An industrial robot gripper with an outer diameter detection function

Abstract

The present invention relates to the technical field of industrial robot grippers, and specifically to an industrial robot gripper with an outer diameter detection function, which includes a gripper body. Two movable clamping plates are arranged on the gripper body, and further includes: two slots, which are respectively opened on the opposite sides of the two clamping plates; two adjusting structures, which are respectively arranged in the two slots; an outer diameter detection structure, which is arranged on the gripper body. Through the design of the adjusting structure, especially the distance between the two clamping blocks can be freely adjusted, so that the gripper can adapt to various shaft-shaped workpieces with different sizes. This high adaptability greatly expands the use range of the fixture, reduces the need to replace the fixture due to changes in workpiece size, improves production efficiency and flexibility. The adjustment process is simple and intuitive. The staff only needs to turn the handle, and through the linkage mechanism of the connecting rod and the driving screw, the distance between the two clamping blocks can be easily adjusted.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robot grippers, and specifically to an industrial robot gripper with an outer diameter detection function. Background Technique

[0002] An industrial robot gripper, also known as an end effector, is a component on the industrial robot arm that directly grasps workpieces or performs operations.

[0003] After retrieval, a Chinese patent with the publication number CN218364838U discloses an industrial robot gripper with an outer diameter detection mechanism, which includes a mounting base; two grippers; a gripper cylinder; a sliding sleeve, which is connected to the mounting base through a telescopic structure and is located between the two grippers. When the two grippers approach each other relatively, the sliding sleeve will be driven by a driving structure to move away from the mounting base; a telescopic column; a pressure sensor; a pressing ring, which is slidably sleeved on the telescopic column. An elastic abutting structure is provided on the telescopic column, and the elastic abutting structure is used to drive the pressing ring to abut against the end face of the pressure sensor. The above solution abuts against the periphery of the shaft-like workpiece through the telescopic column. When abutting, the telescopic column will move towards the mounting base, causing the pressing ring to generate pressure on the pressure sensor. By analyzing the pressure signal of the pressure sensor through an external display controller, it can be quickly determined whether the outer diameter of the shaft-like workpiece meets the standard, so that the outer diameter detection function of the shaft-like workpiece is realized on the industrial robot gripper. However, when the above solution is actually used, there are still the following deficiencies:

[0004] The dimensions of the V-shaped iron in the above technical solution are fixed, and it can only clamp shaft-like workpieces within a certain range of shaft diameters. Its application range is limited. Once the dimensions of the V-shaped iron are determined, it can only effectively clamp workpieces within a certain range of shaft diameters. This means that for workpieces with shaft 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 restricts the flexibility and efficiency of industrial robots when processing workpieces of various specifications. In addition, with the diversification of production requirements, the specifications and dimensions of workpieces may often change. However, the fixed dimension design of the V-shaped iron makes it difficult to adapt to this change, and it is necessary to frequently replace V-shaped irons of different dimensions to meet production requirements. This not only increases the operating cost, but also reduces the flexibility and response speed of the production line.

[0005] Therefore, we propose an industrial robot gripper with an outer diameter detection function. Summary of the Invention

[0006] The purpose 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 technique.

[0007] To achieve the above purpose, the present invention provides the following technical solutions:

[0008] An industrial robot gripper with an outer diameter detection function, comprising a gripper body, on which two movable clamping plates are arranged, and further comprising:

[0009] Two slots, respectively opened on the opposite sides of the two clamping plates;

[0010] Two adjusting structures, respectively arranged in the two slots;

[0011] An outer diameter detection structure, arranged on the gripper body;

[0012] Each of the adjusting structures includes:

[0013] A mounting plate, fixed on the wall of the slot;

[0014] Two bearing seats, respectively fixed at both ends of the mounting plate;

[0015] A driving screw rod, rotatably mounted on the two bearing seats;

[0016] Two moving seats, both threadedly sleeved on the driving screw rod;

[0017] Two clamping blocks, respectively fixed on the two moving seats, each of which is provided with an inclined surface, and the two clamping blocks together form a V-shaped clamping structure;

[0018] A connecting rod, one end of which is fixedly connected to the driving screw rod and is coaxially arranged with the driving screw rod;

[0019] The outer diameter detection structure includes a moving component and a detection component. The moving component includes:

[0020] A first motor, mounted on the gripper body;

[0021] Two guide rods, in a U-shaped structure, both fixed on the gripper body;

[0022] Two sliding seats, respectively slidably sleeved on the two guide rods;

[0023] Two toothed plates, respectively fixed on the two sliding seats and arranged vertically opposite to each other;

[0024] A driving gear, placed between the two toothed plates and fixedly sleeved on the output shaft of the first motor, and each toothed plate is meshed with the driving gear;

[0025] The detection component includes:

[0026] Two detection plates, placed above the two clamping plates and arranged opposite to each other;

[0027] Two connecting rods, one end of which is fixedly connected to the two detection plates respectively, and the other end is fixedly connected to the two sliding seats respectively;

[0028] A resistance rod, having a U-shaped structure and fixed to the jaw body;

[0029] Two conductive rings, both of which are slidably sleeved on the resistance rod;

[0030] Two fixing rods, one end of which is fixedly connected to the two detection plates respectively, and the other end is fixedly connected to the two conductive rings respectively.

[0031] Preferably, two threaded sections with the same length and opposite directions are provided on the driving screw rod, and the two moving seats are respectively threadedly sleeved on the two threaded sections.

[0032] Preferably, a handle is assembled at one end of the connecting rod away from the driving screw rod.

[0033] Preferably, a clamping bladder is provided on the inclined surface of each clamping block. The two clamping bladders located on the same clamping plate are communicated with each other through a hose. Electrode plates are installed on the sides of the two clamping plates, and the electricities of the two electrode plates are opposite.

[0034] Preferably, two liquid filling structures and one driving structure are provided on the jaw body. The two liquid filling structures and one driving structure are used to push liquid into each clamping bladder. Each liquid filling structure includes:

[0035] A mounting seat, fixed to the jaw body, having a hollow interior, with a hole opened at one end. The interior of the mounting seat stores electrorheological fluid;

[0036] A sliding plate, slidably arranged inside the mounting seat;

[0037] An elastic bladder, one end of which is connected to the inner surface of the mounting seat, and the other end is connected to the sliding plate, and its interior stores electrorheological fluid;

[0038] A communicating pipe, one end of which is communicated with the elastic bladder, and the other end is communicated with the clamping bladder.

[0039] Preferably, the driving structure includes:

[0040] A moving plate, slidably arranged on the side of the jaw body;

[0041] Two limiting rods, both fixed to the side of the jaw body, and the moving plate is slidably sleeved on the two limiting rods;

[0042] Two cross bars, one end of which is fixedly connected to the two sliding plates respectively, and the other end is fixedly connected to the moving plate. The two cross bars respectively pass through the two holes and slide in the corresponding holes;

[0043] Two tension springs, one end of each is connected to the jaw body, and the other end of each is connected to the moving plate;

[0044] A second motor, installed on the side of the jaw body;

[0045] An eccentric wheel, fixedly sleeved on the second motor and arranged opposite to the moving plate, and the eccentric wheel is eccentrically arranged with respect to the output shaft of the second motor.

[0046] Preferably, the side surface of the moving seat is in mutual contact with the side surface of the mounting plate.

[0047] Preferably, a numerical display screen is provided on the jaw body.

[0048] Compared with the prior art, the beneficial effects of the present invention are:

[0049] 1. Through the design of the adjustment structure, especially the distance between the two clamping blocks can be freely adjusted, so that the jaw can adapt to various shaft-shaped workpieces with different sizes. This high adaptability greatly expands the use range of the fixture, reduces the need to replace the fixture due to changes in workpiece size, improves production efficiency and flexibility. The adjustment process is simple and intuitive. The operator only needs to turn the handle, and through the linkage mechanism of the connecting rod and the driving screw, the distance between the two clamping blocks can be easily adjusted. This mechanized adjustment method not only reduces the burden of manual operation, but also significantly improves the adjustment accuracy and speed, which is conducive to realizing rapid production change and efficient production;

[0050] 2. By using the resistance change generated by the sliding of the conductive ring on the resistance rod to indirectly measure the outer diameter of the workpiece, this method has high accuracy. The change of resistance is linearly related to the distance between the conductive rings, making the detection result accurate and reliable. Through automatic outer diameter detection, workpieces that do not meet the requirements can be detected and removed in time, thereby improving the overall efficiency and quality of the production line;

[0051] 3. After being squeezed by the shaft-shaped workpiece, the clamping bladder deforms and further expands under the drive of the electrorheological fluid system, thus filling the gap between the clamping block and the workpiece. This design greatly increases the contact area between the fixture and the workpiece, significantly improves the clamping stability, effectively prevents the workpiece from sliding or shaking during the machining process. The expansion degree of the clamping bladder can be adaptively adjusted according to the size and shape of the workpiece, ensuring that no matter how the outer diameter of the workpiece changes, the fixture can provide a stable and uniform clamping force. This design enhances the versatility and flexibility of the fixture. When the electrorheological fluid inside the clamping bladder undergoes the "solidification" phenomenon under the action of the electric field, they provide a certain strength and stiffness for the clamping bladder. This "solidification" effect enables the clamping bladder to better lock the workpiece and prevent it from falling off or moving during high-load or high-speed machining processes. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 is a schematic diagram of the overall structure of the present invention;

[0053] Figure 2 is a schematic diagram of the structure from another perspective of the present invention;

[0054] Figure 3 is a schematic diagram of the structure from yet another perspective of the present invention;

[0055] Figure 4 is a schematic diagram of the structure from still another perspective of the present invention;

[0056] Figure 5 is a schematic cross-sectional structure diagram of the present invention;

[0057] Figure 6 is a schematic diagram of the adjustment structure;

[0058] Figure 7 is Figure 2 an enlarged view of the structure at position A of ;

[0059] Figure 8 is Figure 3 an enlarged view of the structure at position B of ;

[0060] Figure 9 is Figure 5 an enlarged view of the structure at position C of .

[0061] In the figure: 1, jaw body; 2, clamping plate; 3, slot; 41, mounting plate; 42, bearing seat; 43, driving screw; 44, moving seat; 45, clamping block; 46, connecting rod; 51, first motor; 52, guide rod; 53, sliding seat; 54, toothed plate; 55, driving gear; 61, detection plate; 62, connecting rod; 63, resistance rod; 64, conductive ring; 65, fixed rod; 7, clamping bladder; 8, electrode plate; 91, mounting seat; 92, sliding plate; 93, elastic bladder; 94, connecting pipe; 101, moving plate; 102, limiting rod; 103, cross bar; 104, tension spring; 105, second motor; 106, eccentric wheel. Detailed implementation manner

[0062] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0063] Please refer to Figures 1-9, the present invention provides a technical solution: an industrial robot gripper with an outer diameter detection function, which includes a gripper body 1, two movable clamping plates 2 are arranged on the gripper body 1, and a numerical display screen is arranged on the gripper body 1. It also includes: two slots 3, which are respectively opened on the opposite sides of the two clamping plates 2; two adjusting structures, which are respectively arranged in the two slots 3; each adjusting structure includes: a mounting plate 41, which is fixed on the wall of the slot 3; two bearing seats 42, which are respectively fixed at both ends of the mounting plate 41; a driving screw 43, which is rotatably installed on the two bearing seats 42, and two threaded sections with the same length and opposite directions are arranged on the driving screw 43, 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 surface of the moving seat 44 is in mutual contact with the side surface of the mounting plate 41; two clamping blocks 45, which are respectively fixed on the two moving seats 44, and inclined surfaces are arranged on them, and 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 43 and is coaxially arranged with the driving screw 43, and a handle is assembled at the end of the connecting rod 46 away from the driving screw 43. The staff can rotate the handle on the adjusting structure to make the connecting rod 46 rotate. When the connecting rod 46 rotates, it can drive the driving screw 43 to rotate. Since the side surface of the moving seat 44 is in mutual contact with the side surface of the mounting plate 41, the moving seat 44 cannot rotate following the driving screw 43, but will move under the action of the driving screw 43. In addition, two threaded sections with the same length and opposite directions are arranged on the driving screw 43, and 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 approach or move away from each other. In summary, the staff can adjust the distance between the two clamping blocks 45 by rotating the handle, so as to facilitate the four clamping blocks 45 to clamp workpieces with different shaft diameters;

[0064] The industrial robot gripper further includes an outer diameter detection structure disposed 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 mounted on the gripper body 1; two guide rods 52 having a U-shaped structure and both fixed on the gripper body 1; two sliding seats 53 respectively sleeved on the two guide rods 52 in a sliding manner; two toothed plates 54 respectively fixed on the two sliding seats 53 and arranged vertically opposite to each other; a driving gear 55 placed between the two toothed plates 54 and fixedly sleeved on the output shaft of the first motor 51. Each toothed plate 54 meshes with the driving gear 55. When the first motor 51 operates, it can make the driving gear 55 rotate. When the driving gear 55 rotates, it can drive the two toothed 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 operates, the two detection plates 61 can approach each other and move synchronously in the direction of the shaft-shaped workpiece;

[0065] The detection component includes: two detection plates 61 placed above the two clamping plates 2 and arranged opposite to each other; two connecting rods 62 with one end respectively fixedly connected to the two detection plates 61 and the other end respectively fixedly connected to the two sliding seats 53; a resistance rod 63 having a U-shaped structure and fixed on the gripper body 1; two conductive rings 64 both sleeved on the resistance rod 63 in a sliding manner; two fixed rods 65 with one end respectively fixedly connected to the two detection plates 61 and the other end respectively fixedly connected to the two conductive rings 64. There is a linear change relationship between the outer diameter of the workpiece and 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 gripper body 1 for displaying the outer diameter of the workpiece;

[0066] Embodiment 1: When the industrial robot gripper with an outer diameter detection function proposed by the present invention is in use, the two clamping plates 2 approach each other, causing the two adjusting structures to approach each other. Four clamping blocks 45 in the two adjusting structures are used to jointly clamp the shaft-shaped workpiece. The movement principle of the two clamping plates 2 is prior art, and its specific structure and working principle are not the innovative part of this technical solution and are not shown in the figure and will not be elaborated here. For the adjusting structure, the operator can adjust the distance between the two clamping blocks 45 so that the four clamping blocks 45 can adapt to shaft-shaped workpieces of different sizes, thereby expanding the applicable range of the fixture. Specifically, the operator can rotate the handle on the adjusting 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 surface of the moving seat 44 is in contact 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, two thread segments with the same length and opposite directions are provided on the driving screw 43, and the two moving seats 44 are respectively threadedly sleeved on the two thread segments. Therefore, when the driving screw 43 rotates, the two moving seats 44 can approach or move away from each other, causing the two clamping blocks 45 to approach or move away from each other. In summary, the operator can adjust the distance between the two clamping blocks 45 by rotating the handle so that the four clamping blocks 45 can clamp workpieces with different shaft diameters;

[0067] After clamping the shaft-shaped 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 operates, it can cause the driving gear 55 to rotate. When the driving gear 55 rotates, it can drive the two toothed 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 operates, the two detection plates 61 can approach each other and move synchronously towards the direction of the shaft-shaped workpiece. When both of the two detection plates 61 are in contact with the shaft-shaped workpiece, the first motor 51 stops operating. Further, when the detection plate 61 moves, it can also drive the conductive ring 64 to move through the fixing rod 65. Therefore, when the two detection plates 61 move, both of the two conductive rings 64 can slide on the resistance rod 63. Wires are connected to both of the two conductive rings 64, and the current will be transmitted through the resistance rod 63 between the two conductive rings 64. Therefore, when the distance between the two conductive rings 64 changes, the effective resistance part on the resistance rod 63 will change accordingly. According to Ohm's law, when the current magnitude remains unchanged, the voltage and the resistance are in a direct proportional relationship. That is, when the two conductive rings 64 approach each other, the part of the resistance rod 63 that exerts the resistance effect will become smaller, and the output voltage will also become smaller. When the two conductive rings 64 move away from each other, the part of the resistance rod 63 that exerts the resistance effect will increase, and the output voltage will also increase. Further, the output voltage can be converted into an output value through the electrical signal processing technology and matched with the outer diameter of the workpiece. In summary, the outer diameter of the workpiece has a linear variation relationship with 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 jaw 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 this outer diameter detection method are both prior arts and are not shown in the figure, nor will they be elaborated here.

[0068] Embodiment 2: A clamping bladder 7 is provided on the inclined surface of each clamping block 45. The two clamping bladders 7 located on the same clamping plate 2 are connected and communicated through a hose. Electrode plates 8 are installed on the sides of the two clamping plates 2, and the electricities of the two electrode plates 8 are opposite. Two liquid filling structures and a driving structure are provided on the jaw body 1. The two liquid filling structures and the driving structure are used to push liquid into each clamping bladder 7. Each liquid filling structure includes: a mounting seat 91, fixed on the jaw body 1, with a hollow interior and a hole opened at one end. The interior of the mounting seat 91 stores the electrorheological fluid; a sliding plate 92, slidably arranged inside the mounting seat 91; an elastic bladder 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 sliding plate 92, and its interior stores the electrorheological fluid; a connecting pipe 94, one end of which is connected and communicated with the elastic bladder 93 and the other end of which is connected and communicated with the clamping bladder 7;

[0069] The driving structure includes: a moving plate 101, slidably arranged on the side of the jaw body 1; two limiting rods 102, both fixed on the side of the jaw body 1, and the moving plate 101 is slidably sleeved on the two limiting rods 102; two cross bars 103, one end of each is fixedly connected to the two sliding plates 92 respectively, and the other end of each is fixedly connected to the moving plate 101, and the two cross bars 103 respectively pass through the two holes and slide in the corresponding holes; two tension springs 104, one end of each is connected to the jaw body 1, and the other end of each is connected to the moving plate 101; a second motor 105, installed on the side of the jaw body 1; an eccentric wheel 106, fixedly sleeved on the second motor 105 and arranged opposite to the moving plate 101, and the eccentric wheel 106 is eccentrically arranged with respect to the output shaft of the second motor 105;

[0070] On the basis of Embodiment 1, a clamping bladder 7 is arranged on the inclined surface of each clamping block 45. After the four clamping blocks 45 jointly clamp the shaft-shaped workpiece, the shaft-shaped workpiece will come into contact with each clamping bladder 7. In this case, the shaft-shaped workpiece will extrude the clamping bladder 7, causing the clamping bladder 7 to deform. Then, the staff starts the second motor 105. When the second motor 105 operates, it can drive the eccentric wheel 106 to rotate. When the eccentric wheel 106 rotates, it can extrude the moving plate 101, causing the moving plate 101 to move. When the moving plate 101 moves, it can drive the two cross bars 103 to move, which causes the two sliding plates 92 to move accordingly. When the two sliding plates 92 move, they can extrude the two electro-rheological fluid elastic bladders 93. When the electro-rheological fluid elastic bladders 93 are extruded, the electro-rheological fluid stored inside them will be pressed into the corresponding electro-rheological fluid elastic bladders 93 through the connecting pipes 94, causing the clamping bladders 7 to expand. Therefore, when the moving plate 101 moves, the electro-rheological fluid in the two electro-rheological fluid elastic bladders 93 will enter the interiors of the four clamping bladders 7, causing the four clamping bladders 7 to expand synchronously. When the four clamping bladders 7 expand, the four clamping bladders 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;

[0071] After the four clamping bladders 7 expand, the staff energizes the two electrode plates 8, causing an electric field to be generated between the two electrode plates 8. When an electric field is generated between the two electrode plates 8, the electro-rheological fluid inside the four clamping bladders 7 can undergo a "solidification" phenomenon, which causes the four clamping bladders 7 to have a certain strength, thereby further ensuring the clamping stability of the four clamping bladders 7 and the four clamping blocks 45 for the workpiece. It should be noted that the specific working principle of the electro-rheological fluid is prior art and is not an innovative part of this technical solution, which is not shown in the figure and will not be elaborated here.

[0072] It should be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprising", "including" or any other variant thereof are intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device.

[0073] Although the embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and 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 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; 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), 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 conductive rings (64) respectively; Two liquid filling structures and one driving structure are arranged on the clamping jaw body (1), and the two liquid filling structures and the driving structure are used to push liquid into each clamping capsule (7).

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. The industrial robot gripper with outer diameter detection function according to claim 3, characterized in that: Each of the liquid-filled 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).

5. The industrial robot gripper with outer diameter detection function according to claim 4, 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).

6. 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.

7. 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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