CN208084338U - A kind of manipulator rotating device - Google Patents

Abstract

The utility model discloses a kind of manipulator rotating devices, belong to manipulator field, a kind of gravity made on mounting plate is intended to provide to be not easy all to be applied to the manipulator rotating devices of cylinder, its technical solution is as follows, a kind of manipulator rotating device, including rack, cylinder, drive rod, rotating part and mounting plate；One end of the rack is fixedly connected with cylinder, and the other end is hinged with rotating part；The mounting plate is fixed on rotating part；The drive rod is arranged in rack, and one end of drive rod is fixedly connected with the piston rod of cylinder, and the other end is hinged with connecting rod, the connecting rod one end and rotating part far from drive rod it is side walls hinged；The outer wall of the drive rod and the inner wall of rack contradict；When the cylinder piston rod stretches out, the mounting plate is rotated to vertical state, and the axial direction of connecting rod and drive rod is misaligned；When the cylinder piston rod is shunk, the mounting plate is rotated to horizontality, and the utility model is suitable for the manipulator on truss.

Description

A kind of manipulator rotating device

Technical field

The utility model is related to a kind of manipulator, more particularly to a kind of manipulator rotating device.

Background technology

With the raising of production automation level, it is also more and more to execute production task automatically using manipulator.Manipulator The heavy labor of people can be replaced to realize the mechanization and automation of production, can be operated under hostile environment to protect personal peace Entirely, thus it is widely used in the fields such as machine-building, metallurgy, electronics, light industry and atomic energy.The injection molding machine of modernization usually configures There is manipulator, need the product for picking up injection molding machine production using manipulator, and be placed into scheduled position, to improve production effect Rate.

Notification number is that the Chinese patent of CN202480341U discloses a kind of manipulator side appearance group, it includes side appearance machine Frame, a driving part, an angular adjustment component and a turning part, which is hinged on the bottom of side appearance rack, described Driving part is arranged at the top of the side appearance rack, and turning part part can be driven to make rotary movement, the angular adjustment Component is arranged in the side appearance rack side, and can limit the flip angle of turning part part.The driving part includes one Cylinder, a guiding axis and a rack, the cylinder are arranged at the middle part of both side plate, and the upper end of the guiding axis is arranged in cylinder On piston rod, through the rotating seat and extending to outside hinged seat, the rack is movably arranged on hinged seat for lower end, and with institute The lower end for stating guiding axis is connected.The side appearance rack includes a fixed seat, a rotating seat and both side plate, the fixed seat setting In the upper end of both side plate, the top of the rotating seat is arranged in the lower end of both side plate, and the lower part side of the rotating seat is equipped with a hinge Joint chair.Turning part part includes a mounting plate, which is equipped with a circular hinge compatible with the hinged seat Socket part, the articulated section are arranged by Assembly of pin on hinged seat, and are equipped with and the tooth on the outer circumference surface of the articulated section The compatible teeth of item.

Above-mentioned this manipulator side appearance group is moved up and down by cylinder drive rack to drive articulated section to rotate, articulated section Rotation just drives mounting plate overturning.And articulated section is at annular shape, the power all same that the teeth on the outside of articulated section are contacted with rack.When When the workpiece of the manipulator, manipulator clamping that are connected on mounting plate, mounting plate is overweight, the gravity born on articulated section will pass through tooth Tooth is all transferred on rack, and rack at this time just persistently bears a upward power, and this power will directly act on gas Cylinder is easy to make cylinder deactivation and mounting plate is made to downwardly turn over and can not work normally under abnormal condition.

Utility model content

The purpose of this utility model is to provide a kind of manipulator rotating device, and having makes the gravity on mounting plate be not easy whole It is applied to the effect of cylinder.

The above-mentioned technical purpose of the utility model technical scheme is that：

A kind of manipulator rotating device, including rack, cylinder, drive rod, rotating part and mounting plate；

One end of the rack is fixedly connected with cylinder, and the other end is hinged with rotating part；

The mounting plate is fixed on rotating part；

The drive rod is arranged in rack, and one end of drive rod is fixedly connected with the piston rod of cylinder, the other end Be hinged with connecting rod, the connecting rod one end and rotating part far from drive rod it is side walls hinged；

The outer wall of the drive rod and the inner wall of rack contradict；

When the cylinder piston rod stretches out, the mounting plate is rotated to vertical state, and the axial direction of connecting rod and drive rod It is misaligned；

When the cylinder piston rod is shunk, the mounting plate is rotated to horizontality.

By using above-mentioned technical proposal, when needing mounting plate being pushed into vertical state, the piston rod of cylinder stretches out, from And push down on drive rod, drive rod will pass through connecting rod driving rotating part rotation, and the rotation of rotating part just drives mounting plate from water Level state turns to vertical state, and the axial direction of connecting rod and drive rod at this time is misaligned, and the gravity on mounting plate passes through rotation Portion is transferred on connecting rod, and connecting rod and drive rod is axially inclined, thus it is not just vertical that connecting rod, which is applied to the power of drive rod, It is upward, i.e., on the power not instead of totally tansitive to cylinder on connecting rod, it is broken down into a horizontal power and straight up Power, since the outer wall of drive rod and the inner wall of rack contradict, thus drive rod is not susceptible to swing and cause the piston rod of cylinder Bending, and the power that vertical power is transferred to less than mounting plate on connecting rod is resolved into, and then cylinder is made to bear smaller power and be not easy Failure.

Further, when the mounting plate is in vertical state, the angle between the connecting rod and the axial direction of drive rod is situated between Between 80 ° to 100 °.

By using above-mentioned technical proposal, when the angle between connecting rod and the axial direction of drive rod is between 80 ° to 100 ° When, after difference, main power is just decomposed to perpendicular to drive rod axial direction the power on connecting rod, and lives along cylinder The power very little of stopper rod axial direction；Since the outer wall of drive rod and the inner wall of rack contradict, drive rod is not easy cut The piston rod of cylinder is caused to loosen, be bent to when power.

Further, the one end of the drive rod far from cylinder and installation gap is offered towards the side of rotating part, institute It states both sides opposite in installation gap and is provided with shaft one, rotating cylinder, the both ends difference of the rotating cylinder are arranged in the shaft one The both sides opposite with installation gap contradict, and one end of the connecting rod towards drive rod is fixedly connected with rotating cylinder.

By using above-mentioned technical proposal, connecting rod is connected on rotating cylinder, and rotating cylinder can only have in shaft one to be rotated, and The both ends of rotating cylinder are limited by the opposite two side walls of installation gap and are not susceptible to move, to make connecting rod in the mistake of rotation It is not susceptible to the displacement along rotating cylinder axial direction in journey, connecting rod is made more to stablize in the process of running.

Further, the rotating part includes two pieces of symmetrical spill spin blocks, two spill spin blocks respectively by axle sleeve with Rack is hinged；

The same side of two spill spin blocks is fixedly connected with mounting plate；

Connection bump has been each extended on two spill spin blocks, has been equipped between two connection bumps free to rotate Shaft two, the one end of the connecting rod far from rotating cylinder are fixedly connected with shaft two；

Both sides opposite with connecting rod contradict the opposite side of two connection bumps respectively；

Two spill spin blocks are between the opposite both sides of installation gap.

By using above-mentioned technical proposal, connecting rod is realized by shaft two and connection bump and is rotatablely connected, and connecting rod Both sides are limited by connection bump and are not susceptible to move, and connection bump is commonly connected on mounting plate, make two connections What protrusion can be stablized is not susceptible to move positioned at the both sides of connecting rod；Meanwhile two spill spin blocks are opposite between installation gap Between both sides, spill spin block is made to be not easy to contradict and interfere, the drive for enabling connecting rod to stablize with drive rod during rotation Dynamic spill spin block rotation, while the both ends of connecting rod are restricted and whole structure are made to be not susceptible to deviate respectively, make entirely to drive Process is more stablized.

Further, the buffer gear of buffering mounting plate rotary speed is provided on the drive rod.

By using above-mentioned technical proposal, during drive rod moves up and down, since the setting of buffer gear can To the terminal moved up of drive rod and the terminal moved down into row buffering, to make drive rod stop from moving quickly into Can be to make the speed that drive rod moves be not easy bust to drive rod into row buffering by buffer gear during only Zero, corresponding mounting plate also not necessarily stops operating suddenly, but there are one to a slow process, making on mounting plate soon The grabbing workpiece that manipulator can be stablized is transported and is placed.

Further, side of the rack far from mounting plate offers waist-shaped hole along drive rod axial direction；

The buffer gear includes mounting base, link block, buffer；The link block is arranged in waist-shaped hole, and one End extends on drive rod and is fixedly connected with drive rod, and the other end extends rack and is fixedly connected with mounting base；

The buffer is fixedly connected with mounting base, and the axial direction of the buffer and the axial direction of drive rod are flat It goes, position corresponding with the buffer head of buffer is provided with baffle in the rack.

By using above-mentioned technical proposal, during drive rod is moved up or down along waist-shaped hole, drive rod Mounting base is driven to move together by link block, when reaching home, the buffer head of buffer contradicts and delayed with baffle Punching, makes the speed of mounting base slow down, i.e. the speed that the speed of drive rod slows down and is inconjunction with mounting plate slows down, and makes on mounting plate The grabbing workpiece that manipulator can be stablized is transported and is placed.

Further, the buffer is set as two, and two buffers are located at the both ends of mounting base, and two The buffer head of buffer is oppositely arranged；Baffle is also configured as two, and is set to rack both ends position corresponding with buffer head It sets.

By using above-mentioned technical proposal, two buffers are oppositely arranged, and make drive rod in the mistake moved up and down It can be retarded in journey.

Further, the angle adjusting mechanism for adjusting mounting plate flip angle is provided in the rack.

By using above-mentioned technical proposal, the flip angle of mounting plate can be adjusted in angle adjusting mechanism, make peace Manipulator in loading board can overturn to more accurate position and workpiece is captured and placed；Simultaneously because angular adjustment machine The error that the setting of structure can stretch out the piston rod of cylinder and shrink makes up, and can also make up installation error.

Further, the one end of the rack far from cylinder is extended with mounting blocks one, and the mounting blocks one are leaned on positioned at rack The side of nearly mounting base；

Side of the rack far from mounting base is provided with mounting blocks two, and the mounting blocks two are located at the top of mounting plate；

The angle adjusting mechanism includes fixing nut one, fixing nut two, adjusting bolt one and adjusting bolt two, described Fixing nut one is fixed on mounting blocks one, and the adjusting bolt one runs through mounting blocks one and fixing nut one, and with fixed spiral shell Mother one is threadedly coupled, and the adjusting bolt one and the axial direction of drive rod, the axial direction of axle sleeve are vertical；

The fixing nut two is fixed on mounting blocks two, and the adjusting bolt two runs through mounting blocks two and fixing nut Two, and be threadedly coupled with fixing nut two, the adjusting bolt two is parallel with the axial direction of drive rod.

By using above-mentioned technical proposal, when needing adjusting mounting plate to be in the angle of vertical state, it is only necessary to rotate Adjusting bolt two makes adjusting bolt two be moved in fixing nut two, mounting plate overturn to when being contradicted with adjusting bolt two just without Method is rotated further, to realize the angular adjustment to mounting plate vertical direction；It is in horizontality needing adjusting mounting plate When angle, it is only necessary to rotate adjusting bolt one, adjusting bolt one made to be moved in fixing nut one, mounting plate overturn to adjusting It when bolt one contradicts, just can not be rotated further, to realize the angular adjustment to mounting plate horizontal direction.

Further, the adjusting bolt one, adjusting bolt two towards mounting plate one end be provided with and be both provided with buffering Pad.

By using above-mentioned technical proposal, when mounting plate is overturn to adjusting bolt one or the conflict of adjusting bolt two, peace Loading board is directly contradicted with cushion pad, to make mounting plate be not easy to wear during long-term use.

In conclusion the utility model has the advantages that：

1. driving connecting rod using drive rod, mounting plate rotation is driven by connecting rod, realizes the overturning of mounting plate, while will installation The power of plate decomposes to level, and the gravity on mounting plate is not easy all to be applied to cylinder；

2. using rotating cylinder is arranged in installation gap, connecting rod is fixed on rotating cylinder, and connecting rod is made to be not susceptible to move；

3. using the cooperation of buffer and baffle, realizes the buffering before stopping to mounting plate rotation, keep manipulator more steady Fixed work；

4. using the cooperation of fixing nut one and adjusting bolt one, fixing nut two and adjusting bolt two, realize to installation The angular adjustment of plate.

Description of the drawings

Fig. 1 is in the present embodiment for embodying the connection relationship diagram between cylinder, rack, drive rod, mounting plate；

Fig. 2 be in the present embodiment for embodying in rack, the structural schematic diagram of angle adjusting mechanism, buffer gear；

Fig. 3 is the structural schematic diagram for embodying waist-shaped hole in rack in the present embodiment.

In figure, 1, rack；11, through-hole；12, waist-shaped hole；13, baffle；14, angle adjusting mechanism；141, mounting blocks one； 1411, fixing nut one；1412, adjusting bolt one；142, mounting blocks two；1421, fixing nut two；1422, adjusting bolt two； 143, cushion pad；2, cylinder；3, drive rod；31, installation gap；311, shaft one；312, rotating cylinder；32, buffer gear；321, pacify Fill seat；322, link block；323, buffer；3231, buffer head；4, rotating part；41, spill spin block；411, connection bump；412, turn Axis two；42, axle sleeve；5, mounting plate；6, connecting rod.

Specific implementation mode

The utility model is described in further detail below in conjunction with attached drawing.

Wherein identical parts are presented with like reference characters.It should be noted that word used in the following description Language "front", "rear", "left", "right", "up" and "down" refer to the direction in attached drawing, word " bottom surface " and " top surface ", "inner" and "outside" refers respectively to the direction towards or away from geometric center of specific component.

A kind of manipulator rotating device, as shown in Figure 1, including rack 1, cylinder 2, drive rod 3, rotating part 4 and mounting plate 5.Circular through hole 11 is offered in rack 1, cylinder 2 is fixed on one end of rack 1, side and rotation of the rack 1 far from 2 one end of cylinder Transfer part 4 is hinged.The piston rod of cylinder 2 penetrates into through-hole 11, and drive rod 3 is threaded through in through-hole 11, and one end of drive rod 3 It is fixedly connected with piston rod, the other end is hinged with connecting rod 6.The other end of connecting rod 6 is hinged with the outside of rotating part 4, and mounting plate 5 is solid It is scheduled on the outside of rotating part 4.Drive rod 3 is cylinder, and the outer wall of drive rod 3 and the inner wall of through-hole 11 contradict, and work as driving When bar 3 perpendicular to axial power by having the trend of bending, the hole wall of through-hole 11 is supported drive rod 3, makes driving Bar 3 is not susceptible to be bent.During the piston rod of cylinder 2 stretches out, drive rod 3 pushes connecting rod 6, connecting rod 6 to push and rotating part 4 Hinged one end rotates down, and mounting plate 5 is rotated to vertical state.When mounting plate 5 is in vertical state, connecting rod 6 and driving Angle between the axial direction of bar 3 is between 80 ° to 100 °, and in the present embodiment, which is 90 °, i.e. connecting rod 6 and drive rod 3 it is axially vertical, connecting rod 6 bears the power of mounting plate 5 and is just all vertically applied to 3 axial direction of drive rod at this time, and drive rod 3 By rack 1 support without flexible, meanwhile, connecting rod 6 can be considered zero to the active force of the piston rod of cylinder 2.When piston rod is received When contracting, the overturning of mounting plate 5 to horizontality.

As shown in Fig. 2, the one end of drive rod 3 far from cylinder 2 and installation gap 31 is offered towards the side of rotating part 4, Opposite both sides are fixedly connected with shaft 1 in installation gap 31, and shaft 1 is axially vertical with drive rod 3, are turning Rotating cylinder 312 is arranged on axis 1, the both ends of rotating cylinder 312 are contradicted respectively at the opposite both sides of installation gap 31, to make rotating cylinder 312 can be freely rotated in shaft 1, but not be moved along the axial direction of shaft 1.Connecting rod 6 is far from rotation The one end in portion 4 is fixedly connected with rotating cylinder 312, to realize being hinged between connecting rod 6 and drive rod 3.

As shown in Fig. 2, rotating part 4 includes two pieces of symmetrical spill spin blocks 41, two spill spin blocks 41 pass through axle sleeve respectively 42 is hinged with the one end of rack 1 far from cylinder 2, and spill spin block 41 is located at drive rod 3 and is provided on the direction of installation gap 31.Two rotations There is gap, two spill spin blocks 41 are fixedly connected with mounting plate 5, equal in the same position of two spill spin blocks 41 between switch block 41 It is extended with connection bump 411, shaft 2 412 is equipped in two connection bumps 411, shaft 2 412 can be in connection bump 411 On be freely rotated, the one end of connecting rod 6 far from shaft 1 is fixedly connected with shaft 2 412, and connecting rod 6 between two connect Between protrusion 411, the opposite both sides of connecting rod 6 both sides opposite with connection bump 411 contradict, to make shaft 2 412 connect It is not susceptible to walk in protrusion 411.Simultaneously as two spill spin blocks 41 are connect with mounting plate 5 jointly, connection bump 411 is by even Bar 6 constrains, and connecting rod 6 is again by the constraint of rotating cylinder 312, therefore spill spin block 41 is not easy to walk during use.Two rotations Switch block 41 makes spill spin block 41 be not easy the dry of driven lever 3 during rotation between the opposite both sides of installation gap 31 It relates to and influences normal rotation.

As shown in Fig. 2, being fixedly connected with buffer gear 32 on drive rod 3, buffer gear 32 includes mounting base 321, connects Connect block 322 and two buffers 323.In side of the rack 1 far from mounting plate 5 waist is offered along the axial direction of drive rod 3 Type hole 12（Referring to Fig. 3）.Link block 322 is embedded in waist-shaped hole 12 and can be in waist-shaped hole 12 along 3 axial direction side of drive rod To reciprocatingly sliding, one end of link block 322 is fixedly connected with drive rod 3, and the other end stretches out waist-shaped hole 12 to be fixed with mounting base 321 Connection, mounting base 321 and the outside of rack 1 contradict, and it is axial along drive rod 3 that two buffers 323 are separately fixed at mounting base 321 The both sides in direction, and the setting of two 323 directions of buffer, the i.e. buffer head 3231 of one of buffer 323 are towards cylinder 2 Direction, the buffer head 3231 of another buffer 323 is far from 2 direction of cylinder.It is corresponding with two buffer heads 3231 in rack 1 Position is provided with baffle 13.During drive rod 3 is moved upward to stop position, buffer head 3231 is supported with baffle 13 It touches and keeps drive rod 3 slowly mobile, to which the speed for making mounting plate 5 overturn slows to zero, to make to be installed on mounting plate 5 Manipulator is not easy suddenly to stop during overturning, makes manipulator（It is not shown in figure）The grabbing workpiece that can stablize.Driving The principle that bar 3 moves down is same as described above, and details are not described herein.

As shown in Fig. 2, extending to form mounting blocks 1, and mounting blocks one 141 in the one end of rack 1 far from cylinder 2 In rack 1 close to the side of mounting base 321；Side of the rack 1 far from mounting base 321 is provided with mounting blocks 2 142, and pacifies Dress block 2 142 is located at the top of mounting plate 5.The angle adjusting mechanism for adjusting 5 flip angle of mounting plate is provided in rack 1 14, angle adjusting mechanism 14 includes fixing nut 1, fixing nut 2 1421, adjusting bolt 1 and adjusting bolt two 1422.Fixing nut 1 is fixed on mounting blocks 1 towards the side of mounting plate 5, and adjusting bolt 1 passes through Mounting blocks 1 are threadedly coupled with fixing nut 1 and with fixing nut 1, and adjusting bolt 1 is perpendicular to drive The axial direction of the axial direction and shaft 1 of lever 3.Fixing nut 1 is fixed on mounting blocks 1 towards the one of mounting plate 5 Side, when mounting plate 5 being made to be against in adjusting bolt 1, the power of adjusting bolt 1 is transferred to fixing nut 1, and The power of fixing nut 1 is just transferred on mounting blocks 1, to make fixing nut 1 be not easy and mounting blocks 1 It is detached from.Fixing nut 2 1421 is fixed on mounting blocks 2 142 towards the side of mounting plate 5, and adjusting bolt 2 1422 passes through Mounting blocks 2 142 are threadedly coupled with fixing nut 2 1421 and with fixing nut 2 1421, adjusting bolt 2 1422 and drive rod 3 Axial direction it is parallel.Fixing nut 2 1421 is fixed on mounting blocks 2 142 towards the side of mounting plate 5, mounting plate 5 is made to be against tune When saving on bolt 2 1422, the power of adjusting bolt 2 1422 is transferred to fixing nut 2 1421, and the power of fixing nut 2 1421 Just it is transferred on mounting blocks 2 142, to make fixing nut 2 1421 be not easy to be detached from mounting blocks 2 142.

As shown in Fig. 2, being fixedly connected in one end of adjusting bolt 1, adjusting bolt 2 1422 towards mounting plate 5 There is the cushion pad 143 that rubber material is constituted, to make mounting plate 5 be contacted with adjusting bolt 1, adjusting bolt 2 1422 When be hardly damaged.

Specific implementation process：Original state, mounting plate 5 are in level.When needing drive installation plate 5 to vertical state, The work of cylinder 2 makes piston rod extend downwardly, and drive rod 3 is moved down by piston rod promotion, and connecting rod 6 is hinged with connection bump 411 One end just downwards around axle sleeve 42 rotate, during drive rod 3 constantly moves down, connecting rod 6 from vertical state constantly to Horizontality rotates, and the rotation of connection bump 411 drives moving block rotation, moving block rotation that mounting plate 5 is driven to rotate, i.e. mounting plate 5 turn to vertical position from horizontal position, when mounting plate 5 will arrive vertical position, the buffer head of buffer 323 directed downwardly 3231 contradict with baffle 13, to slow down the stretching speed of piston rod, mounting plate 5 are made slowly to turn to vertical state.When When mounting plate 5 turns to vertical state, connecting rod 6 is in the state axially vertical with drive rod 3, on mounting plate 5 and mounting plate 5 The gravity of the manipulator of connection is transferred to by spill spin block 41 on connecting rod 6, then is applied on drive rod 3 by connecting rod 6, and due to even Bar 6 is vertical with drive rod 3, therefore the power on connecting rod 6 will not be such that drive rod 3 is moved to piston rod direction, i.e. weight on mounting plate 5 The whole that power will not continue applies on the cylinder 2, to play the role of protection to cylinder 2.

When needing drive installation plate 5 to vertical state, the piston rod of cylinder 2 is shunk, and is driven up by piston rod pulling Mobile, connecting rod 6 draws connection bump 411 and is rotated up around axle sleeve 42, and to make spill spin block 41 rotate, mounting plate 5 is with rotation Block 41 is rotated and is rotated to horizontality；Meanwhile mounting plate 5 gravity of itself can also provide driving force makes the overturning of mounting plate 5 extremely Horizontality.

When needing to adjust the angle of 5 vertical state of mounting plate, adjusting bolt 2 1422 is rotated, changes adjusting bolt two 1422 with the contact point of mounting plate 5, i.e., mounting plate 5 upwards excessively overturning when, rotation adjusting bolt 2 1422 makes adjusting spiral shell Bolt 2 1422 moves down, until keeping out without being overturn after degree for 5 modulated bolt 2 1422 of mounting plate.

When needing to adjust the angle of 5 horizontality of mounting plate, adjusting method is identical as the regulation scheme of vertical state.

This specific embodiment is only the explanation to the utility model, is not limitations of the present invention, ability Field technique personnel can as needed make the present embodiment the modification of not creative contribution after reading this specification, but As long as all being protected by Patent Law in the right of the utility model.

Claims (10)

1. a kind of manipulator rotating device, including rack (1), cylinder (2), drive rod (3), rotating part (4) and mounting plate (5)；

One end of the rack (1) is fixedly connected with cylinder (2), and the other end is hinged with rotating part (4)；

The mounting plate (5) is fixed on rotating part (4)；

It is characterized in that：The drive rod (3) is arranged in rack (1), and the piston of one end of drive rod (3) and cylinder (2) Bar is fixedly connected, and the other end is hinged with connecting rod (6), the side of the connecting rod (6) one end and rotating part (4) far from drive rod (3) Wall is hinged；

The outer wall of the drive rod (3) is contradicted with the inner wall of rack (1)；

When cylinder (2) piston rod stretches out, the mounting plate (5) rotates to vertical state, and connecting rod (6) and drive rod (3) axial direction is misaligned；

When cylinder (2) piston rod is shunk, the mounting plate (5) rotates to horizontality.

2. a kind of manipulator rotating device according to claim 1, it is characterized in that：The mounting plate (5) is in vertical shape When state, the angle between the connecting rod (6) and the axial direction of drive rod (3) is between 80 ° to 100 °.

3. a kind of manipulator rotating device according to claim 1, it is characterized in that：The drive rod (3) is far from cylinder (2) One end and offer installation gap (31) towards the side of rotating part (4), opposite both sides are set in the installation gap (31) Be equipped with shaft one (311), be arranged with rotating cylinder (312) in the shaft one (311), the both ends of the rotating cylinder (312) respectively with peace It fills the opposite both sides of notch (31) to contradict, the connecting rod (6) is fixedly connected towards one end of drive rod (3) with rotating cylinder (312).

4. a kind of manipulator rotating device according to claim 3, it is characterized in that：The rotating part (4) includes two pieces of phases Mutually symmetrical spill spin block (41), two spill spin blocks (41) are hinged by axle sleeve (42) and rack (1) respectively；

The same side of two spill spin blocks (41) is fixedly connected with mounting plate (5)；

Connection bump (411) is each extended on two spill spin blocks (41), being equipped between two connection bumps (411) can The shaft two (412) being freely rotated, the one end of the connecting rod (6) far from rotating cylinder (312) are fixedly connected with shaft two (412)；

Both sides opposite with connecting rod (6) contradict the opposite side of two connection bumps (411) respectively；

Two spill spin blocks (41) are between the opposite both sides of installation gap (31).

5. a kind of manipulator rotating device according to claim 4, it is characterized in that：It is provided on the drive rod (3) slow Rush the buffer gear (32) of mounting plate (5) rotary speed.

6. a kind of manipulator rotating device according to claim 5, it is characterized in that：The rack (1) is far from mounting plate (5) Side offer waist-shaped hole along drive rod (3) axial direction；

The buffer gear (32) includes mounting base (321), link block (322), buffer (323)；The link block (322) sets It sets in waist-shaped hole (12), and one end extends on drive rod (3) and is fixedly connected with drive rod (3), the other end extends Rack (1) is simultaneously fixedly connected with mounting base (321)；

The buffer (323) is fixedly connected with mounting base (321), axial direction and the drive rod (3) of the buffer (323) Axial direction it is parallel, position corresponding with buffer head (3231) of buffer (323) is provided with baffle on the rack (1) (13)。

7. a kind of manipulator rotating device according to claim 6, it is characterized in that：The buffer (323) is set as two A, two buffers (323) are located at the both ends of mounting base (321), and the buffer head (3231) of two buffers (323) It is oppositely arranged；Baffle (13) is also configured as two, and is set to rack (1) both ends position corresponding with buffer head (3231) It sets.

8. a kind of manipulator rotating device according to claim 7, it is characterized in that：It is provided with adjusting on the rack (1) The angle adjusting mechanism (14) of mounting plate (5) flip angle.

9. a kind of manipulator rotating device according to claim 8, it is characterized in that：The separate cylinder (2) of the rack (1) One end is extended with mounting blocks one (141), and the mounting blocks one (141) are located at side of the rack (1) close to mounting base (321)；

Side of the rack (1) far from mounting base (321) is provided with mounting blocks two (142), and the mounting blocks two (142) are located at The top of mounting plate (5)；

The angle adjusting mechanism (14) includes fixing nut one (1411), fixing nut two (1421), adjusting bolt one (1412) it is fixed on mounting blocks one (141) with adjusting bolt two (1422), the fixing nut one (1411), the adjusting spiral shell Bolt one (1412) runs through mounting blocks one (141) and fixing nut one (1411), and is threadedly coupled with fixing nut one (1411), institute It states adjusting bolt one (1412) and the axial direction of drive rod (3), the axial direction of axle sleeve (42) is vertical；

The fixing nut two (1421) is fixed on mounting blocks two (142), and the adjusting bolt two (1422) runs through mounting blocks Two (142) and fixing nut two (1421), and be threadedly coupled with fixing nut two (1421), the adjusting bolt two (1422) with The axial direction of drive rod (3) is parallel.

10. a kind of manipulator rotating device according to claim 9, it is characterized in that：The adjusting bolt one (1412) is adjusted One end of section bolt two (1422) towards mounting plate (5), which is provided with, is both provided with cushion pad (143).