Spacecraft multi-scene precision assembly mechanical arm gripper device

Abstract

The application provides a spacecraft multi-scene precise assembly mechanical arm clamping jaw device, which comprises a clamping jaw main component, the clamping jaw main component comprises a clamping jaw main member and a linear movement mechanism, clamping arm assemblies are symmetrically connected to the clamping jaw main member on both sides 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. The rotary mechanism is driven by the meshing transmission of the driving gear and the two driven gears, so that the mounting arms on both sides always maintain the opposite posture during opening and closing. The gear transmission structure adopts a standard modulus involute tooth profile, has high transmission precision and bearing capacity, effectively avoids the clamping posture deviation, and ensures the posture stability and synchronism in the assembly process. The application solves the technical problems that the existing clamping jaw device has poor adaptability, low clamping precision and is difficult to meet the complex assembly requirements of spacecraft.

Description

Technical Field

[0001] This invention relates to the field of robotic arms, and more specifically, to a robotic arm gripper device for precision assembly of spacecraft in multiple scenarios. Background Technology

[0002] With the rapid development of aerospace technology and the continuous increase in the number of missions, the development of spacecraft is showing a trend of increasing quantity and shorter cycle time, which places higher demands on assembly efficiency and automation. In order to improve the assembly quality and production efficiency of spacecraft products, industrial robotic arms have been gradually introduced into the automated assembly process of spacecraft. However, compared with traditional industrial products, spacecraft products are characterized by complex and diverse structural forms, varied assembly scenarios, and high unit value, which places more stringent requirements on the precision, flexibility, and reliability of assembly equipment.

[0003] Currently, commonly used industrial robotic arm gripper devices are mainly designed for standardized and relatively simple industrial products. Their grippers have limited applicability, low clamping force control precision, and are prone to impacts and errors during assembly, making it difficult to meet the comprehensive requirements of "safety, stability, and versatility" for precision spacecraft assembly. These factors have become significant technical bottlenecks restricting the widespread application of industrial robotic arms in high-precision automated spacecraft assembly tasks.

[0004] To improve the adaptability of robotic arms in complex aerospace assembly environments, some technologies have attempted to enhance gripper performance through structural optimization and lightweight design. For example, Chinese patent application CN201711440482.2 discloses a multi-axis robotic arm with an electric gripper, which employs a hollow structure and lightweight materials to reduce gripper weight. Simultaneously, it enhances the movement speed of the end effector by incorporating rotary and self-rotating transmission components, thereby improving assembly efficiency and gripping accuracy. This approach achieves high-speed, high-precision assembly operations under light loads to a certain extent, but it primarily targets short-distance trajectories and lightweight components, and still has limitations in adapting to diverse product sizes and complex non-standard assembly environments.

[0005] Therefore, existing technologies are still insufficient to fully meet the requirements of high adaptability, high flexibility, and high reliability for gripper systems in spacecraft assembly. There is an urgent need for a modular robotic arm gripper device with scalable structure, stable performance, and adaptability to complex assembly scenarios, in order to expand its practicality and application scope in the aerospace field and further promote the automation and intelligent development of spacecraft manufacturing. Summary of the Invention

[0006] To address the shortcomings of existing technologies, the purpose of this invention is to provide a robotic arm gripper device for precision assembly of spacecraft in multiple scenarios.

[0007] According to the present invention, a robotic arm gripper device for precision assembly of spacecraft in multiple scenarios includes a gripper main body assembly. The gripper main body assembly includes a gripper main component and a linear motion mechanism. Gripper arm assemblies are symmetrically connected to both sides of the gripper main component through the linear motion mechanism. The gripper arm assembly includes a rotary mechanism, a gripper head, and a mounting arm. The rotary mechanism is connected to the linear motion mechanism and the rotary mechanism is connected to the mounting arm. The gripper head is disposed on the mounting arm.

[0008] Preferably, the linear motion mechanism includes a linear guide rail assembly and a linear motor assembly. The linear motor assembly includes a motor and a lead screw. The linear guide rail assembly includes a connecting block, a slider, and a guide rail. The guide rail is disposed below the gripper body component along its length. The slider is slidably connected to the guide rail. The connecting block is fixedly connected to the slider. The lead screw nut on the lead screw is fixedly connected to the connecting block. The output end of the motor is fixedly connected to the lead screw.

[0009] Preferably, the rotary mechanism includes a driving gear and a driven gear, with a driven gear meshing on each side of the driving gear. One driven gear is fixedly connected to the connecting block, and the other driven gear is fixedly connected to the mounting arm. The driving gear is connected to the output end of the drive motor.

[0010] Preferably, the mounting arm includes a rotary rod, a movable arm, and a buffer mechanism. One end of the rotary rod is fixedly connected to a driven gear, and the rotary rod slides through the movable arm. The buffer mechanism includes a pressure block, which is fixedly connected to the outside of the middle section of the rotary rod. Compression springs are provided above and below the pressure block, and the two ends of the compression springs abut against the pressure block and the movable arm, respectively.

[0011] Preferably, a limiting post is provided on the outer side of the pressure block, and a straight waist hole is provided on the side wall of the movable arm. The straight waist hole is arranged along the height direction, and the limiting post is movably arranged in the straight waist hole.

[0012] Preferably, the rotary rod is slidably inserted into the movable arm via a linear bearing.

[0013] Preferably, the chuck is connected to the inside of the mounting arm via an adjustment mechanism, the adjustment mechanism including a swing block, the upper end of the chuck being connected to one end of a swing block, the other end of the swing block being connected to the mounting arm, the lower end of the chuck being connected to one end of another swing block, the other end of the swing block being connected to the mounting arm.

[0014] Preferably, the clamp is provided with an anti-slip pad.

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

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

[0017] Compared with the prior art, the present invention has the following beneficial effects: 1. The linear motion mechanism employs a combination of a motor-driven lead screw and a guide rail slider to achieve high-precision synchronous linear opening and closing of the clamping arm assembly. This design not only ensures the smoothness and repeatability of the clamping action but also enables micron-level adjustment through precise motor control, meeting the stringent positional accuracy requirements of spacecraft assembly.

[0018] 2. The rotary mechanism uses a driving gear and two driven gears to maintain the opposing posture of the mounting arms on both sides during the opening and closing process. This gear transmission structure adopts a standard module involute tooth profile, which has high transmission accuracy and load-bearing capacity, effectively avoids clamping posture deviation, and ensures posture stability and synchronization during the assembly process.

[0019] 3. The buffer mechanism incorporates a compression spring and limiting post design in the clamping arm, which absorbs assembly impact during clamping, achieving compliant clamping and preventing excessive clamping force from damaging spacecraft components. Simultaneously, the sliding engagement of the linear bearing between the movable arm and the rotary rod allows the movable arm to have a slight floating displacement capability, further improving its adaptability and buffering performance during assembly.

[0020] 4. The chuck adjustment mechanism adopts a parallel four-bar structure. Through the linkage of the upper and lower swing blocks, the chuck has a small range of floating compensation capability in the clamping direction, which can automatically correct clamping position errors. The chuck is equipped with a top head and a compression spring, which not only realizes the automatic reset of the chuck but also provides elastic clamping force. Combined with the high friction characteristics of the anti-slip pad, it effectively improves clamping stability and prevents spacecraft products from slipping.

[0021] 5. Through the cooperation of the top head and the compression spring, the reaction force generated by the spring's rebound is applied to the middle section of the chuck, so that the chuck is pressed and positioned, thereby improving the stability of the chuck and suppressing the shaking of the four-bar linkage during the movement. Attached Figure Description

[0022] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 A diagram illustrating the usage status of a robotic arm gripper device for precision assembly of spacecraft in multiple scenarios, provided by this invention; Figure 2Another usage state diagram of a robotic arm gripper device for precision assembly of spacecraft in multiple scenarios provided by the present invention; Figure 3 This is another usage state diagram of the robotic arm gripper device for precision assembly of spacecraft in multiple scenarios provided by the present invention; Figure 4 This is a schematic diagram of the main components of the gripper; Figure 5 This is a schematic diagram of the mounting arm; Figure 6 This is a schematic diagram of the movable arm; Figure 7 This is a schematic diagram of the chuck; In the diagram, 1 is the main component of the gripper, 2 is the rotary mechanism, 3 is the mounting arm, 4 is the chuck, 5 is the guide rail, 6 is the slider, 7 is the connecting block, 8 is the lead screw, 9 is the driving gear, 10 is the driven gear, 11 is the straight waist hole, 12 is the rotary rod, 13 is the movable arm, 14 is the pressure block, 15 is the compression spring, 16 is the limit post, 17 is the top head, 18 is the adjusting bolt, 19 is the swing block, 20 is the anti-slip pad, and 21 is the blind hole. Detailed Implementation

[0023] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0024] A robotic arm gripper device for precision assembly of spacecraft in multiple scenarios, such as Figure 1-3 As shown, the device includes a gripper body assembly and gripper arm assemblies. The gripper body assembly includes a gripper body component 1 and a linear motion mechanism, with gripper arm assemblies symmetrically connected to both sides of the gripper body component 1 via the linear motion mechanism. Figure 4 As shown, the linear motion mechanism is used to realize the synchronous linear opening and closing motion of the gripper assembly, thereby realizing the gripping action of the gripper device. The linear motion mechanism consists of a linear guide rail 5 assembly and a linear motor assembly. The linear motor assembly includes a motor and a lead screw 8. The output end of the motor is fixedly connected to the lead screw 8. The motor drives the lead screw 8 to rotate, thereby moving the lead screw nut along the axial direction of the lead screw 8. The lead screw nut is fixedly connected to the connecting block 7 by fasteners. When the lead screw nut performs reciprocating linear motion, it drives the connecting block 7 to slide linearly along the guide rail 5, thereby realizing the symmetrical opening and closing of the gripper assembly. The linear guide rail 5 assembly includes a guide rail 5, a slider 6, and a connecting block 7. The guide rail 5 is set along the length direction of the gripper body component 1. A precision sliding fit is formed between the slider 6 and the guide rail 5. The connecting block 7 is fixedly connected to the slider 6 by screws, thereby ensuring the straightness of the movement and the repeatability of the positioning accuracy.

[0025] like Figure 5 As shown, the clamping arm assembly is mounted on the connecting block 7 and is used for opposing clamping of spacecraft products. The clamping arm assembly includes a rotation mechanism 2, a mounting arm 3, a chuck 4, and a buffering and adjustment mechanism. The rotation mechanism 2 is located between the connecting block 7 and the mounting arm 3 to achieve synchronous rotation of the mounting arm 3. This mechanism consists of a driving gear 9 and two driven gears 10. The driving gear 9 is directly driven by a drive motor. One driven gear 10 meshes with each side of the driving gear 9. One driven gear 10 is fixedly connected to the connecting block 7, and the other driven gear 10 is fixedly connected to 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 achieved, so that the two mounting arms 3 always maintain an opposing clamping state at different rotation angles, thereby maintaining a stable clamping posture during the opening and closing of the gripper body. The gear transmission mechanism adopts a standard module involute gear structure to ensure transmission accuracy and load-bearing 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 to the driven gear 10, and smooth rotation is achieved through bearing support. A pressure block 14 is provided on the outer side of the middle section of the rotating rod 12. Compression springs 15 are installed above and below the pressure block 14, respectively. The two ends of the compression springs 15 abut against the pressure block 14 and the movable arm 13, forming a buffer mechanism. This structure can absorb assembly impact during clamping, achieving compliant clamping and preventing excessive clamping force from damaging spacecraft products. Figure 6 As shown, a limiting post 16 is provided on the outer side of the pressure block 14, and a straight waist hole 11 arranged along the height direction is opened on the side wall of the movable arm 13. The limiting post 16 is movably set in the waist hole to limit the movement range of the pressure block 14, ensure the working stroke of the compression spring 15, and prevent overtravel movement from causing structural damage. The rotary rod 12 slides through the movable arm 13 through a linear bearing. A sliding fit is formed between the linear bearing and the rotary rod 12, so that the movable arm 13 can achieve a slight floating displacement along the direction of the rotary rod 12, thereby further improving the compliance and adaptability of clamping.

[0027] The chuck 4 is installed inside the movable arm 13 and connected to the movable arm 13 via an adjustment mechanism. The adjustment mechanism includes two sets of swing blocks 19, one end of the upper swing block 19 connected to the upper end of the chuck 4 and the other end connected to the movable arm 13, and one end of the lower swing block 19 connected to the lower end of the chuck 4 and the other end connected to the movable arm 13. The two sets of swing blocks 19, together with the chuck 4 and the movable arm 13, form a parallel four-bar linkage structure. This structure allows the chuck 4 to have a small range of floating capability in the clamping direction, which can automatically compensate for clamping position errors and improve the clamping fit and stability.

[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 robotic arm gripper device for precision assembly of spacecraft in multiple scenarios, characterized in that, The device includes a gripper body assembly, which comprises a gripper body component and a linear motion mechanism. Gripper arm assemblies are symmetrically connected to both sides of the gripper body component via the linear motion mechanism. Each gripper arm assembly includes a rotary mechanism, a gripper head, and a mounting arm. The rotary mechanism is connected to the linear motion mechanism and the mounting arm. The gripper head is mounted on the mounting arm. The linear motion mechanism includes a linear guide rail assembly and a linear motor assembly. The linear motor assembly includes a motor and a lead screw. The linear guide rail assembly includes a connecting block, a slider, and a guide rail. The guide rail is disposed below the gripper body component along the length direction. The slider is slidably connected to the guide rail. The connecting block is fixedly connected to the slider. The lead screw nut on the lead screw is fixedly connected to the connecting block. The output end of the motor is fixedly connected to the lead screw. The rotary mechanism includes a drive gear and a driven gear. A driven gear meshes with each side of the drive gear. One driven gear is fixedly connected to the connecting block, and the other driven gear is fixedly connected to the mounting arm. The drive gear is connected to the output end of the drive motor. Through the meshing transmission of the driving gear (9) and the two driven gears (10), the synchronous rotation of the two mounting arms (3) is realized, so that the two mounting arms (3) always maintain the opposite clamping state at different rotation angles.

2. The apparatus according to claim 1, characterized in that, The mounting arm includes a rotary rod, a movable arm, and a buffer mechanism. One end of the rotary rod is fixedly connected to a driven gear, and the rotary rod slides through the movable arm. The buffer mechanism includes a pressure block, which is fixedly connected to the outside of the middle section of the rotary rod. Compression springs are provided above and below the pressure block, and the two ends of the compression springs abut against the pressure block and the movable arm, respectively.

3. The apparatus according to claim 2, characterized in that, The outer side of the pressure block is provided with a limiting post, and the side wall of the movable arm is provided with a straight waist hole. The straight waist hole is arranged along the height direction, and the limiting post is movably arranged in the straight waist hole.

4. The apparatus according to claim 2, characterized in that, The slewing rod is slidably inserted into the movable arm via a linear bearing.

5. The apparatus according to claim 2, characterized in that, The chuck is connected to the inside of the mounting arm via an adjustment mechanism. The adjustment mechanism includes a swing block. The upper end of the chuck is connected to one end of a swing block, and the other end of the swing block is connected to the mounting arm. The lower end of the chuck is connected to one end of another swing block, and the other end of the swing block is connected to the mounting arm, forming a four-bar linkage.

6. The apparatus according to claim 5, characterized in that, The clamp is equipped with an anti-slip pad.

7. The apparatus according to claim 5, characterized in that, An adjusting bolt is provided below the swing block located at the lower end of the chuck. The adjusting bolt is detachably connected to the movable arm and is used to adjust the position of the swing block.

8. The apparatus according to claim 5, characterized in that, The chuck has a blind hole in the middle section. A compression spring and a top head are provided in the blind hole. The two ends of the compression spring abut against the bottom of the blind hole and the bottom surface of one side of the top head, respectively. The top head is movably connected in the blind hole, and the bottom surface of the other side of the top head abuts against the surface of the movable arm.

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