High-speed feeding type cantilever grabbing structure of industrial robot

Abstract

The invention belongs to the technical field of robot grabbing and transportation, and particularly relates to an industrial robot high-speed feeding type cantilever grabbing structure which comprises a mounting seat, a first connecting arm and a second connecting arm. A rotating seat is fixedly mounted on the upper surface of the mounting seat, and a first connecting seat rotationally connected with the first connecting arm is arranged on the upper surface of the rotating seat; the end part of the connecting arm II is vertically and rotatably connected with a movable seat; the tubular objects are conveyed through friction force between the chain plate conveying belt and the tubular objects, axial stable conveying of the tubular objects can be achieved under the condition that the position of the mounting base is not changed, feeding of the tubular objects can be completed without large-range movement or rotation, the conveying efficiency and precision are remarkably improved, and the labor intensity of workers is lowered. And by arranging the first adjusting roller for cooperation, the supporting stability is enhanced, the conveying efficiency and precision are improved, and the flexible grabbing and conveying capacity is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of robot grasping and transporting, and in particular to a high-speed feeding cantilever grasping structure of an industrial robot. Background Art

[0002] With the continuous development of science and technology, the number of industrial robots used is increasing, and the scope of application is becoming more and more extensive. Industrial robots are also a type of multi-joint manipulators or multi-degree-of-freedom machines for the industrial field;

[0003] In order to cooperate with the normal use of various functional modules, industrial robots are usually equipped with mechanical grasping devices. An industrial production and transportation intelligent robot grasping device with application number CN2022105023377 further clamps the grasped object through a limit plate, and realizes the material handling through the movement and adjustment of the first mechanical arm and the second mechanical arm;

[0004] However, although the above patent can realize stable clamping operation and material handling, it needs to move or rotate as a whole to complete the feeding of tubular objects when in use. It is difficult to realize accurate axial transportation of tubular objects without changing the overall position, and it cannot meet the actual needs in terms of flexibility and accuracy.

[0005] In view of the above technical defects, a solution is now proposed. Summary of the invention

[0006] The purpose of the present invention is to provide an industrial robot high-speed feeding cantilever grasping structure, which can not only realize the flexible handling of pipes, but also complete the feeding of tubular objects without large-scale movement or rotation, thereby significantly improving the conveying efficiency and accuracy, and at the same time ensuring that the tubular objects are more stable during the axial conveying process while carrying and conveying, so as to solve the problems raised in the background technology.

[0007] The object of the present invention can be achieved by the following technical scheme: an industrial robot high-speed feeding cantilever grasping structure, comprising a mounting seat, a connecting arm 1 and a connecting arm 2, a rotating seat is fixedly mounted on the upper surface of the mounting seat, a connecting seat 1 rotatably connected to the connecting arm 1 is provided on the upper surface of the rotating seat, an end of the connecting arm 2 is vertically rotatably connected to a movable seat, and a grasping mechanism is provided at the end of the movable seat;

[0008] The grabbing mechanism comprises a fixed seat 1 fixedly connected to the movable seat, a lower surface of the fixed seat is fixedly connected to four connection blocks distributed in a matrix, the surfaces of the connection blocks are movably connected to two movable rods 1, the two movable rods 1 are movably connected to grippers for clamping pipe fittings, both sides of the fixed seat 1 are fixedly connected to fixed seats 2, and a feeding mechanism is arranged on the fixed seat 2;

[0009] The feeding mechanism includes a mounting frame vertically slidably connected to a second fixed seat, the inner wall of the mounting frame is connected to two transmission rollers for fixed axis rotation, a chain conveyor belt for conveying pipe fittings is sleeved on the outer contour of the two transmission rollers, and an adjusting roller is movably connected between the two grippers.

[0010] Preferably, a movable rod 2 is arranged directly below the fixed seat 1, and clamping blocks are movably connected to both sides of the movable rod 2 through pins, and one end of the clamping block away from the movable rod 2 is movably connected to the two movable rods 1 through the pin.

[0011] Preferably, the sides of the two movable rods 1 are fixedly connected with a connecting piece, the surface of the connecting piece is fixedly connected with a connecting frame, the end of the connecting frame is movably connected with a hydraulic rod 1, the telescopic end of the hydraulic rod 1 is movably connected with a movable rod 3, a connecting rod is fixedly connected between the two grippers, the connecting rod passes through the end of the movable rod 3 away from the telescopic end of the gripper and is movably connected with it, and the movable rod 3 passes through the adjusting roller 1 and is rotatably connected to the adjusting roller 1

[0012] Preferably, the lower surface of the fixed seat two is movably connected with two symmetrically arranged movable rods four, and the two ends of the movable rods four away from the fixed seat two are commonly movably connected with a sliding block one, and the sliding block one is limited and slidably connected to the upper surface of the mounting frame, and the upper surface of the mounting frame is movably connected with two symmetrically arranged movable rods five, and the two ends of the movable rods five away from the mounting frame are commonly movably connected with a movable block, a sliding block two is fixed on the surface of the movable block, a limiting groove adapted to the sliding block two is provided on the lower surface of the fixed seat two, and the intersection of the movable rod four and the movable rod five is movably connected via a rotating shaft.

[0013] Preferably, the upper surface of the mounting frame is fixedly connected to two symmetrically arranged limiting rods 1, and the two limiting rods 1 penetrate the fixing seat 2 and are limitedly slidably connected to the fixing seat 2.

[0014] Preferably, a connecting plate 1 is fixedly connected to one side of the mounting frame away from the fixed seat 1, and limiting rods 2 are fixedly connected to both sides of the connecting plate 1, and the limiting rods 2 penetrate and are slidably connected to a movable plate, and a mounting groove is provided at one end of the two movable plates away from the connecting plate 1, and an adjusting roller 2 is rotatably connected to the inner wall of the mounting groove of the connecting plate 1 on a fixed axis.

[0015] Preferably, a connecting plate 2 is fixedly connected to the opposite sides of the two movable plates, a mounting box is fixedly connected to the lower surface of the connecting plate 1, a screw 1 is rotatably connected to a fixed axis in the mounting box, the connecting plate 2 penetrates the mounting box, extends into the mounting box and is horizontally slidably connected to the outer wall of the mounting box, and the screw 1 penetrates the connecting plate 2 and is screwed to the connecting plate 2.

[0016] Preferably, one end of the connecting arm 1 away from the connecting seat 1 is rotatably connected to the connecting seat 2, and one side of the connecting seat 1 is provided with a motor 1 for driving the connecting arm 1 to rotate vertically, and the connecting seat 2 is rotatably connected to the connecting arm 1.

[0017] The beneficial effects of the present invention are as follows:

[0018] (1) The present invention is to convey the tubular object by setting a gripping mechanism and a feeding mechanism in coordination, and by using the friction between the chain plate conveyor belt and the tubular object, so that the tubular object can be conveyed in a stable axial direction without moving or rotating the mounting seat in a large range, thereby significantly improving the conveying efficiency and accuracy. Furthermore, by setting an adjusting roller 1 for coordination, the present invention has significant advantages in terms of enhancing support stability, improving conveying efficiency and accuracy, and flexible gripping and conveying capabilities.

[0019] (2) The present invention also provides an adjusting roller 2 on the movable plate, and supports the bottom of the pipe material during its movement, which not only ensures the stability of the pipe material, but also further improves the conveying efficiency, reduces the resistance during the conveying process, and enables the pipe material to be conveyed to the designated position more quickly. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The present invention will be further described below in conjunction with the accompanying drawings;

[0021] Figure 1 The overall structure of the present invention is three-dimensional Figure 1 ;

[0022] Figure 2 The overall structure of the present invention is three-dimensional Figure 2 ;

[0023] Figure 3 It is a side view structural schematic diagram of the present invention;

[0024] Figure 4 It is a structural schematic diagram of a fixing seat of the present invention;

[0025] Figure 5 It is a structural schematic diagram of the second fixing seat of the present invention;

[0026] Figure 6 This is a schematic diagram of the structure of the grabbing mechanism of the present invention. Figure 1 ;

[0027] Figure 7 This is a schematic diagram of the structure of the grabbing mechanism of the present invention. Figure 2 ;

[0028] Figure 8 It is a schematic diagram of the structure of the mounting frame of the present invention;

[0029] Fig. 9It is a schematic diagram of the structure of the movable plate of the present invention;

[0030] Fig.10 It is a schematic diagram of the structure of the installation box of the present invention.

[0031] Legend: 1. Mounting seat; 2. Rotating seat; 3. Connecting seat 1; 4. Connecting arm 1; 5. Connecting seat 2; 6. Connecting arm 2; 7. Movable seat; 8. Fixed seat 1; 9. Connecting block; 10. Movable rod 1; 11. Clamping block; 12. Movable rod 2; 13. Gripper; 14. Connecting piece; 15. Connecting frame; 16. Hydraulic rod 1; 17. Adjusting roller 1; 18. Connecting rod; 19. Movable rod 3; 20. Fixed seat 2; 21. Sliding block 1; 22. Mounting frame; 23. Driving roller; 24. Chain conveyor belt; 25. Connecting plate 1; 26. Moving plate; 27. Adjusting roller 2; 28. Movable rod 4; 29. ​​Movable rod 5; 30. Limit rod 1; 31. Movable block; 32. Sliding block 2; 33. Mounting box; 34. Screw 1; 35. Connecting plate 2; 36. Limit rod 2. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] Example 1: Please refer to Figure 1-Figure 10 As shown, this embodiment is an industrial robot high-speed feeding cantilever grasping structure, including a mounting seat 1, a connecting arm 1 4 and a connecting arm 2 6. A rotating seat 2 is fixedly mounted on the upper surface of the mounting seat 1. A connecting seat 1 3 rotatably connected to the connecting arm 1 4 is provided on the upper surface of the rotating seat 2. The rotating seat 2 is rotatably connected to the connecting arm 1 4. The rotating seat 2 is rotatably connected to the connecting seat 1 3.

[0034] The connecting seat 1 3 is rotated as a whole on the rotating seat 2 by driving the motor 2, so that the corresponding grabbing mechanism swings horizontally with the center line of the rotating seat 2 as the axis, and the end of the connecting arm 2 6 is vertically rotated and connected to the movable seat 7, and the end of the movable seat 7 is provided with a grabbing mechanism;

[0035] The gripping mechanism includes a fixed seat 8 fixedly connected to the movable seat 7, and four connecting blocks 9 distributed in a matrix are fixedly connected to the lower surface of the fixed seat 8. Two movable rods 10 are movably connected to the surface of the connecting blocks 9, and the two movable rods 10 are movably connected to grippers 13 for clamping pipe fittings. The movable rods 10 are rotatably connected to the connecting blocks 9 and the grippers 13 through pins, and the grippers 13 on the opposite sides of the two movable rods 10 are symmetrically arranged;

[0036] When the movable rod 10 located on the inner side of the two grippers 13 is pushed to approach each other, the movable rod 10 pulls the ends of the two grippers 13 to approach each other or separate from each other. When the ends of the two grippers 13 are close to each other, the grippers 13 clamp the tubular object, and the connecting arm 1 4, the connecting seat 2 5, the connecting arm 2 6 and the movable seat 7 make corresponding actions to grab and transport the tubular object to a suitable position. Both sides of the fixed seat 1 8 are fixedly connected with the fixed seat 2 20, and the fixed seat 20 is provided with a feeding mechanism;

[0037] The feeding mechanism includes a mounting frame 22 which is slidably connected to the fixing seat 20 in the vertical direction. The cross section of the mounting frame 22 is in an inverted U-shaped arrangement. Two transmission rollers 23 are rotatably connected to the inner wall of the mounting frame 22. A motor 6 for driving the transmission roller 23 to rotate is fixedly installed on one side of the mounting frame 22. A sprocket is sleeved on the transmission roller 23.

[0038] Start the motor 6, and drive the transmission roller 23 to rotate through the cooperation of the sprocket and the chain. The outer contours of the two transmission rollers 23 are sleeved with a chain plate conveyor belt 24 for conveying pipe fittings, so that the chain plate conveyor belt 24 located inside the mounting frame 22 moves. The surface of the chain plate conveyor belt 24 is fixedly connected with a rubber pad for anti-slip, which enhances the friction between the chain plate conveyor belt 24 and the tubular object. An adjusting roller 17 is movably connected between the two grippers 13, and a plurality of adjusting rollers 17 are provided;

[0039] When multiple adjustment rollers 17 swing between the two grippers 13 and lift the tubular object clamped by the grippers 13, the tubular object can contact the lower surface of the chain conveyor belt 24, which is convenient for the subsequent axial conveyance of the tubular object by the chain conveyor belt 24. Compared with the existing mechanism, it can achieve stable axial conveyance of the tubular object when the position of the mounting seat 1 is fixed, so as to solve the problem that the industrial robot in the prior art needs to rotate as a whole when conveying at a specified position, which may easily cause the axial end position of the tubular object to shift, making it difficult to ensure stable and high-speed feeding in the horizontal direction.

[0040] A movable rod 2 12 is arranged directly below the fixed seat 1 8, a hydraulic rod 2 is fixedly installed in the fixed seat 1 8, clamping blocks 11 are movably connected to both sides of the movable rod 2 12 through pins, and one end of the clamping block 11 away from the movable rod 2 12 is movably connected to the two movable rods 10 through pins, and the telescopic end of the hydraulic rod 2 passes through the fixed seat 1 8 and is fixedly connected to the upper surface of the movable rod 2 12;

[0041] Start the hydraulic rod 2 located in the fixed seat 18, and the hydraulic rod 2 pushes the movable rod 2 12 to move in the vertical direction, so that the movable rod 2 12 pushes the clamping block 11 movably connected to it, and the clamping block 11 pushes the movable rod 10 movably connected to it, so that the ends of the gripper 13 are moved closer to or away from each other, thereby achieving stable clamping of the tubular object.

[0042] The sides of the two movable rods 10 are fixedly connected with a connecting piece 14, the surface of the connecting piece 14 is fixedly connected with a connecting frame 15, the end of the connecting frame 15 is movably connected with a hydraulic rod 16, the telescopic end of the hydraulic rod 16 is movably connected with a movable rod 3 19, the hydraulic rod 16 is movably connected with the movable rod 3 19 through a pin shaft, and a connecting rod 18 is fixedly connected between the two grippers 13 to enhance the stability between the grippers 13, the connecting rod 18 penetrates the end of the movable rod 3 19 away from the telescopic end of the gripper 13 and is movably connected thereto, and the movable rod 3 19 penetrates the adjusting roller 17 and is rotatably connected to the adjusting roller 17;

[0043] Start the hydraulic rod 16, and the telescopic end of the hydraulic rod 16 pushes the movable rod 3 19 to swing on the connecting rod 18, so that the adjusting roller 17 on the movable rod 3 19 pushes the tubular object between the two grippers 13, and the tubular object can fit with the lower surface of the chain conveyor belt 24 to realize the transportation of the tubular object.

[0044] The lower surface of the fixed seat 20 is movably connected to two symmetrically arranged movable rods 4 28, and one end of the two movable rods 4 28 away from the fixed seat 20 is movably connected to a sliding block 1 21. The upper surface of the mounting frame 22 is fixedly connected to a guide rail that penetrates the sliding block 1 21 and is horizontally slidably connected to the sliding block 1 21. The guide rail limits the sliding block 1 21 so that it can stably move on the mounting frame 22.

[0045] The sliding block 1 21 is slidably connected to the upper surface of the mounting frame 22, and the lower surface of the fixed seat 20 and the upper surface of the mounting frame 22 are welded with a limit plate movably connected to the movable rod 4 28 and the movable rod 5 29, and the limit plate is movably connected to the movable rod 4 28 and the movable rod 5 29 through a pin shaft, and the sliding block 1 21 is limitedly slidably connected to the upper surface of the mounting frame 22;

[0046] The upper surface of the mounting frame 22 is movably connected with two symmetrically arranged movable rods 5 29, and the ends of the two movable rods 5 29 away from the mounting frame 22 are movably connected with a movable block 31, and a sliding block 2 32 is fixed on the surface of the movable block 31. A limiting groove adapted to the sliding block 2 32 is provided on the lower surface of the fixed seat 20, and the sliding block 2 32 is located in the limiting groove and slidably connected to the limiting groove. The intersection of the movable rod 4 28 and the movable rod 5 29 is movably connected through a rotating shaft, and a screw rod 2 is rotatably connected to the fixed axis in the limiting groove, and the screw rod 2 passes through the sliding block 2 32 and is screwed to the sliding block 2 32. A motor 3 that drives the screw rod 2 to rotate is fixedly installed on one side of the outer wall of the fixed seat 20;

[0047] Starting motor 3 drives screw rod 2 coaxially fixedly connected thereto to rotate, so that sliding block 2 32 and movable block 31 move. The movement of sliding block 2 32 causes movable rod 5 29 movably connected thereto to push movable rod 4 28 rotatably connected thereto. The movable rod 4 28 pushes sliding block 1 21 movably connected thereto to slide on the mounting frame 22, thereby pushing the mounting frame 22 to move in the vertical direction. By moving the mounting frame 22 in the vertical direction, the distance between the chain conveyor belt 24 on the inner side of the mounting frame 22 and the tubular object is adjusted, so that the tubular objects can fully fit each other, and can be suitable for fast and efficient transportation of tubular objects of different sizes.

[0048] Two symmetrically arranged limit rods 30 are fixedly connected to the upper surface of the mounting frame 22. The two limit rods 30 penetrate the fixing seat 20 and are slidably connected to the fixing seat 20. The two limit rods 30 limit the vertical direction of the fixing seat 20 to ensure that the mounting frame 22 can move stably in the vertical direction.

[0049] One end of the connecting arm 4 away from the connecting seat 3 is rotatably connected to the connecting seat 2 5, and one side of the connecting seat 3 is provided with a motor 1 for driving the connecting arm 4 to rotate vertically. The connecting seat 25 is rotatably connected to the connecting arm 4, and the motor 1 is started. The output end of the motor 1 drives the connecting arm 4 to rotate, and the vertical direction of the connecting arm 2 6 and the movable seat 7 can be adjusted. The end of the connecting arm 4 away from the connecting seat 3 is fixedly installed with a motor 4, and the motor 4 drives the connecting seat 2 5 and the connecting arm 2 6 to move in the vertical direction, and the position of the movable seat 7 can be further adjusted, thereby expanding the grasping range and further realizing better grasping and conveying of tubular objects.

[0050] Example 2: Please refer to Figure 1-Figure 10 As shown, an industrial robot high-speed feeding cantilever grasping structure of the present embodiment, a mounting frame 22 is fixedly connected to a connecting plate 25 on one side away from a fixing seat 8, and two limiting rods 36 are fixedly connected to both sides of the connecting plate 25, and the limiting rods 36 penetrate and are slidably connected to a moving plate 26, and the limiting rods 36 limit the moving plate 26 in the horizontal direction, so that the two limiting rods 36 can stably move in the horizontal direction, and a mounting groove is provided at one end of the two moving plates 26 away from the connecting plate 25, and an adjusting roller 27 is rotatably connected to the inner wall of the mounting groove of the connecting plate 25;

[0051] The two movable plates 26 are arranged to be inclined toward each other at one end away from the limiting rod 236. When the mounting frame 22 moves vertically downward, the connecting plate 25 fixedly connected thereto moves in the vertical direction, so that the adjusting roller 27 on the movable plate 26 moves vertically downward and moves to the bottom of the pipe material. When the two movable plates 26 move on the limiting rod 236 and approach each other, the corresponding adjusting roller 27 can support the bottom of the pipe material. The adjusting roller 27 reduces friction while supporting, which is convenient for conveying the pipe material and can further ensure stable support for the pipe material.

[0052] A second connecting plate 35 is fixedly connected to the opposite sides of the two moving plates 26, a mounting box 33 is fixedly connected to the lower surface of the connecting plate 1 25, a screw 1 34 is rotatably connected to the fixed axis in the mounting box 33, the connecting plate 2 35 penetrates the mounting box 33, extends into the mounting box 33 and is horizontally slidably connected to the outer wall of the mounting box 33, the screw 1 34 penetrates the connecting plate 2 35 and is screwed to the connecting plate 2 35, a motor 5 is fixedly installed on the upper surface of the connecting plate 1 25, the output end of the motor 5 penetrates the connecting plate 1 25 and extends into the mounting box 33, the output end of the motor 5 is located on one side of the mounting box 33 and is fixedly connected to a bevel gear 1, a bevel gear 2 is fixedly connected to the outer contour of the screw 1 34, and the bevel gear 1 and the bevel gear 2 are meshed;

[0053] Start motor 5 to drive screw 1 34 to rotate, so that the two connecting plates 2 35 are moved closer to or away from each other. When the two connecting plates 2 35 are moved closer to each other, the movable plates 26 fixedly connected thereto are pulled closer to each other, and the two adjusting rollers 2 27 are brought into contact with the bottom of the pipe material to support it, thereby further ensuring that the pipe material can be transported quickly and stably in the future.

[0054] Combining the first and second embodiments, it can be known that the tubular object is conveyed by the friction between the chain conveyor belt 24 and the tubular object, and the axially stable conveying of the tubular object can be achieved without changing the position of the mounting seat 1. The industrial robot can complete the feeding of the tubular object without moving or rotating in a large range, which significantly improves the conveying efficiency and accuracy. In addition, by setting an adjusting roller 17 in the gripping mechanism, the gripper 13 can accurately lift the tubular object after clamping it, ensuring that the tubular object is in close contact with the lower surface of the chain conveyor belt 24, so that the tubular object is more stable during the axial conveying process;

[0055] By arranging an adjusting roller 27 on the movable plate 26 and supporting the bottom of the pipe material during its movement, not only the stability of the pipe material is ensured, but also the conveying efficiency is further improved. The rolling contact of the adjusting roller 27 reduces the friction force, thereby reducing the resistance in the conveying process, so that the pipe material can be conveyed to the specified position more quickly. This kind of industrial robot high-speed feeding cantilever grasping structure has significant advantages in enhancing support stability, improving conveying efficiency and accuracy, and flexible grasping and conveying capabilities.

[0056] The preferred embodiments of the present invention disclosed above are only used to help explain the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to only specific implementation methods. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. An industrial robot high-speed feeding cantilever grasping structure, comprising a mounting seat (1), a connecting arm 1 (4) and a connecting arm 2 (6), characterized in that: A rotating seat (2) is fixedly mounted on the upper surface of the mounting seat (1), a connecting seat (3) rotatably connected to a connecting arm (4) is provided on the upper surface of the rotating seat (2), an end portion of the connecting arm (6) is vertically rotatably connected to a movable seat (7), and a gripping mechanism is provided at the end portion of the movable seat (7); The gripping mechanism comprises a fixed seat 1 (8) fixedly connected to the movable seat (7); the lower surface of the fixed seat 1 (8) is fixedly connected to four connection blocks (9) distributed in a matrix; the surfaces of the connection blocks (9) are movably connected to two movable rods 1 (10); the two movable rods 1 (10) are movably connected to grippers (13) for clamping the pipe fittings; both sides of the fixed seat 1 (8) are fixedly connected to fixed seats 2 (20); a feeding mechanism is arranged on the fixed seat 2 (20); The feeding mechanism comprises a mounting frame (22) vertically slidably connected to a second fixing seat (20); the inner wall of the mounting frame (22) is rotatably connected to two transmission rollers (23); a chain conveyor belt (24) for conveying pipe fittings is sleeved on the outer contour of the two transmission rollers (23); and an adjusting roller (17) is movably connected between the two grippers (13).

2. The high-speed feeding cantilever grabbing structure of an industrial robot according to claim 1, characterized in that: A movable rod 2 (12) is arranged directly below the fixed seat 1 (8), and clamping blocks (11) are movably connected to both sides of the movable rod 2 (12) through pins, and one end of the clamping block (11) away from the movable rod 2 (12) is movably connected to the two movable rods 1 (10) through a pin.

3. The high-speed feeding cantilever grabbing structure of an industrial robot according to claim 1, characterized in that: The sides of the two movable rods (10) are fixedly connected with a connecting piece (14), the surface of the connecting piece (14) is fixedly connected with a connecting frame (15), the end of the connecting frame (15) is movably connected with a hydraulic rod (16), the telescopic end of the hydraulic rod (16) is movably connected with a movable rod (19), a connecting rod (18) is fixedly connected between the two grippers (13), the connecting rod (18) passes through the end of the movable rod (19) away from the telescopic end of the gripper (13) and is movably connected thereto, and the movable rod (19) passes through the adjusting roller (17) and is rotationally connected to the adjusting roller (17).

4. The high-speed feeding cantilever grabbing structure of an industrial robot according to claim 1, characterized in that: The lower surface of the fixed seat 2 (20) is movably connected with two symmetrically arranged movable rods 4 (28); the ends of the two movable rods 4 (28) away from the fixed seat 2 (20) are movably connected with a sliding block 1 (21); the sliding block 1 (21) is movably connected with the upper surface of the mounting frame (22); the upper surface of the mounting frame (22) is movably connected with two symmetrically arranged movable rods 5 (29); the ends of the two movable rods 5 (29) away from the mounting frame (22) are movably connected with a movable block (31); a sliding block 2 (32) is fixed on the surface of the movable block (31); a limiting groove adapted to the sliding block 2 (32) is provided on the lower surface of the fixed seat 2 (20); the intersection of the movable rod 4 (28) and the movable rod 5 (29) is movably connected via a rotating shaft.

5. The high-speed feeding cantilever grabbing structure of an industrial robot according to claim 1, characterized in that: The upper surface of the mounting frame (22) is fixedly connected with two symmetrically arranged limiting rods (30), and the two limiting rods (30) penetrate the fixing seat (20) and are connected to the fixing seat (20) in a limiting sliding manner.

6. The high-speed feeding cantilever grabbing structure of an industrial robot according to claim 1, characterized in that: A connecting plate (25) is fixedly connected to one side of the mounting frame (22) away from the fixing seat (8), and two limiting rods (36) are fixedly connected to both sides of the connecting plate (25). The limiting rods (36) penetrate and are slidably connected to the movable plate (26). A mounting groove is formed at one end of the two movable plates (26) away from the connecting plate (25), and an adjusting roller (27) is rotatably connected to the inner wall of the mounting groove of the connecting plate (25) in a fixed axis.

7. The high-speed feeding cantilever grabbing structure of an industrial robot according to claim 6, characterized in that: A second connecting plate (35) is fixedly connected to opposite sides of the two movable plates (26); a mounting box (33) is fixedly connected to the lower surface of the first connecting plate (25); a screw rod (34) is rotatably connected to a fixed axis in the mounting box (33); the second connecting plate (35) penetrates the mounting box (33), extends into the mounting box (33) and is slidably connected to the outer wall of the mounting box (33) in a horizontal direction; the screw rod (34) penetrates the second connecting plate (35) and is screwed to the second connecting plate (35).

8. The high-speed feeding cantilever grabbing structure of an industrial robot according to claim 1, characterized in that: One end of the connecting arm 1 (4) away from the connecting seat 1 (3) is rotatably connected to the connecting seat 2 (5), and a motor 1 for driving the connecting arm 1 (4) to rotate vertically is arranged on one side of the connecting seat 1 (3), and the connecting seat 2 (5) is rotatably connected to the connecting arm 1 (4).

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