Clamping mechanism of industrial robot

Abstract

The clamping mechanism of the industrial robot comprises a shell and two clamping plates connected to the left side and the right side of the shell respectively, a supporting arm capable of being folded and unfolded is arranged on the lower portion of each clamping plate, one end of each supporting arm is hinged to the corresponding clamping plate, and the rotating track plane of the clamping face of each supporting arm is coplanar with the clamping face of the corresponding clamping plate; a containing groove used for containing the supporting arm is formed in the side face, perpendicular to the clamping face, of the clamping plate, and a rotary disc used for driving the supporting arm to rotate is arranged on the side, away from the clamping face, outside the containing groove. The center of the rotating disc coincides with the rotating center of the supporting arm, the rotating disc is rotationally connected with the side wall of the containing groove, and the end, close to the supporting arm, of the rotating disc penetrates through the side wall of the containing groove, extends into the containing groove and is fixedly connected with the supporting arm; the problems that in the prior art, clamping points of a clamping plate on objects are fixed and concentrated, clamping of the objects is not stable, the objects often fall off, and the grabbing efficiency of the objects is affected are solved.

Description

Technical Field

[0001] The utility model relates to the technical field of industrial robots, in particular to a clamping mechanism of an industrial robot. Background Art

[0002] A robotic gripper is a device that can imitate the movements of the human arm to grasp, move objects or operate tools. It can effectively reduce the workload of personnel and improve work efficiency. It is now widely used in various fields such as mechanical manufacturing, metallurgy, and electronics. With the rapid development of modern industrial production, robotic grippers of various specifications and types have been developed, and factories are gradually using robots to replace manual production.

[0003] The clamping parts of existing industrial robots are mostly claw-type, which clamp objects by the friction between the clamping plates on both sides and the objects. However, the shapes of the clamping plates are mostly single. When clamping large objects, the clamping points of the clamping plates are relatively fixed and concentrated, so that the clamping of the objects is unstable and the objects often fall. In order to clamp the objects stably, it is necessary to replace the clamping plates with larger specifications, which is not conducive to improving the grasping efficiency of the industrial robots. Utility Model Content

[0004] In view of this, the purpose of the utility model is to provide a clamping mechanism for an industrial robot to solve the problem in the prior art that the clamping points of the clamping plates on the objects are relatively fixed and concentrated, the clamping of the objects is unstable, and the objects often fall, affecting the efficiency of grasping the objects.

[0005] The utility model is realized by the following technical solutions:

[0006] A clamping mechanism of an industrial robot comprises a shell and two clamping plates respectively connected to the left and right sides of the shell, wherein a retractable support arm is provided at the lower part of the clamping plate, one end of the support arm is hinged to the clamping plate, and the rotation track plane of the clamping surface of the support arm is coplanar with the clamping surface of the clamping plate.

[0007] Furthermore, a receiving groove for receiving the support arm is provided on the side of the clamping plate perpendicular to the clamping surface, and a rotating disk for driving the support arm to rotate is provided on the side of the receiving groove away from the clamping surface;

[0008] The center of the turntable coincides with the rotation center of the support arm, and the turntable is rotatably connected to the side wall of the storage slot. One end of the turntable close to the support arm penetrates the side wall of the storage slot and extends into the storage slot to be fixedly connected to the support arm.

[0009] Furthermore, two slide grooves are provided on the side of the turntable away from the support arm, and an opening is provided at one end of the slide groove close to the outer circumferential surface of the turntable, and sliders are slidably connected in the two slide grooves;

[0010] The outer periphery of the rotating disk is provided with a round tube fixedly connected to the clamping plate, and two ratchets are fixedly connected to the inside of the round tube, and the gear teeth of the two ratchets are inclined in opposite directions. The heads of the two sliders are fixedly connected with pawls, and the pawls are located at the opening ends of the corresponding sliding grooves, and the two pawls are respectively matched and installed with the two ratchets;

[0011] A compression spring is provided between the slider and the bottom of the slide slot. When the compression spring is in a naturally extended state, the pawl extends out of the opening of the slide slot and is inserted into the tooth groove of the corresponding ratchet. The slider is also provided with an adjustment component for pushing the slider to move in the slide slot.

[0012] Further, the adjustment assembly includes a boss fixedly connected to the tail of the slider and a knob detachably connected to the turntable, the cross section of the boss is a right-angle trapezoidal shape, the inclined surface of the boss is located on the side close to the corresponding pawl, and the inclined direction of the inclined surface of the boss is consistent with the inclined direction of the pawl;

[0013] Two push rods are arranged on one side of the knob close to the slider, and the two push rods extend into two slide grooves respectively and abut against the inclined surfaces of the bosses in the corresponding sliders.

[0014] Furthermore, the diameter of the push rod is smaller than the width of the slide groove, and the push rod can move in the slide groove under the action of external force.

[0015] Furthermore, the shell is a hollow structure, and two guide grooves connecting the inside and outside of the shell are provided at the bottom of the shell. The length direction of the guide groove is perpendicular to the clamping surface of the clamping plate, and the middle parts of the two clamping plates are respectively slidably matched with the corresponding guide grooves along the length direction of the guide groove with a single degree of freedom. A driving part is provided in the shell to drive the clamping plate to move on the guide groove.

[0016] Furthermore, the driving part includes an active bevel gear that provides power for the movement of the clamping plate and two sets of transmission components located on both sides of the active bevel gear, the active bevel gear is fixedly connected to a driving shaft, and the driving shaft is rotatably connected to the housing;

[0017] The transmission assembly includes a driven bevel gear meshing with the active bevel gear and a screw connected to the top thread of the clamping plate. One end of the driven bevel gear away from the active bevel gear is fixedly connected to one end of the screw. The screw is rotatably connected to the housing and is perpendicular to the drive shaft.

[0018] Furthermore, a limiting ring is provided on the driving shaft, and a limiting groove matched with the limiting ring is provided on the top wall of the shell.

[0019] Furthermore, the clamping plate is provided with two supporting arms, the two supporting arms are respectively located at the front and rear sides of the clamping plate, and the two supporting arms are symmetrically arranged;

[0020] The hinges of the two support arms are both provided with sector gears, the axis of the sector gears coincides with the rotation center of the corresponding support arm, and the two sector gears are meshed and installed.

[0021] The beneficial effects of the utility model are:

[0022] The clamping mechanism of the industrial robot, when clamping a larger object, rotates the support arm forward to extend the support arm from the clamping plate, and moves the clamping point of the support arm to a position away from the clamping point of the clamping plate, thereby reducing the shaking of the object during the clamping and transportation process and improving the stability of the object; when clamping a smaller object or the clamping space is relatively narrow, rotate the support arm backward to fold the support arm into the clamping plate, reducing the overall volume of the clamping plate, making it easier for the clamping plate to extend into the narrow space to clamp and transport the object; there is no need to disassemble and replace clamps of different specifications, so it can be suitable for a variety of application scenarios, which is beneficial to improving the grasping efficiency of the industrial robot.

[0023] Other advantages, objectives and features of the present invention will be described in the following description to some extent, and will be apparent to those skilled in the art based on the following examination and research, or can be taught from the practice of the present invention to some extent. The objectives and other advantages of the present invention can be achieved and obtained through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a three-dimensional structural schematic diagram of an embodiment of the utility model;

[0025] Figure 2 It is a left side view of an embodiment of the utility model;

[0026] Figure 3 It is a front view of an embodiment of the utility model;

[0027] Figure 4 This is an exploded schematic diagram of the adjustment component in the embodiment of the utility model (viewing angle 1);

[0028] Figure 5 This is an exploded schematic diagram of the adjustment component in the embodiment of the utility model (viewing angle 2);

[0029] Figure 6 This is a schematic diagram of the three-dimensional structure of a circular tube in an embodiment of the utility model;

[0030] Figure 7 for Figure 1 A partial enlarged view of point A in the middle.

[0031] In the figure: housing 1, guide groove 11, limiting groove 12, splint 2, receiving groove 22, round tube 23, ratchet 231, support arm 3, turntable 31, slide groove 311, slider 32, pawl 321, boss 322, compression spring 33, knob 34, push rod 341, sector gear 35, active bevel gear 41, drive shaft 42, limiting ring 421, driven bevel gear 43, screw rod 44. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Generally, the components of the embodiments of the utility model described and shown in the drawings here can be arranged and designed in various different configurations.

[0033] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the present invention to be protected, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0035] In the above description of the utility model, it should be noted that the terms "one side", "the other side", etc. indicate the orientation or position relationship based on the orientation or position relationship shown in the accompanying drawings, or the orientation or position relationship in which the utility model product is usually placed when in use, which is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the utility model. In addition, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0036] In addition, the term "same" does not mean that the parts must be absolutely the same, but slight differences are allowed. The term "vertical" only means that the positional relationship between the parts is more vertical than "parallel", and does not mean that the structure must be completely vertical, but can be slightly tilted.

[0037] See also Figure 1-7The utility model provides a technical solution: a clamping mechanism of an industrial robot, comprising a shell 1 and two clamping plates 2 respectively connected to the left and right sides of the shell 1, a retractable support arm 3 is provided at the lower part of the clamping plate 2, one end of the support arm 3 is hinged to the clamping plate 2, and the rotation trajectory plane of the clamping surface of the support arm 3 is coplanar with the clamping surface of the clamping plate 2.

[0038] In this solution, a rotating shaft is welded at the lower end of the support arm 3, and the support arm 3 is tightly mounted on the clamping plate 2 through the rotating shaft to prevent the support arm 3 from rotating freely on the clamping plate 2. Under the action of external force, the support arm 3 can rotate to adjust the relative position of each clamping point in the clamping plate 2 as a whole. The clamping surface of the support arm 3 and the clamping surface of the clamping plate 2 are always in the same plane, so that each clamping point of the clamping plate 2 as a whole can contact the object stably.

[0039] When in use, the two clamps 2 play the main role in clamping objects. When clamping larger objects, the support arm 3 is rotated forward to extend the support arm 3 from the clamping plate 2, and the clamping point of the support arm 3 is moved to a position away from the clamping point of the clamping plate 2, thereby reducing the shaking of the object during the clamping and transportation process and improving the stability of the object; when clamping smaller objects or the clamping space is relatively narrow, the support arm 3 is rotated reversely to fold the support arm 3 against the side wall of the clamping plate 2, thereby reducing the overall volume of the clamping plate 2 and facilitating the clamping plate 2 to extend into the narrow space to clamp and transport the objects; there is no need to disassemble and replace the clamps 2 of different specifications, so it can be suitable for a variety of application scenarios, which is beneficial to improving the grasping efficiency of industrial robots.

[0040] In this embodiment, a receiving groove 22 for receiving the support arm 3 is provided on the side of the clamping surface perpendicular to the clamping surface, and a turntable 31 for driving the support arm 3 to rotate is provided on the side of the receiving groove 22 away from the clamping surface; the center of the turntable 31 coincides with the rotation center of the support arm 3, and the turntable 31 is rotatably connected to the side wall of the receiving groove 22, and the end of the turntable 31 close to the support arm 3 penetrates the side wall of the receiving groove 22, extends into the receiving groove 22, and is fixedly connected to the support arm 3.

[0041] The support arm 3 is embedded in the storage groove 22 of the clamp plate 2 to improve the stability of the support arm 3. A turntable 31 for driving the support arm 3 to rotate is arranged outside the storage groove 22, so that the user can control the extension and retraction of the support arm 3.

[0042] The cam 33 is a substantially parallel plate 350 that is provided with a plurality of cams 351 that are respectively provided on the top of the cam 330 and the bottom of the cam 331 are provided with a plurality of cams 352 that are respectively provided on the bottom of the cam 330 and the bottom of the cam 331 are provided with a plurality of cams 351 that are respectively provided on the bottom of the cam 330 and the bottom of the cam 331 are provided with a plurality of cams 352 that are respectively provided on the bottom of the cam 330 and the bottom of the cam 331 are provided with a plurality of cams 351 that are respectively provided on the bottom of the cam 330 and the bottom of the cam 331 are provided with a plurality of cams 352 that are respectively provided on the bottom of the cam 330 and the bottom of the cam 331 are provided with a plurality of cams 351 that are respectively provided on the bottom of the cam 330 and the bottom of the cam 331 are provided with a plurality of cams 352 that are respectively provided on the bottom of the cam 330 and the bottom of the cam 331 are provided with a plurality of cams 352 that are respectively provided on the bottom of the cam 330 and the bottom of the cam 331

[0043] The compression spring 33 is used to provide thrust to the slider 32, so that the pawl 321 on the slider 32 is inserted into the tooth groove of the corresponding ratchet 231. The ratchet 231 is welded to the round tube 23, so that the pawl 321 limits the one-way free rotation of the turntable 31 on the clamping plate 2; and two ratchet wheels 231 with opposite inclination directions of the gear teeth and two pawls 321 respectively installed with the two ratchet wheels 231 are provided to limit the two-way free rotation of the turntable 31 on the clamping plate 2, so as to further improve the stability of the support arm 3 on the clamping plate 2;

[0044] When in use, the two sliders 32 are pushed toward the bottom of the corresponding slide groove 311 through the adjustment component, squeezing the compression spring 33, so that the pawl 321 on the slider 32 slides out of the tooth groove of the corresponding ratchet 231, removing the restricting effect of the ratchet 231 on the pawl 321, and manually turning the turntable 31, the turntable 31 drives the support arm 3 to rotate on the clamping plate 2. When the support arm 3 rotates to a suitable position, the thrust of the adjustment component on the slider 32 is canceled, and the slider 32 moves toward the open end of the slide groove 311 under the elastic force of the compression spring 33 until the pawl 321 on the slider 32 slides back into the tooth groove of the corresponding ratchet 231, restricting the free rotation of the support arm 3 again, so that the position of the support arm 3 remains stable.

[0045] In this embodiment, the adjustment component includes a boss 322 fixedly connected to the tail of the slider 32 and a knob 34 detachably connected to the turntable 31, the cross-section of the boss 322 is a right-angled trapezoid, the inclined surface of the boss 322 is located on the side close to the corresponding pawl 321, and the inclination direction of the inclined surface of the boss 322 is consistent with the inclination direction of the pawl 321; two push rods 341 are provided on the side of the knob 34 close to the slider 32, and the two push rods 341 respectively extend into the two slide grooves 311 and resist the inclined surface of the boss 322 in the corresponding slider 32.

[0046] When the arm 3 needs to be unfolded, the knob 34 is manually turned forward, and the knob 34 drives the two push rods 341 to rotate forward on the turntable 31. One of the push rods 341 applies a thrust to the inclined surface of the boss 322 on the corresponding slider 32, so that the boss 322 drives the slider 32 and the upper pawl 321 to move toward the bottom of the corresponding slide groove 311, so that the pawl 321 is disengaged from the corresponding ratchet 231, and the other push rod 341 simultaneously applies a thrust to the side wall of the corresponding slide groove 311, so that the The slide groove 311 drives the turntable 31 to rotate. During the rotation of the turntable 31, the inclined surface of the pawl 321 on the slider 32 in the slide groove 311 is lifted by the inclined surface of the gear teeth of the corresponding ratchet 231, and the pawl 321 slides into the corresponding slide groove 311, so that the pawl 321 is disengaged from the corresponding ratchet 231 until the support arm 3 rotates forward to a suitable position; similarly, when the support arm 3 needs to be folded, the knob 34 only needs to be manually rotated in the reverse direction to control the support arm 3 to rotate in the reverse direction to a suitable position.

[0047] In this embodiment, the diameter of the push rod 341 is smaller than the width of the slide groove 311 , and the push rod 341 can move in the slide groove 311 under the action of an external force.

[0048] The diameter of the push rod 341 is smaller than the width of the slide groove 311 , so that the push rod 341 can move in the slide groove 311 , thereby facilitating the pushing of the pawl 321 to slide into the corresponding slide groove 311 .

[0049] In this embodiment, the shell 1 is a hollow structure, and two guide grooves 11 connecting the inside and outside of the shell 1 are provided at the bottom of the shell 1. The length direction of the guide groove 11 is perpendicular to the clamping surface of the clamping plate 2. The middle parts of the two clamping plates 2 are respectively slidably matched with the corresponding guide grooves 11 along the length direction of the guide grooves 11 with a single degree of freedom. A driving part is provided in the shell 1 to drive the clamping plate 2 to move on the guide groove 11.

[0050] A slide rail is provided on the side wall of the guide groove 11 along the length direction, and the movable end of the slide rail is fixedly connected to the middle part of the clamping plate 2 to limit the rotation of the clamping plate 2 and guide the movement of the clamping plate 2.

[0051] In this embodiment, the driving part includes an active bevel gear 41 that provides power for the movement of the splint 2 and two sets of transmission components respectively located on both sides of the active bevel gear 41, and a driving shaft 42 is fixedly connected to the active bevel gear 41, and the driving shaft 42 is rotatably connected to the shell 1; the transmission assembly includes a driven bevel gear 43 meshing with the active bevel gear 41 and a screw rod 44 connected to the top thread of the splint 2, one end of the driven bevel gear 43 away from the active bevel gear 41 is fixedly connected to one end of the screw rod 44, the screw rod 44 is rotatably connected to the shell 1, and the screw rod 44 is perpendicular to the driving shaft 42.

[0052] The two sets of transmission components are completely identical and are respectively located on both sides of the active bevel gear 41, so that the two clamping plates 2 connected by the threads on the two screw rods 44 move at the same speed in opposite directions at the same time, thereby realizing the opening or closing of the two clamping plates 2;

[0053] When in use, the top end of the driving shaft 42 is connected to the power source of the industrial robot, the driving shaft 42 drives the active bevel gear 41 to rotate, the active bevel gear 41 drives two driven bevel gears 43 of the same specifications on both sides to rotate, the two driven bevel gears 43 respectively drive the corresponding screw rods 44 to rotate in opposite directions, and the threads on the two screw rods 44 respectively push the two clamps 2 closer or farther away to complete the clamping or putting down of the object.

[0054] In this embodiment, a limiting ring 421 is disposed on the driving shaft 42 , and a limiting groove 12 matched with the limiting ring 421 is disposed on the top wall of the housing 1 .

[0055] The limiting ring 421 is embedded in the limiting groove 12 on the top wall of the housing 1 to limit the sliding of the driving shaft 42 along the axial direction in the housing 1, so that the meshing between the driving bevel gear 41 and the driven bevel gear 43 is more stable.

[0056] In this embodiment, there are two support arms 3 on the splint 2, and the two support arms 3 are respectively located on the front and rear sides of the splint 2, and the two support arms 3 are symmetrically arranged; a sector gear 35 is provided at the hinge of the two support arms 3, the axis of the sector gear 35 coincides with the rotation center of the corresponding support arm 3, and the two sector gears 35 are installed in meshing relationship.

[0057] Two symmetrical arms 3 are arranged on the front and rear sides of the clamping plate 2, so that the clamping plate 2 as a whole can hold the object more stably. The two arms 3 are connected together by two mutually meshing sector gears 35, so that the two arms 3 can be synchronously unfolded or folded, and the operation is simple.

[0058] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the utility model rather than to limit it. Although the utility model has been described in detail with reference to the preferred embodiments, ordinary technicians in the field should understand that the technical solution of the utility model can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution of the utility model, which should be included in the scope of the claims of the utility model.

Claims

1. A clamping mechanism for an industrial robot, comprising a housing (1) and two clamping plates (2) respectively connected to the left and right sides of the housing (1), characterized in that: A retractable support arm (3) is provided at the lower part of the clamping plate (2), one end of the support arm (3) is hinged to the clamping plate (2), and the rotation track plane of the clamping surface of the support arm (3) is coplanar with the clamping surface of the clamping plate (2).

2. The clamping mechanism of the industrial robot according to claim 1, characterized in that: A receiving groove (22) for receiving the support arm (3) is provided on the side of the clamping plate (2) perpendicular to the clamping surface, and a rotating disk (31) for driving the support arm (3) to rotate is provided on the side of the receiving groove (22) away from the clamping surface; The center of the turntable (31) coincides with the rotation center of the support arm (3), and the turntable (31) is rotatably connected to the side wall of the receiving groove (22); one end of the turntable (31) close to the support arm (3) penetrates the side wall of the receiving groove (22), extends into the receiving groove (22), and is fixedly connected to the support arm (3).

3. The clamping mechanism of the industrial robot according to claim 2, characterized in that: Two slide grooves (311) are provided on the side of the rotating disk (31) away from the support arm (3), and an opening is provided at one end of the slide groove (311) close to the outer circumferential surface of the rotating disk (31), and a slider (32) is slidably connected in the two slide grooves (311); The outer periphery of the rotating disk (31) is provided with a round tube (23) fixedly connected to the clamping plate (2), the interior of the round tube (23) is fixedly connected with two ratchets (231), the gear teeth of the two ratchets (231) are inclined in opposite directions, the heads of the two sliding blocks (32) are fixedly connected with pawls (321), the pawls (321) are located at the opening ends of the corresponding sliding grooves (311), and the two pawls (321) are respectively mounted in cooperation with the two ratchets (231); A compression spring (33) is provided between the slider (32) and the bottom of the slide groove (311); the pawl (321) extends out of the opening of the slide groove (311) and is inserted into the tooth groove of the corresponding ratchet (231) when the compression spring (33) is in a naturally extended state; and an adjustment component for pushing the slider (32) to move in the slide groove (311) is also provided on the slider (32).

4. The clamping mechanism of the industrial robot according to claim 3, characterized in that: The adjustment assembly comprises a boss (322) fixedly connected to the tail of the slider (32) and a knob (34) detachably connected to the turntable (31); the cross section of the boss (322) is a right-angle trapezoidal shape; the inclined surface of the boss (322) is located on a side close to the corresponding pawl (321); and the inclined direction of the inclined surface of the boss (322) is consistent with the inclined direction of the pawl (321); Two push rods (341) are provided on one side of the knob (34) close to the slider (32). The two push rods (341) extend into two slide grooves (311) respectively and abut against the inclined surfaces of the bosses (322) in the corresponding sliders (32).

5. The clamping mechanism of the industrial robot according to claim 4, characterized in that: The diameter of the push rod (341) is smaller than the width of the slide groove (311), and the push rod (341) can move in the slide groove (311) under the action of external force.

6. The clamping mechanism of the industrial robot according to claim 5, characterized in that: The shell (1) is a hollow structure. The bottom of the shell (1) is provided with two guide grooves (11) connecting the inside and outside of the shell (1). The length direction of the guide grooves (11) is perpendicular to the clamping surface of the clamping plate (2). The middle parts of the two clamping plates (2) are respectively slidably matched with the corresponding guide grooves (11) along the length direction of the guide grooves (11) with a single degree of freedom. The shell (1) is provided with a driving part for driving the clamping plate (2) to move on the guide grooves (11).

7. The clamping mechanism of the industrial robot according to claim 6, characterized in that: The driving part comprises an active bevel gear (41) for providing power for the movement of the clamping plate (2) and two sets of transmission components respectively located on both sides of the active bevel gear (41); a driving shaft (42) is fixedly connected to the active bevel gear (41), and the driving shaft (42) is rotatably connected to the housing (1); The transmission assembly comprises a driven bevel gear (43) meshing with the driving bevel gear (41) and a screw rod (44) connected to the top thread of the clamping plate (2); one end of the driven bevel gear (43) away from the driving bevel gear (41) is fixedly connected to one end of the screw rod (44); the screw rod (44) is rotatably connected to the housing (1), and the screw rod (44) is perpendicular to the driving shaft (42).

8. The clamping mechanism of the industrial robot according to claim 7, characterized in that: The driving shaft (42) is provided with a limiting ring (421), and the top wall of the housing (1) is provided with a limiting groove (12) matched with the limiting ring (421).

9. The clamping mechanism of the industrial robot according to claim 8, characterized in that: There are two supporting arms (3) on the clamping plate (2), the two supporting arms (3) are respectively located at the front and rear sides of the clamping plate (2), and the two supporting arms (3) are symmetrically arranged; The hinges of the two support arms (3) are each provided with a sector gear (35), the axis of the sector gear (35) coincides with the rotation center of the corresponding support arm (3), and the two sector gears (35) are meshed and installed.

Images