Industrial robot clamping jaw with outer diameter detection function

Abstract

The invention relates to the technical field of industrial robot clamping jaws, in particular to an industrial robot clamping jaw with an outer diameter detection function, which comprises a clamping jaw body, two movable clamping plates are arranged on the clamping jaw body, and the industrial robot clamping jaw further comprises two open grooves which are respectively formed in the opposite side surfaces of the two clamping plates; the two adjusting structures are respectively arranged in the two open grooves; and the outer diameter detection structure is arranged on the clamping jaw body. Through the design of the adjusting structure, particularly, the distance between the two clamping blocks can be freely adjusted, so that the clamping jaw can adapt to shaft-shaped workpieces of different sizes, the application range of a clamp is greatly expanded through the height adaptability, the requirement for replacing the clamp due to the size change of the workpieces is reduced, and the production efficiency is improved. And the production efficiency and flexibility are improved, the adjusting process is simple and visual, and a worker only needs to rotate the handle, so that the distance between the two clamping blocks can be easily adjusted through a linkage mechanism of the connecting rod and the driving screw rod.

Description

Technical Field

[0001] The invention relates to the technical field of industrial robot grippers, in particular to an industrial robot gripper with an outer diameter detection function. Background Art

[0002] Industrial robot grippers, also known as end effectors, are components on industrial robot arms that directly grasp workpieces or perform tasks.

[0003] After searching, the Chinese patent with the announcement number CN218364838U discloses an industrial robot gripper with an outer diameter detection mechanism, including a mounting seat; two clamping jaws; a clamping jaw cylinder; a sliding sleeve connected to the mounting seat through a telescopic structure and located between the two clamping jaws. When the two clamping jaws are relatively close, the sliding sleeve will be driven by the driving structure to move away from the mounting seat; a telescopic column; a pressure sensor; a pressure ring, which can be slidably mounted on the telescopic column, and an elastic abutting structure is provided on the telescopic column. The elastic abutting structure is used to drive the pressure ring to abut against the end face of the pressure sensor. The above scheme uses the telescopic column to abut the periphery of the shaft workpiece. When abutting, the telescopic column will move toward the mounting seat, so that the pressure ring generates pressure on the pressure sensor, and the pressure signal of the pressure sensor is analyzed by an external display controller, and then it is quickly determined whether the outer diameter of the shaft workpiece meets the standard, so that the outer diameter detection function of the shaft workpiece is realized on the industrial robot gripper. However, the above scheme still has the following shortcomings when it is actually used: The V-shaped iron in the above technical solution has a fixed size and can only clamp shaft-shaped workpieces within a certain range of axial diameters. Its scope of application is limited. Once the size of the V-shaped iron is determined, it can only effectively clamp workpieces within a certain range of axial diameters. This means that for workpieces with axial diameters outside this range, the V-shaped iron will not be able to provide a stable clamping effect and may even cause the workpiece to slip or be damaged. This limitation limits the flexibility and efficiency of industrial robots in handling workpieces of various specifications. In addition, with the diversification of production needs, the specifications and sizes of workpieces may change frequently. However, the fixed size design of the V-shaped iron makes it difficult to adapt to such changes. V-shaped irons of different sizes need to be frequently replaced to meet production needs, which not only increases operating costs, but also reduces the flexibility and response speed of the production line.

[0004] To this end, we propose an industrial robot gripper with outer diameter detection function. Summary of the invention

[0005] The object of the present invention is to provide an industrial robot gripper with an outer diameter detection function to solve the problems raised in the above background technology.

[0006] To achieve the above object, the present invention provides the following technical solutions: An industrial robot gripper with an outer diameter detection function comprises a gripper body, two movable clamping plates are arranged on the gripper body, and further comprises: Two slots are respectively formed on opposite sides of the two clamping plates; Two adjustment structures are respectively arranged in the two slots; An outer diameter detection structure is arranged on the clamp body; Each of the regulatory structures comprises: A mounting plate fixed on the slot wall of the slot; Two bearing seats are respectively fixed at two ends of the mounting plate; A driving screw is rotatably mounted on the two bearing seats; Two movable seats are both threadedly sleeved on the driving screw; Two clamping blocks are respectively fixed on the two moving seats, and are both provided with inclined surfaces, and the two clamping blocks together form a V-shaped clamping structure; A connecting rod, one end of which is fixedly connected to the driving screw and is coaxially arranged with the driving screw; The outer diameter detection structure includes a moving component and a detection component, and the moving component includes: A first motor is mounted on the clamp body; Two guide rods, which are U-shaped, are fixed on the clamp body; Two sliding seats are respectively slidably sleeved on the two guide rods; Two tooth plates are respectively fixed on the two sliding seats and are arranged vertically opposite to each other; A driving gear is disposed between the two tooth plates and fixedly sleeved on the output shaft of the first motor, and each of the tooth plates is meshed with the driving gear; The detection component comprises: Two detection plates are placed above the two clamping plates and are arranged opposite to each other; Two connecting rods, one end of which is fixedly connected to the two detection plates respectively, and the other end of which is fixedly connected to the two sliding seats respectively; The resistance rod has a U-shaped structure and is fixed on the clamp body; Two conductive rings are both slidably sleeved on the resistance rod; Two fixing rods have one end fixedly connected to the two detection plates respectively, and the other end fixedly connected to the two conductive rings respectively.

[0007] Preferably, the driving screw is provided with two threaded sections with the same length and opposite directions, and the two moving seats are respectively threadedly sleeved on the two threaded sections.

[0008] Preferably, one end of the connecting rod away from the driving screw is equipped with a handle.

[0009] Preferably, a clamping capsule is provided on the inclined surface of each clamping block, and the two clamping capsules located on the same clamping plate are connected by a hose. Electrode plates are installed on the sides of the two clamping plates, and the electrical properties of the two electrode plates are opposite.

[0010] Preferably, two liquid-filling structures and one driving structure are provided on the clamp body, and the two liquid-filling structures and one driving structure are used to push liquid into each clamping capsule, and each of the liquid-filling structures includes: A mounting seat, fixed on the clamp body, having a hollow interior and a hole at one end, wherein the electrorheological fluid is stored in the mounting seat; A slide plate, slidably disposed inside the mounting seat; An elastic bag, one end of which is connected to the inner surface of the mounting seat, and the other end of which is connected to the slide plate, and the electrorheological fluid is stored in the elastic bag; A connecting tube is connected to the elastic bag at one end and connected to the clamping bag body at the other end.

[0011] Preferably, the driving structure comprises: A movable plate is slidably arranged on the side of the clamp body; Two limit rods are fixed on the side of the clamp body, and the movable plate is slidably sleeved on the two limit rods; Two cross bars, one end of which is fixedly connected to the two slide plates respectively, and the other end of which is fixedly connected to the movable plate. The two cross bars pass through the two holes respectively and slide in the holes; Two tension springs, one end of each of which is connected to the clamp body, and the other end of each of which is connected to the movable plate; A second motor is mounted on the side of the clamp body; The eccentric wheel is fixedly sleeved on the second motor and arranged opposite to the movable plate. The eccentric wheel is eccentrically arranged between the output shaft of the second motor.

[0012] Preferably, the side surface of the movable seat and the side surface of the mounting plate are in contact with each other.

[0013] Preferably, a numerical display screen is provided on the clamp body.

[0014] Compared with the prior art, the present invention has the following beneficial effects: 1. Through the design of the adjustment structure, especially the freely adjustable distance between the two clamping blocks, the clamping jaw can adapt to various axial workpieces of different sizes. This high adaptability greatly expands the scope of use of the clamp, reduces the need to replace the clamp due to changes in the workpiece size, and improves production efficiency and flexibility. The adjustment process is simple and intuitive. The staff only needs to turn the handle to easily adjust the distance between the two clamping blocks through the linkage mechanism of the connecting rod and the driving screw. This mechanized adjustment method not only reduces the burden of manual operation, but also significantly improves the accuracy and speed of adjustment, which is conducive to rapid production change and efficient production; 2. The outer diameter of the workpiece is indirectly measured by utilizing the resistance change caused by the sliding of the conductive ring on the resistance rod. This method has high accuracy. The change in resistance is linearly related to the distance between the conductive rings, making the detection result accurate and reliable. Through automated outer diameter detection, workpieces that do not meet the requirements can be discovered and removed in a timely manner, thereby improving the overall efficiency and quality of the production line; 3. The clamping capsule is deformed after being squeezed by the axial workpiece, and is further expanded by the drive of the electrorheological fluid system, thereby filling the gap between the clamp block and the workpiece. This design greatly increases the contact area between the fixture and the workpiece, significantly improves the stability of clamping, and effectively prevents the workpiece from sliding or shaking during processing. The expansion degree of the clamping capsule can be adaptively adjusted according to the size and shape of the workpiece, ensuring that the fixture can provide stable and uniform clamping force regardless of how the outer diameter of the workpiece changes. This design enhances the versatility and flexibility of the fixture. When the electrorheological fluid inside the clamping capsule "solidifies" under the action of the electric field, they provide a certain strength and rigidity to the clamping capsule. This "solidification" effect enables the clamping capsule to better lock the workpiece to prevent it from falling off or moving during high-load or high-speed processing. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a structural schematic diagram of another perspective of the present invention; Figure 3 It is a structural schematic diagram of another perspective of the present invention; Figure 4 It is a structural schematic diagram of another perspective of the present invention; Figure 5 It is a cross-sectional structural schematic diagram of the present invention; Figure 6 It is a schematic diagram of the structure of the adjustment structure; Figure 7 for Figure 2 A magnified view of the structure at A; Figure 8 for Figure 3A magnified view of the structure at B; Fig. 9 for Figure 5 Enlarged view of the structure at location C.

[0016] In the figure: 1. clamping jaw body; 2. clamping plate; 3. slot; 41. mounting plate; 42. bearing seat; 43. driving screw; 44. moving seat; 45. block; 46. connecting rod; 51. first motor; 52. guide rod; 53. sliding seat; 54. tooth plate; 55. driving gear; 61. detection plate; 62. connecting rod; 63. resistance rod; 64. conductive ring; 65. fixing rod; 7. clamping capsule; 8. electrode plate; 91. mounting seat; 92. slide plate; 93. elastic capsule; 94. connecting pipe; 101. moving plate; 102. limit rod; 103. cross bar; 104. tension spring; 105. second motor; 106. eccentric wheel. DETAILED DESCRIPTION

[0017] 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.

[0018] See also Figure 1-9The present invention provides a technical solution: an industrial robot gripper with an outer diameter detection function, comprising a gripper body 1, on which two movable clamping plates 2 are arranged, and on which a numerical display screen is arranged, and further comprising: two slots 3, respectively arranged on opposite sides of the two clamping plates 2; two adjustment structures, respectively arranged in the two slots 3; each adjustment structure comprises: a mounting plate 41, fixed on the slot wall of the slot 3; two bearing seats 42, respectively fixed at both ends of the mounting plate 41; a driving screw 43, rotatably mounted on the two bearing seats 42, on which two threaded sections of the same length and opposite directions are arranged, and two moving seats 44 are respectively threadedly sleeved on the two threaded sections; two moving seats 44, both of which are threadedly sleeved on the driving screw 43, and the side surfaces of the moving seats 44 and the side surfaces of the mounting plate 41 are mutually fitted; two clamping blocks 45, respectively fixed on the two moving seats 44, both of which are provided with inclined surfaces, and the two clamping blocks 45 together form The connecting rod 46 is fixedly connected to the driving screw 43 at one end and is coaxially arranged with the driving screw 43. The end of the connecting rod 46 away from the driving screw 43 is equipped with a handle. The staff can turn the handle on the adjustment structure to rotate the connecting rod 46. When the connecting rod 46 rotates, it can drive the driving screw 43 to rotate. Since the side of the movable seat 44 and the side of the mounting plate 41 fit each other, the movable seat 44 cannot rotate with the driving screw 43, but will move under the action of the driving screw 43. In addition, two threaded sections of the same length and opposite directions are provided on the driving screw 43. The two movable seats 44 are respectively threadedly sleeved on the two threaded sections. Therefore, when the driving screw 43 rotates, the two movable seats 44 can approach or move away from each other, so that the two clamping blocks 45 are close to or away from each other. In summary, the staff can adjust the distance between the two clamping blocks 45 by turning the handle, so that the four clamping blocks 45 can clamp workpieces with different shaft diameters. The industrial robot gripper also includes an outer diameter detection structure, which is arranged on the gripper body 1. The outer diameter detection structure includes a moving component and a detection component. The moving component includes: a first motor 51, which is installed on the gripper body 1; two guide rods 52, which are U-shaped and fixed on the gripper body 1; two sliding seats 53, which are respectively slidably mounted on the two guide rods 52; two tooth plates 54, which are respectively fixed on the two sliding seats 53 and are arranged vertically opposite to each other; a driving gear 55, which is placed between the two tooth plates 54 and fixedly mounted on the output shaft of the first motor 51, each tooth plate 54 is meshed with the driving gear 55, and the first motor 51 can rotate the driving gear 55 when it is running. When the driving gear 55 rotates, it can drive the two tooth plates 54 meshed with it to move, so that the two sliding seats 53 move synchronously. When the two sliding seats 53 move, they can drive the two detection plates 61 to move through the two connecting rods 62. Therefore, when the first motor 51 is running, the two detection plates 61 can approach each other and move synchronously toward the direction of the axial workpiece; The detection assembly includes: two detection plates 61, which are placed above the two clamping plates 2 and are arranged opposite to each other; two connecting rods 62, one end of which is fixedly connected to the two detection plates 61 respectively, and the other end is fixedly connected to the two sliding seats 53 respectively; a resistance rod 63, which is in a U-shaped structure and is fixed on the clamp body 1; two conductive rings 64, which are slidably sleeved on the resistance rod 63; two fixed rods 65, one end of which is fixedly connected to the two detection plates 61 respectively, and the other end is fixedly connected to the two conductive rings 64 respectively. The outer diameter of the workpiece and the distance between the two conductive rings 64 are linearly changed. Therefore, the device detects the outer diameter of the workpiece through the position change between the two conductive rings 64. In addition, a numerical display screen is installed on the clamp body 1 to display the outer diameter of the workpiece;

[0019] Embodiment 1: When the industrial robot gripper with outer diameter detection function proposed by the present invention is in use, the two clamping plates 2 are close to each other, so that the two adjustment structures are close to each other, and the four clamping blocks 45 in the two adjustment structures are used to clamp the axial workpiece together. The movement principle of the two clamping plates 2 is the existing technology, and its specific structure and working principle are not the innovative part of the present technical solution, and are not shown in the figure, and will not be described in detail here. For the adjustment structure, the staff can adjust the distance between the two clamping blocks 45 so that the four clamping blocks 45 can adapt to axial workpieces of different sizes, thereby expanding the scope of application of the clamp. Specifically, the staff can turn the handle on the adjustment structure to rotate the connecting rod 46, and the connecting rod 46 can rotate. When the rod 46 rotates, it can drive the driving screw 43 to rotate. Since the side surface of the moving seat 44 fits with the side surface of the mounting plate 41, the moving seat 44 cannot rotate with the driving screw 43, but will move under the action of the driving screw 43. In addition, the driving screw 43 is provided with two threaded sections of the same length and in opposite directions. The two moving seats 44 are respectively threadedly sleeved on the two threaded sections. Therefore, when the driving screw 43 rotates, the two moving seats 44 can approach or move away from each other, so that the two clamping blocks 45 are approached or moved away from each other. In summary, the staff can adjust the distance between the two clamping blocks 45 by turning the handle, so that the four clamping blocks 45 can clamp workpieces with different shaft diameters. After clamping the axial workpiece, the staff uses the outer diameter detection structure to detect the outer diameter of the workpiece. Specifically, the staff starts the first motor 51. When the first motor 51 is running, the driving gear 55 can rotate. When the driving gear 55 rotates, it can drive the two gear plates 54 meshing with it to move, so that the two sliding seats 53 move synchronously. When the two sliding seats 53 move, they can drive the two detection plates 61 to move through the two connecting rods 62. Therefore, when the first motor 51 is running, the two detection plates 61 can approach each other and move synchronously toward the direction of the axial workpiece. When the two detection plates 61 are in contact with the axial workpiece, the first motor 51 stops running. Furthermore, when the detection plate 61 moves, it can also drive the conductive ring 64 to move through the fixed rod 65. Therefore, when the two detection plates 61 move, the two conductive rings 64 can slide on the resistance rod 63. Wires are connected to the two conductive rings 64, and current will be transmitted through the resistance rod 63 between the two conductive rings 64. When the distance between the two conductive rings 64 changes, the effective resistance part on the resistor rod 63 will change accordingly. According to Ohm's law, when the current remains unchanged, the voltage and resistance change in direct proportion, that is, when the two conductive rings 64 are close to each other, the part of the resistor rod 63 that plays a resistance effect will become smaller, and the output voltage will also decrease accordingly. When the two conductive rings 64 are away from each other, the part of the resistor rod 63 that plays a resistance effect will increase, and the output voltage will also increase accordingly. Further, the output voltage can be converted into an output value through electrical signal processing technology and matched with the outer diameter of the workpiece. In summary, the outer diameter of the workpiece is linearly related to the distance between the two conductive rings 64. Therefore, the device detects the outer diameter of the workpiece through the position change between the two conductive rings 64. In addition, a numerical display screen is installed on the clamp body 1 to display the outer diameter of the workpiece. It should be noted that the electrical signal processing method and the circuit connection method in the outer diameter detection method are both existing technologies, which are not shown in the figure and will not be described in detail here.

[0020] Embodiment 2: A clamping capsule 7 is provided on the inclined surface of each clamping block 45, and the two clamping capsules 7 located on the same clamping plate 2 are connected by a hose. Electrode plates 8 are installed on the sides of the two clamping plates 2, and the electrical properties of the two electrode plates 8 are opposite. Two liquid-filling structures and one driving structure are provided on the clamping jaw body 1. The two liquid-filling structures and one driving structure are used to push liquid into each clamping capsule 7. Each liquid-filling structure includes: a mounting seat 91, which is fixed on the clamping jaw body 1, is hollow inside, and has a hole at one end. The mounting seat 91 accumulates electrorheological fluid inside; a slide plate 92, which is slidably arranged inside the mounting seat 91; an elastic capsule 93, one end of which is connected to the inner surface of the mounting seat 91, and the other end is connected to the slide plate 92, and the electrorheological fluid is accumulated inside; a connecting pipe 94, one end of which is connected to the elastic capsule 93, and the other end is connected to the clamping capsule 7; The driving structure includes: a moving plate 101, which is slidably arranged on the side of the clamp body 1; two limit rods 102, which are fixed on the side of the clamp body 1, and the moving plate 101 is slidably sleeved on the two limit rods 102; two cross bars 103, one end of which is fixedly connected to the two slide plates 92 respectively, and the other end is fixedly connected to the moving plate 101, and the two cross bars 103 pass through two holes respectively and slide in the holes; two tension springs 104, one end of which is connected to the clamp body 1, and the other end is connected to the moving plate 101; a second motor 105, which is installed on the side of the clamp body 1; an eccentric wheel 106, which is fixedly sleeved on the second motor 105 and arranged opposite to the moving plate 101, and is eccentrically arranged between the eccentric wheel 106 and the output shaft of the second motor 105; On the basis of Example 1, a clamping capsule 7 is provided on the inclined surface of each clamping block 45. When the four clamping blocks 45 clamp the axial workpiece together, the axial workpiece will contact each clamping capsule 7. In this case, the axial workpiece will squeeze the clamping capsule 7, causing the clamping capsule 7 to deform. Then, the staff starts the second motor 105. When the second motor 105 is running, it can drive the eccentric wheel 106 to rotate. When the eccentric wheel 106 rotates, it can squeeze the movable plate 101, so that the movable plate 101 moves. When the movable plate 101 moves, it can drive the two cross bars 103 to move, which makes the two slide plates 92 move accordingly. When the two slide plates 92 move, they can squeeze the two elastic capsules 93. When the elastic capsules 93 are squeezed, the electrorheological fluid accumulated inside them will be pressed into the corresponding elastic capsules 93 through the connecting tube 94, so that the clamping capsules 7 will expand. Therefore, when the moving plate 101 moves, the electrorheological fluid in the two elastic capsules 93 will enter the inside of the four clamping capsules 7, so that the four clamping capsules 7 will expand synchronously. When the four clamping capsules 7 expand, the four clamping capsules 7 can fill the gaps between the four clamping blocks 45 and the workpiece. This design can increase the contact area between the fixture and the outer surface of the workpiece, and improve the clamping stability of the workpiece. After the four clamping capsules 7 expand, the staff energizes the two electrode plates 8 to generate an electric field between the two electrode plates 8. When the electric field is generated between the two electrode plates 8, the electrorheological fluid inside the four clamping capsules 7 can "solidify", which makes the four clamping capsules 7 have a certain strength, thereby further ensuring the clamping stability of the four clamping capsules 7 and the four clamping blocks 45 for the workpiece. It should be noted that the specific working principle of the electrorheological fluid is a prior art and is not an innovative part of the present technical solution. It is not shown in the figure and will not be elaborated on here.

[0021] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0022] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An industrial robot gripper with an outer diameter detection function, comprising a gripper body (1), wherein the gripper body (1) is provided with two movable clamping plates (2), characterized in that: Also includes: Two slots (3) are respectively formed on opposite sides of the two clamping plates (2); Two adjustment structures are respectively arranged in the two slots (3); An outer diameter detection structure, arranged on the clamping jaw body (1); Each of the regulatory structures comprises: A mounting plate (41) fixed to the groove wall of the groove (3); Two bearing seats (42) are respectively fixed at two ends of the mounting plate (41); A driving screw (43) is rotatably mounted on the two bearing seats (42); Two movable seats (44) are both threadedly sleeved on the driving screw rod (43); Two clamping blocks (45) are respectively fixed on the two movable seats (44), and are both provided with inclined surfaces, so that the two clamping blocks (45) together form a V-shaped clamping structure; A connecting rod (46), one end of which is fixedly connected to the driving screw rod (43) and is coaxially arranged with the driving screw rod (43); The outer diameter detection structure includes a moving component and a detection component, and the moving component includes: A first motor (51) mounted on the clamp body (1); Two guide rods (52) are U-shaped and are both fixed on the clamping jaw body (1); Two sliding seats (53) are respectively slidably sleeved on the two guide rods (52); Two tooth plates (54) are respectively fixed on the two sliding seats (53) and are arranged vertically opposite to each other; A driving gear (55) is disposed between the two tooth plates (54) and is fixedly sleeved on the output shaft of the first motor (51), and each of the tooth plates (54) is meshed with the driving gear (55); The detection component comprises: Two detection plates (61) are placed above the two clamping plates (2) and are arranged opposite to each other; Two connecting rods (62), one end of which is fixedly connected to the two detection plates (61) respectively, and the other end of which is fixedly connected to the two sliding seats (53) respectively; The resistance rod (63) has a U-shaped structure and is fixed on the clamping jaw body (1); Two conductive rings (64) are both slidably mounted on the resistance rod (63); Two fixing rods (65) have one end fixedly connected to the two detection plates (61) respectively, and the other end fixedly connected to the two conductive rings (64) respectively.

2. The industrial robot gripper with outer diameter detection function according to claim 1, characterized in that: The driving screw rod (43) is provided with two threaded sections of the same length and in opposite directions, and the two moving seats (44) are respectively threadedly sleeved on the two threaded sections.

3. The industrial robot gripper with outer diameter detection function according to claim 2, characterized in that: One end of the connecting rod (46) away from the driving screw rod (43) is equipped with a handle.

4. An industrial robot gripper with outer diameter detection function according to any one of claims 1 to 3, characterized in that: A clamping capsule (7) is provided on the inclined surface of each clamping block (45); two clamping capsules (7) located on the same clamping plate (2) are connected via a hose; electrode plates (8) are installed on the sides of the two clamping plates (2); and the two electrode plates (8) have opposite electrical properties.

5. The industrial robot gripper with outer diameter detection function according to claim 4, characterized in that: The clamping jaw body (1) is provided with two liquid filling structures and a driving structure, the two liquid filling structures and the driving structure are used to push liquid into each clamping capsule (7), and each of the liquid filling structures comprises: A mounting seat (91) is fixed on the clamp body (1), is hollow inside, and has a hole at one end, and the electrorheological fluid is stored inside the mounting seat (91); A slide plate (92) slidably disposed inside the mounting seat (91); An elastic bag (93), one end of which is connected to the inner surface of the mounting seat (91), and the other end of which is connected to the slide plate (92), and electrorheological fluid is stored in the elastic bag; A connecting tube (94) has one end connected to the elastic bag (93) and the other end connected to the clamping bag body (7).

6. The industrial robot gripper with outer diameter detection function according to claim 5, characterized in that: The driving structure comprises: A movable plate (101) slidably disposed on a side surface of the clamp body (1); Two limit rods (102) are both fixed on the side of the clamp body (1), and the movable plate (101) is slidably sleeved on the two limit rods (102); Two cross bars (103), one end of which is fixedly connected to the two slide plates (92) respectively, and the other end of which is fixedly connected to the movable plate (101), the two cross bars (103) respectively pass through the two holes and slide in the holes; Two tension springs (104), one end of each of which is connected to the clamp body (1), and the other end of each of which is connected to the movable plate (101); A second motor (105) is mounted on a side surface of the clamp body (1); The eccentric wheel (106) is fixedly sleeved on the second motor (105) and arranged directly opposite the movable plate (101); the eccentric wheel (106) is eccentrically arranged between the output shaft of the second motor (105).

7. The industrial robot gripper with outer diameter detection function according to claim 1, characterized in that: The side surface of the movable seat (44) and the side surface of the mounting plate (41) are in contact with each other.

8. The industrial robot gripper with outer diameter detection function according to claim 1, characterized in that: The clamping jaw body (1) is provided with a numerical display screen.

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