Automatic loading and assembling device for gaskets of a parachute

Abstract

The utility model relates to the field of slow -descent ware production equipment discloses a kind of gasket automatic feeding assembly device of slow -descent ware, including rack, feeding mechanism, feeding track, thickness detection mechanism, blowing mechanism, distribution mechanism and assembly mechanism;Feeding mechanism is located on rack, and its discharge end is butt joint with feeding track, for feeding track continuous one by one supply gasket;Thickness detection mechanism is located on feeding track, for detecting the gasket thickness on feeding track;Blowing mechanism is located on feeding track, located downstream of thickness detection mechanism, for corresponding gasket is blown back feeding mechanism;Distribution mechanism is located on rack, located downstream of blowing mechanism, for gasket of last end of feeding track is moved to feeding station;Assembly mechanism is located on rack, for gasket of feeding station is transferred and inserted to the shaft in shaft jig on the shaft.The utility model can solve how to improve the feeding assembly efficiency of slow -descent ware gasket, and ensure the assembly quality of gasket problem.

Description

Technical Field

[0001] This utility model relates to the field of decelerator production equipment, specifically to an automatic feeding and assembly device for decelerator pads. Background Technology

[0002] In the production process of decelerators, the feeding and assembly of gaskets is a crucial step. Traditional gasket feeding and assembly methods rely heavily on manual operation, which is not only labor-intensive and inefficient but also makes it difficult to guarantee the accuracy of gasket feeding and the consistency of assembly quality. With the development of automated production technology, some companies have begun to introduce automated gasket feeding and assembly equipment to improve the production efficiency and product quality of decelerators. These devices have achieved automation of gasket feeding and assembly to a certain extent, improving production efficiency and reducing labor intensity. However, existing automated gasket feeding and assembly equipment still has some shortcomings in practical applications.

[0003] One prominent issue is the potential for overlapping gaskets during the feeding process. Because gaskets are typically thin and regularly shaped, they can easily stick together or overlap during feeding due to vibration and friction. Most existing equipment lacks effective handling mechanisms for these overlapping gaskets. When overlapping gaskets enter subsequent assembly processes, it can lead to assembly failure or reduced assembly quality. For example, overlapping gaskets may not be correctly installed in their designated positions, affecting the fit accuracy between components; or the increased gasket thickness may cause uneven stress on the internal mechanical structure of the decelerator, accelerating component wear and reducing the decelerator's lifespan.

[0004] Furthermore, existing gasket feeding and assembly equipment is poorly adaptable to different gasket specifications. In actual production, decelerators may use a variety of gasket specifications, but existing equipment often only feeds and assembles gaskets of specific specifications. When it is necessary to change the gasket specification, complex adjustments and modifications to the equipment are required, which not only increases production costs but also affects production flexibility and efficiency.

[0005] In summary, existing methods for feeding and assembling decelerator gaskets, whether traditional manual operation or partially automated equipment, have their limitations and cannot meet the demands of large-scale, high-efficiency, and high-quality production of modern decelerators. Therefore, it is necessary to develop an automated gasket feeding and assembly device for decelerators to solve the problems existing in the current technology and improve the production efficiency and product quality of decelerators. Utility Model Content

[0006] (a) Technical problems to be solved

[0007] This utility model provides an automatic feeding and assembly device for gaskets of a decelerator, which can at least solve the technical problem of how to improve the feeding and assembly efficiency of decelerator gaskets and ensure the assembly quality of the gaskets.

[0008] (II) Technical Solution

[0009] To solve the above-mentioned technical problems, this utility model provides the following technical solution: an automatic feeding and assembly device for the gaskets of a decelerator, comprising:

[0010] frame;

[0011] The feeding mechanism and the feeding track are provided. The feeding mechanism is located on the frame and its discharge end is connected to the feeding track. The feeding mechanism is used to continuously supply gaskets to the feeding track one by one.

[0012] A thickness detection mechanism is installed on the feeding track and is used to detect the thickness of the shims on the feeding track.

[0013] The blowing mechanism is located on the feeding track and downstream of the thickness detection mechanism. The blowing mechanism is used to blow the corresponding gasket back to the feeding mechanism.

[0014] The material distribution mechanism is located on the frame and downstream of the blowing mechanism. The material distribution mechanism is used to move the pad at the end of the feeding track to the loading station.

[0015] The assembly mechanism, located on the frame, is used to transfer the shims from the loading station to the rotating shaft in the rotating shaft fixture.

[0016] Further, the aforementioned material distribution mechanism includes a material distribution column and a material distribution column drive. The material distribution column is movably located at the discharge end of the feeding track, and the material distribution column drive is located on the frame and is connected to the material distribution column in a transmission manner. The material distribution column drive is used to drive the material distribution column to move toward or away from the feeding track.

[0017] Furthermore, a baffle is fixed on the free end of the aforementioned feeding track. The baffle is used to prevent the gasket from moving out of the feeding track. A clearance through hole is opened at the bottom of the feeding track for the material distribution column to pass through and move.

[0018] In a further configuration, the bottom surface of the aforementioned feeding track is inclined downward toward the feeding mechanism, and an air hole is opened on the higher side of the bottom surface of the feeding track. The air hole is connected to the blowing mechanism, which is used to blow air into the air hole to blow the gasket corresponding to the air hole back to the feeding mechanism.

[0019] Further configuration: the aforementioned feeding track includes a first sidewall and a second sidewall arranged opposite to each other. The first sidewall and the second sidewall are respectively connected to the higher side and the lower side of the bottom surface of the feeding track. The height of the first sidewall is higher than the height of the second sidewall, and the height of the second sidewall is consistent with the thickness of the single pad.

[0020] As a further feature, a detection hole is provided on the aforementioned first sidewall, and the detection end of the thickness detection mechanism is inserted into the detection hole.

[0021] Furthermore, the aforementioned feeding track is provided in at least two locations, and the thickness detection mechanism, blowing mechanism, material distribution mechanism and feeding track are all the same number and are set up in a one-to-one correspondence.

[0022] Further configuration: the aforementioned assembly mechanism includes a robotic arm and fixtures. The number of fixtures is the same as the number of feeding tracks and they are set one-to-one. The fixtures are used to hold or release the pads. The robotic arm is mounted on the frame and is connected to several fixtures via transmission. The robotic arm is used to drive several fixtures to reciprocate between the loading station and the rotating jig.

[0023] In a further configuration, the aforementioned clamp includes a clamping drive and two clamping arms. The clamping arms are provided with limiting recesses. The limiting recesses of the two clamping arms combine to form a limiting space for accommodating and limiting the pad. The clamping drive is located on the output end of the robot and is connected to the two clamping arms in a transmission manner. The clamping drive is used to drive the two clamping arms to move towards or away from each other.

[0024] (III) Beneficial Effects

[0025] Compared with the prior art, the automatic feeding and assembly device for the gasket of the decelerator provided by this utility model has the following advantages:

[0026] 1. When using the automatic feeding and assembly device for the decelerator pads provided by this utility model, firstly, the feeding mechanism supplies the pads one by one to the feeding track. The pads are arranged sequentially on the feeding track and move towards the end of the feeding channel under the discharge action of the feeding mechanism. When the pad slides to the position of the thickness detection mechanism, the thickness detection mechanism detects the thickness of the pad. If the detected pad thickness is greater than the design thickness, it indicates that the pads have overlapped. Then, the blowing mechanism blows air onto the pad when the pad moves to the position of the blowing mechanism to blow the overlapping pads back to the feeding mechanism and re-feed them. Otherwise, the pads with qualified thickness continue to slide to the end of the feeding channel. Then, the sorting mechanism moves the pad at the end of the feeding channel to the feeding station. Finally, the assembly mechanism transfers the pad at the feeding station to the top of the rotating shaft of the rotating shaft fixture and accurately inserts the pad into the rotating shaft, completing the assembly of the pads. As can be seen, this utility model achieves automated feeding and assembly of decelerator gaskets through the coordinated cooperation of various mechanisms. The entire feeding and assembly process does not require manual intervention, which significantly improves the feeding and assembly efficiency of gaskets, thereby effectively improving the overall production efficiency of the decelerator. At the same time, through the cooperation of the thickness detection mechanism and the blowing mechanism, overlapping gaskets can be detected and removed in a timely manner, preventing overlapping gaskets from entering the subsequent assembly stage, and effectively ensuring the assembly quality of the gaskets.

[0027] 2. This utility model can not only blow overlapping gaskets back to the feeding mechanism for refeeding through the blowing mechanism, but also prevent the next gasket from moving to the end of the feeding track before the gasket at the end of the feeding track has moved to the loading station. This plays a role in controlling the feeding rhythm and ensuring that the gaskets can be fed according to the predetermined rhythm, avoiding the situation where the gaskets accumulate at the end of the feeding track, thus making the entire feeding process smoother. Attached Figure Description

[0028] Figure 1 This is a perspective view of the automatic feeding and assembly device for the gasket of the decelerator in the embodiment;

[0029] Figure 2 for Figure 1 Enlarged view of point A in the middle;

[0030] Figure 3 for Figure 1 Enlarged view of point B in the middle;

[0031] Figure 4 This is a partial structural diagram of the frame, feeding mechanism, feeding track and distributing mechanism in the embodiment.

[0032] Icon labels:

[0033] 1. Frame; 2. Feeding mechanism;

[0034] 3. Feeding track; 31. Baffle; 32. Clearance hole; 33. Air hole; 34. First side wall; 35. Second side wall; 36. Inspection hole;

[0035] 4. Material distribution mechanism; 41. Material distribution column; 42. Material distribution column drive component;

[0036] 5. Assembly mechanism; 51. Robotic arm; 52. Fixture; 521. Clamping drive component; 522. Grip arm; 5221. Limiting recess; 5222. Limiting space;

[0037] 6. Gasket; 7. Rotary shaft fixture. Detailed Implementation

[0038] 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.

[0039] This utility model provides an automatic feeding and assembly device for the gaskets of a decelerator, which is used to solve the problem of how to improve the feeding and assembly efficiency of the decelerator gaskets 6 and ensure the assembly quality of the gaskets 6.

[0040] See Figure 1 As shown, Figure 1 The figure shows a perspective view of the automatic feeding and assembly device for the gasket of the decelerator in the embodiment. The automatic feeding and assembly device for the gasket of the decelerator includes a frame 1, a feeding mechanism 2, a feeding track 3, a thickness detection mechanism, a blowing mechanism, a distributing mechanism 4, and an assembly mechanism 5.

[0041] The feeding mechanism 2 is mounted on the frame 1, and its discharge end is connected to the feeding track 3. The feeding mechanism 2 is used to continuously supply the gaskets 6 one by one to the feeding track 3.

[0042] A thickness detection mechanism (not shown in the figure) is installed on the feeding track 3 and is used to detect the thickness of the gasket 6 on the feeding track 3.

[0043] The blowing mechanism (not shown in the figure) is mounted on the feeding track 3 and located downstream of the thickness detection mechanism. The blowing mechanism is used to blow the corresponding gasket 6 back to the feeding mechanism 2.

[0044] The material distribution mechanism 4 is mounted on the frame 1 and is located downstream of the blowing mechanism. The material distribution mechanism 4 is used to move the pad 6 at the end of the feeding track 3 to the loading station.

[0045] Assembly mechanism 5 is mounted on frame 1 and is used to transfer the pad 6 of the loading station to the rotating shaft (not shown in the figure) in rotating shaft fixture 7.

[0046] When using the automatic feeding and assembly device for the decelerator pads in the above technical solution, firstly, the feeding mechanism 2 supplies the pads 6 one by one to the feeding track 3. The pads 6 are arranged sequentially on the feeding track 3 and move towards the end of the feeding channel under the discharge action of the feeding mechanism 2. When the pad 6 slides to the position of the thickness detection mechanism, the thickness detection mechanism detects the thickness of the pad 6. If the detected thickness of the pad 6 is greater than the design thickness, it indicates that the pads 6 have overlapped. Then, the blowing mechanism will blow air onto the pad 6 when the pad 6 moves to the position of the blowing mechanism, blowing the overlapping pads 6 back to the feeding mechanism 2, and re-feeding. Conversely, the pads 6 with qualified thickness continue to slide to the end of the feeding channel. Then, the sorting mechanism 4 moves the pad 6 at the end of the feeding channel to the loading station. Finally, the assembly mechanism 5 transfers the pad 6 at the loading station to the top of the rotating shaft of the rotating shaft fixture 7 and accurately inserts the pad 6 into the rotating shaft, completing the assembly of the pad 6. As can be seen, this utility model achieves automated feeding and assembly of the decelerator gasket 6 through the coordinated operation of various mechanisms. The entire feeding and assembly process requires no manual intervention, significantly improving the feeding and assembly efficiency of the gasket 6, thereby effectively improving the overall production efficiency of the decelerator. At the same time, through the cooperation of the thickness detection mechanism and the blowing mechanism, overlapping gaskets 6 can be detected and removed in a timely manner, preventing overlapping gaskets 6 from entering subsequent assembly stages, effectively ensuring the assembly quality of the gasket 6.

[0047] Furthermore, this utility model, through its blowing mechanism, can not only blow overlapping gaskets 6 back to the feeding mechanism 2 for refeeding, but also prevent the next gasket 6 from moving to the end of the feeding track 3 before the gasket 6 at the end of the feeding track 3 has moved to the loading station. This controls the feeding rhythm, ensuring that the gaskets 6 are fed according to the predetermined rhythm, and preventing the gaskets 6 from accumulating at the end of the feeding track 3, thus making the entire feeding process smoother.

[0048] The aforementioned feeding mechanism 2 can use an existing mechanical vibratory feeder. The thickness detection mechanism can use existing thickness sensors such as laser displacement sensors and laser triangular reflection sensors. The blowing mechanism can use existing air blowing equipment.

[0049] See Figure 1 , Figure 2 and Figure 4 As shown, Figure 2 for Figure 1 Enlarged diagram of point A in the middle. Figure 4This is a partial structural diagram of the frame, feeding mechanism, feeding track, and distributing mechanism in an embodiment. In one embodiment of the distributing mechanism 4, the distributing mechanism 4 includes a distributing column 41 and a distributing column drive component 42. The distributing column 41 is movably disposed at the discharge end of the feeding track 3. The distributing column drive component 42 is disposed on the frame 1 by means of screwing or welding, and is drively connected to the distributing column 41. The distributing column drive component 42 is used to drive the distributing column 41 to move towards or away from the feeding track 3. Thus, the distributing mechanism 4, with its structure of distributing column 41 and distributing column drive component 42, can accurately move the pad 6 at the very end of the feeding channel to the loading station, improving the accuracy and stability of distributing materials and providing a reliable guarantee for subsequent assembly processes.

[0050] The aforementioned loading station can be located above the free end of the feeding track 3, such as... Figure 4 As shown, the material distribution column 41 is stepped. Thus, when the material distribution column drive 42 drives the material distribution column 41 to rise, it can lift the last pad 6 of the feeding track 3 away from the feeding track 3 and rise to the loading station. In addition, the material distribution column 41 can also penetrate the inner ring of the pad 6 to ensure the accuracy of the pad 6 position.

[0051] The aforementioned material distribution column drive component 42 can use existing linear drive mechanisms such as telescopic cylinders and telescopic poles, and its output end is connected to the material distribution column 41 by means of screwing or welding.

[0052] See Figure 1 , Figure 2 and Figure 4 As shown, based on the above embodiment, a baffle 31 is fixed to the free end of the feeding track 3 by means of screwing or welding. The baffle 31 is used to prevent the gasket 6 from moving out of the feeding track 3. A clearance through hole 32 is opened at the bottom of the feeding track 3, which is used for the material distribution column 41 to pass through and move. In this way, the baffle 31 prevents the gasket 6 from being pushed out of the feeding channel by the material discharge of the feeding mechanism 2, ensuring the stability of the feeding; the clearance through hole 32 provides space for the movement of the material distribution column 41, so that the material distribution operation can be carried out smoothly, improving the reliability and coordination of the entire device.

[0053] See Figure 2 and Figure 4As shown, based on any of the above embodiments, the bottom surface of the feeding track 3 is inclined downwards towards the feeding mechanism 2. An air hole 33 is opened on the higher side of the bottom surface of the feeding track 3, and the air hole 33 is connected to a blowing mechanism. The blowing mechanism is used to blow air into the air hole 33 to blow the corresponding pad 6 back to the feeding mechanism 2. Thus, the inclined bottom surface of the feeding track 3 guides the overlapping pads 6 on the feeding track 3 to separate and move towards the feeding mechanism 2. Simultaneously, in conjunction with the air hole 33 and the blowing mechanism, defective pads 6 can be blown back to the feeding mechanism 2 quickly and accurately, improving the efficiency and accuracy of rejecting defective products. Furthermore, the air hole 33 is located at the bottom of the feeding track 3, preventing the blowing mechanism from blowing pads 6 from other positions on the feeding track 3 back to the feeding mechanism 2 as well.

[0054] See Figure 2 and Figure 4 As shown, based on the above embodiment, the feeding track 3 includes a first sidewall 34 and a second sidewall 35 disposed opposite to each other. The first sidewall 34 and the second sidewall 35 are integrally connected to the higher and lower sides of the bottom surface of the feeding track 3, respectively. The height of the first sidewall 34 is higher than the height of the second sidewall 35, and the height of the second sidewall 35 is consistent with the thickness of the single pad 6. In this way, by reasonably setting the height of the two sidewalls of the feeding track 3, especially making the height of the second sidewall 35 consistent with the thickness of the single pad 6, the overlapping or stacking of the pads 6 during the feeding process can be effectively reduced. It can also guide the overlapping pads 6 on the feeding track 3 to separate, and guide the separated pads 6 to move tilted downward toward the feeding mechanism 2 for refeeding.

[0055] See Figure 2 and Figure 4 As shown, based on the above embodiment, a detection hole 36 is opened on the first sidewall 34, and the detection end of the thickness detection mechanism is inserted into the detection hole 36. In this way, before material distribution, the thickness detection mechanism can accurately detect the thickness of the gasket 6 corresponding to the detection hole 36 through the detection hole 36, promptly detect overlapping gaskets 6, and ensure the assembly quality of the gaskets 6.

[0056] See Figure 1As shown, based on any of the above embodiments, the number of feeding tracks 3 is at least two. The thickness detection mechanism, blowing mechanism, dispensing mechanism 4, and feeding tracks 3 are all the same in number and are arranged in a one-to-one correspondence. In this way, each feeding track 3 can be used to transport gaskets 6 of the same specification, so that the automatic gasket feeding and assembly device can handle the feeding, detection, and assembly of multiple gaskets 6 simultaneously, greatly improving production efficiency and meeting the needs of large-scale production; each feeding track 3 can also be used to transport gaskets 6 of different specifications, so that the automatic gasket feeding and assembly device can feed and assemble gaskets 6 of different specifications. When it is necessary to change the specification of the assembled gasket 6, it is only necessary to switch the corresponding feeding track 3 to feed, without the need for complex adjustments and modifications to the equipment, effectively improving the flexibility and efficiency of production.

[0057] See Figure 1 As shown, in one embodiment of the assembly mechanism 5, the assembly mechanism 5 includes a robot arm 51 and clamps 52. The number of clamps 52 is the same as the number of feeding tracks 3, and they are arranged in a one-to-one correspondence. The clamps 52 are used to clamp or release the pads 6. The robot arm 51 is mounted on the frame 1 by means of screwing or welding, and is connected to the clamps 52 in a transmission manner. The robot arm 51 is used to drive the clamps 52 to reciprocate between the loading station and the rotating fixture 7. In this way, the assembly mechanism 5, by using a combination of the robot arm 51 and the clamps 52, can simultaneously clamp and transfer several pads 6, further improving the assembly efficiency; wherein, the reciprocating motion of the robot arm 51 enables the pads 6 to be accurately and quickly transferred from the loading station to the rotating fixture 7, ensuring the accuracy and stability of the assembly.

[0058] See Figure 3 As shown, Figure 3 for Figure 1 The enlarged schematic diagram at point B shows that, in one embodiment of the clamp 52, the clamp 52 includes a clamping drive 521 and two clamping arms 522. Each clamping arm 522 has a limiting recess 5221, and the limiting recesses 5221 of the two clamping arms 522 combine to form a limiting space 5222 for accommodating and limiting the pad 6. The clamping drive 521 is mounted on the output end of the robot arm 51 by means of screwing or welding, and is drively connected to the two clamping arms 522. The clamping drive 521 drives the two clamping arms 522 to move towards or away from each other, thereby achieving reliable clamping and releasing of the pad 6, adjusting the limiting space 5222 to fit the pad 6, accurately and stably clamping the pad 6, preventing the pad 6 from falling or shifting during transfer, thus ensuring assembly quality.

[0059] The aforementioned robotic arm 51 can be an existing robotic arm 51, and the clamping drive 521 can be an existing clamping cylinder. The two output ends of the clamping drive 521 are respectively connected to the two clamping arms 522 by means of screwing or welding.

[0060] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An automatic feeding and assembly device for gaskets of a decelerator, characterized in that, include: frame; The feeding mechanism is mounted on the frame and its discharge end is connected to the feeding track. The feeding mechanism is used to continuously supply the gaskets one by one to the feeding track. A thickness detection mechanism is provided on the feeding track and is used to detect the thickness of the shims on the feeding track; A blowing mechanism is provided on the feeding track and located downstream of the thickness detection mechanism. The blowing mechanism is used to blow the corresponding gasket back to the feeding mechanism. The material distribution mechanism is located on the frame and downstream of the blowing mechanism. The material distribution mechanism is used to move the pad at the end of the feeding track to the loading station. An assembly mechanism, located on the frame, is used to transfer the pads from the loading station to the rotating shaft in the rotating shaft fixture.

2. The automatic feeding and assembly device for the gasket of the decelerator according to claim 1, characterized in that, The material distribution mechanism includes a material distribution column and a material distribution column drive. The material distribution column is movably disposed at the discharge end of the feeding track. The material distribution column drive is disposed on the frame and is connected to the material distribution column in a transmission manner. The material distribution column drive is used to drive the material distribution column to move toward or away from the feeding track.

3. The automatic feeding and assembly device for the gasket of the decelerator according to claim 2, characterized in that, A baffle is fixed on the free end of the feeding track to prevent the gasket from moving out of the feeding track. A clearance through hole is provided at the bottom of the feeding track for the material distribution column to pass through and move.

4. The automatic feeding and assembly device for the gasket of the decelerator according to any one of claims 1-3, characterized in that, The bottom surface of the feeding track is inclined downward toward the feeding mechanism. An air hole is opened on the higher side of the bottom surface of the feeding track. The air hole is connected to the blowing mechanism. The blowing mechanism is used to blow air into the air hole to blow the gasket corresponding to the air hole back to the feeding mechanism.

5. The automatic feeding and assembly device for the gasket of the decelerator according to claim 4, characterized in that, The feeding track includes a first sidewall and a second sidewall arranged opposite to each other. The first sidewall and the second sidewall are respectively connected to the higher side and the lower side of the bottom surface of the feeding track. The height of the first sidewall is higher than the height of the second sidewall, and the height of the second sidewall is the same as the thickness of a single piece of the pad.

6. The automatic feeding and assembly device for the gasket of the decelerator according to claim 5, characterized in that, A detection hole is provided on the first sidewall, and the detection end of the thickness detection mechanism is inserted into the detection hole.

7. The automatic feeding and assembly device for the gasket of the decelerator according to any one of claims 1, 2, 3, 5 and 6, characterized in that, The feeding track is provided in at least two ways. The thickness detection mechanism, blowing mechanism, distributing mechanism and feeding track are all the same in number and are set up in a one-to-one correspondence.

8. The automatic feeding and assembly device for the gasket of the decelerator according to claim 7, characterized in that, The assembly mechanism includes a robotic arm and clamps. The number of clamps is the same as the number of feeding tracks and they are arranged in a one-to-one correspondence. The clamps are used to hold or release the pads. The robotic arm is mounted on the frame and is connected to several clamps in a transmission manner. The robotic arm is used to drive several clamps to reciprocate between the loading station and the rotating fixture.

9. The automatic feeding and assembly device for the gasket of the decelerator according to claim 8, characterized in that, The clamp includes a clamping drive and two clamping arms. Each clamping arm has a limiting recess. The limiting recesses of the two clamping arms combine to form a limiting space for accommodating and limiting the pad. The clamping drive is located on the output end of the robot and is connected to the two clamping arms in a transmission manner. The clamping drive is used to drive the two clamping arms to move towards or away from each other.

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