CN113500622A

CN113500622A - Manipulator for intelligent manufacturing

Info

Publication number: CN113500622A
Application number: CN202110637932.7A
Authority: CN
Inventors: 陈林林; 宋鹏飞; 陈贝贝
Original assignee: Zhengzhou University of Science and Technology
Current assignee: Zhengzhou University of Science and Technology
Priority date: 2021-06-08
Filing date: 2021-06-08
Publication date: 2021-10-15

Abstract

The invention relates to the technical field of mechanical arms, in particular to a mechanical arm for intelligent manufacturing, which comprises a mechanical arm and a mechanical arm mounting bracket, wherein the bracket is rotatably connected with a fixed frame, the fixed frame is rotatably connected with a first telescopic part, the first telescopic part is rotatably connected with the bracket, the fixed frame is parallel to a rotating shaft of the bracket and a rotating shaft of the fixed frame and the first telescopic part, a structure which enables the fixed frame to rotate around the rotating shafts of the bracket and the fixed frame through the length change of the first telescopic part is formed, the fixed frame is provided with a first clamping unit, the fixed frame is provided with a link mechanism, each link mechanism is rotatably connected with a second telescopic part, each second telescopic part is rotatably connected with the fixed frame, each link mechanism is provided with a second clamping unit, a structure which adjusts the distance between each second clamping unit through the length change of the second telescopic part and enables each second clamping unit to move in parallel is formed, and a friction wheel is arranged on the bracket, the invention prevents the large-scale thin-wall workpiece from bending and deforming in clamping and overturning.

Description

Manipulator for intelligent manufacturing

Technical Field

The invention relates to the technical field of manipulators, in particular to a manipulator for intelligent manufacturing.

Background

With the continuous development of industrial automation, industrial manipulators are applied more and more, especially to some large-scale thin-walled occasions which are easy to deform. In actual production, when a large-sized thin-wall workpiece with a sheet-shaped structure and a size larger than 1 x 1m is moved to a conveying frame from a position in a vertical state and is in a horizontal state, the workpiece is easily bent and deformed in overturning by using a manipulator in the prior art, and subsequent processing of the workpiece is not facilitated.

Disclosure of Invention

Aiming at the defects of the prior art and overcoming the defects of the prior art, the invention aims to provide the manipulator for intelligent manufacturing, and solve the problem that a workpiece is easy to bend and deform in overturning.

The technical scheme is that the mechanical arm for intelligent manufacturing comprises a mechanical arm, wherein one end of the mechanical arm is provided with a support, the support is rotatably connected with a fixing frame, the fixing frame is rotatably connected with a first telescopic piece, one end, far away from the fixing frame, of the first telescopic piece is rotated to connect the support, the fixing frame is parallel to the rotating shaft of the support and the rotating shaft of the fixing frame and the first telescopic piece, a structure is formed that the fixing frame rotates around the rotating shaft of the support and the rotating shaft of the fixing frame through the change of the length of the first telescopic piece, first clamping units used for clamping are installed on the lower side of the fixing frame, link mechanisms are installed on two sides of the fixing frame, the power output end of each link mechanism is rotatably connected with second telescopic pieces, each second telescopic piece is rotatably connected with the fixing frame, and second clamping units used for clamping are installed at the execution ends of each link mechanism to form a structure that the distance between each second clamping unit is adjusted through the change of the length of the second telescopic piece and each second clamping unit is parallel to each second clamping unit The movable structure comprises a movable structure, wherein each second clamping unit is positioned below a first clamping unit, each first clamping unit and each second clamping unit form an annular structure in a surrounding mode, friction wheels are installed on the supports and positioned in the area of the annular structure, and the distance between each friction wheel and the annular structure in the axial direction of the annular structure is adjustable.

Preferably, the fixed frame comprises a first cross rod and a second cross rod, the first cross rod is rotatably connected with a first telescopic piece, the first cross rod is fixedly connected with each second cross rod through a vertical rod, each second cross rod is coaxial, each second cross rod is rotatably connected with a support, a first clamping unit and a connecting rod mechanism are installed on each second cross rod, and each vertical rod is rotatably connected with a second telescopic piece.

Preferably, the bracket is fixedly connected with fifth telescopic parts, one end of each fifth telescopic part is slidably connected with one end of a connecting rod, an elastic part made of elastic material is installed between each fifth telescopic part and the connecting rod, the other end of each connecting rod is rotatably connected with a friction wheel, and each friction wheel and the first telescopic part are located on the same side of the fixing frame.

Preferably, the link mechanism includes a first link, a second link, a third link, and a fourth link, the first link, the second link, the third link, and the fourth link enclose a parallelogram structure, and adjacent sides of the parallelogram structure are rotatably connected, one end of the first link is fixedly connected to the fixing frame, the first link and the support are parallel to a rotation axis of the fixing frame, one end of the third link, which is far away from the fourth link, is an execution end of the link mechanism, and one end of the fourth link, which is far away from the third link, is a power output end of the link mechanism.

Preferably, each of the first clamping units is symmetrically distributed, each of the second clamping units is symmetrically distributed, and a symmetry axis of each of the first clamping units is parallel to a symmetry axis of each of the second clamping units.

Preferably, each first clamping unit comprises a first supporting rod, one end of each first supporting rod is rotatably connected with the fixing frame, a first clamping plate is installed at the other end of each first supporting rod, the fixing frame is fixedly connected with one end of a third telescopic piece between the first supporting rods, the other end of the third telescopic piece is rotatably connected with the first supporting rod, and the other end of the first supporting rod is rotatably connected with the first supporting rod to form a structure for adjusting the distance between the first clamping plates through the change of the length of the third telescopic piece.

Preferably, each second clamping unit includes a second supporting rod, one end of each second supporting rod is rotatably connected to an execution end of the link mechanism, a second clamping plate is mounted at the other end of each second supporting rod, the execution end of the link mechanism is fixedly connected to one end of a fourth telescopic member between the second supporting rods, the other end of the fourth telescopic member is rotatably connected to the second rotating rod, and the other end of the second rotating rod is rotatably connected to the second supporting rod, so that a structure is formed in which the distance between the second clamping plates is adjusted by changing the length of the fourth telescopic member.

Preferably, each first clamping plate is rotatably connected with the first supporting rod, each second clamping plate is rotatably connected with the second supporting rod, and the rotating shafts of each second clamping plate and the second supporting rod are parallel to the rotating shaft of the first clamping plate and the rotating shaft of the first supporting rod.

Preferably, one side of each first clamping plate is fixedly connected with an inclined plate, each inclined plate and the first clamping plate form an obtuse angle structure, and each second clamping plate and the first clamping plate are identical in structure.

Preferably, an anti-slip layer is arranged on one side, close to each other, of each first clamping plate, and an anti-slip layer is arranged on one side, close to each other, of each second clamping plate.

The invention provides a manipulator for intelligent manufacturing, which has the following beneficial effects compared with the prior art:

1. the workpiece in a vertical state is moved upwards through the rotation of the friction wheel, the upper side of the workpiece is clamped through the first clamping unit, the friction wheel is far away from the workpiece, the workpiece is moved upwards through the mechanical arm, the distance between the second clamping units is adjusted, the lower side of the workpiece is clamped through the second clamping units, at the moment, the workpiece is stably clamped through the cooperation of the first clamping units, the second clamping units and the fixing frame, the fixing frame is rotated around the rotating shaft of the support and the fixing frame through the change of the length of the first telescopic piece, so that the workpiece clamped by the first clamping units and the second clamping units is driven to rotate from a vertical state to a horizontal state through the rotation of the fixing frame, the workpiece is placed on the conveying frame through the movement of the mechanical arm, the first clamping units and the second clamping units are released, and the movement of the workpiece is completed, thereby preventing the workpiece from bending and deforming during overturning.

2. Through the symmetric distribution of each first clamping unit and each second clamping unit, the workpiece is convenient to clamp, the rotating shafts of the second clamping plates and the second supporting rod and the rotating shafts of the first clamping plates and the first supporting rod are parallel, so that the workpiece which is convenient to clamp through the first clamping plates and the second clamping plates is located in the same plane, and the workpiece is prevented from being deformed in the clamping process.

Drawings

FIG. 1 is a front sectional view of the present invention.

FIG. 2 is a schematic cross-sectional view taken along the line A-A of the present invention.

Fig. 3 is a partial enlarged view of the present invention at C.

FIG. 4 is an enlarged cross-sectional view taken along the direction B-B in the present invention.

Fig. 5 is a front view showing an enlarged view of the first clamping unit according to the present invention.

In the figure: the device comprises a support 1, a connecting frame 1.1, a first longitudinal rod 1.2, a second longitudinal rod 1.3, a fixing frame 2.1, a first transverse rod 2.2, a second transverse rod 2.3, a vertical rod 2.3, a first clamping unit 3, a first supporting rod 3.1, a first clamping plate 3.2, a first rotating rod 3.3, a third telescopic piece 3.4, a second clamping unit 4.1, a second supporting rod 4.2, a second clamping plate 4.3, a second rotating rod 4.4, a fourth telescopic piece 5.4, a connecting rod mechanism 5.1, a first connecting rod 5.2, a second connecting rod 5.3, a third connecting rod 5.4, a fourth connecting rod 6, a first telescopic piece 7, a second telescopic piece 8, an inclined plate 9 anti-skid layer, a fifth telescopic piece 10, a friction wheel 11, an elastic piece 12, a connecting rod 13, a limiting block 14, a groove and a ring-shaped sleeve 16.

Detailed Description

The technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is to be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without any creative effort belong to the protection scope of the present invention, and in the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, only for the convenience of describing the present invention and simplifying the description, but not for indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.

Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance in the description of the present invention, it being noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as being fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The present invention will be described in further detail below with reference to specific embodiments and with reference to the attached drawings.

The first embodiment is as follows:

referring to fig. 1-5, the present invention provides a technical solution: a manipulator for intelligent manufacturing, including the arm, arm one end bolt fastening support 1, support 1 rotates and connects mount 2, mount 2 rotates and connects first extensible member 6, the one end of keeping away from mount 2 on first extensible member 6 rotates linking bridge 1, mount 2 is parallel with the axis of rotation of mount 2 and first extensible member 6 with the axis of rotation of mount 2, form and make mount 2 around the axis of rotation pivoted structure of support 1 with mount 2 through the change of first extensible member 6 length, mount 2 side-mounting is used for the first clamping unit 3 of centre gripping, 2 both sides of mount installation link mechanism 5, the power take off end of each link mechanism 5 rotates connects second extensible member 7, each second extensible member 7 rotates and connects mount 2, the execution end installation of each link mechanism 5 is used for the second clamping unit 4 of centre gripping, form and adjust distance between each second clamping unit 4 and make each second centre gripping list single clamping unit 4 through the change of second extensible member 7 length The unit 4 is in a parallel moving structure, each second clamping unit 4 is positioned below the first clamping unit 3, each first clamping unit 3 and each second clamping unit 4 form an annular structure in an enclosing manner, a friction wheel 11 is installed on the support 1, each friction wheel 11 is positioned in the area of the annular structure, the distance between each friction wheel 11 and the annular structure in the axial direction of the annular structure is adjustable, when the device is used, the friction wheel 11 is moved to be tightly attached to the surface of a workpiece, the workpiece in a vertical state is moved upwards through the rotation of the friction wheel 11, the upper side of the workpiece is clamped through the first clamping unit 3, the friction wheel 11 is far away from the workpiece, the workpiece is moved upwards through a mechanical arm, the distance between the second clamping units 4 is adjusted, the lower side of the workpiece is clamped through the second clamping unit 4, and at the moment, the workpiece is stably clamped through the cooperation of the first clamping unit 3, the second clamping unit 4 and the fixing frame 2, thereafter, through the change of the length of the first telescopic piece 6, the fixing frame 2 rotates around the rotating shafts of the support 1 and the fixing frame 2, so that the workpiece clamped by the first clamping unit 3 and the second clamping unit 4 is driven to rotate to a horizontal state from a vertical state through the rotation of the fixing frame 2, the workpiece is placed on the conveying frame through the movement of the mechanical arm, the first clamping unit 3 and the second clamping unit 4 are loosened, the movement of the workpiece is completed, and the workpiece is prevented from being bent and deformed in the overturning process.

Further, the fixed mount 2 comprises a first cross bar 2.1 and a second cross bar 2.2, two second cross bars 2.2 are provided, the first cross bar 2.1 is rotatably connected with the first telescopic member 6, the first cross bar 2.1 is fixedly connected with each second cross bar 2.2 through a vertical bar 2.3, two vertical bars 2.3 are provided, two ends of each vertical bar 2.3 are fixedly welded with the first cross bar 2.1 and the second cross bar 2.2, each second cross bar 2.2 is coaxial, each second cross bar 2.2 is rotatably connected with the support 1, each second cross bar 2.2 is provided with a first clamping unit 3 and a link mechanism 5, each vertical bar 2.3 is rotatably connected with a second telescopic member 7, when the length of the first telescopic member 6 is shortened, the fixed mount 2 is pulled to rotate around the rotating shaft of the second cross bar 2.2 and the support 1 through the first telescopic member 6, so as to form a structure that the fixed mount 2 rotates around the rotating shaft of the support 1 and the fixed mount 2 through the length change of the first telescopic member 6, which is convenient for the workpiece to rotate from a vertical state to a horizontal state, when the length of the first telescopic piece 6 is extended, the fixed frame 2 is pulled to rotate reversely around the rotating shaft of the second cross rod 2.2 and the support 1 through the first telescopic piece 6.

Further, support 1 includes the link 1.1 of two horns shape, and through two first vertical poles 1.2 welded fastening between each link 1.1 left side, lie in one of the downside in each first vertical pole 1.2 and rotate with first extensible member 6 and be connected, lie in the upside in each first vertical pole 1.2 and arm bolt fastening, each link 1.1 right side end welded fastening second vertical pole 1.3, second vertical pole 1.3 rotates with each second horizontal pole 2.2 at both ends and is connected.

Furthermore, the first clamping units 3 are symmetrically distributed, the second clamping units 4 are symmetrically distributed, and the symmetry axis of each first clamping unit 3 is parallel to the symmetry axis of each second clamping unit 4, so that the workpiece can be clamped conveniently.

Further, the number of the first clamping units 3 includes, but is not limited to, two, each first clamping unit 3 includes a first support rod 3.1, one end of each first support rod 3.1 is rotatably connected with the fixing frame 2, the other end of each first support rod 3.1 is provided with a first clamping plate 3.2, the fixing frame 2 is bolt-fixed with one end of a third telescopic member 3.4 between each first support rod 3.1, the other end of the third telescopic member 3.4 is rotatably connected with a first rotating rod 3.3, the other end of the first rotating rod 3.3 is rotatably connected with the first support rod 3.1, the first support rods 3.1, the first clamping plates 3.2 and the first rotating rods 3.3 in each first clamping unit 3 are two, when the third telescopic member 3.4 is elongated, each first support rod 3.1 is rotated by each first rotating rod 3.3, so that each first clamping plate 3.2 is far away from each other to loosen the workpiece, when the length of the third telescopic member 3.4 is shortened, each first rotating rod 3.1 is rotated to the outside, so that the first clamping plates 3.2 are close to each other for clamping the workpiece, thereby forming a structure for adjusting the distance between the first clamping plates 3.2 by the change of the length of the third telescopic member 3.4.

Further, the number of the second clamping units 4 includes, but is not limited to, two, each second clamping unit 4 includes a second support rod 4.1, one end of each second support rod 4.1 is rotatably connected with the actuating end of the link mechanism 5, the other end of each second support rod 4.1 is provided with a second clamping plate 4.2, the actuating end of the link mechanism 5 is bolted with one end of a fourth telescopic member 4.4 between each second support rod 4.1, the other end of the fourth telescopic member 4.4 is rotatably connected with a second rotating rod 4.3, the other end of the second rotating rod 4.3 is rotatably connected with a second support rod 4.1, the second clamping plate 4.2 and the second rotating rod 4.3 in each second clamping unit 4 are two, when the fourth telescopic member 4.4 is elongated, each second support rod 4.1 is rotated outwards by each second rotating rod 4.3, thereby the second clamping plates 4.2 are far away from each other to loosen the workpiece, when the fourth telescopic member 4.4 is elongated, each second support rod 4.3 is shortened inwards by each second support rod 4.1, thereby the second clamping plates 4.2 are close to each other for clamping the workpiece, thereby forming a structure for adjusting the distance between the second clamping plates 4.2 through the change of the length of the fourth expansion piece 4.4.

Furthermore, each first splint 3.2 is connected with first branch 3.1 rotation, and each second splint 4.2 is connected with second branch 4.1 rotation, and the axis of rotation of each second splint 4.2 and second branch 4.1 and the axis of rotation of first splint 3.2 and first branch 3.1 are parallel to be convenient for carry out the work piece of centre gripping through first splint 3.2, second splint 4.2 and lie in the coplanar, prevent that the work piece from warping in the clamping process.

Further, each first splint 3.2 one side fixed connection hang plate 8, hang plate 8 and first splint 3.2 formula structure as an organic whole, each hang plate 8 forms obtuse angle structure with first splint 3.2, and each second splint 4.2 is the same with first splint 3.2 structure to the work piece of being convenient for gets into between each first splint 3.2, and the work piece of being convenient for gets into between each second splint 4.2.

Further, the anti-skid layer 9 is arranged on one side, close to each other, of each first clamping plate 3.2, the anti-skid layer 9 is arranged on one side, close to each second clamping plate 4.2, of each second clamping plate 4.2, the anti-skid layer 9 is of a sheet structure made of rubber materials, and the anti-skid layer 9 is fixedly bonded with the first clamping plates 3.2 and the second clamping plates 4.2.

Further, a fifth telescopic part 10 is fixed on the support 1 through a bolt, one end of each fifth telescopic part 10 is slidably connected with one end of a connecting rod 13, an elastic part 12 made of elastic materials such as a spring is installed between each fifth telescopic part 10 and the connecting rod 13, the other end of each connecting rod 13 is rotatably connected with a friction wheel 11, each friction wheel 11 and the first telescopic part 6 are located on the same side of the fixed frame 2, one end of the fifth telescopic part 10 is in threaded connection with an annular sleeve 16, one end of the connecting rod 13 is provided with a groove 15, the fifth telescopic part 10 is in sliding connection with the connecting rod 13 through the matching of the annular sleeve 16 and the groove 15, one end of the fifth telescopic part 10 is in clamping connection with the elastic part 12 at the bottom of the groove 15, one end of the connecting rod 13 is in threaded connection with a limiting block 14, the fifth telescopic part 10 is prevented from being separated from the connecting rod 13 through the limiting block 14, the friction wheel 11 is a driving wheel, the fifth telescopic part 10, the connecting rod 13 and the elastic part 12, The number of the friction wheels 11 includes, but is not limited to, two, when the fifth telescopic member 10 is extended in length, the friction wheels 11 move to the right to be close to the distance from the workpiece, and when the fifth telescopic member 10 is shortened in length, the friction wheels 11 move to the left to be far from the workpiece, so that the distance between each friction wheel 11 and the workpiece is adjustable, that is, the distance between each friction wheel 11 and the annular structure in the axial direction of the annular structure is adjustable.

Further, the link mechanism 5 includes a first link 5.1, a second link 5.2, a third link 5.3, and a fourth link 5.4, the first link 5.1, the second link 5.2, the third link 5.3, and the fourth link 5.4 enclose a parallelogram structure, and adjacent sides of the parallelogram structure are rotatably connected, one end of the first link 5.1 is welded to the fixing frame 2, and the first link 5.1 and the bracket 1 are parallel to the rotation axis of the fixing frame 2, one end of the third link 5.3 away from the fourth link 5.4 is an execution end of the link mechanism 5, one end of the fourth link 5.4 away from the third link 5.3 is a power output end of the link mechanism 5, the first link 5.1 is parallel to the rotation axis of the fixing frame 2 through the first link 5.1, and the first link 5.1 is parallel to the third link 5.3, so that each second clamping unit 4 moves in parallel, when each second extensible member 7 extends in length, each second clamping unit 4 moves inward, the second clamping units 4 approach each other, when the length of the second telescopic member 7 is shortened, the second clamping units 4 move outwards, and the second clamping units 4 move away from each other, so that the distance between the second clamping units 4 is adjusted by changing the length of the second telescopic member 7, and the second clamping units 4 move in parallel.

Wherein the first extensible member 6, the second extensible member 7, the third extensible member 3.4, the fourth extensible member 4.4 and the fifth extensible member 10 are telescopic cylinders.

The present invention has been described in detail with reference to the specific embodiments and examples, but these are not intended to limit the present invention. Many variations and modifications may be made by one of ordinary skill in the art without departing from the principles of the present invention, which should also be considered as within the scope of the present invention.

Claims

1. A manipulator for intelligent manufacturing, including the arm, its characterized in that: the mechanical arm one end mounting bracket (1), the bracket (1) is rotatably connected with the fixing frame (2), the fixing frame (2) is rotatably connected with the first telescopic part (6), one end of the first telescopic part (6), which is far away from the fixing frame (2), is rotatably connected with the bracket (1), the rotating shaft of the fixing frame (2) and the rotating shaft of the first telescopic part (6) are parallel, a structure which enables the fixing frame (2) to rotate around the rotating shafts of the bracket (1) and the fixing frame (2) through the change of the length of the first telescopic part (6) is formed, a first clamping unit (3) for clamping is mounted at the lower side of the fixing frame (2), connecting rod mechanisms (5) are mounted at two sides of the fixing frame (2), the power output ends of the connecting rod mechanisms (5) are rotatably connected with second telescopic parts (7), and the second telescopic parts (7) are rotatably connected with the fixing frame (2), the actuating end of each link mechanism (5) is provided with a second clamping unit (4) for clamping, a structure which adjusts the distance between the second clamping units (4) through the change of the length of a second telescopic piece (7) and enables the second clamping units (4) to move in parallel is formed, each second clamping unit (4) is located below the first clamping unit (3), each first clamping unit (3) and each second clamping unit (4) form an annular structure in a surrounding mode, a friction wheel (11) is installed on the support (1), each friction wheel (11) is located in the area of the annular structure, and the distance between each friction wheel (11) and the annular structure in the axial direction of the annular structure is adjustable.

2. The robot for smart manufacturing of claim 1, wherein: the fixing frame (2) comprises a first cross rod (2.1) and a second cross rod (2.2), the first cross rod (2.1) is rotatably connected with a first telescopic piece (6), the first cross rod (2.1) is fixedly connected with the second cross rod (2.2) through a vertical rod (2.3), the second cross rod (2.2) is coaxial and is rotatably connected with the support (1), the second cross rod (2.2) is provided with a first clamping unit (3) and a connecting rod mechanism (5), and the vertical rod (2.3) is rotatably connected with a second telescopic piece (7).

3. The robot for smart manufacturing of claim 1, wherein: the support (1) is fixedly connected with fifth telescopic parts (10), one end of each fifth telescopic part (10) is connected with one end of a connecting rod (13) in a sliding mode, an elastic part (12) made of elastic materials is installed between each fifth telescopic part (10) and the connecting rod (13), the other end of each connecting rod (13) is rotatably connected with a friction wheel (11), and each friction wheel (11) and the first telescopic part (6) are located on the same side of the fixed frame (2).

4. The robot for smart manufacturing of claim 1, wherein: the connecting rod mechanism (5) comprises a first connecting rod (5.1), a second connecting rod (5.2), a third connecting rod (5.3) and a fourth connecting rod (5.4), the first connecting rod (5.1), the second connecting rod (5.2), the third connecting rod (5.3) and the fourth connecting rod (5.4) are enclosed to form a parallelogram structure, adjacent sides of the parallelogram structure are rotatably connected, one end of the first connecting rod (5.1) is fixedly connected with the fixing frame (2), the first connecting rod (5.1) and the support (1) are parallel to a rotating shaft of the fixing frame (2), one end, far away from the fourth connecting rod (5.4), of the third connecting rod (5.3) on the third connecting rod (5.3) is an execution end of the connecting rod mechanism (5), and one end, far away from the third connecting rod (5.3), of the fourth connecting rod (5.4) is a power output end of the connecting rod mechanism (5).

5. The robot for smart manufacturing of claim 1, wherein: the first clamping units (3) are symmetrically distributed, the second clamping units (4) are symmetrically distributed, and the symmetry axis of each first clamping unit (3) is parallel to the symmetry axis of each second clamping unit (4).

6. The robot for smart manufacturing of claim 5, wherein: each first clamping unit (3) comprises first supporting rods (3.1), one end of each first supporting rod (3.1) is rotatably connected with the fixing frame (2), the other end of each first supporting rod (3.1) is provided with a first clamping plate (3.2), the fixing frame (2) is fixedly connected with one end of a third telescopic piece (3.4) between the first supporting rods (3.1), the other end of the third telescopic piece (3.4) is rotatably connected with a first rotating rod (3.3), the other end of the first rotating rod (3.3) is rotatably connected with the first supporting rods (3.1), and a structure for adjusting the distance between the first clamping plates (3.2) through the change of the length of the third telescopic piece (3.4) is formed.

7. The robot for smart manufacturing of claim 6, wherein: each second clamping unit (4) comprises second supporting rods (4.1), one end of each second supporting rod (4.1) is rotatably connected with an execution end of a connecting rod mechanism (5), a second clamping plate (4.2) is installed at the other end of each second supporting rod (4.1), the execution end of the connecting rod mechanism (5) is fixedly connected with one end of a fourth telescopic piece (4.4) between the second supporting rods (4.1), the other end of the fourth telescopic piece (4.4) is rotatably connected with a second rotating rod (4.3), the other end of the second rotating rod (4.3) is rotatably connected with the second supporting rods (4.1), and a structure for adjusting the distance between the second clamping plates (4.2) through the change of the length of the fourth telescopic piece (4.4) is formed.

8. The robot for smart manufacturing of claim 7, wherein: each first splint (3.2) are connected with first branch (3.1) rotation, each second splint (4.2) are connected with second branch (4.1) rotation, each the axis of rotation of second splint (4.2) and second branch (4.1) is parallel with the axis of rotation of first splint (3.2) and first branch (3.1).

9. The robot for smart manufacturing of claim 7, wherein: one side of each first clamping plate (3.2) is fixedly connected with an inclined plate (8), each inclined plate (8) and the first clamping plate (3.2) form an obtuse angle structure, and each second clamping plate (4.2) and the first clamping plate (3.2) are identical in structure.

10. The robot for smart manufacturing of claim 7, wherein: and an anti-skid layer (9) is arranged on one side of each first clamping plate (3.2) which is close to each other, and an anti-skid layer (9) is arranged on one side of each second clamping plate (4.2) which is close to each other.