Flexible gripper for a smart robot

Abstract

This invention relates to the field of flexible grippers, specifically a flexible gripper for an intelligent robot, comprising a robot with a support cylinder at its end. The support cylinder contains an adsorption mechanism for adsorbing series-connected battery cells. The support cylinder also contains a transmission mechanism, below which is a positioning mechanism. The transmission mechanism drives the positioning mechanism to move, and the positioning mechanism clamps a glass substrate directly below the adsorption mechanism. The positioning mechanism has a wiping mechanism for wiping the surface of the glass substrate. When the adsorption mechanism moves the battery cells above the glass substrate, the positioning mechanism pushes the glass substrate to move and positions it directly above the glass substrate. Once the positioning mechanism has positioned the glass substrate, it drives the wiping mechanism to wipe the surface of the positioned glass substrate.

Description

Technical Field

[0001] This invention relates to the field of flexible grippers, specifically a flexible gripper for an intelligent robot. Background Technology

[0002] During solar panel production, solar cells need to be placed onto a glass substrate and then encapsulated with a backsheet to form the panel. The production process requires clamping the series-connected solar cells onto the glass substrate, but this is extremely inconvenient when the solar cells are connected in series. The error requirement for the solar cells covering the glass substrate is within 0.5mm, and the series-connected cells must be placed in the exact center of the glass substrate. When the glass substrate is moved, it cannot be directly beneath the solar cells. During installation, some contamination remains on the surface of the glass substrate. To ensure clean contact between the glass substrate and the solar cells, the surface of the glass substrate needs to be wiped before installation. However, wiping is inefficient, and mechanical wiping requires additional processing equipment and procedures. Summary of the Invention

[0003] To address the problems in the prior art, this invention provides a flexible gripper for intelligent robots.

[0004] The technical solution adopted by this invention to solve its technical problem is as follows: a flexible gripper for an intelligent robot, comprising a robot, a support cylinder at the end of the robot, an adsorption mechanism inside the support cylinder for adsorbing series-connected battery cells; a transmission mechanism inside the support cylinder, a positioning mechanism connected below the transmission mechanism, the transmission mechanism for driving the positioning mechanism to move, the positioning mechanism for clamping a glass substrate directly below the adsorption mechanism; a wiping mechanism on the positioning mechanism for wiping the surface of the glass substrate; when the adsorption mechanism moves the battery cells above the glass substrate, the positioning mechanism pushes the glass substrate to move and positions the glass substrate directly above the glass substrate; when the positioning mechanism positions the glass substrate, the positioning mechanism pushes the wiping mechanism to wipe the positioned surface of the glass substrate.

[0005] Preferably, the adsorption mechanism includes an adsorption tube slidably disposed inside the support cylinder, an adsorption plate disposed at the bottom of the adsorption tube, and an abutment rod disposed on the outer wall of the adsorption tube, the abutment rod being used to reset the wiping mechanism after squeezing and wiping the glass substrate.

[0006] Preferably, the transmission mechanism includes a motor disposed inside the support cylinder, a screw connected to the output end of the motor, a support plate threaded onto the screw, and a through hole for the adsorption tube to move on the support plate; a plurality of outwardly protruding second connecting blocks are provided on the outer circumferential side wall of the support plate, and a second connecting rod is rotatably connected to the second connecting block, and a positioning mechanism is connected to the end of the second connecting rod.

[0007] Preferably, the positioning mechanism includes a first connecting block rotatably connected to the second connecting rod. A movable plate is disposed below the first connecting block, and a telescopic positioning plate is disposed at the end of the movable plate. The positioning plate is used to push the glass substrate to move directly below the adsorption mechanism. An opening groove is disposed on the movable plate, and a first elastic element is disposed inside the opening groove. The first elastic element is used to push the positioning plate. A guide rod is disposed on the surface of the positioning plate, and a slider is disposed on the outer wall of the guide rod. A guide groove is disposed inside the movable plate, and the guide rod slides inside the guide groove. Sliding grooves are disposed inside the movable plate on both sides of the guide groove, and the slider slides inside the sliding grooves. A clearance groove is provided on the movable plate for the wiping mechanism to move.

[0008] Preferably, the pushing mechanism includes a through groove formed inside the movable plate, the through groove communicating with the guide groove, a push rod provided on the guide rod, a downward push block provided on the push rod, a limit groove provided on the movable plate, a squeezing rod slidably provided inside the limit groove, the push rod sliding inside the through groove drives the push block to move synchronously, and the movement of the push block pushes the squeezing rod to move inside the limit groove.

[0009] Preferably, the pushing mechanism includes a plurality of second elastic elements disposed on the inner wall of the opening groove, the ends of the second elastic elements being connected to the extrusion rod; the limiting groove is composed of a first limiting groove and a second limiting groove, the first limiting groove being disposed above the first limiting groove and communicating with it, the first limiting groove being horizontally disposed, the second limiting groove being an arc-shaped structure, the second elastic elements pushing the extrusion rod from the second limiting groove into the interior of the first limiting groove, a support rod being disposed on the outer wall of the extrusion rod, and a wiping mechanism being connected to the support rod.

[0010] Preferably, the wiping mechanism includes a movable rod connected to a support rod, the movable rod passing through the interior of the relief groove, a push rod provided on the movable rod, a first connecting rod provided at the end of the push rod, a connecting plate provided below the first connecting rod, and a wiping cloth provided on the lower surface of the connecting plate. When the movable rod drives the push rod to move, causing the connecting plate to drive the wiping cloth to wipe the surface of the glass substrate, the abutment rod moves downward and presses against the surface of the push rod, causing the push rod to reset.

[0011] Preferably, the support cylinder has a vertical groove for the second connecting rod to move.

[0012] Beneficial effects: The flexible gripper can grasp flexible battery cells. The adsorption mechanism rotates synchronously with the robot. When the adsorption mechanism rotates above the battery cell, it adsorbs the cell. The robot then rotates to move the battery cell to the assembly area. The robot descends and moves in conjunction with the positioning mechanism. After moving to the assembly area, the positioning mechanism positions the glass substrate, confining it directly below the adsorption mechanism. The wiping mechanism wipes the surface of the glass substrate to remove dust. The transmission mechanism drives the positioning mechanism, which in turn moves the wiping mechanism. After wiping the glass substrate, the adsorption mechanism moves downward and places the battery cell on its surface. During the downward movement of the adsorption mechanism, it squeezes the wiping mechanism, causing it to reset. The reset of the wiping mechanism does not affect the placement of the battery cell on the glass substrate. Attached Figure Description

[0013] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0014] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a three-dimensional structural diagram of the present invention; Figure 3 for Figure 2 Enlarged structural diagram at point A in the diagram; Figure 4 This is a schematic diagram of the transmission mechanism connection of the present invention; Figure 5 This is a schematic diagram showing the connection between the positioning mechanism and the wiping mechanism of the present invention; Figure 6 This is a schematic diagram of the positioning mechanism of the present invention; Figure 7 This is one of the cross-sectional views of the positioning mechanism of the present invention; Figure 8 This is a second cross-sectional view of the positioning mechanism of the present invention; Figure 9 This is a schematic diagram of the internal structure of the positioning mechanism of the present invention.

[0015] In the diagram: 1. Robot; 2. Support cylinder; 3. Positioning mechanism; 31. Moving plate; 32. Positioning plate; 33. Opening slot; 34. First elastic element; 35. Clearance slot; 36. First connecting block; 37. Guide rod; 38. Slider; 39. Guide slot; 310. Slide groove; 4. Wiping mechanism; 41. Wiping cloth; 42. Connecting plate; 43. First connecting rod; 44. Push rod; 45. Moving rod; 5. Adsorption mechanism; 51. Adsorption plate; 52. Adsorption tube; 53. Abutment rod; 6. Transmission mechanism; 61. Motor; 62. Screw; 63. Support plate; 64. Second connecting block; 65. Second connecting rod; 7. Pushing mechanism; 71. Push rod; 72. Push block; 73. Extrusion rod; 74. Support rod; 75. Second elastic element; 76. First limiting slot; 77. Second limiting slot; 78. Through slot. Detailed Implementation

[0016] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0017] In one embodiment, please refer to the appendix to the specification. Figure 1-9 As shown, the flexible gripper of an intelligent robot according to the present invention includes a robot 1, with a support cylinder 2 at the end of the robot 1. An adsorption mechanism 5 is disposed inside the support cylinder 2, which is used to adsorb series-connected battery cells. A transmission mechanism 6 is disposed inside the support cylinder 2, and a positioning mechanism 3 is connected below the transmission mechanism 6. The transmission mechanism 6 drives the positioning mechanism 3 to move, and the positioning mechanism 3 clamps a glass substrate directly below the adsorption mechanism 5. A wiping mechanism 4 is disposed on the positioning mechanism 3, which is used to wipe the surface of the glass substrate. When the adsorption mechanism 5 moves the battery cells above the glass substrate, the positioning mechanism 3 pushes the glass substrate to move and positions the glass substrate directly above it. After the positioning mechanism 3 has positioned the glass substrate, it pushes the wiping mechanism 4 to wipe the surface of the positioned glass substrate.

[0018] The flexible gripper can grasp the flexible material battery cell. The adsorption mechanism 5 rotates synchronously with the robot 1. When the adsorption mechanism 5 rotates above the battery cell, it adsorbs the battery cell. The robot 1 rotates and moves the battery cell to the assembly area. The robot 1 descends and moves in conjunction with the positioning mechanism 3. After the positioning mechanism 3 moves to the assembly area, it positions the glass substrate, which is directly below the adsorption mechanism 5. The wiping mechanism 4 wipes the surface of the glass substrate to remove dust. The transmission mechanism 6 drives the positioning mechanism 3 to move, and the movement of the positioning mechanism 3 synchronously drives the wiping mechanism 4 to move. After wiping the glass substrate, the adsorption mechanism 5 moves downward and places the battery cell on the surface of the glass substrate. During the downward movement of the adsorption mechanism 5, it squeezes the wiping mechanism 4, causing the wiping mechanism 4 to reset. After the wiping mechanism 4 resets, it does not affect the placement of the battery cell on the surface of the glass substrate.

[0019] The adsorption mechanism 5 includes an adsorption tube 52 that is slidably disposed inside the support cylinder 2. An adsorption plate 51 is disposed at the bottom of the adsorption tube 52. An abutment rod 53 is disposed on the outer wall of the adsorption tube 52. The abutment rod 53 is used to reset the wiping mechanism 4 after squeezing and wiping the glass substrate.

[0020] The adsorption tube 52 is connected to the air pump. The adsorption tube 52 will adsorb the battery cells through the adsorption holes on the adsorption plate 51, so that the adsorbed battery cells are not easily damaged during the clamping process. When the abutment rod 53 moves downward, it presses against the wiping mechanism 4, thereby pushing the wiping mechanism 4 to reset.

[0021] The transmission mechanism 6 includes a motor 61 installed inside the support cylinder 2. A screw 62 is connected to the output end of the motor 61. A support plate 63 is threaded onto the screw 62. The support plate 63 has a through hole for the adsorption tube 52 to move. Multiple outwardly protruding second connecting blocks 64 are provided on the outer circumferential side wall of the support plate 63. A second connecting rod 65 is rotatably connected to the second connecting block 64. A positioning mechanism 3 is connected to the end of the second connecting rod 65.

[0022] The motor 61 drives the screw 62 to rotate. The support plate 63 has an internal thread in the middle opening. Since the adsorption tube 52 moves up and down inside the support plate 63, it cannot rotate with the support plate 63. The screw 62 drives the support plate 63 to move up and down under the action of the thread. When the support plate 63 moves up and down, it will drive the multiple second connecting blocks 64 on its outer wall to move up and down synchronously. The second connecting blocks 64 pull the second connecting rod 65 to move. The end of the second connecting rod 65 is rotatably connected to the second connecting block 64.

[0023] The positioning mechanism 3 includes a first connecting block 36 rotatably connected to the second connecting rod 65. A movable plate 31 is provided below the first connecting block 36. A telescopic positioning plate 32 is provided at the end of the movable plate 31. The positioning plate 32 is used to push the glass substrate to move directly below the adsorption mechanism 5. An opening groove 33 is provided on the movable plate 31. A first elastic element 34 is provided inside the opening groove 33. The first elastic element 34 is used to push the positioning plate 32. A guide rod 37 is provided on the surface of the positioning plate 32. A slider 38 is provided on the outer wall of the guide rod 37. A guide groove 39 is provided inside the movable plate 31. The guide rod 37 slides inside the guide groove 39. A sliding groove 310 located on both sides of the guide groove 39 is provided inside the movable plate 31. The slider 38 slides inside the sliding groove 310. A clearance groove 35 is provided on the movable plate 31 for the wiping mechanism 4 to move.

[0024] After the glass substrate is placed in the assembly area, the motor 61 rotates, driving the screw 62 to rotate. The screw 62 rotates, causing the support plate 63 to move up and down. The support plate 63 moves up and down, pulling the second connecting rod 65 to move up and down synchronously. During the movement of the second connecting rod 65, it pulls the first connecting block 36. The first connecting block 36 drives the moving plate 31 to move. When the moving plate 31 moves, it drives the first elastic element 34 to move. When the first elastic element 34 moves, it drives the positioning plate 32 to move synchronously. When the positioning plate 32 contacts the side of the glass substrate, and when the glass substrate is not directly below the adsorption mechanism 5, the multiple positioning plates 32 will push the glass substrate until the multiple positioning plates 32 simultaneously contact the corresponding side of the glass substrate. At this time, the glass substrate is exactly directly below the adsorption mechanism 5. In order to prevent the positioning plate 32 from detaching from the interior of the moving plate 31 during movement, the slider 38 can only slide inside the slide groove 310. The slide groove 310 limits the slider 38. The guide rod 37 can support the movement of the positioning plate 32.

[0025] The pushing mechanism 7 includes a through groove 78 formed inside the movable plate 31, the through groove 78 being connected to the guide groove 39, a push rod 71 being provided on the guide rod 37, a downward push block 72 being provided on the push rod 71, a limit groove being provided on the movable plate 31, and a pressing rod 73 being slidably provided inside the limit groove. The push rod 71 slides inside the through groove 78, causing the push block 72 to move synchronously, and the movement of the push block 72 pushes the pressing rod 73 to move inside the limit groove. The pushing mechanism 7 includes a plurality of second elastic elements 75 disposed on the inner wall of the opening groove 33, the ends of the second elastic elements 75 being connected to the extrusion rod 73; the limiting groove is composed of a first limiting groove 76 and a second limiting groove 77, the first limiting groove 76 being disposed above and communicating with it, the first limiting groove 76 being horizontally disposed, the second limiting groove 77 being an arc-shaped structure, the second elastic elements 75 pushing the extrusion rod 73 from the second limiting groove 77 into the interior of the first limiting groove 76, the outer wall of the extrusion rod 73 being provided with a support rod 74, and a wiping mechanism 4 being connected to the support rod 74.

[0026] Since push rod 71 is connected to guide rod 37, the movement of guide rod 37 drives push rod 71 to move synchronously, and the movement of push rod 71 drives push block 72 to move synchronously. During the movement of push block 72, it will press against the surface of extrusion rod 73. During the movement of extrusion rod 73, it will move along the direction of second limiting groove 77. A second elastic element 75 is provided on the outer wall of extrusion rod 73. The second elastic element 75 is initially in a compressed state. Push block 72 is unidirectionally rotatable on extrusion rod 73. When push block 72 pushes extrusion rod 73 to move, push block 72 will not rotate on extrusion rod 73. Because the second limiting groove 77 is an arc-shaped structure with an opening facing downwards, when the push block 72 moves, it pushes the extrusion rod 73 downwards until the extrusion rod 73 is pushed to the connection between the first limiting groove 76 and the second limiting groove 77. At this time, the second elastic element 75 is just flush with the first limiting groove 76. At this time, the extrusion rod 73 is pushed by the second elastic element 75, and the extrusion rod 73 will move along the second limiting groove 77 into the interior of the first limiting groove 76. At this time, because the support rod 74 moves synchronously with the extrusion rod 73, the support rod 74 drives the wiping mechanism 4 to move, thereby making... The wiping mechanism 4 moves along the direction of the second limiting groove 77 and the first limiting groove 76, causing the wiping mechanism 4 to move downward first, and then adhere to the surface of the glass substrate. The wiping mechanism 4 then moves laterally along the surface of the glass substrate, at which point the wiping mechanism 4 cleans the glass surface. As the adsorption mechanism 5 moves downward, it first drives the abutment rod 53 downward, which then contacts the wiping mechanism 4 and pushes it to move. The movement of the wiping mechanism 4 pushes the support rod 74 to move, and the movement of the support rod 74 drives the pressing rod 7... 3. Synchronous movement: When the extrusion rod 73 moves to contact the push block 72, the push block 72 will rotate upward around the push rod 71. When the extrusion rod 73 disengages from the push block 72, the push block 72 resets. During this process, the extrusion rod 73 moves from the first limiting groove 76 into the interior of the second limiting groove 77. The second elastic element 75 changes from an extended state to a compressed state. At this time, the second elastic element 75 presses the extrusion rod 73 into the interior of the second limiting groove 77. The extrusion rod 73 is limited by the second limiting groove 77. The extrusion rod 73 will not disengage from the second limiting groove 77 without the action of the push block 72.

[0027] The wiping mechanism 4 includes a movable rod 45 connected to a support rod 74. The movable rod 45 passes through the interior of the relief groove 35. A push rod 44 is provided on the movable rod 45. A first connecting rod 43 is provided at the end of the push rod 44. A connecting plate 42 is provided below the first connecting rod 43. A wiping cloth 41 is provided on the lower surface of the connecting plate 42. When the movable rod 45 drives the push rod 44 to move, the connecting plate 42 drives the wiping cloth to wipe the surface of the glass substrate. The abutment rod 53 moves downward and presses against the surface of the push rod 44, allowing the push rod 44 to return to its original position.

[0028] The movable rod 45 and the support rod 74 are fixed, and the movable rod 45 and the push rod 44 are fixedly connected. When the support rod 74 moves, it drives the movable rod 45 to move synchronously. The movable rod 45 drives the push rod 44 to move. The push rod 44 moves synchronously, which drives the first connecting rod 43 to move synchronously. The first connecting rod 43 moves synchronously, which drives the connecting plate 42 to move. The moving connecting plate 42 drives the wiping cloth 41 to wipe the surface of the glass substrate. The wiping cloth 41 can be replaced.

[0029] The support cylinder 2 has a vertical groove for the second connecting rod 65 to move.

[0030] The support cylinder 2 allows the second connecting rod 65 to move. When the second connecting rod 65 moves downward inside the vertical groove until it reaches the bottom of the vertical groove, the second connecting rod 65 is pushed open by the bottom of the vertical groove. The second connecting rod 65 drives the moving plate 31 to unfold synchronously. When the second connecting rod 65 unfolds, the adsorption mechanism 5 will not affect the adsorption of the battery cells when it moves.

[0031] In use, the robot 1 adsorbs the battery cells through the adsorption holes on the adsorption plate 51, moving the battery cells to the installation area. At this time, the motor 61 rotates, driving the screw 62 to rotate. The screw 62, under the action of its threads, moves the support plate 63 up and down. When the support plate 63 moves up and down, it drives multiple second connecting blocks 64 on its outer wall to move up and down synchronously. The second connecting blocks 64 pull the second connecting rod 65 to move. During the movement of the second connecting rod 65, it pulls the first connecting block 36, which in turn moves the moving plate 31. When the moving plate 31 moves the first elastic element 34, the first connecting block 36... When the elastic element 34 moves, it drives the positioning plate 32 to move synchronously. When the positioning plate 32 contacts the side of the glass substrate, and when the glass substrate is not directly below the adsorption plate 51, the multiple positioning plates 32 will push the glass substrate until the multiple positioning plates 32 simultaneously contact the corresponding side of the glass substrate. At this time, the glass substrate is just directly below the adsorption plate 51. When the positioning plate 32 moves, it pushes the guide rod 37 to move. The movement of the guide rod 37 drives the push rod 71 to move synchronously. The movement of the push rod 71 drives the push block 72 to move synchronously. During the movement of the push block 72, it will press against the surface of the pressing rod 73. During the movement of the extrusion rod 73, it moves along the direction of the second limiting groove 77. A second elastic element 75 is provided on the outer wall of the extrusion rod 73. The second elastic element 75 is initially in a compressed state. The push block 72 is unidirectionally rotatable on the extrusion rod 73. When the push block 72 pushes the extrusion rod 73 to move, the push block 72 will not rotate on the extrusion rod 73. Since the second limiting groove 77 is an arc-shaped structure with an opening facing downwards, when the push block 72 moves, it pushes the extrusion rod 73 downwards until the extrusion rod 73 is pushed to the connection point between the first limiting groove 76 and the second limiting groove 77. At this time, the second elastic element 75... Just flush with the first limiting groove 76, the extrusion rod 73 is pushed by the second elastic element 75, and the extrusion rod 73 moves along the second limiting groove 77 into the interior of the first limiting groove 76. At this time, since the support rod 74 moves synchronously with the extrusion rod 73, the support rod 74 drives the wiping mechanism 4 to move, which in turn causes the wiping mechanism 4 to move along the direction of the second limiting groove 77 and the first limiting groove 76. The wiping mechanism 4 moves downward first, and then adheres to the surface of the glass substrate. The wiping mechanism 4 then moves laterally along the surface of the glass substrate. At this time, the wiping mechanism 4 will wipe the glass surface clean.After the glass substrate is cleaned, the abutment rod 53 moves downward along with the adsorption tube 52 and presses against the surface of the push rod 44, causing the push rod 44 to move. The push rod 44 drives the support rod 74 to move via the moving rod 45. The movement of the support rod 74 causes the pressing rod 73 to move synchronously. When the pressing rod 73 moves to contact the push block 72, the push block 72 will rotate upward around the push rod 71. When the pressing rod 73 disengages from the push block 72, the push block 72 returns to its original position. During this process, the pressing rod 73 moves from the first limiting groove 76 into the interior of the second limiting groove 77. The second elastic member 75 changes from an extended state to a compressed state. At this time, the second elastic member 75 presses the pressing rod 73 into the interior of the second limiting groove 77. At this time, the wiping mechanism 4 is in the retracted state. The adsorption plate 51 moves to directly above the glass substrate and places the battery plate on the surface of the glass substrate. The motor 61 rotates, driving the second link 65 to move. When the second link 65 moves downward inside the vertical groove, until the second link 65 moves to the bottom of the vertical groove, the second link 65 is pushed open by the bottom of the vertical groove. The second link 65 drives the moving plate 31 to unfold synchronously. When the second link 65 unfolds, the adsorption mechanism 5 will not affect the adsorption of the battery cell when it moves.

[0032] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of protection claimed by the present invention. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A flexible gripper for an intelligent robot, comprising a robot (1), characterized in that, The robot (1) is provided with a support cylinder (2) at its end. An adsorption mechanism (5) is provided inside the support cylinder (2). The adsorption mechanism (5) is used to adsorb the connected battery cells. A transmission mechanism (6) is provided inside the support cylinder (2). A positioning mechanism (3) is connected below the transmission mechanism (6). The transmission mechanism (6) is used to drive the positioning mechanism (3) to move. The positioning mechanism (3) is used to clamp the glass substrate directly below the adsorption mechanism (5). A wiping mechanism (4) is provided on the positioning mechanism (3). The wiping mechanism (4) is used to wipe the surface of the glass substrate. When the adsorption mechanism (5) moves the battery cell above the glass substrate, the positioning mechanism (3) pushes the glass substrate to move and positions the glass substrate directly below the battery cell. When the positioning mechanism (3) positions the glass substrate, the positioning mechanism (3) pushes the wiping mechanism (4) to wipe the surface of the positioned glass substrate. The adsorption mechanism (5) includes an adsorption tube (52) that is slidably disposed inside the support cylinder (2). An adsorption plate (51) is disposed at the bottom of the adsorption tube (52). An abutment rod (53) is disposed on the outer wall of the adsorption tube (52). The abutment rod (53) is used to reset the wiping mechanism (4) after squeezing and wiping the glass substrate. The transmission mechanism (6) includes a motor (61) disposed inside the support cylinder (2). A screw (62) is connected to the output end of the motor (61). A support plate (63) is threaded onto the screw (62). Multiple outwardly protruding second connecting blocks (64) are provided on the outer circumferential side wall of the support plate (63). A second connecting rod (65) is rotatably connected to the second connecting block (64). A positioning mechanism (3) is connected to the end of the second connecting rod (65). The positioning mechanism (3) includes a first connecting block (36) rotatably connected to the second connecting rod (65). A movable plate (31) is provided below the first connecting block (36). A telescopic positioning plate (32) is provided at the end of the movable plate (31). An opening groove (33) is provided on the movable plate (31). A first elastic element (34) is provided inside the opening groove (33). The first elastic element (34) is used to push the positioning plate (32). A guide rod (37) is provided on the surface of the positioning plate (32). A slider (38) is provided on the outer wall of the guide rod (37). A guide groove (39) is provided inside the movable plate (31). The pushing mechanism (7) includes a through groove (78) opened inside the movable plate (31), the through groove (78) is connected to the guide groove (39), the guide rod (37) is provided with a push rod (71), the push rod (71) is provided with a downward push block (72), the movable plate (31) is provided with a limit groove, and the limit groove is slidably provided with a squeezing rod (73). The push rod (71) slides inside the through groove (78) to drive the push block (72) to move synchronously, and the push block (72) moves to push the squeezing rod (73) to move inside the limit groove.

2. The flexible gripper for an intelligent robot according to claim 1, characterized in that, The support plate (63) has perforations for the adsorption tube (52) to move.

3. The flexible gripper for an intelligent robot according to claim 2, characterized in that, The positioning plate (32) is used to push the glass substrate to move directly below the adsorption mechanism (5). The guide rod (37) slides inside the guide groove (39). The moving plate (31) is provided with sliding grooves (310) on both sides of the guide groove (39). The slider (38) slides inside the sliding groove (310). The movable plate (31) is provided with a clearance groove (35), which allows the wiping mechanism (4) to move.

4. The flexible gripper for an intelligent robot according to claim 3, characterized in that, The pushing mechanism (7) includes a plurality of second elastic elements (75) disposed on the inner wall of the opening groove (33), the ends of the second elastic elements (75) being connected to the extrusion rod (73); the limiting groove is composed of a first limiting groove (76) and a second limiting groove (77), the first limiting groove (76) is provided above the second limiting groove (77) and communicates with it, the first limiting groove (76) is horizontally disposed, the second limiting groove (77) is an arc-shaped structure, the second elastic element (75) pushes the extrusion rod (73) from the second limiting groove (77) into the interior of the first limiting groove (76), the outer wall of the extrusion rod (73) is provided with a support rod (74), and a wiping mechanism (4) is connected to the support rod (74).

5. The flexible gripper for an intelligent robot according to claim 4, characterized in that, The wiping mechanism (4) includes a movable rod (45) connected to a support rod (74). The movable rod (45) passes through the interior of the relief groove (35). A push rod (44) is provided on the movable rod (45). A first connecting rod (43) is provided at the end of the push rod (44). A connecting plate (42) is provided below the first connecting rod (43). A wiping cloth (41) is provided on the lower surface of the connecting plate (42). When the movable rod (45) drives the push rod (44) to move, the connecting plate (42) drives the wiping plate to wipe the surface of the glass substrate. The abutment rod (53) moves downward and presses against the surface of the push rod (44), allowing the push rod (44) to reset.

6. The flexible gripper of an intelligent robot according to claim 5, characterized in that, The support cylinder (2) has a vertical groove for the second connecting rod (65) to move.

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