Shaft part inner supporting clamping jaw and rotary clamping manipulator

Abstract

The utility model discloses a shaft part inner support clamping jaw and a rotary clamping manipulator, the clamping jaw comprises a parallel clamper, a switching connection block and an inner support head, the parallel clamper is provided with a plurality of slide blocks which are annularly distributed and arranged at equal intervals, the slide blocks are connected with one switching connection block, and the inner support head is connected with the switching connection block. The inner supporting head comprises a plurality of inner supporting telescopic petals which are annularly distributed and are arranged at equal angle intervals, one inner supporting telescopic petal is arranged at the end, away from the end connected with the sliding blocks, of the switching connection block, and the parallel clamping device is used for driving the sliding blocks to drive the switching connection block and the corresponding inner supporting telescopic petals to move in a reciprocating mode in the radial direction of the inner supporting head. Therefore, the plurality of inner support telescopic petals retract inwards to be closed or expand outwards to be expanded; when the multiple inner supporting telescopic petals expand outwards, the inner supporting head extending into a center shaft hole of the shaft part expands outwards and is tightly attached to the inner side wall of the center shaft hole, so that the shaft part inner supporting clamping jaw clamps the shaft part in an inner supporting mode. And when the plurality of inner support telescopic petals retract inwards and are folded, the inner support head extending into the middle shaft hole retracts inwards and is loosened relative to the shaft part.

Description

Technical Field

[0001] This utility model relates to the field of mirror polishing technology for shaft parts, and in particular to the internal support gripper and rotary clamping robot for shaft parts. Background Technology

[0002] In the existing technology, for the attachment Figure 1 When the shaft part 001 shown is mirror-finished, an external clamping jaw is used for feeding and unloading. That is, the shaft part 001 is fed into the corresponding grinding device using the external clamping jaw, and then unloaded using the external clamping jaw after grinding. However, for the attached... Figure 1 The shaft part 001 shown has a first step 003 that is smaller at the front and a second step 004 that is larger at the back. Currently, when grinding the shaft part 001, only the first step 003 at the front end is ground. Therefore, the product can be clamped by using an external clamping jaw to hold the second step 004 at the rear end.

[0003] In related technologies, when it is necessary to attach Figure 1 When the first step 003 and the second step 004 of the shaft part 001 shown are mirror polished, the external clamping jaws used for feeding and unloading will cause damage to the mirror surface of the shaft part 001. At the same time, due to the limited internal space of the polishing device, the existing external clamping jaws cannot send the shaft part 001 to the corresponding position of the polishing device after clamping it, and thus cannot achieve polishing of the two steps.

[0004] Currently, no effective solution has been proposed to address the problems of external grippers in related technologies that easily damage workpieces and cannot feed materials accurately. Utility Model Content

[0005] In view of this, it is necessary to provide an internal support gripper and a rotary gripper for shaft parts, so as to at least solve the problems of external grippers in related technologies that easily damage workpieces and cannot feed materials accurately.

[0006] In a first aspect, this utility model provides a technical solution as follows: an internal support gripper for shaft-type parts, comprising a parallel gripper, a connecting block, and an internal support head. The parallel gripper is provided with multiple sliders arranged in a ring and at equal intervals. Each slider is connected to one of the connecting blocks. The internal support head includes multiple internal support telescopic flaps arranged in a ring and at equal angular intervals. One of the internal support telescopic flaps is located at the end of the connecting block away from the end connected to the slider.

[0007] The parallel clamp is used to drive multiple sliders to move the adapter block and the corresponding inner support telescopic flaps back and forth along the radial direction of the inner support head, so that the multiple inner support telescopic flaps retract inward or expand outward.

[0008] When the multiple inner support telescopic flaps expand outward, the inner support head extending into the central shaft hole of the shaft part expands outward and adheres tightly to the inner sidewall of the central shaft hole, so that the inner support claw of the shaft part clamps the shaft part; when the multiple inner support telescopic flaps retract and close inward, the inner support head extending into the central shaft hole retracts inward and loosens relative to the shaft part.

[0009] In some embodiments, the inner support head includes one of the following: an inner support head with two symmetrically arranged inner support telescopic petals, an inner support head with three inner support telescopic petals arranged in a ring, or an inner support head with four inner support telescopic petals arranged in a cross shape.

[0010] In some embodiments, the parallel gripper includes one of the following: a two-jaw parallel gripper, a three-jaw parallel gripper, or a four-jaw parallel gripper.

[0011] In some embodiments, the parallel gripper includes one of the following: an electric gripper or a pneumatic gripper.

[0012] In some embodiments, the adapter block includes a connecting part and a mounting part connected by a turning portion, wherein the connecting part, the turning portion, and the mounting part are integrally formed into a Z-shaped connecting block; the connecting part is provided with a slot, the slider is inserted into the corresponding slot, and the slider is locked to the connecting part by a first pin, so that the slider is connected to the adapter block; the mounting part is provided with two mounting locking flaps, and an arc-shaped groove is formed at the position of the two mounting locking flaps facing each other. An inner support telescopic flap is embedded in the arc-shaped groove, and the two mounting locking flaps are locked by a second pin, so that the two mounting locking flaps are clamped to the inner support telescopic flap placed in the corresponding arc-shaped groove.

[0013] In some embodiments, each of the arcuate grooves is provided with two inwardly protruding limiting flanges on both sides of the opening, and the two limiting flanges are used to limit and secure the inner support telescopic flap embedded in the arcuate groove.

[0014] In some embodiments, the inner support telescopic flap extends outward along the axial direction of the corresponding arcuate groove, and the length of the outward extension of the inner support telescopic flap is not less than the depth of the central shaft hole.

[0015] Secondly, this utility model also provides a technical solution as follows: a rotary clamping manipulator, comprising a limiting plate, a rotary drive device, a movable shaft, a movable rod, a limiting shaft, a limiting block, a clamping rod, and a clamping device. The clamping device includes the shaft-type part internal support gripper described in the first aspect. The limiting plate is connected to an external transmission module. The limiting plate is provided with a limiting track. The movable shaft is movably disposed within the limiting track. The rotary drive device is fixed to one side of the limiting plate. One end of the movable rod is sleeved on the output shaft of the rotary drive device, and the other end of the movable rod is sleeved on the movable shaft. The limiting plate is provided with a limiting hole. The limiting shaft is rotatably disposed within the limiting hole. The limiting block is disposed on the limiting shaft. One end of the clamping rod is connected to the movable shaft. The clamping rod is also movably engaged with the limiting block. The clamping device is located at the other end of the clamping rod opposite to the connection with the movable shaft. The rotary drive device is used to drive the movable rod to swing, so that the movable rod drives the movable shaft to move along the limiting track. The movable shaft is used to drive the limiting block to rotate around the limiting shaft as a pivot during the movement along the limiting track, and to drive the clamping rod to slide back and forth relative to the limiting block. The clamping rod is used to drive the clamping device to rotate and change direction during the rotation with the limiting block, and to drive the clamping device to move back and forth along the length direction of the clamping rod during the sliding back and forth relative to the limiting block, so as to internally clamp the shaft parts and pick up and put away the shaft parts.

[0016] In some embodiments, the rotary drive device includes one of the following: a drive motor and a rotary cylinder.

[0017] Compared with the prior art, the shaft-type part internal support gripper and robot provided in this application embodiment adopts a configuration of a parallel gripper, a connecting block, and an internal support head. The parallel gripper has multiple ring-shaped sliders arranged at equal intervals, and each slider is connected to a connecting block. The internal support head includes multiple ring-shaped internal support telescopic petals arranged at equal angular intervals. One of the connecting blocks, located away from the end connected to the slider, is an internal support telescopic petal. Through the parallel gripper, the multiple sliders are driven to move the connecting block and the corresponding internal support telescopic petals back and forth along the radial direction of the internal support head. The mechanism allows multiple inner support telescopic flaps to retract and close or expand and open. When the multiple inner support telescopic flaps expand and open, the inner support head extending into the central shaft hole of the shaft part expands and adheres tightly to the inner wall of the central shaft hole, so that the inner support jaws of the shaft part can grip the shaft part. When the multiple inner support telescopic flaps retract and close, the inner support head extending into the central shaft hole retracts and loosens relative to the shaft part. This solves the problem in related technologies where external grippers easily damage the workpiece and cannot accurately feed materials. It enables the inner support to grip the shaft part, reduces the risk of mirror damage to the shaft part, and ensures the mirror finish of the polished shaft part. Attached Figure Description

[0018] Figure 1 A schematic diagram of a shaft-type part that has been polished in existing and present application embodiments;

[0019] Figure 2 This is a three-dimensional structural diagram of the internal support gripper of a shaft-type part according to an embodiment of this application;

[0020] Figure 3 This is a schematic diagram showing the inner support head of the inner support claw of the shaft part in the retracted state according to an embodiment of this application;

[0021] Figure 4 This is a schematic diagram showing the inner support head of the inner support claw of the shaft part in an outward expansion state according to an embodiment of this application;

[0022] Figure 5 This is a schematic diagram of the adapter connection block according to an embodiment of this application;

[0023] Figure 6 This is a schematic diagram of a rotary gripping robot according to an embodiment of this application;

[0024] Figure 7 This is another schematic diagram of the rotary gripping robot according to an embodiment of this application.

[0025] Icon labels:

[0026] 001. Shaft-type parts; 002. Central shaft hole; 003. First step; 004. Second step;

[0027] 100. Parallel gripper; 11. Slider;

[0028] 200. Adapter connecting block; 21. Turning part; 22. Connecting part; 23. Mounting part; 221. Slot; 231. Mounting locking flap; 232. Arc groove; 233. Limiting flange;

[0029] 300. Inner support head; 31. Inner support telescopic flap;

[0030] 400. First pin;

[0031] 500, Second pin;

[0032] 101. Limiting plate; 102. Rotary drive device; 103. Movable shaft; 104. Movable rod; 105. Limiting shaft; 106. Limiting block; 107. Clamping rod; 108. Clamping device; 109. Limiting track; 110. Limiting hole. Detailed Implementation

[0033] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0034] It should be noted that when a component is said to be "mounted on" another component, it can be directly mounted on the other component or may be interspersed with a component. When a component is said to be "set on" another component, it can be directly set on the other component or may be interspersed with a component. When a component is said to be "fixed to" another component, it can be directly fixed to the other component or may be interspersed with a component.

[0035] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "or / and" as used herein includes any and all combinations of one or more of the associated listed items.

[0036] Please see Figures 1 to 5The internal support gripper for shaft parts in this embodiment includes a parallel gripper 100, a connecting block 200, and an internal support head 300. The parallel gripper 100 has a plurality of ring-shaped and equally spaced sliders 11, each slider 11 being connected to a connecting block 200. The internal support head 300 includes a plurality of ring-shaped and equally spaced internal support telescopic flaps 31. One end of the connecting block 200 away from the end connected to the slider 11 has one internal support telescopic flap 31.

[0037] The parallel clamp 100 is used to drive multiple sliders 11 to move the adapter block 200 and the corresponding inner support telescopic flap 31 back and forth along the radial direction of the inner support head 300, so that the multiple inner support telescopic flaps 31 retract inward or expand outward.

[0038] In this embodiment, the number of sliders 11 (corresponding to grippers) of the parallel gripper 100 matches the number of inner support telescopic flaps 31 of the inner support head 300. That is, the parallel gripper 100 drives multiple sliders 11 to slide, thereby causing the multiple inner support telescopic flaps 31 of the inner support head 300 to retract and close (see reference). Figure 3 At this point, the inner support head 300 closes into a cylinder, and does not internally support the corresponding shaft part 001) or expands outward (refer to...). Figure 4 At this time, the inner support head 300 forms an expansion shaft, which is tightly attached to the shaft part 001 through the outer wall of the multiple inner support telescopic flaps 31, so as to support the shaft part corresponding to the inner support.

[0039] When the multiple inner support telescopic flaps 31 expand outward, the inner support head 300, which extends into the central shaft hole 002 of the shaft part 001, expands outward and adheres tightly to the inner side wall of the central shaft hole 002, so that the inner support claw of the shaft part can hold the shaft part 001; when the multiple inner support telescopic flaps 31 retract and close inward, the inner support head 300, which extends into the central shaft hole 002, retracts inward and loosens relative to the shaft part 001.

[0040] In this embodiment, the inner support head 300 is divided into equal arc sections according to the number of inner support telescopic flaps 31. In this embodiment, the inner support telescopic flaps 31 can be divided into semi-circular inner support telescopic flaps and fan-shaped inner support telescopic flaps of different arcs, depending on their number. In this embodiment, when grinding and loading the shaft part 001, the shaft part inner support gripper is driven to be positioned above the shaft part 001 placed in the tray and aligned with the central shaft hole 002 of the shaft part 001. Then, the inner support head 300 is... The inner support head 300 retracts into a cylindrical state and extends into the central shaft hole 002 of the shaft part 001. Then, the parallel clamp 100 drives the slider 11 to cause the inner support telescopic flap 31 to expand outward in the radial direction, so that the outer wall of the inner support telescopic flap 31 is pressed against the inner wall of the central shaft hole 002. This causes the inner support head 300 to expand outward and clamp the shaft part 001. Subsequently, the shaft part inner support jaws drive the shaft part 001 clamped by the inner support to rotate and move and align with the machining center of the grinding device. Then, the shaft part inner support jaws clamp the inner support. After the shaft part 001 is fed into the grinding device, the parallel gripper 100 drives the slider 11 to cause the inner support telescopic flap 31 to retract radially inward, causing the inner support head 300 to retract and close into a cylindrical state, and detach from the shaft part 001, thus placing the shaft part 001 in the grinding device. Afterward, the shaft part's inner support jaws are driven to remove the inner support head 300 from the grinding device. After grinding is completed, the shaft part's inner support jaws are driven to extend the inner support head 300, which is now in a retracted cylindrical state, into the grinding device. After the grinding device is inserted into the central shaft hole 002 of the ground shaft part 001, the multiple inner support telescopic flaps 31 of the inner support head 300 are driven to expand outward in the radial direction, so that the inner support head 300 once again clamps the shaft part 001 inward. Then, by driving the inner support claw of the shaft part, the inner support head 300 and the shaft part 001 are driven to exit the grinding device and rotate and swing onto the material collection plate, and then disengage from the shaft part 001. This process is repeated to achieve the inner support clamping of the shaft part 001 during processing.

[0041] In the aforementioned shaft-type part internal support gripper, a parallel gripper 100, a connecting block 200, and an internal support head 300 are used. The parallel gripper 100 has multiple ring-shaped and equally spaced sliders 11, each slider 11 connected to a connecting block 200. The internal support head 300 includes multiple ring-shaped and equally spaced internal support telescopic flaps 31. One end of the connecting block 200 away from the slider 11 is provided with an internal support telescopic flap 31. Through the parallel gripper 100, the multiple sliders 11 are driven to move the connecting block 200 and the corresponding internal support telescopic flaps 31 reciprocally along the radial direction of the internal support head 300, thereby enabling the multiple internal support flaps 300 to reciprocate. When the multiple inner support telescopic flaps 31 retract and close or expand outward, the inner support head 300, which extends into the central shaft hole 002 of the shaft part 001, expands outward and adheres tightly to the inner wall of the central shaft hole 002, so that the inner support claws of the shaft part can clamp the shaft part 001. When the multiple inner support telescopic flaps 31 retract and close, the inner support head 300, which extends into the central shaft hole 002, retracts and loosens relative to the shaft part 001. This solves the problem that externally added claws in related technologies are prone to damaging workpieces and cannot accurately feed materials. It realizes the inner support clamping of shaft parts, reduces the risk of mirror damage to shaft parts, and ensures the mirror surface finish of the polished shaft parts.

[0042] In some embodiments, the inner support head 300 includes one of the following: an inner support head with two symmetrically arranged inner support telescopic petals 31, an inner support head with three inner support telescopic petals 31 arranged in a ring, or an inner support head with four inner support telescopic petals 31 arranged in a cross shape; the parallel gripper 100 includes one of the following: a two-jaw parallel gripper, a three-jaw parallel gripper, or a four-jaw parallel gripper.

[0043] In this embodiment, when the inner support head 300 is provided with two inner support telescopic petals 31, the parallel gripper 100 is a two-jaw parallel gripper; when the inner support head 300 is provided with three inner support telescopic petals, the parallel gripper 100 is a three-jaw parallel gripper; and when the inner support head 300 is provided with four inner support telescopic petals 31, the parallel gripper 100 is a four-jaw parallel gripper. In this embodiment, the inner support head 300 is preferably an inner support head with two inner support telescopic petals 31, and correspondingly, the parallel gripper 100 is preferably a two-jaw parallel gripper.

[0044] In some embodiments, the gripper that drives the corresponding slider 11 to move the inner support telescopic flap 31 in parallel radial reciprocating motion is suitable for the parallel gripper of this application embodiment. For example, the parallel gripper 100 of this application embodiment may be an electric gripper or a pneumatic gripper.

[0045] To achieve the connection between the slider 11 and the inner support head 300, in some embodiments, the adapter connecting block 200 includes a connecting part 22 and a mounting part 23 connected by a turning part 21. The connecting part 22, the turning part 21, and the mounting part 23 are integrally formed into a Z-shaped connecting block. The connecting part 22 is provided with a slot 221. The slider 11 is inserted into the corresponding slot 221, and the slider 11 is locked to the connecting part 22 by a first pin 400, so that the slider 11 is connected to the adapter connecting block 200. The mounting part 23 is provided with two mounting locking flaps 231. An arc-shaped groove 232 is formed at the position opposite to the two mounting locking flaps 231. An inner support telescopic flap 31 is embedded in the arc-shaped groove 232, and the two mounting locking flaps 231 are locked by a second pin 500, so that the two mounting locking flaps 231 are clamped to the inner support telescopic flap 31 placed in the corresponding arc-shaped groove 232.

[0046] It is understandable that with this setup, the arc-shaped groove 232 is used as the mounting position, and the clamping latches of the two mounting locking flaps 231 are used to connect the corresponding inner support telescopic flap 31 to the adapter connecting block 200, thereby connecting the inner support telescopic flap 31 to the corresponding slider 11.

[0047] In order to achieve a stable connection between the inner support telescopic flap 31 and the adapter connecting block 200, in some embodiments, two inwardly protruding limiting flanges 233 are provided on both sides of the opening of each arc groove 232. The two limiting flanges 233 are used to limit and fix the inner support telescopic flap 31 embedded in the arc groove 232.

[0048] It is understandable that with this setting, the arc-shaped groove 232 forms a limiting slot-hole type mounting position through the two limiting flanges 233. After the inner support telescopic flap 31 is inserted from one side of the arc-shaped groove 232 in the axial direction and placed in the corresponding position, the inner support telescopic flap 31 is limited and fixed, and will not move in the radial direction of the arc of the arc-shaped groove 232. This ensures the concentricity of the inner support head 300 when it retracts and closes, and the inner support head 300 can smoothly extend into the central shaft hole 002 of the shaft part 001.

[0049] To ensure that the corresponding grippers do not need to extend into the grinding device when feeding shaft parts 001, in some embodiments, the inner support telescopic flap 31 extends outward along the axial direction of the corresponding arc groove 232, and the length of the inner support telescopic flap 31 extending outward is not less than the depth of the central shaft hole 002.

[0050] Please see Figures 1 to 7This application provides a rotary clamping robot, including a limiting disk 101, a rotary drive device 102, a movable shaft 103, a movable rod 104, a limiting shaft 105, a limiting block 106, a clamping rod 107, and a clamping device 108. The clamping device 108 includes the shaft-type part internal support gripper as described in the above embodiment. The limiting disk 101 is connected to an external transmission module (not shown in the drawings). A limiting track 109 is provided on the limiting disk 101, and the movable shaft 103 is movably disposed within the limiting track 109. The rotary drive device 102 is fixed to the limiting track 109. On one side of the positioning disk 101, one end of the movable rod 104 is sleeved on the output shaft of the rotary drive device 102, and the other end of the movable rod 104 is sleeved on the movable shaft 103. The limiting disk 101 has a limiting hole 110, and the limiting shaft 105 is rotatably disposed within the limiting hole 110. A limiting block 106 is disposed on the limiting shaft 105. One end of the clamping rod 107 is connected to the movable shaft 103, and the clamping rod 107 is also movably engaged with the limiting block 106. A clamping device 108 is disposed on the other end of the clamping rod 107 opposite to the end connected to the movable shaft 103.

[0051] The rotary drive device 102 is used to drive the movable rod 104 to swing, so that the movable rod 104 drives the movable shaft 103 to move along the limiting track 109.

[0052] The movable shaft 103 is used to pull the limiting block 106 to rotate around the limiting shaft 105 as the pivot during the movement along the limiting track 109, and to pull the clamping rod 107 to extend and slide relative to the limiting block 106.

[0053] The clamping rod 107 is used to drive the clamping device 108 to rotate and change direction during the rotation of the following limit block 106, and to drive the clamping device 108 to move back and forth along the length direction of the clamping rod 107 during the extension and retraction of the relative limit block 106, so as to internally support and clamp the shaft part 001 and pick up and put away the shaft part.

[0054] In some embodiments, the rotary drive device 102 includes one of the following: a drive motor, a rotary cylinder.

[0055] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0056] Those skilled in the art should recognize that the above embodiments are only used to illustrate the present utility model and are not intended to limit the present utility model. Any appropriate changes and variations made to the above embodiments within the scope of the essential spirit of the present utility model shall fall within the scope of protection claimed by the present utility model.

Claims

1. A shaft part inner supporting clamp jaw characterized by, The parallel holder (100) is used for driving a plurality of the sliding blocks (11) to drive the adapter connecting block (200) and the corresponding inner support telescopic petals (31) to reciprocate along the radial direction of the inner support head (300), so that a plurality of the inner support telescopic petals (31) are retracted or expanded. When a plurality of the inner support telescopic petals (31) are expanded, the inner support head (300) extending into the central shaft hole (002) of the shaft part (001) is expanded and tightly attached to the inner wall of the central shaft hole (002), so that the shaft part is supported and clamped by the inner support clamping jaw; when a plurality of the inner support telescopic petals (31) are retracted, the inner support head (300) extending into the central shaft hole (002) is retracted and released relative to the shaft part (001). The inner support head (300) includes one of the following inner support heads: a two-petal inner support head with the two inner support telescopic petals (31) symmetrically arranged, a three-petal inner support head with the three inner support telescopic petals (31) arranged in a ring shape, and a four-petal inner support head with the four inner support telescopic petals (31) arranged in a cross shape.

2. The shaft part inner support clamp jaw according to claim 1, characterized by, The parallel holder (100) includes one of the following: a two-jaw parallel holder, a three-jaw parallel holder, and a four-jaw parallel holder.

3. The shaft part inner support clamp jaw according to claim 2, characterized by, The parallel holder (100) includes one of the following: an electric holder and a pneumatic holder.

4. The shaft part inner support clamp jaw according to claim 3, characterized by, The adapter connecting block (200) includes a connecting portion (22) and a mounting portion (23) connected by a turning portion (21), and the connecting portion (22), the turning portion (21), and the mounting portion (23) are integrally formed as a Z-shaped connecting block; the connecting portion (22) is provided with a clamping groove (221), the sliding block (11) is clamped into the corresponding clamping groove (221), and the sliding block (11) is locked with the connecting portion (22) through a first pin (400), so that the sliding block (11) is connected with the adapter connecting block (200); the mounting portion (23) is provided with two mounting locking petals (231), and the opposite positions of the two mounting locking petals (231) are provided with arc-shaped grooves (232), one inner support telescopic petal (31) is embedded in the arc-shaped groove (232), and the two mounting locking petals (231) are locked through a second pin (500), so that the two mounting locking petals (231) clamp the inner support telescopic petal (31) in the corresponding arc-shaped groove (232).

5. The shaft part inner support clamp jaw according to claim 1, characterized by, ​ 6. The shaft part inner support clamp jaw according to claim 5, characterized by Two inwardly protruding limiting flanges (233) are further arranged at both sides of the opening of each of the arc-shaped grooves (232), and the two limiting flanges (233) are used for limiting and clamping the inner support telescopic petals (31) embedded in the arc-shaped grooves (232).

7. The shaft part inner support clamp jaw according to claim 6, characterized by The inner support telescopic petals (31) extend outward along the axial direction of the corresponding arc-shaped grooves (232), and the length of the outward extension of the inner support telescopic petals (31) is not less than the depth of the central hole (002).

8. A rotary chucking robot characterized by comprising: The device comprises a limiting disc (101), a rotary driving device (102), a movable shaft (103), a movable rod (104), a limiting shaft (105), a limiting block (106), a clamping rod (107) and a clamping device (108), the clamping device (108) comprises the shaft part inner support clamping jaw of any one of claims 1 to 7, the limiting disc (101) is connected with an external transmission module, a limiting track (109) is arranged on the limiting disc (101), the movable shaft (103) is movably arranged in the limiting track (109), the rotary driving device (102) is fixed on one side of the limiting disc (101), one end of the movable rod (104) is sleeved on the output shaft of the rotary driving device (102), the other end of the movable rod (104) is sleeved on the movable shaft (103), a limiting hole (110) is arranged on the limiting disc (101), the limiting shaft (105) is rotatably arranged in the limiting hole (110), the limiting block (106) is arranged on the limiting shaft (105), one end of the clamping rod (107) is connected with the movable shaft (103), the clamping rod (107) is also movably connected with the limiting block (106), and the clamping device (108) is arranged on the other end of the clamping rod (107) away from the movable shaft (103), wherein, The rotary driving device (102) is used for driving the movable rod (104) to swing, so that the movable rod (104) drives the movable shaft (103) to move along the limiting track (109); The movable shaft (103) is used for driving the limiting block (106) to rotate around the limiting shaft (105) and driving the clamping rod (107) to slide relative to the limiting block (106) during the movement along the limiting track (109); The clamping rod (107) is used for driving the clamping device (108) to rotate and change direction during the rotation with the limiting block (106), and driving the clamping device (108) to move forward and backward along the length direction of the clamping rod (107) during the sliding relative to the limiting block (106), so as to support and clamp the shaft part (001) and take and place the shaft part.

9. The rotary gripper robot according to claim 8, characterized in that The rotary driving device (102) comprises one of a driving motor and a rotary cylinder.

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