A robotic gripping device

Abstract

The application discloses a robot clamping device and relates to the technical field of robots, which comprises an operation transfer mechanism, a steering mechanism installed on the operation transfer mechanism, the bottom of the steering mechanism being fixedly connected with the top end of a lifting electric telescopic rod, a clamping orientation control mechanism, a clamping control mechanism, a clamping buffer mechanism and a workpiece clamping mechanism, the clamping orientation control mechanism comprising an orientation changing assembly, the orientation changing assembly being installed at the bottom end of the lifting electric telescopic rod and being provided with a horizontal locking assembly, the clamping control mechanism comprising a supporting frame and a clamping electric telescopic rod, and the bottom of the orientation changing assembly being connected with the top of the supporting frame. The robot clamping device can stably clamp cylindrical or block-shaped workpieces, quickly transfer the workpieces to the required positions, reduce the number of robots of a single production station, avoid mutual interference of multiple robots, and adjust the buffer strength during clamping to avoid clamping damage to the workpieces.

Description

TECHNICAL FIELD

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

[0002] At present, in intelligent manufacturing production, robots begin to gradually replace manual work to participate 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 various, and the single workpiece clamping mode of the robot in the prior art cannot meet the demand. For example, cylindrical and block-shaped workpieces need different robots to clamp and transfer, which will cause the number of single production station robots to increase, and the robots are easy to interfere with each other, affecting the efficiency of industrial production. SUMMARY

[0003] The technical problem to be solved by the present application is to overcome the defects of the prior art, provide a robot clamping device which can stably clamp cylindrical or block-shaped workpieces, quickly transfer the workpieces to the required position, reduce the number of single production station robots, avoid mutual interference of multiple robots, and adjust the buffering force during clamping to avoid clamping damage to the workpiece, thereby improving the efficiency of industrial production and effectively solving the problems in the background art.

[0004] To achieve the above-mentioned purpose, the present application provides the following technical scheme: a robot clamping 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 with the top end of a lifting electric telescopic rod, and further comprising:

[0005] A clamping orientation control mechanism comprises an orientation changing assembly and a horizontal locking assembly, the orientation changing assembly is installed at the bottom end of the lifting electric telescopic rod, and the horizontal locking assembly is installed on the orientation changing assembly;

[0006] A clamping control mechanism comprises a support frame and a clamping electric telescopic rod, the bottom of the orientation changing assembly is connected with the top of the support frame, a horizontal recess is formed in the bottom of the support frame, two clamping control frames are respectively horizontally slidably connected in the horizontal recess on the left and right sides, the side of each clamping control frame close to the other clamping control frame is provided with a slope, two dovetail sliding grooves are respectively formed in the two slopes, the 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, two dovetail sliding strips are respectively arranged on the left and right sides of the isosceles trapezoidal control block, and the two dovetail sliding strips are respectively slidably connected with the two dovetail sliding grooves;

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

[0008] Further, the orientation changing assembly comprises 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 with a transverse orientation shaft, one end of the orientation shaft is fixedly connected with the orientation motor, the orientation motor is installed on the side of the movable seat, the middle part of the orientation shaft is fixedly connected with the top of the swing rod, the bottom of the swing rod is fixedly connected with the connecting frame, and the bottom of the connecting frame is fixedly connected with the top of the supporting frame. The orientation motor drives the orientation shaft to rotate, so that the supporting frame can be driven to rotate through the swing rod and the connecting frame. In specific work, if the orientation motor drives the orientation shaft to rotate counterclockwise by ninety degrees, the supporting frame can be in a horizontal state, so that the two workpiece clamping mechanisms are in a horizontal state, so that the two workpiece clamping mechanisms can clamp the workpiece from the side of the workpiece to be clamped. If the orientation motor remains stationary, the two workpiece clamping mechanisms can clamp the workpiece from the top to the bottom of the workpiece to be clamped.

[0009] Further, the horizontal locking assembly comprises a bent frame, a locking electric telescopic rod, a locking pin shaft, a locking limiting hole, a locking seat block and a locking pin hole, the bottom of the swing rod is provided with a transverse locking limiting hole, one end of the locking electric telescopic rod is fixedly connected to the top of the connecting frame through the bent frame, 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 with the locking limiting hole, and the bottom side of the movable seat is fixedly connected with the locking seat block. When the orientation motor drives the orientation shaft to rotate counterclockwise by ninety degrees to make the supporting frame in a horizontal state, the locking limiting hole and the locking pin hole on the locking seat block are correspondingly arranged, at this time, the locking electric telescopic rod is elongated, the end of the locking pin shaft is inserted into the locking pin hole, the relative position of the swing rod and the movable seat is locked, and the weight of the clamping control mechanism, the clamping buffer mechanism, the workpiece clamping mechanism and the clamped workpiece will not have a large pressure on the orientation motor, so as to protect the orientation motor and avoid damaging the orientation motor due to excessive force. If the orientation motor needs to work reversely to make the two workpiece clamping mechanisms clamp the workpiece downward again, the locking electric telescopic rod is shortened, the locking pin shaft is separated from the locking pin hole, and then the orientation motor can drive the orientation shaft, the connecting frame and the supporting frame to rotate reversely to reset.

[0010] Further, the clamping buffer mechanism comprises a buffer seat plate, an end plate, a horizontal guide column, a buffer spring, a buffer slider, a clamping seat plate and a buffer force adjustment assembly. The bottom surface of each clamping control frame is respectively provided with a buffer seat plate. The bottom of the buffer seat plate is respectively fixedly connected with two end plates. Two horizontal guide columns are fixedly connected between the two end plates. The two horizontal guide columns are respectively slidably connected with two guide holes on the buffer slider. The bottom of the buffer slider is fixedly connected with a clamping seat plate. Each horizontal guide column is sleeved with a buffer spring away from one end of the isosceles trapezoidal control block. The buffer force adjustment assembly is installed on the end plate away from the isosceles trapezoidal control block at the bottom of the buffer seat plate. When clamping the workpiece, a certain buffer force is generally required to avoid the workpiece clamping mechanism from damaging the workpiece due to excessive clamping force. The buffer seat plate and the end plate are used to install the horizontal guide column. The horizontal guide column guides the movement direction of the buffer slider. When the two workpiece clamping mechanisms clamp the workpiece, the buffer slider slides along the horizontal guide column to compress the buffer spring. The buffer spring can buffer the clamping force of the workpiece clamping mechanism. The buffer force adjustment assembly can compress the buffer spring to a certain extent in advance to increase the pressure of the workpiece clamping mechanism when clamping the workpiece, increase the friction between the workpiece clamping mechanism and the workpiece, and avoid the workpiece from being separated from the workpiece clamping mechanism due to the small pressure of the buffer spring when the two clamping control frames are close to each other.

[0011] Further, the buffer force adjustment assembly comprises a control motor, a lead screw, a lead screw nut, a buffer force control plate, a control motor, a lead screw, a lead screw nut and a buffer force control plate. The control motor is fixedly connected with one end of the output shaft of the control motor. The lead screw is parallel to the horizontal guide column. The two guide holes on the buffer force control plate are slidably connected with two horizontal guide columns away from one end of the isosceles trapezoidal control block. The buffer spring is located between the buffer slider and the buffer force control plate. The lead screw nut is installed on the buffer force control plate and is connected with the lead screw. When the control motor works, the lead screw rotates clockwise. The threads of the lead screw and the lead screw nut drive the buffer force control plate to compress the buffer spring, so that the buffer spring can exert a larger elastic force on the buffer slider, which is beneficial to the clamping of the workpiece by the two workpiece clamping mechanisms. At the same time, the compressed buffer spring can still play a buffering role in clamping the workpiece. When the control motor works, the lead screw rotates counterclockwise. The threads of the lead screw and the lead screw nut drive the buffer force control plate to release the buffer spring. The elastic force of the buffer spring on the buffer slider becomes smaller. When the two workpiece clamping mechanisms clamp the workpiece, the pressure of the workpiece clamping mechanism on the workpiece is smaller. Although there is a risk of falling when encountering heavy workpieces, the workpiece can be better protected when facing fragile workpieces to avoid damage caused by excessive clamping force.

[0012] Further, the workpiece clamping mechanism comprises horizontal swallow-tail guide bars one, horizontal sliding seats one, U-shaped plane clamping frames, horizontal swallow-tail guide bars two, horizontal sliding seats two, arc clamping plates, clamping end plates, reverse transmission assemblies and clamping switching power assemblies, the bottom of each clamping seat plate is fixedly connected with two horizontal swallow-tail guide bars one on the front and back sides, respectively, the top of each U-shaped plane clamping frame is connected with two horizontal sliding seats one at both ends, respectively, the two horizontal sliding seats one are slidingly connected with the two horizontal swallow-tail guide bars one, respectively, the bottom center of each clamping seat plate is fixedly connected with a horizontal swallow-tail guide bar two, the top of the arc clamping plate is connected with a horizontal sliding seat two, the horizontal sliding seat two is slidingly connected with the horizontal swallow-tail guide bar two, the bottom end of the arc clamping plate is connected with a clamping end plate, the arc clamping plate is connected with a corresponding U-shaped plane clamping frame through a reverse transmission assembly, and the U-shaped plane clamping frame is connected with a clamping switching power assembly. The clamping switching power assembly drives the U-shaped plane clamping frame and the horizontal sliding seat one to move left and right along the horizontal swallow-tail guide bar one, and the arc clamping plate and the horizontal sliding seat two can be driven to move along the horizontal swallow-tail guide bar two through the transmission action of the reverse transmission assembly, wherein the moving directions of the arc clamping plate and the U-shaped plane clamping frame are opposite, when a block-shaped workpiece needs to be clamped, the clamping switching power assembly pushes the U-shaped plane clamping frame to approach 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 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 blocks approach each other, the two U-shaped plane clamping frames can be driven to approach each other first, so that the two U-shaped plane clamping frames clamp the block-shaped workpiece, in order to improve the friction between the U-shaped plane clamping frame and the block-shaped workpiece, friction lines are arranged on the side of the two U-shaped plane clamping frames that approach each other, when a cylindrical workpiece needs to be clamped, the clamping switching power assembly pulls the U-shaped plane clamping frame away from the isosceles trapezoidal control block, at this time, the two U-shaped plane clamping frames are gradually moved to one end of the two clamping seat plates away from the isosceles trapezoidal control block by means of the reverse transmission assembly, and the two arc clamping plates are gradually moved to one end of the two clamping seat plates close to the isosceles trapezoidal control block, the arc clamping plate passes through the middle of the U-shaped plane clamping frame in the above process, when the two clamping control blocks approach each other, the two arc clamping plates can be driven to approach each other first, so that the two arc clamping plates clamp the cylindrical workpiece, thereby, the arc clamping plate and the U-shaped plane clamping frame can be quickly switched as the clamping executors when clamping workpieces of different shapes, and one robot can clamp workpieces of block-shaped and cylindrical shapes.

[0013] Further, the reverse transmission assembly comprises a rack one, a rack two, a switching shaft and a switching transmission gear, the U-shaped plane clamping frame is fixedly connected with the transverse rack one away from one side of the isosceles trapezoidal control block, the circular arc clamping plate is fixedly connected with the transverse rack two away from one side of the isosceles trapezoidal control block, the clamping seat plate is fixedly connected with the switching shaft at the bottom away from one end of the isosceles trapezoidal control block, the switching shaft is rotatably connected with the switching transmission gear at the end, the switching transmission gear is located between the rack one and the rack two, and the switching transmission gear is respectively meshed with the corresponding rack one and the rack two. The rack one, the rack two and the switching transmission gear cooperate, the rack one is driven to move right by the transmission gear and the rack two when the U-shaped plane clamping frame moves left, and vice versa, the rack one is also driven to move left by the transmission gear and the rack two when the U-shaped plane clamping frame moves right, so that the U-shaped plane clamping frame and the circular arc clamping plate realize reverse movement on the front side of the clamping seat plate.

[0014] Further, the clamping switching power assembly comprises a telescopic rod mounting bracket, a switching electric telescopic rod and a bent seat, the U-shaped plane clamping frame is fixedly connected with the bent seat, the bent seat is fixedly connected with one end of the transverse switching electric telescopic rod, the clamping seat plate is fixedly connected with the telescopic rod mounting bracket away from one end of the isosceles trapezoidal control block, and the other end of the telescopic rod mounting bracket is fixedly connected with the switching electric telescopic rod. The telescopic rod mounting bracket is used for installing the switching electric telescopic rod, the switching electric telescopic rod is connected with 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 through telescopic extension and contraction.

[0015] Further, the transverse clamping alignment mechanism comprises an alignment plate and an alignment push-pull assembly, the lower side of the isosceles trapezoidal control block is provided with the alignment plate, and the alignment plate is connected with the isosceles trapezoidal control block through the alignment push-pull assembly. When the two workpiece clamping mechanisms clamp a plurality of overlapped workpieces, the overlapped workpieces may not be aligned, and may fall off after clamping. At this time, the alignment push-pull assembly can push the alignment plate, so that the alignment plate pushes the overlapped workpieces on one side, and then the alignment push-pull assembly makes the alignment plate re-enter the isosceles trapezoidal control block, so as to avoid the interference of the alignment plate with the two buffer seat plates moving close to each other.

[0016] Further, the alignment push-pull assembly comprises alignment guide columns, an alignment connecting rod, a blind hole and an alignment electric telescopic rod, two alignment vertical holes are formed in the isosceles trapezoidal control block, two alignment guide columns are slidably connected in the two alignment vertical holes respectively, the bottoms of the two alignment guide columns are fixedly connected to the top of the alignment plate, a blind hole is formed in the top of the isosceles trapezoidal control block, a vertical alignment electric telescopic rod is installed in the blind hole, one end of the alignment connecting rod is fixedly connected to the top of the alignment electric telescopic rod, and the other end of the alignment connecting rod is fixedly connected to the top of one of the alignment guide columns. The blind hole is used for installing the alignment electric telescopic rod, the alignment guide columns and the alignment vertical holes are matched to guide the moving direction of the alignment plate, and when the alignment electric telescopic rod is extended or shortened, the alignment plate can be moved relative to the isosceles trapezoidal control block, and when the alignment plate moves away from the isosceles trapezoidal control block, the side of the overlapped workpiece can be arranged.

[0017] Compared with the prior art, the robot clamping device has the following advantages:

[0018] 1. The operation transfer mechanism is used to drive the workpiece clamping mechanism to move in a range, the steering mechanism is used to change the orientation of the workpiece clamping mechanism, the lifting electric telescopic rod can drive the workpiece clamping mechanism to move up and down, and the orientation changing assembly is used to drive the workpiece clamping mechanism to be vertically or horizontally arranged, so that the workpiece clamping mechanism clamps the workpiece downward or horizontally. When the workpiece clamping mechanism clamps the workpiece in the horizontal orientation, if the workpiece is heavy, the orientation changing assembly will be subjected to a large pressure and be easily damaged. Therefore, the horizontal locking assembly is arranged to lock the workpiece clamping mechanism in the horizontal orientation, so as to reduce the pressure on the orientation changing assembly.

[0019] 2. The clamping electric telescopic rod is extended to drive 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 in the horizontal groove through the cooperation of the dovetail sliding groove and the dovetail sliding strip, so as to drive the two workpiece clamping mechanisms to move away from each other through the two clamping buffer mechanisms. Then, the operation transfer mechanism, the steering mechanism, the lifting electric telescopic rod and the orientation changing assembly drive the two workpiece clamping mechanisms to move close to the workpiece to be clamped. The clamping electric telescopic rod is shortened to drive the isosceles trapezoidal control block to move close to the orientation changing assembly. The isosceles trapezoidal control block drives the two clamping control frames to move close to each other in the horizontal groove through the cooperation of the dovetail sliding groove and the dovetail sliding strip, so as to drive the two workpiece clamping mechanisms to move close to each other through the two clamping buffer mechanisms. The two workpiece clamping mechanisms clamp the workpiece. The clamping buffer mechanism can avoid damaging the workpiece due to too large 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, can reduce the number of robots of a single production station, avoid mutual interference of multiple robots, and can adjust the buffering force during clamping to avoid clamping damage to the workpiece, and is beneficial to improve the efficiency of industrial production. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 It is a schematic structural diagram of the robot clamping device of the application;

[0022] Figure 2 It is a schematic structural diagram of the robot clamping device of the application Figure 1 ;

[0023] Figure 3 It is a schematic structural diagram of the robot clamping device of the application Figure 2 ;

[0024] Figure 4 It is a schematic structural diagram of the robot clamping device of the application Figure 3 ;

[0025] Figure 5 It is a schematic structural diagram of the robot clamping device of the application Figure 2 ;

[0026] Figure 6 It is a schematic structural diagram of the robot clamping device of the application Figure 5 ;

[0027] Figure 7 It is a schematic structural diagram of the robot clamping device of the application Figure 5 ;

[0028] Figure 8 It is a schematic structural diagram of the robot clamping device of the application Figure 5 ;

[0029] Figure 9 It is a schematic structural diagram of the robot clamping device of the application Figure 8 ;

[0030] Figure 10 It is a schematic structural diagram of the robot clamping device of the application Figure 3 ;

[0031] Figure 11 It is a schematic structural diagram of the robot clamping device of the application Figure 4 ;

[0032] In the figure: 1 operation transfer mechanism, 11 installation support, 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 rotating disc, 3 clamping orientation control mechanism, 31 movable seat, 32 swing lever, 33 connecting frame, 34 orientation motor, 35 orientation shaft, 36 bent frame, 37 locking electric telescopic rod, 38 locking pin shaft, 39 locking limiting 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 sliding groove, 47 isosceles trapezoidal control block, 48 dovetail sliding strip, 49 clamping electric telescopic rod, 410 rod seat, 411 mounting seat, 412 mounting pin shaft, 5 clamping buffer mechanism, 51 buffer seat plate, 52 end plate, 53 horizontal guide column, 54 buffer spring, 55 buffer sliding 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 strip one, 62 horizontal sliding seat one, 63 U-shaped planar clamping frame, 64 horizontal dovetail guide strip two, 65 horizontal sliding seat two, 66 circular 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 bent 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 technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0034] Embodiment one, please refer to Figures 1 to 11 The embodiment provides a technical solution: a robot clamping device, comprising an operation transfer mechanism 1, an operation transfer mechanism 1 is provided with a steering mechanism 2, and the bottom of the steering mechanism 2 is fixedly connected with the top end of a lifting electric telescopic rod 8.

[0035] Specifically, the operation transfer mechanism 1 comprises 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 mounted on the production station through mounting bolts, the top center of the mounting bracket 11 is rotationally connected with the vertical rotating shaft 12 through a bearing, the bottom end of the rotating shaft 12 is fixedly connected with 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 with the driving gear 14, the driving gear 14 is meshedly connected with the driven gear 15, one end of the horizontal linear motor guide rail 16 is fixedly connected with the top of the rotating shaft 12, and the rotating shaft 12 is fixedly connected with the horizontal linear motor guide rail 16 through a rib plate, the connection strength of the rotating shaft 12 and the horizontal linear motor guide rail 16 is improved by means of the rib plate, the linear motor 17 is installed at the bottom of the horizontal linear motor guide rail 16, and 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, so that the lifting electric telescopic rod 8 can move in the cylindrical range.

[0036] The steering mechanism 2 comprises a steering frame 21, a steering motor 22 and a rotating disc 23, the steering frame 21 is installed at the bottom of the linear motor 17, the steering motor 22 is installed in the steering frame 21, the output shaft at the bottom of the steering motor 22 penetrates through the bottom of the steering frame 21 and is fixedly connected with the top center of the rotating disc 23, the bottom center of the rotating disc 23 is fixedly connected with the top end of the lifting electric telescopic rod 8, and the steering motor 22 can drive the lifting electric telescopic rod 8 to rotate around itself through the rotating disc 23.

[0037] The gripping direction control mechanism 3, the gripping control mechanism 4, the gripping buffer mechanism 5 and the workpiece gripping mechanism 6 are further included.

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

[0039] The orientation changing assembly comprises a movable seat 31, a swing lever 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 the 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 swing lever 32. The bottom of the swing lever 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 connecting frame screws. The orientation motor 34 drives the orientation shaft 35 to rotate, so that the support frame 41 can be driven to rotate through the swing lever 32 and the connecting frame 33. In specific operation, if the orientation motor 34 drives the orientation shaft 35 to rotate counterclockwise by 90 degrees, the support frame 41 can be brought to a horizontal state, so that the two workpiece clamping mechanisms 6 are in a horizontal state, and the two workpiece clamping mechanisms 6 can clamp the workpieces from the side of the workpieces to be clamped. If the orientation motor 34 remains stationary, the two workpiece clamping mechanisms 6 can clamp the workpieces from the top of the workpieces to be clamped.

[0040] The clamping control mechanism 4 comprises a support frame 41, a transverse recess 42, a clamping control frame 44, a dovetail sliding groove 46, an isosceles trapezoidal control block 47, a dovetail sliding strip 48 and a clamping electric telescopic rod 49. The bottom of the orientation changing assembly is connected to the top of the support frame 41. The bottom of the support frame 41 is provided with the transverse recess 42. Two clamping control frames 44 are slidably connected to the left and right sides of the transverse recess 42. The two clamping control frames 44 are provided with inclined surfaces on the sides close to each other. Two dovetail sliding grooves 46 are formed in the two inclined surfaces respectively. The top of the clamping control frame 44 is smaller in width than the bottom. The top of the support frame 41 is provided with the clamping electric telescopic rod 49. The bottom end of the clamping electric telescopic rod 49 is connected to the isosceles trapezoidal control block 47. The top of the isosceles trapezoidal control block 47 is larger in width than the bottom. The left and right sides of the isosceles trapezoidal control block 47 are provided with two dovetail sliding strips 48 respectively. The two dovetail sliding strips 48 are slidably connected to the two dovetail sliding grooves 46 respectively.

[0041] The clamping control mechanism 4 further comprises a transverse guide groove 43 and a guide strip 45. Two transverse guide grooves 43 are formed in the front and back sides of the bottom end of the transverse recess 42. The bottom end of each clamping control frame 44 is provided with a guide strip 45 slidably connected to the transverse guide groove 43. The guide strip 45 and the transverse guide groove 43 cooperate to enable the clamping control frame 44 to stably slide left and right in the transverse recess 42.

[0042] The clamping control mechanism 4 further comprises a rod base 410, a mounting base 411 and a mounting pin shaft 412, the top center of the isosceles trapezoidal control block 47 is fixedly connected with the mounting base 411, the mounting base 411 is connected with the bottom end of the clamping electric telescopic rod 49 through the mounting pin shaft 412, the fixed end of the clamping electric telescopic rod 49 is fixedly connected with the rod base 410, and the rod base 410 is mounted on the top of the support frame 41 through a rod base screw.

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

[0044] The clamping buffer mechanism 5 comprises a buffer seat plate 51, an end plate 52, a horizontal guide column 53, a buffer spring 54, a clamping buffer block 55, a clamping seat plate 56 and a buffer force adjustment assembly, the bottom surface of each clamping control frame 44 is provided with the buffer seat plate 51, the bottom ends of the buffer seat plate 51 are respectively fixedly connected with two end plates 52, the two end plates 52 are fixedly connected with two horizontal guide columns 53 between the two end plates 52, the two horizontal guide columns 53 are respectively slidably connected with two guide holes on the clamping buffer block 55, the bottom of the clamping buffer block 55 is fixedly connected with the clamping seat plate 56, and each end of the horizontal guide column 53 away from the isosceles trapezoidal control block 47 is sleeved with the buffer spring 54. The buffer force adjustment assembly is installed on the end plate 52 away from the isosceles trapezoidal control block 47 at the bottom of the buffer seat plate 51. When clamping the workpiece, a certain buffer force is generally required to avoid damage to the workpiece caused by excessive clamping force of the workpiece clamping mechanism 6, wherein the buffer seat plate 51 and the end plate 52 are used to install the horizontal guide column 53, the horizontal guide column 53 guides the movement direction of the clamping buffer block 55, when the two workpiece clamping mechanisms 6 clamp the workpiece, the clamping buffer block 55 slides along the horizontal guide column 53 to compress the buffer spring 54, the buffer spring 54 can buffer the clamping force of the workpiece clamping mechanism 6, the buffer force adjustment assembly can compress the buffer spring 54 to a certain extent in advance, so as to improve the clamping pressure of the workpiece clamping mechanism 6, increase the friction force between the workpiece clamping mechanism 6 and the workpiece, and avoid the situation that the workpiece is separated from the workpiece clamping mechanism 6 due to the small pressure of the buffer spring 54 when the two clamping control frames 44 are close to each other.

[0045] The buffer force adjusting assembly comprises a control motor 57, a lead screw 58, a lead screw nut 59, a buffer force control plate 510, the control motor 57 is fixedly connected to the end plate 52 on the bottom of the buffer seat plate 51 away from the isosceles trapezoidal control block 47, one end of the output shaft of the control motor 57 is fixedly connected to the lead screw 58, the lead screw 58 is parallel to the horizontal guide column 53, two guide holes on the buffer force control plate 510 are slidably connected to two ends of the horizontal guide column 53 away from the isosceles trapezoidal control block 47, the buffer spring 54 is located between the buffer sliding block 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 to the lead screw 58 in a matched mode. The control motor 57 drives the lead screw 58 to rotate clockwise, the lead screw 58 and the lead screw nut 59 are threadedly connected, the buffer force control plate 510 is pressed against the buffer spring 54, the buffer spring 54 can exert a greater elastic force on the buffer sliding block 55, the two workpiece clamping mechanisms 6 can clamp the workpiece, and the buffer spring 54 can still play a buffering role on the clamped workpiece. The control motor 57 drives the lead screw 58 to rotate counterclockwise, the lead screw 58 and the lead screw nut 59 are threadedly connected, the buffer force control plate 510 releases the buffer spring 54, the elastic force exerted by the buffer spring 54 on the buffer sliding block 55 becomes smaller, the workpiece clamping mechanism 6 exerts a smaller pressure on the workpiece when clamping the workpiece, although the workpiece may fall when the workpiece is heavy, the workpiece can be better protected when the workpiece is fragile, and the workpiece can be prevented from being damaged due to being clamped with great force.

[0046] The workpiece clamping mechanism 6 comprises horizontal dovetail guide bars one 61, horizontal sliding seats one 62, U-shaped planar clamping frames 63, horizontal dovetail guide bars two 64, horizontal sliding seats two 65, circular arc clamping plates 66, clamping end plates 614, reverse transmission assemblies and clamping switching power assemblies, two horizontal dovetail guide bars one 61 are fixedly connected to the front and rear sides of the bottom of each clamping seat plate 56, two horizontal sliding seats one 62 are connected to the top of the two ends of the U-shaped planar clamping frame 63, the two horizontal sliding seats one 62 are slidably connected to the two horizontal dovetail guide bars one 61, the horizontal dovetail guide bar two 64 is fixedly connected to the center of the bottom of each clamping seat plate 56, the horizontal sliding seat two 65 is connected to the top of the circular arc clamping plate 66, the horizontal sliding seat two 65 is slidably connected to the horizontal dovetail guide bar two 64, the clamping end plate 614 is connected to the bottom end of the circular arc clamping plate 66, the circular arc clamping plate 66 is connected to the corresponding U-shaped planar clamping frame 63 through the reverse transmission assembly, and the U-shaped planar clamping frame 63 is connected to the clamping switching power assembly.

[0047] The workpiece clamping mechanism 6 in use, clamping switch power assembly for driving U-shaped plane clamping frame 63 and horizontal slide seat one 62 along the horizontal dovetail guide bar one 61 left and right activity, through the transmission effect of reverse transmission assembly can drive the arc clamping plate 66 and horizontal slide seat two 65 along the horizontal dovetail guide bar two 64 activity, wherein the arc clamping plate 66 and the U-shaped plane clamping frame 63 are opposite, when you need to clamp block-shaped workpiece, clamping switch power assembly push U-shaped plane clamping frame 63 close to isosceles trapezoidal control block 47, at this time two U-shaped plane clamping frame 63 are located in two clamping seat plate 56 close to isosceles trapezoidal control block 47 one end, and two arc clamping plate 66 are located in two clamping seat plate 56 away from isosceles trapezoidal control block 47 one end, two clamping seat plate 56 with two clamping control frame 44 close to each other can first drive two U-shaped plane clamping frame 63 close to each other, so that two U-shaped plane clamping frame 63 clamp block-shaped workpiece, in order to improve the friction between U-shaped plane clamping frame 63 and block-shaped workpiece, the side of two U-shaped plane clamping frame 63 close to each other is provided with friction lines, when you need to clamp cylindrical workpiece, clamping switch power assembly pull U-shaped plane clamping frame 63 away from isosceles trapezoidal control block 47, at this time with the help of reverse transmission assembly, two U-shaped plane clamping frame 63 gradually move to two clamping seat plate 56 away from isosceles trapezoidal control block 47 one end, two arc clamping plate 66 gradually move to two clamping seat plate 56 close to isosceles trapezoidal control block 47 one end, above process arc clamping plate 66 from the middle of U-shaped plane clamping frame 63, two clamping seat plate 56 with two clamping control frame 44 close to each other can first drive two arc clamping plate 66 close to each other, two arc clamping plate 66 suitable for clamping cylindrical workpiece, thus, when clamping workpieces of different shapes, arc clamping plate 66 and U-shaped plane clamping frame 63 can be quickly switched as two clamping executors, a robot can clamp block-shaped and cylindrical workpieces.

[0048] When two arc clamping plates 66 close to each other, two clamping end plates 614 at the bottom of two arc clamping plates 66 can also clamp some small block-shaped workpieces, at this time, frequent switching is not needed.

[0049] The reverse transmission assembly comprises a rack 67, a rack 68, a switching shaft 69 and a switching transmission gear 610. The U-shaped plane clamping frame 63 is fixedly connected with the transverse rack 67 away from one side of the isosceles trapezoidal control block 47. The circular arc clamping plate 66 is fixedly connected with the transverse rack 68 away from one side of the isosceles trapezoidal control block 47. The clamping seat plate 56 is fixedly connected with the switching shaft 69 away from one end of the isosceles trapezoidal control block 47. The end of the switching shaft 69 is rotatably connected with the switching transmission gear 610. The switching transmission gear 610 is located between the rack 67 and the rack 68, and is meshed with the corresponding rack 67 and rack 68. The rack 67, the rack 68 and the switching transmission gear 610 cooperate. When the U-shaped plane clamping frame 63 moves left, the rack 67 drives the circular arc clamping plate 66 to move right through the transmission gear 610 and the rack 68. Conversely, when the U-shaped plane clamping frame 63 moves right, the rack 67 can also drive the circular arc clamping plate 66 to move left through the transmission gear 610 and the rack 68, so as to realize the reverse movement of the U-shaped plane clamping frame 63 and the circular arc clamping plate 66 in front of the clamping seat plate 56.

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

[0051] When in use, the transfer mechanism 1 is used to drive the workpiece clamping mechanism 6 to move in a range, the steering mechanism 2 is used to change the orientation of the workpiece clamping mechanism 6, the lifting electric telescopic rod 8 is telescopic to drive the workpiece clamping mechanism 6 to move up and down, the orientation changing assembly is used to drive the workpiece clamping mechanism 6 to be vertically or horizontally arranged, so that the workpiece clamping mechanism 6 clamps the workpiece downward or horizontally, when the workpiece clamping mechanism 6 clamps the workpiece in the horizontal orientation, if the workpiece is heavy, the orientation changing assembly will be subjected to a greater pressure and be easily damaged, therefore, the horizontal locking assembly is arranged to be locked when the workpiece clamping mechanism 6 is in the horizontal orientation, so as to reduce the pressure on the orientation changing assembly, when the workpiece needs to be clamped, the clamping electric telescopic rod 49 is elongated to drive the isosceles trapezoidal control block 47 to move downward relative to the support frame 41, the isosceles trapezoidal control block 47 drives the two clamping control blocks 44 to move away from each other in the transverse recess 42 through the cooperation of the dovetail sliding groove 46 and the dovetail sliding bar 48, so as to drive the two workpiece clamping mechanisms 6 to move away from each other through the two clamping buffer mechanisms 5, then the transfer mechanism 1, the steering mechanism 2, the lifting electric telescopic rod 8 and the orientation changing assembly are operated to drive the two workpiece clamping mechanisms 6 to move close to the workpiece to be clamped, the clamping electric telescopic rod 49 is shortened to drive the isosceles trapezoidal control block 47 to move close to the orientation changing assembly, the isosceles trapezoidal control block 47 drives the two clamping control blocks 44 to move close to each other in the transverse recess 42 through the cooperation of the dovetail sliding groove 46 and the dovetail sliding bar 48, so as to drive the two workpiece clamping mechanisms 6 to move close to each other through the two clamping buffer mechanisms 5, the two workpiece clamping mechanisms 6 clamp the workpiece, the clamping buffer mechanism 5 can avoid the workpiece from being damaged by the clamping force of the two workpiece clamping mechanisms 6, then the transfer mechanism 1, the steering mechanism 2, the lifting electric telescopic rod 8 and the orientation changing assembly are used to transfer the workpiece to the required position, then the clamping electric telescopic rod 49 is elongated again to allow the two workpiece clamping mechanisms 6 to release the workpiece.

[0052] Embodiment two, please refer to Figures 1 to 11 , the embodiment provides a technical scheme: a robot clamping device, the embodiment is a further explanation of the structure of embodiment one;

[0053] The horizontal locking assembly comprises a bracket 36, a locking electric telescopic rod 37, a locking pin shaft 38, a locking limiting hole 39, a locking seat block 310 and a locking pin hole 311. The bottom of the swing rod 32 is provided with a horizontal locking limiting hole 39. The top of the connecting frame 33 is fixedly connected to one end of the locking electric telescopic rod 37 through the bracket 36. The bracket 36 is installed on the top of the connecting frame 33 through bracket screws. The sleeve hole on the bracket 36 is fixedly sleeved with the end of the locking electric telescopic rod 37. The other end of the locking electric telescopic rod 37 is fixedly connected to one end of the locking pin shaft 38. The locking pin shaft 38 is slidably connected with the locking limiting hole 39. The bottom side of the movable seat 31 is fixedly connected with the locking seat block 310. The side of the locking seat block 310 is provided with the locking pin hole 311. The distance between the locking pin hole 311 and the center of the shaft 35 is equal to the distance between the locking limiting hole 39 and the center of the shaft 35. When the shaft 35 is counterclockwise rotated by 90 degrees to make the supporting frame 41 in a horizontal state, the locking limiting hole 39 and the locking pin hole 311 on the locking seat block 310 are correspondingly arranged. At this time, the locking electric telescopic rod 37 is elongated, the end of the locking pin shaft 38 is inserted into the locking pin hole 311, the relative positions of the swing rod 32 and the movable seat 31 are locked, the weight of the clamping control mechanism 4, the clamping buffer mechanism 5, the workpiece clamping mechanism 6 and the clamped workpiece will not have a large pressure on the orientation motor 34, so as to protect the orientation motor 34 and avoid damaging the orientation motor 34 due to excessive force. If the orientation motor 34 needs to be reversed to make the two workpiece clamping mechanisms 6 clamp the workpieces downward, the locking electric telescopic rod 37 is shortened, the locking pin shaft 38 is separated from the locking pin hole 311, and then the orientation motor 34 can drive the shaft 35, the connecting frame 33 and the supporting frame 41 to rotate reversely to reset.

[0054] Embodiment three, please refer to Figures 1 to 11 The embodiment provides a technical scheme: a robot clamping device. The embodiment is substantially the same as the embodiment two, and the difference lies in that

[0055] The horizontal clamping alignment mechanism 7 comprises an alignment plate 71 and an alignment push-pull assembly. The lower side of the isosceles trapezoidal control block 47 is provided with the alignment plate 71. 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 a plurality of overlapped workpieces, the overlapped workpieces may not be in order and may fall after being clamped. At this time, the alignment push-pull assembly can push the alignment plate 71 to make the alignment plate 71 push the overlapped workpieces on one side to be in order, and then the alignment push-pull assembly makes the alignment plate 71 re-enter the isosceles trapezoidal control block 47 to avoid the interference of the alignment plate 71 on the mutual approach of the two buffer seat plates 51.

[0056] The alignment push-pull assembly comprises alignment guide columns 72, an alignment connecting rod 73, a blind hole 74 and an alignment electric telescopic rod 75, two alignment vertical holes are formed in the top of the isosceles trapezoidal control block 47, two alignment guide columns 72 are slidably connected in the two alignment vertical holes respectively, the bottoms of the two alignment guide columns 72 are fixedly connected with the top of the alignment plate 71, a blind hole 74 is formed in the top of the isosceles trapezoidal control block 47, a vertical alignment electric telescopic rod 75 is installed in the blind hole 74, one end of the alignment connecting rod 73 is fixedly connected with the top of one of the alignment guide columns 72 through bolts, and the other end of the alignment connecting rod 73 is fixedly connected with the top of the other alignment guide column 72 through bolts. The blind hole 74 is used for installing the alignment electric telescopic rod 75, the alignment guide columns 72 and the alignment vertical holes are matched to guide the movement direction of the alignment plate 71, and when the alignment electric telescopic rod 75 is lengthened or shortened, the alignment plate 71 can be driven to move relative to the isosceles trapezoidal control block 47, and when the alignment plate 71 moves away from the isosceles trapezoidal control block 47, the side of the overlapped workpiece can be arranged.

[0057] It is worth noting that the rotating motor 13, the linear motor 17, the steering motor 22, the orientation motor 34, the clamping electric telescopic rod 49, the control motor 57, the switching electric telescopic rod 612, the locking electric telescopic rod 37, the alignment electric telescopic rod 75 and the lifting electric telescopic rod 8 disclosed in the above embodiments are all controlled by the PLC controller, and the control method adopts the method commonly used in the prior art, wherein the rotating motor 13, the steering motor 22, the orientation motor 34 and the 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 document, the terms such as first and second are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or equipment.

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

Claims

1. A robot gripping device, comprising an operation transfer mechanism (1), a steering mechanism (2) is installed on the operation transfer mechanism (1), the bottom of the steering mechanism (2) is fixedly connected with the top end of a lifting electric telescopic rod (8), characterized in that, Also include: The clamping towards control mechanism (3) contains the orientation change component and the horizontal locking component, the orientation change component is installed at the bottom end of the lifting electric telescopic rod (8), the horizontal locking component is installed on the orientation change component; The clamping control mechanism (4) contains a support frame (41) and a clamping electric telescopic rod (49), the bottom of the orientation change 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) through transverse sliding, the side of the two clamping control frames (44) close to each other is respectively provided with an inclined surface, the two inclined surfaces are respectively provided with two dovetail sliding grooves (46), the top of the support frame (41) is provided 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 sliding strips (48), and the two dovetail sliding strips (48) are respectively connected with the two dovetail sliding grooves (46) through sliding; The clamping buffer mechanism (5) is installed at the bottom of the clamping control frame (44), and the bottom of the clamping buffer mechanism (5) is provided with a workpiece clamping mechanism (6); The workpiece clamping mechanism (6) contains a U-shaped plane clamping frame (63), an arc clamping plate (66), a reverse transmission component and a clamping switching power component, the bottom of each clamping seat plate (56) is fixedly connected with two transverse dovetail guide strips (61) on the front and back sides, the top of the U-shaped plane clamping frame (63) is connected with two transverse sliding seats (62) at both ends, the two transverse sliding seats (62) are respectively connected with the two transverse dovetail guide strips (61) through sliding, the bottom center of each clamping seat plate (56) is fixedly connected with a transverse dovetail guide strip (64), the top of the arc clamping plate (66) is connected with a transverse sliding seat (65), the transverse sliding seat (65) is connected with the transverse dovetail guide strip (64) through sliding, the bottom end of the arc clamping plate (66) is connected with a clamping end plate (614), the arc clamping plate (66) is connected with the corresponding U-shaped plane clamping frame (63) through the reverse transmission component, and the U-shaped plane clamping frame (63) is connected with the clamping switching power component, and the arc clamping plate (66) passes through the middle part of the U-shaped plane clamping frame (63); The reverse transmission component contains a switching transmission gear (610), one side of the U-shaped plane clamping frame (63) away from the isosceles trapezoidal control block (47) is fixedly connected with a transverse rack (67), one side of the arc clamping plate (66) away from the isosceles trapezoidal control block (47) is fixedly connected with a transverse rack (68), one end of the clamping seat plate (56) away from the isosceles trapezoidal control block (47) is fixedly connected with a switching shaft (69), and the end of the switching shaft (69) is rotatably connected with the switching transmission gear (610), the switching transmission gear (610) is located between the rack (67) and the rack (68), and the switching transmission gear (610) is respectively connected with the corresponding rack (67) and rack (68) through meshing. The clamping switching power assembly includes a switching electric telescopic rod (612), the U-shaped flat clamping frame (63) is fixedly connected with a bent seat (613), the bent seat (613) is fixedly connected with one end of the transverse switching electric telescopic rod (612), the clamping seat plate (56) is fixedly connected with a telescopic rod mounting bracket (611) away from one end of the isosceles trapezoidal control block (47), and the telescopic rod mounting bracket (611) is fixedly connected with the other end of the switching electric telescopic rod (612); The transverse clamping alignment mechanism (7) includes an alignment plate (71) and an alignment push-pull assembly, and the lower side of the isosceles trapezoidal control block (47) is provided with the alignment plate (71), and the alignment plate (71) is connected with the isosceles trapezoidal control block (47) through the alignment push-pull assembly; The alignment push-pull assembly includes an alignment guide column (72) and an alignment electric telescopic rod (75), two alignment vertical holes are formed in the isosceles trapezoidal control block (47), two alignment guide columns (72) are slidably connected in the two alignment vertical holes, the bottom of each of the two alignment guide columns (72) is fixedly connected with the top of the alignment plate (71), and a blind hole (74) is formed in the top of the isosceles trapezoidal control block (47), a vertical alignment electric telescopic rod (75) is installed in the blind hole (74), one end of an alignment connecting rod (73) is fixedly connected with the top of the alignment electric telescopic rod (75), and the other end of the alignment connecting rod (73) is fixedly connected with the top of one of the alignment guide columns (72).

2. The robotic gripping device of claim 1, wherein: The orientation changing assembly includes a movable seat (31), a swing rod (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 with the top of the movable seat (31), the bottom of the movable seat (31) is rotatably connected with a transverse orientation shaft (35), one end of the orientation shaft (35) is fixedly connected with 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 with the top of the swing rod (32), the bottom of the swing rod (32) is fixedly connected with the connecting frame (33), and the bottom of the connecting frame (33) is fixedly connected with the top of the support frame (41).

3. The robotic gripping device of claim 2, wherein: The horizontal locking assembly includes a locking electric telescopic rod (37), a horizontal locking limiting hole (39) is formed in the bottom of the swing rod (32), one end of the locking electric telescopic rod (37) is fixedly connected with the connecting frame (33) through a bent bracket (36), the other end of the locking electric telescopic rod (37) is fixedly connected with one end of a locking pin shaft (38), the locking pin shaft (38) is slidably connected with the locking limiting hole (39), and the bottom of the movable seat (31) is fixedly connected with a locking seat block (310), and a locking pin hole (311) is formed in the side of the locking seat block (310).

4. The robotic gripping device of claim 1, wherein: The clamping buffer mechanism (5) comprises buffer seat plates (51) and buffer force adjustment assemblies, the bottom surface of each clamping control frame (44) is respectively provided with a buffer seat plate (51), the bottom of each buffer seat plate (51) is respectively fixedly connected with two end plates (52), the two end plates (52) are fixedly connected with two horizontal guide columns (53), the two horizontal guide columns (53) are respectively slidably connected with two guide holes in the buffer sliding blocks (55), the bottom of each buffer sliding block (55) is fixedly connected with a clamping seat plate (56), one end of each horizontal guide column (53) away from the isosceles trapezoidal control block (47) is respectively sleeved with a buffer spring (54), and the end plate (52) of the buffer seat plate (51) away from the isosceles trapezoidal control block (47) is provided with a buffer force adjustment assembly.

5. The robotic gripping device of claim 4, wherein: The buffer force adjustment assembly comprises a buffer force control plate (510), the end plate (52) of the buffer seat plate (51) away from the isosceles trapezoidal control block (47) is fixedly connected with a control motor (57), one end of the output shaft of the control motor (57) is fixedly connected with a lead screw (58), the lead screw (58) is parallel to the horizontal guide column (53), two guide holes in the buffer force control plate (510) are respectively slidably connected with one end of the two horizontal guide columns (53) away from the isosceles trapezoidal control block (47), the buffer spring (54) is located between the buffer sliding block (55) and the buffer force control plate (510), and the buffer force control plate (510) is provided with a lead screw nut (59), and the lead screw nut (59) is connected with the lead screw (58) in a matched mode.

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