Adjustable bionic material taking gripper for forging automatic production line robot

Abstract

The invention relates to the field of material taking grippers for forging blanks, in particular to an adjustable bionic material taking gripper for a forging automatic production line robot, which comprises two gripper assemblies arranged oppositely and a linear driver for driving the two gripper assemblies to get close to each other or get away from each other; at least one of the two gripper assemblies is provided with a gripper capable of adaptively moving along the external shape of an object when making contact with the gripped object, and the gripper abuts against the surface of the object through elastic force. At least one side of the material taking gripper is provided with the gripper body capable of adaptively moving along with the outer shape of the blank, and the gripper body can abut against the blank through elastic force, so that the roll-forged blank with the section size changing can be grasped.

Description

Technical Field

[0001] The invention relates to the field of material grabbing grippers for forging blanks, and in particular to an adjustable bionic material grabbing gripper for a forging automated production line robot. Background Art

[0002] At present, the gripping mechanism of the robot on the forging production line is a pneumatic gripper, which includes a cylinder and a guide rod pushed by it. A steel plate is fixed at the end of the guide rod, and the wedge-shaped structure at the end of the steel plate is used to clamp the bar. The traditional gripping mechanism is only suitable for cylindrical bars of uniform size, while in actual production, it is often more necessary to transport roll-forged billets with varying cross-sectional dimensions, so the scope of application is very limited. Summary of the invention

[0003] The purpose of the present invention is to provide an adjustable bionic material-grabbing gripper for a forging automated production line robot to solve the problem that traditional grasping mechanisms are difficult to transport roll-forged blanks with varying cross-sectional dimensions.

[0004] In order to solve the above technical problems, the present invention specifically provides the following technical solutions:

[0005] An adjustable bionic material-grabbing gripper for a forging automated production line robot, comprising a fixed gripper assembly and a movable gripper assembly arranged relatively to each other, and a linear drive for driving the fixed gripper assembly and the movable gripper assembly to move toward or away from each other;

[0006] The fixed gripper assembly includes a fixed gripper plate and a first gripper, the first gripper is fixed by the fixed gripper plate, the movable gripper assembly includes a movable gripper plate, a second gripper and an elastic connection assembly, the movable gripper plate is fixedly connected to the actuator of the linear drive, the second gripper can be movably connected to the movable gripper plate, the first gripper and the second gripper are arranged opposite to each other, and a plurality of the second grippers are arranged side by side;

[0007] Each of the second grippers is connected to the movable gripper plate via an elastic connection component, so that when each of the second grippers contacts the grasped object, it can adaptively move along the external shape of the object in a direction away from the first gripper, and press against the surface of the object through the elastic force of the elastic connection component.

[0008] Furthermore, the elastic connection assembly includes a gripper fixing rod and a first spring, the gripper fixing rod is fixedly connected to the actuator of the linear drive, one end of the second gripper can be rotatably connected to the gripper fixing rod, the other end of the second gripper is used to press against the surface of an object and can swing freely, and the first spring connects the second gripper and the movable gripper plate to provide elastic force for the second gripper to press against the surface of the object.

[0009] Furthermore, the movable grip plate is fixedly connected with a nut, the nut is connected with a first bolt, a first through hole is provided in the middle portion of the second grip, the first bolt passes through the first through hole, and the head of the first bolt is located on the side of the second grip away from the movable grip plate, and the first spring is sleeved on the first bolt.

[0010] Furthermore, the fixed gripper assembly is fixedly mounted on the actuator of the robot, the movable gripper assembly is slidably connected to the fixed gripper assembly, the linear drive is fixedly connected to the fixed gripper assembly, and the actuator of the linear drive is fixedly connected to the movable gripper assembly.

[0011] Furthermore, the fixed gripper assembly includes a robot connecting plate, a catheter fixing seat, a catheter, a gripper fixing seat, the fixed gripper plate and the first gripper connected in sequence, wherein the robot connecting plate is used to fix the connecting part of the robot, and the catheter is used to extend the distance between the robot connecting plate and the first gripper.

[0012] Furthermore, the movable gripper assembly includes a shaft bushing, a guide rod, a bidirectional shaft bushing, the movable gripper plate and a plurality of second grippers connected in sequence, wherein the shaft bushing is used to connect the actuator of the linear drive and the guide rod, the guide rod can be axially slidably connected to the guide tube, and the bidirectional shaft bushing can be axially slidably connected to the gripper fixing seat.

[0013] An adjustable bionic material-grabbing gripper for a forging automated production line robot, comprising two bionic gripper assemblies arranged opposite to each other, and a linear drive for driving the two bionic gripper assemblies to move closer to or away from each other;

[0014] The bionic gripper assembly comprises: a bionic gripper plate, and a plurality of sets of third grippers, sliding connection assemblies and second springs arranged side by side;

[0015] Each set of the third gripper, the sliding connection component and the second spring includes one third gripper, one sliding connection component and one second spring, each sliding connection component can be vertically slidably connected to the bionic gripper plate, and each sliding connection component is connected to the bionic gripper plate via one second spring, and the elastic force of the second spring enables the sliding connection component to always have a tendency to move upward;

[0016] The bionic gripper plate has two oppositely arranged protrusions, a throat that is wide at both ends and narrow in the middle is formed between the two protrusions, the sliding connection component is arranged at one end of the throat, one end of each of the third grippers passes through the throat and is rotatably connected to one of the sliding connection components, and the other end of the third gripper is used to abut against the object to be grasped;

[0017] When each of the third grippers contacts the grasped object, it can adaptively move along the external shape of the object in a direction away from another relative third gripper, thereby causing the sliding connection assembly to move downward, and the elastic force of the second spring drives the third gripper to press against the surface of the object.

[0018] Further, the sliding connection assembly includes: a first sliding block and a second bolt;

[0019] The first slider is arranged at one end of the throat and is rotatably connected to one end of the third gripper, the first slider is provided with a first slide groove opening downward, and the end of the third gripper is provided with a sliding column capable of moving and rotating inside the first slide groove;

[0020] The second bolt is vertically arranged and spirally connected to the first slider. The bionic gripper plate is provided with a second through hole. The second bolt passes through the second through hole, and the head of the second bolt is located on the side of the bionic gripper plate away from the first slider. The second spring is sleeved on the second bolt, and the two ends of the second spring respectively abut against the end of the second bolt and the bionic gripper plate, so that the elastic force of the second spring applies an upward pulling force to the first slider.

[0021] Among the two bionic gripper assemblies, the first slider of one of the bionic gripper assemblies has a second sliding groove that is recessed inwardly, and the first slider of the other bionic gripper assembly has a second sliding slider that is protruding outwardly, and the second slider is connected to the second sliding groove, so that the first sliders of the two bionic gripper assemblies are slidably connected.

[0022] Furthermore, one of the bionic gripper assemblies is fixedly mounted on the actuator of the robot, and the other bionic gripper assembly is fixedly connected to the actuator of the linear drive, and the two bionic gripper assemblies are slidably connected to each other.

[0023] Furthermore, among the two bionic gripper assemblies, the bionic gripper plate of one of the bionic gripper assemblies has a third slide groove that is recessed inwardly, and the bionic gripper plate of the other bionic gripper assembly has a third slider that protrudes outwardly, and the third slider is connected to the third slide groove, so that the two bionic gripper assemblies are slidably connected.

[0024] Compared with the prior art, this application has the following beneficial effects:

[0025] Provided is an adjustable bionic material-grabbing gripper for a forging automated production line robot. In an embodiment of the present invention, at least one side of the material-grabbing gripper is provided with a gripper that can adaptively move following the external shape of the blank, and the gripper can press against the blank by elastic force, thereby being able to grip the roll-forged blank with a changed cross-sectional size. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the implementation methods of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the implementation methods or the description of the prior art. Obviously, the drawings in the following description are only exemplary, and for ordinary technicians in this field, other implementation drawings can be derived from the provided drawings without creative work.

[0027] Figure 1 is a perspective view of a first embodiment of the present invention;

[0028] Figure 2 A front view of a partial structure of a first embodiment of the present invention;

[0029] Figure 3 A three-dimensional diagram of a movable gripper assembly according to a first embodiment of the present invention;

[0030] Figure 4 is a three-dimensional diagram of an elastic connection assembly according to a first embodiment of the present invention;

[0031] Figure 5 An assembly diagram of a partial structure of a first embodiment of the present invention;

[0032] Figure 6 An assembly diagram of a partial structure of a first embodiment of the present invention;

[0033] Figure 7 is a perspective view of a second embodiment of the present invention;

[0034] Figure 8 is a side view of a second embodiment of the present invention;

[0035] Fig. 9 for Figure 8 Cross-sectional view in the AA direction;

[0036] Fig.10 is a perspective view of a third gripper and a sliding connection assembly according to a second embodiment of the present invention;

[0037] The numbers in the figure represent the following:

[0038] 1-fixed gripper assembly; 11-fixed gripper plate; 12-first gripper; 13-robot connecting plate; 14-catheter fixing seat; 15-catheter; 16-gripper fixing seat; 2-movable gripper assembly; 21-movable gripper plate; 22-second gripper; 23-elastic connection assembly; 231-gripper fixing rod; 232-first bolt; 233-first spring; 234-nut; 24-shaft bushing; 25-guide rod; 26-bidirectional shaft bushing; 3-linear drive; 4-bionic gripper assembly; 41-bionic gripper plate; 411-bump; 412-throat; 413-third slide groove; 414-third slider; 42-third gripper; 43-sliding connection assembly; 431-first slider; 432-second bolt; 433-second slide groove; 434-second slider; 44-second spring. DETAILED DESCRIPTION

[0039] 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.

[0040] At present, the gripping mechanism of the robot on the forging production line is a pneumatic gripper, which includes a cylinder and a guide rod pushed by it. A steel plate is fixed at the end of the guide rod, and the wedge-shaped structure at the end of the steel plate is used to clamp the bar. The traditional gripping mechanism is only suitable for cylindrical bars of uniform size, while in actual production, it is often more necessary to transport roll-forged billets with varying cross-sectional dimensions, so the scope of application is very limited.

[0041] In order to solve this problem, the present embodiment discloses an adjustable bionic material picking gripper for a forging automated production line robot, hereinafter referred to as the material picking gripper.

[0042] (First embodiment, refer to Figures 1 to 6 )

[0043] refer to Figure 1 The material grabbing gripper comprises a fixed gripper assembly 1 and a movable gripper assembly 2 which are arranged relatively to each other, and a linear drive 3 which drives the fixed gripper assembly 1 and the movable gripper assembly 2 to move closer to each other or away from each other.

[0044] Among them, the fixed gripper assembly 1 includes a fixed gripper plate 11 and a first gripper 12, the first gripper 12 is fixed by the fixed gripper plate 11, the movable gripper assembly 2 includes a movable gripper plate 21, a second gripper 22 and an elastic connection assembly 23, the movable gripper plate 21 is fixedly connected to the actuator of the linear drive 3, the second gripper 22 can be movably connected to the movable gripper plate 21, the first gripper 12 and the second gripper 22 are arranged relative to each other, and multiple second grippers 22 are arranged side by side.

[0045] Among them, each second gripper 22 is connected to the movable gripper plate 21 through an elastic connection component 23, so that when each second gripper 22 contacts the grasped object, it can adaptively move along the external shape of the object in a direction away from the first gripper 12, and press against the surface of the object through the elastic force of the elastic connection component 23.

[0046] refer to Figure 2 The fixed gripper assembly 1 is fixedly installed on the actuator of the robot, the movable gripper assembly 2 is slidably connected to the fixed gripper assembly 1, the linear drive 3 is fixedly connected to the fixed gripper assembly 1, and the actuator of the linear drive 3 is fixedly connected to the movable gripper assembly 2. When working, the robot drives the fixed gripper assembly 1, the movable gripper assembly 2 and the linear drive 3 to move to the position of the blank, so that the blank is located between the fixed gripper assembly 1 and the movable gripper assembly 2. Then, the linear drive 3 drives the movable gripper assembly 2 to approach the fixed gripper assembly 1. Then, the movable gripper assembly 2 contacts the blank and pushes the blank toward the fixed gripper assembly 1 until the blank is clamped by the fixed gripper assembly 1 and the movable gripper assembly 2. Then, the linear drive 3 continues to drive the movable gripper assembly 2 to approach the fixed gripper assembly 1, so that each second gripper 22 moves adaptively along the external shape of the object in a direction away from the first gripper 12, and presses against the surface of the object through the elastic force of the elastic connection assembly 23, thereby completing the gripping of the blank with a changing cross-sectional size.

[0047] Specifically, refer to Figure 2 , Figure 3 and Figure 4 The elastic connection component 23 includes a gripper fixing rod 231 and a first spring 233. The gripper fixing rod 231 is fixedly connected to the actuator of the linear drive 3. One end of the second gripper 22 can be rotatably connected to the gripper fixing rod 231. The other end of the second gripper 22 is used to press against the surface of the object and can swing freely. The first spring 233 is connected to the second gripper 22 and the actuator of the linear drive 3 to provide elastic force for the second gripper 22 to press against the surface of the object.

[0048] In order to prevent the first spring 233 from falling or misaligning, the movable grip plate 21 is fixedly connected with a nut 234, and the nut 234 is connected with a first bolt 232. A first through hole is provided in the middle portion of the second grip 22, and the first bolt 232 passes through the first through hole, and the head of the first bolt 232 is located on the side of the second grip 22 away from the movable grip plate 21. The first spring 233 is sleeved on the first bolt 232, and the first spring 233 abuts against the second grip 22 and the movable grip plate 21, so that when the second grip 22 moves around the grip fixing rod 231 and approaches the movable grip plate 21, the first spring 233 is compressed. In addition, rotating the first bolt 232 can compress or release the first spring 233, thereby adjusting the initial position of the second grip 22.

[0049] Further, in order to prevent the high temperature of the blank from damaging the robot and the linear drive 3, refer to Figure 5 and Figure 6 .

[0050] The fixed gripper assembly 1 includes: a robot connecting plate 13, a catheter fixing seat 14, a catheter 15, a gripper fixing seat 16, a fixed gripper plate 11 and a first gripper 12 connected in sequence.

[0051] The robot connecting plate 13 is fixedly mounted on the execution part of the robot, and the conduit 15 is used to extend the distance between the robot connecting plate 13 and the first gripper 12 .

[0052] The movable gripper assembly 2 includes: a shaft bushing 24 , a guide rod 25 , a bidirectional shaft bushing 26 , a movable gripper plate 21 and a plurality of second grippers 22 connected in sequence.

[0053] The shaft bushing 24 is used to connect the actuator of the linear drive 3 and the guide rod 25 . The guide rod 25 can be axially slidably connected to the guide tube 15 . The bidirectional shaft bushing 26 can be axially slidably connected to the gripper fixing seat 16 .

[0054] The linear drive 3 adopts a cylinder, which pushes the guide rod 25 to move axially inside the guide tube 15 when working, thereby pushing the bidirectional shaft bushing 26 to move axially inside the gripper fixing seat 16, and then pushing the movable gripper plate 21 to approach the fixed gripper plate 11.

[0055] (Second embodiment, refer to Figures 7 to 10 )

[0056] Since only one side of the movable gripper assembly 2 of the material picking gripper of the first embodiment has a bionic structure, although it can grab blanks with varying cross-sectional dimensions, the centerline of the blank is not coaxial with the centerline of the material picking gripper, which affects the accuracy of the position of the blank placed by the robot.

[0057] To solve this problem, refer to Figure 7The material picking gripper includes two bionic gripper components 4 arranged opposite to each other, and a linear drive 3 driving the two bionic gripper components 4 to move closer to or away from each other. The linear drive 3 of the second embodiment is not shown in the figure. The working principle of the linear drive 3 is the same as that of the first embodiment. One bionic gripper component 4 is fixedly installed on the actuator of the robot, and the other bionic gripper component 4 is fixedly connected to the actuator of the linear drive 3, and the two bionic gripper components 4 are slidably connected to each other.

[0058] The bionic gripper assembly 4 includes a bionic gripper plate 41 , and a plurality of groups of third grippers 42 , sliding connection assemblies 43 and second springs 44 arranged side by side.

[0059] Each group of third gripper 42, sliding connection component 43 and second spring 44 includes a third gripper 42, a sliding connection component 43 and a second spring 44. Each sliding connection component 43 can be vertically slidably connected to the bionic gripper plate 41, and each sliding connection component 43 is connected to the bionic gripper plate 41 through a second spring 44. The elastic force of the second spring 44 ensures that the sliding connection component 43 always has a tendency to move upward.

[0060] The bionic gripper plate 41 has two relatively arranged protrusions 411, and a throat 412 with wide ends and narrow middle is formed between the two protrusions 411. The sliding connection component 43 is arranged at one end of the throat 412. One end of each third gripper 42 passes through the throat 412 and is rotatably connected to a sliding connection component 43. The other end of the third gripper 42 is used to abut against the object to be grasped.

[0061] When each third gripper 42 contacts the grasped object, it can adaptively move along the outer shape of the object in a direction away from the other third gripper 42 , so that the sliding connection assembly 43 moves downward and presses against the surface of the object through the elastic force of the second spring 44 .

[0062] Specifically, refer to Figure 8 and Fig. 9 The sliding connection assembly 43 includes: a first slider 431 and a second bolt 432 .

[0063] The first slider 431 is disposed at one end of the throat 412 and is rotatably connected to one end of the third gripper 42. Fig.10 The first slider 431 has a first slide groove that opens downward, and the end of the third gripper 42 is provided with a sliding column that can move and rotate inside the first slide groove.

[0064] The second bolt 432 is vertically arranged and spirally connected to the first slider 431. A second through hole is arranged on the bionic gripper plate 41. The second bolt 432 passes through the second through hole, and the head of the second bolt 432 is located on the side of the bionic gripper plate 41 away from the first slider 431. The second spring 44 is sleeved on the second bolt 432, and the two ends of the second spring 44 respectively abut against the end of the second bolt 432 and the bionic gripper plate 41, so that the elastic force of the second spring 44 applies an upward pulling force to the first slider 431.

[0065] refer to Figure 8 , Fig. 9 and Fig.10 In the two bionic gripper components 4, the first slider 431 of one bionic gripper component 4 has a second slide groove 433 recessed inwardly, and the first slider 431 of the other bionic gripper component 4 has a second slider 434 protruding outwardly, and the second slider 434 is connected to the second slide groove 433, so that the first sliders 431 of the two bionic gripper components 4 are slidably connected.

[0066] Therefore, when the third gripper 42 moves in a direction away from another third gripper 42 opposite to it, the first sliders 431 of the two bionic gripper assemblies 4 move downward synchronously, so that the two third grippers 42 opposite to each other move synchronously in a direction away from each other.

[0067] This design can also meet the requirements of different third grippers 42 grasping parts of the blank with different cross-sectional sizes, and can ensure that the center line of the blank is aligned with the center line of the material picking gripper, thereby improving the accuracy of the position of the blank placed by the robot.

[0068] In addition, reference Figure 8 and Fig. 9 In the two bionic gripper components 4, the bionic gripper plate 41 of one bionic gripper component 4 has a third slide groove 413 that is recessed inwardly, and the bionic gripper plate 41 of the other bionic gripper component 4 has a third slide block 414 that protrudes outwardly. The third slide block 414 is connected to the third slide groove 413, so that the two bionic gripper components 4 are slidably connected.

[0069] The above embodiments are only exemplary embodiments of the present invention and are not intended to limit the present invention. The protection scope of the present invention is defined by the claims. Those skilled in the art may make various modifications or equivalent substitutions to the present invention within the essence and protection scope of the present invention, and such modifications or equivalent substitutions shall also be deemed to fall within the protection scope of the present invention.

Claims

1. An adjustable bionic material grabber for a forging automated production line robot, characterized in that: It comprises a fixed gripper assembly (1) and a movable gripper assembly (2) which are arranged relatively to each other, and a linear drive (3) which drives the fixed gripper assembly (1) and the movable gripper assembly (2) to move closer to each other or farther away from each other; The fixed gripper assembly (1) comprises a fixed gripper plate (11) and a first gripper (12), wherein the first gripper (12) is fixed by the fixed gripper plate (11); the movable gripper assembly (2) comprises a movable gripper plate (21), a second gripper (22) and an elastic connection assembly (23), wherein the movable gripper plate (21) is fixedly connected to an actuator of the linear drive (3), and the second gripper (22) is movably connected to the movable gripper plate (21); the first gripper (12) and the second gripper (22) are arranged opposite to each other, and a plurality of the second grippers (22) are arranged side by side; Each of the second grippers (22) is connected to the movable gripper plate (21) via an elastic connection component (23), so that when each of the second grippers (22) contacts an object to be grasped, it can adaptively move in a direction away from the first gripper (12) along the external shape of the object, and press against the surface of the object through the elastic force of the elastic connection component (23).

2. The adjustable bionic material grabber for a forging automated production line robot according to claim 1 is characterized in that: The elastic connection assembly (23) comprises a gripper fixing rod (231) and a first spring (233), wherein the gripper fixing rod (231) is fixedly connected to the actuator of the linear drive (3), one end of the second gripper (22) is rotatably connected to the gripper fixing rod (231), the other end of the second gripper (22) is used to press against the surface of an object and can swing freely, and the first spring (233) connects the second gripper (22) and the movable gripper plate (21) to provide elastic force for the second gripper (22) to press against the surface of the object.

3. The adjustable bionic material grabber for a forging automated production line robot according to claim 2 is characterized in that: The movable grip plate (21) is fixedly connected with a nut (234), and the nut (234) is connected with a first bolt (232). A first through hole is provided in the middle portion of the second grip (22), and the first bolt (232) passes through the first through hole. The head of the first bolt (232) is located on a side of the second grip (22) away from the movable grip plate (21), and the first spring (233) is sleeved on the first bolt (232).

4. The adjustable bionic material grabber for a forging automated production line robot according to claim 1 is characterized in that: The fixed gripper assembly (1) is fixedly mounted on an actuator of the robot, the movable gripper assembly (2) is slidably connected to the fixed gripper assembly (1), the linear drive (3) is fixedly connected to the fixed gripper assembly (1), and the actuator of the linear drive (3) is fixedly connected to the movable gripper assembly (2).

5. The adjustable bionic material grabber for a forging automated production line robot according to claim 4 is characterized in that: The fixed gripper assembly (1) comprises a robot connecting plate (13), a catheter fixing seat (14), a catheter (15), a gripper fixing seat (16), the fixed gripper plate (11) and the first gripper (12) which are connected in sequence, wherein the robot connecting plate (13) is used for fixing and connecting the actuator of the robot, and the catheter (15) is used for extending the distance between the robot connecting plate (13) and the first gripper (12).

6. The adjustable bionic material grabber for a forging automated production line robot according to claim 5 is characterized in that: The movable gripper assembly (2) comprises a shaft bushing (24), a guide rod (25), a bidirectional shaft bushing (26), the movable gripper plate (21) and a plurality of the second grippers (22) connected in sequence, wherein the shaft bushing (24) is used to connect the actuator of the linear drive (3) and the guide rod (25), the guide rod (25) can be axially slidably connected to the guide tube (15), and the bidirectional shaft bushing (26) can be axially slidably connected to the gripper fixing seat (16).

7. An adjustable bionic material grabber for a forging automated production line robot, characterized in that: It comprises two bionic gripper assemblies (4) arranged opposite to each other, and a linear drive (3) for driving the two bionic gripper assemblies (4) to move closer to each other or away from each other; The bionic gripper assembly (4) comprises: a bionic gripper plate (41), and a plurality of sets of third grippers (42), sliding connection assemblies (43) and second springs (44) arranged side by side; Each set of the third gripper (42), the sliding connection component (43) and the second spring (44) comprises a third gripper (42), a sliding connection component (43) and a second spring (44); each sliding connection component (43) can be vertically slidably connected to the bionic gripper plate (41); and each sliding connection component (43) is connected to the bionic gripper plate (41) via a second spring (44); the elastic force of the second spring (44) enables the sliding connection component (43) to always have a tendency to move upward; The bionic gripper plate (41) has two convex blocks (411) arranged opposite to each other, a throat (412) with wide ends and narrow middle is formed between the two convex blocks (411), the sliding connection component (43) is arranged at one end of the throat (412), one end of each of the third grippers (42) passes through the throat (412) and is rotatably connected to one of the sliding connection components (43), and the other end of the third grippers (42) is used to abut against the grasped object; When each of the third grippers (42) contacts the grasped object, it can adaptively move along the external shape of the object in a direction away from another opposite third gripper (42), thereby causing the sliding connection assembly (43) to move downward, and the elastic force of the second spring (44) drives the third gripper (42) to press against the surface of the object.

8. The adjustable bionic material grabber for a forging automated production line robot according to claim 7 is characterized in that: The sliding connection assembly (43) comprises: a first sliding block (431) and a second bolt (432); The first slider (431) is arranged at one end of the throat (412) and is rotatably connected to one end of the third gripper (42); the first slider (431) is provided with a first slide groove opening downwardly arranged; and the end of the third gripper (42) is provided with a sliding column capable of moving and rotating inside the first slide groove; The second bolt (432) is vertically arranged and spirally connected to the first slider (431); the bionic gripping plate (41) is provided with a second through hole, the second bolt (432) passes through the second through hole, and the head of the second bolt (432) is located on the side of the bionic gripping plate (41) away from the first slider (431); the second spring (44) is sleeved on the second bolt (432), and the two ends of the second spring (44) respectively abut against the end of the second bolt (432) and the bionic gripping plate (41), so that the elastic force of the second spring (44) applies an upward pulling force to the first slider (431); Among the two bionic gripper assemblies (4), the first slider (431) of one of the bionic gripper assemblies (4) has a second slide groove (433) recessed inwardly, and the first slider (431) of the other bionic gripper assembly (4) has a second slider (434) protruding outwardly, and the second slider (434) is connected to the second slide groove (433), so that the first sliders (431) of the two bionic gripper assemblies (4) are slidably connected.

9. The adjustable bionic material grabber for a forging automated production line robot according to claim 7, characterized in that: One of the bionic gripper components (4) is fixedly mounted on the actuator of the robot, and the other bionic gripper component (4) is fixedly connected to the actuator of the linear drive (3), and the two bionic gripper components (4) are slidably connected to each other.

10. The adjustable bionic material grabber for a forging automated production line robot according to claim 9, characterized in that: Among the two bionic gripper assemblies (4), the bionic gripper plate (41) of one of the bionic gripper assemblies (4) has a third slide groove (413) recessed inwardly, and the bionic gripper plate (41) of the other bionic gripper assembly (4) has a third slide block (414) protruding outwardly, and the third slide block (414) is connected to the third slide groove (413), so that the two bionic gripper assemblies (4) are slidably connected.

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