A mechanical gripper for easily grasping injection-molded skeletons

Abstract

The present invention relates to the technical field of mechanical grippers. The present application discloses a mechanical gripper that is convenient for grasping injection-molded frames, comprising two parallel-arranged clamping rods (one), each of the two clamping rods (one) being rotatably connected to a clamping rod (two), and both of the two clamping rods (two) being controlled by a rotating assembly. The ends of the adjacent clamping rods (one and two) that are away from each other are both fixed with connecting tubes. The present invention uses an L-shaped clamping rod that cooperates with the seat frame and a plurality of evenly distributed suction cups. Under the premise of not inserting the suction cups into the gap between the mold and the frame, the frame can be pulled out of the mold with uniform force, avoiding deformation or jamming of the frame caused by excessive local force or tilting. This solves the problem that existing mechanical grippers for grasping injection-molded frames are easily deformed when taking the frame out of the mold, improves the practicality of the mechanical gripper, and can also protect the frame.

Description

Technical Field

[0001] The invention relates to the technical field of mechanical grippers, in particular to a mechanical gripper convenient for grasping an injection-molded skeleton. Background Art

[0002] As an automated equipment, a mechanical gripper clamps and moves objects through mechanical structures or electric devices. It can achieve precise grasping and placement through different clamping methods according to the shape, weight and material of the object. Currently, mechanical grippers on the market are usually used in conjunction with robots or other automated equipment to improve production efficiency and operational safety. With the gradual promotion of robots in industrial automation manufacturing, the application of mechanical grippers is becoming more and more extensive. The injection molded frame is the core support structure made by injection molding in industrial products such as safety seats. It is a solid plastic part. In the process of injection molding, in order to save manpower and ensure transfer accuracy, a mechanical gripper will be used for movement.

[0003] Since most of the injection-molded frames of seats are irregular, one-piece L-shaped solid plastic parts, and the surface of the seat is a relatively smooth arc, after the injection molding is completed, the frame fits tightly against the inner wall of the injection mold and has a certain friction with the inner wall of the mold, so the pulling force required for removal is relatively large. During the transfer, the gripper cannot be directly inserted into the gap between the frame and the mold to clamp and pull out the frame. Localized strong pulling can easily cause deformation of the frame that has just been injected. At the same time, since the frames of tables and chairs are arc-shaped, and the curvature of frames of different models is different, it is inconvenient to fit closely with the frame when grasping by adsorption, which makes the gripper extremely laborious and unstable when grasping. Summary of the Invention

[0004] The purpose of the present invention is to provide a mechanical gripper that is convenient for grasping injection-molded skeletons, so as to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a mechanical gripper that is convenient for grasping injection molded skeletons, comprising two clamping rods 1 arranged in parallel, one end of each of the two clamping rods 1 being rotatably connected to the clamping rod 2, and the two clamping rods 2 being controlled by a rotating assembly, and the ends of the adjacent clamping rods 1 and the clamping rod 2 that are away from each other are fixed with connecting tubes, and the outer sides of each of the clamping rods 1 and the clamping rod 2 are connected to a number of suction cups through a movable connection assembly, and each of the suction cups is fixed with a threaded telescopic tube 1 on the side close to the clamping rod 1 and the clamping rod 2, and each of the threaded telescopic tubes 1 is respectively connected with the air guide groove opened inside the clamping rod 1 and the clamping rod 2, and the opposite ends of each group of the clamping rods 1 and the clamping rod 2 are fixed with a threaded telescopic tube 2, and the outer side of the clamping rod 1 on one side is connected with an air inlet.

[0006] Preferably, the top surfaces of the two clamping rods 1 are fixed with connecting plates for connecting to the robotic arm, the top of each of the threaded telescopic tubes 1 is fixed with an air inlet, each of the threaded telescopic tubes 1 is threadedly fixed to the side walls of the clamping rod 1 and the clamping rod 2 through the air inlet, and the air port of each suction cup is fixed with a dustproof net.

[0007] Preferably, the movable connection assembly includes a support plate, a sliding rod and a spring. A support plate is fixed to the middle outer surface of each threaded telescopic tube, and a sliding rod is symmetrically fixed to the side of each support away from the suction cup. A limiting slide is fixed to one end of each sliding rod that is slidably inserted inside the clamping claw support rod 1 and the clamping claw support rod 2. A spring is sleeved on the sliding rod between each support plate and the clamping claw support rod 1 and the clamping claw support rod 2. The two ends of each spring are respectively fixed between the clamping claw support rod 1 and the support plate, and between the clamping claw support rod 2 and the support plate. A one-way limiting assembly is provided on the outer side of each limiting slide.

[0008] Preferably, the movable connection assembly also includes a limiting sleeve and a rotating ball sleeve, the outer surface of the threaded telescopic tube below the support plate is provided with a rotating ball sleeve, the end of the rotating ball sleeve away from the support plate is fixed on the suction cup, the outer side of the rotating ball sleeve is provided with a limiting sleeve, the limiting sleeve is fixed to the bottom surface of the support plate, the interior of the limiting sleeve is provided with a spherical rotating groove that cooperates with the rotating ball sleeve, and the interior of the rotating ball sleeve is provided with a through hole that cooperates with the threaded telescopic tube.

[0009] Preferably, the one-way limit assembly includes a card plate, a limit plate, a one-way slot, a limit iron plate and an electromagnetic plate, the inside of each clamping rod 1 on the outside of the limit slide is slidably sleeved on the limit plate, the limit slide is fixed with a card plate on one side close to the limit plate, and the limit plate is provided with a right-angled triangle-shaped one-way slot that cooperates with the card plate on one side close to the limit slide, the inside of each clamping rod 1 on the outside of the limit plate is fixed with a fixed plate, and the inside of each fixed plate is slidably sleeved with a number of sliding rods 2, and each of the sliding rods 2 is fixed at one end that passes through the outside of the fixed plate, and an electromagnetic plate is installed inside the clamping rod 1 on the outside of the limit iron plate, and a spring 2 is sleeved on the sliding rod 2 between the fixed plate and the limit plate, and the two ends of each of the springs 2 are respectively fixed to the limit plate and the fixed plate.

[0010] Preferably, each of the fixed plates is provided with a sliding hole that cooperates with the sliding rod 2, the diameter of each of the limiting iron plates is larger than the diameter of the sliding hole, the distance between each of the limiting iron plates and the electromagnetic plate is larger than the width of the card plate, and the bottom corner of each of the card plates close to the limiting slide plate is a right angle.

[0011] Preferably, the rotating assembly includes gear 1, gear 2 and a servo motor, a fixed rod is fixed between the two clamping support rods 2 at one end close to the clamping support rod 1, and a symmetrical fixed sleeve is provided on the fixed rod, and each side of the gear 1 is meshed with gear 2, and a rotating shaft is fixedly connected between the two gears 2, and the rotating shaft and each gear 2 are rotatably connected inside the support sleeve frame through bearings, and a servo motor is fixedly installed on the outside of one of the support sleeves, and the output end of the servo motor rotates through the support sleeve frame, and the output end of the servo motor is fixed on gear 2.

[0012] Preferably, the two support sleeves are fixedly mounted on the support plate, the support plate is fixedly mounted between the two clamping claw support rods, the two support sleeves are set to a U shape that cooperates with gear two, the support plate is set to an L shape, and the top surface of the support plate is provided with a clamping assembly.

[0013] Preferably, the clamping assembly includes a servo cylinder, a fixed splint, a sliding rod three and a support sleeve plate. The servo cylinder is symmetrically installed on the top surface of the support plate. The two output ends of the servo cylinder are fixed with a detachable fixed splint by bolts. The two fixed splints are fixed with a sliding rod three on one side close to the support plate. The sliding rod three is slidably sleeved with a support sleeve plate, and the support sleeve plate is fixed to the bottom surface of the support plate.

[0014] Preferably, the opposite sides of the two fixing splints are both configured to be arc-shaped.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] 1. The present invention utilizes an L-shaped gripper rod that cooperates with the seat frame and multiple evenly distributed suction cups. This allows the frame to be pulled out of the mold with uniform force without inserting into the gap between the mold and the frame, thus preventing deformation or jamming of the frame caused by excessive local force or tilting. This solves the problem of existing mechanical grippers for gripping injection-molded frames being easily deformed when removing the frame from the mold, improves the practicality of the mechanical grippers, and also protects the frame.

[0017] 2. In the present invention, a single movable and retractable suction cup is used. During use, the distance between the suction cup and the clamping claw support rod can be adjusted according to the curvature of the seat surface and backrest. Combined with the multi-angle rotation design of the suction cup, the suction cup can be fully and tightly attached to the surface of the seat frame. This solves the problem that existing mechanical grippers for grasping injection-molded frames are inconvenient to adapt to injection-molded seat frames of different curvatures during use, greatly improving the applicability of the mechanical gripper.

[0018] 3. In the present invention, the angle between the two clamping rods can be adjusted according to the angle of the seat frame during use, thereby facilitating adaptation to different types of seat frames. The clamping rods can also be rotated and retracted to facilitate access to the seat, further improving the practicality of the mechanical clamp.

[0019] 4. In the present invention, the seat frame is clamped and reinforced after being taken out by adsorption, so that the mechanical clamp is more secure when in use, and at the same time, the stability of the mechanical clamp during the movement after grasping the seat frame is ensured, thereby improving the stability of the mechanical clamp when in use. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a front view schematic diagram of the three-dimensional structure of a mechanical gripper according to an embodiment of the present application;

[0021] Figure 2 yes Figure 1 A bottom view schematic diagram of the three-dimensional structure of the mechanical gripper in the embodiment shown;

[0022] Figure 3 yes Figure 1 A schematic cross-sectional view of the local structure of the mechanical gripper in the embodiment shown;

[0023] Figure 4 yes Figure 1 A schematic diagram of the structure of the movable connection assembly in the embodiment shown;

[0024] Figure 5 yes Figure 1 A schematic diagram of the structure of the one-way limit assembly in the embodiment shown;

[0025] Figure 6 yes Figure 1 A schematic front view of the movable connection assembly structure in the illustrated embodiment;

[0026] Figure 7 yes Figure 1 A perspective schematic diagram of the clamping assembly in the illustrated embodiment;

[0027] Figure 8 yes Figure 1 Schematic bottom view of the clamping assembly in the illustrated embodiment.

[0028] In the accompanying drawings, the components represented by the reference numerals are as follows: 1. Gripping jaw support rod 1; 2. Gripping jaw support rod 2; 3. Connecting pipe; 4. Support plate; 5. Connecting plate; 6. Suction cup; 7. Threaded telescopic tube 1; 8. Air guide groove; 9. Threaded telescopic tube 2; 10. Air inlet; 11. Support plate; 12. Sliding rod 1; 13. Spring 1; 14. Air inlet; 15. Limiting slide plate; 16. Clamping plate; 17. Limiting plate; 18 , one-way slot; 19. Fixed plate; 20. Slide rod 2; 21. Spring 2; 22. Limit iron plate; 23. Electromagnetic plate; 24. Limit sleeve; 25. Rotating ball sleeve; 26. Dustproof net; 27. Fixed rod; 28. Gear 1; 29. ​​Gear 2; 30. Support sleeve frame; 31. Rotating shaft; 32. Servo motor; 33. Servo cylinder; 34. Fixed splint; 35. Slide rod 3; 36. Support sleeve. DETAILED DESCRIPTION

[0029] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making creative efforts are within the scope of protection of the present invention.

[0030] Reference Figures 1-8 , a mechanical gripper convenient for grasping injection molded skeletons, comprising two parallel arranged clamping rods 1, one end of the two clamping rods 1 are rotatably connected to the clamping rod 2, the two clamping rods 2 are controlled by a rotating assembly, and the ends of the adjacent clamping rods 1 and the clamping rods 2 that are away from each other are penetrated and fixed with a connecting tube 3, and the outer sides of each clamping rod 1 and the clamping rod 2 are connected with a plurality of suction cups 6 through a movable connection assembly, and each suction cup 6 is penetrated and fixed with a threaded telescopic tube 7 on the side close to the clamping rod 1 and the clamping rod 2, and each threaded telescopic tube 7 is respectively penetrated and connected with the air guide groove 8 opened inside the clamping rod 1 and the clamping rod 2, and the opposite ends of each group of clamping rods 1 and the clamping rod 2 are penetrated and fixed with a threaded telescopic tube 2 9, and the outer side of the clamping rod 1 on one side is penetrated and connected with an air inlet 10 for connecting the air inlet end of the vacuum pump.

[0031] The top surfaces of the two gripper rods 1 are fixed with connecting plates 5 for connecting to the robotic arms, and the top of each threaded telescopic tube 7 is fixed with an air inlet 14, and each threaded telescopic tube 7 is threadedly fixed to the side wall of the gripper rod 1 or the gripper rod 2 2 through the air inlet 14, which facilitates the installation of the threaded telescopic tube 7 and the gripper rod 1 or the gripper rod 2 2, and the air port of each suction cup 6 is fixed with a dustproof net 26 to prevent dust from entering the threaded telescopic tube 7.

[0032] The movable connection component includes a support plate 11, a slide rod 12 and a spring 13. A support plate 11 is fixed to the middle outer surface of each threaded telescopic tube 7, and a slide rod 12 is symmetrically fixed on the side of each support plate 11 away from the suction cup 6. A limiting slide plate 15 is fixed at one end of each slide rod 12 that is slidably inserted into the inside of the clamping claw support rod 1 and the clamping claw support rod 2. A spring 13 is sleeved on the slide rod 12 between each support plate 11 and the clamping claw support rod 1 and the clamping claw support rod 2. The two ends of each spring 13 are respectively fixed between the clamping claw support rod 1 and the support plate 11 and between the clamping claw support rod 2 and the support plate 11. A one-way limiting component is provided on the outside of each limiting slide plate 15, so that each suction cup 6 can be designed to be individually detachable, which is convenient for adapting to different models of skeletons.

[0033] The movable connection assembly also includes a limiting sleeve 24 and a rotating ball sleeve 25. The outer surface of the threaded telescopic tube 7 below the support plate 11 is sleeved with a rotating ball sleeve 25. The end of the rotating ball sleeve 25 away from the support plate 11 is fixed on the suction cup 6. The outer rotating sleeve of the rotating ball sleeve 25 is sleeved with a limiting sleeve 24. The limiting sleeve 24 is fixed to the bottom surface of the support plate 11. The interior of the limiting sleeve 24 is provided with a spherical rotating groove that cooperates with the rotating ball sleeve 25. The interior of the rotating ball sleeve 25 is provided with a through hole that cooperates with the threaded telescopic tube 7, so that the suction cup 6 can adapt to the curvature or inclined surface of the seat frame surface when it is in contact with the seat frame.

[0034] The one-way limit assembly includes a card plate 16, a limit plate 17, a one-way card slot 18, a limit iron plate 22 and an electromagnetic plate 23. The inner part of the clamping rod 1 on the outer side of each limit slide 15 is slidably connected to the limit plate 17. The limit slide 15 is fixed with a card plate 16 on one side close to the limit plate 17. The limit plate 17 is provided with a right-angled triangle-shaped one-way card slot 18 that cooperates with the card plate 16 on one side close to the limit slide 15. The inner part of the clamping rod 1 on the outer side of each limit plate 17 is fixed with a fixed plate 19. The inner part of each fixed plate 19 is slidably connected to the limit plate 17. There are several sliding rods 20 sleeved thereon, and each sliding rod 20 passes through one end outside the fixed plate 19 and is fixed with a limiting iron plate 22. The inside of the clamping rod 1 outside the limiting iron plate 22 is installed with an electromagnetic plate 23. The sliding rod 20 between the fixed plate 19 and the limiting plate 17 is sleeved with a spring 21, and the two ends of each spring 21 are respectively fixed on the limiting plate 17 and the fixed plate 19, so that the suction cup 6 can adapt to the different distances between the seat frame and the clamping rod 1 or the clamping rod 2, and at the same time it is convenient to pull the seat frame through the suction cup 6.

[0035] Each fixed plate 19 is provided with a sliding hole that cooperates with the slide bar 20. The diameter of each limiting iron plate 22 is larger than the diameter of the sliding hole. The distance between each limiting iron plate 22 and the electromagnetic plate 23 is larger than the width of the card plate 16. The bottom corner of each card plate 16 close to the limiting slide plate 15 is a right angle, so that when the card plate 16 moves upward, it can simultaneously drive the limiting plate 17 to move toward the fixed plate 19 side, ensuring that the slide bar 12 can retract into the inside of the clamping claw support rod 1, but when it moves downward, it cannot push the limiting plate 17 to move toward the fixed plate 19 side, thereby ensuring that the slide bar 12 will not extend out of the clamping claw support rod 1, making it convenient to pull the seat frame.

[0036] The rotating assembly includes gear 1 28, gear 2 29 and a servo motor 32. A fixed rod 27 is fixed between the two clamping support rods 2 2 at one end close to the clamping support rod 1. A gear 28 is symmetrically fixed on the fixed rod 27. The side of each gear 1 28 is meshed with a gear 29. A rotating shaft 31 is fixedly connected between the two gears 29. The rotating shaft 31 and each gear 2 29 are rotatably connected to the inside of the support sleeve 30 through bearings. A servo motor 32 is fixedly installed on the side outside one of the support sleeves 30. The output end of the servo motor 32 rotates through the support sleeve 30, and the output end of the servo motor 32 is fixed on the gear 2 29, which is convenient for controlling the angle between the clamping support rod 1 1 and the clamping support rod 2 2, thereby facilitating the clamping support rod 1 1 and the clamping support rod 2 2 to enter the concave surface of the seat, and also facilitating the clamping support rod 1 1 and the clamping support rod 2 2 to fit the suction cup 6 on the surface of the seat frame after the clamping support rod 1 1 and the clamping support rod 2 2 are unfolded.

[0037] The two support sleeves 30 are both fixedly mounted on the support plate 4, and the support plate 4 is fixedly mounted between the two clamping claw support rods 1 to facilitate supporting the support sleeves 30. The two support sleeves 30 are both set to a U shape that cooperates with the gear 2 29, and the support plate 4 is set to an L shape. The top surface of the support plate 4 is provided with a clamping component.

[0038] The clamping assembly includes a servo cylinder 33, a fixed splint 34, a sliding rod 35 and a support sleeve 36. The servo cylinder 33 is symmetrically installed on the top surface of the support plate 4. The output ends of the two servo cylinders 33 are fixed with a detachable fixed splint 34 by bolts. The two fixed splints 34 are fixed with a sliding rod 35 on the side close to the support plate 4. The sliding rod 35 is slidably sleeved with a support sleeve 36. The support sleeve 36 is fixed to the bottom surface of the support plate 4. After the seat frame is taken out of the mold, it is clamped and reinforced by the fixed splint 34 to ensure the stability of the injection molded seat frame during movement.

[0039] The opposite sides of the two fixed splints 34 are both set to an arc shape that matches the seat frame. With the detachable design of the fixed splints 34, when grabbing seat frames of different models, only the fixed splints 34 need to be disassembled and replaced separately, so that the mechanical gripper can adapt to the industrial line processing of multiple models of injection molding frames. The distance between the two fixed splints 34 and the gripper support rod 1 is greater than the distance between the gripper support rod 1 and the edge of the seat frame mold, so as to avoid the fixed splints 34 affecting the normal movement of the gripper support rod 1 and the gripper support rod 2.

[0040] Working principle: When the mechanical gripper needs to be used, first fix the connecting plate 5 to the end of the mechanical arm through the fixing parts. After fixing, select the corresponding fixing splint 34 according to the seat frame to be clamped, and fix the fixing splint 34 to the output end of the servo cylinder 33 through bolts. Then, connect the air inlet 10 with the input end of the air pump through the telescopic air pipe. At this time, each gripper support rod 1 and gripper support rod 2 2 are connected through the threaded telescopic pipe 2 9, and the two gripper support rods 1 and the two gripper support rods 2 2 are connected through the connecting pipe 3.

[0041] When grabbing the seat frame, the robotic arm clamps the gripper rod 1 and the gripper rod 2 2 and places them into the seat. At this time, the two fixed splints 34 are located on both sides of the outside of the mold. At this time, the servo motor 32 runs to drive the gear 2 29 to rotate, and the gear 2 29 then drives another gear 2 29 to rotate through the rotating shaft 31. The two gears 29 drive the gear 1 28 to rotate. When the gear 1 28 rotates, it drives the fixed rod 27 to rotate, and the fixed rod 27 drives the gripper rod 2 2 to rotate, and adjusts the angle between the gripper rod 1 and the gripper rod 2 2 so that the gripper rod 2 2 and the gripper rod 1 are expanded to an angle close to that of the seat. When the gripper rod 1 and the gripper rod 2 2 rotate and expand, they drive the suction cup 6 close to the seat. In the arc-shaped design of the seat bottom and the backrest, when the gripper rod 1 and the gripper rod 2 2 drive the suction cup 6 to press on the seat, different positions The suction cup 6 is squeezed to different degrees. After being squeezed in the oblique direction, the suction cup 6 drives the rotating ball sleeve 25 to rotate inside the limiting sleeve 24. At the same time, the limiting sleeve 24 pushes the supporting plate 11, so that the supporting plate 11 drives the sliding rod 12 to slide inside the clamping claw support rod 1. When the sliding rod 12 slides, the spring 13 is compressed and drives the limiting slide 15 to move. When the limiting slide 15 moves toward the inside of the clamping claw support rod 1, it squeezes the limiting plate 17, so that the limiting plate 17 drives the sliding rod 20 to slide inside the fixed plate 19 and compresses the spring 21. When the suction cup 6 is squeezed to fit the surface of the skeleton, the sliding rod 20 pushes the fixed plate 19 to move toward the side of the card plate 16, so that the card plate 16 is engaged with the corresponding one-way slot 18, thereby limiting the limiting slide 15 and preventing the sliding rod 12 from moving away from the side of the clamping claw support rod 1.

[0042] The air pump runs to extract the gas inside the air guide groove 8 and the suction cup 6. Under the action of negative pressure, the suction cup 6 is adsorbed and fixed on the frame. The robot arm runs to drive the clamping claw support rod 1 and the clamping claw support rod 2 to move to the outside of the frame mold, thereby pulling the frame out of the mold. Then the two servo cylinders 33 move at the same time, driving the fixed splint 34 to move relative to clamp the seat frame. After clamping, the robot arm runs to move the frame to the desired position. The servo cylinder 33 drives the outside of the fixed splint 34 to release the clamping of the frame by the fixed splint 34. Then the air pump runs to put gas into the air guide groove 8. At this time, the suction cup 6 The negative pressure state is released, the seat frame can be lowered, and then the electromagnetic plate 23 is opened. After the electromagnetic plate 23 is energized and magnetized, it attracts the limit iron plate 22. After the limit iron plate 22 is attracted, it drives the limit plate 17 to compress the spring 21 and move outward. At this time, the limit of the card plate 16 by the limit plate 17 is released, and the support plate 11 is reset under the push of the spring 13, and the suction cup 6 can be completely reset. Finally, the electromagnetic plate 23 is closed, so that the limit plate 17 moves toward the side of the limit slide plate 15 under the push of the spring 21, so that the card plate 16 is re-engaged and inserted into the one-way slot 18, ready to grab the lowered seat frame.

[0043] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0044] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A mechanical gripper for easily grasping an injection-molded skeleton, characterized by: The cam is connected to the control rod of the said adjusting base by the spring, and the cam has an inner wall which is provided with a toothed connecting strip which is cooperatively connected with the control rod of the said adjusting base. The movable connection assembly includes a support plate, a sliding rod and a spring, and each of the support plates is fixed to the outer surface of the middle portion of the threaded telescopic tube, and each of the support plates is symmetrically fixed with a sliding rod on the side away from the suction cup. Each of the sliding rods is slidably inserted into the clamping claw support rod and the clamping claw support rod, and one end of each sliding rod is fixed to a limiting slide. A spring is sleeved on the sliding rod between each of the support plates and the clamping claw support rod and the clamping claw support rod, and the two ends of each spring are respectively fixed between the clamping claw support rod and the support plate, and between the clamping claw support rod and the support plate, and a one-way limiting assembly is provided on the outer side of each limiting slide. The one-way limit assembly includes a card plate, a limit plate, a one-way slot, a limit iron plate and an electromagnetic plate, the inside of each clamping rod one on the outside of the limit slide is slidably sleeved on the limit plate, the limit slide is fixed with a card plate on one side close to the limit plate, and the limit plate is provided with a right-angled triangle-shaped one-way slot that cooperates with the card plate on one side close to the limit slide, the inside of each clamping rod one on the outside of the limit plate is fixed with a fixed plate, and the inside of each fixed plate is slidably sleeved with a number of sliding rods 2, and each of the sliding rods 2 is fixed at one end that passes through the outside of the fixed plate, and an electromagnetic plate is installed inside the clamping rod one on the outside of the limit iron plate, and a spring 2 is sleeved on the sliding rod 2 between the fixed plate and the limit plate, and the two ends of each of the springs 2 are respectively fixed to the limit plate and the fixed plate.

2. The mechanical gripper for conveniently grasping injection-molded frames according to claim 1, characterized in that: The top surfaces of the two clamping rods are fixed with connecting plates for connecting to the robotic arm, and the top of each threaded telescopic tube is fixed with an air inlet, and each threaded telescopic tube is fixed to the side walls of the clamping rod and the two clamping rods through the air inlet thread, and the air port of each suction cup is fixed with a dustproof net.

3. The mechanical gripper for conveniently grasping injection-molded frames according to claim 1, characterized in that: The movable connection assembly also includes a limiting sleeve and a rotating ball sleeve. The outer surface of the threaded telescopic tube below the support plate is provided with a rotating ball sleeve. The end of the rotating ball sleeve away from the support plate is fixed on the suction cup. The outer rotating sleeve of the rotating ball sleeve is provided with a limiting sleeve. The limiting sleeve is fixed to the bottom surface of the support plate. The interior of the limiting sleeve is provided with a spherical rotating groove that cooperates with the rotating ball sleeve. The interior of the rotating ball sleeve is provided with a through hole that cooperates with the threaded telescopic tube.

4. The mechanical gripper for conveniently grasping injection-molded frames according to claim 1, characterized in that: Each of the fixed plates is provided with a sliding hole that cooperates with the second sliding rod. The diameter of each of the limiting iron plates is larger than the diameter of the sliding hole. The distance between each of the limiting iron plates and the electromagnetic plate is larger than the width of the card plate. The bottom corner of each of the card plates close to the limiting slide plate is a right angle.

5. The mechanical gripper for conveniently grasping an injection-molded frame according to claim 1, characterized in that: The rotating assembly includes gear 1, gear 2 and a servo motor. A fixed rod is fixed between the two clamping support rods 2 at one end close to the clamping support rod 1. Gear 1 is symmetrically fixed on the fixed rod. The side of each gear 1 is meshed with gear 2. A rotating shaft is fixedly connected between the two gears 2. The rotating shaft and each gear 2 are rotatably connected to the inside of the support sleeve frame through bearings. A servo motor is fixedly installed on the outside of one of the support sleeve frames. The output end of the servo motor rotates through the support sleeve frame, and the output end of the servo motor is fixed on gear 2.

6. The mechanical gripper for conveniently grasping an injection-molded frame according to claim 5, characterized in that: The two support sleeves are fixedly mounted on the support plate, the support plate is fixedly mounted between the two clamping claw support rods, the two support sleeves are set to a U shape that cooperates with gear two, the support plate is set to an L shape, and a clamping assembly is provided on the top surface of the support plate.

7. The mechanical gripper for conveniently grasping an injection-molded frame according to claim 6, characterized in that: The clamping assembly includes a servo cylinder, a fixed splint, a sliding rod three and a support sleeve. The servo cylinder is symmetrically installed on the top surface of the support plate. The two output ends of the servo cylinder are fixed with detachable fixed splints by bolts. The two fixed splints are fixed with sliding rod three on one side close to the support plate. The sliding rod three is slidably sleeved with a support sleeve, and the support sleeve is fixed to the bottom surface of the support plate.

8. The mechanical gripper for conveniently grasping an injection-molded frame according to claim 7, characterized in that: The opposite sides of the two fixing clamps are both arranged in an arc shape.

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