A multifunctional industrial robot gripper

Abstract

The application discloses a multifunctional industrial robot gripper, and belongs to the technical field of robot end actuators, which comprises a mechanical arm connecting frame and a cylinder clamping mechanism arranged below the mechanical arm connecting frame, the cylinder clamping mechanism can rotate around its own axis; a clamping ring assembly is arranged on the cylinder clamping mechanism, a plurality of clamping heads are arranged on the clamping ring assembly in a circumferential direction, and the clamping heads can be switched by rotating around the own axis; the clamping ring assembly is driven to move towards or away from each other by a forward and reverse screw rod, so as to clamp an object to be clamped; a camera assembly is arranged in the cylinder clamping mechanism, and the camera assembly is driven to rotate around its own axis by a driving mechanism, so as to change an observation angle. The application realizes the integration of the clamping head switching, clamping and visual observation structure, and improves the adaptability of the gripper to multiple types of objects.

Description

Technical Field

[0001] This invention relates to the field of robot end effector technology, specifically a multifunctional industrial robot gripper. Background Technology

[0002] With the deepening of intelligent manufacturing, industrial production lines are rapidly transforming from traditional rigid production models to flexible production models characterized by multiple varieties, small batches, and customization. As a core functional component that allows direct interaction between robots and work materials, the industrial robot gripper's integration level, intelligence level, gripping compatibility, and spatial adaptability directly determine the automation efficiency and production continuity of the production line.

[0003] Different production processes often require handling workpieces with varying shapes, sizes, weights, and materials. A single gripper cannot simultaneously meet these diverse operational needs, exhibiting significant limitations. Existing industrial robot systems typically require equipping the same robot with multiple types of specialized grippers to handle complex production processes, switching between them according to process requirements. Against this backdrop, achieving rapid, reliable, and automated gripper replacement for industrial robots has become a critical technical issue of great concern in the field of automation.

[0004] Patent CN113478511A discloses a quick-change gripper scheme consisting of a quick-change main plate and a secondary plate, which allows for the disassembly and replacement of the gripper through a quick-change structure. Patent CN108942997A discloses a quick-change gripper scheme consisting of a main plate and a tool plate. The mechanical connection is achieved by controlling the engagement and disengagement of the main plate and tool plate through a main plate locking and engagement control air circuit and a main plate releasing and disengagement control air circuit. External electrical modules can be connected via interfaces on both the main plate and tool plate ends to expand the plugs and sockets for electrical connections, enabling the connection of the electrical components of the quick-change device. The patent with publication number CN119036499A discloses a quick-change fixture and an industrial robot. The top surface of the quick-change fixture has a first alignment guide structure that matches the shape of the second alignment guide structure on the end connector of the industrial robot. The fixture base on which the quick-change fixture is placed is in a magnetically levitated state. The guide structure automatically corrects the deviation during connection. The magnetic levitation state can automatically correct deviation and avoid collision when wear or damage occurs due to positional misalignment after the two are connected.

[0005] Currently, replaceable grippers generally suffer from three major pain points: First, it is difficult to balance reliability and accuracy in connection. In terms of mechanical connection, the matching accuracy of the main and auxiliary disks is extremely high. Even a small machining or assembly error can lead to connection deviation, which in turn affects the accuracy of the robot's end effector. In terms of electrical connection, problems such as poor contact and excessive contact resistance are prone to occur under high current transmission conditions, which can cause abnormal electrical signal transmission, system malfunction, or even overall failure.

[0006] Secondly, the replacement efficiency is low. Existing technologies mostly use fixed gripper storage racks. In scenarios with fixed work processes, robots need to frequently travel between the work station and the gripper storage rack to perform replacement operations, resulting in a large amount of non-productive downtime and significantly reducing the overall operational efficiency of the system.

[0007] Third, the vision integration capability is insufficient. Because the gripper needs frequent replacement, the wiring connection and follow-up cabling of the embedded vision acquisition module are difficult and unreliable, prone to failures such as cable breakage and poor contact. Therefore, existing systems often fix the vision acquisition module to the robot base or external bracket, resulting in a severely limited field of view and an inability to flexibly adapt to the vision inspection and positioning needs of different workpieces and workstations.

[0008] Therefore, a fast, multi-functional industrial robot gripper that does not require disassembly is an innovative area of ​​common effort in the field of robotics. Summary of the Invention

[0009] This invention discloses a multifunctional industrial robot gripper, primarily addressing the problems of poor reliability, low gripper switching efficiency, and weak scene adaptability in existing solutions. It achieves rapid switching between multiple grippers and multi-angle recognition through a rotating cylindrical clamping mechanism and a camera assembly. The invention includes: A robotic arm connecting frame for connecting an industrial robot arm, and a cylindrical clamping mechanism connected below the robotic arm connecting frame. The cylindrical clamping mechanism is equipped with a clamping ring assembly, which includes a left clamping ring and a right clamping ring arranged opposite each other, and multiple grippers arranged on the left and right clamping rings. The cylindrical clamping mechanism can rotate around its own axis under the drive of the robotic arm connecting frame to change the grippers. A camera component for acquiring image information of the object to be clamped is provided inside the cylindrical clamping mechanism.

[0010] Furthermore, the robotic arm connecting frame includes a main support, a first motor, a motor mounting bracket, a first motor synchronous pulley, and a first motor belt; the motor mounting bracket is installed next to the main support, the first motor is installed on the motor mounting bracket, the first motor synchronous pulley is installed on the shaft of the first motor, and the first motor belt is provided on the first motor synchronous pulley. The first motor is used to drive the cylindrical clamping mechanism to rotate through the first motor belt.

[0011] Furthermore, the cylindrical clamping mechanism includes a left disc assembly, a middle disc assembly, a right disc assembly, guide posts, forward and reverse lead screws, a second motor belt, and a third motor belt. The left and right disc assemblies are connected to the main support frame. Two guide posts and two forward and reverse lead screws are connected between the left and right disc assemblies. The middle disc assembly is fixed to the guide posts and forward and reverse lead screws. The clamping ring assembly is connected to the guide post and forward and reverse lead screws between the left and middle disc assemblies. The second motor driven wheel and the third motor driven wheel are respectively connected to the two forward and reverse lead screws. The second motor driven wheel is equipped with a second motor belt, and the third motor driven wheel is equipped with a third motor belt.

[0012] Furthermore, the left disk assembly includes a left spindle, a left disk, and a gear; the left spindle is connected to the main body support on the left side, the left disk is mounted on the left spindle, and the gear is fixedly connected to the right side of the left disk on the left spindle.

[0013] Furthermore, the central disc assembly includes a central disc, a second motor synchronous pulley, a third motor synchronous pulley, a second motor, and a third motor; the second motor and the third motor are mounted on the central disc, and the shafts of the second motor and the third motor pass through the central disc and are respectively connected to the second motor synchronous pulley and the third motor synchronous pulley; the second motor and the third motor drive the forward and reverse lead screws to rotate through the second motor belt and the third motor belt, and the rotation of the forward and reverse lead screws is used to pull the clamping ring assembly to move inward to clamp the chuck.

[0014] Furthermore, the right disk assembly includes a right main shaft, a right disk, and a first motor driven wheel; a connecting middle disk is sleeved on the left side of the right main shaft, a connecting right disk is sleeved in the middle of the right main shaft, a first motor driven wheel is installed on the right side of the right disk on the right main shaft, a pipe clamp three is installed on the right side of the first motor driven wheel on the right main shaft, and the main support in the robotic arm connecting frame is connected to the right side of the right main shaft.

[0015] Furthermore, the clamping ring assembly includes a left clamping ring, a right clamping ring, a chuck for clamping the workpiece, a right flange nut, and a left flange nut. The left and right clamping rings are respectively equipped with left and right flange nuts, which are connected to both sides of two forward and reverse lead screws. The left and right clamping rings are respectively mounted on two guide posts, and at least one chuck is correspondingly installed on each of the left and right clamping rings. A first motor drives the cylindrical clamping mechanism to rotate, causing the clamping ring assembly mounted on it to rotate, for quickly switching the required chuck. The second and third motor belts drive the forward and reverse lead screws to rotate, and the rotation of the forward and reverse lead screws is used to pull the clamping ring assembly inward to clamp the chuck and complete the clamping action.

[0016] Furthermore, the camera assembly includes a fourth motor, a camera frame, a camera, and a second gear. The left side of the camera frame is connected to the left main shaft of the left disc. The fourth motor is mounted on the camera frame, and the second gear is mounted on the fourth motor. The second gear meshes with the first gear. The camera, used for image acquisition, is mounted below the camera frame. The right side of the camera frame is connected to a fourth clamp, which is connected to the right main shaft. The fourth motor drives the entire camera assembly to rotate around its axis through the rotation of the second gear, allowing the object to be grasped to be observed from the desired angle.

[0017] Furthermore, the multifunctional industrial robot gripper is provided with a connection structure above it for connecting to the industrial robot.

[0018] The beneficial effects of this invention are as follows: 1. High system reliability. Adopting an integrated gripper structure, it eliminates the need for traditional quick-change main / auxiliary panels and disassembly / locking mechanisms, fundamentally avoiding problems such as insufficient mechanical connection precision, poor electrical contact, and high-current transmission failure, thus improving the stability of the end effector system.

[0019] 2. High chuck switching efficiency. One or more types of grippers are integrated with clamping ring assemblies. Different functional grippers can be quickly switched by rotating the first motor, eliminating the need to travel back and forth to the gripper storage rack, eliminating non-productive downtime, and significantly improving work efficiency in scenarios with frequent tool changes.

[0020] 3. Flexible visual acquisition and wide field of view. The gripper body integrates a rotatable camera component, which is driven by a fourth motor to adjust the observation angle and expand the field of view. It can flexibly adapt to the visual needs of different workpieces and workstations, solving the problem of limited visual field of view of fixed bases.

[0021] 4. Simplified and compact structure. The chuck switching mechanism and the gripping execution mechanism are integrated into a single design with independent functions, simplifying the overall structure, reducing the number of parts, and lowering manufacturing costs and maintenance difficulty.

[0022] 5. Simplified power system and lightweight device. All grippers are driven by the same power mechanism, simplifying the power configuration, reducing the weight of the gripper, reducing the load on the robot's end effector, and improving the robot's motion performance and load capacity. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the robotic arm connecting frame of the present invention; Figure 3 This is a schematic diagram of the cylindrical clamping mechanism of the present invention; Figure 4 This is a schematic diagram of the left disc assembly of the cylindrical clamping mechanism of the present invention; Figure 5This is a schematic diagram of the middle disc assembly of the cylindrical clamping mechanism of the present invention; Figure 6 This is a schematic diagram of the right disc assembly of the cylindrical clamping mechanism of the present invention; Figure 7 This is a schematic diagram of the clamping ring assembly of the present invention; Figure 8 This is a schematic diagram of the camera component of the present invention.

[0024] In the diagram: 1. Robotic arm connecting frame; 2. Cylindrical clamping mechanism; 3. Clamping ring assembly; 4. Camera assembly; 101. Grip flange; 102. Support fixing plate; 103. First motor; 104. Motor mounting bracket; 105. First motor synchronous pulley; 106. First motor belt; 107. Main support; 21. Left disc assembly; 22. Middle disc assembly; 23. Right disc assembly; 204. Guide column; 2 05. Forward and reverse lead screws; 206. Second motor driven pulley; 207. Third motor driven pulley; 208. Second motor belt; 209. Third motor belt; 211. Left spindle; 212. Pipe clamp one; 213. Nylon bushing one; 214. Bearing one; 215. Left disc; 216. Left disc flange bearing; 217. Pipe clamp two; 218. Nylon bushing two; 219. Gear one; 221. Belt tensioner. 1. Belt tensioner pulley; 2. Belt tensioner mounting bracket ... Bushing 3; 237, Pipe clamp 3; 301, Left clamping ring; 302, Right clamping ring; 303, Chuck 1; 304, Chuck 2; 305, Chuck 3; 306, Chuck 4; 307, Right flange nut; 308, Left flange nut; 401, Fourth motor; 402, Pipe clamp 4; 403, Nylon bushing 4; 404, Camera frame; 405, Camera; 406, Laser emitter; 407, Gear 2. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of this invention clearer, the various embodiments of this invention will be described in detail below with reference to the accompanying drawings. However, those skilled in the art will understand that many technical details have been provided in the embodiments of this invention to facilitate a better understanding of the application. However, the technical solutions claimed in the claims of this application can be implemented even without these technical details and with various variations and modifications based on the following embodiments.

[0026] This invention discloses a multifunctional industrial robot gripper, such as... Figures 1 to 8 As shown, it includes: a robotic arm connecting frame 1 for connecting an industrial robot arm, a cylindrical clamping mechanism 2 connected below the robotic arm connecting frame 1, a clamping ring assembly 3 on the cylindrical clamping mechanism 2, the clamping ring assembly 3 including a left clamping ring 301 and a right clamping ring 302 arranged opposite to each other, and a plurality of grippers arranged on the left clamping ring 301 and the right clamping ring 302. The cylindrical clamping mechanism 2 can rotate around its own axis under the drive of the robotic arm connecting frame 1 to realize the replacement of the grippers. A camera assembly 4 for acquiring image information of the object to be clamped is provided inside the cylindrical clamping mechanism 2.

[0027] The robotic arm connecting frame 1 includes a gripper flange 101, a support fixing plate 102, a first motor 103, a motor mounting bracket 104, a first motor synchronous pulley 105, a first motor belt 106, and a main support 107. The gripper flange 101 is installed above the support fixing plate 102, the main support 107 is installed below the support fixing plate 102, the motor mounting bracket 104 is installed next to the main support 107, the first motor 103 is installed on the motor mounting bracket 104, the first motor synchronous pulley 105 is installed on the shaft of the first motor 103, and the first motor belt 106 is provided on the first motor synchronous pulley 105.

[0028] In the embodiment, the robotic arm connecting frame 1 is connected to the robotic arm via the gripper flange 101. The first motor 103 drives the lower cylindrical clamping mechanism 2 to rotate via the first motor belt 106, and selects the required chuck.

[0029] The cylindrical clamping mechanism 2 includes a left disc assembly 21, a middle disc assembly 22, a right disc assembly 23, a guide post 204, forward and reverse lead screws 205, a second motor driven wheel 206, a third motor driven wheel 207, a second motor belt 208, and a third motor belt 209. The left disc assembly 21 and the right disc assembly 23 are connected to the main support 107. Two guide posts 204 and two forward and reverse lead screws 205 are connected between the left disc assembly 21 and the right disc assembly 23. The middle disc assembly 22 is fixed on the guide posts 204 and the forward and reverse lead screws 205. The clamping ring assembly 3 is connected to the guide posts 204 and the forward and reverse lead screws 205 between the left disc assembly 21 and the middle disc assembly 22. The two forward and reverse lead screws 205 are respectively connected to the second motor driven wheel 206 and the third motor driven wheel 207. The second motor driven wheel 206 is provided with a second motor belt 208, and the third motor driven wheel 207 is provided with a third motor belt 209.

[0030] In the embodiment, the cylindrical clamping mechanism 2 is used to drive the second motor 228 and the third motor 229 in the middle disc assembly 22 to drive the forward and reverse lead screw 205 to rotate. The rotation of the forward and reverse lead screw 205 drives the clamping ring assembly 3 to clamp and grab the item to be clamped.

[0031] The left disc assembly 21 includes a left spindle 211, a first pipe clamp 212, a first nylon bushing 213, a first bearing 214, a left disc 215, a left disc flange bearing 216, a second pipe clamp 217, a second nylon bushing 218, and a first gear 219. The first pipe clamp 212 connects the spindle and the main support 107 in the robotic arm connecting frame 1. The first nylon bushing 213 is installed on the right side of the first pipe clamp 212 on the left spindle 211. The first bearing 214 is installed on the right side of the first nylon bushing 213 on the left spindle 211. The left disc 215 is installed on the first bearing 214. Two left disc flange bearings 216 are installed on the left disc 215. The second pipe clamp 217, the second nylon bushing 218, and the first gear 219 are respectively installed on the right side of the left disc 215 on the left spindle 211. The middle disc assembly 22 includes a belt tensioner 1 221, a belt tensioner 222, a tensioner mounting bracket 223, a middle disc 224, a middle disc flange bearing 225, a second motor synchronous pulley 226, a third motor synchronous pulley 227, a second motor 228, and a third motor 229. The tensioner mounting bracket 223 and two middle disc flange bearings 225 are mounted on the middle disc 224. The second motor 228 and the third motor 229 are mounted on the middle disc 224. The shafts of the second motor 228 and the third motor 229 pass through the middle disc 224 and are respectively connected to the second motor synchronous pulley 226 and the third motor synchronous pulley 227. The belt tensioner 1 221 and the belt tensioner 222 are respectively mounted on the tensioner mounting bracket 223.

[0032] The right disc assembly 23 includes a right spindle 231, a bore optical axis clamping ring 232, a right disc flange bearing 233, a right disc 234, a first motor driven wheel 235, a nylon bushing 236, and a pipe clamp 237. Two bore optical axis clamping rings 232 are mounted on the right spindle 231. The left bore optical axis clamping ring 232 is connected to the middle disc 224, and the right bore optical axis clamping ring 232 is connected to the right disc 234. Two right disc flange bearings 233 are mounted on the right disc 234. The first motor driven wheel 235 is mounted on the right side of the right disc 234 on the right spindle 231. The nylon bushing 236 is mounted on the right side of the first motor driven wheel 235 on the right spindle 231. The pipe clamp 237 is mounted on the nylon bushing 236, and the pipe clamp 237 connects the right spindle 231 to the main support 107 in the robotic arm connecting frame 1.

[0033] The clamping ring assembly 3 includes a left clamping ring 301, a right clamping ring 302, a right flange nut 307, and a left flange nut 308. The chucks include chuck one 303, chuck two 304, chuck three 305, and chuck four 306. The left clamping ring 301 and the right clamping ring 302 are respectively equipped with the left flange nut 308 and the right flange nut 307. The left flange nut 308 and the right flange nut 307 are respectively connected to both sides of the two forward and reverse lead screws 205. The left clamping ring 301 and the right clamping ring 302 are respectively mounted on two guide posts 204. The left clamping ring 301 and the right clamping ring 302 are respectively equipped with chuck one 303, chuck two 304, chuck three 305, and chuck four 306.

[0034] The camera assembly 4 includes a fourth motor 401, a fourth clamp 402, a fourth nylon bushing 403, a camera frame 404, a camera 405, a laser emitter 406, and a second gear 407. The left side of the camera frame 404 is connected to the second clamp 217 of the left disc 215. The fourth motor 401 is mounted on the camera frame 404, and the second gear 407 is mounted on the fourth motor 401. The second gear 407 meshes with the first gear 219. The camera 405 is mounted below the camera frame 404, and the laser emitter 406 is mounted below the camera frame 404 next to the camera 405. The right side of the camera frame 404 is connected to the fourth clamp 402, and the fourth nylon bushing 403 is installed inside the fourth clamp 402. The fourth nylon bushing 403 is connected to the right spindle 231.

[0035] In this embodiment, the laser emitter 406 emits a laser to assist computer vision in extracting features of the object to be gripped. The camera assembly 4 is driven to rotate by the fourth motor 401 to adjust the camera 405 to face the object to be gripped.

[0036] The multifunctional industrial robot gripper has a fixed robot connection gripper flange 101 at its top.

[0037] This embodiment is applied to an industrial automated assembly line, which sequentially completes the gripping operations of cylindrical and square workpieces.

[0038] In the initial state, four chuck positions are evenly distributed around the circumference on the clamping ring assembly 3: the first position directly below is chuck one 303, which is a standard chuck; the second position 90° counterclockwise is chuck three 305, which is a chuck with a blade attached to the end; the third position at the top is chuck two 304, which is a shovel-type chuck; and the fourth position directly in front is chuck four 306, which is a left and right semi-circular ring chuck. At this time, chuck one 303 in the first position faces directly downwards, which is the default working position. The gripper is connected to the end effector of the industrial robot through the robotic arm connecting frame 1 and is in standby mode.

[0039] When the production line conveys a cylindrical workpiece to the loading position, the fourth motor 401 drives the camera assembly 4 to rotate, so that the camera 405 faces the workpiece to be gripped, collects the workpiece feature information, and transmits it to the control system. The control system recognizes that the workpiece matches the fourth station chuck 306 and starts the first motor 103; the first motor 103 drives the first motor driven wheel 235 to rotate through the meshing of the first motor synchronous pulley 105 and the first motor belt 106; the first motor driven wheel 235 drives the cylindrical clamping mechanism 2 to rotate 90° clockwise through the right main shaft 231, so that the fourth station chuck 306 rotates to the working position directly below, completing the first chuck switching.

[0040] The robot moves the gripper to the gripping range directly above the workpiece; it starts the second motor 228 and the third motor 229; the second motor 228 drives the second motor driven wheel 206 to rotate through the meshing of the second motor synchronous pulley 226 and the second motor belt 208; the third motor 229 drives the third motor driven wheel 207 to rotate through the meshing of the third motor synchronous pulley 227 and the third motor belt 209; the second motor driven wheel 206 and the third motor driven wheel 207 synchronously drive the upper and lower forward and reverse lead screws 205 to rotate.

[0041] The forward and reverse lead screws 205 drive the right flange nut 307 and left flange nut 308 to move in opposite directions along the guide post 204 via threaded transmission, driving the left clamping ring 301 and right clamping ring 302 to retract inward, so that the fourth station chuck 306 clamps the outer cylindrical surface of the workpiece. The robot drives the gripper to transport the workpiece to the designated position; the second motor 228 and the third motor 229 rotate in opposite directions, driving the left clamping ring 301 and right clamping ring 302 to open outward, releasing the workpiece.

[0042] When the production line conveys a square workpiece to the loading position, the fourth motor 401 drives the camera assembly 4 to rotate, so that the camera 405 faces the workpiece to be gripped, collects the workpiece feature information, and transmits it to the control system. The control system recognizes that the workpiece matches the first station chuck 303 and starts the first motor 103; the first motor 103 drives the first motor driven wheel 235 to rotate through the engagement of the first motor synchronous pulley 105 and the first motor belt 106; the first motor driven wheel 235 drives the cylindrical clamping mechanism 2 to rotate 90° counterclockwise through the right main shaft 231, so that the first station chuck 303 rotates to the working position directly below, completing the second chuck switching.

[0043] The robot moves the gripper to the workpiece's gripping range directly above it; the second motor 228 and the third motor 229 are activated, synchronously driving the two opposing lead screws 205 to rotate, causing the right flange nut 307 and the left flange nut 308 to move towards each other along the guide post 204, so that the first station chuck 303 clamps the two opposite sides of the workpiece. The robot, with the gripper, moves the workpiece to the designated position; the second motor 228 and the third motor 229 rotate in opposite directions, causing the clamping ring assembly 3 to open outwards, releasing the workpiece. The robot, with the gripper, returns to the initial standby position. This embodiment only illustrates the gripping process for two typical workpieces; the specifications and number of chucks can be adjusted according to actual needs.

[0044] Those skilled in the art will understand that the above embodiments are specific examples of implementing the present invention, and in practical applications, various changes in form and detail may be made without departing from the spirit and scope of the present invention.

Claims

1. A multifunctional industrial robot gripper, characterized in that, include: A robotic arm connecting frame (1) for connecting an industrial robot arm is connected to a cylindrical clamping mechanism (2) below the robotic arm connecting frame (1). The cylindrical clamping mechanism (2) is provided with a clamping ring assembly (3). The clamping ring assembly (3) includes a left clamping ring (301) and a right clamping ring (302) arranged opposite to each other, and a plurality of clamps arranged on the left clamping ring (301) and the right clamping ring (302). The cylindrical clamping mechanism (2) can rotate around its own axis under the drive of the robotic arm connecting frame (1) to realize the replacement of the clamps. The cylindrical clamping mechanism (2) is provided with a camera assembly (4) for collecting image information of the object to be clamped.

2. The multifunctional industrial robot gripper according to claim 1, characterized in that, The robotic arm connecting frame (1) includes a main support (107), a first motor (103), a motor mounting bracket (104), a first motor synchronous pulley (105), and a first motor belt (106). The motor mounting bracket (104) is installed next to the main support (107), the first motor (103) is installed on the motor mounting bracket (104), the first motor synchronous pulley (105) is installed on the shaft of the first motor (103), and the first motor belt (106) is provided on the first motor synchronous pulley (105).

3. The multifunctional industrial robot gripper according to claim 1, characterized in that, The cylindrical clamping mechanism (2) includes a left disc assembly (21), a middle disc assembly (22), a right disc assembly (23), guide posts (204), forward and reverse lead screws (205), a second motor belt (208), a third motor belt (209), the left disc assembly (21) and the right disc assembly (23) are connected to the main support (107), the two guide posts (204) and the two forward and reverse lead screws (205) are connected between the left disc assembly (21) and the right disc assembly (23), and the middle disc assembly (22) Fixed on the guide post (204) and the forward and reverse screws (205), the clamping ring assembly (3) is connected to the guide post (204) and the forward and reverse screws (205) between the left disc assembly (21) and the middle disc assembly (22). The two forward and reverse screws (205) are respectively connected to the second motor driven wheel (206) and the third motor driven wheel (207). The second motor driven wheel (206) is provided with a second motor belt (208), and the third motor driven wheel (207) is provided with a third motor belt (209).

4. The multifunctional industrial robot gripper according to claim 1, characterized in that, The clamping ring assembly (3) includes a left clamping ring (301), a right clamping ring (302), a chuck for clamping the workpiece, a right flange nut (307), a left flange nut (308), and the left clamping ring (301) and right clamping ring (302) are respectively mounted with the left flange nut (308) and the right flange nut (307). The left flange nut (308) and the right flange nut (307) are respectively connected to both sides of two forward and reverse lead screws (205). The left clamping ring (301) and the right clamping ring (302) are respectively mounted on two guide posts (204). At least one chuck is respectively mounted on the left clamping ring (301) and the right clamping ring (302).

5. A multifunctional industrial robot gripper according to claim 3, characterized in that, The left disk assembly (21) includes a left spindle (211), a left disk (215), and a gear (219); the left spindle (211) is connected to the main body bracket (107) on the left side, the left disk (215) is installed on the left spindle (211), and the gear (219) is fixedly connected to the right side of the left disk (215) on the left spindle (211).

6. A multifunctional industrial robot gripper according to claim 3, characterized in that, The middle disc assembly (22) includes a middle disc (224), a second motor synchronous pulley (226), a third motor synchronous pulley (227), a second motor (228), and a third motor (229). The second motor (228) and the third motor (229) are mounted on the middle disc (224). The shafts of the second motor (228) and the third motor (229) pass through the middle disc (224) and are connected to the second motor synchronous pulley (226) and the third motor synchronous pulley (227) respectively.

7. A multifunctional industrial robot gripper according to claim 5, characterized in that, The right disc assembly (23) includes a right spindle (231), a right disc (234), and a first motor driven wheel (235); a connecting middle disc (224) is sleeved on the left side of the right spindle (231), a connecting right disc (234) is sleeved in the middle of the right spindle (231), a first motor driven wheel (235) is installed on the right side of the right disc (234) on the right spindle (231), a pipe clamp three (237) is installed on the right side of the first motor driven wheel (235) on the right spindle (231), and the main support (107) in the robotic arm connecting frame (1) is connected to the right side of the right spindle (231).

8. A multifunctional industrial robot gripper according to claim 7, characterized in that, The camera assembly (4) includes a fourth motor (401), a camera frame (404), a camera (405), and a second gear (407).

9. The camera assembly according to claim 8, characterized in that, The left side of the camera frame (404) is connected to the left main shaft (211) of the left disc (215). The fourth motor (401) is installed on the camera frame (404). The second gear (407) is installed on the fourth motor (401). The second gear (407) and the first gear (219) mesh. The camera (405) is used for image acquisition and is installed below the camera frame (404). The right side of the camera frame (404) is connected to the fourth clamp (402). The fourth clamp (402) is connected to the right main shaft (231). The fourth motor (401) drives the entire camera assembly (4) to rotate around its own axis through the rotation of the second gear (407) to observe the object to be grasped from the required angle.

10. The multifunctional industrial robot gripper according to claim 1, characterized in that, The gripper has a connection structure above it for connecting to the robot.

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