Sucking and grabbing type transfer protection clamp

Abstract

The invention belongs to the field of clamps, and particularly discloses a suction grabbing type transfer protection clamp which comprises a fixing frame body, a negative pressure suction mechanism and a grabbing protection mechanism. The grabbing protection mechanism comprises two rotary grabbing protection frames, the two rotary grabbing protection frames are symmetrically arranged on the two sides of the fixing frame body and rotationally arranged on the fixing frame body, and the grabbing protection mechanism further comprises a drive control assembly used for driving the two rotary grabbing protection frames to rotate. The negative pressure adsorption mechanism is arranged at the bottom of the fixing frame body and located between the two rotary grabbing protection frames, and the negative pressure adsorption mechanism can be wrapped by the two rotary grabbing protection frames. According to the structural design, after the negative pressure adsorption mechanism adsorbs and grabs an object, the two rotary grabbing protection frames cover the object, so that the object is comprehensively and effectively protected, the object is prevented from being damaged due to collision, meanwhile, the device can be suitable for objects of different shapes, and the applicability is good.

Description

Technical Field

[0001] The present application belongs to the field of clamps, and more specifically, relates to a suction-grabbing type transport protection clamp. Background Art

[0002] In industrial automation production, mechanical clamps, as the end effectors of industrial robots, are widely used in material grasping, transportation, and assembly.

[0003] The overall structure of traditional clamps is simple, and they usually rely on simple mechanical grasping or adsorption methods to grasp and transport objects. However, when transporting fragile, easily deformed or objects that require precise protection, they often lack targeted protection measures and cannot effectively prevent objects from being damaged during transportation due to vibration, collision or improper clamping. In the transportation of electronic components, precision instruments and other objects with high protection requirements, existing clamps cannot provide comprehensive protection for the objects to be transported, which can easily cause scratches on the surface of the objects, broken corners or damage to the internal structure; and due to the different sizes and shapes of different objects, traditional clamps have weak applicability, and the clamping stability of some objects is poor during transportation, and they are easy to fall off and cause damage, so it is necessary to select appropriate clamps according to the objects to be transported. Summary of the invention

[0004] In view of the defects of the prior art, the present application provides a suction-grabbing transfer protection clamp, which aims to solve the problems that the existing clamp has a simple structure, cannot effectively protect the objects to be transferred, and has poor applicability when used to transfer different objects.

[0005] The present application provides a suction-grabbing transfer protection clamp, which specifically includes a fixed frame body, a negative pressure adsorption mechanism and a grabbing protection mechanism; the grabbing protection mechanism includes two rotating grabbing protection frames, and the two rotating grabbing protection frames are symmetrically arranged on both sides of the fixed frame body, and the two rotating grabbing protection frames are both rotatably arranged on the fixed frame body, and the grabbing protection mechanism also includes a driving control component for driving the two rotating grabbing protection frames to rotate; the negative pressure adsorption mechanism is arranged at the bottom of the fixed frame body and is located between the two rotating grabbing protection frames, and the negative pressure adsorption mechanism can be covered by the two rotating grabbing protection frames.

[0006] The above technical scheme conceived by the present application is compared with the prior art. Since the clamp of the present application controls the rotation of the two rotating grasping protection frames through the driving control component, it can realize opening and closing. When the two rotating grasping protection frames are rotated and opened, the object to be transported is adsorbed by the negative pressure adsorption mechanism. At the same time, by driving the two rotating grasping protection frames to rotate and close, the object can be covered, thereby providing comprehensive and effective protection for the transported object, preventing the object from being damaged by collision during the transportation process, and at the same time, it can be applied to the beneficial effect of adsorbing and transporting objects of different shapes.

[0007] As a further preference, the bottom of the fixing frame body is a horizontal plane; the negative pressure adsorption mechanism includes a plurality of suction cup units, and the plurality of suction cup units are evenly arranged on the horizontal plane at the bottom of the fixing frame body.

[0008] By adopting the above technical solution, a plurality of suction cup units can achieve multi-point grasping of the target object, and the grasping is more stable.

[0009] As a further preferred embodiment, a plurality of the suction cup units are provided with electromagnetic control valves for adjusting the diameter of the suction cup units, and the plurality of the suction cup units and the electromagnetic control valves are connected to an external negative pressure control system.

[0010] By adopting the above technical solution and controlling the size of the suction cup unit aperture through an electromagnetic control valve, it is possible to adjust the adsorption air pressure intensity according to the shape and structure of the object, further improving the stability of the object while being more energy-efficient.

[0011] As a further preference, both sides of the fixing frame body are rotatably connected with horizontally arranged rotating shafts, the two rotating shafts are parallel to each other and symmetrically arranged, and the two rotating grasping protection frames are respectively fixedly installed on the corresponding rotating shafts.

[0012] By adopting the above technical solution, the two rotating grabbing protection frames can be rotated on the fixed frame body through two rotating axes. The two rotating grabbing protection frames can be opened and closed when rotating, so that the negative pressure adsorption mechanism can provide all-round protection for the object after grabbing the object to be transferred. The connection is stable, and it is easy to control the angle after rotation.

[0013] As further preferred, the rotating grabbing protection frame comprises a connecting portion and a load-bearing protection portion, the connecting portion is fixedly connected to the rotating shaft, and the load-bearing protection portion is arranged on the connecting portion.

[0014] By adopting the above technical solution, after the connecting part and the rotating shaft rotate, the load-bearing protection parts on the two connecting parts are close to each other, which can realize the side and bottom protection of the object grasped by the negative pressure adsorption mechanism, and provide all-round protection.

[0015] As a further preference, the connecting portion and the load-bearing protection portion are an integrally formed structure.

[0016] By adopting the above technical solution, the connecting part and the load-bearing protection part are an integrally formed structure, the structure is more stable, and the manufacturing process adopts an integral casting process, which is more efficient.

[0017] As a further preference, the load-bearing protection portion is slidably connected to the connecting portion and a sliding direction is perpendicular to the rotation axis, and the position of the load-bearing protection portion after sliding is fixed by a locking member.

[0018] By adopting the above technical solution, the sliding load-bearing protection part can adjust its position on the connecting part, and the position of the load-bearing protection part after sliding can be fixed by the locking piece, so that the size of the internal space formed by the two rotating grasping protection frames can be easily adjusted, so as to be suitable for protecting objects of different volumes and have better applicability.

[0019] As a further preferred embodiment, the drive control assembly includes a drive cylinder, a connecting frame, two racks and two gears, the drive cylinder is vertically fixedly mounted on the fixing frame body, the connecting frame is fixedly connected to the piston rod of the drive cylinder, the two racks are respectively fixedly connected to the two ends of the connecting frame, the two gears are respectively coaxially fixedly connected to the two rotating shafts, and the racks are meshed with the corresponding gears on the same side.

[0020] By adopting the above technical solution, the driving cylinder drives the connecting frame to move, which can drive the two racks to move at the same time. Due to the engagement between the rack and the gear, the rack drives the gear and the rotating shaft to rotate synchronously, thereby realizing the simultaneous rotation of the two rotating grasping protection frames to achieve opening and closing, which is easy to control and the control is more stable.

[0021] As a further preference, the fixture further comprises a positioning camera, and the positioning camera is fixedly mounted on the fixing frame body.

[0022] By adopting the above technical solution, the positioning camera can monitor the position and state of the workpiece in real time, monitor the relative position of the fixture and the target object in real time, and adjust the position of the fixture through the collected image data to ensure the accuracy of the fixture movement.

[0023] As a further preference, the fixing frame body and the rotating grabbing protection frame are both hollow structures.

[0024] By adopting the above technical solution, the overall weight of the clamp can be effectively reduced, thereby reducing the energy consumption of the object during transportation, while facilitating control and making the transportation of the object more stable.

[0025] In general, the above technical solutions conceived by this application have the following technical advantages compared with the prior art: 1. The transfer protection fixture of the present application controls the rotation of two rotating grabbing protection frames through a driving control component, and can be opened and closed. When the two rotating grabbing protection frames rotate and open, the negative pressure adsorption mechanism adsorbs the object to be transferred, and at the same time, the two rotating grabbing protection frames are driven to rotate and close, so that the object can be covered, thereby providing comprehensive and effective protection for the transferred object, preventing the object from being damaged by collision during the transfer process, and can be applied to the adsorption and transfer of objects of different shapes, with better applicability.

[0026] 2. The present application can realize multi-point grasping of the target object through a plurality of suction cup units, and the grasping is more stable. The size of the suction cup unit caliber is controlled by the electromagnetic control valve, which can facilitate the adjustment of the adsorption air pressure intensity according to the shape and structure of the object, and further improve the stability of the clamp in grasping the object. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 is a schematic diagram of the overall structure of the clamp provided by an embodiment of the present application from a first perspective; Figure 2 is a schematic diagram of the overall structure of the clamp provided by an embodiment of the present application from a second viewing angle; Figure 3 is a schematic diagram of the front view structure of the clamp provided in an embodiment of the present application; Figure 4 is a schematic diagram of a locking member installation structure provided by another embodiment; Figure 5 It is a schematic diagram of the installation structure of the telescopic cylinder provided by another embodiment.

[0028] Throughout the drawings, the same reference numerals are used to denote the same elements or structures, wherein: 1. Fixed frame body; 11. Rotating axis; 12. Stop nylon block; 13. Guide rail; 2. Negative pressure adsorption mechanism; 21. Suction cup unit; 3. Grasping protection mechanism; 31. Rotating grabbing protection frame; 311. Connecting part; 312. Load-bearing protection part; 313. Nylon buffer pad; 314. Locking piece; 315. Telescopic cylinder; 32. Drive control component; 321. Drive cylinder; 322. Connecting frame; 323. Rack; 324. Gear; 4. Positioning camera. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0030] Reference Figure 1-3 The present application discloses a suction-grabbing transfer protection clamp, which is used to grab electronic components, precision instruments and other objects with high protection requirements. Such objects are fragile and easy to deform during conventional transportation and require precise protection. The transfer protection clamp of the present application includes a fixing frame body 1, a negative pressure adsorption mechanism 2, a grabbing protection mechanism 3 and a positioning camera 4. The fixing frame body 1 is the main structure of the entire device, which is used to install and fix other components. The fixing frame body 1 is connected to the industrial robot through a mounting seat. The mounting seat and the main fixing frame are fastened with bolts or a quick-change device is used to facilitate the installation and disassembly of the clamp of the present application. The negative pressure adsorption mechanism 2 is arranged at the bottom of the fixed frame body 1. The transfer protection clamp of the present application can realize the adsorption and grasping of objects for transfer through the negative pressure adsorption mechanism 2. The grasping protection mechanism 3 is arranged on the fixed frame body 1 for providing all-round protection for the grasped objects. The positioning camera 4 is selected as an industrial camera. The positioning camera 4 is fixedly installed on the fixed frame body 1, and can monitor the position and state of the workpiece in real time, monitor the relative position of the clamp and the target object in real time, and adjust the position of the clamp through the collected image data to ensure the accuracy of the clamp action.

[0031] In this embodiment, the fixing frame body 1 is a hollow structure as a whole, and its bottom is a horizontal plane; the negative pressure adsorption mechanism 2 includes a plurality of independently controllable suction cup units 21, each suction cup unit 21 is provided with an electromagnetic control valve for adjusting the caliber of the suction cup unit 21, and the plurality of suction cup units 21 and the electromagnetic control valve are connected to an external negative pressure control system, and a negative pressure environment can be formed under the suction cup unit 21 through the negative pressure control system, so as to achieve multi-point grasping of the target object, and at the same time, the negative pressure control system can adjust the electromagnetic control valve as needed, and then adjust the adsorption strength of the suction cup unit 21, and the plurality of suction cup units 21 are evenly arranged in an array on the horizontal plane at the bottom of the fixing frame, and the suction cup unit 21 can achieve multi-point grasping of the target object, and the caliber of the suction cup unit 21 is controlled by the electromagnetic control valve, which can facilitate the adjustment of the adsorption pressure intensity according to the shape and structure of the object, thereby improving the stability of the object. Several suction cup units 21 achieve independent adsorption through a negative pressure control system, and adjust the position of the adsorption point and the suction force according to the shape and weight distribution of the object, thereby ensuring the stability of the target object during the grasping and transportation process. The multi-point independent control design can effectively prevent the target object from shifting or falling due to uneven distribution of adsorption force.

[0032] Specifically, the grab protection mechanism 3 includes two rotating grab protection frames 31. In order to reduce the weight of the clamp as a whole, the rotating grab protection frames 31 are hollow structures, which reduce the dead weight while ensuring the structural strength, thereby reducing the energy consumption burden. The two rotating grab protection frames 31 are symmetrically arranged on both sides of the fixed frame body 1. The two rotating grab protection frames 31 are both rotatably arranged on the fixed frame body 1. A stop nylon block 12 is provided between the rotating grab protection frames 31 and the fixed frame body 1 to limit the movement range of the protection plate, ensure that it can stop after reaching the target position, and avoid interference or damage between components due to excessive movement.

[0033] More specifically, both sides of the fixing frame body 1 are rotatably connected to a horizontally arranged rotating shaft 11, and both sides of the fixing frame body 1 are fixedly connected to bearing seats, the rotating shaft 11 is rotatably connected to the corresponding bearing seats through bearings, the two rotating shafts 11 are parallel to each other and symmetrically arranged, and the two rotating grabbing protection frames 31 are respectively fixedly installed on the corresponding rotating shafts 11, so that the rotating grabbing protection frames 31 can rotate flexibly; the grabbing protection mechanism 3 also includes a driving control component 32 for driving the two rotating grabbing protection frames 31 to rotate; the entire negative pressure adsorption mechanism 2 is located between the two rotating grabbing protection frames 31 and can be covered by the two rotating grabbing protection frames 31, and the two rotating grabbing protection frames 31 can cover the outside of the object grasped by the negative pressure adsorption mechanism 2, each rotating grabbing protection frame 31 can have a semi-enclosure effect on the object, and all-round protection of the object is achieved through the two rotating grabbing protection frames 31.

[0034] Furthermore, the rotating grab protection frame 31 includes a connecting portion 311 and a bearing protection portion 312. The connecting portion 311 is fixedly connected to the rotating shaft 11, so that the rotating grab protection frame 31 is rotatably connected to the fixed frame body 1, and the bearing protection portion 312 is arranged on the connecting portion 311. Figure 1-3 After the rotating grabbing protection frame 31 rotates, the connecting portion 311 can protect the side of the object, and the bearing protection portion 312 can protect the bottom of the object. In this embodiment, the connecting portion 311 and the bearing protection portion 312 are an integrally formed structure, and the rotating grabbing protection frame 31 as a whole forms an L-shaped structure. The upper surface of the bearing protection portion 312 is provided with a nylon buffer pad 313 to reduce the direct impact force on the surface of the object during its movement and avoid scratches or indentations on the surface of the target object during the grabbing process. Figure 4In another feasible embodiment, the load-bearing protection part 312 is slidably connected to the connecting part 311 and the sliding direction is perpendicular to the rotating shaft 11. The load-bearing protection part 312 is fixed in its sliding position by a locking member 314. The locking member 314 can be selected as a bolt. The sliding load-bearing protection part 312 can adjust its position on the connecting part 311. The locking member 314 can fix the sliding position of the load-bearing protection part 312, so that the size of the internal space formed by the two rotating grasping protection frames 31 can be easily adjusted so as to be suitable for protecting objects of different volumes.

[0035] Reference Figure 5 Furthermore, in another feasible embodiment, the load-bearing protection part 312 is slidably connected to the connecting part 311 and the sliding direction is perpendicular to the rotating shaft 11. A telescopic cylinder 315 is fixedly installed on the connecting part 311, and the load-bearing protection part 312 is fixedly connected to the piston rod of the telescopic cylinder 315. The movement of the load-bearing protection part 312 is controlled by the telescopic cylinder 315. Under this structure, when the clamp rotates the object, after the negative pressure adsorption mechanism 2 adsorbs and grasps the object, the two rotating grasping protection frames 31 are covered on the outside of the object. At this time, the position of the load-bearing protection part 312 is adjusted by the telescopic cylinder 315 so that the load-bearing protection part 312 can bear the bottom of the object. At this time, the negative pressure adsorption mechanism 2 can stop working to achieve energy saving during the transportation process. When the object needs to be put down, the negative pressure adsorption mechanism 2 starts to adsorb the object again to facilitate the placement and transfer of the object.

[0036] Reference Figure 1-3 In order to drive the two rotating grabbing protection frames 31 to rotate, the driving control component 32 includes a driving cylinder 321, a connecting frame 322, two racks 323 and two gears 324. The driving cylinder 321 is fixedly installed on the fixing frame body 1 in the vertical direction. The driving cylinder 321 drives the rotating grabbing protection frames 31 on both sides to move symmetrically. During the movement, they can be adjusted to a suitable position according to the size and shape of the target object, thereby achieving the positioning and support of the object. The driving mode of the driving control component 32 can be pneumatic, hydraulic or electric, and centralized control is achieved through the robot control system, which can accurately adjust the movement speed, strength and position of the protection device according to specific usage requirements.

[0037] Furthermore, the central part of the connecting frame 322 is fixedly connected to the piston rod of the driving cylinder 321, and the two ends of the connecting frame 322 are symmetrically structured. The two racks 323 are respectively fixedly connected to the two ends of the connecting frame 322 and are vertically arranged. Two guide rails 13 are fixedly connected to the fixed frame body 1 and correspond to the positions of the two racks 323 respectively. The racks 323 and the guide rails 13 are slidably connected and adapted. The guide rails 13 are used to support the racks 323 and ensure that they remain straight and stable during movement. The two gears 324 are respectively coaxially fixedly connected to the two rotating shafts 11, and the two racks 323 are respectively meshed with the corresponding gears 324 on the same side. The driving cylinder 321 drives the connecting frame 322 to move It can drive the two racks 323 to move simultaneously. Due to the meshing between the rack 323 and the gear 324, the rack 323 drives the gear 324 and the rotating shaft 11 to rotate synchronously, so that the two rotating grabbing protection frames 31 can rotate simultaneously to achieve opening and closing. When the two rotating grabbing protection frames 31 rotate and open, the bottom of the fixed frame body 1 leaks out, so that the negative pressure adsorption mechanism 2 can adsorb and grasp the object, and then drive the two rotating grabbing protection frames 31 to rotate and close, so as to cover the object, thereby providing comprehensive and effective protection for the transported object to avoid damage caused by collision during transportation. At the same time, it can be suitable for adsorption and transportation of objects of different shapes.

[0038] Furthermore, in this embodiment, the parameters of the rack 323 and the gear 324 are set as follows: the module, pressure angle, tooth top height coefficient, top clearance coefficient and displacement coefficient of each gear 324 are equal: module m = 2, pressure angle α = 20°, tooth top height coefficient ha* = 1, top clearance coefficient c* = 0.25, displacement coefficient χ = ​​0, number of teeth z1 of gear 324 = 30, number of linear teeth z2 of rack 323 = 150, and the transmission ratio of gear 324 to rack 323 is i = z 2 / z1=5; the rack 323 and the gear 324 can be made of high-strength alloy steel material, and the surface is quenched to a hardness of HRC58-62, and the dynamic friction coefficient μ between the tooth surfaces is about 0.15-0.2. When the gear 324 and the rack 323 are meshed, they can withstand a torque of about 3Nm; according to the use requirements and the fixture load, the number of teeth of the gear 324 or the length of the rack 323 can be adjusted to meet different working conditions. The material and surface treatment method can be selected and optimized according to the actual use conditions.

[0039] It should be understood that expressions such as "include" and "may include" used in this application indicate the existence of the disclosed functions, operations or constituent elements, and do not limit one or more additional functions, operations and constituent elements. In this application, terms such as "include" and / or "have" may be interpreted as indicating specific characteristics, numbers, operations, constituent elements, components or combinations thereof, but may not be interpreted as excluding the existence or possibility of adding one or more other characteristics, numbers, operations, constituent elements, components or combinations thereof.

[0040] It should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0041] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0042] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0043] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A suction-grabbing transport protection fixture, characterized in that: It comprises a fixing frame body (1), a negative pressure adsorption mechanism (2) and a grabbing protection mechanism (3); The grab protection mechanism (3) comprises two rotating grab protection frames (31), the two rotating grab protection frames (31) are symmetrically arranged on both sides of the fixing frame body (1), and the two rotating grab protection frames (31) are both rotatably arranged on the fixing frame body (1). The grab protection mechanism (3) also comprises a driving control component (32) for driving the two rotating grab protection frames (31) to rotate; The negative pressure adsorption mechanism (2) is arranged at the bottom of the fixing frame body (1) and is located between the two rotating grabbing protection frames (31); the negative pressure adsorption mechanism (2) can be covered by the two rotating grabbing protection frames (31).

2. A suction-grabbing transport protection fixture as claimed in claim 1, characterized in that: The bottom of the fixing frame body (1) is a horizontal plane; the negative pressure adsorption mechanism (2) comprises a plurality of suction cup units (21), and the plurality of suction cup units (21) are evenly arranged on the horizontal plane at the bottom of the fixing frame body (1).

3. A suction-grabbing transport protection fixture as claimed in claim 2, characterized in that: A plurality of the suction cup units (21) are each provided with an electromagnetic control valve for adjusting the diameter of the suction cup unit (21); and the plurality of the suction cup units (21) and the electromagnetic control valve are each connected to an external negative pressure control system.

4. The suction-grabbing transport protection fixture according to claim 1, characterized in that: Both sides of the fixing frame body (1) are rotatably connected to a horizontally arranged rotating shaft (11), the two rotating shafts (11) are parallel to each other and symmetrically arranged, and the two rotating grabbing protection frames (31) are respectively fixedly mounted on the corresponding rotating shafts (11).

5. A suction-grabbing transport protection fixture as claimed in claim 4, characterized in that: The rotating grabbing protection frame (31) comprises a connecting portion (311) and a bearing protection portion (312); the connecting portion (311) is fixedly connected to the rotating shaft (11); and the bearing protection portion (312) is arranged on the connecting portion (311).

6. A suction-grabbing transport protection fixture as claimed in claim 5, characterized in that: The connecting portion (311) and the bearing protection portion (312) are an integrally formed structure.

7. The suction-grabbing transport protection fixture according to claim 5, characterized in that: The load-bearing protection part (312) is slidably connected to the connection part (311) and the sliding direction is perpendicular to the rotating shaft (11). The position of the load-bearing protection part (312) after sliding is fixed by a locking member (314).

8. The suction-grabbing transport protection fixture according to claim 4, characterized in that: The drive control component (32) comprises a drive cylinder (321), a connecting frame (322), two racks (323) and two gears (324); the drive cylinder (321) is vertically fixedly mounted on the fixing frame body (1); the connecting frame (322) is fixedly connected to the piston rod of the drive cylinder (321); the two racks (323) are respectively fixedly connected to two ends of the connecting frame (322); the two gears (324) are respectively coaxially fixedly connected to the two rotating shafts (11); and the racks (323) are meshed with the corresponding gears (324) on the same side.

9. The suction-grabbing transport protection fixture according to claim 1, characterized in that: The fixture also includes a positioning camera (4), and the positioning camera (4) is fixedly mounted on the fixing frame body (1).

10. The suction-grabbing transport protection fixture according to claim 1, characterized in that: The fixing frame body (1) and the rotating grabbing protection frame (31) are both hollow structures.

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