Multifunctional self-adaptive intelligent industrial robot end effector

Abstract

The invention relates to the technical field of industrial robots, and discloses a multifunctional self-adaptive intelligent industrial robot end effector which comprises a clamping plate, a connecting frame is fixedly connected to the top of the clamping plate, a fixing frame is fixedly connected to the top of the clamping plate, a motor is fixedly connected to the inner wall of the fixing frame, and a through hole is formed in the surface of the clamping plate. A clamping part is arranged at the output end of the motor, and a stabilizing part is arranged at the bottom of the clamping plate. A clamping plate and the industrial robot are fixed through a connecting frame, when goods need to be clamped, a motor is started to work, the motor drives a meshing ring to rotate through a rotating ring, the meshing ring drives a screw rod to rotate in a through hole through a gear when rotating, and a screw hole frame moves on the inner wall of the through hole through rotation of the screw rod; the screw hole frame drives the grabbing plates to move close to each other when moving, so that the grabbing plates carry and process goods, the grabbing plates are adjusted through the moving distance of the screw hole frame, and the grabbing plates can carry and process different goods.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robots, in particular to a multifunctional adaptive intelligent industrial robot end effector. Background Art

[0002] Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices widely used in the industrial field. They have a certain degree of automation and can rely on their own power and control capabilities to achieve various industrial processing and manufacturing functions. Industrial robots are widely used in various industrial fields such as electronics, logistics, and chemicals. Industrial robots are composed of three major parts and six subsystems. The three major parts are the mechanical part, the sensor part, and the control part. The six subsystems can be divided into the mechanical structure system, the drive system, the perception system, the robot-environment interaction system, the human-machine interaction system, and the control system;

[0003] When an industrial robot is performing transportation work, it needs to clamp and fix the goods through the gripper at the end of the industrial robot. The expansion distance of the gripper currently used is small. When transporting different goods, the gripper of the industrial robot needs to be replaced. Frequent replacement of the gripper of the industrial robot can easily cause thread slippage at the connection, thereby causing the stability of the industrial robot's gripper to deteriorate, and easily causing the goods to slip when transporting them. Summary of the invention

[0004] The purpose of the present invention is to provide a multifunctional adaptive intelligent industrial robot end effector, which not only improves the accuracy and stability of operation, but also greatly improves the flexibility and economic benefits of the robot system, meeting the development needs of modern industrial automation.

[0005] In order to solve the above technical problems, the present invention is achieved through the following technical solutions:

[0006] The present invention is a multifunctional adaptive intelligent industrial robot end effector, comprising a clamping plate, the top of the clamping plate is fixedly connected to a connecting frame, the clamping plate and the industrial robot are fixed by the connecting frame, the top of the clamping plate is fixedly connected to a fixing frame, the inner wall of the fixing frame is fixedly connected to a motor, a through hole is provided on the surface of the clamping plate, a clamping component is provided at the output end of the motor, and a stabilizing component is provided at the bottom of the clamping plate;

[0007] The locking mechanism that the cam frame is connected with the locking mechanism is that the cam frame is in a state of being locked and that the locking mechanism is in a state of being locked and that the cam frame is in a state of being locked and that the cam frame is in a state of being locked and that the cam frame is in a state of being locked and that the cam frame is in a state of being locked and that the cam frame is in a state of being locked and that the cam frame is in a state of being locked and that the cam frame is in a state of being locked and that the

[0008] The output end of the motor is fixedly connected to the top of the clamping plate, the end of the motor passes through the fixing frame and extends to the outer end of the fixing frame, the fixing frame is arranged below the connecting frame, and the number of the through holes is four.

[0009] Among them, the bottom of the engaging ring is meshed with the gear, the slide groove and the through hole are connected to each other, the surface of the screw hole frame is slidably connected to the inner wall of the slide groove, and two slide grooves are opened inside the through hole, and the two slide grooves are symmetrically arranged with the through hole as the center.

[0010] The top of the grab plate contacts the bottom of the clamping plate, there are four grab plates, and the lower surface of the grab plate is inclined.

[0011] The cam is connected with the bottom surface of the movable frame by the elastic rod, and the end of the push plate is connected with the bottom surface of the movable frame by the elastic rod.

[0012] The surface of the positioning plate is slidably connected to the inner wall of the positioning groove, the push plate is arranged at one end of the telescopic frame away from the mobile frame, two telescopic frames are arranged on the surface of the mobile frame, and the two telescopic frames are symmetrically arranged with the elastic rod as the center.

[0013] The bending plate is symmetrically arranged with the elastic rod as the center, the contact plate is arranged at one end of the bending plate close to the grab plate, and the top of the moving frame contacts the bottom of the clamping plate.

[0014] 9. Wherein, the control method of the end effector is:

[0015] Step 1: Initialization and preparation

[0016] Initialization parameters: set motor status, motor speed R m , sensor status and initial position P 0 ;

[0017] Connect the clamping plate: fix the clamping plate to the industrial robot through the connecting frame to ensure its stability;

[0018] Step 2: Cargo detection and positioning

[0019] Cargo detection: Use sensors to detect the position Pc and size Sc of the cargo;

[0020] Calculate the clamping position: Calculate the optimal clamping position of the gripper according to the position and size of the cargo;

[0021] P g =f(P C ,S C );

[0022] Step 3: Start the clamping operation

[0023] Start the motor: Start the motor to drive the rotating ring to rotate;

[0024] Drive the meshing ring: the rotating ring drives the meshing ring to rotate;

[0025] Screw rotation: The meshing ring drives the screw to rotate in the through hole through the gear;

[0026] ω S =g(ω m );

[0027] Among them, ω s is the angular velocity of the screw, ω m is the angular velocity of the motor;

[0028] Step 4: Move and adjust the gripper

[0029] Movement of screw hole frame: The screw hole frame moves along the inner wall of the through hole driven by the screw rod;

[0030] Δχ n =h(ω s ,t);

[0031] Among them, Δχ n is the displacement of the screw hole frame, t is the time;

[0032] Grab plates approach: The screw hole rack drives the grab plates to approach each other to clamp the goods;

[0033] Adjust the distance between the grab plates: according to the size of the goods, adjust the distance between the grab plates by moving the screw hole rack;

[0034] d g =j(Δχ n );

[0035] Among them, d g is the spacing between the scratching plates;

[0036] Step 5: Stabilize the cargo

[0037] Push the telescopic frame: when the grab plate moves, the push plate pulls the telescopic frame to move;

[0038] Sliding mobile rack: The telescopic rack pushes the mobile rack to slide on the slide;

[0039] Function of the elastic rod: The mobile rack pushes the curved plate through the elastic rod to squeeze and fix the goods, and the curved plate clamps the upper surface of the goods;

[0040] F C = k(Δχ m );

[0041] Where Fc is the extrusion force, Δχ n is the displacement of the mobile frame;

[0042] Step 6: Transporting goods

[0043] Clamping stability: ensure that the screw hole frame and the inner wall of the slide are stably connected and the gripping plate firmly clamps the goods;

[0044] Moving goods: The robot moves the goods to the designated location;

[0045] P t =P r +P g ;

[0046] Among them, P t is the target position, P r is the robot's position;

[0047] Release the goods: At the specified position, the motor rotates in the opposite direction, loosens the screw, and the gripper releases the goods;

[0048] ω m =-ω m ;

[0049] Step 7. Reset and End

[0050] Reset the gripper: The gripper returns to its initial position, ready for the next operation;

[0051] P g →P 0 ;

[0052] Stop the motor: turn off the motor and end the operation;

[0053] R m =0.

[0054] The present invention has the following beneficial effects:

[0055] 1. The multifunctional adaptive intelligent industrial robot end effector of the present invention has the following beneficial effects:

[0056] Versatile and adaptive: By configuring multiple adjustable grippers and corresponding transmission mechanisms, the actuator can adapt to goods of different sizes and shapes. This design allows the robot to handle a variety of tasks without changing the end tool, improving flexibility and efficiency.

[0057] Precise control and operation: The motor and meshing ring in the actuator cooperate with the rotating ring and gear to accurately control the movement of the screw and screw hole rack, thereby accurately controlling the position and pressure of the gripper. This precise control helps to perform delicate and high-precision handling operations.

[0058] Improved stability and safety: The slide and positioning slots as well as the related mobile frames and elastic rods form a stable support system, which not only ensures stability when moving or carrying goods, but also reduces vibration and errors during operation, thereby improving the safety of operations.

[0059] Wide applicability: The structural design of the present invention enables it to be widely used in various industrial environments, such as manufacturing, logistics, assembly lines, etc., and is particularly suitable for situations where it is necessary to quickly change work tasks or process diversified products.

[0060] Save costs and time: The integrated multi-functional design reduces the need to frequently replace different actuators, thereby saving equipment costs and maintenance time. At the same time, the rapid adaptation to different operating requirements also significantly improves production efficiency.

[0061] In summary, the industrial robot end effector of the present invention, through its innovative design and technology, not only improves the accuracy and stability of operation, but also greatly improves the flexibility and economic benefits of the robot system, which meets the development needs of modern industrial automation.

[0062] 2. More specifically, the present invention fixes the clamping plate and the industrial robot through a connecting frame. When the goods need to be clamped, the motor is started to work. The motor drives the meshing ring to rotate through the rotating ring. When the meshing ring rotates, it drives the screw to rotate inside the through hole through the gear. The screw hole frame moves on the inner wall of the through hole by the rotation of the screw. When moving, the screw hole frame drives the grab plate to move closer to each other, so that the grab plate carries and processes the goods. The grab plate is adjusted by the moving distance of the screw hole frame, so that the grab plate can carry and process different goods. The screw hole frame is slidably connected to the inner wall of the slide groove, and the slide groove is used to improve the stability of the screw hole frame fixing the grab plate, thereby further improving the stability of the grab plate when carrying goods.

[0063] When the grab plate moves, the telescopic frame is pulled to move by the push plate, and when the telescopic frame moves, the mobile frame is pushed to slide on the surface of the slide plate, and when the mobile frame moves, the bending plate is pushed by the elastic rod to squeeze and fix the goods, and the bending plate is arranged on the upper surface of the grab plate, so the bending plate can clamp and fix the upper surface of the goods, further improving the stability of the goods during transportation, and the mobile frame slides with the inner wall of the positioning groove through the positioning plate, thereby improving the stability of the bending plate when clamping the goods, and the squeezing plate contacts the goods as the bending plate moves, and squeezes and fixes the goods, further improving the stability of the industrial robot when carrying goods. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0065] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0066] Figure 2 It is a schematic diagram of the structure of the clamping plate of the present invention;

[0067] Figure 3 It is a schematic diagram of the overall structure of the clamping component of the present invention;

[0068] Figure 4 This is a schematic diagram of the structure of the grab plate of the present invention;

[0069] Figure 5 It is a schematic diagram of the overall structure of the stabilizing component of the present invention;

[0070] Figure 6 It is a schematic diagram of the structure of the mobile rack of the present invention.

[0071] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0072] In the figure: 1. Clamping plate; 2. Connecting frame; 3. Motor; 4. Fixed frame; 5. Through hole; 6. Clamping component; 7. Stabilizing component; 10. Rotating ring; 11. Engaging ring; 12. Gear; 13. Screw hole frame; 14. Screw; 15. Slide; 16. Grab plate; 20. Slide plate; 21. Positioning groove; 22. Moving frame; 23. Positioning plate; 24. Telescopic frame; 25. Extrusion plate; 26. Push plate; 27. Elastic rod; 28. Contact plate; 29. ​​Bending plate. DETAILED DESCRIPTION

[0073] 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.

[0074] See also Figure 1-Figure 6 As shown, the present invention is a multifunctional adaptive intelligent industrial robot end effector, comprising a clamping plate 1, a connecting frame 2 is fixedly connected to the top of the clamping plate 1, a fixing frame 4 is fixedly connected to the top of the clamping plate 1, a motor 3 is fixedly connected to the inner wall of the fixing frame 4, a through hole 5 is provided on the surface of the clamping plate 1, a clamping component 6 is provided at the output end of the motor 3, and a stabilizing component 7 is provided at the bottom of the clamping plate 1;

[0075] The clamping component 6 includes a rotating ring 10, which is fixedly connected to the output end of the motor 3. The bottom of the rotating ring 10 is fixedly connected to a meshing ring 11. The inner wall of the through hole 5 is rotatably connected to a screw rod 14. The surface of the screw rod 14 is threadedly connected to a screw hole frame 13. The present invention fixes the clamping plate 1 to the industrial robot through the connecting frame 2. When the goods need to be clamped, the motor 3 is started to work. The motor 3 drives the meshing ring 11 to rotate through the rotating ring 10. When the meshing ring 11 rotates, it drives the screw rod 14 to rotate inside the through hole 5 through the gear 12. The screw hole frame 13 utilizes the rotation of the screw rod 14 to rotate inside the through hole 5. The wall moves, and the screw hole frame 13 drives the grab plate 16 to move closer to each other when moving, so that the grab plate 16 carries and processes the goods. The grab plate 16 is adjusted by the moving distance of the screw hole frame 13, so that the grab plate 16 can carry and process different goods. The screw hole frame 13 is slidably connected to the inner wall of the slide groove 15, and the slide groove 15 is used to improve the stability of the screw hole frame 13 fixing the grab plate 16, and further improve the stability of the grab plate 16 when carrying goods. The interior of the clamping plate 1 is provided with a slide groove 15, the surface of the screw rod 14 is fixedly connected with the gear 12, and the bottom of the screw hole frame 13 is fixedly connected with the grab plate 16.

[0076] The output end of the motor 3 is fixedly connected to the top of the clamping plate 1 , and the end of the motor 3 passes through the fixing frame 4 and extends to the outer end of the fixing frame 4 . The fixing frame 4 is arranged below the connecting frame 2 , and the number of through holes 5 is four.

[0077] The bottom of the meshing ring 11 meshes with the gear 12, the slide groove 15 is connected to the through hole 5, the surface of the screw hole frame 13 is slidably connected to the inner wall of the slide groove 15, and two slide grooves 15 are opened inside the through hole 5, and the two slide grooves 15 are symmetrically arranged with the through hole 5 as the center.

[0078] The top of the grab plate 16 contacts the bottom of the clamping plate 1 , and there are four grab plates 16 . The lower surface of the grab plate 16 is inclined.

[0079] The stabilizing component 7 includes a slide plate 20, the top of the slide plate 20 is fixedly connected to the bottom of the clamping plate 1, a positioning groove 21 is provided on the surface of the slide plate 20, a mobile frame 22 is slidably connected to the surface of the slide plate 20, a positioning plate 23 is fixedly connected to the inner wall of the mobile frame 22, an elastic rod 27 is fixedly connected to the lower surface of the mobile frame 22, an end of the elastic rod 27 away from the mobile frame 22 is fixedly connected to a bending plate 29, an end of the bending plate 29 is fixedly connected to an extrusion plate 25, an end of the extrusion plate 25 away from the bending plate 29 is fixedly connected to a contact plate 28, and a telescopic frame 24 is fixedly connected to the lower surface of the mobile frame 22. When the grab plate 16 of the present invention moves, the telescopic frame 24 is pulled to move by the push plate 26, and the telescopic frame 24 pushes the mobile frame 22 on the slide plate 2 when moving. 0, the mobile frame 22 pushes the bent plate 29 to squeeze and fix the goods through the elastic rod 27 when moving, and the bent plate 29 is set on the upper surface of the grab plate 16, so the bent plate 29 can clamp and fix the upper surface of the goods, further improving the stability of the goods during transportation, the mobile frame 22 slides with the inner wall of the positioning groove 21 through the positioning plate 23, thereby improving the stability of the bent plate 29 when clamping the goods, the squeezing plate 25 contacts the goods as the bent plate 29 moves, and squeezes and fixes the goods, further improving the stability of the industrial robot when carrying the goods, the end of the telescopic frame 24 is fixedly connected with the push plate 26, and the end of the push plate 26 away from the telescopic frame 24 is fixedly connected to the surface of the grab plate 16.

[0080] The surface of the positioning plate 23 is slidably connected to the inner wall of the positioning groove 21 . The push plate 26 is arranged at one end of the telescopic frame 24 away from the moving frame 22 . Two telescopic frames 24 are arranged on the surface of the moving frame 22 . The two telescopic frames 24 are symmetrically arranged with the elastic rod 27 as the center.

[0081] The bending plate 29 is symmetrically arranged with the elastic rod 27 as the center, the contact plate 28 is arranged at one end of the bending plate 29 close to the grab plate 16 , and the top of the moving frame 22 contacts the bottom of the clamping plate 1 .

[0082] When in use, the clamping plate 1 is fixed to the industrial robot through the connecting frame 2. When the goods need to be clamped, the motor 3 is started to work. The motor 3 drives the meshing ring 11 to rotate through the rotating ring 10. When the meshing ring 11 rotates, it drives the screw 14 to rotate inside the through hole 5 through the gear 12. The screw hole frame 13 moves on the inner wall of the through hole 5 by the rotation of the screw 14. When moving, the screw hole frame 13 drives the grab plate 16 to move closer to each other, so that the grab plate 16 carries and processes the goods. The grab plate 16 is adjusted by the moving distance of the screw hole frame 13, so that the grab plate 16 can carry and process different goods. The screw hole frame 13 is slidably connected to the inner wall of the slide groove 15, and the slide groove 15 is used to improve the stability of the screw hole frame 13 fixing the grab plate 16, further improving the grab The plate 16 improves the stability of the goods when carrying the goods. The grab plate 16 pulls the telescopic frame 24 to move through the push plate 26 when moving. The telescopic frame 24 pushes the mobile frame 22 to slide on the surface of the slide plate 20 when moving. The mobile frame 22 pushes the bending plate 29 to squeeze and fix the goods through the elastic rod 27 when moving. The bending plate 29 is set on the upper surface of the grab plate 16, so the bending plate 29 can clamp and fix the upper surface of the goods, further improving the stability of the goods when carrying. The mobile frame 22 slides with the inner wall of the positioning groove 21 through the positioning plate 23, thereby improving the stability of the bent plate 29 when clamping the goods. The squeezing plate 25 contacts the goods as the bent plate 29 moves, and squeezes and fixes the goods, further improving the stability of the industrial robot when carrying goods.

[0083] 10. Specifically, the control method of the end effector is:

[0084] Step 1: Initialization and preparation

[0085] Initialization parameters: set motor status, motor speed R m , sensor status and initial position P 0 ;

[0086] Connecting the clamping plate: Fix the clamping plate 1 to the industrial robot through the connecting frame 2 to ensure its stability;

[0087] Step 2: Cargo detection and positioning

[0088] Cargo detection: Use sensors to detect the position Pc and size Sc of the cargo;

[0089] Calculate the clamping position: Calculate the optimal clamping position of the gripping plate 16 according to the position and size of the cargo;

[0090] P g =f(P C ,S C );

[0091] Step 3: Start the clamping operation

[0092] Start the motor: Start the motor 3 to drive the rotating ring 10 to rotate;

[0093] Driving the meshing ring: the rotating ring 10 drives the meshing ring 11 to rotate;

[0094] Screw rotation: The meshing ring 11 drives the screw 14 to rotate in the through hole 5 through the gear 12;

[0095] ω S =g(ω m );

[0096] Among them, ω s is the angular velocity of the screw, ω m is the angular velocity of the motor;

[0097] Step 4: Move and adjust the gripper

[0098] Movement of the screw hole frame: The screw hole frame 13 moves along the inner wall of the through hole 5 driven by the screw rod 14;

[0099] Δχ n =h(ω s ,t);

[0100] Among them, Δχ n is the displacement of the screw hole frame 13, t is the time;

[0101] The gripping plates approach: the screw hole racks 13 drive the gripping plates 16 to approach each other to clamp the goods;

[0102] Adjust the distance between the grab plates: according to the size of the goods, adjust the distance between the grab plates 16 by the moving distance of the screw hole frame 13;

[0103] d g =j(Δχ n );

[0104] Among them, d g is the spacing between the gripping plates 16;

[0105] Step 5: Stabilize the cargo

[0106] Pushing the telescopic frame: When the grab plate 16 moves, the push plate 26 pulls the telescopic frame 24 to move;

[0107] Sliding mobile frame: the telescopic frame 24 pushes the mobile frame 22 to slide on the slide plate 20;

[0108] Function of the elastic rod: The mobile frame 22 pushes the curved plate 29 through the elastic rod 27 to squeeze and fix the goods, and the curved plate 29 clamps the upper surface of the goods;

[0109] F C = k(Δχ m);

[0110] Where Fc is the extrusion force, Δχ n is the displacement of the mobile frame 22;

[0111] Step 6: Transporting goods

[0112] Clamping stability: ensure that the screw hole frame 13 and the inner wall of the slide groove 15 are stably connected and the gripping plate 16 firmly clamps the goods;

[0113] Moving goods: The robot moves the goods to the designated location;

[0114] P t =P r +P g ;

[0115] Among them, P t is the target position, P r is the robot's position;

[0116] Release the goods: at the designated position, the motor rotates in the reverse direction, loosens the screw 14, and the gripping plate 16 releases the goods;

[0117] ω m =-ω m ;

[0118] Step 7. Reset and End

[0119] Reset the gripper: The gripper 16 returns to its initial position, ready for the next operation;

[0120] P g →P 0 ;

[0121] Stop motor: turn off motor 3 and end the operation;

[0122] R m =0.

[0123] The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A multifunctional adaptive intelligent industrial robot end effector, comprising a clamping plate (1), characterized in that: The top of the clamping plate (1) is fixedly connected to a connecting frame (2), the top of the clamping plate (1) is fixedly connected to a fixing frame (4), the inner wall of the fixing frame (4) is fixedly connected to a motor (3), a through hole (5) is provided on the surface of the clamping plate (1), a clamping component (6) is provided at the output end of the motor (3), and a stabilizing component (7) is provided at the bottom of the clamping plate (1); The clamping component (6) comprises a rotating ring (10), the rotating ring (10) is fixedly connected to the output end of the motor (3), the bottom of the rotating ring (10) is fixedly connected to a meshing ring (11), the inner wall of the through hole (5) is rotatably connected to a screw rod (14), the surface of the screw rod (14) is threadedly connected to a screw hole frame (13), a sliding groove (15) is provided inside the clamping plate (1), the surface of the screw rod (14) is fixedly connected to a gear (12), and the bottom of the screw hole frame (13) is fixedly connected to a grab plate (16).

2. The multifunctional adaptive intelligent industrial robot end effector according to claim 1 is characterized in that: The output end of the motor (3) is fixedly connected to the top of the clamping plate (1), the end of the motor (3) passes through the fixing frame (4) and extends to the outer end of the fixing frame (4), the fixing frame (4) is arranged below the connecting frame (2), and the number of the through holes (5) is four.

3. The multifunctional adaptive intelligent industrial robot end effector according to claim 2 is characterized in that: The bottom of the meshing ring (11) is meshed with the gear (12), the slide groove (15) is communicated with the through hole (5), the surface of the screw hole frame (13) is slidably connected with the inner wall of the slide groove (15), and two slide grooves (15) are provided inside the through hole (5), and the two slide grooves (15) are symmetrically arranged with the through hole (5) as the center.

4. The multifunctional adaptive intelligent industrial robot end effector according to claim 3 is characterized in that: The top of the grab plate (16) contacts the bottom of the clamping plate (1), the number of the grab plates (16) is four, and the lower surface of the grab plate (16) is inclined.

5. The multifunctional adaptive intelligent industrial robot end effector according to claim 4 is characterized in that: The stabilizing component (7) comprises a slide plate (20), the top of the slide plate (20) is fixedly connected to the bottom of the clamping plate (1), a positioning groove (21) is provided on the surface of the slide plate (20), the surface of the slide plate (20) is slidably connected to a moving frame (22), the inner wall of the moving frame (22) is fixedly connected to a positioning plate (23), the lower surface of the moving frame (22) is fixedly connected to an elastic rod (27), the end of the elastic rod (27) away from the moving frame (22) is fixedly connected to a bending plate (29), the end of the bending plate (29) is fixedly connected to an extrusion plate (25), the end of the extrusion plate (25) away from the bending plate (29) is fixedly connected to a contact plate (28), the lower surface of the moving frame (22) is fixedly connected to a telescopic frame (24), the end of the telescopic frame (24) is fixedly connected to a push plate (26), and the end of the push plate (26) away from the telescopic frame (24) is fixedly connected to the surface of the grab plate (16).

6. The multifunctional adaptive intelligent industrial robot end effector according to claim 5, characterized in that: The surface of the positioning plate (23) is slidably connected to the inner wall of the positioning groove (21); the push plate (26) is arranged at one end of the telescopic frame (24) away from the mobile frame (22); two telescopic frames (24) are arranged on the surface of the mobile frame (22); and the two telescopic frames (24) are symmetrically arranged with the elastic rod (27) as the center.

7. The multifunctional adaptive intelligent industrial robot end effector according to claim 6, characterized in that: The bending plate (29) is symmetrically arranged with the elastic rod (27) as the center, the contact plate (28) is arranged at one end of the bending plate (29) close to the grab plate (16), and the top of the moving frame (22) contacts the bottom of the clamping plate (1).

8. The multifunctional adaptive intelligent industrial robot end effector according to claim 7, characterized in that: The control method of the end effector is as follows: Step 1: Initialization and preparation Initialization parameters: set motor status, motor speed R m , sensor status and initial position P0; Connecting the clamping plate: fixing the clamping plate (1) on the industrial robot through the connecting frame (2) to ensure its stability; Step 2: Cargo detection and positioning Cargo detection: Use sensors to detect the position Pc and size Sc of the cargo; Calculating the clamping position: Calculating the optimal clamping position of the gripping plate (16) according to the position and size of the cargo; P g =f(P C ,S C ); Step 3: Start the clamping operation Starting the motor: Starting the motor (3) drives the rotating ring (10) to rotate; Driving the meshing ring: the rotating ring (10) drives the meshing ring (11) to rotate; Screw rotation: the meshing ring (11) drives the screw (14) to rotate in the through hole (5) through the gear (12); oh S =g(ω m ); Among them, ω s is the angular velocity of the screw, ω m is the angular velocity of the motor; Step 4: Move and adjust the gripper Movement of the screw hole frame: the screw hole frame (13) moves along the inner wall of the through hole (5) driven by the screw rod (14); No n =h(ω s ,t); Among them, Δχ n is the displacement of the screw hole frame (13), t is the time; The gripping plates approach: the screw hole rack (13) drives the gripping plates (16) to approach each other to clamp the goods; Adjusting the distance between the grab plates: According to the size of the goods, the distance between the grab plates (16) is adjusted by the moving distance of the screw hole frame (13); d g =j(Δx n ); Among them, d g is the spacing between the gripping plates (16); Step 5: Stabilize the cargo Pushing the telescopic frame: when the grab plate (16) moves, the push plate (26) pulls the telescopic frame (24) to move; Sliding mobile frame: the telescopic frame (24) pushes the mobile frame (22) to slide on the slide plate (20); Function of the elastic rod: the movable frame (22) pushes the curved plate (29) through the elastic rod (27) to squeeze and fix the goods, and the curved plate (29) clamps the upper surface of the goods; F C =k(Δχ m ); Where Fc is the extrusion force, Δχ n is the displacement of the mobile frame (22); Step 6: Transporting goods Clamping stability: ensure that the screw hole frame (13) and the inner wall of the slide groove (15) are stably connected in sliding, and the gripping plate (16) firmly clamps the goods; Moving goods: The robot moves the goods to the designated location; P t =P r +P g ; Among them, P t is the target position, P r is the robot's position; Release the goods: at the designated position, the motor rotates in the reverse direction, loosens the screw (14), and the gripping plate (16) releases the goods; oh m =-ω m ; Step 7. Reset and End Reset the gripper: The gripper (16) returns to its initial position, ready for the next operation; P g →P0; Stop motor: turn off the motor (3) and end the operation; R m ＝0。

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