Multi-functional robot gripper

Abstract

The application relates to a multifunctional robot gripper, which comprises a gripper bottom plate, a suction disc assembly arranged below the gripper bottom plate and used for sucking and carrying, a turnover mechanism movably connected to the suction disc assembly, the turnover mechanism rotating the suction disc assembly to avoid interference, gripper assemblies arranged on the two sides of the gripper bottom plate, gripper driving mechanisms movably connected to the gripper assemblies and used for gripping of the gripper assemblies, a plurality of clamping jaw devices arranged below the gripper bottom plate and used for clamping actions, a distance adjusting mechanism arranged on one side of the gripper bottom plate, the distance adjusting mechanism being movably connected to the clamping jaw devices and adjusting the gripping distance between the clamping jaw devices, the gripper, the clamping hand and the suction disc are integrated in the same gripper, the manufacturing cost of the gripper is saved, the function of the gripper is enriched, and the purpose of adapting to more application fields is achieved.

Description

TECHNICAL FIELD

[0001] The embodiment of the present application relates to a robot gripper, in particular to a multifunctional robot gripper, mainly suitable for the technical field of robot handling. BACKGROUND

[0002] In the prior art, the robot gripper used in the technical field of robot handling is generally a gripper with a single function. However, the gripper with a single function has a single function and is suitable for a small technical field. If multiple functions are implemented by multiple grippers, multiple robots must be provided, which results in high cost. In addition, during use, the different functions of the gripper interfere with each other, and sometimes the distance between the components of the gripper needs to be adjusted, which makes it difficult to concentrate different functions of the gripper on the same robot gripper. SUMMARY

[0003] The embodiment of the present application aims to provide a robot gripper that concentrates the functions of a gripper, a clamp and a suction cup on the same robot gripper, and solves the interference problem between the gripper, the clamp and the suction cup.

[0004] In order to achieve the above-mentioned purpose, the embodiment of the present application designs a multifunctional robot gripper, characterized by comprising:

[0005] a gripper bottom plate,

[0006] a suction cup assembly arranged below the gripper bottom plate for suction and handling;

[0007] a turnover mechanism movably connected to the suction cup assembly, which rotates the suction cup assembly to avoid interference when the suction cup assembly interferes;

[0008] a gripper assembly arranged on both sides of the gripper bottom plate; the gripper assembly is movably connected to a gripper driving mechanism for gripping the gripper assembly;

[0009] a clamping jaw device arranged below the gripper bottom plate; the clamping jaw device is used to perform a clamping action;

[0010] a distance adjusting mechanism arranged on one side of the gripper bottom plate, the distance adjusting mechanism is movably connected to the clamping jaw device, and the distance adjusting mechanism adjusts the gripping distance between the clamping jaw devices.

[0011] Further, the gripper driving mechanism is arranged above the gripper bottom plate, a guide rail is arranged on the gripper bottom plate, and one end of the gripper driving mechanism is movably connected to the guide rail.

[0012] The turnover mechanism is fixed below the gripper base plate, and the turnover mechanism further comprises:

[0013] The turnover fixed support is below the gripper base plate, a turnover shaft is movably connected to one end of the turnover fixed support, and the suction disc assembly is fixed on the turnover shaft between the turnover fixed supports; a rotary air cylinder is fixedly connected to one end of the turnover shaft, and one end of the rotary air cylinder is fixed on the turnover fixed support through an air cylinder support.

[0014] Further, the gripper device is fixedly connected to a synchronous belt, the distance adjusting mechanism is connected through the synchronous belt, and the distance adjusting mechanism drives the gripper device through the synchronous belt.

[0015] Further, the gripper assembly is arranged at two ends of the gripper base plate; the gripper assembly further comprises:

[0016] The gripper is in the form of a hook at one end, and the other end of the gripper is fixedly connected to the two ends of the shaft;

[0017] The fixed support is fixed at the side of the two sides of the gripper base plate at one end, and a rotating bearing is arranged in the other end of the fixed support; the shaft is fixed in the rotating bearing;

[0018] The gear is fixed at the middle position of the shaft, and the rack on the gripper driving mechanism is meshingly connected to the gear.

[0019] Further, the gripper driving mechanism further comprises:

[0020] The sliding block is fixed at one end of a sliding block connecting block, the sliding block is fixed below the sliding block connecting block, and the sliding block moves on a sliding rail;

[0021] The piston connecting block is fixed at one side of the sliding block connecting block at one end, and a cylinder piston rod is fixedly connected to the other end of the piston connecting block;

[0022] The gripper driving air cylinder is fixed at one end of the cylinder body of the gripper driving air cylinder on the gripper base plate; the gripper driving air cylinder drives the rack, the rack drives the gear, the gear drives the shaft to rotate, and the shaft drives the gripper to grasp.

[0023] Further, the gripper device is movably connected to a long guide rail fixed below the gripper base plate, the gripper device moves along the direction of the long guide rail, the distance adjusting mechanism drives the gripper device through the synchronous belt, and the distance between the gripper devices is adjusted.

[0024] Further, the said clamping jaw device further comprises:

[0025] A fixed plate is provided with a sliding block on the long guide rail, and the sliding block is fixed to the fixed plate; the fixed plate is arranged above the synchronous belt;

[0026] A synchronous belt fixing block is arranged below the synchronous belt, and the synchronous belt fixing block fixes the synchronous belt and the fixed plate;

[0027] A clamping jaw cylinder is fixed to the fixed plate; the clamping jaw cylinder is arranged longitudinally, and the clamping jaw is fixed to the clamping jaw cylinder.

[0028] Further, the synchronous belt fixing block is fixed to the synchronous belt at intervals; the synchronous belt fixing block is fixed above and below the ring structure of the synchronous belt respectively; through the interval fixing of the synchronous belt fixing block, the synchronous belt drives the clamping jaw to move in two directions along the ring structure of the synchronous belt.

[0029] Further, the said distance adjusting mechanism further comprises:

[0030] A distance adjusting mechanism fixed plate is fixed to one side of the gripper base plate; a speed reducer is fixed to the distance adjusting mechanism fixed plate; and a servo motor is fixed above the speed reducer;

[0031] A distance adjusting drive shaft is fixed and connected to the output shaft of the speed reducer;

[0032] A distance adjusting shaft support seat is fixed to the four corners of the gripper base plate; a bearing is fixed to the distance adjusting shaft support seat; and the distance adjusting drive shaft is fixed longitudinally in the bearing;

[0033] A driving wheel is fixed to the distance adjusting drive shaft in the distance adjusting shaft support seat on one side;

[0034] A driven wheel is fixed to the distance adjusting drive shaft in the distance adjusting shaft support seat on the other side.

[0035] The synchronous belt is arranged on the driving wheel and the driven wheel on the same side; after the servo motor drives the speed reducer to slow down, the distance adjusting drive shaft is driven to rotate, which drives the clamping jaw device fixed to the synchronous belt to move to both sides, thereby adjusting the distance between the clamping jaw devices.

[0036] Further, a robot connecting flange is fixed above the multifunctional robot gripper.

[0037] Compared with the prior art, the embodiment of the present application sets a turnover mechanism and a distance adjusting mechanism on the same robot gripper to avoid the interference between the suction cup assembly and the gripper assembly. Meanwhile, the distance adjusting mechanism is used to adjust the distance between the clamping jaw devices, so as to concentrate the functions of the gripper, the clamping jaw and the suction cup on the same gripper, thereby saving the manufacturing cost of the gripper, enriching the functions of the gripper and achieving the purpose of adapting to more application fields. The robot gripper used in the existing technical field of robot carrying generally adopts a gripper with a single function. However, the gripper with a single function has the problems of single function and less applicable technical fields. Meanwhile, if multiple functions are realized by multiple grippers, multiple robots must be equipped, which results in high cost. In addition, during use, the different functions of the gripper will interfere with each other, and sometimes the distance between the components of the gripper needs to be adjusted, so that it is difficult to concentrate the functions of the gripper on the same robot gripper. BRIEF DESCRIPTION OF DRAWINGS

[0038] Figure 1 The structure schematic diagram of the embodiment of the present application is shown in the figure.

[0039] Figure 2 The front view schematic diagram of the embodiment of the present application is shown in the figure. Figure 1

[0040] Figure 3 The top view schematic diagram of the embodiment of the present application is shown in the figure. Figure 1

[0041] Figure 4 The left view schematic diagram of the embodiment of the present application is shown in the figure. Figure 1

[0042] Figure 5 The bottom view schematic diagram of the embodiment of the present application is shown in the figure. Figure 1

[0043] Figure 6 The structure schematic diagram of the suction cup assembly and the turnover mechanism in the embodiment of the present application is shown in the figure.

[0044] Figure 7 The structure schematic diagram of the gripper assembly in the embodiment of the present application is shown in the figure. DETAILED DESCRIPTION

[0045] ​​​​In order to make the objects, technical solutions and advantages of the present application clearer, the embodiments of the present application will be described in detail below with reference to the drawings. However, those skilled in the art can understand that, in the embodiments of the present application, many technical details are presented in order to make the readers better understand the present application. However, the technical solutions claimed by the claims of the present application can be implemented even without these technical details and based on various changes and modifications of the following embodiments.

[0046] Embodiments of the present application relate to a multifunctional robot gripper, as shown in Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 comprises:

[0047] The gripper bottom plate 1 serves as a support frame for the multifunctional robot gripper in this embodiment;

[0048] The suction cup assembly 2 is arranged below the gripper bottom plate 1 and is used for suction and carrying;

[0049] The turnover mechanism 10 is movably connected to the suction cup assembly 2. When the suction cup assembly 2 interferes, the turnover mechanism 10 rotates the suction cup assembly 2 to avoid interference. The main function of the turnover mechanism 10 is to rotate the suction cup assembly 2 to avoid interference when the suction cup assembly 2 interferes.

[0050] The gripper assembly 20 is arranged on both sides of the gripper bottom plate 1. The gripper assembly 20 is movably connected to the gripper driving mechanism 30 and is used for gripping. The gripper driving mechanism 30 drives the gripper assembly 20 to perform a gripping action. In this embodiment, the gripper assembly 20 mainly serves to grip some objects similar to flat objects such as paper partitions.

[0051] A plurality of clamping jaw devices 40 are arranged below the gripper bottom plate 1 and are used to perform a clamping action. In this embodiment, the clamping jaw devices 40 mainly serve the function of clamping.

[0052] The distance adjusting mechanism 50 is arranged on one side of the gripper bottom plate 1 and is movably connected to the clamping jaw devices 40. The distance adjusting mechanism 50 adjusts the gripping distance between the clamping jaw devices 40. The main function of the distance adjusting mechanism 50 is to adjust the gripping distance between the clamping jaw devices 40, mainly to adjust the gripping distance of the clamping jaw devices 40 during clamping.

[0053] In the above embodiment, the interference problem between the suction cup assembly 2 and the gripper assembly 20 is avoided by providing the turning mechanism 10 and the distance adjusting mechanism 50 on the same robot gripper, and the distance between the gripper devices 40 is adjusted by the distance adjusting mechanism 50, so that the functions of the gripper, the gripper and the suction cup are concentrated on the same gripper, thereby saving the manufacturing cost of the gripper, enriching the function of the gripper, and achieving the purpose of adapting to more application fields. In the existing technical field of robot handling, the robot gripper generally adopts a gripper with a single function. However, the gripper with a single function has the problems of single function and less applicable technical fields. If multiple functions are realized by multiple grippers, multiple robots must be provided, which is very expensive. In addition, during use, interference may occur between different functions of the gripper, and sometimes the distance between the components of the gripper needs to be adjusted to concentrate different functions of the gripper on the same robot gripper, which has the technical problem of difficulty

[0054] In order to achieve the above technical effects, as shown in Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 The gripper driving mechanism 20 is arranged above the gripper base plate 1, the guide rail 3 is arranged on the gripper base plate 1, and one end of the gripper driving mechanism 20 is movably connected to the guide rail 3. One end of the gripper driving mechanism 20 is slidably connected to the guide rail 3, so that the gripper can be driven to complete the grasping action. In this embodiment, the gripper driving mechanism 20 drives the gripper to move left and right during grasping. In this embodiment, objects similar to flat objects such as paper partitions can be grasped.

[0055] The turning mechanism 10 is fixed below the gripper base plate 1, and the turning mechanism 10 further comprises:

[0056] The turning shaft 12 is movably connected to one end of the turning fixed support 11 below the gripper base plate 1, and the suction cup assembly 2 is fixed on the turning shaft 12 between the turning fixed supports 11. The rotary air cylinder 13 is fixedly connected to one end of the turning shaft 12, and one end of the rotary air cylinder 13 is fixed to the turning fixed support 11 through the air cylinder support 14. The above-mentioned turning mechanism 10 drives the suction cup assembly 2 to rotate by the rotary air cylinder 13, mainly to avoid the interference between the suction cup assembly 2 and the gripper assembly 20. In this embodiment, the turning mechanism 10 is turned by 90°, and the suction cup assembly 2 is turned into a state parallel to the gripper base plate 1. When the gripper assembly 20 below performs the grasping action, the interference is avoided.

[0057] In order to achieve the above technical effects, as shown in Figure 1、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 As shown in FIG. 4, the clamping jaw device 40 is fixedly connected to the synchronous belt 51, and the distance adjusting mechanism 50 is connected to the synchronous belt 51, and the distance adjusting mechanism 50 drives the clamping jaw device 40 through the synchronous belt 51 to adjust the distance between the clamping jaw devices 40, so that the clamping jaw device 40 can adapt to the length of different objects during work, further expanding the application range and application technical field of the embodiment.

[0058] In order to achieve the above technical effects, as shown in FIG. 1, the clamping jaw device 40 comprises: Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 As shown in FIG. 4, the clamping jaw device 40 is fixedly connected to the synchronous belt 51, and the distance adjusting mechanism 50 is connected to the synchronous belt 51, and the distance adjusting mechanism 50 drives the clamping jaw device 40 through the synchronous belt 51 to adjust the distance between the clamping jaw devices 40, so that the clamping jaw device 40 can adapt to the length of different objects during work, further expanding the application range and application technical field of the embodiment.

[0059] One end of the clamping jaw 21 is hook-shaped, and the other end of the clamping jaw 21 is fixedly connected to both ends of the rotating shaft 22, and the clamping jaw 21 is used to hook the plate object when grabbing the plate object;

[0060] The fixed support 23 is fixed to the side surface of both sides of the clamping jaw base plate 1, and the rotating bearing 24 is arranged in the other end of the fixed support 23; the rotating shaft 22 is fixed in the rotating bearing 24;

[0061] The gear 25 is fixed at the middle position of the rotating shaft 22, and the gear 25 is meshingly connected to the rack 31 on the clamping jaw driving mechanism 30.

[0062] In order to achieve the above technical effects, as shown in FIG. 1, the clamping jaw device 40 comprises: Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 As shown in FIG. 4, the clamping jaw device 40 is fixedly connected to the synchronous belt 51, and the distance adjusting mechanism 50 is connected to the synchronous belt 51, and the distance adjusting mechanism 50 drives the clamping jaw device 40 through the synchronous belt 51 to adjust the distance between the clamping jaw devices 40, so that the clamping jaw device 40 can adapt to the length of different objects during work, further expanding the application range and application technical field of the embodiment.

[0063] The sliding block 32 is fixed to one end of the sliding block connecting block 33, the sliding block 32 is fixed below the sliding block connecting block 33, and the sliding block 31 moves on the sliding rail 3;

[0064] The piston connecting block 35 is fixed to one side of the sliding block connecting block 35, and the piston connecting block 35 is fixedly connected to the cylinder piston rod 36;

[0065] The cylinder body of the gripper driving cylinder 37 is fixed at one end of the gripper base plate 1. The gripper driving cylinder 37 drives the rack 31, the rack 31 drives the gear 25, the gear 25 drives the rotating shaft 22 to rotate, and the rotating shaft 22 drives the gripper 21 to grasp. The two grippers 21 in the above-mentioned embodiment are arranged at the two ends of the gripper base plate 1. The gripper driving cylinder 37 drives the rack 31, the rack 31 drives the gear 25, the gear 25 drives the rotating shaft 22 to rotate, and the rotating shaft 22 drives the gripper 21 to grasp. The above-mentioned embodiment can realize the grasping of the plate-shaped object.

[0066] In order to achieve the above-mentioned technical effects, as shown in Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 The gripper device 40 is movably connected to the long guide rail 4 fixed below the gripper base plate 1. The gripper device 40 moves along the direction of the long guide rail 4. The distance adjusting mechanism 50 drives the gripper device 40 through the synchronous belt 51, and adjusts the distance between the gripper devices 40.

[0067] In order to achieve the above-mentioned technical effects, as shown in Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 The gripper device 40 further comprises:

[0068] The fixed plate 41 is provided with a sliding block 31 on the long guide rail 4, and the sliding block 31 is fixed to the fixed plate 41. The fixed plate 41 is arranged above the synchronous belt 51;

[0069] The synchronous belt fixing block 42 is arranged below the synchronous belt 51, and the synchronous belt fixing block 42 fixes the synchronous belt 51 and the fixed plate 41;

[0070] The gripper cylinder 43 is fixed to the fixed plate 41. The gripper cylinder 43 is arranged longitudinally, and the gripper 44 is fixed to the gripper cylinder 43.

[0071] In order to achieve the above-mentioned technical effects, as shown in Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 The synchronous belt fixing block 42 is fixed at intervals on the synchronous belt 51. The synchronous belt fixing block 42 is fixed above the annular structure of the synchronous belt 51 and below the annular structure of the synchronous belt 51, respectively. Through the interval fixing of the synchronous belt fixing block 42, the synchronous belt 51 drives the gripper 44 to move in two directions along the annular structure of the synchronous belt 51. In this way, the gripper device 40 moves left and right to the two sides, and the purpose of adjusting the distance between the gripper devices 40 is achieved.

[0072] In order to achieve the above technical effects, as shown in Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 The distance adjusting mechanism 50 further comprises:

[0073] The distance adjusting mechanism fixing plate 52 is fixed on one side of the gripper bottom plate 1; the speed reducer 53 is fixed on the distance adjusting mechanism fixing plate 52; and the servo motor 54 is fixed above the speed reducer 53;

[0074] The distance adjusting driving shaft 55 is fixedly connected to the output shaft in the middle of the speed reducer 53;

[0075] The distance adjusting shaft support seat 56 is fixed on the four corners of the gripper bottom plate 1, bearings are fixed on the distance adjusting shaft support seat 56, and the distance adjusting driving shaft 55 is fixed longitudinally in the bearings;

[0076] The driving wheel 57 is fixed on the distance adjusting driving shaft 55 in the distance adjusting shaft support seat 56 on one side;

[0077] The driven wheel 58 is fixed on the distance adjusting driving shaft 55 in the distance adjusting shaft support seat 56 on the other side.

[0078] The synchronous belt 51 is arranged on the driving wheel 57 and the driven wheel 58 on the same side; after the servo motor 54 drives the speed reducer 53 to slow down, the distance adjusting driving shaft 55 is driven to rotate, the clamping jaw device 50 fixed on the synchronous belt 51 is driven to move in the two side directions, and the distance between the clamping jaw devices 50 is adjusted.

[0079] In order to achieve the above technical effects, as shown in Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 Figure 1 Figure 2 Figure 3 Figure 4 Figure 5 Figure 1 Figure 2 Figure 3 Figure 4 Figure 5 Figure 1 Figure 2 Figure 3 Figure 4 Figure 5 Figure 1 Figure 2 Figure 3 Figure 4 Figure 5 Figure 1 Figure 2 Figure 3 Figure 4 Figure 5 Figure 1 Figure 2 Figure 3 Figure 4 Figure 5 Figure 1 The robot connecting flange 6 is fixed above the multifunctional robot gripper.

[0080] Those skilled in the art can understand that the above embodiments are specific examples for implementing the present application, and in actual applications, various changes can be made in form and details without departing from the spirit and scope of the present application.

Claims

1. A multifunctional robotic gripper, characterized by, Include: The hand bottom plate, Sucker assembly, the sucker assembly is arranged below the hand bottom plate, is used for sucking and carrying; The turnover mechanism is movably connected to the sucker assembly, when the sucker assembly interferes, the turnover mechanism rotates the sucker assembly to avoid; The hand assembly is arranged on both sides of the hand bottom plate; The hand assembly is movably connected to the hand driving mechanism, and is used for grabbing the hand assembly; Clamp jaw device, a plurality of clamp jaw devices are arranged below the hand bottom plate; For executing clamping action; The distance adjusting mechanism is arranged on one side of the hand bottom plate, and the distance adjusting mechanism is movably connected to the clamp jaw device, and the distance adjusting mechanism adjusts the grabbing distance between the clamp jaw devices; The hand driving mechanism is arranged above the hand bottom plate, a guide rail is arranged on the hand bottom plate, and one end of the hand driving mechanism is movably connected to the guide rail; The turnover mechanism is fixed below the hand bottom plate, and the turnover mechanism further comprises: The turnover fixed support is arranged below the hand bottom plate, a turnover shaft is movably connected to one end of the turnover fixed support, and the sucker assembly is fixed on the turnover shaft between the turnover fixed supports; A rotary air cylinder is fixedly connected to one end of the turnover shaft, and one end of the rotary air cylinder is fixed on the turnover fixed support through an air cylinder support; The clamp jaw device is fixedly connected to the synchronous belt, the distance adjusting mechanism is connected to the clamp jaw device through the synchronous belt, and the distance adjusting mechanism drives the clamp jaw device through the synchronous belt; The clamp jaw device is movably connected to the long guide rail fixed below the hand bottom plate, the clamp jaw device moves along the direction of the long guide rail, the distance adjusting mechanism drives the clamp jaw device through the synchronous belt, and the distance between the clamp jaw devices is adjusted; The distance adjusting mechanism further comprises: The distance adjusting mechanism fixed plate is fixed on one side of the hand bottom plate; The speed reducer is fixed on the distance adjusting mechanism fixed plate; The servo motor is fixed above the speed reducer; The distance adjusting driving shaft is fixedly connected to the output shaft of the speed reducer; The distance adjusting shaft support seat is fixed on the four corners of the hand bottom plate, the bearing is fixed on the distance adjusting shaft support seat, and the distance adjusting driving shaft is fixed longitudinally in the bearing; The driving wheel is fixed on the distance adjusting driving shaft in the distance adjusting shaft support seat on one side; The driven wheel is fixed on the distance adjusting driving shaft in the distance adjusting shaft support seat on the other side; The synchronous belt is arranged on the driving wheel and the driven wheel on the same side; After the servo motor drives the speed reducer to slow down, the distance adjusting driving shaft is driven to rotate, the clamp jaw device fixed on the synchronous belt moves to both sides, and the distance between the clamp jaw devices is adjusted.

2. The multi-functional robotic gripper of claim 1, wherein, The hand assembly is arranged on both ends of the hand bottom plate; The hand assembly further comprises: The hook-shaped end of the gripper is fixedly connected to the two ends of the rotating shaft. The fixed support is fixed to the side surface of the two sides of the gripper bottom plate, and the rotating bearing is arranged in the other end of the fixed support. The gear is fixed to the middle position of the rotating shaft, and the rack on the gripper driving mechanism is engaged with the gear.

3. The multifunctional robotic gripper of claim 2, wherein, The gripper driving mechanism further comprises: The rack is fixed to one end of the sliding block connecting block, the sliding block is fixed below the sliding block connecting block, and the sliding block moves on the sliding rail. The piston connecting block is fixed to one side of the sliding block connecting block, and the other end of the piston connecting block is fixedly connected to the cylinder piston rod. The gripper driving cylinder is fixed to the gripper bottom plate, the gripper driving cylinder drives the rack, the rack drives the gear, the gear drives the rotating shaft to rotate, and the rotating shaft drives the gripper to grasp.

4. The multifunctional robotic gripper of claim 1, wherein, The gripper device further comprises: The fixed plate is arranged above the synchronous belt. The synchronous belt fixing block is arranged below the synchronous belt, and the synchronous belt and the fixed plate are fixed by the synchronous belt fixing block. The gripper cylinder is fixed to the fixed plate, and the gripper cylinder is arranged longitudinally.

5. The multi-functional robotic gripper of claim 4, wherein, The synchronous belt fixing blocks are fixed on the synchronous belt at intervals, and are respectively fixed above and below the ring structure of the synchronous belt.

6. The multifunctional robotic gripper of any one of claims 1-5, wherein, The robot connecting flange is fixed above the multifunctional robot gripper.

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