Bidirectional synchronous gripper and gripping method thereof

Abstract

The invention provides a bidirectional synchronous gripper and a gripping method thereof, and relates to the technical field of mechanical equipment.The bidirectional synchronous gripper comprises a base, a guide rail is arranged on the surface of the top of the base, a first connecting block is slidably connected to one side of the guide rail, a second connecting block is slidably connected to the other side of the guide rail, a mounting hole is formed in the surface of the base, and an air cylinder is fixed in the mounting hole; the tail end of a piston rod of the air cylinder is connected with a first connecting block, a first rack is arranged on the side, facing the second connecting block, of the first connecting block in an extending mode and meshed with a gear, and a second rack is meshed with the opposite side, deviating from the first rack, of the gear and fixedly connected with the second connecting block. Clamping assemblies are arranged on the top face of the first connecting block and the top face of the second connecting block correspondingly, the technical problem that long-stroke two-way synchronization precision is insufficient is solved, and the technical effects that long-stroke automatic synchronous clamping is achieved, the overall structure is simplified, and the device is suitable for industrial heavy-load grabbing are achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical equipment, in particular to a bidirectional synchronous gripper and a gripping method thereof. BACKGROUND

[0002] The gripper is used as an end effector of a robot, and mainly undertakes gripping, positioning and carrying of cylindrical pipes and large structural parts.

[0003] The transmission and driving structure of the existing gripper is mainly a multi-link transmission with hydraulic or pneumatic power source, and power is transmitted to the double-sided gripper through multiple link assemblies, and the opening and closing actions are realized by the rigid constraint of the mechanical link. In addition, some lightweight grippers adopt belt transmission or synchronous pulley structure to realize synchronous gripping through flexible transmission, but such structures are mainly applied to small and medium load scenes.

[0004] However, the existing gripper has insufficient bidirectional synchronization accuracy in actual application. The multi-link transmission structure is affected by the gap between the links and the assembly error, and the double-sided gripper is prone to action delay or displacement deviation during opening and closing, which causes the workpiece to be unable to be accurately centered. Especially in long-stroke action, the synchronization error will accumulate with the increase of stroke. Moreover, the existing gripper is mainly suitable for small load or medium load scenes, and it is difficult to meet the gripping demand of heavy objects with high carrying capacity in industrial automation. SUMMARY

[0005] The present application aims to provide a bidirectional synchronous gripper and a gripping method thereof to alleviate the technical problem of insufficient long-stroke bidirectional synchronization accuracy in the prior art.

[0006] The present application provides a bidirectional synchronous gripper, comprising a base, a guide rail, a first connecting block, a gas cylinder, a first rack, a gear, a second rack, a second connecting block and a gripping assembly. The top surface of the base is provided with a guide rail, the first connecting block is slidably connected to one side of the guide rail, the second connecting block is slidably connected to the other side of the guide rail, the surface of the base is provided with a mounting hole, the gas cylinder is fixed in the mounting hole, the piston rod of the gas cylinder is connected to the first connecting block, the first connecting block is provided with the first rack on the side facing the second connecting block, the first rack is engaged with the gear, the gear is engaged with the second rack on the opposite side away from the first rack, the second rack is fixedly connected to the second connecting block, and the top surfaces of the first connecting block and the second connecting block are provided with the gripping assembly.

[0007] Further, the gripping assembly comprises a vertical connecting rod, an L-shaped connecting rod and a chuck. The vertical connecting rod is arranged in the middle part of the surface of the first connecting block and the second connecting block, one straight angle side of the L-shaped connecting rod is fixed on the top surface of the first connecting block and the second connecting block, and the other straight angle side of the L-shaped connecting rod extends in a direction perpendicular to the vertical connecting rod. The ends of the two vertical connecting rods and the two L-shaped connecting rods are provided with clamping heads for clamping workpieces.

[0008] Further, the clamping head is V-shaped, and the opening angle of the clamping head is 60°-90°.

[0009] Further, the base is provided with limiting seats at both ends, one limiting seat is located at the limit position of the movement track of the first connecting block, and the other limiting seat is located at the limit position of the movement track of the second connecting block, and rubber pads are attached to the side of the two limiting seats facing the first connecting block and the second connecting block.

[0010] Further, the bottom of the base is fixedly connected with a connecting plate, and the middle of the bottom surface of the connecting plate is fixedly connected with a quick-change disc.

[0011] Further, one side edge of the bottom of the connecting plate is provided with a 24-core interface for leading out the sensor signals of the clamping jaws.

[0012] Further, the other side edge of the bottom of the connecting plate is provided with a pneumatic control assembly for controlling the electromagnetic valve of the air cylinder.

[0013] The application provides a clamping method of a bidirectional synchronous gripper, which uses the bidirectional synchronous gripper, and comprises the following steps: Step 1: according to the width of the workpiece, the first connecting block is driven by the air cylinder to move linearly to the middle along the guide rail, the first rack drives the gear to rotate, and the second rack moves reversely with equal displacement to drive the second connecting block to move; Step 2: when the clamping assembly reaches the predetermined closing stroke or contacts the workpiece, the air cylinder continues to output pressure to lock the clamping block; Step 3: when the clamping assembly is released, the air cylinder retracts, the first connecting block and the second connecting block move reversely, the clamping assembly is opened, and the workpiece is released.

[0014] Further, in step 2, when the thickness of the workpiece has an error, the number of adjusting washers on the clamping assembly is increased or decreased to keep the clamping surfaces of the two clamping assemblies parallel, and then the workpiece is clamped.

[0015] Beneficial effects: The bidirectional synchronous gripper and the clamping method thereof can convert the unilateral linear power of the air cylinder into the symmetrical reverse movement of the first connecting block and the second connecting block through the meshing of the rack and the gear, so that the two clamping assemblies always keep synchronous opening and closing. The opening and closing strokes of the clamping jaws are freely adjusted by the air cylinder stroke, the clamping range is wide, and the heavy workpiece of different sizes can be adapted. The synchronous driving of the gear and the rack avoids the synchronization error, and the two clamping jaws always keep symmetrical centering. The overall structure is compact, the synchronization precision is high, a larger stroke range and clamping load can be realized under the same volume. The synchronous centering clamping jaws can ensure that the left and right clamping jaws clamp the workpiece at the same time and at the same distance, so that the clamping process is stable and reliable, and the workpiece is not eccentrically stressed.

[0016] The gas cylinder is fixed by embedding the mounting hole on the base surface, the gear and rack transmission mechanism is integrated in the space beside the guide rail on the top of the base, compared with the design of reserving long axial space for screw transmission and arranging complex pipeline for hydraulic transmission, the overall structure is more simple and compact, and the space occupied by the equipment is significantly reduced.

[0017] The gas cylinder adopts a large-diameter gas cylinder, and has powerful power and can output large thrust. Combined with the rigid structure and centering support design, the whole claw can bear hundreds of kilograms of load. The claw structure is simple and has strong bearing capacity, and meets the grabbing demand of large mechanical equipment. In addition, the mechanism can be applied to various automatic feeding and discharging systems or machine tool clamps, and is especially suitable for clamping and centering cylindrical or approximately symmetrical workpieces. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings needed to be used in the specific embodiments or prior art description. Obviously, the drawings described below are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0019] Figure 1 The structure schematic diagram of the bidirectional synchronous gripper provided by the embodiment of the present application is shown. Figure 2 The flowchart of the bidirectional synchronous gripper grabbing method provided by the embodiment of the present application is shown.

[0020] Figure legend: 1-base; 2-guide rail; 3-first connecting block; 4-gas cylinder; 5-first rack; 6-gear; 7-second rack; 8-second connecting block; 9-clamping assembly; 901-vertical connecting rod; 902-L-shaped connecting rod; 903-chuck; 10-limiting seat; 101-connecting plate; 11-quick change disc; 12-24-core interface; 13-pneumatic control assembly. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical scheme and advantages of the embodiments of the present application more clear, the technical scheme in the embodiments of the present application will be described clearly and completely below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0022] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0023] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0024] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this invention is in use. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention. In addition, the terms "first," "second," "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0025] Furthermore, terms such as "horizontal," "vertical," and "sag" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0026] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0027] The following detailed description of some embodiments of the present invention is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0028] Example 1 like Figure 1 As shown, the present invention discloses a bidirectional synchronous gripper, comprising: a base 1, a guide rail 2, a first connecting block 3, a cylinder 4, a first rack 5, a gear 6, a second rack 7, a second connecting block 8, and a gripping assembly 9. The base 1 top surface is provided with guide rail 2, one side of guide rail 2 is slidably connected with first connecting block 3, the other side of guide rail 2 is slidably connected with second connecting block 8, the surface of base 1 is provided with mounting hole, the mounting hole is fixedly connected with air cylinder 4, the piston rod of air cylinder 4 is connected with first connecting block 3, the side of first connecting block 3 facing second connecting block 8 is provided with first rack 5, first rack 5 is engaged with gear 6, the other side of gear 6 away from first rack 5 is engaged with second rack 7, second rack 7 is fixedly connected with second connecting block 8, the top surface of first connecting block 3 and second connecting block 8 is provided with clamping assembly 9.

[0029] Specifically, base 1 is in the form of a plate horizontally placed, the top surface of which is provided with guide rail 2 along the length direction, which forms a guide path for the sliding of first connecting block 3 and second connecting block 8. First connecting block 3 is slidably embedded in the groove on one side of guide rail 2 and smoothly slides along the length direction of guide rail 2; second connecting block 8 is correspondingly slidably connected in the groove on the other side of guide rail 2, and first connecting block 3 and second connecting block 8 are mirror images distributed with the center line of base 1 as the axis of symmetry. A through mounting hole is provided on the surface of base 1, air cylinder 4 is fixedly connected with the bolt hole at the edge of the mounting hole through a flange, the cylinder body of which is vertically embedded in the interior of base 1, the piston rod of which extends horizontally and is hingedly connected with the lug seat at the bottom of first connecting block 3 through a shaft pin, realizing power transmission. The side wall of first connecting block 3 facing second connecting block 8 is fixedly provided with horizontally extending first rack 5, the tooth surface of which faces backward and is engaged with gear 6 which is rotatably installed in the bearing seat in the middle of base 1; the other side of gear 6 away from first rack 5 is engaged with second rack 7, the tooth surface of which faces forward and is fixedly connected with the side wall of second connecting block 8. The top surface of first connecting block 3 and second connecting block 8 is respectively provided with a set of clamping assemblies 9, the clamping surfaces of which are oppositely arranged and can be connected with workpieces when acting synchronously.

[0030] The sliding cooperation of guide rail 2 and connecting block provides stable guide constraint for clamping assembly 9, and the engagement transmission of gear 6 and double racks enables the unilateral driving force of air cylinder 4 to be converted into the symmetrical reverse motion of first connecting block 3 and second connecting block 8, without the need to increase the size of the device to realize full stroke motion. The opening and closing stroke of the clamping jaw is freely adjustable by the stroke of air cylinder 4, the clamping range is wide, and it can adapt to heavy workpieces of different sizes. The synchronous driving of gear 6 and double racks avoids synchronization error, and can always keep the two clamping jaws symmetrical and centered, which is conducive to the stable clamping and positioning of workpieces during machining. The compact structure and high synchronization accuracy can realize a larger stroke range and clamping load in the same volume. The synchronous and centered clamping jaw designed in this way can ensure that the left and right clamping jaws clamp the workpiece simultaneously and equidistantly, making the clamping process stable and reliable without eccentric force. The compact arrangement of gear 6 and double racks in this invention saves space by adopting single-layer layout design. Compared with traditional multi-link and sleeve type synchronous structures, the device has a small size, which is convenient for equipment integration.

[0031] In addition, the cylinder 4 adopts a large-diameter cylinder, which is powerful and can output large thrust. Combined with the rigid structure and centering support design, the whole clamping jaw can bear hundreds of kilograms of load. The clamping assembly 9 has simple structure and strong carrying capacity, and meets the clamping requirements of large mechanical equipment. In addition, the mechanism can be applied to various automatic feeding and discharging systems or machine tool clamps, and is especially suitable for clamping and centering cylindrical or approximately symmetrical workpieces.

[0032] Embodiment 2 In the embodiment of the present application, the clamping assembly 9 comprises a vertical connecting rod 901, an L-shaped connecting rod 902, and a chuck 903. The vertical connecting rod 901 is arranged in the middle of the surface of the first connecting block 3 and the second connecting block 8, respectively, and the straight angle edge of the L-shaped connecting rod 902 is fixed to the top surface of the first connecting block 3 and the second connecting block 8, and the other straight angle edge of the L-shaped connecting rod 902 extends along the vertical direction of the vertical connecting rod 901. The ends of the two vertical connecting rods 901 and the two L-shaped connecting rods 902 are provided with chucks 903 for clamping workpieces.

[0033] The chuck 903 is in V shape, and the opening angle of the chuck 903 is 60°-90°.

[0034] Specifically, the two vertical connecting rods 901 are columnar, and the bottom ends thereof are fixed vertically to the middle positions of the top surfaces of the first connecting block 3 and the second connecting block 8 by bolts, respectively. The L-shaped connecting rod 902 is composed of two mutually perpendicular plate bodies, one straight angle edge of which is fixed to the edge of the top surface of the first connecting block 3 and the second connecting block 8 by welding or a bolt, and is distributed in parallel with the vertical connecting rod 901, and the other straight angle edge extends (forward) along the horizontal direction perpendicular to the vertical connecting rod 901 to the clamping center, forming a lateral support for the workpiece. The top ends of the two vertical connecting rods 901 and the extension ends of the two L-shaped connecting rods 902 are both provided with chucks 903, and the four groups of chucks 903 are symmetrically distributed, the chucks 903 on the vertical connecting rods 901 are located in the up-down direction of the workpiece, the chucks 903 on the L-shaped connecting rods 902 are located in the left-right direction of the workpiece, forming a surrounding clamping structure. The chuck 903 adopts V shape structure, and the opening angle thereof is 60°-90°, preferably 60°, and the inner side wall is provided with anti-skid lines.

[0035] The combination of the vertical connecting rod 901 and the L-shaped connecting rod 902 forms a multi-directional clamping point, which can form a wrapping constraint for the workpiece from the up-down and left-right directions, and can significantly improve the stability of clamping irregular workpieces such as cylindrical and polygonal workpieces compared with single-direction clamping, avoiding rotation or sliding of the workpiece during handling. The opening angle of the V-shaped chuck 903 adapts to the size range of most medium and small workpieces, and can also disperse the clamping force by increasing the contact area to protect the surface of the workpiece from being damaged.

[0036] Embodiment 3 In the embodiment of the application, the base 1 is provided with a limiting seat 10 at each end, one limiting seat 10 is located at the limit position of the movement track of the first connecting block 3, and the other limiting seat 10 is located at the limit position of the movement track of the second connecting block 8, and rubber pads are pasted on the side of the two limiting seats 10 facing the first connecting block 3 and the second connecting block 8.

[0037] The bottom of the base 1 is fixedly connected with a connecting plate 101, and the middle of the bottom surface of the connecting plate 101 is fixedly connected with the quick-change disc 11.

[0038] One side edge of the bottom of the connecting plate 101 is provided with a 24-core interface 12 for leading out sensor signals of the clamping jaw.

[0039] The other side edge of the bottom of the connecting plate 101 is provided with a pneumatic control assembly 13 for controlling the electromagnetic valve of the air cylinder 4.

[0040] Specifically, the two ends of the base 1 are symmetrically provided with limiting seats 10 along the length direction, one of the limiting seats 10 is fixed by bolts at the end position of the guide rail 2 close to the first connecting block 3, which is at the limit track end point of the outward sliding of the first connecting block 3, and the other limiting seat 10 is correspondingly fixed at the end of the guide rail 2 close to the second connecting block 8, which is aligned with the limit movement position of the outer side of the second connecting block 8. Both of the limiting seats 10 are T-shaped, and rubber pads with a thickness of 5-8 mm are pasted on the side surface facing the corresponding connecting block.

[0041] The bottom of the base 1 is fixedly connected with a horizontally extending connecting plate 101 at the central position by welding or bolts, the middle of the bottom surface of the connecting plate 101 is rigidly connected with the quick-change disc 11 through a flange plate, the quick-change disc 11 adopts a standardized interface and is quickly connected with the end effector of the robot. A 24-core interface 12 is embedded at one side edge of the bottom of the connecting plate 101, the pins inside the interface are electrically connected with the position sensor, pressure sensor and other elements on the base through wires, for centrally leading out various sensor signals; the other side edge of the bottom of the connecting plate 101 is integrated with a pneumatic control assembly 13, which includes an electromagnetic valve, a pressure gauge and a gas pipe joint, which is in communication with the gas inlet and outlet of the air cylinder 4 through a gas pipe, to realize the control of the extension and retraction action of the air cylinder 4.

[0042] The limiting seat 10 can effectively limit the maximum stroke of the connecting block, avoid the gear rack meshing out of limit or the collision of the assembly due to excessive driving; the quick change disc 11 and the connecting plate 101 are designed as a standardized interface for quickly replacing the jaw assembly or installing different centering accessories. The 24-core interface 12 is a 24-core heavy load side output interface integrated on one side of the bottom plate, which facilitates the wiring of sensor cables or actuator cables and reduces the complexity of field wiring. The pneumatic control assembly 13 and its mounting bracket are compactly arranged near the base 1, and the gas source and power supply joint wiring is reasonable, which ensures that the system is compact and easy to install and maintain.

[0043] Embodiment 4 As shown in Figure 2 The present application discloses a kind of grabbing methods of bidirectional synchronous gripper, which is based on the bidirectional synchronous gripper described above, comprising the following steps: Step 1, according to the width of workpiece, cylinder 4 drives first connecting block 3 to move linearly along guide rail 2 to the middle, first rack 5 drives gear 6 to rotate, second rack 7 moves reversely with equal displacement, drives second connecting block 8 to move; Specifically, according to the width parameter of the workpiece to be grabbed, the control system sends a driving signal to the pneumatic control assembly 13, and the electromagnetic valve in the pneumatic control assembly 13 acts to control the air inlet of the rodless cavity of the cylinder 4. The piston rod extends and pushes the first connecting block 3 to move linearly along the guide rail 2 to the middle of the base 1. The first rack 5 on the side wall of the first connecting block 3 moves synchronously, which drives the gear 6 to rotate around the bearing seat in the middle of the base 1 through meshing transmission with the gear 6. Since the gear 6 is meshed with the second rack 7 on the other side, and the first rack 5 and the second rack 7 are respectively located on both sides of the gear 6, the rotational motion of the gear 6 is converted into the reverse linear motion of the second rack 7, so that the second connecting block 8 moves synchronously to the middle along the guide rail 2 with an equal displacement amount as the first connecting block 3. At this time, the first connecting block 3 and the second connecting block 8 keep symmetrical motion through the guidance of the guide rail 2, and the clamping heads 903 of the two-sided clamping assemblies 9 are synchronized to approach until the distance is slightly greater than the width of the workpiece, completing the position calibration before grabbing.

[0044] Step 2, when the clamping assembly 9 reaches the predetermined closing stroke or contacts the workpiece, the cylinder 4 continues to output pressure to lock the clamping block. When there is an error in the thickness of the workpiece, the number of adjusting shims on the clamping assembly 9 is increased or decreased to keep the clamping surfaces of the two-sided clamping assemblies 9 parallel, and then the workpiece is grabbed.

[0045] Specifically, when the V-shaped chuck 903 of the clamping assembly 9 moves to a predetermined closing stroke or contacts the surface of the workpiece, the pneumatic control assembly 13 maintains the output pressure of the pneumatic cylinder 4, so that the piston rod remains in the extended state, thereby achieving stable locking of the workpiece. If there is a manufacturing error in the thickness of the workpiece or the surface is uneven, the thickness deviation can be compensated by adjusting the number of adjusting shims, so that the V-shaped clamping surfaces of the two clamping assemblies 903 always remain parallel, avoiding the inclination or surface damage of the workpiece due to uneven force, and further improving the clamping reliability.

[0046] Step 3, when loosening, the pneumatic cylinder 4 retracts, the first connecting block 3 and the second connecting block 8 move reversely, the clamping assembly 9 opens, and the workpiece is released.

[0047] Specifically, when the workpiece needs to be transferred to the target position, the control system sends a reverse signal to the pneumatic control assembly 13, the electromagnetic valve switches the gas circuit to make the rod cavity of the pneumatic cylinder 4 intake air, the piston rod retracts and drives the first connecting block 3 to move away from the middle along the guide rail 2. At this time, the first rack 5 moves reversely with the connecting block, and the second rack 7 drives the second connecting block 8 to move reversely synchronously through the gear 6 transmission, the V-shaped chucks 903 of the two clamping assemblies 9 gradually open, and the release process is completed, preparing for the next grabbing cycle.

[0048] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A bidirectional synchronous gripper, characterized in that, include: Base (1), guide rail (2), first connecting block (3), cylinder (4), first rack (5), gear (6), second rack (7), second connecting block (8), clamping assembly (9); The base (1) has a guide rail (2) on its top surface. The first connecting block (3) is slidably connected to one side of the guide rail (2), and the second connecting block (8) is slidably connected to the other side of the guide rail (2). The base (1) has a mounting hole, and the cylinder (4) is fixed in the mounting hole. The piston rod end of the cylinder (4) is connected to the first connecting block (3). The first rack (5) is extended on the side of the first connecting block (3) facing the second connecting block (8). The first rack (5) meshes with the gear (6). The gear (6) meshes with the second rack (7) on the opposite side away from the first rack (5). The second rack (7) is fixedly connected to the second connecting block (8). The clamping assembly (9) is provided on the top surface of both the first connecting block (3) and the second connecting block (8).

2. The bidirectional synchronous gripper according to claim 1, characterized in that, The clamping assembly (9) includes a vertical connecting rod (901), an L-shaped connecting rod (902), and a clamp (903); The vertical connecting rod (901) is respectively disposed in the middle of the surface of the first connecting block (3) and the second connecting block (8). One right-angled side of the L-shaped connecting rod (902) is fixed to the top surface of the first connecting block (3) and the second connecting block (8). The other right-angled side of the L-shaped connecting rod (902) extends in the direction perpendicular to the vertical connecting rod (901). The ends of the two vertical connecting rods (901) and the two L-shaped connecting rods (902) are each provided with a clamp (903) for clamping the workpiece.

3. The bidirectional synchronous gripper according to claim 2, characterized in that, The chuck (903) is V-shaped, and the opening angle of the chuck (903) is 60° to 90°.

4. The bidirectional synchronous gripper according to claim 1, characterized in that, The base (1) is provided with limiting seats (10) at both ends. One limiting seat (10) is located at the extreme position of the movement trajectory of the first connecting block (3), and the other limiting seat (10) is located at the extreme position of the movement trajectory of the second connecting block (8). Rubber pads are pasted on the side of the two limiting seats (10) facing the first connecting block (3) and the second connecting block (8).

5. The bidirectional synchronous gripper according to claim 1, characterized in that, A connecting plate (101) is fixedly connected to the bottom of the base (1), and a quick-change plate (11) is fixedly connected to the middle of the bottom surface of the connecting plate (101).

6. The bidirectional synchronous gripper according to claim 5, characterized in that, A 24-pin interface (12) is provided on one side edge of the bottom of the connecting plate (101) for leading out the sensor signal of the gripper.

7. The bidirectional synchronous gripper according to claim 6, characterized in that, A pneumatic control assembly (13) is provided on the other side edge of the bottom of the connecting plate (101) for controlling the solenoid valve of the cylinder (4).

8. A grasping method for a bidirectional synchronous gripper, characterized in that, This method uses the bidirectional synchronous gripper of any one of claims 1-7 and includes the following steps: Step 1: According to the workpiece width, the cylinder (4) drives the first connecting block (3) to move linearly towards the center along the guide rail (2), the first rack (5) drives the gear (6) to rotate, and the second rack (7) moves in the opposite direction with equal displacement, driving the second connecting block (8) to move. Step 2: When the clamping assembly (9) reaches the predetermined closed stroke or contacts the workpiece, the cylinder (4) continues to output pressure to lock the clamping block; Step 3: When released, the cylinder (4) retracts, the first connecting block (3) and the second connecting block (8) move in opposite directions, the clamping assembly (9) opens, and the workpiece is released.

9. The grasping method of the bidirectional synchronous gripper according to claim 8, characterized in that, In step 2, when there is an error in the thickness of the workpiece, the number of adjustment shims is increased or decreased on the clamping assembly (9) to keep the clamping surfaces of the clamping assembly (9) on both sides parallel before gripping.

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