Gantry type palletizing robot elastic clamp

Abstract

The invention relates to the technical field of palletizing robots, in particular to a gantry type palletizing robot elastic clamp which comprises an upper mounting plate, a clamping arm and a clamping jaw assembly, the upper mounting plate is used for being fixedly connected with a gantry type palletizing robot and is provided with a control air cylinder and a U-shaped guide frame so as to drive the clamping arm to move, and the clamping arm is connected with the clamping jaw assembly. Comprising a linkage rod and a shaft sleeve block, linkage adjustment of the clamping arms is achieved, the clamping jaw assembly is composed of a fixed clamping plate, a movable clamping plate and a plurality of bearing spokes, and anti-skid protruding edges are arranged on the surface of the movable clamping plate to enhance clamping friction force. The two ends of the spoke bearing strips are rotationally connected with the fixed plate and the movable clamping plate correspondingly and connected through the elastic connecting strips, so that the clamping force can be adjusted in a self-adaptive mode according to the weight of materials, and the clamping stability is guaranteed. The clamp can adapt to materials of different specifications, shapes and weights, efficient clamping and stable carrying are achieved, the risk of material damage is reduced, and the clamp is widely applied to the field of industrial automatic stacking.

Description

Technical Field

[0001] The present invention relates to the technical field of palletizing robots, and specifically to a gantry palletizing robot elastic clamp. Background Technique

[0002] In the fields of modern industrial production and logistics handling, robot palletizing technology has been widely applied to various production lines to improve operation efficiency and reduce labor costs. Among them, as a key end effector of the palletizing robot, the design of the clamp directly affects the stability, safety and adaptability of the clamped materials.

[0003] Existing clamps mainly include forms such as mechanical jaws, pneumatic jaws, and electromagnetic jaws, but the following technical problems still exist in actual applications: Insufficient clamping stability, prone to material sliding or dropping: Most existing mechanical jaws use fixed clamping plates for clamping, with a small force-bearing surface and unable to evenly distribute the clamping force, resulting in some materials possibly slipping or dropping during the clamping process, affecting the handling stability. For materials with a smooth surface or offset center of gravity, due to insufficient clamping force or uneven force of traditional jaws, additional anti-slip structures often need to be added, resulting in an increase in the overall complexity and cost of the clamp.

[0004] The clamping force is non-adjustable and difficult to adapt to different materials: Traditional clamps usually adopt fixed clamping mechanisms, with poor adaptability to materials of different specifications, shapes or masses. It is necessary to replace the clamp or adjust the mechanical structure, affecting production efficiency. Excessive clamping force may cause damage to fragile or flexible materials, while insufficient clamping force may lead to material dropping, unable to balance the handling requirements of different types of materials.

[0005] Complex structure and high maintenance cost: Some existing clamps are designed too complexly, such as using multiple driving components or independent adjustment mechanisms, increasing the weight and volume of the clamp, resulting in a decrease in the response speed when the robot performs the clamping action. The complex mechanism design also leads to an increase in maintenance costs, and the replacement and repair of the clamp are more cumbersome, which is not conducive to long-term stable operation.

[0006] Therefore, a jaw structure that can provide a stable clamping force, can adaptively adjust the clamping strength, and has good versatility is needed to improve the clamping efficiency and reduce the maintenance cost. In view of the above problems, the present invention proposes a clamp structure that uses a fixed clamping plate and a movable clamping plate in cooperation, provides a supporting effect through load-bearing spokes, and combines elastic connecting bars to adaptively adjust the clamping force, so as to improve the clamping stability, adapt to materials of different specifications and optimize the overall clamping effect. Summary of the Invention

[0007] The present invention aims to solve one of the technical problems existing in the prior art or related technologies.

[0008] To achieve the above object, the present invention provides the following technical solutions: A gantry palletizing robot elastic fixture, comprising: an upper mounting plate, a clamping arm and a jaw assembly; The upper mounting plate is of a rectangular structure, and a plurality of groups of mounting holes are provided on its upper surface for connecting the upper mounting plate to the gantry robot by bolts; a control cylinder is fixedly mounted on the surface of the upper mounting plate; a U-shaped guide frame and a jaw support arm are fixedly mounted on the bottom surface of the upper mounting plate, and the jaw support arms are symmetrically arranged on both sides of the U-shaped guide frame. The bottom end of the jaw support arm is rotatably connected to the top end of the clamping arm. A connecting ear is provided on the top surface of the clamping arm and is rotatably connected to a linkage rod. A sleeve block rotatably mounted on the inner side of the jaw support arm is movably sleeved on the surface of the linkage rod. The output end of the control cylinder is movably connected to the end of the linkage rod; a lifting lug seat is movably mounted on the surface of the upper mounting plate, and a truss sliding rod slidably sleeved on the inner side of the U-shaped guide frame is fixedly mounted on the surface of the lifting lug seat; The upper mounting plate adopts a rectangular structure, and a plurality of groups of mounting holes are opened on its upper surface for fixing the upper mounting plate to the gantry robot by bolts. A control cylinder is fixedly mounted on its surface for driving the clamping arm to perform a clamping action. The U-shaped guide frame is fixedly mounted on the bottom surface of the upper mounting plate and is arranged along its length direction. The jaw support arms are symmetrically arranged on both sides of the U-shaped guide frame. The bottom end of the jaw support arm is rotatably connected to the top end of the clamping arm to ensure that the clamping arm can achieve stable rotational movement. By connecting the upper mounting plate to the gantry robot through the mounting holes, it is ensured that the fixture is firmly fixed during the working process. The installation of the control cylinder enables the fixture to perform precise clamping control to ensure stable clamping of the object during handling.

[0009] A connecting ear is provided on the top surface of the clamping arm, and it cooperates with the control cylinder and the jaw support arm through the linkage rod to move. A sleeve block rotatably mounted on the inner side of the jaw support arm is movably sleeved on the surface of the linkage rod, enabling the clamping arm to rotate relative to the jaw support arm to ensure the stable movement of the clamping arm. The combined use of the linkage rod enables the clamping arm to rotate precisely, realizing the precise clamping action of the fixture, and ensuring that the fixture can perform adaptive clamping according to the different shapes and sizes of the objects.

[0010] The jaw assembly includes a fixed jaw plate, a movable jaw plate and a plurality of load-bearing bars. Suspension rods and fixed connecting rods fixedly connected to the surface of the clamping arm are respectively provided at the top end and the side surface of the fixed jaw plate. A fixed plate is fixedly mounted on one side of the fixed jaw plate. Shaft heads are provided at both ends of the load-bearing bar, and both ends of the load-bearing bar are rotatably connected to the surfaces of the fixed plate and the movable jaw plate through the shaft heads. The plurality of load-bearing bars are arranged obliquely and parallelly and are linearly arranged along the surface of the fixed plate. Elastic connecting bars are fixedly connected between adjacent load-bearing bars. The truss sliding rod is movably connected to the end of the linkage rod.

[0011] The jaw assembly includes a fixed clamping plate, a movable clamping plate and a number of supporting spokes. The top of the fixed clamping plate is fixedly connected to the clamping arm through a suspension rod, and a fixed connecting rod is provided on the side. The movable clamping plate is arranged opposite to the fixed clamping plate and is used for clamping an object. The supporting spokes are rotatably connected to the fixed plate and the movable clamping plate through shaft heads. A plurality of supporting spokes are arranged obliquely and parallelly, and are connected by elastic connecting bars to provide elastic buffering for the clamping force. The configuration of the fixed clamping plate and the movable clamping plate enables the fixture to stably clamp the object. The oblique arrangement of the supporting spokes provides elastic adjustment during clamping, enabling the fixture to adapt to objects of different weights and ensuring stable grasping.

[0012] Preferably, the number of the control cylinders is two groups, which are respectively located on both sides of the lug seat and are used to drive two linkage rods arranged symmetrically about the origin of the lug seat to perform deflection movements.

[0013] Design of the control cylinder and the linkage rod: The control cylinders are two groups, which are respectively located on both sides of the lug seat and are used to drive two linkage rods to perform deflection movements. The end of the linkage rod is rotatably sleeved on the surface of the truss slide rod, and the truss slide rod slides along the direction perpendicular to the surface of the upper mounting plate inside the U-shaped guide. The double-group design of the control cylinder can provide more balanced force during the grasping process of the object and enhance the stability of the clamping action. The design of the truss slide rod enables the fixture to provide stable support and buffering during transportation and reduces the impact of vibration on the object.

[0014] Preferably, a sleeve hole for the vertical sliding of the lug seat on the surface of the upper mounting plate is provided on the surface of the upper mounting plate. The truss slide rod slides along the direction perpendicular to the surface of the upper mounting plate inside the U-shaped guide, and the end of the linkage rod is rotatably sleeved on the surface of the truss slide rod.

[0015] Preferably, a number of anti-slip ridges are provided on one side of the movable clamping plate to increase the friction between the movable clamping plate and the surface of the object. The supporting spokes are arranged obliquely in the initial stage, and the horizontal height of the connecting end of the supporting spoke and the movable clamping plate is higher than the connecting height of the supporting spoke and the fixed plate.

[0016] Preferably, the width of the supporting spokes on the inner sides of the fixed clamping plate and the movable clamping plate gradually increases from top to bottom.

[0017] Preferably, the top end of the elastic connecting bar on the surface of the uppermost supporting spoke is fixedly connected to the surface of the fixed clamping plate, and the elastic connecting bars between the supporting spokes are connected in sequence.

[0018] Preferably, grooves adapted to the shaft heads are provided on the surfaces of the fixed clamping plate and the movable clamping plate, and the supporting spokes are of a metal sheet structure.

[0019] Preferably, the number of the jaw assemblies is several and arranged in a straight line, and the suspension rods are arranged in a straight line on the surface of the clamping arm in sequence.

[0020] This clamp design can provide the function of automatically increasing force and adjusting the clamping angle when clamping an object, adapting to the weight change of the object and ensuring the stability of the clamping process. The specific clamping process is as follows: Initial state: the clamping arm is in a relaxed state, there is a gap between the movable clamping plate and the fixed clamping plate, the bearing spokes are arranged obliquely, and the clamping jaw assembly remains open in an unstressed state.

[0021] Clamping action: The control cylinder pushes the connecting rod to rotate, driving the clamping arm to deflect inward, so that the moving clamping plate moves closer to the fixed clamping plate to achieve the clamping of the object. The spokes automatically adjust the angle, and the clamping force increases with the increase of the weight of the object.

[0022] Transport phase: The palletizing robot begins to lift the clamped object, the truss slides along the inside of the U-shaped guide frame, and the gripper assembly rises synchronously with the gripper arm to stably transport the object.

[0023] Release the object: control the cylinder to retract, and the connecting rod drives the clamping arm to expand outward, so that the movable clamping plate moves away from the fixed clamping plate, releasing the object.

[0024] Furthermore, anti-skid design and elastic buffering: the surface of the moving clamping plate is provided with anti-skid ridges to improve the clamping force; the elastic connecting strip connects the adjacent bearing spokes to provide a buffering effect for the clamping force and reduce the impact of vibration on the clamping effect during transportation. The anti-skid ridges effectively increase the friction of the clamped object and prevent the object from slipping during transportation. The elastic connecting strip provides elastic buffering to ensure that the clamp can effectively absorb the impact during transportation and prevent the object from loosening.

[0025] Clamping force adjustment and adaptive design: The spokes are arranged obliquely and connected to each other through elastic links. During the clamping process, the clamping force is automatically adjusted according to the weight of the object to ensure the stability and safety of the clamping. Through this adaptive clamping design, the clamp can accurately clamp objects of different weights, ensuring that each clamping can achieve the best effect.

[0026] The beneficial effects achieved by the present invention are: 1. In the present invention, the clamp adopts a fixed clamping plate and a movable clamping plate, and provides support during the clamping process through the supporting spokes, so that the clamping surface is evenly stressed to prevent the material from sliding or falling off; the anti-slip ridge design on the surface of the movable clamping plate further improves the clamping force and friction force, ensuring that the material will not shift during the handling process.

[0027] 2. In the present invention, by providing a combined structure of load-bearing spokes and elastic connecting bars, the jaw assembly can automatically adjust the clamping force according to the shape, size, and mass of the material, adapt to materials of different specifications, improve the clamping stability, and adopt a special design of the angle of the load-bearing spokes, so that the clamping force will automatically increase as the weight of the material increases, achieving the effect of more stable clamping of heavy objects and softer clamping of light objects, avoiding damage caused by excessive clamping force, and preventing the material from falling due to insufficient clamping force.

[0028] 3. In the present invention, the combination of load-bearing spokes and elastic connecting bars enables the moving clamping plate to be adaptively adjusted according to the size and weight of the material, avoiding problems of excessive or insufficient clamping force, making the fixture have advantages such as high stability, self-adaptive clamping, shock absorption and buffering, compact structure, and strong durability, being able to adapt to materials of different specifications, shapes, and weights, and improving the working efficiency and clamping safety of the palletizing robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 is a schematic diagram of the overall structure of an embodiment of the present invention; Figure 2 is a schematic diagram of the surface structure of the upper mounting plate of an embodiment of the present invention; Figure 3 is a schematic diagram of the connection structure of the clamping arm of an embodiment of the present invention; Figure 4 is a schematic diagram of the jaw assembly structure of an embodiment of the present invention; Figure 5 is a schematic diagram of the fixed clamping plate and the moving clamping plate of an embodiment of the present invention; Figure 6 is a schematic diagram of the fixed plate and the load-bearing spokes of an embodiment of the present invention.

[0030] Reference Signs: 100, upper mounting plate; 110, control cylinder; 120, lifting lug seat; 101, U-shaped guide frame; 102, jaw support arm; 200, clamping arm; 210, connecting ear; 220, connecting rod; 221, bushing block; 300, jaw assembly; 310, fixed clamping plate; 320, moving clamping plate; 330, load-bearing spokes; 340, elastic connecting bar; 311, suspension rod; 312, fixed link; 313, fixed plate; 331, shaft head; 400, truss slide bar. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0031] To make the objectives, technical solutions, and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below in conjunction with the specific embodiments and with reference to the accompanying drawings. It should be noted that, without conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.

[0032] It is to be understood that these descriptions are exemplary only and are not intended to limit the scope of the invention.

[0033] The following is combined with Figures 1 to 6 An elastic clamp of a gantry type palletizing robot is described in some embodiments of the present invention.

[0034] This embodiment provides an elastic clamp for a gantry type palletizing robot, including an upper mounting plate 100 , a clamping arm 200 and a clamping claw assembly 300 .

[0035] 1. Upper mounting plate 100 The upper mounting plate 100 has a rectangular structure, and a plurality of mounting holes are provided on its upper surface for fixing the upper mounting plate 100 to the gantry robot by bolts.

[0036] Functional configuration: The control cylinder 110 is fixedly mounted on the surface of the upper mounting plate 100, and is used to drive the clamping arm 200 to perform a clamping action. The U-shaped guide frame 101 is fixedly mounted on the bottom surface of the upper mounting plate 100 and arranged along its length. The clamping claw support arm 102 is symmetrically arranged on both sides of the U-shaped guide frame 101, and the bottom end of the clamping claw support arm 102 is rotatably connected to the top end of the clamping arm 200 to realize the rotational movement of the clamping arm 200. The lifting ear seat 120 is movably mounted on the surface of the upper mounting plate 100, and a truss slide rod 400 is fixedly mounted on the lifting ear seat 120 to provide auxiliary support in the vertical direction.

[0037] The truss slide bar 400 slides along the inner side of the U-shaped guide frame 101 and is fixedly mounted on the lug seat 120. The truss slide bar 400 provides vertical support through its sliding cooperation with the inner side of the U-shaped guide frame 101, so that the clamp remains stable during lifting and transportation. The design of the truss slide bar 400 can stably support the overall structure of the clamp and reduce the shaking caused by external vibration or the movement of the clamp itself, thereby ensuring the stability of the clamp during object handling.

[0038] 2. Clamping arm 200 The connecting ear 210 is arranged on the top surface of the clamping arm 200, and realizes the coordinated movement with the control cylinder 110 and the clamping claw support arm 102 through the connecting rod 220. The shaft sleeve block 221 is movably sleeved on the inner side of the clamping claw support arm 102, so that the clamping arm 200 can rotate relative to the clamping claw support arm 102 to ensure stable movement.

[0039] Movement mode: The output end of the control cylinder 110 is movably connected to the end of the connecting rod 220, and the clamping arm 200 is driven to perform a clamping action by driving the rotation of the connecting rod 220.

[0040] 3. Gripper assembly 300 The jaw assembly 300 includes: a fixed clamping plate 310, the top of which is fixedly connected to the clamping arm 200 through a suspension rod 311, and a fixed connecting rod 312 is provided on the side for supporting the structural stability. A movable clamping plate 320, which is arranged opposite to the fixed clamping plate 310 and is used for clamping an object. Supporting spokes 330, a plurality of supporting spokes 330 are connected between the fixed plate 313 and the movable clamping plate 320 in an inclined arrangement through shaft heads 331. An elastic connecting strip 340, which is fixedly connected to adjacent supporting spokes 330 and is used for providing an elastic buffering effect for the clamping force.

[0041] 4. Clamping process Initial state: The clamping arm 200 is in a relaxed state, there is a gap between the movable clamping plate 320 and the fixed clamping plate 310, the supporting spokes 330 are arranged obliquely, and the jaw assembly 300 remains open in the unloaded state.

[0042] Clamping action: Control the air cylinder 110 to push the linkage rod 220 to rotate, drive the clamping arm 200 to deflect inward, make the movable clamping plate 320 approach the fixed clamping plate 310, and realize the preliminary clamping of the object. Since one end of the supporting spoke 330 is rotatably connected to the fixed plate 313 and the other end is connected to the movable clamping plate 320, the supporting spoke 330 automatically adjusts the angle, so that the clamping force increases with the increase of the object weight.

[0043] Lifting and transporting: The palletizing robot starts to lift and clamp the object, the truss slide rod 400 slides along the inner side of the U-shaped guide frame 101, and the jaw assembly 300 is lifted synchronously with the clamping arm 200 to stably transport the object.

[0044] Releasing the object: Control the air cylinder 110 to retract, the linkage rod 220 drives the clamping arm 200 to expand outward, make the movable clamping plate 320 move away from the fixed clamping plate 310, and release the object. The elastic connecting strip 340 returns to the initial state, so that the supporting spokes 330 automatically return to their positions, and the fixture returns to the initial open state.

[0045] 5. Adaptive adjustment Adaptive clamping force: Since the supporting spokes 330 are arranged obliquely and are connected to each other through the elastic connecting strip 340, the clamping force can be automatically adjusted according to the object weight during the clamping process to ensure the clamping stability.

[0046] Anti-slip design: The surface of the movable clamping plate 320 is provided with anti-slip ridges to increase the friction force of the clamped object and prevent it from slipping during transportation.

[0047] Seismic buffering: The elastic connecting strip 340 connects adjacent supporting spokes 330, which can provide a buffering effect during the clamping and transportation processes and reduce the influence of vibration during transportation on the clamping effect.

[0048] The working principle and usage process of the present invention: The present invention provides a gantry palletizing robot elastic fixture. Through reasonable structural design, the clamping force adaptively increases as the weight of the object increases, improving the stability and safety of object grasping. The working principle and usage process of the present invention are as follows: 1. Initial state When no object is clamped, the control cylinder 110 is in a contracted state, the clamping arm 200 and the jaw assembly 300 are both in a natural relaxation state. There is a certain gap between the moving clamping plate 320 and the fixed clamping plate 310. The load-bearing spokes 330 are obliquely distributed and in an unloaded state, and the elastic connecting bars 340 are not stretched. At this time, the fixture can move freely and wait for the palletizing robot to perform the clamping operation.

[0049] 2. Clamping stage When an object needs to be grasped, the control cylinder 110 drives the linkage rod 220 to rotate, causing the clamping arm 200 to deflect inward, driving the jaw assembly 300 to gradually contract, and the moving clamping plate 320 and the fixed clamping plate 310 to approach the object surface.

[0050] During the clamping process, the moving clamping plate 320 contacts the object surface through the anti-slip ridges to provide preliminary friction.

[0051] Since one end of the load-bearing spoke 330 is connected to the fixed plate 313 through the shaft head 331 and the other end is rotatably connected to the moving clamping plate 320, during the clamping process, the load-bearing spoke 330 adaptively adjusts its angle under force, causing the moving clamping plate 320 to generate a greater clamping force on the object.

[0052] If the object has a large mass, during clamping, due to its own weight, the moving clamping plate 320 will further press down on the load-bearing spoke 330, causing it to deflect downward, thereby enhancing the clamping force and ensuring the reliability of clamping.

[0053] 3. Transportation stage After clamping is completed, the palletizing robot starts to move, and the clamped object moves accordingly.

[0054] Since the load-bearing spokes 330 are obliquely arranged and connected to each other through the elastic connecting bars 340, the jaw assembly 300 has a buffering ability during transportation, can effectively absorb the impact force caused by movement or shaking, and reduce the risk of the clamped object slipping off.

[0055] The adaptive clamping force of the fixture ensures that during transportation, the object will not become loose due to vibration or gravity, improving the stability of handling.

[0056] 4. Release stage After reaching the target position, the control cylinder 110 acts, driving the linkage rod 220 to deflect, and then causing the clamping arm 200 to return to its initial position.

[0057] The clamping arm 200 drives the jaw assembly 300 to expand outwards, increasing the distance between the movable clamping plate 320 and the fixed clamping plate 310, and releasing the clamped object.

[0058] During the process of the clamping arm 200 rebounding, the load-bearing spoke 330 is subjected to the pulling force of the elastic connecting bar 340 and gradually returns to its original angle, preparing for the next clamping action.

[0059] 5. Automatic reset and cyclic operation After releasing the object, the control cylinder 110 continues to retract, resetting the entire fixture to its initial state and waiting for the next clamping instruction. The entire working process can be repeated to achieve continuous palletizing operations, improving the operation efficiency and automation level.

[0060] In the description of this specification, the descriptions of terms such as "one embodiment", "some embodiments", "specific embodiments", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or instance. Moreover, the specific features, structures, materials, or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0061] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and purposes of the present invention. The scope of the present invention is defined by the claims and their equivalents.

Claims

1. A gantry palletizing robot elastic fixture, characterized in that Including: Upper mounting plate (100), clamping arm (200) and jaw assembly (300); The upper surface of the upper mounting plate (100) is provided with several groups of mounting holes for connecting the upper mounting plate (100) to the gantry robot by bolts; A lifting lug seat (120) is movably mounted on the surface of the upper mounting plate (100), and a truss slide bar (400) sleeved and slid on the inner side of the U-shaped guide frame (101) is fixedly mounted on the surface of the lifting lug seat (120); The jaw assembly (300) includes a fixed clamping plate (310), a movable clamping plate (320) and several supporting spokes (330). The top and side of the fixed clamping plate (310) are respectively provided with a suspension rod (311) and a fixed connecting rod (312) fixedly connected to the surface of the clamping arm (200). A fixing plate (313) is fixedly mounted on one side of the fixed clamping plate (310). The two ends of the supporting spoke (330) are provided with shaft heads (331), and the two ends of the supporting spoke (330) are rotatably connected to the surfaces of the fixing plate (313) and the movable clamping plate (320) through the shaft heads (331). The several supporting spokes (330) are arranged obliquely and parallelly and are linearly arranged along the surface of the fixing plate (313). An elastic connecting strip (340) is fixedly connected between adjacent supporting spokes (330). The truss slide bar (400) is movably connected to the end of the linkage rod (220).

2. The elastic fixture of a gantry palletizing robot according to claim 1, characterized in that, A control cylinder (110) is fixedly mounted on the surface of the upper mounting plate (100); A U-shaped guide frame (101) and a jaw support arm (102) are fixedly mounted on the bottom surface of the upper mounting plate (100). The jaw support arms (102) are symmetrically arranged on both sides of the U-shaped guide frame (101). The bottom end of the jaw support arm (102) is rotatably connected to the top end of the clamping arm (200). A connecting head ear (210) is provided on the top surface of the clamping arm (200) and is rotatably connected to a linkage rod (220). A bushing block (221) rotatably mounted on the inner side of the jaw support arm (102) is movably sleeved on the surface of the linkage rod (220). The output end of the control cylinder (110) is movably connected to the end of the linkage rod (220).

3. The elastic fixture of a gantry palletizing robot according to claim 2, wherein, The number of the control cylinders (110) is two groups, which are respectively located on both sides of the lifting lug seat (120) and are used to drive two linkage rods (220) arranged symmetrically about the origin of the lifting lug seat (120) to deflect.

4. The elastic fixture of a gantry palletizing robot according to claim 1, characterized in that The upper mounting plate (100) is of a rectangular structure, and a socket hole for the lifting lug seat (120) to slide vertically on the surface of the upper mounting plate (100) is opened on the surface. The truss slide bar (400) slides along the direction perpendicular to the surface of the upper mounting plate (100) on the inner side of the U-shaped guide frame (101). The end of the linkage rod (220) is rotatably sleeved on the surface of the truss slide bar (400).

5. The elastic fixture of a gantry palletizing robot according to claim 1, characterized in that, Several anti-slip ridges are provided on one side of the movable clamping plate (320) to increase the friction between the movable clamping plate (320) and the surface of the object. The supporting spokes (330) are arranged obliquely in the initial stage, and the horizontal height of the connection end of the supporting spoke (330) and the movable clamping plate (320) is higher than the connection height of the supporting spoke (330) and the fixing plate (313).

6. The elastic fixture of a gantry palletizing robot according to claim 1, wherein The width of the bearing spokes (330) on the inner sides of the fixed clamping plate (310) and the movable clamping plate (320) gradually increases from top to bottom.

7. The elastic fixture of a gantry palletizing robot according to claim 1, characterized in that The top end of the elastic connecting strip (340) on the surface of the topmost bearing spoke (330) is fixedly connected to the surface of the fixed clamping plate (310), and the elastic connecting strips (340) between the bearing spokes (330) are connected in sequence.

8. The elastic fixture of a gantry palletizing robot according to claim 1, wherein Grooves adapted to the shaft heads (331) are provided on the surfaces of the fixed clamping plate (310) and the movable clamping plate (320), and the bearing spokes (330) are of a metal sheet structure.

9. The elastic fixture of a gantry palletizing robot according to claim 1, characterized in that, The number of the jaw assemblies (300) is several and arranged in a straight line, and the suspension rods (311) are arranged in a straight line on the surface of the clamping arm (200) in sequence.

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