Robot clamping device

Abstract

The invention discloses a robot clamping device, and relates to the technical field of robots, the robot clamping device comprises an operation transfer mechanism, a steering mechanism is mounted on the operation transfer mechanism, the bottom of the steering mechanism is fixedly connected with the top end of a lifting electric telescopic rod, and the robot clamping device further comprises a clamping orientation control mechanism, a clamping control mechanism, a clamping buffer mechanism and a workpiece clamping mechanism; the clamping direction control mechanism comprises a direction changing assembly, the direction changing assembly is installed at the bottom end of the lifting electric telescopic rod, and a horizontal locking assembly is installed on the direction changing assembly. The clamping control mechanism comprises a supporting frame and a clamping electric telescopic rod, the bottom of the orientation changing assembly is connected with the top of the supporting frame, the robot clamping device can stably clamp cylindrical or blocky workpieces, the workpieces can be rapidly transferred to the needed positions, the number of robots at a single production station can be reduced, the production efficiency is improved, and the production cost is reduced. Mutual interference of a plurality of robots is avoided, the buffering force during clamping can be adjusted, and the workpieces are prevented from being damaged by clamping.

Description

Technical Field

[0001] The invention relates to the technical field of robots, in particular to a robot clamping device. Background Art

[0002] At present, in intelligent manufacturing production, robots have begun to gradually replace manual labor in industrial production. The transfer of workpieces in industrial production is very cumbersome, so more and more workpiece clamping and transfer work is replaced by robot clamping devices. The types and shapes of workpieces are diverse, and the single workpiece clamping method of robots in the existing technology cannot meet the needs. For example, cylindrical and block workpieces require different robots for clamping and transfer, which will increase the number of robots in a single production station, and robots are prone to interfere with each other, affecting the efficiency of industrial production. Summary of the invention

[0003] The technical problem to be solved by the present invention is to overcome the existing defects and provide a robot clamping device that can stably clamp cylindrical or block-shaped workpieces and can quickly transfer the workpieces to the required position. It can reduce the number of robots in a single production station and avoid interference between multiple robots. The buffering force during clamping can be adjusted to avoid damage to the workpiece, which is beneficial to improving the efficiency of industrial production and can effectively solve the problems in the background technology.

[0004] To achieve the above object, the present invention provides the following technical solution: a robot gripping device, comprising an operation transfer mechanism, a steering mechanism is installed on the operation transfer mechanism, the bottom of the steering mechanism is fixedly connected to the top of the lifting electric telescopic rod, and also includes:

[0005] The gripping direction control mechanism comprises a direction changing component and a horizontal locking component, wherein the direction changing component is installed at the bottom end of the lifting electric telescopic rod, and the horizontal locking component is installed on the direction changing component;

[0006] The clamping control mechanism comprises a support frame and a clamping electric telescopic rod, the bottom of the orientation changing component is connected to the top of the support frame, a transverse groove is provided at the bottom of the support frame, two clamping control frames are respectively connected to the transverse groove on the left and right sides for transverse sliding, the two clamping control frames are respectively provided with inclined surfaces on the sides close to each other, and two dovetail slide grooves are respectively provided on the two inclined surfaces, a clamping electric telescopic rod is installed on the top of the support frame, an isosceles trapezoidal control block is connected to the bottom end of the clamping electric telescopic rod, and two dovetail slide bars are respectively provided on the left and right sides of the isosceles trapezoidal control block, and the two dovetail slide bars are respectively connected to the two dovetail slide grooves for sliding;

[0007] The clamping buffer mechanism is installed at the bottom of the clamping control frame, and the workpiece clamping mechanism is installed at the bottom of the clamping buffer mechanism.

[0008] Furthermore, the orientation changing assembly includes a movable seat, a swing rod, a connecting frame, an orientation motor and an orientation shaft, the bottom end of the lifting electric telescopic rod is fixedly connected to the top of the movable seat, the bottom of the movable seat is rotatably connected to a transverse orientation shaft, one end of the orientation shaft is fixedly connected to the orientation motor, the orientation motor is installed on the side of the movable seat, the middle of the orientation shaft is fixedly connected to the top of the swing rod, the bottom of the swing rod is fixedly connected to a connecting frame, and the bottom of the connecting frame is fixedly connected to the top of the support frame. The orientation motor drives the orientation shaft to rotate when it is working, so that the support frame can be driven to rotate through the swing rod and the connecting frame. When working, if the orientation motor drives the orientation shaft to rotate counterclockwise by ninety degrees, the support frame can be driven to be in a horizontal state, so that the two workpiece clamping mechanisms are in a horizontal state, so that the two workpiece clamping mechanisms clamp the workpiece from the side of the workpiece to be clamped, and if the orientation motor remains stationary, the two workpiece clamping mechanisms can clamp the workpiece from the top of the workpiece to be clamped downward.

[0009] Furthermore, the horizontal locking assembly includes a bending frame, a locking electric telescopic rod, a locking pin shaft, a locking limit hole, a locking seat block and a locking pin hole. A transverse locking limit hole is provided at the bottom of the swing arm. The top of the connecting frame is fixedly connected to one end of the locking electric telescopic rod through the bending frame, and the other end of the locking electric telescopic rod is fixedly connected to one end of the locking pin shaft. The locking pin shaft is slidably connected to the locking limit hole. A locking seat block is fixedly connected to the bottom side of the movable seat, and a locking pin hole is provided on the side of the locking seat block. When the steering motor drives the steering shaft to rotate ninety degrees counterclockwise to make the support frame in a horizontal state, the locking limit hole and the locking pin hole on the locking seat block are correspondingly arranged. At this time, the locking electric telescopic rod is extended to push the end of the locking pin shaft to insert into the locking pin hole. At this time, the relative positions of the rocker arm and the movable seat are locked, and the clamping control mechanism, the clamping buffer mechanism, the workpiece clamping mechanism and the weight of the clamped workpiece will not have a large pressure on the steering motor, which can protect the steering motor and avoid damage due to excessive force. If the steering motor needs to work in the reverse direction to make the two workpiece clamping mechanisms clamp the workpiece downward again, the locking electric telescopic rod is shortened, and the locking pin shaft is disengaged from the locking pin hole. The steering motor can drive the steering shaft, the connecting frame and the support frame to rotate in the opposite direction to reset.

[0010] Furthermore, the clamping buffer mechanism includes a buffer seat plate, an end plate, a cross guide column, a buffer spring, a buffer slide block, a clamping seat plate and a buffer force adjustment component. The bottom surface of each clamping control frame is respectively installed with a buffer seat plate, and the two ends of the bottom of the buffer seat plate are respectively fixedly connected to two end plates, and two cross guide columns are fixedly connected between the two end plates. The two cross guide columns are respectively slidably connected to the two guide holes on the buffer slide block, and the bottom of the buffer slide block is fixedly connected with the clamping seat plate, and a buffer spring is respectively sleeved on one end of each cross guide column away from the isosceles trapezoidal control block, and a buffer force adjustment component is installed on the end plate of the bottom of the buffer seat plate away from the isosceles trapezoidal control block. When clamping the workpiece, a certain buffering force is generally required to prevent the workpiece clamping mechanism from clamping the workpiece too hard and damaging the workpiece. The buffer seat plate and the end plate are used to install the cross guide column, and the cross guide column guides the moving direction of the buffer slide. When the two workpiece clamping mechanisms clamp the workpiece, the buffer slide slides along the cross guide column to compress the buffer spring. The buffer spring can buffer the clamping force of the workpiece clamping mechanism on the workpiece. The buffering force adjustment component can pre-compress the buffer spring to a certain extent, increase the pressure of the workpiece clamping mechanism on the workpiece, increase the friction between the workpiece clamping mechanism and the workpiece, and avoid the workpiece and the workpiece clamping mechanism from separating due to the pressure of the buffer spring being too small when the clamping is in place, that is, when the two clamping control frames are close to each other.

[0011] Furthermore, the buffer force adjustment assembly includes a control motor, a screw, a screw nut, and a buffer force control plate. The control motor is fixedly connected to the end plate at the bottom of the buffer seat plate away from the isosceles trapezoidal control block. The output shaft of the control motor is fixedly connected to one end of the screw. The screw is parallel to the cross guide column. The two guide holes on the buffer force control plate are respectively slidably connected to the ends of the two cross guide columns away from the isosceles trapezoidal control block. The buffer spring is located between the buffer slider and the buffer force control plate. A screw nut is installed on the buffer force control plate, and the screw nut is cooperatively connected with the screw. The control motor drives the lead screw to rotate clockwise, and the threaded action of the lead screw and the lead screw nut drives the buffer force control plate to compress the buffer spring, so that the buffer spring can exert a greater elastic force on the buffer slide block, which is beneficial for the two workpiece clamping mechanisms to clamp the workpiece. At the same time, the compressed buffer spring can still play a buffering role in clamping the workpiece. The control motor drives the lead screw to rotate counterclockwise, and the threaded action of the lead screw and the lead screw nut drives the buffer force control plate to loosen the buffer spring, and the elastic force exerted by the buffer spring on the buffer slide block becomes smaller. When the two workpiece clamping mechanisms clamp the workpiece, the workpiece clamping mechanism exerts less pressure on the workpiece. Although there is a risk of falling when encountering heavier workpieces, it can better protect the workpiece when facing fragile workpieces to avoid damage caused by being clamped with great force.

[0012] Furthermore, the workpiece clamping mechanism includes a horizontal dovetail guide bar 1, a horizontal sliding seat 1, a U-shaped plane clamping frame, a horizontal dovetail guide bar 2, a horizontal sliding seat 2, an arc clamping plate, a clamping end plate, a reverse transmission assembly and a clamping switching power assembly, the front and rear sides of the bottom of each clamping seat plate are respectively fixedly connected to two horizontal dovetail guide bars 1, the top two ends of the U-shaped plane clamping frame are respectively connected to two horizontal sliding seats 1, the two horizontal sliding seats 1 are respectively slidably connected to the two horizontal dovetail guide bars 1, the bottom center of each clamping seat plate is fixedly connected to a horizontal dovetail guide bar 2, the top of the arc clamping plate is connected to a horizontal sliding seat 2, the horizontal sliding seat 2 is slidably connected to the horizontal dovetail guide bar 2, the bottom end of the arc clamping plate is connected to the clamping end plate, the arc clamping plate is connected to the corresponding U-shaped plane clamping frame through a reverse transmission assembly, and the U-shaped plane clamping frame is connected to the clamping switching power assembly. The clamping switching power component is used to drive the U-shaped plane clamping frame and the horizontal sliding seat one to move left and right along the horizontal dovetail guide strip one, and the transmission action of the reverse transmission component can drive the circular arc clamping plate and the horizontal sliding seat two to move along the horizontal dovetail guide strip two, wherein the circular arc clamping plate and the U-shaped plane clamping frame have opposite movement directions. When it is necessary to clamp a block workpiece, the clamping switching power component pushes the U-shaped plane clamping frame close to the isosceles trapezoidal control block. At this time, the two U-shaped plane clamping frames are located at one end of the two clamping seat plates close to the isosceles trapezoidal control block, and the two circular arc clamping plates are located at one end of the two clamping seat plates away from the isosceles trapezoidal control block. When the two clamping control frames approach each other, the two clamping seat plates can first drive the two U-shaped plane clamping frames to approach each other, thereby allowing the two U-shaped plane clamping frames to clamp the block workpiece. In order to increase the friction between the U-shaped plane clamping frame and the block workpiece, The two arc clamping plates are gradually moved to the end of the two clamping base plates away from the isosceles trapezoidal control block with the help of the reverse transmission assembly. During the above process, the arc clamping plates pass through the middle of the U-shaped plane clamping frame, and the two clamping base plates can first drive the two arc clamping plates to approach each other as the two clamping control frames approach each other. The two arc clamping plates are suitable for clamping cylindrical workpieces. Therefore, when clamping workpieces of different shapes, the two clamping actuators, the arc clamping plates and the U-shaped plane clamping frame, can be quickly switched, and one robot can clamp workpieces in both block and cylindrical forms.

[0013] Further, the reverse transmission assembly includes a rack 1, a rack 2, a switching shaft and a switching transmission gear. The side of the U-shaped plane clamping frame away from the isosceles trapezoidal control block is fixedly connected with a transverse rack 1, the side of the arc clamping plate away from the isosceles trapezoidal control block is fixedly connected with a transverse rack 2, the bottom of the clamping seat plate away from the isosceles trapezoidal control block is fixedly connected with a switching shaft, the end of the switching shaft is rotatably connected with a switching transmission gear, the switching transmission gear is located between the rack 1 and the rack 2, and the switching transmission gear is respectively meshed with the corresponding rack 1 and rack 2. The rack 1, the rack 2 and the switching transmission gear cooperate, and the rack 1 drives the arc clamping plate to move rightward through the transmission of the transmission gear and the rack 2 when the U-shaped plane clamping frame moves leftward. Conversely, the rack 1 can also drive the arc clamping plate to move leftward through the transmission of the transmission gear and the rack 2 when the U-shaped plane clamping frame moves rightward, thereby realizing the reverse movement of the U-shaped plane clamping frame and the arc clamping plate on the front side of the clamping seat plate.

[0014] Furthermore, the clamping and switching power assembly includes a telescopic rod mounting frame, a switching electric telescopic rod and a bent seat, the U-shaped plane clamping frame is fixedly connected with a bent seat, the bent seat is fixedly connected to one end of the horizontal switching electric telescopic rod, the end of the clamping seat plate away from the isosceles trapezoidal control block is fixedly connected to the telescopic rod mounting frame, and the telescopic rod mounting frame is fixedly connected to the other end of the switching electric telescopic rod. The telescopic rod mounting frame is used to install the switching electric telescopic rod, the switching electric telescopic rod is connected to the U-shaped plane clamping frame through the bent seat, and the switching electric telescopic rod can drive the U-shaped plane clamping frame to move left and right when it is extended or retracted.

[0015] Furthermore, it also includes a transverse clamping alignment mechanism, which includes an alignment plate and an alignment push-pull assembly. The alignment plate is provided on the lower side of the isosceles trapezoidal control block, and the alignment plate is connected to the isosceles trapezoidal control block through the alignment push-pull assembly. When two workpiece clamping mechanisms clamp multiple overlapping workpieces, the overlapping workpieces may be uneven and may fall after clamping. At this time, the alignment push-pull assembly can push the alignment plate to allow the alignment plate to push one side of the overlapping workpieces into alignment, and then the alignment push-pull assembly allows the alignment plate to re-enter the isosceles trapezoidal control block to prevent the alignment plate from interfering with the two buffer seat plates approaching each other.

[0016] Furthermore, the alignment push-pull assembly includes an alignment guide post, an alignment connecting rod, a blind hole and an alignment electric telescopic rod. The isosceles trapezoidal control block is provided with two alignment vertical holes, and two alignment guide posts are slidably connected in the two alignment vertical holes respectively. The bottoms of the two alignment guide posts are fixedly connected to the top of the alignment plate, and the top of the isosceles trapezoidal control block is provided with a blind hole, and a vertical alignment electric telescopic rod is installed in the blind hole. The top of the alignment electric telescopic rod is fixedly connected to one end of the alignment connecting rod, and the other end of the alignment connecting rod is fixedly connected to the top of one of the alignment guide posts. The blind hole is used to install the alignment electric telescopic rod. The alignment guide post cooperates with the alignment vertical hole to guide the movement direction of the alignment plate. When the alignment electric telescopic rod is extended or shortened, it can drive the alignment plate to move relative to the isosceles trapezoidal control block. When the alignment plate is away from the isosceles trapezoidal control block, one side of the overlapping workpieces can be sorted.

[0017] Compared with the prior art, the beneficial effects of the robot gripping device are:

[0018] 1. The operation transfer mechanism is used to drive the workpiece clamping mechanism to make a range of transfers, the steering mechanism is used to change the direction of the workpiece clamping mechanism, the extension and retraction of the lifting electric telescopic rod can drive the workpiece clamping mechanism to move up and down, and the direction changing component is used to drive the workpiece clamping mechanism to be set vertically or horizontally, so that the workpiece clamping mechanism can clamp the workpiece downward or horizontally. When the workpiece clamping mechanism clamps the workpiece in a horizontal direction, if the workpiece is heavy, the direction changing component will be subjected to greater pressure and easily damaged. Therefore, a horizontal locking component is set, which is locked when the workpiece clamping mechanism is in a horizontal direction to reduce the pressure on the direction changing component.

[0019] 2. The electric telescopic rod for clamping is extended to push the isosceles trapezoidal control block to move downward relative to the support frame. The isosceles trapezoidal control block drives the two clamping control frames to move away from each other synchronously in the transverse groove through the cooperation of the dovetail slide and the dovetail slide bar, thereby driving the two workpiece clamping mechanisms to move away from each other through the two clamping buffer mechanisms, and then operating the transfer mechanism, the steering mechanism, the lifting electric telescopic rod and the direction changing component to drive the two workpiece clamping mechanisms to approach the workpiece to be clamped. The electric telescopic rod for clamping is shortened to pull the isosceles trapezoidal control block close to the direction changing component. The isosceles trapezoidal control block drives the two clamping control frames to move away from each other synchronously in the transverse groove through the cooperation of the dovetail slide and the dovetail slide bar, thereby driving the two workpiece clamping mechanisms to move away from each other through the two clamping buffer mechanisms, and the two workpiece clamping mechanisms clamp the workpiece. The setting of the clamping buffer mechanism can avoid damage to the workpiece due to the clamping force of the two workpiece clamping mechanisms.

[0020] 3. The robot clamping device can stably clamp cylindrical or block-shaped workpieces and can quickly transfer the workpieces to the required position. It can reduce the number of robots in a single production station and avoid interference between multiple robots. It can also adjust the buffer force during clamping to avoid damaging the workpiece, which is beneficial to improving the efficiency of industrial production. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of the structure of the robot gripping device of the present invention;

[0022] Figure 2 The local structure of the robot gripping device of the present invention is shown in FIG. Figure 1 ;

[0023] Figure 3 For the present invention Figure 2 Side view of the structure;

[0024] Figure 4 For the present invention Figure 3 A schematic diagram of the partially enlarged structure at center A;

[0025] Figure 5 The local structure of the robot gripping device of the present invention is shown in FIG. Figure 2 ;

[0026] Figure 6 For the present invention Figure 5 A schematic diagram of the partially enlarged structure at B in the middle;

[0027] Figure 7 For the present invention Figure 5 A schematic diagram of the partially enlarged structure at C in the middle;

[0028] Figure 8 For the present invention Figure 5 Schematic diagram of the structure viewed from above;

[0029] Fig. 9 For the present invention Figure 8 The schematic diagram of the local enlarged structure at D in the middle;

[0030] Fig.10 The local structure of the robot gripping device of the present invention is shown in FIG. Figure 3 ;

[0031] Fig.11 The local structure of the robot gripping device of the present invention is shown in FIG. Figure 4 ;

[0032] In the figure: 1 operating transfer mechanism, 11 mounting bracket, 12 rotating shaft, 13 rotating motor, 14 driving gear, 15 driven gear, 16 horizontal linear motor guide rail, 17 linear motor, 2 steering mechanism, 21 steering frame, 22 steering motor, 23 turntable, 3 clamping direction control mechanism, 31 movable seat, 32 swing rod, 33 connecting frame, 34 direction motor, 35 direction shaft, 36 bending frame, 37 locking electric telescopic rod, 38 locking pin shaft, 39 locking limit hole, 310 locking seat block, 311 locking pin hole, 4 clamping control mechanism, 41 support frame, 42 horizontal groove, 43 horizontal guide groove, 44 clamping control frame, 45 guide strip, 46 dovetail slide groove, 47 isosceles trapezoidal control block, 48 dovetail slide bar, 49 clamping electric telescopic rod, 410 rod seat, 411 mounting seat, 412 installation pin, 5 clamping buffer mechanism, 51 buffer seat plate, 52 end plate, 53 horizontal guide column, 54 buffer spring, 55 buffer slide block, 56 clamping seat plate, 57 control motor, 58 lead screw, 59 lead screw nut, 510 buffer force control plate, 6 workpiece clamping mechanism, 61 horizontal dovetail guide bar one, 62 horizontal slide seat one, 63 U-shaped plane clamping frame, 64 horizontal dovetail guide bar two, 65 horizontal slide seat two, 66 arc clamping plate, 67 rack one, 68 rack two, 69 switching shaft, 610 switching transmission gear, 611 telescopic rod mounting frame, 612 switching electric telescopic rod, 613 bending seat, 614 clamping end plate, 7 horizontal clamping alignment mechanism, 71 alignment plate, 72 alignment guide column, 73 alignment connecting rod, 74 blind hole, 75 alignment electric telescopic rod, 8 lifting electric telescopic rod. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] For example, see Figures 1 to 11 , this embodiment provides a technical solution: a robot gripping device, including an operation transfer mechanism 1, a steering mechanism 2 is installed on the operation transfer mechanism 1, and the bottom of the steering mechanism 2 is fixedly connected to the top of the lifting electric telescopic rod 8;

[0035] Specifically, the operation transfer mechanism 1 includes a mounting bracket 11, a rotating shaft 12, a rotating motor 13, a driving gear 14, a driven gear 15, a horizontal linear motor guide rail 16 and a linear motor 17. The mounting bracket 11 is installed near the production station by mounting bolts. The top center of the mounting bracket 11 is rotatably connected to the vertical rotating shaft 12 through a bearing. The bottom end of the rotating shaft 12 is fixedly connected to the driven gear 15. The rotating motor 13 is installed in the mounting bracket 11. The output shaft of the rotating motor 13 is fixedly connected to the driving gear 14. The driving gear 14 and the driven gear 15 are connected to each other. The moving gear 15 is meshed and connected, the top of the rotating shaft 12 is fixedly connected to one end of the horizontal linear motor guide rail 16, and the rotating shaft 12 is fixedly connected to the horizontal linear motor guide rail 16 through a rib plate, and the connection strength between the rotating shaft 12 and the horizontal linear motor guide rail 16 is improved by means of the rib plate. A linear motor 17 is installed at the bottom of the horizontal linear motor guide rail 16. The rotating motor 13 can drive the rotating shaft 12 to rotate relative to the mounting bracket 11, and the linear motor 17 can move along the horizontal linear motor guide rail 16, thereby driving the lifting electric telescopic rod 8 to move within a cylindrical range.

[0036] The steering mechanism 2 includes a steering frame 21, a steering motor 22 and a turntable 23. The steering frame 21 is installed at the bottom of the linear motor 17, and the steering motor 22 is installed in the steering frame 21. The output shaft at the bottom of the steering motor 22 passes through the bottom of the steering frame 21 and is fixedly connected to the top center of the turntable 23. The bottom center of the turntable 23 is fixedly connected to the top of the lifting electric telescopic rod 8. When the steering motor 22 is working, it can drive the lifting electric telescopic rod 8 to rotate around itself through the turntable 23.

[0037] It also includes a clamping direction control mechanism 3, a clamping control mechanism 4, a clamping buffer mechanism 5 and a workpiece clamping mechanism 6;

[0038] The gripping direction control mechanism 3 includes a direction changing component and a horizontal locking component. The direction changing component is installed at the bottom end of the lifting electric telescopic rod 8, and the horizontal locking component is installed on the direction changing component.

[0039] The orientation changing assembly includes a movable seat 31, a rocker arm 32, a connecting frame 33, an orientation motor 34 and an orientation shaft 35. The bottom end of the lifting electric telescopic rod 8 is fixedly connected to the top of the movable seat 31. The bottom of the movable seat 31 is rotatably connected to a transverse orientation shaft 35 through a bearing. One end of the orientation shaft 35 is fixedly connected to the orientation motor 34. The orientation motor 34 is installed on the side of the movable seat 31. The middle part of the orientation shaft 35 is fixedly connected to the top of the rocker arm 32. The bottom of the rocker arm 32 is fixedly connected to the connecting frame 33. The bottom of the connecting frame 33 is fixedly connected to the top of the support frame 41 through a connecting frame screw. The facing motor 34 drives the facing shaft 35 to rotate, thereby driving the support frame 41 to rotate through the rocker arm 32 and the connecting frame 33. During specific operation, if the facing motor 34 drives the facing shaft 35 to rotate ninety degrees counterclockwise, the support frame 41 can be driven to be in a horizontal state, so that the two workpiece clamping mechanisms 6 are in a horizontal state, so that the two workpiece clamping mechanisms 6 clamp the workpiece from the side of the workpiece to be clamped. If the facing motor 34 remains stationary, the two workpiece clamping mechanisms 6 can move downward from the top of the workpiece to be clamped to clamp the workpiece.

[0040] The clamping control mechanism 4 includes a support frame 41, a transverse groove 42, a clamping control frame 44, a dovetail slide 46, an isosceles trapezoidal control block 47, a dovetail slider 48, and a clamping electric telescopic rod 49. The bottom of the support frame 41 is connected to the top of the support frame 41 toward the bottom of the changing component. A transverse groove 42 is provided at the bottom of the support frame 41. Two clamping control frames 44 are respectively connected to the left and right sides of the transverse groove 42 for transverse sliding. Inclined surfaces are respectively provided on the sides of the two clamping control frames 44 that are close to each other. Two dovetail slides 46 are respectively provided on the two inclined surfaces. The width of the top of the clamping control frame 44 is smaller than the width of the bottom. A clamping electric telescopic rod 49 is installed on the top of the support frame 41. The bottom end of the clamping electric telescopic rod 49 is connected to the isosceles trapezoidal control block 47. The top width of the isosceles trapezoidal control block 47 is larger than the bottom width. Two dovetail sliders 48 are respectively provided on the left and right sides of the isosceles trapezoidal control block 47. The two dovetail sliders 48 are respectively connected to the two dovetail slides 46 for sliding connection.

[0041] The clamping control mechanism 4 also includes a transverse guide groove 43 and a guide bar 45. Two transverse guide grooves 43 are respectively provided on the front and rear sides of the bottom end of the transverse groove 42. The front and rear sides of the bottom end of each clamping control frame 44 are respectively provided with a guide bar 45 slidably connected to the transverse guide groove 43. The guide bar 45 cooperates with the transverse guide groove 43 to allow the clamping control frame 44 to slide stably left and right in the transverse groove 42.

[0042] The clamping control mechanism 4 also includes a rod seat 410, a mounting seat 411 and a mounting pin 412. The top center of the isosceles trapezoidal control block 47 is fixedly connected to the mounting seat 411. The mounting seat 411 is connected to the bottom end of the clamping electric telescopic rod 49 through the mounting pin 412. The fixed end of the clamping electric telescopic rod 49 is fixedly connected to the rod seat 410. The rod seat 410 is installed on the top of the support frame 41 through the rod seat screws.

[0043] The clamping buffer mechanism 5 is installed at the bottom of the clamping control frame 44 , and a workpiece clamping mechanism 6 is installed at the bottom of the clamping buffer mechanism 5 .

[0044] The clamping buffer mechanism 5 includes a buffer seat plate 51, an end plate 52, a cross guide column 53, a buffer spring 54, a buffer slider 55, a clamping seat plate 56 and a buffer force adjustment component. A buffer seat plate 51 is installed on the bottom surface of each clamping control frame 44. Two end plates 52 are fixedly connected to the bottom ends of the buffer seat plate 51, and two cross guide columns 53 are fixedly connected between the two end plates 52. The two cross guide columns 53 are respectively slidably connected to the two guide holes on the buffer slider 55. The bottom of the buffer slider 55 is fixedly connected with the clamping seat plate 56, and a buffer spring 54 is respectively sleeved on one end of each cross guide column 53 away from the isosceles trapezoidal control block 47. A buffer force adjustment component is installed on the end plate 52 of the buffer seat plate 51 away from the isosceles trapezoidal control block 47. When clamping the workpiece, a certain buffering force is generally required to prevent the workpiece clamping mechanism 6 from clamping the workpiece too hard and damaging the workpiece, wherein the buffer seat plate 51 and the end plate 52 are used to install the transverse guide column 53, and the transverse guide column 53 guides the movement direction of the buffer slide block 55. When the two workpiece clamping mechanisms 6 clamp the workpiece, the buffer slide block 55 slides along the transverse guide column 53 to compress the buffer spring 54. With the help of the buffer spring 54, the clamping force of the workpiece clamping mechanism 6 on the workpiece can be buffered. The buffering force adjustment component can pre-compress the buffer spring 54 to a certain extent, increase the pressure of the workpiece clamping mechanism 6 when clamping the workpiece, and increase the friction between the workpiece clamping mechanism 6 and the workpiece, so as to avoid the pressure of the buffer spring 54 being too small when the clamping is in place, that is, when the two clamping control frames 44 are close to each other, causing the workpiece to separate from the workpiece clamping mechanism 6.

[0045] The buffer force adjustment assembly includes a control motor 57, a lead screw 58, a lead screw nut 59, and a buffer force control plate 510. The control motor 57 is fixedly connected to the end plate 52 at the bottom of the buffer seat plate 51 away from the isosceles trapezoidal control block 47. The output shaft of the control motor 57 is fixedly connected to one end of the lead screw 58. The lead screw 58 is parallel to the cross guide column 53. The two guide holes on the buffer force control plate 510 are respectively slidably connected to the ends of the two cross guide columns 53 away from the isosceles trapezoidal control block 47. The buffer spring 54 is located between the buffer slider 55 and the buffer force control plate 510. The lead screw nut 59 is installed on the buffer force control plate 510, and the lead screw nut 59 is connected with the lead screw 58. The control motor 57 drives the lead screw 58 to rotate clockwise, and the threaded action of the lead screw 58 and the lead screw nut 59 drives the buffer force control plate 510 to compress the buffer spring 54, so that the buffer spring 54 can apply a larger elastic force to the buffer slide block 55, which is beneficial for the two workpiece clamping mechanisms 6 to clamp the workpiece. At the same time, the compressed buffer spring 54 can still play a buffering role in clamping the workpiece. The control motor 57 drives the lead screw 58 to rotate counterclockwise, and the threaded action of the lead screw 58 and the lead screw nut 59 drives the buffer force control plate 510 to loosen the buffer spring 54, and the elastic force applied by the buffer spring 54 to the buffer slide block 55 becomes smaller. When the two workpiece clamping mechanisms 6 clamp the workpiece, the workpiece clamping mechanism 6 exerts less pressure on the workpiece. Although there is a risk of falling when encountering a heavier workpiece, it can better protect the workpiece when facing a fragile workpiece to avoid damage to the workpiece due to being clamped with great force.

[0046] The workpiece clamping mechanism 6 includes a horizontal dovetail guide bar 1 61, a horizontal slide seat 1 62, a U-shaped plane clamping frame 63, a horizontal dovetail guide bar 2 64, a horizontal slide seat 2 65, an arc clamping plate 66, a clamping end plate 614, a reverse transmission component and a clamping switching power component. The front and rear sides of the bottom of each clamping seat plate 56 are respectively fixedly connected to two horizontal dovetail guide bars 1 61, and the top two ends of the U-shaped plane clamping frame 63 are respectively connected to two horizontal slide seats 1 62. The two horizontal slide seats 1 62 are respectively connected to the bottom of the U-shaped plane clamping frame 63. It is slidably connected to two horizontal dovetail guide bars 61 respectively, and the bottom center of each clamping seat plate 56 is fixedly connected with a horizontal dovetail guide bar 64. The top of the arc clamping plate 66 is connected with a horizontal sliding seat 65. The horizontal sliding seat 65 is slidably connected with the horizontal dovetail guide bar 64. The bottom end of the arc clamping plate 66 is connected with a clamping end plate 614. The arc clamping plate 66 is connected to the corresponding U-shaped plane clamping frame 63 through a reverse transmission assembly, and the U-shaped plane clamping frame 63 is connected to the clamping switching power assembly.

[0047] When the workpiece clamping mechanism 6 is in use, the clamping switching power assembly is used to drive the U-shaped plane clamping frame 63 and the horizontal slide seat 1 62 to move left and right along the horizontal dovetail guide bar 1 61, and the circular arc clamping plate 66 and the horizontal slide seat 2 65 can be driven to move along the horizontal dovetail guide bar 2 64 through the transmission action of the reverse transmission assembly, wherein the circular arc clamping plate 66 and the U-shaped plane clamping frame 63 move in opposite directions. When a block workpiece needs to be clamped, the clamping switching power assembly pushes the U-shaped plane clamping frame 63 close to the isosceles trapezoidal control The two U-shaped plane clamping frames 63 are located at one end of the two clamping seat plates 56 close to the isosceles trapezoidal control block 47, and the two arc clamping plates 66 are located at one end of the two clamping seat plates 56 away from the isosceles trapezoidal control block 47. When the two clamping control frames 44 approach each other, the two clamping seat plates 56 can first drive the two U-shaped plane clamping frames 63 to approach each other, so that the two U-shaped plane clamping frames 63 clamp the block workpiece. In order to improve the U-shaped plane clamping frame 63 and the block workpiece The friction force of the workpiece is that friction lines are respectively arranged on the sides of the two U-shaped plane clamping frames 63 that are close to each other. When it is necessary to clamp a cylindrical workpiece, the clamping switching power assembly pulls the U-shaped plane clamping frame 63 away from the isosceles trapezoidal control block 47. At this time, with the help of the reverse transmission assembly, the two U-shaped plane clamping frames 63 gradually move to one end of the two clamping seat plates 56 away from the isosceles trapezoidal control block 47, and the two arc clamping plates 66 gradually move to the two clamping seat plates 56 close to the isosceles trapezoidal control block 47. At one end, in the above process, the arc clamp plate 66 passes through the middle of the U-shaped plane clamping frame 63, and the two clamping seat plates 56 can first drive the two arc clamp plates 66 to approach each other as the two clamping control frames 44 approach each other. The two arc clamp plates 66 are suitable for clamping cylindrical workpieces. Therefore, when clamping workpieces of different shapes, the two clamping actuators, the arc clamp plates 66 and the U-shaped plane clamping frame 63, can be quickly switched, and one robot can clamp both block-shaped and cylindrical workpieces.

[0048] When the two arc clamping plates 66 are close to each other, some small block-shaped workpieces can be clamped with the help of the two clamping end plates 614 at the bottom of the two arc clamping plates 66, and there is no need for frequent switching.

[0049] The reverse transmission assembly includes rack one 67, rack two 68, a switching shaft 69 and a switching transmission gear 610. The U-shaped plane clamping frame 63 is fixedly connected to a horizontal rack one 67 on the side away from the isosceles trapezoidal control block 47, and the arc clamping plate 66 is fixedly connected to a horizontal rack two 68 on the side away from the isosceles trapezoidal control block 47. The bottom end of the clamping seat plate 56 away from the isosceles trapezoidal control block 47 is fixedly connected to the switching shaft 69. The end of the switching shaft 69 is rotatably connected to the switching transmission gear 610. The switching transmission gear 610 is located between rack one 67 and rack two 68, and the switching transmission gear 610 is respectively meshed with the corresponding rack one 67 and rack two 68. Rack 1 67, rack 2 68 and switching transmission gear 610 cooperate. When the U-shaped plane clamping frame 63 moves to the left, rack 1 67 drives the arc clamping plate 66 to move to the right through the transmission of transmission gear 610 and rack 2 68. Conversely, when the U-shaped plane clamping frame 63 moves to the right, rack 1 67 can also drive the arc clamping plate 66 to move to the left through the transmission of transmission gear 610 and rack 2 68, thereby realizing the reverse movement of the U-shaped plane clamping frame 63 and the arc clamping plate 66 on the front side of the clamping seat plate 56.

[0050] The clamping and switching power assembly includes a telescopic rod mounting frame 611, a switching electric telescopic rod 612 and a bent seat 613. The bent seat 613 is fixedly connected to the U-shaped plane clamping frame 63. The bent seat 613 is fixedly connected to one end of the horizontal switching electric telescopic rod 612. The end of the clamping seat plate 56 away from the isosceles trapezoidal control block 47 is fixedly connected to the telescopic rod mounting frame 611. The telescopic rod mounting frame 611 is fixedly connected to the other end of the switching electric telescopic rod 612. The telescopic rod mounting frame 611 is used to install the switching electric telescopic rod 612. The switching electric telescopic rod 612 is connected to the U-shaped plane clamping frame 63 through the bent seat 613. The extension and retraction of the switching electric telescopic rod 612 can drive the U-shaped plane clamping frame 63 to move left and right.

[0051] When in use, the operating transfer mechanism 1 is used to drive the workpiece clamping mechanism 6 to make a range of transfer, the steering mechanism 2 is used to change the direction of the workpiece clamping mechanism 6, the lifting electric telescopic rod 8 is extended and retracted to drive the workpiece clamping mechanism 6 to move up and down, and the direction changing component is used to drive the workpiece clamping mechanism 6 to be set vertically or horizontally, so that the workpiece clamping mechanism 6 can clamp the workpiece downward or horizontally. When the workpiece clamping mechanism 6 clamps the workpiece in the horizontal direction, if the workpiece is heavy, the direction changing component will be subjected to greater pressure and is easily damaged. Therefore, a horizontal locking component is provided, which is locked when the workpiece clamping mechanism 6 is in the horizontal direction to reduce the pressure on the direction changing component. When the workpiece needs to be clamped, the clamping electric telescopic rod 49 is extended to push the isosceles trapezoidal control block 47 downward relative to the support frame 41, and the isosceles trapezoidal control block 47 drives the two clamping control frames 44 to move away from each other synchronously in the transverse groove 42 through the cooperation of the dovetail slide 46 and the dovetail slide bar 48, thereby The two clamping buffer mechanisms 5 drive the two workpiece clamping mechanisms 6 away from each other, and then operate the transfer mechanism 1, the steering mechanism 2, the lifting electric telescopic rod 8 and the direction changing component to drive the two workpiece clamping mechanisms 6 close to the workpiece to be clamped, the clamping electric telescopic rod 49 shortens and pulls the isosceles trapezoidal control block 47 close to the direction changing component, the isosceles trapezoidal control block 47 drives the two clamping control frames 44 to approach each other synchronously in the transverse groove 42 through the cooperation of the dovetail slide 46 and the dovetail slide bar 48, thereby driving the two workpiece clamping mechanisms 6 to approach each other through the two clamping buffer mechanisms 5, and the two workpiece clamping mechanisms 6 clamp the workpiece. The setting of the clamping buffer mechanism 5 can avoid the damage of the workpiece due to the clamping force of the two workpiece clamping mechanisms 6, and then the workpiece can be transferred to the required position by operating the transfer mechanism 1, the steering mechanism 2, the lifting electric telescopic rod 8, and the direction changing component, and then the clamping electric telescopic rod 49 is re-extended, so that the two workpiece clamping mechanisms 6 can release the workpiece.

[0052] For example 2, please refer to Figures 1 to 11 , This embodiment provides a technical solution: a robot gripping device, this embodiment is a further explanation of the structure of the first embodiment;

[0053] The horizontal locking assembly includes a bent frame 36, a locking electric telescopic rod 37, a locking pin 38, a locking limit hole 39, a locking seat block 310 and a locking pin hole 311. A transverse locking limit hole 39 is provided at the bottom of the swing arm 32. The top of the connecting frame 33 is fixedly connected to one end of the locking electric telescopic rod 37 through the bent frame 36, wherein the bent frame 36 is installed on the top of the connecting frame 33 through a bent frame screw, and the sleeve hole on the bent frame 36 is fixedly sleeved with the end of the locking electric telescopic rod 37, and the other end of the locking electric telescopic rod 37 is fixedly connected to one end of the locking pin 38, and the locking pin 38 is slidably connected to the locking limit hole 39. The bottom side of the movable seat 31 is fixedly connected with a locking seat block 310, and a locking pin hole 311 is provided on the side of the locking seat block 310. The distance between the locking pin hole 311 and the center of the facing axis 35 is equal to the distance between the locking limit hole 39 and the center of the facing axis 35. When the directional motor 34 works and drives the directional shaft 35 to rotate ninety degrees counterclockwise, so that the support frame 41 is in a horizontal state, the locking limit hole 39 is correspondingly arranged with the locking pin hole 311 on the locking seat block 310. At this time, the locking electric telescopic rod 37 is extended, pushing the end of the locking pin shaft 38 to insert the locking pin hole 311. At this time, the relative position of the swing arm 32 and the movable seat 31 is locked, and the clamping control mechanism 4, the clamping buffer mechanism 5, the workpiece clamping mechanism 6 and the weight of the clamped workpiece will not have a large pressure on the directional motor 34, which can protect the directional motor 34 and avoid damage to the directional motor 34 due to excessive force. If the directional motor 34 needs to work in the reverse direction and let the two workpiece clamping mechanisms 6 clamp the workpiece downward again, the locking electric telescopic rod 37 is shortened, and the locking pin shaft 38 is disengaged from the locking pin hole 311. Then the directional motor 34 can drive the directional shaft 35, the connecting frame 33 and the support frame 41 to rotate in the opposite direction to reset.

[0054] For example 3, please refer to Figures 1 to 11 ,This embodiment provides a technical solution: a robot gripping device, the structure of this embodiment is roughly the same as that of the second embodiment, the difference is that;

[0055] It also includes a transverse clamping alignment mechanism 7, which includes an alignment plate 71 and an alignment push-pull assembly. The alignment plate 71 is provided on the lower side of the isosceles trapezoidal control block 47, and the alignment plate 71 is connected to the isosceles trapezoidal control block 47 through the alignment push-pull assembly. When the two workpiece clamping mechanisms 6 clamp multiple overlapping workpieces, the overlapping workpieces may be uneven and may fall after clamping. At this time, the alignment push-pull assembly can push the alignment plate 71 to allow the alignment plate 71 to push one side of the overlapping workpieces into alignment, and then the alignment push-pull assembly allows the alignment plate 71 to re-enter the isosceles trapezoidal control block 47 to prevent the alignment plate 71 from interfering with the two buffer seat plates 51 approaching each other.

[0056] The alignment push-pull assembly includes an alignment guide post 72, an alignment connecting rod 73, a blind hole 74 and an alignment electric telescopic rod 75. Two alignment vertical holes are provided on the isosceles trapezoidal control block 47. Two alignment guide posts 72 are slidably connected in the two alignment vertical holes. The bottoms of the two alignment guide posts 72 are fixedly connected to the top of the alignment plate 71. A blind hole 74 is provided on the top of the isosceles trapezoidal control block 47. A vertical alignment electric telescopic rod 75 is installed in the blind hole 74. The top of the alignment electric telescopic rod 75 is fixedly connected to one end of the alignment connecting rod 73 by bolts, and the other end of the alignment connecting rod 73 is fixedly connected to the top of one of the alignment guide posts 72 by bolts. The blind hole 74 is used to install the alignment electric telescopic rod 75. The alignment guide post 72 cooperates with the alignment vertical hole to guide the moving direction of the alignment plate 71. When the alignment electric telescopic rod 75 is extended or shortened, it can drive the alignment plate 71 to move relative to the isosceles trapezoidal control block 47. When the alignment plate 71 is away from the isosceles trapezoidal control block 47, one side of the overlapping workpieces can be sorted.

[0057] It is worth noting that the rotating motor 13, linear motor 17, steering motor 22, orientation motor 34, clamping electric telescopic rod 49, control motor 57, switching electric telescopic rod 612, locking electric telescopic rod 37, aligning electric telescopic rod 75 and lifting electric telescopic rod 8 disclosed in the above embodiments are all controlled by a PLC controller, and the control method thereof adopts the method commonly used in the prior art, wherein the rotating motor 13, steering motor 22, orientation motor 34 and control motor 57 are all servo motors, and the specific model and power can be selected according to actual conditions.

[0058] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0059] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A robot gripping device, comprising an operation transfer mechanism (1), wherein a steering mechanism (2) is mounted on the operation transfer mechanism (1), wherein the bottom of the steering mechanism (2) is fixedly connected to the top of a lifting electric telescopic rod (8), wherein: Also includes: The gripping direction control mechanism (3) comprises a direction changing component and a horizontal locking component, wherein the direction changing component is installed at the bottom end of the lifting electric telescopic rod (8), and the horizontal locking component is installed on the direction changing component; The clamping control mechanism (4) comprises a support frame (41) and a clamping electric telescopic rod (49), the bottom of the orientation changing component is connected to the top of the support frame (41), the bottom of the support frame (41) is provided with a transverse groove (42), the left and right sides of the transverse groove (42) are respectively connected with two clamping control frames (44) for transverse sliding connection, the two clamping control frames (44) are respectively provided with inclined surfaces on the sides close to each other, and the two inclined surfaces are respectively provided with two dovetail slide grooves (46), the top of the support frame (41) is installed with a clamping electric telescopic rod (49), the bottom end of the clamping electric telescopic rod (49) is connected with an isosceles trapezoidal control block (47), and the left and right sides of the isosceles trapezoidal control block (47) are respectively provided with two dovetail slide bars (48), and the two dovetail slide bars (48) are respectively connected with the two dovetail slide grooves (46) for sliding connection; The clamping buffer mechanism (5) is installed at the bottom of the clamping control frame (44), and a workpiece clamping mechanism (6) is installed at the bottom of the clamping buffer mechanism (5).

2. The robot gripping device according to claim 1, characterized in that: The orientation changing assembly comprises a movable seat (31), a swing arm (32), a connecting frame (33), an orientation motor (34) and an orientation shaft (35); the bottom end of the lifting electric telescopic rod (8) is fixedly connected to the top of the movable seat (31); the bottom of the movable seat (31) is rotatably connected to a transverse orientation shaft (35); one end of the orientation shaft (35) is fixedly connected to the orientation motor (34); the orientation motor (34) is installed on the side of the movable seat (31); the middle part of the orientation shaft (35) is fixedly connected to the top of the swing arm (32); the bottom of the swing arm (32) is fixedly connected to the connecting frame (33); the bottom of the connecting frame (33) is fixedly connected to the top of the support frame (41).

3. The robot gripping device according to claim 2, characterized in that: The horizontal locking assembly comprises a locking electric telescopic rod (37), a transverse locking limit hole (39) is provided at the bottom of the swing rod (32), the top of the connecting frame (33) is fixedly connected to one end of the locking electric telescopic rod (37) through a bent frame (36), the other end of the locking electric telescopic rod (37) is fixedly connected to one end of a locking pin shaft (38), the locking pin shaft (38) is slidably connected to the locking limit hole (39), and a locking seat block (310) is fixedly connected to the bottom side of the movable seat (31), and a locking pin hole (311) is provided on the side of the locking seat block (310).

4. The robot gripping device according to claim 1, characterized in that: The clamping buffer mechanism (5) comprises a buffer seat plate (51) and a buffer force adjustment component. The bottom surface of each clamping control frame (44) is respectively installed with a buffer seat plate (51). Two end plates (52) are respectively fixedly connected at both ends of the bottom of the buffer seat plate (51). Two cross guide columns (53) are fixedly connected between the two end plates (52). The two cross guide columns (53) are respectively slidably connected to two guide holes on the buffer slider (55). The bottom of the buffer slider (55) is fixedly connected with a clamping seat plate (56). One end of each cross guide column (53) away from the isosceles trapezoidal control block (47) is respectively sleeved with a buffer spring (54). The end plate (52) of the bottom of the buffer seat plate (51) away from the isosceles trapezoidal control block (47) is installed with a buffer force adjustment component.

5. The robot gripping device according to claim 4, characterized in that: The buffer force adjustment assembly comprises a buffer force control plate (510), a control motor (57) is fixedly connected to an end plate (52) at the bottom of the buffer seat plate (51) away from the isosceles trapezoidal control block (47), an output shaft of the control motor (57) is fixedly connected to one end of a lead screw (58), the lead screw (58) is parallel to the cross guide column (53), two guide holes on the buffer force control plate (510) are respectively slidably connected to one end of two cross guide columns (53) away from the isosceles trapezoidal control block (47), the buffer spring (54) is located between the buffer slider (55) and the buffer force control plate (510), a lead screw nut (59) is installed on the buffer force control plate (510), and the lead screw nut (59) is matched and connected with the lead screw (58).

6. The robot gripping device according to claim 4, characterized in that: The workpiece clamping mechanism (6) comprises a U-shaped plane clamping frame (63), an arc clamping plate (66), a reverse transmission assembly and a clamping switching power assembly. The front and rear sides of the bottom of each clamping seat plate (56) are respectively fixedly connected to two horizontal dovetail guide bars (61). The top ends of the U-shaped plane clamping frame (63) are respectively connected to two horizontal sliding seats (62). The two horizontal sliding seats (62) are respectively slidably connected to the two horizontal dovetail guide bars (61). Each clamping seat plate The bottom center of (56) is fixedly connected with a horizontal dovetail guide bar 2 (64), the top of the arc clamp (66) is connected with a horizontal sliding seat 2 (65), the horizontal sliding seat 2 (65) is slidably connected with the horizontal dovetail guide bar 2 (64), the bottom end of the arc clamp (66) is connected with a clamping end plate (614), the arc clamp (66) is connected to the corresponding U-shaped plane clamping frame (63) through a reverse transmission component, and the U-shaped plane clamping frame (63) is connected to the clamping switching power component.

7. The robot gripping device according to claim 6, characterized in that: The reverse transmission assembly comprises a switching transmission gear (610); a side of the U-shaped plane clamping frame (63) away from the isosceles trapezoidal control block (47) is fixedly connected to a transverse rack 1 (67); a side of the arc clamping plate (66) away from the isosceles trapezoidal control block (47) is fixedly connected to a transverse rack 2 (68); a bottom end of the clamping seat plate (56) away from the isosceles trapezoidal control block (47) is fixedly connected to a switching shaft (69); an end of the switching shaft (69) is rotatably connected to a switching transmission gear (610); the switching transmission gear (610) is located between the rack 1 (67) and the rack 2 (68), and the switching transmission gear (610) is respectively meshed with the corresponding rack 1 (67) and rack 2 (68).

8. The robot gripping device according to claim 6, characterized in that: The clamping switching power assembly comprises a switching electric telescopic rod (612), a bent seat (613) is fixedly connected to the U-shaped plane clamping frame (63), the bent seat (613) is fixedly connected to one end of the horizontal switching electric telescopic rod (612), and one end of the clamping seat plate (56) away from the isosceles trapezoidal control block (47) is fixedly connected to the telescopic rod mounting frame (611), and the telescopic rod mounting frame (611) is fixedly connected to the other end of the switching electric telescopic rod (612).

9. The robot gripping device according to claim 1, characterized in that: It also comprises a transverse clamping alignment mechanism (7), the transverse clamping alignment mechanism (7) comprising an alignment plate (71) and an alignment push-pull assembly, the alignment plate (71) being arranged on the lower side of the isosceles trapezoidal control block (47), and the alignment plate (71) being connected to the isosceles trapezoidal control block (47) via the alignment push-pull assembly.

10. The robot gripping device according to claim 9, characterized in that: The alignment push-pull assembly comprises an alignment guide column (72) and an alignment electric telescopic rod (75); the isosceles trapezoidal control block (47) is provided with two alignment vertical holes, and two alignment guide columns (72) are respectively slidably connected in the two alignment vertical holes; the bottoms of the two alignment guide columns (72) are fixedly connected to the top of the alignment plate (71); and the top of the isosceles trapezoidal control block (47) is provided with a blind hole (74), and a vertical alignment electric telescopic rod (75) is installed in the blind hole (74); the top of the alignment electric telescopic rod (75) is fixedly connected to one end of the alignment connecting rod (73), and the other end of the alignment connecting rod (73) is fixedly connected to the top of one of the alignment guide columns (72).

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