CN212706758U - Multi-station convenient combined involute clamping jaw end effector - Google Patents

Abstract

The utility model discloses a multi-station convenient combined involute clamping jaw end effector, which comprises an installation beam, wherein one side of the installation beam is provided with a displacement mechanism, one side of the lower end of the displacement mechanism is provided with an end effector fixing cross rod, the front end of the end effector fixing cross rod is provided with a plurality of clamping jaw mechanisms, the displacement mechanism is connected with the end effector fixing cross rod through a fastening mechanism, and the end effector fixing cross rod is connected with the clamping jaw mechanisms through a micro-motion mechanism; the utility model discloses compare in passing traditional mechanism that snatchs, clamping jaw mechanism makes the clamping jaw rotate rapidly and stretch out and draw back along the rotation axis orbit, realizes opening and closes operating condition, and this kind of orbit cylinder axle that gradually bursts at seams stretches out length short, the clamping jaw opens greatly, and the return stroke is fast, can be used to snatching of the great work piece of quality by the work piece of snatching that stabilizes fast.

Description

Multi-station convenient combined involute clamping jaw end effector

Technical Field

The utility model relates to a car cold stamping makes technical field, specifically is the convenient combination formula of multistation clamping jaw end effector that gradually bursts at seams.

Background

Along with the development of enterprises and the improvement of automobile capacity, a production cycle puts higher requirements on small enterprises, particularly a progressive die combination manipulator brings into the technical improvement and development planning of the enterprises, the automatic part taking and automatic part discharging are completely adopted for manufacturing a new product progressive die of the enterprises, and the higher requirements are especially put on heavier products.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a convenient combination formula of multistation clamping jaw end effector that gradually bursts at seams to solve the problem that proposes in the above-mentioned background art.

In order to solve the technical problem, the utility model provides a following technical scheme: the multi-station convenient and fast combined involute clamping jaw end effector comprises an installation beam, wherein the installation beam is used for hoisting and supporting the device, one side of the installation beam is provided with a displacement mechanism, the displacement mechanism drives a clamping jaw mechanism through an end effector fixing cross rod to enable the clamping jaw mechanism to grab workpieces at different positions, and simultaneously conveys the clamped workpieces to the next station, one side of the lower end of the displacement mechanism is provided with an end effector fixing cross rod, the end effector fixing cross rod is used for supporting the clamping jaw mechanism, the front end of the end effector fixing cross rod is provided with a plurality of clamping jaw mechanisms, the clamping jaw mechanisms are used for grabbing the workpieces, compared with the traditional grabbing mechanism, the clamping jaw mechanisms enable clamping jaws to rapidly rotate and stretch along a rotating shaft track to realize the opening and closing working state, the involute track cylinder shaft has short extension length, large clamping jaws are opened, the return stroke is fast, and the workpieces can be, can be used to snatching of the great work piece of quality, connect through fastening device between displacement mechanism and the fixed horizontal pole of end effector, fastening device makes and connects stably between displacement mechanism and the fixed horizontal pole of end effector, and dismantles conveniently, and is worse quick, connect through micro-motion between the fixed horizontal pole of end effector and the gripper mechanism, but angle, distance between micro-motion precision adjustment gripper mechanism and the work piece for the work piece is got to accurate clamp.

Preferably, clamping jaw mechanism is including driving actuating cylinder, drive shaft, lower clamping jaw, last clamping jaw, clamping jaw mount pad, the groove of opening and shutting, oil-free bush, it is located the one end that end effector fixed horizontal pole was kept away from to drive actuating cylinder, it is used for driving the drive shaft and is straight reciprocating motion to drive actuating cylinder, it is provided with the drive shaft to drive actuating cylinder output, one side that drives actuating cylinder was kept away from to the drive shaft is provided with lower clamping jaw and last clamping jaw, lower clamping jaw and last clamping jaw direct action work piece are got the action of pressing from both sides, clamping jaw one side is provided with the clamping jaw mount pad down, the clamping jaw mount pad respectively with drive actuating cylinder, lower clamping jaw fixed connection, the middle part of going up clamping jaw and lower clamping jaw is passed through rotation axis and is connected, lower clamping jaw can rotate as the axle center by the rotation axis, one, Length, angle etc. have decided the angle of opening and shutting between lower clamping jaw and the last clamping jaw, the drive shaft stretches into the inslot that opens and shuts, the drive shaft stretches into one side of the inslot that opens and shuts and has cup jointed no oil bushing, the drive shaft is driven and is opening and shutting the inslot motion, no oil bushing rolls at the inslot that opens and shuts, this rolling motion drives down the clamping jaw rapidly and uses the rotation axis rotatory and flexible as the axle center, the linear motion that is about to the drive shaft turns into no oil bushing's rolling motion, it opens to take place to interfere under the drive clamping jaw rotation between oil bushing and the groove that opens and shuts, the relative displacement takes place between groove and the oil bushing promptly, the path of walking in unit interval of opening and shutting increases several times or even tens of times in the twinkling of an eye, can open the closure rapidly between clamping jaw and the last clamping jaw down, and it opens closed.

Preferably, the upper end of one side of the upper clamping jaw far away from the combining groove is provided with a proximity sensor, the proximity sensor is used for sensing whether the lower clamping jaw and the upper clamping jaw successfully clamp the workpiece, and after the clamping is successfully carried out, the controller controls the displacement mechanism to operate to convey the workpiece to the next station.

Preferably, the micro-motion mechanism comprises a connecting flange, a connecting rotating shaft, a universal connector and an end effector fixing rotating shaft, wherein a plurality of connecting flanges are arranged on one side of an end effector fixing cross rod, the connecting flanges are fixed on the end effector fixing cross rod and can transversely move on the end effector fixing cross rod, one side of the connecting flange, which is far away from the end effector fixing cross rod, is provided with a connecting rotating shaft, the connecting rotating shaft is fixedly connected with the connecting flange, one side of the connecting rotating shaft, which is far away from the connecting flange, is provided with the universal connector, the universal connector can rotate along the connecting rotating shaft, one end of the universal connector, which is far away from the connecting rotating shaft, is provided with the end effector fixing rotating shaft, the end effector fixing rotating shaft is fixedly connected with the universal connector, can be driven by the universal connector to rotate by a rotating angle, and the end effector fixing rotating shaft, which is, the fixed pivot of end effector drives and drives actuating cylinder and rotate, and then rotates gripper mechanism's angle, makes gripper mechanism more accurate to the centre gripping of work piece.

Preferably, fastening device includes locking fixed block, board position sleeve, powerful clamp, locating pin, the upper end that the fixed horizontal pole of end effector and flange correspond is provided with locking fixed block, locking fixed block is fixed in on the fixed horizontal pole of end effector, the dorsal part that the fixed horizontal pole of end effector and flange correspond is provided with the board position sleeve, board position sleeve upper end is provided with powerful clamp, powerful clamp is fixed in board position sleeve upper end, the locking fixed block of powerful clamp centre gripping, and then with the centre gripping of the fixed horizontal pole of end effector, the inside locating pin that is provided with of board position sleeve, the locating pin penetrates in the fixed horizontal pole of end effector, cooperates powerful clamp with the fixed horizontal pole fastening centre gripping of end effector.

Preferably, displacement mechanism includes that Y is to slide rail, Z to slide rail, X to slide rail, displacement connecting plate, Y all is provided with the slider to slide rail, Z to slide rail, X on to the slide rail, and the slider all is driven by servo motor and slides, and then drives clamping jaw mechanism and carry out displacement motion about, around, installation crossbeam one side is provided with Y to the slide rail, Y is provided with Z to the slide rail downside, Z is provided with X to the slide rail downside, X is provided with the displacement connecting plate to the slide rail lower extreme, the displacement connecting plate is used for connecting clamping jaw mechanism.

Preferably, the displacement connecting plate is fixedly connected with the machine table positioning sleeve, and the positioning pin penetrates through the machine table positioning sleeve and penetrates into the fixed cross rod of the end effector.

Preferably, the fixed horizontal pole of end effector and flange pass through the bolted connection, the one end that the screw stretched into in the fixed horizontal pole of end effector is provided with the lateral adjustment slider, the lateral adjustment slider can slide along the fixed horizontal pole of end effector in the fixed horizontal pole of end effector, and then drives clamping jaw mechanism adjusting position, makes things convenient for clamping jaw mechanism to align the work piece.

Preferably, two ends of the mounting cross beam are provided with press connecting plates, and the press connecting plates are used for being connected with other related equipment and fixing the position of the mounting cross beam.

Preferably, the upper end of the mounting cross beam is further provided with an air storage tank, compressed air stored in the air storage tank is supplied to the driving cylinder and used for frequently opening and closing the clamping jaw mechanism, and the continuity of actions is guaranteed.

Compared with the prior art, the utility model discloses the beneficial effect who reaches is:

1. the utility model discloses in clamping jaw mechanism who sets up, its drive shaft is driven actuating cylinder and is driven at the inslot motion that opens and shuts, oilless bush rolls in the inslot that opens and shuts, this rolling motion drives clamping jaw down fast and uses the rotation axis to rotate and stretch out and draw back as the axle center, be about to convert the linear motion of drive shaft into the rolling motion of oilless bush, take place to interfere between oilless bush and the groove and drive clamping jaw rotation down and open, take place relative displacement between groove and the oilless bush promptly, open and shut the path of groove walking in unit interval increase several times or even tens times in the twinkling of an eye, can make between lower clamping jaw and the upper clamping jaw open and close rapidly, and it opens closed speed big, the impact force is strong, can be used to sna;

2. in the fastening mechanism provided in the utility model, the positioning pin penetrates into the fixed cross rod of the end effector, the fixed cross rod of the end effector is fastened and clamped by matching with the powerful clamp, when the fixed cross rod and the clamping jaw mechanism of the whole end effector are replaced, the positioning pin only needs to be drawn out, the powerful clamp is pulled off, and meanwhile, the fastening effect of the powerful clamp on the anti-loosening fixed block is cancelled; when a single clamping jaw mechanism is replaced, the screw on the connecting flange is screwed off, the fixed cross rod of the end effector can be replaced by a single person, the end effector is convenient to move in a factory, can be pushed to return conveniently, is convenient to adjust quickly, and can be used for products of different types;

3. the utility model discloses in the fine motion mechanism that sets up, accessible universal connector drive clamping jaw mechanism, accomplish the fine setting of clamping jaw mechanism angle, slide along the fixed horizontal pole of end effector through the lateral adjustment slider, and then drive clamping jaw mechanism adjusting position, make things convenient for the accurate work piece that aligns of clamping jaw mechanism.

Drawings

The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description serve to explain the invention and not to limit the invention. In the drawings:

fig. 1 is a perspective view of the multi-station convenient combined involute clamping jaw end effector of the utility model;

fig. 2 is a perspective view of the jaw mechanism of the present invention;

FIG. 3 is a perspective view of the micro-motion mechanism of the present invention;

fig. 4 is a perspective view of the fastening mechanism of the present invention;

fig. 5 is a sectional view of the clamping jaw mechanism, the micro-motion mechanism and the fastening mechanism of the utility model;

fig. 6 is an open schematic view of the lower jaw and the upper jaw of the present invention.

In the figure: 1. mounting a cross beam; 2. a displacement mechanism; 3. the end effector fixes the cross bar; 4. a jaw mechanism; 5. a fastening mechanism; 6. a micro-motion mechanism; 7. a driving cylinder; 8. a drive shaft; 9. a lower jaw; 10. an upper clamping jaw; 11. A clamping jaw mounting seat; 12. opening and closing the groove; 13. an oilless bushing; 14. a proximity sensor; 15. a connecting flange; 16. Connecting the rotating shaft; 17. a universal connector; 18. the end effector fixes the spindle; 19. an anti-loosening fixing block; 20. a machine table positioning sleeve; 21. powerful tongs; 22. positioning pins; 23. a Y-direction slide rail; 24. a Z-direction slide rail; 25. an X-direction slide rail; 26. a displacement connecting plate; 27. a screw; 28. a transverse adjusting slide block; 29. a press connecting plate; 30. a gas storage tank; 31. a rotating shaft.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Example (b): the utility model provides a technical scheme: as shown in fig. 1, a multi-station convenient combined involute clamping jaw end effector comprises an installation beam 1, the installation beam 1 is used for hoisting and supporting the device, one side of the installation beam 1 is provided with a displacement mechanism 2, the displacement mechanism 2 drives a clamping jaw mechanism 4 through an end effector fixing cross rod 3, so that the clamping jaw mechanism 4 can grab workpieces at different positions, and simultaneously conveys the clamped workpieces to the next station, one side of the lower end of the displacement mechanism 2 is provided with an end effector fixing cross rod 3, the end effector fixing cross rod 3 is used for supporting the clamping jaw mechanism 4, the front end of the end effector fixing cross rod 3 is provided with a plurality of clamping jaw mechanisms 4, the clamping jaw mechanisms 4 are used for grabbing the workpieces, compared with the traditional grabbing mechanism, the clamping jaw mechanisms 4 enable clamping jaws to rapidly rotate and stretch along a rotating shaft track, the opening and closing working states are realized, the cylinder shaft extension length of the involute track is short, the return stroke is fast, can be fast firm snatch the work piece, can be used to snatching of the great work piece of quality, connect through fastening device 5 between displacement mechanism 2 and the fixed horizontal pole 3 of end effector, fastening device 5 makes and connects stably between displacement mechanism 2 and the fixed horizontal pole 3 of end effector, and it is convenient to dismantle, it is worse quick, connect through fine motion mechanism 6 between fixed horizontal pole 3 of end effector and the clamping jaw mechanism 4, but the angle between fine motion mechanism 6 accurate regulation clamping jaw mechanism 4 and the work piece, the distance, a work piece is got to accurate clamp.

As shown in fig. 2, the clamping jaw mechanism 4 comprises a driving cylinder 7, a driving shaft 8, a lower clamping jaw 9, an upper clamping jaw 10, a clamping jaw mounting seat 11, an opening-closing groove 12 and an oil-free bush 13, the driving cylinder 7 is positioned at one end of the micro-motion mechanism 6 far away from the fixed cross rod 3 of the end effector, the driving cylinder 7 is used for driving the driving shaft 8 to do linear reciprocating motion, the driving shaft 8 is arranged at the output end of the driving cylinder 7, the lower clamping jaw 9 and the upper clamping jaw 10 are arranged at one side of the driving shaft 8 far away from the driving cylinder 7, the lower clamping jaw 9 and the upper clamping jaw 10 directly act on a workpiece to perform clamping action, the clamping jaw mounting seat 11 is arranged at one side of the lower clamping jaw 9, the clamping jaw mounting seat 11 is respectively and fixedly connected with the driving cylinder 7 and the lower clamping jaw 9, the middle parts of the upper clamping jaw 10 and, the shape, length and angle of the opening and closing groove 12 determine the opening and closing angle between the lower clamping jaw 9 and the upper clamping jaw 10, the driving shaft 8 extends into the opening and closing groove 12, one side of the driving shaft 8 extending into the opening and closing groove 12 is sleeved with an oilless bushing 13, the driving shaft 8 is driven to move in the opening and closing groove 12, the oilless bushing 13 rolls in the opening and closing groove 12, the rolling motion rapidly drives the lower clamping jaw 9 to rotate and stretch by taking the rotating shaft 31 as an axis, namely, the linear motion of the driving shaft 8 is converted into the rolling motion of the oilless bushing 13, the oilless bushing 13 and the opening and closing groove 12 are interfered to drive the lower clamping jaw 9 to rotate and open, namely, the opening and closing groove 12 and the oilless bushing 13 generate relative displacement, the path of the opening and closing groove 12 in unit time is increased by several times or even dozens of times, the lower clamping jaw 9 and the upper clamping jaw 10 can be rapidly opened and, can be used for grabbing workpieces with larger mass, and fig. 6 is a schematic opening view of the lower clamping jaw 9 and the upper clamping jaw 10.

As shown in fig. 2, the upper end of the side of the upper clamping jaw 10 far away from the combining groove 12 is provided with a proximity sensor 14, the proximity sensor 14 is used for sensing whether the lower clamping jaw 9 and the upper clamping jaw 10 successfully clamp the workpiece, and after the clamping is successful, the controller controls the displacement mechanism 2 to operate to convey the workpiece to the next station.

Referring to fig. 3, the micro-motion mechanism 6 includes a connecting flange 15, a connecting shaft 16, a universal connector 17, an end-effector fixing shaft 18, a plurality of connecting flanges 15 are disposed on one side of the end-effector fixing cross bar 3, the connecting flanges 15 are fixed on the end-effector fixing cross bar 3 and can move laterally on the end-effector fixing cross bar 3, a connecting shaft 16 is disposed on one side of the connecting flange 15 away from the end-effector fixing cross bar 3, the connecting shaft 16 is fixedly connected with the connecting flanges 15, a universal connector 17 is disposed on one side of the connecting shaft 16 away from the connecting flange 15, the universal connector 17 can rotate along the connecting shaft 16, an end-effector fixing shaft 18 is disposed on one end of the universal connector 17 away from the connecting shaft 16, the end-effector fixing shaft 18 is fixedly connected with the universal connector 17 and can be driven by the universal connector 17 to rotate by a rotation angle, the end-effector fixing shaft 18 away from the universal connector 17 is connected with the driving, the fixed rotating shaft 18 of the end effector drives the driving cylinder 7 to rotate, and then the angle of the clamping jaw mechanism 4 is rotated, so that the clamping jaw mechanism 4 can clamp a workpiece more accurately.

As shown in fig. 4 and 5, the fastening mechanism 5 includes a locking fixing block 19, a machine positioning sleeve 20, a powerful clamp 21, a positioning pin 22, the upper end of the end effector fixing cross rod 3 corresponding to the connecting flange 15 is provided with the locking fixing block 19, the locking fixing block 19 is fixed on the end effector fixing cross rod 3, the back side of the end effector fixing cross rod 3 corresponding to the connecting flange 15 is provided with the machine positioning sleeve 20, the upper end of the machine positioning sleeve 20 is provided with the powerful clamp 21, the powerful clamp 21 is fixed on the upper end of the machine positioning sleeve 20, the powerful clamp 21 clamps the locking fixing block 19, and further clamps the end effector fixing cross rod 3, the positioning pin 22 is arranged inside the machine positioning sleeve 20, the positioning pin 22 penetrates into the end effector fixing cross rod 3, and the end effector fixing cross rod 3 is fastened and clamped by matching.

As shown in fig. 1, the displacement mechanism 2 includes a Y-direction slide rail 23, a Z-direction slide rail 24, an X-direction slide rail 25, and a displacement connecting plate 26, the Y-direction slide rail 23, the Z-direction slide rail 24, and the X-direction slide rail 25 are all provided with sliders, the sliders are all driven by a servo motor to slide, and further drive the clamping jaw mechanism 4 to perform vertical, left-right, front-back displacement motion, the Y-direction slide rail 23 is provided on one side of the mounting beam 1, the Z-direction slide rail 24 is provided on the lower side of the Y-direction slide rail 23, the X-direction slide rail 25 is provided on the lower side of the Z-direction slide rail 24, the X.

Referring to fig. 5, the displacement connecting plate 26 is fixedly connected to the machine positioning sleeve 20, and the positioning pin 22 penetrates through the machine positioning sleeve 20 and into the end effector fixing cross bar 3.

As shown in fig. 5, the end effector fixing cross bar 3 is connected to the connecting flange 15 by a screw 27, a lateral adjusting slider 28 is disposed at one end of the screw 27 extending into the end effector fixing cross bar 3, and the lateral adjusting slider 28 can slide along the end effector fixing cross bar 3 in the end effector fixing cross bar 3, so as to drive the clamping jaw mechanism 4 to adjust the position, and facilitate the clamping jaw mechanism 4 to align the workpiece.

As shown in fig. 1, the mounting beam 1 is provided with press connection plates 29 at both ends, and the press connection plates 29 are used for connecting with other related equipment and fixing the position of the mounting beam 1.

As shown in fig. 1, the upper end of the mounting beam 1 is further provided with an air storage tank 30, and compressed air stored in the air storage tank 30 is supplied to the driving cylinder 7 and used for frequently opening and closing the clamping jaw mechanism 4, so that the continuity of the action is guaranteed.

The utility model discloses a theory of operation: the clamping mechanism 5 connects the displacement mechanism 2 with the fixed cross rod 3 of the end effector, the micro-motion mechanism 6 connects the fixed cross rod 3 of the end effector with the clamping jaw mechanism 4, wherein the micro-motion mechanism 6 can adjust the angle of the clamping jaw mechanism 4, so that the clamping jaw mechanism 4 and a workpiece are accurately aligned, after the clamping jaw mechanism 4 clamps the workpiece, the displacement mechanism 2 drives the clamping jaw mechanism 4 to move back and forth, left and right and up and down, so that the workpiece is moved to the next station for processing, if the specification of the workpiece is changed, the fixed cross rod 3 of the end effector and all the clamping jaw mechanisms 4 can be changed through the fastening mechanism 5, and the single clamping jaw mechanism 4 is changed through the;

the working principle of the clamping jaw mechanism 4 is as follows: as shown in fig. 6, which is an opening schematic diagram of the lower clamping jaw 9 and the upper clamping jaw 10, the driving shaft 8 is driven by the driving cylinder 7 to move in the opening and closing groove 12, the oilless bushing 13 rolls in the opening and closing groove 12, the rolling motion rapidly drives the lower clamping jaw 9 to rotate and stretch around the rotating shaft 31, that is, the linear motion of the driving shaft 8 is converted into the rolling motion of the oilless bushing 13, interference occurs between the oilless bushing 13 and the opening and closing groove 12 to drive the lower clamping jaw 9 to rotate and open, that is, relative displacement occurs between the opening and closing groove 12 and the oilless bushing 13, and the path of the opening and closing groove 12 walking in unit time is increased by several times or even tens times instantaneously, so that the lower clamping jaw 9 and the upper clamping jaw 10 can be rapidly opened and closed, the opening and closing speed is high;

the operating principle of the micro-motion mechanism 6 is as follows: the universal connector 17 rotates along the connecting rotating shaft 16, the end effector fixing rotating shaft 18 is driven by the universal connector 17 to rotate by an angle, the end effector fixing rotating shaft 18 drives the driving cylinder 7 to rotate, and then the angle of the clamping jaw mechanism 4 is rotated, so that the clamping jaw mechanism 4 can clamp a workpiece more accurately;

the working principle of replacing the fixed cross bar 3 of the end effector and all the gripper mechanisms 4 by the fastening mechanism 5 is as follows: the positioning pin 22 is pulled out of the machine table positioning sleeve 20 and the end effector fixing cross rod 3, the powerful clamp 21 is pulled off, so that the fastening effect of the powerful clamp 21 on the anti-loosening fixing block 19 is cancelled, and the end effector fixing cross rod 3 and the clamping jaw mechanism 4 can be taken down and replaced;

the working principle of replacing a single clamping jaw mechanism 4 by the over-micro mechanism 6 is as follows: the individual gripper mechanisms 4 can be exchanged by unscrewing the screws 27 on the connecting flange 15.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. Convenient combination formula of multistation clamping jaw end effector that gradually bursts at seams, including installation crossbeam (1), its characterized in that: installation crossbeam (1) one side is provided with displacement mechanism (2), displacement mechanism (2) lower extreme one side is provided with end effector fixed horizontal pole (3), end effector fixed horizontal pole (3) front end is provided with a plurality of clamping jaw mechanism (4), connect through fastening device (5) between displacement mechanism (2) and the end effector fixed horizontal pole (3), connect through fine motion mechanism (6) between end effector fixed horizontal pole (3) and the clamping jaw mechanism (4).

2. The multi-station portable combined involute clamping jaw end effector of claim 1, wherein: the clamping jaw mechanism (4) comprises a driving cylinder (7), a driving shaft (8), a lower clamping jaw (9), an upper clamping jaw (10), a clamping jaw mounting seat (11), an opening and closing groove (12) and an oil-free bush (13), wherein the driving cylinder (7) is positioned at one end of a micro-motion mechanism (6) far away from an end effector fixing cross rod (3), the output end of the driving cylinder (7) is provided with the driving shaft (8), one side of the driving shaft (8) far away from the driving cylinder (7) is provided with the lower clamping jaw (9) and the upper clamping jaw (10), one side of the lower clamping jaw (9) is provided with the clamping jaw mounting seat (11), the clamping jaw mounting seat (11) is respectively fixedly connected with the driving cylinder (7) and the lower clamping jaw (9), the middle parts of the upper clamping jaw (10) and the lower clamping jaw (9) are rotatably connected through a rotating shaft (31), one side of the upper clamping jaw (, the driving shaft (8) stretches into the opening and closing groove (12), and an oilless bushing (13) is sleeved on one side of the driving shaft (8) stretching into the opening and closing groove (12).

3. The multi-station portable combined involute clamping jaw end effector of claim 2, wherein: and the upper end of one side of the upper clamping jaw (10) far away from the combining groove (12) is provided with a proximity sensor (14).

4. The multi-station portable combined involute clamping jaw end effector of claim 1, wherein: micro-motion mechanism (6) are including flange (15), connection pivot (16), universal connector (17), end effector fixed rotating shaft (18), end effector fixed horizontal pole (3) one side is provided with a plurality of flange (15), one side that end effector fixed horizontal pole (3) were kept away from in flange (15) is provided with connects pivot (16), one side that flange (15) were kept away from in connection pivot (16) is provided with universal connector (17), the one end that connection pivot (16) were kept away from in universal connector (17) is provided with end effector fixed rotating shaft (18), end effector fixed rotating shaft (18) keep away from universal connector (17) and drive actuating cylinder (7) and connect.

5. The multi-station portable combined involute clamping jaw end effector of claim 1, wherein: fastening device (5) are including locking fixed block (19), board position sleeve (20), powerful clamp (21), locating pin (22), the upper end that end effector fixed horizontal pole (3) and flange (15) correspond is provided with locking fixed block (19), the dorsal part that end effector fixed horizontal pole (3) and flange (15) correspond is provided with board position sleeve (20), board position sleeve (20) upper end is provided with powerful clamp (21), board position sleeve (20) inside is provided with locating pin (22).

6. The multi-station portable combined involute clamping jaw end effector of claim 5, wherein: displacement mechanism (2) include Y to slide rail (23), Z to slide rail (24), X to slide rail (25), displacement connecting plate (26), installation crossbeam (1) one side is provided with Y to slide rail (23), Y is provided with Z to slide rail (24) to slide rail (23) downside, Z is provided with X to slide rail (25) to slide rail (24) downside, X is provided with displacement connecting plate (26) to slide rail (25) lower extreme.

7. The multi-station portable combined involute clamping jaw end effector of claim 6, wherein: the displacement connecting plate (26) is fixedly connected with the machine table positioning sleeve (20), and the positioning pin (22) penetrates through the machine table positioning sleeve (20) and penetrates into the fixed cross rod (3) of the end effector.

8. The multi-station portable combined involute clamping jaw end effector of claim 1, wherein: the fixed cross rod (3) of the end effector is connected with the connecting flange (15) through a screw (27), and a transverse adjusting sliding block (28) is arranged at one end, extending into the fixed cross rod (3) of the end effector, of the screw (27).

9. The multi-station portable combined involute clamping jaw end effector of claim 1, wherein: and press connecting plates (29) are arranged at two ends of the mounting cross beam (1).

10. The multi-station portable combined involute clamping jaw end effector of claim 1, wherein: and the upper end of the mounting cross beam (1) is also provided with an air storage tank (30).

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