Gripper mechanism and gripper storage mechanism

Abstract

The invention provides a gripper mechanism and a gripper storage mechanism, and belongs to the technical field of grippers. The gripper mechanism comprises a columnar shell, a telescopic cylinder, a connecting rod assembly, a clamping jaw and an energy connecting part, a cavity is formed in the columnar shell, a plurality of annularly-arranged through holes are formed in the lower end of the side wall of the cavity, and a plurality of first mounting bases are arranged at the positions, corresponding to the through holes, of the outer edge of the lower end of the columnar shell; at least one positioning pin is arranged in the middle of the lower end of the columnar shell; the telescopic cylinder is arranged in the cavity and is provided with a telescopic rod capable of moving up and down; one end of the connecting rod assembly is movably connected with the telescopic rod; the number of the clamping jaws is matched with that of the first mounting bases, the middles of the clamping jaws are movably mounted on the first mounting bases, the first ends of the clamping jaws are movably connected with the other ends of the connecting rod assemblies, hooks are arranged at the second ends of the clamping jaws, and the telescopic rod moves up and down and drives the multiple clamping jaws to conduct grabbing or loosening movement at the same time through the connecting rod assemblies; the energy connecting part is arranged on the columnar shell.

Description

Technical Field

[0001] This invention relates to the field of gripper technology, and in particular to a gripper mechanism and a gripper storage mechanism. Background Technology

[0002] When switching between vehicle models on a traditional side panel production line, all tooling for the completed model needs to be moved off-line, and then the tooling for the model to be produced needs to be moved on-line. This tooling switching requires a robotic gripper to pick up and move the tooling. Existing robotic grippers include a mounting frame and multiple pneumatic clamping components. The mounting frame is constructed by welding together multiple horizontal bars, multiple vertical bars, and multiple diagonal bars. Multiple pneumatic clamping components are mounted on the mounting frame, which is connected to the robot. When gripping is needed, the multiple pneumatic clamping components simultaneously clamp the tooling.

[0003] When the traditional body side panel line is upgraded to a flexible body side panel line, because only a part of the tooling is switched, multiple parts of the existing gripper interfere with each other with the parts of the non-switching tooling, making it impossible for the existing gripper to move to the gripping position. Summary of the Invention

[0004] The purpose of this invention is to provide a gripper mechanism that reduces the overall size of the gripper and enables the switching of local tooling.

[0005] To achieve the objectives of this invention, the following technical solution is adopted: According to one aspect of the present invention, a gripper mechanism is provided, comprising a cylindrical shell, a telescopic cylinder, a linkage assembly, grippers, and an energy connection part. The cylindrical shell has a cavity, and the lower end of the side wall of the cavity has a plurality of annularly arranged through holes. The outer edge of the lower end of the cylindrical shell is provided with a plurality of first mounting seats corresponding to the through holes, and at least one positioning pin is provided at the middle of the lower end of the cylindrical shell. The telescopic cylinder is disposed in the cavity and has a telescopic rod that can move up and down. One end of the linkage assembly is movably connected to the telescopic rod, and the other end of the linkage assembly can extend through the through holes. The number of grippers matches the number of first mounting seats. The middle part of the gripper is movably mounted on the first mounting seat, the first end of the gripper is movably connected to the other end of the linkage assembly, and the second end of the gripper is provided with a hook. The telescopic rod moves up and down and drives the multiple grippers to simultaneously grip or release through the linkage assembly. The energy connection part is disposed on the cylindrical shell and is used to provide pneumatic or electrical energy to the telescopic cylinder.

[0006] According to one embodiment of the present invention, the linkage assembly includes a first linkage and a second linkage group in number matching the number of grippers. The second linkage group includes a first rod and a second rod. The first end of the first linkage is connected to a telescopic rod, and the second end of the first linkage is movably connected to the first end of the first rod and the first end of the second rod. The first end of the gripper is movably connected to the second end of the first rod and the second end of the second rod, and the gripper is located between the first rod and the second rod.

[0007] According to one embodiment of the present invention, a plurality of second mounting seats are provided at the second end of the first connecting rod, and the first ends of the first rod and the second rod are movably connected to the second mounting seats.

[0008] According to one embodiment of the present invention, it further includes an annular guide sleeve, which is fixedly disposed in the cavity and sleeved on the telescopic rod and the first connecting rod.

[0009] According to one embodiment of the present invention, the inner wall of the cavity is provided with a first annular step, the first annular step is provided with a plurality of first threaded holes, one end of the outer edge of the annular guide sleeve is provided with a second annular step, the second annular step is provided with a first through hole corresponding to the first threaded hole, the second annular step abuts against the first annular step and is connected to the first threaded hole by a plurality of first bolts.

[0010] According to one embodiment of the present invention, the second annular step is further provided with a plurality of second threaded holes, and the telescopic cylinder is provided with a second through hole corresponding to the second threaded hole. The telescopic cylinder is connected to the second threaded hole by a second bolt.

[0011] According to one embodiment of the present invention, the energy connection part includes a gun-changing disc and a valve island. The gun-changing disc is disposed at the upper end of the cylindrical housing, and the valve island is disposed on the side wall of the cylindrical housing. The valve island is provided with a solenoid valve, and the gun-changing disc and the telescopic cylinder are respectively connected to the solenoid valve. Alternatively, the valve island is provided with an electrical socket, and the gun-changing disc and the telescopic cylinder are respectively connected to the electrical socket.

[0012] The present invention also includes a gripper storage mechanism configured to store the aforementioned gripper mechanism. The gripper storage mechanism includes a fixing component, which includes a support and a locking disc. The lower end of the support is fixed to the ground. A base is provided at the lower center of the locking disc, and the base is fixed to the upper end of the support. A positioning hole is provided at the upper end of the locking disc to cooperate with the positioning pin. An avoidance groove is provided on the outer edge of the locking disc corresponding to the gripper. A hooking protrusion is provided at the lower end of the locking disc corresponding to the avoidance groove. When the gripper mechanism is stored on the gripper storage mechanism, the positioning pin is inserted into the positioning hole, the gripper is located in the avoidance groove, and the hook is hooked to the hooking protrusion.

[0013] According to one embodiment of the present invention, the gripper storage mechanism further includes a dustproof mechanism, which includes a support arm, a swing cylinder, a dust cover, and a swing arm. The lower end of the support arm is fixedly connected to the upper end of the support, the swing cylinder is disposed at the upper end of the support arm, one end of the swing arm is fixedly connected to the swing part of the swing cylinder, and the dust cover is disposed at the other end of the swing arm. The swing cylinder is configured to swing the dust cover above the gripper mechanism for dustproofing or to swing to the position where the dustproofing is released.

[0014] According to one embodiment of the present invention, it further includes a positioning detection switch, which is disposed on the side wall of the cylindrical housing. The fixing assembly also includes a detection rod that cooperates with the positioning detection switch. The lower end of the detection rod is vertically fixed to the upper end of the support. When the positioning detection switch abuts against the upper end of the detection rod, the positioning detection switch generates a positioning electrical signal.

[0015] One embodiment of the present invention has the following advantages or beneficial effects: The gripper mechanism of the present invention includes a cylindrical shell, a telescopic cylinder, a connecting rod assembly, grippers, and an energy connection part. The cylindrical shell has a cavity, and the lower end of the side wall of the cavity has multiple annularly arranged through holes. Multiple first mounting seats are provided on the outer edge of the lower end of the cylindrical shell corresponding to the through holes. At least one positioning pin is provided in the middle of the lower end of the cylindrical shell. The telescopic cylinder is disposed within the cavity and has a telescopic rod that can move up and down. One end of the connecting rod assembly is movably connected to the telescopic rod. The number of grippers matches the number of first mounting seats. The middle part of the gripper is movably mounted on the first mounting seat, the first end of the gripper is movably connected to the other end of the connecting rod assembly, and the second end of the gripper is provided with a hook. The telescopic rod moves up and down, driving multiple grippers to simultaneously grip or release via the connecting rod assembly. The energy connection part is disposed on the cylindrical shell. The gripper mechanism of the present invention uses a cylindrical shell with a cavity as the mounting body, thus reducing the overall volume of the gripper. Since the telescopic cylinder and the connecting rod assembly are both disposed within the cylindrical shell, interference with non-switching tooling is avoided, enabling partial tooling switching operations. Attached Figure Description

[0016] The above and other features and advantages of the present invention will become more apparent from a detailed description of exemplary embodiments thereof with reference to the accompanying drawings.

[0017] Figure 1 This is a perspective view of a gripper mechanism according to an exemplary embodiment.

[0018] Figure 2 This is a schematic diagram showing the connection of various components inside the cylindrical housing of a gripper mechanism according to an exemplary embodiment.

[0019] Figure 3 This is a perspective view of a telescopic cylinder according to an exemplary embodiment.

[0020] Figure 4 This is a perspective view of an annular guide sleeve according to an exemplary embodiment.

[0021] Figure 5 This is a top view of the cylindrical housing of a gripper mechanism according to an exemplary embodiment.

[0022] Figure 6 This is a cross-sectional view of a gripper storage mechanism according to an exemplary embodiment.

[0023] Figure 7 This is a top view of a locking disc according to an exemplary embodiment.

[0024] Figure 8 This is a side view of a locking disc according to an exemplary embodiment.

[0025] The reference numerals in the attached figures are explained as follows: 1. Cylindrical outer shell; 11. Cavity; 12. Through hole; 13. First mounting base; 14. Positioning pin; 15. First annular step; 151. First threaded hole; 16. Lower end cap; 17. Energy communication hole; 2. Telescopic cylinder; 21. Telescopic rod; 22. Second through hole; 3. Linkage assembly; 31. First link; 311. Second mounting base; 32. Second link assembly; 4. Gripper; 41. Hook; 5. Energy connection part; 51. Gun changer 52. Valve island; 6. Annular guide sleeve; 61. Second annular step; 611. First through hole; 612. Second threaded hole; 7. Fixing assembly; 71. Support; 72. Locking disc; 721. Positioning hole; 722. Hanging protrusion; 723. Base; 724. Clearance groove; 725. Support block; 73. Detection rod; 8. Dustproof mechanism; 81. Support arm; 82. Swing cylinder; 83. Dust cover; 9. Position detection switch. Detailed Implementation

[0026] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, they are provided so that the invention will be thorough and complete, and the concept of the exemplary embodiments will be fully conveyed to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and therefore their detailed description will be omitted.

[0027] The terms “a,” “one,” “the,” and “the” are used to indicate the existence of one or more elements / components / etc.; the terms “including” and “having” are used to indicate an open-ended meaning of inclusion and that other elements / components / etc. may exist in addition to the listed elements / components / etc.

[0028] like Figure 1-8As shown, a gripper mechanism according to an embodiment of the present invention includes a cylindrical outer shell 1, a telescopic cylinder 2, a connecting rod assembly 3, a gripper 4, and an energy connection part 5.

[0029] The cylindrical outer shell 1 has a cavity 11 inside. The lower end of the side wall of the cavity 11 is provided with a plurality of annularly arranged through holes 12. The outer edge of the lower end of the cylindrical outer shell 1 is provided with a plurality of first mounting seats 13 corresponding to the through holes 12. At least one positioning pin 14 is provided in the middle of the lower end of the cylindrical outer shell 1.

[0030] The telescopic cylinder 2 is installed inside the cavity 11. The telescopic cylinder 2 has a telescopic rod 21 that can move up and down. The connecting rod assembly 3 is installed inside the cavity 11. One end of the connecting rod assembly 3 is movably connected to the telescopic rod 21, and the other end of the connecting rod assembly 3 can extend out of the cavity 11 through the through hole 12.

[0031] The number of grippers 4 matches the number of the first mounting base 13. The middle part of the gripper 4 is movably mounted on the first mounting base 13. The first end of the gripper 4 can extend into the cavity 11 through the through hole 12, and the first end of the gripper 4 can be movably connected to the other end of the connecting rod assembly 3. The second end of the gripper 4 is provided with a hook 41.

[0032] The telescopic rod 21 moves up and down and drives multiple grippers 4 to simultaneously grasp or release the cylinder through the linkage assembly 3. The energy connection part 5 is set on the cylindrical housing 1 and is used to provide pneumatic or electrical energy to the telescopic cylinder 2.

[0033] For example, the telescopic cylinder 2 drives the telescopic rod 21 to move downwards, the telescopic rod 21 presses down on one end of the connecting rod assembly 3, and at the same time, the other end of the connecting rod assembly 3 extends out through the through hole 12 and pushes the first ends of the multiple grippers 4 outwards, while the second ends of the multiple grippers 4 move inwards to grasp; Figure 1-2 As shown, when the telescopic rod 21 moves downward to its position, all the grippers 4 are in a vertical state.

[0034] When the telescopic cylinder 2 drives the telescopic rod 21 to move upward, the telescopic rod 21 pulls the connecting rod assembly 3 upward. Simultaneously, the other end of the connecting rod assembly 3 pulls the first ends of multiple grippers 4 inward, while the second ends of the multiple grippers 4 open outward. When the telescopic rod 21 reaches its upward position, all the grippers 4 are in an inclined state, and the first ends of the grippers 4 extend into the cavity 11 through the through hole 12. Figure 2 The dashed gripper 4 represents the state when it is fully open.

[0035] The gripper mechanism provided by the present invention uses a cylindrical outer shell 1 with a cavity 11 as the mounting body, thereby reducing the overall volume of the gripper. Since the telescopic cylinder 2 and the connecting rod assembly 3 are both located inside the cylindrical outer shell 1, interference with non-switching tooling is avoided.

[0036] Figure 1-2The number of grippers 4 shown is three. Of course, the number is not limited to three. Those skilled in the art can choose the number of grippers 4 according to actual needs.

[0037] like Figure 1-2 As shown, in a preferred embodiment of the present invention, a detachable lower end cover 16 is provided at the lower end of the cylindrical housing 1, a first mounting base 13 is located at the edge of the lower end cover 16, and a positioning pin 14 is located at the bottom of the lower end cover 16. Due to the provision of the detachable lower end cover 16, it is convenient to disassemble and assemble the connecting rod assembly 3.

[0038] like Figure 1-2 As shown, in a preferred embodiment of the present invention, the linkage assembly 3 includes a first linkage 31 and a second linkage group 32 with a number matching the number of grippers 4. The second linkage group 32 includes a first rod 321 and a second rod 322. The first end of the first linkage 31 is connected to the telescopic rod 21, and the second end of the first linkage 31 is movably connected to the first end of the first rod 321 and the first end of the second rod 322. The first end of the gripper 4 is movably connected to the second end of the first rod 321 and the second end of the second rod 322, and the gripper 4 is located between the first rod 321 and the second rod 322.

[0039] The telescopic rod 21 drives the first connecting rod 31 to move downward. The first connecting rod 31 simultaneously presses down the first ends of multiple second connecting rod groups 32, so that the second ends of the second connecting rod groups 32 extend out of the cavity 11 through the through hole 12. At the same time, the first rod 321 and the second rod 322 jointly push the first end of the gripper 4 outward, thereby realizing the inward gripping movement of the second ends of multiple grippers 4.

[0040] When the telescopic rod 21 drives the first link 31 to move upward, the first link 31 simultaneously pulls up multiple second link groups 32, causing the second link groups 32 to pull the first end of the gripper 4 inward, thereby realizing the second end of the multiple grippers 4 to release the gripping motion outward.

[0041] like Figure 2 As shown, in a preferred embodiment of the present invention, the second end of the first link 31 is provided with a number of second mounting seats 311 matching the number of second link groups 32, and the first end of the first rod 321 and the first end of the second rod 322 are both movably connected to the second mounting seats 311.

[0042] For example, the second mounting base 311 is provided with a first shaft hole, and the first end of the gripper 4 is provided with a second shaft hole. Figure 2As shown, the second linkage group 32 also includes a first mounting shaft 323 and a second mounting shaft 324. The two ends of the first mounting shaft 323 are respectively connected to the first end of the first rod 321 and the first end of the second rod 322. The two ends of the second mounting shaft 324 are respectively connected to the second end of the first rod 321 and the second end of the second rod 322. The first rod 321, the second rod 322, the first mounting shaft 323 and the second mounting shaft 324 together form a square shape.

[0043] Furthermore, the first mounting shaft 323 can be movably inserted into the first shaft hole of the second mounting base 311, so that the first end of the first rod 321 and the first end of the second rod 322 are both movably connected to the first connecting rod 31. The second mounting shaft 324 can be movably inserted into the second shaft hole of the first end of the gripper 4, so that the second end of the first rod 321 and the second end of the second rod 322 are both movably connected to the gripper 4.

[0044] like Figure 2 , 4 As shown, in a preferred embodiment of the present invention, an annular guide sleeve 6 is further included. The annular guide sleeve 6 is fixedly disposed inside the cavity 11 and is sleeved on the telescopic rod 21 and the first connecting rod 31 to guide the telescopic rod 21 and the first connecting rod 31, ensuring that the telescopic rod 21 and the first connecting rod 31 move axially in a straight line and avoiding jamming and uneven wear during up and down movement.

[0045] like Figure 2 , 4 As shown in Figure 5, in a preferred embodiment of the present invention, the inner wall of the cavity 11 is provided with a first annular step 15, the first annular step 15 is provided with a plurality of first threaded holes 151, the upper outer edge of the annular guide sleeve 6 is provided with a second annular step 61, the second annular step 61 is provided with a first through hole 611 corresponding to the first threaded hole 151, the lower end face of the second annular step 61 abuts against the upper end face of the first annular step 15, and the first bolt passes through the first through hole 611 and connects with the first threaded hole 151, thereby fixing the annular guide sleeve 6 to the outer shell 1.

[0046] like Figure 3 , 4 As shown, in a preferred embodiment of the present invention, the second annular step 61 is further provided with a plurality of second threaded holes 612, and the telescopic cylinder 2 is provided with a second through hole 22 corresponding to the second threaded hole 612. The second bolt passes through the second through hole 22 and connects with the second threaded hole 612 to fix the telescopic cylinder 2 on the annular guide sleeve 6.

[0047] like Figure 1As shown, in a preferred embodiment of the present invention, the energy connection part 5 includes a gun changing disc 51 and a valve island 52. The gun changing disc 51 is disposed at the upper end of the cylindrical housing 1, and the valve island 52 is disposed on the side wall of the cylindrical housing 1. The valve island 52 is provided with a solenoid valve, and the gun changing disc 51 and the telescopic cylinder 2 are respectively connected to the solenoid valve.

[0048] For example, the telescopic cylinder 2 is a pneumatic cylinder. The air inlet of the telescopic cylinder 2 is connected to the air outlet of the solenoid valve through an air pipe. The gun changing plate 51 has an air passage connector that is connected to the air inlet of the solenoid valve. The air passage connector is used to connect to the air supply connector of the quick-change plate on the robot to supply air to the cylinder.

[0049] For example, an energy communication hole 17 is provided on the upper side wall of the outer shell 1, and the air tube extends out of the cavity through the energy communication hole 17.

[0050] Of course, the telescopic cylinder 2 is not limited to a pneumatic cylinder. For example, the telescopic cylinder 2 can also be an electric telescopic cylinder. The valve island 52 is equipped with an electrical socket. The gun changing plate 51 and the telescopic cylinder 2 are electrically connected to the electrical socket respectively. The quick-change plate on the robot is electrically connected to the gun changing plate 51 to realize the power supply to the electric telescopic cylinder. Those skilled in the art can select the type of telescopic cylinder 2 according to actual needs.

[0051] like Figure 6-8 As shown, the present invention also discloses a gripper storage mechanism, which is configured to store the aforementioned gripper mechanism. The gripper storage mechanism includes a fixing component 7, which includes a support 71 and a locking disc 72.

[0052] The lower end of the support 71 is fixed to the ground. The lower middle part of the locking plate 72 is provided with a base 723, which is fixed to the upper end of the support 71. The upper end of the locking plate 72 is provided with a positioning hole 721 that cooperates with the positioning pin 14. The outer edge of the locking plate 72 is provided with a relief groove 724 corresponding to the gripper 4. The lower end of the locking plate 72 is provided with a hooking protrusion 722 corresponding to the relief groove 724.

[0053] like Figure 8 As shown, when the gripper mechanism is stored on the gripper storage mechanism, the positioning pin 14 is inserted into the positioning hole 721, the gripper 4 moves to the gripping position, and the gripper 4 is located in the clearance groove 724. The hook 41 is hooked into the hanging protrusion 722 to fix the gripper mechanism.

[0054] Optionally, a support block 725 is provided at the upper end of the locking disc 72, and the positioning hole 721 is located on the support block 725. Of course, if the thickness of the locking disc 72 is sufficient, the support block 725 may not be necessary. Those skilled in the art can select the thickness of the locking disc 72 according to actual needs.

[0055] like Figure 6As shown, in a preferred embodiment of the present invention, the gripper storage mechanism further includes a dustproof mechanism 8. The dustproof mechanism 8 includes a support arm 81, a swing cylinder 82, a dust cover 83, and a swing arm 84. The lower end of the support arm 81 is fixed to the upper edge of the support 71. The swing cylinder 82 is disposed on the upper end of the support arm 81. One end of the swing arm 84 is fixed to the swing part of the swing cylinder 82. The dust cover 83 is fixed to the other end of the swing arm 84.

[0056] After the robot separates from the gun changing plate 51, the swing cylinder 82 swings the dust cover 83 above the gripper mechanism to cover the gripper mechanism from dust.

[0057] When the robot needs to be connected to the gun-changing disc 51, or when the gripper mechanism needs to be stored, the swing cylinder 82 swings the dust cover 83 to the dust-free position, such as... Figure 6 The dust cover 83 in the dotted line is positioned to avoid the robot.

[0058] like Figure 1 , 6 As shown, in a preferred embodiment of the present invention, at least one position detection switch 9 is also included. The position detection switch 9 is disposed on the side wall of the columnar housing 1. The fixing assembly 7 also includes a detection rod 73 that cooperates with the position detection switch 9. The lower end of the detection rod 73 is vertically fixed to the upper end of the support 71. When the position detection switch 9 abuts against the upper end of the detection rod 73, the position detection switch 9 generates an electrical signal indicating that the robot is in position, controls the telescopic cylinder 2 to drive the gripper 4 to the gripping position, so that the hook 41 is engaged with the hooking protrusion 722, controls the robot to separate from the gun changing plate 51, and controls the swing cylinder 82 to swing the dust cover 83 above the gripper mechanism.

[0059] In this embodiment of the invention, the term "multiple" refers to two or more, unless otherwise explicitly defined. The terms "install," "connect," and "fix" should be interpreted broadly. For example, "connect" can mean a fixed connection, a detachable connection, or an integral connection. Those skilled in the art can understand the specific meaning of the above terms in this embodiment of the invention based on the specific circumstances.

[0060] In the description of the embodiments of the present invention, it should be understood that the terms "upper" and "lower" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or unit referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of the present invention.

[0061] In the description of this specification, the terms "an embodiment," "a preferred embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0062] The above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. For those skilled in the art, the embodiments of the present invention can have various modifications and variations. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the embodiments of the present invention should be included within the protection scope of the embodiments of the present invention.

Claims

1. A gripper mechanism, characterized in that, include: A cylindrical shell (1) has a cavity (11) inside. The lower end of the side wall of the cavity (11) is provided with a plurality of annularly arranged through holes (12). The outer edge of the lower end of the cylindrical shell (1) is provided with a plurality of first mounting seats (13) corresponding to the through holes (12). At least one positioning pin (14) is provided in the middle of the lower end of the cylindrical shell (1). Telescopic cylinder (2), the telescopic cylinder (2) is disposed in the cavity (11), the telescopic cylinder (2) has a telescopic rod (21) that can move up and down. Linkage assembly (3), the linkage assembly (3) is disposed in the cavity (11), one end of the linkage assembly (3) is movably connected to the telescopic rod (21), and the other end of the linkage assembly (3) can extend through the through hole (12); The number of grippers (4) matches the number of the first mounting base (13). The middle part of the gripper (4) is movably mounted on the first mounting base (13). The first end of the gripper (4) is movably connected to the other end of the connecting rod assembly (3). The second end of the gripper (4) is provided with a hook (41). The telescopic rod (21) moves up and down and drives multiple grippers (4) to simultaneously grip or release through the connecting rod assembly (3). Energy connection part (5), which is disposed on the columnar outer shell (1), is used to provide pneumatic or electrical energy to the telescopic cylinder (2).

2. The gripper mechanism according to claim 1, characterized in that, The linkage assembly (3) includes a first linkage (31) and a second linkage group (32) with a number matching the number of grippers (4). The second linkage group (32) includes a first rod (321) and a second rod (322). The first end of the first linkage (31) is connected to the telescopic rod (21). The second end of the first linkage (31) is movably connected to the first end of the first rod (321) and the first end of the second rod (322). The first end of the gripper (4) is movably connected to the second end of the first rod (321) and the second end of the second rod (322). The gripper (4) is located between the first rod (321) and the second rod (322).

3. The gripper mechanism according to claim 2, characterized in that, The second end of the first connecting rod (31) is provided with a plurality of second mounting seats (311), and the first end of the first rod (321) and the first end of the second rod (322) are movably connected to the second mounting seats (311).

4. The gripper mechanism according to claim 2, characterized in that, It also includes an annular guide sleeve (6), which is fixedly disposed inside the cavity (11) and sleeved outside the telescopic rod (21) and the first connecting rod (31).

5. The gripper mechanism according to claim 4, characterized in that, The inner wall of the cavity (11) is provided with a first annular step (15), and the first annular step (15) is provided with a plurality of first threaded holes (151). The outer edge of one end of the annular guide sleeve (6) is provided with a second annular step (61), and the second annular step (61) is provided with a first through hole (611) corresponding to the first threaded hole (151). The second annular step (61) abuts against the first annular step (15) and is connected to the first threaded hole (151) by a plurality of first bolts.

6. The gripper mechanism according to claim 5, characterized in that, The second annular step (61) is also provided with a plurality of second threaded holes (612), and the telescopic cylinder (2) is provided with a second through hole (22) corresponding to the second threaded hole (612). The telescopic cylinder (2) is connected to the second threaded hole (612) by a second bolt.

7. The gripper mechanism according to any one of claims 1-6, characterized in that, The energy connection part (5) includes a gun changing disc (51) and a valve island (52). The gun changing disc (51) is located at the upper end of the columnar housing (1), and the valve island (52) is located on the side wall of the columnar housing (1). The valve island (52) is equipped with a solenoid valve. The gun changing disc (51) and the telescopic cylinder (2) are respectively connected to the solenoid valve. Alternatively, the valve island (52) is equipped with an electrical socket, and the gun changing disc (51) and the telescopic cylinder (2) are respectively connected to the electrical socket.

8. A gripper storage mechanism, characterized in that, The gripper storage mechanism is configured to store the gripper mechanism according to any one of claims 1-7. The gripper storage mechanism includes a fixing component (7), which includes a support (71) and a locking plate (72). The lower end of the support (71) is fixed to the ground. A base (723) is provided at the middle of the lower end of the locking plate (72). The base (723) is fixed to the upper end of the support (71). The upper end of the locking plate (72) is provided with a mechanism that cooperates with the positioning pin (14). The positioning hole (721) is provided. The outer edge of the locking disc (72) is provided with a relief groove (724) corresponding to the gripper (4). The lower end of the locking disc (72) is provided with a hooking protrusion (722) corresponding to the relief groove (724). When the gripper mechanism is stored on the gripper storage mechanism, the positioning pin (14) is inserted into the positioning hole (721), the gripper (4) is located in the relief groove (724), and the hook (41) is hooked to the hooking protrusion (722).

9. The gripper storage mechanism according to claim 8, characterized in that, The gripper storage mechanism also includes a dustproof mechanism (8), which includes a support arm (81), a swing cylinder (82), a dust cover (83), and a swing arm (84). The lower end of the support arm (81) is fixed to the upper end of the support (71). The swing cylinder (82) is located at the upper end of the support arm (81). One end of the swing arm (84) is connected to the swing part of the swing cylinder (82). The dust cover (83) is located at the other end of the swing arm (84). The swing cylinder (82) is configured to swing the dust cover (83) above the gripper mechanism for dustproofing or to swing to the position where the dustproofing is released.

10. The gripper storage mechanism according to claim 9, characterized in that, It also includes a position detection switch (9), which is disposed on the side wall of the columnar housing (1). The fixing assembly (7) also includes a detection rod (73) that cooperates with the position detection switch (9). The lower end of the detection rod (73) is vertically fixed to the upper end of the support (71). When the position detection switch (9) abuts against the upper end of the detection rod (73), the position detection switch (9) generates an electrical signal indicating that the position is in place.

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