CN115922770A

CN115922770A - Modularized mechanical clamp and application thereof

Info

Publication number: CN115922770A
Application number: CN202310030783.7A
Authority: CN
Inventors: 王超; 李云华; 罗文波; 齐一; 刘彩平; 吴春燕; 赵山川
Original assignee: Chengdu Ega Intelligent Technology Co ltd
Current assignee: Chengdu Ega Intelligent Technology Co ltd
Priority date: 2023-01-10
Filing date: 2023-01-10
Publication date: 2023-04-07

Abstract

The modularized mechanical clamp provided by the invention can realize stable clamping and free rotation under the driving of a harmonic motor and a precise control cylinder without control circuit and air path winding, can flexibly complete preset actions, does not need to additionally arrange a speed reducing device, does not have a concentrated stress area, can meet the safe and long-term operation under larger load by setting dispersed stress, can adapt to diversified working environments, adopts a standard interface, can be conveniently disassembled, assembled and replaced, and can realize quick assembly of the modularized mechanical clamp and the modularized mechanical arm according to different scenes or requirements.

Description

Modularized mechanical clamp and application thereof

Technical Field

The invention relates to the field of mechanical clamps, in particular to a modularized mechanical clamp and application thereof.

Background

Modern production and processing processes have higher and higher requirements on automation and refinement, in the prior art, a mechanical clamp for realizing the grabbing function is usually connected with a flange plate of a tail end joint of a mechanical arm, a circuit and a pneumatic guide pipe for controlling and supplying power are exposed outside, so that the maintenance cost is high, the mechanical clamp is not convenient to disassemble and install, and the mechanical clamp is influenced by the circuit and the pneumatic guide pipe which are exposed outside, and the degree of freedom of the mechanical clamp is greatly limited. Even if the mechanical clamp is modularized, the problems of limited freedom and complicated assembly and disassembly still exist, and the application scenarios cannot be diversified, for example, the befu automation limited company mentioned a modularized robot arm in the invention patent with application number 202080053383.2, which, although integrating gas and liquid paths and placing the lines in a housing, does not disclose the internal structure of the mechanical clamp, and functionally cannot realize the modularized application of the mechanical clamp.

In order to solve the above problems, the present invention provides a modular mechanical clamp that can be used with a modular mechanical arm.

Disclosure of Invention

The invention provides a modular mechanical clamp.

[ about modularization arm ]

The invention comprises a built-in electromechanical integrated modularized mechanical arm with high degree of freedom, which is an L-shaped modularized mechanical arm, and the structure of the L-shaped modularized mechanical arm comprises: the mechanical arm comprises a mechanical arm shell 1, an end socket 4, a plug-in male head 2 and a plug-in female head 3 which are distributed in a right angle manner; the plug male head 2 is internally provided with an electrical slip ring 7 and a harmonic motor 8, a slip ring stator 72 of the electrical slip ring 7 is fixed on the mechanical arm shell 1 and a first supporting plate 5 integrally formed with the shell, a slip ring rotor 71 of the electrical slip ring 7 is fixed on a male head connecting block 9, and a motor rotating shaft 84 of the harmonic motor 8 penetrates through and is fixed with the male head connecting block 9, so that the harmonic motor 8 can independently control the rotation of the male head connecting block 9 and the slip ring rotor 71, and the male head plug-in block 10 is fixed on the male head connecting block 9; female 3 of pegging graft and the cooperation of the public first 2 of pegging graft set up, include the second backup pad 6 that sets up with arm shell 1 an organic whole, with the annular briquetting 15 of 6 butts of second backup pad, annular briquetting 15 and the contact of female connecting block 16, use third bearing 14 swing joint between female connecting block 16 and the second backup pad 6, with second bearing 17 swing joint between female connecting block 16 and the arm shell 1, female first plug 19 is fixed on annular briquetting 15, with public first plug 10 cooperation sets up, and fluid line and signal line run through public first 2 of pegging graft and the free rotation of the female first 3 of pegging graft and do not twine, fluid line is used for passing through gas or liquid, signal line is used for transmitting electricity and/or signal instruction.

Further, the part 2 of the plug-in male head comprises a mechanical arm shell 1, and the mechanical arm shell 1 is made of metal, aluminum, steel, titanium-aluminum alloy, high-strength aluminum alloy, AW7075, fiber reinforced plastic, glass fiber reinforced plastic (GfK) and carbon fiber reinforced plastic (CfK); the mechanical arm shell 1 is integrally formed with a first supporting plate 5 in a mechanical arm cavity, and a slip ring stator 72 capable of fixing an electrical slip ring 7 and a harmonic motor 8 are arranged on the first supporting plate 5 and the mechanical arm shell 1 in a matched manner; one side of the harmonic motor rotating shaft 84, which is far away from the motor main body, is a cylindrical tangent edge shape and is used for positioning the slip ring rotor 71 and the slip ring stator 72, and the slip ring rotor and the slip ring stator enter a step limiting hole 96 arranged on the male connecting block 9 and are fixed with the male connecting block 9, so that the male connecting block 9 can rotate under the driving of the harmonic motor 8; the male connecting block 9 is fixedly connected with the male inserting block 10; the male connecting block 9 is fixedly connected with a slip ring rotor 71 of the electrical slip ring 7, so that the slip ring rotor 71 is driven by the harmonic motor 8 to rotate, and the slip ring stator 72 is fixed; a plurality of fluid inlets 75 are uniformly distributed on the slip ring rotor 71, a plurality of fluid outlets 76 are symmetrically distributed on the slip ring stator 72, gas is hermetically accessed into the fluid inlets 75 step by step through a male head opposite insertion flow channel 102 on the male head insertion block 10 through a flow pipe hole 93, a signal line 73 is accessed into the slip ring rotor 71 through a male head opposite insertion needle 101 through a signal hole 92, and is led out from the side of the slip ring stator 72 to enter the harmonic motor 8; one side of the slip ring stator 72, which is far away from the slip ring clamping groove 52, is surrounded and fastened by a stepped pressing block 13 so as to ensure that the whole electrical slip ring 7 does not shake; the stepped pressing block 13 and the male connecting block 9 are provided with first bearings 11 at corresponding step positions, the rotor side of each first bearing 11 is in contact with the male connecting block 9, the stator side of each first bearing 11 is in contact with the stepped pressing block 13, and in order to prevent the first bearings 11 from vertically moving, a first clamp spring 12 is additionally arranged between the first bearings 11 and the other side edges of the stepped pressing blocks 13.

Further, the mechanical arm shell 1 is combined with the step-shaped pressing block 13 through a first connecting screw 1a, and is combined with the end cover 4 through a second connecting screw 1 b; the first support plate 5 is provided with a fluid channel 51, a slip ring clamping groove 52 and a slip ring fixing tooth base 53, the slip ring clamping groove 52 is used for clamping the electric slip ring 7 in the slip ring clamping groove 52 to limit the movement of the slip ring stator 72 in the vertical direction, the slip ring fixing tooth base 53 is provided with a second slip ring fixing hole 74c, and a slip ring fixing screw 74a penetrates through a first slip ring fixing hole 74b and a second slip ring fixing hole 74c in the mechanical arm shell 1 and is fastened to a third slip ring fixing hole 74d in the slip ring stator to limit the movement of the slip ring stator 72 in the horizontal direction.

Furthermore, a sunken thread through hole 82b is formed in the first support plate 5, a fastening screw 82a penetrates through the sunken thread through hole 82b to enter a fastening thread 82c on the motor stator, the motor stator side can be fixed on the back side of the first support plate through the setting, and then the motor is fixed on the shell; in addition, the fastening screw 83a passes through the shaft screw hole 83b provided on the motor flange 81 and enters the fastening screw 83c on the motor mover, thereby inserting the motor shaft 84 into the motor mover side so that the motor shaft 84 can rotate freely; the cylinder of motor shaft 84 is cut the avris and is fixed on public first connecting block 9 with pivot stop screw 94a and the spacing screw hole of pivot 94b, and the cylinder of motor shaft 84 is cut the dorsal part and is fixed on public first connecting block 9 with pivot fastening screw 97a and pivot fastening screw 97b to realize motor shaft 84 and public first connecting block 9 fixed, make public first connecting block 9 can take place to rotate under the drive of harmonic motor 8.

Further, a first positioning plug pin 91a which is in fit connection with a first positioning jack 91b on the male plug block 10 is arranged on the male plug connecting block 9, and a fluid pipeline is arranged between the male plug connecting block 9 and the male plug block 10; the male connector connecting block 9 is further provided with a signal hole 92 for a signal line to pass through, a flow tube hole 93 for a fluid line to pass through, and a male connector butt thread 95.

Furthermore, the inserting female head 3 part comprises a mechanical arm shell 1 in a flaring shape, and a second support plate 6 which is integrally arranged with the mechanical arm shell 1, wherein a fluid channel 61 for a fluid line to pass through and a signal channel 62 for a signal line to pass through are arranged on the second support plate 6; the mechanical arm shell 1 in the flaring shape is in movable contact with a platform of the female joint connecting block 16 at the tail end of the flaring in the direction perpendicular to the extending direction of the flaring; a second bearing 17 is arranged between the inner side of the flaring of the mechanical arm shell 1 and the outer side of the female connecting block 16, the rotor side of the second bearing 17 is in contact with the outer side of the female connecting block 16, the stator side of the second bearing 17 is in contact with the inner side of the mechanical arm shell 1, and a second snap spring 18 is additionally arranged on one side of the second bearing 17 to stabilize the second bearing 17; the second supporting plate 6 is provided with a two-stage step shape on one side far away from the male plug 2, the lower stage step is abutted to the far end of the female connecting block 16 through a third bearing 14, one side of the third bearing 14 contacting the female connecting block 16 is a rotor side, and one side of the third bearing 14 contacting the lower stage step of the second supporting plate 6 is a stator side; the high-grade step of the second supporting plate 6 is of a non-circular structure, a signal channel 62 is arranged in the high-grade step, the high-grade step penetrates through the signal channel 151 on the annular pressing block 15 and limits the rotation of the annular pressing block 15, and a signal line penetrates through the signal channel 151 and then is connected with the female head-to-male pin 191 on the female head plugging block 19; the annular pressing block 15 is hermetically provided with a fluid channel 152 for a fluid line to pass through, and the fluid channel 152 is hermetically connected with a female plug-to-plug flow channel 192 on the female plug-in block 19; the annular pressing block 15 further comprises a second positioning insertion hole 153b which can be fixedly matched with the second positioning bolt 153a on the female plug-in block 19.

Furthermore, female plug positioning 193 is arranged on the female plug block 19, after male plug positioning 103 on the male plug block 10 with a higher-level modular mechanical arm is plugged and positioned, the female plug pin 191 and the female plug flow passage 192 are tightly connected with the male plug pin 101 and the male plug flow passage 102, so that the connection of a fluid circuit and a signal circuit of the two-level modular mechanical arm is completed, and when the male plug block 10 of the upper-level modular mechanical arm is driven by the harmonic motor 8 to rotate, the female plug block 19 of the lower-level modular mechanical arm drives all lower-level modular mechanical arms to rotate.

The high-freedom built-in electromechanical integrated modular mechanical arm can also be an I-shaped modular mechanical arm, the end 4 and the second connecting screw 1b of the L-shaped modular mechanical arm are omitted from the I-shaped modular mechanical arm, and the second supporting plate 6 and the first supporting plate 5 are arranged in parallel.

[ ASSEMBLING OF MODULE MACHINERY ARM ]

According to the high-freedom built-in electromechanical integrated modular mechanical arm assembly, the assembly comprises m sections of L-shaped modular mechanical arms and n sections of I-shaped modular mechanical arms which are spliced, a multi-section modular mechanical arm assembly structure is formed by matching a plug-in male head of an upper modular mechanical arm with a plug-in female head of a lower modular mechanical arm, and two ends of the assembly structure can be respectively connected with a mechanical arm base and a mechanical clamp.

Further, m + n is more than or equal to 1, wherein m is an integer more than or equal to 0, and n is an integer more than or equal to 0.

[ about modular mechanical fixture ]

The invention also provides a modular mechanical clamp used in cooperation with the modular mechanical arm and the assembly thereof, and the modular mechanical clamp structurally comprises: male plug 2, mechanical clamp housing 20, end connector 21, end tool 22. The structure of the plug-in male head 2 is consistent with that of the plug-in male head 2 of the modular mechanical arm structure, the plug-in male head 2 comprises an electrical slip ring 7 and a harmonic motor 8, a slip ring stator 72 of the electrical slip ring 7 is fixed on a mechanical clamp shell 20 and a first supporting plate 5 integrally formed with the mechanical clamp shell 20, a slip ring rotor 71 of the electrical slip ring 7 is fixed on a male head connecting block 9, and a motor rotating shaft 84 of the harmonic motor 8 penetrates through and is fixed with the male head connecting block 9, so that the harmonic motor 8 can independently control the rotation of the male head connecting block 9 and the slip ring rotor 71, and the male head plug-in block 10 is fixed on the male head connecting block 9. The end connector 21 is connected to the mechanical clamp housing 20, the end tool 22 is fixed to the end connector 21, and a fluid line for passing a gas or a liquid and a signal line for transmitting an electric and/or signal command are passed through the male plug 2 and the end connector 21 into the end tool 22, freely rotating without being entangled.

Further, the male plug 2 part comprises a mechanical clamp housing 20, and the mechanical clamp housing 20 is made of metal, aluminum, steel, titanium-aluminum alloy, high-strength aluminum alloy, AW7075, fiber reinforced plastic, glass fiber reinforced plastic (GfK), and carbon fiber reinforced plastic (CfK); the mechanical clamp shell 20 is integrally formed with a first support plate 5 inside the mechanical clamp cavity, and a slip ring stator 72 capable of fixing an electrical slip ring 7 and a harmonic motor 8 are arranged on the first support plate 5 and the mechanical clamp shell 20 in a matching manner; the side, away from the motor, of the rotating shaft 84 of the harmonic motor 8 is a cylindrical tangent edge, and is used for positioning the slip ring rotor 71 and the slip ring stator 72, entering a step limiting hole 96 arranged on the male connecting block 9 and being fixed with the male connecting block 9, so that the male connecting block 9 can rotate under the driving of the harmonic motor 8; the male connector connecting block 9 is fixedly connected with the male connector inserting block 10; the male connecting block 9 is fixedly connected with a slip ring rotor 71 of the electrical slip ring 7, so that the slip ring rotor 71 is driven by the harmonic motor 8 to rotate, and the slip ring stator 72 is fixed; a plurality of fluid inlets 75 are uniformly distributed on the slip ring rotor 71, a plurality of fluid outlets 76 are symmetrically distributed on the slip ring stator 72, fluid is hermetically connected into the fluid inlets 75 step by step through a flow pipe hole 93 by a male head opposite insertion flow passage 102 on the male head insertion block 10, a signal line 73 is connected into the slip ring rotor 71 through a signal hole 92 by a male head opposite insertion pin 101, and is led out from the side of the slip ring stator 72 to enter the harmonic motor 8; one side of the slip ring stator 72, which is far away from the slip ring clamping groove 52, is surrounded and fastened by a stepped pressing block 13 so as to ensure that the whole electrical slip ring 7 does not shake; the stepped pressing block 13 and the male connecting block 9 are provided with first bearings 11 at corresponding step positions, the rotor side of each first bearing 11 is in contact with the male connecting block 9, the stator side of each first bearing 11 is in contact with the stepped pressing block 13, and in order to prevent the first bearings 11 from vertically moving, a first clamp spring 12 is additionally arranged between the first bearings 11 and the other side edges of the stepped pressing blocks 13.

Further, the mechanical clamp housing 20 is combined with the stepped pressing block 13 through a third connecting screw 20a, and is combined with the end connecting piece 21 through a fourth connecting screw 20 b; the first support plate 5 is provided with a fluid passage 51, a slip ring clamping groove 52 and a slip ring fixing tooth base 53, the slip ring clamping groove 52 is used for clamping the electrical slip ring 7 in the slip ring clamping groove 52 to limit the movement of the slip ring stator 72 in the vertical direction, the slip ring fixing tooth base 53 is provided with a second slip ring fixing hole 74c, and a slip ring fixing screw 74a penetrates through a first slip ring fixing hole 74b and a second slip ring fixing hole 74c on the mechanical clamp shell 20 and is fastened to a third slip ring fixing hole 74d on the slip ring stator to limit the movement of the slip ring stator 72 in the horizontal direction.

Furthermore, end tool 22 is fixedly connected to end connector 21 by a fifth connecting screw 225, a gas-liquid chamber 221 is excessively connected between end tool 22 and end connector 21, a piston (not shown) is disposed in gas-liquid chamber 221, positive pressure or negative pressure is provided to the piston by fluid to complete clamping or releasing action of end tool 22, end tool 22 is of a non-slip structure, and a modular mechanical clamp having clamp 222 of a different shape, such as a two-jaw type for gripping or a three-jaw type for twisting, can be used according to different purposes.

Further, tip tool 22 is provided with a universal interface, i.e., a reserved fluid interface 223 and a reserved signal interface 224 on the interior side of tip connector 21, which are selectively connected with fluid outlet 76 and signal line 73, respectively. In addition, the modular mechanical fixture is detachably connected with the plug-in female head 3 of the last-stage modular mechanical arm in a plug-in mode through the plug-in male head 2, the rotation action of the tail end tool 22 is completed through the driving of a harmonic motor inside the modular mechanical fixture, the free directional movement of the tail end tool 22 in the space is completed through the driving of the harmonic motor inside the modular mechanical arm, the modular mechanical fixture can be detached or replaced according to actual use scenes, and the fluid type and the interface type can be selected adaptively. For example, for smaller load items, pneumatic actuation may be used, for larger load items, hydraulic actuation may be used, and for fine motion, signal actuation may be added. For another example, the modular mechanical fixture may directly eject gas or liquid without the end tool 22, and perform gas or liquid feeding operations, and exemplary application scenarios include: spraying, sample injection and the like.

The invention has the following beneficial effects:

(1) the modularized mechanical clamp provided by the invention has a simple structure, is easy to maintain, can realize stable and free rotation under the drive of the harmonic motor, is completely controlled by the harmonic motor in a rotation mode, does not need to be additionally provided with a speed reducing device, is arranged in the modularized mechanical clamp, is attractive and concise, can ensure that a signal line and a fluid line in a cavity of the mechanical clamp are not scratched by the external environment, and can not have abnormal conditions of crossing and winding.

(2) The modularized mechanical clamp provided by the invention reserves a universal interface of a gas/liquid path and a signal path, and can adapt to diversified working environments. For example, for the object with small load, the pneumatic driving can be used, for the object with large load, the hydraulic driving can be used, and for the precise motion, the electric and gas hybrid driving can be used; for example, a two-jaw is used for grasping, while a three-jaw is used for twisting. For another example, the modular mechanical fixture may be equipped with gas and liquid nozzles to directly spray gas or liquid through the reserved gas and liquid channels, and the exemplary application scenarios include: spraying, pressing, and the like.

(3) The modularized mechanical clamp provided by the invention is very convenient to disassemble, assemble and replace, and can be assembled with the modularized mechanical arm according to different scenes or requirements.

Drawings

Fig. 1 is a schematic view of an L-shaped modular robot arm plugging male joint according to embodiment 1 of the present invention;

fig. 2 is a schematic diagram of an L-shaped modular manipulator plug-in female head according to embodiment 1 of the present invention;

FIG. 3 is a schematic cross-sectional view of an L-shaped modular robot of embodiment 1 of the present invention;

FIG. 4 is a schematic view of the internal structure of an L-shaped modular robot arm according to embodiment 1 of the present invention;

fig. 5 is a schematic view of an internal structure of an L-shaped modular robot arm plugging male joint according to embodiment 1 of the present invention;

fig. 6 is a schematic view of an installation structure of a harmonic motor of an L-shaped modular robot arm according to embodiment 1 of the present invention;

fig. 7 is a schematic view of an internal structure of an L-shaped modular manipulator plug-in female head according to embodiment 1 of the present invention;

FIG. 8 is a schematic cross-sectional view of an I-shaped modular robot of example 2 of the present invention;

fig. 9 is a schematic view of an internal structure of an I-shaped modular robot arm plugging male head according to embodiment 2 of the present invention;

fig. 10 is a schematic view of an internal structure of an I-shaped modular manipulator plug-in female joint according to embodiment 2 of the present invention;

FIG. 11 is an assembled schematic view of an L-shaped modular robot and an I-shaped modular robot of example 3 of the present invention;

FIG. 12 is a schematic view of a two-jaw modular mechanical clamp according to embodiment 4 of the present invention;

fig. 13 is a schematic cross-sectional view of a two-jaw modular mechanical clamp according to embodiment 4 of the present invention;

fig. 14 is a schematic view of the internal structure of a two-jaw modular mechanical clamp according to embodiment 4 of the present invention;

fig. 15 is a schematic view of a harmonic motor mounting structure of a two-jaw modular mechanical clamp according to embodiment 4 of the present invention;

fig. 16 is a schematic view of a three-jaw modular mechanical clamp according to embodiment 5 of the present invention.

In the figure, the position of the upper end of the main shaft, 1-mechanical arm shell, 1 a-first connecting screw, 1 b-second connecting screw, 2-plug male head, 3-plug female head, 4-end head, 5-first supporting plate, 51-fluid channel, 52-slip ring clamping groove, 53-slip ring fixing tooth, 6-second supporting plate, 61-fluid channel, 62-signal channel, 7-electric slip ring, 71-slip ring mover, 72-slip ring stator, 73-signal circuit, 74 a-slip ring fixing screw, 74 b-first slip ring fixing hole, 74 c-second slip ring fixing hole, 74 d-third slip ring fixing hole, 75-fluid inlet nozzle, 76-fluid outlet nozzle, 77 a-slip ring connecting nut, 77 b-slip ring connecting through hole, 77 c-slip ring connecting hole, 8-harmonic motor 81-motor flange plate, 82 a-fastening screw, 82 b-sunken thread through hole, 82c fastening screw, 83 a-fastening screw, 83 b-rotating shaft threaded hole, 83 c-fastening screw, 84-motor rotating shaft, 9-male connecting block, 91 a-first positioning bolt, 91 b-first positioning jack, 92-signal hole, 93-flow pipe hole, 94-rotating shaft limiting piece, 94 a-rotating shaft limiting screw, 94 b-rotating shaft limiting screw hole, 95-male butt joint screw thread, 96-step limiting hole, 97-rotating shaft fastening piece, 97 a-rotating shaft fastening screw, 97 b-rotating shaft fastening screw hole, 10-male plug block, 101-male plug pin, 102-male plug flow channel, 103-male plug positioning screw hole, 11-a first bearing, 12-a first clamp spring, 13-a stepped press block, 14-a second bearing, 15-an annular press block, 151-a signal channel, 152-a fluid channel, 153 a-a second positioning bolt, 153B-a second positioning jack, 16-a female head connecting block, 161-a female head butt thread, 17-a third bearing, 18-a second clamp spring, 19-a female head plugging block, 191-a female head butt pin, 192-a female head butt plugging flow channel, 193-a female head butt positioning, A-L-shaped modular mechanical arm, B-I-shaped modular mechanical arm, 20-a modular mechanical clamp shell, 20 a-a third connecting screw, 20B-a fourth connecting screw, 21-a terminal connecting piece, 22-a terminal tool, 221-a gas-liquid chamber, 222-a clamping jaw, 223-a reserved fluid interface, 224-a reserved signal interface and 225-a fifth connecting screw.

Detailed Description

It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an", and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

For convenience of description, the words "up", "down", "left" and "right" in the present invention, if any, merely indicate correspondence with up, down, left and right directions of the drawings themselves, and do not limit the structure, but merely facilitate the description of the invention and simplify the description, rather than indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the invention.

Example 1

Embodiment 1 of the present invention provides an L-shaped modular robot arm, and referring to fig. 1 and 2, the L-shaped modular robot arm includes a robot arm housing 1, an insertion male head 2, and an insertion female head 3, which are distributed at a right angle.

3-5, the plugging male head 2 of the L-shaped modular robot arm is observed, the L-shaped modular robot arm includes a robot arm housing 1 at the plugging male head 2, the robot arm housing 1 is combined with the stepped press block 13 through a first connection screw 1a, and is combined with the end cover 4 through a second connection screw 1b, the robot arm housing 1 is integrally formed with a first support plate 5 inside a robot arm cavity, the first support plate 5 is provided with a fluid passage 51, a slip ring clamping groove 52 and a slip ring fixing tooth base 53, the slip ring clamping groove 52 is used for clamping an electrical slip ring 7 inside the slip ring clamping groove 52 to limit the movement of the slip ring stator 72 in the vertical direction, the slip ring fixing tooth base 53 is provided with a second slip ring fixing hole 74c, and the slip ring fixing screw 74a penetrates through the first slip ring fixing hole 74b on the robot arm housing 1 and the second slip ring fixing hole 74c to be fastened to a third slip ring fixing hole 74d on the slip ring stator to limit the movement of the slip ring stator 72 in the horizontal direction.

Further, observe the connected mode of harmonic motor 8 in combination with fig. 6, seted up on the first backup pad 5 and sunken screw thread via hole 82b, fastening screw 82a passes and sinks screw thread via hole 82b and gets into fastening screw thread 82c on the motor stator, and above-mentioned settlement can be fixed in the motor stator side the dorsal part of first backup pad, and then realize that the motor is fixed in on the shell. In addition, the fastening screw 83a is inserted into the fastening screw 83c of the motor mover through the shaft screw hole 83b provided in the motor flange 81, and the motor shaft 84 is engaged with the motor mover side so that the motor shaft 84 can rotate freely.

Returning to fig. 3-5, one side of the motor shaft 84, which is away from the motor, is a cylindrical edge cut for positioning the slip ring rotor 71 and the slip ring stator 72, the motor shaft 84 penetrates through the slip ring rotor 71 and the slip ring stator 72 of the electrical slip ring 7 and enters the step limiting hole 96 arranged on the male connecting block 9, the cylindrical edge cut side of the motor shaft 84 is fixed on the male connecting block 9 by the shaft limiting screw 94a and the shaft limiting screw hole 94b, and the cylindrical edge cut back side of the motor shaft 84 is fixed on the male connecting block 9 by the shaft fastening screw 97a and the shaft fastening screw hole 97b, so that the motor shaft 84 and the male connecting block 9 are fixed, and the male connecting block 9 can rotate under the driving of the harmonic motor 8.

Furthermore, a first positioning plug pin 91a which is connected with a first positioning jack 91b on the male plug block 10 in a matching manner is arranged on the male plug block 9, and the male plug block 9 and the male plug block 10 are connected through a fluid pipeline.

Further, the male connecting block 9 is further provided with a signal hole 92 through which a signal line passes, a flow pipe hole 93 through which a fluid line passes, and a male butt screw 95, and further comprises a slip ring connecting through hole 77b, and the slip ring rotor 71 of the electrical slip ring 7 and the male connecting block 9 can be fixed by matching the slip ring connecting nut 77a, the slip ring connecting through hole 77b, and the slip ring connecting through hole 77c, so that the slip ring rotor 71 is driven by the harmonic motor 8 to rotate, and the slip ring stator 72 is kept fixed.

Further, a plurality of fluid inlets 75 are uniformly distributed on the slip ring rotor 71, a plurality of fluid outlets 76 are symmetrically distributed on the slip ring stator 72, fluid is hermetically connected into the fluid inlets 75 step by step through a male head opposite insertion flow passage 102 on the male head insertion block 10 through a flow pipe hole 93, a signal line 73 is connected into the slip ring rotor 71 through a signal hole 92 through a male head opposite insertion pin 101, and is led out from the side of the slip ring stator 72 to enter the harmonic motor 8. Through the setting, when the harmonic motor 8 drives the slip ring rotor 71 to rotate, the slip ring stator 72 is kept fixed, and meanwhile, the signal line and the fluid line in the cavity of the mechanical arm can be prevented from being crossed and wound.

Further, one side of the slip ring stator 72, which is far away from the slip ring clamping groove 52, is surrounded and fastened by the stepped press block 13 to ensure that the electrical slip ring 7 does not shake integrally, the tail end of the stepped press block 13, which is far away from the slip ring stator 72, is fixed on the side edge of the mechanical arm shell 1 by the first connecting screw 1a, the other side of the tail end is in movable contact with the male connecting block 9, and the two can slide relatively on the contact surface. In addition, the first bearing 11 is arranged at the corresponding step part of the stepped pressing block 13 and the male connecting block 9, the rotor side of the first bearing 11 is contacted with the male connecting block 9, the stator side of the first bearing 11 is contacted with the stepped pressing block 13, and in order to prevent the vertical displacement of the first bearing 11, a first snap spring 12 is additionally arranged between the first bearing 11 and the other side edge of the stepped pressing block 13.

The setting can realize that the male plug-in block 10, the male connecting block 9 and the slip ring rotor 71 can stably and freely rotate under the driving of the harmonic motor 8, the rotation mode is completely controlled by the harmonic motor 8, no speed reducing device is additionally arranged, and meanwhile, the abnormal conditions of crossing and winding of a signal line and a fluid line in a cavity of the mechanical arm can be avoided.

Referring now to fig. 3-4 and 7, an insertion female head 3 of an L-shaped modular robot is observed, where the L-shaped modular robot includes a flared robot housing 1 at the insertion female head 3, a second support plate 6 integrally disposed with the robot housing 1, and the second support plate 6 is provided with a fluid channel 61 for a fluid line to pass through and a signal channel 62 for a signal line to pass through.

Further, the mechanical arm shell 1 in the flaring shape is in movable contact with the platform of the female connecting block 16 in the flaring extending direction of the perpendicular to at the tail end of the flaring, make the relative rotation between the two at the tail end of the flaring, for making the relative rotation between the two go on smoothly, set up the second bearing 17 between the flaring of the mechanical arm shell 1 is inboard and the female connecting block 16 outside, the contact of second bearing 17 runner side and the female connecting block 16 outside, the contact of second bearing 17 stator side and mechanical arm shell 1 is inboard, for making the second bearing 17 stable, set up the second jump ring 18 in second bearing 17 one side. The second supporting plate 6 is in the shape that keeps away from the public first 2 one side of pegging graft and has two-stage step, and the distal end of low-grade step and female first connecting block 16 uses third bearing 14 butt, and third bearing 14 contact female first connecting block 16 one side is the active cell side, and third bearing 14 contact second supporting plate 6 low-grade step one side is the stator side.

Further, the high-level step of the second supporting plate 6 is a non-circular structure, a signal channel 62 is arranged in the high-level step, the high-level step penetrates through the signal channel 151 on the annular pressing block 15 and limits the rotation of the annular pressing block 15, and a signal line penetrates through the signal channel 151 and then is connected with the female-to-male pin 191 on the female-to-male pin block 19. The annular pressing block 15 is provided with a fluid channel 152 for a fluid line to pass through in a sealing way, and the fluid channel 152 is connected with a female plug-in flow channel 192 on the female plug-in block 19 in a sealing way. The annular pressing block 15 further comprises a second positioning insertion hole 153b which can be fixedly matched with the second positioning insertion pin 153a on the female plug-in block 19. Above-mentioned setting for can realize when female butt joint thread 161 on female connecting block 16 screws up with another section arm male first butt joint thread 95 on being connected public head 9, female connecting block 16 is taut with annular briquetting 15 and female plug-in connection piece 19 under the pulling force effect, when avoiding rocking between each part, can also further promote the gas tightness on each flow tube connector. It is noted that although the female connecting block 16 is able to rotate, neither the annular pressing block 15 nor the female plug-in block 19 is carried along by the female connecting block 16 due to the locking of the high step in the second support plate 6 and the cooperation of the second bearing 15 and the third bearing 17.

Furthermore, the female plug-in block 19 is provided with a female plug-in positioning 193, after the male plug-in positioning 103 of the upper-level modular robot on the male plug-in block 10 is plugged-in and positioned, the female plug-in pin 191 and the female plug-in flow passage 192 are both tightly connected with the male plug-in pin 101 and the male plug-in flow passage 102, so as to complete the connection of the fluid line and the signal line of the two-level modular robot, and when the male plug-in block 10 of the upper-level modular robot is driven by the harmonic motor 8 to rotate, the female plug-in block 19 of the lower-level modular robot drives all the lower-level modular robot to rotate.

The modular mechanical arm can be disassembled, assembled and replaced conveniently, each level of modular mechanical arm can be driven to rotate freely while the rotation of the modular mechanical arm is completed by the harmonic motor, more precisely, each level of modular mechanical arm can be driven to rotate freely, and the degree of freedom of the mechanical arm is greatly improved.

Example 2

Embodiment 2 of the present invention provides an I-shaped modular robot, which differs from the L-shaped modular robot in embodiment 1 only in that, in conjunction with fig. 8-10: the I-shaped modular mechanical arm is arranged in a linear mode, the end 4 and the second connecting screw 1b of the L-shaped modular mechanical arm are omitted, and the second supporting plate 6 and the first supporting plate 5 are arranged in parallel.

Example 3

Embodiment 3 of the present invention provides an assembled mechanical arm, which, with reference to fig. 11, includes 4 sections of L-shaped modular mechanical arms and 1 section of I-shaped modular mechanical arms, and forms a multi-section modular mechanical arm assembled structure by matching a male plug of a higher-level modular mechanical arm with a female plug of a lower-level modular mechanical arm, and two ends of the assembled structure can be respectively connected to a mechanical arm base and a modular mechanical clamp (not shown in the figure). The number and the assembly mode of the L-shaped modular robot arm and the I-shaped modular robot arm provided in this embodiment are only examples, and the number and the assembly mode of the L-shaped modular robot arm and the I-shaped modular robot arm may be adjusted according to requirements in an actual process.

Example 4

Embodiment 4 of the present invention provides a modular mechanical clamp for use with a modular robotic arm and assembly thereof, and referring to fig. 12-15, the modular mechanical clamp is a two-jaw modular mechanical clamp, and the modular mechanical clamp structure includes: male plug 2, mechanical clamp housing 20, end connector 21, end tool 22. The structure of the plug-in male head 2 is consistent with that of the modular mechanical arm, an electrical slip ring 7 and a harmonic motor 8 are arranged in the plug-in male head 2, a slip ring stator 72 of the electrical slip ring 7 is fixed on a mechanical clamp shell 20 and a first supporting plate 5 integrally formed with the mechanical clamp shell 20, a slip ring rotor 71 of the electrical slip ring 7 is fixed on a male head connecting block 9, a motor rotating shaft 84 of the harmonic motor 8 penetrates through the male head connecting block 9 and is fixed with the male head connecting block 9, so that the harmonic motor 8 can independently control the rotation of the male head connecting block 9 and the slip ring stator 72, and the male head plug-in block 10 is fixed on the male head connecting block 9. The end connector 21 is connected to the mechanical clamp housing 20, the end tool 22 is fixed to the end connector 21, and fluid lines for passing gas and/or liquid and signal lines for transmitting electric and/or signal commands are passed through the male plug 2 and the end connector 21 into the end tool 22, freely rotating without twisting.

Further, the male plug 2 part comprises a mechanical clamp housing 20, and the mechanical clamp housing 20 is made of metal, aluminum, steel, titanium-aluminum alloy, high-strength aluminum alloy, AW7075, fiber reinforced plastic, glass fiber reinforced plastic (GfK), and carbon fiber reinforced plastic (CfK); the mechanical clamp shell 20 is integrally formed with a first support plate 5 inside the mechanical clamp cavity, and a slip ring stator 72 capable of fixing an electrical slip ring 7 and a harmonic motor 8 are arranged on the first support plate 5 and the mechanical clamp shell 20 in a matching manner; the side, away from the motor, of the harmonic motor rotating shaft 84 is a cylindrical tangent edge, and is used for positioning the slip ring rotor 71 and the slip ring stator 72, entering a step limiting hole 96 formed in the male connecting block 9 and fixing the male connecting block 9, so that the male connecting block 9 can rotate under the driving of the harmonic motor 8; the male connector connecting block 9 is fixedly connected with the male connector inserting block 10; the male connecting block 9 is fixedly connected with a slip ring rotor 71 of the electrical slip ring 7, so that the slip ring rotor 71 is driven by the harmonic motor 8 to rotate, and the slip ring stator 72 is fixed; a plurality of fluid inlets 75 are uniformly distributed on the slip ring rotor 71, a plurality of fluid outlets 76 are symmetrically distributed on the slip ring stator 72, fluid is hermetically connected into the fluid inlets 75 step by step through a flow pipe hole 93 by a male head opposite insertion flow passage 102 on the male head insertion block 10, a signal line 73 is connected into the slip ring rotor 71 through a signal hole 92 by a male head opposite insertion pin 101, and is led out from the side of the slip ring stator 72 to enter the harmonic motor 8; one side of the slip ring stator 72, which is far away from the slip ring clamping groove 52, is surrounded and fastened by a stepped pressing block 13 so as to ensure that the whole electrical slip ring 7 does not shake; the stepped pressing block 13 and the male connecting block 9 are provided with first bearings 11 at corresponding step positions, the rotor side of each first bearing 11 is in contact with the male connecting block 9, the stator side of each first bearing 11 is in contact with the stepped pressing block 13, and in order to prevent the first bearings 11 from vertically moving, a first clamp spring 12 is additionally arranged between the first bearings 11 and the other side edges of the stepped pressing blocks 13.

Further, the mechanical clamp housing 20 is combined with the stepped press block 13 through a third connecting screw 20a, and is combined with the end connecting piece 21 through a fourth connecting screw 20 b; the first support plate 5 is provided with a fluid channel 51, a slip ring clamping groove 52 and a slip ring fixing tooth base 53, the slip ring clamping groove 52 is used for clamping the electrical slip ring 7 in the slip ring clamping groove 52 to limit the movement of the slip ring stator 72 in the vertical direction, the slip ring fixing tooth base 53 is provided with a second slip ring fixing hole 74c, and a slip ring fixing screw 74a penetrates through a first slip ring fixing hole 74b and a second slip ring fixing hole 74c on the mechanical clamp shell 20 and is fastened to a third slip ring fixing hole 74d on the slip ring stator to limit the movement of the slip ring stator 72 in the horizontal direction.

Further, observing the connection mode of the harmonic motor 8 with reference to fig. 15, a sunken screw thread through hole 82b is formed in the first support plate 5, and a fastening screw 82a penetrates through the sunken screw thread through hole 82b to enter a fastening screw thread 82c on the motor stator, so that the motor stator side can be fixed on the back side of the first support plate, and the motor can be fixed on the housing; in addition, the fastening screw 83a passes through the shaft screw hole 83b provided on the motor flange 81 and enters the fastening screw 83c on the motor mover, thereby inserting the motor shaft 84 into the motor mover side so that the motor shaft 84 can rotate freely; the cylinder side of cutting of motor shaft 84 is fixed on public first connecting block 9 with pivot limit screw 94a and pivot limit screw hole 94b, and the cylinder side of cutting the dorsal part of motor shaft 84 is fixed on public first connecting block 9 with pivot fastening screw 97a and pivot fastening screw hole 97b to realize motor shaft 84 and public first connecting block 9 fixed, make public first connecting block 9 can take place to rotate under the drive of harmonic motor 8.

Furthermore, the end tool 22 is fixedly connected to the end connector 21 by a fifth connecting screw 225, a gas-liquid chamber 221 is excessively connected between the end tool 22 and the end connector 21, a piston (not shown) is disposed in the gas-liquid chamber 221, positive pressure or negative pressure is provided to the piston by fluid to complete the clamping or releasing action of the end tool 22, the end tool 22 is of a non-slip structure, and a modular mechanical clamp having a clamp 222 of a different shape, such as a two-jaw type for grasping in the present embodiment, can be used according to different applications.

Further, the tip tool 22 is provided with a universal interface, i.e., a reserved fluid interface 223 and a reserved signal interface 224 on the inner side of the tip connection member 21, which are selectively connected with the fluid outlet 76 and the signal line 73, respectively. In addition, the modularized mechanical clamp is detachably connected with the plug-in female head 3 of the previous-stage modularized mechanical arm in a plug-in mode through the plug-in male head 2, the self rotation action of the tail end tool 22 is completed through the driving of a harmonic motor inside the modularized mechanical clamp, the free directional movement of the tail end tool 22 in the space is completed through the driving of the harmonic motor inside the modularized mechanical clamp, the modularized mechanical clamp can be detached or replaced according to the actual use scene, and the fluid type and the interface type can be selected adaptively.

In addition, a sensor may be provided on end tool 22 to provide precise positioning of the grasping action, and an indicator light may be provided to indicate the grasping action.

Example 5

Embodiment 5 of the present invention provides a three-jaw type modular mechanical clamp, whose internal structure is the same as embodiment 4, and which can be used to perform a twisting action.

In conclusion, the modularized mechanical clamp provided by the invention can be driven by the harmonic motor of the modularized mechanical arm and the self-modularized mechanical clamp to stably and freely rotate, the preset action can be flexibly completed, the rotation mode is completely controlled by the harmonic motor, no speed reducing device is required to be additionally arranged, and meanwhile, the circuit is arranged in the modularized mechanical clamp, so that the modularized mechanical clamp is attractive and concise, and the abnormal situations of crossing and winding of a signal circuit and a fluid circuit in a cavity of the mechanical clamp can be avoided. In addition, the modularized mechanical clamp provided by the invention reserves a universal interface of a gas/liquid path and a signal path, and can adapt to diversified working environments. For example, for an object with a small load, gas pressure driving can be used, for an object with a large load, liquid hydraulic driving can be used, and for precise movement, signal driving can be increased; for example, a two-jaw clamp is used for grasping, while a three-jaw clamp is used for twisting. For another example, the modular mechanical clamp may directly eject gas or liquid without using a tip tool, so as to complete the gas or liquid feeding operation, and exemplary application scenarios include: spraying, sample injection and the like. The modularized mechanical clamp provided by the invention is very convenient to disassemble, assemble and replace, and can be assembled with the modularized mechanical arm according to different scenes or requirements.

It should be noted that, in this document, relational terms such as first and second, and the like are 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.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the technical principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims

1. A modular mechanical clamp, the modular mechanical clamp structure comprising: the plug-in male head (2), a mechanical clamp shell (20), a tail end connecting piece (21) and a tail end tool (22); the plug-in male head (2) is internally provided with an electrical slip ring (7) and a harmonic motor (8), a slip ring stator (72) of the electrical slip ring (7) is fixed on a mechanical clamp shell (20) and a first supporting plate (5) which is integrally formed with the mechanical clamp shell (20), a slip ring rotor (71) of the electrical slip ring (7) is fixed on a male head connecting block (9), a motor rotating shaft (84) of the harmonic motor (8) penetrates through and is fixed with the male head connecting block (9), so that the harmonic motor (8) can independently control the rotation of the male head connecting block (9) and the slip ring rotor (71), and the male head plug-in block (10) is fixed on the male head connecting block (9); the end connector (21) is connected with the mechanical clamp shell (20), an end tool (22) is fixed on the end connector (21), a fluid line and a signal line penetrate through the plug male head (2) and the end connector (21) to enter the end tool (22) and freely rotate without winding, the fluid line is used for passing gas or liquid, and the signal line is used for transmitting electric power and/or signal commands.

2. Modular mechanical clamp according to claim 1, characterized in that said male plug-in head (2) portion preferably comprises a mechanical clamp housing (20), said mechanical clamp housing (20) being made of metal, aluminum, steel, titanium-aluminum alloy, high-strength aluminum alloy, AW7075, fiber reinforced plastic, glass fiber reinforced plastic (GfK), carbon fiber reinforced plastic (CfK); the mechanical clamp shell (20) is integrally formed with a first supporting plate (5) in the mechanical clamp cavity, and the first supporting plate (5) and the mechanical clamp shell (20) are matched to fix a slip ring stator (72) of an electric slip ring (7) and a harmonic motor (8); one side, far away from the motor main body, of the harmonic motor rotating shaft (84) is a cylindrical tangent edge shape and is used for positioning a slip ring rotor (71) and a slip ring stator (72), and the slip ring rotor and the slip ring stator enter a step limiting hole (96) formed in a male connecting block (9) and are fixed with the male connecting block (9), so that the male connecting block (9) can rotate under the driving of a harmonic motor (8); the male connector connecting block (9) is fixedly connected with the male connector inserting block (10); the male connecting block (9) is fixedly connected with a slip ring rotor (71) of the electrical slip ring (7), so that the slip ring rotor (71) rotates under the driving of the harmonic motor (8), and a slip ring stator (72) is kept fixed; a plurality of fluid inlets (75) are uniformly distributed on the slip ring rotor (71), a plurality of fluid outlets (76) are symmetrically distributed on the slip ring stator (72), fluid is hermetically accessed into the fluid inlets (75) step by step through a flow pipe hole (93) by a male head opposite insertion flow passage (102) on the male head insertion block (10), a signal line (73) is accessed into the slip ring rotor (71) through a signal hole (92) by a male head opposite insertion needle (101), and is led out from the side of the slip ring stator (72) to enter the harmonic motor (8); one side of the slip ring stator (72) far away from the slip ring clamping groove (52) is surrounded and fastened by a stepped pressing block (13) to ensure that the whole electric slip ring (7) does not shake; the stepped press block (13) and the male connecting block (9) are provided with first bearings (11) at corresponding step positions, the rotor side of each first bearing (11) is in contact with the male connecting block (9), the stator side of each first bearing (11) is in contact with the stepped press block (13), and in order to prevent the first bearings (11) from vertically shifting, a first snap spring (12) is additionally arranged between the other side edges of the first bearings (11) and the stepped press block (13).

3. A modular mechanical clamp, according to claim 2, characterized in that said mechanical clamp housing (20) is associated with the step-shaped pressing block (13) by means of a third connection screw (20 a) and with the terminal connection (21) by means of a fourth connection screw (20 b); fluid passage (51), slip ring draw-in groove (52) and slip ring fixed toothholder (53) have been seted up on first backup pad (5), slip ring draw-in groove (52) are used for establishing electric slip ring (7) card inside slip ring draw-in groove (52) in order to restrict the removal of slip ring stator (72) on vertical direction, second slip ring fixed orifices (74 c) have been seted up on slip ring fixed toothholder (53), and slip ring set screw (74 a) pass first slip ring fixed orifices (74 b) and second slip ring fixed orifices (74 c) on mechanical fixture shell (20) and fasten third slip ring fixed orifices (74 d) on the slip ring stator to restrict the removal of slip ring stator (72) on the horizontal direction.

4. The modular mechanical clamp according to claim 3, wherein the first support plate (5) is provided with a sunken threaded through hole (82 b), and a fastening screw (82 a) penetrates through the sunken threaded through hole (82 b) to enter a fastening thread (82 c) on the motor stator, so as to fix the motor stator side to the back side of the first support plate (5), thereby fixing the motor to the shell; in addition, a fastening screw (83 a) penetrates through a rotating shaft threaded hole (83 b) arranged on the motor flange plate (81) to enter a fastening thread (83 c) on the motor rotor, so that the motor rotating shaft (84) is connected to the side of the motor rotor, and the motor rotating shaft (84) can rotate freely; the cylinder of motor shaft (84) is cut the avris and is fixed on public first connecting block (9) with pivot stop screw (94 a) and pivot spacing screw (94 b), and the cylinder of motor shaft (84) is cut the avris and is fixed on public first connecting block (9) with pivot fastening screw (97 a) and pivot fastening screw (97 b) with pivot fastening screw (97 a) in order to realize the fixed of motor shaft (84) and public first connecting block (9), makes public first connecting block (9) can take place to rotate under the drive of harmonic motor (8).

5. The modular mechanical clamp as claimed in claim 4, wherein the male connecting block (9) is provided with a first positioning plug pin (91 a) which is matched and connected with a first positioning insertion hole (91 b) on the male plug block (10), and a fluid pipeline is arranged between the male connecting block (9) and the male plug block (10); and the male head connecting block (9) is also provided with a signal hole (92) for a signal line to pass through, a flow pipe hole (93) for a fluid line to pass through and a male head butt joint thread (95).

6. Modular mechanical clamp according to claim 5, characterized in that said end tool (22) is fixedly connected to said end connector (21) by means of a fifth connecting screw (225), said end tool (22) is connected to said end connector (21) by means of a gas-liquid chamber (221), said gas-liquid chamber (221) is provided with a piston, said piston is provided with positive or negative pressure by means of fluid, said clamping or releasing of said end tool (22) is accomplished, said end tool (22) is of non-slip construction, and said clamping jaws (222) are of two-jaw or multi-jaw type.

7. Modular mechanical clamp, according to claim 6, characterized in that said terminal tool (22) is provided with a universal interface, namely a reserve fluid interface (223) and a reserve signal interface (224) on the internal side of the terminal connection (21), selectively connected respectively to the fluid outlet nozzle (76) and to the signal line (73); the end tool (22) is equipped with sensors to accomplish precise positioning of the motion and indicator lights to indicate the motion.

8. Use of a modular mechanical clamp according to claim 7, characterized in that the modular mechanical clamp is detachably plugged with a plugging female head (3) of a previous-stage modular mechanical arm through a plugging male head (2).

9. Use of a modular mechanical clamp according to claim 8 for gripping or twisting an object to be treated.

10. Use of a modular mechanical fixture according to claim 9 for spraying or feeding samples in the state where the end tool (22) is omitted.