CN115446868A - Collect and press and twist terminal handling tool of arm of twisting in an organic whole - Google Patents

Abstract

The invention relates to a mechanical arm tail end operation tool integrating pressing and screwing, which comprises a tool fixing base connected with a mechanical arm, wherein a driving mechanism and a depth camera are arranged on the tool fixing base; still including pressing and revolving wrong mechanism, press and revolve wrong mechanism and include switching axle, guiding axle, sliding sleeve, low rigidity spring and drive handle, the switching axle is installed in actuating mechanism's output, and the guiding axle connects the switching axle, and the guiding axle has the fixed part, and low rigidity spring suit is just located between fixed part and the sliding sleeve outside the guiding axle, and sliding sleeve slidable installs outside the guiding axle, links firmly between drive handle one end and the sliding sleeve. This terminal handling tool of arm structure is ingenious, with the arm mating reaction, realizes improving the operation success rate to the urgent divide-shut brake operation of transformer substation's cubical switchboard, and need not install multiple terminal handling tool, reduces the terminal probability that overweight problem appears of arm.

Description

A manipulator end operation tool integrating pressing and screwing

technical field

The invention relates to the technical field of mechanical arm devices, in particular to an operating tool at the end of a mechanical arm integrating pressing and screwing.

Background technique

Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices widely used in the industrial field. They have certain automation and can realize various industrial processing and manufacturing functions by relying on their own power sources and control capabilities. Industrial robots are widely used in various industrial fields such as electronics, logistics, and chemical industry.

A substation is a power facility in the power system that transforms voltage, receives and distributes electric energy, controls the flow of power, and adjusts voltage. It connects the power grids of all levels of voltage through its transformers. The equipment that transforms the voltage in the substation is a transformer. In addition, the equipment in the substation also includes switchgear for opening and closing circuits, busbars for collecting current, transformers for measurement and control, instruments, relay protection devices, and lightning protection devices. , dispatching communication devices, etc., and some substations also have reactive power compensation equipment. The main equipment and connection methods of substations vary according to their functions.

In order to avoid accidents such as electric shock, burns, and falling from high altitudes when the staff are engaged in electrical work, they must use safety appliances. Divided into basic safety appliances and auxiliary safety appliances. Basic safety appliances refer to safety appliances whose insulation strength can withstand the working voltage of electrical equipment for a long time. Basic safety appliances can directly operate voltage electrical equipment, including: insulating operating rods, insulating clamps, nuclear phase high voltage rods, high and low voltage electroscopes, insulating baffles, protective glasses, etc. Auxiliary safety appliances refer to safety appliances whose insulation strength cannot withstand the working voltage of electrical equipment for a long time. It can only play an auxiliary safety role, that is, it plays a role in strengthening the security of the basic safety equipment. There are: insulating gloves, insulating boots, insulating shoes, insulating tables, insulating pads, insulating ropes, etc.

With the maturity of industrial robot technology, in order to further prevent accidents during the operation of substation switch cabinets, industrial robots are more and more widely used in the field of substation switch cabinet technology. However, due to the different types and different manufacturers of substation switch cabinets, there are often many switches of different types and shapes, resulting in more and more objects operated by the robot and more complicated working conditions. In order to ensure the operation effect, this requires multiple end tools to be operated separately. However, the load of the robot arm is often limited, and the installation of various terminal operation tools is prone to overweight problems, affecting the movement of the arm, and the cost is difficult to control, which is not conducive to the promotion and application of the above-mentioned robots in the field of substation switchgear technology.

Contents of the invention

In order to overcome the above-mentioned defects in the prior art, the object of the present invention is to provide a manipulator end operation tool integrating pressing and screwing. For the emergency opening and closing operation of the switchgear in the substation, the success rate of the operation is improved, and there is no need to install a variety of end operation tools, which reduces the probability of overweight problems at the end of the mechanical arm, which is beneficial to the above-mentioned end of the mechanical arm that integrates pressing and screwing The promotion and application of operating tools in the technical field of mechanical arm devices.

In order to achieve the purpose of the above invention, the present invention adopts the following technical solutions: a manipulator end operation tool integrating pressing and screwing, including a tool fixing base connected to the manipulator, on which a driving mechanism and Depth camera; also includes a pressing and screwing mechanism, the pressing and screwing mechanism includes an adapter shaft, a guide shaft, a sliding sleeve, a low-rigidity spring and a drive handle, and the adapter shaft is installed at the output end of the drive mechanism , the guide shaft is connected to the transfer shaft, the guide shaft has a fixed part, the low rigidity spring is sleeved outside the guide shaft and is located between the fixed part and the sliding sleeve, and the sliding sleeve It is slidably installed on the outside of the guide shaft, and one end of the driving handle is fixedly connected with the sliding sleeve.

As a preferred solution of the present invention, the pressing and screwing mechanism further includes a high-rigidity spring and a sliding cover, the sliding cover is slidably installed outside the guide shaft, and the high-rigidity spring is sleeved on the guide shaft. outside the shaft and between the fixing part and the sliding cover.

As a preferred solution of the present invention, the sliding cover is a hollow structure with one end open.

As a preferred solution of the present invention, the high-rigidity spring is provided with a spring sheath, one end of the spring sheath is fixedly connected to the fixing part, and the other end of the spring sheath is open for sliding connection with the sliding sleeve.

As a preferred solution of the present invention, the guide shaft further has a shaft connection portion and a shank connection portion, and the fixing portion is in the shape of a flat cylinder and is located between the shaft connection portion and the shank connection portion.

As a preferred solution of the present invention, the shaft joint is connected to the transfer shaft through a coupling.

As a preferred solution of the present invention, a bearing is installed outside the transfer shaft, and the outer surface of the transfer shaft has a protruding bearing abutting portion, and the bearing is installed outside the transfer shaft and abuts against the The abutting part of the bearing; a bearing seat is arranged outside the bearing.

As a preferred solution of the present invention, the tool fixing base includes a connection part connected to the mechanical arm, a slant part, a drive mechanism installation part, and a camera installation part. Between the connection part and the slant part, the Angles are set between the diagonal brace part and the drive mechanism installation part, and between the drive mechanism installation part and the camera installation part.

As a preferred solution of the present invention, both the connecting portion and the brace portion are provided with through grooves.

As a preferred solution of the present invention, the depth camera is installed on a camera fixing base, and the camera fixing base is arranged obliquely upward and is fixed on the tool fixing base.

Compared with the prior art, the beneficial effect of the present invention is: a mechanical arm end operating tool integrating pressing and screwing in the present invention, the mechanical arm end operating tool is connected to the operating end of the mechanical arm, by setting The pressing and screwing mechanism can perform emergency opening and closing operations on substation switch cabinets that need to be pressed or screwed, compensate for the single structure of the robotic arm itself, expand the scope of use of the robot while ensuring safety during use, and improve operating efficiency. ; By integrating the depth camera on the operation tool at the end of the mechanical arm, the image algorithm error caused by installing the camera on the robot in the prior art can be reduced, and the accuracy of the operation result can be guaranteed.

Further, the tool fixing base in the present invention is provided with a plurality of through grooves, which can reduce the weight of the tool fixing base itself while ensuring the stability of the operation tool at the end of the manipulator during installation and use, thereby reducing the difficulty of manipulator operation , to ensure the accuracy of the operation results.

Description of drawings

Fig. 1 is a schematic structural view of a manipulator end operation tool integrating pressing and screwing in an embodiment of the present invention;

Fig. 2 is a structural front view of an end-of-arm operation tool integrating pressing and screwing in an embodiment of the present invention;

Fig. 3 is a structural cross-sectional view of A-A direction in Fig. 2;

Fig. 4 is a schematic structural view of a guide shaft in a manipulator end operation tool integrating pressing and screwing in an embodiment of the present invention;

Fig. 5 is a schematic structural view of an adapter shaft in an end-of-arm operation tool integrating pressing and screwing in an embodiment of the present invention;

Fig. 6 is a schematic structural view of a tool fixing base in an end-of-arm operation tool integrating pressing and screwing in an embodiment of the present invention;

Fig. 7 is a schematic structural view of a camera fixing seat in a manipulator end operation tool integrating pressing and screwing in an embodiment of the present invention;

Fig. 8 is a schematic structural view of a sliding cover in an end-of-arm operation tool integrating pressing and screwing in one embodiment of the present invention;

Fig. 9 is a schematic structural view of a spring sheath in an end-of-arm operation tool integrating pressing and screwing in one embodiment of the present invention;

Fig. 10 is a schematic structural view of a driving handle in an end-of-arm manipulation tool integrating pressing and screwing in one embodiment of the present invention.

Reference signs: 1, tool fixing base; 1-1, connection part; 1-2, diagonal brace part; 1-3, drive mechanism installation part; 1-4, camera installation part; 1-5, through groove; 2 , driving mechanism; 3, camera fixing seat; 3-1, camera fixing seat groove; 4, depth camera; 5, bearing; 6, adapter shaft; 6-1, bearing contact part; 7, coupling; , sliding cover; 8-1, sliding cover abutting part; 9, spring sheath; 9-1, sheath fixed end; 9-2, sliding cover abutting part; 9-3, sliding sleeve anti-off end; , sliding sleeve; 11, driving handle; 11-1, fixed part of driving handle; 11-2, square handle; 12, high rigidity spring; 13, low rigidity spring; 14, guide shaft; 14-1, fixed part; 14-2, shaft joint; 14-3, handle joint; 15, bearing seat.

detailed description

In order to make the object, technical solution and advantages of the present invention clearer, the present invention is described below through specific embodiments shown in the accompanying drawings. It should be understood, however, that these descriptions are exemplary only and are not intended to limit the scope of the present invention. Also, in the following description, descriptions of well-known structures and techniques are omitted to avoid unnecessarily obscuring the concept of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, or in a specific orientation. construction and operation, therefore, should not be construed as limiting the invention.

Embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.

As shown in FIGS. 1 to 10 , an end-of-arm manipulation tool integrating pressing and screwing includes a tool fixing base 1 , and the entire end-of-arm manipulation tool can be fixed on the robot arm through the tool fixing base 1 . A driving mechanism 2 and a depth camera 4 are installed on the above-mentioned tool fixing base 1. The driving mechanism 2 can be a steering gear. motors, such as 180-degree steering gear. Because of this feature, it is often used in many remote-controlled aircraft, remote-controlled cars, robots and other fields to control their direction and position. That's why it's called a steering gear. There is also a steering gear called a 360-degree steering gear. The difference between it and the general steering gear is that if a signal is given, the normal steering gear will turn to a certain angle, while the 360-degree steering gear will rotate at the speed corresponding to the signal. Rotate at a constant speed. It looks similar to an ordinary motor, but the difference is that the 360-degree steering gear is controlled by an internal circuit, and the running speed is stable. In order to realize the pressing and screwing functions of the operating tool at the end of the manipulator to perform opening and closing operations on different types of substation switch cabinets, the operating tool at the end of the manipulator in this embodiment also includes a pressing and screwing mechanism. Specifically, the above-mentioned pressing and screwing mechanism includes an adapter shaft 6, a guide shaft 14, a sliding sleeve 10, a low-rigidity spring 13, and a drive handle 11. The above-mentioned adapter shaft 6 is installed on the output end of the above-mentioned drive mechanism 2, and the above-mentioned guide shaft 14 is connected to the above-mentioned adapter shaft 6, the above-mentioned guide shaft 14 has a fixed part 14-1, the above-mentioned low rigidity spring 13 is set outside the above-mentioned guide shaft 14 and is located between the above-mentioned fixed part 14-1 and the above-mentioned sliding sleeve 8, and the above-mentioned sliding sleeve 10 is slidably installed outside the above-mentioned guide shaft 14, and one end of the above-mentioned driving handle 11 is fixedly connected with the above-mentioned sliding sleeve 8.

When using the screwing function, the robot first takes pictures of the operating object through the depth camera 4, so that the robot can identify the operating object through the image algorithm, and feed back the operating object to the robotic arm. The robotic arm then determines the position of the operating object and calculates the driving The distance between the handle 11 and the operating object, and then control the mechanical arm, so that the driving handle 11 is aligned with the operating object, and then the mechanical arm advances to a certain position according to the distance between the driving handle 11 and the operating object, so that the low rigidity spring 13 is compressed, that is, the driving is realized. The handle 11 is docked with the operation object, and then the steering gear is started and starts to rotate. While rotating, under the action of the elastic force of the low-rigidity spring 13, when the driving handle 11 and the operating object are just aligned, the driving handle 11 is automatically inserted into the hole of the operating object, and the screwing operation starts. After screwing in place, the steering gear recognizes that the torque increases and stops automatically, and the mechanical arm moves the driving handle 11 out of the operation object hole, and the operation is completed.

When using the pressing function to operate, similarly, the robot first takes a picture of the operating object through the depth camera 4, and recognizes the operating object on the switch cabinet through an image algorithm. The mechanical arm moves according to the algorithm feedback to align the driving handle 11 with the operating object. The mechanical arm moves forward according to the depth information until the low rigidity spring 13 is compressed. If the operating object is a low rigidity button, the button is triggered at this time, and the button triggering operation is completed.

In order to enable the operation tool at the end of the mechanical arm in this embodiment to press high-rigidity buttons, that is, to adapt to the operation of various types of buttons, so as to make it more widely used, the above-mentioned pressing and screwing mechanism also includes a high-rigidity spring 12 and a slide cover 8, The sliding cover 8 is slidably installed outside the guiding shaft 14 , and the high rigidity spring 12 is sleeved outside the guiding shaft 14 and located between the fixing portion 14 - 1 and the sliding cover 8 . Specifically, when using the pressing function to operate, the robot first takes a picture of the operating object through the depth camera 4, and recognizes the operating object on the switch cabinet through an image algorithm. The mechanical arm moves according to the algorithm feedback to align the driving handle 11 with the operating object, and the mechanical arm advances according to the distance between the driving handle 11 and the operating object until the high rigidity spring 12 is compressed to realize the triggering of the high rigidity button.

In order to make the operation tool at the end of the mechanical arm compact in structure, reduce its own weight, and facilitate the force of the sliding sleeve 10 to act on the high-rigidity spring 12, the above-mentioned sliding cover 8 is provided with an opening facing the end of the high-rigidity spring 12 and is hollow inside. structure, that is, one end of the high-rigidity spring 12 abuts against the sliding cover abutting portion 8 - 1 of the sliding cover 8 .

In order to prevent foreign objects from affecting the high-rigidity spring 12 and the low-rigidity spring 13, a spring sheath 9 is arranged outside the above-mentioned spring. Specifically, as shown in FIG. 9, the above-mentioned spring sheath 9 has a sheath fixed end 9-1, a sliding The contact part 9-2 of the cover and the anti-off end 9-3 of the sliding sleeve, the fixed end 9-1 of the sheath and the fixed part 14-1 on the guide shaft 14 are fixedly connected by means of locking bolts, etc., and the sliding cover 8 is installed Between the sliding cover abutting portion 9-2 and the fixed end 9-1 of the sheath, the other end of the spring sheath 9 is provided with an opening and an anti-off end 9-3 of the sliding sheath is provided at the opening to realize the connection between the spring sheath 9 and the sheath. While the above-mentioned sliding sleeves 10 are slidingly connected, the separation of the spring sheath 9 and the above-mentioned sliding sleeves 10 can also be prevented by the slip-off prevention end 9-3 of the sliding sleeves, so as to ensure the use effect of the operating tool. One end of the above-mentioned low-rigidity spring 13 is abutted against the fixed part 14-1, and the other end is abutted against the slip-off prevention end 9-3 of the sliding sleeve, and the sliding sleeve 10 is pushed through the driving handle 14 to squeeze the low-rigidity spring 13, and then realize Presses on low stiffness buttons.

Specifically, in order to facilitate connection, as shown in FIG. 4 , the above-mentioned guide shaft 14 also has a shaft connection portion 14-2 and a shank connection portion 14-3, and the above-mentioned fixing portion 14-1 is flat and cylindrical and is located at the above-mentioned shaft connection portion. 14-2 and the above-mentioned shank connecting portion 14-3. The shaft connecting portion 14 - 2 realizes docking with the above-mentioned adapter shaft 6 . In order to ensure the transmission effect, the above-mentioned shaft connection part 14 - 2 is connected to the above-mentioned adapter shaft 6 through a coupling 7 . The coupling 7 here is a single-diaphragm coupling. The single-diaphragm coupling has a strong ability to withstand misalignment, and has corresponding vibration and noise reduction capabilities. Its misalignment ability can meet the requirements of most power transmission devices. The misalignment requirements in this embodiment can meet the connection requirements of the connection between the shaft connection part 14-2 and the adapter shaft 6 in this embodiment, and ensure the use effect of the above-mentioned manipulator end operation tool.

The above-mentioned adapter shaft 6 is equipped with a bearing 5, and the bearing at this place can bear the radial and axial loads at the output end of the adapter shaft 6 and the driving mechanism 2 at the same time, which simplifies the supporting structure and reduces the weight of the operating tool itself; At the same time, the frictional damping of the bearing is small, and the starting is flexible, which can reduce the energy loss of the driving mechanism 2, thereby reducing the user's use cost.

In order to prevent the bearing 5 from sliding in the axial direction of the adapter shaft 6, as shown in Figure 5, a protruding bearing contact portion 6-1 is provided on the outer surface of the adapter shaft 6, and the above-mentioned bearing 5 is installed on the adapter shaft 6 and abuts against the above-mentioned bearing abutting portion 6-1. In order to ensure the service life of the bearing 5, a bearing seat 15 is provided outside the bearing 5.

As shown in Figure 6, the tool fixing base 1 in this embodiment includes a connection part 1-1 connected to the mechanical arm, a brace part 1-2, a drive mechanism installation part 1-3 and a camera installation part 1-4, the above-mentioned Between the connection part 1-1 and the above-mentioned diagonal brace part 1-2, between the above-mentioned diagonal brace part 1-2 and the above-mentioned driving mechanism installation part 1-3, between the above-mentioned driving mechanism installation part 1-3 and the above-mentioned camera installation part 1- 4 are all angled and set in rounded corners. The steering gear is installed at the drive mechanism installation part 1-3, and its output end extends out through the through hole offered on the drive mechanism installation part 1-3, so as to be connected with the adapter shaft 6. In order to reduce the weight of the tool fixing base 1 , and further reduce the weight of the operation of the mechanical arm, the above-mentioned connecting portion 1 - 1 and the above-mentioned brace portion 1 - 2 are both provided with through slots 1 - 5 .

In order to ensure the stability of the depth camera 4 during installation and use, the above-mentioned depth camera 4 is installed on the camera holder 3. In order to make the shooting angle of the depth camera 4 wide enough, the above-mentioned camera holder 3 is set obliquely upward, that is, the depth camera 4 It is installed at the highest point of the operating tool, and the bottom of the camera fixing base 3 is fixed on the tool fixing base 1 by means of locking bolts or the like. In order to reduce the weight of the camera holder 3, and then reduce the weight of the mechanical arm operation, the above-mentioned camera holder 3 is provided with a camera holder groove 3-1. Similarly, the camera holder groove 3-1 is a through groove. The weight of the seat 3 is minimized under the premise of satisfying the structural strength.

As shown in Figure 10, in order to facilitate the installation of the driving handle 11, the driving handle 11 in this embodiment has a driving handle fixing part 11-1 and a square handle part 11-2 which are fixedly connected with one end of the sliding sleeve 10, and the square handle part The cross section of 11-2 is set in a square structure, which can ensure the screwing force of the operating tool during the screwing process, ensure the screwing in place, and improve the operating efficiency.

In this embodiment, there is a gap between the sliding sleeve 10 and the spring sheath 9, so that the driving handle 11 has a certain deflection angle, and under the elastic force of the low-rigidity spring 13, the driving handle 11 will automatically rebound when it rebounds. The centering sliding sleeve 10, combined with the shaft coupling 7, can compensate the eccentricity and deflection angle of the mechanical arm during operation, further ensuring the use effect of the above-mentioned operating tools.

In this embodiment, an operating tool at the end of a mechanical arm that integrates pressing and screwing is provided. The operating tool at the end of the mechanical arm is connected to the operating end of the mechanical arm. By setting the pressing and screwing mechanism, it can be pressed or screwed as needed. The substation switchgear performs emergency opening and closing operations, compensating for the singleness of the structure of the robotic arm itself, expanding the scope of use of the robot while ensuring safety during use, and improving operational efficiency; by integrating the depth camera at the end of the robotic arm to operate tools Above all, it can reduce the image algorithm error caused by installing the camera on the robot in the prior art, and ensure the accuracy of the operation result.

The above description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention; therefore , the present invention will not be limited to these embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Although this article uses many reference signs in the figure: 1, tool fixing base; 1-1, connection part; 1-2, diagonal brace part; 1-3, drive mechanism installation part; 1-4, camera installation part ;1-5, through slot; 2, drive mechanism; 3, camera holder; 3-1, camera holder slot; 4, depth camera; 5, bearing; 6, adapter shaft; 6-1, bearing contact 7. Coupling; 8. Sliding cover; 8-1. Sliding cover abutting part; 9. Spring sheath; 9-1. Sheath fixed end; 9-2. Sliding cover abutting part; 9- 3. Sliding sleeve anti-off end; 10. Sliding sleeve; 11. Driving handle; 11-1. Fixed part of driving handle; 11-2. Square handle; 12. High rigidity spring; 13. Low rigidity spring; 14. Guide Shaft; 14-1, fixed part; 14-2, shaft connection part; 14-3, handle connection part; 15, bearing seat and other terms, but the possibility of using other terms is not excluded. These terms are used only for the purpose of describing and explaining the essence of the present invention more conveniently; interpreting them as any kind of additional limitation is against the spirit of the present invention.

Claims (10)

1. The utility model provides a collect and press and twist terminal handling tool of arm in an organic whole which characterized in that: the device comprises a tool fixing base (1) connected with a mechanical arm, wherein a driving mechanism (2) and a depth camera (4) are arranged on the tool fixing base (1); still including pressing and revolving wrong mechanism, press and revolve wrong mechanism including change-over spindle (6), guiding axle (14), sliding sleeve (10), low rigidity spring (13) and drive handle (11), change-over spindle (6) install in the output of actuating mechanism (2), guiding axle (14) are connected change-over spindle (6), guiding axle (14) have fixed part (14-1), low rigidity spring (13) suit in outside guiding axle (14) and be located fixed part (14-1) with between sliding sleeve (8), sliding sleeve (10) slidable install in outside guiding axle (14), drive handle (11) one end with link firmly between sliding sleeve (8).

2. The pressing and screwing integrated end-of-arm operating tool as claimed in claim 1, wherein: the pressing and screwing mechanism further comprises a high-rigidity spring (12) and a sliding cover (8), the sliding cover (8) is slidably mounted outside the guide shaft (14), and the high-rigidity spring (12) is sleeved outside the guide shaft (14) and is located between the fixing portion (14-1) and the sliding cover (8).

3. The pressing and screwing integrated end-of-arm operating tool as claimed in claim 2, wherein: the sliding cover (8) is of a hollow structure with one open end.

4. The end-of-arm operating tool integrated with pressing and screwing functions as claimed in claim 2, wherein: a spring sheath (9) is arranged outside the high-rigidity spring (12), one end of the spring sheath (9) is fixedly connected with the fixing part (14-1), and the other end of the spring sheath is provided with an opening to be in sliding connection with the sliding sleeve (10).

5. The pressing and screwing integrated end-of-arm operating tool as claimed in claim 4, wherein: the guide shaft (14) is further provided with a shaft connection part (14-2) and a handle connection part (14-3), and the fixing part (14-1) is flat and cylindrical and is located between the shaft connection part (14-2) and the handle connection part (14-3).

6. The end-of-arm operating tool integrated with pressing and screwing functions as claimed in claim 5, wherein: the coupling part (14-2) is connected with the transfer shaft (6) through a coupling (7).

7. The pressing and screwing integrated end-of-arm operating tool as claimed in claim 6, wherein: a bearing (5) is arranged outside the transfer shaft (6), a convex bearing abutting part (6-1) is arranged on the outer surface of the transfer shaft (6), and the bearing (5) is arranged outside the transfer shaft (6) and abutted against the bearing abutting part (6-1); and a bearing seat (15) is arranged outside the bearing (5).

8. The pressing and screwing integrated end-of-arm-operation tool according to claim 1 or 7, wherein: the tool fixing base (1) comprises a connecting portion (1-1) connected with a mechanical arm, an inclined support portion (1-2), a driving mechanism installation portion (1-3) and a camera installation portion (1-4), wherein the connecting portion (1-1) is connected with the inclined support portion (1-2), the inclined support portion (1-2) is connected with the driving mechanism installation portion (1-3), and the driving mechanism installation portion (1-3) is connected with the camera installation portion (1-4) in an angle mode.

9. The pressing and screwing integrated end-of-arm operating tool according to claim 8, wherein: the connecting part (1-1) and the inclined supporting part (1-2) are both provided with through grooves (1-5).

10. The pressing and screwing integrated end-of-arm operating tool as claimed in claim 9, wherein: the depth camera (4) is installed on the camera fixing seat (3), and the camera fixing seat (3) is obliquely and upwards arranged and fixed on the tool fixing base (1).

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