CN113522598A

CN113522598A - Rotary clamping device of spraying industrial robot and clamping method thereof

Info

Publication number: CN113522598A
Application number: CN202110955370.0A
Authority: CN
Inventors: 王勇; 荣根益; 尚宇新; 孙栾
Original assignee: Nanjing Yuzhi Intelligent Technology Co Ltd
Current assignee: Nanjing Yuzhi Intelligent Technology Co Ltd
Priority date: 2021-08-19
Filing date: 2021-08-19
Publication date: 2021-10-22

Abstract

The invention discloses a rotary clamping device of a spraying industrial robot and a clamping method thereof, relating to the technical field related to the clamping device of the industrial robot, comprising a main body of the clamping device, wherein the lower end of the main body is fixedly provided with a rotating mechanism used for rotating on a mechanical arm of the robot, the upper end of the main body is arranged in a round table shape, a lifting block is arranged in the main body in a sliding way, the lifting block is arranged in a round table shape, a rotating mechanism is arranged in the main body, the outer side wall of the lifting block is movably provided with two or more thread plates, one side of each thread plate, which is far away from the lifting block, is provided with a thread, the upper end of the inner part of the main body is provided with a thread groove, the upper end of each thread plate is fixedly connected with a sliding clamping rod, the upper end of the sliding clamping rod penetrates through the main body and rotates on the main body along with the rotation of the lifting block, the outer side wall of the main body is provided with a thread groove hole matched with the lifting block, thus solving the problem that a mechanism used for fixing a spray gun is arranged on the mechanical arm of the existing spraying industrial robot, the fixation is relatively tight, and the spray gun is not easy to replace.

Description

Rotary clamping device of spraying industrial robot and clamping method thereof

Technical Field

The invention relates to the technical field related to industrial robot clamping devices, in particular to a rotary type clamping device of a spraying industrial robot and a clamping method thereof.

Background

In the production process, when the protection and beautification effects of the biological product are needed, the surface of the biological product is needed to be sprayed, a layer of protection and the color of the biological product are formed on the surface of the biological product through a spraying paint, in the modern industrial production, the industrial robot is adopted to use a mechanical arm fixing spray gun to spray the biological product, so that the biological product can be stably sprayed in the setting process, but a mechanism for fixing the spray gun is installed on the mechanical arm of the existing spraying industrial robot, the fixation is firm, the spray gun is not easy to replace, and in order to solve the problems, the rotary type clamping device of the spraying industrial robot and the clamping method thereof are provided.

Disclosure of Invention

The present invention is directed to a rotary clamping device of a spray industrial robot and a clamping method thereof, so as to solve the problems mentioned in the background art.

In order to achieve the purpose, the invention provides the following technical scheme: a rotary clamping device of a spraying industrial robot comprises a main body of the clamping device, wherein a rotating mechanism used for rotating on a mechanical arm of the robot is fixedly arranged at the lower end of the main body, the upper end of the main body is in a round table shape, a lifting block is slidably arranged in the main body, the lifting block is in a round table shape, a rotating mechanism used for controlling the rotation of the lifting block is arranged in the main body, a thread plate is movably arranged on the outer side wall of the lifting block, two or more thread plates are arranged on one side, away from the lifting block, of the thread plate, a thread groove matched with the thread on the thread plate is formed in the upper end of the interior of the main body, a sliding clamping rod used for clamping a spray gun is fixedly connected to the upper end of the thread plate, the upper end of the sliding clamping rod penetrates through the main body and rotates on the main body along with the rotation of the lifting block, a thread groove hole matched with the lifting block is formed in the outer side wall of the main body, and the main body can conveniently rotate through the rotating mechanism, the lifting block is rotated through the rotating mechanism, the lifting block rises through the thread plate when rotating, the lifting block rises in a rotating mode to drive the sliding clamping rods to rise on the outer side wall of the main body in a rotating mode, and due to the fact that the upper end of the main body is of a round platform-shaped structure, the two or more sliding clamping rods gradually approach each other when rising in a rotating mode, and then the spray gun is clamped and fixed.

In a further embodiment, the slewing mechanism includes a first rotating block for rotating the vertical surface of the main body and a rotating seat for rotating the horizontal surface, a second rotating block is fixedly connected to the rotating seat, a first speed reducer for controlling the rotating speed of the first rotating block is fixedly mounted in the second rotating block, the first rotating block is fixedly mounted at one end of the first speed reducer, a base for connecting a mechanical arm is arranged at the lower end of the rotating seat, a second speed reducer for controlling the rotating speed of the rotating seat is fixedly mounted in the base, the main body rotates on the vertical surface by rotating the first rotating block on one side of the second rotating block, the main body rotates on the horizontal surface by rotating the rotating seat, and the main body rotates more stably by the first speed reducer and the second speed reducer.

In further embodiment, be connected the position fixed mounting between screw plate and the elevator and carry out spacing first stopper with the screw plate removal, be connected the position still fixed mounting have be used for providing the first elastic component of elasticity to the screw plate between screw plate and the elevator, the elevator is seted up the groove that matches with first stopper and first elastic component, the recess with the thread groove block is seted up to slip clamping bar both sides, it is spacing to remove the screw plate through first stopper, make the screw plate laminate main part upper end inner wall all the time through first elastic component.

In a further embodiment, a clamping plate for clamping the spray gun is slidably mounted at the upper end of the main body, a first sliding rod for sliding on the main body is fixedly connected to one side of the clamping plate facing the main body, a second elastic piece for providing elastic force to the first sliding rod is fixedly connected to the lower portion of the first sliding rod, a first sliding chute for mounting the first sliding rod and the second elastic piece is formed in the upper end of the main body, the sliding clamping rod can enable the clamping plate to move towards the center of the upper end of the main body to clamp the spray gun after being moved upwards to contact with the clamping plate on the outer side wall of the main body, the spray gun is clamped more stably through the clamping plate, the clamping plate is moved to be limited through the first sliding rod, and the clamping plate is kept in an open state all the time when not being in contact with the sliding clamping rod through the second elastic piece.

In a further embodiment, rotary mechanism includes loop bar and stop sleeve, the sleeve cup joints the lateral wall of installing at the loop bar, the upper end fixed connection of loop bar stretches out from the stop sleeve upper end at the lower extreme of elevator and loop bar along with the rising of elevator, the lateral wall of loop bar is installed respectively and is used for preventing that the loop bar breaks away from stop sleeve and is used for preventing loop bar pivoted second stopper in stop sleeve, stop sleeve sets up the spacing groove that matches with the second stopper, fixed mounting has the motor that is used for rotating stop sleeve in the main part, it is rotatory to drive the elevator through the stop sleeve is rotatory, the elevator rotates and rises along with it, and then it stretches out from the stop sleeve upper end to drive the loop bar.

In a further embodiment, the elevator is set to be cylindrical, the sliding clamping rod is movably installed at the upper end of the side wall of the elevator, a second sliding groove matched with the sliding clamping rod is formed in the outer side wall of the main body, two sides of the sliding clamping rod are fixedly connected with sliding blocks used for clamping in the second sliding groove, a second sliding rod is arranged at the connecting position of the sliding clamping rod and the elevator, one end, far away from the sliding clamping rod, of the second sliding rod is connected with a third elastic piece used for providing elastic force for the second sliding rod, a groove matched with the second sliding rod and the third elastic piece is formed in the outer side wall of the elevator, the lifting block rises to drive the sliding clamping rod to slide and rise in the second sliding groove, the sliding clamping rod is further clamped on the spray gun, and the sliding clamping rod slides above the side wall of the elevator through the second sliding rod.

In further embodiment, the lifter outer side wall lower extreme is seted up slottedly, sliding installation has the gag lever post in the groove, inslot fixed mounting has the fourth elastic component that is used for providing elasticity to the gag lever post, the spout that matches with the gag lever post is seted up to main part inside wall both sides, rotary mechanism includes lead screw and threaded sleeve, the lead screw rotates and installs in the threaded sleeve, the upper end fixed connection of lead screw is at the lower extreme of lifter, fixed mounting has the motor that is used for rotating the threaded sleeve in the main part, prevent the lifter from rotating through the gag lever post, and then prevent that the lead screw from rotating, the threaded sleeve rotates and makes unable pivoted lead screw upwards stretch out, and then drive lifter rebound.

Preferably, the clamping method based on the rotary clamping device of the spraying industrial robot comprises the following steps:

a1, fixing a clamping mechanism on a mechanical arm of a robot through a rotating mechanism, driving a main body to rotate through the rotating mechanism, enabling the clamping mechanism clamping a spray gun to rotate at multiple angles for spraying operation, driving a lifting block to rotate along with the rotating mechanism, and driving a thread plate to rotate along with the lifting block;

a2, cooperate through main part inside thread groove and screw thread board lateral wall screw thread, make the elevator rotate the time-lapse and move to the top, through screw thread board top fixed connection slip clamping bar for the screw thread board rotates to rise and drives the slip clamping bar and rotate on the main part lateral wall and rise, is the inclined plane through the main part lateral wall, and when two or more slip clamping bars rotated to rise, the distance between the slip clamping bar was shrink, and then reached clamping action.

Compared with the prior art, the invention has the beneficial effects that:

the invention relates to a rotary clamping device of a spraying industrial robot and a clamping method thereof, wherein a rotating mechanism used for rotating on a robot arm is fixedly arranged at the lower end of a main body, the upper end of the main body is in a round table shape, a lifting block is arranged in the main body in a sliding manner, a rotating mechanism used for controlling the rotation of the lifting block is arranged in the main body, a threaded plate is movably arranged on the outer side wall of the lifting block, two or more threaded plates are arranged, one surface of the threaded plate, which is far away from the lifting block, is provided with threads, the upper end in the main body is provided with a threaded groove matched with the threads on the threaded plate, the upper end of the threaded plate is fixedly connected with a sliding clamping rod used for clamping a spray gun, the upper end of the sliding clamping rod penetrates through the main body and rotates on the main body along with the rotation of the lifting block, the outer side wall of the main body is provided with a threaded groove hole matched with the lifting block, and the main body is convenient to rotate through the rotating mechanism, the lifting block is rotated through the rotating mechanism, the lifting block rises when rotating through the thread plate, the lifting block rises in a rotating mode to drive the sliding clamping rods to rise on the outer side wall of the main body in a rotating mode, and the upper end of the main body is of a round platform-shaped structure, so that the two or more sliding clamping rods gradually approach each other when rising in a rotating mode, the spray gun is clamped and fixed, and the problems that a mechanism used for fixing the spray gun and installed on an existing spraying industrial robot arm is fixed, the fixation is tight, and the spray gun is not easy to replace are solved.

Drawings

FIG. 1 is an overall exploded view of the present invention;

FIG. 2 is an enlarged view of a portion of FIG. 1;

FIG. 3 is an enlarged view of a portion of FIG. 1 at B in accordance with the present invention;

FIG. 4 is an enlarged view of a portion of FIG. 1 at C in accordance with the present invention;

FIG. 5 is a schematic view of the rotating mechanism of the present invention;

FIG. 6 is a schematic view of the main structure of the present invention;

FIG. 7 is a partial cross-sectional view of the body of the present invention;

FIG. 8 is a schematic view of the lift block structure of the present invention;

FIG. 9 is a cross-sectional view of the elevator block of the present invention;

FIG. 10 is a schematic structural view of example 2 of the present invention;

fig. 11 is an exploded view of example 2 of the present invention.

In the figure: 1. a main body; 11. a threaded slot; 12. a first chute; 13. a second chute; 2. a rotating mechanism; 21. a first rotating block; 211. a second turning block; 212. a first speed reducer; 22. rotating the base; 221. a base; 222. a second speed reducer; 3. a lifting block; 31. a thread plate; 311. a first stopper; 312. a first elastic member; 32. sliding the clamping rod; 321. a second slide bar; 322. a third elastic member; 323. a slider; 34. a limiting rod; 341. a fourth elastic member; 4. a rotation mechanism; 41. a loop bar; 411. a second limiting block; 42. a limiting sleeve; 421. a limiting groove; 43. a screw rod; 44. a threaded sleeve; 5. a splint; 51. a first slide bar; 52. a second elastic member.

Detailed Description

The following will clearly and completely describe the technical solutions in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Example one

Referring to fig. 1-9, the present embodiment provides a rotary clamping device for an industrial robot and a clamping method thereof, including a main body 1 of the clamping device for the industrial robot, wherein the main body 1 is used for connecting with a robot arm.

The connecting part of the main body 1 and the mechanical arm is provided with a rotating mechanism 2, and the main body 1 rotates on the mechanical arm through the rotating mechanism 2.

Wherein, slewing mechanism 2 includes first turning block 21 and revolves seat 22, revolves fixed mounting and has second turning block 211 on the seat 22, and first turning block 21 can rotate in the one side of second turning block 211, rotates through first turning block 21 and makes main part 1 can rotate at the perpendicular face.

A base 221 is rotatably installed below the rotary base 22, the base 221 is used for connecting a robot arm, and the main body 1 can rotate in the horizontal direction by rotating the rotary base 22 above the base 221.

In order to control the rotation speed of the main body 1, a first speed reducer 212 is fixedly mounted between the first rotating block 21 and the second rotating block 211, and a second speed reducer 222 is fixedly mounted between the rotary base 22 and the base 221.

The rotation speed is reduced and the output torque is increased by the first speed reducer 212 and the second speed reducer 222, so that the main body 1 rotates more stably.

The upper end of the main body 1 is in a circular truncated cone shape, and a sliding clamping rod 32 is slidably mounted on the inclined surface of the outer side wall of the upper end of the main body 1.

Slip clamping bar 32 sets up to two or more, and a plurality of slip clamping bars 32 use the center of main part 1 up end as the centre of a circle, is that annular array evenly arranges on the lateral wall of main part 1, because main part 1 upper end lateral wall is the inclined plane, through rebound slip clamping bar 32, makes and is close to each other between the slip clamping bar 32, places the spray gun and can carry out the centre gripping to it between a plurality of slip clamping bars 32 and fix.

In order to conveniently move the sliding clamping rod 32, a lifting block 3 is movably arranged in the main body 1.

The lifting block 3 can slide up and down in the main body 1, as shown in fig. 8-9, the lifting block 3 is in a circular truncated cone shape, and the outer side wall of the lifting block 3 is provided with a thread plate 31.

Wherein, the threading board 31 sets up to two or more, is annular array evenly distributed at elevator 3's my side board, and elevator 3's lateral wall slidable mounting has first stopper 311, and first stopper 311 is used for spacing to threading board 31, and the groove that is used for slidable mounting threading board 31 is offered to elevator 3 lateral wall, and the length that stretches out from the notch through first stopper 311 controls the distance between threading board 31 and the elevator 3.

The outer side wall of the lifting block 3 is further provided with a first elastic part 312, the first elastic part 312 is used for providing elastic force for the threaded plate 31, one surface of the threaded plate, which is far away from the lifting block 3, is always attached to the inner upper end of the main body 1, and the outer side wall of the lifting block 3 is provided with a groove for accommodating the first elastic part 312.

The first elastic member 312 is preferably provided with a spring, but is not limited to a spring, and a metal elastic sheet may be used, and the first elastic member 312 and the first stopper 311 are preferably provided in plurality, so that the movement of the screw plate 31 on the lifting block 3 side is more stable.

Thread groove has been seted up to main part 1 inside wall upper end, and the one side that elevator 3 was kept away from to flighting 31 is provided with the screw thread that matches with the thread groove, makes flighting 31 rotate in the inside upper end of main part 1 through rotating elevator 3, and then makes elevator 3 rise through the screw thread.

In order to facilitate the rotation of the lifting block 3, the lower end of the lifting block 3 is fixedly connected with a rotating mechanism 4.

Wherein, rotary mechanism 4 includes loop bar 41 and spacing sleeve 42, and the spacing sleeve 42 upper end is seted up porosely, and the one end of loop bar 41 stretches into downtheholely, and the lateral wall fixedly connected with second stopper 411 of loop bar 41, spacing sleeve 42 offer with the spacing groove 421 of second stopper 411 matching.

The sleeve rod 41 is prevented from rotating in the limiting sleeve 42 through the second limiting block 411, the sleeve rod 41 is prevented from falling off from the limiting sleeve 42, and the upper end of the sleeve rod 41 is connected with the lower end of the lifting block 3.

The lower end of the limiting sleeve 42 is fixedly connected with a motor, and the motor drives the limiting sleeve 42 to rotate so as to drive the lifting block 3 to rotate.

The sliding clamping rod 32 is fixedly arranged at the upper end of the thread plate 31, the outer side wall of the upper end of the main body 1 is provided with a thread groove hole 11, and the sliding clamping rod 32 passes through the thread groove hole 11 and rotates and rises to slide at the upper end of the main body 1 through the lifting block 3.

In order to make the sliding clamping rod 32 slide more stably in the threaded slot hole 11, two sides of the sliding clamping rod 32 are provided with grooves matched with the threaded slot hole 11.

Since the slide clamping bar 32 slides upward to clamp the spray gun, the upper end of the main body 1 is provided with a clamping plate 5 in order to prevent the slide clamping bar 32 from contacting the spray gun when sliding and moving upward along with the spray gun.

The clamping plate 5 is slidably mounted on the upper end of the main body 1, and the spray gun is clamped by sliding the clamping rod 32 upwards to tighten the contact of the clamping plate 5 and then moving the clamping plate 5 horizontally.

Wherein, splint 5 sets up to two, is located main part 1 top both ends respectively, and first spout 12 has been seted up to main part 1 top, and slidable mounting has first slide bar 51 in first spout 12, and the one end that main part 1 was kept away from to first slide bar 51 is connected with splint 5, and the below of first slide bar 51 is provided with second elastic component 52.

As shown in fig. 7, the second elastic member 52 provides an elastic force to the first sliding rod 51 to protrude from one end of the main body 1, so that the clamping plate 5 is always kept away from the main body 1 in an open state when the sliding clamping rod 32 is not in contact with the clamping plate 5.

Example two

Referring to fig. 10-11, a further improvement is made on the basis of embodiment 1:

the lifting block 3 is set to be cylindrical, the sliding clamping rod 32 is slidably mounted on the lifting block 3, and the rotating mechanism 4 comprises a screw rod 43 and a threaded sleeve 44.

Wherein, the spout has been seted up to the lateral wall upper end of elevator 3, and slidable mounting has second slide bar 321 and is used for providing the third elastic component 322 of elasticity to second slide bar 321 in the spout, and the lateral wall lower extreme of slip clamping bar 32 is connected with the one end that third elastic component 322 was kept away from to second slide bar 321, and slip clamping bar 32 leads to second slide bar 321 and slides on elevator 3's lateral wall.

The second spout 13 has been seted up to the upper end lateral wall of main part 1, and slip clamping bar 32 passes second spout 13 and slides on the lateral wall of main part 1, and the both sides fixedly connected with of slip clamping bar 32 is used for stabilizing gliding slider 323 on second spout 13.

The lifting block 3 moves up and down in the main body 1 to drive the sliding clamping rods 32 to slide on the outer side wall of the main body 1, and the sliding clamping rods 32 are close to and tightened when sliding upwards, so that the second sliding rods 321 slide and contract into the grooves formed in the lifting block 3.

In order to facilitate the up-and-down movement of the lifting block 3, the lower end of the lifting block 3 is connected with the upper end of the screw rod 43, the screw rod 43 is installed in the threaded sleeve 44 in a threaded manner, the lower end of the threaded sleeve 44 is fixedly connected with a motor, and the motor rotates to drive the threaded sleeve 44 to rotate.

In order to prevent the lifting block 3 from rotating along with the rotation of the threaded sleeve 44, the limiting rod 34 is slidably mounted at the lower end of the outer side wall of the lifting block 3, and the lifting block 3 is provided with a groove for retracting the limiting rod 34.

The groove is fixedly provided with a fourth elastic member 341 for providing elastic force to the limit rod 34, and the upper end of the inner side wall of the main body 1 is provided with a sliding groove matched with one end of the limit rod 34 far away from the lifting block 3.

The third elastic member 322 and the fourth elastic member 341 are preferably provided as springs.

The stop rod 34 is engaged in the slide groove of the main body 1 to prevent the rotation of the lifting block 3.

Because the lifting block 3 can not rotate, the screw rod 43 can not rotate, and then the motor drives the threaded sleeve 44 to rotate, the screw rod 43 extends out from the upper part of the threaded sleeve 44 in a rotating way, the screw rod 43 extends upwards to drive the lifting block 3 to ascend in the main body 1, and because the upper end of the main body 1 is in a circular truncated cone shape, when the lifting block 3 ascends, the limiting rod 34 slides in the sliding groove and shrinks into the side wall of the lifting block 3.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. A rotary clamping device of a spray industrial robot, comprising a main body (1) of the clamping device, characterized in that: the automatic welding machine is characterized in that a rotating mechanism (2) used for rotating on a mechanical arm of a robot is fixedly mounted at the lower end of the main body (1), the upper end of the main body (1) is in a round table shape, a lifting block (3) is slidably mounted in the main body (1), the lifting block (3) is in a round table shape, a rotating mechanism (4) used for controlling the rotation of the lifting block (3) is mounted inside the main body (1), a thread plate (31) is movably mounted on the outer side wall of the lifting block (3), the thread plate (31) is two or more, threads are arranged on one side, away from the lifting block (3), of the thread plate (31), thread grooves matched with the threads on the thread plate (31) are formed in the upper end inside of the main body (1), a sliding clamping rod (32) used for clamping a spray gun is fixedly connected to the upper end of the thread plate (31), the upper end of the sliding clamping rod (32) penetrates out of the main body (1) and rotates on the main body (1) along with the lifting block (3), the outer side wall of the main body (1) is provided with a thread groove hole (11) matched with the lifting block (3).

2. A rotary clamping device for a spray industrial robot according to claim 1, characterized in that: slewing mechanism (2) including make main part (1) vertical face pivoted first turning block (21) with be used for horizontal plane pivoted revolve seat (22), swing seat (22) and go up fixedly connected with second turning block (211), fixed mounting has first speed reducer (212) that are used for controlling first turning block (21) rotational speed in second turning block (211), first turning block (21) fixed mounting is in the one end of first speed reducer (212), it is provided with base (221) that are used for connecting the arm to revolve seat (22) lower extreme, base (221) internal fixation installs second speed reducer (222) that seat (22) rotational speed was revolved in control.

3. A rotary clamping device for a spray industrial robot according to claim 1, characterized in that: connect position fixed mounting between screw plate (31) and elevator (3) and carry out spacing first stopper (311) with screw plate (31) removal, it still fixed mounting is used for providing first elastic component (312) of elasticity to screw plate (31) to be connected position between screw plate (31) and elevator (3), elevator (3) are seted up with first stopper (311) and first elastic component (312) matched's groove, the recess with the thread groove block is seted up to slip clamp lever (32) both sides.

4. A rotary clamping device for a spray industrial robot according to claim 3, characterized in that: rotary mechanism (4) include loop bar (41) and stop sleeve (42), stop sleeve (42) cup joint the lateral wall of installing at loop bar (41), the upper end fixed connection of loop bar (41) is stretched out from stop sleeve (42) upper end along with the rising of elevator (3) at the lower extreme and loop bar (41) of elevator (3), the lateral wall of loop bar (41) is installed respectively and is used for preventing loop bar (41) from breaking away from stop sleeve (42) and is used for preventing loop bar (41) pivoted second stopper (411) in stop sleeve (42), stop sleeve (42) are seted up spacing groove (421) that match with second stopper (411), main part (1) internal fixed mounting has the motor that is used for rotating stop sleeve (42).

5. A rotary clamping device for a spray industrial robot according to claim 2, characterized in that: main part (1) upper end slidable mounting has splint (5) that are used for the centre gripping spray gun, splint (5) are used for gliding first slide bar (51) on main part (1) towards one side fixedly connected with of main part (1), first slide bar (51) below fixedly connected with is used for providing second elastic component (52) of elasticity to first slide bar (51), first spout (12) that are used for installing first slide bar (51) and second elastic component (52) are seted up to main part (1) upper end.

6. A rotary clamping device for a spray industrial robot according to claim 1, characterized in that: the utility model discloses a lifting device, including lifting block (3), slip clamping bar (32), main part (1) lateral wall, slider (323) that the both sides fixedly connected with of slip clamping bar (32) is used for block in second spout (13), the position of being connected of slip clamping bar (32) and lifting block (3) is provided with second slide bar (321), the one end of keeping away from slip clamping bar (32) of second slide bar (321) is connected with third elastic component (322) that are used for providing elasticity to second slide bar (321), the groove that matches with second slide bar (321) and third elastic component (322) is seted up to lifting block (3) lateral wall.

7. The rotary clamping device of a spray industrial robot according to claim 6, characterized in that: the utility model discloses a lifting block, including lifter (3), main part (1) inside wall, including lifter (3) lateral wall, inslot slidable mounting has gag lever post (34), inslot fixed mounting has fourth elastic component (341) that are used for providing elasticity to gag lever post (34), the spout that matches with gag lever post (34) is seted up to main part (1) inside wall both sides, rotary mechanism (4) include lead screw (43) and threaded sleeve (44), lead screw (43) rotate to be installed in threaded sleeve (44), the upper end fixed connection of lead screw (43) is at the lower extreme of lifter (3), main part (1) internal fixed mounting has the motor that is used for rotating threaded sleeve (44).

8. A method of clamping a rotary clamping device of a spray industrial robot according to the use of the rotary clamping device of a spray industrial robot of claim 1, comprising the steps of:

a1, fixing a clamping mechanism on a mechanical arm of a robot through a rotating mechanism (2), driving a main body (1) to rotate through the rotating mechanism (2), enabling the clamping mechanism with a spray gun to rotate at multiple angles to carry out spraying operation, driving a lifting block (3) to rotate along with the rotating mechanism (4) through rotation, and driving a thread plate (31) to rotate along with the rotating mechanism (3);

a2, cooperate through main part (1) inside thread groove and screw plate (31) lateral wall screw thread, lifting block (3) that make move up to the top when rotating, through screw plate (31) top fixed connection slip clamping bar (32), make screw plate (31) rotate to rise and drive slip clamping bar (32) and rotate on main part (1) lateral wall and rise, be the inclined plane through main part (1) lateral wall, when two or more slip clamping bar (32) rotate to rise, the distance between slip clamping bar (32) is shrunk, and then reach the clamping action.