Multi-functional robot gripper

Abstract

The application discloses a multifunctional robot clamp, which comprises an upper frame and a lower frame, the operating end of the upper frame is provided with a suction disc mechanism hinged thereto, and the operating end of the lower frame on the same side with the upper frame is provided with a load-bearing fork mechanism; the upper frame is provided with a turnover mechanism for driving the suction disc mechanism to turn over relative to the upper frame, so as to realize side suction or top suction of the suction disc mechanism on goods; and the lower frame is provided with a pushing mechanism for driving the upper frame to move forward and backward relative to the lower frame. The multifunctional robot clamp can drive the suction disc mechanism to push out and retract through the pushing mechanism, realizes the functions of side suction and push and place of the packaging goods, and realizes the function of top suction of the packaging goods through the turnover mechanism for driving the suction disc mechanism to turn over downward by a certain angle, so that the adaptability is higher, the clamp is not needed to be replaced for many times, and the operation efficiency is improved.

Description

Technical Field

[0001] This invention relates to the technical field of robot grippers, and more specifically to a multifunctional robot gripper. Background Technology

[0002] With social development and rising labor costs year by year, industrial robots are widely used in manufacturing, material handling, and loading / unloading processes across various industries to save labor and automate operations. Robotic grippers are the core actuators used to fix and support target objects; suction cup grippers are typically used for packaged goods.

[0003] However, existing grippers have the following problems: (1) Most industrial robots can only install one gripper at the end, which is not very adaptable; and changing grippers to meet different functions will reduce work efficiency; (2) When existing grippers pick up the surface of goods, whether they are top suction or side suction, the change is driven by the robot, so the working range of the gripper is limited; (3) For composite grippers, the increase in functions will also increase the number of mechanisms, making the structure more complex and the weight heavier. Therefore, it is necessary to design a multi-functional robot gripper. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the above-mentioned background technology and provide a multifunctional robot gripper that can perform the functions of top suction of low-lying goods and side suction of high-lying goods, avoiding multiple gripper replacements, solving the problem of insufficient robot operating range, and improving operating efficiency.

[0005] To achieve the above objectives, the present invention provides a multifunctional robot gripper, comprising an upper frame and a lower frame. The operating end of the upper frame is provided with a suction cup mechanism hinged thereto, and the operating end of the lower frame, which is located on the same side as the upper frame, is provided with a fork-bearing mechanism.

[0006] The upper frame is provided with a flipping mechanism for driving the suction cup mechanism to flip relative to it, so as to realize the suction cup mechanism to suck the goods from the side or top; the lower frame is provided with a pushing mechanism for driving the upper frame to move back and forth relative to it.

[0007] Furthermore, the upper frame includes an upper horizontal plate, and upper vertical plates are fixedly connected to both ends of the upper horizontal plate. The upper horizontal plate and the upper vertical plates at both ends are connected to form a U-shaped plate structure.

[0008] Each of the upper vertical plates has an upper vertical plate on both sides, and the upper vertical plate is connected to the upper vertical plates on both sides to form an upper U-shaped groove.

[0009] Furthermore, the lower frame includes a lower horizontal plate, and lower vertical plates are fixedly connected to both ends of the lower horizontal plate. The lower horizontal plate and the lower vertical plates at both ends are connected to form a U-shaped plate structure.

[0010] Each of the lower vertical plates has a lower vertical plate on both sides, and the lower vertical plate is connected to the lower vertical plates on both sides to form a lower U-shaped groove; a connecting plate is provided on the lower horizontal plate between the two lower U-shaped grooves.

[0011] Furthermore, the connecting plate is provided with a reinforcing plate for connecting the lower horizontal plate and the connecting plate on the side facing the fork-bearing mechanism, and a mounting flange for connecting to the robot's end effector is provided in the middle of the opposite side of the connecting plate.

[0012] Furthermore, the suction cup mechanism includes a suction cup mounting plate, on which a plurality of suction cups are vertically arranged at intervals, with a gap between adjacent suction cups;

[0013] The bottom of the suction cup mounting plate is provided with several hinges arranged at intervals, and the suction cup mounting plate is hinged to the upper horizontal plate of the upper frame through the hinges.

[0014] Furthermore, the fork-carrying mechanism includes a fork mounting plate, which is fixedly connected to the lower vertical plate and / or lower horizontal plate of the lower frame.

[0015] The fork mounting plate is vertically arranged with several spaced fork teeth, with a gap between adjacent fork teeth.

[0016] Furthermore, the cross-section of the fork tooth is rectangular, circular, or triangular, and the length of the fork tooth is greater than half the length of the goods.

[0017] Furthermore, the flipping mechanism includes a flipping cylinder and hinged mounting seats disposed at both ends of the flipping cylinder. The flipping cylinder is installed in the upper U-shaped groove. The fixed end of the flipping cylinder is hinged to the bottom of the upper U-shaped groove through the hinged mounting seats. The actuating end of the flipping cylinder is hinged to the suction cup mounting plate through the hinged mounting seats.

[0018] Furthermore, the pushing mechanism includes a driving mechanism and a guiding mechanism, which are installed in the lower U-shaped groove;

[0019] The driving mechanism includes a driving cylinder, a cylinder mounting base, and a cylinder slider. Both ends of the driving mechanism are provided with cylinder mounting bases. Both ends of the driving mechanism are fixed to the bottom of the lower U-shaped groove through the cylinder mounting bases. The cylinder slider can reciprocate linearly along the driving cylinder.

[0020] The guiding mechanism includes a guide rail, a slider, and a pad. The guide rail is installed at the bottom of the lower U-shaped groove. The slider slides in conjunction with the guide rail. The pad is fixedly connected to the slider. The pad and the slider can reciprocate linearly along the guide rail.

[0021] Furthermore, the upper surface of the pad and the upper surface of the cylinder slider are at the same horizontal plane, and both the pad and the cylinder slider are fixedly connected to the bottom of the upper frame.

[0022] Compared with the prior art, the present invention has the following advantages:

[0023] Firstly, the multifunctional robot gripper of this invention can push and retract the suction cup mechanism by moving forward and backward through the pushing mechanism, thereby achieving the function of side-picking and pushing packaged goods. Additionally, by using a flipping mechanism to flip the suction cup mechanism downward at a certain angle, it can achieve the function of top-picking packaged goods, thus possessing multifunctional characteristics.

[0024] Secondly, compared with ordinary grippers, the multifunctional robot gripper of the present invention has both top suction and side suction functions, making it more adaptable, avoiding multiple gripper replacements, and improving work efficiency.

[0025] Thirdly, the multifunctional robot gripper of the present invention solves the problem of insufficient operating range of industrial robots by top suction of low-level goods and side suction of high-level goods, thereby increasing the operating range of the robot.

[0026] Fourth, as a composite gripper, the multifunctional robot gripper of the present invention achieves multiple functions through changes in posture. The same suction cup mechanism is used for both functions, without adding many mechanisms, which greatly reduces the overall weight.

[0027] Fifth, the multifunctional robot gripper of the present invention has a relatively simple overall structure, requires fewer mechanisms for movement, and has high reliability;

[0028] Sixth, the drive mechanisms of the multifunctional robot gripper of the present invention all adopt linear motion, and the control program is simple;

[0029] Seventh, the multifunctional robot gripper of the present invention can be used in conjunction with industrial robots such as robotic arms and gantry robots, and has a wide range of applications;

[0030] Eighth, when the multifunctional robot gripper of the present invention is applied to the loading and unloading process on the platform, it can meet both the loading and unloading operations of packaged goods. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the structure of a multifunctional robot gripper;

[0032] Figure 2 This is a schematic diagram of the upper framework;

[0033] Figure 3 This is a structural diagram of the lower frame;

[0034] Figure 4 This is a schematic diagram of the suction cup mechanism;

[0035] Figure 5 This is a structural diagram of the forklift support mechanism;

[0036] Figure 6 This is a schematic diagram of the flipping mechanism;

[0037] Figure 7 This is a structural diagram of the pushing mechanism;

[0038] Figure 8 for Figure 1 The diagram shows the structure of the multi-functional robot gripper in its initial state.

[0039] Figure 9 for Figure 1 The diagram shows the structure of the multi-functional robot gripper in the side suction state.

[0040] Figure 10 for Figure 1 The diagram shows the structure of the multi-functional robot gripper in the top suction state.

[0041] In the diagram: Upper frame 1, Upper horizontal plate 1.1, Upper vertical plate 1.2, Upper upright plate 1.3, Upper U-shaped groove 1.4, Lower frame 2, Lower horizontal plate 2.1, Lower vertical plate 2.2, Lower upright plate 2.3, Lower U-shaped groove 2.4, Connecting plate 2.5, Reinforcing plate 2.6, Mounting flange 2.7, Suction cup mechanism 3, Suction cup mounting plate 3.1, Suction cup 3.2, Hinge 3.3, Load-bearing fork mechanism 4, Fork tooth mounting plate 4.1, Fork tooth 4.2, Tilting mechanism 5, Tilting cylinder 5.1, Hinge mounting seat 5.2, Pushing mechanism 6, Drive mechanism 6.1, Drive cylinder 6.11, Cylinder mounting seat 6.12, Cylinder slider 6.13, Guide mechanism 6.2, Guide rail 6.21, Slider 6.22, Pad 6.23. Detailed Implementation

[0042] The following examples illustrate the implementation of the present invention in detail, but they do not constitute a limitation on the invention and are merely illustrative. Furthermore, the advantages of the present invention will become clearer and easier to understand by explaining them.

[0043] like Figure 1The multifunctional robot gripper shown includes an upper frame 1 and a lower frame 2. The operating end of the upper frame 1 is equipped with a suction cup mechanism 3 that is hinged thereto. The operating end of the lower frame 2, which is located on the same side as the upper frame 1, is equipped with a fork-carrying mechanism 4. The upper frame 1 is equipped with a flipping mechanism 5 for driving the suction cup mechanism 3 to flip relative to it, so as to realize the suction cup mechanism 3 to suck the goods from the side or top. The lower frame 2 is equipped with a pushing mechanism 6 for driving the upper frame 1 to move back and forth relative to it.

[0044] like Figure 2 As shown, the upper frame 1 includes an upper horizontal plate 1.1, with upper vertical plates 1.2 fixedly connected to both ends of the upper horizontal plate 1.1. The upper horizontal plate 1.1 and the upper vertical plates 1.2 at both ends are connected to form a U-shaped plate structure. Each upper vertical plate 1.2 has an upper vertical plate 1.3 on both sides. The four upper vertical plates 1.3 are vertically fixed on the upper vertical plate 1.2, with two plates forming a group and maintaining left-right symmetry. The upper vertical plate 1.2 and the upper vertical plates 1.3 on both sides are connected to form an upper U-shaped groove 1.4.

[0045] like Figure 3 As shown, the lower frame 2 includes a lower horizontal plate 2.1, with lower vertical plates 2.2 fixedly connected to both ends of the lower horizontal plate 2.1. The lower horizontal plate 2.1 and the lower vertical plates 2.2 at both ends are connected to form a U-shaped plate structure. The lower frame 2 is located directly below the upper frame, and the middle of the lower frame 2 is slightly wider than the upper frame. Each lower vertical plate 2.2 has a lower vertical plate 2.3 on both sides, and the lower vertical plate 2.2 and the lower vertical plates 2.3 on both sides are connected to form a lower U-shaped groove 2.4. A connecting plate 2.5 is provided on the lower horizontal plate 2.1 between the two lower U-shaped grooves 2.4. The lower part of the connecting plate is vertically welded or fixedly installed on the upper surface of the lower horizontal plate. The left side of the connecting plate is fixedly connected to the lower vertical plate on the same side, and the right side of the connecting plate is fixedly connected to the lower vertical plate on the same side.

[0046] A reinforcing plate 2.6 is provided on the side of the connecting plate 2.5 facing the fork-bearing mechanism 4 to connect the lower horizontal plate 2.1 and the connecting plate 2.5. The reinforcing plate 2.6 is located in the middle of the connecting plate, with one side vertically fixed on the connecting plate and the other side vertically fixed on the middle of the lower horizontal plate 2.1. A mounting flange 2.7 is provided in the middle of the opposite side of the connecting plate 2.5 for connecting with the robot's end effector. One end of the mounting flange is connected to the plane in the middle of the connecting plate, and the other end is reserved for connection with the robot's end effector.

[0047] like Figure 4As shown, the suction cup mechanism 3 includes a suction cup mounting plate 3.1, on which several suction cups 3.2 are vertically arranged at intervals, with gaps between adjacent suction cups 3.2. Several hinges 3.3 are arranged at intervals at the bottom of the suction cup mounting plate 3.1, and the suction cup mounting plate 3.1 is hinged to the upper horizontal plate 1.1 of the upper frame 1 via the hinges 3.3. The suction cups can be vacuum suction cups, and several can be arranged as needed, with a certain distance between each pair of suction cups. They are vertically fixed to the front of the suction cup mounting plate in a matrix arrangement, forming a whole. The hinges are installed at intervals on the lower back of the suction cup mounting plate, with the other end of the hinges installed on the upper horizontal plate of the upper frame, allowing the suction cup mounting plate to rotate around the central axis of the hinges. The installation position of the suction cups is offset from the fork teeth of the fork-bearing mechanism, preventing interference.

[0048] like Figure 5 As shown, the fork-carrying mechanism 4 includes a fork mounting plate 4.1, which is fixedly connected to the lower vertical plate 2.3 and / or lower horizontal plate 2.1 of the lower frame 2. Several spaced fork teeth 4.2 are vertically arranged on the fork mounting plate 4.1, with gaps between adjacent fork teeth 4.2. The cross-section of the fork teeth 4.2 can be rectangular, circular, or triangular. A circular cross-section is preferred due to its higher strength, smaller size, and lighter weight. The length of the fork teeth 4.2 is greater than half the length of the goods. The fork-carrying mechanism is used to carry packaged goods. Several fork teeth can be arranged as needed, with a certain distance between each pair of fork teeth. This distance must be greater than the diameter of a suction cup to avoid interference from suction cup flipping. The fork teeth are arranged in a straight line and fixedly installed perpendicular to the fork mounting plate, forming a whole. The fork mounting plate is fixedly installed perpendicularly to the four lower vertical plates of the lower frame. The fork teeth are spaced out to ensure that the suction cup can still work normally after rotation without interference; at the same time, this structure allows the clamp to be used with roller conveyors when picking up goods from the side, making it more adaptable.

[0049] like Figure 6As shown, the flipping mechanism 5 includes a flipping cylinder 5.1 and hinged mounting seats 5.2 disposed at both ends of the flipping cylinder 5.1. The flipping cylinder 5.1 is installed in the upper U-shaped groove 1.4. The fixed end of the flipping cylinder 5.1 is hinged to the bottom of the upper U-shaped groove 1.4 through the hinged mounting seats 5.2, and the actuating end of the flipping cylinder 5.1 is hinged to the suction cup mounting plate 3.1 through the hinged mounting seats 5.2. The flipping cylinder can be a one-way cylinder. One one-way cylinder and two hinged mounting seats form a group. The one-way cylinder is located in the upper U-shaped groove space of the upper frame. The two hinged mounting seats are respectively connected to both ends of the one-way cylinder. The hinged mounting seat at one end is fixedly connected to the upper plane of the bottom plate of the upper frame, and the hinged mounting seat at the other actuating end of the one-way cylinder is fixedly connected to the suction cup mounting plate, providing power for the flipping of the suction cup. Meanwhile, a flipping cylinder is installed on the upper surface of the base plate of the upper frame to provide power for the rotation of the suction cup mechanism. The lower surface of the base plate of the upper frame is connected to the pushing mechanism installed on the lower frame through a slider, so that the upper frame and the suction cup mechanism can move forward and backward together.

[0050] like Figure 7 As shown, the pushing mechanism 6 includes a driving mechanism 6.1 and a guiding mechanism 6.2, which are installed within the lower U-shaped groove 2.4. The driving mechanism 6.1 includes a driving cylinder 6.11, a cylinder mounting seat 6.12, and a cylinder slider 6.13. Both ends of the driving mechanism 6.1 are provided with cylinder mounting seats 6.12, and both ends of the driving mechanism 6.1 are fixed to the bottom of the lower U-shaped groove 2.4 via the cylinder mounting seats 6.12. The cylinder slider 6.13 can reciprocate linearly along the driving cylinder. The guiding mechanism 6.2 includes a guide rail 6.21, a slider 6.22, and a pad 6.23. The guide rail 6.21 is installed at the bottom of the lower U-shaped groove 2.4, the slider 6.22 is slidably engaged with the guide rail 6.21, and the pad 6.23 is fixedly connected to the slider 6.22. The pad 6.23 and the slider 6.22 can reciprocate linearly along the guide rail 6.21. The upper surface of the pad 6.23 is at the same level as the upper surface of the cylinder slider 6.13. Both the pad 6.23 and the cylinder slider 6.13 are fixedly connected to the bottom of the upper frame 1.

[0051] The pushing mechanism consists of a drive mechanism and a guide mechanism, located in the lower U-shaped groove space of the lower frame. The upper surface of the pad block and the upper surface of the cylinder slider are at the same height, and both are fixedly connected to the lower surface of the upper frame base plate. This drives the upper frame to move back and forth, providing power and guidance for the movement of the upper structure. The drive cylinder can be a rodless cylinder, but it is not the only driving method. Electric push rods, worm gears, racks and pinions, etc. can also be used. Given the advantages of rodless cylinders such as space saving, light weight, variable stroke, and long service life, rodless cylinders are selected as the optimal drive.

[0052] The specific implementation methods of the connections of each structure in the multifunctional robot fixture of the present invention can all be implemented in other ways. For example, the connection between the plates in the upper frame and the lower frame can be achieved by screws, bolts and nuts or welding.

[0053] The working method of the multifunctional robot gripper of the present invention:

[0054] (I) Side suction cycle operation process (assuming the clamp has moved to a reasonable position on the side of the packaged goods)

[0055] (1) The drive cylinder in the push mechanism receives the action command and drives the upper frame and suction cup mechanism to move forward along the slide rail;

[0056] (2) When the suction cup mechanism comes into contact with the side surface of the packaged goods, the negative pressure generated will adsorb the packaged goods.

[0057] (3) The drive cylinder in the push mechanism receives the action command and drives the upper frame and suction cup mechanism to move backward along the slide rail. Due to the vacuum suction force, the packaged goods are pulled onto the load-bearing fork mechanism.

[0058] (4) After the clamp and the goods move to the designated position, the drive cylinder in the pushing mechanism receives the action command and moves forward, so that the packaged goods are pushed out of the carrying fork mechanism by the suction cup mechanism and smoothly slide to the designated position.

[0059] (II) Top suction cycle operation process (assuming the clamp has moved to a reasonable position above the packaged goods)

[0060] (1) The cylinder in the flipping mechanism receives the extension command and drives the suction cup mechanism to rotate a certain angle along the central axis of the hinge, so that the plane of the suction cup mechanism is parallel to the top surface of the packaged goods.

[0061] (2) If the goods are far away and the robot's operating range cannot be covered, the drive cylinder in the pushing mechanism will receive the action command and drive the upper frame and suction cup mechanism to move forward a distance along the slide rail to ensure that the suction cup mechanism is exactly above the goods.

[0062] (3) The robot moves the gripper downward a certain distance, so that the suction cup mechanism contacts the top surface of the packaged goods, and the negative pressure generated adsorbs the packaged goods.

[0063] (4) After the clamp and the goods move to the designated position, if the target position is far away and the robot's working range cannot cover it, the drive cylinder in the push mechanism receives the action command to move forward, driving the suction cup mechanism and the goods to move forward a distance.

[0064] (5) Once in position, the robot moves the gripper downwards a certain distance, so that the goods are placed smoothly at the target position. At this time, the suction cup releases the vacuum and the suction cup mechanism separates from the goods.

[0065] This invention utilizes a pushing mechanism that moves forward and backward to drive a suction cup mechanism to push out and retract, enabling the side suction and placement of packaged goods. Additionally, a flipping mechanism causes the suction cup mechanism to flip downward at a certain angle, allowing it to suction goods from the top. These two action sequences achieve both side and top suction functions for the clamp on packaged goods.

[0066] The above are merely specific embodiments of the present invention. It should be noted that any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the protection scope of the present invention. Any other aspects not described in detail are prior art.

Claims

1. A multifunctional robot gripper, characterized in that: It includes an upper frame (1) and a lower frame (2). The operating end of the upper frame (1) is provided with a suction cup mechanism (3) that is hinged thereto. The operating end of the lower frame (2) located on the same side as the upper frame (1) is provided with a fork-carrying mechanism (4). The upper frame (1) is provided with a flipping mechanism (5) for driving the suction cup mechanism (3) to flip relative to it, so as to realize the suction cup mechanism (3) to suck the goods from the side or from the top; the lower frame (2) is provided with a pushing mechanism (6) for driving the upper frame (1) to move back and forth relative to it. The upper frame (1) includes an upper horizontal plate (1.1), and upper vertical plates (1.2) are fixedly connected to both ends of the upper horizontal plate (1.1). The upper horizontal plate (1.1) and the upper vertical plates (1.2) at both ends are connected to form a U-shaped plate structure. Each upper vertical plate (1.2) has an upper vertical plate (1.3) on both sides. The upper vertical plate (1.2) and the upper vertical plates (1.3) on both sides are connected to form an upper U-shaped groove (1.4). The lower frame (2) includes a lower horizontal plate (2.1), and lower vertical plates (2.2) are fixedly connected to both ends of the lower horizontal plate (2.1). The lower horizontal plate (2.1) and the lower vertical plates (2.2) at both ends are connected to form a U-shaped plate structure. Each lower vertical plate (2.2) has a lower vertical plate (2.3) on both sides. The lower vertical plate (2.2) and the lower vertical plates (2.3) on both sides are connected to form a lower U-shaped groove (2.4). A connecting plate (2.5) is provided on the lower horizontal plate (2.1) between the two lower U-shaped grooves (2.4). The lower frame (2) is located directly below the upper frame (1), and the middle of the lower frame (2) is slightly wider than the upper frame (1). The suction cup mechanism (3) includes a suction cup mounting plate (3.1), on which a plurality of suction cups (3.2) are vertically arranged at intervals, with a gap between two adjacent suction cups (3.2); a plurality of hinges (3.3) are arranged at intervals at the bottom of the suction cup mounting plate (3.1), and the suction cup mounting plate (3.1) is hinged to the upper horizontal plate (1.1) of the upper frame (1) through the hinges (3.3); The flipping mechanism (5) includes a flipping cylinder (5.1) and hinged mounting seats (5.2) disposed at both ends of the flipping cylinder (5.1). The flipping cylinder (5.1) is installed in the upper U-shaped groove (1.4). The fixed end of the flipping cylinder (5.1) is hinged to the bottom of the upper U-shaped groove (1.4) through the hinged mounting seat (5.2). The actuating end of the flipping cylinder (5.1) is hinged to the suction cup mounting plate (3.1) through the hinged mounting seat (5.2).

2. The multifunctional robot gripper according to claim 1, characterized in that: The connecting plate (2.5) has a reinforcing plate (2.6) on the side facing the fork-bearing mechanism (4) for connecting the lower horizontal plate (2.1) and the connecting plate (2.5), and a mounting flange (2.7) for connecting to the robot end effector is provided in the middle of the opposite side of the connecting plate (2.5).

3. The multifunctional robot gripper according to claim 2, characterized in that: The fork-carrying mechanism (4) includes a fork tooth mounting plate (4.1), which is fixedly connected to the lower vertical plate (2.3) and / or the lower horizontal plate (2.1) of the lower frame (2); The fork mounting plate (4.1) is vertically provided with a number of spaced fork teeth (4.2), with a gap between adjacent fork teeth (4.2).

4. The multifunctional robot gripper according to claim 3, characterized in that: The cross-section of the fork tooth (4.2) is rectangular, circular, or triangular, and the length of the fork tooth (4.2) is greater than half the length of the cargo.

5. The multifunctional robot gripper according to claim 4, characterized in that: The pushing mechanism (6) includes a driving mechanism (6.1) and a guiding mechanism (6.2), which are installed in the lower U-shaped groove (2.4); The drive mechanism (6.1) includes a drive cylinder (6.11), a cylinder mounting seat (6.12), and a cylinder slider (6.13). Both ends of the drive mechanism (6.1) are provided with cylinder mounting seats (6.12). Both ends of the drive mechanism (6.1) are fixed to the bottom of the lower U-shaped groove (2.4) through the cylinder mounting seats (6.12). The cylinder slider (6.13) can reciprocate linearly along the drive cylinder. The guiding mechanism (6.2) includes a guide rail (6.21), a slider (6.22), and a pad (6.23). The guide rail (6.21) is installed at the bottom of the lower U-shaped groove (2.4). The slider (6.22) is slidably engaged with the guide rail (6.21). The pad (6.23) is fixedly connected to the slider (6.22). The pad (6.23) and the slider (6.22) can reciprocate linearly along the guide rail (6.21).

6. The multifunctional robot gripper according to claim 5, characterized in that: The upper surface of the pad (6.23) is at the same level as the upper surface of the cylinder slider (6.13), and both the pad (6.23) and the cylinder slider (6.13) are fixedly connected to the bottom of the upper frame (1).

Images