Clamping device for robot

Abstract

The invention discloses a clamping device for a robot, and relates to the technical field of robots, the clamping device comprises a rotating mechanism, a grabbing mechanism, a grabbing control mechanism and a bent claw distribution control mechanism, the grabbing mechanism comprises a grabbing supporting cylinder, and the bottom of the rotating mechanism is fixedly connected with the top of a circular ring through a bent rod; the bottom of the circular ring is fixedly connected with the top end of a grabbing supporting barrel through a plurality of cylinders distributed in an annular array mode, the peripheral side of the bottom of the grabbing supporting barrel is fixedly connected with a circular track in a sleeving mode, and four fan-shaped sliding bases are slidably connected to the circular track. The four grabbing bent claws and the four grabbing clamping rods synchronously draw close to clamp a spherical or cylindrical workpiece, the spherical or cylindrical workpiece can be stably clamped, the included angle between every two adjacent grabbing bent claws can be changed through the bent claw distribution control mechanism, and therefore the workpiece clamping positions of the grabbing bent claws and the grabbing clamping rods are changed; and avoiding of positions, which are not suitable for clamping, of workpieces is facilitated.

Description

Technical Field

[0001] The invention relates to the technical field of robots, in particular to a gripping device for robots. Background Art

[0002] At present, robots are a kind of production equipment often used in industrial manufacturing. Robots can improve production efficiency and reduce the workload of workers. The main working parts of robots in industrial production are clamping devices. There are various types of robot clamping devices in the prior art. Most robot clamping devices use two movable clamping plates to clamp the workpiece. When facing some spherical or cylindrical workpieces, it is difficult to clamp them stably by two clamping plates. In addition, general robot clamping devices cannot actively select the clamping position of the workpiece and cannot avoid positions that are not suitable for clamping. Summary of the invention

[0003] The technical problem to be solved by the present invention is to overcome the existing defects and provide a clamping device for a robot, which adopts four grasping claws and four grasping clamping rods to synchronously approach each other to clamp spherical or cylindrical workpieces, and can stably clamp spherical or cylindrical workpieces, and can change the angle between two adjacent grasping claws through a claw distribution control mechanism, thereby changing the clamping position of the grasping claws and the grasping clamping rod on the workpiece, which is conducive to avoiding positions where the workpiece is not suitable for clamping, and can effectively solve the problems in the background technology.

[0004] To achieve the above object, the present invention provides the following technical solution: a gripping device for a robot, comprising a rotating mechanism, and further comprising:

[0005] The grabbing mechanism comprises a bent rod, a circular ring, a cylinder, a grabbing support cylinder, a circular track, a sector-shaped slide, a movable seat, a movable shaft, a grabbing bent claw, and a grabbing clamping rod. The bottom of the rotating mechanism is fixedly connected to the top of the circular ring through a bent rod, and the bottom of the circular ring is fixedly connected to the top of the grabbing support cylinder through a plurality of cylinders distributed in a circular array. The outer peripheral side of the bottom of the grabbing support cylinder is fixedly sleeved with a circular track, and four sector-shaped slides are slidably connected to the circular track. Each sector-shaped slide is fixedly connected to a movable seat, and the movable seat is movably connected to one end of the grabbing bent claw through a movable shaft, and the other end of the grabbing bent claw is connected to the grabbing clamping rod.

[0006] A grab control mechanism is installed in the grab support cylinder, and the grab control mechanism is respectively connected to the ends of the four grab bent claws;

[0007] The bending claw distribution control mechanism is installed on the outside of the grasping support tube, and the bending claw distribution control mechanism is respectively connected to the top of the four movable seats.

[0008] The rotating mechanism is installed at the end of the robot's mechanical arm. The rotating mechanism is used to drive the grasping mechanism to rotate, which can change the clamping position of the grasping claws and the grasping clamp rod on the workpiece. The claw distribution control mechanism can also change the position of the fan-shaped slide on the circular track through the movable seat, so that the grasping claws and the grasping clamp rod avoid the position where the workpiece is not suitable for clamping. The grasping control mechanism is used to control the four grasping claws to move closer to or away from each other. When the claw distribution control mechanism allows the four grasping claws to be distributed at equal angles around the bottom of the grasping support tube, the four grasping claws that are close to each other can stably grasp the spherical workpiece. When grasping the spherical workpiece, the height of the grasping clamp rod needs to be smaller than the radius of the spherical workpiece to ensure that the workpiece is grasped during clamping. The bottom end of the bent claw can be lower than the center of the spherical workpiece. When it is necessary to clamp a cylindrical workpiece, the four grabbing clamping rods are arranged to correspond to the middle part of the outer side of the cylindrical workpiece. When the four grabbing bent claws approach each other, they drive the four grabbing clamping rods to approach each other. The four grabbing clamping rods can clamp the outer peripheral side of the cylindrical workpiece. When it is necessary to clamp a block workpiece, the bent claw distribution control mechanism controls the two grabbing bent claws symmetrical about the grabbing support tube to approach the other two grabbing bent claws. The four grabbing bent claws are divided into two corresponding groups, each group includes two grabbing bent claws approaching each other. The grabbing control mechanism controls the two groups of grabbing bent claws to approach each other, and also drives the two groups of grabbing clamping rods to approach each other. The block workpiece can be clamped with the help of the two groups of grabbing clamping rods approaching each other.

[0009] Furthermore, the grabbing control mechanism includes an inner limit ring, a long tube, a lifting control assembly, a control tube, and a fan-shaped plate. The inner limit ring is fixedly connected inside the grabbing support tube, and the inner limit ring is vertically slidably connected to the long tube. The bottom end of the long tube is fixedly connected to the control tube, and a plurality of annular grooves are vertically equidistantly arranged on the outer circumference of the control tube. Each grabbing claw is fixedly connected to a fan-shaped plate at one end close to the grabbing support tube, and a plurality of control teeth are fixedly connected at equal angles on the arc side of the fan-shaped plate. The control teeth on the fan-shaped plate are meshed with the annular grooves on the outer side of the control tube. The top of the long tube is connected to the lifting control assembly, and the center of the circle where the fan-shaped plate is located coincides with the axis center of the movable shaft one.

[0010] The lifting control assembly is used to drive the long tube to move up and down along the inner limit ring, thereby driving the control tube to move up and down. The control tube can drive the fan-shaped plate to rotate around the movable axis one through the cooperation of the annular tooth groove and the control teeth, thereby driving the four grabbing claws to move relative to the movable seat. Since the fan-shaped plate and the control tube cooperate through the annular tooth groove and the control teeth, the fan-shaped plate and the control tube still maintain a stable meshing relationship when the claw distribution control mechanism controls the movable seat and the fan-shaped slide seat to move along the circular track. When the lifting control assembly controls the long tube to move downward along the inner limit ring, the fan-shaped plate cooperates with the control tube to make the four grabbing claws and the four grabbing clamping rods move away from each other. When the lifting control assembly controls the long tube to move upward along the inner limit ring, the fan-shaped plate cooperates with the control tube to make the four grabbing claws and the four grabbing clamping rods move closer to each other.

[0011] Furthermore, the lifting control assembly includes a control panel, a lead screw, a grabbing motor, and a lead screw nut. The top of the long tube is fixedly connected with the control panel, and the sliding hole on the control panel is vertically slidably connected with the corresponding cylinder. A vertical lead screw is rotatably connected between the ring and the grabbing support tube. The bottom end of the lead screw is fixedly connected with the output shaft of the grabbing motor. The grabbing motor is installed in the motor slot at the top of the grabbing support tube. A lead screw nut is installed on the side of the control panel, and the lead screw nut is installed in cooperation with the lead screw. The grabbing motor drives the lead screw to rotate clockwise when it is working, and the threaded action of the lead screw and the lead screw nut drives the control panel and the long tube to move downward along the cylinder. The grabbing motor drives the lead screw to rotate counterclockwise when it is working, and the threaded action of the lead screw and the lead screw nut drives the control panel and the long tube to move upward along the cylinder.

[0012] Furthermore, the bending claw distribution control mechanism includes a rotating component, a fixed sleeve, a bending frame, a rotating sleeve, and an arch frame. The bottom outer peripheral side of the grasping support cylinder is fixedly sleeved with a fixed sleeve, and the left and right sides of the fixed sleeve are respectively fixedly connected with two bending frames, and the two bending frames are respectively detachably connected to the tops of two movable seats. The middle outer peripheral side of the grasping support cylinder is rotatably sleeved with a rotating sleeve, and the front and rear sides of the bottom of the rotating sleeve are respectively fixedly connected with two arch frames, and the two arch frames are respectively detachably connected to the tops of the other two movable seats, and the top of the rotating sleeve is connected to the rotating component.

[0013] The fixed sleeve and the bending frame fix two movable seats that are symmetrical about the center of the grabbing support cylinder, that is, fix two grabbing claws and two grabbing clamping rods that are symmetrical about the center of the grabbing support cylinder, and the rotating assembly can drive the other two movable seats and the fan-shaped slide to move along the circular track through the rotating sleeve, so that the other two grabbing claws can rotate relative to the grabbing support cylinder, thereby changing the angle between two adjacent grabbing claws, which is beneficial to changing the clamping position of the grabbing claws and the grabbing clamping rod on the workpiece, and is beneficial to avoiding positions that are not suitable for clamping the workpiece. If the four grabbing claws are controlled to approach each other in pairs, thereby being divided into two groups of grabbing claws, it is suitable to rely on the two groups of grabbing clamping rods at the bottom of the two groups of grabbing claws to clamp block workpieces.

[0014] Furthermore, it also includes a clamping lining mechanism, the clamping lining mechanism includes an arc lining plate and a replacement component, and the inner side of the grabbing clamp rod is installed with an arc lining plate through the replacement component. When the grabbing clamp rod is used to clamp a cylindrical workpiece, the contact between the grabbing clamp rod and the arc surface of the cylindrical workpiece is not stable enough, so the arc lining plate is installed by the replacement component, and the arc lining plate and the arc surface of the cylindrical workpiece can be more stably contacted, which is conducive to more stable clamping of the cylindrical workpiece with the help of the arc lining plate, and the replacement component can replace or remove the arc lining plate.

[0015] Furthermore, the replacement assembly includes a disassembly slide, a slide bar, a replacement screw, and an anti-drop limit seat. Two slide bars are fixedly connected to the two sides of the grabbing clamp rod, and the bottoms of the two slide bars are fixedly connected to the anti-drop limit seats. Two disassembly slides are fixedly connected to the two sides of the arc lining plate, and the two disassembly slides are slidably connected to the corresponding two slide bars. A replacement screw is threadedly connected to each disassembly slide, and the replacement screw presses against the corresponding slide bar.

[0016] By loosening the replacement screws, the arc lining and disassembly slide can be slid up along the slide bar, thereby removing the arc lining and disassembly slide, and replacing them with new arc lining and disassembly slide. Then, by tightening the replacement screws, the disassembly slide can be locked together with the slide bar, thereby stably fixing the arc lining. The anti-slip limit seat prevents the disassembly slide from detaching from the bottom of the slide bar, ensuring that the disassembly slide stops after sliding to the bottom along the slide bar, which is conducive to the quick positioning and installation of the arc lining.

[0017] Furthermore, it also includes an auxiliary clamping mechanism, which includes an installation groove 1, an installation groove 2, a movable shaft 2, a clamping auxiliary rod, a movable shaft 3, an auxiliary electric telescopic rod, an articulated seat, and an articulated shaft. An installation groove 1 is respectively opened on the outer side of one end of each grabbing claw away from the movable seat, and an installation groove 2 is respectively opened on the outer side of each grabbing clamping rod. The top of the installation groove 2 is movably connected to the top of the clamping auxiliary rod through the movable shaft 2, the top of the installation groove 1 is movably connected to one end of the auxiliary electric telescopic rod through the movable shaft 3, and the other end of the auxiliary electric telescopic rod is movably connected to the articulated seat through the articulated shaft, and the articulated seat is fixed to the side of the clamping auxiliary rod.

[0018] If the grabbing clamp rod cannot meet the clamping demand for the workpiece, an auxiliary clamping mechanism can be added. When the auxiliary clamping mechanism is not needed, the auxiliary electric telescopic rod is shortened to lift the clamping auxiliary rod relative to the movable axis two. At this time, the horizontal position of the bottom end of the grabbing clamp rod is lower than the clamping auxiliary rod, and the workpiece can be clamped normally with the help of the grabbing clamp rod. When the auxiliary clamping mechanism is needed, the auxiliary electric telescopic rod is extended to make the top of the clamping auxiliary rod completely in the installation groove two. At this time, the clamping auxiliary rod and the grabbing clamp rod are in the same direction. When the four grabbing clamp rods are close to each other, they can drive the four clamping auxiliary rods to close to each other to clamp the workpiece.

[0019] Furthermore, the auxiliary clamping mechanism also includes a rubber clamp strip and an external supporting arc plate. The inner side of each clamping auxiliary rod is detachably mounted with a rubber clamp strip, and the outer bottom of each clamping auxiliary rod is detachably mounted with an external supporting arc plate.

[0020] When the four clamping auxiliary rods are close to each other to clamp the workpiece, the four rubber clamp strips directly contact the workpiece, and the rubber clamp strips can be used to increase the friction with the workpiece. If it is necessary to clamp the annular workpiece from the inside, the four clamping auxiliary rods are close to each other and then move away from each other. The four clamping auxiliary rods are tightened from the inside to the outside of the annular workpiece with the help of four external supporting arc plates, and the annular workpiece can be taken and placed in a tightened manner.

[0021] Furthermore, it also includes an adsorption and picking mechanism, which includes an adsorption hard tube, a hollow disk, a rubber suction cup, a control electric telescopic rod, a control frame and a negative pressure component. The adsorption hard tube is vertically slidably connected in the long tube, the bottom of the adsorption hard tube passes through the control tube and is fixedly connected to the hollow disk, and a plurality of rubber suction cups are installed in a circular array at the bottom of the hollow disk. The top outer peripheral side of the adsorption hard tube is fixedly connected to the control frame, and the two ends of the control frame are respectively fixedly connected to the top ends of two control electric telescopic rods, and the bottom ends of the two control electric telescopic rods are respectively fixedly connected to the top of the control disk, and the top end of the adsorption hard tube is connected to the negative pressure component. When it is necessary to pick up the workpiece in a seamless manner, the electric telescopic rod is controlled to shorten, and the electric telescopic rod is controlled to drive the adsorption hard tube to descend relative to the long tube through the control frame, so that the hollow disk and the rubber suction cup are lowered relative to the grasping support tube, and the negative pressure component works, and the hollow disk is pumped into negative pressure through the long tube, and the rubber suction cup at the bottom of the hollow disk contacts the upper side of the workpiece. The negative pressure in the hollow disk allows the rubber suction cup to suck the workpiece tightly, so that the workpiece can be picked up without leaving any traces, and scars on the workpiece caused by clamping are avoided. When not in use, the electric telescopic rod is controlled to extend, and the electric telescopic rod is controlled to drive the adsorption hard tube to rise relative to the long tube through the control frame, and the hollow disk and the rubber suction cup rise relative to the grasping support tube, so that the hollow disk and the rubber suction cup no longer interfere with the activities of the four grasping claws.

[0022] Furthermore, the negative pressure assembly includes a solenoid valve, a steel hose and a negative pressure pump. The top end of the adsorption hard tube is connected to one end of the steel hose through the solenoid valve, and the other end of the steel hose is connected to the air inlet of the negative pressure pump. The negative pressure pump is installed at the bottom of the rotating mechanism. When the solenoid valve is opened, the negative pressure pump can pump the inside of the hollow disk into negative pressure with the help of the steel hose and the long tube. When it is necessary to keep the rubber suction cup adsorbing the workpiece, the solenoid valve can be closed. When it is necessary to release the pressure, the solenoid valve is opened, the negative pressure pump stops working, and the inside of the hollow disk gradually returns to normal pressure, so that the rubber suction cup can release the workpiece.

[0023] Compared with the prior art, the beneficial effects of the robot gripping device are:

[0024] 1. The rotating mechanism is used to drive the grasping mechanism to rotate, which can change the clamping position of the grasping claws and the grasping clamping rod on the workpiece. The claw distribution control mechanism can also change the position of the fan-shaped slide on the circular track through the movable seat, so that the grasping claws and the grasping clamping rod avoid the position where the workpiece is not suitable for clamping. The grasping control mechanism is used to control the four grasping claws to move closer to or away from each other. When the claw distribution control mechanism allows the four grasping claws to be distributed at equal angles around the bottom of the grasping support tube, the four grasping claws that are close to each other can stably grasp the spherical workpiece;

[0025] 2. When it is necessary to clamp a cylindrical workpiece, let the four grabbing clamping rods correspond to the outer middle part of the cylindrical workpiece. When the four grabbing claws approach each other, they drive the four grabbing clamping rods to approach each other. The four grabbing clamping rods can clamp the outer peripheral side of the cylindrical workpiece. When it is necessary to clamp a block workpiece, the claw distribution control mechanism controls the two grabbing claws symmetrical about the grabbing support tube to approach the other two grabbing claws. The four grabbing claws are divided into two corresponding groups, each group includes two grabbing claws approaching each other. The grabbing control mechanism controls the two groups of grabbing claws to approach each other, and also drives the two groups of grabbing clamping rods to approach each other. The block workpiece can be clamped with the help of the two groups of grabbing clamping rods approaching each other;

[0026] 3. When it is necessary to pick up the workpiece in a seamless manner, the electric telescopic rod is controlled to shorten, and the electric telescopic rod is controlled to drive the adsorption hard tube to descend relative to the long tube through the control frame, so that the hollow disk and the rubber suction cup are lowered relative to the grasping support tube, and the negative pressure component works, and the hollow disk is pumped into negative pressure through the long tube. The rubber suction cup at the bottom of the hollow disk contacts the upper side of the workpiece. The negative pressure in the hollow disk allows the rubber suction cup to suck the workpiece tightly, so that the workpiece can be picked up without leaving any marks, avoiding scars on the workpiece caused by clamping;

[0027] 4. The auxiliary electric telescopic rod is extended to allow the top of the clamping auxiliary rod to be completely in the second installation groove. At this time, the clamping auxiliary rod and the grabbing clamp rod are in the same direction. When the four grabbing clamp rods are close to each other, the four clamping auxiliary rods can be driven to close to each other to clamp the workpiece. When the four clamping auxiliary rods are close to each other to clamp the workpiece, the four rubber clamp strips directly contact the workpiece. With the help of the rubber clamp strips, the friction with the workpiece can be increased. If it is necessary to clamp the annular workpiece from the inside, the four clamping auxiliary rods are close to each other and then move away from each other. The four clamping auxiliary rods are supported from the inside to the outside of the annular workpiece with the help of four external supporting arc plates, and the annular workpiece can be taken and placed in a supported manner. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a schematic diagram of the structure of the robot gripping device of the present invention;

[0029] Figure 2 This is a bottom view of the structure of the robot gripping device of the present invention;

[0030] Figure 3The local structure of the robot gripping device of the present invention is shown in FIG. Figure 1 ;

[0031] Figure 4 The robot gripping device of the present invention Figure 3 A schematic diagram of the partially enlarged structure at center A;

[0032] Figure 5 The robot gripping device of the present invention Figure 3 Side view of the structure;

[0033] Figure 6 The robot gripping device of the present invention Figure 5 A schematic diagram of the partially enlarged structure at B in the middle;

[0034] Figure 7 It is a schematic diagram of a partial cross-sectional structure of a gripping device for a robot of the present invention;

[0035] Figure 8 The robot gripping device of the present invention Figure 7 A schematic diagram of the partially enlarged structure at C in the middle;

[0036] Fig. 9 The local structure of the robot gripping device of the present invention is shown in FIG. Figure 2 ;

[0037] Fig.10 The robot gripping device of the present invention Fig. 9 The schematic diagram of the local enlarged structure at D in the middle;

[0038] Fig.11 The robot gripping device of the present invention Fig. 9 Side view of the structure;

[0039] Fig.12 The robot gripping device of the present invention Fig.11 The schematic diagram of the local enlarged structure at E in the middle;

[0040] In the figure: 1 rotating mechanism, 11 fixed plate, 12 rotating shaft, 13 motor seat, 14 rotating motor, 15 rotating plate, 16 ear seat, 17 semicircular arc fixing strip, 18 disassembly bolt, 19 semicircular retaining cylinder, 2 grabbing mechanism, 21 bending rod, 22 ring, 23 cylinder, 24 grabbing support cylinder, 25 circular track, 26 sector slide seat, 27 movable seat, 28 movable shaft 1, 29 grabbing bent claw, 210 grabbing clamping rod, 3 grabbing control mechanism, 31 inner limit ring, 32 long cylinder, 33 control plate, 34 lead screw, 35 grabbing motor, 36 lead screw nut, 37 control cylinder, 38 sector plate, 4 bent claw distribution control mechanism, 41 fixed sleeve, 42 bent frame, 43 screw 1, 44 rotating sleeve, 45 outer gear ring, 46 motor frame, 47 control motor, 48 gear, 49 arch frame, 410 screw two, 5 clamping lining mechanism, 51 arc lining, 52 disassembly slide, 53 slide bar, 54 replacement screw, 55 anti-drop limit seat, 6 auxiliary clamping mechanism, 61 installation slot one, 62 installation slot two, 63 movable shaft two, 64 clamping auxiliary rod, 65 rubber clamp, 66 movable shaft three, 67 auxiliary electric telescopic rod, 68 articulated seat, 69 articulated shaft, 610 external support arc plate, 611 nut one, 612 stud one, 613 nut two, 614 stud two, 7 adsorption and taking mechanism, 71 adsorption hard tube, 72 hollow disk, 73 rubber suction cup, 74 control electric telescopic rod, 75 control frame, 76 solenoid valve, 77 steel wire hose, 78 negative pressure pump. DETAILED DESCRIPTION

[0041] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] For example, see Figures 1 to 12 ,This embodiment provides a technical solution: a gripping device for a robot, comprising a rotating mechanism 1, a gripping mechanism 2, a gripping control mechanism 3 and a bending claw distribution control mechanism 4;

[0043] The grabbing mechanism 2 includes a bent rod 21, a ring 22, a cylinder 23, a grabbing support tube 24, a circular track 25, a fan-shaped slide 26, a movable seat 27, a movable shaft 28, a grabbing claw 29, and a grabbing clamping rod 210. The bottom of the rotating mechanism 1 is fixedly connected to the top of the ring 22 through two bent rods 21, and the bottom of the ring 22 is fixedly connected to the top of the grabbing support tube 24 through a plurality of cylinders 23 distributed in an annular array. Specifically, three cylinders 23 are used. The outer peripheral side of the bottom of the grabbing support tube 24 is fixedly sleeved with a circular track 25, and four fan-shaped slides 26 are slidably connected to the circular track 25. Each fan-shaped slide 26 is fixedly connected to a movable seat 27, and the movable seat 27 is movably connected to one end of the grabbing claw 29 through a movable shaft 28. The other end of the grabbing claw 29 is integrally formed and connected to the grabbing clamping rod 210.

[0044] The grab control mechanism 3 is installed in the grab support cylinder 24, and the grab control mechanism 3 is respectively connected to the ends of the four grab bent claws 29;

[0045] The grabbing control mechanism 3 includes an inner limit ring 31, a long cylinder 32, a lifting control assembly, a control cylinder 37, and a fan-shaped plate 38. The inner limit ring 31 is fixedly connected to the grabbing support cylinder 24, and the inner limit ring 31 is vertically slidably connected to the long cylinder 32. The bottom end of the long cylinder 32 is fixedly connected to the control cylinder 37. The outer peripheral side of the control cylinder 37 is vertically and equidistantly provided with a plurality of annular grooves. Each grabbing claw 29 is fixedly connected to a fan-shaped plate 38 at one end close to the grabbing support cylinder 24, and a plurality of control teeth are fixedly connected at equal angles on the arc side of the fan-shaped plate 38. The number of annular grooves and control teeth is the same, and the specific number is selected according to actual conditions. The control teeth on the fan-shaped plate 38 are meshed and connected with the annular grooves on the outside of the control cylinder 37. The top of the long cylinder 32 is connected to the lifting control assembly, and the center of the circle where the fan-shaped plate 38 is located coincides with the axis of the movable shaft 28.

[0046] The lifting control assembly includes a control panel 33, a lead screw 34, a grabbing motor 35, and a lead screw nut 36. The top of the long tube 32 is fixedly connected with the control panel 33. The sliding hole on the control panel 33 is vertically slidably connected with the corresponding cylinder 23. A vertical lead screw 34 is rotatably connected between the ring 22 and the grabbing support tube 24 through two bearings. The bottom end of the lead screw 34 is fixedly connected with the output shaft of the grabbing motor 35. The grabbing motor 35 is installed in the motor slot at the top of the grabbing support tube 24. A lead screw nut 36 is installed on the side of the control panel 33. The lead screw nut 36 is installed in cooperation with the lead screw 34. The grabbing motor 35 drives the lead screw 34 to rotate clockwise when it is working. The threaded action of the lead screw 34 and the lead screw nut 36 drives the control panel 33 and the long tube 32 to move downward along the cylinder 23. The grabbing motor 35 drives the lead screw 34 to rotate counterclockwise when it is working. The threaded action of the lead screw 34 and the lead screw nut 36 drives the control panel 33 and the long tube 32 to move upward along the cylinder 23.

[0047] The lifting control assembly is used to drive the long tube 32 to move up and down along the inner limit ring 31, thereby driving the control tube 37 to move up and down. The control tube 37 can drive the fan plate 38 to rotate around the movable shaft 28 through the cooperation of the annular tooth groove and the control teeth, thereby driving the four grabbing claws 29 to move relative to the movable seat 27. Since the fan plate 38 and the control tube 37 cooperate through the annular tooth groove and the control teeth, the claw distribution control mechanism 4 controls the movable seat 27 and the fan slide 26 to move along the circular track 25. The fan plate 38 and the control tube 37 still maintain a stable meshing relationship. When the lifting control assembly controls the long tube 32 to move downward along the inner limit ring 31, the fan plate 38 cooperates with the control tube 37 to make the four grabbing claws 29 and the four grabbing clamping rods 210 move away from each other. When the lifting control assembly controls the long tube 32 to move upward along the inner limit ring 31, the fan plate 38 cooperates with the control tube 37 to make the four grabbing claws 29 and the four grabbing clamping rods 210 move closer to each other.

[0048] The bending claw distribution control mechanism 4 is installed on the outside of the grasping support tube 24, and the bending claw distribution control mechanism 4 is connected to the top of the four movable seats 27 respectively.

[0049] The bending claw distribution control mechanism 4 includes a rotating component, a fixed sleeve 41, a bending frame 42, a rotating sleeve 44, and an arch frame 49. The fixed sleeve 41 is fixedly sleeved on the bottom outer peripheral side of the grasping support cylinder 24, and two bending frames 42 are fixedly connected to the left and right sides of the fixed sleeve 41, and the two bending frames 42 are respectively detachably connected to the tops of the two movable seats 27. The rotating sleeve 44 is rotatably sleeved on the middle outer peripheral side of the grasping support cylinder 24, and two arch frames 49 are respectively fixedly connected to the front and rear sides of the bottom of the rotating sleeve 44, and the two arch frames 49 are respectively detachably connected to the tops of the other two movable seats 27. The top of the rotating sleeve 44 is connected to the rotating component.

[0050] The bending claw distribution control mechanism 4 also includes screw 1 43 and screw 2 410 . The bending frame 42 is fixedly connected to the top of the corresponding movable seat 27 by screw 1 43 , and the arch frame 49 is fixedly connected to the top of the corresponding movable seat 27 by screw 2 410 .

[0051] The rotating assembly includes an outer ring gear 45, a motor frame 46, a control motor 47, and a gear 48. The outer ring gear 45 is fixedly sleeved on the top of the rotating sleeve 44, and the control motor 47 is fixedly installed on the top outer peripheral side of the grabbing support cylinder 24 through the motor frame 46. The output shaft of the control motor 47 is fixedly connected with a gear 48, and the gear 48 is meshed with the outer ring gear 45. When the control motor 47 works, the gear 48 is driven to rotate, and the gear 48 is meshed with the outer ring gear 45 to drive the rotating sleeve 44 to rotate relative to the grabbing support cylinder 24.

[0052] The fixed sleeve 41 and the bent frame 42 fix the two movable seats 27 that are symmetrical about the center of the grabbing support cylinder 24, that is, fix the two grabbing claws 29 and the two grabbing clamping rods 210 that are symmetrical about the center of the grabbing support cylinder 24, and the rotating assembly can drive the other two movable seats 27 and the fan-shaped slide 26 to move along the circular track 25 through the rotating sleeve 44, so that the other two grabbing claws 29 can rotate relative to the grabbing support cylinder 24, thereby changing the angle between the two adjacent grabbing claws 29, which is beneficial to changing the clamping position of the grabbing claws 29 and the grabbing clamping rod 210 on the workpiece, and is beneficial to avoiding the position where the workpiece is not suitable for clamping. If the four grabbing claws 29 are controlled to approach each other in pairs, thereby being divided into two groups of grabbing claws 29, it is suitable to rely on the two groups of grabbing clamping rods 210 at the bottom of the two groups of grabbing claws 29 to clamp the block workpiece.

[0053] The rotating mechanism 1 includes a fixed plate 11, a rotating shaft 12, a motor seat 13, a rotating motor 14, a rotating plate 15, an ear seat 16, a semicircular arc fixing strip 17, a disassembly bolt 18, and a semicircular retaining cylinder 19. The middle part of the fixed plate 11 is rotatably connected to the rotating shaft 12 through a tapered roller bearing, the top of the rotating shaft 12 is fixedly connected to the output shaft of the rotating motor 14, the rotating motor 14 is installed on the top of the fixed plate 11 through the motor seat 13, the bottom of the rotating shaft 12 is fixedly connected to the middle part of the rotating plate 15, and four ear seats 16 are arranged in an annular array on the outer peripheral side of the fixed plate 11. The four ear seats 16 are connected to the robot through four ear seat bolts. The end of the robotic arm is fixedly connected, and the bottom edge of the rotating disk 15 is fixedly connected to two semicircular arc fixing bars 17 by removing the bolts 18. The bottoms of the two semicircular arc fixing bars 17 are respectively fixedly connected to two semicircular blocking cylinders 19. The two semicircular blocking cylinders 19 are combined into one blocking cylinder, and the bottoms of the two semicircular blocking cylinders 19 correspond horizontally to the bottom of the grasping support cylinder 24. The bolts 18 and the semicircular arc fixing bars 17 are removed to install the semicircular blocking cylinders 19. The two semicircular blocking cylinders 19 cover the top of the grasping mechanism 2 to keep the exterior beautiful. The rotating motor 14 works to drive the rotating shaft 12 and the rotating disk 15 to rotate, thereby driving the grasping mechanism 2 to rotate.

[0054] When in use, the rotating mechanism 1 is installed at the end of the robot's mechanical arm. The rotating mechanism 1 is used to drive the grasping mechanism 2 to rotate, which can change the clamping position of the grasping claws 29 and the grasping clamping rod 210 on the workpiece. The claw distribution control mechanism 4 can also change the position of the fan-shaped slide 26 on the circular track 25 through the movable seat 27, so that the grasping claws 29 and the grasping clamping rod 210 avoid the position where the workpiece is not suitable for clamping. The grasping control mechanism 3 is used to control the four grasping claws 29 to move closer to or away from each other. When the claw distribution control mechanism 4 allows the four grasping claws 29 to be distributed at equal angles around the bottom of the grasping support tube 24, the four grasping claws 29 that are close to each other can stably grasp the spherical workpiece. When grasping the spherical workpiece, the height of the grasping clamping rod 210 needs to be smaller than the radius of the spherical workpiece to ensure that the workpiece is clamped. The bottom end of the grabbing claw 29 can be lower than the center of the spherical workpiece. When it is necessary to clamp a cylindrical workpiece, the four grabbing clamping rods 210 are corresponding to the middle part of the outer side of the cylindrical workpiece. When the four grabbing claws 29 are close to each other, the four grabbing clamping rods 210 are driven to move closer to each other. The four grabbing clamping rods 210 can clamp the outer peripheral side of the cylindrical workpiece. When it is necessary to clamp a block workpiece, the claw distribution control mechanism 4 controls the two grabbing claws 29 symmetrical about the grabbing support tube 24 to move closer to the other two grabbing claws 29. The four grabbing claws 29 are divided into two corresponding groups, each group includes two grabbing claws 29 close to each other. The grabbing control mechanism 3 controls the two groups of grabbing claws 29 to move closer to each other, and also drives the two groups of grabbing clamping rods 210 to move closer to each other. The block workpiece can be clamped with the help of the two groups of grabbing clamping rods 210 that are close to each other.

[0055] For example 2, please refer to Figures 1 to 12 This embodiment provides a technical solution: a gripping device for a robot. The structure of this embodiment is roughly the same as that of the first embodiment, except that:

[0056] The clamping lining mechanism 5 is also included. The clamping lining mechanism 5 includes an arc lining plate 51 and a replacement assembly. The arc lining plate 51 is installed on the inner side of the grabbing clamp rod 210 through the replacement assembly. When the grabbing clamp rod 210 is used to clamp a cylindrical workpiece, the contact between the grabbing clamp rod 210 and the arc surface of the cylindrical workpiece is not stable enough. Therefore, the arc lining plate 51 is installed by the replacement assembly. The arc lining plate 51 and the arc surface of the cylindrical workpiece can be more stably contacted, which is conducive to more stable clamping of the cylindrical workpiece with the help of the arc lining plate 51. The replacement assembly can replace or remove the arc lining plate 51.

[0057] The replacement component includes a disassembly slide 52, a slide bar 53, a replacement screw 54, and an anti-drop limit seat 55. Two slide bars 53 are fixedly connected to both sides of the grabbing clamp rod 210, and the bottoms of the two slide bars 53 are fixedly connected to the anti-drop limit seats 55. Two disassembly slides 52 are fixedly connected to both sides of the arc lining plate 51, and the two disassembly slides 52 are slidably connected to the corresponding two slide bars 53, and each disassembly slide 52 is threadedly connected with a replacement screw 54, which presses against the corresponding slide bar 53.

[0058] By loosening the replacement screw 54, the arc lining 51 and the disassembly slide 52 can be slid up along the slide bar 53, so as to remove the arc lining 51 and the disassembly slide 52, and then replace them with new arc lining 51 and disassembly slide 52. Then, by tightening the replacement screw 54, the disassembly slide 52 and the slide bar 53 can be locked together, so as to stably fix the arc lining 51. The anti-slip limit seat 55 prevents the disassembly slide 52 from detaching from the bottom of the slide bar 53, and ensures that the disassembly slide 52 stops after sliding to the bottom along the slide bar 53, which is conducive to the quick positioning and installation of the arc lining 51.

[0059] For example 3, please refer to Figures 1 to 12 This embodiment provides a technical solution: a gripping device for a robot. The structure of this embodiment is roughly the same as that of the second embodiment, except that:

[0060] It also includes an auxiliary clamping mechanism 6, which includes an installation groove 1 61, an installation groove 2 62, a movable shaft 2 63, a clamping auxiliary rod 64, a movable shaft 3 66, an auxiliary electric telescopic rod 67, an articulated seat 68, and an articulated shaft 69. An installation groove 1 61 is respectively provided on the outer side of one end of each grabbing bent claw 29 away from the movable seat 27, and an installation groove 2 62 is respectively provided on the outer side of each grabbing clamping rod 210. The top of the installation groove 2 62 is movably connected to the top of the clamping auxiliary rod 64 through the movable shaft 2 63, the top of the installation groove 1 61 is movably connected to one end of the auxiliary electric telescopic rod 67 through the movable shaft 3 66, and the other end of the auxiliary electric telescopic rod 67 is movably connected to the articulated seat 68 through the articulated shaft 69, and the articulated seat 68 is fixed to the side of the clamping auxiliary rod 64.

[0061] If the grabbing clamp rod 210 cannot clamp the workpiece to meet the demand, an auxiliary clamping mechanism 6 can be added. When the auxiliary clamping mechanism 6 is not needed, the auxiliary electric telescopic rod 67 is shortened to lift the clamping auxiliary rod 64 relative to the movable shaft 63. At this time, the horizontal position of the bottom end of the grabbing clamp rod 210 is lower than the clamping auxiliary rod 64, and the workpiece can be clamped normally with the help of the grabbing clamp rod 210. When the auxiliary clamping mechanism 6 is needed, the auxiliary electric telescopic rod 67 is extended to allow the top of the clamping auxiliary rod 64 to be completely in the installation groove 62. At this time, the clamping auxiliary rod 64 and the grabbing clamp rod 210 are in the same direction. When the four grabbing clamp rods 210 are close to each other, the four clamping auxiliary rods 64 can be driven to close to each other to clamp the workpiece.

[0062] The auxiliary clamping mechanism 6 further includes a rubber clamping strip 65 and an outer supporting arc plate 610 . The inner side of each clamping auxiliary rod 64 is detachably mounted with a rubber clamping strip 65 , and the outer bottom of each clamping auxiliary rod 64 is detachably mounted with an outer supporting arc plate 610 .

[0063] Specifically, the auxiliary clamping mechanism 6 also includes nut 1 611, stud 1 612, nut 2 613, and stud 2 614. The rubber clamp 65 is provided with two upper and lower corresponding countersunk holes. The clamping auxiliary rod 64 is fixedly connected with stud 1 612 at the position corresponding to the countersunk hole at the top of the rubber clamp 65. The part of stud 1 612 located in the countersunk hole is threadedly connected with nut 1 611. The external support arc plate 610 is clamped with the outer bottom of the clamping auxiliary rod 64, and the external support arc plate 610 is fixedly connected with one end of stud 2 614. The other end of stud 2 614 passes through the bottom of the clamping auxiliary rod 64 and extends to the countersunk hole at the bottom of the rubber clamp 65. The part of stud 2 614 located in the countersunk hole at the bottom of the rubber clamp 65 is threadedly connected with nut 2 613.

[0064] When the four clamping auxiliary rods 64 are close to each other to clamp the workpiece, the four rubber clamp strips 65 directly contact the workpiece. With the help of the rubber clamp strips 65, the friction force with the workpiece can be increased. If it is necessary to clamp the annular workpiece from the inside, the four clamping auxiliary rods 64 are close to each other and then move away from each other. The four clamping auxiliary rods 64 are tightened from the inside to the outside of the annular workpiece with the help of four external supporting arc plates 610, and the annular workpiece can be taken and placed in a tightened manner.

[0065] Example 4, please refer to Figures 1 to 12 This embodiment provides a technical solution: a gripping device for a robot. The structure of this embodiment is roughly the same as that of the third embodiment, except that:

[0066] It also includes an adsorption and picking mechanism 7, which includes an adsorption hard tube 71, a hollow disk 72, a rubber suction cup 73, a control electric telescopic rod 74, a control frame 75 and a negative pressure component. The adsorption hard tube 71 is vertically slidably connected in the long tube 32, the bottom of the adsorption hard tube 71 passes through the control tube 37 and is fixedly connected to the hollow disk 72, and a plurality of rubber suction cups 73 are installed in a circular array at the bottom of the hollow disk 72. Four rubber suction cups 73 can be provided, and the top outer peripheral side of the adsorption hard tube 71 is fixedly connected to the control frame 75, and the two ends of the control frame 75 are respectively fixedly connected to the top ends of the two control electric telescopic rods 74, and the bottom ends of the two control electric telescopic rods 74 are respectively fixedly connected to the top of the control disk 33, and the top of the adsorption hard tube 71 is connected to the negative pressure component. When it is necessary to pick up the workpiece in a seamless manner, the electric telescopic rod 74 is controlled to be shortened, and the electric telescopic rod 74 is controlled to drive the adsorption hard tube 71 to descend relative to the long tube 32 through the control frame 75, so that the hollow disk 72 and the rubber suction cup 73 are lowered relative to the grasping support tube 24, and the negative pressure component works, and the hollow disk 72 is pumped into a negative pressure through the long tube 32, and the rubber suction cup 73 at the bottom of the hollow disk 72 contacts the upper side of the workpiece. The negative pressure in the hollow disk 72 allows the rubber suction cup 73 to suck the workpiece tightly, so that the workpiece can be picked up without leaving any traces, and the workpiece can be prevented from being scratched by clamping. When not in use, the electric telescopic rod 74 is controlled to be extended, and the electric telescopic rod 74 is controlled to drive the adsorption hard tube 71 to rise relative to the long tube 32 through the control frame 75, and the hollow disk 72 and the rubber suction cup 73 rise relative to the grasping support tube 24, so that the hollow disk 72 and the rubber suction cup 73 no longer interfere with the movement of the four grasping claws 29.

[0067] The negative pressure assembly includes a solenoid valve 76, a steel hose 77 and a negative pressure pump 78. The top of the adsorption hard tube 71 is connected to one end of the steel hose 77 through the solenoid valve 76, and the other end of the steel hose 77 is connected to the air inlet of the negative pressure pump 78. The negative pressure pump 78 is installed at the bottom of the rotating mechanism 1, and specifically the negative pressure pump 78 is installed at the bottom of the rotating disk 15. When the solenoid valve 76 is opened, the negative pressure pump 78 can pump the inside of the hollow disk 72 into a negative pressure with the help of the steel hose 77 and the long cylinder 32. When it is necessary to maintain the adsorption of the rubber suction cup 73 on the workpiece, the solenoid valve 76 can be closed. When it is necessary to release the pressure, the solenoid valve 76 is opened, the negative pressure pump 78 stops working, and the inside of the hollow disk 72 gradually returns to normal pressure, so that the rubber suction cup 73 can release the workpiece.

[0068] It is worth noting that the grasping motor 35, the control motor 47, the rotating motor 14, the auxiliary electric telescopic rod 67, the control electric telescopic rod 74, the solenoid valve 76, and the negative pressure pump 78 disclosed in the above embodiments are all controlled by the robot's PLC controller, and the control method adopts the method commonly used in the prior art, wherein the grasping motor 35, the control motor 47, and the rotating motor 14 all adopt servo motors.

[0069] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0070] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A gripping device for a robot, comprising a rotating mechanism (1), characterized in that: Also includes: The grabbing mechanism (2) comprises a bent rod (21), a circular ring (22), a cylinder (23), a grabbing support cylinder (24), a circular track (25), a sector slide seat (26), a movable seat (27), a movable shaft (28), a grabbing bent claw (29), and a grabbing clamping rod (210). The bottom of the rotating mechanism (1) is fixedly connected to the top of the circular ring (22) through the bent rod (21), and the bottom of the circular ring (22) is connected to the top of the circular ring (22) through a plurality of cylinders (23) distributed in an annular array. The top end of the grabbing support cylinder (24) is fixedly connected, and the outer peripheral side of the bottom of the grabbing support cylinder (24) is fixedly sleeved with a circular track (25), and four fan-shaped slide seats (26) are slidably connected to the circular track (25), and each fan-shaped slide seat (26) is respectively fixedly connected to a movable seat (27), and the movable seat (27) is movably connected to one end of the grabbing claw (29) through a movable shaft (28), and the other end of the grabbing claw (29) is connected to a grabbing clamping rod (210); A grab control mechanism (3) is installed in the grab support cylinder (24), and the grab control mechanism (3) is respectively connected to the ends of the four grab bent claws (29); The bending claw distribution control mechanism (4) is installed on the outside of the grasping support tube (24), and the bending claw distribution control mechanism (4) is respectively connected to the tops of the four movable seats (27).

2. The robot gripping device according to claim 1, characterized in that: The grabbing control mechanism (3) comprises an inner limit ring (31), a long tube (32), a lifting control assembly, a control tube (37), and a fan-shaped plate (38). The grabbing support tube (24) is fixedly connected with the inner limit ring (31), the inner limit ring (31) is vertically slidably connected to the long tube (32), the bottom end of the long tube (32) is fixedly connected with the control tube (37), the outer peripheral side of the control tube (37) is vertically equidistantly provided with a plurality of annular tooth grooves, each grabbing claw (29) is fixedly connected with a fan-shaped plate (38) at one end close to the grabbing support tube (24), the circular arc side of the fan-shaped plate (38) is fixedly connected with a plurality of control teeth at equal angles, the control teeth on the fan-shaped plate (38) are meshedly connected with the annular tooth grooves on the outer side of the control tube (37), and the top of the long tube (32) is connected with the lifting control assembly.

3. The robot gripping device according to claim 2, characterized in that: The lifting control assembly comprises a control panel (33), a lead screw (34), a grabbing motor (35), and a lead screw nut (36). The top of the long tube (32) is fixedly connected with the control panel (33). The sliding hole on the control panel (33) is vertically slidably connected with the corresponding cylinder (23). A vertical lead screw (34) is rotatably connected between the ring (22) and the grabbing support tube (24). The bottom end of the lead screw (34) is fixedly connected with the output shaft of the grabbing motor (35). The grabbing motor (35) is installed in the motor slot at the top of the grabbing support tube (24). A lead screw nut (36) is installed on the side of the control panel (33). The lead screw nut (36) is installed in cooperation with the lead screw (34).

4. The robot gripping device according to claim 1, characterized in that: The bending claw distribution control mechanism (4) comprises a rotating assembly, a fixed sleeve (41), a bending frame (42), a rotating sleeve (44), and an arch frame (49); the bottom outer peripheral side of the grasping support tube (24) is fixedly sleeved with a fixed sleeve (41); the left and right sides of the fixed sleeve (41) are respectively fixedly connected with two bending frames (42); the two bending frames (42) are respectively detachably connected to the tops of two movable seats (27); the middle outer peripheral side of the grasping support tube (24) is rotatably sleeved with a rotating sleeve (44); the bottom front and rear sides of the rotating sleeve (44) are respectively fixedly connected with two arch frames (49); the two arch frames (49) are respectively detachably connected to the tops of the other two movable seats (27); the top of the rotating sleeve (44) is connected to the rotating assembly.

5. The robot gripping device according to claim 1, characterized in that: It also comprises a lining clamping mechanism (5), wherein the lining clamping mechanism (5) comprises a circular arc lining plate (51) and a replacement assembly, and the circular arc lining plate (51) is installed on the inner side of the grabbing clamping rod (210) via the replacement assembly.

6. The robot gripping device according to claim 5, characterized in that: The replacement component includes a disassembly slide (52), a slide bar (53), a replacement screw (54), and an anti-slip limit seat (55). Two slide bars (53) are fixedly connected to the two sides of the grabbing clamp rod (210), and the bottoms of the two slide bars (53) are fixedly connected to the anti-slip limit seats (55). Two disassembly slides (52) are fixedly connected to the two sides of the arc lining plate (51), and the two disassembly slides (52) are slidably connected to the corresponding two slide bars (53). Each disassembly slide (52) is threadedly connected with a replacement screw (54), and the replacement screw (54) is pressed against the corresponding slide bar (53).

7. The robot gripping device according to claim 1, characterized in that: The invention also comprises an auxiliary clamping mechanism (6), wherein the auxiliary clamping mechanism (6) comprises a mounting groove 1 (61), a mounting groove 2 (62), a movable shaft 2 (63), a clamping auxiliary rod (64), a movable shaft 3 (66), an auxiliary electric telescopic rod (67), an articulated seat (68), and an articulated shaft (69). The outer side of one end of each grabbing bent claw (29) away from the movable seat (27) is respectively provided with a mounting groove 1 (61), and the outer side of each grabbing clamping rod (210) is respectively provided with a mounting groove 2 (62). The top of the mounting groove 2 (62) is movably connected to the top of the clamping auxiliary rod (64) through the movable shaft 2 (63), the top of the mounting groove 1 (61) is movably connected to one end of the auxiliary electric telescopic rod (67) through the movable shaft 3 (66), and the other end of the auxiliary electric telescopic rod (67) is movably connected to the articulated seat (68) through the articulated shaft (69), and the articulated seat (68) is fixed to the side of the clamping auxiliary rod (64).

8. The robot gripping device according to claim 7, characterized in that: The auxiliary clamping mechanism (6) further comprises a rubber clamping strip (65) and an external supporting arc plate (610), wherein the inner side of each clamping auxiliary rod (64) is detachably mounted with a rubber clamping strip (65), and the outer bottom side of each clamping auxiliary rod (64) is detachably mounted with an external supporting arc plate (610).

9. The robot gripping device according to claim 3, characterized in that: The invention also comprises an adsorption and taking mechanism (7), wherein the adsorption and taking mechanism (7) comprises an adsorption hard tube (71), a hollow disk (72), a rubber suction cup (73), a control electric telescopic rod (74), a control frame (75) and a negative pressure component. The adsorption hard tube (71) is vertically slidably connected inside the long tube (32), the bottom of the adsorption hard tube (71) passes through the control tube (37) and is fixedly connected to the hollow disk (72), a plurality of rubber suction cups (73) are installed in a circular array at the bottom of the hollow disk (72), the top outer peripheral side of the adsorption hard tube (71) is fixedly connected to the control frame (75), the two ends of the control frame (75) are respectively fixedly connected to the top ends of two control electric telescopic rods (74), the bottom ends of the two control electric telescopic rods (74) are respectively fixedly connected to the top of the control disk (33), and the top end of the adsorption hard tube (71) is connected to the negative pressure component.

10. The robot gripping device according to claim 9, characterized in that: The negative pressure component comprises a solenoid valve (76), a steel hose (77) and a negative pressure pump (78); the top end of the adsorption hard tube (71) is connected to one end of the steel hose (77) via the solenoid valve (76); the other end of the steel hose (77) is connected to the air inlet of the negative pressure pump (78); and the negative pressure pump (78) is installed at the bottom of the rotating mechanism (1).

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