A safe anti-collision workpiece transfer mechanical claw

Abstract

The present invention discloses a safe anti-collision workpiece transfer mechanical claw, which includes a base. A machine base is rotatably connected to the surface of the base. An operating arm is arranged on the surface of the machine base. One end of the operating arm is provided with a manipulator. A laser distance sensor is arranged on the lower surface of the manipulator. Two groups of clamping rods are arranged on the lower surface of the manipulator. A protective device is arranged on one side of the manipulator close to the laser distance sensor. The protective device includes hollow seats. The number of hollow seats is two. The two hollow seats are fixedly connected to one side surface of the manipulator. A driving rod is rotatably connected to the inner wall of the hollow seat. By setting the protective device, it is convenient to protect the equipment, which can effectively reduce the phenomenon that a large amount of dust and stains adhere to the surface of the distance sensor in the equipment, affecting the ranging accuracy, resulting in the mechanical claw being prone to collide when grasping the workpiece, and reducing the poor safety of the equipment. Furthermore, the overall practicability of the equipment is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical claws, and specifically to a safe anti-collision workpiece transfer mechanical claw. Background Art

[0002] In today's life, with the rapid progress of technology, the biggest difference between a mechanical claw and a human arm lies in flexibility and endurance. That is, the greatest advantage of a mechanical claw is that it can repeat the same action and will never feel tired under normal mechanical conditions. The application of mechanical claws will also become more and more extensive. A manipulator is a high-tech automatic production equipment developed in the past few decades, with the ability to perform operations accurately and in various environments.

[0003] A mechanical claw is an automatic operating device that can imitate some action functions of the human hand and arm, and is used to grasp, transport objects or operate tools according to a fixed program. Its characteristic is that it can complete various expected operations through programming, and has the respective advantages of both humans and mechanical devices in terms of structure and performance.

[0004] However, the existing processing equipment has the following deficiencies:

[0005] In existing equipment such as CN110919678A, when working, through the action of a displacement sensor, when the guide rod moves to the maximum stroke, the mechanical claw alarms to prevent further impact. Since the mechanical claw cannot buffer, it may cause damage to the robotic arm. Currently, most use ranging sensors for anti-collision measurement. However, during the use of the equipment, the surface of the ranging sensor is prone to being covered with a large amount of dust and stains, which easily affect the ranging accuracy of the ranging sensor and may easily cause collisions when the mechanical claw grabs, affecting safety.

[0006] Therefore, we propose a safe anti-collision workpiece transfer mechanical claw to solve the problems raised above. Summary of the Invention

[0007] The purpose of the present invention is to provide a safe anti-collision workpiece transfer mechanical claw. The first motor drives the pull rope to rotate, and the elastic force of the first spring drives the protective cover and the driving rod to rotate and reset in the hollow seat. The winding head winds up the pull rope, and the protective cover can protect the laser ranging sensor, so as to solve the problems raised in the above background art.

[0008] To achieve the above object, the present invention provides the following technical solution: A safe anti-collision workpiece transfer mechanical claw, including a base, the surface of the base is rotatably connected with a machine base, the surface of the machine base is provided with an operating arm, one end of the operating arm is provided with a manipulator, the lower surface of the manipulator is provided with a laser distance sensor, the lower surface of the manipulator is provided with two groups of clamping rods, and a protective device is arranged on one side of the manipulator close to the laser distance sensor. The protective device includes a hollow seat, the number of the hollow seats is two, and the two hollow seats are fixedly connected with one side surface of the manipulator. The inner wall of the hollow seat is rotatably connected with a driving rod, and a protective cover is fixedly connected to the surface of the driving rod. The laser distance sensor is responsible for confirming the position of the tray on the trolley, the presence or absence of the workpiece, correcting the grasping position, etc., and can avoid the collision risk in the case of large changes in the shape of the rough casting. By rotating the driving rod and the protective cover in the hollow seat, dust and dirt can be prevented from entering the laser distance sensor, reducing the influence of dust and dirt on the ranging accuracy of the distance sensor, and preventing the equipment from colliding with tools during transportation, resulting in an unsafe situation.

[0009] Preferably, one side surface of the manipulator is fixedly connected with a motor one, the output end of the motor one is fixedly connected with a pull rope, one end of the driving rod is fixedly connected with a winding head, and the other end of the pull rope is wound and fixedly connected with the winding head. By cooperating the motor one with the pull rope and the winding head, the protective cover can be driven to rotate and open, facilitating adjustment.

[0010] Preferably, a first spring is sleeved on the surface of the driving rod, and both ends of the first spring are fixedly connected with the surfaces of the hollow seat and the protective cover respectively. By setting the first spring, it is convenient to control the reset of the protective cover and improve stability.

[0011] Preferably, a motor two is fixedly connected to the lower surface of the protective cover, the output end of the motor two is fixedly connected with a mounting plate, and a cleaning brush is arranged on one side surface of the mounting plate. By cooperating the motor two with the mounting plate and the cleaning brush, the laser distance sensor can be cleaned during protection. The equipment clamps the workpiece through the manipulator and the clamping rods, and the laser distance sensor can measure the distance. When the protective device is set, when protection is required, the motor one drives the pull rope to rotate, the elastic force of the first spring drives the protective cover and the driving rod to rotate and reset in the hollow seat, the winding head winds up the pull rope, and the protective cover can protect the laser distance sensor. Turn on the motor two, and the motor two drives the mounting plate and the cleaning brush to rotate, and the cleaning device wipes off the dust and stains on the surface of the laser distance sensor. By setting the protective device, it is convenient to protect the equipment, effectively reducing the situation that a large amount of dust and stains adhere to the surface of the distance sensor in the equipment, affecting the ranging accuracy, resulting in the phenomenon that the mechanical claw is prone to collision when grasping the workpiece, and reducing the poor safety of the equipment, thereby improving the overall practicality of the equipment.

[0012] Preferably, a replacement mechanism is provided on one side of the mounting plate close to the cleaning brush, the replacement mechanism includes an insertion rod, there are two insertion rods, the two insertion rods are fixedly connected to the surface of one side of the cleaning brush, two circular grooves are provided on the surface of the mounting plate, a hollow rod is fixedly connected to the inner wall of the circular groove, the insertion rod is plugged into the inner wall of the hollow rod, and the cleaning brush can be positioned and initially installed by cooperating with the positioning rod, which is convenient for subsequent replacement and cleaning, and reduces the situation where too much stains at the cleaning location affect the cleaning effect.

[0013] Preferably, two sliding grooves are provided on the surface of the insertion rod, and the inner walls of the sliding grooves are slidably connected to a limiting rod. The inner wall of the hollow rod has two clamping holes, and the limiting rod is clamped with the inner walls of the clamping holes. A second spring is fixedly connected to the side of the limiting rod corresponding to the inner wall of the sliding groove. The second spring cooperates with the limiting rod to stably restrain the insertion rod in the hollow rod.

[0014] Preferably, one end of the limiting rod is spherical, and the spherical surface is used for squeezing the clamping hole. The spherical surface at one end of the limiting rod can be used to conveniently squeeze one end of the limiting rod, thereby facilitating installation and disassembly.

[0015] Preferably, the surface of the clamping rod is provided with an auxiliary device, and the auxiliary device includes a protective sleeve, which is arranged on one side of the clamping rod, and a fixing block is fixedly connected to the surface of one side of the clamping rod, and rectangular grooves are provided on both side surfaces of the fixing block, and a clamping block is fixedly connected to the side of the protective sleeve close to the fixing block, and the clamping block is plugged into the inner wall of the rectangular groove, and four circular holes are provided on the surface of the fixing block, and a positioning rod is slidably connected to the inner wall of the circular hole, and two positioning holes are provided on the surface of the clamping block, and the positioning rod is clamped with the inner wall of the positioning hole. By setting the positioning rod, the clamping block and the protective sleeve can be restricted in the fixed block, which can reduce the wear and tear of the clamping end of the equipment when clamping the tool and affecting its life. By setting the auxiliary device, it is convenient for the auxiliary equipment to transfer workpieces, which can effectively reduce the wear on the surface of the equipment when clamping and transferring workpieces, reduce the short life of the clamping end, and thereby improve the overall stability of the equipment.

[0016] Preferably, a pull rod is fixedly connected to one end surface of the positioning rod, and the cross-section of the pull rod is I-shaped. By providing the pull rod, it is convenient to control the four positioning rods to move together.

[0017] Preferably, a third spring is sleeved on the surface of the positioning rod, and both ends of the third spring are fixedly connected to the surfaces of the fixing block and the pull rod respectively. By providing the third spring, it is convenient to control the resetting of the positioning rod and improve the binding effect of the positioning rod.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. In the present invention, the device uses a manipulator in cooperation with a clamping rod to pick up workpieces. The laser distance sensor can measure distances. A protective device is provided. When protection is required, the first motor drives the pulling rope to rotate. The elastic force of the first spring drives the protective cover and the driving rod to rotate and reset in the hollow seat. The winding head winds up the pulling rope, and the protective cover can protect the laser distance sensor. When the second motor is turned on, the second motor drives the mounting plate and the cleaning brush to rotate, and the cleaning device unwinds to wipe off the dust and stains on the surface of the laser distance sensor. By setting the protective device, it is convenient to protect the device, which can effectively reduce the situation that a large amount of dust and stains adhere to the surface of the distance sensor in the device, affecting the ranging accuracy and causing the mechanical claw to easily collide when picking up workpieces, reducing the poor safety of the device, and thus improving the overall practicality of the device.

[0020] 2. In the present invention, by setting a replacement mechanism, when the cleaning part needs to be replaced, the cleaning brush is pulled towards the side away from the mounting plate. The card hole on the surface of the hollow rod squeezes the spherical surface at one end of the limiting rod, and the second spring deforms under force to generate elastic force. When the limiting rod loses its restraint on the card hole on the inner wall of the hollow rod, the insertion rod can be taken out of the hollow rod to complete the replacement. By setting the replacement mechanism, it is convenient to replace the device, which can effectively reduce the phenomenon that the device is easily contaminated with a large amount of stains during cleaning, affecting the cleaning effect, and thus improving the overall usability of the device.

[0021] 3. In the present invention, by setting an auxiliary device, when the device needs to be used, the pull rod and the positioning rod are pulled. The third spring deforms under force to generate elastic force, and the clamping block is inserted into the rectangular groove on the surface of the fixed block. The protective sleeve is sleeved on the surface of the clamping rod. After releasing the pull rod, the third spring drives the positioning rod to be inserted into the positioning hole on the surface of the clamping block to complete the use. By setting the auxiliary device, it is convenient to assist the device in transporting workpieces, which can effectively reduce the phenomenon that the surface of the device is worn when picking up and transporting workpieces, reducing the low service life of the clamping end, and thus improving the overall stability of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is the front view structural three-dimensional diagram of a safe anti-collision workpiece transfer mechanical claw of the present invention;

[0023] Figure 2 is the partial structural three-dimensional diagram of a safe anti-collision workpiece transfer mechanical claw of the present invention;

[0024] Figure 3 is the partial structural three-dimensional diagram of a safe anti-collision workpiece transfer mechanical claw of the present invention;

[0025] Figure 4 is a safe anti-collision workpiece transfer mechanical claw of the present inventionFigure 3 3D enlarged view of the structure at location A;

[0026] Figure 5 3D perspective view of the partial structure of the protective device of a safe anti-collision workpiece transfer robotic gripper according to the present invention;

[0027] Figure 6 3D perspective view of the sectional structure of the replacement mechanism of a safe anti-collision workpiece transfer robotic gripper according to the present invention;

[0028] Figure 7 In a safe anti-collision workpiece transfer robotic gripper according to the present invention Figure 6 3D enlarged view of the structure at location B;

[0029] Figure 8 3D perspective view of the auxiliary device structure of a safe anti-collision workpiece transfer robotic gripper according to the present invention;

[0030] Figure 9 In a safe anti-collision workpiece transfer robotic gripper according to the present invention Figure 8 3D enlarged view of the structure at location C.

[0031] In the figure: 1, base; 2, machine base; 3, operating arm; 4, robotic hand; 5, laser distance sensor; 6, clamping rod; 7, protective device; 71, protective cover; 72, motor 1; 73, pulling rope; 74, winding head; 75, hollow seat; 76, driving rod; 77, first spring; 78, motor 2; 79, mounting plate; 710, cleaning brush; 8, replacement mechanism; 81, inserting rod; 82, hollow rod; 83, limiting rod; 84, spherical surface; 85, second spring; 86, clamping hole; 9, auxiliary device; 91, protective sleeve; 92, fixing block; 93, pulling rod; 94, clamping block; 95, positioning rod; 96, third spring. Detailed implementation manners

[0032] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0033] Please refer to Figures 1-9 As shown in the figure, the present invention provides a technical solution: a safe anti-collision workpiece transfer robotic gripper, including a base 1, a machine base 2 rotatably connected to the surface of the base 1, an operating arm 3 disposed on the surface of the machine base 2, a robotic hand 4 disposed at one end of the operating arm 3, a laser distance sensor 5 disposed on the lower surface of the robotic hand 4, and two groups of clamping rods 6 disposed on the lower surface of the robotic hand 4.

[0034] As shown in Figures 3-4 Figure [not provided], on one side of the manipulator 4 close to the laser distance sensor 5, a protective device 7 is provided. The protective device 7 includes a hollow seat 75. The number of hollow seats 75 is two. The two hollow seats 75 are fixedly connected to one side surface of the manipulator 4. The inner wall of the hollow seat 75 is rotatably connected to a driving rod 76. The surface of the driving rod 76 is fixedly connected to a protective cover 71. The laser distance sensor 5 is responsible for confirming the position of the tray on the trolley, the presence or absence of workpieces, correcting the grasping position, etc. It can avoid the risk of collision in the case of large changes in the outer shape of the rough casting. By rotating the driving rod 76 and the protective cover 71 in the hollow seat 75, dust and dirt can be prevented at the laser distance sensor 5, reducing the influence of dust and dirt on the ranging accuracy of the distance sensor, which may cause the equipment to collide with tools during transfer and result in unsafe situations.

[0035] As shown in Figure 4 Figure [not provided], one side surface of the manipulator 4 is fixedly connected to a first motor 72. The output end of the first motor 72 is fixedly connected to a pulling rope 73. One end of the driving rod 76 is fixedly connected to a winding head 74. The other end of the pulling rope 73 is wound and fixedly connected to the winding head 74. By cooperating the first motor 72 with the pulling rope 73 and the winding head 74, the protective cover 71 can be driven to rotate and open, facilitating adjustment.

[0036] As shown in Figure 4 Figure [not provided], a first spring 77 is sleeved on the surface of the driving rod 76. The two ends of the first spring 77 are respectively fixedly connected to the surfaces of the hollow seat 75 and the protective cover 71. By providing the first spring 77, it is convenient to control the reset of the protective cover 71 and improve stability.

[0037] As shown in Figure 5As shown in the figure, a second motor 78 is fixedly connected to the lower surface of the protective cover 71. The output end of the second motor 78 is fixedly connected to a mounting plate 79. A cleaning brush 710 is arranged on one side surface of the mounting plate 79. By means of the cooperation of the second motor 78, the mounting plate 79 and the cleaning brush 710, the laser distance sensor 5 can be cleaned during protection. The device uses a manipulator 4 and a clamping rod 6 to clamp a workpiece. The laser distance sensor 5 can measure distances. A protection device 7 is provided. When protection is required, a first motor 72 drives a pull rope 73 to rotate. The elastic force of a first spring 77 drives the protective cover 71 and a driving rod 76 to rotate and reset in a hollow seat 75. A winding head 74 winds up the pull rope 73, and the protective cover 71 can then protect the laser distance sensor 5. When the second motor 78 is turned on, the second motor 78 drives the mounting plate 79 and the cleaning brush 710 to rotate, and the cleaning device unwinds to wipe off the dust and stains on the surface of the laser distance sensor 5. By providing the protection device 7, it is convenient to protect the device, which can effectively reduce the situation that a large amount of dust and stains adhere to the surface of the distance sensor in the device, affecting the ranging accuracy and causing the mechanical claw to easily collide when grasping the workpiece, reducing the poor safety of the device, and thus improving the overall practicality of the device.

[0038] According to Figures 6-7 As shown in the figure, a replacement mechanism 8 is arranged on one side of the mounting plate 79 close to the cleaning brush 710. The replacement mechanism 8 includes two plug rods 81. The two plug rods 81 are fixedly connected to one side surface of the cleaning brush 710. Two circular grooves are formed on the surface of the mounting plate 79. A hollow rod 82 is fixedly connected to the inner wall of the circular groove. The plug rod 81 is inserted into the inner wall of the hollow rod 82. By means of the cooperation of the plug rod 81 and a positioning rod 95, the cleaning brush 710 can be initially positioned and installed, which is convenient for subsequent replacement and cleaning, and reduces the situation that excessive stains at the cleaning area affect the cleaning effect.

[0039] According to Figure 7 As shown in the figure, two sliding grooves are formed on the surface of the plug rod 81. A limiting rod 83 is slidably connected to the inner wall of the sliding groove. Two clamping holes 86 are formed on the inner wall of the hollow rod 82. The limiting rod 83 is clamped with the inner wall of the clamping hole 86. A second spring 85 is fixedly connected to one side of the limiting rod 83 corresponding to the inner wall of the sliding groove. By means of the cooperation of the second spring 85 and the limiting rod 83, the plug rod 81 can be stably constrained in the hollow rod 82.

[0040] According to Figure 7 As shown in the figure, one end of the limiting rod 83 is a spherical surface 84, and the spherical surface 84 is used for extrusion by the clamping hole 86. Through the spherical surface 84 at one end of the limiting rod 83, it is convenient to extrude one end of the limiting rod 83, which is convenient for installation and disassembly.

[0041] According to Figures 8-9As shown, the surface of the clamp rod 6 is provided with an auxiliary device 9, and the auxiliary device 9 includes a protective sleeve 91, and the protective sleeve 91 is arranged on one side of the clamp rod 6. A fixed block 92 is fixedly connected to the surface of one side of the clamp rod 6. Rectangular grooves are provided on both side surfaces of the fixed block 92. A clamping block 94 is fixedly connected to the side of the protective sleeve 91 close to the fixed block 92. The clamping block 94 is plugged into the inner wall of the rectangular groove. Four circular holes are provided on the surface of the fixed block 92. A positioning rod 95 is slidably connected to the inner wall of the circular hole. Two positioning holes are provided on the surface of the clamping block 94. The positioning rod 95 is clamped with the inner wall of the positioning hole. By providing the positioning rod 95, the clamping block 94 and the protective sleeve 91 can be restricted in the fixed block 92, which can reduce the design When the clamping tool is used, the clamping end is worn and its life is affected. By setting the auxiliary device 9, when the equipment needs to be used, pull the pull rod 93 and the positioning rod 95, and the third spring 96 is deformed under force to generate elastic force, and the clamping block 94 is inserted into the rectangular groove on the surface of the fixed block 92. The protective cover 91 is sleeved on the surface of the clamping rod 6, and the pull rod 93 is released. The third spring 96 drives the positioning rod 95 to be inserted into the positioning hole on the surface of the clamping block 94, and the use is completed. By setting the auxiliary device 9, it is convenient for the auxiliary equipment to transport workpieces, which can effectively reduce the wear on the surface of the equipment when clamping and transporting workpieces, reduce the short life of the clamping end, and thereby improve the overall stability of the equipment.

[0042] according to Figure 8 As shown, a pull rod 93 is fixedly connected to one end surface of the positioning rod 95, and the cross section of the pull rod 93 is I-shaped. By setting the pull rod 93, it is convenient to control the four positioning rods 95 to move together.

[0043] according to Figure 9 As shown, a third spring 96 is sleeved on the surface of the positioning rod 95, and the two ends of the third spring 96 are fixedly connected to the surfaces of the fixing block 92 and the pull rod 93 respectively. By providing the third spring 96, it is convenient to control the reset of the positioning rod 95, thereby improving the binding effect of the positioning rod 95.

[0044] The effects achieved by the entire mechanism are as follows: The device picks up the workpiece through the manipulator 4 cooperating with the clamping rod 6. The laser distance sensor 5 can measure distances. A protective device 7 is provided. When protection is required, the first motor 72 drives the pull rope 73 to rotate. The elastic force of the first spring 77 drives the protective cover 71 and the driving rod 76 to rotate and reset in the hollow seat 75. The winding head 74 winds up the pull rope 73, and the protective cover 71 can then protect the laser distance sensor 5. When the second motor 78 is turned on, the second motor 78 drives the mounting plate 79 and the cleaning brush 710 to rotate, and the cleaning device unwinds to wipe off the dust and stains on the surface of the laser distance sensor 5. By providing the protective device 7, it is convenient to protect the device, which can effectively reduce the situation that a large amount of dust and stains adhere to the surface of the distance sensor in the device, affecting the ranging accuracy and causing the mechanical claw to easily collide when picking up the workpiece, reducing the poor safety of the device, and thus improving the overall practicality of the device. By providing the replacement mechanism 8, when the cleaning part needs to be replaced, the cleaning brush 710 is pulled towards the side away from the mounting plate 79. The card hole 86 on the surface of the hollow rod 82 squeezes the spherical surface 84 at one end of the limiting rod 83, and the second spring 85 deforms under force to generate elastic force. When the limiting rod 83 loses its restraint on the card hole 86 on the inner wall of the hollow rod 82, the plug rod 81 can be taken out of the hollow rod 82 to complete the replacement. By providing the replacement mechanism 8, it is convenient to replace the device, which can effectively reduce the phenomenon that the device is easily stained with a large amount of stains during cleaning, reducing the poor cleaning effect of the device, and thus improving the overall usability of the device. By providing the auxiliary device 9, when the device needs to be used, the pull rod 93 and the positioning rod 95 are pulled. The third spring 96 deforms under force to generate elastic force, and the clamping block 94 is inserted into the rectangular groove on the surface of the fixed block 92. The protective sleeve 91 is sleeved on the surface of the clamping rod 6. After the pull rod 93 is released, the third spring 96 drives the positioning rod 95 to be inserted into the positioning hole on the surface of the clamping block 94 to complete the use. By providing the auxiliary device 9, it is convenient to assist the device in transporting the workpiece, which can effectively reduce the phenomenon that the surface of the device is worn when picking up and transporting the workpiece, reducing the low life of the clamping end, and thus improving the overall stability of the device.

[0045] Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A safe anti-collision workpiece transfer mechanical claw, characterized in that: It includes a base (1), on the surface of the base (1) is rotatably connected a machine base (2), on the surface of the machine base (2) is provided an operating arm (3), at one end of the operating arm (3) is provided a manipulator (4), on the lower surface of the manipulator (4) is provided a laser range finder (5), on the lower surface of the manipulator (4) are provided two groups of clamping rods (6), on one side of the manipulator (4) close to the laser range finder (5) is provided a protection device (7), the protection device (7) includes a hollow seat (75), the number of the hollow seats (75) is two, the two hollow seats (75) are fixedly connected to one side surface of the manipulator (4), the inner wall of the hollow seat (75) is rotatably connected with a driving rod (76), on the surface of the driving rod (76) is fixedly connected a protective cover (71); on one side surface of the manipulator (4) is fixedly connected a motor one (72), the output end of the motor one (72) is fixedly connected with a pulling rope (73), one end of the driving rod (76) is fixedly connected with a winding head (74), the other end of the pulling rope (73) is wound and fixedly connected with the winding head (74); on the lower surface of the protective cover (71) is fixedly connected a motor two (78), the output end of the motor two (78) is fixedly connected with a mounting plate (79), on one side surface of the mounting plate (79) is provided a cleaning brush (710); on one side of the mounting plate (79) close to the cleaning brush (710) is provided a replacement mechanism (8), the replacement mechanism (8) includes inserting rods (81), the number of the inserting rods (81) is two, the two inserting rods (81) are fixedly connected to one side surface of the cleaning brush (710), on the surface of the mounting plate (79) are opened two circular grooves, the inner wall of the circular groove is fixedly connected with a hollow rod (82), and the inserting rods (81) are inserted into the inner walls of the hollow rods (82).

2. The safety type anti-collision workpiece transfer mechanical claw according to claim 1, characterized in that: A first spring (77) is sleeved on the surface of the driving rod (76), and both ends of the first spring (77) are fixedly connected to the surfaces of the hollow seat (75) and the protective cover (71) respectively.

3. The safety type anti-collision workpiece transfer mechanical claw according to claim 2, wherein: Two sliding grooves are opened on the surface of the inserting rod (81), a limiting rod (83) is slidably connected to the inner wall of the sliding groove, two clamping holes (86) are opened in the inner wall of the hollow rod (82), the limiting rod (83) is clamped with the inner wall of the clamping hole (86), and a second spring (85) is fixedly connected to one side of the limiting rod (83) corresponding to the inner wall of the sliding groove.

4. The safety type anti-collision workpiece transfer mechanical claw according to claim 3, characterized in that: One end of the limiting rod (83) is a spherical surface (84), and the spherical surface (84) is for being squeezed by the clamping hole (86).

5. A safe anti-collision workpiece transfer mechanical claw according to claim 1, characterized in that: An auxiliary device (9) is provided on the surface of the clamping rod (6). The auxiliary device (9) includes a protective sleeve (91) which is arranged on one side of the clamping rod (6). A fixing block (92) is fixedly connected to one side surface of the clamping rod (6). Rectangular grooves are formed on both side surfaces of the fixing block (92). A clamping block (94) is fixedly connected to the side of the protective sleeve (91) close to the fixing block (92). The clamping block (94) is inserted into the inner wall of the rectangular groove. Four circular holes are formed on the surface of the fixing block (92). A positioning rod (95) is slidably connected to the inner wall of the circular hole. Two positioning holes are formed on the surface of the clamping block (94). The positioning rod (95) is clamped with the inner wall of the positioning hole.

6. The safety type anti-collision workpiece transfer mechanical claw according to claim 5, characterized in that: One end surface of the positioning rod (95) is fixedly connected with a pull rod (93), and the cross section of the pull rod (93) is in an I shape.

7. A safe anti-collision workpiece transfer mechanical claw according to claim 6, characterized in that: A third spring (96) is sleeved on the surface of the positioning rod (95), and two ends of the third spring (96) are respectively fixedly connected with the surfaces of the fixing block (92) and the pull rod (93).

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