A gripping device for a robot

Abstract

The application discloses a kind of grippers for robot, it is related to robot technical field, including rotating mechanism, grabbing mechanism, grabbing control mechanism and bending claw distribution control mechanism, grabbing mechanism includes grabbing support cylinder, the bottom of rotating mechanism is fixedly connected with the top of annular ring by bending rod, the bottom of annular ring is fixedly connected with the top of grabbing support cylinder by multiple annular array distribution cylinder, the bottom outer circumferential side of grabbing support cylinder is fixedly sleeved with circular track, four sector sliding seats are slidably connected on circular track, the grippers for robot, four grabbing bending claws and four grabbing clamps are synchronously closed to grab spherical or cylindrical workpiece, can be stably gripped to spherical or cylindrical workpiece, and the included angle between two adjacent grabbing bending claws can be changed by bending claw distribution control mechanism, so as to change the gripping position of grabbing bending claw and grabbing clamp to workpiece, which is beneficial to avoid the position of workpiece not suitable for gripping.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a robot gripping device. BACKGROUND

[0002] At present, robots are production equipment often used in industrial production and manufacturing, which can improve production efficiency and reduce the work intensity of workers. The main work execution component of robots in industrial production is a gripping device. There are various types of robot gripping devices in the prior art. Most robot gripping devices use two movable clamping plates to clamp workpieces. However, it is difficult to stably clamp some spherical or cylindrical workpieces by tightly abutting the two clamping plates. Moreover, the clamping position of the workpiece cannot be actively selected by the general robot gripping device, and the position unsuitable for clamping cannot be avoided. SUMMARY

[0003] The technical problem to be solved by the present application is to overcome the defects of the prior art and provide a robot gripping device. The robot gripping device uses four gripping claws and four gripping rods to clamp spherical or cylindrical workpieces. The gripping claws and the gripping rods can stably clamp the spherical or cylindrical workpieces. The clamping position of the workpiece can be changed by a claw distribution control mechanism to change the included angle between two adjacent gripping claws, thereby changing the clamping position of the workpiece by the gripping claws and the gripping rods. This is beneficial to avoiding the position unsuitable for clamping, and can effectively solve the problems in the background art.

[0004] To achieve the above-mentioned purpose, the present application provides the following technical scheme: a robot gripping device, comprising a rotating mechanism, further comprising:

[0005] A gripping mechanism includes a bent rod, a ring, a cylinder, a gripping support cylinder, a circular track, a sector-shaped sliding seat, a movable seat, a movable shaft one, a gripping claw, and a gripping rod. The bottom of the rotating mechanism is fixedly connected to the top of the ring through the bent rod. The bottom of the ring is fixedly connected to the top end of the gripping support cylinder through a plurality of circularly arrayed cylinders. The bottom of the gripping support cylinder is fixedly sleeved with a circular track. Four sector-shaped sliding seats are slidably connected to the circular track. Each sector-shaped sliding seat is fixedly connected to a movable seat. The movable seat is movably connected to one end of the gripping claw through a movable shaft one. The other end of the gripping claw is connected to the gripping rod.

[0006] A gripping control mechanism is installed in the gripping support cylinder, and the gripping control mechanism is connected to the end of each of the four gripping claws.

[0007] A claw distribution control mechanism is installed on the outside of the gripping support cylinder, and the claw distribution control mechanism is connected to the top of each of the four movable seats.

[0008] The rotating mechanism is installed at the end of the robot mechanical arm, and is used to drive the grabbing mechanism to rotate, so that the clamping position of the grabbing claw and the grabbing clamp rod on the workpiece can be changed. The claw distribution control mechanism can also change the position of the sector slide on the circular track through the movable seat, so that the grabbing claw and the grabbing clamp rod avoid the position of the workpiece that is not suitable for clamping. The grabbing control mechanism is used to control the four grabbing claws to move close to each other or move away from each other. When the claw distribution control mechanism makes the four grabbing claws be distributed at equal angles around the bottom of the grabbing support cylinder, the four grabbing claws that move close to each other can stably grab the spherical workpiece. When the spherical workpiece is grabbed, the height of the grabbing clamp rod needs to be less than the radius of the spherical workpiece, so that the bottom end of the grabbing claw can be lower than the center of the spherical workpiece during clamping. When the cylindrical workpiece needs to be clamped, the four grabbing clamps correspond to the middle part of the outer side of the cylindrical workpiece. When the four grabbing claws move close to each other, the four grabbing clamps move close to each other. The four grabbing clamps can clamp the outer periphery of the cylindrical workpiece. When the block-shaped workpiece needs to be clamped, the claw distribution control mechanism controls the two grabbing claws that are symmetrical about the grabbing support cylinder to move close to the other two grabbing claws. The four grabbing claws are divided into two groups that correspond to each other, and each group includes two grabbing claws that move close to each other. The grabbing control mechanism controls the two groups of grabbing claws to move close to each other, and also drives the two groups of grabbing clamps to move close to each other. The block-shaped workpiece can be clamped by means of the two groups of grabbing clamps that move close to each other.

[0009] Further, the grabbing control mechanism comprises an inner limiting ring, a long cylinder, a lifting control assembly, a control cylinder, and a sector plate. The inner limiting ring is fixedly connected in the grabbing support cylinder. The inner limiting ring is vertically slidably connected with the long cylinder. The bottom end of the long cylinder is fixedly connected with the control cylinder. The outer periphery of the control cylinder is vertically and equidistantly provided with a plurality of annular tooth grooves. Each end of the grabbing claw close to the grabbing support cylinder is fixedly connected with a sector plate. The arc side of the sector plate is equiangularly fixedly connected with a plurality of control teeth. The control teeth on the sector plate are meshingly connected with the annular tooth grooves on the outer side of the control cylinder. The top of the long cylinder is connected with the lifting control assembly. The center of the circle where the sector plate is located coincides with the axis of the movable shaft one.

[0010] The lifting control assembly is used to drive the long cylinder to move up and down along the inner limiting ring, so as to drive the control cylinder to move up and down. The control cylinder can drive the sector plate to rotate around the movable shaft one through the cooperation of the annular tooth grooves and the control teeth, so as to drive the four grabbing claws to move relative to the movable seat. Since the sector plate and the control cylinder cooperate through the annular tooth grooves and the control teeth, when the movable seat and the sector slide move along the circular track, the sector plate and the control cylinder still maintain a stable meshing relationship. When the lifting control assembly controls the long cylinder to move downward along the inner limiting ring, the cooperation of the sector plate and the control cylinder makes the four grabbing claws and the four grabbing clamps move away from each other. When the lifting control assembly controls the long cylinder to move upward along the inner limiting ring, the cooperation of the sector plate and the control cylinder makes the four grabbing claws and the four grabbing clamps move close to each other.

[0011] Further, the lifting control assembly comprises a control disc, a lead screw, a grabbing motor, a lead screw nut, the top of the long barrel is fixedly connected with the control disc, the sliding hole on the control disc is vertically slidably connected with the corresponding cylinder, the vertical lead screw is rotatably connected between the circular ring and the grabbing support barrel, the bottom end of the lead screw is fixedly connected with the output shaft of the grabbing motor, the grabbing motor is installed in the motor groove at the top of the grabbing support barrel, the side surface of the control disc is provided with the lead screw nut, and the lead screw nut is matched with the lead screw. The clockwise rotation of the lead screw driven by the grabbing motor is driven by the thread of the lead screw nut, so that the control disc and the long barrel move downward along the cylinder, and the counterclockwise rotation of the lead screw driven by the grabbing motor is driven by the thread of the lead screw nut, so that the control disc and the long barrel move upward along the cylinder.

[0012] Further, the bending claw distribution control mechanism comprises a rotating assembly, a fixed sleeve, a bending frame, a rotating sleeve, and an arched frame, the bottom outer circumferential side of the grabbing support barrel is sleeved with the fixed sleeve, the left and right sides of the fixed sleeve are respectively fixedly connected with two bending frames, the two bending frames are respectively detachably connected with the top of two movable seats, the middle outer circumferential side of the grabbing support barrel is rotatably sleeved with the rotating sleeve, the bottom front and back sides of the rotating sleeve are respectively fixedly connected with two arched frames, the two arched frames are respectively detachably connected with the top of the other two movable seats, and the top of the rotating sleeve is connected with the rotating assembly.

[0013] The fixed sleeve and the bending frame fix the two movable seats which are symmetrical about the center of the grabbing support barrel, that is, fix the two grabbing bending claws and the two grabbing clamping rods which are symmetrical about the center of the grabbing support barrel, and the rotating assembly can drive the other two movable seats and the fan-shaped sliding seat to move along the circular track through the rotating sleeve, so that the other two grabbing bending claws rotate relative to the grabbing support barrel, so that the included angle between the two adjacent grabbing bending claws can be changed, which is beneficial to change the clamping position of the grabbing bending claws and the grabbing clamping rods on the workpiece and avoid the position of the workpiece which is not suitable for clamping. If the four grabbing bending claws are controlled to approach each other in pairs, thereby forming two groups of grabbing bending claws, at this time, it is suitable to rely on the two groups of grabbing clamping rods at the bottom of the two groups of grabbing bending claws to clamp the block-shaped workpiece.

[0014] Further, the clamping inner lining mechanism comprises a circular arc lining plate and a replacement assembly, and the inner side of the grabbing clamping rod is provided with the circular arc lining plate through the replacement assembly. When the grabbing clamping rod clamps the cylindrical workpiece, the contact between the grabbing clamping rod and the circular arc surface of the cylindrical workpiece is not stable enough, so the replacement assembly is used to install the circular arc lining plate, the circular arc lining plate can stably contact the circular arc surface of the cylindrical workpiece, which is beneficial to stably clamp the cylindrical workpiece by means of the circular arc lining plate, and the replacement assembly can replace or dismount the circular arc lining plate.

[0015] Further, the replacement assembly comprises a dismounting sliding seat, a sliding strip, a replacement screw, and a anti-disengagement limiting seat, two sliding strips are fixedly connected to the two sides of the grabbing clamping rod respectively, the bottoms of the two sliding strips are fixedly connected with the anti-disengagement limiting seat respectively, two dismounting sliding seats are fixedly connected to the two sides of the circular arc lining plate respectively, the two dismounting sliding seats are slidably connected with the corresponding two sliding strips respectively, and the replacement screw is threadedly connected to each dismounting sliding seat.

[0016] The replacement screw is loosened, the circular arc lining plate and the dismounting sliding seat can slide upwards along the sliding strip, so that the circular arc lining plate and the dismounting sliding seat are removed, and then a new circular arc lining plate and a new dismounting sliding seat are installed, and then the replacement screw is tightened, so that the dismounting sliding seat and the sliding strip are locked together, so that the circular arc lining plate is stably fixed, the anti-disengagement limiting seat prevents the dismounting sliding seat from being disengaged from the bottom of the sliding strip, and ensures that the dismounting sliding seat stops after sliding to the bottom of the sliding strip, thereby facilitating quick positioning and installation of the circular arc lining plate.

[0017] Further, the auxiliary clamping mechanism comprises a mounting groove one, a mounting groove two, a movable shaft two, a clamping auxiliary rod, a movable shaft three, an auxiliary electric telescopic rod, a hinged seat, and a hinged shaft, the mounting groove one is formed in the outer side of the end, away from the movable seat, of each grabbing claw, the mounting groove two is formed in the outer side of each grabbing clamping rod, the top of the mounting groove two is movably connected with the top end of the clamping auxiliary rod through the movable shaft two, the top of the mounting groove one is movably connected with one end of the auxiliary electric telescopic rod through the movable shaft three, the other end of the auxiliary electric telescopic rod is movably connected with the hinged seat through the hinged shaft, and the hinged seat is fixed to the side surface of the clamping auxiliary rod.

[0018] If the clamping of the grabbing clamping rod on the workpiece cannot meet the requirements, the auxiliary clamping mechanism can be added, when the auxiliary clamping mechanism is not used, the auxiliary electric telescopic rod is shortened, so that the clamping auxiliary rod is lifted relative to the movable shaft two, at this time, the horizontal position of the bottom end of the grabbing clamping rod is lower than that of the clamping auxiliary rod, and the workpiece can be clamped by the grabbing clamping rod, when the auxiliary clamping mechanism is needed, the auxiliary electric telescopic rod is lengthened, so that the top of the clamping auxiliary rod is completely in the mounting groove two, at this time, the clamping auxiliary rod and the grabbing clamping rod are in the same direction, and when the four grabbing clamping rods are close to each other, the four clamping auxiliary rods can be driven to be close to each other to clamp the workpiece.

[0019] Further, the auxiliary clamping mechanism further comprises a rubber clamping strip and an outer supporting circular arc plate, the rubber clamping strip is detachably installed on the inner side of each clamping auxiliary rod, and the outer supporting circular arc plate is detachably installed on the outer side bottom of each clamping auxiliary rod.

[0020] When the four clamping auxiliary rods are close to each other to clamp the workpiece, the four rubber clamping strips directly contact the workpiece, and the friction with the workpiece can be increased by means of the rubber clamping strips. If it is required to clamp the annular workpiece from the inside, the four clamping auxiliary rods are away from each other after being close to each other, and the four clamping auxiliary rods are tightly supported outward from the inside of the annular workpiece by means of the four outer supporting arc plates, so that the annular workpiece can be taken and placed in a supporting manner.

[0021] Further, the suction taking mechanism comprises a suction hard tube, a hollow disc, a rubber suction disc, a control electric telescopic rod, a control frame and a negative pressure assembly. The suction hard tube is vertically and slidably connected in the long tube. The bottom of the suction hard tube penetrates through the control tube and is fixedly connected with the hollow disc. The bottom of the hollow disc is annularly provided with a plurality of rubber suction discs. The top of the suction hard tube is fixedly connected with the control frame. The two ends of the control frame are respectively fixedly connected with the top ends of the two control electric telescopic rods. The bottom ends of the two control electric telescopic rods are respectively fixedly connected with the top of the control disc. The top end of the suction hard tube is connected with the negative pressure assembly. When it is required to take the workpiece in a mark-free manner, the control electric telescopic rod is shortened. The control electric telescopic rod drives the suction hard tube to descend relative to the long tube through the control frame, so that the hollow disc and the rubber suction disc descend relative to the grabbing support tube. The negative pressure assembly works. The hollow disc is drawn into negative pressure through the long tube. The rubber suction disc at the bottom of the hollow disc contacts the upper side of the workpiece. The negative pressure in the hollow disc causes the rubber suction disc to suck the workpiece tightly. The workpiece can be taken without marks. The workpiece is not damaged by clamping. When not in use, the control electric telescopic rod is elongated. The control electric telescopic rod drives the suction hard tube to ascend relative to the long tube through the control frame. The hollow disc and the rubber suction disc ascend relative to the grabbing support tube. The hollow disc and the rubber suction disc no longer interfere with the movement of the four grabbing claws.

[0022] Further, the negative pressure assembly comprises a solenoid valve, a steel wire hose and a negative pressure pump. The top end of the suction hard tube is connected with one end of the steel wire hose through the solenoid valve. The other end of the steel wire hose is connected with the air inlet of the negative pressure pump. The negative pressure pump is installed at the bottom of the rotating mechanism. When the solenoid valve is opened, the negative pressure pump can draw the hollow disc into negative pressure through the steel wire hose and the long tube. When it is required to maintain the suction of the rubber suction disc to the workpiece, the solenoid valve can be closed. When it is required to release the pressure, the solenoid valve is opened. The negative pressure pump stops working. The pressure in the hollow disc gradually returns to normal. The rubber suction disc can be loosened from the workpiece.

[0023] Compared with the prior art, the robot gripping device has the following advantages:

[0024] 1. The rotating mechanism is used to drive the grabbing mechanism to rotate, which can change the clamping position of the grabbing claw and the grabbing clamp rod on the workpiece. The claw distribution control mechanism can also change the position of the fan-shaped sliding seat on the circular track through the movable seat, so that the grabbing claw and the grabbing clamp rod avoid the position of the workpiece that is not suitable for clamping. The grabbing control mechanism is used to control the four grabbing claws to move closer to each other or move away from each other. When the claw distribution control mechanism makes the four grabbing claws distribute at equal angles around the bottom of the grabbing support cylinder, the four grabbing claws that move closer to each other can stably grab the spherical workpiece.

[0025] 2. When it is necessary to clamp the cylindrical workpiece, the four grabbing clamps correspond to the middle part of the outer side of the cylindrical workpiece, and the four grabbing claws move closer to each other to drive the four grabbing clamps to move closer to each other. The four grabbing clamps can clamp the outer periphery of the cylindrical workpiece. When it is necessary to clamp the block-shaped workpiece, the claw distribution control mechanism controls the two grabbing claws that are symmetrical about the grabbing support cylinder to move close to the other two grabbing claws. The four grabbing claws are divided into two groups corresponding to each other, each group including two grabbing claws that move close to each other. The grabbing control mechanism controls the two groups of grabbing claws to move closer to each other, also driving the two groups of grabbing clamps to move closer to each other. The block-shaped workpiece can be clamped by the two groups of grabbing clamps that move closer to each other.

[0026] 3. When it is necessary to take the workpiece in a mark-free manner, the electric telescopic rod is controlled to be shortened, the electric telescopic rod drives the hard adsorption pipe to move downward relative to the long cylinder through the control frame, the hollow disc and the rubber suction cup move downward relative to the grabbing support cylinder, the negative pressure assembly works, the hollow disc is pumped to negative pressure through the long cylinder, the rubber suction cup at the bottom of the hollow disc contacts the upper side of the workpiece, and the negative pressure in the hollow disc makes the rubber suction cup suck the workpiece tightly. The workpiece can be taken in a mark-free manner, avoiding clamping to cause marks on the workpiece.

[0027] 4. The auxiliary electric telescopic rod is elongated, and the clamping auxiliary rod top is completely located in the installation groove two. At this time, the clamping auxiliary rod and the grabbing clamp rod are in the same direction, and the four grabbing clamps can drive the four clamping auxiliary rods to move closer to each other to clamp the workpiece. When the four clamping auxiliary rods move closer to each other to clamp the workpiece, the four rubber clamping strips directly contact the workpiece, and the friction force with the workpiece can be increased by means of the rubber clamping strips. If it is necessary to clamp the annular workpiece from the inside, the four clamping auxiliary rods move away from each other after moving closer to each other. The four clamping auxiliary rods can take and place the annular workpiece in a tight manner by means of the four outward supporting arc plates. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 It is a structural schematic diagram of the robot gripping device of the present application.

[0029] Figure 2 It is a structural schematic diagram of the robot gripping device of the present application.

[0030] Figure 3Schematic view of partial structure of the present invention's robot gripping device Figure 1 ;

[0031] Figure 4 Schematic view of partial structure of the present invention's robot gripping device Figure 3 Schematic view of partial structure of the present invention's robot gripping device

[0032] Figure 5 Schematic view of partial structure of the present invention's robot gripping device Figure 3 Schematic view of partial structure of the present invention's robot gripping device

[0033] Figure 6 Schematic view of partial structure of the present invention's robot gripping device Figure 5 Schematic view of partial structure of the present invention's robot gripping device

[0034] Figure 7 Schematic view of partial structure of the present invention's robot gripping device

[0035] Figure 8 Schematic view of partial structure of the present invention's robot gripping device Figure 7 Schematic view of partial structure of the present invention's robot gripping device

[0036] Figure 9 Schematic view of partial structure of the present invention's robot gripping device Figure 2 ;

[0037] Figure 10 Schematic view of partial structure of the present invention's robot gripping device Figure 9 Schematic view of partial structure of the present invention's robot gripping device

[0038] Figure 11 Schematic view of partial structure of the present invention's robot gripping device Figure 9 Schematic view of partial structure of the present invention's robot gripping device

[0039] Figure 12 Schematic view of partial structure of the present invention's robot gripping device Figure 11 Schematic view of partial structure of the present invention's robot gripping device

[0040] In the figure: 1 rotating mechanism, 11 fixed disc, 12 rotating shaft, 13 motor base, 14 rotating motor, 15 rotating disc, 16 ear seat, 17 semicircular fixed strip, 18 disassembly bolt, 19 semicircular blocking cylinder, 2 grabbing mechanism, 21 bent rod, 22 ring, 23 cylinder, 24 grabbing support cylinder, 25 circular track, 26 fan-shaped sliding seat, 27 movable seat, 28 movable shaft one, 29 grabbing bent claw, 210 grabbing clamping rod, 3 grabbing control mechanism, 31 inner limiting ring, 32 long cylinder, 33 control disc, 34 lead screw, 35 grabbing motor, 36 lead screw nut, 37 control cylinder, 38 fan-shaped plate, 4 bent claw distribution control mechanism, 41 fixed sleeve, 42 bent frame, 43 screw one, 44 rotating sleeve, 45 outer gear ring, 46 motor frame, 47 control motor, 48 gear, 49 arched frame, 410 screw two, 5 clamping inner lining mechanism, 51 circular arc lining plate, 52 disassembly sliding seat, 53 sliding strip, 54 replacement screw, 55 anti-dropping limiting seat, 6 auxiliary clamping mechanism, 61 installation groove one, 62 installation groove two, 63 movable shaft two, 64 clamping auxiliary rod, 65 rubber clamping strip, 66 movable shaft three, 67 auxiliary electric telescopic rod, 68 hinged seat, 69 hinged shaft, 610 outer supporting circular arc plate, 611 nut one, 612 stud one, 613 nut two, 614 stud two, 7 adsorption taking mechanism, 71 adsorption hard tube, 72 hollow disc, 73 rubber suction cup, 74 control electric telescopic rod, 75 control frame, 76 electromagnetic valve, 77 steel wire hose, 78 negative pressure pump. DETAILED DESCRIPTION

[0041] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative labor fall within the protection scope of the present application.

[0042] Embodiment one, please refer to Figures 1 to 12 The embodiment provides a technical solution: a clamping device for a robot, comprising a rotating mechanism 1, further comprising a grabbing mechanism 2, a grabbing control mechanism 3 and a bent claw distribution control mechanism 4.

[0043] The grabbing mechanism 2 comprises a bent rod 21, a circular ring 22, a cylinder 23, a grabbing support cylinder 24, a circular track 25, a sector sliding seat 26, a movable seat 27, a movable shaft 28, a grabbing bent claw 29, and a grabbing clamp rod 210. The bottom of the rotating mechanism 1 is fixedly connected to the top of the circular ring 22 through two bent rods 21. The bottom of the circular ring 22 is fixedly connected to the top end of the grabbing support cylinder 24 through a plurality of circularly arranged cylinders 23. The cylinder 23 specifically adopts three. The bottom outer periphery of the grabbing support cylinder 24 is fixedly sleeved with the circular track 25. The circular track 25 is slidably connected with four sector sliding seats 26. Each sector sliding seat 26 is fixedly connected with a movable seat 27. The movable seat 27 is movably connected with one end of the grabbing bent claw 29 through the movable shaft 28. The other end of the grabbing bent claw 29 is integrally connected with the grabbing clamp rod 210.

[0044] The grabbing control mechanism 3 is installed in the grabbing support cylinder 24 and is connected with the end of the four grabbing bent claws 29.

[0045] The grabbing control mechanism 3 comprises an inner limiting ring 31, a long cylinder 32, a lifting control assembly, a control cylinder 37, and a sector plate 38. The grabbing support cylinder 24 is fixedly connected with the inner limiting ring 31. The inner limiting ring 31 is vertically slidably connected with the long cylinder 32. The bottom end of the long cylinder 32 is fixedly connected with the control cylinder 37. The outer periphery of the control cylinder 37 is vertically and equidistantly provided with a plurality of annular tooth grooves. Each end of the grabbing bent claw 29 close to the grabbing support cylinder 24 is fixedly connected with the sector plate 38. The sector plate 38 is fixedly connected with a plurality of control teeth at equal angles on the arc side. The number of the annular tooth grooves and the control teeth is the same, which is selected according to the actual situation. The control teeth on the sector plate 38 are meshingly connected with the annular tooth grooves on the outer side of the control cylinder 37. The top of the long cylinder 32 is connected with the lifting control assembly. The center of the circle where the sector plate 38 is located coincides with the axis of the movable shaft 28.

[0046] The lifting control assembly comprises a control disc 33, a lead screw 34, a grabbing motor 35, and a lead screw nut 36. The top of the long cylinder 32 is fixedly connected with the control disc 33. The sliding hole on the control disc 33 is vertically slidably connected with the corresponding cylinder 23. The vertical lead screw 34 is rotatably connected between the circular ring 22 and the grabbing support cylinder 24 through two bearings. The bottom end of the lead screw 34 is fixedly connected with the output shaft of the grabbing motor 35. The grabbing motor 35 is installed in the motor groove on the top of the grabbing support cylinder 24. The side surface of the control disc 33 is provided with the lead screw nut 36, which is cooperatively installed with the lead screw 34. The grabbing motor 35 drives the lead screw 34 to rotate clockwise. The thread action between the lead screw 34 and the lead screw nut 36 drives the control disc 33 and the long cylinder 32 to move downward along the cylinder 23. The grabbing motor 35 drives the lead screw 34 to rotate counterclockwise. The thread action between the lead screw 34 and the lead screw nut 36 drives the control disc 33 and the long cylinder 32 to move upward along the cylinder 23.

[0047] The lifting control assembly is used to drive the long cylinder 32 to move up and down along the inner limiting ring 31, so as to drive the control cylinder 37 to move up and down, and the control cylinder 37 can drive the sector plate 38 to rotate around the movable shaft 28 through the cooperation of the annular tooth groove and the control tooth, so as to drive the four grabbing claws 29 to move relative to the movable seat 27. Since the sector plate 38 and the control cylinder 37 are matched through the annular tooth groove and the control tooth, when the claw distribution control mechanism 4 controls the movable seat 27 and the sector slide 26 to move along the circular track 25, the sector plate 38 and the control cylinder 37 still maintain a stable engagement relationship. When the lifting control assembly controls the long cylinder 32 to move downward along the inner limiting ring 31, the sector plate 38 and the control cylinder 37 cooperate to make the four grabbing claws 29 and the four grabbing clamping rods 210 move away from each other. When the lifting control assembly controls the long cylinder 32 to move upward along the inner limiting ring 31, the sector plate 38 and the control cylinder 37 cooperate to make the four grabbing claws 29 and the four grabbing clamping rods 210 move close to each other.

[0048] The claw distribution control mechanism 4 is installed on the outer side of the grabbing support cylinder 24, and the claw distribution control mechanism 4 is connected to the top of the four movable seats 27 respectively.

[0049] The claw distribution control mechanism 4 comprises a rotating assembly, a fixed sleeve 41, a bent bracket 42, a rotating sleeve 44, and an arched bracket 49. The fixed sleeve 41 is fixedly connected to the outer periphery of the bottom of the grabbing support cylinder 24. The two bent brackets 42 are respectively fixedly connected to the top of the two movable seats 27 and are detachably connected to the top of the two movable seats 27. The rotating sleeve 44 is rotatably connected to the outer periphery of the middle of the grabbing support cylinder 24. The two arched brackets 49 are respectively fixedly connected to the top of the other two movable seats 27 and are detachably connected to the top of the other two movable seats 27. The rotating sleeve 44 is connected to the rotating assembly at the top.

[0050] The claw distribution control mechanism 4 further comprises a screw 43 and a screw 410. The bent bracket 42 is fixedly connected to the top of the corresponding movable seat 27 through the screw 43. The arched bracket 49 is fixedly connected to the top of the corresponding movable seat 27 through the screw 410.

[0051] The rotating assembly comprises an outer gear ring 45, a motor bracket 46, a control motor 47, and a gear 48. The outer gear ring 45 is fixedly connected to the top of the rotating sleeve 44. The control motor 47 is fixedly installed on the outer periphery of the top of the grabbing support cylinder 24 through the motor bracket 46. The output shaft of the control motor 47 is fixedly connected to the gear 48. The gear 48 is engagedly connected to the outer gear ring 45. The control motor 47 drives the gear 48 to rotate, and the gear 48 drives the rotating sleeve 44 to rotate relative to the grabbing support cylinder 24 through the engagement with the outer gear ring 45.

[0052] The fixed sleeve 41 and the bending frame 42 fix two movable seats 27 symmetrical about the center of the grabbing support cylinder 24, that is, fix two grabbing bending claws 29 and two grabbing clamping rods 210 symmetrical about the center of the grabbing support cylinder 24, while the rotating assembly can drive the other two movable seats 27 and the sector sliding seat 26 to move along the circular track 25 through the rotating sleeve 44, so as to rotate the other two grabbing bending claws 29 relative to the grabbing support cylinder 24, so as to change the included angle between the two adjacent grabbing bending claws 29, facilitate to change the clamping position of the grabbing bending claws 29 and the grabbing clamping rods 210 on the workpiece, and facilitate to avoid the position of the workpiece which is not suitable for clamping. If the four grabbing bending claws 29 are controlled to approach each other, thereby being divided into two groups of grabbing bending claws 29, at this time, it is suitable to rely on the two groups of grabbing clamping rods 210 at the bottom of the two groups of grabbing bending claws 29 to clamp the block-shaped workpiece.

[0053] The rotating mechanism 1 comprises a fixed disc 11, a rotating shaft 12, a motor base 13, a rotating motor 14, a rotating disc 15, an ear seat 16, a semicircular arc fixed strip 17, a disassembly bolt 18, and a semicircular blocking cylinder 19. The middle part of the fixed disc 11 is rotationally connected to the rotating shaft 12 through a tapered roller bearing. The top part of the rotating shaft 12 is fixedly connected to the output shaft of the rotating motor 14. The rotating motor 14 is installed on the top part of the fixed disc 11 through the motor base 13. The bottom part of the rotating shaft 12 is fixedly connected to the middle part of the rotating disc 15. Four ear seats 16 are arranged in an annular array on the outer periphery of the fixed disc 11. The four ear seats 16 are fixedly connected to the end of the mechanical arm of the robot through four ear seat bolts. The bottom edge of the rotating disc 15 is fixedly connected to two semicircular arc fixed strips 17 through disassembly bolts 18. The bottoms of the two semicircular arc fixed strips 17 are respectively fixedly connected to two semicircular blocking cylinders 19. The two semicircular blocking cylinders 19 are combined into one blocking cylinder, and the bottoms of the two semicircular blocking cylinders 19 horizontally correspond to the bottom of the grabbing support cylinder 24. The disassembly bolts 18 and the semicircular arc fixed strips 17 are used for installing the semicircular blocking cylinders 19. The two semicircular blocking cylinders 19 shield the top part of the grabbing mechanism 2, keeping the external appearance beautiful. The rotating motor 14 works to drive the rotating shaft 12 and the rotating disc 15 to rotate, thereby driving the grabbing mechanism 2 to rotate.

[0054] In use, the rotating mechanism 1 is installed at the end of a robot arm, and is used to drive the gripping mechanism 2 to rotate, so that the gripping claws 29 and the gripping levers 210 can change the clamping position of the workpiece, and the claw distribution control mechanism 4 can also change the position of the sector sliding seat 26 on the circular track 25 through the movable seat 27, so that the gripping claws 29 and the gripping levers 210 can avoid the position of the workpiece that is not suitable for clamping, and the gripping control mechanism 3 is used to control the four gripping claws 29 to move closer to each other or move away from each other, when the claw distribution control mechanism 4 makes the four gripping claws 29 be distributed at equal angles around the bottom of the gripping support cylinder 24, the four gripping claws 29 that move closer to each other can stably grip the spherical workpiece, when the spherical workpiece is gripped, the height of the gripping lever 210 needs to be less than the radius of the spherical workpiece, so that the bottom end of the gripping claw 29 can be lower than the center of the spherical workpiece during clamping, when it is necessary to clamp the cylindrical workpiece, the four gripping levers 210 correspond to the middle part of the outer side of the cylindrical workpiece, and when the four gripping claws 29 move closer to each other, the four gripping levers 210 are driven to move closer to each other, and the four gripping levers 210 can clamp the outer periphery of the cylindrical workpiece, when it is necessary to clamp the block-shaped workpiece, the claw distribution control mechanism 4 controls the two gripping claws 29 that are symmetrical about the gripping support cylinder 24 to move close to the other two gripping claws 29, the four gripping claws 29 are divided into two groups that correspond to each other, each group includes two gripping claws 29 that move close to each other, and the gripping control mechanism 3 controls the two groups of gripping claws 29 to move closer to each other, and also drives the two groups of gripping levers 210 to move closer to each other, so that the block-shaped workpiece can be clamped by means of the two groups of gripping levers 210 that move closer to each other.

[0055] Embodiment two, please refer to Figures 1 to 12 The embodiment provides a technical scheme: a gripping device for a robot, the embodiment is substantially the same as that of embodiment one, and the difference lies in that:

[0056] The gripping device further comprises a gripping lining mechanism 5, the gripping lining mechanism 5 comprises a circular-arc lining plate 51 and a replacement assembly, and the inner side of the gripping lever 210 is provided with the circular-arc lining plate 51 through the replacement assembly. When the gripping lever 210 is used to clamp the cylindrical workpiece, the contact between the gripping lever 210 and the circular-arc surface of the cylindrical workpiece is not stable enough, therefore, the circular-arc lining plate 51 is installed through the replacement assembly, the circular-arc lining plate 51 can stably contact the circular-arc surface of the cylindrical workpiece, which is beneficial to stably clamping the cylindrical workpiece by means of the circular-arc lining plate 51, and the replacement assembly can replace or dismount the circular-arc lining plate 51.

[0057] The replacement assembly comprises the dismounting sliding seat 52, the sliding strip 53, the replacement screw 54 and the anti-disengagement limiting seat 55, two sliding strips 53 are fixedly connected to the two sides of the grabbing clamping rod 210 respectively, the bottoms of the two sliding strips 53 are fixedly connected with the anti-disengagement limiting seats 55 respectively, two dismounting sliding seats 52 are fixedly connected to the two sides of the circular-arc lining plate 51 respectively, the two dismounting sliding seats 52 are slidingly connected with the corresponding two sliding strips 53 respectively, and the replacement screw 54 is threadedly connected to each dismounting sliding seat 52.

[0058] The replacement screw 54 is loosened, the circular-arc lining plate 51 and the dismounting sliding seat 52 can be slid upwards along the sliding strip 53, so that the circular-arc lining plate 51 and the dismounting sliding seat 52 are removed, a new circular-arc lining plate 51 and a new dismounting sliding seat 52 are installed, then the replacement screw 54 is tightened, the dismounting sliding seat 52 and the sliding strip 53 are locked together, the circular-arc lining plate 51 is stably fixed, the anti-disengagement limiting seat 55 prevents the dismounting sliding seat 52 from being disengaged from the bottom of the sliding strip 53, and the dismounting sliding seat 52 is ensured to stop after being slid to the bottom of the sliding strip 53, so that the circular-arc lining plate 51 is quickly positioned and installed.

[0059] Embodiment three, please refer to Figures 1 to 12 The embodiment provides a kind of technical scheme: a kind of clamping device for robot, the embodiment is substantially same as the structure of embodiment two, the difference is:

[0060] It further includes auxiliary clamping mechanism 6, auxiliary clamping mechanism 6 includes installation groove one 61, installation groove two 62, movable shaft two 63, clamping auxiliary rod 64, movable shaft three 66, auxiliary electric telescopic rod 67, hinged seat 68, hinged shaft 69, installation groove one 61 is set on the outer side of the end of each grabbing claw 29 away from movable seat 27 respectively, installation groove two 62 is set on the outer side of each grabbing clamping rod 210 respectively, the top of installation groove two 62 is movably connected with the top of clamping auxiliary rod 64 by movable shaft two 63, the top of installation groove one 61 is movably connected with one end of auxiliary electric telescopic rod 67 by movable shaft three 66, the other end of auxiliary electric telescopic rod 67 is movably connected with hinged seat 68 by hinged shaft 69, and hinged seat 68 is fixed to the side of clamping auxiliary rod 64.

[0061] If the clamping of the workpiece by the grabbing clamping rod 210 cannot meet the requirements, the auxiliary clamping mechanism 6 can be added. When the auxiliary clamping mechanism 6 is not needed, the auxiliary electric telescopic rod 67 is shortened, and the clamping auxiliary rod 64 is lifted relative to the movable shaft two 63. At this time, the horizontal position of the bottom end of the grabbing clamping rod 210 is lower than the clamping auxiliary rod 64, and the workpiece can be normally clamped by the grabbing clamping rod 210. When the auxiliary clamping mechanism 6 is needed, the auxiliary electric telescopic rod 67 is elongated, and the top of the clamping auxiliary rod 64 is completely in the mounting groove two 62. At this time, the clamping auxiliary rod 64 and the grabbing clamping rod 210 are in the same direction, and when the four grabbing clamping rods 210 are close to each other, the four clamping auxiliary rods 64 can drive the four clamping auxiliary rods 64 to be close to each other to clamp the workpiece.

[0062] The auxiliary clamping mechanism 6 further comprises rubber clamping strips 65 and outer supporting arc plates 610. The inner side of each clamping auxiliary rod 64 is detachably mounted with a rubber clamping strip 65, and the outer side of each clamping auxiliary rod 64 is detachably mounted with an outer supporting arc plate 610.

[0063] Specifically, the auxiliary clamping mechanism 6 further comprises a nut one 611, a stud one 612, a nut two 613, and a stud two 614. The rubber clamping strip 65 is provided with two upper and lower corresponding counterbores. The clamping auxiliary rod 64 is fixedly connected with the stud one 612 corresponding to the position of the counterbores at the top of the rubber clamping strip 65. The portion of the stud one 612 located in the counterbores is threadedly connected with the nut one 611. The outer supporting arc plate 610 is clamped with the outer side of the clamping auxiliary rod 64, and one end of the outer supporting arc plate 610 is fixedly connected with the stud two 614. The other end of the stud two 614 extends through the bottom of the clamping auxiliary rod 64 and into the counterbores at the bottom of the rubber clamping strip 65. The portion of the stud two 614 located in the counterbores at the bottom of the rubber clamping strip 65 is threadedly connected with the nut two 613.

[0064] When the four clamping auxiliary rods 64 are close to each other to clamp the workpiece, the four rubber clamping strips 65 directly contact the workpiece, and the friction force with the workpiece can be increased by means of the rubber clamping strips 65. If it is necessary to clamp the annular workpiece from the inside, the four clamping auxiliary rods 64 are moved away from each other after being close to each other. The four clamping auxiliary rods 64 are clamped and tightened from the inside of the annular workpiece by means of the four outer supporting arc plates 610, and the annular workpiece can be taken and placed in a clamped and tightened manner.

[0065] Embodiment four, please refer to Figures 1 to 12 The embodiment provides a technical scheme: a clamping device for a robot. The embodiment is substantially the same as the third embodiment, and the difference lies in that:

[0066] Further comprising the adsorption taking mechanism 7, the adsorption taking mechanism 7 comprises the adsorption hard tube 71, the hollow disc 72, the rubber suction disc 73, the control electric telescopic rod 74, the control frame 75 and the negative pressure assembly, the adsorption hard tube 71 is vertically and slidingly connected in the long barrel 32, the bottom of the adsorption hard tube 71 penetrates through the control barrel 37 and is fixedly connected with the hollow disc 72, a plurality of rubber suction discs 73 are annularly arranged at the bottom of the hollow disc 72, the rubber suction disc 73 can be provided with four, the control frame 75 is fixedly connected with the top of the adsorption hard tube 71, the top of the control frame 75 is fixedly connected with the top of the control disc 33, the top of the adsorption hard tube 71 is connected with the negative pressure assembly. When it is needed to take the workpiece in a traceless manner, the control electric telescopic rod 74 is shortened, the control electric telescopic rod 74 drives the adsorption hard tube 71 to descend relative to the long barrel 32 through the control frame 75, the hollow disc 72 and the rubber suction disc 73 descend relative to the grabbing support barrel 24, the negative pressure assembly works, the hollow disc 72 is drawn into negative pressure through the long barrel 32, the rubber suction disc 73 at the bottom of the hollow disc 72 contacts the upper side of the workpiece, the negative pressure in the hollow disc 72 makes the rubber suction disc 73 suck the workpiece tightly, the workpiece can be taken in a traceless manner, and the workpiece is prevented from being damaged due to clamping. When not in use, the control electric telescopic rod 74 is lengthened, the control electric telescopic rod 74 drives the adsorption hard tube 71 to ascend relative to the long barrel 32 through the control frame 75, the hollow disc 72 and the rubber suction disc 73 ascend relative to the grabbing support barrel 24, so that the hollow disc 72 and the rubber suction disc 73 no longer interfere with the movement of the four grabbing claws 29.

[0067] The negative pressure assembly comprises the electromagnetic valve 76, the steel wire hose 77 and the negative pressure pump 78, the top of the adsorption hard tube 71 is connected with one end of the steel wire hose 77 through the electromagnetic valve 76, the other end of the steel wire hose 77 is connected with the air inlet of the negative pressure pump 78, and the negative pressure pump 78 is installed at the bottom of the rotating mechanism 1, specifically, the negative pressure pump 78 is installed at the bottom of the rotating disc 15. When the electromagnetic valve 76 is opened, the negative pressure pump 78 can draw the hollow disc 72 into negative pressure through the steel wire hose 77 and the long barrel 32, when it is needed to maintain the adsorption of the rubber suction disc 73 to the workpiece, the electromagnetic valve 76 is closed, when it is needed to release pressure, the electromagnetic valve 76 is opened, the negative pressure pump 78 stops working, and the hollow disc 72 gradually returns to normal pressure, so that the rubber suction disc 73 can be released from the workpiece.

[0068] It is worth noting that the grabbing motor 35, the control motor 47, the rotating motor 14, the auxiliary electric telescopic rod 67, the control electric telescopic rod 74, the electromagnetic valve 76 and the negative pressure pump 78 disclosed in the above embodiment are all controlled to work by the PLC controller of the robot, and the control method adopts the method commonly used in the prior art, wherein the grabbing motor 35, the control motor 47 and the rotating motor 14 all adopt servo motors.

[0069] It is to be understood that the terminology used herein such as first and second, and the like, is only used to distinguish one entity or action from another entity or action, and does not necessarily require or imply any such actual relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus.

[0070] While embodiments of the present application have been shown and described with reference to particular embodiments thereof, it will be understood by those skilled in the art that various changes in form and details can be made therein without departing from the spirit and scope of the application. The scope of the application is defined by the appended claims and their equivalents.

Claims

1. A gripping device for a robot, comprising a rotating mechanism (1), characterized in that, Also includes: The grabbing mechanism (2) contains a bent rod (21), a circular ring (22), a cylinder (23), a grabbing support cylinder (24), a circular track (25), a fan-shaped sliding seat (26), a movable seat (27), a movable shaft (28), a grabbing bent claw (29), a grabbing clamp rod (210), the bottom of the rotating mechanism (1) is fixedly connected with the top of the circular ring (22) through the bent rod (21), the bottom of the circular ring (22) is fixedly connected with the top of the grabbing support cylinder (24) through a plurality of circularly arranged cylinders (23), the bottom of the grabbing support cylinder (24) is fixedly sleeved with a circular track (25), four fan-shaped sliding seats (26) are slidably connected on the circular track (25), each fan-shaped sliding seat (26) is fixedly connected with a movable seat (27), and one end of the movable seat (27) is movably connected with the grabbing bent claw (29) through a movable shaft (28). The other end of the grabbing bent claw (29) is connected with the grabbing clamp rod (210); The grabbing control mechanism (3) is installed in the grabbing support cylinder (24), and the end of the grabbing control mechanism (3) is connected with the four grabbing bent claws (29); The bent claw distribution control mechanism (4) is installed on the outside of the grabbing support cylinder (24), and the top of the bent claw distribution control mechanism (4) is connected with the four movable seats (27); The grabbing control mechanism (3) comprises an inner limiting ring (31), a long cylinder (32), a lifting control assembly, a control cylinder (37) and a fan-shaped plate (38). The grabbing support cylinder (24) is fixedly connected with the inner limiting ring (31). The inner limiting ring (31) is vertically slidably connected with the long cylinder (32). The bottom end of the long cylinder (32) is fixedly connected with the control cylinder (37). The outer periphery of the control cylinder (37) is vertically and equidistantly provided with a plurality of annular tooth grooves. Each end of the grabbing bent claw (29) close to the grabbing support cylinder (24) is fixedly connected with the fan-shaped plate (38). The arc side of the fan-shaped plate (38) is fixedly connected with a plurality of control teeth at equal angles. The control teeth on the fan-shaped plate (38) are in meshing connection with the annular tooth grooves on the outer side of the control cylinder (37). The top of the long cylinder (32) is connected with the lifting control assembly. The control cylinder (37) drives the fan-shaped plate (38) to rotate around the movable shaft (28) through the cooperation of the annular tooth grooves and the control teeth. When the lifting control assembly controls the long cylinder (32) to move downward along the inner limiting ring (31), the fan-shaped plate (38) cooperates with the control cylinder (37) to make the four grabbing bent claws (29) and the four grabbing clamp rods (210) move away from each other. When the lifting control assembly controls the long cylinder (32) to move upward along the inner limiting ring (31), the fan-shaped plate (38) cooperates with the control cylinder (37) to make the four grabbing bent claws (29) and the four grabbing clamp rods (210) move close to each other. The claw distribution control mechanism (4) comprises a rotating assembly, a fixed sleeve (41), a bending frame (42), a rotating sleeve (44) and an arched frame (49). The fixed sleeve (41) is fixedly connected to the outer periphery of the bottom of the grabbing support cylinder (24). The left and right sides of the fixed sleeve (41) are respectively fixedly connected with two bending frames (42). The two bending frames (42) are respectively detachably connected with the top of two movable seats (27). The rotating sleeve (44) is rotatably sleeved to the outer periphery of the middle of the grabbing support cylinder (24). The bottom front and back sides of the rotating sleeve (44) are respectively fixedly connected with two arched frames (49). The two arched frames (49) are respectively detachably connected with the top of the other two movable seats (27). The top of the rotating sleeve (44) is connected with the rotating assembly. The fixed sleeve (41) and the bending frame (42) fix the two movable seats (27) which are symmetric about the center of the grabbing support cylinder (24). The rotating assembly drives the other two movable seats (27) and the fan-shaped sliding seat (26) to move along the circular track (25) through the rotating sleeve (44), so as to change the included angle between the two adjacent grabbing claws (29).

2. The gripping device for robots according to claim 1, characterized in that: The lifting control assembly comprises a control disc (33), a lead screw (34), a grabbing motor (35) and a lead screw nut (36). The top of the long cylinder (32) is fixedly connected with the control disc (33). The sliding hole in the control disc (33) is vertically slidably connected with the corresponding cylinder (23). The vertical lead screw (34) is rotatably connected between the circular ring (22) and the grabbing support cylinder (24). The bottom end of the lead screw (34) is fixedly connected with the output shaft of the grabbing motor (35). The grabbing motor (35) is installed in the motor groove at the top of the grabbing support cylinder (24). The side surface of the control disc (33) is provided with the lead screw nut (36). The lead screw nut (36) is installed in cooperation with the lead screw (34).

3. The gripping device for robots according to claim 1, characterized in that: The clamping lining mechanism (5) comprises an arc lining plate (51) and a replacement assembly. The inner side of the grabbing clamp rod (210) is provided with the arc lining plate (51) through the replacement assembly.

4. The gripping device for robots according to claim 3, characterized in that: The replacement assembly comprises a dismounting sliding seat (52), a sliding strip (53), a replacement screw (54) and an anti-disengagement limiting seat (55). The two sides of the grabbing clamp rod (210) are respectively fixedly connected with two sliding strips (53). The bottoms of the two sliding strips (53) are respectively fixedly connected with the anti-disengagement limiting seats (55). The two sides of the arc lining plate (51) are respectively fixedly connected with two dismounting sliding seats (52). The two dismounting sliding seats (52) are respectively slidably connected with the corresponding two sliding strips (53). The replacement screw (54) is threadedly connected to each dismounting sliding seat (52). The replacement screw (54) abuts against the corresponding sliding strip (53).

5. The gripping device for robots according to claim 1, characterized in that: The auxiliary clamping mechanism (6) further comprises a rubber clamping strip (65) and an outer supporting arc plate (610), the inner side of each clamping auxiliary rod (64) is detachably installed with the rubber clamping strip (65), and the outer side bottom of each clamping auxiliary rod (64) is detachably installed with the outer supporting arc plate (610).

6. The gripper device for a robot according to claim 5, characterized in that: The auxiliary clamping mechanism (6) further comprises a rubber clamping strip (65) and an outer supporting arc plate (610), the inner side of each clamping auxiliary rod (64) is detachably installed with the rubber clamping strip (65), and the outer side bottom of each clamping auxiliary rod (64) is detachably installed with the outer supporting arc plate (610).

7. The gripper device for robots according to claim 2, characterized in that: The auxiliary clamping mechanism (6) further comprises a rubber clamping strip (65) and an outer supporting arc plate (610), the inner side of each clamping auxiliary rod (64) is detachably installed with the rubber clamping strip (65), and the outer side bottom of each clamping auxiliary rod (64) is detachably installed with the outer supporting arc plate (610).

8. The gripper device for a robot according to claim 7, characterized in that: The suction taking mechanism (7) comprises a suction hard pipe (71), a hollow disc (72), a rubber suction disc (73), a control electric telescopic rod (74), a control frame (75) and a negative pressure assembly, the suction hard pipe (71) is vertically and slidably connected in the long barrel (32), the bottom of the suction hard pipe (71) penetrates through the control barrel (37) and is fixedly connected with the hollow disc (72), a plurality of rubber suction discs (73) are annularly installed at the bottom of the hollow disc (72), the top outer periphery of the suction hard pipe (71) is fixedly connected with the control frame (75), the two ends of the control frame (75) are respectively fixedly connected with the top ends of two control electric telescopic rods (74), the bottom ends of the two control electric telescopic rods (74) are respectively fixedly connected with the top of the control disc (33), and the top end of the suction hard pipe (71) is connected with the negative pressure assembly. The negative pressure assembly comprises a solenoid valve (76), a steel wire hose (77) and a negative pressure pump (78), the top end of the suction hard pipe (71) is connected with one end of the steel wire hose (77) through the solenoid valve (76), the other end of the steel wire hose (77) is connected with the air inlet of the negative pressure pump (78), and the negative pressure pump (78) is installed at the bottom of the rotating mechanism (1).

Images