Assembling and clamping integrated mechanical gripper

Abstract

The invention discloses an assembling and clamping integrated mechanical gripper, and relates to the technical field of mechanical arms. The mechanical gripper comprises a base, a basic shaft and a clamping mechanism; one end of the basic shaft is fixedly connected to the base; the clamping mechanism comprises at least two sets of clamping assemblies, each set of clamping assembly comprises grippers and a clamping driving assembly used for driving the grippers to swing, the number of the grippers of each set of clamping assembly is at least two, and the grippers are circumferentially distributed around the basic shaft; the lengths of the grippers in different groups are different, one ends of the grippers in partial groups are directly or indirectly hinged to the base, and one ends of the grippers in partial groups are directly or indirectly hinged to the basic shaft; in the axial projection of the basic shaft, the grippers in different groups are not overlapped. A plurality of sets of grippers are integrated on the mechanical gripper, synchronous grabbing and assembling of multiple workpieces can be achieved, and the mechanical gripper has the advantages of being low in cost, small in occupied space, high in working efficiency and the like.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulators, and particularly to a manipulator claw integrating assembly and clamping functions. Background Art

[0002] In the automated production of household appliances or consumer electronics products, manipulator claws are often used in cooperation with robots to grasp workpieces and materials. Conventional claws are usually of single-layer structure and can only be used to grasp and transport specific workpieces, which has certain limitations.

[0003] Using a single claw for clamping has poor adaptability and low stability, and the claw needs to be frequently replaced. Moreover, in the assembly operation, products with multiple parts often require multiple independent manipulator claws to cooperate in assembly, which is costly, occupies a large space, and the working efficiency needs to be improved. Summary of the Invention

[0004] The purpose of the present invention is to overcome the above-mentioned problems, and provide a manipulator claw integrating assembly and clamping functions. Multiple sets of grippers are integrated on the manipulator claw, which can realize synchronous grasping and assembly of multiple workpieces, and has the advantages of low cost, small occupied space, and high working efficiency.

[0005] The purpose of the present invention is achieved through the following technical solutions: A manipulator claw integrating assembly and clamping functions includes a base, a base shaft, and a clamping mechanism; One end of the base shaft is fixedly connected to the base; The clamping mechanism includes at least two sets of clamping components. Each set of clamping components includes a gripper and a clamping drive component for driving the gripper to swing. Each gripper of each set of clamping components has at least two and is circumferentially distributed around the base shaft; the lengths of the grippers of different sets are different. One end of the grippers of some sets is directly or indirectly hinged to the base, and one end of the grippers of some sets is directly or indirectly hinged to the base shaft; in the axial projection of the base shaft, there is no overlap between the grippers of different sets.

[0006] A preferred embodiment of the present invention, wherein, there are three sets of clamping components, namely a first clamping component, a second clamping component, and a third clamping component; The grippers of the first clamping component, the second clamping component, and the third clamping component are a first gripper, a second gripper, and a third gripper respectively. One end of the first gripper is connected to the base shaft through a mounting member, and one end of the second gripper and the third gripper are both hinged to the base; the lengths of the first gripper, the second gripper, and the third gripper increase in sequence.

[0007] Furthermore, the mounting member is sleeved outside the base shaft, and the mounting member is hinged to one end of the first gripper.

[0008] Further, the clamping drive assembly of the first clamping assembly is a first clamping drive assembly, and the first clamping drive assembly includes a first clamping electric cylinder and a first clamping transmission assembly; The housing of the first clamping electric cylinder is fixedly arranged on the base; The first clamping transmission assembly comprises a first clamping transmission frame, a transmission inner cylinder, a first clamping transmission seat and a first swing rod, and the telescopic rod of the first clamping electric cylinder is fixedly connected to one end of the first clamping transmission frame; The transmission inner cylinder is slidably arranged in the inner cavity of the base shaft, and one end of the transmission inner cylinder is fixedly connected to the other end of the first clamping transmission frame through an axially slidable screw passing through the base shaft; the first clamping transmission seat is connected to the other end of the transmission inner cylinder; one end of the first swing rod is hinged on the first clamping transmission seat, and the other end of the first swing rod is hinged on the first gripper. Through the above structure, under the drive of the first clamping electric cylinder, the first clamping transmission frame drives the transmission inner cylinder to slide in the corresponding direction, and then drives the first swing rod to swing in the corresponding direction through the first clamping transmission seat, and then drives the first gripper to swing to approach or move away from the workpiece.

[0009] Furthermore, a pressing cylinder is fixedly provided on the side of the first clamping transmission seat facing away from the transmission inner tube. In the assembly working state, the workpieces to be assembled are arranged in sequence below the pressing cylinder so that the pressing cylinder can be pressed downward.

[0010] Further, the mounting member is rotatably connected to the outer side of the base shaft via a bearing; The other end of the transmission inner cylinder is rotatably connected to the first clamping transmission seat through a bearing; The manipulator gripper also includes a rotation drive mechanism for driving the first gripper to rotate, the rotation drive mechanism includes a rotation drive motor and a rotation transmission assembly, the housing of the rotation drive motor is fixedly arranged on the base, the rotation transmission assembly includes a belt and a pulley, the pulley includes a driving pulley and a driven pulley, the driving pulley is arranged on the output shaft of the rotation drive motor, and the driven pulley is sleeved on the outside of the base shaft and fixedly connected to the mounting member. Through the above structure, under the drive of the rotation drive motor, the mounting member can rotate around the base shaft with the first gripper to adjust the posture of the workpiece.

[0011] Further, the clamping drive assembly of the second clamping assembly is a second clamping drive assembly, and the second clamping drive assembly includes a second clamping electric cylinder and a second clamping transmission assembly; The housing of the second clamping electric cylinder is fixedly arranged on the base; The second clamping drive assembly includes a second clamping drive frame, a clamping drive spring, a second clamping drive seat, and a second swing rod. The telescopic rod of the second clamping cylinder is fixedly connected to one end of the second clamping drive frame; the second clamping drive frame is slidably passed through the second clamping drive seat; the clamping drive spring is arranged between the other end of the second clamping drive frame and the second clamping drive seat; the second clamping drive seat is slidably sleeved outside the base shaft; one end of the second swing rod is hinged to the second clamping drive seat, and the other end of the second swing rod is hinged to the second gripper. Through the above structure, when the second clamping cylinder contracts and drives, the second clamping drive frame moves in the direction of compressing the clamping drive spring, and then compresses the clamping drive spring. When the clamping drive spring is compressed and deformed, it transmits power to the second clamping drive seat, so that the second clamping drive seat slides relative to the base shaft, and thus drives the second gripper to swing inward through the second swing rod to approach the workpiece. Further, in the above process, the clamping drive spring not only completes power transmission, but also provides a buffering effect to prevent the second gripper from hitting the workpiece hard.

[0012] Further, the clamping drive assembly of the third clamping assembly is a third clamping drive assembly, and the third clamping drive assembly includes a third clamping cylinder and a third clamping drive assembly; The third clamping cylinder is constituted by the second clamping cylinder; The third clamping drive assembly includes a third clamping drive frame, a third clamping drive seat, a third swing rod, and a return spring. The third clamping drive frame is constituted by the second clamping drive frame. A stepped shaft structure is provided on the second clamping drive frame. The smaller-diameter end of the stepped shaft structure passes through the sliding hole of the third clamping drive seat and is connected to the second clamping cylinder. The larger-diameter end of the stepped shaft structure passes through the sliding hole of the second clamping drive seat, and the diameter of the larger-diameter end of the stepped shaft structure is greater than the diameter of the sliding hole of the third clamping drive seat; the third clamping drive seat is slidably sleeved outside the base shaft; one end of the third swing rod is hinged to the third clamping drive seat, and the other end of the third swing rod is hinged to the third gripper; the return spring is sleeved outside the base shaft, and both ends of the return spring are respectively abutted against the third clamping drive seat and the base.

[0013] With the above structure, when the second clamping cylinder contracts and drives, under the transmission of the second clamping transmission assembly, the second gripper first swings inward towards the corresponding workpiece. At this time, the larger end of the stepped shaft structure of the second clamping transmission frame moves in the sliding hole of the second clamping transmission seat, and the smaller end of the stepped shaft structure of the second clamping transmission frame moves in the sliding hole of the third clamping transmission seat until the larger end of the stepped shaft structure of the second clamping transmission frame abuts against the end face of the third clamping transmission seat. Then, the third clamping transmission seat is driven to slide relative to the base shaft by the larger end of the stepped shaft structure of the second clamping transmission frame, and the third gripper is further driven to swing inward towards the corresponding workpiece by the third swing rod. Further, in the above process, sharing the power of a single second clamping cylinder can not only provide driving force for the second and third grippers, which is beneficial to simplifying the structure and reducing costs; more importantly, the second and third grippers do not swing synchronously. Instead, the second gripper is first driven to swing. After grasping the corresponding workpiece, the entire robotic gripper switches positions, and then the third gripper is driven to swing to grasp the corresponding workpiece. That is, relying on a single power source to complete the grasping of workpieces at different positions and of different types is extremely ingenious! The present invention has the following beneficial effects compared with the prior art: 1. The robotic gripper of the present invention integrates assembly and clamping, enabling the grasping and assembly of multiple workpieces, with high space utilization rate, significantly saving the floor area of assembly equipment, and is especially suitable for high-density production environments.

[0014] 2. The robotic gripper of the present invention is provided with multiple sets of clamping components. During the grasping and handling operation, independent control of multiple sets of clamping components can be achieved to realize multi-point off-site clamping, adapting to workpieces of different sizes and shapes, without the need to frequently replace the gripper, thus improving work efficiency.

[0015] 3. The robotic gripper of the present invention has a high degree of integration. Through the independent driving and collaborative operation of each set of clamping components, multiple transfers of the workpiece between the gripper and the assembly jig can be eliminated, reducing the assembly error of the workpiece, improving the reliability of the system, and shortening the operation cycle at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is the front view of the robotic gripper integrating assembly and clamping of the present invention.

[0017] Figures 2 - 3 are the three-dimensional structure schematic diagrams of the robotic gripper integrating assembly and clamping of the present invention from two different perspectives.

[0018] Figure 4 is the cross-sectional view of the robotic gripper integrating assembly and clamping of the present invention.

[0019] Figure 5 is Figure 4Enlarged view of X in

[0020] Figure 6 Schematic perspective view of the assembly object of the present invention.

[0021] Figures 7 - 10 Front view of different working states of the integrated assembly and clamping robot gripper of the present invention. Detailed implementation manners

[0022] In order to enable those skilled in the art to well understand the technical solution of the present invention, the present invention will be further described below in conjunction with embodiments and the accompanying drawings. However, the implementation manners of the present invention are not limited thereto.

[0023] Combined with Figures 1 - 5 , the integrated assembly and clamping robot gripper of this embodiment includes a base 1, a base shaft 2 and a clamping mechanism; one end of the base shaft 2 is fixedly connected to the base 1; the clamping mechanism includes at least two groups of clamping components, and each group of clamping components includes a gripper and a clamping drive component for driving the gripper to swing. Each gripper of each group of clamping components has at least two and is circumferentially distributed around the base shaft 2; the lengths of the grippers of different groups are different. One end of the grippers of some groups is directly or indirectly hinged to the base 1, and one end of the grippers of some groups is directly or indirectly hinged to the base shaft 2; in the axial projection of the base shaft 2, there is no overlap between the grippers of different groups.

[0024] Combined with Figures 1 - 3 , the clamping component is provided with three groups, namely a first clamping component, a second clamping component and a third clamping component; the grippers of the first clamping component, the second clamping component and the third clamping component are a first gripper 3, a second gripper 4 and a third gripper 5 respectively. One end of the first gripper 3 is connected to the base shaft 2 through a mounting member 6, and one end of the second gripper 4 and the third gripper 5 are both hinged to the base 1; the lengths of the first gripper 3, the second gripper 4 and the third gripper 5 increase in sequence.

[0025] Combined with Figures 1 - 5, the mounting member 6 is sleeved outside the base shaft 2, and the mounting member 6 is hinged to one end of the first gripper 3; the clamping drive assembly of the first clamping assembly is the first clamping drive assembly, and the first clamping drive assembly includes a first clamping electric cylinder 7 and a first clamping transmission assembly; the housing of the first clamping electric cylinder 7 is fixedly arranged on the base 1; the first clamping transmission assembly includes a first clamping transmission frame 8, a transmission inner cylinder 9, a first clamping transmission seat 10 and a first swing rod 11, and the telescopic rod of the first clamping electric cylinder 7 is fixedly connected to one end of the first clamping transmission frame 8; the transmission inner cylinder 9 is slidably arranged in the inner cavity of the base shaft 2, and one end of the transmission inner cylinder 9 is fixedly connected to the other end of the first clamping transmission frame 8 through a screw that can axially slide through the base shaft 2; the first clamping transmission seat 10 is connected to the other end of the transmission inner cylinder 9; one end of the first swing rod 11 is hinged to the first clamping transmission seat 10, and the other end of the first swing rod 11 is hinged to the first gripper 3. Through the above structure, driven by the first clamping electric cylinder 7, the first clamping transmission frame 8 drives the transmission inner cylinder 9 to slide in the corresponding direction, and then drives the first swing rod 11 to swing in the corresponding direction through the first clamping transmission seat 10, and then drives the first gripper 3 to swing to approach or move away from the workpiece.

[0026] Furthermore, a pressing cylinder 12 is fixedly arranged on the side of the first clamping transmission seat 10 facing away from the transmission inner cylinder 9. In the assembled working state, the workpieces to be assembled are arranged in sequence below the pressing cylinder 12 so that the pressing cylinder 12 can press down.

[0027] Combined with Figures 1 - 5 , the mounting member 6 is rotatably connected to the outside of the base shaft 2 through a bearing; the other end of the transmission inner cylinder 9 is rotatably connected to the first clamping transmission seat 10 through a bearing; the robotic gripper further includes a rotation drive mechanism for driving the first gripper 3 to rotate, and the rotation drive mechanism includes a rotation drive motor 13 and a rotation transmission assembly. The housing of the rotation drive motor 13 is fixedly arranged on the base 1. The rotation transmission assembly includes a belt 14 and belt pulleys. The belt pulleys include a driving belt pulley and a driven belt pulley 15. The driving belt pulley is arranged on the output shaft of the rotation drive motor 13, and the driven belt pulley 15 is sleeved outside the base shaft 2 and fixedly connected to the mounting member 6. Through the above structure, driven by the rotation drive motor 13, the mounting member 6 can drive the first gripper 3 to rotate around the base shaft 2 to adjust the posture of the workpiece.

[0028] Combined with Figures 1 - 5, the clamping drive assembly of the second clamping assembly is the second clamping drive assembly, and this second clamping drive assembly includes a second clamping electric cylinder 16 and a second clamping transmission assembly; the housing of the second clamping electric cylinder 16 is fixedly arranged on the base 1; the second clamping transmission assembly includes a second clamping transmission frame 17, a clamping transmission spring 18, a second clamping transmission seat 19 and a second swing rod 20, and the telescopic rod of the second clamping electric cylinder 16 is fixedly connected to one end of the second clamping transmission frame 17; the second clamping transmission frame 17 slidably passes through the second clamping transmission seat 19; the clamping transmission spring 18 is arranged between the other end of the second clamping transmission frame 17 and the second clamping transmission seat 19; the second clamping transmission seat 19 is slidably sleeved outside the base shaft 2; one end of the second swing rod 20 is hinged to the second clamping transmission seat 19, and the other end of this second swing rod 20 is hinged to the second gripper 4. Through the above structure, when the second clamping electric cylinder 16 performs a contraction drive, the second clamping transmission frame 17 moves in the direction of compressing the clamping transmission spring 18, and then compresses the clamping transmission spring 18. When the clamping transmission spring 18 is compressed and deformed, it transmits power to the second clamping transmission seat 19, causing the second clamping transmission seat 19 to slide relative to the base shaft 2, so that the second gripper 4 is swung inward by the second swing rod 20 to approach the workpiece. Further, in the above process, in addition to completing power transmission, the clamping transmission spring 18 also provides a buffering effect to prevent the second gripper 4 from hitting the workpiece hard.

[0029] Combined with Figures 1 - 5 , the clamping drive assembly of the third clamping assembly is the third clamping drive assembly, and this third clamping drive assembly includes a third clamping electric cylinder and a third clamping transmission assembly; the third clamping electric cylinder is constituted by the second clamping electric cylinder 16; the third clamping transmission assembly includes a third clamping transmission frame, a third clamping transmission seat 21, a third swing rod 22 and a return spring 23, the third clamping transmission frame is constituted by the second clamping transmission frame 17, and a stepped shaft structure is provided on this second clamping transmission frame 17. The smaller-diameter end of this stepped shaft structure passes through the sliding hole of the third clamping transmission seat 21 and is connected to the second clamping electric cylinder 16, and the larger-diameter end of this stepped shaft structure passes through the sliding hole of the second clamping transmission seat 19. The diameter of the larger-diameter end of this stepped shaft structure is greater than the diameter of the sliding hole of the third clamping transmission seat 21; the third clamping transmission seat 21 is slidably sleeved outside the base shaft 2; one end of the third swing rod 22 is hinged to the third clamping transmission seat 21, and the other end of this third swing rod 22 is hinged to the third gripper 5; the return spring 23 is sleeved outside the base shaft 2, and both ends of this return spring 23 are respectively abutted against the third clamping transmission seat 21 and the base 1.

[0030] With the above structure, when the second clamping cylinder 16 contracts and drives, under the transmission of the second clamping transmission assembly, the second gripper 4 first swings inward to approach the corresponding workpiece. At this time, the larger-end of the stepped shaft structure of the second clamping transmission frame 17 moves in the sliding hole of the second clamping transmission seat 19, and the smaller-end of the stepped shaft structure of the second clamping transmission frame 17 moves in the sliding hole of the third clamping transmission seat 21 until the larger-end of the stepped shaft structure of the second clamping transmission frame 17 abuts against the end face of the third clamping transmission seat 21. Then, the third clamping transmission seat 21 is driven to slide relative to the base shaft 2 by the larger-end of the stepped shaft structure of the second clamping transmission frame 17, and the third gripper 5 is driven to swing inward to approach the corresponding workpiece through the third swing rod 22. Further, in the above process, sharing the power of a single second clamping cylinder 16 can not only provide driving force for the second gripper 4 and the third gripper 5, which is beneficial to simplifying the structure and reducing costs; more importantly, the second gripper 4 and the third gripper 5 do not swing synchronously. Instead, the second gripper 4 is first driven to swing. After grasping the corresponding workpiece, the entire robotic gripper switches positions, and then the third gripper 5 is driven to swing to grasp the corresponding workpiece. That is, relying on one power source to complete the grasping of workpieces at different positions, which is extremely ingenious! Combined with Figures 1 - 3 and Figures 6 - 10 , the working principle of the above robotic gripper integrating assembly and clamping is as follows: The assembly objects are: workpiece one 24 is a cylindrical structure with a knurled shaft 24-1 at the bottom; a mounting groove 25-1 for mounting workpiece one 24 is provided at the center of workpiece two 25, and an avoidance hole is provided at the bottom of the mounting groove 25-1; workpiece three 26 is a structure with multiple spiral blades, and workpiece three 26 is provided with a knurled hole 26-1 for mating with the knurled shaft 24-1.

[0031] The assembly process is as follows: First, drive the entire robotic gripper to move above workpiece one 24 so that the first gripper 3 is located outside workpiece one 24, and drive the first gripper 3 to swing inward through the first clamping drive assembly to clamp workpiece one 24, as Figure 7 ; then drive the entire robotic gripper to move above workpiece two 25 and move downward, insert the lower end of workpiece one 24 into the mounting groove 25-1 of workpiece two 25, and the knurled shaft 24-1 passes through the avoidance hole, as Figure 8 , at this time the second gripper 4 is located outside workpiece two 25; meanwhile, the first gripper 3 can be driven to rotate by the rotation drive mechanism to adjust the posture of workpiece one 24 for mating with workpiece two 25; drive the second gripper 4 to swing inward through the second clamping drive assembly to clamp workpiece two 25.

[0032] Then drive the entire robotic gripper to move above the third workpiece 26, and drive the third gripper 5 to swing inward through the third clamping drive assembly to clamp the third workpiece 26; at this time, the three workpieces are sequentially clamped in the three groups of grippers along the axial direction of the base shaft 2, that is, they are located on the same axis, as Figure 9 ; Place the bottom of the third workpiece 26 on the workbench, then slightly loosen the three workpieces so that the three grippers only play a guiding and positioning role without clamping the workpieces; drive the first workpiece 24 downward through the pressing cylinder 12 so that the knurled shaft 24-1 of the first workpiece 24 is inserted into the knurled hole 26-1 of the third workpiece 26, and the third workpiece 26 remains stationary, as Figure 10 , thereby realizing the assembly work of the three workpieces.

[0033] The above is the preferred embodiment of the present invention, but the embodiments of the present invention are not limited to the above content. Any other changes, modifications, substitutions, combinations, and simplifications made without departing from the spirit and principle of the present invention shall be equivalent replacement methods and are all included in the protection scope of the present invention.

Claims

1. A manipulator claw integrating assembly and clamping, characterized in that It includes a base, a base shaft and a clamping mechanism; One end of the base shaft is fixedly connected to the base; The clamping mechanism includes at least two groups of clamping components. Each group of clamping components includes a gripper and a clamping drive component for driving the gripper to swing. Each gripper of each group of clamping components has at least two and is circumferentially distributed around the base shaft; the lengths of the grippers of different groups are different. One end of the grippers of some groups is directly or indirectly hinged to the base, and one end of the grippers of some groups is directly or indirectly hinged to the base shaft; in the axial projection of the base shaft, there is no overlap between the grippers of different groups.

2. The integrated manipulator claw for assembly and clamping according to claim 1, characterized in that, There are three groups of the clamping components, namely a first clamping component, a second clamping component and a third clamping component; The grippers of the first clamping component, the second clamping component and the third clamping component are a first gripper, a second gripper and a third gripper respectively. One end of the first gripper is connected to the base shaft through a mounting member. One ends of the second gripper and the third gripper are both hinged to the base; the lengths of the first gripper, the second gripper and the third gripper increase in sequence.

3. The integrated manipulator claw for assembly and clamping according to claim 2, wherein The mounting member is sleeved outside the base shaft, and this mounting member is hinged to one end of the first gripper.

4. The integrated manipulator claw for assembly and clamping according to claim 2, characterized in that The clamping drive component of the first clamping component is a first clamping drive component, and this first clamping drive component includes a first clamping electric cylinder and a first clamping transmission component; The housing of the first clamping electric cylinder is fixedly arranged on the base; The first clamping transmission component includes a first clamping transmission frame, a transmission inner cylinder, a first clamping transmission seat and a first swing rod. The telescopic rod of the first clamping electric cylinder is fixedly connected to one end of the first clamping transmission frame; The transmission inner cylinder is slidably arranged in the inner cavity of the base shaft. One end of this transmission inner cylinder is fixedly connected to the other end of the first clamping transmission frame through a screw that can axially slide through the base shaft; the first clamping transmission seat is connected to the other end of the transmission inner cylinder; one end of the first swing rod is hinged to the first clamping transmission seat, and the other end of this first swing rod is hinged to the first gripper.

5. The integrated manipulator gripper for assembly and clamping according to claim 4, characterized in that, A pressing cylinder is fixedly arranged on the side of the first clamping transmission seat facing away from the transmission inner cylinder. In the assembled working state, the workpieces to be assembled are arranged in sequence below the pressing cylinder.

6. The integrated manipulator gripper for assembly and clamping according to claim 4, characterized in that, The mounting member is rotatably connected to the outside of the base shaft through a bearing; the other end of the transmission inner cylinder is rotatably connected to the first clamping transmission seat through a bearing; The robotic gripper further includes a rotation drive mechanism for driving the first gripper to rotate.

7. The integrated assembly and clamping robotic gripper according to claim 6, characterized in that, The rotation drive mechanism includes a rotation drive motor and a rotation transmission component. The housing of the rotation drive motor is fixedly arranged on the base. The rotation transmission component includes a belt and pulleys. The pulleys include a driving pulley and a driven pulley. The driving pulley is arranged on the output shaft of the rotation drive motor. The driven pulley is sleeved outside the base shaft and is fixedly connected to the mounting member.

8. The integrated manipulator claw for assembly and clamping according to claim 2, characterized in that, The clamping drive component of the second clamping component is a second clamping drive component, and this second clamping drive component includes a second clamping electric cylinder and a second clamping transmission component; The housing of the second clamping electric cylinder is fixedly arranged on the base; The second clamping drive assembly includes a second clamping drive frame, a clamping drive spring, a second clamping drive seat, and a second swing rod. The telescopic rod of the second clamping cylinder is fixedly connected to one end of the second clamping drive frame. The second clamping drive frame is slidably passed through the second clamping drive seat. The clamping drive spring is arranged between the other end of the second clamping drive frame and the second clamping drive seat. The second clamping drive seat is slidably sleeved outside the base shaft. One end of the second swing rod is hinged to the second clamping drive seat, and the other end of the second swing rod is hinged to the second gripper.

9. The integrated manipulator gripper for assembly and clamping according to claim 8, wherein, The clamping drive assembly of the third clamping assembly is a third clamping drive assembly, and the third clamping drive assembly includes a third clamping cylinder and a third clamping drive assembly.

10. The integrated manipulator claw for assembly and clamping according to claim 9, characterized in that, The third clamping cylinder is constituted by the second clamping cylinder. The third clamping drive assembly includes a third clamping drive frame, a third clamping drive seat, a third swing rod, and a return spring. The third clamping drive frame is constituted by the second clamping drive frame. A stepped shaft structure is provided on the second clamping drive frame. The smaller-diameter end of the stepped shaft structure passes through the sliding hole of the third clamping drive seat and is connected to the second clamping cylinder. The larger-diameter end of the stepped shaft structure passes through the sliding hole of the second clamping drive seat, and the diameter of the larger-diameter end of the stepped shaft structure is larger than the diameter of the sliding hole of the third clamping drive seat. The third clamping drive seat is slidably sleeved outside the base shaft. One end of the third swing rod is hinged to the third clamping drive seat, and the other end of the third swing rod is hinged to the third gripper. The return spring is sleeved outside the base shaft, and both ends of the return spring are respectively abutted against the third clamping drive seat and the base.

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