Industrial clamping manipulator

Abstract

The invention relates to the technical field of manipulators, in particular to an industrial clamping manipulator which comprises a manipulator body, the telescopic end of the manipulator body is connected with two symmetrical connecting frames through a transmission mechanism, the bottom end of the manipulator body is connected with a mounting assembly, and clamping mechanisms are arranged on the inner sides of the two connecting frames. The clamping mechanism comprises a plurality of sliding blocks, the sliding blocks are arranged in a linear array, the two rows of clamping blocks can clamp workpieces arranged in one row, and the two front-back corresponding clamping blocks in the two rows of clamping blocks can independently get away from each other to loosen one workpiece and independently place the workpiece on the corresponding conveying position. Therefore, the workpiece does not need to be continuously clamped and then rotated by a corresponding angle to be put down, the operation process is simplified, consumed time is shortened, the workpiece processing efficiency is improved, the device can be suitable for workpieces which are different in size and arranged in a row, and clamping is flexible.

Description

Technical Field

[0001] The invention relates to the technical field of manipulators, in particular to an industrial gripping manipulator. Background Art

[0002] An industrial gripper, also known as a gripper or a grasping manipulator, is a device used for automated production or manipulation tasks. It is usually composed of a mechanical structure and a control system, and is used to grasp, carry, and place objects. The mechanical structure of an industrial gripper usually consists of joints, links, and frames. The joints allow the manipulator to move and rotate in multiple directions, the links connect the joints, and the frame provides support and stability. Industrial grippers are often used for gripping and transposition of workpieces.

[0003] Some industrial gripping manipulators often need to grip workpieces one by one and send them to different transmission positions around for different processing, inspection or classification, etc., while existing industrial gripping manipulators usually use cylinders to control the gripping part. The operation of the cylinder is usually binary and can only achieve simple operations of clamping or loosening. In this way, industrial gripping manipulators often need to constantly grip the workpieces and then rotate the corresponding angles and put down the workpieces. The operation process is more complicated and time-consuming, affecting the workpiece processing efficiency. To this end, we propose an industrial gripping manipulator. Summary of the invention

[0004] The object of the present invention is to provide an industrial gripping robot to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: an industrial gripping robot, comprising a robot body, the telescopic end of the robot body being connected to two symmetrical connecting frames through a transmission mechanism, and the bottom end of the robot body being connected to an installation assembly, a gripping mechanism being provided on the inner sides of the two connecting frames, the gripping mechanism comprising a plurality of sliding blocks, the plurality of sliding blocks being arranged in a linear array, and the plurality of sliding blocks being slidably installed between the inner upper and lower ends of the connecting frames, and an equidistant adjustment mechanism being provided between the plurality of sliding blocks and the connecting frames, and the outer sides of the plurality of sliding blocks being elastically connected to gripping blocks through an elastic mechanism, a linkage mechanism being provided between the plurality of gripping blocks and the connecting frames, and rubber pads being fixedly connected to the outer walls of the gripping blocks.

[0006] Preferably, the transmission mechanism includes a splicing plate, which is fixedly connected to the telescopic end of the manipulator body, and the lower end of the splicing plate is symmetrically fixedly connected to a shell, the lower ends of the two shells are provided with square grooves, and the rear ends of the two shells are fixedly installed with a first motor, and the internal front end surfaces of the two shells are rotatably connected with a screw rod, the two screw rods are movably passed through the internal rear end surfaces of the two shells, and the rear ends of the two screw rods are respectively fixedly connected to the output shaft ends of the two first motors, and the front half threads of the two screw rods are symmetrically arranged with the rear half threads, and the outer walls of the two screw rods are symmetrically threaded with square blocks from front to back, and the lower ends of the four square blocks are fixedly connected to fixed blocks, and the lower ends of the two square blocks located in the front and the lower ends of the two square blocks located in the rear are respectively fixedly connected to the upper ends of the two connecting frames, wherein the two front-to-back symmetrical square blocks and the other two front-to-back symmetrical square blocks are respectively slidably matched with the two square grooves.

[0007] Preferably, the mounting assembly includes a cylindrical base, which is fixedly connected to the bottom end of the manipulator body, and an assembly ring is fixedly sleeved on the lower edge of the outer wall of the cylindrical base, and a plurality of assembly holes are opened through the upper end of the assembly ring, and the plurality of assembly holes are arranged in a circular array around the center of the assembly ring.

[0008] Preferably, a guide groove is provided through the inner bottom end of the connecting frame, and the two ends of the guide groove are respectively flush with the inner side surfaces of the connecting frame. The lower end of the sliding block is fixedly connected with a guide slider, and the guide slider is slidably matched with the guide groove, and the guide slider and the sliding block are an integrally formed structure.

[0009] Preferably, the equidistant adjustment mechanism includes a second motor and a plurality of connecting blocks, the second motor is fixedly mounted at an upper corner of a side wall of the connecting frame, and the output shaft end of the second motor is fixedly connected to a threaded column, the threaded column movably passes through a side wall of the connecting frame, and the threads on both sides of the outer wall of the threaded column are symmetrically arranged, and the end of the threaded column away from the second motor is rotatably connected to an inner side surface of the connecting frame, and the plurality of connecting blocks are respectively fixedly connected to the upper ends of the plurality of sliding blocks, wherein the first and last connecting blocks are respectively threadedly sleeved on both sides of the outer wall of the threaded column near the edge, and the connecting blocks other than the first and last blocks are slidably sleeved on the outer wall of the threaded column, and the upper ends of the plurality of sliding blocks are commonly rotatably connected to a scissors-type distance adjusting rod, and a row of rotation connection points in the middle of the scissors-type distance adjusting rod respectively correspond to the upper end centers of the plurality of sliding blocks.

[0010] Preferably, the elastic mechanism includes two guide pillars, and the two guide pillars are symmetrically slid from top to bottom and inserted into the inner wall of the sliding block, and one end of the two guide pillars is fixedly connected to the outer wall of the clamping block, and the outer walls of the two guide pillars are slidably sleeved with coil springs, and the two ends of the two coil springs are respectively fixedly connected to the wall surfaces corresponding to the clamping block and the sliding block.

[0011] Preferably, the linkage mechanism comprises a plurality of splicing blocks, a third motor and a limit column, the plurality of splicing blocks are respectively fixedly connected to the lower ends of the plurality of clamping blocks, and the lower ends of the plurality of splicing blocks are fixedly connected with L-shaped blocks, the plurality of L-shaped blocks are located at the outer sides of the connecting frame, and the upper edges of the inner vertical surfaces of the plurality of L-shaped blocks are fixedly connected with arc blocks, the third motor is fixedly installed at the lower corner of one side wall of the connecting frame, and the output shaft end of the third motor is fixedly connected with a threaded rod, the threaded rod movably passes through one side wall of the connecting frame, and one end of the threaded rod away from the third motor is rotatably connected to an inner side surface of the connecting frame, and an elliptical block is threadedly sleeved on the outer wall of the threaded rod, and a pushing block is fixedly connected to the top of the outer wall of the elliptical block, the limit column is fixedly connected between the two inner side surfaces of the connecting frame, and the limit column is located directly below the threaded rod, and the limit column movably passes through the elliptical block.

[0012] Compared with the prior art, the present invention has the following beneficial effects: 1. Firstly, by setting the installation components, the industrial clamping robot can be fixed on the worktable. Secondly, through the cooperation of the transmission mechanism, the connecting frame, the sliding block, the elastic mechanism, the clamping block, the linkage mechanism and the rubber pad, the two rows of clamping blocks can not only clamp the workpieces arranged in a row, but also the two corresponding clamping blocks in the front and back of the two rows of clamping blocks can move away from each other separately to release a workpiece and place the workpiece separately on the corresponding transfer position, so that there is no need to constantly clamp the workpiece and then rotate the corresponding angle and put down the workpiece, which simplifies the operation process and time consumed and improves the processing efficiency of the workpiece.

[0013] 2. By setting up an equidistant adjustment mechanism, the distance between all two adjacent clamping blocks in the two columns of clamping blocks can be adjusted synchronously, and the distance between all two adjacent clamping blocks can always be kept consistent. Therefore, when clamping workpieces of different sizes arranged in a row, each clamping block in the two columns of clamping blocks can be adjusted to correspond to the middle position of multiple workpieces, thereby meeting the needs of clamping workpieces of different sizes arranged in a row, and the clamping is flexible. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a display diagram of the connection frame of the present invention; Figure 3 It is a partial cross-sectional view of the connection frame of the present invention; Figure 4 It is a schematic diagram of the local structure of the present invention; Figure 5 It is a partial cross-sectional view of the transmission mechanism of the present invention; Figure 6 Another perspective view of the connection frame of the present invention; Figure 7 for Figure 6 Schematic diagram of the structure at point A in .

[0015] In the attached drawings, the list of components represented by each number is as follows: 1. Robot body; 2. First motor; 3. Second motor; 4. Third motor; 5. Splicing plate; 6. Shell; 7. Connecting frame; 8. Clamping block; 9. Threaded column; 10. Guide slide groove; 11. Rubber pad; 12. Guide pillar; 13. Arc block; 14. Sliding block; 15. L-shaped block; 16. Limit column; 17. Threaded rod; 18. Scissor-type pitch adjustment rod; 19. Connecting block; 20. Coil spring; 21. Splicing block; 22. Fixed block; 23. Screw rod; 24. Square groove; 25. Square block; 26. Push block; 27. Oval block; 28. Guide slider; 29. ​​Cylindrical base; 30. Assembly ring; 31. Assembly hole. DETAILED DESCRIPTION

[0016] 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. Example

[0017] See also Figure 1-Figure 7 An industrial gripping robot shown in the figure includes a robot body 1, the telescopic end of the robot body 1 is connected to two symmetrical connecting frames 7 through a transmission mechanism, and the bottom end of the robot body 1 is connected to a mounting assembly, and a gripping mechanism is provided on the inner sides of the two connecting frames 7, and the gripping mechanism includes a plurality of sliding blocks 14, the plurality of sliding blocks 14 are arranged in a linear array, and the plurality of sliding blocks 14 are slidably installed between the inner upper and lower ends of the connecting frames 7, and an equidistant adjustment mechanism is provided between the plurality of sliding blocks 14 and the connecting frames 7, and the outer sides of the plurality of sliding blocks 14 are elastically connected to gripping blocks 8 through an elastic mechanism, a linkage mechanism is provided between the plurality of gripping blocks 8 and the connecting frames 7, and rubber pads 11 are fixedly connected to the outer walls of the gripping blocks 8.

[0018] See also Figure 1 , Figure 2and Figure 5 In the figure, the transmission mechanism includes a splicing plate 5, which is fixedly connected to the telescopic end of the manipulator body 1, and the lower end of the splicing plate 5 is symmetrically fixedly connected to a shell 6, and the lower ends of the two shells 6 are provided with square grooves 24, and the rear ends of the two shells 6 are fixedly installed with the first motor 2, and the internal front end surfaces of the two shells 6 are rotatably connected with the screw rods 23, and the two screw rods 23 are respectively movably penetrated through the internal rear end surfaces of the two shells 6, and the rear ends of the two screw rods 23 are respectively fixedly connected to the output shaft ends of the two first motors 2, The front half threads of the two screw rods 23 are symmetrically arranged with the rear half threads, and the outer walls of the two screw rods 23 are symmetrically threaded with square blocks 25 from front to back, and the lower ends of the four square blocks 25 are fixedly connected with fixed blocks 22, and the lower ends of the two square blocks 25 located in the front and the lower ends of the two square blocks 25 located in the back are respectively fixedly connected to the upper ends of the two connecting frames 7, among which the two front-to-back symmetrical square blocks 25 and the other two front-to-back symmetrical square blocks 25 are respectively slidably matched with the two square grooves 24.

[0019] See also Figure 1 In the figure, the installation component includes a cylindrical base 29, which is fixedly connected to the bottom end of the manipulator body 1, and an assembly ring 30 is fixedly sleeved on the lower edge of the outer wall of the cylindrical base 29, and a plurality of assembly holes 31 are opened through the upper end of the assembly ring 30, and the plurality of assembly holes 31 are arranged in a circular array around the center of the assembly ring 30.

[0020] By providing the cylindrical base 29 , the assembly ring 30 and the assembly hole 31 , it is convenient to fix the manipulator body 1 on the work surface.

[0021] See also Figure 2 , Figure 3 , Figure 5 and Figure 6 In the figure, a guide slot 10 is provided through the inner bottom end of the connecting frame 7, and the two ends of the guide slot 10 are respectively flush with the inner side surfaces of the connecting frame 7. A guide slider 28 is fixedly connected to the lower end of the sliding block 14, and the guide slider 28 is slidably matched with the guide slot 10, and the guide slider 28 and the sliding block 14 are an integrally formed structure.

[0022] By providing the guide slot 10 and the guide slider 28 , the forward and backward movement of the sliding block 14 can be limited, and the sliding block 14 can only perform linear sliding to the left and right on the inner side of the connecting frame 7 .

[0023] See also Figure 4In the figure, the elastic mechanism includes two guide pillars 12, which slide symmetrically from top to bottom and penetrate the inner wall of the sliding block 14, and one end of the two guide pillars 12 is fixedly connected to the outer wall of the clamping block 8, and the outer walls of the two guide pillars 12 are slidably sleeved with coil springs 20, and the two ends of the two coil springs 20 are respectively fixedly connected to the wall surfaces corresponding to the clamping block 8 and the sliding block 14.

[0024] See also Figure 2 , Figure 3 , Figure 6 and Figure 7 In the figure, the linkage mechanism includes multiple splicing blocks 21, a third motor 4 and a limit column 16. The multiple splicing blocks 21 are respectively fixedly connected to the lower ends of the multiple clamping blocks 8, and the lower ends of the multiple splicing blocks 21 are fixedly connected with L-shaped blocks 15. The multiple L-shaped blocks 15 are all located on the outside of the connecting frame 7, and the upper edges of the inner vertical surfaces of the multiple L-shaped blocks 15 are fixedly connected with arc blocks 13. The third motor 4 is fixedly installed at the lower corner of one side wall of the connecting frame 7, and the output shaft end of the third motor 4 is fixed. A threaded rod 17 is connected, and the threaded rod 17 movably passes through a side wall of the connecting frame 7, and the end of the threaded rod 17 away from the third motor 4 is rotatably connected to an inner side surface of the connecting frame 7, and an elliptical block 27 is threadedly sleeved on the outer wall of the threaded rod 17, and a pushing block 26 is fixedly connected to the top of the outer wall of the elliptical block 27, and a limiting column 16 is fixedly connected between the two inner side surfaces of the connecting frame 7, and the limiting column 16 is located directly below the threaded rod 17, and the limiting column 16 movably passes through the elliptical block 27.

[0025] In this embodiment, the manipulator body 1 can clamp a row of parallel workpieces. The specific operation is as follows: the telescopic end of the manipulator body 1 controls the splicing plate 5 and the two shells 6 to move downward together until the two rows of clamping blocks 8 are respectively located in the front and rear of the row of parallel workpieces, and at this time, each clamping block 8 in the two rows of clamping blocks 8 corresponds to the middle position of each workpiece, and then the two first motors 2 are started. The two first motors 2 can respectively drive the two screw rods 23 to rotate. Because the front half threads and the rear half threads of the two screw rods 23 are symmetrically arranged, the outer walls of the two screw rods 23 are symmetrically threaded from front to back with square blocks 2 5 can move closer to each other in the corresponding housing 6, then the fixed blocks 22 at the lower ends of the four square blocks 25 can slide in the corresponding square grooves 24, and the four square blocks 25 can drive the two connecting frames 7 to move closer to each other until each rubber pad 11 on the outer wall of the two rows of clamping blocks 8 is tightly attached to the outer wall of the corresponding workpiece. In this process, the clamping block 8 can squeeze the spiral spring 20 connected to the corresponding sliding block 14, and the clamping block 8 can drive the corresponding splicing block 21, the L-shaped block 15 and the arc block 13 to move together, and at this time, the arc edge position of the arc block 13 will correspond to the edge of the pushing block 26.

[0026] Then, when the robot body 1 rotates and drives the clamped row of parallel workpieces to move to a transfer position, when a single workpiece needs to be placed at the corresponding transfer position, the two third motors 4 are started, and the two third motors 4 can respectively drive the two threaded rods 17 to rotate, and the elliptical blocks 27 threadedly sleeved on the outer walls of the two threaded rods 17 will move in the direction of the corresponding arc surface block 13, and the two elliptical blocks 27 will slide on the outer walls of the corresponding limit columns 16, and the push blocks 26 connected to the tops of the two elliptical blocks 27 will first fit The arc surface of the arc surface block 13 closest to the push block 26 slides and passes over the arc surface block 13. In the process, the push block 26 pushes the arc surface block 13 to move outward. The arc surface block 13 can drive the clamping block 8 and the rubber pad 11 away from the corresponding workpiece through the splicing block 21 and the L-shaped block 15, so that the workpiece can fall on the corresponding transfer position. Then, as the robot body 1 drives the clamped multiple workpieces to move to a transfer position, the two third motors 4 drive the two push blocks 26 to pass over the corresponding arc surface block 13, so that a workpiece can be placed separately. Therefore, there is no need to constantly clamp the workpiece and then rotate the corresponding angle and place the workpiece, which simplifies the operation process and time consumed, and improves the processing efficiency of the workpiece. Example

[0027] See also Figure 3 , this embodiment further explains Example 1. The middle distance adjustment mechanism shown in the figure includes a second motor 3 and a plurality of connecting blocks 19. The second motor 3 is fixedly mounted at the upper corner of one side wall of the connecting frame 7, and the output shaft end of the second motor 3 is fixedly connected to a threaded column 9, the threaded column 9 movably penetrates one side wall of the connecting frame 7, and the threads on both sides of the outer wall of the threaded column 9 are symmetrically arranged, and the end of the threaded column 9 away from the second motor 3 is rotatably connected to the inner side surface of the connecting frame 7, and the plurality of connecting blocks 19 are respectively fixedly connected to the upper ends of the plurality of sliding blocks 14, wherein the first and last connecting blocks 19 are respectively threadedly sleeved on both sides of the outer wall of the threaded column 9 near the edge, and the connecting blocks 19 other than the first and last blocks are all slidably sleeved on the outer wall of the threaded column 9, and the upper ends of the plurality of sliding blocks 14 are rotatably connected with a scissor-type distance adjusting rod 18, and the scissor-type distance adjusting rod 18 is in the middle of a row of rotation connection points corresponding to the upper end centers of the plurality of sliding blocks 14.

[0028] In this embodiment, when the same workpieces of different sizes are arranged in a row, the two second motors 3 are started, and the second motors 3 can drive the corresponding threaded column 9 to rotate. Because the threads on both sides of the outer wall of the threaded column 9 are symmetrically arranged, the first and last connecting blocks 19 threadedly sleeved on both sides of the outer wall of the threaded column 9 near the edge can move closer to each other or move away from each other, and the sliding blocks 14 connected to the two connecting blocks 19 can move closer to each other or move away from each other inside the connecting frame 7, and the scissor-type pitch adjusting rod 18 will shrink and shorten or expand and lengthen accordingly. Because the scissor-type pitch adjusting rod 18 is in the middle of a row of rotating connection points corresponding to the upper end centers of the multiple sliding blocks 14, the first and last two The connecting block 19 outside the block can slide on the outer wall of the threaded column 9, which can drive the corresponding multiple sliding blocks 14 to move together, and the spacing between all the sliding blocks 14 can be synchronously reduced or increased. The scissor-type spacing adjustment rod 18 is a well-known prior art and will not be elaborated on. When the sliding block 14 moves, it can drive the clamping block 8 to move together through the elastic mechanism, then the spacing between all the clamping blocks 8 can be synchronously reduced or increased, and the same is true for the other row of clamping blocks 8, so that each clamping block 8 in the two rows of clamping blocks 8 corresponds to the middle position of a row of identical workpieces of different sizes, so that the same workpieces of different sizes can still be firmly clamped when they are arranged in a row, and the clamping is flexible.

[0029] 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.

[0030] 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. An industrial gripping robot, comprising a robot body (1), characterized in that: The telescopic end of the manipulator body (1) is connected to two symmetrical connecting frames (7) through a transmission mechanism, and the bottom end of the manipulator body (1) is connected to a mounting assembly, and a clamping mechanism is provided on the inner side of the two connecting frames (7), and the clamping mechanism comprises a plurality of sliding blocks (14), the plurality of sliding blocks (14) are arranged in a linear array, and the plurality of sliding blocks (14) are slidably mounted between the inner upper and lower ends of the connecting frames (7), and an equidistant adjustment mechanism is provided between the plurality of sliding blocks (14) and the connecting frames (7), and the outer sides of the plurality of sliding blocks (14) are elastically connected to clamping blocks (8) through an elastic mechanism, and a linkage mechanism is provided between the plurality of clamping blocks (8) and the connecting frames (7), and a rubber pad (11) is fixedly connected to the outer wall of the clamping block (8).

2. An industrial gripping manipulator according to claim 1, characterized in that: The transmission mechanism comprises a splicing plate (5), the splicing plate (5) being fixedly connected to the telescopic end of the manipulator body (1), and the lower end of the splicing plate (5) being symmetrically fixedly connected to a housing (6), the lower ends of the two housings (6) being provided with a square groove (24), and the rear ends of the two housings (6) being fixedly mounted with a first motor (2), and the internal front end surfaces of the two housings (6) being rotatably connected with a screw rod (23), the two screw rods (23) being respectively movable and penetrating the internal rear end surfaces of the two housings (6), and the rear ends of the two screw rods (23) being respectively fixed to the output shaft ends of the two first motors (2). The two screw rods (23) are connected, and the front half threads and the rear half threads of the two screw rods (23) are symmetrically arranged, and the outer walls of the two screw rods (23) are symmetrically threaded with square blocks (25) from front to back, and the lower ends of the four square blocks (25) are fixedly connected to the fixed blocks (22), and the lower ends of the two square blocks (25) located in the front and the lower ends of the two square blocks (25) located in the rear are respectively fixedly connected to the upper ends of the two connecting frames (7), wherein the two front-to-back symmetrical square blocks (25) and the other two front-to-back symmetrical square blocks (25) are respectively slidably matched with the two square grooves (24).

3. An industrial gripping manipulator according to claim 1, characterized in that: The mounting assembly comprises a cylindrical base (29), the cylindrical base (29) being fixedly connected to the bottom end of the manipulator body (1), and a mounting ring (30) being fixedly sleeved on the lower edge of the outer wall of the cylindrical base (29), a plurality of mounting holes (31) being penetrated through the upper end of the mounting ring (30), and the plurality of mounting holes (31) being arranged in a circular array around the center of the mounting ring (30).

4. An industrial gripping manipulator according to claim 1, characterized in that: A guide slot (10) is provided through the inner bottom end of the connecting frame (7), and the two ends of the guide slot (10) are respectively flush with the inner side surfaces of the connecting frame (7). A guide slider (28) is fixedly connected to the lower end of the sliding block (14), and the guide slider (28) and the guide slot (10) are slidably matched, and the guide slider (28) and the sliding block (14) are an integrally formed structure.

5. The industrial gripping robot according to claim 1, characterized in that: The equidistant adjustment mechanism comprises a second motor (3) and a plurality of connecting blocks (19), wherein the second motor (3) is fixedly mounted at an upper corner of a side wall of the connecting frame (7), and an output shaft end of the second motor (3) is fixedly connected to a threaded column (9), wherein the threaded column (9) movably penetrates a side wall of the connecting frame (7), and threads on both sides of an outer wall of the threaded column (9) are symmetrically arranged, and an end of the threaded column (9) away from the second motor (3) is rotatably connected to an inner side surface of the connecting frame (7), and the plurality of connecting blocks (19) are The connecting blocks (19) are respectively fixedly connected to the upper ends of the plurality of sliding blocks (14), wherein the first and last connecting blocks (19) are respectively threadedly sleeved on both sides of the outer wall of the threaded column (9) near the edge, and the connecting blocks (19) other than the first and last connecting blocks are all slidably sleeved on the outer wall of the threaded column (9), and the upper ends of the plurality of sliding blocks (14) are rotatably connected to a scissor-type pitch-adjusting rod (18), and a row of rotational connection points in the middle of the scissor-type pitch-adjusting rod (18) respectively correspond to the upper end centers of the plurality of sliding blocks (14).

6. An industrial gripping manipulator according to claim 1, characterized in that: The elastic mechanism comprises two guide pillars (12), the two guide pillars (12) symmetrically slide from top to bottom and penetrate into the inner wall of the sliding block (14), one end of each of the two guide pillars (12) is fixedly connected to the outer wall of the clamping block (8), and a coil spring (20) is slidably sleeved on the outer wall of each of the two guide pillars (12), and both ends of the two coil springs (20) are respectively fixedly connected to the wall surfaces corresponding to the clamping block (8) and the sliding block (14).

7. An industrial gripping robot according to claim 1, characterized in that: The linkage mechanism comprises a plurality of splicing blocks (21), a third motor (4) and a limiting column (16); the plurality of splicing blocks (21) are respectively fixedly connected to the lower ends of the plurality of clamping blocks (8); the lower ends of the plurality of splicing blocks (21) are all fixedly connected to an L-shaped block (15); the plurality of L-shaped blocks (15) are all located outside the connecting frame (7); the upper edges of the inner vertical surfaces of the plurality of L-shaped blocks (15) are all fixedly connected to an arc surface block (13); the third motor (4) is fixedly mounted at a lower corner of a side wall of the connecting frame (7); and the output shaft end of the third motor (4) is fixedly connected to A threaded rod (17), the threaded rod (17) movably passes through a side wall of the connecting frame (7), and an end of the threaded rod (17) away from the third motor (4) is rotatably connected to an inner side surface of the connecting frame (7), and an elliptical block (27) is threadedly sleeved on the outer wall of the threaded rod (17), and a push block (26) is fixedly connected to the top of the outer wall of the elliptical block (27), and the limiting column (16) is fixedly connected between the two inner side surfaces of the connecting frame (7), and the limiting column (16) is located directly below the threaded rod (17), and the limiting column (16) movably passes through the elliptical block (27).

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