A mechanical gripper

Abstract

The present application relates to a robot gripper and the technical field of grippers, comprising a fixed plate fixedly mounted on a robot arm, wherein edges of the fixed plate are respectively provided with a first clamping member for clamping a sealing ring, a second clamping member for clamping a porcelain bottle body, a third clamping member for clamping a glue bead and a fourth clamping member for clamping a porcelain cover; the first clamping member comprises a support block arranged on the edge of the fixed plate and a plurality of negative pressure suction cups fixedly mounted on the support block, the second clamping member comprises a first pneumatic finger fixedly mounted on the edge of the fixed plate, the third clamping member comprises a clamping rod slidably mounted on the edge of the fixed plate and a driving member for driving the clamping rod to slide back and forth, and the fourth clamping member is a second pneumatic finger fixedly mounted on the edge of the fixed plate; in the present application, the gripper can clamp four components, namely, a sealing ring, a high-pressure porcelain bottle body, a glue bead and a high-pressure porcelain cover, at the same time, and complete the assembly at one time, which greatly shortens the assembly time and improves the overall assembly efficiency.

Description

Technical Field

[0001] The present application relates to the technical field of grippers, and in particular to a manipulator gripper. Background Art

[0002] Oil-immersed transformers, as core components in power transmission and distribution systems, play a vital role. Their structure is an exquisite combination of a sturdy box design, a built-in efficient core structure, and a protective box cover on the top, which together ensure the stable operation and long-term reliability of the transformer. In the manufacturing and assembly process of the transformer, the box cover not only plays a key role in protecting the internal precision components from the external environment, but also bears the responsibility of supporting and fixing the high-voltage and low-voltage porcelain bottle structures, which is crucial to ensure the safety and stability of the electrical connection.

[0003] In the current manufacturing process, a widely used automated assembly method relies on a precision manipulator system. The system is usually composed of two parts: a mechanical body and a mechanical claw. The mechanical body integrates advanced drive components, such as a rotary cylinder, electric cylinder or motor screw structure. These components work together to accurately drive the mechanical claw to reciprocate or rotate in the horizontal and vertical directions, thereby achieving accurate grasping and placement of the workpiece. In actual operation, the mechanical body first drives the mechanical claw to move above the workpiece to be assembled, uses the clamping function of the mechanical claw to firmly grasp the workpiece, and then drives the mechanical claw holding the workpiece to move to the specified position of the assembly table to complete the precise assembly of the workpiece.

[0004] However, in the process of assembling the high-voltage porcelain bottle assembly on the transformer box cover, this traditional robot operation method faces a challenge. The high-voltage porcelain bottle assembly is usually composed of multiple parts such as a sealing ring, a high-voltage porcelain bottle body, a rubber bead, and a high-voltage porcelain cover. These parts need to be sleeved on the outer circumference of the upper guide rod on the box cover from bottom to top in a specific order. In this process, the traditional robot operation method often requires the operator to use a mechanical claw to clamp and assemble a component first, and then clamp and assemble the next component after it is stable. This is not only cumbersome to operate, but also inefficient, which seriously affects the overall assembly progress and production efficiency, and there is room for improvement. Summary of the invention

[0005] The purpose of the present application is to provide a robot gripper to solve the problem of low efficiency of the robot gripper in the above-mentioned related art when gripping multiple different parts.

[0006] The present application provides a mechanical gripper that adopts the following technical solution:

[0007] A robot gripper comprises a fixed plate fixed on a robot arm, wherein the edges of the fixed plate are respectively provided with a first clamping member for clamping a sealing ring, a second clamping member for clamping a porcelain bottle body, a third clamping member for clamping a rubber bead and a fourth clamping member for clamping a porcelain cover; the first clamping member comprises a support block arranged on the edge of the fixed plate and a plurality of negative pressure suction cups fixed on the support block, the second clamping member comprises a first pneumatic finger fixed on the edge of the fixed plate, the third clamping member comprises a clamping rod slidably arranged on the edge of the fixed plate and a driving member driving the clamping rod to slide back and forth, and the fourth clamping member is a second pneumatic finger fixed on the edge of the fixed plate.

[0008] By adopting the above technical scheme, in the process of assembling the sealing ring, the high-pressure porcelain bottle body, the glue bead and the high-pressure porcelain cover, the clamp is first used to clamp the four parts in sequence (the negative pressure suction cup clamps the sealing ring, the first pneumatic finger clamps the porcelain bottle body, the clamping rod clamps the glue bead and the second pneumatic finger clamps the porcelain cover). After the clamp clamps all four parts, the clamp is moved to the top of the assembly table under the action of the mechanical arm, and the clamped sealing ring, the high-pressure porcelain bottle body, the glue bead and the high-pressure porcelain cover are sequentially mounted on the outer periphery of the upper guide rod on the box cover from bottom to top; the clamp in the present application can clamp the four components of the sealing ring, the high-pressure porcelain bottle body, the glue bead and the high-pressure porcelain cover at the same time, and complete the assembly at one time, which greatly shortens the assembly time and improves the overall assembly efficiency.

[0009] Optionally, the fixed plate is fixedly provided with a guide sleeve which is sleeved on the outer circumference of the clamping rod, and one end of the clamping rod is fixedly provided with a clamping portion for the rubber beads to be sleeved on the outer circumference; the driving member is used to drive the clamping rod to slide back and forth along the length direction of the guide sleeve, and when the clamping portion moves to the outside of the guide sleeve, the rubber beads sleeved on the outer circumference are relatively fixed by friction, and when the clamping portion moves into the guide sleeve, the rubber beads sleeved on its own outer circumference fall off.

[0010] By adopting the above technical solution, during the process of clamping the rubber bead, the clamping part is passed through the through hole on the rubber bead, so that the rubber bead is sleeved on the outer periphery of the clamping part and is relatively fixed by friction; when the rubber bead needs to be assembled, the clamping part is driven to retract into the guide sleeve by the driving part, so that the rubber bead is removed from the clamping part, thereby realizing the automatic clamping and assembly of the rubber bead.

[0011] Optionally, one side of the support block is rotatably connected to the edge of the fixed plate, and a traction member for driving the support block to rotate and adjust is provided on the side of the fixed plate, and the negative pressure suction cup can reciprocate with the support block in a direction close to the traction member.

[0012] By adopting the above technical solution, when assembling the sealing ring, due to the long length of the high-pressure porcelain bottle main body, it may hinder the negative pressure suction cup from directly installing the sealing ring. At this time, the negative pressure suction cup can be driven to rotate by the traction part, thereby avoiding the high-pressure porcelain bottle main body and completing the assembly of the sealing ring.

[0013] Optionally, the traction member includes a support seat fixed on the fixed plate and a traction cylinder hinged to the support seat at one end, and a connecting block is fixed to the other end of the traction cylinder, and the side edge of the connecting block away from the traction cylinder is rotatably connected to the support block.

[0014] By adopting the above technical solution, the design of components such as the traction cylinder and the connecting block is relatively simple, easy to maintain and adjust. When replacement or maintenance is required, the operator can easily disassemble and replace the relevant parts, reducing maintenance costs and downtime.

[0015] Optionally, a limit block is fixedly provided on the side of the support block, and a limit screw is provided on the limit block, and one side of the limit screw can abut against one side of the fixing plate when the sealing ring is assembled.

[0016] By adopting the above technical solution, due to the combined arrangement of the limit block and the limit screw, the rotation range of the support block can be adjusted and limited.

[0017] Optionally, a locking rod is slidably provided on the fixed plate, and a locking groove for inserting the locking rod is provided on the limit block. An adjusting member for driving the locking rod to slide toward the limit block and a reset member for driving the locking rod to slide away from the limit block are provided on the fixed plate. The end of the locking rod can be inserted into the locking groove when the limit screw abuts against one side of the fixed plate.

[0018] By adopting the above technical solution, when assembling the clamped sealing ring, the locking rod is driven by the adjusting member to slide in the direction close to the limit block. During this process, the reset member is pressurized until the end of the locking rod is inserted into the locking groove, thereby further locking the support block and the negative pressure suction cup in this state, reducing the possibility of the sealing ring being skewed or misplaced during assembly.

[0019] Optionally, the reset member includes a compression spring, two baffles relatively fixed on the outer periphery of the locking rod, and a guide block fixed on the fixed plate, the guide block is located on the side of the baffle close to the limit block, the guide block is provided with a guide through hole for the locking rod to slide through, and the two ends of the compression spring are respectively fixedly connected to the sides of the guide block and the baffle close to each other.

[0020] By adopting the above technical solution, when the locking rod is inserted into the locking groove, the compression spring in the reset member provides continuous elastic force to ensure that the locking rod is firmly maintained in the locked position, which helps to prevent the locking rod from accidentally coming out due to vibration or external force interference during the assembly process, thereby enhancing the locking stability; after the reset member is stopped being squeezed, the compression spring is reset and the baffle is squeezed in the opposite direction, so that the end of the locking rod is disengaged from the locking groove, which is convenient for the subsequent control of the negative pressure suction cup to rotate and reset.

[0021] Optionally, the adjusting member includes two adjusting rods hinged to the two opposite side surfaces of the fixed plate, a power member driving the adjusting rods to rotate back and forth, and an extension rod is fixed on the sides of the two baffles away from each other. One end of the adjusting rod can squeeze the extension rod during rotation and thereby drive the locking rod to slide.

[0022] By adopting the above technical solution, due to the combined arrangement of the adjusting rod, the power part and the extension rod, the power part can drive the adjusting rod to rotate during operation, and make the end of the adjusting rod press against the extension rod, so that the locking rod can automatically slide in the direction close to the limit block.

[0023] Optionally, a detection component for detecting the flatness of the sealing ring is provided on the lower side of the fixed plate, and the detection component includes a detection rod and a detection camera fixed on the detection rod, and the two ends of the detection rod are respectively fixedly connected to the ends of the two adjustment rods away from the extension rods, and the detection camera can rotate with the adjusting rod to a state flush with the bottom side of the clamped sealing ring.

[0024] By adopting the above technical solution, after the sealing ring is clamped, the position of the detection camera is adjusted by the power part, so that it rotates with the adjustment rod to a state flush with the bottom side of the clamped sealing ring, so as to detect the flatness of the sealing ring. If it is unqualified, a new sealing ring is clamped again, and if it is qualified, subsequent assembly is carried out; by testing immediately after clamping, unqualified sealing rings can be discovered and replaced in time, avoiding rework and waste caused by discovering problems in the subsequent assembly process. This optimizes the production process and improves production efficiency.

[0025] Optionally, the power component is a power cylinder, and both ends of the power cylinder are respectively hinged to one side of the fixed plate and the outer peripheral surface of the adjustment rod, and the power cylinder can drive the adjustment rod to rotate during the extension and retraction process.

[0026] By adopting the above technical solution, when the negative pressure suction cup is rotated to the sealing ring assembly state, the power cylinder can be operated to drive the adjusting rod to rotate. During the rotation, one end of the adjusting rod squeezes the extension rod and drives the locking rod to slide, thereby inserting the end of the locking rod into the locking groove, thereby achieving further locking of the support block and the negative pressure suction cup in this state.

[0027] In summary, the present application includes at least one of the following beneficial technical effects:

[0028] 1. In the present application, after the clamps clamp all four parts, the clamps are moved to the top of the assembly table under the action of the robotic arm, and the clamped sealing ring, high-pressure porcelain bottle body, glue bead and high-pressure porcelain cover are sequentially mounted on the outer periphery of the upper guide rod on the box cover from bottom to top. The clamps can clamp the sealing ring, high-pressure porcelain bottle body, glue bead and high-pressure porcelain cover at the same time, and complete the assembly at one time, which greatly shortens the assembly time and improves the overall assembly efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0030] Figure 1 It is a schematic diagram of the overall structure of Example 1 of the present application;

[0031] Figure 2 This is a schematic diagram of the structure of the second clamping member and the fourth clamping member installed and matched in Example 1 of the present application;

[0032] Figure 3 It is a partial cross-sectional structural schematic diagram of the installation and cooperation of the third clamping member embodied in the first embodiment of the present application;

[0033] Figure 4 It is a partial structural diagram of the installation and coordination of the negative pressure suction cup in Example 1 of the present application;

[0034] Figure 5 It is a partial structural diagram of the installation and coordination of the traction member and the limit screw in the first embodiment of the present application;

[0035] Figure 6 It is a schematic diagram of the overall structure of Example 2 of the present application;

[0036] Figure 7 It is a partial structural diagram of the installation and cooperation of the locking rod and the reset member embodied in the second embodiment of the present application;

[0037] Figure 8 This is a partial structural diagram of the installation and coordination of the power cylinder in Example 2 of the present application;

[0038] Fig. 9 This is a partial structural diagram of the installation and coordination of the detection component in Example 2 of the present application;

[0039] Fig.10 It is a schematic diagram of the overall structure of Example 3 of the present application;

[0040] Fig.11 It is a schematic diagram of the overall structure of Example 4 of the present application.

[0041] In the figure, 1, fixing plate; 2, first clamping member; 21, supporting block; 211, limiting block; 2111, locking groove; 22, negative pressure suction cup; 23, traction member; 231, supporting seat; 232, traction cylinder; 233, connecting block; 24, limiting screw; 3, second clamping member; 31, first pneumatic finger; 4, third clamping member; 41, clamping rod; 411, clamping part; 42, driving member; 421, vertical cylinder; 43, guide sleeve; 5, fourth clamping member; 51, second pneumatic finger; 6, locking rod; 7, adjusting member; 71, adjusting rod; 72, power member; 721, power cylinder; 8, reset member; 81, compression spring; 82, baffle; 821, extension rod; 83, guide block; 831, guide through hole; 9, detection component; 91, detection rod; 92, detection camera. DETAILED DESCRIPTION

[0042] The present application is further described in detail below in conjunction with all the accompanying drawings. Example

[0043] Reference Figure 1 and Figure 2 A manipulator gripper comprises a fixed plate 1 fixed on a manipulator arm, wherein the edges of the fixed plate 1 are respectively provided with a first clamping piece 2 for clamping a sealing ring, a second clamping piece 3 for clamping a porcelain bottle body, a third clamping piece 4 for clamping a glue bead, and a fourth clamping piece 5 for clamping a porcelain cover; the fixed plate 1 is fixed to the manipulator arm by screws, and the manipulator arm can drive the fixed plate 1 to move and rotate in horizontal and vertical directions;

[0044] During the assembly process of the sealing ring, the high-pressure porcelain bottle body, the glue bead and the high-pressure porcelain cover, the clamp is first used to clamp the four parts in sequence. After the clamp has clamped all four parts, the clamp is moved to the top of the assembly table under the action of the mechanical arm, and the clamped sealing ring, the high-pressure porcelain bottle body, the glue bead and the high-pressure porcelain cover are sequentially mounted on the outer periphery of the upper guide rod on the box cover from bottom to top.

[0045] Reference Figure 2 The second clamping member 3 includes a first pneumatic finger 31 fixed on the edge of the fixed plate 1, and the fourth clamping member 5 is a second pneumatic finger 51 fixed on the edge of the fixed plate 1; both are conventional pneumatic clamping structures, and the corresponding specific clamping parts can be adjusted differently according to the actual external dimensions of the material, which will not be repeated here.

[0046] Reference Figure 2 and Figure 3The third clamping member 4 includes a clamping rod 41 slidably mounted on the edge of the fixed plate 1, and a driving member 42 driving the clamping rod 41 to slide back and forth. The driving member 42 is specifically a vertical cylinder 421 fixedly mounted on the fixed plate 1, and a guide sleeve 43 sleeved on the outer periphery of the clamping rod 41 is fixedly mounted on the fixed plate 1. One end of the clamping rod 41 is fixedly provided with a clamping portion 411 sleeved on the outer periphery for the glue bead;

[0047] When the vertical cylinder 421 is in operation, it can drive the clamping rod 41 to slide back and forth along the length direction of the guide sleeve 43. When the clamping part 411 moves to the outside of the guide sleeve 43, the rubber beads sleeved on the outer periphery are relatively fixed by friction. When the clamping part 411 moves into the guide sleeve 43, the rubber beads sleeved on its own outer periphery fall off.

[0048] Reference Figure 4 and Figure 5 The first clamping member 2 includes a support block 21 disposed on the edge of the fixed plate 1 and two negative pressure suction cups 22 fixed side by side on the support block 21. One side of the support block 21 is rotatably connected to the edge of the fixed plate 1. A traction member 23 for driving the support block 21 to rotate and adjust is disposed on the side of the fixed plate 1.

[0049] The traction member 23 includes a support seat 231 fixed on the fixed plate 1 and a traction cylinder 232 hinged to the support seat 231 at one end, a connection block 233 is fixed to the other end of the traction cylinder 232, and the side edge of the connection block 233 away from the traction cylinder 232 is rotatably connected to the support block 21, and the negative pressure suction cup 22 can reciprocate with the support block 21 toward the traction member 23;

[0050] When the sealing ring needs to be clamped, the traction cylinder 232 is in a retracted state, so that the negative pressure suction cup 22 remains parallel to the guide sleeve 43. In this way, the negative pressure suction cup 22 can accurately absorb the sealing ring; when the high-pressure porcelain bottle body is already clamped on the clamping jaws and the sealing ring needs to be assembled, the long length of the high-pressure porcelain bottle body may hinder the negative pressure suction cup 22 from directly installing the sealing ring. At this time, the traction cylinder 232 extends, driving the negative pressure suction cup 22 to rotate 90 degrees, thereby avoiding the high-pressure porcelain bottle body and completing the assembly of the sealing ring.

[0051] Reference Figure 5 A limit block 211 is fixedly provided on the side of the support block 21, wherein a limit screw 24 is threadedly penetrated on the limit block 211; when the traction cylinder 232 extends and drives the negative pressure suction cup 22 to rotate 90 degrees, one side of the limit screw 24 abuts against one side of the fixed plate 1, thereby adjusting and limiting the rotation range of the support block 21.

[0052] The implementation principle of the embodiment of the present application is:

[0053] During the assembly of the sealing ring, the main body of the high-pressure porcelain bottle, the rubber bead and the high-pressure porcelain cover, the clamp is first used to clamp the four parts in sequence. After the clamp clamps all the four parts, the clamp is moved to the top of the assembly table under the action of the mechanical arm.

[0054] When assembling the sealing ring, start the traction cylinder 232 to extend its telescopic rod, driving the negative pressure suction cup 22 to rotate 90 degrees, thereby avoiding the high-pressure porcelain bottle body and completing the assembly of the sealing ring; then the clamped high-pressure porcelain bottle body, glue beads and high-pressure porcelain cover are successively mounted on the outer periphery of the upper guide rod on the box cover from bottom to top; then the clamped high-pressure porcelain bottle body, glue beads and high-pressure porcelain cover are successively mounted on the outer periphery of the upper guide rod on the box cover from bottom to top. Example

[0055] Reference Figure 6 and Figure 7 The difference between the embodiment of the present application and embodiment 1 is that a locking rod 6 is slidably provided on the fixing plate 1, wherein a locking groove 2111 is provided on the limit block 211 for inserting the locking rod 6, and an adjusting member 7 is provided on the fixing plate 1 for driving the locking rod 6 to slide toward the limit block 211, and a reset member 8 is provided on the fixing plate 1 for driving the locking rod 6 to slide away from the limit block 211, and the end of the locking rod 6 is inserted into the locking groove 2111 when one side of the limit screw 24 abuts against one side of the fixing plate 1.

[0056] Reference Figure 7 The reset member 8 includes a compression spring 81, two baffles 82 fixedly arranged on the outer periphery of the locking rod 6, and a guide block 83 fixedly arranged on the fixed plate 1. The guide block 83 is located on the side of the baffle 82 close to the limit block 211. The guide block 83 is provided with a guide through hole 831 for the locking rod 6 to slide through. The two ends of the compression spring 81 are respectively fixedly connected to the side surfaces of the guide block 83 and the baffle 82 close to each other.

[0057] Reference Figure 7 and Figure 8 The adjusting member 7 includes two adjusting rods 71 ​​hinged to the two opposite sides of the fixing plate 1, a power member 72 driving the adjusting rods 71 ​​to reciprocate, an extension rod 821 is fixedly arranged on the sides of the two baffles 82 away from each other, the power member 72 is a power cylinder 721, and the two ends of the power cylinder 721 are respectively hinged to one side of the fixing plate 1 and the outer peripheral surface of the adjusting rod 71;

[0058] When the traction cylinder 232 is extended and drives the negative pressure suction cup 22 to rotate 90 degrees, the power cylinder 721 can be operated to drive the adjusting rod 71 to rotate. During the rotation, one end of the adjusting rod 71 squeezes the extension rod 821 and drives the locking rod 6 to slide, thereby inserting the end of the locking rod 6 into the locking groove 2111, thereby further locking the support block 21 and the negative pressure suction cup 22 in this state.

[0059] Reference Fig. 9 A detection assembly 9 is provided on the lower side of the fixed plate 1, wherein the detection assembly 9 includes a detection rod 91 and a detection camera 92 fixed on the detection rod 91, and both ends of the detection rod 91 are respectively fixedly connected to the ends of the two adjustment rods 71 ​​away from the extension rod 821, and the detection camera 92 can rotate with the adjustment rod 71 to a state flush with the bottom side of the clamped sealing ring;

[0060] The detection camera 92 is a CCD camera, which is used to detect the flatness of the sealing ring. It can capture and feedback the image information of the surface of the sealing ring in real time, making the detection process more efficient and intuitive.

[0061] The implementation principle of the embodiment of the present application is:

[0062] After the sealing ring is clamped, the position of the detection camera 92 is adjusted by the power cylinder 721, so that it rotates with the adjustment rod 71 to be flush with the bottom side of the clamped sealing ring, so as to detect the flatness of the sealing ring. If it is unqualified, a new sealing ring is clamped again, and if it is qualified, subsequent assembly is carried out;

[0063] When the traction cylinder 232 is extended and drives the negative pressure suction cup 22 to rotate 90 degrees, the operating power cylinder 721 drives the adjusting rod 71 to rotate. During the rotation, one end of the adjusting rod 71 squeezes the extension rod 821 and drives the locking rod 6 to slide, thereby inserting the end of the locking rod 6 into the locking groove 2111, thereby further locking the support block 21 and the negative pressure suction cup 22 in this state. Example

[0064] Reference Fig.10 The difference between the embodiment of the present application and embodiment 1 is that the specifications and sizes of the parts clamped by the manipulator gripper are different, and the specific structure is adaptively adjusted. Example

[0065] Reference Fig.11 The difference between the embodiment of the present application and embodiment 1 is that the specifications and sizes of the parts clamped by the manipulator gripper are different, and the specific structure is adaptively adjusted.

[0066] Unless otherwise defined, the terms or scientific terms used in this application should be understood by people with ordinary skills in the field to which this application belongs. The "first", "second", "third" and similar words used in this application do not indicate any order, quantity or importance, but are only used to distinguish different components. "One" or "one" and other similar words do not indicate a quantitative limit, but indicate that there is at least one. "Including" or "comprising" and other similar words mean that the elements or objects appearing in front of "including" or "comprising" cover the elements or objects listed after "including" or "comprising" and their equivalents, and do not exclude other elements or objects. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0067] The embodiments of this specific implementation are all preferred embodiments of the present application, and are not intended to limit the protection scope of the present application. The same components are represented by the same figure marks. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A robot gripper, characterized in that: It comprises a fixing plate (1) fixed on the mechanical arm, and the edges of the fixing plate (1) are respectively provided with a first clamping piece (2) for clamping a sealing ring, a second clamping piece (3) for clamping a porcelain bottle body, a third clamping piece (4) for clamping a rubber bead, and a fourth clamping piece (5) for clamping a porcelain cover; The first clamping member (2) comprises a support block (21) arranged on the edge of the fixed plate (1) and a plurality of negative pressure suction cups (22) fixed on the support block (21); the second clamping member (3) comprises a first pneumatic finger (31) fixed on the edge of the fixed plate (1); the third clamping member (4) comprises a clamping rod (41) slidably arranged on the edge of the fixed plate (1) and a driving member (42) driving the clamping rod (41) to slide back and forth; the fourth clamping member (5) is a second pneumatic finger (51) fixed on the edge of the fixed plate (1); One side of the support block (21) is rotatably connected to the edge of the fixed plate (1); a traction member (23) is provided on the side of the fixed plate (1) for driving the support block (21) to rotate and adjust; the negative pressure suction cup (22) can reciprocate with the support block (21) in a direction close to the traction member (23); a limit block (211) is fixedly provided on the side of the support block (21); a limit screw (24) is provided on the limit block (211); one side of the limit screw (24) can abut against one side of the fixed plate (1) when the sealing ring is assembled; A locking rod (6) is slidably provided on the fixing plate (1), a locking groove (2111) for inserting the locking rod (6) is provided on the limiting block (211), an adjusting member (7) for driving the locking rod (6) to slide in a direction close to the limiting block (211), and a reset member (8) for driving the locking rod (6) to slide in a direction away from the limiting block (211) are provided on the fixing plate (1), and an end of the locking rod (6) can be inserted into the locking groove (2111) when the limiting screw (24) abuts against one side of the fixing plate (1); The reset member (8) comprises a compression spring (81), two baffles (82) fixedly arranged on the outer periphery of the locking rod (6), and a guide block (83) fixedly arranged on the fixed plate (1); the guide block (83) is located on the side of the baffle (82) close to the limit block (211); a guide through hole (831) for the locking rod (6) to slide through is formed on the guide block (83), and two ends of the compression spring (81) are respectively fixedly connected to the side surfaces of the guide block (83) and the baffle (82) close to each other; The adjusting member (7) comprises two adjusting rods (71) hingedly connected to two opposite side surfaces of the fixing plate (1), and a power member (72) for driving the adjusting rods (71) to rotate back and forth; an extension rod (821) is fixedly arranged on the side surfaces of the two baffles (82) that are away from each other; one end of the adjusting rod (71) can press the extension rod (821) during the rotation process, thereby driving the locking rod (6) to slide; A detection assembly (9) for detecting the flatness of the sealing ring is provided on the lower side of the fixing plate (1), the detection assembly (9) comprising a detection rod (91) and a detection camera (92) fixed on the detection rod (91), the two ends of the detection rod (91) are respectively fixedly connected to the ends of the two adjustment rods (71) away from the extension rod (821), and the detection camera (92) can rotate with the adjustment rod (71) to a state flush with the bottom side of the clamped sealing ring.

2. A robot gripper according to claim 1, characterized in that: The fixing plate (1) is fixedly provided with a guide sleeve (43) sleeved on the outer periphery of the clamping rod (41); one end of the clamping rod (41) is fixedly provided with a clamping portion (411) for a rubber bead to sleeve on the outer periphery; The driving member (42) is used to drive the clamping rod (41) to slide back and forth along the length direction of the guide sleeve (43); when the clamping portion (411) moves to the outside of the guide sleeve (43), the rubber beads sleeved on the outer periphery are relatively fixed by friction; when the clamping portion (411) moves into the inside of the guide sleeve (43), the rubber beads sleeved on the outer periphery fall off.

3. A robot gripper according to claim 1, characterized in that: The traction member (23) comprises a support seat (231) fixedly mounted on the fixed plate (1) and a traction cylinder (232) having one end hingedly connected to the support seat (231); a connecting block (233) is fixedly mounted on the other end of the traction cylinder (232); and the connecting block (233) is rotatably connected to the support block (21) at a side edge away from the traction cylinder (232).

4. A robot gripper according to claim 1, characterized in that: The power member (72) is a power cylinder (721), and the two ends of the power cylinder (721) are respectively hinged to one side of the fixing plate (1) and the outer peripheral surface of the adjusting rod (71). The power cylinder (721) can drive the adjusting rod (71) to rotate during the extension and retraction process.

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