JP6575041B1 - Single axis manipulator - Google Patents

Abstract

The present invention discloses a single axis servo jib manipulator based on fog computing. A swing space is installed in the support column, a ring groove communicating with an external space is installed in a right end wall of the swing space, and a swing mechanism is installed in the swing space. A rotating block is fixedly connected to the right end surface of the support column, a turning space whose right end wall communicates with the external space is installed in the rotating block, a turning block is fixedly connected to the right end of the rotating column, and the first A rotating column is rotated and connected to a shaft body of one connecting shaft, a driving block is installed on the right side of the rotating column, a rotating groove is installed on the left end surface of the driving block, and a driving space is installed in the driving block. . This device is simple in structure and convenient to operate, and while the present invention is in operation, it can be rotated 360 degrees and sandwiched objects at multiple angles, under the mechanical transmission of the moving mechanism Increasing the practicality of the device by putting objects beyond a certain range. [Selection] Figure 1

Description

The present invention relates to the field of machining, and specifically to a single-axis manipulator .

Currently, with the progress of society and the development of technology, mechanical means are being used instead of manual labor, but manipulators are used instead of manual operations that are dangerous or difficult to operate. However, in the current staircase, most of the manipulators can only perform one-sided movement, there is a great limitation on the range of movement, the range of objects that a manipulator can grip is narrow, and it is disadvantageous for the progress of work. is there.

Chinese Patent Application No. 1040770520

The object of the present invention is to provide a single-axis manipulator to solve the above technical problems.

In order to achieve the above object, the present invention provides the following technical plan: a uniaxial manipulator includes a support column, a swing space is installed in the support column, and an external space is formed in a right end wall of the swing space. A ring groove is provided, a swing mechanism is installed in the swing space, a rotating block is fixedly connected to the right end surface of the support column, and a right end wall in the rotating block communicates with the external space. A space is installed, a rotating electric machine is fixedly connected to the left end wall of the rotating space, a rotating shaft is connected to the right end surface of the rotating electric machine by power, and a rotating column is connected to the right end of the rotating shaft by a rotating engagement; The right end of the swivel column penetrates the right end wall of the swivel space and is in the external space, the slide grooves communicating with the external space are symmetrically installed on the upper and lower end walls of the swivel space, and the swivel block is on the right end of the swivel column. A turning groove is installed on the right end surface of the turning block, front and rear end walls of the turning groove communicate with an external space, a first connection shaft is installed in the turning groove, and the first connection The upper and lower ends of the shaft are fixedly connected to the upper and lower end walls of the turning groove, the rotating column is rotated and connected to the shaft body of the first connecting shaft, the right end of the rotating column passes through the turning groove and enters the external space. A translation groove is symmetrically installed on the upper and lower end faces of the right end of the rotary column, an end wall far from the center of the rotary column of the translation groove communicates with the external space, and the translation block slides in the translation groove. Connected, the right end of the swing mechanism passes through the end wall far from the center of the rotary column of the translation groove and is fixedly connected to the translation block, and the rotation lever is fixedly connected to the left end surface of the rotation block in a vertically symmetrical manner. , Close to the rotating block of the rotating lever A spring groove is installed on the end face, a spring block is fixedly connected to an end wall far from the rotating block of the spring groove, a slide lever is connected to the left and right end faces of the spring block symmetrically and fixed, and the spring of the slide lever An end remote from the block is fixedly connected to an end wall of the spring groove, a slide block is slid and connected to the body of the slide lever, a compression spring is installed between the slide block and the spring block, and the slide block A compression spring is installed between the spring blocks, the second connection lever rotates and is connected to the end of the slide block close to the rotation block, and the other end of the two second connection levers rotates through the rotation pin and is connected A first electromagnet is fixedly connected to an end surface of the slide block that is far from the end surface of the spring block, and the spring groove A second electromagnet is symmetrically and fixedly connected to the left and right end walls of the rotating block, a driving block is installed on the right side of the rotating column, a rotating groove is installed on the left end surface of the driving block, and the front and rear end walls of the rotating groove are outside Communicating with the space, the right end of the rotating column passes through the left end wall of the rotating groove and is in the rotating groove, the second connecting column is fixedly connected to the right end of the rotating column, and the upper and lower ends of the second connecting column are The upper and lower ends of the second connecting column are respectively connected to the upper and lower end walls of the rotating groove, and the driving space is installed in the driving block. A rotation mechanism is installed in the drive shaft, a drive electric machine fixedly connected to the lower end wall of the drive space is installed on the right side of the drive shaft , a transmission shaft is connected to the front end surface of the drive electric machine by power, and the transmission shaft The transmission gear is connected to the upper end shaft body with a flat key. A T-shaped ring groove is installed on the upper end surface of the transmission gear, and a T-shaped block whose upper end penetrates the upper end wall of the T-shaped ring groove is slid and connected in the T-shaped ring groove. A third connecting lever is fixedly connected, a moving space is installed on the right end wall of the driving space, a moving groove communicating with the moving space is installed on the right end wall of the driving space, and a left end is formed on the upper end wall of the moving groove. A connecting groove is provided in which the wall communicates with the drive space, three moving blocks that are helically connected to the transmission shaft are installed below the transmission gear, and the two lower moving blocks are centered on the transmission shaft. Is distributed symmetrically, an annular groove is installed on the outer end wall of the moving block, an electromagnet mechanism is installed on the left side of the lower end wall of the annular groove, and the right ends of the third connection lever and the fourth connection lever are Pass through the left end wall of the connection groove and A working groove that is fixedly connected through the communication space and communicates with the external space on the right end wall of the moving space, the moving mechanism is installed symmetrically in the moving space, and the left end of the moving mechanism penetrates the moving groove And it slides and connects with the circular groove | channel installed symmetrically, and the ventilation mechanism is installed in the upper end surface of the said support pillar.

As a priority, the swing mechanism includes a swing shaft, the left end of the swing shaft is rotated and connected to the left end wall of the swing space, the rotating disk is fixedly connected to the right end of the swing axis, and rotates into the rotating disk. A space is installed, a rotating electrical machine is fixedly connected to the lower end wall of the rotating space, a rotating shaft is connected to the upper end surface of the rotating electrical machine by power, and the upper end of the rotating shaft is rotated and connected to the upper end wall of the rotating space. A rotating lever is fixedly connected to the shaft body of the rotating shaft in a vertically symmetrical manner, a through hole communicating with the swing space is provided in a vertically symmetrical manner on a right end wall of the rotating space, and a right end of the rotating lever is a through hole A first connecting lever is fixedly connected to the right end of the rotating lever, penetrating the ring groove and in the external space.

As a priority, the rotating mechanism includes a driving shaft, the driving shaft is installed symmetrically in the driving space, and upper and lower ends of the driving shaft are respectively rotated and connected to upper and lower end walls of the driving space, and the driving shaft A roll is fixedly connected to the shaft body, a drive gear is fixedly connected to the upper end of the drive shaft, the two left and right drive gears are meshed and connected, and an upper end wall of the drive space is passed through the left roll. A rope fixedly connected to the front end surface of the rotating column is installed, and a rope fixedly connected to the rear end surface of the rotating column through the right roll through the lower end wall of the driving space.

As a priority, the moving mechanism includes a sixth connecting lever, and the left end of the sixth connecting lever is slid and connected to an annular groove penetrating the moving groove and installed symmetrically, and is connected to the right end of the sixth connecting lever. A seventh connection lever is fixedly connected, a pinch lever is installed on the right side of the drive block, an eighth connection lever is fixedly connected to the left end of the pinch lever, and a pinch block is installed in the moving space; A turning groove is installed on an end surface close to the center of the moving space of the sandwiching block, an electromagnet mechanism is installed on a front end wall of the turning groove, and front and rear end walls of the turning groove are fixedly connected by a turning lever, The end of the seventh connecting lever moving away from the center of the moving space passes through the end wall close to the center of the moving space of the turning groove and rotates and is connected to the turning lever, and the left end of the eighth connecting lever passes through the working groove. It is fixedly connected to the pinch block, L levers are installed symmetrically on the front and rear end faces of the pinch block, a mobile electric machine is installed on the front end wall of the moving space, and a moving shaft is connected to the rear end face of the mobile electric machine by power The rear end wall of the moving shaft passes through the rear end wall of the moving space and is in the moving space, the driven shaft is rotated and connected to the rear end wall of the moving space, and the front end of the driven shaft and the rear end of the moving shaft An L groove is provided on each end face close to the center of the end moving space.

As a priority, the repulsive force between the first electromagnet and the second electromagnet is much greater than the elasticity of the compression spring.

As a priority, two threads opposite in direction to the transmission shaft are installed.

As a priority, the blower mechanism includes a blower, a blower block is fixedly connected to the upper end surface of the support pillar, a blower groove is installed on the right end surface of the blower block, and the blower is fixed to the left end wall of the blower groove. Connected.

The beneficial effect of the present invention compared with the existing technology is: When the rotating electrical machine rotates in the operation of the present invention, when the rotating shaft is rotated and the first electromagnet and the second electromagnet are energized at this time, the electromagnet Under the action of repulsive force, the slide block is moved to the spring block. At this time, the compression spring is compressed, the place where the two second connecting levers are connected is compressed and enters the slide groove, and the base of the rotating shaft When the rotating column moves to the left and right, the rotating block moves to the left and right, the device connected to the rotating block moves to the left and right, and the first and second electromagnets are not energized, the rotating column moves under the rotating axis. The rotating block is rotated, the device connected to the rotating block is rotated, and the transmission of the first connecting lever and the rotating lever ensures that the rotating disk rotates and the center of the rotating lever and the rotating column are in the same plane, swing When the structure is working, the rotating lever rotates back and forth, the roll is not working, the rotating column and the device connected to it rotate back and forth, the drive electric machine rotates, and the electromagnetic mechanism in the top moving block The uppermost moving block moves upward and the transmission gear and drive gear are engaged and transmitted under the action of the connecting lever. At this time, the electromagnet mechanism in the moving block is at the uppermost position. Stops moving, the two rolls move in opposite directions, pull the two ropes, rotate the drive block around the second connecting column, and the lower two moving block electromagnet mechanism is activated When the target is too large, the electromagnet mechanism in the moving mechanism stops operating and moves the moving mechanism to the upper and lower ends of the moving space. The L lever on the front and rear end faces of the block is entered into the L groove, the mobile electric machine is actuated, the movement angle is rotated with the pin block, the angle between the two pin levers is increased, and the target is pinched and moved. When the mechanism moves up and down, the electromagnet mechanism in the moving mechanism is always in operation, preventing the pinch block from rotating, this device is simple in structure, convenient to operate, and 360 degrees during operation The object can be rotated over multiple angles and the object can be sandwiched at multiple angles, and the object exceeding the fixed range can be sandwiched under the mechanical transmission of the moving mechanism, increasing the practicality of the device.

For ease of explanation, the present invention will be described in detail with reference to the following specific embodiments and accompanying drawings.

FIG. 1 is a top view of the entire cross section of the uniaxial manipulator of the present invention. FIG. 2 is a left perspective view of the entire cross section of the entire movement space of the single-axis manipulator of the present invention. FIG. 3 is an enlarged schematic view of the upper surface of the entire cross section of the spring groove of the uniaxial manipulator of the present invention. FIG. 4 is an enlarged schematic view of the upper surface of the entire cross section of the electromagnet mechanism of the uniaxial manipulator of the present invention.

The accompanying drawings in the embodiments of the present invention are described below, the technical solutions of the embodiments of the present invention are clearly explained, and the described embodiments are only a part of the embodiments of the present invention and not all the embodiments. It is. Based on the embodiments of the present invention, all other embodiments obtained on the assumption that ordinary engineers in this area do not pay creative labor belong to the protection scope of the present invention.

1 to 4, an embodiment provided by the present invention is as follows: a single-axis manipulator includes a support column 1, a swing space 2 is installed in the support column 1, and an external environment is provided on a right end wall of the swing space 2. A ring groove 5 communicating with the space is installed, a swing mechanism 69 is installed in the swing space 2, a rotating block 10 is fixedly connected to the right end surface of the support column 1, and a right end is installed in the rotating block 10. A turning space 12 whose wall communicates with the external space is installed, a turning electric machine 11 is fixedly connected to the left end wall of the turning space 12, a turning shaft 13 is connected to the right end surface of the turning electric machine 11 by power, and the turning A rotating column 14 is rotationally connected to the right end of the shaft 13, the right end of the rotating column 14 passes through the right end wall of the rotating space 12 and is in the outer space, and communicates with the upper and lower end walls of the rotating space 12 to the outer space. Slide groove 1 Are installed symmetrically, a turning block 17 is fixedly connected to the right end of the turning column 14, a turning groove 19 is provided on the right end surface of the turning block 17, and front and rear end walls of the turning groove 19 communicate with the external space. The first connecting shaft 20 is installed in the turning groove 19, and the upper and lower ends of the first connecting shaft 20 are fixedly connected to the upper and lower end walls of the turning groove 19, respectively. The rotating column 21 is rotated and connected to the body, the right end of the rotating column 21 passes through the rotation groove 19 and is in the outer space, and the translation grooves 23 are symmetrically installed on the upper and lower end surfaces of the right end of the rotating column 21. An end wall far from the center of the rotary column 21 of the translation groove 23 communicates with the external space, a translation block 24 is slid and connected in the translation groove 23, and the right end of the swing mechanism 59 is the rotation column of the translation groove 23. End wall far from the center of 21 The rotation lever 16 is fixedly connected to the left end surface of the rotation block 17 in a fixed manner, and the spring groove 18 is provided on the end surface of the rotation lever 16 close to the rotation block. A spring block 40 is fixedly connected to an end wall of the spring groove 18 away from the rotary block 10, and a slide lever 39 is symmetrically fixedly connected to the left and right end surfaces of the spring block 40. An end remote from 40 is fixedly connected to an end wall of the spring groove 18, a slide block 37 is slid and connected to the body of the slide lever 39, and a compression spring 38 is installed between the slide block 37 and the spring block 40. The second connection lever 33 is rotated and connected to the end of the slide block 37 adjacent to the rotary block 10; The other ends of the two second connecting levers 33 are rotated and connected through a rotation pin, and a first electromagnet 36 is fixedly connected to an end face far from the end face of the spring block 40 of the slide block 37, and the spring groove 18. The second electromagnet 35 is symmetrically fixedly connected to the left and right end walls of the rotating block 21, the driving block 27 is installed on the right side of the rotating column 21, the rotating groove 25 is installed on the left end surface of the driving block 27, and the rotating groove 25 Front and rear end walls communicate with the external space, the right end of the rotating column 21 passes through the left end wall of the rotating groove 25 and is in the rotating groove 25, and the second connecting column 26 is fixedly connected to the right end of the rotating column 21. The upper and lower ends of the second connecting column 26 pass through the upper and lower ends of the rotating column 21 and are in the rotating groove 25. The upper and lower ends of the second connecting column 26 rotate with the upper and lower end walls of the rotating groove 25, respectively. Connected Said driven space 31 is installed in the drive block 27, the rotated mechanism 28 is placed in the drive space 31, on the right side of the drive shaft 32 is driven electric 49 is connected to the fixed lower end wall of the drive space 31 installed The transmission shaft 43 is connected to the front end surface of the drive electric machine 49 by power, the transmission gear 41 is connected to the upper end shaft body of the transmission shaft 43 with a flat key, and the T-shaped ring groove is formed on the upper end surface of the transmission gear 41. 42 is installed, and a T-type block 44 whose upper end passes through the upper end wall of the T-type ring groove 42 is slid and connected in the T-type ring groove 42, and a third connection lever 46 is connected to the upper end of the T-type block 44. Is fixedly connected, a moving space 51 is installed on the right end wall of the driving space 31, a moving groove 50 communicating with the moving space 51 is installed on the right end wall of the driving space 31, and an upper end wall of the moving groove 50 is installed. Left end wall A connection groove 45 communicating with the drive space 31 is installed, and three moving blocks 55 that are helically connected to the transmission shaft 43 are installed on the lower side of the transmission gear 41, and the two lower moving blocks 55 are connected to each other. An annular groove 53 is installed on the outer end wall of the moving block 55, an electromagnet mechanism 54 is installed on the left side of the lower end wall of the annular groove 53, and the third connection is distributed. The right end of the lever 46 and the fourth connection lever 48 penetrates the left end wall of the connection groove 45 and is fixedly connected through the fifth connection lever 47, and the work groove 52 communicating with the external space is installed on the right end wall of the moving space 51. The moving mechanism 34 is installed vertically symmetrically in the moving space 51, and the left end of the moving mechanism 34 is slidably connected to the annular groove 53 penetrating the moving groove 50 and installed symmetrically. Top end of column 1 The air blowing mechanism 74 is installed.

Beneficially, the swing mechanism 69 includes the swing shaft 3, the left end of the swing shaft 3 rotates and is connected to the left end wall of the swing space 2, and the rotating disk 8 is fixedly connected to the right end of the swing shaft 3. A rotating space 9 is installed in the rotating disk 8, a rotating electrical machine 7 is fixedly connected to a lower end wall of the rotating space 9, and a rotating shaft 4 is connected to the upper end surface of the rotating electrical machine 7 by power, The upper end of the rotating shaft 4 is rotated and connected to the upper end wall of the rotating space 9, the rotating lever 6 is fixedly connected to the shaft body of the rotating shaft 4 in a vertically symmetrical manner, and the right end wall of the rotating space 9 communicates with the swing space. The through hole 70 is symmetrically installed, the right end of the rotary lever 6 passes through the through hole 70 and the ring groove 5 and is in the external space, and the first connection lever 22 is fixedly connected to the right end of the rotary lever 6. The action is that the rotating column 21 rotates. Rotates at brought turntable 8, the center of the rotation lever 6 rotates column 21 to ensure that it is in the same plane.

Beneficially, the rotation mechanism 28 includes a drive shaft 32, the drive shaft 32 is installed in the drive space 31 symmetrically, and upper and lower ends of the drive shaft 32 are respectively connected to upper and lower end walls of the drive space 32. Rotatingly connected, a roll 30 is fixedly connected to the shaft body of the drive shaft 32, a drive gear 29 is fixedly connected to the upper end of the drive shaft 32, and the two drive gears 29 on the left and right are meshingly connected. A rope that passes through the upper end wall of the drive space 31 through the left roll 30 and is fixedly connected to the front end surface of the rotary column 21 is installed. The rope 30 passes through the lower end wall of the drive space 31 through the right roll 30. A rope fixedly connected to the rear end face is installed, and its action rotates the drive block 27 in the process of rotating the roll 30.

Beneficially, the moving mechanism 34 includes a sixth connecting lever 57, and the left end of the sixth connecting lever 27 is slidably connected to an annular groove 53 that penetrates the moving groove 50 and is symmetrically arranged. A seventh connection lever 56 is fixedly connected to the right end of the sixth connection lever 57, a pinch lever 61 is installed on the right side of the drive block 27, and an eighth connection lever 60 is fixedly connected to the left end of the pinch lever 61. The sandwiching block 59 is installed in the moving space 51, the turning groove 58 is installed on the end surface of the sandwiching block 59 close to the center of the moving space 51, and the electromagnet mechanism 54 is installed on the front end wall of the turning groove 58. The front and rear end walls of the turning groove 58 are fixedly connected by a turning lever 67, and the end of the seventh connecting lever 56 that is far from the center of the moving space 51 is the moving space 51 of the turning groove 58. Rotating and connecting with the turning lever 67 through the end wall close to the center, the left end of the eighth connecting lever 60 penetrates the working groove 52 and is fixedly connected to the sandwiching block 59, and before and after the sandwiching block 59. An L lever 62 is installed symmetrically on the end face, a moving electric machine 66 is installed on the front end wall of the moving space 51, a moving shaft 65 is connected to the rear end face of the moving electric machine 66 by power, and the rear end of the moving shaft 65 Passes through the rear end wall of the moving space 51 and is in the moving space 51, the driven shaft 63 is rotated and connected to the rear end wall of the moving space 51, and the front end of the driven shaft 63 and the rear end of the moving shaft 62 are connected. L grooves 64 are respectively provided on the end faces close to the center of the moving space 51, and their action ensures that the pinching lever 61 can move up and down and can be rotated to both the upper and lower ends of the moving space 51.

Beneficially, the repulsive force between the first electromagnet 36 and the second electromagnet 35 is much larger than the elasticity of the compression spring 38, and the action is that the slide block is blocked when the first electromagnet 36 rejects the second electromagnet 35. It ensures that 37 can move smoothly to the spring block 40.

Beneficially, two screw threads opposite in direction are installed on the transmission shaft 43, and its action causes the two upper moving blocks to move oppositely or relative to the lower moving block.

Beneficially, the blower mechanism 74 includes a blower 72, a blower block 71 is fixedly connected to the upper end surface of the support column 1, a blower groove 73 is installed on the right end surface of the blower block 71, and the blower groove The blower 72 is fixedly connected to the left end wall of 73, and the action distributes the air in the work space and ensures the comfort level of the environment.

Specific usage method: When the rotating electrical machine 11 rotates during operation of the present invention, when the rotating shaft 13 is rotated, and the first electromagnet 36 and the second electromagnet 35 are energized at this time, Under the action, the slide block 37 is moved to the spring block 40. At this time, the compression spring 38 is compressed, the place where the two second connection levers 33 are connected is compressed and enters the slide groove 15, and the rotation axis 13, when the rotating column 14 moves left and right, the rotating block 17 moves left and right, the device connected to the rotating block 17 moves left and right, and the first electromagnet 36 and the second electromagnet 35 are not energized, The rotating column 14 rotates together with the rotating block 17 under the rotating shaft 13, the device connected to the rotating block 17 rotates, and the rotating disk 8 rotates by the transmission of the first connection lever 22 and the rotating lever 6. It is ensured that the center of the rotary lever 6 and the rotary column 21 are in the same plane, the swing mechanism 69 is operated, the rotary lever 6 rotates back and forth, and the roll 30 is not operated. When the connected device rotates back and forth, the drive electric machine 49 rotates, and the electromagnet mechanism 54 in the uppermost moving block 55 operates, the uppermost moving block 55 moves upward, and the connecting lever Under the action, the transmission gear 41 and the drive gear 29 are meshed and transmitted. At this time, the electromagnet mechanism 54 in the moving block 55 stops operating at the top, and the two rolls 30 move in opposite directions. When the two ropes are pulled and the drive block 27 is rotated around the second connecting column 26 and the electromagnet mechanism 54 of the two lower moving blocks 55 is operated, the moving block 34 is moved under the moving block 55. If the target is strongly pinched or released and the target is too large, the electromagnet mechanism 54 in the moving mechanism 34 stops operating, and the moving mechanism 34 is moved to both the upper and lower ends of the moving space 50, whereby the front and rear end faces of the pinching block 59 The L lever 62 is moved into the L groove 64, the electric motor 66 is actuated, and the angle of movement is rotated with the pinching block 59 to increase the angle between the two pinching levers 61, thereby pinching and moving the target. When the mechanism 34 moves up and down, the electromagnet mechanism 54 in the moving mechanism 34 is always in operation, preventing the pinch block 59 from rotating, the device is simple in structure, convenient to operate, and three in operation. It is possible to achieve the rotation of 1600 degrees and sandwiching the object at multiple angles, and the object exceeding a certain range is sandwiched under the mechanical transmission of the moving mechanism 34, thereby increasing the practicality of the apparatus.

For those skilled in the art, the present invention is not limited to the details of the exemplary embodiments described above, but can be realized in other specific forms without departing from the significance and basic features of the present invention. Therefore, considering that this embodiment is exemplary and not restrictive from any perspective, the scope of the present invention is limited to the attached rights requirements, and all changes falling within the meaning and scope of equivalent important documents of rights requirements. It is included in the present invention. Do not consider all attached marks in the claim as limiting the claim.

Claims (1)

Includes a supporting Jibashira, the support pillars swing space is installed in the outside space and communicating with the ring groove to the right end wall of the swing space is established, the swing mechanism is installed in the swing space, of the supporting pillars A rotating block is fixedly connected to the right end surface, a turning space in which the right end wall communicates with the external space is installed in the rotating block, a rotating electric machine is fixedly connected to the left end wall of the rotating space, and the rotating electric machine A rotating shaft is connected to the right end surface by power, and a rotating column is connected to the right end of the rotating shaft, and a right end of the rotating column passes through a right end wall of the rotating space and is in an external space, Slide grooves communicating with the external space are symmetrically installed on the upper and lower end walls, a turning block is fixedly connected to the right end of the turning column, a turning groove is installed on the right end surface of the turning block, and front and rear ends of the turning groove Wall is outside The first connecting shaft is installed in the turning groove, and the upper and lower ends of the first connecting shaft are fixedly connected to the upper and lower end walls of the turning groove, respectively, to the shaft body of the first connecting shaft. The rotating column is rotated and connected, the right end of the rotating column penetrates the rotating groove and is in the external space, the translation grooves are symmetrically installed on the upper and lower end surfaces of the right end of the rotating column, and the center of the rotating column of the translation groove An end wall that is far from the outer space communicates with the external space, a translation block is slid and connected in the translation groove, and the right end of the swing mechanism passes through the end wall that is far from the center of the rotation column of the translation groove, and the translation block The rotation lever is fixedly connected to the left end surface of the rotation block in a vertically symmetrical manner, and a spring groove is installed on the end surface close to the rotation block of the rotation lever, and is separated from the rotation block of the spring groove. Spring block is fixed to the end wall The slide lever is connected to the left and right end faces of the spring block symmetrically and fixedly, and the end of the slide lever that is far from the spring block is connected to the end wall of the spring groove and fixed to the slide lever body. Is connected by sliding, a compression spring is installed between the slide block and the spring block, a second connection lever is rotated and connected to an end of the slide block adjacent to the rotation block, and the two second connection levers The other end is rotated and connected through a rotating pin, the first electromagnet is fixedly connected to the end face far from the end face of the spring block of the slide block, and the second electromagnet is symmetrically fixed to the left and right end walls of the spring groove. Connected, a driving block is installed on the right side of the rotating column, a rotating groove is installed on the left end surface of the driving block, The rear end wall communicates with the external space, the right end of the rotating column passes through the left end wall of the rotating groove and is in the rotating groove, the second connecting column is fixedly connected to the right end of the rotating column, and the second connection located penetrating and rotary groove vertical ends of the upper and lower ends of the respective rotary columns of pillars, the upper and lower ends of the second connecting column is rotated and the upper and lower end walls of the respective rotary groove connection, the drive space on the drive block is installed A rotating mechanism is installed in the drive space, a drive electric machine connected to the lower end wall of the drive space is fixed on the right side of the drive shaft, and a transmission shaft is connected to the front end surface of the drive electric machine by power. A transmission gear is connected to the upper end shaft body of the transmission shaft with a flat key, a T-shaped ring groove is installed on the upper end surface of the transmission gear, and the upper end is the upper end of the T-shaped ring groove in the T-shaped ring groove. A T-shaped block penetrating the wall is slid and connected. A third connection lever is fixedly connected to the upper end of the block, a moving space is installed on the right end wall of the driving space, a moving groove communicating with the moving space is installed on the right end wall of the driving space, and the upper end of the moving groove A connecting groove whose left end wall communicates with the drive space is installed on the wall, and three moving blocks that are helically connected to the transmission shaft are installed below the transmission gear, and the two lower moving blocks are transmitted. Distributed symmetrically about the axis, an annular groove is installed on the outer end wall of the moving block, an electromagnet mechanism is installed on the left side of the lower end wall of the annular groove, the third connection lever and the fourth connection lever The right end of the moving space passes through the left end wall of the connecting groove and is fixedly connected through the fifth connecting lever. A working groove communicating with the external space is installed on the right end wall of the moving space, and the moving mechanism is vertically moved in the moving space. Symmetrically installed, the moving mechanism The left end penetrates the moving groove and slides and is connected to an annular groove that is installed symmetrically, a blower mechanism is installed on the upper end surface of the support column, the swing mechanism includes a swing shaft, and the left end of the swing shaft is Rotating and connected to the left end wall of the swing space, a rotating disc is fixedly connected to the right end of the swing shaft, a rotating space is installed in the rotating disc, and a rotating electrical machine is fixedly connected to the lower end wall of the rotating space The rotating shaft is connected to the upper end surface of the rotating electrical machine by power, the upper end of the rotating shaft is connected to the upper end wall of the rotating space, and the rotating lever is fixedly connected to the shaft body of the rotating shaft in a vertically symmetrical manner. A through hole communicating with the swing space is vertically symmetrically installed in the right end wall of the rotation space, the right end of the rotation lever is in the outer space through the through hole and the ring groove, and the right end of the rotation lever is One connection lever is fixed The rotation mechanism includes a drive shaft, the drive shaft is installed symmetrically in the drive space, and the upper and lower ends of the drive shaft are respectively rotated and connected to the upper and lower end walls of the drive space, A roll is fixedly connected to the shaft body of the drive shaft, a drive gear is fixedly connected to the upper end of the drive shaft, the two left and right drive gears are meshed and connected, and the upper end wall of the drive space is connected to the left roll. And a rope that is fixedly connected to the front end surface of the rotating column, and a rope that is fixedly connected to the rear end surface of the rotating column through the lower end wall of the driving space is installed on the right roll, and the moving mechanism is Including a sixth connection lever, wherein the left end of the sixth connection lever is slid and connected to an annular groove that is symmetrically installed through the moving groove, and the seventh connection lever is fixed to the right end of the sixth connection lever Connected to the drive block A pinch lever is installed on the right side of the pin, an eighth connection lever is fixedly connected to the left end of the pinch lever, a pinch block is installed in the moving space, and an end surface close to the center of the moving space of the pinch block A turning groove is installed, an electromagnet mechanism is installed on the front end wall of the turning groove, the front and rear end walls of the turning groove are fixedly connected by a turning lever, and the end of the seventh connection lever is far from the center of the moving space. Rotating and connecting with the turning lever through the end wall close to the center of the moving space of the turning groove, the left end of the eighth connecting lever passes through the working groove and is fixedly connected to the sandwiching block, L levers are installed symmetrically on the front and rear end faces, a mobile electric machine is installed on the front end wall of the moving space, a moving shaft is connected to the rear end face of the moving electric machine by power, and the rear end of the moving shaft is located behind the moving space. End wall It penetrates and is in the moving space, the driven shaft of the rear end wall of the moving space is rotated and connected, and an L-groove is installed on each end face close to the center of the moving space at the front end of the driven shaft and the rear end of the moving shaft The repulsive force between the first electromagnet and the second electromagnet is much larger than the elasticity of the compression spring, and two screw threads opposite in direction to the transmission shaft are installed, the blower mechanism includes a blower, and the support A uniaxial manipulator , wherein a blower block is fixedly connected to an upper end surface of a column, a blower groove is installed on a right end surface of the blower block, and a blower is fixedly connected to a left end wall of the blower groove.

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