate around the cam 2. The opening and closing drive mechanism follows the turntable 1 to rotate around the cam 2 and the end of the opening and closing drive mechanism remains in contact with the outer peripheral surface of the cam 2, thereby controlling the opening and closing of the clamping mechanism.

[0035] As the turntable 1 rotates around the cam 2, the end of the opening and closing drive mechanism maintains contact with the outer circumference of the cam 2. Due to the design of the cam 2 (typically eccentric or irregular), the outer circumference of the cam 2 periodically changes its contact position with the end of the opening and closing drive mechanism as the turntable 1 rotates, pushing or pulling the opening and closing drive mechanism to slide radially. This sliding motion is then converted into the opening and closing movement of the gripper mechanism, enabling the gripping and release of materials. Because the opening and closing drive mechanisms are independent and can slide radially along the turntable 1, the opening and closing movement of each set of gripper mechanisms can be independently controlled. This means that at a specific workstation, only the gripper mechanism at that workstation can be extended or retracted, while the grippers at other workstations remain stationary. This significantly increases the flexibility of the turntable 1-type robot, meeting the need for extending only the gripper 7 at a specific workstation. Furthermore, the number of drive sources is reduced, with only a single turntable drive mechanism required to drive the entire turntable 1 and all gripper mechanisms. Simultaneously, due to the simple mechanical structure of the cam 2 and the opening and closing drive mechanism, manufacturing cost and maintenance cost are also reduced. Wherein, it should be noted that, when the rotating disk 1 rotates, the cam 2 remains in position.

[0036] The opening and closing drive mechanism includes a pushing block 3, and the turntable 1 is provided with a group of slide grooves 4 corresponding to each group of pushing blocks 3. A first slider 5 adapted to the slide groove 4 is linked to the bottom of the pushing block 3. One end of the pushing block 3 remains in contact with the outer peripheral surface of the cam 2, and the other end extends to the middle of the clamping mechanism. Pushing inclined surfaces 6 are symmetrically provided on both sides of the pushing block 3. The clamping mechanism includes two groups of symmetrically distributed clamping jaws 7. One end of each group of clamping jaws 7 extends to the pushing inclined surface 6 and the middle part is hinged to the turntable 1. Each group of clamping jaws 7 is linked with a group of elastic reset mechanisms. The elastic reset mechanism pushes or pulls the clamping jaws 7 to rotate around the middle of the clamping jaws 7 so that one end of the clamping jaws 7 remains in contact with the pushing inclined surface 6.

[0037] When the turntable 1 rotates, one end of the push block 3 contacts the outer peripheral surface of the cam 2 (this is mainly because the elastic reset mechanism always pushes or pulls the clamping jaw 7, causing the end of the clamping jaw 7 to always contact the push slope 6, exerting a resistance force on the push block 3). As the shape of the cam 2 changes, the push block 3 is pushed or pulled and slides along the slide 4. The other end of the push block 3 extends to the middle of the clamping jaw mechanism, and push slopes 6 are provided on both sides of it. When the push block 3 slides along the slide 4, its push slope 6 will push or pull the clamping jaw 7, causing the clamping jaw 7 to rotate around its center to achieve an opening and closing action. Through the cooperation of the cam 2, the opening and closing drive mechanism (the push block 3 and the specific structure of the push block 3), and the elastic reset mechanism, the opening and closing action of the clamping jaw mechanism is realized, and the number of drive sources is reduced. The entire turntable 1 type manipulator only needs one turntable drive mechanism to drive the movement of the entire turntable 1 and all the clamping jaw mechanisms, greatly reducing the structural complexity and manufacturing cost. Furthermore, due to the shape of the cam 2, when the turntable 1 rotates, the push block 3 will contact the cam 2 and produce corresponding sliding at the convex or concave points of the cam 2, thereby driving the opening and closing actions of each group of clamping mechanisms in turn. The actions of all clamping mechanisms are carried out simultaneously during the rotation of the turntable 1, without having to wait for the previous action to be completed before the next action is carried out, thereby significantly improving work efficiency. Among them, the slide groove 4 and the first slider 5 are provided so that the push block 3 can slide smoothly along the radial direction of the turntable 1 without offset or jamming, thereby ensuring the accuracy and stability of the opening and closing action. The clamping mechanism is designed as a rotatable clamping jaw 7, and uses a push ramp 6 and an elastic reset mechanism to control the opening and closing of the two groups of clamping jaws 7. Compared with the existing technology, the clamping jaw 7 cylinder is eliminated, the cost is low, and the corresponding speed is fast.

[0038] The elastic reset mechanism includes a spring seat 8 fixed on the turntable 1. The spring seat 8 is located on the side facing the clamping jaw 7 and is provided with a first mounting hole. A spring 9 is provided in the first mounting hole. The end of the spring 9 is linked with a push pin 10. A guide bar 11 is provided between one end and the middle of the clamping jaw 7. The push pin 10 remains in contact with the guide bar 11 under the push of the spring 9.

[0039] As turntable 1 rotates, if push block 3 passes the high point of cam 2, it moves forward, pushing inclined surface 6 and thereby compressing jaw 7. Guide strip 11 on jaw 7 compresses spring 9, generating a preload. Once push block 3 returns to its original position, spring 9, via push pin 10, pushes jaw 7 back to its original position, achieving the opening and closing action.

[0040] One end of the pushing block 3 is hinged with a first roller 12, which is in rolling contact with the outer circumference of the cam 2. The outer circumference of the cam 2 is provided with at least one group of protrusions 13, and the two ends of the protrusions 13 are connected to the cam 2 at a curved surface. The end of the protrusion 13 is provided with a first limit block 14 fixed on the cam 2, and a second limit block 15 is linked to the upper part of the pushing block 3; one end of the clamping jaw 7 is hinged with a second roller 16, which is in rolling contact with the pushing inclined surface 6.

[0041] The rolling contact between the first roller 12 and the second roller 16 reduces friction and wear, improving the flexibility and accuracy of the movement of the push block 3 and the clamping jaw 7. The bump 13, the high point of the cam 2, adjusts the position of the push block 3. A first stopper 14 is located above the bump 13, and a second stopper 15 is located above the push block 3. This prevents the clamping jaw 7 from opening prematurely. The jaws 7 open only when they reach the predetermined position, enabling rapid material discharge and preventing them from falling or slipping out.

[0042] A second mounting hole is provided in the middle of the turntable 1, and a bearing 17 is provided in the second mounting hole. A mounting shaft 18 is linked to the bearing 17, and a tapered connecting column 19 is provided at the upper end of the mounting shaft 18. A connecting hole 20 is provided in the middle of the cam 2 and the upper end of the tapered connecting column 19. A first strip-shaped pin groove 21 is provided on the outer periphery of the tapered connecting column 19, and a tapered plug hole 22 adapted to the tapered connecting column 19 is provided below the cam 2. A second strip-shaped pin groove 23 is provided on the side wall of the tapered plug hole 22 corresponding to the first strip-shaped pin groove 21, and the second strip-shaped pin groove 23 is provided through the cam 2.

[0043] A bearing 17 is installed in the second mounting hole, ensuring that the turntable 1 rotates around the cam 2 while the cam 2 remains stationary. The mounting shaft 18 is used to mount the cam 2. Tapered connecting posts 19 and tapered connecting holes 20 are added to accommodate cams of varying specifications and types. The cam 2 is securely connected to the mounting shaft 18 by inserting a pin between the first and second strip-shaped pin slots 21 and 23.

[0044] A rotating sleeve 24 is linked to the lower middle portion of the turntable 1 . A clearance hole 25 is passed through the middle of the rotating sleeve 24 , which is clearance-matched with the mounting shaft 18 . The turntable drive mechanism includes a reducer 26 linked to the rotating sleeve 24 .

[0045] The rotating sleeve 24 is used as a connecting component between the rotating disc 1 and the reducer 26. The rotating sleeve 24 is clearance-matched with the mounting shaft 18 through the clearance hole 25 to achieve smooth rotation of the rotating disc 1 and avoid wear between the rotating disc 1 and the mounting shaft 18.

[0046] The turntable 1 is provided with a feeding opening slot 27 corresponding to each group of clamping mechanisms, and a feeding plate 28 is provided at one group of feeding opening slots 27. The feeding plate 28 is penetrated by a strip detection hole 29, and a sensor 30 is installed at the strip detection hole 29. The sensor 30 is fixed on the bracket 31, and a second slider 32 is fixedly installed on the bracket 31. The second slider 32 is slidably connected to the second slide rail 33. The second slide rail 33 is fixed under the feed plate 28, and a plurality of groups of fastening nail holes are provided on the second slide rail 33.

[0047] A material feed opening 27 is provided to facilitate the entry of material into the turntable 1. A feed plate 28 and a sensor 30 are added to detect the presence or position of material. Once detected, the turntable 1 begins operation. The sensor 30 is fixed to a bracket 31, which is slidably connected to a second slide rail 33 via a second slider 32. The second slide rail 33 is fixed below the feed plate 28 and is equipped with several sets of fastening holes for adjusting the position of the sensor 30.

[0048] The operating principle is as follows: When material enters feed plate 28, sensor 30 senses the material, and turntable 1 drives push block 3 to rotate around cam 2. Push block 3 is pushed forward by protrusion 13 on cam 2, and clamping jaw 7 grasps the material. Turntable 1 continues to rotate. When it reaches the other end of protrusion 13, the action of first stop 14 prevents clamping jaw 7 from gradually opening. Instead, when push block 3 moves to the point where second stop 15 is completely misaligned with first stop 14, clamping jaw 7 immediately releases, releasing the material.

Claims

1. A turntable manipulator, comprising a turntable and a turntable drive mechanism for driving the turntable, wherein the turntable is provided with a plurality of groups of gripper mechanisms along the circumference thereof, and characterized in that: A cam is hinged in the middle of the turntable, and an opening and closing drive mechanism installed on the turntable is provided between the clamping mechanism and the cam. The opening and closing drive mechanism can slide radially along the turntable, and the turntable drive mechanism can drive the turntable to rotate around the cam. The opening and closing drive mechanism rotates around the cam following the turntable, and the end of the opening and closing drive mechanism remains in contact with the outer peripheral surface of the cam, thereby controlling the opening and closing of the clamping mechanism.

2. The turntable manipulator according to claim 1, characterized in that: The opening and closing drive mechanism includes a pushing block, and the turntable is provided with a group of sliding grooves corresponding to each group of pushing blocks. A first sliding block adapted to the sliding groove is linked to the bottom of the pushing block. One end of the pushing block remains in contact with the outer peripheral surface of the cam, and the other end extends to the middle of the clamping mechanism. Pushing inclined surfaces are symmetrically provided on both sides of the pushing block. The clamping mechanism includes two groups of symmetrically distributed clamping jaws, one end of each group of clamping jaws extends to the pushing inclined surface, and the middle part is hinged on the turntable. Each group of clamping jaws is linked with a group of elastic reset mechanism, and the elastic reset mechanism pushes or pulls the clamping jaws to rotate around the middle of the clamping jaws so that one end of the clamping jaws remains in contact with the pushing inclined surface.

3. The turntable manipulator according to claim 2, characterized in that: The elastic reset mechanism includes a spring seat fixed on the turntable, and the spring seat is provided with a first mounting hole on the side facing the clamping jaw. A spring is provided in the first mounting hole, and the end of the spring is linked with a push pin. A guide bar is provided between one end and the middle of the clamping jaw, and the push pin remains in contact with the guide bar under the push of the spring.

4. The turntable manipulator according to claim 3, characterized in that: One end of the pushing block is hinged with a first roller, and the first roller is in rolling contact with the outer peripheral surface of the cam. The outer peripheral surface of the cam is provided with at least one group of protrusions, and the two ends of the protrusions are connected to the cam at a curved surface. The end of the protrusion is provided with a first limit block fixed on the cam, and a second limit block is linked above the pushing block; one end of the clamping jaw is hinged with a second roller, and the second roller is in rolling contact with the pushing inclined surface.

5. The turntable manipulator according to any one of claims 1 to 4, characterized in that: A second mounting hole is provided in the middle of the turntable, a bearing is provided in the second mounting hole, a mounting shaft is linked to the bearing, a conical connecting column is provided at the upper end of the mounting shaft, a connecting hole is provided in the middle of the cam and the upper end of the conical connecting column, a first strip-shaped pin groove is provided at the outer periphery of the conical connecting column, a conical plug-in hole adapted to the conical connecting column is provided below the cam, a second strip-shaped pin groove is provided on the side wall of the conical plug-in hole corresponding to the first strip-shaped pin groove, and the second strip-shaped pin groove is provided through the cam.

6. The turntable manipulator according to claim 5, characterized in that: A rotating sleeve is linked to the middle and lower part of the turntable, and a clearance hole that fits with the installation shaft is passed through the middle of the rotating sleeve. The turntable driving mechanism includes a speed reducer linked to the rotating sleeve.

7. The turntable manipulator according to any one of claims 1 to 4, characterized in that: The turntable is provided with a feeding opening slot corresponding to each group of clamping mechanisms, and a feeding plate is provided at one group of feeding opening slots. The feeding plate is penetrated by a strip detection hole, and a sensor is installed at the strip detection hole. The sensor is fixed on the bracket, and a second slider is fixedly installed on the bracket. The second slider is slidably connected to a second slide rail, and the second slide rail is fixed under the feed plate, and a plurality of fastening nail holes are provided on the second slide rail.

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