Multifunctional mechanical gripper and workpiece transfer device

Abstract

The invention provides a multifunctional mechanical gripper and a workpiece transfer device. The multifunctional mechanical gripper comprises a shell; the two first gear discs are mounted in the shell in a relatively rotating manner; the first connecting arm is fixedly mounted in the middle of the first gear disc; the clamping jaw is hinged to the other end of the first connecting arm; the two second connecting arms relatively rotate at the bottom of the shell, and one end of each second connecting arm is rotationally connected with the top of the corresponding clamping jaw. An air pump is started to work, then air generated by the air pump is input into the sleeves through a first air conveying pipe, after the air enters the sleeves, a movable column is pushed to move outwards through air pressure, the movable column makes contact with an object, and the air can be conveyed into the multiple sleeves through an arranged fourth air conveying pipe; the movable columns make contact with the surface of an object to clamp the object, the extending lengths of the multiple movable columns are different, the movable columns can be inserted into the concave face of the object, then the object with the uneven surface can be clamped conveniently, and workers can use the device conveniently.

Description

Technical Field

[0001] The invention relates to the field of mechanical grippers, and in particular to a multifunctional mechanical gripper and a workpiece transfer device. Background Art

[0002] A manipulator is an automatic device that can imitate certain movements of human hands and arms and is used to grab, move objects or operate tools according to a fixed procedure. Its characteristic is that it can be programmed to complete various expected tasks, and its structure and performance combine the advantages of both human and mechanical machines.

[0003] The prior art can refer to the Chinese authorized invention patent with publication number CN115592692B. The prior art is specifically a multifunctional mechanical gripper and a workpiece transfer method, including a mounting frame, a visual inspection device, a first clamp arm, a second clamp arm, a driving device and a limiting device. The first end of the first clamp arm is slidably connected to the mounting frame, and the first end of the second clamp arm is detachably connected to the mounting frame. The first clamp arm and the second clamp arm both include multiple-section support arms connected in sequence. The cross-sectional areas of the multiple-section support arms decrease sequentially from the first end to the second end of the first clamp arm and the second clamp arm. The driving device and the limiting device are both arranged on the mounting frame, and the driving device is connected to the first clamp arm to drive the first clamp arm to slide, and the limiting device can abut against the first clamp arm. The prior art can mainly match workpieces with different apertures according to the support arms with different cross-sectional areas.

[0004] The above-mentioned prior art has the following deficiencies in actual implementation: the prior art has fewer functions, and has a poor clamping effect on objects with concave-convex shapes on the outer wall, which may cause the objects to slip or slide. Summary of the invention

[0005] In order to solve the above problems, the present invention proposes a multifunctional mechanical gripper and a workpiece transfer device to solve the above problems existing in the prior art.

[0006] To achieve the above-mentioned purpose, the present invention provides a multifunctional mechanical gripper and workpiece transfer device, which include: a shell; two first gear plates installed relatively rotatably inside the shell, the two first gear plates meshing with each other; a first connecting arm fixedly installed in the middle of the first gear plate; a clamping claw hinged at the other end of the first connecting arm; two second connecting arms relatively rotatable at the bottom of the shell, one end of the second connecting arm being rotatably connected to the top of the clamping claw; and a first motor installed on the outer wall of the shell and a driving gear installed inside the shell, the output end of the first motor being connected to the driving gear at an interval to drive the driving gear to rotate, and the driving gear meshing with one of the first gear plates; an installation groove is provided inside the clamping claw, one end of the installation groove is open, a plurality of sleeves are arranged inside the installation groove, a moving column is slidably arranged inside the sleeve, a first spring is arranged at one end inside the sleeve, and one end of the first spring is connected to one end of the moving column; an air supply component is arranged on the shell, and the air supply component is communicated with the sleeve.

[0007] Furthermore, the air delivery assembly includes an air pump installed on the outer wall of the shell, and a first air delivery pipe installed on the output end of the air pump, and both ends of the first air delivery pipe are respectively connected to the sleeves inside the two clamping claws; the multiple sleeves are connected to each other through a fourth air delivery pipe.

[0008] Furthermore, a plurality of fixing plates are arranged at the open end of the mounting groove, and the fixing plates are located in the gap between two upper and lower adjacent sleeves, and the fixing plates are hollow, and a sealing plate is slidably connected inside the fixing plates, and the middle parts of the plurality of sealing plates are interconnected; a switch assembly is arranged on the outer wall of the clamping claw, and the switch assembly is respectively connected to the sealing plate and the first air pipe, and is used to drive the sealing plate to slide up and down.

[0009] Furthermore, the switch assembly includes a shell installed on the outer wall of the clamping claw, a push block slidably installed inside the shell, a second spring fixedly installed at one end inside the shell, and a third air pipe, one end of the second spring is connected to one end of the push block, a first slide groove is provided on the outer wall of the clamping claw, a slider is slidably arranged inside the first slide groove, one end of the slider is connected to one of the blocking plates, and the other end of the push block is connected to the other end of the slider; one end of the third air pipe is connected to the first air pipe, and the other end of the third air pipe is connected to the shell.

[0010] Furthermore, two first fixed boxes are relatively arranged on the outer walls of both sides of the shell, and a synchronous wheel is rotatably arranged on the top outer wall of the first fixed box, and two adjacent synchronous wheels are mutually sleeved with a first synchronous belt, one end of the synchronous wheel extends to the interior of the first fixed box and is connected to a sprocket, a synchronous chain is arranged inside the first fixed box, and two sprockets are arranged up and down inside the first fixed box, and the synchronous chain is tensionedly connected to the two sprockets; a second fixed box is arranged on one side of the first fixed box, a second slide groove is opened inside the second fixed box, and the second slide groove is communicated with the first fixed box, a synchronous block is arranged on the outer wall of the synchronous chain, one end of the synchronous block extends to the interior of the second slide groove and is connected to a connecting column, and a suction cup is arranged at the bottom of the connecting column; a driving assembly is arranged on the outer wall of one side of the shell, and the driving assembly is respectively connected to the driving gear, the first motor, and one of the synchronous wheels, so as to drive the synchronous wheel to rotate.

[0011] Furthermore, the driving assembly includes a rotating cylinder rotatably mounted on an outer wall of one side of the shell, an electric telescopic rod fixedly mounted inside the rotating cylinder, a connecting shaft slidably connected to an output end of the first motor, and two second connecting disks mounted at both ends of the connecting shaft, the connecting shaft and the output end of the first motor are connected by a key, and the output end of the electric telescopic rod is rotatably connected to one end of the connecting shaft through a bearing; a connecting groove is provided at one end of the rotating cylinder, a plurality of protrusions are provided on the outer wall of the second connecting disk, and the plurality of protrusions are evenly distributed along the circumference of the second connecting disk, the interior of the driving gear is hollow, the connecting shaft passes through the driving gear, and the connecting groove and the inner wall of the driving gear are both provided with grooves matching the protrusions; a second synchronous belt is sleeved at the other end of the rotating cylinder, and one end of the second synchronous belt is sleeved with one of the synchronous wheels.

[0012] Furthermore, two second air pipes are relatively arranged on the top of the shell, one end of the second air pipe is connected to the first air pipe through a solenoid valve, and the other end of the second air pipe passes through the shell and extends to the interior of the first fixed box; a fifth air pipe is arranged inside the connecting column, the top of the fifth air pipe is connected to the second air pipe, and the bottom of the fifth air pipe is sleeved with a piston plate, the outer wall of the piston plate is in contact with the inner wall of the connecting column, and the second fixed box is connected to the suction cup.

[0013] A workpiece transfer device includes: a multifunctional mechanical gripper, and a vertical shell, wherein a first oil cylinder is arranged inside the vertical shell, an output end of the first oil cylinder is rotatably connected to a transverse shell, a second oil cylinder is arranged inside the transverse shell, and one end of the second oil cylinder is connected to the multifunctional mechanical gripper.

[0014] Furthermore, a second gear plate is arranged on the output end of the first oil cylinder, a second motor is arranged at the bottom of the transverse shell, and a connecting gear is connected to the output end of the second motor, and the connecting gear is meshed with the second gear plate.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. When clamping an object with an uneven surface or a bumpy surface, start the air pump, and then input the gas generated by the air pump into the interior of the sleeve through the first air pipe. After the gas enters the interior of the sleeve, the air pressure pushes the moving column to move outward, so that the moving column contacts the object. The fourth air pipe can be used to transport the gas to the interior of multiple sleeves, and the moving column contacts the surface of the object to clamp the object. The multiple moving columns extend to different lengths, and the moving column can be inserted into the concave surface of the object, thereby facilitating the clamping of the object with a bumpy surface, and facilitating the use of the staff; Second, when the gas is input into the interior of the sleeve through the first gas pipe, the push block is pushed upward by the gas pressure, driving the multiple blocking plates to move upward and enter the interior of the fixed plate, thereby opening the installation slot, which is convenient for the mobile column to move. After use, the gas is extracted by the air pump, and the first spring drives the push block to automatically reset, thereby driving the slider and the blocking plate to reset, and the installation slot is blocked by the reset blocking plate and the fixed plate, which is convenient for protecting the mobile column and the sleeve, and convenient for the clamping claw to perform conventional clamping; 3. When clamping small objects or strengthening the clamping force of objects with unusual surfaces, the driving assembly drives the synchronous wheel to rotate, the synchronous wheel drives the sprocket to rotate, the sprocket drives the synchronous chain to rotate, the synchronous chain drives the synchronous block to move downward, and then drives the connecting column and the suction cup to move downward. When the suction cup contacts and adsorbs the surface of the object, the rotation of the synchronous wheel is stopped. The suction cup and the object can enhance the holding effect of the object, which is convenient to use and increases the functionality of the device. 4. When using the suction cup to adsorb an object, after the suction cup contacts the surface of the object, open the solenoid valve, start the air pump to extract air, and extract the gas between the suction cup and the object through the first air pipe, the second air pipe and the fifth air pipe to facilitate adsorption, and the piston plate is provided to facilitate maintaining the sealing effect.

[0016] For better understanding and implementation, the present invention is described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the first three-dimensional structure of the present invention; Figure 2 It is a schematic diagram of a second three-dimensional structure of the present invention; Figure 3It is a schematic diagram of the internal structure of the housing in the present invention; Figure 4 is a side view of the housing in the present invention; Figure 5 It is a schematic diagram of the structure of the clamping claw in the present invention; Figure 6 It is a schematic diagram of the internal structure of the clamping claw in the present invention; Figure 7 is a cross-sectional view of the sleeve in the present invention; Figure 8 is a cross-sectional view of the casing of the present invention; Fig. 9 It is a structural schematic diagram of the first fixed box in the present invention; Fig.10 is a cross-sectional view of the first fixed box in the present invention; Fig.11 is a cross-sectional view of a connecting column in the present invention; Fig.12 It is a structural schematic diagram of the rotating drum in the present invention; Fig.13 It is a schematic diagram of the three-dimensional structure of the workpiece transfer device of the present invention.

[0018] In the figure: 1, housing; 2, first gear plate; 3, first connecting arm; 4, second connecting arm; 5, clamping claw; 6, first motor; 7, air pump; 8, first air pipe; 9, second air pipe; 10, first fixed box; 11, synchronous wheel; 12, first synchronous belt; 13, rotating cylinder; 14, second synchronous belt; 15, second fixed box; 16, suction cup; 17, third air pipe; 18, sleeve; 19, first slide groove; 20, slider; 21, driving gear; 22, fixed plate; 23, blocking plate; 24, mounting groove; 25, sleeve ; 26. Moving column; 27. Fourth air pipe; 28. First spring; 29. ​​Push block; 30. Second spring; 31. Sprocket; 32. Synchronous chain; 33. Second slide groove; 34. Connecting column; 35. Synchronous block; 36. Fifth air pipe; 37. Piston plate; 38. Electric telescopic rod; 39. First connecting plate; 40. Second connecting plate; 41. Connecting shaft; 42. Connecting groove; 43. Vertical shell; 44. First oil cylinder; 45. Transverse shell; 46. Second oil cylinder; 47. Second gear plate; 48. Second motor; 49. Connecting gear. DETAILED DESCRIPTION

[0019] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, specific implementation methods of the present invention are now described with reference to the accompanying drawings, but the protection scope of the present invention is not limited to the following.

[0020] Reference Figure 1-Figure 13As shown, a multifunctional mechanical gripper comprises: a housing 1; two first gear plates 2 relatively rotatably mounted inside the housing 1, the two first gear plates 2 meshing with each other; a first connecting arm 3 fixedly mounted at the middle of the first gear plate 2; a clamping claw 5 hinged at the other end of the first connecting arm 3; two second connecting arms 4 relatively rotatably mounted at the bottom of the housing 1, one end of the second connecting arm 4 being rotatably connected to the top of the clamping claw 5; and a first motor 6 mounted on the outer wall of the housing 1 and a driving gear 21 mounted inside the housing 1, the output end of the first motor 6 being spacedly connected to the driving gear 21 for driving the driving gear 21 to rotate, and the driving gear 21 meshing with one of the first gear plates 2; The clamping claw 5 has a mounting groove 24 formed inside, one end of which is open, a plurality of sleeves 25 are disposed inside the mounting groove 24, a movable column 26 is slidably disposed inside the sleeve 25, a first spring 28 is disposed inside one end of the sleeve 25, and one end of the first spring 28 is connected to one end of the movable column 26; The housing 1 is provided with a gas delivery assembly, which is in communication with the sleeve 25; The gas delivery assembly includes an air pump 7 installed on the outer wall of the shell 1 and a first air delivery pipe 8 installed on the output end of the air pump 7. The two ends of the first air delivery pipe 8 are respectively connected to the sleeves 25 inside the two clamping claws 5; the multiple sleeves 25 are connected to each other through the fourth air delivery pipe 27.

[0021] The present invention provides a technical solution. When in use, the first motor 6 drives the driving gear 21 to rotate. The driving gear 21 rotates to drive the two first gear plates 2 to rotate in the opposite direction. The first gear plate 2 rotates to drive the clamping claw 5 to move, and then the clamping claw 5 can clamp the object. The first connecting arm 3 and the second connecting arm 4 are conveniently driven to move the clamping claw 5. When clamping an object with an uneven surface or a concave and convex surface, the air pump 7 is started, and then the gas generated by the air pump 7 is input into the inside of the sleeve 25 through the first air delivery pipe 8. After the gas enters the inside of the sleeve 25, the moving column 26 is pushed outward by the air pressure, so that the moving column 26 contacts the object. The gas can be transported to the inside of multiple sleeves 25 through the fourth air delivery pipe 27, and the moving column 26 contacts the surface of the object to clamp the object. The lengths of the multiple moving columns 26 are different. The moving column 26 can be inserted into the concave surface of the object, so as to facilitate the clamping of the object with an uneven surface, which is convenient for the staff to use.

[0022] Preferably: a plurality of fixing plates 22 are arranged at the open end of the mounting groove 24, the fixing plates 22 are located in the gap between two upper and lower adjacent sleeves 25, the fixing plates 22 are hollow, a blocking plate 23 is slidably connected inside the fixing plates 22, and the middle parts of the plurality of blocking plates 23 are connected to each other; a switch assembly is arranged on the outer wall of the clamping claw 5, and the switch assembly is respectively connected to the blocking plate 23 and the first gas pipe 8, and is used to drive the blocking plate 23 to slide up and down; The switch assembly includes a sleeve 18 mounted on the outer wall of the clamping claw 5, a push block 29 slidably mounted inside the sleeve 18, a second spring 30 fixedly mounted at one end inside the sleeve 18, and a third air delivery pipe 17, one end of the second spring 30 is connected to one end of the push block 29, a first slide groove 19 is provided on the outer wall of the clamping claw 5, a slider 20 is slidably arranged inside the first slide groove 19, one end of the slider 20 is connected to a blocking plate 23, and the other end of the push block 29 is connected to the other end of the slider 20; One end of the third gas pipe 17 is communicated with the first gas pipe 8 , and the other end of the third gas pipe 17 is communicated with the casing 18 .

[0023] Specifically, when the gas is input into the interior of the sleeve 25 through the first gas pipe 8, a part of the gas can be transported to the interior of the sleeve 18 through the third gas pipe 17, and then the push block 29 is pushed upward by the air pressure, and the push block 29 pushes the slider 20 to move, and the slider 20 drives multiple sealing plates 23 to move upward and enter the interior of the fixed plate 22, thereby opening the installation groove 24 to facilitate the movement of the movable column 26. After use, the gas is extracted by the air pump, and the second spring 30 drives the push block 29 to automatically reset, thereby driving the slider 20 and the sealing plate 23 to reset, and the installation groove 24 is blocked by the reset sealing plate 23 and the fixed plate 22, so as to protect the movable column 26 and the sleeve 25, and facilitate the conventional clamping of the clamping claw 5.

[0024] Preferably: two first fixed boxes 10 are arranged oppositely on the outer walls of both sides of the housing 1, a synchronous wheel 11 is rotatably arranged on the top outer wall of the first fixed box 10, two adjacent synchronous wheels 11 are sleeved with a first synchronous belt 12, one end of the synchronous wheel 11 extends to the inside of the first fixed box 10 and is connected to a sprocket 31, a synchronous chain 32 is arranged inside the first fixed box 10, two sprockets 31 are arranged above and below inside the first fixed box 10, and the synchronous chain 32 is tensionedly connected to the two sprockets 31; A second fixed box 15 is arranged on one side of the first fixed box 10, a second slide groove 33 is opened inside the second fixed box 15, and the second slide groove 33 is connected to the first fixed box 10. A synchronization block 35 is arranged on the outer wall of the synchronization chain 32, and one end of the synchronization block 35 extends to the inside of the second slide groove 33 and is connected to a connecting column 34, and a suction cup 16 is arranged at the bottom of the connecting column 34; A driving assembly is arranged on an outer wall of one side of the housing 1 , and the driving assembly is respectively connected to the driving gear 21 , the first motor 6 , and a synchronous wheel 11 thereof, so as to drive the synchronous wheel 11 to rotate.

[0025] Specifically, when clamping a small object or strengthening the clamping force of an object with an unusual surface, the driving assembly drives the synchronous wheel 11 to rotate, the synchronous wheel 11 drives the sprocket 31 to rotate, the sprocket 31 drives the synchronous chain 32 to rotate, and the synchronous chain 32 drives the synchronous block 35 to move downward, thereby driving the connecting column 34 and the suction cup 16 to move downward. When the suction cup 16 contacts and adsorbs the surface of the object, the rotation of the synchronous wheel 11 is stopped, and the adsorption of the suction cup 16 on the object can enhance the holding effect of the object, facilitate use, and increase the functionality of the device.

[0026] Preferably: the driving assembly includes a rotating cylinder 13 rotatably mounted on an outer wall of one side of the housing 1, an electric telescopic rod 38 fixedly mounted inside the rotating cylinder 13, a connecting shaft 41 slidably connected to the output end of the first motor 6, and two second connecting plates 40 mounted at both ends of the connecting shaft 41, the connecting shaft 41 is connected to the output end of the first motor 6 through a key, and the output end of the electric telescopic rod 38 is rotatably connected to one end of the connecting shaft 41 through a bearing; A connecting groove 42 is formed at one end of the rotating cylinder 13, and a plurality of protrusions are formed on the outer wall of the second connecting disk 40, and the plurality of protrusions are evenly distributed along the circumference of the second connecting disk 40. The interior of the driving gear 21 is hollow, and the connecting shaft 41 passes through the driving gear 21. The connecting groove 42 and the inner wall of the driving gear 21 are both formed with grooves adapted to the protrusions. The other end of the rotating drum 13 is sleeved with a second synchronous belt 14 , and one end of the second synchronous belt 14 is sleeved with a synchronous wheel 11 thereof.

[0027] Specifically, the first motor 6 drives the connecting shaft 41 to rotate, the connecting shaft 41 drives the second connecting disk 40, and the second connecting disk 40 drives the driving gear 21 to rotate. When the driving gear 21 rotates, a second connecting disk 40 close to the rotating cylinder 13 is not connected to the rotating cylinder 13, and the rotating cylinder 13 remains fixed. When the rotating cylinder 13 needs to rotate, the electric telescopic rod 38 is started, and the electric telescopic rod 38 drives the connecting shaft 41 to move close to the rotating cylinder 13, so that a second connecting disk 40 close to the rotating cylinder 13 enters the interior of the connecting groove 42, the protrusion is engaged with the groove, and the other second rotating disk 40 moves out of the interior of the driving gear. At this time, the first motor 6 can drive the rotating cylinder 13 to rotate, and the synchronous wheel 11 is driven to rotate through the second synchronous belt 14, so as to facilitate the subsequent adsorption work of the suction cup 16.

[0028] Preferably, two second air pipes 9 are arranged opposite to each other on the top of the housing 1, one end of the second air pipe 9 is connected to the first air pipe 8 through a solenoid valve, and the other end of the second air pipe 9 passes through the housing 1 and extends to the inside of the first fixed box 10; A fifth air pipe 36 is provided inside the connecting column 34 , the top of the fifth air pipe 36 is connected to the second air pipe 9 , a piston plate 37 is sleeved on the bottom of the fifth air pipe 36 , the outer wall of the piston plate 37 contacts the inner wall of the connecting column 34 , and the second fixed box 15 is connected to the suction cup 16 .

[0029] Specifically, when the suction cup 16 is used to adsorb an object, after the suction cup 16 contacts the surface of the object, the solenoid valve is opened, the air pump 7 is started to evacuate air, and the gas between the suction cup 16 and the object is extracted through the first air pipe 8, the second air pipe 9 and the fifth air pipe 36 to facilitate adsorption, and the piston plate 37 is provided to facilitate maintaining the sealing effect.

[0030] It should be noted that the fifth gas delivery pipe 36 is a hard pipe, and the others are soft pipes. A workpiece transfer device includes: a multifunctional mechanical gripper, and a vertical shell 43, wherein a first oil cylinder 44 is arranged inside the vertical shell 43, and the output end of the first oil cylinder 44 is rotatably connected to a transverse shell 45, and a second oil cylinder 46 is arranged inside the transverse shell 45, and one end of the second oil cylinder 46 is connected to the multifunctional mechanical gripper, and a second gear plate 47 is arranged on the output end of the first oil cylinder 44, and a second motor 48 is arranged at the bottom of the transverse shell 45, and a connecting gear 49 is connected to the output end of the second motor 48, and the connecting gear 49 is meshed with the second gear plate 47. When in use, the first oil cylinder 44 can drive the second oil cylinder 46 and the multifunctional mechanical gripper to move up and down, and the second oil cylinder 46 can drive the multifunctional mechanical gripper to move, so as to facilitate the transfer of objects, and the connecting gear 49 is driven to rotate by the second motor 48, and the second oil cylinder 46 is driven to rotate under the action of the second gear plate 48, so as to facilitate the transfer of objects.

[0031] The above disclosure is only the preferred embodiment of the present invention, which certainly cannot be used to limit the scope of the present invention. Therefore, equivalent changes made according to the claims of the present invention still fall within the scope covered by the present invention.

Claims

1. A multifunctional mechanical gripper, characterized in that: include: Housing (1); Two first gear plates (2) mounted inside the housing (1) for relative rotation, the two first gear plates (2) meshing with each other; A first connecting arm (3) fixedly mounted on the middle portion of the first gear plate (2); A clamping claw (5) hinged to the other end of the first connecting arm (3); Two second connecting arms (4) relatively rotatable at the bottom of the housing (1), one end of the second connecting arm (4) being rotatably connected to the top of the clamping claw (5); and a first motor (6) mounted on the outer wall of the housing (1) and a driving gear (21) mounted inside the housing (1), wherein the output end of the first motor (6) is spacedly connected to the driving gear (21) for driving the driving gear (21) to rotate, and the driving gear (21) is meshed with one of the first gear plates (2); The clamping claw (5) has a mounting groove (24) formed inside, one end of the mounting groove (24) is open, a plurality of sleeves (25) are arranged inside the mounting groove (24), a movable column (26) is slidably arranged inside the sleeve (25), a first spring (28) is arranged at one end inside the sleeve (25), and one end of the first spring (28) is connected to one end of the movable column (26); The housing (1) is provided with a gas delivery component, and the gas delivery component is in communication with the sleeve (25).

2. A multifunctional mechanical gripper according to claim 1, characterized in that: The gas delivery assembly comprises an air pump (7) mounted on the outer wall of the housing (1), and a first air delivery pipe (8) mounted on the output end of the air pump (7), wherein both ends of the first air delivery pipe (8) are respectively connected to sleeves (25) inside the two clamping claws (5); The plurality of sleeves (25) are interconnected via a fourth air delivery pipe (27).

3. A multifunctional mechanical gripper according to claim 2, characterized in that: A plurality of fixing plates (22) are arranged at the open end of the mounting groove (24), the fixing plates (22) being located in the gap between two upper and lower adjacent sleeves (25), the fixing plates (22) being hollow, a sealing plate (23) being slidably connected inside the fixing plates (22), and the middle parts of the plurality of sealing plates (23) being connected to each other; A switch assembly is arranged on the outer wall of the clamping claw (5), and the switch assembly is respectively connected to the blocking plate (23) and the first air supply pipe (8) and is used to drive the blocking plate (23) to slide up and down.

4. A multifunctional mechanical gripper according to claim 3, characterized in that: The switch assembly comprises a casing (18) mounted on the outer wall of the clamping claw (5), a push block (29) slidably mounted inside the casing (18), a second spring (30) fixedly mounted at one end inside the casing (18), and a third air supply pipe (17), one end of the second spring (30) being connected to one end of the push block (29), a first slide groove (19) being provided on the outer wall of the clamping claw (5), a slider (20) being slidably arranged inside the first slide groove (19), one end of the slider (20) being connected to one of the blocking plates (23), and the other end of the push block (29) being connected to the other end of the slider (20); One end of the third air supply pipe (17) is in communication with the first air supply pipe (8), and the other end of the third air supply pipe (17) is in communication with the casing (18).

5. The multifunctional mechanical gripper according to claim 1, characterized in that: Two first fixed boxes (10) are arranged opposite to each other on the outer walls of both sides of the shell (1); a synchronous wheel (11) is rotatably arranged on the top outer wall of the first fixed box (10); two adjacent synchronous wheels (11) are sleeved with a first synchronous belt (12); one end of the synchronous wheel (11) extends to the inside of the first fixed box (10) and is connected to a sprocket (31); a synchronous chain (32) is arranged inside the first fixed box (10); two sprockets (31) are arranged above and below inside the first fixed box (10); the synchronous chain (32) is tensionedly connected to the two sprockets (31); A second fixed box (15) is arranged on one side of the first fixed box (10), a second slide groove (33) is provided inside the second fixed box (15), the second slide groove (33) is communicated with the first fixed box (10), a synchronization block (35) is arranged on the outer wall of the synchronization chain (32), one end of the synchronization block (35) extends to the inside of the second slide groove (33) and is connected to a connecting column (34), and a suction cup (16) is arranged at the bottom of the connecting column (34); A driving assembly is arranged on an outer wall of one side of the housing (1), and the driving assembly is respectively connected to the driving gear (21), the first motor (6), and one of the synchronous wheels (11), and is used to drive the synchronous wheel (11) to rotate.

6. A multifunctional mechanical gripper according to claim 5, characterized in that: The driving assembly comprises a rotating cylinder (13) rotatably mounted on an outer wall of one side of the housing (1), an electric telescopic rod (38) fixedly mounted inside the rotating cylinder (13), a connecting shaft (41) slidably connected to an output end of the first motor (6), and two second connecting plates (40) mounted at both ends of the connecting shaft (41), the connecting shaft (41) being connected to the output end of the first motor (6) via a key, and the output end of the electric telescopic rod (38) being rotatably connected to one end of the connecting shaft (41) via a bearing; A connecting groove (42) is formed at one end of the rotating cylinder (13); a plurality of protrusions are formed on the outer wall of the second connecting disk (40); the plurality of protrusions are evenly distributed along the circumference of the second connecting disk (40); the interior of the driving gear (21) is hollow; the connecting shaft (41) passes through the driving gear (21); and grooves matching the protrusions are formed on the inner wall of the connecting groove (42) and the driving gear (21); The other end of the rotating cylinder (13) is sleeved with a second synchronous belt (14), and one end of the second synchronous belt (14) is sleeved with one of the synchronous wheels (11).

7. A multifunctional mechanical gripper according to claim 5, characterized in that: Two second air supply pipes (9) are arranged opposite to each other on the top of the shell (1), one end of the second air supply pipe (9) is connected to the first air supply pipe (8) via a solenoid valve, and the other end of the second air supply pipe (9) passes through the shell (1) and extends to the interior of the first fixed box (10); A fifth gas pipe (36) is arranged inside the connecting column (34), the top of the fifth gas pipe (36) is connected to the second gas pipe (9), the bottom of the fifth gas pipe (36) is sleeved with a piston plate (37), the outer wall of the piston plate (37) is in contact with the inner wall of the connecting column (34), and the second fixing box (15) is connected to the suction cup (16).

8. A workpiece transfer device, comprising the multifunctional mechanical gripper as claimed in claim 1 and a vertical shell (43), characterized in that: A first oil cylinder (44) is arranged inside the vertical shell (43), an output end of the first oil cylinder (44) is rotatably connected to a transverse shell (45), a second oil cylinder (46) is arranged inside the transverse shell (45), and one end of the second oil cylinder (46) is connected to the multifunctional mechanical gripper.

9. A workpiece transfer device according to claim 8, characterized in that: A second gear plate (47) is arranged on the output end of the first oil cylinder (44), a second motor (48) is arranged at the bottom of the transverse shell (45), and a connecting gear (49) is connected to the output end of the second motor (48), and the connecting gear (49) is meshed with the second gear plate (47).

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