Mechanical gripper spacing adjusting mechanism and wall opening material boxing equipment

Abstract

The utility model relates to a mechanical gripper spacing adjusting mechanism and wall opening material boxing equipment, the mechanical gripper spacing adjusting mechanism comprises a bearing plate, mechanical grippers, a sliding assembly and a driving assembly, the bearing plate is provided with a mounting surface, and at least one of more than two mechanical grippers is slidably connected to the mounting surface through the sliding assembly; the driving assembly is used for driving the sliding assembly to slide along a preset track so as to adjust the distance between the two or more mechanical paws. The boxing efficiency of wall opening can be improved, and the workload of workers is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of automation equipment, and in particular to a mechanical arm claw spacing adjustment mechanism and a wall-opening material packing device. Background Art

[0002] A wall switch, also known as a wall switch, is an electrical switch installed on the wall. It is a functional home decoration product used to connect and disconnect circuits. It is a civilian product produced in large quantities.

[0003] A wall switch generally includes a panel portion and a wiring portion protruding from the back of the panel portion. When packing the wall switches, multiple wall switches need to be placed tightly in the box. Due to the special structure of the wall switches, it is not easy to realize automation. At present, most wall switches are packed manually, with low production efficiency and heavy workload. Even if the wall switches are packed by a robot gripper, the robot gripper only places the wall switches one by one in the box, and the production efficiency is still relatively low. Utility Model Content

[0004] The embodiment of the present application provides a mechanical arm spacing adjustment mechanism and a wall opening material packing device, which can adjust the spacing between the clamped wall openings after clamping a plurality of wall openings, thereby improving the packing efficiency of the wall openings and reducing the workload of workers.

[0005] In a first aspect, an embodiment of the present application provides a mechanism for adjusting the spacing between robotic grippers, comprising: a supporting plate having a mounting surface; a robotic gripper capable of being connected to the mounting surface, wherein at least two robotic grippers are provided; a sliding assembly, wherein at least one of the two or more robotic grippers is slidably connected to the mounting surface via the sliding assembly; and a driving assembly mounted on the supporting plate, wherein the driving assembly is used to drive the sliding assembly to slide along a preset trajectory to adjust the spacing between the two or more robotic grippers.

[0006] In some embodiments, the sliding assembly includes a plurality of first slide rails radially distributed on the mounting surface and a first slider fixed to the robot gripper, and the first slider is slidably connected to the first slide rails.

[0007] In some embodiments, a robotic gripper is fixedly mounted on the carrier plate, and the robotic gripper fixedly mounted on the carrier plate is located near a position where a plurality of first slide rails are gathered.

[0008] In some embodiments, the driving assembly includes: a transmission plate, which is connected to the supporting plate and rotates around a first axis, the first axis is also perpendicular to multiple first slide rails, the first axis is located near the position where multiple first slide rails gather, the transmission plate is provided with transmission grooves corresponding to the first sliders one by one, and the multiple transmission grooves are deflected in the same direction around the first axis from one end close to the first axis to the end away from the first axis, the first slider is provided with a boss extending into the corresponding transmission groove, and the outer diameter of the boss is adapted to the width of the transmission groove; a first driver, installed on the supporting plate, the first driver is used to drive the transmission plate to rotate around the first axis.

[0009] In some embodiments, the first driver includes a first cylinder, a cylinder body of the first cylinder is rotatably connected to a supporting plate, one end of a piston rod of the first cylinder extending out of its cylinder body is rotatably connected to a transmission plate, a rotation axis of the cylinder body relative to the supporting plate and a rotation axis of the piston rod relative to the transmission plate are both parallel to the first axis, a straight line in which the piston rod of the first cylinder is telescopically directed is perpendicular to the first axis, and a straight line in which the telescopic direction of the first cylinder is telescopically directed is spaced apart from the first axis.

[0010] In some embodiments, the connection position between the piston rod and the transmission plate is located at an edge of the transmission plate away from the first axis.

[0011] In some embodiments, the robotic gripper includes: a two-finger cylinder, wherein the two movable ends of the two-finger cylinder are located on the side of the two-finger cylinder facing away from the supporting plate; a clamping jaw, wherein each movable end is fixedly connected to a clamping jaw, and the two clamping jaws corresponding to each two-finger cylinder are arranged opposite to each other, and the clamping jaw is provided with a first finger end and a second finger end at a position away from the corresponding two-finger cylinder, and the distance between the first finger end and the second finger end is greater than the width of the connection portion of the wall opening.

[0012] In the second aspect, an embodiment of the present application provides a wall-opening material packaging device, which includes the above-mentioned mechanical arm claw spacing adjustment mechanism, and also includes: a base; a first bracket, installed on the base through a first moving component, the first moving component is used to control the first bracket to move along a first direction; a second bracket, used to install a supporting plate, a second moving component is arranged between the second bracket and the first bracket, the second moving component is used to control the second bracket to move along a second direction, and the first direction intersects with the second direction.

[0013] In some embodiments, a third bracket is also arranged between the first bracket and the second bracket, the second bracket is installed on the third bracket through a second movable assembly, and the third bracket is installed on the first bracket through a third movable assembly. The third movable assembly is used to control the movement of the third bracket along a third direction, and the first direction, the second direction and the third direction are perpendicular to each other.

[0014] In some embodiments, the supporting plate is rotatably connected to the second bracket, and the second bracket is equipped with a second driver for controlling the rotation of the supporting plate relative to the second bracket.

[0015] The embodiment of the present application discloses a mechanical gripper spacing adjustment mechanism and a wall opening material packing device, wherein the mechanical gripper spacing adjustment mechanism comprises: a bearing plate, a mechanical gripper, a sliding assembly and a driving assembly, the bearing plate has a mounting surface, at least one of the two or more mechanical grippers is slidably connected to the mounting surface through a sliding assembly, and the driving assembly is used to drive the sliding assembly to slide along a preset track to adjust the spacing between the two or more mechanical grippers. After each mechanical gripper clamps a plurality of wall openings at a silo station, the driving assembly and the sliding assembly can adjust the spacing between the plurality of wall openings clamped by each mechanical gripper, so that the clamped plurality of wall openings only need to be moved once between the silo station and the packing station at the same time, and the plurality of wall openings can be placed in the box, which can improve the packing efficiency of the wall openings and reduce the workload of workers. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solution of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0017] Figure 1 This is a schematic diagram of the structure of the mechanical gripper spacing adjustment mechanism of some embodiments of the present application;

[0018] Figure 2 A schematic diagram of the structure of one side of the mounting surface of a load-bearing plate in some embodiments of the present application;

[0019] Figure 3 This is a schematic diagram of the structure of a wall opening material packing device according to some embodiments of the present application;

[0020] Figure 4 for Figure 3 A schematic diagram of the enlarged structure at A in the middle;

[0021] Figure 5 This is a schematic diagram of the coordination structure of the first bracket, the second bracket and the third bracket in some embodiments of the present application.

[0022] In the figure: 1. load-bearing plate; 101. mounting surface; 102. strip-shaped through hole; 2. transmission plate; 201. transmission groove; 3. first cylinder; 4. first slide rail; 5. first slider; 501. boss; 6. robot gripper; 601. first finger end; 602. second finger end; 603. two-finger cylinder; 604. moving end; 7. wall opening; 701. wiring part; 8. first motor; 9. base; 10. synchronous belt; 11. second bracket; 12. fourth motor; 13. second motor; 14. third motor; 15. third bracket; 16. first bracket; 17. rack and pinion mechanism; 18. adapter plate; 19. second slide rail; 20. third slide rail; 21. fourth slide rail. DETAILED DESCRIPTION

[0023] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by illustrating the examples of the present application.

[0024] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0025] Wall switch, also known as wall switch for short. Wall switch generally consists of a panel and a wiring part protruding from the back of the panel. When packing a wall switch, multiple wall switches need to be placed tightly in the box.

[0026] The inventor of the present application found that due to the special structure of the wall opening, it is difficult to realize automation. At present, the wall openings are mostly packed manually, which has low production efficiency and large workload; even if the wall openings are packed by a mechanical gripper, the mechanical gripper only places the wall openings one by one into the box, and the production efficiency is still relatively low.

[0027] In order to solve the problems in the prior art, the present application provides a mechanical gripper spacing adjustment mechanism and a wall opening material packing device, which are described in detail below with reference to the accompanying drawings.

[0028] Figure 1 This is a schematic diagram of the structure of the mechanical gripper spacing adjustment mechanism of some embodiments of the present application; Figure 2 It is a schematic structural diagram of one side of the mounting surface 101 of the carrier plate 1 in some embodiments of the present application.

[0029] See also Figure 1 to Figure 2, an embodiment of the present application provides a mechanism for adjusting the spacing between robotic grippers, comprising a carrier plate 1, a robotic gripper 6, a sliding assembly and a driving assembly. The carrier plate 1 has a mounting surface 101. The robotic gripper can be connected to the mounting surface 101, that is, the robotic gripper can be directly mounted on the mounting surface 101, or can be indirectly mounted on the mounting surface 101 through other components. There are more than two robotic grippers. At least one of the two or more robotic grippers is slidably connected to the mounting surface 101 through a sliding assembly. The driving assembly is mounted on the carrier plate 1, and the driving assembly is used to drive the sliding assembly to slide along a preset trajectory to adjust the spacing between the two or more robotic grippers.

[0030] After each robotic claw clamps multiple wall openings 7 at the silo station, the distance between the multiple wall openings clamped by each robotic claw can be adjusted through the driving component and the sliding component, so that the multiple wall openings clamped only need to be moved once between the silo station and the packing station at the same time, and the multiple wall openings can be placed in the box, which can improve the packing efficiency of the wall openings and reduce the workload of workers.

[0031] like Figure 1 and Figure 2 As shown, in some embodiments, the sliding assembly includes a plurality of first slide rails 4 radially distributed on the mounting surface 101 and a first slider 5 fixed to the robot gripper, and the first slider 5 is slidably connected to the first slide rail 4. By limiting the distribution of the first slide rails 4, when the first slider 5 slides along the corresponding first slide rail 4, the spacing adjustment between the robot grippers corresponding to different first sliders 5 can be achieved. In the embodiment of the present application, three first slide rails 4 and first sliders 5 corresponding to the first slide rails 4 are provided, wherein two first sliders 5 are fixedly installed with a robot gripper, and another first slider 5 is fixedly installed with two robot grippers at the same time. Exemplarily, in other embodiments, each first slider 5 can be fixedly installed with only one robot gripper. In some other embodiments, more than two robot grippers can also be fixedly installed on the same first slider 5 according to actual needs.

[0032] like Figure 2 As shown, in some embodiments, a robot gripper is fixedly mounted on the carrier plate 1, and the robot gripper fixedly mounted on the carrier plate 1 is located near a position where multiple first slide rails 4 are gathered. By fixing a robot gripper on the carrier plate 1, by controlling the sliding of the first sliders 5 corresponding to other robot grippers, the adjustment of the spacing between the fixed robot gripper and other robot grippers can be achieved, which can simplify the overall complexity of the mechanism. For example, in other embodiments, all robot grippers can also be mounted on the corresponding first sliders 5, so as to achieve the spacing adjustment between the robot grippers corresponding to different first sliders 5.

[0033] like Figure 1 and Figure 2As shown, in some embodiments, the driving assembly includes a transmission plate 2 and a first driver. The transmission plate 2 is connected to the carrier plate 1 by rotation around a first axis, and the first axis is perpendicular to the length direction of the plurality of first slide rails 4 at the same time, and the first axis is located near the position where the plurality of first slide rails 4 are gathered. In the embodiment of the present application, the transmission plate 2 is located on the side of the carrier plate 1 facing away from the mounting surface 101. The transmission plate 2 is provided with transmission grooves 201 corresponding one by one to the first sliders 5, and the plurality of transmission grooves 201 are deflected in the same direction around the first axis from one end close to the first axis to the end away from the first axis. Specifically, as Figure 1 As shown, in the embodiment of the present application, a plurality of transmission grooves 201 are deflected clockwise around the first axis from one end close to the first axis to the end away from the first axis. The first slider 5 is provided with a boss 501 extending into the corresponding transmission groove 201. Specifically, in the embodiment of the present application, each first slide rail 4 is provided with a strip through hole 102 on both sides, and the length direction of the strip through hole 102 is parallel to the length direction of the first slide rail 4. The top of each first slider 5 extends through the strip through holes 102 on both sides of the corresponding first slide rail 4 to the side of the carrier plate 1 away from the mounting surface 101, and is provided with a boss 501, and the outer diameter of the boss 501 is adapted to the width of the transmission groove 201. When the first slider 5 slides along the corresponding first slide rail 4, the strip through hole 102 is used to prevent interference between the first slider 5 and the carrier plate 1. The first driver is installed on the carrier plate 1, and the first driver is used to drive the transmission plate 2 to rotate around the first axis.

[0034] When the first driver drives the transmission plate 2 to rotate clockwise around the first axis, under the common restriction of the first slide rail 4 and the transmission groove 201, each boss 501, the corresponding first slider 5 and the corresponding robot claw all move in the direction close to the first axis; when the first driver drives the transmission plate 2 to rotate counterclockwise around the first axis, under the common restriction of the first slide rail 4 and the transmission groove 201, each boss 501, the corresponding first slider 5 and the corresponding robot claw all move in the direction away from the first axis.

[0035] For example, in other embodiments, the transmission plate 2 may not be provided, but each first slider 5 needs to be separately configured with a corresponding first driver. Compared with each first slider 5 being configured with an independent first driver, the embodiment of the present application only needs one first driver to drive multiple first sliders 5 by providing the transmission plate 2, which can simplify the overall structure of the drive assembly. In addition, by providing the transmission plate 2, the movement of multiple first sliders 5 can be made highly synchronous, which is convenient for controlling the working rhythm of wall opening and boxing.

[0036] like Figure 1As shown, in some embodiments, the first driver includes a first cylinder 3, the cylinder body of the first cylinder 3 is rotatably connected to the bearing plate 1, and one end of the piston rod of the first cylinder 3 extending from its own cylinder body is rotatably connected to the transmission plate 2, the rotation axis of the cylinder body relative to the bearing plate 1 and the rotation axis of the piston rod relative to the transmission plate 2 are parallel to the first axis, the straight line where the piston rod of the first cylinder 3 is located in the telescopic direction is perpendicular to the first axis, and the straight line where the telescopic direction of the first cylinder 3 is located is arranged at intervals from the first axis. In the embodiment of the present application, when the piston rod of the first cylinder 3 extends out of the corresponding cylinder body, it can drive the transmission plate 2 to rotate clockwise around the first axis; when the piston rod of the first cylinder 3 retracts to the corresponding cylinder body, it can drive the transmission plate 2 to rotate counterclockwise around the first axis. Exemplarily, in other embodiments, components such as oil cylinders and linear modules can be used instead of the first cylinder 3. In some other embodiments, the transmission plate 2 can also be controlled to rotate around the first axis by setting a motor. The first cylinder 3 provided in the embodiment of the present application has a relatively low procurement cost and is easy to arrange.

[0037] like Figure 1 As shown, in some embodiments, the connection position between the piston rod and the transmission plate 2 is located at the edge of the transmission plate 2 away from the first axis. Compared with the connection position between the piston rod and the transmission plate 2 being located close to the first axis, in this technical solution, the force applied by the piston rod to the transmission plate 2 has a larger force arm, thereby ensuring that the transmission plate 2 can smoothly drive the boss 501 to move, so that the mechanism has a higher operating stability.

[0038] like Figure 1 and Figure 2As shown, in some embodiments, the robot gripper includes a two-finger cylinder 603 and a clamp. The two moving ends 604 of the two-finger cylinder 603 are both located on the side of the two-finger cylinder 603 facing away from the supporting plate 1, wherein the two-finger cylinder 603 refers to a pneumatic clamp with two moving ends 604, and by controlling the compressed gas introduced into the two-finger cylinder 603, the two moving ends 604 can be driven to move closer or farther away. Each moving end 604 is fixedly connected to a clamp, and the two clamps corresponding to each two-finger cylinder 603 are arranged opposite to each other. Each clamp is provided with a first finger end 601 and a second finger end 602 at a position away from the corresponding two-finger cylinder 603, and the distance between the first finger end 601 and the second finger end 602 is greater than the width of the wiring portion 701 of the wall opening. When the robotic claw clamps the wall opening, the first finger end 601 and the second finger end 602 are respectively located on both sides of the connection part 701 of the wall opening, which can increase the clamping depth of the claw when clamping the wall opening and ensure the clamping stability of the claw; in addition, before each robotic claw clamps the wall opening, the staff needs to sort the materials at the silo workstation to facilitate the clamping of the wall opening by each robotic claw; when sorting the materials, the two wall openings can be placed opposite to each other so that the sides of the two wall openings facing away from the corresponding connection parts 701 are in contact with each other. At this time, one robotic claw can clamp two wall openings, which can further improve the packing efficiency.

[0039] Figure 3 This is a schematic diagram of the structure of a wall opening material packing device according to some embodiments of the present application; Figure 4 for Figure 3 A schematic diagram of the enlarged structure at A in the middle; Figure 5 It is a schematic diagram of the coordination structure of the first bracket 16, the second bracket 11 and the third bracket 15 in some embodiments of the present application.

[0040] See also Figures 3 to 5 The embodiment of the present application further provides a wall opening material packing device, including the mechanical hand claw spacing adjustment mechanism in the above embodiment, and also including a base 9, a first bracket 16 and a second bracket 11. The base 9 is fixed to the ground by anchor bolts.

[0041] The first bracket 16 is installed on the base 9 through the first moving assembly, and the first moving assembly is used to control the first bracket 16 to move along the first direction. The first moving assembly and the second moving assembly and the third moving assembly described below can be used, such as a crank slider mechanism, a screw transmission mechanism, a gear rack mechanism, a cylinder, a hydraulic cylinder or a synchronous belt, including but not limited to the above-mentioned reciprocating linear motion mechanism. Specifically, in the embodiment of the present application, the first direction is parallel to the ground, the base 9 is rotatably connected to two pulleys, and a synchronous belt 10 is wound between the two pulleys, one of which is driven by the first motor 8, thereby driving the synchronous belt to move, and the first bracket 16 is fixedly connected to a section of the synchronous belt; a second slide rail 19 fixedly connected to the base 9 is provided between the two pulleys, and the first bracket 16 is fixedly installed with a second slider, and the length direction of the second slide rail 19 and the length direction of the synchronous belt are both parallel to the first direction, and the second slider is slidably connected to the second slide rail 19. When the first motor 8 drives the synchronous belt to reciprocate, it can drive the first bracket 16 to do linear reciprocating motion along the first direction, thereby driving each robot claw to reciprocate between the silo station and the packing station.

[0042] The second bracket 11 is used to install the carrier plate 1. A second moving assembly is provided between the second bracket 11 and the first bracket 16. The second moving assembly is used to control the second bracket 11 to move in a second direction. The first direction intersects with the second direction. In some embodiments, the second direction is perpendicular to the ground and the first direction at the same time. The second bracket 11 is fixedly connected to a third slide rail 20 provided in the second direction. The third slider can be fixedly installed on the first bracket 16, and the third slider can be slidably connected to the third slide rail 20. The second moving assembly adopts a gear rack mechanism 17, and the gear is driven to rotate back and forth by the second motor 13, so that the second bracket 11 and each robot claw can be controlled to extend into or out of the silo and the box for loading along the second direction.

[0043] It should be noted that, since the wall-opening material packing equipment in the embodiment of the present application includes the mechanical arm claw spacing adjustment mechanism in the above embodiment, it has at least all the beneficial effects brought by the above embodiment, which will not be described one by one here.

[0044] like Figure 5As shown, in some embodiments, a third bracket 15 is further arranged between the first bracket 16 and the second bracket 11, the second bracket 11 is mounted on the third bracket 15 through a second moving assembly, the third bracket 15 is mounted on the first bracket 16 through a third moving assembly, and the third moving assembly is used to control the third bracket 15 to move along the third direction, and the first direction, the second direction and the third direction are perpendicular to each other. Specifically, in the embodiment of the present application, the first bracket 16 is fixedly connected to a fourth slide rail 21 arranged along the third direction, the third bracket 15 is fixedly connected to a fourth slider, and the fourth slider is slidably connected to the fourth slide rail 21; the second bracket 11 is fixedly connected to a third slide rail 20 arranged along the second direction, the first bracket 16 is fixedly installed with a third slider, and the third slider is slidably connected to the third slider; the third moving assembly adopts a screw transmission mechanism, and the screw of the screw transmission mechanism is controlled to reciprocate by the third motor 14, so that the third bracket 15, the second bracket 11 and each manipulator gripper can be simultaneously controlled to move along the third direction. The action accuracy of each manipulator gripper in the process of picking and placing materials can be improved.

[0045] like Figure 3 and Figure 4 As shown, in some embodiments, the carrier plate 1 is rotatably connected to the second bracket 11, and the second bracket 11 is installed with a second driver for controlling the rotation of the carrier plate 1 relative to the second bracket 11. Specifically, in the embodiment of the present application, an adapter plate 18 is arranged on the top of the carrier plate 1, and both ends of the adapter plate 18 are fixedly connected to the carrier plate 1, and the interval between the middle area of ​​the adapter plate 18 and the carrier plate 1 is used to accommodate the transmission plate 2, and the adapter plate 18 is directly rotatably connected to the second bracket 11, and the carrier plate 1 is indirectly rotatably connected to the second bracket 11 through the adapter plate 18. The second driver is a fourth motor 12, and the fourth motor 12 is installed on the second bracket 11, and is used to directly control the rotation of the adapter plate 18 relative to the second bracket 11. In the process of picking up or placing materials, the second driver can adjust the rotation angle of the carrier plate 1, the first gripper and the second gripper relative to the second bracket 11, so as to further improve the accuracy of the action of picking up and placing materials.

[0046] The above is only a specific implementation of the present application. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the protection scope of the present application is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in this application, and these modifications or replacements should be included in the protection scope of this application.

Claims

1. A mechanical gripper spacing adjustment mechanism, characterized in that: include: a load-bearing plate having a mounting surface; A mechanical gripper, which can be connected to the mounting surface, and the mechanical gripper is provided with two or more; A sliding assembly, through which at least one of the two or more robot grippers is slidably connected to the mounting surface; A driving assembly is mounted on the bearing plate, and is used to drive the sliding assembly to slide along a preset track to adjust the distance between two or more of the mechanical grippers.

2. The mechanical gripper spacing adjustment mechanism according to claim 1 is characterized in that: The sliding assembly includes a plurality of first slide rails radially distributed on the mounting surface and a first sliding block fixed to the robot gripper, wherein the first sliding block is slidably connected to the first slide rails.

3. The mechanical gripper spacing adjustment mechanism according to claim 2, characterized in that: One of the mechanical grippers is fixedly mounted on the carrier plate, and the mechanical gripper fixedly mounted on the carrier plate is located near a position where a plurality of the first slide rails are gathered.

4. The mechanical gripper spacing adjustment mechanism according to claim 2, characterized in that: The drive assembly comprises: A transmission plate is connected to the carrier plate by rotation around a first axis, the first axis is perpendicular to the first slide rails, the first axis is located near the position where the first slide rails gather, the transmission plate is provided with transmission grooves corresponding to the first sliders one by one, the plurality of transmission grooves are deflected in the same direction around the first axis from one end close to the first axis to one end away from the first axis, the first slider is provided with a convex column extending into the corresponding transmission groove, the outer diameter of the convex column is adapted to the width of the transmission groove; The first driver is installed on the bearing plate, and is used for driving the transmission plate to rotate around the first axis.

5. The mechanical gripper spacing adjustment mechanism according to claim 4, characterized in that: The first driver includes a first cylinder, a cylinder body of the first cylinder is rotatably connected to a supporting plate, one end of a piston rod of the first cylinder extending out of its cylinder body is rotatably connected to a transmission plate, a rotation axis of the cylinder body relative to the supporting plate and a rotation axis of the piston rod relative to the transmission plate are both parallel to a first axis, a straight line in which the piston rod of the first cylinder is telescopically directed is perpendicular to the first axis, and a straight line in which the telescopic direction of the first cylinder is telescopically directed is spaced apart from the first axis.

6. The mechanical gripper spacing adjustment mechanism according to claim 5, characterized in that: The connection position between the piston rod and the transmission plate is located at an edge of the transmission plate away from the first axis.

7. The mechanical gripper spacing adjustment mechanism according to claim 1, characterized in that: The mechanical gripper comprises: A two-finger cylinder, wherein the two moving ends of the two-finger cylinder are both located on a side of the two-finger cylinder facing away from the bearing plate; A clamping claw is fixedly connected to each movable end, and the two clamping claws corresponding to each two-finger cylinder are arranged opposite to each other. The clamping claw is provided with a first finger end and a second finger end at a position away from the corresponding two-finger cylinder, and the distance between the first finger end and the second finger end is greater than the width of the connection part of the wall opening.

8. A wall opening material packing device, characterized in that: The robot gripper spacing adjustment mechanism according to any one of claims 1 to 7 further comprises: Pedestal; A first bracket is mounted on the base through a first moving assembly, wherein the first moving assembly is used to control the first bracket to move along a first direction; The second bracket is used to install the bearing plate. A second moving component is arranged between the second bracket and the first bracket. The second moving component is used to control the second bracket to move along a second direction. The first direction intersects with the second direction.

9. The wall opening material packing equipment according to claim 8, characterized in that: A third bracket is also arranged between the first bracket and the second bracket, the second bracket is mounted on the third bracket via the second movable assembly, the third bracket is mounted on the first bracket via the third movable assembly, the third movable assembly is used to control the third bracket to move along a third direction, and the first direction, the second direction and the third direction are perpendicular to each other.

10. The wall opening material packing equipment according to claim 9, characterized in that: The bearing plate is rotatably connected to the second bracket, and the second bracket is equipped with a second driver for controlling the bearing plate to rotate relative to the second bracket.

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