CN210819554U

CN210819554U - Multi-connecting-rod cam double-shaft multi-station servo ultrahigh-speed manipulator

Info

Publication number: CN210819554U
Application number: CN201921433055.6U
Authority: CN
Inventors: 宋瑞平
Original assignee: Dongguan Shangzhi Automation Equipment Co ltd
Current assignee: Dongguan Shangzhi Automation Equipment Co ltd
Priority date: 2019-08-30
Filing date: 2019-08-30
Publication date: 2020-06-23
Anticipated expiration: 2029-08-30

Abstract

The utility model discloses a multi-connecting rod cam double-shaft multi-station servo ultrahigh-speed manipulator, which is provided with a Z-axis driving mechanism and an X-axis driving mechanism; the Z-axis movement mechanism is provided with a Z-axis servo motor and a fixed sliding guide pillar, the Z-axis servo motor is connected with a Z-axis swing rod, the Z-axis swing rod is connected with a Z-axis connecting rod, and the Z-axis connecting rod is connected with the X-axis driving mechanism so as to drive the X-axis driving mechanism to vertically slide on the fixed sliding guide pillar; x axle actuating mechanism is equipped with X axle servo motor, sliding block, the utility model discloses well adoption many connecting rods cam is with servo or step motor direct drive, linear acceleration start and speed reduction stop, the two motor stack drive modes are saved whole installation space and are adopted accessible program control, can realize the optional position stop in its stroke range space, the movement track can change at will according to the demand, mainly used in the part transport in stroke space range, feed and automatic conveying, compare pneumatic structure, the precision is higher with the reliability.

Description

Multi-connecting-rod cam double-shaft multi-station servo ultrahigh-speed manipulator

Technical Field

The utility model relates to an advanced industrial robot and automation line technical field especially relate to a servo hypervelocity manipulator of many connecting rods cam biax multistation.

Background

The moving-in and moving-out of the workpiece by the mechanical hand used on the automatic production line of the electronic and electric appliances are mostly solved by adopting a pneumatic device, the pneumatic device has the defects of large occupied space, low speed, poor precision, low running reliability, easy abrasion and air leakage due to the fact that the air cylinder and the electromagnetic valve need to use the piston and the sealing ring, and need to be frequently replaced, the power source needs to use electric energy to be converted into compressed air, the energy consumption is high, the cylinder is used as a power mechanism, the stop and the start can not be carried out at any position in the stroke, moreover, the mechanical arm mostly adopts an open type linear sliding rail, lubricating oil needs to be filled every week for maintenance, the manual maintenance cost is wasted, in the use process, because the linear sliding rail is an open type linear sliding rail, lubricating oil is scattered randomly to cause great pollution to the environment, the linear sliding rail works frequently in a state without lubricating grease, and the linear sliding rail needs to be replaced every 900 ten thousand times. The manipulator stop mechanism adopts the hydraulic buffer striking, can produce very big vibrations, and domestic brand known oil buffer life is 430 ten thousand at most, wastes the man-hour expense of artifical replacement hydraulic buffer, and the expense of customer's vulnerable part in the use.

SUMMERY OF THE UTILITY MODEL

Utility model purpose: in order to overcome the deficiencies in the prior art, the utility model provides a servo hypervelocity manipulator of many connecting rods cam biax multistation.

The technical scheme is as follows: in order to achieve the above purpose, the utility model discloses a multi-link cam double-shaft multi-station servo ultrahigh-speed manipulator, which is provided with a Z-axis motion mechanism and an X-axis drive mechanism; the Z-axis movement mechanism is provided with a Z-axis servo motor and a fixed sliding guide pillar, the Z-axis servo motor is connected with a Z-axis swing rod, the Z-axis swing rod is connected with a Z-axis connecting rod, and the Z-axis connecting rod is connected with an X-axis driving mechanism so as to drive the X-axis driving mechanism to vertically slide on the fixed sliding guide pillar; the X-axis driving mechanism is provided with an X-axis servo motor and the sliding block, a sliding guide pillar is further arranged in the sliding block, a connecting plate is arranged on the side face of the sliding guide pillar, the X-axis servo motor is connected with an X-axis swing arm, the X-axis swing arm is connected with an X-axis connecting rod, the X-axis connecting rod is connected with the connecting plate, and meanwhile the sliding guide pillar can horizontally slide in the sliding block

As a further improvement: the Z-axis movement mechanism is also provided with a Z-axis fixing plate, the Z-axis fixing plate is also provided with an electromagnetic valve, the Z-axis fixing plate is connected with a side vertical plate, and one side of the side vertical plate is provided with a Z-axis photoelectric switch; and a linking plate is arranged below the fixed sliding guide column, and a support column and a base are arranged below the linking plate.

As a further improvement: the X-axis driving mechanism is also provided with an X-axis fixing plate, and an X-axis photoelectric switch is arranged on the X-axis fixing plate; the side surface of the sliding block is also provided with a linking block, and the linking block is connected with the Z-axis connecting rod; the material taking and placing mechanism for bearing and taking materials is installed at the lower end of the connecting plate, and the material taking and placing mechanism is provided with a claw.

As a further improvement: the Z axle connecting rod with the both ends of X axle connecting rod all are equipped with floating joint, floating joint is the diversified rotatory floating joint of duplex bearing, floating joint is equipped with rotatory piece, rotatory piece both sides are equipped with high accuracy flange bearing respectively.

As a further improvement: the Z-axis servo motor is horizontally arranged, and the X-axis servo motor is vertically arranged.

As a further improvement: one side of the sliding block is provided with a vertical guide post hole which is vertically arranged so that the sliding block can vertically slide on the fixed sliding guide post, the other side of the sliding block is provided with a horizontal guide post hole which is horizontally arranged so that the sliding guide post can horizontally slide in the sliding block, and the upper, lower, left and right ends of the sliding block are respectively provided with a linear bearing; and a fully-sealed oil storage chamber is arranged in the sliding block.

As a further improvement: the claw is provided with a rotary cylinder, a vertical cylinder is arranged below the rotary cylinder, the vertical cylinder is provided with a fixed shaft and a movable shaft, a multi-claw mechanism is further arranged below the vertical cylinder, the multi-claw mechanism is provided with a star-shaped connector and a fixed ring, two or more groups of connecting blocks and hinge claw parts are arranged below the fixed ring, and each hinge claw part is provided with a fixed plate, a hinge pulling block, claws and a plurality of groups of connecting rods; the connecting block, the fixed plate, the hinge pulling block and the claws are all provided with slotted holes so that the connecting rod can be embedded into the slotted holes to be in hinge connection;

one end of the fixing plate is hinged with one side end of the claw through the connecting rod, and the other end of the fixing plate is hinged with the connecting block through the connecting rod, so that the fixing ring is fixedly connected with the claw;

one end of the hinge plate is hinged with one side end of the claw through the connecting rod, and the other end of the hinge plate is hinged with one end of the hinge pulling block through the connecting rod; the other end of the hinge pulling block is fixedly connected with a star-shaped connector, and the star-shaped connector is fixedly connected with the movable shaft; the fixing ring is fixedly connected with the vertical cylinder through a fixing shaft;

the star-shaped connector hinge pulling block can vertically move up and down under the driving of the vertical cylinder driving movable shaft; when the hinge pulling block vertically moves up and down, the outward-placing and tightening movement of the claws is driven through the hinge connection of the hinge plate and the claws; the claw can rotate around the Z axis under the rotary cylinder.

The beneficial effects of the utility model are that

1. The utility model discloses well adoption many connecting rods cam is with servo or step motor direct drive, and linear acceleration starts and slows down and stops, and whole installation space is saved to bi-motor stack drive mode.

2. The utility model discloses in, adopt accessible program control, can realize that the optional position stops in its stroke range space, the movement track can change at will according to the demand, mainly used is in the stroke space within the part transport, feed and automatic conveying, compares pneumatic structure, and the precision is higher with the reliability.

3. The utility model discloses in, adopt many connecting rods cam with servo or step motor direct drive, cancelled the wearing and tearing of piston and sealing washer completely, compare cylinder mechanism and reduce ten times change vulnerable part man-hour cost and vulnerable part expense. The power source does not need to convert electric energy into compressed air, and the energy consumption of the direct drive of the motor is saved by more than 70 percent compared with that of an air cylinder.

4. The utility model discloses in, X axle actuating mechanism and Z axle motion are connected simultaneously to the sliding block, sliding block formula structure as an organic whole, and X axle actuating mechanism's slip guide pillar carries out the horizontal motion through the horizontal guide pillar hole of sliding block, and simultaneously, the sliding block passes through Z axle motion's fixed slip guide pillar, slides perpendicularly at fixed slip guide pillar, and X axle actuating mechanism and Z axle motion realize respective action through the sliding block jointly, can go on simultaneously and mutual noninterference.

5. The utility model discloses in, high accuracy linear bearing and brand-new design full-sealed lubricating grease oil storage chamber for slide mechanism will store up the oil chamber and fill up lubricating grease when dispatching from the factory, and non-maintaining need not add lubricating grease in the use because it is that full-sealed lubricating grease oil storage chamber can not scatter at will in the use, avoids causing the pollution to the environment.

6. The utility model discloses in, adopt many connecting rod cam curve and servo or step motor's linear acceleration to start and slow down and stop, cancelled the vibrations that the hydraulic buffer striking produced entirely, reduced the man-hour expense and the vulnerable part expense of changing the hydraulic buffer, at upper and lower Z axle stroke 55 millimeters, about under the condition of X axle stroke 100 millimeters, 86 circulation periods can be accomplished at most to the minute, are 2.53 times of original cylinder mechanism speed.

7. The utility model discloses in, adopt the high accuracy linear bearing of independently research and development rolling friction gapless formula, can avoid using ordinary sliding friction gapped joint bearing, cause the inaccurate positioning accuracy's that reduces condition in stop position.

8. The utility model discloses in, the fixed slip post of upper and lower Z axle direction and below support column utilize the well chain connection board to connect the intensity and the stability that increase the mechanism, have optimized the outward appearance of mechanism, and fixed slip post and supporting mechanism are fit simultaneously, save installation space and reduce the part cost.

9. The utility model discloses in, solenoid valve snap-on is on mechanism upper portion, reduces the reaction rate that installation space just increased the cylinder.

10. The utility model discloses in, but control mode free choice pulse type and IO type satisfy the demand of different functions, and the connecting plate mountable bears gets material clip or other and gets drop feed mechanism, strengthens the commonality of manipulator.

10. The utility model discloses in, further confirm the Z axle and the condition that targets in place of X axle stroke, the precision of further improvement manipulator through photoelectric switch.

Drawings

FIG. 1 is a schematic view of an overall structure of a multi-link cam dual-axis multi-station servo ultra-high speed manipulator according to the present embodiment;

FIG. 2 is a partial structure diagram of a multi-link cam dual-axis multi-position servo ultra-high speed manipulator according to the present embodiment;

fig. 3 is a second partial structure diagram of a multi-link cam dual-axis multi-position servo ultra-high speed manipulator according to the present embodiment;

FIG. 4 is a third partial structure diagram of a multi-link cam dual-axis multi-position servo ultra-high speed manipulator according to the present embodiment;

FIG. 5 is a sixth partial structural view of a multi-link cam dual-axis multi-position servo ultra-high speed manipulator according to the present embodiment;

FIG. 6 is one of the overall structures of the gripper of the multi-link cam dual-axis multi-position servo ultra-high speed manipulator according to the present embodiment;

fig. 7 is a partial structure diagram of a gripper of a multi-link cam dual-axis multi-position servo ultra-high speed manipulator according to the present embodiment;

fig. 8 is a second partial structure diagram of a gripper of a multi-link cam dual-axis multi-position servo ultra-high speed manipulator according to the present embodiment;

FIG. 9 is a third partial structure diagram of a gripper of a multi-link cam dual-axis multi-position servo ultra-high speed manipulator according to the present embodiment;

FIG. 10 is a fourth partial structure diagram of a gripper of a multi-link cam dual-axis multi-position servo ultra high speed manipulator according to the present embodiment;

fig. 11 is a fifth partial structure diagram of a gripper of a multi-link cam dual-axis multi-position servo ultra-high speed manipulator according to the present embodiment.

Detailed Description

The present invention will be further described with reference to the accompanying drawings.

In the embodiment, as shown in fig. 1 to 11, a multi-link cam dual-shaft multi-position servo ultra-high speed manipulator is provided with a Z-axis motion mechanism 110 and an X-axis drive mechanism 111; the Z-axis movement mechanism 110 is provided with a Z-axis servo motor 18 and a fixed sliding guide post 2, the Z-axis servo motor 18 is connected with a Z-axis swing rod 21, the Z-axis swing rod 21 is connected with a Z-axis connecting rod 30, and the Z-axis connecting rod 30 is connected with an X-axis driving mechanism 111, so that the X-axis driving mechanism 111 is driven to vertically slide on the fixed sliding guide post 2; the X-axis driving mechanism 111 is provided with an X-axis servo motor 11 and the sliding block 3, a sliding guide post 7 is further arranged in the sliding block 3, a connecting plate 42 is arranged on the side face of the sliding guide post 7, the X-axis servo motor 11 is connected with an X-axis swing arm 26, the X-axis swing arm 26 is connected with an X-axis connecting rod 27, the X-axis connecting rod 27 is connected with the connecting plate 42, and meanwhile, the sliding guide post 7 can horizontally slide in the sliding block 3.

The Z-axis moving mechanism 110 is further provided with a Z-axis fixing plate 44, the Z-axis fixing plate 44 is further provided with an electromagnetic valve 22, the Z-axis fixing plate 44 is connected with a side vertical plate 15, and one side of the side vertical plate 15 is provided with a Z-axis photoelectric switch 322; a link plate 1 is arranged below the fixed sliding guide column 2, and a support pillar 36 and a base 37 are arranged below the link plate 1.

The X-axis driving mechanism 111 is further provided with an X-axis fixing plate 8, and an X-axis photoelectric switch 321 is arranged on the X-axis fixing plate 8; the side surface of the sliding block 3 is also provided with a linking block 31, and the linking block 31 is connected with the Z-axis connecting rod 30; the lower end of the connecting plate 42 is provided with a bearing material taking and placing mechanism which is a claw 45.

Z axle connecting rod 30 with the both ends of X axle connecting rod 27 all are equipped with floating joint 24, floating joint 24 is the diversified rotatory floating joint of duplex bearing, floating joint 24 is equipped with rotatory piece 242, rotatory piece 242 both sides are equipped with high accuracy flange bearing 241 respectively.

The Z-axis servo motor 18 is horizontally arranged, and the X-axis servo motor 11 is vertically arranged.

A vertical guide post hole 331 which is vertically arranged is formed in one side of the sliding block 3, so that the sliding block 3 can vertically slide on the fixed sliding guide post 2, a horizontal guide post hole 332 which is horizontally arranged is formed in the other side of the sliding block 3, so that the sliding guide post 7 can horizontally slide in the sliding block 3, and linear bearings 6 are respectively arranged at the upper end, the lower end, the left end and the right end of the sliding block 3; and a fully-sealed oil storage chamber is arranged in the sliding block 3.

The claw hand 45 is provided with a rotary cylinder 456, a vertical cylinder 457 is arranged below the rotary cylinder 456, the vertical cylinder 457 is provided with a fixed shaft 4571 and a movable shaft 4572, a multi-claw mechanism 458 is further arranged below the vertical cylinder 457, the multi-claw mechanism 458 is provided with a star-shaped connector 459 and a fixed ring 460, two or more groups of connecting blocks 461 and hinge claw parts 462 are arranged below the fixed ring 460, and the hinge claw parts 462 are provided with a fixed plate 463, a hinge plate 465, a hinge pull block 466, claws 467 and multiple groups of connecting rods 464; the connecting block 461, the fixing plate 463, the hinge plate 465, the hinge pulling block 466 and the claw 467 are all provided with slotted holes so that the connecting rod 464 can be embedded into the slots for hinge connection;

one end of the fixing plate 463 is hinged with one side end of the claw 467 through the connecting rod 464, and the other end is hinged with the connecting block 461 through the connecting rod 464, so that the fixing ring 460 is connected and fixed with the claw 467;

one end of the hinge plate 465 is hinged with one side end of the claw 467 through the connecting rod 464, and the other end of the hinge plate 465 is hinged with one end of the hinge pulling block 466 through the connecting rod 464; the other end of the hinge pulling block 466 is fixedly connected with a star-shaped connector 459, and the star-shaped connector 459 is fixedly connected with a movable shaft 4572; the fixing ring 460 is fixedly connected with the vertical cylinder 457 through a fixing shaft 4571;

the star connector 459 hinge pulling block 466 can vertically move up and down under the driving of the vertical cylinder 457 driving the movable shaft 4572; when the hinge pulling block 466 moves vertically up and down, the hinge plate 465 is connected with the claw 467 through the hinge to drive the claw 467 to move outwards and tightly; the gripper 45 is movable in rotation about the Z axis by a rotary cylinder 456.

The embodiment also provides a motion control method of the multi-link cam double-shaft multi-station servo ultrahigh-speed manipulator, which comprises the following steps:

vertical movement of the Z axis: the Z-axis servo motor 18 drives the Z-axis swing arm 21 to rotate, so that the Z-axis connecting rod 30 is driven to swing, steering is carried out through the floating joint 24, and the sliding block 3 is driven to vertically slide on the fixed sliding guide post 2 through the semi-circle swing of the Z-axis connecting rod 30;

controlling the vertical movement direction of the Z axis: when the Z-axis servo motor 18 drives the pendulum 21 to rotate clockwise or anticlockwise, the sliding block 3 is driven to move upwards or downwards through the Z-axis connecting rod 30;

x-axis horizontal motion: the X-axis servo motor 11 drives the X-axis swing arm 26 to rotate, so that the X-axis connecting rod 27 is driven to swing and steer through the floating joint 24, and the connecting plate 42 is driven to horizontally slide in the sliding block 3 through the sliding guide post 2 through the semi-circle swing of the X-axis connecting rod 30; (ii) a

Controlling the X-axis horizontal movement direction: when the X-axis servo motor 11 drives the X-axis swing arm 26 to rotate clockwise or anticlockwise, the connecting plate 42 is driven to horizontally slide leftwards or rightwards through the X-axis connecting rod 27;

5. controlling the paw to take and place: when the vertical cylinder 457 drives the hinge pulling block 466 to vertically move up and down, the claw 467 is driven to be tightened and placed outwards, and the object grabbing control is realized; after the object is grabbed, the rotary air cylinder 456 drives the claw 45 to rotate around the Z axis, and the angle of the object can be adjusted and controlled.

The steps are not in sequence.

The Z-axis servo motor 18, the X-axis servo motor 11, the Z-axis photoelectric switch 322, the X-axis photoelectric switch 321, the Z-axis photoelectric switch 322, the claw 45 and the electromagnetic valve 22 are all connected with a programmable controller, and the control mode of the programmable controller can freely select a pulse type or an IO type. The solenoid valve 22 on the Z-axis fixing plate 44 can shorten the length of the solenoid valve 22 and the air pipe of the paw, increase the reaction speed of the paw and reduce the loss of pneumatic energy.

Whether the sliding block 3 slides in place is confirmed by the Z-axis photoelectric switch 322, and whether the connecting plate 42 slides in place is confirmed by the X-axis photoelectric switch 321.

Because the X-axis driving mechanism is arranged on the sliding block 3, the moving direction and the speed of the X-axis driving mechanism are consistent with those of the sliding block 3, and meanwhile, the sliding guide post 7 of the X-axis does horizontal movement under the limitation of the horizontal guide post hole 332 of the sliding block 3.

The X-axis driving mechanism drives the X-axis swing arm to rotate through the X-axis servo motor, the crank link mechanism consisting of the X-axis swing arm and the X-axis connecting rod enables the X-axis swing arm to rotate by less than or equal to 180 degrees, the X-axis swing arm rotates to a position close to a left dead point and a right dead point, the moving speed of the end portions of the X-axis swing arm and the X-axis connecting rod is unchanged due to the fact that the rotating speed of the motor is unchanged, the speed of the X-axis connecting rod and the speed of the connecting plate are gradually. Similarly, when the Z-axis movement mechanism drives the Z-axis swing rod to rotate through the Z-axis servo motor, when the Z-axis swing rod moves to a left dead point and a right dead point, the speed is reduced, the buffering effect is achieved, and the rotating speed of the motor is not required to be changed.

The X-axis swing arm and the Z-axis swing rod are provided with a plurality of mounting holes, so that the connecting position of the X-axis connecting rod or the Z-axis connecting rod can be changed, and the movement stroke of the sliding block connected with the connecting plate connected with the X-axis connecting rod or the Z-axis connecting rod is changed.

The Z-axis servo motor and the X-axis servo motor are located in the same vertical plane, so that the volume of the whole mechanism can be greatly reduced, and the mechanism is suitable for a production line with compact stations.

The above description is only a preferred embodiment of the present invention, and it should be noted that: for those skilled in the art, without departing from the principle of the present invention, several improvements and modifications can be made, and these improvements and modifications should also be considered as the protection scope of the present invention.

Claims

1. The utility model provides a servo hypervelocity manipulator of many connecting rods cam biax multistation which characterized in that: a Z-axis motion mechanism (110) and an X-axis drive mechanism (111) are arranged;

the Z-axis movement mechanism (110) is provided with a Z-axis servo motor (18) and a fixed sliding guide post (2), the Z-axis servo motor (18) is connected with a Z-axis swing rod (21), the Z-axis swing rod (21) is connected with a Z-axis connecting rod (30), and the Z-axis connecting rod (30) is connected with an X-axis driving mechanism (111), so that the X-axis driving mechanism (111) is driven to vertically slide on the fixed sliding guide post (2);

the X-axis driving mechanism (111) is provided with an X-axis servo motor (11) and a sliding block (3), a sliding guide pillar (7) is further arranged in the sliding block (3), a connecting plate (42) is arranged on the side face of the sliding guide pillar (7), the X-axis servo motor (11) is connected with an X-axis swing arm (26), the X-axis swing arm (26) is connected with an X-axis connecting rod (27), the X-axis connecting rod (27) is connected with the connecting plate (42), and meanwhile the sliding guide pillar (7) can horizontally slide in the sliding block (3).

2. The multi-link cam biaxial multi-station servo ultrahigh-speed manipulator according to claim 1, characterized in that: the Z-axis movement mechanism (110) is further provided with a Z-axis fixing plate (44), the Z-axis fixing plate (44) is further provided with an electromagnetic valve (22), the Z-axis fixing plate (44) is connected with a side vertical plate (15), and one side of the side vertical plate (15) is provided with a Z-axis photoelectric switch (322); a linking plate (1) is arranged below the fixed sliding guide column (2), and a supporting column (36) and a base (37) are arranged below the linking plate (1).

3. The multi-link cam biaxial multi-station servo ultrahigh-speed manipulator according to claim 1, characterized in that: the X-axis driving mechanism (111) is further provided with an X-axis fixing plate (8), and an X-axis photoelectric switch (321) is arranged on the X-axis fixing plate (8); the side surface of the sliding block (3) is also provided with a linking block (31), and the linking block (31) is connected with the Z-axis connecting rod (30); the lower end of the connecting plate (42) is provided with a material taking and placing mechanism.

4. The multi-link cam biaxial multi-station servo ultrahigh-speed manipulator according to claim 1, characterized in that: z axle connecting rod (30) with the both ends of X axle connecting rod (27) all are equipped with floating joint (24), floating joint (24) are the diversified rotatory floating joint of duplex bearing, floating joint (24) are equipped with rotatory piece (242), rotatory piece (242) both sides are equipped with high accuracy flange bearing (241) respectively.

5. The multi-link cam biaxial multi-station servo ultrahigh-speed manipulator according to claim 1, characterized in that: the Z-axis servo motor (18) is horizontally arranged, and the X-axis servo motor (11) is vertically arranged.

6. The multi-link cam biaxial multi-station servo ultrahigh-speed manipulator according to claim 1, characterized in that: a vertical guide post hole (331) which is vertically arranged is formed in one side of the sliding block (3) so that the sliding block (3) can vertically slide on the fixed sliding guide post (2), a horizontal guide post hole (332) which is horizontally arranged is formed in the other side of the sliding block (3) so that the sliding guide post (7) can horizontally slide in the sliding block (3), and linear bearings (6) are respectively arranged at the upper end, the lower end, the left end and the right end of the sliding block (3); and a fully-sealed oil storage chamber is arranged in the sliding block (3).

7. The multi-link cam biaxial multi-station servo ultrahigh-speed manipulator according to claim 3, characterized in that: the material taking and placing mechanism is provided with a claw (45), the claw (45) is provided with a rotary cylinder (456), a vertical cylinder (457) is arranged below the rotary cylinder (456), the vertical cylinder (457) is provided with a fixed shaft (4571) and a movable shaft (4572), a multi-claw mechanism (458) is further arranged below the vertical cylinder (457), the multi-claw mechanism (458) is provided with a star-shaped connector (459) and a fixed ring (460), two or more groups of connecting blocks (461) and hinge claw components (462) are arranged below the fixed ring (460), and the hinge claw components (462) are provided with a fixed plate (463), a hinge plate (465), a hinge pulling block (466), claws (467) and a plurality of groups of connecting rods (464); the connecting block (461), the fixing plate (463), the hinge plate (465), the hinge pulling block (466) and the claw (467) are respectively provided with a slotted hole so that the connecting rod (464) can be embedded into the slotted holes to be in hinge connection;

one end of the fixing plate (463) is hinged with one side end of the claw (467) through the connecting rod (464), and the other end of the fixing plate is hinged with the connecting block (461) through the connecting rod (464), so that the fixing ring (460) is connected and fixed with the claw (467);

one end of the hinge plate (465) is hinged with one side end of the claw (467) through a connecting rod (464), and the other end of the hinge plate is hinged with one end of the hinge pulling block (466) through the connecting rod (464); the other end of the hinge pulling block (466) is fixedly connected with a star-shaped connector (459), and the star-shaped connector (459) is fixedly connected with a movable shaft (4572); the fixing ring (460) is fixedly connected with the vertical cylinder (457) through a fixing shaft (4571);

the star-shaped connector (459) hinge pulling block (466) can vertically move up and down under the driving of the vertical cylinder (457) to drive the movable shaft (4572); when the hinge pulling block (466) vertically moves up and down, the claw (467) is driven to move outwards and tightly through the hinge connection of the hinge plate (465) and the claw (467); the gripper (45) can perform a rotary motion about the Z axis under a rotary cylinder (456).