A robotic gripper integrating assembly and clamping

Abstract

The present invention discloses a robotic gripper that integrates assembly and clamping, and relates to the field of robotic gripper technology. The robotic gripper includes a base, a base shaft, and a clamping mechanism. One end of the base shaft is fixedly connected to the base. The clamping mechanism includes at least two groups of clamping assemblies, each group of clamping assemblies includes a gripper and a clamping drive assembly for driving the gripper to swing. Each group of clamping assemblies has at least two grippers that are circumferentially distributed around the base shaft. The grippers of different groups have different lengths. One end of the grippers of some groups is directly or indirectly hinged to the base, and one end of the grippers of some groups is directly or indirectly hinged to the base shaft. In the axial projection of the base shaft, there is no overlap between the grippers of different groups. The robotic gripper integrates multiple groups of grippers, which can realize the synchronous grasping and assembly of multiple workpieces. It has the advantages of low cost, small space occupation, and high work efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulators, and in particular to a manipulator claw integrating assembly and clamping. Background Art

[0002] In the automated production of home appliances and consumer electronics, robotic grippers are often used alongside robots to grasp workpieces and materials. Conventional grippers typically have a single-layer structure and can only be used to grasp and move specific workpieces, which poses certain limitations.

[0003] Using a single gripper for gripping has poor adaptability, low stability, and requires frequent gripper replacement. Furthermore, during assembly, multi-part products often require multiple independent robotic grippers for collaborative assembly, which is costly, takes up a lot of space, and leaves much to be desired in terms of work efficiency. Summary of the Invention

[0004] The purpose of the present invention is to overcome the above-mentioned problems and provide a robotic gripper that integrates assembly and clamping. The robotic gripper integrates multiple sets of grippers, which can realize the synchronous grasping and assembly of multiple workpieces. It has the advantages of low cost, small space occupation and high work efficiency.

[0005] The purpose of the present invention is achieved through the following technical solutions:

[0006] A mechanical gripper with integrated assembly and clamping, comprising a base, a base shaft and a clamping mechanism;

[0007] One end of the base shaft is fixedly connected to the base;

[0008] The clamping mechanism includes at least two groups of clamping components, each group of clamping components includes a gripper and a clamping drive component for driving the gripper to swing, and each group of clamping components has at least two grippers that are distributed circumferentially around the base axis; the grippers of different groups have different lengths, one end of the grippers of some groups is directly or indirectly hinged to the base, and one end of the grippers of some groups is directly or indirectly hinged to the base axis; in the axial projection of the base axis, there is no overlap between the grippers of different groups.

[0009] In a preferred embodiment of the present invention, the clamping assembly is provided in three groups, namely a first clamping assembly, a second clamping assembly and a third clamping assembly;

[0010] The grippers of the first clamping assembly, the second clamping assembly and the third clamping assembly are respectively the first gripper, the second gripper and the third gripper, one end of the first gripper is connected to the base shaft through a mounting member, and one end of the second gripper and the third gripper are both hinged to the base; the lengths of the first gripper, the second gripper and the third gripper become longer in sequence.

[0011] Furthermore, the mounting piece is sleeved on the outside of the base shaft, and the mounting piece is hinged to one end of the first gripper.

[0012] Furthermore, the clamping drive assembly of the first clamping assembly is a first clamping drive assembly, and the first clamping drive assembly includes a first clamping electric cylinder and a first clamping transmission assembly;

[0013] The housing of the first clamping electric cylinder is fixedly arranged on the base;

[0014] The first clamping transmission assembly includes a first clamping transmission frame, a transmission inner cylinder, a first clamping transmission seat and a first rocker arm, and the telescopic rod of the first clamping electric cylinder is fixedly connected to one end of the first clamping transmission frame;

[0015] The transmission inner cylinder is slidably disposed within the inner cavity of the base shaft. One end of the transmission inner cylinder is fixedly connected to the other end of the first clamping transmission frame via an axially slidable screw that passes through the base shaft. The first clamping transmission seat is connected to the other end of the transmission inner cylinder. One end of the first swing arm is hinged to the first clamping transmission seat, and the other end of the first swing arm is hinged to the first gripper. With this structure, driven by the first clamping electric cylinder, the first clamping transmission frame causes the transmission inner cylinder to slide in the corresponding direction. This, in turn, causes the first swing arm to swing in the corresponding direction via the first clamping transmission seat, which in turn causes the first gripper to swing closer to or further away from the workpiece.

[0016] Furthermore, a downward pressing cylinder is fixedly provided on the side of the first clamping transmission seat facing away from the transmission inner tube. In the assembly working state, the workpieces to be assembled are arranged in sequence below the downward pressing cylinder so that the downward pressing cylinder can press downward.

[0017] Furthermore, the mounting member is rotatably connected to the outer side of the base shaft via a bearing;

[0018] The other end of the transmission inner cylinder is rotatably connected to the first clamping transmission seat through a bearing;

[0019] The robotic gripper also includes a rotational drive mechanism for driving the first gripper to rotate. The rotational drive mechanism includes a rotational drive motor and a rotational transmission assembly. The housing of the rotational drive motor is fixedly mounted on the base. The rotational transmission assembly includes a belt and pulleys. The pulleys include a driving pulley and a driven pulley. The driving pulley is mounted on the output shaft of the rotational drive motor. The driven pulley is sleeved on the outside of the base shaft and fixedly connected to the mounting member. Through the above structure, under the drive of the rotational drive motor, the mounting member can rotate around the base shaft with the first gripper to adjust the posture of the workpiece.

[0020] Furthermore, the clamping drive assembly of the second clamping assembly is a second clamping drive assembly, and the second clamping drive assembly includes a second clamping electric cylinder and a second clamping transmission assembly;

[0021] The housing of the second clamping electric cylinder is fixedly arranged on the base;

[0022] The second clamping transmission assembly includes a second clamping transmission frame, a clamping transmission spring, a second clamping transmission seat, and a second swing arm. The telescopic rod of the second clamping electric cylinder is fixedly connected to one end of the second clamping transmission frame; the second clamping transmission frame slidably passes through the second clamping transmission seat; the clamping transmission spring is disposed between the other end of the second clamping transmission frame and the second clamping transmission seat; the second clamping transmission seat slidably fits outside the base shaft; one end of the second swing arm is hinged to the second clamping transmission seat, and the other end of the second swing arm is hinged to the second gripper. With this structure, when the second clamping electric cylinder is retracted, the second clamping transmission frame moves in a direction that compresses the clamping transmission spring, thereby compressing the clamping transmission spring. The compression deformation of the clamping transmission spring transmits force to the second clamping transmission seat, causing the second clamping transmission seat to slide relative to the base shaft, thereby swinging the second gripper inward via the second swing arm toward the workpiece. Furthermore, during this process, the clamping transmission spring not only transmits force but also provides a buffering effect to prevent the second gripper from colliding with the workpiece.

[0023] Furthermore, the clamping drive assembly of the third clamping assembly is a third clamping drive assembly, and the third clamping drive assembly includes a third clamping electric cylinder and a third clamping transmission assembly;

[0024] The third clamping electric cylinder is composed of the second clamping electric cylinder;

[0025] The third clamping transmission assembly includes a third clamping transmission frame, a third clamping transmission seat, a third rocker arm and a return spring. The third clamping transmission frame is composed of the second clamping transmission frame, and the second clamping transmission frame is provided with a stepped shaft structure. The smaller end of the stepped shaft structure passes through the sliding hole of the third clamping transmission seat and is connected to the second clamping electric cylinder, and the larger end of the stepped shaft structure passes through the sliding hole of the second clamping transmission seat, and the diameter of the larger end of the stepped shaft structure is larger than the diameter of the sliding hole of the third clamping transmission seat; the third clamping transmission seat can be slidably mounted on the outside of the base shaft; one end of the third rocker arm is hinged on the third clamping transmission seat, and the other end of the third rocker arm is hinged on the third gripper; the return spring is mounted on the outside of the base shaft, and the two ends of the return spring are respectively pressed against the third clamping transmission seat and the base.

[0026] Through the above structure, when the second clamping electric cylinder is driven to retract, under the transmission of the second clamping transmission assembly, the second gripper first swings inward to approach the corresponding workpiece. At this time, the larger end of the stepped shaft structure of the second clamping transmission frame moves in the sliding hole of the second clamping transmission seat, and the smaller end of the stepped shaft structure of the second clamping transmission frame moves in the sliding hole of the third clamping transmission seat until the larger end of the stepped shaft structure of the second clamping transmission frame hits the end face of the third clamping transmission seat, and then the larger end of the stepped shaft structure of the second clamping transmission frame leads the third clamping transmission seat to slide relative to the base shaft, and then the third gripper is swung inward to approach the workpiece through the third rocker arm. Furthermore, in the above process, the power of a shared second clamping electric cylinder can not only provide driving force for the second gripper and the third gripper, but also help to simplify the structure and reduce costs; more importantly, the second gripper and the third gripper do not swing synchronously, but the second gripper is driven to swing first, and after grabbing the corresponding workpiece, the entire robotic gripper switches position, and then drives the third gripper to swing and grab the corresponding workpiece, that is, relying on one power to complete the grabbing work of different positions and different workpieces, which is very clever!

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] 1. The robot gripper of the present invention integrates assembly and clamping to achieve the grasping and assembly of multiple workpieces, with high space utilization, greatly saving the space occupied by assembly equipment, and is particularly suitable for high-density production environments.

[0029] 2. The robotic gripper of the present invention is provided with multiple groups of clamping components. During the grasping and handling operation, multiple groups of clamping components can be independently controlled to achieve multi-point ectopic clamping, adapting to workpieces of different sizes and shapes. There is no need to frequently replace the grippers, thereby improving work efficiency.

[0030] 3. The robot gripper of the present invention has a high degree of integration. Through the independent driving and collaborative operation of each group of clamping components, it can save the multiple transfers of the workpiece between the clamp and the assembly fixture, reduce the workpiece assembly error, improve the reliability of the system, and shorten the operation cycle. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a front view of the robot gripper with integrated assembly and clamping according to the present invention.

[0032] Figure 2-Figure 3 Schematic diagrams of the three-dimensional structure of the assembly and clamping integrated robotic gripper of the present invention from two different perspectives.

[0033] Figure 4 This is a cross-sectional view of the robot gripper with integrated assembly and clamping according to the present invention.

[0034] Figure 5 for Figure 4 Magnified view of the X in .

[0035] Figure 6 It is a schematic diagram of the three-dimensional structure of the assembly object of the present invention.

[0036] Figure 7-10 It is a front view of the different working states of the robot gripper with integrated assembly and clamping of the present invention. DETAILED DESCRIPTION

[0037] In order to enable those skilled in the art to better understand the technical solutions of the present invention, the present invention will be further described below in conjunction with embodiments and drawings, but the embodiments of the present invention are not limited thereto.

[0038] Combine Figure 1-Figure 5 The assembly and clamping integrated robotic gripper of this embodiment includes a base 1, a base shaft 2 and a clamping mechanism; one end of the base shaft 2 is fixedly connected to the base 1; the clamping mechanism includes at least two groups of clamping components, each group of clamping components includes a gripper and a clamping drive component for driving the gripper to swing, and each group of clamping components has at least two grippers distributed circumferentially around the base shaft 2; the lengths of the grippers of different groups are different, one end of the grippers of some groups are directly or indirectly hinged to the base 1, and one end of the grippers of some groups are directly or indirectly hinged to the base shaft 2; in the axial projection of the base shaft 2, there is no overlap between the grippers of different groups.

[0039] Combine Figure 1-Figure 3 The clamping assembly is provided with three groups, namely the first clamping assembly, the second clamping assembly and the third clamping assembly; the grippers of the first clamping assembly, the second clamping assembly and the third clamping assembly are respectively the first gripper 3, the second gripper 4 and the third gripper 5, one end of the first gripper 3 is connected to the base shaft 2 through the mounting member 6, and one end of the second gripper 4 and the third gripper 5 are both hinged to the base 1; the lengths of the first gripper 3, the second gripper 4 and the third gripper 5 become longer in sequence.

[0040] Combine Figure 1-Figure 5, the mounting part 6 is sleeved on the outside of the base shaft 2, and the mounting part 6 is hinged to one end of the first gripper 3; the clamping drive assembly of the first clamping assembly is a first clamping drive assembly, and the first clamping drive assembly includes a first clamping electric cylinder 7 and a first clamping transmission assembly; the shell of the first clamping electric cylinder 7 is fixedly arranged on the base 1; the first clamping transmission assembly includes a first clamping transmission frame 8, a transmission inner cylinder 9, a first clamping transmission seat 10 and a first rocker arm 11, the telescopic rod of the first clamping electric cylinder 7 is fixedly connected to one end of the first clamping transmission frame 8; the transmission inner cylinder 9 is slidably arranged in the inner cavity of the base shaft 2, one end of the transmission inner cylinder 9 is fixedly connected to the other end of the first clamping transmission frame 8 through an axially slidable screw through the base shaft 2; the first clamping transmission seat 10 is connected to the other end of the transmission inner cylinder 9; one end of the first rocker arm 11 is hinged on the first clamping transmission seat 10, and the other end of the first rocker arm 11 is hinged on the first gripper 3. Through the above structure, under the drive of the first clamping electric cylinder 7, the first clamping transmission frame 8 drives the transmission inner cylinder 9 to slide in the corresponding direction, and then drives the first rocker arm 11 to swing in the corresponding direction through the first clamping transmission seat 10, and then drives the first gripper 3 to swing to approach or move away from the workpiece.

[0041] Furthermore, a pressing cylinder 12 is fixedly provided on the side of the first clamping transmission seat 10 facing away from the transmission inner tube 9. In the assembly working state, the workpieces to be assembled are arranged in sequence below the pressing cylinder 12 so that the pressing cylinder 12 can be pressed downward.

[0042] Combine Figure 1-Figure 5 , the mounting member 6 is rotatably connected to the outside of the base shaft 2 through a bearing; the other end of the transmission inner cylinder 9 is rotatably connected to the first clamping transmission seat 10 through a bearing; the manipulator gripper also includes a rotation drive mechanism for driving the first gripper 3 to rotate, the rotation drive mechanism includes a rotation drive motor 13 and a rotation transmission assembly, the housing of the rotation drive motor 13 is fixedly set on the base 1, the rotation transmission assembly includes a belt 14 and a pulley, the pulley includes a driving pulley and a driven pulley 15, the driving pulley is set on the output shaft of the rotation drive motor 13, and the driven pulley 15 is sleeved on the outside of the base shaft 2 and fixedly connected to the mounting member 6. Through the above structure, under the drive of the rotation drive motor 13, the mounting member 6 can rotate around the base shaft 2 with the first gripper 3 to adjust the posture of the workpiece.

[0043] Combine Figure 1-Figure 5The clamping drive assembly of the second clamping assembly is a second clamping drive assembly, which includes a second clamping electric cylinder 16 and a second clamping transmission assembly; the shell of the second clamping electric cylinder 16 is fixedly set on the base 1; the second clamping transmission assembly includes a second clamping transmission frame 17, a clamping transmission spring 18, a second clamping transmission seat 19 and a second rocker arm 20, and the telescopic rod of the second clamping electric cylinder 16 is fixedly connected to one end of the second clamping transmission frame 17; the second clamping transmission frame 17 can slide through the second clamping transmission seat 19; the clamping transmission spring 18 is arranged between the other end of the second clamping transmission frame 17 and the second clamping transmission seat 19; the second clamping transmission seat 19 can be slidably mounted on the outside of the base shaft 2; one end of the second rocker arm 20 is hinged to the second clamping transmission seat 19, and the other end of the second rocker arm 20 is hinged to the second gripper 4. With this structure, when the second clamping electric cylinder 16 is retracted, the second clamping transmission frame 17 moves toward the direction of compressing the clamping transmission spring 18, thereby compressing the clamping transmission spring 18. As the clamping transmission spring 18 deforms, it transmits force to the second clamping transmission seat 19, causing the second clamping transmission seat 19 to slide relative to the base shaft 2. This, in turn, causes the second gripper 4 to swing inward, closer to the workpiece, via the second swing link 20. Furthermore, during this process, the clamping transmission spring 18 not only transmits force but also provides a buffering effect, preventing the second gripper 4 from colliding with the workpiece.

[0044] Combine Figure 1-Figure 5 , the clamping drive assembly of the third clamping assembly is a third clamping drive assembly, and the third clamping drive assembly includes a third clamping electric cylinder and a third clamping transmission assembly; the third clamping electric cylinder is composed of the second clamping electric cylinder 16; the third clamping transmission assembly includes a third clamping transmission frame, a third clamping transmission seat 21, a third rocker 22 and a reset spring 23, and the third clamping transmission frame is composed of the second clamping transmission frame 17. The second clamping transmission frame 17 is provided with a stepped shaft structure, and the smaller end of the stepped shaft structure passes through the sliding hole of the third clamping transmission seat 21 and is aligned with the second clamping The electric cylinder 16 is connected, and the larger end of the stepped shaft structure passes through the sliding hole of the second clamping transmission seat 19. The diameter of the larger end of the stepped shaft structure is larger than the diameter of the sliding hole of the third clamping transmission seat 21; the third clamping transmission seat 21 is slidably mounted on the outside of the base shaft 2; one end of the third rocker arm 22 is hinged on the third clamping transmission seat 21, and the other end of the third rocker arm 22 is hinged on the third gripper 5; the reset spring 23 is mounted on the outside of the base shaft 2, and the two ends of the reset spring 23 are respectively pressed against the third clamping transmission seat 21 and the base 1.

[0045] Through the above structure, when the second clamping electric cylinder 16 is driven to retract, under the transmission of the second clamping transmission assembly, the second gripper 4 first swings inward to approach the corresponding workpiece. At this time, the larger end of the stepped shaft structure of the second clamping transmission frame 17 moves in the sliding hole of the second clamping transmission seat 19, and the smaller end of the stepped shaft structure of the second clamping transmission frame 17 moves in the sliding hole of the third clamping transmission seat 21 until the larger end of the stepped shaft structure of the second clamping transmission frame 17 is against the end face of the third clamping transmission seat 21, and then the larger end of the stepped shaft structure of the second clamping transmission frame 17 leads the third clamping transmission seat 21 to slide relative to the base shaft 2, and then the third gripper 5 is swung inward to approach the workpiece through the third rocker rod 22. Furthermore, in the above process, the power of the shared second clamping electric cylinder 16 can not only provide driving force for the second gripper 4 and the third gripper 5, but also help to simplify the structure and reduce costs; more importantly, the second gripper 4 and the third gripper 5 do not swing synchronously, but the second gripper 4 is driven to swing first, and after grabbing the corresponding workpiece, the entire robotic gripper switches position, and then drives the third gripper 5 to swing and grab the corresponding workpiece, that is, relying on one power to complete the grabbing work of different positions and different workpieces, which is very clever!

[0046] Combine Figure 1-Figure 3 and Figures 6-10 The working principle of the above-mentioned integrated assembly and clamping robot gripper is as follows:

[0047] The assembly objects are: workpiece 1 24 is a cylindrical structure with a knurled shaft 24-1 at the bottom; workpiece 2 25 has a mounting groove 25-1 at its center for mounting workpiece 1 24, and a relief hole is provided at the bottom of the mounting groove 25-1; workpiece 3 26 is a structure with multiple spiral blades, and workpiece 3 26 is provided with a knurled hole 26-1 that cooperates with the knurled shaft 24-1.

[0048] The assembly process is as follows: first, the entire robot gripper is driven to move to the top of the workpiece 24, so that the first gripper 3 is located outside the workpiece 24, and the first gripper 3 is driven to swing inward by the first clamping drive component to clamp the workpiece 24. Figure 7 Then drive the entire robot claw to move to the top of the workpiece 25, and move downward, insert the lower end of the workpiece 24 into the mounting groove 25-1 of the workpiece 25, and pass the knurled shaft 24-1 through the avoidance hole, such as Figure 8 At this time, the second gripper 4 is located on the outside of the second workpiece 25; at the same time, the first gripper 3 can be driven to rotate by the rotary drive mechanism to adjust the posture of the first workpiece 24 so as to cooperate with the second workpiece 25; the second gripper 4 is driven to swing inward by the second clamping drive assembly to clamp the second workpiece 25.

[0049] Then drive the entire robot claw to move above the workpiece 3 26, and drive the third gripper 5 to swing inward through the third clamping drive assembly to clamp the workpiece 3 26; at this time, the three workpieces are clamped in the three groups of grippers in sequence along the axial direction of the base shaft 2, that is, they are located on the same axis, such as Figure 9 Place the bottom of workpiece 3 26 on the workbench, then slightly loosen the three workpieces so that the three grippers only play a guiding and positioning role without clamping the workpieces; drive workpiece 1 24 downward by pressing the cylinder 12, so that the knurled shaft 24-1 of workpiece 1 24 is inserted into the knurled hole 26-1 of workpiece 3 26, and workpiece 3 26 remains stationary. Figure 10 , thus realizing the assembly of three workpieces.

[0050] The above is a preferred embodiment of the present invention, but the embodiment of the present invention is not limited to the above content. Any other changes, modifications, substitutions, combinations, and simplifications made without departing from the spirit and principles of the present invention should be considered as equivalent replacement methods and are included in the scope of protection of the present invention.

Claims

1. A robotic gripper integrating assembly and clamping, characterized in that: It includes a base, a base shaft and a clamping mechanism; One end of the base shaft is fixedly connected to the base; The clamping mechanism includes at least two groups of clamping assemblies, each group of clamping assemblies includes a gripper and a clamping drive assembly for driving the gripper to swing, and each group of clamping assemblies has at least two grippers distributed circumferentially around the base shaft; the grippers of different groups have different lengths, one end of the grippers of some groups is directly or indirectly hinged to the base, and one end of the grippers of some groups is directly or indirectly hinged to the base shaft; in the axial projection of the base shaft, there is no overlap between the grippers of different groups; The clamping assembly is provided with three groups, namely a first clamping assembly, a second clamping assembly and a third clamping assembly; The grippers of the first clamping assembly, the second clamping assembly and the third clamping assembly are respectively the first gripper, the second gripper and the third gripper, one end of the first gripper is connected to the base shaft through a mounting member, and one end of the second gripper and the third gripper are both hinged to the base; the lengths of the first gripper, the second gripper and the third gripper are successively longer; The clamping drive assembly of the first clamping assembly is a first clamping drive assembly, and the first clamping drive assembly includes a first clamping electric cylinder and a first clamping transmission assembly; The housing of the first clamping electric cylinder is fixedly arranged on the base; The first clamping transmission assembly includes a first clamping transmission frame, a transmission inner cylinder, a first clamping transmission seat and a first rocker arm, and the telescopic rod of the first clamping electric cylinder is fixedly connected to one end of the first clamping transmission frame; The transmission inner cylinder is slidably arranged in the inner cavity of the base shaft, and one end of the transmission inner cylinder is fixedly connected to the other end of the first clamping transmission frame through an axially slidable screw passing through the base shaft; the first clamping transmission seat is connected to the other end of the transmission inner cylinder; one end of the first rocker arm is hinged on the first clamping transmission seat, and the other end of the first rocker arm is hinged on the first gripper.

2. The assembly and clamping integrated robot gripper according to claim 1, characterized in that: The mounting piece is sleeved on the outside of the base shaft and is hinged to one end of the first gripper.

3. The assembly and clamping integrated robot gripper according to claim 1, characterized in that: A downward-pressing cylinder is fixedly provided on the side of the first clamping transmission seat facing away from the transmission inner cylinder. In the assembly working state, the workpieces to be assembled are arranged in sequence below the downward-pressing cylinder.

4. The assembly and clamping integrated robot gripper according to claim 1, characterized in that: The mounting member is rotatably connected to the outer side of the base shaft through a bearing; the other end of the transmission inner cylinder is rotatably connected to the first clamping transmission seat through a bearing; The robotic gripper further includes a rotation drive mechanism for driving the first gripper to rotate.

5. The assembly and clamping integrated robot gripper according to claim 4, characterized in that: The rotary drive mechanism includes a rotary drive motor and a rotary transmission assembly. The housing of the rotary drive motor is fixedly arranged on the base. The rotary transmission assembly includes a belt and a pulley. The pulley includes a driving pulley and a driven pulley. The driving pulley is arranged on the output shaft of the rotary drive motor. The driven pulley is sleeved on the outside of the base shaft and fixedly connected to the mounting member.

6. The assembly and clamping integrated robot gripper according to claim 1, characterized in that: The clamping drive assembly of the second clamping assembly is a second clamping drive assembly, and the second clamping drive assembly includes a second clamping electric cylinder and a second clamping transmission assembly; The housing of the second clamping electric cylinder is fixedly arranged on the base; The second clamping transmission assembly includes a second clamping transmission frame, a clamping transmission spring, a second clamping transmission seat and a second rocker arm. The telescopic rod of the second clamping electric cylinder is fixedly connected to one end of the second clamping transmission frame; the second clamping transmission frame can slide through the second clamping transmission seat; the clamping transmission spring is arranged between the other end of the second clamping transmission frame and the second clamping transmission seat; the second clamping transmission seat can be slidably mounted on the outside of the base shaft; one end of the second rocker arm is hinged to the second clamping transmission seat, and the other end of the second rocker arm is hinged to the second gripper.

7. The assembly and clamping integrated robot gripper according to claim 6, characterized in that: The clamping drive assembly of the third clamping assembly is a third clamping drive assembly, and the third clamping drive assembly includes a third clamping electric cylinder and a third clamping transmission assembly.

8. The assembly and clamping integrated robot gripper according to claim 7, characterized in that: The third clamping electric cylinder is composed of the second clamping electric cylinder; The third clamping transmission assembly includes a third clamping transmission frame, a third clamping transmission seat, a third rocker arm and a return spring. The third clamping transmission frame is composed of the second clamping transmission frame, and the second clamping transmission frame is provided with a stepped shaft structure. The smaller end of the stepped shaft structure passes through the sliding hole of the third clamping transmission seat and is connected to the second clamping electric cylinder, and the larger end of the stepped shaft structure passes through the sliding hole of the second clamping transmission seat, and the diameter of the larger end of the stepped shaft structure is larger than the diameter of the sliding hole of the third clamping transmission seat; the third clamping transmission seat can be slidably mounted on the outside of the base shaft; one end of the third rocker arm is hinged on the third clamping transmission seat, and the other end of the third rocker arm is hinged on the third gripper; the return spring is mounted on the outside of the base shaft, and the two ends of the return spring are respectively pressed against the third clamping transmission seat and the base.

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