A disc-shaped workpiece gripping device for industrial Internet of Things

Abstract

This invention discloses a disc-shaped workpiece gripping device for industrial IoT, including a fixed plate connected to a robotic arm. A fixed block is located at the bottom of the fixed plate. A driving mechanism is also provided on the fixed plate, with its output shaft vertically penetrating the fixed block. A disc is located at the movable end of the output shaft, and several horizontal plates are mounted on the disc, hinged to the fixed block. An arc-shaped clamping plate is provided on each horizontal plate. The driving mechanism drives the disc to rotate the horizontal plates around the hinge point with the fixed block. A first expansion member is also provided at the bottom of the driving disc, used to position the center of the disc-shaped workpiece. The first expansion member allows for positioning of the disc-shaped workpiece and also enables fine-tuning of its position, ensuring precise assembly of the workpiece later.

Description

Technical Field

[0001] This invention relates to the field of gas meter manufacturing technology, and more specifically to a disc-shaped workpiece gripping device for industrial Internet of Things (IoT). Background Technology

[0002] Currently, during the assembly process of gas meter housings, disc-shaped workpieces (such as...) on the assembly line need to be assembled... Figure 1 As shown, the disc-shaped workpiece is installed at the assembly station. The traditional assembly method is to use a gripper on a robotic arm to grasp the disc-shaped workpiece. However, when the existing gripper grasps the disc-shaped workpiece, the side wall of the disc-shaped workpiece is curved, which can easily lead to the disc-shaped workpiece not being properly clamped. This can result in the disc-shaped workpiece not being properly assembled in subsequent assembly. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art. The purpose is to provide a disc-shaped workpiece gripping device for industrial Internet of Things. The device can position the disc-shaped workpiece by using a first expansion member and can also fine-tune the position of the disc-shaped workpiece to ensure that the disc-shaped workpiece can be accurately assembled in the future.

[0004] This invention is achieved through the following technical solution:

[0005] A disc-shaped workpiece gripping device for industrial Internet of Things includes a fixed plate connected to a robot arm, a fixed block at the bottom of the fixed plate, a drive mechanism on the fixed plate, an output shaft of the drive mechanism vertically passing through the fixed block, a disc at the movable end of the output shaft, a plurality of horizontal plates on the disc, the horizontal plates being hinged to the fixed block, an arc-shaped clamping plate on the horizontal plates, and the drive mechanism driving the disc to rotate the horizontal plates around the hinge point with the fixed block;

[0006] The bottom of the drive disc is also provided with a first expansion member, which is used to position the center of the disc-shaped workpiece.

[0007] Furthermore, the side wall of the disk is provided with an annular groove, and one end of the horizontal plate is provided with a protrusion. The protrusion is inserted into the annular groove and can rotate within the annular groove.

[0008] Furthermore, the side wall of the fixing block is provided with a number of connecting blocks equal to the number of horizontal plates. One end of the connecting block is fixed to the side wall of the fixing block, and the other end is provided with a notch. The horizontal plate is located in the notch, and the horizontal plate is movably connected to the notch of the connecting block by a pin.

[0009] Furthermore, the horizontal plate is also provided with a movable cylinder, which is sleeved on the horizontal plate and fixed to the horizontal plate by screws;

[0010] The clamping plate is fixed to the bottom of the movable cylinder.

[0011] Furthermore, the drive mechanism includes a cylinder block, a cylinder bottom, a cylinder head, and a piston, wherein the cylinder bottom and the cylinder head are respectively welded to both ends of the cylinder block, and the piston is located inside the cylinder block;

[0012] The cylinder head is provided with a second air port, and the cylinder bottom is provided with a first air port;

[0013] One end of the output shaft is connected to the piston, and the other end passes through the cylinder head, the fixing plate, and the fixing block in sequence before being connected to the disc.

[0014] Furthermore, the cylinder body is also provided with a first bellows with both ends being closed structures. The first bellows is sleeved on the output shaft. One end of the first bellows is fixed to the inner wall of the cylinder head, and the other end of the first bellows is provided with a fixed cylinder with an inner diameter the same as the outer diameter of the output shaft, and the output shaft is located inside the fixed cylinder.

[0015] The output shaft is also provided with a channel, which communicates with the interior of the first expansion member;

[0016] When the first bellows is compressed, it can deliver gas into the channel.

[0017] Furthermore, the fixed cylinder is provided with a connecting pipe, one end of which extends into the first corrugated pipe, and the other end protrudes out of the fixed cylinder and has a closed structure at the end.

[0018] The connecting pipe is provided with an air hole on the side wall protruding from the fixed cylinder, which communicates with the inside of the connecting pipe, and a sealing sleeve for sealing the air hole is provided at the end of the connecting pipe.

[0019] The piston is also provided with a cavity communicating with the channel, and the end of the piston facing the direction of the first bellows is also provided with a connecting hole. The connecting hole communicates with the cavity, and the inner diameter of the connecting hole is the same as the outer diameter of the connecting pipe.

[0020] The piston cavity is also provided with a first elastic element and a sealing block, the first elastic element being used to push the sealing block to seal the connection hole.

[0021] Furthermore, a second bellows is provided between the fixed block and the drive disk. The second bellows is sleeved on the output shaft, and one end of the second bellows is connected to the fixed block and the other end is connected to the disk.

[0022] The clamping surface of the clamping plate is also provided with a second expansion member, which is connected to the second corrugated pipe through a hose.

[0023] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0024] 1. This invention utilizes the output shaft of the drive mechanism to drive the disc to move downwards, causing the first expansion member at the bottom of the disc to extend into the concave center of the disc-shaped workpiece. Simultaneously, the piston of the drive mechanism can squeeze the first bellows during the movement, causing the gas inside the first bellows to transfer into the first expansion member. By utilizing the expansion process of the first expansion member, the disc-shaped workpiece is positioned and its position is finely adjusted, ensuring that the disc-shaped workpiece can be accurately placed in the preset position, thereby improving the subsequent assembly accuracy of the disc-shaped workpiece.

[0025] 2. During the upward movement of the drive disc, the drive mechanism of the present invention can compress the second bellows, so that the air pressure inside the second bellows can be transferred to the second expansion member, thereby realizing the adjustment of the expansion size of the second expansion member and meeting the needs of disc-shaped workpieces of different diameters. Attached Figure Description

[0026] The accompanying drawings, which are included to provide a further understanding of embodiments of the invention and form part of this application, do not constitute a limitation thereof. In the drawings:

[0027] Figure 1 This is a schematic diagram of the structure of a disc-shaped workpiece;

[0028] Figure 2 This is a schematic diagram of the structure of the present invention;

[0029] Figure 3 This is a schematic diagram of the connection structure between the drive mechanism and the disk of the present invention;

[0030] Figure 4 This is a schematic diagram of the connection structure between the horizontal plate and the clamping plate of the present invention;

[0031] Figure 5 This is a schematic diagram of the drive mechanism of the present invention;

[0032] Figure 6 For the present invention Figure 5 A magnified structural diagram of part A in the middle.

[0033] The attached diagram shows the markings and corresponding component names:

[0034] 1. Drive mechanism; 2. Fixing plate; 3. Fixing block; 4. Connecting block; 5. Horizontal plate; 6. Movable cylinder; 7. Disc-shaped workpiece; 8. First expansion component; 9. Disc; 10. Clamping plate; 11. Vertical tube; 12. Second expansion component; 13. Output shaft; 14. Flexible hose; 15. Protrusion; 16. Second expansion component; 17. Cylinder body; 18. Cylinder bottom; 19. First air port; 20. Piston; 21. First bellows; 22. Cylinder head; 23. Channel; 24. Second air port; 25. First elastic component; 26. Sealing block; 27. Connecting hole; 28. Sealing sleeve; 30. Connecting pipe; 31. Fixing cylinder. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the embodiments and accompanying drawings. The illustrative embodiments and descriptions of this invention are only for explaining this invention and are not intended to limit this invention.

[0036] Example

[0037] like Figures 2 to 6 As shown, the present invention includes a fixed plate 2 connected to a robotic arm. A fixed block 3 is provided at the bottom of the fixed plate 2. A driving mechanism 1 is also provided on the fixed plate 2. The output shaft 13 of the driving mechanism 1 vertically passes through the fixed block 3. A disk 9 is provided at the movable end of the output shaft 13. A plurality of horizontal plates 5 are provided on the disk 9, and the horizontal plates 5 are hinged to the fixed block 3. An arc-shaped clamping plate 10 is provided on the horizontal plate 5. The driving mechanism 1 is used to drive the disk 9 to rotate the horizontal plates 5 around the hinge point with the fixed block 3. A first expansion member 8 is also provided at the bottom of the driving disk 9. The first expansion member 8 is used to position the center of the disk-shaped workpiece 7.

[0038] In response to the existing technology, such as Figure 1When the disc-shaped workpiece 7 shown is clamped, the sidewall of the disc-shaped workpiece 7 is curved, which makes it impossible for the existing clamps to pre-position the disc-shaped workpiece 7. Consequently, the disc-shaped workpiece 7 on the clamp cannot be accurately installed into the assembly position, affecting product quality. To address this, this technical solution includes a fixing plate 2 on the robotic arm used for assembly tools. A drive mechanism 1 is mounted on the fixing plate 2. When gripping the disc-shaped workpiece 7, the robotic arm moves the clamp to the disc-shaped workpiece 7 on the assembly line, and then the output shaft 13 of the drive mechanism 1 drives the circular... As the disc 9 moves upward, it drives the horizontal plate 5 to rotate around the hinge of the fixed block 3. When the horizontal plate 5 rotates, the clamping plate 10 at its end is locked onto the curved side wall of the disc-shaped workpiece 7, thus stabilizing the disc-shaped workpiece 7 on the fixture. Then, the robot moves the fixture to the assembly fixture and installs the disc-shaped workpiece 7 into the assembly station. After that, the output shaft 13 on the drive mechanism 1 drives the disc 9 to move downward again, causing the clamping plate 10 on the horizontal plate 5 to tilt upward, removing the force on the outer wall of the disc-shaped workpiece 7, thus successfully completing the assembly of the disc-shaped workpiece 7.

[0039] During the conveyor process, the disc-shaped workpiece 7 is subjected to vibration, causing a slight positional shift. Since the robotic arm in an automated assembly system typically follows a fixed path, when the disc-shaped workpiece 7 shifts, and the robotic arm moves the fixture onto it, one of the clamping plates 10 may end up inside the disc of the workpiece 7, preventing effective clamping. To prevent this, a first expansion member 8 is provided at the bottom of the disc 9. This first expansion member 8 is an airbag that expands to a spherical shape. Therefore, when gripping the disc-shaped workpiece 7, the output shaft 13 of the drive mechanism 1 first drives the disc 9 downwards, causing the disc to... The first expansion member 8, in its expanded state at the bottom, extends into the concave center of the disc-shaped workpiece 7. Then, air is inflated inside the first expansion member 8, causing it to gradually expand. During the expansion process, the first expansion member 8 acts on the inner wall of the concave center of the disc-shaped workpiece 7. Once the disc-shaped workpiece 7 shifts slightly, the first expansion member 8 in its expanded state can automatically position the center of the disc-shaped workpiece 7. By using the compression of the inner wall of the concave center of the disc-shaped workpiece 7 by the first expansion member 8, the disc-shaped workpiece 7 is forced to automatically adjust, thereby ensuring that the disc-shaped workpiece 7 returns to the preset position and that each clamping plate 10 is outside the side wall of the disc-shaped workpiece 7. Finally, the output shaft 13 is driven upward by the drive mechanism 1, so that the clamping plates 10 can effectively clamp the disc-shaped workpiece 7.

[0040] The side wall of the disc 9 is provided with an annular groove, and one end of the horizontal plate 5 is provided with a protrusion 15. The protrusion 15 is inserted into the annular groove and can rotate within the annular groove.

[0041] In this embodiment, in order to ensure that the output shaft 13 can effectively drive the horizontal plate 5 to rotate around the hinge with the fixed block 3 during the up and down movement of the drive disc 9, an annular groove is provided on the side wall of the disc 9. The protrusion 15 on the end of the horizontal plate 5 is inserted into the annular groove, thus ensuring that the horizontal plate 5 can rotate around the hinge with the fixed block 3 during the up and down movement of the disc 9.

[0042] The side wall of the fixed block 3 is provided with the same number of connecting blocks 4 as the number of horizontal plates 5. One end of the connecting block 4 is fixed to the side wall of the fixed block 3, and the other end is provided with a notch. The horizontal plate 5 is located in the notch, and the horizontal plate 5 is movably connected to the notch of the connecting block 4 by a pin.

[0043] In this embodiment, in order to ensure that the horizontal plate 5 can rotate vertically in the vertical space during the up-and-down movement of the disc 9, so as to realize the clamping plate 10 clamping or releasing the disc-shaped workpiece 7, a connecting block 4 is provided on the fixing block 3. The notch on the connecting block 4 is hinged to the horizontal plate 5, so that when the disc 9 moves up and down, the disc 9 drives one end of the horizontal plate 5 to move up or down, and the other end of the horizontal plate 5 rotates up or down under the action of the connecting block 4, so as to realize the clamping plate 10 on the horizontal plate 5 clamping or releasing the disc-shaped workpiece 7.

[0044] The horizontal plate 5 is also provided with a movable cylinder 6, which is sleeved on the horizontal plate 5 and fixed to the horizontal plate 5 by screws; the clamping plate 10 is fixed to the bottom of the movable cylinder 6.

[0045] In this embodiment, in order to accommodate disc-shaped workpieces 7 of different diameters, the clamping plate 10 and the horizontal plate 5 are movably connected by a movable cylinder 6. By changing the position of the movable cylinder 6 on the horizontal plate 5, the disc-shaped workpieces 7 of different diameters can be used.

[0046] The drive mechanism 1 includes a cylinder body 17, a cylinder bottom 18, a cylinder head 22, and a piston 20. The cylinder bottom 18 and the cylinder head 22 are respectively welded to both ends of the cylinder body 17, and the piston 20 is located inside the cylinder body 17. The cylinder head 22 is provided with a second air port 24, and the cylinder bottom 18 is provided with a first air port 19. One end of the output shaft 13 is connected to the piston 20, and the other end passes through the cylinder head 22, the fixing plate 2, and the fixing block 3 in sequence before being connected to the disc 9.

[0047] In this embodiment, the drive mechanism 1 is a cylinder. The first air port 19 and the second air port 24 are connected to an external air source. When the output shaft 13 needs to extend downward, pressurized gas is supplied to the first air port 19. After the pressurized gas enters the cylinder body 17, it pushes the piston 20 to move within the cylinder body 17, thereby driving the output shaft 13 to move downward. When it is necessary to control the output shaft 13 to retract, pressurized gas is supplied to the second air port 24. After the pressurized gas enters the cylinder body 17, it pushes the piston 20 to move backward, thereby achieving the purpose of the output shaft 13 retracting upward.

[0048] The cylinder body 17 is also provided with a first bellows 21 with both ends closed. The first bellows 21 is sleeved on the output shaft 13. One end of the first bellows 21 is fixed to the inner wall of the cylinder head 22. The other end of the first bellows 21 is provided with a fixed cylinder 31 with the same inner diameter as the outer diameter of the output shaft, and the output shaft 13 is located inside the fixed cylinder 31. The output shaft 13 is also provided with a channel 23, which communicates with the interior of the first expansion member 8. When the first bellows 21 is compressed, it can deliver gas into the channel 23.

[0049] In this embodiment, in order to deliver gas into the first expansion member 8 and thus expand the first expansion member 8, a first bellows 21 is pre-installed in the cylinder 17. When the piston 20 moves downward in the cylinder 17, the piston 20 drives the output shaft 13 to move the disk 9 downward in the vertical direction, so that the unexpanded first expansion member 8 at the bottom of the disk 9 extends into the concave center of the disk-shaped workpiece 7. When the first expansion member 8 extends into the concave center of the disk-shaped workpiece 7, the bottom surface of the piston 20 is in contact with the upper end surface of the first bellows 21. As the piston 20 continues to move, the piston 20 will apply pressure to the first bellows 21. After being squeezed, the volume of the first bellows 21 decreases, and the air inside it is squeezed into the channel 23. The gas inside the first bellows 21 is transferred to the first expansion member 8 through the channel 23, so that the first expansion member 8 expands and the position of the disk-shaped workpiece 7 is automatically adjusted.

[0050] After the position of the disc-shaped workpiece 7 is adjusted, pressurized gas is supplied into the second air port 24, forcing the piston 20 to retract. During the retraction process, the piston 20 removes the pressure on the first bellows 21. Under its own elasticity, the first bellows 21 recovers its deformation and generates negative pressure inside. As a result, the first bellows 21 gradually draws back the gas transferred to the first expansion member 8 during the recovery process. Finally, the first expansion member 8 in the expanded state gradually recovers its deformation and moves smoothly out from the concave center of the disc-shaped workpiece 7.

[0051] In order to ensure that the first corrugated pipe 21 can quickly recover its deformation, a second elastic element is also provided inside the corrugated pipe 21. The second elastic element is distributed along the expansion and contraction direction of the first corrugated pipe 21.

[0052] The fixed cylinder 31 is provided with a connecting pipe 30. One end of the connecting pipe 30 extends into the first corrugated pipe 21, and the other end protrudes out of the fixed cylinder 31 with a closed structure. The side wall of the connecting pipe 30 protruding out of the fixed cylinder 31 is also provided with an air hole communicating with the inside of the connecting pipe 30. The end of the connecting pipe 30 is also provided with a sealing sleeve 28 for sealing the air hole. The connecting pipe 30 is also fitted with a third elastic element outside the fixed cylinder 31. The third elastic element is connected to the sealing sleeve 28. The piston 20 is also provided with a cavity communicating with the channel 23. The end of the piston 20 facing the first corrugated pipe 21 is also provided with a connecting hole 27. The connecting hole 27 communicates with the cavity, and the inner diameter of the connecting hole 27 is the same as the outer diameter of the connecting pipe 30. The cavity of the piston 20 is also provided with a first elastic element 25 and a sealing block 26. The first elastic element 25 is used to push the sealing block 26 to seal the connecting hole 27.

[0053] In this embodiment, to ensure that the gas inside the first bellows 21 can be smoothly transferred to the channel 23 after being squeezed by the piston 20, a connecting pipe 30 is provided on the bellows 21. Initially, the sealing sleeve 28, under the action of the third elastic element, is fitted onto the section of the connecting pipe 30 with vent holes, sealing the vent holes. At this time, the first bellows 21 is in a sealed state. As the piston 20 moves towards the first bellows 21, the connecting pipe 30 is inserted into the connecting hole 27 of the piston. Since the diameter of the sealing sleeve 28 is larger than that of the connecting hole 27... The outer diameter causes the connecting pipe 30 to be inserted into the connecting hole 27, while the sealing sleeve 28 is confined under the piston 20. After the connecting pipe 30 is inserted into the connecting hole 27, the upper end of the connecting pipe 30 pushes the sealing block 26 upward. When the air hole on the side wall of the connecting hole 27 moves into the cavity, the connecting pipe 30 connects the cavity with the first bellows 21. As the piston 20 continues to move and squeezes the first bellows 21, the first bellows 21, after being squeezed, transmits the gas inside through the connecting pipe 30 to the cavity. The gas in the cavity is then transferred to the first expansion member 8 through the channel 23, causing the first expansion member 8 to gradually expand.

[0054] To prevent the piston 20 from squeezing the pressurized gas in the cylinder 17 into the cavity during its movement without contacting the first bellows 21, a first elastic element 25 and a sealing block 26 are required to temporarily seal the connection hole 27.

[0055] The bottom of the disc 9 is provided with a vertical tube 11. One end of the vertical tube 11 is connected to the channel 23 of the output shaft 13, and the other end is connected to the first expansion member 8. A solenoid valve is also provided on the vertical tube 11.

[0056] After the first expansion member 8, in its expanded state, completes the positioning of the disc-shaped workpiece 7, pressurized gas is injected into the second air port 24 in the drive mechanism 1 using an external air source. This causes the piston 20 to move back. During the retraction of the piston 20, the output shaft 13 is driven to retract along with it. In this process, the connecting pipe 30, which was originally inserted into the connecting hole, gradually withdraws from the connecting hole. When the piston 20 drives the output shaft 13 to retract and clamp the clamping plate 10 onto the disc-shaped workpiece 7, the piston 20 can no longer move back. Subsequently, the pressurized gas entering the cylinder 17 through the second air port 24 can only enter through the connecting hole. The gas is introduced into the cavity of piston 20, and then transferred to the first expansion member 8, causing the first expansion member 8 to expand again. In this way, when the robot arm picks up the disc-shaped workpiece 7 to the installation position, the first expansion member 8 in its expanded state can press down on the disc-shaped workpiece 7, so that the bottom protrusion of the disc-shaped workpiece 7 is inserted into the assembly hole, ensuring that the disc-shaped workpiece 7 can be installed stably. After the assembly of the disc-shaped workpiece 7 is completed, the solenoid valve on the vertical pipe 11 is opened to discharge the gas inside the first expansion member 8 in its expanded state, so that the first expansion member 8 returns to its initial state. The solenoid valve is then closed to continue to pick up subsequent disc-shaped workpieces 7.

[0057] A second corrugated pipe is provided between the fixed block 3 and the drive disk 9. The second corrugated pipe is sleeved on the output shaft 13, and one end of the second corrugated pipe is connected to the fixed block 3 and the other end is connected to the disk 9. A second expansion member 16 is also provided on the clamping surface of the clamping plate 10. The second expansion member 16 is connected to the second corrugated pipe through the hose 14.

[0058] Although the movable cylinder 6 allows for adjustment of the position of the clamping plate 10 on the horizontal plate 5 when clamping disc-shaped workpieces 7 of different diameters, in practical applications, it cannot be guaranteed that the position of the clamping plate 10 on the horizontal plate 5 will precisely match the disc-shaped workpiece 7. Therefore, in order to further improve the clamping accuracy between the clamping plate 10 and the disc-shaped workpiece 7, this embodiment provides a second expansion member 16 on the clamping surface of each clamping plate 10. The second expansion member 16 is a rubber airbag that can expand after being inflated. Therefore, when the output shaft 13 drives the disc 9 to move downwards, the disc 9 pulls the second expansion member 16. The second bellows is stretched; when the output shaft 13 drives the disc 9 to move upward, it needs to drive the clamping plate 10 on the horizontal plate 5 to rotate and clamp the disc-shaped workpiece 7. Since the fixed block 3 is in a fixed state, the disc 9 can squeeze the second bellows when it moves upward, so that the gas inside the second bellows is squeezed into the hose 14, and finally squeezed into the second expansion member 16, so that the second expansion member 16 expands, thereby reducing the distance between the second expansion member 16 and the disc-shaped workpiece 7, thus satisfying the use of disc-shaped workpieces 7 of different diameters.

[0059] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A disc-shaped workpiece gripping device for industrial Internet of Things, comprising a fixed plate (2) connected to a robotic arm, characterized in that, The bottom of the fixed plate (2) is provided with a fixed block (3), and the fixed plate (2) is also provided with a driving mechanism (1). The output shaft (13) of the driving mechanism (1) passes vertically through the fixed block (3). The movable end of the output shaft (13) is provided with a disc (9). The disc (9) is provided with several horizontal plates (5), and the horizontal plates (5) are hinged to the fixed block (3). The horizontal plates (5) are provided with an arc-shaped clamping plate (10). The driving mechanism (1) is used to drive the disc (9) to drive the horizontal plates (5) to rotate around the hinge point with the fixed block (3). The bottom of the drive disk (9) is also provided with a first expansion member (8), which is used to position the center of the disk-shaped workpiece (7). The drive mechanism (1) includes a cylinder body (17), a cylinder bottom (18), a cylinder head (22), and a piston (20). The cylinder bottom (18) and the cylinder head (22) are respectively welded to both ends of the cylinder body (17), and the piston (20) is located inside the cylinder body (17). The cylinder head (22) is provided with a second air port (24), and the cylinder bottom (18) is provided with a first air port (19). One end of the output shaft (13) is connected to the piston (20), and the other end passes through the cylinder head (22), the fixing plate (2), and the fixing block (3) in sequence before being connected to the disc (9); The cylinder body (17) is also provided with a first bellows (21) with both ends closed. The first bellows (21) is sleeved on the output shaft (13). One end of the first bellows (21) is fixed on the inner wall of the cylinder head (22). The other end of the first bellows (21) is provided with a fixed cylinder (31) with the same inner diameter as the outer diameter of the output shaft. The output shaft (13) is located inside the fixed cylinder (31). The output shaft (13) is also provided with a channel (23), which is connected to the interior of the first expansion member (8); When the first bellows (21) is compressed, it can deliver gas into the channel (23); The fixed cylinder (31) is provided with a connecting pipe (30), one end of which extends into the first corrugated pipe (21), and the other end protrudes out of the fixed cylinder (31) and has a closed structure at the end. The connecting pipe (30) protrudes to the side wall outside the fixed cylinder (31) and is provided with an air hole that communicates with the inside of the connecting pipe (30). The end of the connecting pipe (30) is also provided with a sealing sleeve (28) for sealing the air hole. The piston (20) is also provided with a cavity communicating with the channel (23), and the end of the piston (20) facing the first bellows (21) is also provided with a connecting hole (27). The connecting hole (27) communicates with the cavity, and the inner diameter of the connecting hole (27) is consistent with the outer diameter of the connecting pipe (30). The piston (20) is also provided with a first elastic element (25) and a sealing block (26) in its cavity. The first elastic element (25) is used to push the sealing block (26) to seal the connection hole (27).

2. The disk-shaped workpiece gripping device for industrial IoT according to claim 1, characterized in that, The side wall of the disc (9) is provided with an annular groove, and one end of the horizontal plate (5) is provided with a protrusion (15). The protrusion (15) is inserted into the annular groove and can rotate within the annular groove.

3. The disc-shaped workpiece gripping device for industrial Internet of Things according to claim 1, characterized in that, The side wall of the fixed block (3) is provided with the same number of connecting blocks (4) as the number of horizontal plates (5). One end of the connecting block (4) is fixed to the side wall of the fixed block (3), and the other end is provided with a notch. The horizontal plate (5) is located in the notch, and the horizontal plate (5) is movably connected to the notch of the connecting block (4) by a pin.

4. A disc-shaped workpiece gripping device for industrial Internet of Things according to claim 1, characterized in that, The horizontal plate (5) is also provided with a movable cylinder (6), which is sleeved on the horizontal plate (5) and fixed on the horizontal plate (5) by screws; The clamping plate (10) is fixed to the bottom of the movable cylinder (6).

5. A disc-shaped workpiece gripping device for industrial Internet of Things according to claim 1, characterized in that, A second bellows (12) is provided between the fixed block (3) and the drive disk (9). The second bellows (12) is sleeved on the output shaft (13), and one end of the second bellows (12) is connected to the fixed block (3), and the other end is connected to the disk (9). The clamping surface of the clamping plate (10) is also provided with a second expansion member (16), and the second expansion member (16) is connected to the second corrugated pipe (12) through a hose (14).

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