Stacking manipulator based on adjustable clamping structure

Abstract

The present application relates to the technical field of manipulator, specifically to a stacking manipulator based on adjustable clamping structure, which comprises a mechanical arm, a mounting seat mounted on the mechanical arm, and a clamping component, wherein the clamping component comprises a mounting plate movably mounted on the mounting seat, the front side of the mounting plate is slidably mounted with a left-right symmetrical first clamping jaw and a second clamping jaw located at the bottom of the right first clamping jaw, and the mounting plate is mounted with a moving assembly one for driving the left and right first clamping jaws to move synchronously and reversely and a moving assembly two for driving the second clamping jaw to move up and down. The left and right first clamping jaws are driven by the moving assembly one to move towards or away from each other, so that the first clamping jaw and the second clamping jaw can conveniently clamp and carry wrist arms of different lengths. The second clamping jaw is driven by the moving assembly two to move up and down, and the rotating assembly rotates at the second clamping jaw, so that the second clamping jaw can conveniently clamp inclined wrist pipes of different inclination degrees.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical hands, in particular to a stacking mechanical hand based on an adjustable clamping structure. BACKGROUND

[0002] The wrist arm support device is one of the basic components of the catenary system. The wrist arm support device is installed on the wrist arm column, hard cross beam and tunnel hanging column, and plays the roles of bearing the contact suspension load, fixing the position of the bearing cable, connecting the fixed contact line positioning device and the like. The wrist arm support device is divided into an aluminum alloy wrist arm support device, a steel wrist arm support device and a whole wrist arm support device according to the material, structure and application range of the parts.

[0003] In the production and processing, the wrist arm pre-assembly platform combines the flat wrist pipe and the inclined wrist pipe through the sleeve double ears (the combined state is shown in Figure 9 After the production of the wrist arm pre-assembly platform is completed, the finished product wrist arm is clamped to the tray in the specified area by the unloading mechanical hand for stacking. When the wrist arm on the tray is stacked, the AGV trolley is generally used to carry the tray to the next process for subsequent processing and packaging, and then the AGV trolley carries the empty tray to the specified area for subsequent stacking of the wrist arm. In order to ensure the stability of the wrist arm placed on the tray, the top of the tray is provided with a plurality of equidistantly distributed arc-shaped grooves, and the flat wrist pipe and the inclined wrist pipe are placed in the corresponding arc-shaped grooves. However, since the tray is carried by the AGV trolley, the tray may deviate during transportation and placement, resulting in a certain misalignment of the arc-shaped grooves. Since the unloading mechanical hand stacks the wrist arm according to the set program, the wrist arm cannot be accurately placed in the arc-shaped groove, affecting the stability of the wrist arm during subsequent tray carrying. SUMMARY

[0004] In order to solve the above problems, the present application provides a stacking mechanical hand based on an adjustable clamping structure, which comprises a mechanical arm and a mounting seat mounted on the mechanical arm, and further comprises a clamping component, the clamping component comprises a mounting plate movably mounted on the mounting seat, a left and right symmetrical first clamping jaw is slidably mounted on the front side of the mounting plate, and a second clamping jaw is located at the bottom of the right first clamping jaw, a moving assembly one for driving the left and right two first clamping jaws to move synchronously and reversely is mounted on the mounting plate, a moving assembly two for driving the second clamping jaw to move up and down is mounted on the mounting plate, and a rotating assembly for driving the second clamping jaw to rotate when the second clamping jaw moves up and down is mounted on the moving assembly two.

[0005] The adjusting component comprises a movable groove symmetrically arranged on the front side of the mounting base, a movable block slidably arranged in the movable groove, the movable block fixedly arranged on the rear side of the mounting plate, and a centering spring fixedly arranged between the movable block and the inner wall of the movable groove.

[0006] In a possible implementation, the moving assembly one comprises a sliding groove one symmetrically arranged on the mounting plate, a bidirectional screw rotatably arranged in the sliding groove one, a sliding block one symmetrically arranged on the bidirectional screw, the sliding block one slidably connected with the sliding groove one, the first clamping jaw fixedly arranged on the corresponding sliding block one, and a driving motor one fixedly arranged on the rear side of the mounting plate and used for driving the bidirectional screw to rotate.

[0007] In a possible implementation, the moving assembly two comprises a movable plate fixedly arranged on the bottom of the right sliding block one, a sliding groove two arranged on the movable plate, a unidirectional screw rotatably arranged in the sliding groove two, a sliding block two arranged on the unidirectional screw, the sliding block two slidably connected with the sliding groove two, and a driving motor two fixedly arranged on the bottom of the movable plate and used for driving the unidirectional screw to rotate.

[0008] In a possible implementation, the rotating assembly comprises a rotating shaft rotatably arranged on the front side of the sliding block two, a transmission gear fixedly arranged on the outer ring wall of the rotating shaft, a transmission rack fixedly arranged on the front side of the movable plate and located on the left side of the transmission gear, the transmission rack engaged with the transmission gear, and the second clamping jaw fixedly arranged on the front side of the rotating shaft.

[0009] In a possible implementation, the mounting base comprises a limiting column slidably arranged in the mounting base and used for limiting the movable block, and a groove arranged on the side of the movable block close to the center of the mounting base and matched with the limiting column, and the mounting base comprises a pushing assembly used for driving the limiting column to move away from the center of the mounting base.

[0010] In a possible implementation, the pushing assembly comprises a concave frame fixedly connected to the end of the limiting column close to the center of the mounting base, a guide groove arranged on each vertical section of the concave frame and inclined forward at the end close to the center of the mounting base, a push plate slidably arranged in the mounting base and located between the left and right concave frames, a guide rod rotatably arranged on each end of the push plate and slidably arranged in the corresponding guide groove, and a return spring fixedly arranged between the rear side of the push plate and the inner wall of the mounting base.

[0011] In a possible implementation manner, a push rod for pushing the push plate to move rearward is slidably arranged on the front side of the mounting seat and the rear end of the push rod is slidably arranged into the interior of the mounting seat and is fixedly connected with the front side of the push plate.

[0012] In a possible implementation manner, a guide groove is arranged on the mounting plate at the bottom of the right side sliding groove, the bottom end of the movable plate is slidably connected with the guide groove, a through hole is further arranged on the mounting plate, the front end of the push rod extends to the front of the mounting plate after penetrating through the through hole, and the diameter of the through hole is greater than the diameter of the push rod.

[0013] The first clamping jaw and the second clamping jaw are used for clamping the horizontal wrist pipe and the inclined wrist pipe respectively and placing the wrist pipe on the tray, when the horizontal wrist pipe and the inclined wrist pipe are not completely aligned with the arc-shaped grooves on the tray, the first clamping jaw and the second clamping jaw drive the horizontal wrist pipe and the inclined wrist pipe to move downward, the horizontal wrist pipe and the inclined wrist pipe are in contact with the arc edges at the top of the arc-shaped grooves, the arc edges guide the horizontal wrist pipe and the inclined wrist pipe to move towards the center of the corresponding arc-shaped grooves, the horizontal wrist pipe and the inclined wrist pipe are accurately placed in the arc-shaped grooves, the stability of the wrist arm is ensured, the wrist arm moves to drive the mounting plate to move, the movable block moves in the movable groove, the centering spring is stretched or contracted under the pushing of the movable block, after the first clamping jaw and the second clamping jaw are loosened and lifted upward, the centering spring drives the movable block to move to the middle of the movable groove, and the mounting plate is conveniently reset.

[0014] 2、The moving assembly one drives the left and right first clamping jaws to move towards each other or away from each other, the distance between the left and right first clamping jaws is adjusted, the right first clamping jaw drives the second clamping jaw to move synchronously, the first clamping jaw and the second clamping jaw are convenient for clamping and carrying wrist arms of different lengths, the second clamping jaw is driven to move downward by the moving assembly two when the wrist arm is clamped, the distance between the second clamping jaw and the right first clamping jaw is adjusted, the second clamping jaw is rotated when the rotating assembly moves upward and downward, the second clamping jaw is convenient for clamping inclined wrist pipes of different inclination degrees, and after the second clamping jaw clamps the inclined wrist pipe, the moving assembly two drives the second clamping jaw to move upward, the rotating assembly drives the second clamping jaw to rotate reversely, the inclined wrist pipe can be moved to a parallel state with the horizontal wrist pipe, and the wrist arm is accurately placed on the tray. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 It is a schematic diagram of the three-dimensional structure of the present application.

[0016] Figure 2 It is a schematic diagram of the three-dimensional structure of the present application when the wrist arms are stacked.

[0017] Figure 3 It is a schematic diagram of the three-dimensional structure of the clamping component of the present application.

[0018] Figure 4 is a perspective view of the first moving assembly of the present application.

[0019] Figure 5 is a perspective view of the second moving assembly of the present application.

[0020] Figure 6 is a perspective view of the adjusting assembly of the present application.

[0021] Figure 7 is a top view of the pushing assembly of the present application.

[0022] Figure 8 is a perspective view of the movable block of the present application.

[0023] Figure 9 is a perspective view of the prior wrist arm.

[0024] In the figure: 1, mechanical arm; 11, mounting seat; 2, clamping assembly; 21, mounting plate; 211, guide groove; 212, through hole; 22, first clamping jaw; 23, first moving assembly; 231, sliding groove one; 232, bidirectional screw; 233, sliding block one; 234, driving motor one; 24, second clamping jaw; 25, second moving assembly; 251, movable plate; 252, sliding groove two; 253, unidirectional screw; 254, sliding block two; 255, driving motor two; 26, rotating assembly; 261, rotating shaft; 262, transmission gear; 263, transmission rack; 3, adjusting assembly; 31, movable slot; 32, movable block; 33, centering spring; 34, limiting column; 35, pushing assembly; 351, concave frame; 352, guide slot; 353, pushing plate; 354, guide rod; 355, return spring; 36, pushing rod. DETAILED DESCRIPTION

[0025] In order to make the above objectives, features and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application are described in detail below with reference to the accompanying drawings. In the following description, a lot of specific details are set forth in order to fully understand the present application. However, the present application can be implemented in many other ways different from those described below, and those skilled in the art can make similar improvements without departing from the spirit of the present application, so the present application is not limited to the specific embodiments disclosed below.

[0026] Please refer to Figure 1 - Figure 8The utility model provides a kind of based on adjustable clamping structure's stacking manipulator, including mechanical arm 1 and mounting seat 11 installed on mechanical arm 1, still including clamping component 2, clamping component 2 includes movable mounting on mounting seat 11 Installation plate 21, the front side sliding installation of installation plate 21 with left and right symmetrical first jaw 22 and the second jaw 24 at the bottom of right side first jaw 22, installation plate 21 is equipped with for driving the synchronous reverse movement of the first jaw 22 of left and right two first jaw 22 movement component one 23 and the movement component two 25 of driving the second jaw 24 up and down movement, movement component two 25 is equipped with the rotation component 26 of driving its rotation when the second jaw 24 up and down movement.

[0027] Adjusting component 3, adjusting component 3 includes the movable slot 31 of being opened in the front side of mounting seat 11 and left and right symmetry, movable slot 31 is slidably installed with movable block 32 in inside up and down, movable block 32 is fixedly installed on the rear side of installation plate 21, and the upper and lower sides of movable block 32 are fixedly installed with centering spring 33 between the inner wall of movable slot 31.

[0028] Specific use, before being clamped and carried to wrist arm, by movement component one 23 drive left and right two first jaw 22 move towards each other or away from each other, to adjust the distance between the two first jaw 22, the first jaw 22 of right side moves through movement component two 25 drive second jaw 24 synchronous movement, it is convenient to carry the wrist arm of different length and be clamped, by movement component two 25 drive second jaw 24 up and down activity, second jaw 24 can be deflected under the drive of rotation component 26 when up and down movement, so that second jaw 24 can be clamped to the oblique wrist pipe of different deflection degree.

[0029] Use left and right two first jaw 22 to clamp flat wrist pipe, use second jaw 24 to clamp the end of oblique wrist pipe away from sleeve double ears, after second jaw 24 clamps oblique wrist pipe, movement component two 25 drive second jaw 24 moves upwards, simultaneously, rotation component 26 drive second jaw 24 rotates, so that second jaw 24 drive oblique wrist pipe moves to parallel state with flat wrist pipe, to place wrist arm on tray, improve the application range of manipulator.

[0030] When first jaw 22 and second jaw 24 clamp wrist arm and place on tray, installation plate 21 is rotated to downward state under the drive of mechanical arm 1, when wrist arm is not completely aligned with arc-shaped groove on tray, wrist arm can drive installation plate 21 to move forward and backward in the guidance of arc-shaped groove arc edge in the process of being placed, so that wrist arm can be placed more accurately in arc-shaped groove, avoid the situation that wrist arm cannot be accurately placed in arc-shaped groove due to inaccurate placement of tray.

[0031] Please refer to Figure 3 And Figure 4The moving assembly 23 comprises two symmetrical sliding grooves 231 formed in the mounting plate 21, and a bidirectional screw 232 is rotatably installed in the two sliding grooves 231, the screw threads of the two ends of the bidirectional screw 232 are opposite, two symmetrical sliding blocks 233 are threadedly connected to the bidirectional screw 232, the sliding blocks 233 are slidably connected to the corresponding sliding grooves 231, the first clamping jaw 22 is fixedly installed on the corresponding sliding block 233, and the rear side of the mounting plate 21 is fixedly installed with a driving motor 234 for driving the bidirectional screw 232 to rotate, and the output shaft of the driving motor 234 is in transmission connection with the bidirectional screw 232 through a bevel gear set.

[0032] In specific use, the bidirectional screw 232 is driven to rotate by the driving motor 234, the sliding blocks 233 are driven to move towards or away from each other by the bidirectional screw 232, the corresponding first clamping jaw 22 is driven to move by the sliding block 233, the distance between the left and right first clamping jaws 22 can be adjusted, the sliding block 233 on the right side drives the second clamping jaw 24 to move through the moving assembly 25, and the first clamping jaw 22 and the second clamping jaw 24 can clamp wrist pipes with different lengths by adjusting the distance between the first clamping jaw 22.

[0033] Please refer to Figure 3 、 Figure 4 and Figure 5 , the moving assembly 25 comprises a movable plate 251 fixedly installed at the bottom of the right sliding block 233, a sliding groove 252 is formed in the movable plate 251, a unidirectional screw 253 is rotatably installed in the sliding groove 252, a sliding block 254 is threadedly connected to the unidirectional screw 253, the sliding block 254 is slidably connected to the sliding groove 252, and a driving motor 255 for driving the unidirectional screw 253 to rotate is fixedly installed at the bottom of the movable plate 251.

[0034] Please refer to Figure 3 and Figure 5 , the rotating assembly 26 comprises a rotating shaft 261 rotatably installed at the front side of the sliding block 254, a transmission gear 262 is fixedly installed on the outer ring wall of the rotating shaft 261, a transmission rack 263 is fixedly installed at the left side of the transmission gear 262, the transmission rack 263 is in meshing connection with the transmission gear 262, and the second clamping jaw 24 is fixedly installed at the front side of the rotating shaft 261.

[0035] In specific use, the unidirectional screw 253 is driven by the motor 255 to rotate, and the slider 254 is driven by the unidirectional screw 253 to move up and down, and the second jaw 24 is driven by the rotating shaft 261 to move up and down, so that the vertical distance between the second jaw 24 and the first jaw 22 can be adjusted. During the up-and-down movement of the slider 254, the transmission gear 262 rotates in the positive and negative directions under the drive of the transmission rack 263, and the rotating shaft 261 and the second jaw 24 are driven by the transmission gear 262 to rotate, so that the inclination angle of the second jaw 24 and the distance between the second jaw 24 and the right first jaw 22 can be adjusted. The greater the distance between the second jaw 24 and the right first jaw 22, the greater the inclination angle, which facilitates the clamping of the flat wrist pipe and the inclined elbow pipe at different opening angles by the first jaw 22 and the second jaw 24.

[0036] After clamping the flat wrist pipe and the inclined elbow pipe, the second jaw 24 can drive the inclined elbow pipe to rotate upward, so that the inclined elbow pipe can be rotated to a parallel state with the flat wrist pipe, facilitating the orderly placement of the flat wrist pipe and the inclined wrist pipe on the tray.

[0037] Please refer to Figure 6 、 Figure 7 and Figure 8 The inside of the mounting seat 11 is slidably installed with a limiting column 34 for limiting the movement of the movable block 32 and corresponding to the movable block 32. The side of the movable block 32 close to the center of the mounting seat 11 is provided with a groove matched with the limiting column 34, and the inside of the mounting seat 11 is provided with a pushing assembly 35 for driving the limiting column 34 to move away from the center of the mounting seat 11.

[0038] In specific use, the limiting column 34 is driven by the pushing assembly 35 to move away from the center of the mounting seat 11, so that one end of the limiting column 34 away from the center of the mounting seat 11 is inserted into the groove on the corresponding movable block 32, and the movable block 32 is limited by the limiting column 34, so that the movable block 32 can not slide randomly in the activity groove 31, the stability of the mounting plate 21 during clamping is ensured, and the shaking of the first jaw 22 and the second jaw 24 during carrying the wrist arm is avoided.

[0039] Please refer to Figure 6 and Figure 7The pushing assembly 35 comprises a concave frame 351 fixedly connected to the limiting column 34 near the center of the mounting base 11, guide grooves 352 are formed in the two vertical sections of the concave frame 351, the end of the guide groove 352 near the center of the mounting base 11 is inclined forward, the pushing plate 353 between the left and right concave frames 351 is slidingly installed in the mounting base 11, the left and right ends of the pushing plate 353 are rotatably installed with guide rods 354, the guide rods 354 are slidingly installed in the corresponding guide grooves 352, the side of the pushing plate 353 away from the mounting plate 21 is fixedly installed with a return spring 355 between the inner wall of the mounting base 11, and the return spring 355 is in a compressed state.

[0040] In specific use, the resilience of the return spring 355 is used to push the pushing plate 353 to move towards the mounting plate 21, the pushing plate 353 drives the guide rods 354 to move, the guide rods 354 slide along the guide grooves 352 when moving, the concave frame 351 and the corresponding limiting column 34 are pushed by the guide rods 354 to move away from the center of the mounting base 11, so that the limiting column 34 can always limit the movement of the movable block 32, and the movable block 32 is prevented from sliding in the movement groove 31.

[0041] Please refer to Figure 2 , Figure 3 , Figure 6 and Figure 7 , the mounting base 11 is slidingly installed with a push rod 36 for pushing the pushing plate 353 to move away from the mounting plate 21, the rear end of the push rod 36 slidingly penetrates into the inside of the mounting base 11 and is fixedly connected to the front side of the pushing plate 353, and the horizontal height of the push rod 36 is between the first clamping jaw 22 and the second clamping jaw 24.

[0042] In specific use, when the first clamping jaw 22 and the second clamping jaw 24 clamp the wrist, the push rod 36 is located between the flat wrist tube and the inclined wrist tube, and the front end of the push rod 36 extends to the front side of the wrist, when the first clamping jaw 22 and the second clamping jaw 24 place the wrist on the tray, the mounting plate 21 is rotated to the facing state under the driving of the mechanical arm 1, with the descending of the mounting plate 21, the push rod 36 first contacts the top of the tray, at this time, the push rod 36 is used to push the pushing plate 353 to move away from the mounting plate 21, the pushing plate 353 drives the guide rods 354 to move, the guide rods 354 move reversely along the guide grooves 352, the concave frame 351 and the limiting column 34 are pushed by the guide rods 354 to move towards the center of the mounting base 11, so that the limiting column 34 releases the limitation of the movable block 32, thereby enabling the movable block 32 to slide in the movement groove 31, and the mounting plate 21 is conveniently adjusted when placing the wrist tube, so that the wrist tube can be accurately placed in the arc-shaped groove on the tray.

[0043] Please refer to Figure 3 and Figure 8The guiding groove 211 is arranged at the bottom of the right side sliding groove 231 of the mounting plate 21, the bottom end of the movable plate 251 is slidably connected with the guiding groove 211, the mounting plate 21 is further provided with a through hole 212, the front end of the push rod 36 extends to the front of the mounting plate 21 after penetrating through the through hole 212, and the diameter of the through hole 212 is greater than the diameter of the push rod 36.

[0044] In specific use, the guiding groove 211 limits the movable plate 251, when the right side sliding block 233 drives the movable plate 251 to move left and right, the movable plate 251 slides along the guiding groove 211, and the stability of the movable plate 251 during sliding can be improved; the through hole 212 can be used for the push rod 36 to move therein, and the mounting plate 21 can avoid being in contact with the push rod 36 during activity adjustment.

[0045] In the description of the present application, it should be explained that, unless otherwise explicitly specified and limited, the terms "arranged", "connected", "mounted", and "linked" should be understood in a broad sense, for example, can be fixedly connected, or can be detachably connected, or integrally connected, or slidably connected, can be mechanically connected, or can be electrically connected, can be directly connected, or can be indirectly connected through an intermediate medium, or can be connected inside two elements. For ordinary skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0046] The embodiments of the specific implementation are the preferred embodiments of the present application, and are not limited to the protection scope of the present application, so that: any equivalent changes made according to the structure, shape, principle of the present application should be covered in the protection scope of the present application.

Claims

1. A palletizing manipulator based on an adjustable clamping structure, comprising a mechanical arm (1) and a mounting seat (11) mounted on the mechanical arm (1), characterized in that, Also include: The clamping component (2) includes the mounting plate (21) movably mounted on the mounting base (11), the front side of the mounting plate (21) is slidably mounted with the first clamping jaw (22) which is symmetrical left and right and the second clamping jaw (24) which is located at the bottom of the right first clamping jaw (22), the mounting plate (21) is provided with the moving assembly one (23) for driving the synchronous reverse movement of the left and right first clamping jaws (22) and the moving assembly two (25) for driving the second clamping jaw (24) to move up and down, the moving assembly two (25) is provided with the rotating assembly (26) for driving the rotation of the second clamping jaw (24) when moving up and down; The adjusting component (3) includes the movable groove (31) which is opened in the front side of the mounting base (11) and is symmetrical left and right, the movable block (32) is slidably mounted inside the movable groove (31), the movable block (32) is fixedly mounted on the rear side of the mounting plate (21), the centering spring (33) is fixedly mounted between the movable block (32) and the inner wall of the movable groove (31) on both sides of the movable block (32); Wherein, the mounting base (11) is slidably mounted with the limiting column (34) for limiting the movable block (32) and corresponding to the movable block (32), the side of the movable block (32) close to the center of the mounting base (11) is provided with the groove matched with the limiting column (34), the mounting base (11) is provided with the pushing assembly (35) for driving the limiting column (34) to move away from the center of the mounting base (11); Wherein, the pushing assembly (35) includes the concave frame (351) fixedly connected to the end of the limiting column (34) close to the center of the mounting base (11), the two vertical sections of the concave frame (351) are provided with the guide groove (352), the end of the guide groove (352) close to the center of the mounting base (11) is inclined forward, the mounting base (11) is slidably mounted with the push plate (353) between the left and right of the concave frame (351), the left and right ends of the push plate (353) are rotatably mounted with the guide rod (354), the guide rod (354) is slidably mounted in the corresponding guide groove (352), the rear side of the push plate (353) and the inner wall of the mounting base (11) are fixedly mounted with the return spring (355); Wherein, the front side of the mounting base (11) is slidably mounted with the push rod (36) for pushing the push plate (353) to move backward, the rear end of the push rod (36) is slidably penetrated into the inside of the mounting base (11) and is fixedly connected with the front side of the push plate (353).

2. The palletizing robot based on the adjustable clamping structure according to claim 1, characterized in that: The mobile assembly one (23) includes the chute one (231) which is symmetrically arranged on the mounting plate (21), the double-way screw rod (232) is rotatably installed in the double-way chute one (231), the double-way screw rod (232) is symmetrically connected with the sliding block one (233), the first clamping jaw (22) is fixedly installed on the corresponding sliding block one (233), and the rear side of the mounting plate (21) is fixedly installed with the driving motor one (234) for driving the double-way screw rod (232) to rotate.

3. The palletizing robot based on the adjustable clamping structure according to claim 2, characterized in that: The mobile assembly two (25) includes the movable plate (251) which is fixedly installed at the bottom of the right sliding block one (233), the chute two (252) is arranged on the movable plate (251), the one-way screw rod (253) is rotatably installed in the chute two (252), the sliding block two (254) is connected with the chute two (252) in a sliding manner, and the bottom of the movable plate (251) is fixedly installed with the driving motor two (255) for driving the one-way screw rod (253) to rotate.

4. The palletizing robot based on the adjustable clamping structure according to claim 3, characterized in that: The rotating assembly (26) includes the rotating shaft (261) which is rotatably installed at the front side of the sliding block two (254), the transmission gear (262) is fixedly installed on the outer ring wall of the rotating shaft (261), the transmission rack (263) is fixedly installed at the left side of the transmission gear (262), the transmission rack (263) is meshed with the transmission gear (262), and the second clamping jaw (24) is fixedly installed at the front side of the rotating shaft (261).

5. The palletizing robot based on the adjustable clamping structure according to claim 3, characterized in that: The guiding groove (211) is arranged at the bottom of the right chute one (231) on the mounting plate (21), the bottom end of the movable plate (251) is slidably connected with the guiding groove (211), the through hole (212) is further arranged on the mounting plate (21), the front end of the push rod (36) extends to the front of the mounting plate (21) through the through hole (212), and the diameter of the through hole (212) is greater than that of the push rod (36).

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