The present invention discloses a multifunctional end effector, comprising a base (54) and a cutting tool (39); a feed slide (52) on the base (54) and a feed driving mechanism used to drive feed slide (52) to feed cutting tool (39); a swing slide (55) on the feed slide (52) and a swing driving mechanism used to drive swing slide (55) to realize circular arc swing of cutting tool (39); a mounting base (12) on the swing slider (55); a revolving rotation shaft (20) and a rotation shaft driving mechanism used to drive revolving rotation shaft (20) to make the cutting tool rotate in the mounting base (12); an eccentric slide (27) fixed to the end of revolving rotation shaft (20); cutting tool (39) is connected to the end of eccentric slide (27) via the electric spindle (37) and an eccentric regulating mechanism used to regulate eccentric slide (27) and control radial bias of cutting tool (39). Use feed driving mechanism to realize feed of cutting tool or feed of cutting tool along the swing trail through combination with swing driving mechanism; use eccentric regulating mechanism to realize radial bias of cutting tool; make use of rotation shaft driving mechanism to realize feed of cutting tool along the helical trail; it can realize such functions as drilling, boring, reaming, helical milling and reaming of elliptical recess.

The present invention discloses a multifunctional end effector, comprising a base (54) and a cutting tool (39); a feed slide (52) on the base (54) and a feed driving mechanism used to drive feed slide (52) to feed cutting tool (39); a swing slide (55) on the feed slide (52) and a swing driving mechanism used to drive swing slide (55) to realize circular arc swing of cutting tool (39); a mounting base (12) on the swing slider (55); a revolving rotation shaft (20) and a rotation shaft driving mechanism used to drive revolving rotation shaft (20) to make the cutting tool rotate in the mounting base (12); an eccentric slide (27) fixed to the end of revolving rotation shaft (20); cutting tool (39) is connected to the end of eccentric slide (27) via the electric spindle (37) and an eccentric regulating mechanism used to regulate eccentric slide (27) and control radial bias of cutting tool (39). Use feed driving mechanism to realize feed of cutting tool or feed of cutting tool along the swing trail through combination with swing driving mechanism; use eccentric regulating mechanism to realize radial bias of cutting tool; make use of rotation shaft driving mechanism to realize feed of cutting tool along the helical trail; it can realize such functions as drilling, boring, reaming, helical milling and reaming of elliptical recess.

A quill style drilling/milling end effector with high tool positioning accuracy, a pressure foot with fast response in force and displacement feedback, and with automatic mounting and dismounting, normality sensing, and through the tool coolant delivery.

A quill style drilling/milling end effector with high tool positioning accuracy, a pressure foot with fast response in force and displacement feedback, and with automatic mounting and dismounting, normality sensing, and through the tool coolant delivery.

A high-precision two-part flat chuck device includes: a base, a cylinder, a sliding plate, a first clamping plate and a second clamping pate. A piston rod of the cylinder is connected with the sliding plate. Precision sliding rails are arranged at two sides of the base, and two sides of the sliding plate are respectively matched with the precision sliding rails in a sliding manner. An accommodating groove is arranged in a middle part of the sliding plate. The first and second clamping plates are symmetrically distributed in the accommodating groove along a center of the sliding plate, and a spring is arranged between the first and second clamping plates. Side surfaces of the first and second clamping plates are inclined planes, and chucks matched with each other are arranged at end parts of the first and seconding clamp plates.