Cargo gripping device for an industrial robot

Abstract

The present application relates to the technical field of goods grabbing equipment, and particularly relates to a goods grabbing device for an industrial robot, which comprises support seats, the support seats are provided in two, a protection mechanism is installed on the top of the two support seats, the protection mechanism comprises a first electric sliding rail, the first electric sliding rail is fixedly installed on the top of the two support seats, a second electric sliding rail is slidably installed on the surface of the first electric sliding rail, a third electric sliding rail is slidably installed on the surface of the second electric sliding rail, a clamping mechanism is slidably installed on the bottom of the third electric sliding rail, and a fourth electric sliding rail is fixedly installed on the side of the right support seat. Through the arrangement of the protection mechanism, the grabbed goods can be prevented from falling in the process of goods grabbing, the goods can be prevented from being impacted, beaten and the like due to falling, physical damage such as breakage and deformation of the goods can be effectively prevented, and the appearance and performance of the goods are ensured to be not affected.

Description

Technical Field

[0001] This invention relates to the field of cargo gripping equipment technology, specifically a cargo gripping device for industrial robots. Background Technology

[0002] Industrial robots are machines designed for industrial applications. They can perform tasks automatically and rely on their own power and control capabilities to achieve various functions. They can be commanded by humans or run according to pre-programmed procedures. Modern industrial robots can also operate according to principles and guidelines established by artificial intelligence technology. With the continuous development of science and technology, various industrial robots are appearing in daily production. Industrial robots have high work efficiency, good safety performance, low cost, and high precision in production and processing. In production, the cargo gripping devices of industrial robots are commonly used to grab and transport goods.

[0003] However, existing cargo gripping devices for industrial robots still have certain shortcomings in use. The existing cargo gripping devices for industrial robots are not stable enough when gripping objects, and the goods often fall off, which can easily lead to damage to the goods. Summary of the Invention

[0004] To overcome the above deficiencies, the present invention provides a cargo gripping device for industrial robots that overcomes or at least partially solves the above technical problems.

[0005] This invention is implemented as follows:

[0006] This invention provides a cargo gripping device for an industrial robot, comprising two support bases, each with a protective mechanism mounted on its top. The protective mechanism includes:

[0007] A first electric slide rail is fixedly installed on the top of two support bases, and a second electric slide rail is slidably installed on the surface of the first electric slide rail.

[0008] The third electric slide rail is slidably mounted on the surface of the second electric slide rail, and a clamping mechanism is slidably mounted on the bottom of the third electric slide rail.

[0009] The fourth electric slide rail is fixedly installed on the side of the right support base. A support rod is slidably installed on the surface of the fourth electric slide rail, and a controller is fixedly installed on the top of the support rod.

[0010] In one embodiment of the present invention, a mounting plate is fixedly installed at the bottom of the second electric slide rail, an L-shaped plate is slidably installed on the side of the mounting plate, a first toothed groove is provided at the top of the L-shaped plate, a second toothed groove is provided at the bottom of the L-shaped plate, a first gear is rotatably installed on the side of the mounting plate, the first gear meshes with the second toothed groove, and a second gear is rotatably installed on the top of the mounting plate, the second gear meshes with the first toothed groove.

[0011] In one embodiment of the present invention, a connecting plate is fixedly installed at the bottom of the third electric slide rail, a first threaded rod is rotatably installed at the top of the mounting plate, the first threaded rod is fixedly connected to a first gear, a slide rod is fixedly installed at the top of the mounting plate, the bottom of the connecting plate is slidably connected to the slide rod, the connecting plate is threadedly connected to the first threaded rod, an mounting shaft is rotatably installed at the bottom of the mounting plate, a protective plate is fixedly installed on the surface of the mounting shaft, and the mounting shaft is fixedly connected to the first gear.

[0012] In one embodiment of the present invention, the clamping mechanism includes a sliding block, which is slidably mounted on the bottom of a third electric slide rail. A mounting bracket is fixedly mounted on the bottom of the sliding block, and a mounting block is fixedly mounted in the inner cavity of the mounting bracket. A first support is fixedly mounted on the side of the mounting block, and a motor is fixedly mounted on the side of the first support.

[0013] In one embodiment of the present invention, a second support is fixedly installed on both sides of the mounting block, a first pulley is rotatably installed inside the second support, a first rotating shaft is fixedly installed on the side of the first pulley, a second pulley is fixedly installed at the end of the first rotating shaft, and a second rotating shaft is rotatably installed in the inner cavity of the mounting bracket, and two second rotating shafts are provided.

[0014] In one embodiment of the present invention, a third pulley is fixedly mounted on the surface of each of the two second rotating shafts. The second pulley is connected to the third pulley via a belt. Half gears are rotatably mounted on both sides of the mounting bracket. There are two half gears. Both half gears are fixedly connected to the second rotating shafts and mesh with each other.

[0015] In one embodiment of the present invention, a first fixing plate is fixedly installed on the side of the two half gears, a second fixing plate is rotatably installed on both sides of the mounting bracket, a third fixing plate is rotatably installed on the side of the second fixing plate, the side of the third fixing plate is rotatably connected to the first fixing plate, and a clamping plate is fixedly installed on the bottom of the third fixing plate.

[0016] In one embodiment of the present invention, a suction mechanism is installed on the top of the mounting block. The suction mechanism includes a support block. A rotating seat is fixedly installed on the top of the support block. Two rotating seats are provided. A third rotating shaft is rotatably installed inside each of the two rotating seats. A fourth pulley is fixedly installed on the surface of the third rotating shaft.

[0017] In one embodiment of the present invention, the fourth pulley is connected to the second pulley by a belt, and a rotating disk is fixedly installed at both ends of the third rotating shaft. An eccentric plate is rotatably installed at the eccentric part of each rotating disk, and a piston rod is rotatably installed at the end of the eccentric plate.

[0018] In one embodiment of the present invention, the mounting block has a piston hole inside, and there are multiple piston holes. A piston plate is slidably installed inside each of the multiple piston holes. The top of the piston plate is fixedly connected to a piston rod. A connecting pipe is fixedly installed at the bottom of the piston hole. There are multiple connecting pipes, and a suction cup is fixedly installed at the bottom of each of the multiple connecting pipes.

[0019] The present invention provides a cargo gripping device for industrial robots, the beneficial effects of which include:

[0020] 1. By setting up protective mechanisms, the grabbed items can be prevented from falling during the cargo grabbing process, avoiding impacts and drops that could cause damage or deformation. This effectively prevents physical damage such as breakage and deformation. Whether it is fragile glass products, delicate electronic products, or other vulnerable items, they can be better protected, ensuring that their appearance and performance are not affected.

[0021] 2. By setting up a clamping mechanism, the goods are clamped by the mutual rotation between the first fixed plate and the second fixed plate under the action of the motor. The whole device has a simple structure and fewer parts. A simple clamping device is usually easier to maintain and repair. Fewer parts mean fewer points of failure, which can reduce equipment downtime and improve the reliability and availability of the equipment.

[0022] 3. By setting up the suction mechanism, it is possible to clamp items while vacuum suctioning items with relatively smooth surfaces, based on the clamping mechanism. The two methods of clamping and vacuum suction work simultaneously, providing double protection for grasping items. Even if the clamping mechanism becomes loose or malfunctions, the vacuum suction can still maintain a certain gripping force, greatly reducing the risk of items falling. Attached Figure Description

[0023] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the overall structure provided by an embodiment of the present invention;

[0025] Figure 2 A schematic diagram of the protective mechanism structure provided for an embodiment of the present invention;

[0026] Figure 3 A schematic diagram of the overall structure of the mounting bracket provided for an embodiment of the present invention;

[0027] Figure 4 A schematic diagram of the internal structure of the mounting bracket provided for an embodiment of the present invention;

[0028] Figure 5 This is a front view cross-sectional structural diagram of the mounting block provided in an embodiment of the present invention;

[0029] Figure 6 A schematic diagram of the clamping mechanism structure provided for an embodiment of the present invention;

[0030] Figure 7 A schematic diagram of the suction mechanism structure provided for an embodiment of the present invention;

[0031] Figure 8 Provided for the embodiments of the present invention Figure 6 Enlarged structural diagram of section A in the middle.

[0032] In the diagram: 1. Support base; 2. Protective mechanism; 201. First electric slide rail; 202. Second electric slide rail; 203. Third electric slide rail; 204. Fourth electric slide rail; 205. Support rod; 206. Controller; 207. Mounting plate; 208. L-shaped plate; 209. First tooth groove; 210. Second tooth groove; 211. First gear; 212. Second gear; 213. Connecting plate; 214. First threaded rod; 215. Slide rod; 216. Mounting shaft; 217. Protective plate; 3. Clamping mechanism; 301. Sliding block; 302. Mounting bracket; 303. Mounting block; 304. First support; 305. Motor; 306. Second support; 307. First pulley; 308. First rotating shaft; 309. Second pulley; 310. Second rotating shaft; 311. Third pulley; 312. Half gear; 313. First fixing plate; 314. Second fixing plate; 315. Third fixing plate; 316. Clamping plate; 4. Suction mechanism; 401. Support block; 402. Rotating seat; 403. Third rotating shaft; 404. Fourth pulley; 405. Rotating disk; 406. Eccentric plate; 407. Piston rod; 408. Piston hole; 409. Piston plate; 410. Connecting pipe; 411. Suction cup. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0034] Reference Figures 1-8This technical solution provides a cargo gripping device for industrial robots, specifically including a support base 1. Two support bases 1 are provided, and a protective mechanism 2 is installed on the top of each support base 1. The protective mechanism 2 includes a first electric slide rail 201, a third electric slide rail 203, and a fourth electric slide rail 204. The first electric slide rail 201 is fixedly installed on the top of the two support bases 1. A second electric slide rail 202 is slidably mounted on the surface of the first electric slide rail 201, allowing it to slide back and forth on the surface of the first electric slide rail 201 to transport items. The third electric slide rail 203 is slidably mounted on the surface of the second electric slide rail 202, and a clamping mechanism 3 is slidably mounted on the bottom of the third electric slide rail 203. The second electric slide rail 203 can slide up and down on the surface of the second electric slide rail 202, thereby changing the height of the entire clamping mechanism 3. This allows for clamping of goods of different heights, greatly expanding the scope of application and improving the versatility and adaptability of the equipment. The fourth electric slide rail 204 is fixedly installed on the side of the right support base 1. A support rod 205 is slidably installed on the surface of the fourth electric slide rail 204. A controller 206 is fixedly installed on the top of the support rod 205. The controller 206 can control the first electric slide rail 201, the second electric slide rail 202, the third electric slide rail 203, and the fourth electric slide rail 204. Through the settings of the controller 206, the running route of the entire equipment can be planned, enabling the entire clamping mechanism to operate smoothly. Structure 3 can move along a set route. A mounting plate 207 is fixedly installed at the bottom of the second electric slide rail 202. An L-shaped plate 208 is slidably installed on the side of the mounting plate 207, allowing it to slide back and forth. A first toothed groove 209 is formed at the top of the L-shaped plate 208, and a second toothed groove 210 is formed at the bottom. A first gear 211 is rotatably mounted on the side of the mounting plate 207, meshing with the second toothed groove 210. When the L-shaped plate 208 slides back and forth, the second toothed groove 210 drives the first gear 211 to rotate. A second gear 212 is rotatably mounted on the top of the mounting plate 207, meshing with the first toothed groove 209. A connecting plate 213 is fixedly installed at the bottom of the third electric slide rail 203. A first threaded rod 214 is rotatably installed on the top of the mounting plate 207. The first threaded rod 214 is fixedly connected to the first gear 211. A slide rod 215 is fixedly installed on the top of the mounting plate 207. The bottom of the connecting plate 213 is slidably connected to the slide rod 215. The connecting plate 213 is threadedly connected to the first threaded rod 214. A mounting shaft 216 is rotatably installed on the bottom of the mounting plate 207. A protective plate 217 is fixedly installed on the surface of the mounting shaft 216. The mounting shaft 216 is fixedly connected to the first gear 211. When the third electric slide rail 203 slides up and down on the surface of the second electric slide rail 202, it can drive the connecting plate 213 to slide back and forth on the surface of the slide rod 215.The sliding of the connecting plate 213 up and down can drive the first threaded rod 214 to rotate. The rotation of the first threaded rod 214 can drive the second gear 212 to rotate. Because the second gear 212 meshes with the first tooth groove 209, the rotation of the second gear 212 can drive the first tooth groove 209 to move, thereby allowing the L-shaped plate 208 to slide back and forth on the side of the mounting plate 207. This allows the first gear 211 to rotate, and the rotation of the first gear 211 can drive the mounting shaft 216 to rotate. The rotation of the mounting shaft 216 can cause the protective plate 217 to rotate. When the entire third electric slide rail 203 slides upward to transport goods, the protective plate 217 can be flipped over, so that the two protective plates 217 are placed horizontally and placed at the bottom of the clamping mechanism 3 to prevent the goods from falling and being damaged due to the loosening of the clamping mechanism 3.

[0035] Reference Figures 1-8This embodiment also proposes a clamping mechanism 3 including a sliding block 301. The sliding block 301 is slidably mounted on the bottom of the third electric slide rail 203. The sliding block 301 can slide back and forth on the bottom of the third electric slide rail 203. A mounting bracket 302 is fixedly mounted on the bottom of the sliding block 301. The mounting block 303 is fixedly mounted in the inner cavity of the mounting bracket 302. A first support 304 is fixedly mounted on the side of the mounting block 303. A motor 305 is fixedly mounted on the side of the first support 304. Second supports 306 are fixedly mounted on both sides of the mounting block 303. A first pulley 307 is rotatably mounted inside the second support 306. The motor 305 is fixedly connected to the first pulley 307. The motor 305 is controlled by the controller 206. When the motor 305 starts, it drives the first pulley 307 to rotate. A first rotating shaft 308 is fixedly installed on the side of the first pulley 307. The rotation of the first pulley 307 drives the first rotating shaft 308 to rotate. A second pulley 309 is fixedly installed at the end of the first rotating shaft 308. The rotation of the first rotating shaft 308 drives the second pulley 309 to rotate. A second rotating shaft 310 is rotatably installed in the inner cavity of the mounting bracket 302. There are two second rotating shafts 310. A third pulley 311 is fixedly installed on the surface of each of the two second rotating shafts 310. The second pulley 309 is connected to the third pulley 311 by a belt. When the second pulley 309 rotates, it can... The third pulley 311 is driven to rotate, which in turn causes the second rotating shaft 310 to rotate. Two half-gears 312 are rotatably mounted on both sides of the mounting bracket 302. Each half-gear 312 is fixedly connected to the second rotating shaft 310. Rotation of the second rotating shaft 310 causes one of the two half-gears 312 to rotate. The two half-gears 312 mesh, and rotation of one half-gear 312 drives the other half-gear 312 to rotate in the opposite direction. A first fixing plate 313 is fixedly mounted on the side of each of the two half-gears 312. A second fixing plate 314 is rotatably mounted on both sides of the mounting bracket 302, and a third fixing plate 314 is rotatably mounted on the side of each second fixing plate 314. 5. The side of the third fixing plate 315 is rotatably connected to the first fixing plate 313. A clamping plate 316 is fixedly installed on the bottom of the third fixing plate 315. The first fixing plate 313 can rotate with the rotation of the half gear 312. When the first fixing plate 313 rotates with the rotation of the half gear 312, the second fixing plate 314 can rotate. The first fixing plate 313 and the second fixing plate 314 are connected by the third fixing plate 315. The first fixing plate 313, the second fixing plate 314 and the third fixing plate 315 form a parallelogram. When the first fixing plate 313 rotates, the third fixing plate 315 will always be parallel to the mounting bracket 302, but the distance between it and the mounting bracket 302 will change.With the two third fixing plates 315 in place, they will move towards each other or away from each other, thereby causing the clamping plate 316 to clamp and release the goods.

[0036] Reference Figures 1-8This embodiment also proposes that a suction mechanism 4 is installed on the top of the mounting block 303. The suction mechanism 4 includes a support block 401, and a rotating seat 402 is fixedly installed on the top of the support block 401. Two rotating seats 402 are provided, and a third rotating shaft 403 is rotatably installed inside each of the two rotating seats 402. The third rotating shaft 403 can rotate inside the rotating seat 402. A fourth pulley 404 is fixedly installed on the surface of the third rotating shaft 403. The fourth pulley 404 is connected to the second pulley 309 by a belt. When the motor 305 drives the second pulley 309 to rotate, the rotation of the second pulley 309 can drive the fourth pulley 404 to rotate, thereby causing the third rotating shaft 403 to rotate. Rotating disks 405 are fixedly installed at both ends of the three rotating shafts 403. The rotation of the third rotating shaft 403 can drive the rotating disks 405 to rotate. An eccentric plate 406 is rotatably installed at the eccentric part of each rotating disk 405. A piston rod 407 is rotatably installed at the end of the eccentric plate 406. A piston hole 408 is opened inside the mounting block 303. Multiple piston holes 408 are provided. A piston plate 409 is slidably installed inside each of the multiple piston holes 408. The top of the piston plate 409 is fixedly connected to the piston rod 407. A connecting pipe 410 is fixedly installed at the bottom of the piston hole 408. Multiple connecting pipes 410 are provided. A suction cup 411 is fixedly installed at the bottom of the multiple connecting pipes 410. The rotating disk 405 can drive the eccentric plate 406 to move inward. The eccentric plate 406 rotates eccentrically, driving the piston rod 407 to move up and down. This movement of the piston rod 407 causes the piston plate 409 to slide up and down inside the piston hole 408. When the suction cup 411 contacts the goods to be clamped, the motor 305 is activated. The motor 305 drives the first pulley 307 to rotate, which in turn drives the first rotating shaft 308 to rotate. The rotation of the first rotating shaft 308 drives the second pulley 309 to rotate. When the second pulley 309 rotates, it drives the third pulley 311 to rotate, which in turn drives the second rotating shaft 311 to rotate. The rotation of the second rotating shaft 310 causes one of the two half-gears 312 to rotate. The rotation of one half-gear 312 drives the other half-gear 312 to rotate in the opposite direction. The first fixed plate 313 can rotate along with the rotation of the half-gear 312. When the first fixed plate 313 rotates with the rotation of the half-gear 312, it causes the second fixed plate 314 to rotate. Through the setting of the two third fixed plates 315, the two third fixed plates 315 will move towards each other, thereby driving the clamping plate 316 to clamp the goods. At the same time, the rotation of the second pulley 309 can drive the fourth pulley 404 to rotate, which in turn causes the third rotating shaft 403 to rotate.The rotation of the third rotating shaft 403 drives the rotating disk 405 to rotate. The rotating disk 405 drives the eccentric plate 406 to rotate eccentrically. The eccentrically rotating eccentric plate 406 drives the piston rod 407 to move upward. The upward movement of the piston rod 407 drives the piston plate 409 to slide upward inside the piston hole 408. The upward sliding of the piston plate 409 creates a negative pressure inside the connecting pipe 410, allowing the suction cup 411 to pick up the goods to be transported. The simultaneous operation of clamping and vacuum suction provides double protection for grasping items. Even if the clamping mechanism 3 becomes loose or malfunctions, the vacuum suction can still maintain a certain gripping force, greatly reducing the risk of items falling.

[0037] Specifically, the working process or working principle of this cargo gripping device for industrial robots is as follows: When cargo needs to be gripped, the operator can pre-set the working route of the industrial robot through the controller 206, so that the second electric slide rail 202 can slide back and forth on the surface of the first electric slide rail 201 to transport the items. The third electric slide rail 203 can slide up and down on the surface of the second electric slide rail 202, thereby changing the height of the entire gripping mechanism 3, and thus gripping cargo of different heights. The entire gripping mechanism 3 can be controlled according to the height of the cargo, so that the motor 305 will be activated only after the gripping mechanism 3 has fallen to a certain position to grip the cargo.

[0038] When the clamping mechanism 3 descends to the moving position, the motor 305 is started by the controller 206. The motor 305 drives the first pulley 307 to rotate, which in turn drives the first rotating shaft 308 to rotate. The rotation of the first rotating shaft 308 drives the second pulley 309 to rotate. When the second pulley 309 rotates, it drives the third pulley 311 to rotate. The rotation of the third pulley 311 causes the second rotating shaft 310 to rotate, which in turn causes one of the two half gears 312 to rotate. The rotation of gear 312 can drive another half gear 312 to rotate in the opposite direction. The first fixing plate 313 can rotate along with the rotation of the half gear 312. When the first fixing plate 313 rotates along with the rotation of the half gear 312, the second fixing plate 314 can rotate. When the first fixing plate 313 rotates, the third fixing plate 315 will always be parallel to the mounting frame 302, but the distance between it and the mounting frame 302 will change. Through the setting of the two third fixing plates 315, the two third fixing plates 315 will move towards each other, thereby driving the clamping plate 316 to clamp the goods.

[0039] When the motor 305 drives the second pulley 309 to rotate, the rotation of the second pulley 309 can drive the fourth pulley 404 to rotate, which in turn can cause the third rotating shaft 403 to rotate. The rotation of the third rotating shaft 403 can drive the rotating disk 405 to rotate. The rotating disk 405 can drive the eccentric plate 406 to rotate eccentrically. The eccentric rotating eccentric plate 406 can drive the piston rod 407 to move upward. The upward movement of the piston rod 407 can drive the piston plate 409 to slide upward inside the piston hole 408. The upward sliding of the piston plate 409 can create a negative pressure inside the connecting pipe 410. When the suction cup 411 comes into contact with the goods to be clamped, the suction cup 411 can pick up the goods to be transported.

[0040] At this time, the controller 206 can control the entire third electric slide rail 203 to move upward, causing the connecting plate 213 to slide back and forth on the surface of the slide rod 215. The up and down sliding of the connecting plate 213 can drive the first threaded rod 214 to rotate. The rotation of the first threaded rod 214 can drive the second gear 212 to rotate. Because the second gear 212 meshes with the first tooth groove 209, the rotation of the second gear 212 can drive the first tooth groove 209 to move, thereby causing the L-shaped plate 208 to slide back and forth on the side of the mounting plate 207. This causes the first gear 211 to rotate, and the rotation of the first gear 211 can drive the mounting shaft 216 to rotate. The rotation of the mounting shaft 216 can cause the protective plate 217 to rotate. When the entire third electric slide rail 203 slides upward to transport goods, the protective plate 217 can be flipped to protect the goods to be transported.

Claims

1. A cargo gripping device for an industrial robot, comprising two support bases (1), characterized in that, A protective mechanism (2) is mounted on the top of each of the two support bases (1), the protective mechanism (2) comprising: The first electric slide rail (201) is fixedly installed on the top of the two support seats (1), and the second electric slide rail (202) is slidably installed on the surface of the first electric slide rail (201). The third electric slide rail (203) is slidably mounted on the surface of the second electric slide rail (202), and a clamping mechanism (3) is slidably mounted on the bottom of the third electric slide rail (203). The fourth electric slide rail (204) is fixedly installed on the side of the right support base (1). A support rod (205) is slidably installed on the surface of the fourth electric slide rail (204). A controller (206) is fixedly installed on the top of the support rod (205). The bottom of the second electric slide rail (202) is fixedly mounted with a mounting plate (207), and an L-shaped plate (208) is slidably mounted on the side of the mounting plate (207). The top of the L-shaped plate (208) is provided with a first tooth groove (209), and the bottom of the L-shaped plate (208) is provided with a second tooth groove (210). The side of the mounting plate (207) is rotatably mounted with a first gear (211), which meshes with the second tooth groove (210). The top of the mounting plate (207) is rotatably mounted with a second gear (212), which meshes with the first tooth groove (209). A connecting plate (213) is fixedly installed at the bottom of the third electric slide rail (203). A first threaded rod (214) is rotatably installed at the top of the mounting plate (207). The first threaded rod (214) is fixedly connected to the first gear (211). A slide rod (215) is fixedly installed at the top of the mounting plate (207). The bottom of the connecting plate (213) is slidably connected to the slide rod (215). The connecting plate (213) is threadedly connected to the first threaded rod (214). An mounting shaft (216) is rotatably installed at the bottom of the mounting plate (207). A protective plate (217) is fixedly installed on the surface of the mounting shaft (216). The mounting shaft (216) is fixedly connected to the first gear (211).

2. The cargo gripping device for an industrial robot according to claim 1, characterized in that, The clamping mechanism (3) includes a sliding block (301), which is slidably mounted on the bottom of the third electric slide rail (203). A mounting bracket (302) is fixedly mounted on the bottom of the sliding block (301), and a mounting block (303) is fixedly mounted in the inner cavity of the mounting bracket (302). A first support (304) is fixedly mounted on the side of the mounting block (303), and a motor (305) is fixedly mounted on the side of the first support (304).

3. A cargo gripping device for an industrial robot according to claim 2, characterized in that, The mounting block (303) is fixedly mounted with a second support (306) on both sides. The second support (306) is rotatably mounted with a first pulley (307). The side of the first pulley (307) is fixedly mounted with a first rotating shaft (308). The end of the first rotating shaft (308) is fixedly mounted with a second pulley (309). The inner cavity of the mounting bracket (302) is rotatably mounted with a second rotating shaft (310). There are two second rotating shafts (310).

4. A cargo gripping device for an industrial robot according to claim 3, characterized in that, A third pulley (311) is fixedly mounted on the surface of each of the two second rotating shafts (310). The second pulley (309) is connected to the third pulley (311) by a belt. Half gears (312) are rotatably mounted on both sides of the mounting bracket (302). There are two half gears (312). Both half gears (312) are fixedly connected to the second rotating shaft (310) and mesh with each other.

5. A cargo gripping device for an industrial robot according to claim 4, characterized in that, A first fixing plate (313) is fixedly installed on the side of the two half gears (312), and a second fixing plate (314) is rotatably installed on both sides of the mounting bracket (302). A third fixing plate (315) is rotatably installed on the side of the second fixing plate (314), and the side of the third fixing plate (315) is rotatably connected to the first fixing plate (313). A clamping plate (316) is fixedly installed on the bottom of the third fixing plate (315).

6. A cargo gripping device for an industrial robot according to claim 5, characterized in that, The top of the mounting block (303) is equipped with a suction mechanism (4), which includes a support block (401). The top of the support block (401) is fixedly equipped with a rotating seat (402). There are two rotating seats (402). A third rotating shaft (403) is rotatably installed inside each of the two rotating seats (402). A fourth pulley (404) is fixedly installed on the surface of the third rotating shaft (403).

7. A cargo gripping device for an industrial robot according to claim 6, characterized in that, The fourth pulley (404) is connected to the second pulley (309) by a belt. Both ends of the third rotating shaft (403) are fixedly installed with rotating disks (405). An eccentric plate (406) is rotatably installed at the eccentric part of the rotating disk (405). A piston rod (407) is rotatably installed at the end of the eccentric plate (406).

8. A cargo gripping device for an industrial robot according to claim 7, characterized in that, The mounting block (303) has a piston hole (408) inside. There are multiple piston holes (408), and a piston plate (409) is slidably installed inside each of the multiple piston holes (408). The top of the piston plate (409) is fixedly connected to the piston rod (407). A connecting pipe (410) is fixedly installed at the bottom of the piston hole (408). There are multiple connecting pipes (410), and a suction cup (411) is fixedly installed at the bottom of each of the multiple connecting pipes (410).

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