Multi-mode self-adaptive clamping mechanism for end effector of industrial robot

Abstract

The invention provides an industrial robot end effector multi-mode self-adaptive clamping mechanism, and relates to the technical field of mechanical clamping, the industrial robot end effector multi-mode self-adaptive clamping mechanism comprises a connecting base, a clamping jaw arm is rotatably mounted on the connecting base, the connecting base comprises a base connecting rod, the clamping jaw arm comprises a clamping jaw outer cylinder, and the clamping jaw outer cylinder is longitudinally and rotatably mounted at the top of the base connecting rod; a clamping jaw sliding seat is longitudinally and slidably mounted on the inner wall of the clamping jaw outer cylinder, a bottom clamping jaw is transversely hinged to the top of the clamping jaw sliding seat, a telescopic jaw head is longitudinally and slidably mounted on the bottom clamping jaw, an adaptive jaw head is transversely hinged to the top of the first control screw rod, and a transmission gear rod is longitudinally and rotatably mounted at the bottom of the clamping jaw sliding seat; a workpiece is clamped through the multiple pairs of clamping jaws, and it can be guaranteed that the workpiece is more stable during clamping; by controlling the clamping force of different clamping jaws, the clamping jaw can adapt to the structures of different workpieces, different clamping force is applied according to the stress characteristics of the workpieces, and the workpieces are prevented from being damaged when clamped by the clamping jaws.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical clamping, in particular to a multi-modal adaptive clamping mechanism of an industrial robot end effector. BACKGROUND

[0002] In the field of modern industrial automation production, industrial robots have been widely used in automobile manufacturing, electronic component assembly, logistics sorting, precision machining and many other industries due to their high efficiency, precision and stability. Among them, the end effector, as the core executive component of the industrial robot directly contacting the object being operated, its performance directly determines the precision, efficiency and application range of the robot operation, and the clamping mechanism, as a key component of the end effector, undertakes the tasks of grabbing, fixing and transferring workpieces of different shapes, sizes and materials, and is an important link to ensure the smooth operation of the entire automated production process.

[0003] With the rapid development of industrial production towards multi-variety, small batch and customization, the workpieces to be processed on the production line show significant diversity. On the one hand, the physical properties of workpieces differ greatly, including different geometric shapes such as cylindrical, square and irregular, and various materials such as metal, plastic, glass and composite materials, and some workpiece surfaces even have fragile and easily damaged structures, are easily scratched or have irregular protrusions and depressions; on the other hand, the size span of workpieces is constantly expanding, from micro electronic chips (size only a few millimeters) to large automobile parts (size up to several meters), which puts high requirements on the size adaptation ability of the clamping mechanism. In addition, in the flexible manufacturing scenario, the same production line often needs to frequently switch production tasks and continuously operate different types of workpieces, which requires the clamping mechanism to have the ability to quickly respond and flexibly switch the clamping mode to meet the dynamically changing production needs.

[0004] However, the traditional clamping mechanism adopted by the current industrial robot has the problems of poor adaptability, single function and insufficient universality, and it is difficult to meet the above complex and diverse production requirements. Specifically, the traditional clamping mechanism is mainly divided into two categories: rigid clamping and flexible clamping. Among them, the rigid clamping mechanism (such as pneumatic fingers, electric clamping jaws, etc.) usually adopts fixed clamping jaw structure and preset clamping stroke, and can only be designed and debugged for workpieces of specific size and shape. When facing workpieces with varying size or shape, manual replacement of clamping jaws or re-adjustment of mechanism parameters is required, which not only is cumbersome and time-consuming, but also seriously affects production efficiency, and in the process of replacement and adjustment, human operation errors are easy to cause clamping precision to decrease, and even cause workpiece damage; the flexible clamping mechanism (such as vacuum chuck, flexible fingers, etc.) improves the adaptability to the shape of the workpiece to a certain extent, but still has obvious limitations. The vacuum chuck has high requirements for the flatness of the workpiece surface and cannot be applied to workpieces with rough surface or hollow structure, and the suction force is insufficient in the grabbing process due to the influence of the air permeability of the workpiece material; the flexible fingers generally have unstable clamping force output and weak load capacity, which is difficult to meet the operation requirements of heavy workpieces or high-precision positioning scenes.

[0005] Based on this, the present application provides an industrial robot end effector multi-modal adaptive clamping mechanism. SUMMARY

[0006] In view of the above technical problems, the present application provides an industrial robot end effector multi-modal adaptive clamping mechanism, which comprises a connecting base, a clamping jaw arm rotatably installed on the connecting base, the connecting base comprising a base connecting rod, the clamping jaw arm comprising a clamping jaw outer cylinder, the clamping jaw outer cylinder being longitudinally rotatably installed at the top of the base connecting rod, a clamping jaw sliding seat being longitudinally slidably installed on the inner wall of the clamping jaw outer cylinder, a bottom clamping jaw being transversely hinged at the top of the clamping jaw sliding seat, an extension jaw being longitudinally slidably installed on the bottom clamping jaw, an adaptive jaw being transversely hinged at the top of the first control screw, and a transmission gear rod being longitudinally rotatably installed at the bottom of the clamping jaw sliding seat.

[0007] Further, a top outer cylinder cover is provided on the clamping jaw outer cylinder, a second control gear ring is longitudinally rotatably installed at the bottom of the outer cylinder cover, the second control gear ring is engaged with the transmission gear rod, an adjusting turbine is fixedly installed on the bottom clamping jaw, a screw rod is fixedly installed on the transmission gear rod, the screw rod on the transmission gear rod cooperates with the adjusting turbine worm, a main control motor is fixedly installed in the clamping jaw outer cylinder, a rotating main rod is fixedly installed at the top of the main control motor, a transmission groove is provided at the top of the rotating main rod, a clutch cylinder is longitudinally slidably installed at the top of the rotating main rod, a limiting block is provided on the inner wall of the clutch cylinder, an adjusting ring is rotatably installed at the bottom of the clutch cylinder, and the limiting block is slidably matched with the transmission groove.

[0008] Further, the bottom clamping jaw top is fixedly installed with a clamping motor, the clamping motor is fixedly installed with a clamping screw rod, the retractable jaw head is provided with a clamping jaw sliding groove, the clamping jaw sliding groove is fixedly installed with a rack, and the clamping screw rod is matched with the rack in the clamping jaw sliding groove.

[0009] Further, a plurality of third control screw rods are longitudinally and rotatably installed in the clamping jaw outer cylinder, the third control screw rods are matched with the adjusting ring screw rods at the bottom of the clutch cylinder, the third control screw rod bottoms are fixedly installed with gears, the clamping jaw outer cylinder bottom is longitudinally and rotatably installed with an adjusting gear ring, the adjusting gear ring is provided with gear teeth, the clamping jaw outer cylinder is fixedly installed with a first adjusting motor, the first adjusting motor is fixedly installed with a gear, and the gear teeth in the adjusting gear ring are meshed with the gears on the third control screw rods and the first adjusting motor.

[0010] Further, the rotating main rod top is provided with a spiral sliding groove, the outer cylinder cover is provided with a plurality of clamping jaw outlets, the number of clamping jaw outlets corresponds to the number of clamping jaw sliding seats, the outer cylinder cover top is longitudinally and rotatably installed with a stabilizing top head, the stabilizing top head comprises a rotating cylinder, the rotating cylinder is rotatably installed at the rotating cylinder top, a sliding connection cylinder is longitudinally and slidably installed in the rotating cylinder, a compression spring is fixedly installed between the sliding connection cylinder and the rotating main rod, a workpiece top head is longitudinally and slidably installed at the sliding connection cylinder top, and a compression spring is fixedly installed between the workpiece top head and the sliding connection cylinder.

[0011] Further, the workpiece top head bottom is fixedly installed with a first connecting thread, the sliding connection cylinder top is fixedly installed with a second connecting thread, and the second connecting thread is in contact with the first connecting thread.

[0012] Further, a plurality of pairs of first control screw rods are fixedly installed in the clamping jaw outer cylinder, the first control screw rods are uniformly arranged in the clamping jaw outer cylinder, a gear is fixedly installed at the clamping jaw outer cylinder bottom, the gears at the bottoms of each pair of first control screw rods are different in height, the clamping jaw sliding seat is matched with the first control screw rod screw rod, the clamping jaw sliding seat is installed at the top of the gear on the first control screw rod, a plurality of first control gear rings are longitudinally and rotatably installed on the clamping jaw outer cylinder outer wall, the first control gear ring inner ring is provided with gear teeth, and the gear teeth in the first control gear ring inner ring are meshed with the gears at the corresponding heights of the first control screw rod bottoms.

[0013] Further, the positions of each pair of first control screw rods correspond to each other and are at opposite radial positions, the number of first control gear rings is the same as the logarithm of the first control screw rods, a protection cylinder is longitudinally and rotatably installed on the clamping jaw outer cylinder outer wall, a plurality of clamping jaw control motors are fixedly installed on the clamping jaw outer cylinder outside, the number of clamping jaw control motors corresponds to the first control gear rings, a first control rod is fixedly installed on the clamping jaw control motor, a gear is fixedly installed on the first control rod, and the gear on the first control rod is meshed with the first control gear ring.

[0014] Further, the outer cylinder of the clamping jaw is provided with a plurality of longitudinal sliding grooves, and the clamping jaw sliding seat is in sliding fit with the longitudinal sliding grooves in the outer cylinder of the clamping jaw.

[0015] Further, the adaptive jaw head is hingedly connected with a reset pressing plate, a compression spring is fixedly installed between the reset pressing plate and the adaptive jaw head, and the reset pressing plate is in contact fit with the telescopic jaw head.

[0016] Further, the outer cylinder of the clamping jaw is provided with a plurality of longitudinal sliding grooves, and the clamping jaw sliding seat is in sliding fit with the longitudinal sliding grooves in the outer cylinder of the clamping jaw.

[0017] The beneficial effects of the present application compared with the prior art are: (1) the present application can ensure that the workpiece is more stable during clamping by clamping the workpiece through a plurality of pairs of clamping jaws; (2) the present application can adapt to the structure of different workpieces by controlling the clamping force of different clamping jaws, so as to apply different clamping forces according to the stress characteristics of the workpiece, thereby avoiding damage to the workpiece during clamping of the clamping jaw; (3) the present application can clamp workpieces with complex structures while improving clamping stability by adjusting the length of the clamping jaw and the position of the extended clamping jaw, and by the cooperation of the clamping jaw and the stable top head. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is a front structure schematic diagram of the present application.

[0019] Figure 2 It is a top structure schematic diagram of the present application.

[0020] Figure 3 It is a whole structure schematic diagram of the present application.

[0021] Figure 4 It is a clamping jaw arm half-section elevation structure schematic diagram of the present application.

[0022] Figure 5 It is a clamping jaw arm half-section plan structure schematic diagram of the present application.

[0023] Figure 6 It is a rotating main rod and clutch cylinder assembly structure schematic diagram of the present application.

[0024] Figure 7 It is a second control gear ring assembly structure schematic diagram of the present application.

[0025] Figure 8 It is a clutch cylinder half-section structure schematic diagram of the present application.

[0026] Figure 9 Fig. 1 is a schematic view of the clamping jaw structure of the present application.

[0027] Figure 10 Fig. 2 is a schematic view of the connecting base half-section structure of the present application.

[0028] Figure 11 Fig. 3 is a schematic view of the connecting base of the present application. Figure 5 Fig. 4 is a schematic view of the enlarged structure at A1 in Fig. 3.

[0029] Figure 12 Fig. 5 is a schematic view of the connecting base of the present application. Figure 5 Fig. 6 is a schematic view of the enlarged structure at A2 in Fig. 5.

[0030] Figure 13 Fig. 7 is a schematic view of the connecting base of the present application. Figure 7 Fig. 8 is a schematic view of the enlarged structure at B1 in Fig. 7.

[0031] Figure 14 Fig. 9 is a schematic view of the connecting base of the present application. Figure 8 Fig. 10 is a schematic view of the enlarged structure at C1 in Fig. 9.

[0032] Figure 15 Fig. 11 is a schematic view of the connecting base of the present application. Figure 9 Fig. 12 is a schematic view of the enlarged structure at D1 in Fig. 11.

[0033] Fig. 1 is a schematic view of the clamping jaw structure of the present application. Fig. 2 is a schematic view of the connecting base half-section structure of the present application. Fig. 3 is a schematic view of the connecting base of the present application. Fig. 4 is a schematic view of the enlarged structure at A1 in Fig. 3. Fig. 5 is a schematic view of the connecting base of the present application. Fig. 6 is a schematic view of the enlarged structure at A2 in Fig. 5. Fig. 7 is a schematic view of the connecting base of the present application. Fig. 8 is a schematic view of the enlarged structure at B1 in Fig. 7. Fig. 9 is a schematic view of the connecting base of the present application. Fig. 10 is a schematic view of the enlarged structure at C1 in Fig. 9. Fig. 11 is a schematic view of the connecting base of the present application. Fig. 12 is a schematic view of the enlarged structure at D1 in Fig. 11. DETAILED DESCRIPTION

[0034] The technical solutions provided by the present application are further described below in conjunction with the drawings and according to the specific embodiments.

[0035] The embodiment discloses an industrial robot end effector multi-modal adaptive clamping mechanism, which comprises a connecting base 1, a clamping jaw arm 2 is rotatably installed on the connecting base 1, the connecting base 1 comprises a base connecting rod 101, the clamping jaw arm 2 comprises a clamping jaw outer cylinder 201, the clamping jaw outer cylinder 201 is longitudinally rotatably installed at the top of the base connecting rod 101, a clamping jaw sliding seat 219 is longitudinally slidably installed on the inner wall of the clamping jaw outer cylinder 201, a plurality of longitudinal sliding grooves are arranged on the inner wall of the clamping jaw outer cylinder 201, the clamping jaw sliding seat 219 is in sliding fit with the longitudinal sliding grooves in the clamping jaw outer cylinder 201, and the clamping jaw sliding seat 219 is used for controlling the movement range of the clamping jaw, a bottom clamping jaw 220 is transversely hinged at the top of the clamping jaw sliding seat 219, an extension jaw head 222 is longitudinally slidably installed on the bottom clamping jaw 220, a clamping motor 223 is fixedly installed at the top of the bottom clamping jaw 220, a clamping screw rod 224 is fixedly installed on the clamping motor 223, a clamping jaw sliding groove is arranged on the extension jaw head 222, a rack is fixedly installed in the clamping jaw sliding groove, the clamping screw rod 224 is in fit with the rack screw rod in the clamping jaw sliding groove, a adaptive jaw head 225 is transversely hinged at the top of the first control screw rod 211, the clamping motor 223 is started to drive the clamping screw rod 224 to rotate, the extension jaw head 222 is longitudinally slid on the bottom clamping jaw 220, the length of the clamping jaw can be adjusted according to the requirement, and the shape of the clamped object can be adapted.

[0036] As shown in the figure, Figures 1-15 A transmission gear rod 218 is longitudinally rotatably installed at the bottom of the clamping jaw sliding seat 219, a outer cylinder cover 203 is arranged at the top of the clamping jaw outer cylinder 201, a second control gear ring 214 is longitudinally rotatably installed at the bottom of the outer cylinder cover 203, the second control gear ring 214 is in mesh with the transmission gear rod 218, an adjusting turbine 221 is fixedly installed on the bottom clamping jaw 220, a screw rod is fixedly installed on the transmission gear rod 218, the screw rod on the transmission gear rod 218 is in fit with the worm of the adjusting turbine 221, the transmission gear rod 218 is used for driving the bottom clamping jaw 220 to rotate and clamp on the clamping jaw sliding seat 219 by controlling the rotation of the transmission gear rod 218, a main control motor 217 is fixedly installed in the clamping jaw outer cylinder 201, a rotating main rod 205 is fixedly installed at the top of the main control motor 217, a transmission groove 206 is arranged at the top of the rotating main rod 205, a clutch cylinder 213 is longitudinally slidably installed at the top of the rotating main rod 205, a limiting block is arranged on the inner wall of the clutch cylinder 213, an adjusting ring is rotatably installed at the bottom of the clutch cylinder 213, the limiting block is in sliding fit with the transmission groove 206, the main control motor 217 is started to drive the clutch cylinder 213 to rotate through the cooperation of the transmission groove 206 and the limiting block, when the clutch cylinder 213 rotates, the second control gear ring 214 rotates together, the transmission gear rod 218 meshed with the second control gear ring 214 rotates on the clamping jaw sliding seat 219, the bottom clamping jaw 220 corresponding to the clamping jaw sliding seat 219 is driven to rotate, and the tension of the clamping jaw is controlled.

[0037] As shown in the figure, Figures 1-15As shown, a plurality of third control screws 228 are longitudinally rotatably installed in the jaw outer cylinder 201, the third control screws 228 are matched with the adjusting ring screw at the bottom of the clutch cylinder 213, the third control screws 228 are fixedly installed with gears at the bottom, the jaw outer cylinder 201 is longitudinally rotatably installed with an adjusting gear ring 215 at the bottom, the adjusting gear ring 215 is provided with gear lines inside, the jaw outer cylinder 201 is fixedly installed with a first adjusting motor 216, the first adjusting motor 216 is fixedly installed with a gear, the gear lines in the adjusting gear ring 215 are meshed with the gears on the third control screws 228 and the first adjusting motor 216, the first adjusting motor 216 is started to drive the adjusting gear ring 215 to rotate, the adjusting gear ring 215 drives the third control screws 228 to rotate, the third control screws 228 drive the clutch cylinder 213 to longitudinally slide on the rotating main rod 205 when rotating, the limiting block on the clutch cylinder 213 slides out of the bottom of the transmission groove 206 to disconnect the rotating main rod 205 and the clutch cylinder 213, or the limiting block slides into the transmission groove 206 to make the rotating main rod 205 control the rotation of the clutch cylinder 213, the rotating main rod 205 is started to control the rotation of the clutch cylinder 213 to drive the second control gear ring 214 to rotate at the bottom of the jaw outlet 204, and the tensioning action of the jaw is controlled.

[0038] As Figures 1-15As shown, the rotating main rod 205 top is provided with a spiral chute 227, the outer cylinder cover 203 is provided with a plurality of claw outlets 204, the number of claw outlets 204 corresponds to the number of claw sliding seats 219, the outer cylinder cover 203 top is longitudinally rotatably installed with a stable top head 3, the stable top head 3 is used to contact the clamped workpiece, and the top of the workpiece is pressed outward to resist the workpiece, and the tightening force of the claw is matched with the inward tightening force to make the workpiece clamped more firmly. The stable top head 3 includes a rotating cylinder 301, the rotating cylinder 301 is rotatably installed on the top of the rotating cylinder 301, the sliding connection cylinder 303 is longitudinally slidably installed in the rotating cylinder 301, the sliding connection cylinder 303 and the rotating main rod 205 are fixedly installed with a compression spring, the workpiece top head 302 is longitudinally slidably installed on the top of the sliding connection cylinder 303, the workpiece top head 302 and the sliding connection cylinder 303 are fixedly installed with a compression spring, the first connecting thread 304 is fixedly installed on the bottom of the workpiece top head 302, the second connecting thread 306 is fixedly installed on the top of the sliding connection cylinder 303, the second connecting thread 306 is in contact with the first connecting thread 304 for controlling the rotation of the sliding connection cylinder 303 and the rotating cylinder 301. When the workpiece is heavy, the clamping force required by the claw will increase, and under the clamping of the claw, the workpiece moves into the clamping mechanism and is in contact with the workpiece top head 302, so that the first connecting thread 304 is in contact with the second connecting thread 306, and the sliding connection cylinder 303 is pressed into the rotating cylinder 301, so that the sliding short rod 305 is in contact with the spiral chute 227, and the main control motor 217 drives the rotating main rod 205 to rotate, controls the spiral chute 227 to rotate, and pushes the sliding connection cylinder 303 in the rotating cylinder 301 through the slope on the spiral chute 227 and drives the workpiece top head 302 to move together, and the workpiece is pressed, and the workpiece is more stable when clamped.

[0039] As Figures 1-15As shown, a plurality of pairs of first control screws 211 are fixedly installed in the clamping jaw outer cylinder 201, the first control screws 211 are uniformly arranged in the clamping jaw outer cylinder 201, a plurality of gears are fixedly installed at the bottom of the clamping jaw outer cylinder 201, the gears at the bottom of each pair of first control screws 211 are different in height, the clamping jaw sliding seat 219 cooperates with the first control screw 211, the clamping jaw sliding seat 219 is installed on the top of the gear of the first control screw 211, a plurality of first control gear rings 209 are longitudinally rotatably installed on the outer wall of the clamping jaw outer cylinder 201, the inner ring of the first control gear ring 209 is provided with gear teeth, the gear teeth of the inner ring of the first control gear ring 209 are engaged with the gears at the corresponding height at the bottom of the first control screw 211, the positions of each pair of first control screws 211 correspond to each other and are at opposite radial positions, the number of the first control gear rings 209 is the same as the number of the first control screws 211, a plurality of clamping jaw control motors 207 are fixedly installed outside the clamping jaw outer cylinder 201, the number of the clamping jaw control motors 207 corresponds to the number of the first control gear rings 209, a first control rod 208 is fixedly installed on the clamping jaw control motor 207, a gear is fixedly installed on the first control rod 208, the gear on the first control rod 208 is engaged with the first control gear ring 209, the corresponding clamping jaw control motor 207 is started to drive the first control rod 208 to rotate, the first control rod 208 drives the first control gear ring 209 at the corresponding height to rotate on the clamping jaw outer cylinder 201, the first control gear ring 209 drives the corresponding pair of first control screws 211 to rotate, the first control screw 211 drives the clamping jaw sliding seat 219 to longitudinally slide in the clamping jaw outer cylinder 201, the bottom clamping jaw 220 is extended or retracted, at the same time, the extension time of the clamping jaw sliding seat 219 at different positions is different, the cooperation time of the corresponding transmission gear rod 218 and the second control gear ring 214 is different, the clamping time of each pair of clamping jaws is inconsistent, the clamping force of each pair of clamping jaws is different, the clamping time and the clamping force of the clamping jaws can be adjusted according to the shape of the workpiece, the uniformity of the clamping force can be controlled, the workpiece is not damaged, and the workpiece can be clamped more firmly.

[0040] As shown in Figures 1-15 The adaptive jaw head 225 is hingedly connected with a reset pressing plate 226, a compression spring is fixedly installed between the reset pressing plate 226 and the adaptive jaw head 225, the reset pressing plate 226 is in contact with the telescopic jaw head 222, and the reset pressing plate 226 is used for resetting the adaptive jaw head 225 through the compression spring after clamping is completed.

[0041] As shown in Figures 1-15As shown, a hinge plate 210 is fixedly installed at the bottom of the gripper outer cylinder 201, and a gear is fixedly installed on the hinge plate 210. A hinge seat 103 is longitudinally rotatably installed on the top of the base connecting rod 101. The hinge plate 210 is laterally rotatably installed on the hinge seat 103. A rotating seat 105 is longitudinally rotatably installed inside the base connecting rod 101. The rotating seat 105 is fixedly connected to the hinge seat 103. A second rotating motor 106 is fixedly installed on the top of the rotating seat 105. A control worm gear 102 is fixedly installed on the second rotating motor 106. The control worm gear 102 is connected to the hinge plate 210. The gear and worm gear are engaged. A first rotating motor 104 is fixedly installed at the bottom of the base connecting rod 101. The rotating shaft of the first rotating motor 104 is fixedly connected to the rotating seat 105. By starting the second rotating motor 106, the worm gear 102 is driven to rotate, which can drive the gripper arm 2 to rotate laterally on the connecting base 1. By starting the first rotating motor 104, the rotating seat 105 is driven to rotate within the base connecting rod 101. When the rotating seat 105 rotates, it also drives the hinge seat 103 to rotate. When the hinge seat 103 rotates, it drives the gripper arm 2 to rotate longitudinally on the base connecting rod 101.

[0042] like Figures 1-15 As shown, a protective cylinder 202 is longitudinally rotatably installed on the outer wall of the gripper outer cylinder 201 to prevent foreign objects from entering the gripper outer cylinder 201.

Claims

1. A multimodal adaptive gripping mechanism for an industrial robot end effector, comprising a connecting base (1), wherein a gripper arm (2) is rotatably mounted on the connecting base (1), characterized in that, The connecting base (1) includes a base connecting rod (101), and the gripper arm (2) includes a gripper outer cylinder (201). The gripper outer cylinder (201) is longitudinally rotatably mounted on the top of the base connecting rod (101). A gripper sliding seat (219) is slidably mounted on the inner wall of the gripper outer cylinder (201). A bottom gripper (220) is hinged to the top of the gripper sliding seat (219). A telescopic claw head (222) is slidably mounted on the bottom gripper (220). An adaptive claw head (225) is laterally hinged to the top of the first control screw (211). A transmission gear rod (218) is longitudinally rotatably mounted on the bottom of the gripper sliding seat (219). The outer cylinder cover (203) at the top of the gripper outer cylinder (201) has a second control gear ring (214) that is rotatably mounted on the bottom of the outer cylinder cover (203). The second control gear ring (214) meshes with the transmission gear rod (218). An adjusting worm gear (221) is fixedly mounted on the bottom gripper (220). A lead screw is fixedly mounted on the transmission gear rod (218). The lead screw on the transmission gear rod (218) engages with the worm gear of the adjusting worm gear (221). A main control motor (217) is fixedly installed inside the claw outer cylinder (201). A rotating main rod (205) is fixedly installed on the top of the main control motor (217). A transmission groove (206) is provided on the top of the rotating main rod (205). A clutch cylinder (213) is longitudinally slidably installed on the top of the rotating main rod (205). A limit block is provided on the inner wall of the clutch cylinder (213). An adjusting ring is rotatably installed on the bottom of the clutch cylinder (213). The limit block and the transmission groove (206) are in sliding cooperation.

2. The multimodal adaptive gripping mechanism for an industrial robot end effector according to claim 1, characterized in that, A clamping motor (223) is fixedly installed on the top of the bottom clamping claw (220), and a clamping screw (224) is fixedly installed on the clamping motor (223). A claw groove is provided on the telescopic claw head (222), and a rack is fixedly installed in the claw groove. The clamping screw (224) cooperates with the rack screw in the claw groove.

3. The multimodal adaptive gripping mechanism for an industrial robot end effector according to claim 1, characterized in that, Multiple third control screws (228) are longitudinally rotatably installed inside the outer cylinder (201) of the gripper. The third control screws (228) cooperate with the adjusting ring screw at the bottom of the clutch cylinder (213). A gear is fixedly installed at the bottom of the third control screws (228). An adjusting gear ring (215) is longitudinally rotatably installed at the bottom of the outer cylinder (201). The adjusting gear ring (215) has gear patterns inside. A first adjusting motor (216) is fixedly installed inside the outer cylinder (201). A gear is fixedly installed on the first adjusting motor (216). The gear patterns in the adjusting gear ring (215) mesh with the gears on the third control screws (228) and the first adjusting motor (216).

4. The multimodal adaptive gripping mechanism for an industrial robot end effector according to claim 1, characterized in that, The top of the rotating main rod (205) is provided with a spiral groove (227), and the outer cylinder cover (203) is provided with multiple gripper outlets (204). The number of gripper outlets (204) corresponds to the number of gripper sliding seats (219). A stabilizing head (3) is longitudinally rotatably installed on the top of the outer cylinder cover (203). The stabilizing head (3) includes a rotating cylinder (301). The rotating cylinder (301) is rotatably installed on the top of the rotating cylinder (301). A sliding connecting cylinder (303) is longitudinally slidably installed inside the rotating cylinder (301). A compression spring is fixedly installed between the sliding connecting cylinder (303) and the rotating main rod (205). A workpiece head (302) is longitudinally slidably installed on the top of the sliding connecting cylinder (303). A compression spring is fixedly installed between the workpiece head (302) and the sliding connecting cylinder (303).

5. The multimodal adaptive clamping mechanism for an industrial robot end effector according to claim 4, characterized in that a first connecting thread (304) is fixedly installed at the bottom of the workpiece top (302), and a second connecting thread (306) is fixedly installed at the top of the sliding connecting cylinder (303), wherein the second connecting thread (306) contacts and cooperates with the first connecting thread (304).

6. The multimodal adaptive gripping mechanism for an industrial robot end effector according to claim 1, characterized in that, Multiple pairs of first control screws (211) are fixedly installed inside the outer cylinder (201) of the gripper. The first control screws (211) are evenly arranged inside the outer cylinder (201). Gears are fixedly installed at the bottom of the outer cylinder (201). The gears at the bottom of each pair of first control screws (211) have different heights. The gripper sliding seat (219) cooperates with the lead screw of the first control screw (211). The gripper sliding seat (219) is installed on the top of the gear on the first control screw (211). Multiple first control gear rings (209) are longitudinally rotatably installed on the outer wall of the outer cylinder (201). The inner ring of the first control gear ring (209) is provided with gear patterns. The gear patterns of the inner ring of the first control gear ring (209) mesh with the gears at the corresponding heights at the bottom of the first control screw (211).

7. The multimodal adaptive gripping mechanism for an industrial robot end effector according to claim 6, characterized in that, Each pair of first control screws (211) is positioned in a relative radial position. The number of first control gear rings (209) is the same as the number of pairs of first control screws (211). A protective cylinder (202) is longitudinally rotatably mounted on the outer wall of the gripper outer cylinder (201). Multiple gripper control motors (207) are fixedly mounted on the outside of the gripper outer cylinder (201). The number of gripper control motors (207) corresponds to the number of first control gear rings (209). A first control rod (208) is fixedly mounted on the gripper control motor (207). A gear is fixedly mounted on the first control rod (208). The gear on the first control rod (208) meshes with the first control gear ring (209).

8. The multimodal adaptive gripping mechanism for an industrial robot end effector according to claim 7, characterized in that, The inner wall of the gripper outer cylinder (201) is provided with multiple longitudinal sliding grooves, and the gripper sliding seat (219) slides in cooperation with the longitudinal sliding grooves in the gripper outer cylinder (201).

9. The multimodal adaptive gripping mechanism for an industrial robot end effector according to claim 1, characterized in that, A reset pressure plate (226) is hinged to the adaptive claw (225), and a compression spring is fixedly installed between the reset pressure plate (226) and the adaptive claw (225). The reset pressure plate (226) is in contact with the telescopic claw (222).

10. The multimodal adaptive gripping mechanism for an industrial robot end effector according to claim 1, characterized in that, A hinge plate (210) is fixedly installed at the bottom of the gripper outer cylinder (201), and a gear is fixedly installed on the hinge plate (210). A hinge seat (103) is rotatably installed on the top of the base connecting rod (101), and the hinge plate (210) is rotatably installed on the hinge seat (103). A rotating seat (105) is rotatably installed inside the base connecting rod (101), and the rotating seat (105) is fixedly connected to the hinge seat (103). A second rotating motor (106) is fixedly installed on the top of the rotating seat (105), and a control worm gear (102) is fixedly installed on the second rotating motor (106). The control worm gear (102) cooperates with the gear worm gear on the hinge plate (210). A first rotating motor (104) is fixedly installed at the bottom of the base connecting rod (101), and the rotating shaft of the first rotating motor (104) is fixedly connected to the rotating seat (105).

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