Truss hoisting crankshaft gripper

Abstract

The utility model discloses a truss hoisting crankshaft gripper which comprises a framework, a transverse moving mechanism I, an adjusting mechanism I, a clamping jaw I, a clamping jaw II, a clamping jaw III, a clamping jaw IV, an adjusting mechanism II, a transverse moving mechanism II, a suspension arm mounting seat, a connecting seat I and a connecting seat II, the crankshaft grabbing device is reasonable and simple in structure, low in production cost and convenient to install, the first motor can drive the first clamping jaw and the second clamping jaw to move left and right together for adjustment, similarly, the third clamping jaw and the fourth clamping jaw can also move left and right together for adjustment, grabbing of two crankshafts with different distances is met through the adjustment, and the grabbing efficiency is improved. The requirement that the two crankshafts are grabbed together is met; the first adjusting mechanism and the second adjusting mechanism can adjust the distance between the first clamping jaw and the second clamping jaw and adjust the distance between the third clamping jaw and the fourth clamping jaw, so that the requirement for grabbing two crankshafts of different specifications or the same specification is met, and convenience in use is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of grippers, in particular to a truss hoisting crankshaft gripper. Background Art

[0002] With the improvement of people's living standards and the convenience of transportation roads, the market demand for automobiles is increasing. In order to better improve production capacity and save labor, automobile manufacturers are gradually transforming automobile production lines towards intelligent production. Automobile crankshafts are important components of automobile engines. Newly produced automobile crankshafts cannot be directly loaded because they have not been inspected for quality. Generally, these automobile crankshafts are transported to the placement racks through automatic conveying lines for inventory, and then assembled after passing the inspection. During the crankshaft transportation process, grippers are needed to grab the crankshafts, but the existing crankshaft grippers can only meet the gripping of crankshafts of specific specifications, which brings great inconvenience and trouble to use. Utility Model Content

[0003] The purpose of the utility model is to provide a truss hoisting crankshaft gripper in order to solve the above-mentioned problem, which solves the problem that the existing crankshaft gripper can only meet the gripping of crankshafts of specific specifications, thereby causing great inconvenience and trouble in use.

[0004] In order to solve the above problems, the utility model provides a technical solution: a truss hoisting crankshaft gripper, comprising a skeleton, a transverse movement mechanism 1, an adjusting mechanism 1, a clamp 1, a clamp 2, a clamp 3, a clamp 4, an adjusting mechanism 2, a transverse movement mechanism 2, a boom mounting seat, a connecting seat 1 and a connecting seat 2; the top center of the skeleton is fixedly connected to the boom mounting seat, the left side of the skeleton is provided with a transverse movement mechanism 1, and the right side of the skeleton is provided with a transverse movement mechanism 2; a connecting seat 1 is fixedly connected to a lower side of the transverse movement mechanism; an adjusting mechanism 1 is provided on the connecting seat 1; clamp 1 and clamp 2 are respectively fixedly connected to two moving parts on a lower side of the adjusting mechanism; a connecting seat 2 is fixedly connected to the lower side of the transverse movement mechanism 2; an adjusting mechanism 2 is provided on the connecting seat 2; clamp 3 and clamp 4 are respectively fixedly connected to two moving parts on the lower side of the adjusting mechanism 2.

[0005] Preferably, the structure of the transverse movement mechanism 2 is consistent with that of the transverse movement mechanism 1 and they are symmetrically arranged. The specific structure of the transverse movement mechanism 1 includes a motor 1, a motor seat 1, a coupling 1, a bearing seat 1, a screw 1, a linear guide 1, a slider 1, a transverse movement seat, a bearing seat 2, a connecting plate 1, a nut seat 1 and a nut 1; the motor seat 1 is fixedly connected to the left side of the center of the bottom surface of the skeleton, and the right side of the motor seat 1 is fixedly connected to the motor 1; the bearing seat 1 is fixedly connected to the left side of the center of the bottom surface of the skeleton; the bearing seat 2 is fixedly connected to the left side of the bottom surface of the skeleton; the outer parts on both sides of the screw 1 The two guide rails are movably connected inside the bearing seats 1 and 2, and the right side of the lead screw 1 is fixedly connected to the left output shaft of the motor 1 through a coupling 1; the linear guide rail 1 is movably connected to the upper left side of the skeleton, and a slider 1 is movably connected on the linear guide rail 1; the upper side of the transverse seat is fixedly connected to the slider 1, and the bottom of the transverse seat is fixedly connected to the top of the connecting seat 1; the connecting plate 1 is fixedly connected to the top center of the connecting seat 1, and a nut seat 1 is fixedly connected to the right side of the connecting plate 1, and a nut 1 is fixedly connected inside the nut seat 1, and the nut 1 is connected to the lead screw 1.

[0006] Preferably, the motor 1 is a servo motor.

[0007] Preferably, the specific structure of the adjusting mechanism 2 is consistent with that of the adjusting mechanism 1 and is symmetrically arranged. The specific structure of the adjusting mechanism 1 includes a motor 2, a motor seat 2, a reducer, a coupling, a bearing seat 3, a screw rod 2, a nut 2, a connecting block 1, a nut seat 2, a connecting block 2, a bearing seat 4, a nut 3, a nut seat 3, a linear guide 2, a linear guide 3, a slider 2, a connecting block 3, a slider 3 and a connecting block 4; the motor seat 2 is fixedly connected to one side of the upper connecting seat 1, and the motor 2 is fixedly connected to the upper side of the motor seat 2; the reducer is fixedly connected to the bottom of the motor seat 2, and the upper input end of the reducer is fixedly connected to the lower output shaft of the motor 2; the bearing seat 3 is fixedly connected to one side of the right side surface of the connecting seat 1; the bearing seat 4 is fixedly connected to the other side of the right side surface of the connecting seat 1; the outer sides of the screw rod 2 are movably connected to the inside of the bearing seat 3 and the bearing seat 4 respectively, and one side of the screw rod 2 is fixedly connected to the output shaft of the reducer through a coupling; the linear guide 2 is fixedly connected to the bottom surface of the connecting seat 1, The linear guide rail 2 is movably connected with sliders 2 on both sides, and the bottom of sliders 2 is fixedly connected to the top of clamping jaw 1 and clamping jaw 2 respectively; the linear guide rail 3 is fixedly connected to the left side surface of the connecting seat 1, and the linear guide rail 3 is movably connected with sliders 3 on both sides, and sliders 3 are fixedly connected to clamping jaw 2 through connecting block 4 and to clamping jaw 1 through connecting block 3; the bottom of the nut seat 2 is fixedly connected to clamping jaw 1 through connecting block 1, and nut 2 is fixedly connected inside the nut seat 2, and nut 2 is connected to one side of the screw rod 2; the bottom of the nut 3 is fixedly connected to clamping jaw 2 through connecting block 2, and nut 3 is fixedly connected inside the nut 3, and nut 3 is connected to the other side of the screw rod 2.

[0008] Preferably, the second motor is a servo motor.

[0009] Preferably, the external threads on both sides of the second screw rod have opposite rotation directions.

[0010] Preferably, the connecting block is in a Z shape.

[0011] Preferably, the clamp one, clamp two, clamp three and clamp four are all pneumatic clamps.

[0012] Beneficial effects of the utility model:

[0013] (1) The utility model has a reasonable and simple structure, low production cost and convenient installation. The motor 1 provided here can drive the clamping jaw 1 and the clamping jaw 2 to move left and right together for adjustment. Similarly, the clamping jaw 3 and the clamping jaw 4 can also move left and right together for adjustment. Through the above adjustment, the need for grasping two crankshafts at different distances can be met, which also meets the need for grasping two crankshafts at the same time.

[0014] (2) The adjustment mechanism 1 and the adjustment mechanism 2 provided in the utility model can adjust the distance between the clamping jaw 1 and the clamping jaw 2, and the distance between the clamping jaw 3 and the clamping jaw 4, thereby satisfying the gripping of two crankshafts of different specifications or the same specifications, thereby improving the convenience during use.

[0015] (3) The reducer provided in the present invention can improve the adjustment accuracy of the adjustment mechanism 1 and the adjustment mechanism 2, thereby avoiding damage to the crankshaft caused by adjustment errors, and also improves the gripping efficiency of the gripper. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of the utility model.

[0017] Figure 2 It is a structural diagram of the transverse movement mechanism.

[0018] Figure 3 for Figure 2 A schematic diagram of a viewing angle.

[0019] Figure 4 for Figure 2 Schematic diagram from another perspective.

[0020] Figure 5 It is a structural diagram of the regulating mechanism.

[0021] Figure 6 for Figure 5 Schematic diagram of a perspective.

[0022] 1-frame; 2-transverse mechanism 1; 3-adjustment mechanism 1; 4-grip 1; 5-grip 2; 6-grip 3; 7-grip 4; 8-adjustment mechanism 2; 9-transverse mechanism 2; 10-hanging arm mounting seat; 11-connection seat 1; 12-connection seat 2; 21-motor 1; 22-motor seat 1; 23-coupling 1; 24-bearing seat 1; 25-screw 1; 26-linear guide 1; 27-slider 1; 28-transverse seat; 29-bearing seat 2; 210-connection plate 1; 211- Nut seat one; 212-nut one; 31-motor two; 32-motor seat two; 33-reducer; 34-coupling; 35-bearing seat three; 36-screw rod two; 37-nut two; 38-connecting block one; 39-nut seat two; 310-connecting block two; 311-bearing seat four; 312-nut three; 313-nut seat three; 314-linear guide two; 315-linear guide three; 316-slider two; 317-connecting block three; 318-slider three; 319-connecting block four. DETAILED DESCRIPTION

[0023] like Figure 1As shown, this specific embodiment adopts the following technical scheme: a truss hoisting crankshaft gripper, including a skeleton 1, a transverse movement mechanism 2, an adjusting mechanism 3, a clamp 4, a clamp 2 5, a clamp 3 6, a clamp 4 7, an adjusting mechanism 2 8, a transverse movement mechanism 2 9, a boom mounting seat 10, a connecting seat 11 and a connecting seat 2 12; the top center of the skeleton 1 is fixedly connected to the boom mounting seat 10, the left side of the skeleton 1 is provided with a transverse movement mechanism 2, and the right side of the skeleton 1 is provided with a transverse movement mechanism 2 9; the lower side of the transverse movement mechanism 2 is fixedly connected to a connecting seat 11; the upper surface of the connecting seat 11 is provided with an adjusting mechanism 3; the lower two movable parts of the adjusting mechanism 3 are fixedly connected with a clamp 4 and a clamp 2 5 respectively; the lower side of the transverse movement mechanism 2 9 is fixedly connected with a connecting seat 2 12; the upper surface of the connecting seat 2 12 is provided with an adjusting mechanism 2 8; the lower two movable parts of the adjusting mechanism 2 8 are fixedly connected with a clamp 3 6 and a clamp 4 7 respectively.

[0024] like Figure 2 and Figure 4 As shown, the structure of the transverse movement mechanism 29 is consistent with that of the transverse movement mechanism 2 and is symmetrically arranged. The specific structure of the transverse movement mechanism 2 includes a motor 21, a motor seat 22, a coupling 23, a bearing seat 24, a screw 25, a linear guide 26, a slider 27, a transverse movement seat 28, a bearing seat 29, a connecting plate 210, a nut seat 211 and a nut 212; the motor seat 22 is fixedly connected to the left side of the center of the bottom surface of the skeleton 1, and the motor 21 is fixedly connected to the right side of the motor seat 22; the bearing seat 24 is fixedly connected to the left side of the center of the bottom surface of the skeleton 1; the bearing seat 29 is fixedly connected to the left side of the bottom surface of the skeleton 1; the outer sides of the screw 25 are movable It is movably connected inside the bearing seat 124 and the bearing seat 29, and the right side of the screw 25 is fixedly connected to the left output shaft of the motor 21 through the coupling 23; the linear guide rail 26 is movably connected to the upper left side of the skeleton 1, and a slider 27 is movably connected on the linear guide rail 26; the upper side of the transverse seat 28 is fixedly connected to the slider 27, and the bottom of the transverse seat 28 is fixedly connected to the top of the connecting seat 11; the connecting plate 210 is fixedly connected to the top center of the connecting seat 11, and a nut seat 211 is fixedly connected to the right side of the connecting plate 210, and a nut 212 is fixedly connected inside the nut seat 211, and the nut 212 is connected to the screw 25.

[0025] Wherein, the motor 1 21 is a servo motor.

[0026] like Figure 5 and Figure 6As shown, the specific structure of the adjusting mechanism 2 8 is consistent with that of the adjusting mechanism 1 3 and is symmetrically arranged. The specific structure of the adjusting mechanism 1 3 includes a motor 2 31, a motor seat 2 32, a reducer 33, a coupling 34, a bearing seat 35, a screw rod 2 36, a nut 2 37, a connecting block 1 38, a nut seat 2 39, a connecting block 2 310, a bearing seat 4 311, a nut 312, a nut seat 313, a linear guide 2 314, a linear guide 315, a slider 2 316, a connecting block 317, a slider 318 and a connecting block 4 319; the motor seat 2 32 is fixedly connected to one side of the connecting seat 11, and the The motor 2 31 is fixedly connected to the motor seat 2 32; the reducer 33 is fixedly connected to the bottom of the motor seat 2 32, and the upper input end of the reducer 33 is fixedly connected to the lower output shaft of the motor 2 31; the bearing seat 35 is fixedly connected to one side of the right side of the connecting seat 1 11; the bearing seat 4 311 is fixedly connected to the other side of the right side of the connecting seat 1 11; the outer sides of the screw rod 2 36 are movably connected to the inside of the bearing seat 35 and the bearing seat 4 311 respectively, and one side of the screw rod 2 36 is fixedly connected to the output shaft of the reducer 33 through the coupling 34; the linear guide rail 2 314 is fixedly connected to the bottom surface of the connecting seat 1 11, The two sides of the linear guide rail 2 314 are movably connected with sliders 2 316 respectively, and the bottom of the sliders 2 316 is fixedly connected to the top of the clamping jaw 1 4 and the top of the clamping jaw 2 5 respectively; the linear guide rail 3 315 is fixedly connected to the left side of the connecting seat 11, and the two sides of the linear guide rail 315 are movably connected with sliders 318 respectively, and the sliders 318 are fixedly connected to the clamping jaw 2 5 through the connecting block 4 319 and the clamping jaw 1 4 through the connecting block 317; the bottom of the nut seat 2 39 is fixedly connected to the clamping jaw 1 4 through the connecting block 1 38, and the nut 2 37 is fixedly connected inside the nut seat 2 39, and the nut 2 37 is connected to one side of the screw rod 2 36; the bottom of the nut 312 is fixedly connected to the clamping jaw 2 5 through the connecting block 2 310, and the nut 312 is fixedly connected inside the nut 312, and the nut 312 is connected to the other side of the screw rod 2 36.

[0027] Among them, the motor 2 31 is a servo motor, so it is convenient to control the motor 2 31 through existing automation technology; the external threads on both sides of the screw rod 2 36 have opposite rotation directions; the connecting block 1 38 is in a Z shape; the clamp 1 4, the clamp 2 5, the clamp 3 6 and the clamp 4 7 are all pneumatic clamps, so it is convenient to control them through existing automation technology.

[0028] The use state of the utility model is as follows: the utility model has a reasonable and simple structure, low production cost and convenient installation. When in use, first start the motor 21 to drive the screw 25 to rotate through the coupling 23, and the rotation of the screw 25 causes the lateral displacement seat 28 to move laterally as a whole, that is, the clamping jaw 1 4 and the clamping jaw 2 5 can be moved left and right together for adjustment, and the clamping jaw 3 6 and the clamping jaw 4 7 can also be moved left and right together for adjustment. Through the above adjustment, the grasping of two crankshafts at different distances is satisfied, and the need for grasping two crankshafts together is also satisfied. In addition, the adjusting mechanism 1 3 and the adjusting mechanism 2 8 are arranged, which can adjust the distance between the clamping jaw 1 4 and the clamping jaw 2 5, as well as the distance between the clamping jaw 3 6 and the clamping jaw 4 7. The distance between the four jaws 7 is adjusted to meet the needs of grasping two crankshafts of different specifications or the same specifications, which improves the convenience during use. The reducer 33 provided in addition can improve the adjustment accuracy of the adjustment mechanism 1 3 and the adjustment mechanism 2 8, thereby avoiding damage to the crankshaft caused by adjustment errors, and also improves the grasping efficiency of the gripper. When adjusting the distance between the one jaw 4 and the second jaw 5, first start the motor 2 31 to drive the screw 2 36 to rotate through the reducer 33, and the rotation of the screw 2 36 drives the nut 2 37 and the nut 3 312 to move inward or outward at the same time, that is, the distance between the one jaw 4 and the second jaw 5 is adjusted.

[0029] The control method in the present invention is to start manually or control by existing automation technology. The wiring diagram of the power element and the provision of power supply belong to the common knowledge in the field, and the present invention is mainly used to protect mechanical devices, so the present invention will not explain the control method and wiring arrangement in detail.

[0030] In the description of the utility model, it is necessary to understand that the terms "coaxial", "bottom", "one end", "top", "middle", "the other end", "upper", "one side", "top", "inside", "front", "center", "both ends", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the utility model.

[0031] In the utility model, unless otherwise clearly stipulated and limited, the terms such as "installation", "setting", "connection", "fixation", "screw-on" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral one; 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 the internal connection of two elements or the interaction relationship between two elements. Unless otherwise clearly defined, ordinary technicians in this field can understand the specific meanings of the above terms in the utility model according to the specific circumstances.

[0032] The above shows and describes the basic principles and main features of the utility model and the advantages of the utility model. Technical personnel in this industry should understand that the utility model is not limited to the above embodiments. The above embodiments and descriptions are only for illustrating the principles of the utility model. Without departing from the spirit and scope of the utility model, the utility model may have various changes and improvements, which shall fall within the scope of the utility model to be protected. The scope of protection of the utility model shall be defined by the attached claims and their equivalents.

Claims

1. A truss hoisting crankshaft gripper, characterized in that: It comprises a frame (1), a transverse movement mechanism 1 (2), an adjustment mechanism 1 (3), a clamping jaw 1 (4), a clamping jaw 2 (5), a clamping jaw 3 (6), a clamping jaw 4 (7), an adjustment mechanism 2 (8), a transverse movement mechanism 2 (9), a boom mounting seat (10), a connecting seat 1 (11) and a connecting seat 2 (12); A boom mounting seat (10) is fixedly connected to the center of the top of the frame (1); a first transverse movement mechanism (2) is provided on the left side of the frame (1); and a second transverse movement mechanism (9) is provided on the right side of the frame (1); A connecting seat 1 (11) is fixedly connected to the lower side of the transverse movement mechanism 1 (2); The connecting seat 1 (11) is provided with an adjustment mechanism 1 (3); The two movable parts on the lower side of the adjusting mechanism 1 (3) are respectively fixedly connected with a clamping jaw 1 (4) and a clamping jaw 2 (5); A second connecting seat (12) is fixedly connected to the lower side of the second transverse movement mechanism (9); The second connecting seat (12) is provided with a second adjusting mechanism (8); The two movable parts at the lower side of the adjusting mechanism 2 (8) are respectively fixedly connected with the clamping jaw 3 (6) and the clamping jaw 4 (7).

2. The truss hoisting crankshaft gripper according to claim 1, characterized in that: The structure of the transverse movement mechanism 2 (9) is consistent with that of the transverse movement mechanism 1 (2) and they are symmetrically arranged. The specific structure of the transverse movement mechanism 1 (2) includes a motor 1 (21), a motor seat 1 (22), a coupling 1 (23), a bearing seat 1 (24), a lead screw 1 (25), a linear guide rail 1 (26), a slider 1 (27), a transverse movement seat (28), a bearing seat 2 (29), a connecting plate 1 (210), a nut seat 1 (211) and a nut 1 (212); The motor seat 1 (22) is fixedly connected to the left side of the center of the bottom surface of the frame (1), and the motor 1 (21) is fixedly connected to the right side of the motor seat 1 (22); The bearing seat 1 (24) is fixedly connected to the left side of the center of the bottom surface of the frame (1); The second bearing seat (29) is fixedly connected to the left side of the bottom surface of the frame (1); The outside of the lead screw 1 (25) is movably connected to the inside of the bearing seat 1 (24) and the bearing seat 2 (29) respectively, and the right side of the lead screw 1 (25) is fixedly connected to the left output shaft of the motor 1 (21) through the coupling 1 (23); The linear guide rail 1 (26) is movably connected to the upper left side of the frame (1), and a slider 1 (27) is movably connected to the linear guide rail 1 (26); The upper side of the transverse seat (28) is fixedly connected to the slider 1 (27), and the bottom of the transverse seat (28) is fixedly connected to the top of the connecting seat 1 (11); The connecting plate 1 (210) is fixedly connected to the center of the top of the connecting seat 1 (11), and a nut seat 1 (211) is fixedly connected to the right side of the connecting plate 1 (210), and a nut 1 (212) is fixedly connected inside the nut seat 1 (211), and the nut 1 (212) is connected to the lead screw 1 (25).

3. The truss hoisting crankshaft gripper according to claim 2, characterized in that: The motor 1 (21) is a servo motor.

4. The truss hoisting crankshaft gripper according to claim 1, characterized in that: The specific structure of the second adjustment mechanism (8) is consistent with that of the first adjustment mechanism (3) and is symmetrically arranged. The specific structure of the first adjustment mechanism (3) includes a second motor (31), a second motor seat (32), a reducer (33), a coupling (34), a third bearing seat (35), a second screw rod (36), a second nut (37), a first connecting block (38), a second nut seat (39), a second connecting block (310), a fourth bearing seat (311), a third nut (312), a third nut seat (313), a second linear guide rail (314), a third linear guide rail (315), a second slider (316), a third connecting block (317), a third slider (318) and a fourth connecting block (319); The second motor seat (32) is fixedly connected to one side of the upper side of the connecting seat (11), and the second motor (31) is fixedly connected to the upper side of the second motor seat (32); The reducer (33) is fixedly connected to the bottom of the second motor base (32), and the upper input end of the reducer (33) is fixedly connected to the lower output shaft of the second motor (31); The bearing seat three (35) is fixedly connected to one side of the right side surface of the connecting seat one (11); The bearing seat four (311) is fixedly connected to the other side of the right side surface of the connecting seat one (11); The outsides of the second screw rod (36) are movably connected to the insides of the third bearing seat (35) and the fourth bearing seat (311), respectively, and one side of the second screw rod (36) is fixedly connected to the output shaft of the reducer (33) through a coupling (34); The second linear guide rail (314) is fixedly connected to the bottom surface of the first connecting seat (11), and the second slider (316) is movably connected to both sides of the second linear guide rail (314), and the bottom of the second slider (316) is fixedly connected to the top of the first clamping jaw (4) and the second clamping jaw (5) respectively; The linear guide rail 3 (315) is fixedly connected to the left side surface of the connecting seat 1 (11), and the two sides of the linear guide rail 3 (315) are movably connected with the slider 3 (318), and the slider 3 (318) is fixedly connected to the clamping jaw 2 (5) through the connecting block 4 (319) and fixedly connected to the clamping jaw 1 (4) through the connecting block 3 (317); The bottom of the nut seat 2 (39) is fixedly connected to the clamping jaw 1 (4) through the connecting block 1 (38), and the nut seat 2 (39) is fixedly connected with the nut 2 (37) inside, and the nut 2 (37) is connected to one side of the screw rod 2 (36); The bottom of the nut three (312) is fixedly connected to the clamping jaw two (5) through the connecting block two (310), the nut three (312) is fixedly connected inside the nut three (312), and the nut three (312) is connected to the other side of the screw rod two (36).

5. The truss hoisting crankshaft gripper according to claim 4, characterized in that: The second motor (31) is a servo motor.

6. The truss hoisting crankshaft gripper according to claim 4, characterized in that: The external threads on both sides of the second screw rod (36) have opposite rotation directions.

7. The truss hoisting crankshaft gripper according to claim 4, characterized in that: The connecting block 1 (38) is in a Z shape.

8. The truss hoisting crankshaft gripper according to claim 1, characterized in that: The clamping jaw 1 (4), the clamping jaw 2 (5), the clamping jaw 3 (6) and the clamping jaw 4 (7) are all pneumatic clamping jaws.

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