A transfer robot gripper

Abstract

The present invention relates to the technical field of manipulators, and specifically to a transfer robot gripper, comprising a gripper and a pneumatic device, wherein two grippers for clamping a workpiece are symmetrically mounted at the bottom of the pneumatic device, the pneumatic device comprising a cylinder, the pneumatic device being used to control the clamping or loosening of the gripper, and further comprising a rotating assembly and a driving assembly. The present invention installs a rotating assembly for rotating the workpiece at the bottom of the gripper, so when the workpiece is placed on a fan to clean processing debris, it can be cleaned 360° to improve the cleaning effect, and after the workpiece is rotated to a set angle, the gripper is released, and the driving assembly drives a support block to expand inside the workpiece and re-fix the workpiece to clean the clamped portion of the workpiece, thereby facilitating the fan to clean the outer surface of the workpiece without dead angles, thereby improving the cleaning effect of the connecting bracket clamped by the transfer robot gripper.

Description

Technical Field

[0001] The invention relates to the technical field of manipulators, and in particular to a transfer robot gripper. Background Art

[0002] The gripper is the most common type of end effector. The gripper can be installed on the arm of an industrial robot to directly grasp the workpiece or the parts that perform the operation. It has the function of clamping, transporting, and placing the workpiece to a certain location.

[0003] During the processing of the parking connecting bracket, the surface of the workpiece will be stained with debris generated by the processing. The transfer robot is required to move the parking connecting bracket to the fan through the clamp, and the fan blows air upward to blow off the processing debris on its surface. However, the clamp used in this process will fix the workpiece, causing the fan to only blow air on the lower surface of the workpiece. The side of the workpiece away from the fan is difficult to be taken care of by the airflow of the fan, and the workpiece cannot be cleaned in all directions. In addition, the part where the clamp clamps the workpiece cannot be cleaned, resulting in poor cleaning effect of the connecting bracket.

[0004] To this end, a transfer robot clamp is proposed to improve the cleaning effect of the bottom fan on the connecting bracket clamped by the transfer robot clamp when the transfer robot clamp transports the connecting bracket. Summary of the invention

[0005] The purpose of the present invention is to provide a transfer robot clamping jaw, which improves the clamping form of the clamping jaw on the workpiece so that the fan can contact the surface of the workpiece without dead angles to improve the cleaning effect of the fan on the workpiece clamped by the transfer robot clamping jaw. Specifically, a rotating component for rotating the workpiece is installed at the bottom of the claw to improve the cleaning effect, and the claw can be loosened, and the support block is driven by the driving component to expand and re-fix the workpiece inside the workpiece to clean the clamped part of the workpiece.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] A transfer robot gripper comprises: a claw and a pneumatic device, wherein two claws for clamping workpieces are symmetrically installed at the bottom of the pneumatic device, the claws are made of alloy materials, the physical and chemical properties of the alloy materials are relatively stable, and the alloy materials have better adaptability, thereby improving the stability of the claws during the working process. The pneumatic device comprises a cylinder, and the pneumatic device is used to control the clamping or loosening of the claws. The pneumatic gripper has a compact shape, a small size, and a light weight.

[0008] The transfer robot grippers also include a rotating assembly and a driving assembly. Rotating disks are rotatably installed on the outer side walls of the two grippers on opposite sides. The two rotating disks are connected to rotating assemblies. When the two rotating disks clamp the workpiece, the rotating assembly is used to drive the rotating disks to drive the workpiece to rotate, so that the bottom fan can fully clean the debris attached to the surface of the workpiece.

[0009] Two supporting blocks are symmetrically and movably connected to the two rotating disks, and the two supporting blocks located on the same rotating disk are commonly connected to a driving assembly, which is used to drive two adjacent supporting blocks to approach or move away from each other. When the two claws move to a set distance, the driving assembly drives the two supporting blocks to support and fix the workpiece from the inside of the workpiece, and when the claws move, the driving assembly is automatically triggered to drive the two supporting blocks to move. When the two claws leave the workpiece to a set distance, the two supporting blocks support and fix the workpiece from the inside of the workpiece, thereby facilitating the fan to clean the clamping surfaces of the claws and the workpiece, thereby facilitating the fan to clean the outer surface of the workpiece without dead angles.

[0010] Preferably, the rotating assembly includes a boss, a mounting ring, a limit plate, a rotating shaft, a servo motor, a connecting rod, a telescopic motor, a limit column and a limit hole. A boss is provided at one end of the rotating disk, and a wear-resistant coating is coated on the surface of the boss to improve its wear resistance and reduce the wear of the boss during rotation. A mounting ring is rotatably connected to one end of the rotating disk through the boss, and the mounting ring is used to connect the rotating disk to the claw. A mounting ring is provided at the bottom of the claw, and the mounting ring is rotatably mounted on the bottom of the claw through the boss on the rotating disk, and the mounting ring is fixed to the bottom of the claw by threads, so that the rotating disk can rotate stably. The cylinder is fixed on the side wall. An L-shaped limit plate is installed, and the limit plate is made of alloy material. The physical and chemical properties of the alloy material are relatively stable, and it has better adaptability, which improves the stability of the limit plate during the working process. A servo motor is fixedly installed on the limit plate, and the servo motor is fixedly installed on the L-shaped limit plate through its own flange and screws. The output end of the servo motor is connected to a rotating shaft, and one end of the rotating shaft is connected to the rotating disk. When the servo motor is started, the rotating shaft can be driven to drive the rotating disk and the workpiece clamped between the rotating disks to rotate, so that the outer surface of the workpiece can directly contact the wind blown out by the fan, thereby improving the effect of the fan on cleaning debris on the surface of the workpiece.

[0011] A telescopic motor is installed on the claw, and a limit column is movablely sleeved at the bottom of the output shaft of the telescopic motor, and a mounting hole for mounting the output shaft of the telescopic motor is opened at the top of the limit column. The bottom of the output shaft of the telescopic motor is connected to the bottom of the mounting hole by a spring, and a limit hole matching the limit column is opened on the side of the rotating disk. During operation, the spring presses the limit column against the rotating disk, and after cleaning is completed, the limit column will automatically extend into the limit hole under the action of the spring to fix the rotating disk. The rotating disk is fixed, and the rotating assembly remains in the set position after completing cleaning after rotating one circle, which is convenient for subsequent processing. The telescopic motor is used to pull out the limit column in the limit hole.

[0012] The driving assembly includes a small slider, a large slide, a fixing plate, a guide groove, a connecting rod, a roller and a guide groove. Two small sliders are symmetrically and movably installed in the rotating disk. The sides of the two small sliders are coated with wear-resistant coatings to improve their wear resistance, and the parallelism of the sides of the small sliders must be maintained within a set range. A large slide for the two small sliders to move up and down is provided in the rotating disk. The parallelism of the sides of the large slide and the small sliders must also be maintained within a set range so that they can slide smoothly in the large slide. Lubricating oil is added to the large slide according to actual production conditions. One end of the rotating disk is fixedly installed with a device to prevent the two small sliders from A fixing plate detached from the large slide groove, and the two support blocks are respectively fixedly connected to the two small sliders, the fixing plate is provided with a through hole for the two support blocks to move up and down, one end of the rotating disk is fixedly installed with a fixing plate through a thread to prevent the two small sliders from detaching from the large slide groove, and the threaded connection can be conveniently disassembled for repair or replacement, one end of the two small sliders are fixedly installed with a support block through welding, the fixing plate is provided with a through hole for the two support blocks to move up and down, the two small sliders can rotate under the drive of the rotating shaft, and can move inward or outward with the claws under the action of clamping or relaxing the claws.

[0013] A connecting rod is fixedly installed at one end of the rotating shaft, and the connecting rod is located in the large slide groove. Rollers are installed at both ends of the connecting rod. A guide groove cooperating with the roller is opened on the small slider, and the distance between the two guide grooves gradually decreases and then gradually increases along the direction in which the two rotating disks approach each other and then remains unchanged. The roller can reduce the friction when the two ends of the connecting rod move in the guide groove, making the movement smoother. The surface of the roller is coated with wear-resistant paint to improve its wear resistance; one end of the rotating shaft is fixed to the middle part of the connecting rod by welding to ensure that the distances from the two ends of the connecting rod to the rotating shaft are equal, so that the connecting rod can synchronously control the movements of the two small sliders, and the rollers at both ends of the connecting rod The clamp is in different working states at different positions in the guide groove. When the roller is located in section A of the guide groove, the distance between the two small sliders is the shortest, and the clamp clamps the workpiece through the fixed plate. When the roller is located in section B of the guide groove, the distance between the two small sliders is the farthest, and the clamp expands and fixes the workpiece from the inside of the workpiece through the support block. When the roller is located in section C of the guide groove, neither the fixed plate nor the support block fixes the workpiece. The rotating assembly stops after clamping and driving the workpiece to rotate the set angle, and the claws will be released to clean the clamped part of the workpiece. The shape of the workpiece is irregular. After the workpiece rotates the set angle, the center of gravity of the workpiece is at the lowest position. At this time, releasing the claws can ensure the stability of the workpiece.

[0014] When cleaning the clamped part of the workpiece, the rotating disk stops rotating, and the pneumatic device controls the claws to loosen and move away from the clamping position a set distance, so that the rollers at both ends of the connecting rod slide from section A of the guide groove to section B of the guide groove. At this time, the fixing plate on the rotating disk leaves the workpiece, and a part of the support block still remains in the workpiece. The connecting rod remains stationary under the action of the rotating shaft and the limit plate, and the support block moves outward with the rotating disk, leaving the workpiece a set distance. At the same time, the support block is opened and fixed by the action of the connecting rod and the guide groove. At this time, the clamped part of the workpiece can be cleaned.

[0015] Preferably, the side surfaces on the opposite sides of the support blocks are arc-shaped, and flexible materials are fixedly installed on the arc-shaped surfaces, so that after the support blocks are stretched out, they can fit against the inner wall of the workpiece, thereby improving the stability of the fixed workpiece and avoiding the situation where the support blocks with arc-shaped sides have a small contact area when fixing the workpiece, resulting in shaking of the workpiece. The two small sliders and the support blocks are symmetrically divided into two halves, which is convenient for processing the guide groove designed in the small slider. A plurality of threaded holes are processed on the two halves of the small slider by drilling, and the two halves of the small slider are fixed together by screws, and the screws are all located in the threaded holes, thereby avoiding interference between the screws and the large slide groove when the small slider moves in the large slide groove.

[0016] Preferably, a dustproof sheet is installed on the inner wall of the through hole opened on the fixing plate, and the dustproof sheet is located between the two small sliders. The dustproof sheet prevents dust and other particles from entering the gap between the two small sliders when the support block is stretched open to fix the workpiece when cleaning the clamped part of the workpiece. The dust and other particles entering the gap may fall into the guide groove, affecting the movement of the rollers at both ends of the connecting rod in the guide groove, accelerating wear, and even causing the connecting rod to be unable to move.

[0017] Preferably, the transfer robot may also be installed with a mounting plate, and a plurality of clamps may be installed on the mounting plate, which is suitable for use when the production batch is large and there is sufficient workshop space.

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

[0019] 1. The present invention installs a rotating component for rotating the workpiece at the bottom of the claw. When the workpiece is placed on the fan to clean the processing debris, it can be cleaned 360° to improve the cleaning effect. After the workpiece is rotated to a set angle, the claw is released, and the driving component drives the support block to open inside the workpiece and re-fix the workpiece to clean the clamped part of the workpiece, thereby facilitating the fan to clean the outer surface of the workpiece without dead angles, thereby improving the cleaning effect of the connecting bracket clamped by the transfer robot claw.

[0020] 2. The present invention installs a support block on the rotating disk designed at the bottom of the claw, and extends the support block into the workpiece. In comparison, the existing clamps only clamp the workpiece through the claws installed at the bottom. The present invention can improve the stability of the workpiece when clamping and reduce the possibility of the workpiece falling from the clamp, thereby improving the safety of the transfer robot clamp.

[0021] 3. The present invention comprehensively improves the cleaning effect of debris on the surface of the workpiece and reduces the workload of subsequent manual cleaning by installing a rotating component for rotating the workpiece at the bottom of the claw and a driving component for fixing the workpiece from the inside of the workpiece with a driving support block, thereby having a high degree of automation and improving work efficiency, and reducing the time cost required for production. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic diagram of the overall structure of Embodiment 1 of the present invention;

[0023] Figure 2 This is a front view of the first embodiment of the present invention;

[0024] Figure 3 This is a schematic diagram of the internal structure of a rotating assembly according to an embodiment of the present invention;

[0025] Figure 4 This is a schematic diagram of the structure of a guide groove according to an embodiment of the present invention;

[0026] Figure 5 The internal structure of the fixing mechanism of the first embodiment of the present invention is schematically shown;

[0027] Figure 6 for Figure 5 A partial enlarged view of part a;

[0028] Figure 7 This is a schematic diagram of clamping a workpiece according to a first embodiment of the present invention;

[0029] Figure 8 It is a schematic diagram of the overall structure of the second embodiment of the present invention.

[0030] In the figure: 1. claw; 2. cylinder; 3. rotating disk; 4. boss; 5. mounting ring; 6. rotating shaft; 7. servo motor; 8. limit plate; 9. small slider; 10. large slide groove; 11. fixing plate; 12. supporting block; 13. guide groove; 14. connecting rod; 15. telescopic motor; 16. limit hole; 17. roller; 18. dustproof sheet; 19. mounting plate; 20. limit column. DETAILED DESCRIPTION

[0031] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0032] See also Figures 1 to 7 The present invention provides a transfer robot gripper, and the technical solution is as follows:

[0033] A transfer robot gripper comprises a gripper 1 and a pneumatic device, wherein the gripper 1 for clamping a workpiece is symmetrically mounted at the bottom of the pneumatic device, the pneumatic device comprises a cylinder 2, the pneumatic device is used to control the clamping or loosening of the gripper 1, the pneumatic gripper has a compact shape, a small volume, and a light weight, and a rotating component for rotating the workpiece is mounted at the bottom of the gripper 1 to improve the cleaning effect.

[0034] Rotating assembly The rotating assembly includes a boss 4, a mounting ring 5, a limit plate 8, a rotating shaft 6, a servo motor 7, a connecting rod 14, a telescopic motor 15, a limit column 20 and a limit hole 16. A boss 4 is provided at one end of the rotating disk 3. The surface of the boss is coated with a wear-resistant coating to improve its wear resistance and slow down the wear of the boss 4 during rotation. One end of the rotating disk 3 is rotatably connected to a mounting ring 5 through the boss 4. The mounting ring 5 is used to connect the rotating disk 3 to the claw 1. A mounting ring 5 is provided at the bottom of the claw 1. The mounting ring 5 is rotatably installed on the bottom of the claw 1 through the boss 4 on the rotating disk 3, and the mounting ring 5 is fixedly installed at the bottom of the claw 1 by threads, so that the rotating disk 3 can rotate stably. The side of the cylinder 2 An L-shaped limit plate 8 is fixedly installed on the wall. The limit plate is made of alloy material. The physical and chemical properties of the alloy material are relatively stable and have better adaptability, which improves the stability of the limit plate 8 during the working process. A servo motor 7 is fixedly installed on the limit plate 8. The servo motor 7 is fixedly installed on the L-shaped limit plate 8 through its own flange and screws. The output end of the servo motor 7 is connected to the rotating shaft 6, and one end of the rotating shaft 6 is connected to the rotating disk 3. When the servo motor 7 is started, the rotating shaft 6 can be driven to drive the rotating disk 3 and the workpiece clamped between the rotating disk 3 to rotate, so that the outer surface of the workpiece can directly contact the wind blown out by the fan, thereby improving the cleaning effect of the fan on the debris on the surface of the workpiece.

[0035] A telescopic motor 15 is installed on the claw 1. A limit column 20 is movably sleeved at the bottom of the output shaft of the telescopic motor 15. A mounting hole for mounting the output shaft of the telescopic motor 15 is provided at the top of the limit column 20. The bottom of the output shaft of the telescopic motor 15 is connected to the bottom of the mounting hole by a spring. A limit hole 16 matching the limit column 20 is provided on the side of the rotating disk 3. During operation, the spring presses the limit column against the rotating disk. After cleaning, the limit column 20 will automatically extend into the limit hole 16 under the action of the spring to fix the rotating disk 3. The rotating assembly remains in the set position after completing cleaning after one rotation, which is convenient for subsequent processing. The telescopic motor 15 is used to pull out the limit column 20 in the limit hole 16.

[0036] The driving assembly includes a small slider 9, a large slide 10, a fixing plate 11, a guide groove 13, a connecting rod 14, a roller 17 and a guide groove 13. Two small sliders 9 are symmetrically and movably installed in the rotating disk 3. The sides of the two small sliders 9 are coated with wear-resistant coatings to improve their wear resistance, and the parallelism of the sides of the small sliders 9 should be maintained within a set range. A large slide 10 for the two small sliders 9 to move up and down is provided in the rotating disk 3. The parallelism of the sides of the large slide 10 and the small slider 9 that cooperate with each other should also be maintained within a set range so that they can slide smoothly in the large slide 10. Lubricating oil is added to the large slide 10 according to actual production conditions. One end of the rotating disk 3 is fixedly installed with a device to prevent the two small sliders 9 from detaching from the large slide 10 A fixing plate 11 is provided, and two supporting blocks 12 are respectively fixedly connected to the two small sliders 9. A through hole 1 is provided on the fixing plate 11 for the two supporting blocks 12 to move up and down. A fixing plate 11 is fixedly installed on one end of the rotating disk 3 by a thread to prevent the two small sliders 9 from escaping from the large slide groove 10. The threaded connection can be conveniently disassembled for repair or replacement. One end of the two small sliders 9 is fixedly installed with a supporting block 12 by welding. A through hole 1 is provided on the fixing plate 11 for the two supporting blocks 12 to move up and down. The two small sliders 9 can rotate under the drive of the rotating shaft 6, and can move inward or outward with the claw 1 under the action of clamping or relaxing the claw 1; a connecting rod 14 is fixedly installed on one end of the rotating shaft 6. The connecting rod 14 is located in the large slide groove 10, and rollers 17 are installed at both ends of the connecting rod 14. A guide groove 13 cooperating with the roller 17 is opened on the small slider 9, and the distance between the two guide grooves 13 gradually decreases and then gradually increases along the direction in which the two rotating disks 3 approach each other, and then remains unchanged. The roller 17 can reduce the friction of the two ends of the connecting rod 14 when they move in the guide groove 13, making the movement smoother. The surface of the roller 17 is coated with a wear-resistant coating to improve its wear resistance; one end of the rotating shaft 6 is fixed to the middle part of the connecting rod 14 by welding to ensure that the distances from the two ends of the connecting rod 14 to the rotating shaft 6 are equal, so that the connecting rod 14 can synchronously control the movements of the two small sliders 9, and the rollers 17 at both ends of the connecting rod 14 are located in the guide groove 1 3. The clamping jaws are in different working states at different positions. When the roller 17 is located in the A section of the guide groove 13, the distance between the two small sliders 9 is the shortest, and the clamping jaws clamp the workpiece through the fixing plate 11. When the roller 17 is located in the B section of the guide groove 13, the distance between the two small sliders 9 is the farthest, and the clamping jaws are supported from the inside of the workpiece by the supporting block 12 to fix the workpiece. When the roller 17 is located in the C section of the guide groove 13, the fixing plate 11 and the supporting block 12 do not fix the workpiece. After the rotating assembly clamps and drives the workpiece to rotate the set angle, it stops and releases the claws 1 to clean the clamped part of the workpiece. The shape of the workpiece is irregular. When the workpiece rotates the set angle, the center of gravity of the workpiece is at the lowest position. At this time, releasing the claws can ensure the stability of the workpiece.

[0037] The specific workflow is as follows:

[0038] Before work, the clamp is installed on the industrial robot and moved to the workstation for workpiece processing under the control of the industrial robot. The limit column 20 cooperates with the limit hole 16 to fix the rotating assembly, the claw 1 opens, and the small slider 9 moves outward with the rotating disk 3. The connecting rod 14 will not move outward under the action of the rotating shaft 6 and the limit plate 8. At this time, the rollers 17 at both ends of the connecting rod 14 are located in the C section of the two guide grooves 13. The support blocks 12 on the two small sliders 9 are close to each other under the action of the guide grooves 13 and the connecting rod 14 and are in a closed state.

[0039] During operation, the claw 1 is tightened under the control of the pneumatic device, the fixed plate 11 clamps the workpiece, the small slider 9 moves inward with the claw 1, and the connecting rod 14 does not move inward under the action of the rotating shaft 6 and the limit plate 8. At this time, the rollers 17 at both ends of the connecting rod 14 slide from the C section of the guide groove 13 to the A section, and the support block 12 located at the center of the fixed plate 11 extends into the workpiece, and the support block 12 is first opened and then closed under the action of the guide groove 13 and the connecting rod 14. After the claw 1 clamps the workpiece, the output shaft of the telescopic motor 15 is retracted to release the fixation of the rotating component. Under the control of the industrial robot, the claw 1 places the workpiece on the fan, and the servo motor 7 starts to drive the rotating shaft 6 to rotate. Under the action of the rotating shaft 6, the rotating disk 3 rotates and drives the workpiece to rotate together, so that the fan can clean the processing debris on the workpiece 360°. When the rotating component rotates to the set angle, the workpiece is located at the position with the lowest center of gravity. , the servo motor 7 stops working, the rotating assembly stops rotating, the telescopic motor 15 starts to press the limit column 20 against the rotating disk 3, the claw 1 opens, and the two small sliders 9 follow the claw 1 to move outward, the fixed plate 11 leaves the workpiece, but a part of the support block 12 still remains in the workpiece. At this time, the rollers 17 at both ends of the connecting rod 14 slide from section A of the guide groove 13 to section B, and the support block 12 is supported from the inside of the workpiece under the action of the guide groove 13 and the connecting rod 14. The workpiece is fixed, and the fan can clean the debris at the clamped position of the workpiece. After cleaning, the claw 1 is tightened, the fixed plate 11 continues to clamp the workpiece, and the rollers 17 at both ends of the connecting rod 14 return to section A of the guide groove 13, and the servo motor 7 is started. The rotating assembly brings the workpiece back to the initial position, and the limit column 20 will be automatically extended into the limit hole 16 under the action of the spring to fix the rotating disk 3, completing the comprehensive cleaning of the workpiece.

[0040] See also Figure 8, including: 1. claws; 2. cylinders; 3. rotating disk; 4. bosses; 5. mounting rings; 6. rotating shafts; 7. servo motors; 8. limit plates; 9. small sliders; 10. large slides; 11. fixing plates; 12. support blocks; 13. guide grooves; 14. connecting rods; 15. telescopic motors; 16. limit holes; 17. rollers; 18. dust-proof sheets; 19. mounting plates; 20. limit columns. Different from the previous scheme, this scheme is designed with a mounting plate 19, on which a plurality of grippers can be mounted, and the mounting plate 19 can be mounted on a transfer robot; when only one set of grippers is installed, although the efficiency of clamping the workpiece is lower than that of installing the workpiece through the mounting plate 19, The solution with multiple sets of jaws is a little lower, but in the process of clamping the workpiece, when only one set of jaws is installed, the placement requirements of the workpiece are lower, it is more convenient to place, and the required installation space is smaller. In contrast, by installing multiple sets of jaws through the mounting plate 19, multiple workpieces can be clamped at one time, the efficiency is higher, the placement requirements of the workpiece are higher, it is more troublesome to place, and the required installation space is larger. In summary, when the production batch is small and the workshop space is limited, the solution of installing only one set of jaws can be selected. When the production batch is large and the workshop space is sufficient, the solution of installing multiple sets of jaws through the mounting plate 19 can be selected. The producer can make a choice according to the actual production situation.

[0041] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A transfer robot gripper, comprising a gripper (1) and a pneumatic device, wherein the pneumatic device is fixedly connected to the transfer robot, two grippers (1) for clamping workpieces are symmetrically mounted at the bottom of the pneumatic device, the pneumatic device comprises a cylinder (2), and the pneumatic device is used to control the gripper (1) to clamp or release; characterized in that: It also includes a rotating assembly and a driving assembly, wherein a rotating disk (3) is rotatably mounted on the outer side wall of the two claws (1) on the opposite side, and the two rotating disks (3) are connected to the rotating assembly, and when the two rotating disks (3) clamp the workpiece, the rotating assembly is used to drive the rotating disk (3) to drive the workpiece to rotate, and the two rotating disks (3) are symmetrically and movably connected with two support blocks (12), and the two support blocks (12) located on the same rotating disk (3) are commonly connected with the driving assembly, and the driving assembly is used to drive two adjacent support blocks (12) to move closer to or away from each other, and when the two claws (1) move to a set distance, the driving assembly drives the two support blocks (12) to support and fix the workpiece from the inside of the workpiece, and when the claws (1) move, the driving assembly is automatically triggered to drive the two support blocks (12) to move; The rotating assembly comprises a boss (4), a mounting ring (5), a limiting plate (8), a rotating shaft (6), a servo motor (7), a connecting rod (14), a telescopic motor (15), a limiting column (20) and a limiting hole (16); a boss (4) is provided at one end of the rotating disk (3); a mounting ring (5) is rotatably connected to one end of the rotating disk (3) via the boss (4); the mounting ring (5) is used to connect the rotating disk (3) to the claw (1); an L-shaped limiting plate (8) is fixedly mounted on the side wall of the cylinder (2); a servo motor (7) is fixedly mounted on the limiting plate (8); The servo motor (7) is provided with a rotating shaft (6) at the output end thereof, and one end of the rotating shaft (6) is connected to the rotating disk (3). A telescopic motor (15) is installed on the claw (1). A limit column (20) is movably sleeved at the bottom of the output shaft of the telescopic motor (15). A mounting hole for mounting the output shaft of the telescopic motor (15) is provided at the top of the limit column (20). The bottom of the output shaft of the telescopic motor (15) is connected to the bottom of the mounting hole via a spring. A limit hole (16) matching the limit column (20) is provided on the side of the rotating disk (3). The driving assembly comprises a small slider (901), a large slide groove (10), a fixing plate (11), a guide groove (13), a connecting rod (14) and a roller (17); two small sliders (901) are symmetrically and movably installed in the rotating disk (3); a large slide groove (10) for the two small sliders (901) to move up and down is provided in the rotating disk (3); a fixing plate (11) for preventing the two small sliders (901) from escaping from the large slide groove (10) is fixedly installed at one end of the rotating disk (3); and two supporting blocks (12) are respectively fixedly connected to the two small sliders (901). On the slider (901), the fixing plate (11) is provided with a through hole for the two support blocks (12) to move up and down, a connecting rod (14) is fixedly installed at one end of the rotating shaft (6), and the connecting rod (14) is located in the large sliding groove (10), and rollers (17) are installed at both ends of the connecting rod (14), and the small slider (901) is provided with a guide groove (13) that cooperates with the roller (17), and the distance between the two guide grooves (13) gradually decreases and then gradually increases along the direction in which the two rotating disks (3) approach each other, and then remains unchanged.

2. A transfer robot gripper according to claim 1, characterized in that: The side surfaces on the opposite sides of two adjacent support blocks (12) are both arc-shaped, the arc-shaped surfaces are the same as the arc surface of the inner wall of the workpiece, and flexible materials are fixedly installed on the arc-shaped surfaces.

3. The transfer robot gripper according to claim 1, characterized in that: A dustproof sheet (18) is installed in a through hole 1 opened on the fixing sheet (11). The dustproof sheet (18) is fixedly installed on the fixing sheet (11), and the dustproof sheet (18) is located between the two small sliding blocks (901).

4. The transfer robot gripper according to claim 1, characterized in that: The small sliding block (901) and the supporting block (12) are both symmetrically divided into two halves.

5. The transfer robot gripper according to claim 1, characterized in that: The transfer robot is provided with a mounting plate (19), and a plurality of groups of claws (1) cooperating with each other are evenly mounted on the mounting plate (19).

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