A servo motor gripper adaptable to objects of different diameters

Abstract

This invention relates to the technical field of servo motor grippers, and more particularly to a servo motor gripper adaptable to objects of different diameters. It includes a mounting bracket and a base plate. The base plate is located below the mounting bracket. A hanging plate is mounted on the lower end of the mounting bracket. A servo motor is fixed to the upper surface of the hanging plate. A central gear is rotatably inserted at the axis of the hanging plate. Four side gears mesh with the outer ring of the central gear. The upper ends of the side gears are rotatably inserted into the bottom surface of the hanging plate. A ridge-headed elastic telescopic rod is fixed to the bottom surface of the side gears. This invention can move a long rod from the notch of the notch ring to the bottom surface of the notch ring, pushing the ridge-headed elastic telescopic rod to extend and causing the lever and stop bar to misalign. The corresponding threaded shaft below stops rotating, while the remaining side gears continue to push the stop bar through the ridge-headed elastic telescopic rod and the lever, causing the threaded shaft to rotate. This allows the remaining vertical clamping structures to continue approaching the material, thereby enabling the clamping of materials of different shapes.

Description

Technical Field

[0001] This invention relates to the technical field of servo motor grippers, and in particular to a servo motor gripper adaptable to objects of different diameters. Background Technology

[0002] Grippers are used as end effectors in robots and robotic arms. Their stability, efficiency, precision, and technological sophistication effectively improve production efficiency across various industries and solve the challenges of precision motion control in industrial applications. The power source for the opening and closing motion of grippers typically uses stepper servo motors, servo motors, and brushless DC motors, which offer the advantage of high responsiveness.

[0003] Chinese Patent Publication No. CN220783952U discloses a servo motor gripper that adapts to objects of different diameters, including a fixed plate and a top plate. The top plate is fixedly connected to the top of the fixed plate, and a first servo motor is fixedly connected to the top of the top plate. The output end of the first servo motor is fixedly connected to a drive shaft, and the bottom end of the drive shaft is fixedly connected to a linear screw. The linear screw is movably mounted on the front end of the fixed plate. This servo motor gripper, adaptable to objects of different diameters, is equipped with a first servo motor, a drive shaft, a linear screw, a threaded block, and a hinge rod. The first servo motor drives the linear screw to rotate, pushing the threaded block to move linearly up and down. When the drive shaft rotates clockwise, the threaded block moves downward, and the fixed block drives the hinge rod to open, thus unfolding the gripper. Then, the drive shaft reverses, and the gripper picks up the object, achieving the gripping of objects of different diameters. It has wide applicability and solves the problem of limited gripping applicability. The above-mentioned related technologies have the following defects: Although existing grippers can clamp objects of different diameters, the grippers can only clamp circular objects or objects whose four sides are equidistant from the axis due to synchronous opening and closing. However, some objects have different distances from the central axis at different positions, and the grippers cannot achieve stable clamping. Summary of the Invention

[0004] To prevent items with different distances from the central axis from being stably clamped by all grippers, this invention provides a servo motor gripper that adapts to objects of different diameters.

[0005] This invention provides a servo motor gripper adaptable to objects of different diameters, employing the following technical solution: It includes a mounting bracket and a base plate. The base plate is located below the mounting bracket. A hanging plate is mounted on the lower end of the mounting bracket. A servo motor is fixed to the upper surface of the hanging plate. A central gear is rotatably inserted at the axis of the hanging plate. Four side gears mesh with the outer ring of the central gear. The upper ends of the side gears are rotatably inserted into the bottom surface of the hanging plate. A ridge-headed elastic telescopic rod is fixed to the bottom surface of the side gears. An end plate is coaxially arranged below the ridge-headed elastic telescopic rod. A threaded shaft is coaxially fixed to the other end of the end plate. The lower end of the threaded shaft is rotatably inserted into the base plate. On the upper surface, two stop rods are provided between the side gear and the end plate. An elastic structure is installed on the upper surface of the end plate. The ends of the two stop rods that are close to each other are bent inward. The ends of the two stop rods that are far apart from each other between the side gear and the end plate are connected to the elastic structure. A lever is provided between the side gear and the end plate and between the two stop rods. The lever is fixed to the lower telescopic end of the elastic telescopic rod of the prism head. A notched ring is coaxially contacted below the side gear. The notched ring is fixed to the upper surface of the end plate. The notched ring is a notched ring structure. A long rod is provided at the notch of the notched ring. The lower end of the long rod is fixed to the lever. Both ends of the notch of the notched ring are inclined surfaces.

[0006] The outer surface of the threaded shaft is threaded with a threaded ring, and a hinged arm assembly is installed on the outer ring surface of the threaded ring. Side plates are fixed at the four corners of the lifting plate, and the lower ends of the four side plates are respectively fixed to the four corners of the base plate. The side of the side plate has a through groove structure. The hinged arm assembly is located inside the through groove structure of the adjacent side plate. A vertical clamping structure is hinged to one end of the hinged arm assembly located below the base plate. 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 base plate. The outer air ring is fixedly inserted between the four side plates. An air pressure pump is fixedly connected to the outer ring surface of the outer air ring, and a pressure control structure is fixedly connected to the outer ring surface of the outer air ring.

[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 slidably sleeved on the outer surface of the adjacent stop bar. The rotating ring is rotatably sleeved on the outer ring surface of the inner ring. A vent pipe is fixedly passed through the outer ring surface of the rotating ring. The other end of the vent 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. A notched threaded cylinder is threaded onto the outer surface of the pressure control tube. The upper end of the notched threaded cylinder is fixedly sleeved onto the upper end of the vertical elastic telescopic rod.

[0010] Optionally, the articulated arm assembly includes a fixed bent rod, an articulated push arm, and a central support frame. The fixed bent rod is slidably inserted into the through slot structure of the adjacent side plate. One end of the fixed bent rod is fixed to the outer ring surface of the threaded ring, and the lower end of the fixed bent rod is hinged to the upper end of the articulated push arm. One end of the central support frame is fixed to the bottom surface of the base plate, and the lower end of the central support frame is rotatably connected to the center position of the articulated push arm.

[0011] Optionally, the vertical 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 base plate, and the bottom surface of the bottom groove rod has a groove-shaped structure. The upper end of the vertical clamping rod is slidably inserted into the groove-shaped structure of 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 perpendicularly with the central axis of the base plate, the vertical clamp rod is set vertically, and the bottom groove rod, the adjacent central support frame, and the adjacent hinged push arm are located on the same plane.

[0013] Optionally, the telescopic end of the elastic telescopic rod is fitted with a rubber damping sleeve, which is fixed to the side gear.

[0014] Optionally, the thickness of the notched ring is greater than the distance between the upper end of the lever and the bottom surface of the stop bar, 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 has the following beneficial technical effects:

[0016] 1. This invention, by setting up a lever plate, a prism-headed elastic telescopic rod, a notched ring, and a stop bar, allows the side gear to continue rotating when the vertical clamping structure corresponding to the threaded shaft cannot move due to the material structure. The side gear, through the prism-headed elastic telescopic rod, drives the lever plate to rotate relative to the end plate, pushing the stop bar to move elastically relative to the elastic structure. During this movement, the lever plate moves the long rod from the notch of the notched ring to the bottom surface of the notched ring, causing the prism-headed elastic telescopic rod to extend and misalign the lever plate with the stop bar. This prevents the side gear from applying torsional force to the stop bar through the prism-headed elastic telescopic rod and the lever plate, thus stopping the threaded shaft below from rotating. The remaining side gears continue to push the stop bar through the prism-headed elastic telescopic rod and the lever plate, driving the threaded shaft to rotate. This allows the remaining vertical clamping structures to continue approaching the material, enabling the clamping of materials of different shapes.

[0017] 2. This invention, by setting up an outer air ring, a side ring, a notched arc cylinder, a pressure control head, and a notched threaded cylinder, allows an air pump to fill the notched arc cylinder with air pressure through the outer air ring, the air pipe, and the inner side ring. The air pressure in the notched arc cylinder exerts an elastic resistance on the stop rod. As the air pressure inside the outer air ring increases, it gradually pushes the pressure control head to compress the vertical elastic telescopic rod. When the pressure control head moves out of the pressure control pipe, the air pressure inside the outer air ring no longer increases, thus limiting the maximum air pressure inside the outer air ring. When the notched threaded cylinder is rotated to engage with the pressure control pipe, changing the depth to which the pressure control head is inserted into the pressure control pipe, the maximum pressure inside the outer air ring is changed, thus reducing the resistance of the stop rod to the deflector plate.

[0018] 3. By setting up a vertical clamping rod, a sleeve block, and a bottom groove rod, the present invention pushes the sleeve block to gradually approach the axis of the bottom plate when the hinged push arm rotates. At the same time, the sleeve block slides on the surface of the vertical clamping rod, causing the vertical clamping rod to slide on the bottom surface of the bottom groove rod, so that the vertical clamping rod remains vertical when moving and can fully contact the material.

[0019] 4. By setting a rubber damping sleeve, when the long rod moves to the bottom surface of the notched ring, the side gear rotates relative to the end plate. When the long rod moves to the notch of the notched ring again, the rubber damping sleeve generates resistance to the contraction of the elastic telescopic rod of the ridge head, effectively preventing the elastic telescopic rod of the ridge head from pulling the baffle to apply a thrust to the stop rod again when the long rod moves to the notch position of the notched ring, and thus generating a torsional force on the threaded shaft again. Attached Figure Description

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

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

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

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

[0024] Figure 5 This is a schematic diagram of the connection between the stop bar and the notched arc cylinder in an embodiment of the present invention;

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

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

[0027] Figure 8 This is an exploded view of some structures in an embodiment of the present invention;

[0028] Figure 9 This is a schematic diagram of the connection between the vertical clamping rod and the bottom groove rod in an embodiment of the present invention.

[0029] Reference numerals: 1. Mounting bracket; 2. Base plate; 3. Servo motor; 4. Hanging plate; 5. Center gear; 6. Side gear; 7. Elastic telescopic rod with ridge head; 8. Threaded shaft; 9. End plate; 10. Elastic structure; 101. Inner ring; 102. Rotating ring; 103. Notched arc cylinder; 104. Vent pipe; 11. Stop bar; 12. Pulley; 13. Notched ring; 14. Long rod; 15. Threaded ring; 16. 17. Side plate; 171. Hinged arm assembly; 172. Fixed bending rod; 173. Hinged push arm; 174. Central support frame; 18. Vertical 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 pipe; 212. Pressure control head; 213. Vertical elastic telescopic rod; 214. Notched threaded cylinder; 22. Rubber damping sleeve. Detailed Implementation

[0030] The following is in conjunction with the appendix Figures 1-9 The present invention will be described in further detail below.

[0031] This invention discloses a servo motor gripper adapted to objects of different diameters. For example... Figures 1-9 As shown, the device 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 installed at the lower end of the mounting bracket 1. A servo motor 3 is fixed on the upper surface of the hanging plate 4. A central gear 5 is rotatably inserted 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 gears 6 is rotatably inserted into the bottom surface of the hanging plate 4. A ridge-head elastic telescopic rod 7 is fixed on the bottom surface of the side gears 6. An end plate 9 is coaxially arranged below the ridge-head elastic telescopic rod 7. The ridge-head elastic telescopic rod 7 has a tendency to contract under its own elasticity.

[0032] 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 inserted into the upper surface of the base plate 2. Two stop rods 11 are provided 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 stop rods 11 that are close to each other are bent inward. The ends of the two stop rods 11 that are far apart from each other between the side gear 6 and the end plate 9 are connected to the elastic structure 10. A lever 12 is provided between the side gear 6 and the end plate 9 and between the two stop rods 11. The lever 12 and the ridge head The lower telescopic end of the elastic telescopic rod 7 is fixed. When the lever 12 rotates forward and backward with the elastic telescopic rod 7, the lever 12 can drive the threaded shaft 8 to rotate synchronously through the contacting stop 11. The side gear 6 is coaxially contacted with a notched ring 13 below. The notched ring 13 is fixed to the upper surface of the end plate 9. The notched ring 13 has a notched ring structure. A long rod 14 is provided at the notch of the notched ring 13. The lower end of the long rod 14 is fixed to the lever 12. Both ends of the notch of the notched ring 13 are inclined surfaces. The elastic telescopic rod 7 The telescopic end is fitted with a rubber damping sleeve 22, which is fixed to the side gear 6. After the elastic telescopic rod 7 extends, the side gear 6 continues to rotate. When the long rod 14 rotates to the notch of the notched ring 13 again, the rubber damping sleeve 22 reduces the speed at which the long rod 14 inserts into the notch of the notched ring 13. When it is necessary to control the reverse rotation of the threaded shaft 8, the servo motor 3 controls the time that the long rod 14 stays at the notch of the notched ring 13, so that the long rod 14 can re-enter the notch of the notched ring 13. When the lever 12 rotates, it can apply a pushing force to the stop 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 notched ring 13 is greater than the distance between the upper end of the lever 12 and the bottom surface of the stop rod 11. When the long rod 14 slides on the bottom surface of the notched ring 13, the inward bending ends of the lever 12 and the stop rod 11 are disengaged. When the lever 12 rotates with the elastic telescopic rod 7, it no longer applies a pushing force to the stop 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 provided between the hanging plate 4 and the base plate 2. The outer air ring 19 is fixedly inserted between the four side plates 16. An air pressure pump 20 is fixedly connected to the outer ring surface of the outer air ring 19. A pressure control structure 21 is fixedly connected to the outer ring surface of the outer air ring 19. 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 to the upper surface of the adjacent inner ring 101. The inner ring 101 is fixedly installed on the upper surface of the adjacent end plate 9. On the surface, the two ends of the notched arc cylinder 103 are slidably sleeved on the outer surface of the adjacent stop rod 11, and the rotating ring 102 is rotatably sleeved on the outer ring surface of the inner ring 101. The outer ring surface of the rotating ring 102 is fixedly penetrated by the vent pipe 104, and the other end of the vent 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 vent pipe 104, so that the air pressure in the notched arc cylinder 103 generates air pressure resistance on the movement of the stop 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. 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. A notched threaded cylinder 214 is threaded onto the outer surface of the pressure control tube 211. The upper end of the notched threaded cylinder 214 is fixedly sleeved onto the upper end of the vertical elastic telescopic rod 213. Rotating the notched threaded cylinder 214 engages with the pressure control tube 211, controlling the depth of the pressure control head 212 inserted into the pressure control tube 211. This changes the air pressure in the pressure control tube 211 and the outer air ring 19 when the pressure control head 212 disengages from the pressure control tube 211 by compressing the vertical elastic telescopic rod 213, thereby adjusting the air pressure resistance experienced by the stop rod 11.

[0035] A threaded ring 15 is threaded onto the outer surface of the threaded shaft 8. A hinged arm assembly 17 is installed on the outer ring surface of the threaded ring 15. Side plates 16 are fixed at the four corners of the hanging plate 4. The lower ends of the four side plates 16 are fixed to the four corners of the base plate 2 respectively. The side of the side plate 16 has a through groove structure. The hinged arm assembly 17 is located inside the through groove structure of the adjacent side plate 16. A vertical clamping structure 18 is hinged to one end of the hinged arm assembly 17 located below the base plate 2. 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 meshing with the threaded shaft 8 which rotates in both directions.

[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 through-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, and 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 base 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. 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 base plate 2, and the bottom surface of the bottom groove rod 183 is a groove-shaped structure. The upper end of 81 is slidably inserted into the groove-shaped structure on the bottom surface of the bottom groove rod 183. The axis of the bottom groove rod 183 intersects perpendicularly with the central axis of the base plate 2. The vertical clamp rod 181 is vertically set. The bottom groove rod 183, the adjacent central support 173, and the adjacent hinged push arm 172 are located on 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, it drives the sleeve block 182 to slide on the vertical clamp rod 181, and at the same time drives 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 vertical when it moves, which can increase the stability when clamping materials.

[0037] The working principle is as follows: the air pump 20 injects air pressure into the notched arc cylinder 103 through the outer air ring 19, the air pipe 104 and the inner ring 101. The air pressure in the notched arc cylinder 103 applies air pressure elastic resistance to the stop rod 11, so that the material is located between multiple vertical clamping 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. Under its own elasticity, the elastic telescopic rod 7 causes the lever 12 and the stop rod 11 to bend inward to one end and be on the same plane. When the side gear 6 rotates, it drives the lever 12 to rotate via the elastic telescopic rod 7. When the lever 12 rotates, it applies a thrust to the stop rod 11. The stop rod 11 pushes the end plate 9 and the threaded shaft 8 to rotate through the air pressure in the notched arc cylinder 103. The threaded shaft 8 drives the fixed bent rod 171 to move by meshing with the threaded ring 15. When the fixed bent rod 171 moves downward, it pushes the upper end of the hinged push arm 172 to rotate downward away from the axis of the base plate 2. At the same time, the lower end of the hinged push arm 172 moves upward towards the axis of the base plate 2. Block 182 slides on the surface of the vertical clamping rod 181, causing the vertical clamping rod 181 to slide on the bottom surface of the bottom groove rod 183, keeping the vertical clamping rod 181 vertical and close to the material. After the vertical clamping rod 181 can no longer move, when the corresponding side gear 6 continues to rotate, the side gear 6 drives the deflector plate 12 to rotate relative to the end plate 9 through the elastic telescopic rod 7, pushing the stop rod 11 to move relative to the notched arc cylinder 103. During the movement of the deflector plate 12 relative to the end plate 9, the long rod 14 moves from the notch of the notched ring 13 to the notched ring 13. The bottom surface pushes the elastic telescopic rod 7 to retract, causing the lever 12 to disengage from the stop rod 11. This prevents the side gear 6 from applying a torsional force to the stop rod 11 through the elastic telescopic rod 7 and the lever 12. Consequently, the threaded shaft 8 below stops rotating. Meanwhile, the remaining side gears 6 continue to push the stop rod 11 through the elastic telescopic rod 7 and the lever 12, causing the threaded shaft 8 to rotate. This allows the remaining vertical clamping rods 181 to continue approaching the material until all the vertical clamping rods 181 are in contact with the material, thus fully clamping it.

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

Claims

1. A servo motor gripper adaptable to objects of different diameters, comprising a mounting bracket (1) and a base plate (2), characterized in that: The base plate (2) is located below the mounting bracket (1). A hanging plate (4) is installed at the lower end of the mounting bracket (1). A servo motor (3) is fixed on the upper surface of the hanging plate (4). A central gear (5) is rotatably inserted at the axis of the hanging plate (4). Four side gears (6) mesh on the outer ring side of the central gear (5). The upper end of the side gears (6) is rotatably inserted into the bottom surface of the hanging plate (4). A ridge-head elastic telescopic rod (7) is fixed on the bottom surface of the side gears (6). An end plate (9) is coaxially arranged below the ridge-head elastic telescopic rod (7). A threaded shaft (8) is coaxially fixed at the other end of the end plate (9). The lower end of the threaded shaft (8) is rotatably inserted into the upper surface of the base plate (2). Two stop bars (11) are arranged between the side gears (6) and the end plate (9). The upper surface of the end plate (9) An elastic structure (10) is installed. The ends of the two stop rods (11) that are close to each other are bent inward. The ends of the two stop rods (11) that are far apart from each other between the side gear (6) and the end plate (9) are connected to the elastic structure (10). A lever plate (12) is provided between the side gear (6) and the end plate (9) and between the two stop rods (11). The lever plate (12) is fixed to the lower end of the elastic telescopic rod (7). A notched ring (13) is coaxially contacted below the side gear (6). The notched ring (13) is fixed to the upper surface of the end plate (9). The notched ring (13) is a notched ring structure. A long rod (14) is provided at the notch of the notched ring (13). The lower end of the long rod (14) is fixed to the lever plate (12). Both ends of the notch of the notched ring (13) are inclined surfaces. The outer surface of the threaded shaft (8) is threaded with a threaded ring (15), and a hinged arm assembly (17) is installed on the outer ring surface of the threaded ring (15). Side plates (16) are fixed at the four corners of the hanging plate (4). The lower ends of the four side plates (16) are fixed to the four corners of the base plate (2). The side of the side plate (16) is a through groove structure. The hinged arm assembly (17) is located inside the through groove structure of the adjacent side plate (16). The end of the hinged arm assembly (17) located below the base plate (2) is hinged with a vertical clamping structure (18). The upper end of the vertical clamping structure (18) is installed on the bottom surface of the base plate (2).

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

3. The servo motor gripper adaptable to objects of different diameters according to claim 2, characterized in that: 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 to the upper surface of the adjacent inner ring (101). The inner ring (101) is fixedly installed on the upper surface of the adjacent end plate (9). The two ends of the notched arc cylinder (103) are respectively slidably sleeved on the outer surface of the adjacent stop bar (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. A servo motor gripper adaptable to objects of different diameters according to claim 2, characterized in that: 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). 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). A notched threaded cylinder (214) is threaded onto the outer surface of the pressure control tube (211). The upper end of the notched threaded cylinder (214) is fixedly sleeved onto the upper end of the vertical elastic telescopic rod (213).

5. A servo motor gripper adaptable to objects of different diameters according to claim 1, characterized in that: 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 through slot 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 base plate (2). The lower end of the central support frame (173) is rotatably connected to the center position of the articulated push arm (172).

6. A servo motor gripper adaptable to objects of different diameters according to claim 5, characterized in that: 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 base plate (2). The bottom surface of the bottom groove rod (183) is a groove structure. The upper end of the vertical clamping rod (181) is slidably inserted into the groove structure of 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. A servo motor gripper adaptable 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 set vertically, and the bottom groove rod (183), the adjacent central support (173) and the adjacent hinged push arm (172) are located in the same plane.

8. A servo motor gripper adaptable to objects of different diameters according to claim 1, characterized in that: The telescopic end of the elastic telescopic rod (7) is fitted with a rubber damping sleeve (22), which is fixed to the side gear (6).

9. A servo motor gripper adaptable to objects of different diameters according to claim 1, characterized in that: The thickness of the notched ring (13) is greater than the distance between the upper end of the lever (12) and the bottom surface of the stop bar (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).

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