Multifunctional universal terminal assembling machine

Abstract

The invention relates to a multifunctional universal terminal assembling machine which comprises a feeding system, an assembling system and an assembling station, the feeding system comprises an industrial camera, two mechanical arms and a plurality of feeding bins, and the industrial camera is in signal connection with the mechanical arms; the terminal recognition module is used for recognizing a terminal image and controlling the mechanical arm to grab the terminal from the feeding bin and place the terminal on the assembling station; the assembling system comprises a three-axis linkage servo motor set and a sensor, the servo motor set controls the motion trail of the assembling station, and the sensor is used for monitoring the assembling state in real time; the assembling station comprises a tool clamp and a control unit which are modularly designed, the tool clamp is detachably connected to the assembling station, and the control unit is electrically connected with the servo motor set and used for adjusting assembling parameters of the assembling station. The device has the effects of efficient feeding stability, high positioning precision and high equipment universality.

Description

Technical Field

[0001] This invention relates to the field of terminal assembly equipment technology, and in particular to a multi-functional universal terminal assembly machine. Background Technology

[0002] In the electronic equipment manufacturing industry, terminals, as core components for electrical connections, directly determine product performance and production cycle through their assembly quality and efficiency. With the industry's surging demand for miniaturized, precise, and diversified terminals, traditional manual assembly methods (low efficiency, high cost, and unstable quality) are no longer suitable, making automated assembly equipment an inevitable trend.

[0003] While existing automated terminal assembly equipment has achieved partial process automation, it still has the following shortcomings: Firstly, the feeding stability is insufficient. Traditional vibratory feeders are not adaptable to irregular, small, or easily damaged terminals, and are prone to jamming and leakage, which can lead to production interruptions and reduced efficiency. The vibration noise and component wear of the vibratory feeder further increase the operation and maintenance costs and difficulties, affecting the continuous operation of the equipment.

[0004] Secondly, the positioning accuracy is insufficient. During the assembly process, high positioning accuracy is required for terminals and other components. Traditional equipment often uses fixed molds for positioning, which can easily lead to positioning deviations during assembly, resulting in a high defect rate, increased inspection and rework costs, and reduced product quality stability.

[0005] Third, the equipment lacks versatility. When changing to different types of terminals (such as pin type, plug-in type, and spring type), existing assembly machines often require the replacement of a large number of hardware components, such as molds and fixtures. This not only makes the replacement process cumbersome but also costly, limiting the scope of use and production flexibility of the equipment. It is difficult to adapt to multi-variety, small-batch production scenarios, increasing the burden of equipment investment and maintenance for enterprises. Summary of the Invention

[0006] To address the shortcomings of existing technologies, the purpose of this invention is to provide a multifunctional universal terminal assembly machine that features efficient material feeding stability, high positioning accuracy, and strong equipment versatility.

[0007] The above-mentioned objective of this invention is achieved through the following technical solutions: A multi-functional universal terminal assembly machine includes a feeding system, an assembly system, and an assembly station; The feeding system includes an industrial camera, two robotic arms, and multiple feeding bins. The industrial camera is signal-connected to the robotic arms and is used to identify terminal images and control the robotic arms to pick up terminals from the feeding bins and place them on the assembly station. The assembly system includes a three-axis linkage servo motor group and sensors. The servo motor group controls the motion trajectory of the assembly station, and the sensors are used to monitor the assembly status in real time. The assembly station includes modularly designed tooling fixtures and a control unit. The tooling fixtures are detachably connected to the assembly station, and the control unit is electrically connected to the servo motor group for adjusting the assembly parameters of the assembly station.

[0008] Through the above technical solutions, the "industrial camera + robotic arm" feeding system realizes intelligent identification and millimeter-level precise grasping of terminals; the "three-axis servo motor group + sensor" assembly system realizes high-precision control and status monitoring of assembly trajectory; and the "modular tooling fixture + control unit" assembly station realizes rapid adaptation of different terminals. The multi-system collaboration realizes the high efficiency, accuracy and versatility of terminal assembly.

[0009] As a further technical solution of the present invention: the servo motor group includes a first servo motor, a second servo motor and a third servo motor; The first servo motor is mounted on the first support platform and is used to drive the assembly station to move along the X-axis direction; The second servo motor is mounted on the second support platform and is used to drive the assembly station to move along the Y-axis direction; The third servo motor is mounted on the third support platform and is used to drive the assembly station to move along the Z-axis.

[0010] Through the above technical solution, three independent servo motors control the movement in the X / Y / Z directions respectively, realizing independent or coordinated motion control of the assembly station in three-dimensional space. It can perform assembly actions with complex trajectories such as straight lines and arcs, meeting diverse assembly needs.

[0011] As a further technical solution of the present invention: the output end of the first servo motor is electrically connected to a first coupling, the first coupling is connected to a first lead screw, the first lead screw is connected to a first slider, and the first slider is slidably disposed on a first sliding seat.

[0012] Through the above technical solution, the X-axis transmission structure adopts a hierarchical design of "motor-coupling-lead screw-slider", which converts the rotational motion of the first servo motor into the linear motion of the first slider, so as to realize the precise displacement control of the assembly station in the X-axis direction (such as horizontal movement of terminals for feeding and lateral alignment).

[0013] As a further technical solution of the present invention: the output end of the second servo motor is electrically connected to a second coupling, the first coupling is connected to a second lead screw, the second lead screw is connected to a second slider, and the second slider is slidably disposed on a second sliding seat.

[0014] Through the above technical solution, the Y-axis transmission structure adopts a hierarchical design of "motor-coupling-lead screw-slider" to realize the planar movement of the assembly station in the Y-axis direction perpendicular to the X-axis (such as longitudinal insertion of terminals and depth adjustment), which, together with the X-axis movement, constitutes precise positioning in a two-dimensional plane.

[0015] As a further technical solution of the present invention: the output end of the third servo motor is electrically connected to a third coupling, the third coupling is connected to a third lead screw, the third lead screw is connected to the third slider, and the third slider is slidably mounted on a third sliding seat.

[0016] Through the above technical solution, the Z-axis transmission structure adopts a hierarchical design of "motor-coupling-lead screw-slider" to realize the vertical lifting and lowering movement of the assembly station in the Z-axis direction (such as terminal pressing assembly, detachment from mold), and works in conjunction with the X / Y axes to form omnidirectional motion control in three-dimensional space, covering the entire process of "take-move-assemble-detach" of terminal assembly.

[0017] As a further technical solution of the present invention: the third support platform is fixedly connected to the fourth support platform, and the fourth support platform is connected to the operating component.

[0018] Through the above technical solution, the fourth support stage transmits the X / Y / Z three-axis motion to the operating component, realizing the final execution of the assembly action (such as the pressure head pressing down to complete the pressing of the terminal and the plastic part, and the gripper closing to grasp the terminal), ensuring that the three-dimensional motion ultimately acts on the assembly object.

[0019] As a further technical solution of the present invention: the sensor array includes a pressure sensor for monitoring assembly pressure and a position sensor for detecting terminal position.

[0020] The above technical solution employs multi-sensor data fusion to compensate for assembly deviations in real time, achieving a positioning accuracy of ±0.01mm. For example, pressure sensors monitor the pressing / insertion force during the assembly process (such as the real-time pressure when pressing in the terminal) to prevent terminal deformation due to overpressure; position sensors monitor the relative position of the terminal and the part to be assembled (such as the insertion depth) to ensure assembly accuracy and ultimately improve assembly yield.

[0021] As a further technical solution of the present invention: the tooling fixture is provided with at least two types, and each tooling fixture is provided with multiple functionally independent modules.

[0022] Through the above technical solutions, at least two types of tooling fixtures are adapted to different types of terminals, such as V-groove fixtures adapted to pin terminals and slot fixtures adapted to pluggable terminals; and functionally independent modules (such as positioning modules, clamping modules, and guiding modules), to achieve "one station with multiple adaptations", shorten time, and reduce hardware costs.

[0023] In summary, the present invention has at least one of the following beneficial technical effects: 1. This invention discloses a multi-functional universal terminal assembly machine, which achieves intelligent terminal recognition and gripping, high-precision assembly trajectory control, and rapid adaptation of multiple types of terminals through signal connection between an industrial camera and a robotic arm, control of motion trajectory by a three-axis linkage servo motor group, real-time monitoring of assembly status by sensors, and cooperation between modular tooling fixtures and control units, thereby improving the efficiency, accuracy and versatility of terminal assembly.

[0024] 2. This invention discloses a multifunctional universal terminal assembly machine, which uses a servo motor group including a first, second, and third servo motor that respectively drive the assembly station to move along the X, Y, and Z axes, to achieve precise motion control of the assembly station in three-dimensional space and ensure the positional accuracy of the terminal assembly.

[0025] 3. This invention discloses a multifunctional universal terminal assembly machine, which uses sensors including a pressure sensor to monitor the terminal assembly pressure and a position sensor to detect the terminal position to achieve real-time monitoring of the pressure and position status during the terminal assembly process, ensuring stable and reliable assembly quality. Attached Figure Description

[0026] Figure 1 This is an overall top view of a multifunctional universal terminal assembly machine according to the present invention.

[0027] Figure 2 This is a three-dimensional schematic diagram of the overall structure of a multifunctional universal terminal assembly machine according to the present invention.

[0028] Figure 3 for Figure 2 A magnified view of part A in the diagram.

[0029] Figure 4 This is a schematic diagram of the assembly system structure in a multifunctional universal terminal assembly machine of the present invention.

[0030] Reference numerals: 1. Feeding system; 2. Assembly system; 3. Assembly station; 4. Robotic arm; 5. Feeding bin; 6. Servo motor assembly; 61. First servo motor; 611. First coupling; 612. First lead screw; 613. First slider; 62. Second servo motor; 621. Second coupling; 622. Second lead screw; 623. Second slider; 63. Third servo motor; 631. Third coupling; 632. Third lead screw; 633. Third slider; 7. Tooling fixture; 8. First support platform; 9. Second support platform; 10. Third support platform; 11. First sliding seat; 12. Second sliding seat; 13. Third sliding seat; 14. Fourth support platform; 15. Operating component; 16. Support frame. Detailed Implementation

[0031] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0032] In the description of this application, it should be noted that the terms "upper," "lower," "inner," "outer," "top / bottom," etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0033] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installed," "equipped with," "sleeved / connected," "connected," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances. Example

[0034] Reference Figure 1 and Figure 2 The present invention discloses a multifunctional universal terminal assembly machine, which includes three core systems: a feeding system 1, an assembly system 2, and an assembly station 3. The three systems work together to achieve high efficiency, accuracy, and versatility in terminal assembly.

[0035] The feeding system 1 includes an industrial camera, two robotic arms 4, and multiple feeding bins 5. The industrial camera is connected to the robotic arms 4 by signal, and the robotic arms 4 are guided by visual recognition to accurately grab terminals from the multiple feeding bins 5.

[0036] Two robotic arms 4 enable "parallel operation" in the loading process. For example, one robotic arm 4 is responsible for picking up terminals from the loading bin 5, while the other robotic arm 4 simultaneously transfers the terminals to the assembly station 3, reducing the waiting time for each arm and improving loading efficiency. In addition, the actuator at the end of the robotic arm 4 can be designed as a "quick-change gripper" (such as a pneumatic gripper + electromagnetic chuck) to adapt to different terminal shapes (such as sheet-like and needle-like), further improving loading flexibility.

[0037] Industrial cameras can employ deep learning vision algorithms to not only identify terminal types but also detect their posture (such as tilt angle and front / back orientation). Combined with the six degrees of freedom adjustment of the robotic arm 4, this ensures that the gripping posture matches the subsequent assembly requirements.

[0038] The design of multiple feeding bins 5 allows for the simultaneous storage of terminals of different types or specifications (such as pin terminal bins, pluggable terminal bins, and spring terminal bins), eliminating the need for frequent downtime for material changes. This supports mixed-product production lines and improves equipment utilization. In addition, each feeding bin 5 can be designed with an inclined discharge port for irregularly shaped terminals (such as terminals with barbs) to prevent material jamming.

[0039] Assembly system 2 includes a three-axis linkage servo motor group 6 driving a ball screw mechanism to control the three-dimensional motion trajectory of assembly station 3; sensor array (pressure sensor, position sensor) monitors the assembly status in real time.

[0040] Assembly station 3 includes detachable modular tooling fixtures 7. The tooling fixtures 7 include at least two types, which are customized and developed for different types of terminals based on their shape, size parameters and assembly process requirements. For example, there are claw-type fixtures for cylindrical terminals and suction-type fixtures for flat terminals. Each tooling fixture 7 adopts a functional modular architecture. For example, the positioning module (high-precision positioning groove, V-block, positioning pin, etc.), clamping module (pneumatic gripper, vacuum suction cup, elastic sleeve), and guiding module (adjustable angle guide pin) are separated into independent modules, which can be flexibly combined or replaced according to actual production needs, significantly improving the process compatibility of the equipment.

[0041] Furthermore, assembly station 3 is equipped with a control unit electrically connected to the servo motor group 6. This control unit can automatically adjust the key process parameters of assembly station 3 according to the terminal type, realizing intelligent production. Specifically, it can automatically calibrate the X / Y / Z coordinate origin, accurately set the positioning accuracy; plan the optimal insertion path, adjust the motion trajectory; and control the pressing force, setting pressure parameters, all without manual intervention, significantly improving production flexibility. In actual operation, the control unit works in conjunction with the quick-change structure design of the tooling fixture 7 through the parameter setting interface of the equipment control system. Operators only need simple operations to quickly complete the fixture change, greatly shortening the equipment changeover time. This dual adaptation mechanism of automatic software parameter adjustment and quick tooling fixture 7 gives the equipment strong compatibility, enabling it to quickly switch to producing different types of terminal products, efficiently meeting the flexible production needs of multiple varieties and small batches.

[0042] Reference Figure 3 and Figure 4The servo motor group 6 includes a first servo motor 61, a second servo motor 62, and a third servo motor 63. The first servo motor 61 is mounted on the first support platform 8 and is used to drive the assembly station 3 to move along the X-axis. The second servo motor 62 is mounted on the second support platform 9 and is used to drive the assembly station 3 to move along the Y-axis. The third servo motor 63 is mounted on the third support platform 10 and is used to drive the assembly station 3 to move along the Z-axis. Three sets of servo motors form a transmission chain: Reference Figure 3 and Figure 4 The output end of the first servo motor 61 is electrically connected to a first coupling 611, the first coupling 611 is connected to a first lead screw 612, the first lead screw 612 is connected to a first slider 613, and the first slider 613 is mounted on a first sliding seat 11; the output end of the second servo motor 62 is electrically connected to a second coupling 621, the second coupling 621 is connected to a second lead screw 622, the second lead screw 622 is connected to a second slider 623, and the second slider 623 is slidably mounted on a second sliding seat 12; the output end of the third servo motor 63 is electrically connected to a third coupling 631, the third coupling 631 is connected to a third lead screw 632, the third lead screw 632 is connected to a third slider 633, and the third slider 633 is slidably mounted on a third sliding seat 13.

[0043] Reference Figure 4 The top of the vertical plates at both ends of the first support platform 8 is fixedly connected to the support frame 16. The side of the support frame 16 is fixedly connected to the bottom surface of the third support platform 10. The bottom surface of the second support 9 is fixedly connected to the vertical plates at both ends of the third support 10, thus forming a stable structure.

[0044] The second support platform 9 is fixedly connected to the fourth support platform 14, and the fourth support platform 14 is connected to the operating component 15.

[0045] Furthermore, the first lead screw 612, the second lead screw 622, and the third lead screw 632 can be ball screws (5mm lead, C5 precision) with higher transmission efficiency and smaller backlash (≤0.01mm), ensuring motion stability; the first coupling 611, the second coupling 621, and the third coupling 631 can be "elastic couplings" (such as plum blossom couplings), which can buffer the impact when the servo motor starts / stops, protect the connection between the lead screw and the motor shaft, and extend the equipment life; the first sliding seat 11, the second sliding seat 12, and the third sliding seat 13 can be integrated with linear guides, which cooperate with the corresponding first slider 613, second slider 623, and third slider 633 to achieve low-friction, high-rigidity linear motion and reduce vibration during the motion process.

[0046] Through the above structural design of "three-axis servo motor group 6 + ball screw slider transmission + hierarchical support platform", a high-precision, high-rigidity, omnidirectional controllable three-dimensional motion system was constructed. It not only realizes the independent and precise displacement of the terminal assembly in the X / Y / Z axes, but also realizes the independent or coordinated motion control of the assembly station 3 in the X / Y / Z directions through hierarchical connection and modular design. The motion trajectory accuracy can reach ±0.05mm, which meets the requirements of precision terminal assembly (such as 0.3mm pitch pin insertion).

[0047] The control unit can be integrated with a PLC control system. By using a pre-stored terminal parameter library (such as size, material, and assembly pressure threshold), it can automatically call up the corresponding parameters to achieve "one-click switching" of assembly processes for different terminals.

[0048] The operating component 15 can adopt a modular quick-change interface, such as an electromagnetic chuck or a positioning slot, to quickly switch between the pressure head (for pressing) and the gripper (for grasping), adapting to the needs of different assembly processes.

[0049] The present invention discloses an assembly process for a multifunctional terminal assembly machine: The first stage is the loading phase. The loading bin 5 stores pin-type and plug-in terminals respectively. An industrial camera captures images of the terminals in the loading bin 5, and a deep learning algorithm identifies the terminal type and orientation (such as tilt angle and front / back). The two robotic arms 4 work together: the main arm (high-precision gripper) grabs the terminal and adjusts its orientation, while the secondary arm (high-speed transfer gripper) transfers the terminal to the modular tooling fixture 7 at the assembly station 3.

[0050] Next comes the assembly stage. The control unit automatically retrieves parameters from the database based on the terminal type (e.g., terminal A: X=100mm, Y=50mm, pressing force 50N), driving the three-axis servo motor group 6 to control the movement of the assembly station 3. The first servo motor 61 drives the X-axis slider to move the terminal horizontally to the assembly area; the second servo motor 62 drives the Y-axis slider to adjust the longitudinal position; the third servo motor 63 drives the Z-axis pressure head to press down at a speed of 0.01mm / s. The pressure sensor monitors the pressing force in real time to ensure precise pressing between the terminal and the plastic part. The position sensor detects the terminal insertion depth (e.g., target value 3.0mm, allowable deviation ±0.05mm). If the deviation exceeds the limit, the servo motor is triggered to compensate.

[0051] In the final conversion stage, when it is necessary to assemble pluggable terminals, the pin terminal fixture 7 is removed by quick-release bolts, and the slot fixture 7 (including positioning module and guide module) adapted to pluggable terminals is installed. The built-in chip of the fixture automatically feeds back the type to the control system, and the control unit updates the motion trajectory parameters synchronously (such as adjusting the insertion angle from 90° to 45°). The whole process takes 8 minutes.

[0052] In practical implementation, a control program is written to control multiple functional modules to work collaboratively, achieving image recognition of terminals by the camera, motion control of the robotic arm 4, and stepless positioning control of the servo motor assembly 6. In the image recognition module, the control program directs the industrial camera to acquire images of the terminals in the loading bin 5. In the robotic arm 4 motion control module, the control program plans the motion trajectory of the robotic arm 4 based on the terminal position and posture information output by the image recognition module, combined with a preset grasping strategy. For the stepless positioning control of the servo motor assembly 6, the control program sends precise control commands to the servo motor assembly 6 according to the requirements of the assembly station 3. During terminal assembly, the encoder provides real-time feedback on the position and speed information of the servo motors, and the program performs closed-loop control of the motors to achieve micron-level precise positioning. For the assembly of different types of terminals, such as pressing depth and insertion angle requirements, the control program can automatically adjust the motion parameters of the servo motors, enabling the assembly station 3 to complete the pressing and insertion of terminals according to the preset trajectory and accuracy.

[0053] The implementation principle of this invention is as follows: It achieves efficient and precise terminal assembly through the collaborative operation of visual guidance, precision motion control, and modular adaptation. Terminal images are acquired using an industrial camera, and deep learning algorithms are employed to identify the type, position, and posture. This data is then transmitted to the robotic arm 4 for intelligent gripping and feeding, solving the problem of unstable feeding in traditional methods. A three-axis linkage servo motor unit 6, combined with a coupling and a lead screw-slider transmission mechanism, along with pressure and position sensor feedback, enables micron-level precise motion control of the assembly station 3 in three-dimensional space, ensuring assembly accuracy. The tooling fixture 7 features a modular design, allowing for quick assembly and disassembly of each functional module. Simultaneously, the control unit automatically retrieves parameters based on the terminal type, controlling the servo motor unit 6 to adjust the assembly parameters of the assembly station 3, enabling rapid adaptation for the production of multiple terminal types. Ultimately, this achieves high efficiency, precision, and equipment versatility in terminal assembly.

[0054] The embodiments described herein are preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Therefore, all equivalent changes made in accordance with the structure, shape, and principle of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A multi-functional and general-purpose terminal assembly machine characterized by comprising: It comprises a feeding system (1), an assembling system (2) and an assembling station (3); The feeding system (1) comprises an industrial camera, two mechanical arms (4) and a plurality of feeding bins (5), the industrial camera is signal connected with the mechanical arms (4) and is used for identifying terminal images and controlling the mechanical arms (4) to grab terminals from the feeding bins (5) and place them on the assembling station (3); The assembling system (2) comprises a three-axis linkage servo motor group (6) and a sensor, the servo motor group (6) controls the motion trail of the assembling station (3), and the sensor is used for monitoring the assembling state in real time; The assembling station (3) comprises a modularly designed tool clamp (7) and a control unit, the tool clamp (7) is detachably connected on the assembling station (3), and the control unit is electrically connected with the servo motor group (6) and is used for adjusting the assembling parameters of the assembling station (3).

2. The multi-functional and universal terminal assembly machine according to claim 1, wherein, The servo motor group (6) comprises a first servo motor (61), a second servo motor (62) and a third servo motor (63); The first servo motor (61) is installed on a first support table (8) and is used for driving the assembling station (3) to move along the X-axis direction; The second servo motor (62) is installed on a second support table (9) and is used for driving the assembling station (3) to move along the Y-axis direction; The third servo motor (63) is installed on a third support table (10) and is used for driving the assembling station (3) to move along the Z-axis direction.

3. The multi-functional and universal terminal assembly machine according to claim 2, wherein, The output end of the first servo motor (61) is electrically connected with a first coupling (611), the first coupling (611) is connected with a first lead screw (612), the first lead screw (612) is connected with a first sliding block (613), and the first sliding block (613) is slidingly arranged on a first sliding seat (11).

4. The multi-functional and universal terminal assembly machine according to claim 2, wherein, The output end of the second servo motor (62) is electrically connected with a second coupling (621), the second coupling (621) is connected with a second lead screw (622), the second lead screw (622) is connected with a second sliding block (623), and the second sliding block (623) is slidingly arranged on a second sliding seat (12).

5. The multi-functional and universal terminal assembly machine according to claim 2, wherein, The output end of the third servo motor (63) is electrically connected with a third coupling (631), the third coupling (631) is connected with a third lead screw (632), the third lead screw (632) is connected with a third sliding block (633), and the third sliding block (633) is slidingly arranged on a third sliding seat (13).

6. The multi-functional and universal terminal assembly machine according to claim 2, wherein, The second support table (9) is fixedly connected with a fourth support table (14), and the fourth support table (14) is provided with an operating member (15).

7. The multi-functional and universal terminal assembly machine according to claim 1, wherein, The sensor comprises a pressure sensor for monitoring the terminal assembling pressure and a position sensor for detecting the terminal position.

8. The multi-functional and universal terminal assembly machine according to claim 1, wherein, The tool clamp (7) is provided with at least two types, and each tool clamp (7) is provided with a plurality of functionally independent modules.

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