Robot clamping jaw anti-impression rim transfer device

Abstract

The invention relates to the technical field of rim transfer, and discloses a robot clamping jaw anti-mark rim transfer device which comprises a mechanical arm, a clamping block and an I-shaped block clamped through the clamping block are fixedly mounted at the end of the mechanical arm, a mounting plate is fixedly mounted at the bottom of the I-shaped block, and an annular pipe is arranged on the outer side of the mounting plate in a sealing and sleeving mode. The rubber bag arranged in the annular pipe is matched with an air pump, the elastic arc plate and the telescopic shaft system are pushed to expand outwards according to the air expansion principle, the rubber bag is tightly attached to the curved surface of the inner wall of the rim, uniform and all-around flexible contact is formed, and therefore the rubber bag can be clamped in a wrapping mode through gas expansion. Point contact or line contact between the rigid clamping jaw and the surface of the rim is thoroughly avoided, the surface damage problems such as indentations and scratches are fundamentally eliminated, and controllable locking of the clamping state is achieved through the synergistic effect of the drive motor, the second sleeve shaft, the third telescopic shaft, the right-angle shaft, the clamping groove and other assemblies.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of rim transfer, in particular to a robot gripper anti-mark rim transfer device. BACKGROUND

[0002] The rim is an important part of the wheel, and the surface quality directly affects the appearance and performance of the whole vehicle. During the processing, storage and assembly of the rim, the robot gripper is often used for handling and transfer. At present, rigid clamping devices such as mechanical grippers or vacuum suction cups are commonly used in the industry to achieve the grabbing and moving of the rim. However, such devices have the following problems: first, rigid clamping is easy to produce marks such as indentation and scratch on the surface of the rim, affecting the appearance quality of the product, especially on soft material rims such as aluminum alloy; second, when extracting the bottom layer of the multi-layer stacked rim, the upper rims need to be moved layer by layer, which is tedious and inefficient, and the damage risk is increased due to multiple clamping. Although some improved transfer devices exist in the prior art, such as wrapping the gripper with flexible materials or adding a buffer component to the structure, it is still difficult to achieve uniform, adaptive and full coverage flexible contact, especially when the rim inner edge curve is complex or the size changes, the clamping stability and damage prevention performance are still not ideal. In addition, the existing devices lack active wrapping and adaptive locking mechanism for the inner wall of the rim during clamping, which may cause loosening or deviation during high-speed handling or posture adjustment, further increasing the risk of damage to the surface of the rim.

[0003] For example: the utility model patent (application number: CN202223081723.8) disclosed "a rim processing transfer device", the specification discloses: the rim is commonly known as the rim, which is a component for installing tires around the wheel. The rim specification code in China basically conforms to international standards. The nominal width and nominal diameter are expressed in inches. The connecting symbol (*) or (-) in the middle indicates whether it is a whole rim. After continuous improvement, under the conditions of modern industrial technology, the hub has become a complete integral assembly with perfect functions. It bears the weight of the vehicle, transmits power, and supports the tire. As a rotating part, the hub must meet the technical conditions of light weight, fatigue resistance, and dynamic balance under a certain rigidity. Compared with the steel hub of the past, the aluminum alloy hub has a significant weight reduction: under the same size and strength, the mass of the aluminum alloy hub is about half of that of the steel hub. Light weight aluminum alloy hub can make the vehicle power better, and the vehicle is fuel-efficient and has good heat dissipation. The above-mentioned rim processing transfer device increases the transfer amount of the rim by stacking the rims together for transportation. When the bottom rim needs to be taken out, the rims stacked above need to be removed, which is labor-intensive and inconvenient to take. To solve the above problems, a rim processing transfer device is proposed in this application. The above patent can prove the defects of the prior art. Therefore, we propose a robot gripper anti-mark rim transfer device. SUMMARY

[0004] The present application aims to provide a robot gripper anti-mark wheel rim transfer device to solve the problems raised in the background art.

[0005] To achieve the above object, the present application provides the following technical solution: a robot gripper anti-mark wheel rim transfer device, comprising a mechanical arm, a clamping block fixedly installed at the end of the mechanical arm, and an I-shaped block clamped by the clamping block, a mounting plate fixedly installed at the bottom of the I-shaped block, and a ring pipe sealingly provided on the outer side of the mounting plate, and a flexible clamping assembly provided on the inner side of the ring pipe and achieving wrap-around clamping through gas expansion.

[0006] Preferably, the clamping assembly comprises a rubber bag provided in the inner cavity of the ring pipe, a center plate provided in the middle of the inner cavity of the rubber bag, a driving motor fixedly installed at the top of the center plate, and the top of the driving motor fixedly connected with the bottom of the mounting plate, and a plurality of recesses arrayed on the outer side of the center plate.

[0007] Preferably, a second sleeve shaft is rotatably sleeved on the outer side of the center plate, the center plate is rotatably sleeved with the second sleeve shaft through the recesses, a third telescopic shaft is penetratingly sleeved in the second sleeve shaft, and an elastic arc plate is rotatably sleeved on the outer side of the end of the third telescopic shaft away from the center plate.

[0008] Preferably, a second spring is fixedly installed at one end of the third telescopic shaft in the second sleeve shaft, the other end of the second spring is fixedly connected with the inner side of the second sleeve shaft, a side slot and a clamping slot are respectively formed in the side wall of the second sleeve shaft and the third telescopic shaft, and the side slot and the clamping slot are matched.

[0009] Preferably, a right-angle shaft is provided on the outer side of the second sleeve shaft, one end of the right-angle shaft is fixedly connected with the outer side of the center plate, and the other end of the right-angle shaft extends to the side wall of the second sleeve shaft through the side slot.

[0010] Preferably, a movable shaft is fixedly installed on one side of the end of the second sleeve shaft away from the third telescopic shaft, a plurality of inwardly extending sleeving grooves are arrayed on the outer side of the center plate, and the sleeving grooves are communicated with the recesses, the center plate is rotatably sleeved with the movable shaft through the sleeving grooves, and an extension circular shaft is provided on the other side of the second sleeve shaft, and the center plate is rotatably sleeved with the second sleeve shaft through the extension circular shaft.

[0011] Preferably, a third spring is sleeved on the outer side of the movable shaft, and the two ends of the third spring are respectively fixedly connected with the outer side of the second sleeve shaft and the inner side of the center plate.

[0012] Preferably, the bottom of the elastic arc plate is connected with the inner side of the rubber bag, the top of the elastic arc plate is connected with the bottom of the mounting plate, the inner side of the elastic arc plate is fixedly provided with a connecting ball rod near the side of the third telescopic shaft, the outer side of the connecting ball rod is rotatably sleeved with the first telescopic shaft, the outer side of the first telescopic shaft is sleeved with the first sleeve shaft, the top of the first sleeve shaft is rotatably sleeved with the bottom of the mounting plate, and the outer side of one end of the first telescopic shaft is perpendicularly provided with an extension plate.

[0013] Preferably, the inside of the first telescopic shaft is through-sleeved with the second telescopic shaft, one end of the second telescopic shaft is fixedly connected with the inner side of the first sleeve shaft, the outer side of the second telescopic shaft is symmetrically provided with a connecting shaft, the inner side of the first telescopic shaft is symmetrically provided with a screw groove in a spiral shape, the first telescopic shaft is sleeved with the connecting shaft through the screw groove, the outer side of one end of the second telescopic shaft is sleeved with the first spring, and the two ends of the first spring are fixedly connected with one end of the first telescopic shaft and the inner side of the first sleeve shaft respectively.

[0014] Preferably, the top of the mounting plate is fixedly provided with an air pump, and the top of the mounting plate is through-provided with a pressure relief valve away from the air pump, the top of the inner side of the ring pipe is provided with a sealing groove, the ring pipe is sleeved with the mounting plate through the sealing groove, and the inner side of the ring pipe is provided with a sealing gasket.

[0015] Compared with the prior art, the present application has the following advantages: 1. The rubber bag arranged in the ring pipe cooperates with the air pump to utilize the gas expansion principle to drive the elastic arc plate and the telescopic shaft system to expand outward, so that the rubber bag is tightly attached to the inner wall curved surface of the rim to form uniform and omnidirectional flexible contact, thereby completely avoiding the point contact or line contact of the rigid clamping jaw with the surface of the rim and fundamentally eliminating the surface damage problems such as indentation and scratch.

[0016] 2. Through the cooperative action of the driving motor, the second sleeve shaft, the third telescopic shaft, the right angle shaft and the clamping groove and other components, the controllable locking of the clamping state is realized; when rotating clockwise, the mechanism is kept free to facilitate flexible wrapping; when rotating counterclockwise, the telescopic shaft is locked through the clamping structure to prevent loosening caused by vibration or posture change during transfer, thereby ensuring the stability and safety of the rim during high-speed transfer.

[0017] 3. The telescopic shaft is driven by gas expansion, can flexibly pass through the middle gap of the rim, and is clamped at the bottom of the rim by using the rotatable extension plate structure, so that the bottom layer of the rim is directly extracted, and there is no need to move the upper rims layer by layer, thereby greatly reducing the labor intensity and improving the transfer efficiency, and the present application is especially suitable for the multi-layer rim storage and scheduling scene in the automatic production line.

[0018] 4、Adopt the modular design's clamping assembly and adjustable telescopic axle system, can according to different rim size automatically adjust clamping radius and contact angle, with good size adaptability, at the same time, the device realizes quick disassembly and assembly through mechanical arm and clamp block, is convenient for integration in existing robot workstation, expands application scene, through setting pressure relief valve and multistage spring buffer structure, can automatically relieve pressure when clamping force is over limit, prevents the damage of component or rim deformation due to overpressure. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 It is a structural schematic view of a robot gripper anti-mark rim transfer device. Figure 2 It is an explosion view of the connecting structure of the clamp block and the I-shaped block of the application. Figure 3 It is an explosion view of the connecting structure of the mounting plate and the ring tube of the application. Figure 4 It is a sectional view of the internal structure of the ring tube of the application. Figure 5 It is an explosion view of the structure of the clamping assembly of the application. Figure 6 It is an explosion view of the connecting structure of the inner side of the elastic arc plate of the application. Figure 7 It is an explosion view of the connecting structure of the second telescopic shaft of the application. Figure 8 It is an explosion view of the connecting structure of the outer side of the third telescopic shaft of the application. Figure 9 It is a schematic view of the connecting structure of the outer side of the second sleeve shaft of the application.

[0020] In the figure: 1, mechanical arm; 2, clamp block; 3, I-shaped block; 4, mounting plate; 5, air pump; 6, pressure relief valve; 7, ring tube; 8, sealing groove; 9, sealing gasket; 10, clamping assembly; 1001, rubber bag; 1002, center plate; 1003, driving motor; 1004, elastic arc plate; 1005, first sleeve shaft; 1006, first telescopic shaft; 1007, extension plate; 1008, connecting ball rod; 1009, second telescopic shaft; 1010, first spring; 1011, threaded groove; 1012, connecting shaft; 1013, sleeving groove; 1014, second sleeve shaft; 1015, side groove; 1016, third telescopic shaft; 1017, clamping groove; 1018, right-angle shaft; 1019, second spring; 1020, movable shaft; 1021, third spring. DETAILED DESCRIPTION

[0021] With reference to the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of the present application.

[0022] With reference to the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of the present application. Figure 1 Figure 9 As shown in the drawings, the present application provides a technical solution: a robot gripper anti-mark rim transfer device, comprising a mechanical arm 1, a clamping block 2 fixedly installed at the end of the mechanical arm 1, and an I-shaped block 3 clamped by the clamping block 2, characterized in that: the bottom of the I-shaped block 3 is fixedly installed with a mounting plate 4, and the outer side of the mounting plate 4 is sealingly sleeved with a ring pipe 7, and the inner side of the ring pipe 7 is provided with a flexible clamping assembly 10 for wrapping clamping through gas expansion. Through the cooperation of the rubber bag arranged in the ring pipe and the air pump, the elastic arc plate and the telescopic shaft system are expanded outward by using the gas expansion principle, so that the rubber bag is tightly attached to the inner wall curve of the rim, forming uniform and omnidirectional flexible contact, completely avoiding the point contact or line contact between the rigid gripper and the surface of the rim, and fundamentally eliminating the surface damage problems such as indentation and scratch.

[0023] In the preferred technical solution of the present embodiment, with reference to the drawings Figure 5 Figure 8 and Figure 9 As shown in the drawings, the clamping assembly 10 comprises a rubber bag 1001 arranged in the inner cavity of the ring pipe 7, a center plate 1002 arranged in the inner cavity of the rubber bag 1001, a driving motor 1003 fixedly installed at the top of the center plate 1002, and the bottom of the mounting plate 4 is fixedly connected with the top of the driving motor 1003, and the outer side of the center plate 1002 is arrayed with a plurality of recesses.

[0024] Further, the outer side of the center plate 1002 is rotatably sleeved with a second sleeve shaft 1014, the center plate 1002 is rotatably sleeved with the second sleeve shaft 1014 through the recess, the inside of the second sleeve shaft 1014 is penetratively sleeved with a third telescopic shaft 1016, and the outer side of the end of the third telescopic shaft 1016 away from the center plate 1002 is rotatably sleeved with an elastic arc plate 1004.

[0025] Further, the end of the third telescopic shaft 1016 located in the inside of the second sleeve shaft 1014 is fixedly installed with a second spring 1019, the other end of the second spring 1019 is fixedly connected with the inner side of the second sleeve shaft 1014, and the side wall of the second sleeve shaft 1014 and the third telescopic shaft 1016 is respectively provided with a side slot 1015 and a clamping slot 1017, and the side slot 1015 and the clamping slot 1017 are matched.

[0026] ​​Further, the outer side of the second sleeve shaft 1014 is provided with a right angle shaft 1018, one end of the right angle shaft 1018 is fixedly connected with the outer side of the center plate 1002, and the other end of the right angle shaft 1018 extends to the side wall of the second sleeve shaft 1014 through the side slot 1015.

[0027] Further, the side away from one end of the third telescopic shaft 1016 of the second sleeve shaft 1014 is fixedly installed with a movable shaft 1020, the outer side of the center plate 1002 is arrayed with an inwardly extending sleeve slot 1013, and the sleeve slot 1013 is communicated with the groove, the center plate 1002 is rotationally sleeved with the movable shaft 1020 through the sleeve slot 1013, and the other side of the second sleeve shaft 1014 is provided with an extension circular shaft, and the center plate 1002 is rotationally sleeved with the second sleeve shaft 1014 through the extension circular shaft.

[0028] Further, the outer side of the movable shaft 1020 is sleeved with a third spring 1021, and the two ends of the third spring 1021 are respectively fixedly connected with the outer side of the second sleeve shaft 1014 and the inner side of the center plate 1002. Through the cooperative action of the driving motor, the second sleeve shaft, the third telescopic shaft and the right angle shaft, the clamping state is realized. When rotating clockwise, the holding mechanism is free, which is convenient for flexible wrapping. When rotating counterclockwise, the telescopic shaft is locked through the clamping structure, which prevents loosening caused by vibration or posture change during transfer, and ensures the stability and safety of the rim during high-speed transfer. During use, the driving motor 1003 is started, at this time, the rotation direction of the driving motor 1003 can be selected, when the driving motor 1003 drives the center plate 1002 to rotate clockwise, at this time, the center plate 1002 provides a torsion force for the second sleeve shaft 1014 through the groove provided on the outer side of the center plate 1002, and provides a torsion force for the third telescopic shaft 1016 through the second sleeve shaft 1014, thereby avoiding the reverse movement of the second sleeve shaft 1014 and the third telescopic shaft 1016 during expansion, so as to cause the right angle shaft 1018 to be clamped with the side slot 1015 and the clamping groove 1017, and then the second sleeve shaft 1014 and the third telescopic shaft 1016 are clamped. When the driving motor 1003 drives the center plate 1002 to rotate counterclockwise, the center plate 1002 first presses the third spring 1021 under the limitation of the elastic arc plate 1004, so that the movable shaft 1020 moves to the inside of the sleeve slot 1013, and drives the second sleeve shaft 1014 and the third telescopic shaft 1016 to move, so that the side slot 1015 and the clamping groove 1017 are clamped with the right angle shaft 1018, and then the second sleeve shaft 1014 and the third telescopic shaft 1016 are clamped, so as to avoid the telescopic movement of the third telescopic shaft 1016.

[0029] In the preferred technical scheme of the embodiment, please refer to Figure 5 ,Figure 6 As shown in Figure 7 The bottom of the elastic arc plate 1004 is connected with the inner side of the rubber bag 1001, the top of the elastic arc plate 1004 is connected with the bottom of the mounting plate 4, the inner side of the elastic arc plate 1004 is fixedly installed with a connecting ball rod 1008 near one side of the third telescopic shaft 1016, the outer side of the connecting ball rod 1008 is rotatably sleeved with the first telescopic shaft 1006, the outer side of the first telescopic shaft 1006 is sleeved with the first sleeve shaft 1005, the top of the first sleeve shaft 1005 is rotatably sleeved with the bottom of the mounting plate 4, and the one end of the first telescopic shaft 1006 located outside the first sleeve shaft 1005 is perpendicularly installed with an extension plate 1007.

[0030] Further, the inside of the first telescopic shaft 1006 is sleeved with the second telescopic shaft 1009, one end of the second telescopic shaft 1009 is fixedly connected with the inner side of the first sleeve shaft 1005, the outer side of the second telescopic shaft 1009 is symmetrically installed with a connecting shaft 1012, the inner side of the first telescopic shaft 1006 is symmetrically provided with a threaded groove 1011 in a spiral shape, the first telescopic shaft 1006 is sleeved with the connecting shaft 1012 through the threaded groove 1011, one end of the outer side of the second telescopic shaft 1009 is sleeved with a first spring 1010, and the two ends of the first spring 1010 are respectively fixedly connected with one end of the first telescopic shaft 1006 and the inner side of the first sleeve shaft 1005.

[0031] In the preferred technical solution of the embodiment, please refer to Figure 3 As shown in Figure 4 The top of the mounting plate 4 is fixedly installed with the air pump 5, one side of the top of the mounting plate 4 away from the air pump 5 is penetratedly installed with the pressure relief valve 6, the top of the inner side of the ring pipe 7 is provided with the sealing groove 8, the ring pipe 7 is sleeved with the mounting plate 4 through the sealing groove 8, the inner side of the ring pipe 7 is provided with the sealing gasket 9, and the top of the sealing gasket 9 is in contact with the bottom of the mounting plate 4. The sealing groove 8 cooperates with the sealing gasket 9 to seal the connection between the mounting plate 4 and the ring pipe 7. The clamping assembly adopting the modular design and the adjustable telescopic shaft system can automatically adjust the clamping radius and the contact angle according to different rim sizes, and has good size adaptability. Meanwhile, the device is quickly disassembled through the mechanical arm and the clamping block, is convenient for being integrated into the existing robot workstation, expands the application scene, and automatically releases pressure when the clamping force is over-limit through the setting of the pressure relief valve and the multi-stage spring buffer structure, so as to prevent the damage of the assembly or the deformation of the rim caused by overpressure. In use, the gas pump 5 continuously supplies gas to the inside of the rubber bag 1001, increasing the internal pressure, and as the internal pressure of the rubber bag 1001 increases, the rubber bag 1001 continuously expands, and in turn pulls the elastic arc plate 1004 to bend and deform, thereby driving the first telescopic shaft 1006 and the third telescopic shaft 1016 rotatingly sleeved with the elastic arc plate 1004 to extend outward, thereby penetrating the gap in the middle of the rim, and when the first telescopic shaft 1006 extends outward, the threaded groove 1011 in the inside of the first telescopic shaft 1006 cooperates with the connecting shaft 1012 to realize stretching while rotating, thereby driving the extension plate 1007 to rotate, and when the first telescopic shaft 1006 penetrates the gap in the rim, the extension plate 1007 also completes rotation, thereby being clamped at the bottom of the rim, and at this time, as the gas continuously expands, the rubber bag 1001 also wraps around the outside of the rim, thereby wrapping and clamping the rim, and in combination with the clamping assembly 10, realizing flexible contact clamping, thereby avoiding the generation of marks, and also better protecting the rim during transfer.

[0032] It should be noted that the relational terms herein such as first and second, and the like, are used solely to distinguish one from another entity or action, without necessarily requiring or implying any such actual relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus.

[0033] Although embodiments of the present application have been shown and described, it is to be understood that various modifications, substitutions, replacements and changes can be made to these embodiments without departing from the principles and spirit of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A robot gripper anti-marking rim transfer device, comprising a mechanical arm (1), a clamping block (2) fixedly installed at the end of the mechanical arm (1), and an I-beam block (3) clamped by the clamping block (2), characterized in that: The bottom of the I-shaped block (3) is fixedly provided with a mounting plate (4), and the outer side of the mounting plate (4) is sealingly provided with a ring pipe (7), and the inner side of the ring pipe (7) is provided with a flexible clamping assembly (10) which realizes wrapping clamping through gas expansion.

2. The robot gripper anti-mark wheel rim transfer device of claim 1, wherein: The clamping assembly (10) comprises a rubber bag (1001) arranged in the inner cavity of the ring pipe (7), and the middle part of the inner cavity of the rubber bag (1001) is provided with a center plate (1002), and the top of the center plate (1002) is fixedly provided with a driving motor (1003).

3. The robot gripper anti-mark wheel rim transfer device of claim 2, wherein: The outer side of the center plate (1002) is rotatably sleeved with a second sleeve shaft (1014), the inner part of the second sleeve shaft (1014) is penetratingly sleeved with a third telescopic shaft (1016), and the outer side of the end of the third telescopic shaft (1016) away from the center plate (1002) is rotatably sleeved with an elastic arc plate (1004).

4. The robot gripper anti-mark wheel rim transfer device of claim 3, wherein: The end of the third telescopic shaft (1016) located in the inner part of the second sleeve shaft (1014) is fixedly provided with a second spring (1019), the other end of the second spring (1019) is fixedly connected with the inner side of the second sleeve shaft (1014), and the side wall of the second sleeve shaft (1014) and the third telescopic shaft (1016) is respectively provided with a side slot (1015) and a clamping groove (1017).

5. The robot gripper anti-mark wheel rim transfer device of claim 4, wherein: The outer side of the second sleeve shaft (1014) is provided with a right-angle shaft (1018), one end of the right-angle shaft (1018) is fixedly connected with the outer side of the center plate (1002), and the other end of the right-angle shaft (1018) extends to the side wall of the second sleeve shaft (1014) through the side slot (1015).

6. The robot gripper anti-mark wheel rim transfer device of claim 5, wherein: The side of the end of the second sleeve shaft (1014) away from the third telescopic shaft (1016) is fixedly provided with a movable shaft (1020), the outer side of the center plate (1002) is arrayed with a sleeving groove (1013) extending inwards, and the center plate (1002) is rotatably sleeved with the movable shaft (1020) through the sleeving groove (1013).

7. The robot gripper anti-mark wheel rim transfer device of claim 6, wherein: The outer side of the movable shaft (1020) is sleeved with a third spring (1021), and the two ends of the third spring (1021) are respectively fixedly connected with the outer side of the second sleeve shaft (1014) and the inner side of the center plate (1002).

8. The robot gripper anti-mark wheel rim transfer device of claim 7, wherein: The inner side of the elastic arc plate (1004) is fixedly provided with a connecting ball rod (1008) close to the third telescopic shaft (1016), the outer side of the connecting ball rod (1008) is rotatably sleeved with a first telescopic shaft (1006), the outer side of the first telescopic shaft (1006) is sleeved with a first sleeve shaft (1005), the top of the first sleeve shaft (1005) is rotatably sleeved with the bottom of the mounting plate (4), and the end of the first telescopic shaft (1006) located outside the first sleeve shaft (1005) is perpendicularly provided with an extension plate (1007).

9. The robot gripper anti-mark wheel rim transfer device of claim 8, wherein: The inside of the first telescopic shaft (1006) is sleeved with a second telescopic shaft (1009), the outer side of the second telescopic shaft (1009) is symmetrically provided with a connecting shaft (1012), the inner side of the first telescopic shaft (1006) is symmetrically provided with a screw thread groove (1011) in a spiral shape, the first telescopic shaft (1006) is sleeved with the connecting shaft (1012) through the screw thread groove (1011), one end of the outer side of the second telescopic shaft (1009) is sleeved with a first spring (1010), and the two ends of the first spring (1010) are fixedly connected with one end of the first telescopic shaft (1006) and the inner side of the first sleeve shaft (1005) respectively.

10. The robot gripper anti-mark wheel rim transfer device of claim 1, wherein: The top of the mounting plate (4) is fixedly provided with an air pump (5), a pressure relief valve (6) is penetratingly mounted on the top of the mounting plate (4) away from the air pump (5), the inner side of the ring pipe (7) is provided with a sealing groove (8) in the top, the ring pipe (7) is sleeved with the mounting plate (4) through the sealing groove (8), and the inner side of the ring pipe (7) is provided with a sealing gasket (9).

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