A composite fixture for an industrial robot

Abstract

The application discloses a kind of composite clamps for industrial robot, and the application belongs to the control and driving technical field of industrial robot, including industrial robot mechanical arm and the composite clamp body of setting its one end, auxiliary lubrication cleaning component, auxiliary clamping component and lubricating liquid collection component are set on the composite clamp body, the auxiliary lubrication cleaning component is used to clean and lubricate the clamping mechanical component of composite clamp body.The application integrates the functions of mechanical clamping, auxiliary adsorption, autonomous lubrication cleaning and lubricating liquid recovery, and each functional component relies on the transmission power of the clamp itself to realize linkage operation, without the need for additional independent drive device, the structure is compact and stable in operation;Solve the problems of unstable clamping, easy wear of transmission components, manual shutdown maintenance and lubricating fluid waste pollution of traditional clamps, improve the operation stability, automation degree and service life of industrial robot clamps, and reduce the production maintenance and consumable cost.

Description

Technical Field

[0001] This invention belongs to the field of industrial robot control and drive technology, and particularly relates to a composite gripper for industrial robots. Background Technology

[0002] In automated industrial robot operations, the fixture, as a core component that directly contacts the workpiece, directly determines the stability of the production operation.

[0003] Currently, conventional industrial robot grippers only have a single mechanical gripping function. When facing workpieces with smooth surfaces and light weight, they are prone to loosening and falling off, affecting the continuity of production. At the same time, the transmission components such as worm gears and drive gears inside the gripper operate at high speed for a long time without a follow-up cleaning and lubrication structure. This not only aggravates the wear of the components, but also requires manual shutdown for regular maintenance, reducing production efficiency. Furthermore, when manually adding lubricant, excess lubricant easily drips, wasting it and contaminating the workpiece and production site. The lubricant mixed with impurities cannot be recycled, increasing production material costs. Existing fixtures cannot simultaneously meet the combined requirements of stable clamping, autonomous maintenance, and lubricant recovery. Therefore, we propose a composite fixture for industrial robots. Summary of the Invention

[0004] To address the issues that conventional industrial robot grippers, which only possess a single mechanical gripping function, are prone to loosening and falling off when handling smooth, lightweight workpieces, thus affecting production continuity; simultaneously, the worm gears, drive gears, and other transmission components inside the gripper operate at high speeds for extended periods without a follow-up cleaning and lubrication structure, which not only accelerates component wear but also requires periodic manual maintenance, reducing production efficiency; furthermore, when manually adding lubricant, excess lubricant easily drips indiscriminately, wasting lubricant and contaminating the workpiece and production site, and the lubricant mixed with impurities cannot be recycled, increasing production consumable costs; existing grippers cannot simultaneously meet the combined requirements of stable gripping, autonomous maintenance, and lubricant recycling. The purpose of this invention is to provide a composite gripper for industrial robots.

[0005] To achieve the above objectives, the present invention proposes a composite gripper for industrial robots, comprising an industrial robot robotic arm and a composite gripper body disposed at one end thereof. The composite gripper body is provided with an auxiliary lubrication and cleaning component, an auxiliary clamping component, and a lubricant collection component. The auxiliary lubrication and cleaning component is used to clean and lubricate the clamping mechanical parts of the composite gripper body. The auxiliary clamping component is used to adsorb the workpiece held by the composite gripper body. The lubricant collection component is used to collect the excess lubricant from the lubrication and cleaning of the composite gripper body, and the collected lubricant is in the form of a lower layer of solid sediment and an upper layer of lubricating liquid.

[0006] Preferably, the composite clamp body includes a mounting frame disposed at one end of the industrial robot arm. One end of the mounting frame has a mounting opening, and two drive gears are rotatably disposed inside the mounting opening. A worm gear is rotatably disposed at the bottom end of the inner side of the mounting opening. The two drive gears are located on both sides of the worm gear and mesh with the worm gear. Clamping arms are rotatably disposed on both sides of the mounting frame through connecting plates, and the two clamping arms are respectively fixedly connected to the two drive gears through connecting plates. A drive motor is fixedly disposed at one end of the mounting frame, and the output end of the drive motor is connected to the worm gear. The auxiliary lubrication and cleaning component includes a lubricant storage tank disposed on the upper surface of the mounting frame, a top block fixedly disposed on the upper surface of the drive gear, and a fixing plate fixedly disposed on the top of the mounting frame. The cross-section of the top block is an isosceles trapezoid.

[0007] Preferably, the lubricant storage tank has two trapezoidal holes at its inner bottom, wider at the top and narrower at the bottom. A trapezoidal block is inserted into the inner side of each trapezoidal hole. A top rod is fixedly mounted on the lower end face of each trapezoidal block. One end of each top rod passes through the mounting bracket and presses against the upper end face of the drive gear inside the mounting opening on the mounting bracket. A telescopic rod is fixedly mounted on the upper end face of each trapezoidal block. A top plate is mounted above the trapezoidal block. The top plate is fixedly mounted on the inner bottom of the lubricant storage tank by multiple second fixing rods. A first helical spring is sleeved on the telescopic rod. Both ends of the telescopic rod press against the top plate and the trapezoidal block.

[0008] Preferably, the push rod passes through the fixed plate, and the upper end surface of the fixed plate is provided with a first oil collection port and a diversion groove. There are two first oil collection ports, which are located at the junction of the push rod and the fixed plate. There are multiple diversion grooves, which are interleaved with each other, and one diversion groove is connected to two first oil collection ports.

[0009] Preferably, a cleaning brush is fixedly provided on the lower end face of the fixed plate, the cleaning brush presses against the drive gear and worm, and a micro oil hole is opened at the bottom of the inner side of the diversion groove, and the micro oil hole penetrates the fixed plate.

[0010] Preferably, the auxiliary clamping assembly includes a threaded rod fixedly disposed at one end of the worm gear and a vertical plate fixedly disposed inside the mounting port. One end of the threaded rod passes through the vertical plate by threads, and a first polygonal limiting hole is provided at the end of the threaded rod away from the worm gear. A first insert rod is inserted into the first polygonal limiting hole, and one end of the first insert rod passes through the first polygonal limiting hole.

[0011] Preferably, the first insertion rod and the end away from the threaded rod are provided with a second polygonal limiting hole, a second insertion rod is inserted into the second polygonal limiting hole, one end of the second insertion rod passes through the second polygonal limiting hole, and a suction cup is fixedly provided at the end passing through the second polygonal limiting hole. A second helical spring is fixedly provided at the bottom of the inner side of the second polygonal limiting hole, and one end of the second helical spring abuts against the second insertion rod.

[0012] Preferably, the lubricant collection assembly includes a second oil collection port opened at the lower end of the inner side of the mounting port and an oil collection bottle connected to the lower end face of the mounting bracket by a thread. The cross-section of the second oil collection port is wider at the top and narrower at the bottom, and the second oil collection port passes through the mounting bracket.

[0013] Preferably, the lower inner side of the oil collecting bottle has a tapered opening with a cross-section that is wider at the top and narrower at the bottom, and the lower end face of the oil collecting bottle is connected to a sealing bolt by a thread.

[0014] Preferably, the clamping surface of the clamping arm on the opposite side wall is provided with several anti-slip textures.

[0015] The composite gripper for industrial robots proposed in this invention can bring the following beneficial effects: 1. The auxiliary lubrication and cleaning component relies on the rotational power of the drive gear to automatically supply lubricant through the cooperation of the top block and the top rod, eliminating the need for manual shutdown for lubrication and achieving a high degree of automation. The cleaning brush cleans impurities from the surface of the drive gear and worm in real time, and together with the evenly dripping lubricant, it reduces friction and wear of the transmission components and extends the service life of the drive gear and worm. The diversion groove ensures that the lubricant evenly covers the transmission components, improving the comprehensiveness of lubrication and the smoothness of transmission.

[0016] 2. The auxiliary clamping assembly utilizes the rotational force of the worm gear to drive the threaded rod to move synchronously without the need for an additional drive source. The suction cup tightly adsorbs the workpiece under the thrust of the second helical spring, forming a double fixing structure with the mechanical clamping of the clamping arm, which improves the clamping stability of smooth and lightweight workpieces and prevents the workpiece from falling off. The limiting cooperation between the first polygonal limiting hole and the second polygonal limiting hole ensures that the suction cup moves smoothly and the clamping and adsorption actions are coordinated and consistent.

[0017] 3. The lubricant collection component centrally recovers excess lubricant through the second oil collection port, preventing lubricant from dripping and contaminating the workpiece and production environment; the conical opening of the oil collection bottle enables automatic solid-liquid stratification of the lubricant, and the upper clean lubricant can be recycled, reducing the waste of lubricant consumables; the sealing bolt facilitates the quick discharge of sediment, simplifying the lubricant recovery and maintenance operation. Attached Figure Description

[0018] The accompanying drawings, which are provided to further illustrate the invention and constitute a part of this invention, are illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention.

[0019] In the attached diagram: Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a perspective view of the composite clamp body of the present invention; Figure 3 This is a first-view exploded view of the composite fixture body of the present invention; Figure 4 This is a second-view exploded view of the composite fixture body of the present invention; Figure 5 This is a partial cross-sectional view of the composite clamp body of the present invention; Figure 6 This is an exploded view of the lubricant storage tank and fixing plate of the present invention; Figure 7 This is a cross-sectional view of the lubricant storage tank of the present invention; Figure 8 This is a cross-sectional view of the oil collecting bottle of the present invention; Figure 9 This is a cross-sectional view of the auxiliary clamping component of the present invention; Figure 10 This is an exploded view of the auxiliary clamping component of the present invention.

[0020] In the picture: 1. Industrial robot arm; 2. Mounting frame; 3. Worm gear; 4. Drive gear; 5. Clamping arm; 6. Auxiliary lubrication and cleaning assembly; 61. Lubricating fluid storage tank; 62. Trapezoidal block; 63. Top rod; 64. Telescopic rod; 65. Second fixed rod; 66. First helical spring; 67. Top plate; 68. Fixed plate; 69. Top block; 610. Cleaning brush; 611. Diverter trough; 6111. First oil collection port; 7. Auxiliary clamping assembly; 71. Vertical plate; 72. Threaded rod; 73. First polygonal limiting hole; 74. First insertion rod; 75. Second polygonal limiting hole; 76. Second helical spring; 77. Second insertion rod; 78. Suction cup; 8. Drive motor; 9. Lubricating fluid collection assembly; 91. Second oil collection port; 92. Oil collection bottle; 93. Conical opening; 94. Sealing bolt. Detailed Implementation

[0021] To more clearly illustrate the overall concept of the present invention, a detailed description will be provided below with reference to the accompanying drawings and examples.

[0022] like Figures 1-10As shown, an embodiment of the present invention proposes a composite gripper for an industrial robot, including an industrial robot arm 1 and a composite gripper body disposed at one end thereon. The composite gripper body is provided with an auxiliary lubrication and cleaning component 6, an auxiliary clamping component 7, and a lubricant collection component 9. The auxiliary lubrication and cleaning component 6 is used to clean and lubricate the clamping mechanical parts of the composite gripper body. The auxiliary clamping component 7 is used to adsorb the workpiece clamped by the composite gripper body. The lubricant collection component 9 is used to collect the excess lubricant from the lubrication and cleaning of the composite gripper body. The collected lubricant consists of a lower layer of solid sediment and an upper layer of lubricating liquid.

[0023] The composite clamp body includes a mounting frame 2 set at one end of the industrial robot arm 1. One end of the mounting frame 2 has a mounting port. Two drive gears 4 are rotatably set inside the mounting port. A worm gear 3 is rotatably set at the bottom end of the mounting port. The two drive gears 4 are located on both sides of the worm gear 3 and both drive gears 4 mesh with the worm gear 3. Clamping arms 5 are rotatably set on both sides of the mounting frame 2 through connecting plates. The two clamping arms 5 are fixedly connected to the two drive gears 4 through the connecting plates respectively. A drive motor 8 is fixedly set at one end of the mounting frame 2. The output end of the drive motor 8 is connected to the worm gear 3. The auxiliary lubrication and cleaning component 6 includes a lubricant storage tank 61 set on the upper surface of the mounting frame 2, a top block 69 fixedly set on the upper surface of the drive gears 4, and a fixing plate 68 fixedly set on the top of the mounting frame 2. The cross-section of the top block 69 is an isosceles trapezoid.

[0024] Two trapezoidal holes, wider at the top and narrower at the bottom, are opened on the inner bottom of the lubricant storage tank 61. A trapezoidal block 62 is inserted into the inner side of the trapezoidal hole. A top rod 63 is fixedly installed on the lower end face of the trapezoidal block 62. One end of the two top rods 63 passes through the mounting bracket 2 and presses against the upper end face of the drive gear 4 inside the mounting opening on the mounting bracket 2. A telescopic rod 64 is fixedly installed on the upper end face of the trapezoidal block 62. A top plate 67 is installed above the trapezoidal block 62. The top plate 67 is fixedly installed on the inner bottom of the lubricant storage tank 61 by multiple second fixing rods 65. A first helical spring 66 is sleeved on the telescopic rod 64. Both ends of the telescopic rod 64 press against the top plate 67 and the trapezoidal block 62.

[0025] Among them, the top block 69 at the upper end of the drive gear 4 moves in a circular motion with the drive gear 4. When the isosceles trapezoidal top block 69 rotates to the top position, its inclined surface contacts the lower end of the top rod 63 and gradually pushes the top rod 63 upward. After the top block 69 rotates away from the top position, the first helical spring 66 pushes the trapezoidal block 62 downward through its own elastic restoring force, causing the top rod 63 to fall back synchronously. The trapezoidal block 62 re-seals the trapezoidal hole of the lubricant storage tank 61, realizing the intermittent automatic supply of lubricant, which is synchronized with the clamping action.

[0026] The push rod 63 passes through the fixed plate 68. The upper end face of the fixed plate 68 is provided with a first oil collection port 6111 and a diversion groove 611. There are two first oil collection ports 6111, which are located at the junction of the push rod 63 and the fixed plate 68. There are multiple diversion grooves 611, which are intersected with each other, and one diversion groove 611 is connected to two first oil collection ports 6111.

[0027] It should be noted that after the lubricant flows out of the trapezoidal hole, it falls along the top rod 63 into the first oil collection port 6111 of the fixed plate 68. It is evenly dispersed through the interlocking distribution grooves 611, and then precisely drips through the micro oil holes at the bottom of the distribution grooves 611 onto the meshing part and surface of the drive gear 4 and the worm 3. With the cleaning action of the cleaning brush 610, impurities on the surface of the transmission components are removed, and the lubricant is evenly adhered, so that cleaning and lubrication are completed simultaneously.

[0028] A cleaning brush 610 is fixedly installed on the lower end face of the fixed plate 68. The cleaning brush 610 presses against the drive gear 4 and the worm gear 3. A micro oil hole is opened at the bottom of the inner side of the diversion groove 611, and the micro oil hole penetrates the fixed plate 68.

[0029] Among them, the auxiliary lubrication and cleaning component 6 relies on the rotational power of the drive gear 4 to achieve automatic lubrication supply through the cooperation of the top block 69 and the top rod 63, without the need for manual shutdown for lubrication, and has a high degree of automation; the cleaning brush 610 cleans the surface of the drive gear 4 and worm 3 in real time, and with the evenly dripping lubricating fluid, it reduces the friction and wear of the transmission components and extends the service life of the drive gear 4 and worm 3; the diversion groove 611 makes the lubricating fluid evenly cover the transmission components, improving the comprehensiveness of lubrication and the smoothness of transmission.

[0030] The auxiliary clamping assembly 7 includes a threaded rod 72 fixedly disposed at one end of the worm gear 3 and a vertical plate 71 fixedly disposed inside the mounting port. One end of the threaded rod 72 passes through the vertical plate 71 by thread. A first polygonal limiting hole 73 is provided at the end of the threaded rod 72 away from the worm gear 3. A first insert rod 74 is inserted into the first polygonal limiting hole 73, and one end of the first insert rod 74 passes through the first polygonal limiting hole 73.

[0031] It should be noted that after clamping is completed, the drive motor 8 rotates in the opposite direction, the drive gear 4 drives the clamping arm 5 to open, the top block 69 returns to its original position with the drive gear 4, and the top rod 63 falls back to seal the trapezoidal hole under the action of the first helical spring 66, stopping the fluid supply; the threaded rod 72 returns to its original position axially with the worm gear 3 rotating in the opposite direction, driving the suction cup 78 to detach from the workpiece; the trapezoidal block 62 and the trapezoidal hole have a structure that is wider at the top and narrower at the bottom, ensuring a tight seal under normal conditions and preventing lubricant leakage.

[0032] The first insertion rod 74 and the end away from the threaded rod 72 are provided with a second polygonal limiting hole 75. A second insertion rod 77 is inserted into the second polygonal limiting hole 75. One end of the second insertion rod 77 passes through the second polygonal limiting hole 75, and a suction cup 78 is fixedly provided at the end passing through the second polygonal limiting hole 75. A second helical spring 76 is fixedly provided at the bottom of the inner side of the second polygonal limiting hole 75, and one end of the second helical spring 76 presses against the second insertion rod 77.

[0033] It should be noted that the threaded rod 72 and the vertical plate 71 are connected by a threaded transmission. When the worm gear 3 drives the threaded rod 72 to rotate, the threaded rod 72 moves axially in a straight line along the threaded hole of the vertical plate 71, thereby pushing the first insert rod 74 to move synchronously. The first polygonal limiting hole 73 and the first insert rod 74, and the second polygonal limiting hole 75 and the second insert rod 77 are all connected by a sliding limiting fit. This ensures that there is no relative rotation in the circumferential direction and also enables axial extension and contraction. Combined with the elastic buffer of the second helical spring 76, the suction cup 78 flexibly fits the surface of the workpiece, avoiding rigid compression that could damage the workpiece.

[0034] The auxiliary clamping component 7 utilizes the rotational force of the worm gear 3 to drive the threaded rod 72 to move synchronously without the need for an additional drive source. The suction cup 78 tightly adsorbs the workpiece under the thrust of the second helical spring 76, forming a double fixing structure with the mechanical clamping of the clamping arm 5, thereby improving the clamping stability of smooth and lightweight workpieces and preventing the workpiece from falling off. The limiting cooperation between the first polygonal limiting hole 73 and the second polygonal limiting hole 75 ensures that the suction cup 78 moves smoothly and that the clamping and adsorption actions are coordinated and consistent.

[0035] The lubricant collection assembly 9 includes a second oil collection port 91 located at the lower end of the inner side of the mounting port and an oil collection bottle 92 connected to the lower end face of the mounting bracket 2 by a thread. The cross-section of the second oil collection port 91 is wider at the top and narrower at the bottom, and the second oil collection port 91 passes through the mounting bracket 2.

[0036] The lower inner side of the oil collecting bottle 92 has a tapered opening 93 with a cross-section that is wider at the top and narrower at the bottom, and the lower end of the oil collecting bottle 92 is connected to a sealing bolt 94 by a thread.

[0037] It should be noted that excess lubricant falls naturally along the drive gear 4, worm gear 3 and the inner wall of the mounting port. The second oil collection port 91, which is wider at the top and narrower at the bottom, plays a role in converging and guiding the flow, ensuring that all the lubricant flows into the oil collection bottle 92. The conical port 93 inside the oil collection bottle 92 uses the principle of gravity sedimentation to make metal debris, impurities and other solids in the lubricant gather at the bottom of the cone, while the upper layer forms clean lubricant, realizing automatic solid-liquid separation and facilitating the recycling and reuse of the upper layer of lubricant.

[0038] Several anti-slip textures are provided on the clamping surface of the opposite side wall of the clamping arm 5.

[0039] The lubricant collection component 9 collects excess lubricant through the second oil collection port 91, preventing lubricant from dripping and contaminating the workpiece and production environment. The conical opening 93 of the oil collection bottle 92 enables automatic solid-liquid stratification of the lubricant, and the upper clean lubricant can be recycled, reducing the waste of lubricant consumables. The sealing bolt 94 facilitates the quick discharge of sediment, simplifying the lubricant recycling and maintenance operation.

[0040] Working principle: When the fixture performs clamping operations, the drive motor 8 starts and drives the worm gear 3 to rotate. The worm gear 3 meshes with the drive gears 4 on both sides and rotates synchronously. The drive gears 4 drive the clamping arms 5 to move towards each other through the connecting plate, completing the mechanical clamping of the workpiece. During the rotation of the drive gears 4, the top block 69 on its upper end surface rotates together. The top block 69 periodically pushes up the bottom push rod 63. The push rod 63 pushes the trapezoidal block 62 upward, causing the trapezoidal block 62 to separate from the trapezoidal hole of the lubricant storage tank 61. The lubricant in the lubricant storage tank 61 flows out and flows into the staggered diversion channel 611 through the first oil collection port 6111 on the fixed plate 68. Then, it drips evenly through the micro oil hole at the bottom of the diversion channel 611. At the same time, the cleaning brush 6 at the lower end of the fixed plate 68... The surfaces of the rotating drive gear 4 and worm gear 3 are aligned to achieve synchronous cleaning and lubrication. While the worm gear 3 rotates, it drives the threaded rod 72 to rotate. The threaded rod 72 moves axially along the vertical plate 71, pushing the first insert rod 74, the second insert rod 77, and the suction cup 78 towards the workpiece. The second helical spring 76 pushes the second insert rod 77, making the suction cup 78 closely adhere to and adsorb the workpiece. The auxiliary clamping arm 5 achieves double fixation. After lubrication and cleaning, excess lubricant falls due to gravity and flows into the oil collection bottle 92 through the second oil collection port 91 inside the installation port. The conical opening 93 inside the oil collection bottle 92 causes the sediment in the lubricant to settle and separate into layers. The upper layer of clean lubricant can be recycled. The lower layer of sediment can be discharged by unscrewing the sealing bolt 94.

[0041] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments.

[0042] The above description is merely an embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of the present invention should be included within the scope of the claims of the present invention.

Claims

1. A composite gripper for industrial robots, characterized in that, The device includes an industrial robot arm (1) and a composite clamp body at one end. The composite clamp body is provided with an auxiliary lubrication and cleaning component (6), an auxiliary clamping component (7), and a lubricant collection component (9). The auxiliary lubrication and cleaning component (6) is used to clean and lubricate the clamping mechanical parts of the composite clamp body. The auxiliary clamping component (7) is used to adsorb the workpiece clamped by the composite clamp body. The lubricant collection component (9) is used to collect the excess lubricant from the lubrication and cleaning of the composite clamp body. The collected lubricant is in the form of a lower layer of solid sediment and an upper layer of lubricating liquid.

2. The composite gripper for industrial robots according to claim 1, characterized in that, The composite fixture body includes a mounting frame (2) set at one end of the industrial robot arm (1). One end of the mounting frame (2) has an installation port. Two drive gears (4) are rotatably arranged inside the installation port. A worm gear (3) is rotatably arranged at the bottom of the installation port. The two drive gears (4) are located on both sides of the worm gear (3), and both drive gears (4) mesh with the worm gear (3). Clamping arms (5) are rotatably arranged on both sides of the mounting frame (2) through connecting plates. The two clamping arms (5) are fixedly connected to the two drive gears (4) through connecting plates respectively. A drive motor (8) is fixedly arranged at one end of the mounting frame (2). The output end of the drive motor (8) is connected to the worm gear (3). The auxiliary lubrication and cleaning component (6) includes a lubricant storage tank (61) set on the upper surface of the mounting frame (2), a top block (69) fixedly arranged on the upper surface of the drive gear (4), and a fixing plate (68) fixedly arranged on the top of the mounting frame (2). The cross-section of the top block (69) is an isosceles trapezoid.

3. A composite gripper for industrial robots according to claim 2, characterized in that, The lubricant storage tank (61) has two trapezoidal holes at the bottom inner side, which are wider at the top and narrower at the bottom. A trapezoidal block (62) is inserted into the inner side of the trapezoidal hole. A top rod (63) is fixedly installed on the lower end face of the trapezoidal block (62). One end of the two top rods (63) passes through the mounting bracket (2) and presses against the upper end face of the drive gear (4) on the inner side of the mounting port on the mounting bracket (2). A telescopic rod (64) is fixedly installed on the upper end face of the trapezoidal block (62). A top plate (67) is installed above the trapezoidal block (62). The top plate (67) is fixedly installed at the bottom inner side of the lubricant storage tank (61) by multiple second fixing rods (65). A first helical spring (66) is sleeved on the telescopic rod (64). The two ends of the telescopic rod (64) press against the top plate (67) and the trapezoidal block (62).

4. A composite gripper for an industrial robot according to claim 3, characterized in that, The top rod (63) passes through the fixed plate (68). The upper end face of the fixed plate (68) is provided with a first oil collection port (6111) and a diversion groove (611). There are two first oil collection ports (6111), which are located at the junction of the top rod (63) and the fixed plate (68). There are multiple diversion grooves (611), which are intersected with each other, and one diversion groove (611) is connected to two first oil collection ports (6111).

5. A composite gripper for an industrial robot according to claim 4, characterized in that, A cleaning brush (610) is fixedly installed on the lower end face of the fixed plate (68). The cleaning brush (610) presses against the drive gear (4) and the worm (3). A micro oil hole is opened at the bottom of the inner side of the diversion groove (611), and the micro oil hole penetrates the fixed plate (68).

6. A composite gripper for an industrial robot according to claim 2, characterized in that, The auxiliary clamping assembly (7) includes a threaded rod (72) fixedly disposed at one end of the worm (3) and a vertical plate (71) fixedly disposed inside the mounting port. One end of the threaded rod (72) passes through the vertical plate (71) by thread. A first polygonal limiting hole (73) is provided at the end of the threaded rod (72) away from the worm (3). A first insert rod (74) is inserted into the first polygonal limiting hole (73), and one end of the first insert rod (74) passes through the first polygonal limiting hole (73).

7. A composite gripper for an industrial robot according to claim 6, characterized in that, The first insertion rod (74) has a second polygonal limiting hole (75) at one end away from the threaded rod (72). A second insertion rod (77) is inserted into the second polygonal limiting hole (75). One end of the second insertion rod (77) passes through the second polygonal limiting hole (75), and a suction cup (78) is fixedly installed at the end that passes through the second polygonal limiting hole (75). A second helical spring (76) is fixedly installed at the bottom of the inner side of the second polygonal limiting hole (75), and one end of the second helical spring (76) presses against the second insertion rod (77).

8. A composite gripper for an industrial robot according to claim 2, characterized in that, The lubricant collection assembly (9) includes a second oil collection port (91) opened at the lower end of the inner side of the mounting port and an oil collection bottle (92) connected to the lower end face of the mounting bracket (2) by a thread. The cross-section of the second oil collection port (91) is wider at the top and narrower at the bottom, and the second oil collection port (91) passes through the mounting bracket (2).

9. A composite gripper for an industrial robot according to claim 8, characterized in that, The lower inner side of the oil collecting bottle (92) is provided with a tapered opening (93) with a cross-section that is wider at the top and narrower at the bottom, and the lower end face of the oil collecting bottle (92) is connected to a sealing bolt (94) by a thread.

10. A composite gripper for an industrial robot according to claim 2, characterized in that, The clamping arm (5) has several anti-slip textures on the clamping surface of the opposite side wall.

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