The invention discloses a
robot with a rotary telescopic composite execution
tail end, and belongs to the technical field of
gear cutting machining robots. Comprising a rotary support, and the rotary support is provided with a left bearing and a right bearing which are coaxially arranged; the
slip ring is fixedly sleeved in the right bearing; the sliding rod is sleeved with the sliding ring in a sliding mode, and the sliding rod and the sliding ring are connected through an inner key. A cylinder body of the
telescopic cylinder is fixedly sleeved in the left bearing, and a
piston rod end is coaxially and rotationally connected with the sliding rod; the left clamping jaw
assembly and the right clamping jaw
assembly are correspondingly fixed to the cylinder body and the sliding rod respectively. Wherein an inner gear ring is fixed to the cylinder body, an outer gear ring is fixed to the sliding ring, and the gear driving mechanism is used for driving the inner gear ring and the outer gear ring. The
telescopic cylinder can control the cylinder body and the sliding rod to move relatively in the axial direction, the
servo motor can control the cylinder body and the sliding rod to rotate relatively, through cooperation of the
telescopic cylinder and the
servo motor, accurate control over the position and posture of the clamping jaw is completed, the mechanical arm has multiple grabbing
modes, the grabbing requirements of different types of gears are met, and the
machining precision and the surface quality of the gears are guaranteed.