A clamp for handling goods of multiple specifications

Abstract

The present invention provides a clamp for handling cargo of various specifications, comprising a shell with an open bottom end and a clamping mechanism disposed in the shell; the clamping mechanism comprises a transverse clamping assembly, a longitudinal clamping assembly, and a clamping drive assembly; the transverse clamping assembly comprises a transverse slide rail and transverse clamping members symmetrically and slidably connected to both ends of the transverse slide rail; the longitudinal clamping assembly comprises a longitudinal slide rail and longitudinal clamping members symmetrically and slidably connected to both ends of the longitudinal slide rail; the clamping drive assembly synchronously drives the two transverse clamping members to move relative to each other and the two longitudinal clamping members to move relative to each other to clamp the cargo. The longitudinal clamping member designed based on the principle of a connecting rod mechanism can realize the left and right rotation of the longitudinal clamping plate by driving the slide cylinder, so that the clamping plate and the clamped cargo are tightly fitted, while improving the clamping firmness, realizing adaptive clamping of cargo of various specifications and irregularities, and avoiding frequent replacement of the clamps to a great extent.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robots, and in particular to a gripper for handling goods of various specifications. Background Art

[0002] With the rapid development of the economy and the continuous improvement of industrialization, the requirements for cargo handling have gradually increased, and are beginning to develop in the direction of high efficiency and low cost. However, traditional cargo handling methods are mostly manual handling, where workers move cargo using transport vehicles. This has disadvantages such as unstable handling, easy slipping of cargo, and significant safety hazards. In addition, the handling process is time-consuming, labor-intensive, and inefficient, increasing production costs and operational inconvenience.

[0003] With the emergence and rapid development of intelligent manufacturing, robots, as a product of the accelerating modernization construction, have developed rapidly both in the logistics industry and the traditional manufacturing industry. Among them, handling robots, as the most representative industrial robots, are mostly used for repetitive work in industrial production. They have many advantages such as high efficiency, long working hours, and low requirements for the working environment. They are widely used in many fields such as ships, automobiles, logistics, and medical care.

[0004] Handling robots have a variety of structural forms and operating modes, requiring specific design options for different working conditions to facilitate cargo handling. However, due to the wide variety of cargo types, sizes, and shapes, a single type of gripper is not secure enough to grasp irregularly shaped cargo, sometimes even risking it falling and causing accidents. Furthermore, replacing grippers for different cargo sizes wastes time and reduces handling efficiency. Therefore, designing a gripper that is stable, reliable, adaptable, and efficient is crucial for improving production efficiency, reducing costs, and enhancing a company's market competitiveness. Summary of the Invention

[0005] The purpose of the present invention is to provide a gripper for handling multi-specification goods, which can realize adaptive gripping of multi-specification goods and improve the handling efficiency, safety and reliability of the robot, in order to solve the problem that the common handling grippers on the market cannot meet the clamping requirements and have poor adaptability.

[0006] In order to achieve the above objectives, the present invention adopts the following technical solutions:

[0007] A clamper for handling cargo of multiple specifications, comprising a shell with an open bottom end and a clamping mechanism arranged in the shell; the clamping mechanism comprises a transverse clamping assembly, a longitudinal clamping assembly and a clamping drive assembly; the transverse clamping assembly comprises a transverse slide rail and transverse clamping members symmetrically and slidably connected to both ends of the transverse slide rail, the longitudinal clamping assembly comprises a longitudinal slide rail and longitudinal clamping members symmetrically and slidably connected to both ends of the longitudinal slide rail, and the clamping drive assembly synchronously drives the two transverse clamping members to move relative to each other and the two longitudinal clamping members to move relative to each other to clamp the cargo.

[0008] Furthermore, the transverse clamping member is slidably mounted on the transverse slide rail via a transverse slider, and the longitudinal clamping member is slidably mounted on the longitudinal slide rail via a longitudinal slider;

[0009] The clamping drive assembly includes a pen-shaped cylinder, a rack, a gear and a disc. The pen-shaped cylinder is fixedly mounted on the top surface of the housing. The end of the extension rod of the pen-shaped cylinder is fixed to one end of the back of the rack. The rack is meshed with the gear.

[0010] The gear and the disc are coaxially fixedly connected via a rotating shaft, the rotating shaft is vertically arranged, the disc is arranged below the gear, and the top end of the rotating shaft is rotatably connected to the top surface of the housing; the rotating shaft is arranged at the center of the transverse slide rail and the center of the longitudinal slide rail;

[0011] The circular disc is connected to the transverse slider via a transverse arc-shaped connecting rod, and the circular disc is connected to the longitudinal slider via a longitudinal arc-shaped connecting rod.

[0012] Furthermore, an inverted U-shaped connecting seat is installed on both the transverse slider and the longitudinal slider, the bottom end of the connecting seat is fixedly connected to the transverse slider or the longitudinal slider, and the connecting seat is sleeved on the transverse slide rail or the longitudinal slide rail;

[0013] One end of the transverse arc-shaped connecting rod is rotatably connected to the disc, and the other end is rotatably connected to the upper surface of the connecting seat;

[0014] One end of the longitudinal arc-shaped connecting rod is rotatably connected to the disc, and the other end is rotatably connected to the upper surface of the connecting seat.

[0015] Furthermore, the transverse clamping member includes a T-shaped rod and a transverse clamping plate arranged at the bottom end of the T-shaped rod, the top end of the T-shaped rod is arranged at the bottom of the transverse slider, and the two sides of the top of the T-shaped rod are fixedly connected to the bottom end of the connecting seat by bolts.

[0016] Furthermore, grooves are evenly distributed on the clamping plate surface of the transverse clamping plate.

[0017] Furthermore, the transverse slide rail and the longitudinal slide rail are both fixedly mounted on the inner side wall of the shell through angle brackets.

[0018] Furthermore, the longitudinal clamping member includes a cylindrical rod, a longitudinal clamping plate fixedly connected to the bottom end of the cylindrical rod, and an angle adjustment module for driving the cylindrical rod to rotate axially within a preset angle range to adjust the clamping angle of the longitudinal clamping plate, and the angle adjustment module is fixedly mounted on the bottom of the longitudinal slider.

[0019] Furthermore, the angle adjustment module includes a base plate, a connecting plate, a slide cylinder fixedly mounted on the bottom of the base plate, a fisheye joint connected to the telescopic rod of the slide cylinder, and an angle adjustment member. Linear slide rails are provided on both sides of the base plate, and the two ends of the connecting plate are slidably connected to the two linear slide rails through linear sliders. The slide cylinder, fisheye joint, and angle adjustment member are all arranged between the two linear slide rails.

[0020] The angle adjustment member includes a base plate, a lower end hole provided on one side of the base plate, and an end shaft provided on the other side of the base plate, wherein the lower end hole and the end shaft are respectively provided at both ends of the base plate, and the axial directions of the lower end hole and the end shaft are both perpendicular to the base plate; a strip groove is provided on the bottom surface of the base plate, wherein the strip groove is perpendicular to the axial direction of the slide cylinder, and the end shaft is embedded in the strip groove to form a cam groove structure;

[0021] The top of the cylindrical rod rotates from bottom to top and passes through the middle hole on the connecting plate, the right hole of the fisheye joint and the lower end hole of the connecting piece in sequence;

[0022] The bottom plate is fixedly mounted on the bottom of the longitudinal slider.

[0023] Furthermore, grooves are evenly distributed on the clamping plate surface of the longitudinal clamping plate.

[0024] The beneficial effects of the present invention are embodied in:

[0025] (1) The clamping drive assembly of the present invention adopts a symmetrical layout, and the two pairs of clamping plates are driven to move inward or outward relative to each other by the rotation of the disc to achieve the clamping of the goods, so that the extrusion force on the goods is evenly distributed, avoiding the problem of deformation caused by uneven force on one or more sides of the goods;

[0026] (2) The clamper of the present invention controls the rotation of the gear by driving the extended rod of the pen-shaped cylinder, and then can clamp and release goods of the same specifications and different sizes through the arrangement of the slider and the slide rail. At the same time, the surface of the clamping plate for clamping the goods is provided with grooves, which helps to increase the friction when clamping the goods, improves the stability of the clamped goods, and effectively ensures safety and reliability during transportation.

[0027] (3) The longitudinal clamping member designed based on the connecting rod mechanism principle in the present invention can realize the left and right rotation of the longitudinal clamping plate by driving the slide cylinder, so that the clamping plate is closely fitted with the clamped goods. While improving the clamping firmness, it realizes adaptive clamping of multi-specification and irregular goods, greatly avoiding the frequent replacement of the clamps, saving the adjustment process, and improving the handling efficiency of the robot clamping the goods. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a general schematic diagram of a gripper for handling goods of various specifications;

[0029] Figure 2 This is a schematic diagram of the assembly of the clamping drive assembly;

[0030] Figure 3 This is a schematic diagram of the assembly of the pen-shaped cylinder and the rotating shaft;

[0031] Figure 4 This is a schematic diagram of the split shaft installation;

[0032] Figure 5 Schematic diagram of the horizontal clamping structure Figure 1 ;

[0033] Figure 6 Schematic diagram of the horizontal clamping structure Figure 2 ;

[0034] Figure 7 Schematic diagram of the longitudinal clamping structure Figure 1 ;

[0035] Figure 8 Schematic diagram of the longitudinal clamping structure Figure 2 ;

[0036] Figure 9 Schematic diagram of the angle adjustment member structure;

[0037] Figure 10 This is a schematic diagram of clamping round goods;

[0038] Figure 11 This is a schematic diagram of rectangular cargo clamping;

[0039] Figure 12 It is a schematic diagram of parallelogram cargo clamping;

[0040] Figure 13 This is a schematic diagram of clamping regular hexagonal cargo;

[0041] Figure 14 This is a schematic diagram of clamping regular pentagonal cargo;

[0042] The reference numerals in the figure are: 1. Robotic arm; 2. Housing; 3. Clamping drive assembly; 4. Horizontal clamping member; 5. Longitudinal clamping member; 6. Pencil-shaped cylinder; 7. Rack; 8. Gear; 9. Rotating shaft; 10. Disc; 11. Horizontal arc connecting rod; 12. Longitudinal arc connecting rod; 13. Connecting seat; 14. Horizontal slider; 15. Horizontal slide rail; 17. Longitudinal slider; 18. Longitudinal slide rail; 19. Angle code; 20. Bearing; 21. First key; 22. First key 1. Snap ring; 23. Second key; 24. Second snap ring; 25. T-bar; 26. Horizontal splint; 27. Cylindrical rod; 28. Longitudinal splint; 29. ​​Connecting plate; 30. Fisheye joint; 31. Angle adjustment piece; 32. Linear slider; 33. Linear guide rail; 34. Bottom plate; 35. Slide cylinder; 36. Round goods; 37. Rectangular goods; 38. Parallelogram goods; 39. Hexagonal goods; 40. Pentagonal goods; 41. Strip hole. DETAILED DESCRIPTION

[0043] To make the purpose and technical solutions of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the described embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0044] The terms "upper" and "lower" in the present invention mean that "upper" refers to a higher position, opposite to "lower," i.e., the upper side; and "lower" refers to a lower position, opposite to "upper," i.e., the lower layer. These are not specific limitations of the present device.

[0045] The meaning of "left" and "right" in the present invention refers to that when the reader is facing the accompanying drawings, the left side of the reader is left and the right side of the reader is right, and it is not a specific limitation on the device of the present invention.

[0046] The meaning of "front" and "back" in the present invention refers to that when a reader is facing the accompanying drawings, the side closer to the reader is the front and the side farther away from the reader is the back, and it is not a specific limitation on the device of the present invention.

[0047] The meaning of “inside” and “outside” in the present invention refers to the direction pointing to the device as inside and the opposite direction as outside relative to the device itself, and is not a specific limitation on the device of the present invention.

[0048] The terms "first," "second," "third," etc., as used herein, are used to distinguish between similar elements and are not necessarily intended to describe a particular order or chronological sequence. It is to be understood that these terms, as used herein, are interchangeable under appropriate circumstances, such that implementations of the subject matter described herein are capable of operating in orders different from those illustrated or in another order than described herein, for example.

[0049] like Figures 1-9 As shown, this embodiment provides a gripper for handling goods of various specifications, which can be installed on the execution end of a robot arm 1. The gripper includes a housing 2 with an open bottom end and a gripping mechanism disposed in the housing 2.

[0050] The clamping mechanism includes a transverse clamping assembly 4, a longitudinal clamping assembly 5, and a clamping drive assembly 3. The transverse clamping assembly 4 includes a transverse rail 15 and transverse clamping members symmetrically and slidably connected to both ends of the transverse rail 15. The longitudinal clamping assembly 5 includes a longitudinal rail 18 and longitudinal clamping members symmetrically and slidably connected to both ends of the longitudinal rail 18. The clamping drive assembly 3 synchronously drives the two transverse clamping members and the two longitudinal clamping members to move relative to each other to clamp the cargo.

[0051] Specifically, the transverse clamping member is slidably mounted on the transverse slide rail 15 via the transverse slider 14, and the longitudinal clamping member is slidably mounted on the longitudinal slide rail 18 via the longitudinal slider 17. Both the transverse slide rail 15 and the longitudinal slide rail 18 are fixedly mounted on the inner wall of the housing 2 via angle brackets 19.

[0052] The clamping drive assembly 3 comprises a pen-shaped cylinder 6, a rack 7, a gear 8, and a disc 10. The pen-shaped cylinder 6 is fixedly mounted on the inner top surface of the housing 2. The distal end of the protruding rod of the pen-shaped cylinder 6 is fixed to the rear end of the rack 7, which meshes with the gear 8. The gear 8 and disc 10 are coaxially connected by a vertically disposed shaft 9. The shaft 9 is positioned below the gear 8, and the top end of the shaft 9 is rotatably connected to the inner top surface of the housing 2. The shaft 9 is positioned at the center of both the transverse rail 15 and the longitudinal rail 18.

[0053] A bearing 20 is mounted on the upper end of the rotating shaft 9. The upper end of the bearing 20 is recessed in a recess on the inner wall of the housing 2, and the lower end of the inner ring of the bearing 20 is supported on a step on the rotating shaft 9. A first key 21 secures the gear 8 circumferentially to the rotating shaft 9, while a first retaining ring 22 prevents the gear 8 from sliding downward along the shaft. A second key 23 secures the disc 10 circumferentially to the rotating shaft 9, while a second retaining ring 24 prevents the disc 10 from sliding downward along the shaft. The lower end of the rotating shaft 9 is inserted into the center holes of the longitudinal and transverse rails 18 and 15, and is rotationally connected to the center holes via a bearing.

[0054] The disc 10 and the transverse slider 14 are connected by a transverse arcuate connecting rod 11 , and the disc 10 and the longitudinal slider 17 are connected by a longitudinal arcuate connecting rod 12 .

[0055] Specifically, an inverted U-shaped connecting seat 13 is mounted on each of the transverse slider 14 and the longitudinal slider 17. The bottom end of the connecting seat 13 is fixedly connected to the transverse slider 14 or the longitudinal slider 17, and the connecting seat 13 is sleeved on the transverse slide rail 15 or the longitudinal slide rail 18. One end of the transverse arcuate connecting rod 11 is rotatably connected to the disk 10, and the other end is rotatably connected to the upper surface of the connecting seat 13. One end of the longitudinal arcuate connecting rod 12 is rotatably connected to the disk 10, and the other end is rotatably connected to the upper surface of the connecting seat 13.

[0056] The pen-shaped cylinder 6 drives the rack 7 to rotate the gear 8 meshing with it, and the disc 10 coaxially connected to the gear 8 also rotates accordingly, so that the transverse arc connecting rod 11 and the longitudinal arc connecting rod 12 connected to the edge of the disc 10 are extended and retracted, thereby driving the transverse slider 14 on the transverse slide rail 15 and the longitudinal slider 17 on the longitudinal slide rail 18 to extend and retract synchronously.

[0057] The transverse clamping member includes a T-shaped rod 25 and a transverse clamping plate 26 disposed at the bottom end of the T-shaped rod 25. The top end of the T-shaped rod 25 is located at the bottom of the transverse slider 14. Both sides of the top of the T-shaped rod 25 are fixedly connected to the bottom end of the connecting seat 13 by bolts. The clamping plate surface of the transverse clamping plate 26 is evenly distributed with grooves to help increase friction when clamping cargo.

[0058] Specifically, the longitudinal clamping member includes a cylindrical rod 27, a longitudinal clamping plate 28 fixedly connected to the bottom end of the cylindrical rod 27, and an angle adjustment module for driving the cylindrical rod 27 to rotate axially within a preset angle range to adjust the clamping angle of the longitudinal clamping plate 28. The angle adjustment module is fixedly installed at the bottom of the longitudinal slider 17.

[0059] Among them, the angle adjustment module includes a base plate 34, a connecting plate 29, a slide cylinder 35 fixedly installed at the bottom of the base plate 34, a fisheye joint 30 connected to the telescopic rod of the slide cylinder 35, and an angle adjustment part 31. Linear slide rails 33 are arranged on both sides of the base plate 34, and the two ends of the connecting plate 29 are respectively slidably connected to the two linear slide rails 33 through linear sliders 32. The slide cylinder 35, fisheye joint 30 and angle adjustment part 31 are all arranged between the two linear slide rails 33.

[0060] The angle adjustment member 31 includes a base plate 311, a lower end hole 312 arranged on a plate surface on one side of the base plate 311, and an end shaft 313 arranged on a plate surface on the other side of the base plate 311. The lower end hole 312 and the end shaft 313 are respectively arranged at both ends of the base plate 311, and the axial direction of the lower end hole 312 and the axial direction of the end shaft 313 are both perpendicular to the base plate 311; a strip groove 41 is provided on the bottom surface of the base plate 34, and the strip groove 41 is perpendicular to the axial direction of the slide cylinder 35. The end shaft 313 is embedded in the strip groove 41 to form a cam groove structure.

[0061] The cylindrical rod 27 tops are rotated from bottom to top to pass through the middle hole on the connecting plate 29, the right hole of the fisheye joint 30 and the lower end hole 312 of the connector. The base plate 34 is fixedly installed on the longitudinal slide 17 bottoms by bolts.

[0062] Initially, the end shaft 313 of the chamfered angle adjustment member 31 is positioned in the middle of the strip groove 41 of the base plate 34, placing the longitudinal plate 28 perpendicular to the transverse plate 26. When the clamped object is irregular, the slide cylinder 35 can retract the extension rod, shifting the longitudinal plate 28 to the left while simultaneously rotating it clockwise. Alternatively, the slide cylinder 35 can extend the extension rod, shifting the longitudinal plate 28 to the right while simultaneously rotating it counterclockwise, effectively achieving a tight fit between the longitudinal plate 28 and the clamped object. The clamping surface of the longitudinal plate 28 is evenly distributed with grooves to increase friction when clamping the object.

[0063] like Figure 10 As shown, a schematic diagram of clamping round goods is given.

[0064] like Figure 11 As shown, a schematic diagram of rectangular cargo clamping is given.

[0065] like Figure 12 As shown, a schematic diagram of parallelogram cargo clamping is given.

[0066] like Figure 13 As shown, a schematic diagram of clamping regular hexagonal cargo is given.

[0067] like Figure 14 As shown in FIG, a schematic diagram of clamping regular pentagonal cargo is given.

[0068] The above description is merely a preferred embodiment of the present invention and does not limit the present invention in any way. Any person skilled in the art who, without departing from the scope of the present invention, makes any equivalent substitution, modification, or other changes to the technical solution and technical content disclosed in the present invention shall be deemed to be within the scope of the present invention and still fall within the scope of protection of the present invention.

Claims

1. A gripper for handling goods of various specifications, characterized by: The invention comprises a shell (2) with an open bottom end and a clamping mechanism arranged in the shell (2); the clamping mechanism comprises a transverse clamping assembly (4), a longitudinal clamping assembly (5) and a clamping drive assembly (3); the transverse clamping assembly (4) comprises a transverse slide rail (15) and transverse clamping members symmetrically and slidably connected to both ends of the transverse slide rail (15); the longitudinal clamping assembly (5) comprises a longitudinal slide rail (18) and longitudinal clamping members symmetrically and slidably connected to both ends of the longitudinal slide rail (18); the clamping drive assembly (3) synchronously drives the two transverse clamping members to move relative to each other and the two longitudinal clamping members to move relative to each other so as to clamp the goods; The transverse clamping member is slidably mounted on the transverse slide rail (15) via a transverse slider (14), and the longitudinal clamping member is slidably mounted on the longitudinal slide rail (18) via a longitudinal slider (17); The clamping drive assembly (3) comprises a pen-shaped cylinder (6), a rack (7), a gear (8) and a disc (10); the pen-shaped cylinder (6) is fixedly mounted on the inner top surface of the housing (2); the end of the extension rod of the pen-shaped cylinder (6) is fixed to one end of the back side of the rack (7); the rack (7) is meshed with the gear (8); The gear (8) and the disc (10) are coaxially fixedly connected via a rotating shaft (9); the rotating shaft (9) is vertically arranged, the disc (10) is arranged below the gear (8), and the top end of the rotating shaft (9) is rotatably connected to the inner top surface of the housing (2); the rotating shaft (9) is arranged at the center of the transverse slide rail (15) and the center of the longitudinal slide rail (18); The circular disc (10) and the transverse slider (14) are connected to each other by a transverse arc-shaped connecting rod (11), and the circular disc (10) and the longitudinal slider (17) are connected to each other by a longitudinal arc-shaped connecting rod (12); An inverted U-shaped connecting seat (13) is installed on both the transverse slider (14) and the longitudinal slider (17), the bottom end of the connecting seat (13) is fixedly connected to the transverse slider (14) or the longitudinal slider (17), and the connecting seat (13) is sleeved on the transverse slide rail (15) or the longitudinal slide rail (18); One end of the transverse arc-shaped connecting rod (11) is rotatably connected to the disc (10), and the other end is rotatably connected to the upper surface of the connecting seat (13); One end of the longitudinal arc-shaped connecting rod (12) is rotatably connected to the disc (10), and the other end is rotatably connected to the upper surface of the connecting seat (13).

2. A clamp for handling multi-specification goods as claimed in claim 1, characterized in that: The transverse clamping member comprises a T-shaped rod (25) and a transverse clamping plate (26) arranged at the bottom end of the T-shaped rod (25); the top end of the T-shaped rod (25) is arranged at the bottom end of the transverse slider (14); and both sides of the top end of the T-shaped rod (25) are fixedly connected to the bottom end of the connecting seat (13) by bolts.

3. A clamp for handling multi-specification goods as claimed in claim 2, characterized in that: The clamping plate surface of the transverse clamping plate (26) is evenly distributed with grooves.

4. The clamp for handling multi-specification goods according to claim 1, characterized in that: The transverse slide rail (15) and the longitudinal slide rail (18) are both fixedly mounted on the inner side wall of the housing (2) via angle brackets (19).

5. The clamp for handling multi-specification goods according to claim 1, characterized in that: The longitudinal clamping member comprises a cylindrical rod (27), a longitudinal clamping plate (28) fixedly connected to the bottom end of the cylindrical rod (27), and an angle adjustment module for driving the cylindrical rod (27) to rotate axially within a preset angle range to adjust the clamping angle of the longitudinal clamping plate (28), wherein the angle adjustment module is fixedly mounted on the bottom of the longitudinal slider (17).

6. A clamp for handling multi-specification goods as claimed in claim 5, characterized in that: The angle adjustment module comprises a base plate (34), a connecting plate (29), a slide cylinder (35) fixedly mounted on the bottom of the base plate (34), a fisheye joint (30) connected to the telescopic rod of the slide cylinder (35), and an angle adjustment member (31); linear slide rails (33) are provided on both sides of the base plate (34); both ends of the connecting plate (29) are slidably connected to the two linear slide rails (33) through linear sliders (32); the slide cylinder (35), the fisheye joint (30) and the angle adjustment member (31) are all arranged between the two linear slide rails (33); The angle adjustment member (31) includes a base plate (311), a lower end hole (312) provided on a plate surface on one side of the base plate (311), and an end shaft (313) provided on a plate surface on the other side of the base plate (311), wherein the lower end hole (312) and the end shaft (313) are respectively provided at two ends of the base plate (311), and the axial direction of the lower end hole (312) and the axial direction of the end shaft (313) are both perpendicular to the base plate (311); a strip groove (41) is provided on the bottom surface of the base plate (34), wherein the strip groove (41) is perpendicular to the axial direction of the slide cylinder (35), and the end shaft (313) is embedded in the strip groove (41) to form a cam groove structure; The top of the cylindrical rod (27) rotates from bottom to top and passes through the middle hole on the connecting plate (29), the right hole of the fisheye joint (30) and the lower end hole (312) of the angle adjustment member (31); The bottom plate (34) is fixedly mounted on the bottom of the longitudinal slider (17).

7. The clamp for handling multi-specification goods according to claim 5, characterized in that: The clamping plate surface of the longitudinal clamping plate (28) is evenly distributed with grooves.

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