Material belt clamping mechanical hand and material belt pressing execution device

Abstract

The present application relates to the technical field of die manufacturing equipment, and particularly relates to a material belt clamping manipulator and a material belt pressing execution device. The material belt clamping manipulator comprises a mounting bracket, at least two groups of clamping jaw assemblies, a spacing adjusting mechanism and a clamping driving mechanism. The at least two groups of clamping jaw assemblies are arranged in a horizontal direction and are spaced apart from each other. The spacing adjusting mechanism is mounted on the mounting bracket and is used to drive at least part of the clamping jaw assemblies to move closer to or away from each other. The clamping driving mechanism is mounted on the mounting bracket and comprises a clamping driving member and a clamping transmission assembly. The clamping transmission assembly is connected between the output end of the clamping driving member and the clamping jaw assemblies and is used to simultaneously drive all the clamping jaw assemblies to clamp or release the material belt. The present application simultaneously drives all the clamping jaw assemblies through the clamping driving member and the clamping transmission assembly. After the spacing is adjusted, synchronous clamping can still be achieved. The device structure is simplified, the consistency of the clamping force is ensured, and the stability and position accuracy of the material belt clamping are improved.

Description

Technical Field

[0001] This invention relates to the field of die-cutting equipment technology, specifically to a strip clamping robot and a strip pressing actuator. Background Technology

[0002] In the field of die-cutting, crease cutters are typically made by cutting flat strips of material and then pressing them into blind grooves in a wooden board. During the pressing process, the cut strip needs to be transferred from the feeding position to above the blind groove in the wooden board and precisely pressed into the groove. This transfer and pressing operation is usually performed by a robotic arm.

[0003] Existing strip clamping robots typically use two symmetrically arranged sets of grippers to hold the strip. When gripping strips of different lengths, the initial distance between the two sets of grippers needs to be adjusted accordingly. To achieve this distance adjustment, some solutions configure an independent drive unit for each set of grippers, resulting in complex equipment structure and high manufacturing costs. Other solutions achieve synchronous distance adjustment of multiple sets of grippers through a single drive source, but after the distance adjustment, the clamping action of each gripper is usually still performed by its own independent clamping drive. This "distance adjustment and clamping separation" design approach means that the number of drive units in the equipment increases with the number of gripper sets, which is detrimental to structural simplification and cost reduction.

[0004] Furthermore, in applications where multiple grippers jointly clamp the same strip, if the clamping force of each gripper is provided by its own independent drive unit, inconsistent clamping force is likely to occur, resulting in uneven force on the strip during clamping, which affects the positional accuracy of the strip and the subsequent pressing quality.

[0005] To address the above problems, the present invention provides a strip clamping robot and a strip pressing execution device. Summary of the Invention

[0006] To address the problems of complex structures and inconsistent clamping forces caused by different driving components performing pitch variation and clamping in existing technologies, this invention provides a strip clamping robot and a strip pressing execution device.

[0007] The technical solution of this invention is as follows: On one hand, the present invention provides a strip clamping robot, including a mounting bracket, at least two sets of gripper assemblies, a spacing adjustment mechanism, and a clamping drive mechanism. The at least two sets of gripper assemblies are arranged opposite each other and spaced apart in the horizontal direction. The spacing adjustment mechanism is mounted on the mounting bracket and is used to drive at least some of the gripper assemblies to move closer or further apart from each other. The clamping drive mechanism is mounted on the mounting bracket and includes a clamping drive component and a clamping transmission component. The clamping transmission component is connected between the output end of the clamping drive component and the gripper assemblies and is used to simultaneously drive all gripper assemblies to clamp or release the strip.

[0008] In one alternative embodiment, the clamping transmission assembly includes a first link and a pushing part. One end of the first link is hinged to the output end of the clamping drive member, and the other end is connected to the pushing part. The pushing part extends along the moving direction of the gripper assembly and is used to simultaneously push against each gripper assembly.

[0009] In one alternative embodiment, each set of gripper assemblies includes a fixed gripper and a movable gripper, the movable gripper and the fixed gripper together defining a gripping space, and the pushing part abuts against each movable gripper to drive the movable gripper to clamp or release.

[0010] In one alternative embodiment, the length of the pusher along its extension direction is sufficient to cover the positional variation range of each gripper assembly driven by the spacing adjustment mechanism, so that each movable gripper can maintain contact with the pusher at any position within the movement range.

[0011] In one optional embodiment, the gripper assembly further includes a gripper seat disposed at the bottom of the mounting bracket, a fixed gripper fixed to the gripper seat, a movable gripper rotatably connected to the gripper seat and provided with a return spring between the movable gripper and the gripper seat, and a pusher portion provided at the upper end of the movable gripper, with the pusher portion abutting against the pusher portion to drive the movable gripper to rotate.

[0012] In one alternative embodiment, the movable gripper further includes a clamping end, and the distance from the pushing part to the rotation center of the movable gripper is greater than the distance from the rotation center of the movable gripper to the clamping end.

[0013] In one alternative embodiment, the mounting bracket has a guide rail extending along the moving direction of the gripper assembly on its bottom side, and at least a portion of the gripper seat is slidably mounted on the guide rail.

[0014] In one optional embodiment, the clamping transmission assembly further includes a second link rotatably connected to the bottom side of the mounting bracket. The second link extends radially outward to form a pushing part. The first link is tractively connected to the second link to drive the second link to rotate. The pushing part rotates with the second link and pushes against each movable jaw. The driving arm length of the first link is greater than the resistance arm length of the pushing part.

[0015] In one optional embodiment, the spacing adjustment mechanism includes a first adjusting motor, a first synchronous belt, and a plurality of first sliders. The output end of the first adjusting motor is connected to the first synchronous belt, and each first slider is fixed on the first synchronous belt. The first slider is connected to a corresponding movable gripper assembly. The first adjusting motor drives the first synchronous belt to rotate, causing the plurality of first sliders to move closer to or further away from each other.

[0016] In one alternative embodiment, the clamping drive is a vertically arranged clamping drive cylinder, and multiple first connecting rods and clamping drive cylinders are configured to correspond one-to-one with the number of gripper assemblies. The output end of the clamping drive cylinder is hinged to the corresponding first connecting rod.

[0017] In one alternative embodiment, the gripper assembly is provided in three sets, which are arranged in a straight line along the horizontal direction. The middle gripper assembly is fixedly connected to the mounting bracket, and the gripper assemblies at both ends are slidably connected to the bottom of the mounting bracket.

[0018] On the other hand, the present invention also provides a strip pressing actuator, including a gantry, an XYZ axis motion mechanism, a rotary drive assembly, and a strip clamping robot as described above. The XYZ axis motion mechanism is mounted on the gantry. The rotary drive assembly is mounted on the output end of the XYZ axis motion mechanism. The mounting bracket of the strip clamping robot is connected to the output end of the rotary drive assembly.

[0019] The beneficial effects of this invention are as follows: For the strip clamping robot: By setting a spacing adjustment mechanism to drive at least some of the gripper assemblies to move closer or further apart, the spacing between the gripper assemblies can be quickly adjusted, allowing the robot to adapt to strips of different lengths and improving the versatility of the equipment. By setting a clamping drive mechanism and its clamping transmission assembly, which is connected between the output end of the clamping drive component and the gripper assembly, the clamping drive component can simultaneously drive all gripper assemblies to clamp or release the strip through the clamping transmission assembly. Compared with the existing technology where each group of grippers is equipped with an independent clamping drive component, this reduces the number of drive components, simplifies the equipment structure, and lowers manufacturing costs. At the same time, since all gripper assemblies are driven by the same clamping drive mechanism, the clamping actions of each gripper assembly are synchronized and the clamping force is consistent, avoiding the problem of uneven force on the strip caused by uneven clamping force, and improving the stability and positional accuracy of strip clamping.

[0020] For the material strip pressing actuator: Based on the material strip clamping robot, a gantry frame, XYZ axis motion mechanism and rotary drive assembly are set up. The XYZ axis motion mechanism drives the material strip clamping robot to move in three-dimensional space, and the rotary drive assembly drives the material strip clamping robot to rotate around the vertical axis, realizing the fully automatic transfer and angle adjustment of the material strip from the feeding position to the pressing position, further improving production efficiency. Attached Figure Description

[0021] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0022] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0024] Figure 1 This is a first three-dimensional structural schematic diagram of the material strip clamping robot of this application; Figure 2 This is a schematic diagram of the second three-dimensional structure of the material strip clamping robot of this application; Figure 3 yes Figure 2 Enlarged view of point A; Figure 4 This is a schematic diagram of the third three-dimensional structure of the material strip clamping robot of this application; Figure 5 yes Figure 4 Enlarged view of point B; Figure 6 This is a three-dimensional structural schematic diagram of the material strip pressing actuator of this application.

[0025] In the figure, 400 is a material belt clamping robot; 410 is a mounting bracket; 420 is a gripper assembly; 421 is a fixed gripper; 422 is a movable gripper; 4221 is a pushed part; 4222 is a gripping end; 423 is a gripper seat; 430 is a spacing adjustment mechanism; 431 is a first adjusting motor; 432 is a first synchronous belt; 433 is a first slider; 440 is a clamping drive mechanism; 441 is a clamping drive component; 442 is a clamping transmission assembly; 4421 is a first connecting rod; 4422 is a pushing part; 4423 is a second connecting rod; 411 is a guide rail; 500 is a gantry frame; 510 is an XYZ axis motion mechanism; and 520 is a rotary drive assembly. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0027] The following disclosure provides numerous different embodiments or examples for implementing various structures of this application. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the scope of this application. Furthermore, reference numerals and / or letters may be repeated in different examples. Such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed.

[0028] For ease of description, spatial relative terms may be used in this text to describe the relative position or movement of one element or feature relative to another element or feature, as shown in the figure. These relative terms include, for example, "inside," "outside," "middle," "outer," "below," "below," "above," "front," "back," etc. Such spatial relative terms are intended to include different orientations of the device in use or operation, other than those depicted in the figure. For example, if the device in the figure undergoes a positional flip, orientation change, or change of motion, these directional indications will change accordingly. For instance, an element described as "below other elements or features" or "below other elements or features" will subsequently be oriented "above other elements or features" or "above other elements or features." Therefore, the example term "below" can include both upper and lower orientations. The device may be otherwise oriented (rotated 90 degrees or in other directions), and the spatial relative descriptors used in this text will be interpreted accordingly.

[0029] refer to Figure 1 and Figure 6 The material strip pressing actuator of this application mainly consists of a gantry frame 500, an XYZ axis motion mechanism 510, a rotary drive assembly 520, and a material strip clamping robot 400. The XYZ axis motion mechanism 510 is mounted on the gantry frame 500 and is used to drive the material strip clamping robot 400 to move in three-dimensional space. The rotary drive assembly 520 is mounted on the output end of the XYZ axis motion mechanism 510 and is used to drive the material strip clamping robot 400 to rotate around the vertical axis. The mounting bracket 410 of the material strip clamping robot 400 is connected to the output end of the rotary drive assembly 520. Through the cooperation of the XYZ axis motion mechanism 510 and the rotary drive assembly 520, the material strip clamping robot 400 can move to the feeding position to pick up the material, then move to the top of the blind groove of the wooden board, and rotate to the corresponding angle according to the direction of the blind groove. Finally, the material strip is pressed into the blind groove, realizing a fully automated operation from picking up the material to pressing it in.

[0030] refer to Figure 2 and Figure 3The strip clamping robot 400 includes a mounting bracket 410, at least two sets of gripper assemblies 420, a spacing adjustment mechanism 430, and a clamping drive mechanism 440. The mounting bracket 410 is disposed on the upper part of the strip clamping robot 400, serving as the mounting base for the entire robot and providing support and fixation for other components. The at least two sets of gripper assemblies 420 are arranged opposite each other and spaced apart in the horizontal direction for clamping the strip from both ends. The spacing adjustment mechanism 430 is mounted on the mounting bracket 410 and is used to drive at least some of the gripper assemblies 420 to move closer or further apart from each other, thereby adjusting the spacing between the gripper assemblies 420. When the length of the strip changes, the spacing adjustment mechanism 430 drives the gripper assemblies 420 to move closer or further apart from each other, so that the clamping position of the gripper assemblies 420 matches the length of the strip.

[0031] The clamping drive mechanism 440 is mounted on the mounting bracket 410 and includes a clamping drive component 441 and a clamping transmission assembly 442. The clamping drive component 441 is fixedly mounted on the mounting bracket 410, and its output end is connected to the clamping transmission assembly 442. The clamping transmission assembly 442 is connected between the output end of the clamping drive component 441 and the gripper assembly 420, and is used to transmit the driving force output by the clamping drive component 441 to all gripper assemblies 420 at the same time, so as to drive all gripper assemblies 420 to clamp or release the material belt synchronously. This method of clamping drive component driving all grippers at the same time through transmission assembly ensures the synchronicity of clamping action and the consistency of clamping force of each gripper assembly.

[0032] refer to Figure 2 and Figure 3The clamping drive component 441 is a vertically arranged clamping drive cylinder. The clamping transmission assembly 442 includes a first connecting rod 4421, a second connecting rod 4423, and a pushing part 4422. The extension direction of the first connecting rod 4421 is perpendicular to the arrangement direction of the gripper assembly 420 (i.e., the moving direction of the gripper assembly 420). One end of the first connecting rod 4421 is hinged to the output end of the clamping drive component 441, and the other end is drively connected to the second connecting rod 4423. For example, the first connecting rod 4421 and the second connecting rod 4423 are fixedly connected, and the second connecting rod 4423 is rotatably connected to the bottom side of the mounting bracket 410. The rotation axis of the second connecting rod 4423 extends along the arrangement direction of the gripper assembly 420. The second connecting rod 4423 extends radially downward to form the pushing part 4422, and the pushing part 4422 extends along the arrangement direction of the gripper assembly. The length of the 2 allows it to simultaneously cover the pushed portion 4221 of all movable grippers 422; the clamping drive 441 is arranged vertically, and its output end moves vertically. When the output end of the clamping drive 441 extends or retracts, it drives the first connecting rod 4421 to rotate around its fulcrum. The first connecting rod 4421 drives the second connecting rod 4423 to rotate around its rotation axis. The second connecting rod 4423 drives the pushing part 4422 to swing. The pushing part 4422 simultaneously pushes the pushed portion 4221 of each movable gripper 422, so that all gripper assemblies 420 clamp or release the material strip synchronously. Since the pushing part 4422 extends along the arrangement direction of the gripper assemblies, its length covers the distribution range of the pushed portion 4221 of each movable gripper 422 in this direction. No matter what spacing the gripper assemblies 420 are adjusted to, the pushing part 4422 can simultaneously push all movable grippers 422.

[0033] In one optional embodiment, multiple clamping drive members 441 and first connecting rods 4421 are provided, corresponding one-to-one with the number of gripper assemblies 420. The output end of each clamping drive member 441 is hinged to the corresponding first connecting rod 4421, and each first connecting rod 4421 is connected to the same pushing part 4422. Multiple clamping drive members 441 jointly drive the pushing part 4422 to move. The pushing part 4422 simultaneously pushes against all movable grippers 422. Unlike the prior art where each gripper assembly is driven by its own independent drive member, in this embodiment, the driving force of multiple clamping drive members first converges at the pushing part, and then is synchronously transmitted to all gripper assemblies by the pushing part. Therefore, the synchronicity of the clamping action of all gripper assemblies and the consistency of clamping force are still achieved. At the same time, the parallel connection of multiple drive members provides a larger clamping force, which is suitable for application scenarios that require a larger clamping force.

[0034] refer to Figure 2 and Figure 3Each set of gripper assemblies 420 includes a fixed gripper 421 and a movable gripper 422. The movable gripper 422 and the fixed gripper 421 together define the clamping space. The pushing part 4422 abuts against each movable gripper 422 to drive the movable gripper 422 to clamp or release. The fixed gripper 421 is fixedly set relative to the gripper seat 423 to provide a reference position for clamping. The movable gripper 422 rotates relative to the fixed gripper 421 under the drive of the pushing part 4422 to realize the clamping or releasing action. The rotation clamping of the movable gripper 422 controls the clamping opening degree to adapt to material strips of different thicknesses.

[0035] refer to Figure 3 The gripper assembly 420 also includes a gripper seat 423 disposed at the bottom of the mounting bracket 410. The fixed gripper 421 is fixed on the gripper seat 423, and the movable gripper 422 is rotatably connected to the gripper seat 423. A return spring or torsion spring is disposed between the movable gripper 422 and the gripper seat 423. The upper end of the movable gripper 422 is provided with a push portion 4221. The push portion 4422 abuts against the push portion 4221 to drive the movable gripper 422 to rotate. When the push portion 4422 pushes the push portion 4221, the movable gripper 422 rotates around its rotation center with the gripper seat 423, and the clamping end moves toward the fixed gripper 421 to achieve clamping. When the push portion 4422 retracts in the opposite direction, the return spring drives the movable gripper 422 to rotate in the opposite direction, and the clamping end moves away from the fixed gripper 421 to achieve release.

[0036] In an alternative embodiment, the movable jaw 422 further includes a clamping end 4222. The distance from the pushing part 4221 to the rotation center of the movable jaw 422 is greater than the distance from the rotation center of the movable jaw 422 to the clamping end 4222. This lever structure design allows the driving force applied by the pushing part 4422 to the pushing part 4221 to be amplified by the lever and transmitted to the clamping end 4222, thereby generating a larger clamping force at the clamping end to meet the requirements when inserting the strip into the die-cutting wooden board.

[0037] In one optional embodiment, the mounting bracket 410 has a guide rail 411 extending along the moving direction of the gripper assembly 420 on its bottom side. At least a portion of the gripper seat 423 is slidably mounted on the guide rail 411. The guide rail 411 is fixedly mounted on the bottom side of the mounting bracket 410 and extends along the moving direction of the gripper assembly 420. The gripper seat 423 has a slider structure that cooperates with the guide rail 411. The gripper seat 423 achieves a sliding connection through the cooperation of the slider and the guide rail 411. The guide rail 411 provides guidance and support for the movement of the gripper assembly 420, so that the gripper assembly 420 moves smoothly and is accurately positioned during the spacing adjustment process.

[0038] In one alternative embodiment, the length of the pushing part 4422 is sufficient to cover the positional variation range of each gripper assembly 420 during the spacing adjustment process, ensuring that the pushed portion 4221 of each movable gripper 422 can be pushed by the pushing part 4422 at any adjustment position. This design allows each movable gripper 422 to maintain contact with the pushing part 4422 at any position within its movement range. In other words, regardless of the spacing adjustment mechanism 430 adjusts the gripper assembly 420 to any spacing, the pushing part 4422 can simultaneously push against the pushed portion 4221 of all movable grippers 422, thereby ensuring that the clamping drive mechanism 440 can normally drive all gripper assemblies 420 to clamp or release under any spacing condition. This feature solves the technical problem of transmission failure after spacing adjustment.

[0039] refer to Figure 4 and Figure 5 The spacing adjustment mechanism 430 includes a first adjusting motor 431, a first synchronous belt 432, and multiple first sliders 433. The output end of the first adjusting motor 431 is connected to the first synchronous belt 432. Each first slider 433 is fixed on the first synchronous belt 432. The first slider 433 is connected to a corresponding movable gripper assembly 420. The first adjusting motor 431 drives the first synchronous belt 432 to rotate, causing the multiple first sliders 433 to move closer or further apart. Through the synchronous belt transmission, the multiple sliders move synchronously under the drive of the synchronous belt, realizing the equal spacing or proportional pitch adjustment of multiple sets of gripper assemblies 420. The structure is simple and the adjustment accuracy is high.

[0040] In one optional embodiment, the gripper assembly 420 is provided in three sets, which are arranged in a straight line along the horizontal direction. The middle gripper assembly 420 is fixedly connected to the mounting bracket 410, and the gripper assemblies 420 at both ends are slidably connected to the bottom of the mounting bracket 410. The arrangement of the middle fixed and the two ends sliding makes the spacing adjustment based on the middle gripper assembly, and the two end gripper assemblies move symmetrically, ensuring the consistency of the gripping center position and which is beneficial to the positioning accuracy of the subsequent pressing operation.

[0041] The working process of this invention is described below: When the material strip pressing actuator is working, the XYZ axis motion mechanism 510 first drives the material strip clamping robot 400 to move to the feeding position. The spacing adjustment mechanism 430 drives the gripper assemblies 420 at both ends to slide along the guide rail 411 according to the length of the material strip, and adjusts the spacing between the gripper assemblies 420 to match the length of the material strip.

[0042] Subsequently, the clamping drive mechanism 440 is activated, and the clamping drive member 441 drives the first connecting rod 4421 to rotate. The first connecting rod 4421 drives the second connecting rod 4423 to rotate. The pushing part 4422 on the second connecting rod 4423 rotates with the second connecting rod 4423 and simultaneously pushes the pushed part 4221 of each movable gripper 422. The movable gripper 422 rotates around its rotation center, and the clamping end 4222 moves towards the fixed gripper 421, clamping the material strip between the fixed gripper 421 and the movable gripper 422. Since the extension length of the pushing part 4422 covers the entire moving stroke of the gripper assembly 420, the pushing part 4422 can simultaneously push all the movable grippers 422 regardless of the spacing state of the gripper assembly 420.

[0043] After the material strip is clamped, the XYZ axis motion mechanism 510 drives the material strip clamping robot 400 to move above the blind groove of the wooden board. The rotation drive assembly 520 drives the material strip clamping robot 400 to rotate around the vertical axis to the corresponding angle according to the direction of the blind groove. The XYZ axis motion mechanism 510 drives the material strip clamping robot 400 to descend and press the material strip into the blind groove of the wooden board. After pressing is completed, the clamping drive mechanism 440 moves in the opposite direction, the push part 4422 retracts, the reset spring drives the movable gripper 422 to reset and release, the gripper assembly 420 releases the material strip, and the XYZ axis motion mechanism 510 drives the material strip clamping robot 400 to reset, waiting for the next material picking.

[0044] It should be understood that the terminology used herein is for the purpose of describing particular exemplary embodiments only and is not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “described” as used herein may also mean including the plural forms. The terms “comprising,” “including,” “containing,” and “having” are inclusive and therefore indicate the presence of the stated features, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof. The method steps, processes, and operations described herein are not construed as requiring them to be performed in a particular order described or illustrated unless the order of performance is explicitly indicated. It should also be understood that additional or alternative steps may be used.

[0045] Although terms such as first, second, third, etc., may be used in this document to describe multiple elements, components, regions, layers, and / or segments, these elements, components, regions, layers, and / or segments should not be limited by these terms. These terms may be used only to distinguish one element, component, region, layer, or segment from another. Unless the context clearly indicates otherwise, terms such as "first," "second," and other numerical terms used herein do not imply order or sequence. Therefore, the first element, component, region, layer, or segment discussed below may be referred to as the second element, component, region, layer, or segment without departing from the teachings of the exemplary embodiments.

[0046] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A strip clamping robot, characterized in that, include: Mounting bracket (410); at least two sets of gripper assemblies (420) are arranged opposite each other and spaced apart in the horizontal direction; A spacing adjustment mechanism (430) is mounted on the mounting bracket (410) and is used to drive at least some of the gripper assemblies (420) to move closer or further apart from each other; a clamping drive mechanism (440) is mounted on the mounting bracket (410) and includes a clamping drive member (441) and a clamping transmission assembly (442). The clamping transmission assembly (442) is connected between the output end of the clamping drive member (441) and the gripper assembly (420) and is used to simultaneously drive all the gripper assemblies (420) to clamp or release the material strip.

2. The material strip clamping robot according to claim 1, characterized in that: The clamping transmission assembly (442) includes a first connecting rod (4421) and a pushing part (4422). One end of the first connecting rod (4421) is hinged to the output end of the clamping drive member (441), and the other end is connected to the pushing part (4422). The pushing part (4422) extends along the moving direction of the gripper assembly (420) and is used to simultaneously push against each of the gripper assemblies (420).

3. The material strip clamping robot according to claim 2, characterized in that: Each set of gripper assemblies (420) includes a fixed gripper (421) and a movable gripper (422). The movable gripper (422) and the fixed gripper (421) together define a clamping space. The pushing part (4422) abuts against each of the movable grippers (422) to drive the movable gripper (422) to clamp or release.

4. The material strip clamping robot according to claim 3, characterized in that: The length of the pushing part (4422) along its extension direction is not less than the position change range of each of the gripper assemblies (420) driven by the spacing adjustment mechanism (430), so that each of the movable grippers (422) can maintain contact with the pushing part (4422) at any position within the movement range.

5. The material strip clamping robot according to claim 3, characterized in that: The gripper assembly (420) further includes a gripper seat (423) disposed at the bottom of the mounting bracket (410). The fixed gripper (421) is fixed on the gripper seat (423). The movable gripper (422) is rotatably connected to the gripper seat (423) and a return spring is disposed between the movable gripper (422) and the gripper seat (423). The upper end of the movable gripper (422) is provided with a push portion (4221). The push portion (4422) abuts against the push portion (4221) to drive the movable gripper (422) to rotate.

6. The material strip clamping robot according to claim 5, characterized in that: The movable gripper (422) further includes a clamping end (4222), the distance from the push portion (4221) to the rotation center of the movable gripper (422) is greater than the distance from the rotation center of the movable gripper (422) to the clamping end (4222); and / or, the bottom side of the mounting bracket (410) is provided with a guide rail (411) extending along the moving direction of the gripper assembly (420), and at least a portion of the gripper seat (423) is slidably mounted on the guide rail (411).

7. The material strip clamping robot according to any one of claims 3-6, characterized in that: The clamping transmission assembly (442) further includes a second link (4423) rotatably connected to the bottom side of the mounting bracket (410). The second link (4423) extends radially outward to form the pushing part (4422). The first link (4421) is tractively connected to the second link (4423) to drive the second link (4423) to rotate. The pushing part (4422) rotates with the second link (4423) and pushes against each of the movable grippers (422). The driving arm length of the first link (4421) is greater than the resistance arm length of the pushing part (4422).

8. The material strip clamping robot according to any one of claims 1-6, characterized in that: The spacing adjustment mechanism (430) includes a first adjustment motor (431), a first synchronous belt (432), and a plurality of first sliders (433). The output end of the first adjustment motor (431) is connected to the first synchronous belt (432). Each first slider (433) is fixed on the first synchronous belt (432). The first slider (433) is connected to the corresponding movable gripper assembly (420). The first adjustment motor (431) drives the first synchronous belt (432) to rotate, causing the plurality of first sliders (433) to move closer to or further away from each other.

9. The material strip clamping robot according to any one of claims 2-6, characterized in that: The clamping drive component (441) is a vertically arranged clamping drive cylinder. The first connecting rod (4421) and the clamping drive cylinder are both configured in multiples to correspond one-to-one with the number of the gripper assemblies (420). The output end of the clamping drive cylinder is hinged to the corresponding first connecting rod (4421). And / or, the gripper assemblies (420) are provided in three sets. The three sets of gripper assemblies (420) are arranged in a straight line along the horizontal direction. The gripper assembly (420) located in the middle is fixedly connected to the mounting bracket (410), and the gripper assemblies (420) located at both ends are slidably connected to the bottom of the mounting bracket (410).

10. A material strip pressing actuator, characterized in that, include: Gantry (500); XYZ axis motion mechanism (510), mounted on the gantry (500); A rotary drive assembly (520) is installed at the output end of the XYZ axis motion mechanism (510); And the strip clamping robot (400) as described in any one of claims 1 to 9, wherein the mounting bracket (410) is connected to the output end of the rotary drive assembly (520).

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