CN210099405U - Binding post clamping jaw - Google Patents

Abstract

The utility model discloses a terminal clamping jaw, comprising: a rotating cylinder assembly, which is used for realizing different swing angles so as to clamp different types of terminals; the rotating cylinder assembly comprises: a rotating shaft, which provides a driving force through the rotating cylinder; an initial state limit The first state limit part is used to realize the positioning of the first rotation angle of the rotary cylinder; the second state limit part has a working position and a non-operating position relative to the bearing mounting plate. Working position, when the second state limiter is in the working position, it is used to realize the positioning of the second rotation angle of the rotary cylinder, and when the second state limiter is in the non-working position, the rotary cylinder can be realized in the first rotation Angle positioning, wherein the second rotation angle is smaller than the first rotation angle. The utility model solves the technical problem of using only one terminal clamping device to realize different types of terminals, and even realizes the clamping of special types of terminals.

Description

Terminal Claw

technical field

The utility model relates to the field of power distribution. More specifically, the utility model relates to a terminal clamp.

Background technique

With the rapid development of the power distribution industry, it is an inevitable trend for the industry to automatically clamp the terminals on the guide rails. The types of terminals are different. When the terminals are automatically clamped on the guide rails, there are bound to be problems. The technical difficulty is how to use the same terminal clamping device to realize the clamping of different types of terminals, even the clamping of special types of terminals.

Utility model content

An object of the present invention is to solve at least the above-mentioned problems and to provide at least the advantages which will be explained later.

Another object of the present invention is to provide a terminal clamp, which solves the technical problem of using one terminal clamping device to realize different types of terminals, and even realizes the clamping of special types of terminals.

In order to achieve these objects and other advantages according to the present invention, a terminal clamping claw is provided, including: a rotating cylinder assembly for realizing different swing angles so as to clamp different types of terminals; an air claw assembly, which is compatible with all The rotating cylinder assembly is connected and moves in and out; the terminal clamping arm assembly is connected with the air claw assembly and moves with the air claw assembly for clamping the terminal; wherein the rotating cylinder assembly includes:

a fixed plate assembly, which includes a bearing mounting plate;

a rotating shaft, which is mounted on the bearing mounting plate and provides driving force through a rotating cylinder;

an initial state limiter, which is mounted on the bearing mounting plate and used to realize the positioning of the initial state of rotation of the rotary cylinder;

a first state limiting part, which is mounted on the bearing mounting plate and is used to realize the positioning of a first rotation angle of the rotary cylinder, and the first rotation angle rotates a predetermined angle clockwise relative to the initial state;

The second state limiting portion is movably mounted on the bearing mounting plate, and the second state limiting portion has a working position and a non-working position relative to the bearing mounting plate. When the second state limiting portion When in the working position, it is used to realize the positioning of the second rotation angle of the rotary cylinder, and when the second state limiter is in the non-working position, the positioning of the rotary cylinder at the first rotation angle can be realized, Wherein, the second rotation angle is smaller than the first rotation angle.

Preferably, the first rotation angle is 83°˜85°, and the second rotation angle is 15°.

Preferably, the initial state limiting portion is a first limiting block, and the first limiting block is provided with a semi-cylindrical clamping groove, through which the cylindrical clamping piece can be clamped.

Preferably, the first state limiting portion is a buffer block, and the buffer block is provided with a cylinder or a cylinder-like body.

Preferably, the second state limiting portion is a first positioning pin, and the first positioning pin is a cylinder or a cylinder-like body that can expand and contract relative to the bearing mounting plate.

Preferably, the first positioning pin shaft realizes its telescopic movement through a needle-shaped cylinder, and the needle-shaped cylinder is mounted on the bearing mounting plate through a needle-shaped cylinder mounting seat.

Preferably, the air gripper assembly includes:

an air gripper mounting plate, which is connected with the rotating cylinder assembly, and moves with the rotating cylinder;

an air gripper, which is mounted on the air gripper mounting plate and drives the terminal clamp arm assembly to move;

A second limit stop, which is mounted on the air gripper mounting plate, cooperates with the first state limit part and the second state limit part, and realizes the positioning and the first rotation angle of the rotary cylinder. The positioning of the second rotation angle;

The second positioning pin is mounted on the air gripper mounting plate and cooperates with the initial state limiting portion, and is used to realize the positioning of the rotating cylinder in the initial state of rotation.

Preferably, the terminal clamp arm assembly includes:

a terminal clamp arm, which is fixedly connected with the air gripper;

The POM block is mounted on the lower part of the terminal clamp arm and protrudes from the side where the terminal is clamped.

Preferably, the lower part of the terminal clamp arm has a mounting post, the POM polyoxymethylene block has a mounting hole, the mounting hole is sleeved on the mounting post, the POM polyoxymethylene block can slide relative to the mounting post, and the sliding direction It is parallel to the movement direction of the air gripper, and a rubber block is arranged on the side where the terminal is clamped between the installation hole and the installation post. It is used to fill the gap between the POM polyacetal block and the terminal clamp arm. At the gap between the POM polyacetal block and the terminal clamp arm, the distance of the compressed rubber block is inconsistent when the terminal is clamped, so that the POM polyacetal block wraps the terminal to achieve The effect of gripping the shape and not falling off.

Preferably, the POM polyoxymethylene block is a plurality of stacked independent sub-blocks. During the clipping process, the multi-layer POM polyacetal block moves back and forth with the terminal clip arm, and the terminal clip arm plays a guiding role, so as to achieve the purpose of following the shape of the clip and preventing the terminal from falling off.

Preferably, it also includes a collet assembly for connecting the rotary cylinder assembly to the manipulator, and the collet assembly includes:

a vertical plate, which is fixed on the rotating cylinder assembly;

a guide seat, which is fixed on the manipulator and is arranged in parallel with the vertical plate;

an optical axis, which is fixed on the vertical plate and sleeved with a spring, and the optical axis is also slidably passed through the guide seat;

a fixing block, which is fixed on the optical axis, and is located on both sides of the guide seat respectively with the vertical plate;

a light blocking plate, which is installed between the vertical plate and the fixing block, and has a gap on the light blocking plate;

The photoelectric switch is installed on the guide seat, and when the vertical plate compresses the spring in place, the photoelectric switch can be triggered by the notch on the light blocking plate.

The utility model at least includes the following beneficial effects: First, the terminal clamp provided by the utility model solves the technical problem of using one terminal clamping device to realize different types of terminals, and even realizes the clamping of special types of terminals. It can also easily clamp terminals with large size and complex shape that are not easy to clamp; secondly, the terminal clamping jaw provided by the utility model can be connected to the PLC control system to realize the purpose of automatic clamping of terminals; thirdly, this The terminal clamping jaw provided by the utility model has compact mechanical structure and flexible operation, and is suitable for large-scale popularization and use.

Other advantages, objects, and features of the present invention will be manifested in part by the description below, and in part will be understood by those skilled in the art from the study and practice of the present invention.

Description of drawings

Fig. 1 is the structural representation of the utility model;

2 is a schematic structural diagram of the rotary cylinder assembly described in a technical solution of the present utility model;

3 is a schematic structural diagram of the air gripper assembly described in a technical solution of the present invention;

4 is a schematic structural diagram of the chuck assembly described in a technical solution of the present invention;

5 is a schematic structural diagram of the chuck assembly in one technical solution of the present invention;

6 is a schematic structural diagram of the terminal clamp arm assembly in one technical solution of the present invention;

7 is a cross-sectional view of the terminal clamp arm assembly in a technical solution of the present invention;

FIG. 8 is a schematic structural diagram of the manipulator in one technical solution of the present invention.

Detailed ways

The present utility model will be further described in detail below with reference to the accompanying drawings, so that those skilled in the art can refer to the text of the description to implement it accordingly.

It should be understood that terms such as "having", "comprising" and "including" as used herein do not assign the presence or addition of one or more other elements or combinations thereof.

As shown in Figure 1, the utility model provides a terminal clamp,

It includes: a rotating cylinder assembly 30, which is used to realize different swing angles so as to clamp different types of terminals; an air claw assembly 50, which is connected with the rotating cylinder assembly 30 and moves in and out; a terminal clamping arm assembly 60, which is connected with The air gripper assembly 50 is connected and moves with the air gripper assembly 50 for clamping the terminal;

As shown in Figures 1 and 2, the rotary cylinder assembly 30 includes:

The fixed plate component includes a bearing mounting plate 41; the fixed plate component also includes a rotating cylinder fixing plate 44 and a rotating cylinder top plate 33, the rotating cylinder top plate 33 is arranged horizontally, and the rotating cylinder fixing plate 44 and the bearing are installed The plates 41 are respectively arranged on the opposite sides of the rotating cylinder top plate 33, and are perpendicular to the rotating cylinder top plate 33, forming a gate shape for placing various components;

The rotating shaft 37, which is mounted on the bearing mounting plate 41, provides a driving force through the rotating cylinder 31; the rotating shaft 37 and the rotating cylinder 31 are connected through a coupling 32 to transmit the driving force, and the The coupling 32 is arranged below the top plate 33 of the rotating cylinder, so that the components are compact;

The initial state limiter, which is installed on the bearing mounting plate 41, is used to realize the positioning of the initial state of the rotation of the rotary cylinder 31; the initial state limiter can be a buffer, a toggle block, a card slot the stop block or manual dial;

The first state limiter, which is installed on the bearing mounting plate 41, is used to realize the positioning of the first rotation angle of the rotary cylinder 31, and the first rotation angle rotates a predetermined angle clockwise relative to the initial state ; The first state limiting part can be a buffer, a toggle block, a block with a card slot or a manual toggle;

The second state limiting portion is movably mounted on the bearing mounting plate 41, and the second state limiting portion has a working position and a non-working position relative to the bearing mounting plate 41, when the second state limiting portion When the position limiter is in the working position, it is used to realize the positioning of the second rotation angle of the rotary cylinder 31, and when the second state limiter is in the non-working position, the rotary cylinder 31 can be rotated in the first position. Angle positioning, wherein the second rotation angle is smaller than the first rotation angle, wherein the second state limiter can be a manual telescopic column or an automatic telescopic shaft, wherein the automatic telescopic shaft component to realize its expansion and contraction function.

In the above technical solution, the clamping of different types of terminals is realized by rotating the rotary cylinder 31 at different angles. The specific process is: S1, initialization: the initial state limiter positions the rotary cylinder 31 at the initial position state, the air gripper assembly starts to work; S2, extract the terminal: the manipulator moves the terminal gripper along the Y axis/if necessary along the X axis to the vicinity of the clip, and moves the terminal gripper assembly down along the Z axis, the air The claw assembly drives the terminal clamp arm assembly to clamp the terminal, moves the terminal clamp claw upward along the Z axis, and lifts out the terminal to be clamped; S3, transport and rotate the terminal: move the terminal along the Y axis/if necessary along the X axis The clamping jaws come to the vicinity of the mounting rail, and at the same time, the rotary cylinder 31 is rotated until it is positioned. The rotation of the rotating cylinder 31 until it is positioned is completed by the following methods: S31, the control mechanism identifies the type of the terminal to be installed, and can grab two types of terminals to be installed at one time, and the rotation angle of the first type is the first rotation angle during installation. Angle, the rotation angle of the second type of installation is the second rotation angle; S32, the control mechanism selects the limiter according to the type of the terminal to be installed, if the terminal to be installed is of the first type, the limiter works in the first state, The rotary cylinder 31 is positioned at the first rotation angle. If the terminal to be installed is of the second type, the second state limiter works, and the rotary cylinder 31 is positioned at the second rotation angle; S4, the clamped terminal: all The rotary air cylinder 31 is cut off, and the terminal clamping claw assembly is moved down along the Z-axis. The terminal to be installed contacts the guide rail. Under the push of the reaction force of the guide rail, the air claw assembly is in contact with the first state limit portion or the second state. The limit part is separated, the terminal is reset and rotated and the clamping with the guide rail is completed.

In actual production, there are various types of terminals, and the prior art realizes the clamping of different types of terminals through different equipment or multiple manipulators. The utility model uses one terminal clamping device to realize the clamping of different types of terminals. There is no need for multiple manipulators to operate, making the operation more flexible.

In one of the technical solutions, the first rotation angle is 83°˜85°, and the second rotation angle is 15°, and the set angles realize the inclination angles required for grasping the two most common types of terminals.

As shown in FIG. 2 , in one of the technical solutions, the initial state limiting portion is a first limiting block 38 , and the first limiting block 38 is provided with a semi-cylindrical slot, which passes through the slot. A clip with a convex part can be clipped. The positioning automation is realized through the snap connection structure.

As shown in FIG. 2 , in one of the technical solutions, the first state limiting portion is a buffer block 34 , and a cylinder or a cylinder-like body is provided on the buffer block 34 . The cylinder or cylinder-like buffer block 34 can cooperate with the component with the slot structure to achieve the purpose of automatic positioning.

As shown in FIG. 2 , in one of the technical solutions, the second state limiting portion is a first positioning pin 40 , and the first positioning pin 40 is a cylinder or similar that can expand and contract relative to the bearing mounting plate 41 . cylinder. It is installed on the bearing mounting plate 41 through the positioning pin shaft seat 39, and is located between the buffer block 34 and the first limit block 38. When the first positioning pin shaft 40 is extended, the rotating cylinder 31 is rotated. The angle is positioned at 15°; when retracted, the rotating cylinder 31 is allowed to rotate to the 83°˜85°.

As shown in FIG. 2 , in one of the technical solutions, the first positioning pin 40 realizes its telescopic motion through a needle-shaped cylinder 43 , and the needle-shaped cylinder 43 is mounted on the bearing mounting plate 41 through a needle-shaped cylinder mounting seat 42 superior. The needle-shaped air cylinder 43 realizes the automatic operation of the second state limiting part, and improves the operation efficiency.

1 and 3, in one of the technical solutions, the air gripper assembly 50 is connected with the rotary cylinder assembly 30 to realize the movement of the terminal clamp arm assembly 60, and the air gripper assembly 50 includes:

The air gripper mounting plate 53 is connected to the rotary cylinder assembly 30 ; specifically, the air gripper mounting plate 53 is provided with a mounting hole and is connected to the rotary shaft 37 in the rotary cylinder assembly.

An air gripper 52, which is mounted on the air gripper mounting plate 53, drives the terminal clamp arm assembly 60 to move;

The second limiting block 54 is mounted on the air gripper mounting plate 53 and cooperates with the first state limiting portion to realize the positioning of the first rotation angle of the rotary cylinder 31; The second limit block 54 provided on the air gripper assembly 50 is provided with a slot, and the slot is provided with a pad containing silica gel to play a buffering role. When the first positioning pin 40 is extended, the rotation of the The rotation angle of the cylinder 31 is positioned at 15°, and the first positioning pin 40 is engaged with the second limit block 54 on the air gripper assembly 50; when retracted, the buffer block 34 is in this state with the air gripper assembly 50 on the The second limit stop 54 is snapped, allowing the rotary cylinder to rotate to the 83°～85°.

The second positioning pin 55 is mounted on the air gripper mounting plate 53 and cooperates with the initial state limiting portion to realize the positioning of the rotating cylinder 31 in the initial state of rotation. Specifically, in this state, the first limiting block 38 on the rotating cylinder assembly 30 is engaged with the second positioning pin 55 on the air gripper assembly 50 .

In the above technical solution, the components on the air gripper assembly 50 are clamped with the first state limit part and the second state limit part to realize the positioning of the rotating cylinder 32 at different rotation angles, so that the entire device has a higher stability, increasing the flexibility of the device.

As shown in FIG. 6, in one of the technical solutions, the terminal clamp arm assembly 60 includes:

a terminal clamp arm 61, which is fixedly connected with the air gripper 52;

The POM polyacetal block 63 is mounted on the lower part of the terminal clamp arm 61 and protrudes from the side where the terminal is clamped.

In the above technical solution, during the clamping process, the POM polyoxymethylene block 63 moves back and forth with the terminal clamp arm 61, and the terminal clamp arm 61 plays a guiding role, so as to achieve the shape of the clamp and prevent the terminal from falling off the goal of. In the prior art, the clamping jaws are generally metal clamping jaws or plastic flexible clamping jaws. The disadvantage of metal clamping jaws is that the rigidity is large and the elastic deformation is small, which is very easy to cause damage to the surface of the object to be clamped; the flexible clamping jaws are mainly made of plastic materials, which have high elasticity However, the rigidity is small and cannot meet the needs of terminal clamping; while the POM polyoxymethylene block 63 clamping jaws used in this technical solution have high rigidity, good elasticity, good wear reduction and wear resistance, and are not easy to damage the surface of the object to be grasped.

As shown in FIGS. 6 and 7 , in one of the technical solutions, the lower part of the terminal clamp arm 61 has a mounting post 610 , the POM polyacetal block 63 has mounting holes, and the mounting holes are sleeved on the mounting post 610 , the POM block 63 can slide relative to the mounting post 610, the sliding direction is parallel to the movement direction of the air gripper 52, and the mounting hole and the mounting post 610 are located on the side where the terminal is clamped A rubber block 62 is provided. Specifically, the mounting post 610 is a square post, the mounting hole is a square hole, the mounting hole is sleeved on the mounting post 610 , the width of the mounting hole is larger than the width of the mounting post 610 , Therefore, the POM block 63 can slide relative to the mounting post 610 , and the sliding direction is parallel to the movement direction of the air gripper 52 . In addition, a rubber block 62 is provided between the mounting hole and the mounting post 610 on the side where the terminal is clamped. During the clamping process, the arc shape of the terminal surface compresses the rubber block 62 differently, resulting in different sliding distances of the POM polyoxymethylene block on the mounting post 610, so as to realize the arc shape between the POM polyoxymethylene block and the terminal surface. Therefore, the terminal clip arm assembly 60 has a wider application range.

In one of the technical solutions, the POM polyoxymethylene block 63 is a plurality of stacked independent sub-blocks. Preferably, the POM polyoxymethylene block 63 includes 3 to 12 stacked independent sub-blocks. During the clamping process, the multi-layer POM polyoxymethylene block 63 moves back and forth with the terminal clamping arm 61, and the terminal clamping arm 61 plays a guiding role, so as to achieve the purpose of following the shape of the clamping and preventing the terminal from falling off. The setting of a plurality of independent sub-blocks enables the clamping to follow the shape from point to surface, preventing the terminal from falling off.

1, 4, and 5, in one of the technical solutions, a collet assembly 10 is further included for connecting the rotary cylinder assembly 30 to the manipulator, and the collet assembly 10 includes:

The vertical plate 11 is fixed on the rotating cylinder assembly 30. Specifically, the vertical plate 11 is connected with the bearing mounting plate 41 and the rotating cylinder fixing plate 44 through screws. A limit post 14 for limiting its movement may also be provided.

The guide seat 15, which is fixed on the manipulator, is arranged in parallel with the vertical plate 11; the three-axis manipulator, as shown in FIG. 6, realizes three-axis linkage of X, Y, and Z;

The optical axis 18 is fixed on the vertical plate 11 through the optical axis fixing seat 12 and sleeved with the spring 13, and the optical axis 18 is also slidably passed through the guide seat 15; The shaft 18 is also provided with a linear bearing 16; more preferably, the optical shaft 18 is provided with two sets;

a fixing block 17, which is fixed on the optical axis 18, and is located on both sides of the guide seat 15 with the vertical plate 11;

a light blocking plate 20, which is installed between the vertical plate 11 and the fixing block 17, the light blocking plate 20 has a gap 21; and

The photoelectric switch 19 is installed on the guide seat 15. When the vertical plate 11 compresses the spring 13 in place, the photoelectric switch 19 can be triggered by the gap 21 on the light blocking plate 20, and the feedback terminal is locked or not information.

A terminal clamping process of the manipulator shown in Figure 8 is as follows:

S1, initialization: the second positioning pin 55 is engaged with the first limiting block 38, and the angle of the rotating cylinder 31 is 0° at this time; the air gripper 52 is opened.

S2, extracting the terminal: move the terminal gripper along the Y axis/if necessary along the X axis to the vicinity of the clip, move the terminal gripper down along the Z axis, the air gripper 52 drives the POM block to clamp the terminal to be clamped, Move the terminal clamping jaw upward along the Z axis to lift out the terminal to be clamped.

S3, transport and rotate the terminal: move the terminal clamp along the Y axis/if necessary along the X axis to the vicinity of the mounting rail, and at the same time, rotate the rotating cylinder 31 until it is positioned.

The rotation of the rotary cylinder 31 until it is positioned is completed by the following methods: S31, the control mechanism identifies the type of the terminal to be installed. In this embodiment, there are two types of the terminal to be installed, and the rotation angle of the first type is 15° during installation. , the rotation angle of the second type is 83°～85° during installation; S32, the control mechanism selects the limit part according to the type of the terminal to be installed, if the terminal to be installed is the first type, the control pin cylinder 43 is extended to drive the The extension of the first positioning pin 40 indicates that the first positioning pin 40 is selected to limit the position. If the terminal to be installed is of the second type, the needle cylinder 43 is controlled to retract, which drives the first positioning pin 40 to retract. Indicates that the buffer block 34 is selected to limit the position; S33, rotate the rotary cylinder 31 until the second limit block 54 is clamped with the first positioning pin 40 or the buffer block 34, and the terminal to be installed is 15° or 83°～85° ° angle of rotation.

S4, clamped terminal: the rotary cylinder 31 is cut off, and the terminal clamp is moved down along the Z axis, and the terminal to be installed contacts the guide rail. Under the push of the reaction force of the guide rail, the second limit stop 54 and the first positioning pin The shaft 40 or the buffer block 34 is separated, the terminal is reset and rotated, and the clamping with the guide rail is completed. At this time, the second positioning pin 55 is clamped with the first limiting block 38 .

S5, confirm that the clamping is in place: the rotation of the terminal during clamping brings thrust and displacement in the Y-axis direction, the vertical plate 11 moves relative to the guide base 15, and the gap 21 on the light blocking plate 20 can trigger the photoelectric switch 19 to indicate that the clamping is in place. . If the photoelectric switch 19 is triggered, the air gripper 52 is opened, the terminal gripper moves up along the Z axis, and returns to step S2 to continue clamping; if in step S4, the terminal does not contact the guide rail, or for some reasons, the contact with the guide rail is not completed. , the photoelectric switch 19 fails to be triggered, and the system issues an alarm. The terminal clamping jaw provided by the utility model solves the technical problem of using one terminal clamping device to realize different types of terminals, and even realizes the clamping of special types of terminals. The terminal can also be easily clamped, and the terminal clamping jaw has a compact mechanical structure and flexible operation, and is suitable for large-scale popularization and use.

As mentioned above, the present utility model at least includes the following beneficial effects: firstly, the terminal clamping jaw provided by the present utility model solves the technical problem of using a terminal clamping device to realize different types of terminals, and even realizes the use of special types of terminals. The terminal clamp of the utility model can also easily clamp the terminal with large size and complex shape that is difficult to clamp; secondly, the terminal clamp provided by the utility model can be connected to the PLC control system to realize the purpose of automatic clamping of the terminal; Third, the terminal clamping jaw provided by the utility model has compact mechanical structure and flexible operation, and is suitable for large-scale popularization and use.

Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the description and the embodiments, and can be applied to various fields suitable for the present invention. For those skilled in the art, Additional modifications may readily be implemented, therefore, the invention is not limited to the specific details and illustrations shown and described herein without departing from the general concept defined by the appended claims and the scope of equivalents.

Claims (11)

1. A terminal clamp, characterized in that it includes: a rotating cylinder assembly, which is used to realize different swing angles, so as to clamp different types of terminals; an air claw assembly, which is connected with the rotating cylinder assembly and moves in and out; A terminal clamping arm assembly, which is connected with the air claw assembly and moves with the air claw assembly for clamping terminals; wherein the rotating cylinder assembly includes: a fixed plate assembly, which includes a bearing mounting plate; a rotating shaft, which is mounted on the bearing mounting plate, and the rotating shaft provides driving force through a rotating cylinder; an initial state limiter, which is mounted on the bearing mounting plate and used to realize the positioning of the initial state of rotation of the rotary cylinder; a first state limiting part, which is mounted on the bearing mounting plate and is used to realize the positioning of a first rotation angle of the rotary cylinder, and the first rotation angle rotates a predetermined angle clockwise relative to the initial state; The second state limiting portion is movably mounted on the bearing mounting plate, and the second state limiting portion has a working position and a non-working position relative to the bearing mounting plate. When the second state limiting portion When in the working position, it is used to realize the positioning of the second rotation angle of the rotary cylinder, and when the second state limiter is in the non-working position, the positioning of the rotary cylinder at the first rotation angle can be realized, Wherein, the second rotation angle is smaller than the first rotation angle. 2 . The terminal clamp of claim 1 , wherein the first rotation angle is 83°˜85°, and the second rotation angle is 15°. 3 . 3 . The terminal clamp according to claim 2 , wherein the initial state limiting part is a first limiting block, and the first limiting block is provided with a semi-cylindrical slot, 3 . A card member with a protruding portion can be clipped through the card slot. 4 . The terminal clamp of claim 2 , wherein the first state limiting portion is a buffer block, and a cylinder or a cylinder-like body is provided on the buffer block. 5 . 5 . The terminal clamp of claim 2 , wherein the second state limiting portion is a first positioning pin, and the first positioning pin is retractable relative to the bearing mounting plate. 6 . a cylinder or a cylinder-like shape. 6 . The terminal clamp according to claim 5 , wherein the first positioning pin realizes its telescopic movement through a needle-shaped cylinder, and the needle-shaped cylinder is mounted on the bearing through a needle-shaped cylinder mounting seat. 7 . mounting plate. 7. The terminal clamping jaw according to any one of claims 1 to 6, wherein the air gripper assembly comprises: an air gripper mounting plate, which is connected with the rotating cylinder assembly, and moves in and out and moves with the rotating cylinder assembly; an air gripper, which is mounted on the air gripper mounting plate and drives the terminal clamp arm assembly to move; A second limit stop, which is mounted on the air gripper mounting plate, cooperates with the first state limit part and the second state limit part, and realizes the positioning and the first rotation angle of the rotary cylinder. The positioning of the second rotation angle; The second positioning pin is mounted on the air gripper mounting plate and cooperates with the initial state limiting portion, and is used to realize the positioning of the rotating cylinder in the initial state of rotation. 8. The terminal clamp jaw of claim 1, wherein the terminal clamp arm assembly comprises: a terminal clamp arm, which is fixedly connected with the air gripper; The POM polyacetal block is mounted on the lower part of the terminal clamp arm and protrudes from the side where the terminal is clamped. 9 . The terminal clamp of claim 8 , wherein the lower part of the terminal clamp arm has a mounting post, the POM polyacetal block has a mounting hole, and the mounting hole is sleeved on the mounting post. 10 . On the upper side, the POM block can slide relative to the mounting post, the sliding direction is parallel to the movement direction of the air gripper, and a rubber block is provided between the mounting hole and the mounting post on the side where the terminal is clamped. 10 . The terminal clamp of claim 9 , wherein the POM polyoxymethylene block is a plurality of stacked independent sub-blocks. 11 . 11. The terminal clamping jaw according to any one of claims 1 to 6 and 8 to 10, further comprising a collet assembly for connecting the rotary cylinder assembly to a manipulator, the collet assembly include: a vertical plate, which is fixed on the rotating cylinder assembly; a guide seat, which is fixed on the manipulator and arranged in parallel with the vertical plate; an optical axis, which is fixed on the vertical plate and sleeved with a spring, and the optical axis is also slidably passed through the guide seat; a fixing block, which is fixed on the optical axis, and is located on both sides of the guide seat respectively with the vertical plate; a light blocking plate, which is installed between the vertical plate and the fixing block, and has a gap on the light blocking plate; The photoelectric switch is installed on the guide seat, and when the vertical plate compresses the spring in place, the photoelectric switch can be triggered by the notch on the light blocking plate.

Images