Servo motor clamping jaw suitable for objects with different diameters

Abstract

The invention relates to the technical field of servo motor clamping jaws, in particular to a servo motor clamping jaw suitable for objects with different diameters, which comprises a mounting hanging bracket and a bottom plate, the bottom plate is positioned below the mounting hanging bracket, a hanging plate is mounted at the lower end of the mounting hanging bracket, and a servo motor is fixed on the upper surface of the hanging plate; a central gear is rotationally inserted into the axis of the lifting plate, four side gears are meshed with the outer ring side of the central gear, the upper ends of the side gears are rotationally inserted into the bottom surface of the lifting plate, and edge head elastic telescopic rods are fixed to the bottom surfaces of the side gears. A long rod can be driven to move from a notch of a notch ring to the bottom face of the notch ring, an edge head elastic telescopic rod is pushed to extend to drive a shifting plate and a stop rod to be staggered, a corresponding threaded shaft on the lower portion does not continue to rotate any more, and other side gears continue to push the stop rod and push the threaded shaft to rotate through the edge head elastic telescopic rod and the shifting plate; and the other vertical material clamping structures can continuously get close to the materials, so that the materials in different shapes can be clamped.

Description

Technical Field

[0001] The invention relates to the technical field of servo motor clamps, in particular to a servo motor clamp adapted to objects with different diameters. Background Art

[0002] The application of the gripper is the end effector of robots and mechanical arms. Its stable, efficient, precise and technological characteristics have effectively improved the production efficiency of various industries and solved the problem of industrial precision motion control. The power source for the opening and closing movement of the gripper is usually a stepper servo, servo motor and DC brushless motor, which have the advantage of high response.

[0003] Chinese patent announcement number CN220783952U discloses a servo motor clamp that can adapt to objects of different diameters, including a fixed plate and a top plate, the top of the fixed plate is fixedly connected to the top plate, the top of the top plate is fixedly connected to a first servo motor, the output end of the first servo motor is fixedly connected to a drive shaft, the bottom end of the drive shaft is fixedly connected to a linear screw, and the linear screw is movably assembled at the front end of the fixed plate. The servo motor clamp adapted to objects of different diameters is provided with a first servo motor, a drive shaft, a linear screw, a threaded block, and an articulated rod. The first servo motor drives the linear screw to rotate, pushing the threaded block to make linear motion in the up and down directions. When the drive shaft rotates forward, the threaded block moves downward, the fixed block drives the articulated rod to open an angle, the clamping hand unfolds, and then the drive shaft reverses, the clamping hand clamps the object, and achieves clamping of objects of different diameters. It has a wide range of applicability and solves the problem of limited clamping applicability. The above-mentioned related technologies have the following defects: although the existing clamping hand can clamp objects of different diameters, the clamping hand can only clamp circular objects or objects with the same distance from the axis on all sides due to synchronous opening and closing. However, some objects have different distances from the central axis at different positions, and the clamping hand cannot be stably clamped. Summary of the invention

[0004] In order to prevent objects at different positions and at different distances from the central axis from being stably clamped by all the clamps, the present invention provides a servo motor clamp adapted to objects of different diameters.

[0005] The present invention provides a servo motor clamp that can adapt to objects of different diameters, which adopts the following technical scheme: it includes an installation hanger and a base plate, wherein the base plate is located below the installation hanger, a hanger plate is installed at the lower end of the installation hanger, a servo motor is fixed on the upper surface of the hanger plate, a central gear is rotatably plugged at the axis of the hanger plate, four side gears are meshed on the outer ring side of the central gear, the upper ends of the side gears are rotatably plugged into the bottom surface of the hanger plate, a ridged elastic telescopic rod is fixed to the bottom surface of the side gears, an end plate is coaxially arranged below the ridged elastic telescopic rod, a threaded shaft is coaxially fixed to the other end of the end plate, and the lower end of the threaded shaft is rotatably plugged into the bottom surface of the base plate. On the upper surface, two baffle rods are arranged between the side gear and the end plate, and an elastic structure is installed on the upper surface of the end plate, and the ends of the two baffle rods close to each other are bent toward the inner ring side, and the ends of the two baffle rods between the side gear and the end plate that are away from each other are connected to the elastic structure, and a shift plate is arranged between the side gear and the end plate and between the two baffle rods, and the shift plate is fixed to the lower telescopic end of the elastic telescopic rod of the edge head, and a notch ring is coaxially contacted below the side gear, and the notch ring is fixed to the upper surface of the end plate, and the notch ring is a notch ring structure, and a long rod is arranged at the notch of the notch ring, and the lower end of the long rod is fixed to the shift plate, and both ends of the notch of the notch ring are inclined surfaces.

[0006] The outer surface of the threaded shaft is threadedly sleeved with a threaded ring, and an articulated arm group is installed on the outer ring surface of the threaded ring. Side panels are fixed at the four corners of the hanging plate, and the lower ends of the four side panels are respectively fixed to the four corners of the base plate. The side surfaces of the side panels are through-groove structures, and the articulated arm group is located inside the through-groove structures of adjacent side panels. One end of the articulated arm group located below the base plate is hinged with a vertical clamping structure, and the upper end of the vertical clamping structure is installed on the bottom surface of the base plate.

[0007] Optionally, an outer air ring is provided between the hanging plate and the bottom plate, the outer air ring is fixedly inserted between the four side plates, the outer ring surface of the outer air ring is fixedly connected to an air pressure pump, and the outer ring surface of the outer air ring is fixedly connected to a pressure control structure.

[0008] Optionally, the elastic structure includes an inner ring, a rotating ring and a notched arc cylinder, the bottom surface of the notched arc cylinder is fixedly connected to the upper surface of the adjacent inner ring, the inner ring is fixedly installed on the upper surface of the adjacent end plate, the two ends of the notched arc cylinder are respectively slidably sleeved on the outer surfaces of the adjacent baffle bars, the rotating ring is rotatably sleeved on the outer ring surface of the inner ring, the outer ring surface of the rotating ring is fixedly penetrated by a ventilation pipe, and the other end of the ventilation pipe is fixedly connected to the inner ring surface of the outer air ring.

[0009] Optionally, the pressure control structure includes a pressure control tube, a pressure control head and a vertical elastic telescopic rod. The pressure control tube is fixedly connected to the outer ring surface of the outer air ring, the upper surface of the pressure control head is fixed to the vertical elastic telescopic rod, the pressure control head is slidably inserted into the outer surface of the pressure control tube, the outer surface of the pressure control tube is threadedly sleeved with a notched threaded barrel, and the upper end of the notched threaded barrel is fixedly sleeved on the upper end of the vertical elastic telescopic rod.

[0010] Optionally, the articulated arm group includes a fixed bent rod, an articulated push arm and a center support frame, the fixed bent rod is slidably inserted into the transparent groove structure of the adjacent side panel, one end of the fixed bent rod is fixed to the outer ring surface of the threaded ring, the lower end of the fixed bent rod is hinged to the upper end of the articulated push arm, one end of the center support frame is fixed to the bottom surface of the base plate, and the lower end of the center support frame is rotatably connected to the center position of the articulated push arm.

[0011] Optionally, the vertical material clamping structure includes a vertical clamping rod, a sleeve block and a bottom groove rod, the bottom groove rod is installed on the bottom surface of the bottom plate, the bottom surface of the bottom groove rod is a groove structure, the upper end of the vertical clamping rod is slidably inserted into the groove structure on the bottom surface of the bottom groove rod, the sleeve block is slidably sleeved on the outer surface of the vertical clamping rod, and the sleeve block is hinged to the lower end of the adjacent hinged push arm.

[0012] Optionally, the axis of the bottom groove rod intersects the central axis of the bottom plate at right angles, the vertical clamp rod is vertically arranged, and the bottom groove rod and the adjacent central support frame and the adjacent articulated push arm are located in the same plane.

[0013] Optionally, the telescopic end damping sleeve of the edge head elastic telescopic rod is connected to a rubber damping sleeve, and the rubber damping sleeve is fixed to the side gear.

[0014] Optionally, the thickness of the notch ring is greater than the distance between the upper end of the shift plate and the bottom surface of the blocking rod, the upper end of the long rod is an arc end, and the long rod is perpendicular to the bottom surface of the side gear.

[0015] In summary, the present invention includes the following beneficial technical effects:

[0016] 1. The present invention provides a paddle plate, an elastic telescopic rod of an edge head, a notch ring and a baffle rod. When the vertical clamping structure corresponding to the threaded shaft cannot move due to the material structure, the corresponding side gear continues to rotate, and the side gear drives the paddle plate to rotate relative to the end plate through the elastic telescopic rod of the edge head, and pushes the baffle rod to elastically move relative to the elastic structure. During the movement of the paddle plate relative to the end plate, the long rod is driven to move from the notch of the notch ring to the bottom surface of the notch ring, and the elastic telescopic rod of the edge head is pushed to extend to drive the paddle plate and the baffle rod to be misaligned, so that the side gear no longer applies a torsional force to the baffle rod through the elastic telescopic rod of the edge head and the paddle plate, and the corresponding threaded shaft below no longer continues to rotate, while the remaining side gears continue to push the baffle rod through the elastic telescopic rod of the edge head and the paddle plate, and push the threaded shaft to rotate, so that the remaining vertical clamping structures can continue to approach the material, thereby clamping materials of different shapes.

[0017] 2. The present invention arranges an outer air ring, a side ring, a notched arc tube, a pressure control head and a notched threaded tube. An air pump fills air pressure into the notched arc tube through the outer air ring, the vent pipe and the inner ring. The air pressure in the notched arc tube applies air pressure elastic resistance to the baffle rod. As the air pressure inside the outer air ring increases, the pressure control head is gradually pushed to compress the vertical elastic telescopic rod. When the pressure control head moves out of the pressure control tube, the air pressure in the outer air ring no longer continues to increase, and the maximum air pressure in the outer air ring is limited. When the notched threaded tube is rotated to engage with the pressure control tube to change the depth of the pressure control head inserted into the pressure control tube, the maximum pressure in the outer air ring is changed, and the resistance of the baffle rod to the shift plate.

[0018] 3. The present invention arranges a vertical clamp rod, a sleeve block and a bottom groove rod. When the hinged push arm rotates, the sleeve block is pushed to gradually approach the axis of the bottom plate. At the same time, the sleeve block slides on the surface of the vertical clamp rod, driving the vertical clamp rod to slide on the bottom surface of the bottom groove rod, so that the vertical clamp rod remains vertical during movement, so that the vertical clamp rod can fully contact with the material.

[0019] 4. The present invention sets a rubber damping sleeve. When the long rod moves to the bottom surface of the notch ring, the side gear rotates relative to the end plate. When the long rod moves to the notch of the notch ring again, the rubber damping sleeve generates resistance to the contraction of the elastic telescopic rod of the edge head, effectively preventing the elastic telescopic rod of the edge head from pulling the baffle to apply thrust to the baffle rod again when the long rod moves to the notch position of the notch ring, thereby generating a torsional force on the threaded shaft again. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present invention;

[0021] Figure 2 is a schematic structural diagram of the connection between the servo motor and the central gear in an embodiment of the present invention;

[0022] Figure 3 is a schematic diagram of the structure of the connection between the central gear and the side gear in an embodiment of the present invention;

[0023] Figure 4 is a schematic diagram of the structure of the connection between the fixed bent rod and the hinged push arm in an embodiment of the present invention;

[0024] Figure 5 2 is a schematic diagram of the structure of the connection between the baffle rod and the notched arc tube in an embodiment of the present invention;

[0025] Figure 6 It is a schematic front view of some structures in an embodiment of the present invention;

[0026] Figure 7 is a schematic top view of some structures in an embodiment of the present invention;

[0027] Figure 8 It is a schematic diagram of an explosion of some structures in an embodiment of the present invention;

[0028] Fig. 9 It is a schematic structural diagram of the connection between the vertical clamp rod and the bottom groove rod in an embodiment of the present invention.

[0029] Figure numerals: 1, mounting bracket; 2, bottom plate; 3, servo motor; 4, hanging plate; 5, central gear; 6, side gear; 7, ridge elastic telescopic rod; 8, threaded shaft; 9, end plate; 10, elastic structure; 101, inner ring; 102, rotating ring; 103, notched arc tube; 104, vent pipe; 11, stop rod; 12, dial plate; 13, notched ring; 14, long rod; 15, threaded ring; 16, Side plate; 17, articulated arm group; 171, fixed bent rod; 172, articulated push arm; 173, center support frame; 18, vertical material clamping structure; 181, vertical clamping rod; 182, sleeve block; 183, bottom groove rod; 19, outer air ring; 20, air pressure pump; 21, pressure control structure; 211, pressure control tube; 212, pressure control head; 213, vertical elastic telescopic rod; 214, notched threaded tube; 22, rubber damping sleeve. DETAILED DESCRIPTION

[0030] The following is combined with Figure 1-Figure 9 The present invention is described in further detail.

[0031] The embodiment of the present invention discloses a servo motor gripper adapted to objects of different diameters. Figure 1-Figure 9 As shown, it includes a mounting bracket 1 and a base plate 2, the base plate 2 is located below the mounting bracket 1, a hanging plate 4 is mounted on the lower end of the mounting bracket 1, a servo motor 3 is fixed to the upper surface of the hanging plate 4, a central gear 5 is rotatably plugged at the axis of the hanging plate 4, the servo motor 3 can control the forward and reverse rotation of the central gear 5, four side gears 6 are meshed on the outer ring side of the central gear 5, the upper end of the side gear 6 is rotatably plugged into the bottom surface of the hanging plate 4, a ridge head elastic telescopic rod 7 is fixed to the bottom surface of the side gear 6, an end plate 9 is coaxially arranged below the ridge head elastic telescopic rod 7, and the ridge head elastic telescopic rod 7 has a tendency to shrink under its own elasticity.

[0032] The other end of the end plate 9 is coaxially fixed with a threaded shaft 8, and the lower end of the threaded shaft 8 is rotatably plugged into the upper surface of the bottom plate 2. Two baffle rods 11 are arranged between the side gear 6 and the end plate 9. An elastic structure 10 is installed on the upper surface of the end plate 9. The ends of the two baffle rods 11 close to each other are bent toward the inner ring side. The ends of the two baffle rods 11 between the side gear 6 and the end plate 9 that are away from each other are connected to the elastic structure 10. A paddle plate 12 is arranged between the side gear 6 and the end plate 9 and between the two baffle rods 11. The paddle plate 12 is connected to the edge head. The lower telescopic end of the elastic telescopic rod 7 is fixed. When the dial plate 12 rotates forward and backward following the ridge head elastic telescopic rod 7, the dial plate 12 can drive the threaded shaft 8 to rotate synchronously through the contacted stop rod 11. A notch ring 13 is coaxially contacted below the side gear 6. The notch ring 13 is fixed to the upper surface of the end plate 9. The notch ring 13 is a notch ring structure. A long rod 14 is arranged at the notch of the notch ring 13. The lower end of the long rod 14 is fixed to the dial plate 12. Both ends of the notch of the notch ring 13 are inclined surfaces. The ridge head elastic telescopic rod 7 The telescopic end damping sleeve is connected with a rubber damping sleeve 22, and the rubber damping sleeve 22 is fixed to the side gear 6. After the ridge elastic telescopic rod 7 is extended, the side gear 6 continues to rotate. When the long rod 14 rotates to the notch of the notch ring 13 again, the rubber damping sleeve 22 reduces the speed of the long rod 14 inserting into the notch of the notch ring 13. When it is necessary to control the reverse rotation of the threaded shaft 8, the servo motor 3 controls the stay time of the notch of the notch ring 13 and the long rod 14, so that the long rod 14 can enter the notch of the notch ring 13 again. When the paddle plate 12 rotates, it can apply a thrust to the baffle rods 11 on both sides, which can push the threaded shaft 8 to reverse and loosen the clamping of the material. The thickness of the notch ring 13 is greater than the distance between the upper end of the paddle plate 12 and the bottom surface of the baffle rod 11. When the long rod 14 slides on the bottom surface of the notch ring 13, the inwardly bent ends of the paddle plate 12 and the baffle rod 11 are staggered and disengaged. When the paddle plate 12 rotates following the ridge elastic telescopic rod 7, it no longer applies a thrust to the baffle rod 11. The upper end of the long rod 14 is an arc end, and the long rod 14 is perpendicular to the bottom surface of the side gear 6.

[0033] An outer air ring 19 is arranged between the hanging plate 4 and the bottom plate 2. The outer air ring 19 is fixedly inserted between the four side plates 16. The outer ring surface of the outer air ring 19 is fixedly connected with an air pressure pump 20. The outer ring surface of the outer air ring 19 is fixedly connected with a pressure control structure 21. The elastic structure 10 includes an inner ring 101, a rotating ring 102 and a notched arc cylinder 103. The bottom surface of the notched arc cylinder 103 is fixedly connected with the upper surface of the adjacent inner ring 101. The inner ring 101 is fixedly mounted on the upper surface of the adjacent end plate 9. The two ends of the notched arc tube 103 are respectively slidably sleeved on the outer surfaces of the adjacent baffle rods 11, and the rotating ring 102 is rotatably sleeved on the outer ring surface of the inner ring 101. A ventilation pipe 104 is fixedly passed through the outer ring surface of the rotating ring 102, and the other end of the ventilation pipe 104 is fixedly connected to the inner ring surface of the outer air ring 19. The air pressure pump 20 inflates the inner ring 101 through the outer air ring 19 and the ventilation pipe 104, so that the air pressure in the notched arc tube 103 generates air pressure resistance to the movement of the baffle rod 11.

[0034] The pressure control structure 21 includes a pressure control tube 211, a pressure control head 212 and a vertical elastic telescopic rod 213. The pressure control tube 211 is fixedly connected to the outer ring surface of the outer air ring 19, and the upper surface of the pressure control head 212 is fixed to the vertical elastic telescopic rod 213. The pressure control head 212 is slidably inserted into the outer surface of the pressure control tube 211. The outer surface of the pressure control tube 211 is threadedly sleeved with a notched threaded tube 214, and the upper end of the notched threaded tube 214 is fixedly sleeved on the upper end of the vertical elastic telescopic rod 213. The notched threaded tube 214 is rotated to engage with the pressure control tube 211 to control the depth of the pressure control head 212 inserted into the pressure control tube 211, and change the air pressure in the pressure control tube 211 and the outer air ring 19 when the pressure control head 212 is separated from the pressure control tube 211 by compressing the vertical elastic telescopic rod 213, thereby adjusting the air pressure resistance exerted on the baffle 11.

[0035] A threaded ring 15 is threadedly sleeved on the outer surface of the threaded shaft 8, and an articulated arm group 17 is installed on the outer ring surface of the threaded ring 15. Side panels 16 are fixed at the four corners of the hanging plate 4, and the lower ends of the four side panels 16 are respectively fixed to the four corners of the base plate 2. The side surfaces of the side panels 16 are through-groove structures, and the articulated arm groups 17 are located inside the through-groove structures of the adjacent side panels 16. A vertical clamping structure 18 is hinged at one end of the articulated arm group 17 located below the base plate 2, and the upper end of the vertical clamping structure 18 is installed on the bottom surface of the base plate 2. The threaded ring 15 can move up and down respectively by engaging with the forward and reverse rotating threaded shaft 8.

[0036] The articulated arm assembly 17 includes a fixed bent rod 171, an articulated push arm 172 and a central support frame 173. The fixed bent rod 171 is slidably inserted into the transparent groove structure of the adjacent side plate 16. One end of the fixed bent rod 171 is fixed to the outer ring surface of the threaded ring 15. The lower end of the fixed bent rod 171 is hinged to the upper end of the articulated push arm 172. One end of the central support frame 173 is fixed to the bottom surface of the bottom plate 2. The lower end of the central support frame 173 is rotatably connected to the center position of the articulated push arm 172. The vertical clamping structure 18 includes a vertical clamping rod 181, a sleeve block 182 and a bottom groove rod 183. The bottom groove rod 183 is installed on the bottom surface of the bottom plate 2. The bottom surface of the bottom groove rod 183 is a groove structure. The vertical clamping rod 1 The upper end of 81 is slidably inserted into the bottom groove structure of the bottom groove rod 183, the axis of the bottom groove rod 183 intersects perpendicularly with the central axis of the bottom plate 2, the vertical clamp rod 181 is vertically arranged, the bottom groove rod 183 and the adjacent central support frame 173 and the adjacent hinged push arm 172 are located in the same plane, the sleeve block 182 is slidably sleeved on the outer surface of the vertical clamp rod 181, the sleeve block 182 is hinged to the lower end of the adjacent hinged push arm 172, when the hinged push arm 172 rotates, the sleeve block 182 is driven to slide on the vertical clamp rod 181, and at the same time, the vertical clamp rod 181 is driven to slide on the bottom surface of the bottom groove rod 183, so that the vertical clamp rod 181 remains vertical during movement, which can increase the stability of clamping materials.

[0037] The working principle is as follows: the air pump 20 fills the notched arc tube 103 with air pressure through the outer air ring 19, the vent pipe 104 and the inner ring 101. The air pressure in the notched arc tube 103 applies air pressure elastic resistance to the baffle rod 11, so that the material is located between the multiple vertical clamp rods 181. The servo motor 3 drives the central gear 5 to rotate. When the central gear 5 rotates, it drives all the side gears 6 to rotate synchronously. The elastic telescopic rod 7 of the edge head makes the paddle 12 and the inwardly bent end of the baffle rod 11 in the same plane under its own elasticity. When the side gear 6 rotates, the ridge elastic telescopic rod 7 drives the dial plate 12 to rotate. When the dial plate 12 rotates, a thrust is applied to the baffle rod 11. The baffle rod 11 drives the end plate 9 and the threaded shaft 8 to rotate through the air pressure in the notched arc tube 103. The threaded shaft 8 drives the fixed curved rod 171 to move by engaging with the threaded ring 15. When the fixed curved rod 171 moves downward, it pushes the upper end of the hinged push arm 172 to rotate downward away from the axis of the bottom plate 2. At the same time, the lower end of the hinged push arm 172 moves upward close to the axis of the bottom plate 2. The block 182 slides on the surface of the vertical clamp rod 181, driving the vertical clamp rod 181 to slide on the bottom surface of the bottom groove rod 183, so that the vertical clamp rod 181 remains vertically close to the material. After the vertical clamp rod 181 cannot move, when the corresponding side gear 6 continues to rotate, the side gear 6 drives the dial plate 12 to rotate relative to the end plate 9 through the ridge elastic telescopic rod 7, pushing the blocking rod 11 to move relative to the notched arc tube 103. When the dial plate 12 moves relative to the end plate 9, it drives the long rod 14 to move from the notch of the notched ring 13 to the notch ring 13. The bottom surface of the tool pushes the elastic telescopic rod 7 of the edge head to contract and disengage the paddle 12 from the baffle rod 11, so that the side gear 6 no longer applies a torsional force to the baffle rod 11 through the elastic telescopic rod 7 of the edge head and the paddle 12, and the corresponding threaded shaft 8 below no longer continues to rotate, while the remaining side gears 6 continue to push the baffle rod 11 through the elastic telescopic rod 7 of the edge head and the paddle 12, pushing the threaded shaft 8 to rotate, so that the remaining vertical clamping rods 181 continue to approach the material until all the vertical clamping rods 181 are in contact with the material and the material is fully clamped.

[0038] The above are all preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Therefore, any equivalent changes made based on the structure, shape, and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A servo motor gripper adapted to objects of different diameters, comprising a mounting bracket (1) and a base plate (2), characterized in that: The bottom plate (2) is located below the mounting hanger (1), a hanging plate (4) is mounted at the lower end of the mounting hanger (1), a servo motor (3) is fixed on the upper surface of the hanging plate (4), a central gear (5) is rotatably plugged at the axis of the hanging plate (4), four side gears (6) are meshed on the outer ring side of the central gear (5), the upper ends of the side gears (6) are rotatably plugged into the bottom surface of the hanging plate (4), a ridged elastic telescopic rod (7) is fixed to the bottom surface of the side gears (6), an end plate (9) is coaxially arranged below the ridged elastic telescopic rod (7), a threaded shaft (8) is coaxially fixed to the other end of the end plate (9), the lower end of the threaded shaft (8) is rotatably plugged into the upper surface of the bottom plate (2), two blocking rods (11) are arranged between the side gears (6) and the end plate (9), and the upper surface of the end plate (9) An elastic structure (10) is installed, and the ends of the two baffle rods (11) that are close to each other are bent toward the inner ring side. The ends of the two baffle rods (11) that are away from each other between the side gear (6) and the end plate (9) are connected to the elastic structure (10). A shift plate (12) is provided between the side gear (6) and the end plate (9) and between the two baffle rods (11). The shift plate (12) is fixed to the lower telescopic end of the ridge elastic telescopic rod (7). A notch ring (13) is coaxially contacted below the side gear (6). The notch ring (13) is fixed to the upper surface of the end plate (9). The notch ring (13) is a notch ring structure. A long rod (14) is provided at the notch of the notch ring (13). The lower end of the long rod (14) is fixed to the shift plate (12). Both ends of the notch of the notch ring (13) are inclined surfaces. The outer surface of the threaded shaft (8) is threadedly sleeved with a threaded ring (15), and the outer ring surface of the threaded ring (15) is installed with an articulated arm group (17). The four corners of the hanging plate (4) are fixed with side plates (16), and the lower ends of the four side plates (16) are respectively fixed to the four corners of the bottom plate (2). The side surface of the side plate (16) is a through-groove structure. The articulated arm group (17) is located inside the through-groove structure of the adjacent side plate (16). One end of the articulated arm group (17) located below the bottom plate (2) is hinged with a vertical material clamping structure (18), and the upper end of the vertical material clamping structure (18) is installed on the bottom surface of the bottom plate (2).

2. The servo motor gripper adapted to objects of different diameters according to claim 1, characterized in that: An outer air ring (19) is arranged between the hanging plate (4) and the bottom plate (2); the outer air ring (19) is fixedly inserted between the four side plates (16); the outer ring surface of the outer air ring (19) is fixedly connected to an air pressure pump (20); and the outer ring surface of the outer air ring (19) is fixedly connected to a pressure control structure (21).

3. The servo motor gripper adapted to objects of different diameters according to claim 2, characterized in that: The elastic structure (10) comprises an inner ring (101), a rotating ring (102) and a notched arc tube (103); the bottom surface of the notched arc tube (103) is fixedly connected to the upper surface of the adjacent inner ring (101); the inner ring (101) is fixedly mounted on the upper surface of the adjacent end plate (9); the two ends of the notched arc tube (103) are respectively slidably sleeved on the outer surface of the adjacent blocking rod (11); the rotating ring (102) is rotatably sleeved on the outer ring surface of the inner ring (101); a vent pipe (104) is fixedly passed through the outer ring surface of the rotating ring (102); the other end of the vent pipe (104) is fixedly connected to the inner ring surface of the outer air ring (19).

4. The servo motor gripper adapted to objects of different diameters according to claim 2, characterized in that: The pressure control structure (21) comprises a pressure control tube (211), a pressure control head (212) and a vertical elastic telescopic rod (213); the pressure control tube (211) is fixedly connected to the outer ring surface of the outer air ring (19); the upper surface of the pressure control head (212) is fixed to the vertical elastic telescopic rod (213); the pressure control head (212) is slidably plugged into the outer surface of the pressure control tube (211); the outer surface of the pressure control tube (211) is threadedly sleeved with a notched threaded cylinder (214); the upper end of the notched threaded cylinder (214) is fixedly sleeved on the upper end of the vertical elastic telescopic rod (213).

5. The servo motor gripper adapted to objects of different diameters according to claim 1, characterized in that: The articulated arm group (17) comprises a fixed bent rod (171), an articulated push arm (172) and a central support frame (173); the fixed bent rod (171) is slidably inserted into the transparent groove structure of the adjacent side plate (16); one end of the fixed bent rod (171) is fixed to the outer ring surface of the threaded ring (15); the lower end of the fixed bent rod (171) is hinged to the upper end of the articulated push arm (172); one end of the central support frame (173) is fixed to the bottom surface of the bottom plate (2); and the lower end of the central support frame (173) is rotatably connected to the center position of the articulated push arm (172).

6. The servo motor gripper adapted to objects of different diameters according to claim 5, characterized in that: The vertical material clamping structure (18) comprises a vertical clamping rod (181), a sleeve block (182) and a bottom groove rod (183). The bottom groove rod (183) is installed on the bottom surface of the bottom plate (2). The bottom surface of the bottom groove rod (183) is a groove-shaped structure. The upper end of the vertical clamping rod (181) is slidably inserted into the groove-shaped structure on the bottom surface of the bottom groove rod (183). The sleeve block (182) is slidably sleeved on the outer surface of the vertical clamping rod (181). The sleeve block (182) is hinged to the lower end of the adjacent hinged push arm (172).

7. The servo motor gripper adapted to objects of different diameters according to claim 6, characterized in that: The axis of the bottom groove rod (183) intersects perpendicularly with the central axis of the bottom plate (2); the vertical clamp rod (181) is arranged vertically; the bottom groove rod (183) and the adjacent central support frame (173) and the adjacent hinged push arm (172) are located in the same plane.

8. The servo motor gripper adapted to objects of different diameters according to claim 1, characterized in that: The telescopic end damping sleeve of the edge head elastic telescopic rod (7) is connected to a rubber damping sleeve (22), and the rubber damping sleeve (22) is fixed to the side gear (6).

9. The servo motor gripper adapted to objects of different diameters according to claim 1, characterized in that: The thickness of the notch ring (13) is greater than the distance between the upper end of the shift plate (12) and the bottom surface of the blocking rod (11), the upper end of the long rod (14) is an arc end, and the long rod (14) is perpendicular to the bottom surface of the side gear (6).

Images