Flexible multi-claw digital mechanical arm for capacitors

Abstract

The utility model relates to a flexible multi-claw type capacitor digital mechanical hand, including the base plate, and install power mechanism in the base plate upper end face one side, it is characterized in that, power mechanism output end is provided with the sub-assembly, first drive connecting rod one end is connected with the sub-assembly, and first drive connecting rod other end is provided with a plurality of first force arm, and the both ends of first force arm across the base plate are provided with the first connecting rod parallel with first drive connecting rod respectively, and first connecting rod is provided with a plurality of interval vertical downward stretch's first clamping claw, second drive connecting rod one end is connected with the sub-assembly, and second drive connecting rod other end is provided with a plurality of second force arm, and the both ends of second force arm across the base plate are provided with the second connecting rod parallel with second drive connecting rod respectively, and second connecting rod is provided with a plurality of interval vertical downward stretch's second clamping claw, this mechanical hand possesses better clamping compatibility, has improved clamping efficiency, solved the problem that the existing machine hand clamping process is easy to appear and clamps the injury of dropping material.

Description

Technical Field

[0001] This utility model relates to the field of capacitor manufacturing technology, and in particular to a flexible multi-claw digital manipulator for capacitors. Background Technology

[0002] In the production of aluminum electrolytic capacitors, an impregnation process is required. During this process, a robotic arm is used to grip and move the capacitors to a designated impregnation station for processing. Currently, most robotic arms use motor modules to drive the grippers. However, when using a motor module to perform gripping and moving operations with multiple grippers, multiple or more axes of motor modules are often required. This results in numerous motor movements, a complex structure, poor gripping compatibility, and a tendency for material to fall out or be damaged. Therefore, there is an urgent need to develop a robotic arm with good gripping compatibility and precision to address the problems mentioned in the background. Utility Model Content

[0003] To address the shortcomings of existing technologies, the purpose of this invention is to provide a flexible multi-claw digital robotic arm for capacitors. By using a single motor to drive two drive rods, it enables multiple claws to simultaneously and accurately grasp multiple rows of capacitors. This robotic arm has good gripping compatibility and solves the problems of material dropping and injury that easily occur during the gripping process of existing robotic arms.

[0004] The technical problem solved by this utility model is achieved through the following technical solution: A flexible multi-claw capacitor digital manipulator includes a substrate and a power mechanism mounted on one side of the upper surface of the substrate. The substrate has several spaced-apart mounting brackets on both sides in the horizontal direction. The power mechanism's output end has a transfer assembly. The upper end of the substrate has a first driving link and a second driving link capable of moving in opposite directions. One end of the first driving link is connected to the transfer assembly, and the other end has several first lever arms. Each lever arm spans both ends of the substrate and has a first link parallel to the first driving link. Each first link has several spaced-apart first grippers extending vertically downwards. One end of the second driving link is connected to the transfer assembly, and the other end has several second lever arms. Each second lever arm spans both ends of the substrate and has a second link parallel to the second driving link. Each second link has several spaced-apart second grippers extending vertically downwards. The first and second grippers, driven by the power mechanism, can perform gripping actions that move closer and further apart from each other.

[0005] Preferably, the drive assembly includes a drive gear, a first driven rack, and a second driven rack, with the drive gear located between the first driven rack and the second driven rack, and the drive gear, the first driven rack, and the second driven rack forming a meshing relationship with each other.

[0006] Preferably, the first driven rack is fixedly connected to one end of the first driving link, and the second driven rack is fixedly connected to one end of the second driving link; when the driving gear rotates, it drives the first driving link and the second driving link to move in opposite directions.

[0007] Preferably, a limit component is provided on one side of the transfer component, and sliding grooves are provided on both sides of the limit component to limit the travel of the first driven rack and the second driven rack, and the first driven rack and the second driven rack are slidably connected to the sliding grooves.

[0008] Preferably, the first drive link has two spaced-apart first lever arms on the side away from the transfer assembly, and a first fixing rod is provided to fix adjacent first lever arms; the second drive link has two spaced-apart second lever arms on the side away from the transfer assembly, and a second fixing rod is provided to fix adjacent second lever arms.

[0009] Preferably, the fixing frame has a plurality of spaced shaft holes at both ends, and the first connecting rod and the second connecting rod slide through the shaft holes of the fixing frame respectively.

[0010] Preferably, the first link and the second link are each equipped with a gripper arm, wherein a first gripper and a second gripper are respectively installed at the end of the gripper arm away from the first link and the second link; the first link and the second link drive the first gripper and the second gripper to move closer or further away through the gripper arm.

[0011] Preferably, the sides of the first gripper and the second gripper adjacent to each other are provided with a plurality of flexible components arranged in a spaced array.

[0012] Preferably, the flexible component includes an elastic pin, a spring, and a flexible washer. The elastic pin passes through the mounting hole and is sleeved with a spring. One end of the spring abuts against the bottom of the mounting hole, and the other end of the elastic pin abuts against the spring so that the elastic pin has an elastic force to move away from the mounting hole.

[0013] Compared with existing technologies, the beneficial effects of this utility model are as follows: This utility model simplifies the structure by using a single motor to drive dual drive rods, enabling multiple sets of grippers to simultaneously and accurately grasp arranged capacitors. This robotic arm improves grasping efficiency and has good gripping compatibility, solving the problems of material dropping and injury that easily occur during the gripping process of existing robotic arms. By adjusting the motor torque through the feedback information of the gripping force, digital gripping and real-time numerical tracking are achieved. Adjusting the motor torque through the feedback information of the gripping force can grasp capacitors of different sizes, improving compatibility, ensuring no product damage throughout the process, preventing product drops, improving the capacitor gripping method, increasing gripping efficiency by 30%-40%, and improving the safety and efficiency of gripping and handling. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0015] Figure 1 This is a three-dimensional structural appearance diagram of the robotic arm of this utility model.

[0016] Figure 2 This is a partial structural diagram of the robotic arm of this utility model.

[0017] Figure 3 This is a schematic diagram of the combined structure of the substrate, the first driving link, and the second driving link of this utility model.

[0018] Figure 4 This is a schematic diagram of the combined structure of the first driving link and the first lever arm of this utility model.

[0019] Figure 5 This is a schematic diagram of the combined structure of the second drive link and the second lever arm of this utility model.

[0020] Figure 6 This is a schematic diagram of the combined structure of the first and second grippers of one set in this utility model.

[0021] Figure 7 This is a schematic diagram of the first gripper structure of this utility model.

[0022] Figure 8 This is a schematic diagram of the flexible component structure of this utility model.

[0023] Figure 9 This is a cross-sectional schematic diagram of the combination of the first gripper and the flexible component of this utility model.

[0024] Reference numerals in the attached figures: 1. Base plate; 2. Fixing frame; 3. Power mechanism; 4. Transfer assembly; 5. First drive link; 6. First lever arm; 7. First link; 8. Second drive link; 9. Second lever arm; 10. Second link; 11. First gripper; 12. Second gripper; 13. Gripper arm; 14. Mounting hole; 15. Flexible assembly; 101. Limiting assembly; 151. Elastic pin; 152. Spring; 153. Flexible gasket; 154. Stroke sensing assembly; 201. Shaft hole; 301. Motor; 302. Bracket; 401. Drive gear; 402. First driven rack; 403. Second driven rack; 601. First fixing rod; 901. Second fixing rod; 1011. Slide groove. Detailed Implementation

[0025] The embodiments of this utility model will be further described in detail below with reference to the accompanying drawings: The technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this utility model or its application or use. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0026] In the description of this utility model, it should be understood that the terms "both sides," "both ends," "upper," "lower," "top," "bottom," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more. In addition, the term "comprising" and any variations thereof mean "at least including."

[0027] In the description of this utility model, it should be understood that the terms "first", "second", etc., indicate a distinguishing function and do not refer to the order of priority.

[0028] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integrally formed connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances. Example

[0029] like Figures 1-2As shown, a flexible multi-claw capacitor digital manipulator includes a substrate 1 and a power mechanism 3 mounted on one side of the upper surface of the substrate 1. The substrate 1 has several spaced-apart mounting brackets 2 on both sides in the horizontal direction. The power mechanism 3 has a distribution component 4 at its output end. The upper end of the substrate 1 has a first driving link 5 and a second driving link 8 capable of moving in opposite directions. One end of the first driving link 5 is connected to the distribution component 4, and the other end of the first driving link 5 has several first lever arms 6. Each first lever arm 6 spans both ends of the substrate 1 and is respectively provided with a component connected to the distribution component 4. The first drive link 5 is parallel to the first link 7; the first link 7 is provided with a plurality of first grippers 11 extending vertically downward at intervals; one end of the second drive link 8 is connected to the transfer assembly 4, and the other end of the second drive link 8 is provided with a plurality of second lever arms 9, and the two ends of the second lever arms 9 are respectively provided with second links 10 parallel to the second drive link 8 across the base plate 1; the second link 10 is provided with a plurality of second grippers 12 extending vertically downward at intervals; the first grippers 11 and the second grippers 12 can perform gripping actions that move closer and further apart from each other under the drive of the power mechanism 3.

[0030] Specifically, in practical applications, the robotic arm of this technical solution needs to work in conjunction with a robotic arm. The robotic arm is connected to the robotic arm via a base plate 1. The power mechanism 3 is mounted on one side of the upper surface of the base plate 1. In other embodiments, the power mechanism 3 can be a cylinder, which provides a pushing force to the first drive link 5 and the second drive link 8, thereby driving the first gripper 11 and the second gripper 12 to perform gripping actions. In another embodiment, the power mechanism 3 can also be a hydraulic actuator, which similarly provides a pushing force to the first drive link 5 and the second drive link 8, thereby driving the first gripper 11 and the second gripper 12 to perform gripping actions.

[0031] In this embodiment, the motor 301 in the power mechanism 3 is preferably a servo motor. The power mechanism 3 is fixedly mounted on the base plate 1 via a bracket 302, and the power output end of the servo motor is connected to the drive gear 401. The servo motor is the core actuator capable of precise movement. An encoder is integrated within the servo motor, providing real-time feedback of the actual position of the motor shaft to the controller during operation. The controller continuously adjusts the motor's rotation by comparing the difference between the target position and the actual position until this difference is eliminated. This control method allows each component of the robotic arm to be precisely controlled at the specified position and angle. The servo motor provides a pushing force to the first drive link 5 and the second drive link 8, thereby driving the first gripper 11 and the second gripper 12 to perform gripping actions.

[0032] like Figures 2-3As shown, the output end of the power mechanism 3 is provided with a transfer assembly 4, which includes a driving gear 401, a first driven rack 402, and a second driven rack 403. The driving gear 401 is located between the first driven rack 402 and the second driven rack 403, and the driving gear 401, the first driven rack 402, and the second driven rack 403 form a meshing relationship with each other.

[0033] Specifically, the motor 301 in the power mechanism 3 is fixed on the base plate 1 by the bracket 302. The power output end of the motor 301 is fixedly connected to the drive gear 401. The power output shaft of the motor 301 drives the drive gear 401 to rotate. Furthermore, the motor 301 is a servo motor. The servo motor outputs intermittent clockwise and counterclockwise rotations to provide driving force for the first drive link 5 and the second drive link 8.

[0034] like Figures 2-3 As shown, the first driven rack 402 is fixedly connected to one end of the first driving link 5, and the second driven rack 403 is fixedly connected to one end of the second driving link 8; when the driving gear 401 rotates, it drives the first driving link 5 and the second driving link 8 to move in opposite directions.

[0035] Specifically, the driving gear 401 is located between the first driven rack 402 and the second driven rack 403. The first driven rack 402 and the second driven rack 403 are symmetrically arranged on both sides of the driving gear 401, and the first driven rack 402 and the second driven rack 403 mesh with the driving gear 401. A limit component 101 is provided on one side of the transfer assembly 4. The limit component 101 has grooves 1011 on both sides to limit the travel of the first driven rack 402 and the second driven rack 403. The first driven rack 402 and the second driven rack 403 are slidably connected to the grooves 1011. The first driven rack 402 is installed in the groove 1011 on the left side of the limit component 101, and the second driven rack 403 is installed in the groove 1011 on the right side. The first driven rack 402 and the second driven rack 403 can slide within the grooves 1011. The limit component 101 fixes and limits the travel of the second driven rack 403 and the first driven rack 402. When the drive gear 401 starts to rotate clockwise or counterclockwise under the drive of the motor 301, the first driven rack 402 is fixedly connected to one end of the first drive link 5, and the second driven rack 403 is fixedly connected to one end of the second drive link 8. Furthermore, when the driving gear 401 rotates clockwise, it drives the first driven rack 402 to move to the left, which in turn pushes the first drive link 5 to move to the left. Simultaneously, the driving gear 401 drives the second driven rack 403 to move the second drive link 8 to the right, at which point the first drive link 5 and the second drive link 8 move in opposite directions. When the motor 301 drives the driving gear 401 to rotate counterclockwise, the first driven rack 402 moves to the right, pushing the first drive link 5 to move to the right. Simultaneously, the driving gear 401 drives the second driven rack 403 to move the second drive link 8 to the left. In actual clamping, clockwise rotation of the driving gear 401 performs the clamping action, and counterclockwise rotation performs the releasing action. When the driving gear 401 rotates counterclockwise, the first driven rack 402 and the second driven rack 403 return to their original positions, completing one clamping action. During the clamping operation, the driving gear 401 repeatedly rotates clockwise and counterclockwise to achieve the clamping action.

[0036] like Figure 3 , Figure 4 , Figure 5 As shown, the first drive link 5 has two spaced first lever arms 6 on the side away from the transfer assembly 4, and a first fixing rod 601 is fixedly connected between adjacent first lever arms 6; the second drive link 8 has two spaced second lever arms 9 on the side away from the transfer assembly 4, and a second fixing rod 901 is fixedly connected between adjacent second lever arms 9.

[0037] Specifically, such as Figure 4As shown, several first lever arms 6 can be arranged along the length of the first drive link 5. In this embodiment, the number of first lever arms 6 is set to two. The specific number of first lever arms 6 can be set according to the number of first grippers 11 and second grippers 12. In this embodiment, the first lever arms 6 pass across the top of the first drive link 5 and can be connected to the first drive link 5 by screws or welding. In this embodiment, the first drive link 5 and the first lever arms 6 are perpendicular to each other after being connected. A first fixing rod 601 is also connected between adjacent first lever arms 6, which plays a role in fixing and strengthening the structural stability, and at the same time makes the force distribution more uniform. Similarly, several second lever arms 9 can be arranged along the length of the second drive link 8. In this embodiment, the number of second lever arms 9 is set to two. Adjacent second lever arms 9 are also connected by a second fixing rod 901 for fixed connection. During the clamping operation, the motor 301 drives the drive gear 401, the first driven rack 402, and the second driven rack 403, thereby driving the first drive link 5, the first lever arm 6, the second drive link 8, and the second lever arm 9 to move in opposite directions.

[0038] like Figure 2 , Figure 3 As shown, the fixed frame 2 has several spaced shaft holes 201 at both ends, and the first connecting rod 7 and the second connecting rod 10 slide through the shaft holes 201 of the fixed frame 2.

[0039] Specifically, a plurality of spaced-apart mounting brackets 2 are provided on both sides of the substrate 1 in the horizontal direction. The substrate 1 and the mounting brackets 2 are fixed together to form a single unit, providing support. A plurality of spaced-apart shaft holes 201 are provided at both ends of the mounting brackets 2, and the shaft holes 201 at both ends of the mounting brackets 2 are symmetrically arranged about the substrate 1 as an axis of symmetry. The first connecting rod 7 and the second connecting rod 10 are respectively passed through the two shaft holes 201 at one end of the mounting brackets 2. Similarly, the first connecting rod 7 and the second connecting rod 10 are also respectively passed through the two shaft holes 201 at the other end of the mounting brackets 2. Thus, the first connecting rod 7 and the second connecting rod 10 at both ends of the mounting brackets 2 are distributed about the substrate 1 as an axis of symmetry on both sides of the substrate 1. In this embodiment, the first connecting rod 7 and the second connecting rod 10 are both on the same horizontal plane.

[0040] Furthermore, under the action of the first lever arm 6 and the second lever arm 9, the first link 7 and the second link 10 move in opposite directions under the limiting action of the shaft hole 201.

[0041] like Figure 6 As shown, gripper arms 13 are respectively installed in the first link 7 and the second link 10, wherein a first gripper 11 and a second gripper 12 are respectively installed at the end of the gripper arm 13 away from the first link 7 and the second link 10; the first link 7 and the second link 10 drive the first gripper 11 and the second gripper 12 to move closer or further away through the gripper arm 13.

[0042] Specifically, gripper arms 13 are respectively installed along the length of the first link 7 and the second link 10. One end of each gripper arm 13 has a mounting opening that matches the first link 7 and the second link 10, and they are fixed by welding or screws. The gripper arms 13 are vertically fixed below the first link 7 and the second link 10. A first gripper 11 and a second gripper 12 are respectively installed at the end of the gripper arm 13 away from the first link 7 and the second link 10. The first link 7, gripper arms 13, and first gripper 11 are connected and fixed to form a whole, and the second link 10, gripper arms 13, and second gripper 12 are also connected and fixed to form a whole. When the first link 7 moves, it drives the first gripper 11 to move as well; when the second link 10 moves, it drives the second gripper 12 to move as well.

[0043] The first link 7 and the second link 10 perform opposite actions under the drive of the motor 301, thereby driving the first gripper 11 and the second gripper 12 to move closer or further away respectively, thereby realizing the gripping action of the first gripper 11 and the second gripper 12.

[0044] like Figure 1 As shown, a first gripper 11 and a second gripper 12 cooperate to form a set of gripping components. By setting multiple sets of gripping components in the first link 7 and the second link 10, multiple sets of capacitors can be gripped simultaneously. At the same time, the first gripper 11 and the second gripper 12 extend in the horizontal direction to form an arrangement for gripping, so that the first gripper 11 and the second gripper 12 can grip multiple rows of capacitors at the same time, satisfying the need for simultaneous gripping of multiple and multiple rows of capacitors, thus improving gripping efficiency.

[0045] like Figures 6 to 9 As shown, the sides of the first gripper 11 and the second gripper 12 adjacent to each other are respectively provided with a number of flexible components 15 arranged in an array at intervals.

[0046] The flexible component 15 includes an elastic pin 151, a spring 152, and a flexible washer 153. The elastic pin 151 passes through the mounting hole 14. The elastic pin 151 is sleeved with the spring 152. One end of the spring 152 abuts against the bottom of the mounting hole 14, and the other end of the elastic pin 151 abuts against the spring, so that the elastic pin 151 has an elastic force away from the mounting hole 14.

[0047] When the robotic arm grips a capacitor, the first gripper 11 and the second gripper 12 approach each other and clamp the capacitor. The flexible component 15 acts as a buffer. Specifically, the flexible pad 153 can be made of soft rubber. When the first gripper 11 and the second gripper 12 grip the capacitor, the flexible pad 153 contacts the capacitor surface, reducing the impact damage during contact and preventing damage to the capacitor's appearance, thus ensuring product quality. In addition, the elastic pin 151 passes through the mounting hole 14 and is fitted with a spring 152. When the capacitor is gripped, the capacitor compresses the elastic pin 151. Under the elastic action of the spring 152, the elastic pin 151 maintains sufficient friction to keep the capacitor pressed against the capacitor, ensuring that the clamped capacitor is firmly held within the first gripper 11 and the second gripper 12, reducing the risk of it falling.

[0048] Furthermore, a stroke sensing component is provided at the end of the elastic pin 151 away from the flexible pad 153. When the elastic pin 151 is squeezed by the capacitor, the elastic pin 151 will retract into the mounting hole 14, and the end of the elastic pin 151 will extend into the stroke sensing component 154. When the extension of the elastic pin 151 exceeds the preset value, the stroke sensing component 154 gives feedback instructions to the power mechanism 3, controls the motor 301 to reduce the torque, and finely adjusts the clamping gap between the first gripper 11 and the second gripper 12 until the extension of the elastic pin 151 is kept within the preset value, so as to ensure sufficient clamping force and avoid damaging the capacitor. Similarly, when the extension of the elastic pin 151 is less than the preset value, the stroke sensing component 154 sends a feedback command to the power mechanism 3 to control the motor 301 to increase the torque and finely adjust the clamping gap between the first gripper 11 and the second gripper 12 until the extension of the elastic pin 151 is kept within the preset value. This ensures sufficient clamping force to prevent the capacitor from falling. By adjusting the torque of the motor 301 through the feedback information of the clamping force, digital clamping and real-time numerical tracking are achieved. By adjusting the torque of the motor 301 through the feedback information of the clamping force, capacitors of different sizes can be clamped, improving compatibility. The entire process does not damage the product and prevents the product from falling. The clamping method of the capacitor is improved, and the efficiency is increased by 30%-40%, improving the safety and handling efficiency of clamping.

[0049] It should be emphasized that the embodiments described in this utility model are illustrative rather than limiting. Therefore, this utility model is not limited to the embodiments described in the specific implementation. Any other implementation methods derived by those skilled in the art based on the technical solutions of this utility model are also within the scope of protection of this utility model.

Claims

1. A flexible multi-claw capacitor digital manipulator, comprising a substrate (1) and a power mechanism (3) mounted on one side of the upper end face of the substrate (1); characterized in that, The substrate (1) has several spaced-apart mounting brackets (2) on both sides in the horizontal direction; the output end of the power mechanism (3) is provided with a transfer assembly (4); the upper end of the substrate (1) is provided with a first driving link (5) and a second driving link (8) that can move in opposite directions; one end of the first driving link (5) is connected to the transfer assembly (4), and the other end of the first driving link (5) is provided with several first lever arms (6), and the first lever arms (6) span the two ends of the substrate (1) and are respectively provided with first links (7) parallel to the first driving link (5); the first links (7) The first gripper (11) is provided with several vertically downward extending claws at intervals; one end of the second drive link (8) is connected to the transfer assembly (4), and the other end of the second drive link (8) is provided with several second lever arms (9). The two ends of the second lever arms (9) span the substrate (1) and are respectively provided with second links (10) parallel to the second drive link (8); the second link (10) is provided with several vertically downward extending claws (12) at intervals; the first gripper (11) and the second gripper (12) can perform clamping actions that move closer to each other and further away from each other under the drive of the power mechanism (3).

2. The flexible multi-claw capacitor digital manipulator according to claim 1, characterized in that: The drive assembly (4) includes a drive gear (401), a first driven rack (402), and a second driven rack (403). The drive gear (401) is located between the first driven rack (402) and the second driven rack (403), and the drive gear (401), the first driven rack (402), and the second driven rack (403) form a meshing relationship with each other.

3. The flexible multi-claw capacitor digital manipulator according to claim 2, characterized in that: The first driven rack (402) is fixedly connected to one end of the first driving link (5), and the second driven rack (403) is fixedly connected to one end of the second driving link (8); when the driving gear (401) rotates, it drives the first driving link (5) and the second driving link (8) to move in opposite directions.

4. The flexible multi-claw capacitor digital manipulator according to claim 1, characterized in that: The transfer component (4) is provided with a limit component (101) on one side, and the limit component (101) is provided with a slide groove (1011) on both sides for limiting the travel of the first driven rack (402) and the second driven rack (403). The first driven rack (402) and the second driven rack (403) are slidably connected to the slide groove (1011).

5. The flexible multi-claw capacitor digital manipulator according to claim 1, characterized in that: The first drive link (5) has two spaced first lever arms (6) on the side away from the transfer assembly (4), and a first fixing rod (601) is fixedly connected between adjacent first lever arms (6); the second drive link (8) has two spaced second lever arms (9) on the side away from the transfer assembly (4), and a second fixing rod (901) is fixedly connected between adjacent second lever arms (9).

6. The flexible multi-claw capacitor digital manipulator according to claim 1, characterized in that: The fixed frame (2) has several spaced shaft holes (201) at both ends, and the first connecting rod (7) and the second connecting rod (10) slide through the shaft holes (201) of the fixed frame (2).

7. The flexible multi-claw capacitor digital manipulator according to claim 1, characterized in that: The first link (7) and the second link (10) are respectively equipped with gripper arms (13), wherein the gripper arms (13) are respectively equipped with a first gripper (11) and a second gripper (12) at the ends away from the first link (7) and the second link (10); the first link (7) and the second link (10) drive the first gripper (11) and the second gripper (12) to move closer or further away through the gripper arms (13).

8. The flexible multi-claw capacitor digital manipulator according to claim 1, characterized in that: The first gripper (11) and the second gripper (12) are respectively provided with a number of flexible components (15) arranged in an interval array on their adjacent sides.

9. A flexible multi-claw capacitor digital manipulator according to claim 8, characterized in that: The flexible component (15) includes an elastic pin (151), a spring (152), and a flexible washer (153). The elastic pin (151) passes through the mounting hole (14). The elastic pin (151) is sleeved with the spring (152). One end of the spring (152) abuts against the bottom of the mounting hole (14), and the other end of the elastic pin (151) abuts against the spring, so that the elastic pin (151) has an elastic force away from the mounting hole (14).

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