CN111604480A

CN111604480A - Investment casting shell making clamp

Info

Publication number: CN111604480A
Application number: CN202010437365.6A
Authority: CN
Inventors: 刘超; 许立勋; 张跃华; 李勇兵; 熊亮
Original assignee: Dongfeng Investment Casting Co ltd
Current assignee: Dongfeng Investment Casting Co ltd
Priority date: 2020-05-21
Filing date: 2020-05-21
Publication date: 2020-09-01

Abstract

The invention provides an investment casting shell-making clamp, which comprises: the clamp bracket is provided with a connecting flange; the servo motor is fixedly arranged on the clamp bracket, and a main chain wheel is arranged on an output shaft of the servo motor; n tongs mechanisms, wherein N is the positive integer of more than or equal to 2, tongs mechanisms equidistant fixed setting on the anchor clamps support, wherein, tongs mechanism includes the cylinder, follows the sprocket and tongs body of rod, the one end of the tongs body of rod with follow sprocket fixed connection, the other end rotates with the anchor clamps support to be connected, main sprocket and from the sprocket between be connected through chain drive, the other end of the tongs body of rod is provided with the grapple that is used for snatching the module, is provided with the clamp shaft in the tongs body of rod, clamp shaft with the piston rod fixed connection of cylinder. The invention can realize the consistency of the rotation direction and the speed of the corresponding gripper mechanisms of a plurality of modules, can realize automatic slurry dipping and sanding operation under the condition of being matched with a manipulator, ensures the consistency of the operation process and improves the shell manufacturing quality.

Description

Investment casting shell making clamp

Technical Field

The invention relates to the technical field of investment casting shell making, in particular to a shell making clamp for investment casting.

Background

At present, in the investment casting process, the processed investment pattern is assembled, namely a plurality of melting modules are welded on a gate stick to form a tree-shaped investment pattern tree group, a metal supporting rod is arranged in the middle of the gate stick, and an operator holds the metal supporting rod to lift the investment pattern tree group. The prior method for hanging the shell-making module adopts manual operation, does not have continuous automatic shell-making hanging equipment, and the shell-making process is a repeated slurry dipping and sanding process, wherein slurry dipping refers to coating with a binder on the surface of an investment pattern; and (3) sanding after the fired mold is stained with slurry, manually holding the fired mold tree group to stretch into a sand drenching machine during operation, performing rotation, inclination and other actions to ensure uniform sanding, and drying after sanding is finished. Repeating the above operations for multiple times to coat multiple layers of refractory materials on the surface of the investment mould to form a mould shell with certain strength.

In the shell manufacturing process, the manual operation is extremely complicated, the shell quality is greatly influenced by human factors, the requirement on the skill of workers is extremely high, the labor intensity is extremely high, and the production efficiency is low. Therefore, automated shell making is carried out.

At the present stage, the common mechanical shell-making equipment in the industry usually adopts a clamping jig to carry on the hanging and melting module, and clamps the melting module, and adopts a motor to rotate as a driving main gear to provide rotary power, and the main gear rotates through meshing with a driven gear on the clamping jig, so that the rotation of the module is realized. The shell manufacturing equipment in the prior art can only mount two modules synchronously to perform shell manufacturing production. When a plurality of modules of a plurality of carry are required, need add required clamping tool by current clamping tool again, and these clamping tools need mesh through driven fluted disc each other, from this, can't guarantee that the interval between the clamping tool on the whole system shell equipment equals, can't guarantee a plurality of module intervals unanimously promptly, if will keep the interval between the clamping tool unanimous, then need install drive gear between two adjacent clamping tools, from this, owing to there is the transmission capacity loss between the gear, the drive ratio is inconsistent, thereby lead to the rotational speed of each clamping tool inconsistent, and then can't guarantee the uniformity of system shell operation technology.

Disclosure of Invention

In view of the above, the invention provides an investment casting shell-making fixture, which mainly solves the problems that in the prior art, the rotating speeds of all clamping jigs in shell-making equipment are inconsistent, and the consistency of the shell-making operation process cannot be ensured.

The technical scheme of the invention is realized as follows: the invention provides an investment casting shell-making clamp, which comprises:

the fixture comprises a fixture support, a first clamping device and a second clamping device, wherein the fixture support is provided with a first side and a second side opposite to the first side, and a connecting flange used for being connected with an external manipulator is arranged on the first side;

the servo motor is fixedly arranged on the first side of the clamp bracket, and a main chain wheel is arranged on an output shaft of the servo motor;

the gripper mechanism comprises an air cylinder, a driven chain wheel and a gripper rod body, the air cylinder is fixedly arranged on the first side of the clamp support, one end of the gripper rod body is fixedly connected with the driven chain wheel, the other end of the gripper rod body extends out of the second side of the clamp support and is rotatably connected with the clamp support, the main chain wheel is connected with the driven chain wheel in a chain transmission mode, a gripper hook used for gripping the module is arranged at the other end of the gripper rod body, a clamping shaft used for clamping the module on the gripper hook is arranged in the gripper rod body, and the clamping shaft is fixedly connected with a piston rod of the air cylinder.

On the basis of the technical scheme, preferably, the fixture support is in a square shape, the gripper mechanisms are horizontally arranged on the fixture support at equal intervals, the main chain wheel is provided with a first main chain wheel and a second main chain wheel which are parallel to each other, the auxiliary chain wheel is provided with a first auxiliary chain wheel and a second auxiliary chain wheel which are parallel to each other, the first auxiliary chain wheel on the gripper mechanism close to one side of the servo motor is connected with the first main chain wheel through a chain, and the second auxiliary chain wheel on the gripper mechanism close to the other side of the servo motor is connected with the second main chain wheel through a chain.

Further, preferably, the first driven sprockets of two adjacent gripper mechanisms are connected through a chain, or the second driven sprockets of two adjacent gripper mechanisms are connected through a chain.

On the basis of the technical scheme, preferably, the clamp support is arranged in an annular shape, the gripper mechanisms are symmetrically distributed along the central axis of the clamp support, and the main chain wheel and the auxiliary chain wheel are arranged in the same plane and are in transmission connection through a chain.

On the basis of the technical scheme, preferably, a tensioning device used for providing tensioning force for the chain is arranged between every two adjacent gripping mechanisms, the tensioning device comprises a rotating seat and a tensioning wheel, the rotating seat is fixedly arranged on the clamp support, the tensioning wheel is rotatably arranged on the rotating seat, and the tensioning wheel is provided with teeth meshed with the chain.

On the basis of the technical scheme, preferably, a rotating device is fixedly arranged on the second side of the clamp support, the gripper rod body is rotatably connected with the rotating device, the rotating device comprises a bearing seat fixedly connected with the second side of the clamp support, at least one part of the gripper rod body is arranged in the bearing seat, bearings rotatably connected with the gripper rod body are arranged on two inner end faces of the bearing seat, a bearing retainer ring is arranged on the end face, close to one side of the driven sprocket, of the bearing seat, the gripper rod body penetrates through the bearing retainer ring and is connected with a locking nut, an external thread connected with the locking nut is arranged on the gripper rod body, and a locking gasket is further sleeved on the gripper rod body between the locking nut and the bearing retainer ring.

On the basis of the technical scheme, preferably, a first through hole is formed in the axis where one end, close to the cylinder, of the gripper rod body, a piston rod of the cylinder is inserted into the first through hole, a second through hole communicated with the first through hole is formed in the axis where one end, close to the gripper hook, of the gripper rod body, and the clamping shaft is inserted into the second through hole and fixedly connected with the end portion of the piston rod of the cylinder.

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

(1) the invention discloses an investment casting shell-making clamp which is matched with a manipulator for use, a plurality of gripper mechanisms are arranged on a jig support at equal intervals, when shell-making operation is carried out, a module to be shell-made can be grabbed through a grab hook on a gripper rod body, a plurality of modules can be grabbed simultaneously, the consistent module intervals are ensured, a clamping shaft is pushed by extending a piston rod of an air cylinder to clamp the module on the grab hook, a main chain wheel is driven to rotate through the rotation of a servo motor, the rotation of a driven chain wheel is driven by the chain transmission, the transmission ratio of the chain wheel and the chain is accurate, the work is reliable, the transmission power is large, the overload capacity is strong, the consistent rotation direction and speed of each module in the corresponding gripper mechanism can be realized, and the automatic slurry-dipping and sand-spreading operation can be realized on the module under the matching with the manipulator, the investment casting shell manufacturing device has the advantages that labor force is thoroughly liberated, production cost is reduced, the consistency of an operation process is guaranteed, the quality of investment casting shells is improved, and meanwhile, a plurality of modules are operated in parallel, so that production efficiency is greatly improved.

(2) The distance between two adjacent gripper mechanisms is equal to guarantee that a plurality of module intervals are consistent, and industrial robot's manipulator can directly pick and hang a plurality of modules on the line of making the shell, avoids the reciprocal transport of manpower, reduces intensity of labour by a wide margin.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a perspective view of a first embodiment of an investment casting shell clamp as disclosed herein;

FIG. 2 is a schematic view of the disclosed servo motor and main sprocket assembly;

fig. 3 is a schematic perspective view of the gripper mechanism disclosed in the present invention;

FIG. 4 is a perspective view of a second embodiment of the investment casting shell holder disclosed herein;

FIG. 5 is a plan view of a second embodiment of the investment casting shell holder disclosed herein;

FIG. 6 is a schematic structural view of the disclosed tensioning mechanism;

FIG. 7 is a plan cross-sectional view of the gripper mechanism disclosed herein;

fig. 8 is a schematic plan view of the gripper body according to the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to 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 of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.

As shown in FIG. 1, an embodiment of the present invention discloses an investment casting shell-making fixture, comprising:

anchor clamps support 1 for cooperate the use with industrial robot and system shell production line, it is specific, anchor clamps support 1 is the cuboid, and its purpose is a plurality of modules of be convenient for hang dress. The clamp bracket 1 has a first side 11 and a second side 12 opposite to the first side 11, and the first side 11 and the second side 12 are respectively located at the long sides of the clamp bracket 1. A connecting flange 13 for connecting with an external manipulator is arranged on the first side 11; the entire gripper bracket 1 can be mounted on the robot arm of an industrial robot via the connecting flange 13. The second side 12 of the fixture support 1 is used for cooperating with a shell manufacturing production line, and the second side 12 of the fixture support 1 is mainly used for hanging modules on the shell manufacturing production line and carrying out corresponding shell manufacturing process treatment on the modules on the second side 12.

The servo motor 2 is fixedly arranged on the first side 11 of the clamp bracket 1, and a main chain wheel 21 is arranged on an output shaft of the servo motor 2; by providing the servo motor 2, the rotational speed and torque can be accurately controlled, providing accurate rotational output for the rotation of the gripper mechanism 3 described below.

N tongs mechanisms 3, wherein N is the positive integer of more than or equal to 2, tongs mechanisms equidistant fixed the setting on the anchor clamps support, wherein, tongs mechanism 3 includes cylinder 31, from sprocket 32 and the tongs body of rod 33, cylinder 31 fixed setting is in the first side 11 of anchor clamps support 1, one end and the follow sprocket 32 fixed connection of tongs body of rod 33, the other end extends the second side 12 of anchor clamps support 1 and rotates with anchor clamps support 1 and is connected, through chain 4 transmission connection between main sprocket 21 and the follow sprocket 32, the other end of tongs body of rod 33 is provided with the grapple 331 that is used for snatching the module, be provided with in the tongs body of rod 33 and be used for carrying out the tight clamp shaft 332 of clamp to the module on the grapple 331, clamp shaft 332 with the piston rod 311 fixed connection of cylinder 31.

Adopt above-mentioned technical scheme, when carrying out investment casting shell making operation, at first be connected flange 13 and outside industrial robot's manipulator, snatch the shell module of treating on the shell making line through grapple 331 on the grapple body of rod 33, owing to set up a N at least tongs mechanism 3, wherein N is more than or equal to 2 positive integer, consequently can realize a plurality of modules simultaneously and snatched. When the module is mounted on the grapple 331, the air cylinders 31 of the respective grapple mechanisms 3 are synchronously actuated, and the clamping shafts 332 are extended by the piston rods 311 of the air cylinders 31 to clamp the module on the grapple 331. Through servo motor 2's rotation, drive main sprocket 21 rotates, and drive from sprocket 32's rotation by chain 4 transmission, from sprocket 32 drives the tongs body of rod 33 and takes place to rotate at the rotation in-process, sprocket chain drive ratio is accurate, reliable operation, transmission power is big, overload capacity is strong, realize that each module is unanimous at corresponding 3 rotation direction and speed of tongs mechanism from this, use under the cooperation manipulator, can realize automatic being stained with thick liquid to the module, sanding operation, thoroughly liberation labour, reduce manufacturing cost, guarantee operation technology's uniformity, the quality of fired mold shell making has been improved, a plurality of modules parallel operation simultaneously, and the production efficiency is greatly improved.

Referring to fig. 1, as a first embodiment of the present invention, in this embodiment, a jig support 1 is provided in a square shape, each gripper mechanism 3 is horizontally provided on the jig support 1 at equal intervals, a first main sprocket 211 and a second main sprocket 212 which are parallel to each other are provided on a main sprocket 21, a first slave sprocket 321 and a second slave sprocket 322 which are parallel to each other are provided on a slave sprocket 32, the first slave sprocket 321 on the gripper mechanism 3 close to one side of a servo motor 2 is connected to the first main sprocket 211 by a chain 4, and the second slave sprocket 322 on the gripper mechanism 3 close to the other side of the servo motor 2 is connected to the second main sprocket 212 by a chain 4. By adopting the technical scheme, the main chain wheel 21 is driven to rotate through the rotation of the servo motor 2, the first main chain wheel 211 and the second main chain wheel 212 on the main chain wheel 21 are respectively transmitted with the first main chain wheel 211 and the second main chain wheel 212 on the gripper mechanisms 3 on two sides of the servo motor 2 through the chains 4, so that the rotating speed and the rotating direction of each gripper mechanism 3 are kept consistent, the shell manufacturing technological parameters of each module can be kept consistent, and the shell quality is improved.

Further referring to fig. 2 and 3, the first driven sprockets 321 of two adjacent gripper mechanisms 3 are connected by the chain 4, or the second driven sprockets 322 of two adjacent gripper mechanisms 3 are connected by the chain 4. When the embodiment of the invention adopts more than two gripper mechanisms 3, the plurality of gripper mechanisms 3 can be connected in series by using the transmission mode of the chain wheel and the chain 4, so that the rotation of one servo motor 2 is realized, and meanwhile, the plurality of gripper mechanisms 3 are driven to rotate in the same direction and at the same speed, thereby improving the module shell manufacturing efficiency, ensuring the consistency of the operation process and improving the product quality.

In the first embodiment, the two adjacent gripper mechanisms are driven by the chains, so that the transmission ratio of each chain is kept consistent, the transmission is more powerful, the gripper mechanisms are not easy to slip, and the rotating speed of each gripper mechanism is ensured to be consistent.

Referring to fig. 4 and 5, as a second embodiment of the present invention, the clamp frame 1 is arranged in a ring shape, the gripping mechanisms 3 are symmetrically distributed along the central axis of the clamp frame 1, and the main chain wheel 21 and the auxiliary chain wheel 32 are arranged in the same plane and are in transmission connection through the chain 4.

As shown in the figure, four gripper mechanisms 3 are arranged, the four gripper mechanisms 3 are symmetrically and uniformly distributed along the central axis of the clamp support 1, and the slave chain wheels 32 on the four gripper mechanisms 3 and the master chain wheel 21 on the servo motor 2 are in transmission connection through a chain 4. Therefore, on the premise of ensuring that the gripper mechanisms are arranged at equal intervals, the average transmission ratio is accurate, the operation is reliable, the efficiency is high, and the rotating speed and the rotating direction of each gripper mechanism are kept consistent through transmission of one chain.

Referring to fig. 6, preferably, a tensioning device 5 for providing a tensioning force to the chain 4 is disposed between two adjacent gripper mechanisms 3, wherein the tensioning device 5 includes a rotating base 51 and a tensioning wheel 52, the rotating base 51 is fixedly disposed on the clamp bracket 1, the tensioning wheel 52 is rotatably disposed on the rotating base 51, and teeth 521 engaged with the chain 4 are disposed on the tensioning wheel 52. Adopt above-mentioned technical scheme, through setting up take-up pulley 52, can improve the tensile force of chain 4 between two adjacent tongs 3, avoid chain 4 to follow the slippage from sprocket 32, set up tooth 521 with chain 4 looks meshing on the take-up pulley 52, can further improve the tensile force between chain 4 and take-up pulley 52.

Referring to fig. 7, in this embodiment, a rotating device 34 is fixedly disposed on the second side 12 of the clamp bracket 1, the gripper bar body 33 is rotatably connected to the rotating device 34, the rotating device 34 includes a bearing seat 341 fixedly connected to the second side 12 of the clamp bracket 1, at least a portion of the gripper bar body 33 is disposed in the bearing seat 341, bearings 342 rotatably connected to the gripper bar body 33 are disposed on both inner end surfaces of the bearing seat 341, a bearing collar 343 is disposed on an end surface of the bearing seat 341 close to the side of the sprocket 32, the gripper bar body 33 passes through the bearing collar 343 and is connected to a lock nut 344, an external thread 333 connected to the lock nut 344 is disposed on the gripper bar body 33, and a lock washer 345 is further disposed on the gripper bar body 33 between the lock nut 344 and the bearing collar 343. By adopting the technical scheme, the bearing seat 341 is arranged, the bearing seat 341 is fixedly connected with the second side 12 of the clamp support 1, the rotation connection between the gripper rod body 33 and the bearing 342 in the bearing seat 341 is facilitated, the bearings 342 are arranged on the two inner end surfaces of the bearing seat 341, the rotation balance of the gripper rod body 33 in the bearing seat 341 can be improved, the locking gasket 345 can be pressed down when the locking nut 344 is locked with the gripper rod body 33 by arranging the bearing retainer ring 343, the locking gasket 345 and the locking nut 344, the bearing retainer ring 343 is extruded, the bearing retainer ring 343 abuts against the inner ring of the bearing 342, and the gripper rod body 33 and the inner ring of the bearing 342 are kept rotating.

Referring to fig. 8, a first through hole 334 is formed in an axis of the gripper bar body 33 near one end of the cylinder 31, the piston rod 311 of the cylinder 31 is inserted into the first through hole 334, a second through hole 335 communicated with the first through hole 334 is formed in an axis of the gripper bar body 33 near one end of the gripper 331, and the clamping shaft 332 is inserted into the second through hole 335 and fixedly connected with an end of the piston rod 311 of the cylinder 31. By adopting the technical scheme, when the module needs to be clamped, the air cylinder 31 is started, the driving piston rod 311 is started to extend, the piston rod 311 moves towards the second through hole 335 in the first through hole 334, and the clamping shaft 332 is pushed to move towards the direction of the grab hook 331 along the second through hole 335, so that the module hung on the grab hook 331 is clamped.

The working principle of the invention is as follows: the manipulator drives the clamp bracket 1 to move to the position of a module of a shell manufacturing production line, the module is grabbed by the grabbing hook 331, the air cylinders 31 on the grabbing hand mechanisms 3 are synchronously started, and the clamping shaft 332 is pushed by extending the piston rods 311 of the air cylinders 31 to clamp the module on the grabbing hook 331. Through the rotation of servo motor 2, drive main sprocket 21 rotates, and drive from the rotation of sprocket 32 by the transmission of chain 4, from sprocket 32 and rotate in-process drive tongs body of rod 33 and take place rotatoryly, realize that each module is unanimous at corresponding tongs mechanism 3 direction of rotation and speed from this, use under the cooperation manipulator, can realize automatic gluing to the module, the operation of sanding, after the system shell operation is accomplished, the manipulator drives anchor clamps support 1 and puts the module in the assigned position, the piston rod 311 of cylinder 31 drives clamping shaft 332 and withdraws, loosen the module.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims

1. An investment casting shell making fixture, comprising:

the fixture comprises a fixture support (1), wherein the fixture support (1) is provided with a first side (11) and a second side (12) opposite to the first side (11), and a connecting flange (13) used for being connected with an external manipulator is arranged on the first side (11);

the servo motor (2) is fixedly arranged on the first side (11) of the clamp bracket (1), and a main chain wheel (21) is arranged on an output shaft of the servo motor (2);

the gripper mechanism comprises N gripper mechanisms (3), wherein N is a positive integer larger than or equal to 2, the gripper mechanisms (3) are fixedly arranged on a clamp support (1) at equal intervals, each gripper mechanism (3) comprises an air cylinder (31), a driven chain wheel (32) and a gripper rod body (33), the air cylinders (31) are fixedly arranged on a first side (11) of the clamp support (1), one end of each gripper rod body (33) is fixedly connected with the driven chain wheel (32), the other end of each gripper rod body extends out of a second side (12) of the clamp support (1) and is rotatably connected with the clamp support (1), the main chain wheel (21) is in transmission connection with the driven chain wheel (32) through a chain (4), a gripper hook (331) used for gripping a module is arranged at the other end of each gripper rod body (33), and a clamping shaft (332) used for clamping the module on the gripper hook (331) is arranged in each gripper rod body (33), the clamping shaft (332) is fixedly connected with a piston rod (311) of the air cylinder (31).

2. The investment casting shell-making jig of claim 1, wherein: the clamp support (1) is arranged in a square mode, each gripper mechanism (3) is horizontally arranged on the clamp support (1) at equal intervals, a first main chain wheel (211) and a second main chain wheel (212) which are parallel to each other are arranged on the main chain wheel (21), a first driven chain wheel (321) and a second driven chain wheel (322) which are parallel to each other are arranged on the driven chain wheel (32), the first driven chain wheel (321) on the gripper mechanism (3) close to one side of the servo motor (2) is connected with the first main chain wheel (211) through a chain (4), and the second driven chain wheel (322) on the gripper mechanism (3) close to the other side of the servo motor (2) is connected with the second main chain wheel (212) through a chain (4).

3. The investment casting shell-making jig of claim 2, wherein: the first driven chain wheels (321) on two adjacent gripping mechanisms (3) are connected through chains (4), or the second driven chain wheels (322) on two adjacent gripping mechanisms (3) are connected through chains (4).

4. The investment casting shell-making jig of claim 1, wherein: the clamp support (1) is arranged in an annular shape, the gripper mechanisms (3) are symmetrically distributed along the central axis of the clamp support (1), and the main chain wheel (21) and the auxiliary chain wheel (32) are arranged in the same plane and are in transmission connection through the chain (4).

5. An investment casting shell making jig according to claim 3 or 4 wherein: a tensioning device (5) used for providing tensioning force for the chain (4) is arranged between every two adjacent gripper mechanisms (3), the tensioning device (5) comprises a rotating seat (51) and a tensioning wheel (52), the rotating seat (51) is fixedly arranged on the clamp support (1), the tensioning wheel (52) is rotatably arranged on the rotating seat (51), and teeth (521) meshed with the chain (4) are arranged on the tensioning wheel (52).

6. The investment casting shell-making jig of claim 1, wherein: a rotating device (34) is fixedly arranged on the second side (12) of the clamp bracket (1), the gripper rod body (33) is rotationally connected with the rotating device (34), the rotating device (34) comprises a bearing seat (341) fixedly connected with the second side (12) of the clamp bracket (1), at least one part of the gripper bar body (33) is arranged in the bearing seat (341), two inner end surfaces of the bearing seat (341) are respectively provided with a bearing (342) which is rotationally connected with the gripper rod body (33), a bearing retainer ring (343) is arranged on the end surface of the bearing seat (341) close to one side of the driven chain wheel (32), the gripper rod body (33) penetrates through the bearing retainer ring (343) and is connected with a locking nut (344), the gripper rod body (33) is provided with an external thread (333) connected with a locking nut (344), and a locking gasket (345) is further sleeved on the gripper rod body (33) between the locking nut (344) and the bearing retainer ring (343).

7. The investment casting shell-making jig of claim 6, wherein: the gripper rod body (33) is provided with a first through hole (334) on an axis close to one end of the air cylinder (31), a piston rod (311) of the air cylinder (31) is inserted into the first through hole (334), a second through hole (335) communicated with the first through hole (334) is arranged on an axis close to one end of the gripper hook (331) of the gripper rod body (33), and the clamping shaft (332) is inserted into the second through hole (335) and fixedly connected with the end of the piston rod (311) of the air cylinder (31).