Mechanical arm clamping jaw device for spacecraft multi-scene precision assembly

Abstract

The mechanical arm clamping jaw device for spacecraft multi-scene precision assembling comprises a clamping jaw main body assembly, the clamping jaw main body assembly comprises a clamping jaw main body component and linear moving mechanisms, the two sides of the clamping jaw main body component are symmetrically connected with clamping arm assemblies through the linear moving mechanisms correspondingly, and each clamping arm assembly comprises a rotating mechanism, a clamping head and a mounting arm; the slewing mechanism is connected with the linear moving mechanism and the mounting arm, and the chuck is arranged on the mounting arm. The slewing mechanism enables the installation arms on the two sides to be always kept in opposite postures in the opening and closing process through meshing transmission of the driving gear and the two driven gears. The gear transmission structure adopts a standard modulus involute tooth form, has high transmission precision and bearing capacity, effectively avoids clamping posture deviation, and ensures posture stability and synchronism in the assembly process. The technical problems that an existing clamping jaw device is poor in adaptability and low in clamping precision, and complex assembly requirements of spacecrafts are difficult to meet are solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of mechanical arms, in particular to a mechanical arm gripper device for multi-scene precise assembly of spacecraft. BACKGROUND

[0002] With the rapid development of space technology and the continuous growth of the number of tasks, the development of spacecraft presents the trend of increasing number and shortening cycle, which puts forward higher requirements for assembly efficiency and automation degree. In order to improve the assembly quality and production efficiency of spacecraft products, industrial robots are gradually introduced into the automatic assembly process of spacecraft. However, compared with traditional industrial products, spacecraft products have the characteristics of complex structure, variable assembly scene and high unit value, which puts forward higher requirements for the precision, flexibility and reliability of the assembly equipment.

[0003] At present, the commonly used industrial robot gripper device is mainly designed for standardized and relatively simple industrial products, and its gripper has limited application range, low control precision of clamping force, and problems such as impact and error in the assembly process, which is difficult to meet the comprehensive needs of safety, stability and diversity for precise assembly of spacecraft. These factors have become important technical bottlenecks restricting the wide application of industrial robots in high-precision automatic assembly tasks of spacecraft.

[0004] In order to improve the adaptability of the robot in the complex space assembly environment, some existing technologies try to improve the performance of the gripper through structure optimization and lightweight design. For example, Chinese patent application CN201711440482.2 discloses a multi-axis robot with electric gripper, which adopts a hollow structure and light weight material to reduce the weight of the gripper, and improves the moving speed of the end effector by setting the rotation and rotation transmission assembly, so as to improve the assembly efficiency and clamping precision. This scheme realizes high-speed and high-precision assembly operation under light load to a certain extent, but it mainly faces short distance trajectory and light components, and still has limitations in adapting to diversified product sizes and complex non-standard assembly environment.

[0005] Therefore, the existing technology is still difficult to fully meet the high adaptability, high flexibility and high reliability requirements of the gripper system in spacecraft assembly, and there is an urgent need for a modular mechanical arm gripper device with expandable structure, stable performance and adaptability to complex assembly scene, so as to expand its practicality and application range in the field of space, and further promote the automation and intelligent development of spacecraft manufacturing. SUMMARY

[0006] In view of the defects in the prior art, the purpose of the present application is to provide a mechanical arm gripper device for multi-scene precise assembly of spacecraft.

[0007] According to the application, a spacecraft multi-scene precise assembly mechanical arm gripper device is provided, which comprises a gripper main body assembly, the gripper main body assembly comprises a gripper main body component and a linear movement mechanism, the two sides of the gripper main body component are respectively connected with a clamping arm assembly through the linear movement mechanism, the clamping arm assembly comprises a rotary mechanism, a chuck and a mounting arm, the rotary mechanism is connected with the linear movement mechanism, the rotary mechanism is connected with the mounting arm, and the chuck is arranged on the mounting arm.

[0008] Preferably, the linear movement mechanism comprises a linear guide rail assembly and a linear motor assembly, the linear motor assembly comprises a motor and a screw rod, the linear guide rail assembly comprises a connecting block, a sliding block and a guide rail, the guide rail is arranged below the gripper main body component along the length direction, the sliding block is slidably connected with the guide rail, the connecting block is fixedly connected with the sliding block, the screw nut on the screw rod is fixedly connected with the connecting block, and the output end of the motor is fixedly connected with the screw rod.

[0009] Preferably, the rotary mechanism comprises a driving gear and a driven gear, the two sides of the driving gear are respectively engaged with a driven gear, one of the driven gears is fixedly connected with the connecting block, the other driven gear is fixedly connected with the mounting arm, and the driving gear is connected with the output end of the driving motor.

[0010] Preferably, the mounting arm comprises a rotary rod, a movable arm and a buffer mechanism, one end of the rotary rod is fixedly connected with the driven gear, the rotary rod is slidably arranged in the movable arm, the buffer mechanism comprises a pressing block, the pressing block is fixedly connected to the outer middle of the rotary rod, springs are arranged above and below the pressing block, and the two ends of the springs are respectively abutted with the pressing block and the movable arm.

[0011] Preferably, a limiting column is arranged outside the pressing block, a straight waist hole is arranged on the side wall of the movable arm, the straight waist hole is arranged along the height direction, and the limiting column is movably arranged in the straight waist hole.

[0012] Preferably, the rotary rod is slidably arranged in the movable arm through a linear bearing.

[0013] Preferably, the chuck is connected to the inner side of the mounting arm through an adjusting mechanism, the adjusting mechanism comprises a swing block, the upper end of the chuck is connected with one end of a swing block, the other end of the swing block is connected to the mounting arm, the lower end of the chuck is connected with one end of another swing block, and the other end of the swing block is connected to the mounting arm.

[0014] Preferably, an antiskid pad is arranged on the chuck.

[0015] Preferably, an adjusting bolt is arranged below the swing block at the lower end of the chuck, the adjusting bolt is detachably connected to the movable arm, and the adjusting bolt is used for adjusting the position of the swing block.

[0016] Preferably, the middle section of the clamp head is provided with a blind hole, a compression spring and a top head are arranged in the blind hole, two ends of the compression spring are respectively abutted against the bottom of the blind hole and the bottom surface of one side of the top head, the top head is movably connected in the blind hole, and the bottom surface of the other side of the top head is connected with the movable arm.

[0017] Compared with the prior art, the present application has the following beneficial effects: 1. The linear movement mechanism adopts a combination of a motor-driven screw rod and a guide rail slider to realize high-precision synchronous linear opening and closing of the clamping arm assembly. This design not only ensures the stability and repeat positioning accuracy of the clamping action, but also realizes micron-level adjustment through precise control of the motor, meeting the stringent requirements of spacecraft assembly on position accuracy.

[0018] 2. The rotation mechanism transmits the driving force through the meshing of the driving gear and the two driven gears, so that the two installation arms always maintain an opposite posture during opening and closing. The gear transmission structure adopts a standard modulus involute tooth profile, has high transmission precision and carrying capacity, effectively avoids posture deviation during clamping, and ensures the posture stability and synchronization during assembly.

[0019] 3. The buffer mechanism introduces the structural design of the compression spring and the limiting column in the clamping arm, which can absorb the assembly impact force during clamping, realize soft clamping, and prevent excessive clamping force from damaging the spacecraft components. At the same time, the linear bearing sliding fit between the movable arm and the rotary rod enables the movable arm to have a small amount of floating displacement, further improving the adaptability and buffer performance during assembly.

[0020] 4. The clamp head adjusting mechanism adopts a parallel four-bar linkage structure, which enables the clamp head to have a small range of floating compensation ability in the clamping direction through the linkage of the upper and lower swing blocks, and can automatically correct the clamping position error. The top head and the compression spring are arranged inside the clamp head, which not only realizes automatic resetting of the clamp head, but also provides elastic clamping force. In combination with the high friction characteristics of the anti-slip pad, the clamping stability is effectively improved, and the spacecraft product is prevented from slipping.

[0021] 5. Through the cooperation of the top head and the compression spring, the support force is applied to the middle section of the clamp head under the action of the reaction force generated by the compression spring rebound, so that the clamp head is tightly positioned, thereby improving the stability of the clamp head and suppressing the shaking of the four-bar mechanism during movement. BRIEF DESCRIPTION OF DRAWINGS

[0022] Other features, objects and advantages of the present application will become more apparent from the following detailed description of non-limiting embodiments, made with reference to the accompanying drawings: Figure 1 A use state diagram of a spacecraft multi-scene precise assembly mechanical arm gripper device provided by the present application is shown in the drawings; Figure 2Another use state diagram of the mechanical arm gripper device for spacecraft multi-scene precision assembly provided by the present application; Figure 3 Another use state diagram of the mechanical arm gripper device for spacecraft multi-scene precision assembly provided by the present application; Figure 4 A schematic diagram of the gripper main component; Figure 5 A schematic diagram of the mounting arm; Figure 6 A schematic diagram of the movable arm; Figure 7 A schematic diagram of the chuck; In the figure, 1, gripper main component, 2, rotating mechanism, 3, mounting arm, 4, chuck, 5, guide rail, 6, sliding block, 7, connecting block, 8, screw rod, 9, driving gear, 10, driven gear, 11, straight type waist hole, 12, rotating rod, 13, movable arm, 14, pressing block, 15, compression spring, 16, limiting column, 17, top head, 18, adjusting bolt, 19, swinging block, 20, non-slip pad, 21, blind hole. DETAILED DESCRIPTION

[0023] The present application will be described in detail below with specific embodiments. The following examples will help those skilled in the art to further understand the present application, but do not limit the present application in any form. It should be noted that for those skilled in the art, without departing from the concept of the present application, a number of changes and improvements can be made. These all belong to the protection scope of the present application.

[0024] A spacecraft multi-scene precision assembly mechanical arm gripper device, as shown in Figures 1-3 The device includes a gripper main assembly and a clamping arm assembly. The gripper main assembly includes a gripper main component 1 and a linear motion mechanism, and the gripper main component 1 is symmetrically connected with the clamping arm assembly on both sides through the linear motion mechanism. As shown in Figure 4 The linear motion mechanism is used to realize the synchronous linear opening and closing motion of the clamping arm assembly, thereby realizing the clamping action of the gripper device. The linear motion mechanism is composed of a linear guide rail 5 assembly and a linear motor assembly. The linear motor assembly includes a motor and a screw rod 8, and the output end of the motor is fixedly connected with the screw rod 8. The screw rod 8 is driven to rotate by the motor to realize the axial movement of the screw nut along the screw rod 8. The screw nut is fixedly connected with the connecting block 7 through a fastener. When the screw nut moves linearly, it drives the connecting block 7 to slide linearly along the guide rail 5, thereby realizing the symmetrical opening and closing of the clamping arm assembly. The linear guide rail 5 assembly includes a guide rail 5, a sliding block 6 and a connecting block 7. The guide rail 5 is arranged along the length direction of the gripper main component 1. The sliding block 6 is in precise sliding fit with the guide rail 5. The connecting block 7 is fixedly connected with the sliding block 6 through a screw, thereby ensuring the straightness and repeatability of the motion.

[0025] As shown in Figure 5 The clamping arm assembly is mounted on the connecting block 7 for opposite clamping of the spacecraft product. The clamping arm assembly includes a rotating mechanism 2, a mounting arm 3, a clamping head 4, and a buffer and adjusting mechanism. The rotating mechanism 2 is arranged between the connecting block 7 and the mounting arm 3 for synchronous rotation of the mounting arm 3. The mechanism is composed of a driving gear 9 and two driven gears 10. The driving gear 9 is directly driven to rotate by a driving motor. The driving gear 9 is meshed with one driven gear 10 on each side. One of the driven gears 10 is fixedly connected with the connecting block 7, and the other driven gear 10 is fixedly connected with the mounting arm 3. Through the meshing transmission of the driving gear 9 and the two driven gears 10, the synchronous rotation of the two mounting arms 3 can be realized, so that the two mounting arms 3 always maintain the opposite clamping state at different rotation angles, thereby maintaining the stable clamping posture during the opening and closing of the clamping jaw body. The gear transmission mechanism adopts a standard modulus involute gear structure to ensure transmission accuracy and carrying capacity.

[0026] The mounting arm 3 includes a rotating rod 12, a movable arm 13, and a buffer mechanism. One end of the rotating rod 12 is fixedly connected with the driven gear 10 and is stably rotated through bearing support. The outer side of the middle section of the rotating rod 12 is provided with a pressing block 14. The pressing block 14 is provided with a compression spring 15 above and below. The two ends of the compression spring 15 are respectively in abutment with the pressing block 14 and the movable arm 13, forming a buffer mechanism. This structure can absorb the assembly impact force during clamping, realize soft clamping, and prevent damage to the spacecraft product caused by excessive clamping force. As shown in Figure 6 The outer side of the pressing block 14 is provided with a limiting column 16, and the side wall of the movable arm 13 is provided with a straight waist hole 11 arranged in the height direction. The limiting column 16 is movably arranged in the waist hole to limit the movement range of the pressing block 14, ensure the working stroke of the compression spring 15, and prevent structure damage caused by overstroke movement. The rotating rod 12 is slidably arranged in the inside of the movable arm 13 through a linear bearing. The linear bearing and the rotating rod 12 form a sliding fit, so that the movable arm 13 can realize a slight floating displacement in the direction of the rotating rod 12, to further improve the softness and adaptability of clamping.

[0027] The clamping head 4 is mounted on the inside of the movable arm 13 and is connected with the movable arm 13 through an adjusting mechanism. The adjusting mechanism includes two sets of swing blocks 19. One end of the upper swing block 19 is connected with the upper end of the clamping head 4, and the other end is connected with the movable arm 13. One end of the lower swing block 19 is connected with the lower end of the clamping head 4, and the other end is connected with the movable arm 13. The two sets of swing blocks 19, the clamping head 4, and the movable arm 13 form a parallel four-bar linkage structure. This structure enables the clamping head 4 to have a small range of floating ability in the clamping direction, automatically compensates for the clamping position error, and improves the fit and stability of clamping.

[0028] An adjusting bolt 18 is provided below the swing block 19 located at the lower end of the chuck 4. The adjusting bolt 18 is detachably connected to the movable arm 13. By rotating the adjusting bolt 18, the distance between the two chucks 4 can be finely adjusted to adapt to spacecraft products of different sizes and achieve precise setting of the clamping gap.

[0029] An anti-slip pad 20 is provided on the chuck 4. The anti-slip pad 20 is made of a high coefficient of friction material and is fixed to the surface of the chuck 4 by adhesive bonding. It is used to increase the clamping friction and prevent the spacecraft product from slipping during the clamping process.

[0030] like Figure 7 As shown, the chuck 4 has a blind hole 21 in the middle section. A top head 17 and a compression spring 15 are installed in the blind hole 21. The two ends of the compression spring 15 abut against the bottom of the blind hole 21 and one end face of the top head 17, respectively. The top head 17 is movably connected in the blind hole 21, and the other bottom surface of the top head 17 is connected to the movable arm 13. Through the cooperation of the top head 17 and the compression spring 15, under the action of the preload force and the reaction force generated by the rebound of the compression spring 15, a continuous support and clamping positioning force is applied to the middle section of the chuck 4, so that the chuck 4 maintains a stable posture during the clamping process, thereby improving the anti-sway and anti-vibration ability of the chuck 4, suppressing the swaying of the parallel four-bar structure during movement, and achieving automatic reset when the chuck 4 is released.

[0031] Example 2: A robotic arm gripper device for precision assembly of spacecraft in multiple scenarios includes an industrial camera for components, an industrial camera bracket, a quick-change connector for the robotic arm, a gripper body assembly, and a gripper arm assembly.

[0032] The industrial camera uses a highly reliable and mature industrial camera product, which is connected and fixed to the gripper main assembly via an industrial camera bracket. The industrial camera bracket is made of aluminum alloy sheet, laser-cut and then bent, used to connect and fix the industrial camera to the gripper main assembly. The quick-connect coupling for the robotic arm uses a mature and compatible product from the industrial automation industry, enabling rapid connection and fixation between the robotic arm and the gripper main assembly, and providing the necessary electrical interfaces for the gripper device.

[0033] The gripper main assembly is the main installation functional component of the entire device. It is connected to the quick-change connector of the robotic arm and the gripper assembly. The gripper main assembly includes a linear guide rail 5 assembly, a linear motor assembly, a gripper main component 1, a gripper assembly connecting block 7, and a linear motor mounting bracket.

[0034] The linear guide rail 5 assembly consists of two sets, which are standard industrial products. They are connected and fixed to the main component 1 of the gripper by fasteners. The matching sliders 6 are connected to the connecting blocks 7 of the gripper arm assembly respectively. The opening and closing operation of the connecting blocks 7 of the gripper arm assembly is realized by the linear motor assembly.

[0035] The linear motor assembly adopts a standard industrial product and is installed and fixed to the main component 1 of the gripper through the linear motor mounting bracket. The linear motor assembly uses a hollow motor and left and right helical ball screws 8. Screw 8 nuts are installed at both ends of the screws 8. The screw 8 nuts are installed and fixed to the clamping arm assembly connecting block 7. The opening and closing operation of the clamping arm assembly connecting block 7 is realized by the rotation of the linear motor, thereby driving the clamping arm assembly to move synchronously.

[0036] The main component 1 of the gripper is made of aluminum alloy plates to reduce processing and manufacturing costs. This component is the main load-bearing component of the entire gripper device and is connected to the linear guide rail 5 assembly, industrial camera bracket, robotic arm quick-change connector and linear motor mounting bracket by screw fasteners.

[0037] The clamping arm assembly connecting block 7 is made of structural steel and is installed and fixed to the linear guide rail 5 assembly slider 6 by screw fasteners. It is also connected to the lead screw 8 nut of the linear motor assembly by screw fasteners to realize the opening and closing operation of the clamping arm assembly connecting block 7.

[0038] The linear motor mounting bracket is made of aluminum alloy sheet by bending to reduce processing and manufacturing costs. This component is connected to the linear motor assembly and the gripper main body component 1, respectively, and plays the role of installing and fixing the motor in the linear motor assembly.

[0039] The clamping arm assembly serves to clamp the spacecraft product in opposite directions. The two sets of assemblies are respectively connected to the clamping arm assembly connecting block 7 of the main clamping jaw assembly. The clamping arm assembly includes a clamping arm gearbox cover plate, a large gear, a rotating shaft bearing, a joint motor, a clamping arm rotating rod 12, a stabilizing return spring, a return spring pressure block 14, a chuck 4 swing block 19, a chuck 4 anti-slip pad 20, a chuck 4, a chuck 4 top head 17 compression spring 15, a chuck 4 swing block 19 adjusting screw, a rotating rod 12 linear bearing, a chuck 4 top head 17, a clamping arm slider 6, a return spring cover plate, a rotating shaft bearing cover plate, a clamping arm gearbox base, a planetary pinion, and a planetary pinion mounting block.

[0040] The cover plate of the clamping arm gearbox is made of aluminum alloy sheet laser cutting and is installed and fixed to the clamping arm gearbox base with screws, which plays a role in protecting the planetary gear pair formed by the large gear and the small planetary gear installed inside.

[0041] The large gear adopts a standard module involute gear. The large gear is installed inside the clamping arm gearbox base and is fixedly connected to the clamping arm assembly connecting block 7 and the clamping arm rotating rod 12 respectively. The large gear connected to the clamping arm assembly connecting block 7 is a fixed axis gear, and the large gear connected to the clamping arm rotating rod 12 has a rotation function.

[0042] The shaft bearing adopts a standard deep groove ball bearing. The shaft bearing cover is installed and fixed inside the clamping arm gearbox base by screw clamping. The intermediate moving ring of the shaft bearing is installed with clearance fit to the clamping arm assembly connecting block 7 and the clamping arm rotating rod 12, and is axially limited and fixed by retaining ring.

[0043] The joint motor adopts a high-torque robot motor. The outer ring of the joint motor is fixedly connected to the base of the gripper gearbox with screw fasteners. The middle moving ring is fixedly connected to the planetary pinion mounting block with screw fasteners. The planetary pinion mounting block and the planetary pinion are fixedly connected with screws to realize the direct drive of the joint motor to the planetary pinion. Under the drive of the planetary pinion, the large gear is rotated in the same direction, so that the gripper assembly is always in the opposite gripping state at different rotation angles.

[0044] The clamping arm rotating rod 12 is made of high-strength bearing steel. The upper end is fixedly connected to the large gear by screws, and is fitted with the rotating shaft bearing fixed inside the clamping arm gearbox base by bearing retaining ring. The large gear drives it to rotate synchronously. The middle part is provided with positioning holes, and the reset spring pressure block 14 is connected and fixed by the pin shaft interference fit. The clamping arm slider 6 and its auxiliary mounting parts are mounted by constraining the upper and lower installed stable reset springs.

[0045] The stabilizing return spring adopts a standard industrial compression spring 15, which is installed and fixed inside the clamping arm slider 6 through the return spring cover plate, the return spring pressure block 14, and the linear bearing of the rotary rod 12. The stabilizing return spring avoids the impact of spacecraft products during clamping and docking, achieving compliant clamping and docking assembly. The return spring pressure block 14 is installed inside the clamping arm slider 6 and is connected and fixed to the clamping arm rotary rod 12 by a pin, which plays a role in bidirectional clamping of the stabilizing return spring.

[0046] The swing block 19 of the chuck 4 is made of brass and is connected to the slider 6 of the clamping arm and the chuck 4 by pins and screws to form a parallel four-bar linkage mechanism. This allows the chuck 4 to have a small floating function along the clamping direction of the clamping arm assembly, thereby achieving reliable clamping of spacecraft products.

[0047] The anti-slip pad 20 of the chuck 4 is made of rubber and is connected to the chuck 4 by adhesive bonding, providing anti-slip function during clamping. The chuck 4 is made of aluminum alloy and is installed and fixed to the swing block 19 of the chuck 4 by pins and screws. The anti-slip pad 20 of the chuck 4 is bonded to its clamping surface to achieve reliable clamping.

[0048] The chuck 4's top head 17 and compression spring 15 are standard industrial springs, installed inside the chuck 4 to lift the top head 17, achieving the chuck 4's reversing and clamping functions. The chuck 4's swing block 19's adjusting screw is connected to the clamping arm slider 6 via a threaded connection. Adjusting the lifting height allows for adjustment of the initial clamping angle and initial clamping force of the chuck 4's swing block 19.

[0049] The linear bearing of the rotary rod 12 adopts a standard industrial linear bearing. Its end flange is connected to the clamping arm slider 6 by screws, and the middle part is slidably engaged with the clamping arm rotary rod 12, so that the clamping arm slider 6 floats up and down relative to the clamping arm rotary rod 12. The top head 17 of the chuck 4 is installed inside the chuck 4, and the compression spring 15 of the top head 17 of the chuck 4 is used to tighten the chuck 4 in opposite directions.

[0050] The clamping arm slider 6, made of aluminum alloy, is the main mounting structure of the clamping arm assembly. It uses a slotted hole and pin to allow for vertical floating relative to the clamping arm rotating rod 12, and completes the overall installation of the chuck 4, spring, and linkage mechanism. The return spring cover plate is fixed to the clamping arm slider 6 with screws to press the stabilizing return spring. The shaft bearing cover plate is fixed to the clamping arm gearbox base with screws for limiting the installation of the shaft bearing. The clamping arm gearbox base, also made of aluminum alloy, houses the shaft bearing, joint motor, and gear pair. Its upper end is fixed to the clamping arm gearbox cover plate, protecting the internal gear transmission mechanism.

[0051] The planetary pinion uses a standard module involute gear and is connected to a joint motor via a planetary pinion mounting block. Driven by the joint motor, the planetary pinion rotates, and through gear meshing, drives the large gear to rotate in the same direction, ensuring the clamping arm assembly maintains a opposing clamping state at different angles. The planetary pinion mounting block is connected to both the planetary pinion and the joint motor via fasteners, achieving direct drive from the joint motor to the planetary pinion. In the description of this application, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, 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.

[0052] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A mechanical arm gripper device for spacecraft multi-scene precision assembly, characterized in that, The utility model provides a kind of clamp jaw body assembly, the clamp jaw body assembly includes clamp jaw body component and linear movement mechanism, and the both sides of clamp jaw body component are respectively connected with clamp arm assembly by linear movement mechanism, and the clamp arm assembly includes rotary mechanism, chuck, mounting arm, the rotary mechanism is connected with linear movement mechanism, the rotary mechanism is connected with mounting arm, and the chuck is arranged from mounting arm.

2. The apparatus of claim 1, wherein, The linear movement mechanism includes linear guide rail assembly and linear motor assembly, the linear motor assembly includes motor, screw rod, the linear guide rail assembly includes connecting block, sliding block, guide rail, the guide rail is arranged below clamp jaw body component along length direction, the sliding block is slidably connected with guide rail, the connecting block is fixedly connected with sliding block, the screw nut on screw rod is fixedly connected with connecting block, and the output end of motor is fixedly connected with screw rod.

3. The apparatus of claim 2, wherein, The rotary mechanism includes driving gear, driven gear, the both sides of driving gear are respectively engaged with a driven gear, wherein one driven gear is fixedly connected with connecting block, and the other driven gear is fixedly connected with mounting arm, and driving gear is connected with the output end of driving motor.

4. The apparatus of claim 3, wherein, The mounting arm includes rotary rod, movable arm, buffer mechanism, one end of rotary rod is fixedly connected with driven gear, the rotary rod is slidably arranged in movable arm, the buffer mechanism includes pressing block, the pressing block is fixedly connected to the outer portion of the middle section of rotary rod, and compression spring is arranged above and below the pressing block respectively, and the both ends of compression spring are respectively abutted with pressing block and movable arm.

5. The apparatus of claim 4, wherein, Limiting column is arranged outside the pressing block, straight waist hole is arranged on the side wall of movable arm, the straight waist hole is arranged along height direction, and the limiting column is movably arranged in the straight waist hole.

6. The apparatus of claim 4, wherein, The rotary rod is slidably arranged in movable arm through linear bearing.

7. The apparatus of claim 1, wherein, The chuck is connected to the inner side of mounting arm through adjusting mechanism, the adjusting mechanism includes swing block, the upper end of chuck is connected with one end of swing block, the other end of swing block is connected to mounting arm, the lower end of chuck is connected with one end of another swing block, and the other end of swing block is connected to mounting arm, to form four-bar linkage mechanism.

8. The apparatus of claim 7, wherein, Anti-skid pad is arranged on the chuck.

9. The apparatus of claim 7, wherein, Adjusting bolt is arranged below the swing block at the lower end of chuck, the adjusting bolt is detachably connected to movable arm, and the adjusting bolt is used for adjusting the position of swing block.

10. The apparatus of claim 7, wherein, Blind hole is arranged in the middle section of chuck, compression spring and top head are arranged in the blind hole, the both ends of compression spring are respectively abutted on the bottom of blind hole and the bottom surface on one side of top head, the top head is movably connected in the blind hole, and the bottom surface on the other side of top head is abutted on the surface of movable arm.

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