Self-locking and modularized electric clamping jaw

Abstract

The invention discloses a novel electric clamping jaw capable of mechanically self-locking and quickly replacing a clamping jaw head, which fills the blank of an electric clamping jaw, and realizes mechanical self-locking and larger reduction ratio of the clamping jaw through a worm and gear transmission pair on the premise of compact clamping jaw shell space and no brake. Meanwhile, an output shaft of the motor is adjusted to the position parallel to a worm wheel shaft and tending to be coaxial through a plurality of straight gears and bevel gear transmission pairs, most driving structure parts of the electric clamping jaw are wrapped by a shell of the clamping jaw, modular design is adopted, the clamping jaw head has two types, one type is a parallel two-finger type, and the other type is a parallel two-finger type. The other mode is a three-finger rotating mode, and the function of rapidly replacing the clamping jaw head can be achieved only by disassembling and assembling the installation screws.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of electric clamping jaw, specifically a new type of electric clamping jaw with mechanical self-locking and quick replacement of clamping jaw head. Mechanical automation refers to the process of machine or device operating or controlling automatically without human intervention according to predetermined program or instruction, and mechanical automation is the process of machine or device achieving automatic control through mechanical means. Mechanical automation cannot be separated from robots, and the end of the robot often needs to install a clamping jaw for robot clamping and handling objects. The robot clamping jaw realizes simple grabbing action through electric drive or pneumatic method to grab materials and perform related action tasks. Among robot clamping jaws, electric clamping jaws are widely used in various working conditions. As a substitute for pneumatic clamping jaws, electric clamping jaws are often used in high-precision and complex grabbing applications due to their lack of compressed air handling system and automatic control motion performance. Among electric clamping jaws, two-finger parallel clamping jaws are the most commonly used electric clamping jaws for robots. They have simple structure, small size, low cost, stable and reliable performance, and therefore have a very high frequency of use. BACKGROUND

[0002] The main performance indicators for evaluating a robot electric clamping jaw are clamping force, weight, size, and whether it can be self-locked. A good electric clamping jaw usually has large clamping force, light weight, small size, and can be mechanically self-locked. Mechanical self-locking can effectively prevent safety accidents caused by sudden dropping of clamped objects due to accidental power failure of the electric clamping jaw.

[0003] Currently, electric clamping jaws on the market usually use a combination of planetary gear reducer and electromagnetic brake. Planetary gear reducer can achieve a large reduction ratio, converting high-speed motion of the motor into low-speed large-torque motion. Since planetary gear reducer does not have mechanical self-locking feature, an electromagnetic brake is usually connected to the rotor of the motor to achieve mechanical self-locking feature. However, electromagnetic brake needs to be powered all the time during long-term operation of the electric clamping jaw, which increases the power consumption of the clamping jaw. Electromagnetic brake has special requirements for the environment. If there is a lot of dust accumulated in the gap of the electromagnetic brake for a long time, the electromagnetic brake will malfunction. Since electromagnetic brake is controlled by circuit and program, under the condition of strong and frequent electromagnetic signal interference, the control circuit and control program are prone to disorder, which eventually leads to malfunction of the electromagnetic brake and safety accidents. Therefore, an electric clamping jaw with anti-electromagnetic interference and safety reliability is necessary in some special environments and high-safety working conditions.

[0004] At the same time, the worm gear transmission structure is not usually adopted for the electric clamp jaw with small size, the worm gear transmission structure can have large reduction ratio and can be mechanically self-locked, but another feature of the worm gear transmission structure is that the input shaft and the output shaft are not on the same axis and are not on the same plane, if the length of the motor directly connected with the worm gear transmission pair is relatively long, the motor can occupy a large size space in the direction perpendicular to the worm shaft, which causes the electric clamp jaw to have large size, and the electric clamp jaw cannot work in some narrow space. SUMMARY

[0005] The technical problem to be solved by the present application is to provide a novel electric clamp jaw, which adopts the worm gear transmission structure to realize the output of large torque and the mechanical self-locking feature, and adjusts the axial direction of the motor to be parallel to and close to the coaxial state of the worm through the bevel gear combination and the multiple straight gear combination, so that the electric clamp jaw can realize the large output torque and the mechanical self-locking feature, and realize the small size and the low power consumption.

[0006] The technical scheme of the present application is as follows:

[0007] 1. An electric clamp jaw, characterized in that comprising:

[0008] an upper support plate;

[0009] an intermediate support plate, which is fixed to the upper support plate and located below the upper support plate;

[0010] a motor mounting plate, which is fixed to the intermediate support plate and located below the intermediate support plate;

[0011] a first side plate and a second side plate, which are respectively fixed to the two side faces of the intermediate support plate through a plurality of screws;

[0012] a worm shaft, the middle part and the lower end of which are respectively rotatably arranged on the upper support plate and the intermediate support plate, and the worm shaft penetrates through the upper support plate;

[0013] a worm, which is fixed to the worm shaft and arranged coaxially with the worm shaft, and located below the upper support plate and inside the intermediate support plate;

[0014] an output gear, which is fixed to the top end of the worm shaft and located above the upper support plate;

[0015] a worm gear, which is rotatably arranged at the two ends of the first side plate and the second side plate respectively; and the worm gear and the worm form a worm gear transmission pair;

[0016] two-fingered clamping head, which is fixed to the upper support plate by screws and is located above the upper support plate;

[0017] three-fingered clamping head, which is used to replace the two-fingered clamping head, and when the two-fingered clamping head is disassembled and the three-fingered clamping head is installed, the three-fingered clamping head is fixed to the upper support plate by screws and is located above the upper support plate;

[0018] large bevel gear and small bevel gear, the large bevel gear is fixed to the worm; and the large bevel gear is coaxially arranged with the worm; the small bevel gear is rotatably arranged on the motor mounting plate and is located above the motor mounting plate, and the large bevel gear and the small bevel gear form a bevel gear pair;

[0019] third spur gear, which is fixed to the small bevel gear and is located below the small bevel gear, and the third spur gear is coaxially arranged with the small bevel gear;

[0020] second gear fixing frame, which is fixed to the motor mounting plate and is located above the motor mounting plate;

[0021] second spur gear, which is rotatably arranged on the second gear fixing frame, is arranged in parallel with the third spur gear, and forms a gear pair with the third spur gear;

[0022] motor, which is fixed to the motor mounting plate and is located below the motor mounting plate;

[0023] first spur gear, which is fixed to the output shaft of the motor and forms a gear pair with the second spur gear;

[0024] housing, which is fixed to the upper support plate and is located below the upper support plate;

[0025] 2. The electric clamping jaw, characterized in that the motor drives the second spur gear to rotate through the first spur gear; the second spur gear drives the third spur gear to rotate; the third spur gear drives the worm to rotate through the meshing transmission of the small bevel gear and the large bevel gear; the worm drives the output gear to rotate through the worm and the worm gear forming a worm and gear transmission pair; and the output gear drives the two-fingered clamping head or the three-fingered clamping head to realize clamping or opening action.

[0026] 3. The electric clamping jaw, characterized in that the large bevel gear and the worm are coaxially arranged, and the worm gear and the worm shaft are coaxially arranged.

[0027] 4. The electric clamp according to claim 1, wherein the first gear is parallel to and coaxial with the worm gear.

[0028] 5. The electric clamp according to claim 1, wherein the first side plate and the second side plate are adjustable in position on the middle support plate, so as to adjust the center distance of the worm gear and the worm.

[0029] 6. The electric clamp according to claim 1, wherein the second spur gear is supported on the second gear fixing frame through at least one bearing, the second gear fixing frame is fixed on the motor mounting plate through screws, and the second gear fixing frame is adjustable in relative position on the motor mounting plate, so as to adjust the installation position of the second spur gear.

[0030] 7. The electric clamp according to claim 1, wherein the housing and the upper support plate form a closed cavity, and the motor is wrapped in the cavity, and the housing is provided with an aviation plug and an LED lamp for the clamp.

[0031] 8. The two-finger clamp head according to claim 1, wherein the two-finger clamp head comprises first sliders and a first clamp housing, the first sliders are two in number and are distributed in parallel and symmetrically on the first clamp housing, the first sliders are slidably arranged on the first clamp housing, the bottom of each first slider is provided with a rack feature, when the two-finger clamp head is installed on the upper support plate, the two first sliders are respectively engaged with the output gear for transmission, and when the output gear rotates, the two first sliders are driven to move in parallel relative to each other.

[0032] 9. The two-finger clamp head according to claim 1, wherein the two-finger clamp head further comprises a clamp limiting pin, the clamp limiting pin is arranged above the upper support plate, the lower surface of each first slider is provided with a long groove feature, the head of the clamp limiting pin is inserted into the long groove feature of the first slider, the first slider slides in parallel relative to the clamp limiting pin, and the clamp limiting pin limits the parallel sliding stroke of the first slider.

[0033] 10. The three-finger clamp head according to claim 1, wherein the three-finger clamp head comprises second clamp shafts and a second clamp housing, the second clamp shafts are three in number and are arranged on the second clamp housing, the second clamp shafts are rotatably arranged on the second clamp housing, and the middle of each second clamp shaft is provided with a gear feature, when the three-finger clamp head is installed on the upper support plate in place of the two-finger clamp head, the lower end of each second clamp shaft is rotatably arranged on the upper support plate, and the gear features of the second clamp shafts are simultaneously engaged with the output gear for transmission, and when the output gear rotates, the second clamp shafts are driven to rotate in the same direction. BRIEF DESCRIPTION OF DRAWINGS

[0034] Figure 1 This is a perspective view of an electric gripper according to one embodiment of the present disclosure.

[0035] Figure 2 This is a perspective view of an electric gripper with a three-finger gripper head according to one embodiment of the present disclosure.

[0036] Figure 3 This is a perspective view of an electric gripper with a two-finger gripper head according to one embodiment of the present disclosure.

[0037] Figure 4 This is a front view schematic diagram of an electric gripper with a two-finger gripper head according to one embodiment of the present disclosure.

[0038] Figure 5 yes Figure 4 A cross-sectional view along section line AA.

[0039] Figure 6 yes Figure 4 A cross-sectional view along section line DD.

[0040] Figure 7 yes Figure 4 A cross-sectional view along section line BB.

[0041] Figure 8 yes Figure 4 A cross-sectional view along section line CC.

[0042] Figure 9 This is a cross-sectional view of a three-finger gripper head according to one embodiment of the present disclosure.

[0043] Reference numerals: 400 - Electric gripper; 100 - Two-finger gripper head; 200 - Three-finger gripper head; 300 - Housing; 101 - Finger tip plate; 102 - First slider; 103 - First gripper housing; 201 - Second gripper housing; 202 - Second gripper bearing; 203 - Second gripper shaft; 204 - Swing rod; 301 - Gripper limit pin; 302 - Worm gear bearing; 303 - Worm gear; 304 - First spur gear; 305 - Aviation connector; 306 - Motor; 307 - Housing base plate; 308 - LED light; 309 - Housing 310 - Motor mounting plate; 311 - Intermediate support plate; 312 - Worm gear; 313 - Upper support plate; 314 - Worm gear seal ring; 315 - Output gear; 316 - Worm gear shaft; 317 - Worm gear bearing; 318 - Second side plate; 319 - Small bevel gear; 320 - Lower bevel gear bearing; 321 - Upper bevel gear bearing; 322 - Third spur gear; 323 - First side plate; 324 - Large bevel gear; 325 - Side plate fixing screw; 326 - Second spur gear; 327 - Second gear fixing bracket; 328 - Gear fixing bracket fixing screw; DETAILED DESCRIPTION

[0044] In order to make the above objectives, features and advantages of the present application more clear and comprehensible, specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. It will be apparent, however, to one skilled in the art that the present application can be practiced without using some or all of these specific details, and that the present application is not limited to the specific embodiments disclosed below.

[0045] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like are used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only used for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0046] In addition, the terms "first", "second", "third", etc. are used only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined with "first", "second", etc. can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, for example, two, three, etc., unless otherwise explicitly specified and limited.

[0047] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connecting", "fixing" and the like should be understood broadly, for example, can be fixed connection, can also be detachable connection, or integral; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0048] In the present application, unless otherwise explicitly specified and limited, a first feature is "on" or "under" a second feature can be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature is "over", "above" and "on top of" the second feature can be that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is horizontally higher than the second feature. The first feature is "under", "below" and "underneath" the second feature can be that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is horizontally lower than the second feature.

[0049] It should be noted that when an element is referred to as being "fixed to" or "set to" another element, it can be directly on the other element or there can be an intermediate element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or there can be an intermediate element. The terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation.

[0050] The principles and features of the present application are described below in conjunction with the accompanying drawings, which are presented only for illustrative purposes and are not intended to limit the scope of the present application.

[0051] As Figures 1 to 9 shown, the electric gripper 400 is an embodiment of the present application, which is used to install at the end of a robot to implement the gripping of materials or workpieces. The electric gripper 400 is modularly designed and has two gripper heads for gripping different objects. When the two-finger gripper head 100 is installed at the top of the electric gripper 400, the electric gripper 400 can grip objects in parallel. When the two-finger gripper head 100 is disassembled and replaced with a three-finger gripper head 200, the electric gripper 400 can grip objects in the middle, which is commonly used to grip cylindrical objects such as cylindrical bottles or bottle caps, and through the rotation of the end joint of the robot, the work requirements such as screwing bottle caps or rotating scanning barcodes on the side of the bottle can be achieved.

[0052] The structures of the two gripper heads are described below respectively.

[0053] As Figure 1 and Figure 5As shown, the two-fingered gripper head 100 mainly includes: a fingertip plate 101, a first slider 102, and a first gripper shell 103. The first slider 102 is parallel and symmetrically distributed on the first gripper shell 103, and is slidably arranged on the first gripper shell 103. The bottom of the first slider 102 is provided with a rack feature. When the two-fingered gripper head 100 is installed on the top of the electric gripper 400, the two first sliders 102 can be engaged with the output gear 315 for transmission. When the output gear 315 rotates, the two first sliders 102 are driven to move in parallel, so as to clamp and release the object by the fingertip plate 101. The gripper limiting pin 301 is arranged above the upper support plate 313. A long groove feature is arranged on the lower plane of the first slider 102. The head of the gripper limiting pin 301 is inserted into the long groove feature of the first slider 102. The first slider 102 slides in parallel relative to the gripper limiting pin 301, and the gripper limiting pin 301 limits the parallel sliding stroke of the first slider 102.

[0054] As shown in Figure 1 and Figure 9 The three-fingered gripper head 200 is characterized by a second gripper shaft 203, a second gripper shell 201, a second gripper bearing 202, and a swing rod 204. The second gripper shaft 203 is evenly distributed on the second gripper shell 201, and is rotatably arranged on the second gripper shell 201 through the second gripper bearing 202. The second gripper shaft 203 has a gear feature in the middle. When the three-fingered gripper head 200 replaces the two-fingered gripper head 100 and is installed on the top of the electric gripper 400, the second gripper shaft 203 is rotatably arranged on the upper support plate 313 through the second gripper bearing 202. The gear features of the second gripper shaft 203 are simultaneously engaged with the output gear 315 for transmission. When the output gear 315 rotates, the second gripper shaft 203 rotates in the same direction. The top of the second gripper shaft 203 is sleeved with the swing rod 204, and is fixed on the swing rod 204 by a screw. The top of the swing rod 204 is made of flexible material, which can provide a larger friction force and contact area when grabbing objects.

[0055] As shown in Figure 5 and Figure 6As shown, the following detailed description of how the motor 306 is transmitted through the transmission structure to the output gear 315. The output shaft of the motor 306 is fixed first spur gear 304, the motor 306 is fixedly mounted on the motor mounting plate 310 by screws, the motor mounting plate 310 is fixed on the bottom of the intermediate support plate 311 by screws, the first spur gear 304 and the second spur gear 326 gear pair; The second spur gear 326 is rotatably supported on the second gear fixed frame 327, which is fixed on the motor mounting plate 310 by gear fixed frame fixing screw 328; The third spur gear 322 and the second spur gear 326 form a gear transmission pair, and are sleeved on the small bevel gear 319. The small bevel gear 319 and the third spur gear 322 are fixedly connected, the small bevel gear 319 is supported on the motor mounting plate 310 through the bevel gear lower bearing 320 and the bevel gear upper bearing 321, and the small bevel gear 319 can rotate relative to the motor mounting plate 310. The shaft of the second spur gear 326 is sleeved with the third spur gear 322.

[0056] Based on the above structure, when the output shaft of the motor 306 rotates, the small bevel gear 319 also rotates.

[0057] Further, as shown in Figures 1 to 9 The large bevel gear 324 is fixedly connected with the worm 312; the large bevel gear 324 and the worm 312 are coaxially arranged and form a bevel gear transmission pair with the small bevel gear 319; the two ends of the worm 312 are rotatably supported on the first side plate 323 and the second side plate 318 through two worm bearings 317, and the first side plate 323 and the second side plate 318 are fixedly connected on the two sides of the intermediate support plate 311 through a plurality of side plate fixing screws 325; the worm 312 and the worm gear 303 form a worm gear transmission pair, the worm gear 303 is coaxially arranged on the worm shaft 316 and is fixedly connected with the worm shaft 316, the worm shaft 316 is rotatably supported on the intermediate support plate 311 and the upper support plate 313 through two worm shaft bearings 302, and the intermediate support plate 311 and the upper support plate 313 are provided with a circular hole in the middle for installing the worm shaft bearing 302; wherein the worm sealing ring 314 is installed in the middle circular hole of the upper support plate 313, the worm shaft 316 penetrates the worm sealing ring 314 and the circular hole of the upper support plate 313, and the upper end of the worm shaft 316 is fixedly connected with the output gear 315, and the output gear 315 is coaxially arranged with the worm shaft 316.

[0058] Based on the above structure, the rotation of the small bevel gear 319 drives the rotation of the large bevel gear 324, the large bevel gear 324 drives the rotation of the worm 312, the worm 312 drives the rotation of the worm gear 303 and the output gear 315, and the output gear 315 drives the two-fingered clamp head 100 and / or the three-fingered clamp head 200 to realize the clamping or opening action.

[0059] In addition, as shown in Figure 5As shown, the shell 309 is fixed under the upper support plate 313 by screws, the shell 309 has an opening feature under the shell 309, the shell bottom plate 307 is fixed under the shell 309 by screws and seals the opening under the shell 309, and further, the LED lamp 308 and the aviation plug 305 are installed on the side of the shell 309.

[0060] The beneficial effects of the above scheme are that the shell 309, the shell bottom plate 307 and the upper support plate 313 form a closed cavity, and the driving part of the electric clamp jaw 400 is wrapped inside the closed cavity, so that the electric clamp jaw 400 has a high IP protection level, and different clamp jaw heads can be replaced conveniently; the worm and gear transmission pair can realize the mechanical self-locking property of the electric clamp jaw 400, and the motor can output a relatively large torque through the speed reduction property of the above structure; the axial direction of the motor is parallel to and tends to be coaxial with the axial direction of the output gear 315, so that the electric clamp jaw 400 has a small size.

[0061] The technical features of the above-described embodiments can be combined arbitrarily, and to make the description concise, all possible combinations of the technical features in the above-described embodiments are not described, however, as long as the combinations of the technical features do not exist contradictory, they should be considered as the scope of the present disclosure.

[0062] The above-described embodiments only express several embodiments of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the scope of the patent. It should be pointed out that for ordinary skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are within the scope of the present application. Therefore, the scope of protection of the present application should be subject to the appended claims.

Claims

1. An electrically powered clamp jaw, characterized in that, The utility model provides a kind of two-finger or three-finger clamp head, including: Upper support plate; Middle support plate, the middle support plate is fixed to the upper support plate, and is located below the upper support plate; Motor mounting plate, the motor mounting plate is fixed to the middle support plate, and is located below the middle support plate; First side plate and second side plate, the first side plate and the second side plate are fixed to the two sides of the middle support plate by a plurality of screws respectively; Worm shaft, the middle part and the lower end of the worm shaft are rotatably arranged on the upper support plate and the middle support plate respectively, and penetrate the upper support plate; Worm wheel, the worm wheel is fixed to the worm shaft, and is coaxially arranged with the worm shaft, and is located below the upper support plate and inside the middle support plate; Output gear, the output gear is fixed to the top end of the worm shaft, and is located above the upper support plate; Worm, both ends of the worm are rotatably arranged on the first side plate and the second side plate respectively;And the worm and the worm wheel form worm gear pair; Two-finger clamp head, the two-finger clamp head is fixed to the upper support plate by screw, and is located above the upper support plate; Three-finger clamp head, the three-finger clamp head is used to replace the two-finger clamp head, when the two-finger clamp head is disassembled and the three-finger clamp head is installed, the three-finger clamp head is fixed to the upper support plate by screw, and is located above the upper support plate; Large bevel gear and small bevel gear, the large bevel gear is fixed to the worm;And the large bevel gear is coaxially arranged with the worm;The small bevel gear is rotatably arranged on the motor mounting plate, and is located above the motor mounting plate, the large bevel gear and the small bevel gear form bevel gear pair; Third spur gear, the third spur gear is fixed below the small bevel gear and is coaxially arranged with the small bevel gear; Second gear fixing frame, the second gear fixing frame is fixed to the motor mounting plate, and is located above the motor mounting plate; Second spur gear, the second spur gear is rotatably arranged on the second gear fixing frame, and is arranged in parallel with the third spur gear, and forms gear pair with the third spur gear; Motor, the motor is fixed to the motor mounting plate, and is located below the motor mounting plate; First spur gear, the first spur gear is fixed to the output shaft of the motor, and forms gear pair with the second spur gear; Housing, the housing is fixed to the upper support plate, and is located below the upper support plate.

2. The electrically powered clamp jaw of claim 1, wherein, The motor drives the second spur gear to rotate through the first spur gear;The second spur gear drives the third spur gear to rotate;The third spur gear drives the worm to rotate through the meshing transmission of the small bevel gear and the large bevel gear;The worm drives the output gear to rotate through the worm gear pair formed by the worm and the worm;The output gear drives the two-finger clamp head or three-finger clamp head to realize clamping or opening action.

3. The electrically powered clamp jaw of claim 1, wherein, The large bevel gear and the worm are coaxially arranged, and the worm wheel and the worm shaft are coaxially arranged.

4. The electrically powered clamp jaw of claim 1, wherein, The first gear is parallel to and coaxial with the worm gear.

5. The electrically powered clamp jaw of claim 1, wherein, The first side plate and the second side plate are fixed on the intermediate support plate by adjustment, so as to adjust the mounting center distance of the worm gear and the worm.

6. The electrically powered clamp jaw of claim 1, wherein, The second spur gear is supported on the second gear fixing frame by at least one bearing, the second gear fixing frame is fixed on the motor mounting plate by screws, and the second gear fixing frame is fixed on the motor mounting plate by adjustment, so as to adjust the mounting position of the second spur gear.

7. The electrically powered clamp jaw of claim 1, wherein, The housing and the upper support plate form a closed cavity, and the motor is wrapped therein, and the housing side is provided with an aviation plug for the clamp jaw and an LED lamp.

8. The two-fingered jaw head of claim 1, comprising: First slider, first clamp jaw housing; the first slider has two and is distributed in parallel and symmetrically on the first clamp jaw housing, and the first slider is slidably arranged on the first clamp jaw housing; the bottom of the first slider is provided with a rack feature, when the two-finger clamp jaw head is installed on the upper support plate, two first sliders can be engaged with the output gear respectively; when the output gear rotates, two first sliders are driven to move in parallel.

9. The two-fingered jaw head of claim 1, further comprising: Clamp jaw limiting pin, the clamp jaw limiting pin is arranged above the upper support plate, a long groove feature is arranged on the lower plane of the first slider, the head of the clamp jaw limiting pin is inserted into the long groove feature of the first slider, the first slider slides in parallel relative to the clamp jaw limiting pin, and the clamp jaw limiting pin limits the parallel sliding stroke of the first slider.

10. The three finger collet head of claim 1, wherein: Second clamp jaw shaft, second clamp jaw housing; The second clamp jaw shaft is arranged on the second clamp jaw housing, the second clamp jaw shaft is rotatably arranged on the second clamp jaw housing, and the second clamp jaw shaft is provided with a gear feature in the middle; when the three-finger clamp jaw head is installed on the upper support plate instead of the two-finger clamp jaw head, the lower end of the second clamp jaw shaft is rotatably arranged on the upper support plate, and the gear features of the second clamp jaw shaft are engaged with the output gear respectively; when the output gear rotates, the second clamp jaw shaft is driven to rotate in the same direction.

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