Auxiliary grabbing robot suitable for different sizes

Abstract

The invention discloses an auxiliary grabbing robot suitable for different sizes, and relates to the technical field of grabbing robots, the auxiliary grabbing robot comprises a mechanical arm, an adjusting assembly is fixedly connected to the side edge of the mechanical arm, a centering assembly is fixedly connected to the middle of the adjusting assembly, and clamping assemblies are slidably mounted at the two ends of the adjusting assembly. According to the auxiliary grabbing robot suitable for the different sizes, the grabbing assemblies at the two ends move to the two ends of an object, the objects of the different sizes are grabbed, and the adaptation range of the robot is widened; the multiple movable ejector rods are extruded by the surface of an object and are automatically matched according to the appearance of the object, locking of the movable ejector rods is achieved, then the object with the irregular appearance is clamped, flexible clamping is achieved, and the irregular object is prevented from being damaged; and the object and the fixing frame are pushed to be in a relatively horizontal state, so that the grabbing assembly can grab the object conveniently, and the object grabbing stability is improved.

Description

Technical Field

[0001] This invention relates to the field of grasping robot technology, and in particular to an auxiliary grasping robot applicable to different sizes. Background Technology

[0002] In fields such as industrial automation, logistics sorting, and precision manufacturing, assisted gripping robots have become core equipment for improving operational efficiency and reducing labor costs. However, existing gripping robots generally suffer from poor size adaptability, making it difficult to meet the needs of multi-specification and variable batch operation scenarios, thus restricting their large-scale application.

[0003] Traditional gripping devices mostly use rigid fixed fixtures, requiring customized fixtures for different workpiece sizes and downtime for debugging. This not only results in high fixture redundancy costs and an average changeover time of 2.3 hours, but also significantly reduces production line flexibility. While flexible gripping devices have improved, passive flexible grippers have limited response speeds, while active grippers consume more energy and struggle to stably grip both small parts and large workpieces in scenarios with a wide size range, negatively impacting user experience. To address the shortcomings of existing technologies, we propose an auxiliary gripping robot applicable to different sizes. Summary of the Invention

[0004] The main objective of this invention is to provide an auxiliary grasping robot applicable to different sizes, which can effectively solve the problems in the background art.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows: An auxiliary grasping robot applicable to different sizes includes a robotic arm, an adjustment component fixedly connected to the side of the robotic arm, a centering component fixedly connected to the middle of the adjustment component, a clamping component slidably mounted at both ends of the adjustment component, and a grasping component fixedly connected to both ends of the clamping component. The adjustment assembly includes a connecting frame, one end of which is fixedly connected to a rotating motor. The output end of the rotating motor is fixedly connected to a rotating frame, which is rotatably mounted inside the connecting frame. The connecting frame is fixedly connected to a robotic arm. A gripping cylinder is fixedly connected inside the rotating frame. A fixed frame is fixedly connected to the bottom of the rotating frame. Movable motors are fixedly connected to both sides inside the fixed frame. Rotating screws are fixedly connected to the output ends of the movable motors. The rotating screws are rotatably mounted at both ends inside the fixed frame. Sliding grooves are provided at both ends of the bottom of the fixed frame. Fixed tracks are fixedly connected to both sides of the bottom of both ends of the fixed frame. A robotic claw is fixedly connected to the middle of the bottom of the fixed frame. The gripping cylinder is connected to the robotic claw. A visual inspection camera is fixedly connected to one end of the bottom of the fixed frame.

[0006] Preferably, the clamping assembly includes a traveling frame, a fixed sleeve fixedly connected to the top of the traveling frame, a gripping frame fixedly connected to the bottom of the traveling frame, a movable cylinder fixedly connected to the right end of the top of the gripping frame, the movable cylinder being connected to one end of the movable frame via a connecting block, a movable groove being provided at the left end of the gripping frame, two limiting rods fixedly connected to both ends of the bottom of the gripping frame, movable frames being movably sleeved on the outer surfaces of the limiting rods at both ends, the movable frames at both ends being respectively connected to two gripping assemblies, side frames being fixedly connected to the opposite sides of the movable frames at both ends, a fixed rack being fixedly connected to the opposite end of the side frames at both ends, the fixed racks at both ends being movably sleeved inside the side frames at both ends, and a rotating gear being rotatably installed in the middle of the bottom end of the gripping frame.

[0007] Preferably, the fixed racks on both sides mesh with the two ends of the rotating gear, the traveling frame is slidably mounted on the outer surface of the fixed track, the fixed sleeve is slidably mounted inside the sliding groove, and is threaded onto the outer surface of the rotating screw.

[0008] Preferably, the gripping assembly includes a clamping plate, with multiple movable push rods movably sleeved on opposite sides of both ends of the clamping plate. Multiple rubber sleeves are fixedly connected to one end of the inside of each clamping plate, and the multiple movable push rods are movably sleeved inside the rubber sleeves. A buffer spring is provided between the inner wall of the clamping plate and the movable push rods. A hydraulic cylinder and an oil reservoir are fixedly connected to the back of the clamping plate. A piston is fixedly connected to the output end of the hydraulic cylinder, and the piston is movably sleeved inside the oil reservoir. A connecting oil pipe is fixedly connected to one end of the oil reservoir, and the connecting oil pipe communicates with the multiple rubber sleeves.

[0009] Preferably, the centering component includes a transmission gear, a rotating sleeve is fixedly sleeved inside the transmission gear, a rotating plate is fixedly sleeved at the bottom of the rotating sleeve, a push rod is rotatably mounted at both ends of the rotating plate, a sliding block is rotatably mounted at the end of the push rod away from the rotating plate, and a support rod is rotatably mounted at both ends of the sliding block.

[0010] Preferably, side wing frames are fixedly connected to both sides of the middle part of the fixed frame, side rails are fixedly connected to the inside of both ends of the side wing frames, and rotating arms are rotatably installed on both sides of both ends of the side wing frames, with a positioning roller rotatably installed at one end of the rotating arm.

[0011] Preferably, the sliding blocks at both ends are slidably mounted on the outer surface of the side rails at both ends, a fixed block is fixedly connected to one end of the top of the rotating arm, and one end of the support rod is rotatably mounted on the side of the fixed block.

[0012] Preferably, the transmission gear and the rotating plate are rotatably mounted in the middle of the fixed frame, the movable rod inside the gripping cylinder is movably sleeved inside the rotating sleeve, a positioning cylinder is fixedly connected to one end inside the fixed frame, a movable rack is fixedly connected to the output end of the positioning cylinder, the movable rack is slidably mounted inside the fixed frame, and the side of the movable rack meshes with the outer surface of the rotating sleeve.

[0013] Compared with the prior art, the present invention has the following beneficial effects: 1. In this invention, a mechanical gripper is used to grasp smaller objects. Based on the length of the object, a moving motor controls the rotation of the fixed frame, causing the walking frame to slide on the outer surface of the fixed track. This allows the gripping component to slide at the bottom of the fixed frame, adjusting the horizontal position of the gripping component at the bottom of the fixed frame. This moves the gripping components at both ends to the ends of the object, enabling the grasping of larger objects. This allows the robot to grasp objects of different sizes, improving its adaptability.

[0014] 2. In this invention, by setting multiple movable push rods, when the gripping component clamps the outer surface of the object, the multiple movable push rods are squeezed by the surface of the object and automatically adapt to the shape of the object to lock the movable push rods, thereby achieving the clamping of irregularly shaped objects and flexible clamping to avoid damage to irregularly shaped objects.

[0015] 3. In this invention, by setting a centering component, the support rod pushes the rotating arm to rotate, thereby causing the positioning rollers on both sides to move towards the center, thereby positioning the object and pushing the object and the fixed frame to be in a relatively horizontal state, which facilitates the gripping component to grip the object and improves the stability of gripping the object. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the adjustment component and clamping component of the present invention; Figure 3 This is a schematic diagram of the adjustment component structure of the present invention; Figure 4 This is a schematic diagram of the top structure of the clamping assembly of the present invention; Figure 5 This is a schematic diagram of the bottom structure of the clamping assembly of the present invention; Figure 6 This is a schematic diagram of the gripping component structure of the present invention; Figure 7 This is a schematic diagram of the centering component structure of the present invention.

[0017] In the diagram: 1. Robotic arm; 2. Adjustment component; 3. Gripping component; 4. Centering component; 5. Grasping component; 21. Connecting frame; 22. Rotary motor; 23. Rotating frame; 24. Fixed frame; 25. Moving motor; 26. Rotating screw; 27. Sliding groove; 28. Fixed track; 29. ​​Vision inspection camera; 210. Side wing frame; 211. Grasping cylinder; 212. Mechanical gripper; 31. Walking frame; 32. Fixed sleeve; 33. Grasping frame; 34. Movable groove; 35. Moving cylinder; 36. 37. Limiting rod; 38. Moving frame; 39. Side frame; 30. Fixed rack; 310. Rotating gear; 41. Transmission gear; 42. Rotating sleeve; 43. Rotating plate; 44. Side rail; 45. Rotating arm; 46. Positioning roller; 47. Push rod; 48. Sliding block; 49. Support rod; 410. Positioning cylinder; 411. Moving rack; 51. Clamping plate; 52. Rubber sleeve; 53. Movable top rod; 54. Buffer spring; 55. Hydraulic cylinder; 56. Oil tank; 57. Connecting oil pipe. Detailed Implementation

[0018] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0019] Example 1, as Figures 1-5 As shown, an auxiliary grasping robot applicable to different sizes includes a robotic arm 1, an adjustment component 2 fixedly connected to the side of the robotic arm 1, a centering component 4 fixedly connected to the middle of the adjustment component 2, a clamping component 3 slidably mounted at both ends of the adjustment component 2, and a grasping component 5 fixedly connected to both ends of the clamping component 3. like Figure 3 As shown, the adjustment component 2 includes a connecting frame 21. A rotating motor 22 is fixedly connected to one end of the connecting frame 21. A rotating frame 23 is fixedly connected to the output end of the rotating motor 22. The rotating frame 23 is rotatably installed inside the connecting frame 21. The connecting frame 21 is fixedly connected to the robotic arm 1. A gripping cylinder 211 is fixedly connected inside the rotating frame 23. A fixed frame 24 is fixedly connected to the bottom of the rotating frame 23. Movable motors 25 are fixedly connected to both sides inside the fixed frame 24. A rotating screw 26 is fixedly connected to the output end of the movable motor 25. The rotating screw 26 is rotatably installed at both ends inside the fixed frame 24. Sliding grooves 27 are provided at both ends of the bottom of the fixed frame 24. Fixed rails 28 are fixedly connected to both sides of the bottom of both ends of the fixed frame 24. A mechanical claw 212 is fixedly connected to the middle of the bottom of the fixed frame 24. The gripping cylinder 211 is connected to the mechanical claw 212. A visual inspection camera 29 is fixedly connected to one end of the bottom of the fixed frame 24.

[0020] Specifically, the gripping cylinder 211 extends, causing it to control the mechanical gripper 212 to hold the object. The mechanical gripper 212 then grips the smaller object. Additionally, a visual inspection camera 29 performs a simple location check on the object. The visual inspection camera 29 first acquires an image containing the target object, identifying its position in the image based on features such as edges, corners, color, or texture. Then, using the camera's intrinsic parameters (focal length, principal point, etc.) and extrinsic parameters (camera position and orientation in the world coordinate system), combined with a pinhole camera model, the two-dimensional coordinates on the image are converted into three-dimensional spatial coordinates. This visual recognition and positioning technology is existing and will not be elaborated upon further here.

[0021] like Figure 4 As shown, the clamping assembly 3 includes a walking frame 31, a fixed sleeve 32 fixedly connected to the top of the walking frame 31, a gripping frame 33 fixedly connected to the bottom of the walking frame 31, a moving cylinder 35 fixedly connected to the right end of the top of the gripping frame 33, the moving cylinder 35 being connected to a moving frame 37 at one end via a connecting block, a movable groove 34 being provided at the left end of the gripping frame 33, two limiting rods 36 fixedly connected to both ends of the bottom of the gripping frame 33, a moving frame 37 being movably sleeved on the outer surface of the limiting rods 36 at both ends, the moving frames 37 at both ends being respectively connected to two gripping assemblies 5, side frames 38 fixedly connected to the opposite sides of the moving frames 37 at both ends, a fixed rack 39 fixedly connected to the opposite end of the side frames 38 at both ends, the fixed racks 39 at both ends being movably sleeved inside the side frames 38 at both ends, and a rotating gear 310 being rotatably installed in the middle of the bottom of the gripping frame 33.

[0022] Among them, the two fixed racks 39 on both sides mesh with the two ends of the rotating gear 310, the walking frame 31 is slidably installed on the outer surface of the fixed track 28, the fixed sleeve 32 is slidably installed inside the sliding groove 27, and is threadedly installed on the outer surface of the rotating screw 26.

[0023] Specifically, the fixed frame 24 is rotated by the moving motor 25, so that the walking frame 31 slides on the outer surface of the fixed track 28, and then the clamping assembly 3 slides at the bottom of the fixed frame 24, thereby adjusting the horizontal position of the clamping assembly 3 at the bottom of the fixed frame 24.

[0024] In addition, the movable cylinder 35 pushes the movable frame 37 at one end to move, causing the movable frame 37 at one end to drive the fixed rack 39 on one side to move. Through the action of the rotating gear 310 meshing with the fixed rack 39, the fixed rack 39 on the other side drives the movable frame 37 at the other end to move, thereby realizing the opposite or reverse movement of the gripping components 5 on both sides, and realizing the clamping of the object.

[0025] Example 2, as Figure 6As shown, an auxiliary grasping robot applicable to different sizes is described. The grasping component 5 includes a clamping plate 51. Multiple movable push rods 53 are movably sleeved on one side of the clamping plates 51 facing each other. Multiple rubber sleeves 52 are fixedly connected to one end of the clamping plate 51. The multiple movable push rods 53 are respectively movably sleeved inside the multiple rubber sleeves 52. A buffer spring 54 is provided between the inner wall of the clamping plate 51 and the movable push rods 53. A hydraulic cylinder 55 and an oil tank 56 are fixedly connected to the back of the clamping plate 51. A piston is fixedly connected to the output end of the hydraulic cylinder 55. The piston is movably sleeved inside the oil tank 56. A connecting oil pipe 57 is fixedly connected to one end of the oil tank 56. The connecting oil pipe 57 is connected to the multiple rubber sleeves 52.

[0026] Specifically, by setting multiple movable push rods 53, when the gripping component 5 clamps the outer surface of the object, the multiple movable push rods 53 are squeezed by the surface of the object, causing the corresponding movable push rods 53 to move into the interior of the clamping plate 51. Multiple buffer springs 54 are compressed, and then the hydraulic cylinder 55 pushes the internal piston to move, causing the hydraulic oil inside the oil tank 56 to enter the interior of the rubber sleeve 52 through the connecting oil pipe 57. The rubber sleeve 52 expands and squeezes the outer surface of the movable push rods 53, thereby locking the movable push rods 53. This achieves the clamping of irregularly shaped objects with flexible clamping, avoiding damage to irregularly shaped objects.

[0027] Example 3, as Figure 7 As shown, an auxiliary grasping robot applicable to different sizes is provided. The centering component 4 includes a transmission gear 41. A rotating sleeve 42 is fixedly sleeved inside the transmission gear 41. A rotating plate 43 is fixedly sleeved at the bottom of the rotating sleeve 42. Push rods 47 are rotatably mounted at both ends of the rotating plate 43. A sliding block 48 is rotatably mounted at the end of the push rod 47 away from the rotating plate 43. Support rods 49 are rotatably mounted at both ends of the sliding block 48.

[0028] The fixed frame 24 has side wing frames 210 fixedly connected to both sides of the middle part, and side rails 44 fixedly connected to the inside of the side wing frames 210 at both ends. Rotating arms 45 are rotatably installed on both sides of the side wing frames 210 at both ends, and positioning rollers 46 are rotatably installed on one end of the rotating arms 45.

[0029] Among them, the sliding blocks 48 at both ends are slidably installed on the outer surface of the side rails 44 at both ends, and a fixed block is fixedly connected to one end of the top of the rotating arm 45, and one end of the support rod 49 is rotatably installed on the side of the fixed block.

[0030] The transmission gear 41 and the rotating plate 43 are rotatably mounted in the middle of the fixed frame 24. The movable rod inside the gripping cylinder 211 is movably sleeved inside the rotating sleeve 42. One end of the fixed frame 24 is fixedly connected to a positioning cylinder 410. The output end of the positioning cylinder 410 is fixedly connected to a moving rack 411. The moving rack 411 is slidably mounted inside the fixed frame 24. The side of the moving rack 411 meshes with the outer surface of the rotating sleeve 42.

[0031] Specifically, the positioning cylinder 410 pushes the moving rack 411 to move. Through the meshing of the moving rack 411 and the transmission gear 41, the rotating plate 43 drives the push rods 47 at both ends to move in the opposite direction, and pushes the sliding block 48 to slide on the outer surface of the side track 44, so that the support rod 49 pushes the rotating arm 45 to rotate, thereby causing the positioning rollers 46 on both sides to move towards the center, thereby positioning the object and pushing the object and the fixed frame 24 to be in a relatively horizontal state, which facilitates the gripping component 5 to grip the object and improves the stability of the object gripping.

[0032] It should be noted that the present invention is an auxiliary grasping robot applicable to different sizes. When it is needed to grip smaller objects, the robotic arm 1 controls the mechanical claw 212 to move to the side of the object, and the gripping cylinder 211 extends to control the mechanical claw 212 to grip the object, thereby gripping the smaller object. When a large object needs to be grasped, the robotic arm 1 controls the fixed frame 24 to move above the object. Then, the positioning cylinder 410 pushes the moving rack 411 to move. Through the meshing of the moving rack 411 and the transmission gear 41, the rotating plate 43 drives the push rods 47 at both ends to move in the opposite direction and pushes the sliding block 48 to slide on the outer surface of the side track 44. This causes the support rod 49 to push the rotating arm 45 to rotate, thereby causing the positioning rollers 46 on both sides to move towards the center and push the object and the fixed frame 24 to be in a relatively horizontal state, thus positioning the object. Then, according to the length of the object, the moving motor 25 controls the fixed frame 24 to rotate, causing the walking frame 31 to slide on the outer surface of the fixed track 28, thereby causing the clamping assembly 3 to slide at the bottom of the fixed frame 24, thus adjusting the horizontal position of the clamping assembly 3 at the bottom of the fixed frame 24, and moving the gripping assemblies 5 at both ends to the two ends of the object. Finally, the movable cylinder 35 pushes the movable frame 37 at one end to move, causing the movable frame 37 at one end to drive the fixed rack 39 on one side to move. Through the meshing action of the rotating gear 310 and the fixed rack 39, the fixed rack 39 on the other side drives the movable frame 37 at the other end to move, thereby realizing the opposite movement of the gripping components 5 on both sides to clamp the object. When the gripping component 5 clamps the outer surface of the object, multiple movable push rods 53 are squeezed by the surface of the object, causing the corresponding movable push rods 53 to move into the interior of the clamping plate 51. Multiple buffer springs 54 are compressed. Subsequently, the hydraulic cylinder 55 pushes the internal piston to move, causing the hydraulic oil in the oil tank 56 to enter the interior of the rubber sleeve 52 through the connecting oil pipe 57. The rubber sleeve 52 expands and squeezes the outer surface of the movable push rod 53 to lock the movable push rod 53, thereby realizing the gripping of objects with irregular shapes.

[0033] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. An auxiliary grasping robot applicable to different sizes, comprising a robotic arm (1), characterized in that: An adjustment component (2) is fixedly connected to the side of the robotic arm (1), a centering component (4) is fixedly connected to the middle of the adjustment component (2), a clamping component (3) is slidably installed at both ends of the adjustment component (2), and a gripping component (5) is fixedly connected to both ends of the clamping component (3). The adjustment assembly (2) includes a connecting frame (21), one end of which is fixedly connected to a rotating motor (22), and the output end of the rotating motor (22) is fixedly connected to a rotating frame (23). The rotating frame (23) is rotatably mounted inside the connecting frame (21). The connecting frame (21) is fixedly connected to the robotic arm (1). A gripping cylinder (211) is fixedly connected inside the rotating frame (23). A fixed frame (24) is fixedly connected to the bottom of the rotating frame (23). Movable motors (25) are fixedly connected to both sides inside the fixed frame (24). The output end of the mobile motor (25) is fixedly connected to a rotating screw (26). The rotating screw (26) is rotatably installed at both ends inside the fixed frame (24). Sliding grooves (27) are provided at both ends of the bottom of the fixed frame (24). Fixed rails (28) are fixedly connected to both sides of the bottom of the fixed frame (24). A mechanical claw (212) is fixedly connected to the middle of the bottom of the fixed frame (24). The gripping cylinder (211) is connected to the mechanical claw (212). A visual inspection camera (29) is fixedly connected to one end of the bottom of the fixed frame (24).

2. The auxiliary grasping robot applicable to different sizes according to claim 1, characterized in that: The clamping assembly (3) includes a walking frame (31), a fixed sleeve (32) is fixedly connected to the top of the walking frame (31), a gripping frame (33) is fixedly connected to the bottom of the walking frame (31), a moving cylinder (35) is fixedly connected to the right end of the top of the gripping frame (33), a movable groove (34) is opened at the left end of the gripping frame (33), and two limiting rods (36) are fixedly connected to both ends of the bottom of the gripping frame (33). A movable frame (37) is movably sleeved on the outer surface of the limiting rods (36) at both ends. The movable cylinder (35) is connected to the movable frame (37) at one end via a connecting block. The movable frames (37) at both ends are respectively connected to two gripping components (5). Side frames (38) are fixedly connected to the opposite sides of the movable frames (37) at both ends. Fixed racks (39) are fixedly connected to the opposite ends of the side frames (38) at both ends. The fixed racks (39) at both ends are movably sleeved inside the side frames (38) on both sides. A rotating gear (310) is rotatably installed in the middle of the bottom end of the gripping frame (33).

3. The auxiliary grasping robot applicable to different sizes according to claim 2, characterized in that: The fixed racks (39) on both sides mesh with the two ends of the rotating gear (310), the walking frame (31) is slidably mounted on the outer surface of the fixed track (28), the fixed sleeve (32) is slidably mounted inside the sliding groove (27), and is threaded onto the outer surface of the rotating screw (26).

4. The auxiliary grasping robot applicable to different sizes according to claim 1, characterized in that: The gripping component (5) includes a clamping plate (51). Multiple movable push rods (53) are movably sleeved on opposite sides of the clamping plates (51) at both ends. Multiple rubber sleeves (52) are fixedly connected to one end of the clamping plate (51). The multiple movable push rods (53) are movably sleeved inside the multiple rubber sleeves (52). A buffer spring (54) is provided between the inner wall of the clamping plate (51) and the movable push rods (53). A hydraulic cylinder (55) and an oil tank (56) are fixedly connected to the back of the clamping plate (51). A piston is fixedly connected to the output end of the hydraulic cylinder (55). The piston is movably sleeved inside the oil tank (56). A connecting oil pipe (57) is fixedly connected to one end of the oil tank (56). The connecting oil pipe (57) is connected to the multiple rubber sleeves (52).

5. The auxiliary grasping robot applicable to different sizes according to claim 1, characterized in that: The centering component (4) includes a transmission gear (41), a rotating sleeve (42) is fixedly sleeved inside the transmission gear (41), a rotating plate (43) is fixedly sleeved at the bottom of the rotating sleeve (42), a push rod (47) is rotatably installed at both ends of the rotating plate (43), a sliding block (48) is rotatably installed at the end of the push rod (47) away from the rotating plate (43), and a support rod (49) is rotatably installed at both ends of the sliding block (48).

6. The auxiliary grasping robot applicable to different sizes according to claim 5, characterized in that: Both sides of the middle part of the fixed frame (24) are fixedly connected to side wing frames (210), and the inside of the side wing frames (210) at both ends are fixedly connected to side rails (44). Rotating arms (45) are rotatably installed on both sides of the side wing frames (210) at both ends, and a positioning roller (46) is rotatably installed on one end of the rotating arm (45).

7. The auxiliary grasping robot applicable to different sizes according to claim 6, characterized in that: The sliding blocks (48) at both ends are slidably installed on the outer surface of the side rails (44) at both ends, and a fixed block is fixedly connected to one end of the top of the rotating arm (45), and one end of the support rod (49) is rotatably installed on the side of the fixed block.

8. The auxiliary grasping robot applicable to different sizes according to claim 7, characterized in that: The transmission gear (41) and the rotating plate (43) are rotatably mounted in the middle of the fixed frame (24). The movable rod inside the gripping cylinder (211) is movably sleeved inside the rotating sleeve (42). One end of the fixed frame (24) is fixedly connected to a positioning cylinder (410). The output end of the positioning cylinder (410) is fixedly connected to a moving rack (411). The moving rack (411) is slidably mounted inside the fixed frame (24). The side of the moving rack (411) meshes with the outer surface of the rotating sleeve (42).

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