Feeding and discharging robot clamping jaw for carrier and truss robot

Abstract

The utility model relates to the technical field of industrial robots, and provides a loading and unloading robot clamping jaw for a carrier and a truss robot. The clamping mechanism at least comprises a pair of clamping jaw plates, the clamping jaw plates are connected to the forward and reverse synchronous linear sliding table in a sliding mode, clamping jaw plate hanging shafts are arranged on the clamping jaw plates, and the clamping jaw plate hanging shafts correspond to positioning kidney-shaped holes preset in the carrier; the driving device is in transmission connection with the clamping mechanism and can drive the pair of clamping jaw plates to linearly move in the opposite directions at the same speed on the forward and reverse synchronous linear sliding table to grab / release the carriers of different specifications and sizes during working, and the effect that the same robot clamping jaw grabs the carriers of different specifications and sizes in a matched mode is achieved. The working efficiency of carrier grabbing is improved, and the hardware cost of carrier grabbing is effectively reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of industrial robots, and more specifically to a loading and unloading robot gripper and a truss robot for a carrier. Background Art

[0002] The existing truss robot gripper is an end fixture widely used on truss robots. It is installed at the end of the Z-axis of the truss robot or the end of the six-axis robot according to the specific working conditions. Then, it is opened by the cylinder to grab the carrier. After the carrier is moved to the required position, the cylinder is opened again and the gripper is in the open state to put the carrier down. In this way, the gripper completes the opening and closing action and realizes the placement of the carrier. However, the opening distance of this type of gripper is fixed, and the size of the gripper cannot be flexibly adjusted. It can only grab carriers of the same specifications and sizes. If the specifications of the carrier are changed, the corresponding gripper needs to be reinstalled on the robot. Therefore, the existing gripper lacks the ability to adapt to objects of different specifications and is not flexible enough. Utility Model Content

[0003] The utility model aims to provide a loading and unloading robot gripper and a truss robot for a carrier, so as to solve the technical problem of how to make the same robot gripper adapt to grasping carriers of different specifications.

[0004] The first aspect of the utility model provides a robot gripper for loading and unloading a carrier, which includes: a forward and reverse synchronous linear slide; a clamping mechanism, including at least a pair of clamping plates, the pair of clamping plates are slidably connected to the forward and reverse synchronous linear slide, and the pair of clamping plates are provided with clamping plate hanging shafts, and the clamping plate hanging shafts correspond to the preset positioning waist holes on the carrier; a driving device, which is transmission-connected to the clamping mechanism and can drive a pair of clamping plates to move linearly in opposite directions at the same speed on the forward and reverse synchronous linear slide to grasp / release carriers of different specifications and sizes during operation. In some preferred schemes, the forward and reverse synchronous linear slide includes a bidirectional screw, each bidirectional screw includes two sections of coaxial forward thread and reverse thread, a screw nut is connected to each of the forward thread and the reverse thread, and two screw nuts are fixedly connected to the two clamping plates of a pair of clamping plates on the forward thread and the reverse thread, respectively.

[0005] In some preferred schemes, the forward and reverse synchronous linear slide includes two bidirectional screws, which are arranged side by side in parallel, and each bidirectional screw includes two coaxial forward threads and reverse threads, and a screw nut is connected to each of the forward threads and reverse threads; the pair of jaw plates includes a left jaw plate and a right jaw plate, and the left jaw plate is fixedly connected to the screw nuts of the two bidirectional screws on the forward threads, and the right jaw plate is fixedly connected to the screw nuts of the two bidirectional screws on the reverse threads.

[0006] In some preferred embodiments, the forward and reverse synchronous linear slide table includes a linear guide rail, a guide rail slider, a bidirectional lead screw, and a lead screw nut. The linear guide rail is arranged on a mounting plate. The linear guide rail is adaptively connected to the guide rail slider, and at least two guide rail sliders are connected to the linear guide rail. The bidirectional lead screw is arranged on one side of the linear guide rail and is parallel to the sliding track of the guide rail slider on the linear guide rail. The bidirectional lead screw includes a forward thread and a reverse thread, and a lead screw nut is provided on each of the forward thread and the reverse thread. The two ends of the bidirectional lead screw are rotationally fixed on the mounting plate, and one end of the bidirectional lead screw is in transmission connection with the driving device; a pair of jaw plates includes a left jaw plate and a right jaw plate. The left jaw plate is fixedly connected to the lead screw nut on the forward thread and one of the guide rail sliders on the linear guide rail, and the right jaw plate is fixedly connected to the lead screw nut on the reverse thread and the other guide rail slider on the linear guide rail.

[0007] In some preferred embodiments, the driving device includes a servo motor. The output shaft of the servo motor is connected to a first transmission gear, and one end of the bidirectional lead screw is connected to a second transmission gear. The second transmission gear meshes with the first transmission gear. When the servo motor operates, it drives the bidirectional lead screw to rotate forward or backward.

[0008] In some preferred embodiments, the forward and reverse synchronous linear slide table includes at least one lead screw bellows. The lead screw bellows is arranged at at least one of the following positions: on the bidirectional lead screw between the two lead screw nuts; on the bidirectional lead screw between the lead screw thread and the fixed end of the bidirectional lead screw.

[0009] In some preferred embodiments, the robot gripper for loading and unloading the carrier further includes an adaptive pressing device, which is arranged on the robot gripper for loading and unloading the carrier and at least includes a first cylinder and a product pressing block. The output end of the piston rod of the first cylinder is connected to the product pressing block. A force detection mechanism is arranged in the product pressing block. When the clamping mechanism grabs the carrier and moves in water, the first cylinder can extend the piston rod to drive the product pressing block to move in the direction of pressing the product in the carrier to apply pressure to the product, and stop and hold when the force detection mechanism detects that the pressure offsets the buoyancy and causes the product to rise.

[0010] In some preferred embodiments, the first cylinder includes pen-shaped cylinders, and the number is two. The two pen-shaped cylinders are mounted on a mounting plate. One end of each piston rod of the two pen-shaped cylinders is threadedly connected to one end of a floating joint, and the other end of the floating joint is connected to a floating joint connecting shaft. The number of product pressing blocks is two, and each product pressing block is provided with a through hole, and the direction of the through hole is the same as the extending direction of the cylinder. The force detection mechanism includes a guide sleeve, a magnetic ring, a magnetic ring mounting shaft, a spring, a spring force adjusting nut, and a displacement detection waterproof magnetic switch. The guide sleeve is mounted in the through hole near one end of the pen-shaped cylinder, and the floating joint connecting shaft passes through the guide sleeve. The magnetic ring is sleeved on the magnetic ring mounting shaft, and the magnetic ring mounting shaft with the magnetic ring is connected to the floating joint connecting shaft. The spring is inserted into the interior of the product pressing block from the through hole at the end far from the pen-shaped cylinder and then locked and connected to the spring force adjusting nut. The displacement detection waterproof magnetic switch is fixedly mounted on the product pressing block at a position close to the guide sleeve.

[0011] In some preferred embodiments, the lower plane of the product pressing block is parallel to the product surface in the carrier.

[0012] In some preferred embodiments, the robot gripper for loading and unloading the carrier further includes a carrier horizontal stabilizing device, which is arranged on the robot gripper for loading and unloading the carrier and at least includes a second cylinder and a pressing and balancing mechanism. The pressing and balancing mechanism corresponds to the top position of the carrier and is connected to the moving end of the second cylinder. When the clamping mechanism grabs the carrier, the second cylinder extends its moving end to drive the pressing and balancing mechanism to press the top of the carrier, so that the carrier is kept in a horizontal state.

[0013] In some preferred embodiments, the second cylinder includes a guide rod cylinder, and the tail of the guide rod cylinder is fixedly connected to the mounting plate. The pressing and balancing mechanism includes a connecting plate, a reverse pressing plate front transition plate, a reverse pressing plate, and a stop bolt. The connecting plate is fixedly connected to the end of the piston rod of the guide rod cylinder. One reverse pressing plate front transition plate is fixedly connected to each end of the connecting plate. One reverse pressing plate is connected to each of the two reverse pressing plate front transition plates. At least one stop bolt is respectively connected to the two reverse pressing plates. When the clamping mechanism grabs the carrier, the guide rod cylinder can extend the piston rod to drive at least one stop bolt on the reverse pressing plate to press the top plate of the carrier.

[0014] In some preferred embodiments, the robot gripper for loading and unloading the carrier further includes a distance measuring sensor, which is arranged on the robot gripper for loading and unloading the carrier. When the clamping mechanism moves to the position for grabbing the carrier, the distance measuring sensor can identify the loading condition of the product in the carrier based on a preset measuring distance.

[0015] In the second aspect of the present utility model, a robot gripper for loading and unloading a vehicle is provided, which includes a vehicle grasping device and an adaptive pressing device. The vehicle grasping device and the adaptive pressing device are installed on the same platform. The adaptive pressing device at least includes a first cylinder and a product pressing block. The output end of the piston rod of the first cylinder is connected to the product pressing block. A force detection mechanism is provided in the product pressing block. When the vehicle grasping device grasps the vehicle and moves in water, the first cylinder can extend the piston rod to drive the product pressing block to move in the direction of pressing the product in the vehicle to apply pressure to the product, and stop and hold when the force detection mechanism detects that the pressure offsets the buoyancy and causes the product to rise.

[0016] In the third aspect of the present utility model, a robot gripper for loading and unloading a vehicle is provided, which includes a vehicle grasping device and a vehicle horizontal stabilizing device. The vehicle grasping device and the vehicle horizontal stabilizing device are installed on the same platform. The vehicle horizontal stabilizing device at least includes a second cylinder and a pressing and balancing mechanism. The second cylinder is relatively fixedly arranged with a linear slide. The pressing and balancing mechanism is relatively arranged at the top of both sides of the vehicle grasped by the clamping mechanism, and is connected to the moving end of at least one second cylinder. When the clamping mechanism is connected to grasp the vehicle, the second cylinder extends the moving end to drive the pressing and balancing mechanism to press the top of both sides of the vehicle grasped by the clamping mechanism, so that the vehicle maintains a horizontal state.

[0017] In the fourth aspect of the present utility model, a gantry robot is provided, which includes the above-mentioned robot gripper for loading and unloading a vehicle.

[0018] The beneficial effects of the robot gripper for loading and unloading a vehicle provided by the present utility model are at least as follows: Using the driving device as the power source, driving a pair of gripper plates connected to the positive and negative synchronous linear slides to linearly move in opposite directions at the same speed to adjust the distance between the pair of gripper plates to adapt to grasping vehicles of corresponding specifications and sizes. When it is necessary to grasp vehicles of different specifications and sizes, only the distance between the pair of gripper plates needs to be adjusted, and there is no need to replace the entire clamping mechanism, achieving the effect that the same robot gripper can adapt to grasp vehicles of different specifications and sizes. This not only improves the working efficiency of vehicle grasping but also reduces the hardware cost of vehicle grasping. Description of the Drawings

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the following drawings are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0020] Figure 1 It is a perspective view of a robot gripper for loading and unloading a vehicle provided by an embodiment of the present utility model;

[0021] Figure 2 Front view of a loading and unloading robot gripper for a vehicle provided by an embodiment of the present utility model;

[0022] Figure 3 Bottom view state of a loading and unloading robot gripper for a vehicle provided by an embodiment of the present utility model Figure 1 ;

[0023] Figure 4 Bottom view state of a loading and unloading robot gripper for a vehicle provided by an embodiment of the present utility model Figure 2 ;

[0024] Figure 5 Stereogram of a loading and unloading robot gripper for a vehicle provided by an embodiment of the present utility model grasping the vehicle;

[0025] Figure 6 Front view state diagram of a loading and unloading robot gripper for a vehicle grasping the vehicle in an outer clamping manner provided by an embodiment of the present utility model;

[0026] Figure 7 Front view state diagram of a loading and unloading robot gripper for a vehicle grasping the vehicle in an inner support manner provided by an embodiment of the present utility model;

[0027] Figure 8 Stereogram of an adaptive pressing device on an installation plate provided by an embodiment of the present utility model;

[0028] Figure 9 Top view of an adaptive pressing device provided by an embodiment of the present utility model;

[0029] Figure 10 Cross-sectional view along the A-A direction provided by an embodiment of the present utility model;

[0030] Figure 11 Side view of an adaptive pressing device provided by an embodiment of the present utility model;

[0031] Figure 12 Partial enlarged view of position A provided by an embodiment of the present utility model;

[0032] Figure 13 Structure change comparison diagram of the force detection mechanism during the process of the product pressing block pressing the product provided by an embodiment of the present utility model;

[0033] Figure 14 Stereogram of a vehicle horizontal stability device provided by an embodiment of the present utility model;

[0034] Figure 15The front view of a vehicle horizontal stability device provided by an embodiment of the present utility model.

[0035] Among them, each reference numeral in the figure:

[0036] 1. Installation large plate; 2. Servo motor; 3. Bidirectional lead screw; 4. Lead screw nut; 5. Lead screw fixed end support; 6. Lead screw support end support; 7. Lead screw nut mounting seat; 8. Bevel gear; 9. Lead screw bellows; 10. Left jaw plate mounting seat; 11. Right jaw plate mounting seat; 12. Left jaw plate; 13. Right jaw plate; 14. Jaw plate hanging shaft; 15. Linear guide rail; 16. Guide rail slider; 17. Guide rod cylinder; 18. Connecting plate; 19. Reverse pressure plate; 20. Reverse pressure plate front transition plate; 21. Stop bolt; 22. Laser sensor; 23. Laser sensor bracket; 24. Pen-shaped cylinder; 25. Linear bearing; 26. Guide rod; 27. Floating joint; 28. Floating joint connecting shaft; 29. Guide sleeve; 30. Product pressing block; 31. Magnetic ring; 32. Magnetic ring mounting shaft; 33. Spring force adjustment nut; 34. Spring; 35. Displacement detection waterproof magnetic switch; 36. Vehicle; 37. Positioning waist hole. Specific embodiments

[0037] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present utility model and are not used to limit the present utility model.

[0038] It should be noted that when a component is referred to as "fixed to" or "disposed on" another component, it can be directly or indirectly located on the other component. When a component is referred to as "connected to" another component, it can be directly or indirectly connected to the other component. The orientations or positions indicated by the terms "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientations or positions shown in the accompanying drawings, and are only for the convenience of description and cannot be construed as a limitation to the technical solution of the present application. The terms "first" and "second" are only used for the purpose of convenient description and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of technical features. The meaning of "a plurality" is two or more, unless otherwise specifically defined.

[0039] Please refer to Figures 1 to 7In the first embodiment of the utility model, a loading and unloading robot gripper for a carrier is provided, which at least includes a forward and reverse synchronous linear slide, a clamping mechanism and a driving device, the clamping mechanism includes at least a pair of clamping plates, the pair of clamping plates are slidably connected to the forward and reverse synchronous linear slide, and the pair of clamping plates are provided with clamping plate hanging shafts, and the clamping plate hanging shafts correspond to the preset positioning waist holes on the carrier; the driving device is transmission-connected to the clamping mechanism, and can drive a pair of clamping plates to move linearly in opposite directions at the same speed on the forward and reverse synchronous linear slide to grasp / release carriers of different specifications and sizes during operation.

[0040] A pair of jaw plates can be composed of two jaw plates. For example, a pair of jaw plates includes a left jaw plate 12 and a right jaw plate 13. The left jaw plate 12 and the right jaw plate 13 are connected to the forward and reverse synchronous linear slide. The driving device serves as a power source to drive the left jaw plate 12 and the right jaw plate 13 to move synchronously on the forward and reverse synchronous linear slide. When the left clamping plate 12 moves to the left, the right clamping plate 13 moves to the right at the same speed, and the distance between the left and right clamping plates 13 increases; when the left clamping plate 12 moves to the right, the right clamping plate 13 moves to the left at the same speed, and the distance between the left and right clamping plates 13 decreases, so that the target distance between the left clamping plate 12 and the right clamping plate 13 can be defined according to the size of the carrier 36, and the left clamping plate 12 and the right clamping plate 13 can be driven to move to the target distance by the driving device to grasp the carrier 36 of the corresponding size. When it is necessary to grasp the carrier 36 of different sizes, it is only necessary to adjust the target distance between the left clamping plate 12 and the right clamping plate 13, thereby achieving the effect of grasping carriers 36 of multiple sizes.

[0041] In this embodiment, a pair of clamping plates is used as a clamping mechanism to grasp the carrier 36 , and the way in which the pair of clamping plates grasps the carrier 36 is not unique.

[0042] In some preferred embodiments, a positioning waist hole 37 is provided on the carrier 36, and a pair of clamping plates are provided with a clamping plate hanging shaft 14 corresponding to the positioning waist hole 37. When a pair of clamping plates grasp the carrier 36, the clamping plate hanging shaft 14 is inserted into the positioning waist hole 37.

[0043] Specifically, the gripper plate hanging shaft 14 can be selected as a cylinder, with one axial end of the cylinder connected to the left gripper plate 12 or the right gripper plate 13. The positioning waist-shaped hole 37 can be a through hole that is narrower at the top and wider at the bottom, so that the gripper plate hanging shaft 14 can be relatively easily inserted into the positioning waist-shaped hole 37. When it is necessary to grasp the carrier 36, move the left gripper plate 12 and the right gripper plate 13 to align the position of the gripper plate hanging shaft 14 with the positioning waist-shaped hole 37 on the carrier 36, and then change the distance between the left gripper plate 12 and the right gripper plate 13 to insert the gripper plate hanging shaft 14 into the positioning waist-shaped hole 37 to complete the grasping of the carrier 36. When it is necessary to release the carrier 36, move the left gripper plate 12 and the right gripper plate 13 to withdraw the gripper plate hanging shaft 14 from the positioning waist-shaped hole 37, and the release of the carrier 36 can be completed. For example, in the case where a pair of gripper plates includes the left gripper plate 12 and the right gripper plate 13, at least one gripper plate hanging shaft 14 can be provided on the facing or opposite sides of the left gripper plate 12 and the right gripper plate 13, or at least one gripper plate hanging shaft 14 can be provided on both the facing side and the opposite side of the gripper plate and the right gripper plate 13. If a gripper plate hanging shaft 14 is provided on the facing side of the gripper plate and the right gripper plate 13, the gripper plate hanging shaft 14 on the facing side of the left gripper plate 12 and the right gripper plate 13 can be inserted into the positioning waist-shaped hole 37 on the carrier 36 by an external clamping method to achieve the grasping of the carrier 36. If a gripper plate hanging shaft 14 is provided on the opposite side of the gripper plate and the right gripper plate 13, the gripper plate hanging shaft 14 on the opposite side of the left gripper plate 12 and the right gripper plate 13 can be inserted into the positioning waist-shaped hole 37 on the carrier 36 by an internal bracing method to achieve the grasping of the carrier 36. Thus, it can be seen that with the same distance between a pair of gripper plates, at least two different specifications and sizes of carriers 36 can be grasped by two grasping methods of internal bracing and external clamping.

[0044] The loading and unloading robot gripper for the carrier 36 provided by the embodiment of the present invention uses a driving device as a power source to drive a pair of gripper plates connected to a positive and negative synchronous linear slide table to linearly move in opposite directions at the same speed, so as to adjust the distance between the pair of gripper plates to adapt to grasping carriers of corresponding specifications and sizes. When it is necessary to grasp carriers of different specifications and sizes, only the distance between the pair of gripper plates needs to be adjusted, and there is no need to replace the entire clamping mechanism, achieving the effect that the same robot gripper can adapt to grasp carriers of different specifications and sizes. This not only improves the working efficiency of carrier grasping but also reduces the hardware cost of carrier grasping.

[0045] The positive and negative synchronous linear slide table is used to realize the synchronous opposite or same-direction movement of a pair of gripper plates on the same straight line. In practical applications, the specific implementation manner of the positive and negative synchronous linear slide table is not unique.

[0046] In some alternative embodiments, refer to Figure 2 and Figure 3The forward and reverse synchronous linear slide comprises: a linear guide 15, a guide slider 16, a bidirectional lead screw 3 and a lead screw nut 4; the linear guide 15 is adaptively connected to the guide slider 16, and at least two guide sliders 16 are connected to the linear guide 15, the bidirectional lead screw 3 is arranged on one side of the linear guide 15, and is parallel to the sliding track of the guide slider 16 on the linear guide 15, the bidirectional lead screw 3 comprises a forward thread and a reverse thread, a lead screw nut 4 is respectively provided on the forward thread and the reverse thread, the lead screw nut 4 is fixedly connected to the mounting plate 1, both ends of the bidirectional lead screw 3 are rotatably fixed on the mounting plate 1, and one end of the bidirectional lead screw 3 is transmission-connected to the driving device; a pair of clamping jaw plates comprises a left clamping jaw plate 12 and a right clamping jaw plate 13, the left clamping jaw plate 12 is fixedly connected to the lead screw nut 4 on the forward thread and one of the guide sliders 16, and the right clamping jaw plate 13 is fixedly connected to the lead screw nut 4 on the reverse thread and another guide slider 16. In practical applications, the bidirectional screw 3 is preferably a forward and reverse rotating trapezoidal screw.

[0047] Specifically, two guide rail sliders 16 are slidably sleeved on the linear guide rail 15 to achieve reciprocating movement on the same linear guide rail 15. The screw nut 4 is installed in the screw nut mounting seat 7. The screw nut mounting seat 7 equipped with the screw nut 4 is screwed on the forward thread and reverse thread of the bidirectional screw 3. The screw nut 4 is matched with the forward thread or the reverse thread. The two ends of the bidirectional screw 3 are rotatably mounted on the screw fixed end support 5 and the screw support end support 6. When the bidirectional screw 3 rotates, the two screw nuts 4 and the screw nut mounting seat 7 on the forward thread and the reverse thread move synchronously in opposite directions, including moving toward each other and moving away from each other. The left clamping plate 12 and the right clamping plate 13 are respectively installed on the left clamping plate mounting seat 10 and the right clamping plate mounting seat 11 using screws, and the left clamping plate mounting seat 10 and the right clamping plate mounting seat 11 are respectively fixed to the two guide rail sliders 16 and the screw nut mounting seat 7 by screws.

[0048] Preferably, the driving device includes a servo motor 2, the output shaft of the servo motor 2 is connected to the first transmission gear; one end of the bidirectional screw rod 3 is connected to the second transmission gear, and the second transmission gear is meshed with the first transmission gear. When the servo motor 2 is in working state, it drives the bidirectional screw rod 3 to rotate forward or reverse.

[0049] Specifically, combined Figure 2 and Figure 3For this, the driving device uses a servo motor 2. The servo motor 2 is installed on the servo motor mounting base, and a bevel gear 8 (i.e., the first transmission gear) is connected to the output shaft of the servo motor 2. Another bevel gear 8 (i.e., the second transmission gear) is installed on the bidirectional lead screw 3 on one side of the fixed end of the lead screw. The two bevel gears 8 on the servo motor 2 and the bidirectional lead screw 3 are meshed with each other. In this way, when the servo motor 2 is powered on and controlled by a program to drive, the output shaft rotates, and then the bevel gear 8 installed on the output shaft of the servo motor 2 rotates. This bevel gear 8 rotates and simultaneously drives the bevel gear 8 on the other bidirectional lead screw 3 that meshes with it. Similarly, the bidirectional lead screw 3 rotates and then drives the lead screw nut mounting base 7 equipped with the lead screw nut 4 to perform a linear motion. Furthermore, the left jaw plate 12 and the right jaw plate 13 perform a linear motion synchronously. Due to the bidirectional lead screw 3, the left jaw plate 12 and the right jaw plate 13 perform a reverse linear motion at the same speed each time. Thus, a program can be written according to the specification size of the carrier 36, and the distance between the left jaw plate 12 and the right jaw plate 13 can be defined by the size of the carrier 36. The servo motor 2 drives the left jaw plate 12 and the right jaw plate 13 to move to a predefined distance, realizing the function of a pair of jaw plates to grasp carriers 36 of multiple specification sizes.

[0050] In this embodiment, the left jaw plate 12 and the right jaw plate 13 are respectively fixedly connected to the two lead screw nut mounting bases 7 equipped with the lead screw nuts 4 on the bidirectional lead screw 3. Since the two lead screw threads are respectively connected to the forward thread and the reverse thread of the bidirectional lead screw 3, when the bidirectional lead screw 3 rotates and runs driven by the driving device, the left jaw plate 12 and the right jaw plate 13 will perform a reverse linear motion at the same speed. Moreover, the left jaw plate 12 and the right jaw plate 13 are also connected to the guide rail sliders 16 on the linear guide rail 15. When the left jaw plate 12 and the right jaw plate 13 move, they will also drive the guide rail sliders 16 to move synchronously. The linear guide rail 15 and the guide rail sliders 16 can increase the stability and firmness of the left jaw plate 12 and the right jaw plate 13 during the reverse linear motion.

[0051] Preferably, refer to Figures 2 to 4, at least one lead screw bellows 9 is sleeved on the bidirectional lead screw 3. The lead screw bellows 9 can be arranged on the bidirectional lead screw 3 between the lead screw nuts 4, or on the bidirectional lead screw 3 between the lead screw thread and the fixed end of the bidirectional lead screw 3, or there are lead screw bellows 9 on the bidirectional lead screw 3 between the lead screw nuts 4 and on the bidirectional lead screw 3 between the lead screw thread and the fixed end of the bidirectional lead screw 3. Generally speaking, the at least one lead screw bellows 9 is arranged on the bidirectional lead screw 3 between the lead screw nuts 4 or / and on the bidirectional lead screw 3 between the lead screw thread and the fixed end of the bidirectional lead screw 3. In this embodiment, by sleeving the lead screw bellows 9 on the bidirectional lead screw 3, it can prevent dust, metal chips, liquid, etc. from entering the working area of the lead screw, avoid wear, blockage or equipment failure caused by these pollutants, and at the same time protect the lead screw and the guide rail from external impact or mechanical damage, playing the role of extending the service life of the equipment.

[0052] In some alternative embodiments, the positive and negative synchronous linear slide table includes a bidirectional lead screw. Each bidirectional lead screw 3 includes two coaxial forward threads and reverse threads. A lead screw nut 4 is connected to each of the forward thread and the reverse thread. On the forward thread and the reverse thread, the two lead screw nuts 4 are respectively fixedly connected to the two jaw plates of a pair of jaw plates.

[0053] The difference between the bidirectional lead screw 3 of this bidirectional lead screw 3 and the previous alternative embodiment is that the positive and negative synchronous linear slide table uses the bidirectional lead screw 3 as the guide rail and the lead screw nut 4 as the guide rail slider to provide the basis for the reverse linear motion of the left jaw plate 12 and the right jaw plate 13, without a separate linear guide rail 15 and guide rail slider as an auxiliary. This makes the structure of the positive and negative synchronous linear slide table simpler and the space occupied relatively smaller.

[0054] In practice, considering the stability of the left jaw plate 12 and the right jaw plate 13 during the movement process, two bidirectional lead screws 3 can be used.

[0055] In some alternative embodiments, the positive and negative synchronous linear slide table includes two bidirectional lead screws 3. The two bidirectional lead screws 3 are arranged side by side and parallel to each other. Each bidirectional lead screw 3 includes two coaxial forward threads and reverse threads. A lead screw nut 4 is connected to each of the forward thread and the reverse thread. The pair of jaw plates includes a left jaw plate and a right jaw plate. The left jaw plate is respectively fixedly connected to the lead screw nuts 4 on the forward threads of the two bidirectional lead screws 3, and the right jaw plate is respectively fixedly connected to the lead screw nuts 4 on the reverse threads of the two bidirectional lead screws 3.

[0056] Specifically, two bidirectional lead screws 3 are arranged side by side at intervals. When the driving device is a servo motor 2, a driving gear is connected to the output shaft of the servo motor 2. Gears are installed at the same ends of the two bidirectional lead screws 3 respectively. When the servo motor 2 works, the driving gear drives the gears on the two bidirectional lead screws 3 respectively through gear meshing, so that the two bidirectional lead screws 3 rotate synchronously. In addition, the left jaw plate 12 is respectively connected to the two lead screw nuts 4 on the positive thread / negative thread sides of the two bidirectional lead screws 3, and the right jaw plate 13 is respectively connected to the two lead screw nuts 4 on the negative thread / positive thread sides of the two bidirectional lead screws 3, so as to improve the firmness of the left jaw plate 12 and the right jaw plate 13 on the positive and negative synchronous linear slide table and the stability during movement.

[0057] In practical applications, it is found that when the carrier 36 is loaded with products such as light, thin, and brittle ones, the gripper grabs the carrier 36 and moves in water, and the products are easily lifted by the water resistance and then separated from the carrier 36. In order to prevent the products from being lifted by the water resistance, it is necessary to press the products tightly in the carrier 36 to prevent them from floating. However, the grippers on existing robots do not have the function of clamping the products in the carrier 36. In view of this problem, the following optimization solutions are provided.

[0058] See Figures 1 to 13 , in some alternative embodiments, the above-mentioned robot gripper for loading and unloading the carrier further includes an adaptive pressing device, which is arranged on the robot gripper and at least includes a first cylinder and a product pressing block 30. The output end of the piston rod of the first cylinder is connected to the product pressing block 30. A force detection mechanism is arranged in the product pressing block 30. When the clamping mechanism grabs the carrier 36 and moves in water, the first cylinder extends the piston rod to drive the product pressing block 30 to move in the direction of pressing the product in the carrier 36 to apply pressure to the product, and stops extending and maintains this extended state when the force detection mechanism detects that the pressure cancels the upward trend of the product caused by the buoyancy.

[0059] The product will be subject to an upward buoyant force in water, as well as its own gravity. When the buoyant force is less than or equal to the product's gravity, the product will not float; when the buoyant force is greater than the product's gravity, the product will float and thus separate from the carrier 36. The working principle of the above adaptive clamping device is as follows: when the buoyant force is greater than the product's gravity, the first cylinder extends to push the product block 30 into contact with the top of the product, applying a downward external force to the product. This external force has the same direction as the product's gravity, and the external force gradually increases as the first cylinder extends. When the buoyant force received by the product is equal to the sum of the external force and the product's gravity, the product reaches a force balance in water. Due to the push of the product block 30, the product will be tightly pressed against the bottom of the carrier 36 and will not float; at this time, if the first cylinder continues to push the product block 30 to tightly press the product, it will trigger the force detection mechanism, and the force detection mechanism will notify the first cylinder to stop working, achieving the effect of adaptively clamping the product, solving the problem that the product is lifted by the buoyant force generated by water resistance, and at the same time, it can also avoid the situation where the product is crushed due to excessive external force applied by the product block 30.

[0060] Specifically, referring to Figures 8 to 12 , the first cylinder is preferably a pen-shaped cylinder 24, and the number is two. The two pen-shaped cylinders 24 are installed on the mounting large plate 1. One end of each piston rod of the two pen-shaped cylinders 24 is threadedly connected to one end of a floating joint 27, and the other end of the floating joint 27 is threadedly connected to a floating joint connecting shaft 28; the number of product blocks 30 is two, and each product block 30 is provided with a through hole, and the direction of the through hole is the same as the extension direction of the cylinder; the force detection mechanism includes a guide sleeve 29, a magnetic ring 31, a magnetic ring mounting shaft 32, a spring 34, a spring force adjustment nut 33, and a displacement detection waterproof magnetic switch 35. The guide sleeve 29 is installed in the through hole near one end of the pen-shaped cylinder 24, and the floating joint connecting shaft 28 passes through the guide sleeve 29. The magnetic ring 31 is sleeved on the magnetic ring mounting shaft 32, and the magnetic ring mounting shaft 32 sleeved with the magnetic ring 31 is connected to the floating joint connecting shaft 28 by an internal hexagonal screw. The spring 34 is inserted into the interior of the product block 30 from the through hole at the end far from the pen-shaped cylinder 24 and then locked and connected to the spring force adjustment nut 33. The displacement detection waterproof magnetic switch 35 is fixedly installed at a position on the product block 30 close to the guide sleeve 29. Optionally, the lower plane of the product block 30 is parallel to the product surface in the carrier 36, so that when the product is clamped, the product block 30 can be in fitting contact with the product to avoid crushing the product.

[0061] Combined with Figure 13For example, when the adaptive pressing device is turned on to press the product, the control causes the pistons of two pen-shaped cylinders 24 to extend. The product pressing block 30 connected to the ends of the pistons of the pen-shaped cylinders 24 moves downward as a whole. When the lower planes of the two product pressing blocks 30 come into contact with the product, they continue to press the product downward, applying a certain pressing force to the product. When the product is pressed back to the bottom of the carrier 36, the pen-shaped cylinders 24 continue to push the product pressing blocks 30, and the springs 34 on the product pressing blocks 30 will be compressed accordingly. While the springs 34 are being compressed, the two floating joint connecting shafts 28 also move linearly downward under the guiding action of the guide sleeves 29. Similarly, the magnetic rings 31 also move downward. When the magnetic force of the magnetic rings 31 is detected by the displacement detection waterproof magnetic switches 35, the program is triggered to control the pen-shaped cylinders 24 to stop and hold. In this way, the effect of pressing the product without crushing it and preventing it from being lifted by the buoyancy force of water is achieved, and at the same time, the adaptive pressing of products with different thicknesses is also realized.

[0062] Since the product pressing block 30 is pushed by the first cylinder, regardless of the thickness of the product loaded in the carrier 36, the product can be pressed by pushing the product pressing block 30 with the first cylinder. That is to say, the adaptive pressing device provided in this embodiment can achieve the adaptive pressing of products stacked with different height dimensions. Among them, the pressing force can be adjusted by adjusting the two displacement detection waterproof magnetic switches 35 and the spring force adjusting nuts 33. An appropriate pressing force can ensure that the product is not crushed and can also prevent the product from being lifted by the buoyancy force generated by the water resistance during movement in the water.

[0063] Preferably, referring to Figure 8 , the adaptive pressing device may further include guide rods 26 and linear bearings 25. The linear bearings 25 are installed on the mounting plate 1 close to the first cylinder, and the guide rods 26 pass through the linear bearings 25 and are connected to the product pressing block 30 at the lower ends. In this embodiment, when the number of both the first cylinder and the product pressing block 30 is two, the number of the guide rods 26 and the linear bearings 25 is also two. The two linear bearings 25 are installed on the mounting plate 1 close to the pen-shaped cylinders 24, and the threaded parts at the lower ends of the two guide rods 26 pass through the two linear bearings 25 and are threadedly connected to the product pressing block 30. When the pistons of the two pen-shaped cylinders 24 extend, under the guiding of the two guide rods 26, the product pressing block 30 at the end of the pistons of the pen-shaped cylinders 24 can move downward stably as a whole.

[0064] In practical applications, it is also found that after the gripper grabs the carrier 36, since the carrier 36 contains products and the total weight is more than ten kilograms, after the gripper plate hanging shaft 14 hooks the positioning waist-shaped holes on the carrier 36, the carrier 36 is prone to tilt, resulting in the problem that the product slides out of the carrier 36. To solve this problem, the following optimization solutions are provided.

[0065] In some embodiments, referring to Figure 14 andFigure 15 The above-mentioned robot gripper for loading and unloading vehicles of the vehicle further includes a vehicle horizontal stabilizing device, which is arranged on the robot gripper and at least includes a second cylinder and a pressing balance mechanism. The pressing balance mechanism is oppositely arranged relative to the tops of both sides of the vehicle grabbed by the clamping mechanism, and is connected to the moving end of at least one second cylinder. When the clamping mechanism grabs and connects with the vehicle, the second cylinder extends its moving end to drive the pressing balance mechanism to press the tops of both sides of the vehicle grabbed by the clamping mechanism, so that the vehicle maintains a horizontal state.

[0066] In practical applications, the second cylinder is preferably a guide rod cylinder 17. The specific implementation manner of the pressing balance mechanism is not unique. For example, in combination with Figure 14 and Figure 15 it is stated that in some alternative embodiments, the pressing balance mechanism includes a pressing plate. When the second cylinder is preferably a guide rod cylinder 17, the pressing plate is connected to the extended end of the piston rod of the guide rod cylinder 17. Also, for example, in some alternative embodiments, the pressing balance mechanism includes a connecting plate 18, a reverse pressing plate front transition plate 20, a reverse pressing plate 19, and a stop bolt 21. In combination with the figure, the tail of the guide rod cylinder 17 is fixedly connected to the mounting large plate 1, and the extending direction of the piston rod of the guide rod cylinder 17 is downward (i.e., aiming at the vehicle). The connecting plate 18 is connected to the end of the piston rod of the guide rod cylinder 17. A reverse pressing plate front transition plate 20 is installed at each end (i.e., the left and right sides) of the connecting plate 18. A reverse pressing plate 19 is connected to each of the two reverse pressing plate front transition plates 20, and at least one stop bolt 21 is respectively connected to the two reverse pressing plates 19. When the air gripper grabs the vehicle, due to the center of gravity offset, the lower plane of the vehicle is not parallel to the horizontal plane. At this time, the vehicle horizontal stabilizing device is controlled to work, the piston rod of the guide rod cylinder 17 extends, and all the parts mounted thereon (including the connecting plate 18, the reverse pressing plate front transition plate 20, the reverse pressing plate 19, and the stop bolt 21) also move downward until the stop bolt 21 presses the top plate of the vehicle, thereby driving the vehicle to maintain a horizontal state. That is, when the clamping mechanism grabs the vehicle, the guide rod cylinder 17 can extend its piston rod to drive at least one stop bolt 21 on the reverse pressing plate 19 to press the top plate of the vehicle, solving the problem that the product slides out of the vehicle due to the inclination of the vehicle.

[0067] It is also found in practical applications that after the gripper grabs the vehicle 36, the gripper does not have the function of detecting whether there is a product in the vehicle 36. In response to this problem, the following optimization solutions are provided.

[0068] In some alternative embodiments, referring to Figure 3 and Figure 4 , a ranging sensor is also provided on the robot gripper for loading and unloading vehicles. When the clamping mechanism moves to the position of grabbing the vehicle, the ranging sensor can identify the situation where there is a product in the vehicle based on a preset measurement distance.

[0069] In practical applications, the ranging sensor is preferably a laser sensor 22. Specifically, referring to Figure 3 and Figure 4 , a laser sensor bracket 23 is installed on the mounting large plate 1, and the laser sensor 22 is fixedly connected to the laser sensor bracket 23. When a pair of jaw plates move above the carrier 36, the control laser sensor 22 detects the distance from the object below, and then judges whether there is a product in the carrier 36 based on this distance. For example, the measurement distance of the laser transmitter can be preset in advance. Once it is greater than the set measurement distance, it cannot be detected, and this can be used to judge whether there is a product in the carrier 36.

[0070] In practical applications, the above-mentioned adaptive pressing device and the carrier horizontal stabilizing device can also be applied to general robot grippers, including but not limited to grippers that only support grasping one size specification, and robot grippers in which a pair of jaw plates do not adjust the distance by synchronous movement.

[0071] Please refer to Figures 8 to 12 , in the second embodiment of the present invention, another loading and unloading robot gripper for a carrier is further provided, which includes a carrier grasping device and an adaptive pressing device. The carrier grasping device and the adaptive pressing device are installed on the same platform. The adaptive pressing device at least includes a first cylinder and a product pressing block 30. The output end of the piston rod of the first cylinder is connected to the product pressing block 30. A force detection mechanism is provided in the product pressing block 30. When the carrier grasping device grasps the carrier and moves in water, the first cylinder can extend the piston rod to drive the product pressing block 30 to move in the direction of pressing the product in the carrier to apply pressure to the product, and stop and hold when the force detection mechanism detects that the pressure cancels the upward trend of the product caused by the buoyancy.

[0072] In the loading and unloading robot gripper for a carrier provided in this embodiment, the function of grasping the carrier can be realized through the carrier grasping device, and the adaptive pressing device can be used to adaptively press products with different heights in the grasped carrier to prevent the products in the carrier from being scattered. Moreover, when the carrier grasping device grasps the carrier and moves in water, the adaptive pressing device can apply a pressing force to the products in the carrier to prevent the products from being lifted by the buoyancy generated by the water resistance, and the force detection mechanism is used to notify the adaptive pressing device to maintain a reasonable pressing force to prevent the product from being damaged due to excessive pressing force.

[0073] The carrier grasping device can have a structure different from that of the loading and unloading robot gripper for a carrier in the first embodiment above. Its specific implementation manner is not unique, including but not limited to mechanical clamping type grasping devices, vacuum adsorption type grasping devices, electromagnetic adsorption type grasping devices, flexible clamping type grasping devices, and magnetic force grasping devices, etc.

[0074] For example, in some alternative embodiments, the vehicle gripping device includes a driving device and a pair of jaw plates. The driving device is in transmission connection with the pair of jaw plates and can drive the pair of jaw plates to rotate to adjust the opening and closing distance between the pair of jaw plates, so as to grip or release the vehicle.

[0075] Again, for example, in some alternative embodiments, the vehicle gripping device includes a pair of jaw plates and a sliding table. One of the pair of jaw plates is connected to the sliding table and can move along the sliding table to adjust the distance from the other jaw plate, so as to grip or release the vehicle. Specifically, the sliding table includes a linear guide rail 15 and a guide rail slider. The guide rail slider is slidably connected to the linear guide rail 15. One of the jaw plates is connected to the guide rail slider to move on the linear guide rail 15, so as to adjust the distance between the pair of jaw plates.

[0076] Once again, for example, in some alternative embodiments, the vehicle gripping device includes a pair of jaw plates and a sliding table. The sliding table includes at least two linear guide rails 15 and guide rail sliders. Each linear guide rail 15 is connected with a guide rail slider. One of the pair of jaw plates is connected to the guide rail slider of one linear guide rail 15, and the other jaw plate is connected to the guide rail slider of the other linear guide rail 15. The pair of jaw plates adjust the spacing by independent movement on the two linear guide rails 15, so as to grip or release the vehicle.

[0077] It should be noted that in the scenario where the pair of jaw plates and the sliding table cooperate to achieve distance adjustment, the movement of the jaw plates on the linear guide rail 15 can be manually adjusted or electrically adjusted. For example, a driving device can be used to be in transmission connection with the jaw plates on the linear guide rail 15. The driving device can be a structure together with the sliding table or an independent power source outside the sliding table. Since these are all conventional technologies and not the contribution of the present utility model to the prior art, no detailed description is given here.

[0078] In addition, the specific implementation manner of the adaptive pressing device can refer to the above embodiments and will not be elaborated here.

[0079] Please refer to Figure 14 and Figure 15 , in the third embodiment of the present utility model, there is also provided another robot gripper for loading and unloading vehicles, which includes a vehicle gripping device and a vehicle horizontal stabilizing device. The vehicle gripping device and the vehicle horizontal stabilizing device are installed on the same platform. The vehicle horizontal stabilizing device at least includes a second cylinder and a pressing and balancing mechanism. The second cylinder is relatively fixedly arranged with the linear sliding table. The pressing and balancing mechanism is relatively arranged with the top of the two sides of the vehicle gripped by the clamping mechanism and is connected to the moving end of at least one second cylinder. When the clamping mechanism is connected to the vehicle for gripping, the second cylinder extends the moving end to drive the pressing and balancing mechanism to press the top of the two sides of the vehicle gripped by the clamping mechanism, so as to keep the vehicle in a horizontal state.

[0080] In the robot gripper for loading and unloading vehicles provided in this embodiment, the function of gripping the vehicle can be achieved through the vehicle gripping device. In practical applications, when the vehicle gripping device grabs the vehicle, if the lower plane of the vehicle is not parallel to the horizontal plane due to the center of gravity offset problem, the vehicle horizontal stabilizing device can be used to press the top of the vehicle to keep the vehicle in a horizontal state. Specifically, when it is necessary to press the top of the vehicle, the piston rod of the second cylinder is controlled to extend, and then the top pressing balance mechanism will also move downward until it presses the vehicle top plate, thereby driving the vehicle to remain horizontal.

[0081] Among them, the specific implementation manners of the vehicle gripping device and the vehicle horizontal stabilizing device can refer to the above embodiments and will not be elaborated here.

[0082] The above are only the preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. A loading and unloading robot gripper for a carrier, characterized in that: include: Positive and negative synchronous linear slide; The clamping mechanism comprises at least a pair of clamping plates, the pair of clamping plates are slidably connected to the forward and reverse synchronous linear slide, and the pair of clamping plates are provided with clamping plate hanging shafts, and the clamping plate hanging shafts correspond to the preset positioning waist holes on the carrier; The driving device is connected to the clamping mechanism and can drive a pair of clamping claw plates to move linearly in opposite directions at the same speed on the forward and reverse synchronous linear slides to grasp / release carriers of different specifications and sizes.

2. The carrier loading and unloading robot gripper according to claim 1, characterized in that: The forward and reverse synchronous linear slide includes a bidirectional screw rod, each bidirectional screw rod includes two coaxial forward threads and reverse threads, and a screw nut is connected to each of the forward threads and reverse threads. The two screw nuts on the forward threads and reverse threads are respectively fixedly connected to the two clamping plates of a pair of clamping plates.

3. The carrier loading and unloading robot gripper according to claim 1, characterized in that: The forward and reverse synchronous linear slide includes two bidirectional screws, which are arranged side by side in parallel, and each bidirectional screw includes two coaxial forward threads and reverse threads, and a screw nut is connected to each of the forward threads and reverse threads; the pair of clamping jaw plates includes a left clamping jaw plate and a right clamping jaw plate, and the left clamping jaw plate is fixedly connected to the screw nuts of the two bidirectional screws on the forward threads, and the right clamping jaw plate is fixedly connected to the screw nuts of the two bidirectional screws on the reverse threads.

4. The carrier loading and unloading robot gripper according to claim 1, characterized in that: The forward and reverse synchronous linear slide comprises a linear guide rail, a guide rail slider, a bidirectional lead screw and a lead screw nut, the linear guide rail is arranged on a large mounting plate, the linear guide rail is adaptively connected to the guide rail slider, and at least two guide rail sliders are connected to the linear guide rail, the bidirectional lead screw is arranged on one side of the linear guide rail, and is parallel to the sliding track of the guide rail slider on the linear guide rail, the bidirectional lead screw comprises a forward thread and a reverse thread, a lead screw nut is respectively provided on the forward thread and the reverse thread, both ends of the bidirectional lead screw are rotatably fixed on the large mounting plate, and one end of the bidirectional lead screw is transmission-connected to the driving device; The pair of clamping jaw plates includes a left clamping jaw plate and a right clamping jaw plate, the left clamping jaw plate is fixedly connected to the lead screw nut on the forward thread and one of the guide rail sliders on the linear guide rail, and the right clamping jaw plate is fixedly connected to the lead screw nut on the reverse thread and another guide rail slider on the linear guide rail.

5. The carrier loading and unloading robot gripper according to claim 4, characterized in that: The driving device includes a servo motor, the output shaft of the servo motor is connected to the first transmission gear, one end of the bidirectional lead screw is connected to the second transmission gear, the second transmission gear is meshed with the first transmission gear, and when the servo motor is working, it drives the bidirectional lead screw to rotate forward or reverse.

6. The carrier loading and unloading robot gripper according to any one of claims 2 to 5, characterized in that: The forward and reverse synchronous linear slide comprises at least one screw organ shield, and the screw organ shield is arranged at at least one of the following positions: On the bidirectional screw between the two screw nuts; On the bidirectional screw between the screw thread and the fixed end of the bidirectional screw.

7. The carrier loading and unloading robot gripper according to any one of claims 1 to 5, characterized in that: It also includes an adaptive clamping device, which is arranged on the clamp of the loading and unloading robot for the carrier, and includes at least a first cylinder and a product block. The piston rod output end of the first cylinder is connected to the product block. A force detection mechanism is provided in the product block. When the clamping mechanism grabs the carrier and moves in the water, the first cylinder can extend the piston rod to drive the product block to move in the direction of clamping the product in the carrier to apply pressure to the product, and stop and maintain when the force detection mechanism detects that the pressure offsets the buoyancy and causes the product to rise.

8. The carrier loading and unloading robot gripper according to claim 7, characterized in that: The first cylinder includes two pen-shaped cylinders, which are mounted on a large mounting plate. The ends of the piston rods of the two pen-shaped cylinders are respectively threadedly connected to one end of a floating joint, and the other end of the floating joint is connected to a floating joint connecting shaft. There are two product pressing blocks, each of which is provided with a through hole, and the direction of the through hole is the same as the extension direction of the cylinder; The force detection mechanism includes a guide sleeve, a magnetic ring, a magnetic ring mounting shaft, a spring, a spring force adjustment nut and a displacement detection waterproof magnetic switch. The guide sleeve is installed in a through hole near one end of the pen-shaped cylinder, the floating joint connecting shaft passes through the guide sleeve, the magnetic ring is sleeved on the magnetic ring mounting shaft, the magnetic ring mounting shaft sleeved with the magnetic ring is connected to the floating joint connecting shaft, the spring is installed into the product pressing block from the through hole away from the end of the pen-shaped cylinder and is locked and connected with the spring force adjustment nut, and the displacement detection waterproof magnetic switch is fixedly installed on the product pressing block near the guide sleeve.

9. The carrier loading and unloading robot gripper according to claim 8, characterized in that: The lower plane of the product pressing block is parallel to the product surface in the carrier.

10. The carrier loading and unloading robot gripper according to any one of claims 1 to 5, characterized in that: It also includes a carrier horizontal stabilization device, which is arranged on the clamp of the loading and unloading robot for the carrier and includes at least a second cylinder and a top-pressing balancing mechanism. The top-pressing balancing mechanism corresponds to the top position of the carrier and is connected to the moving end of the second cylinder. When the clamping mechanism grabs the carrier, the second cylinder extends the moving end to drive the top-pressing balancing mechanism to press the top of the carrier to keep the carrier in a horizontal state.

11. The loading and unloading robot gripper for a carrier according to claim 10, characterized in that: The second cylinder comprises a guide rod cylinder, the tail of which is fixedly connected to the mounting plate; The top pressure balancing mechanism includes a connecting plate, a front transition plate of a reverse pressure plate, a reverse pressure plate and a stop bolt. The connecting plate is fixedly connected to the end of the piston rod of the guide rod cylinder. Both ends of the connecting plate are fixedly connected to a front transition plate of a reverse pressure plate. Each of the two reverse pressure plate front transition plates is connected to a reverse pressure plate. Each of the two reverse pressure plates is connected to at least one stop bolt. When the clamping mechanism grabs the carrier, the guide rod cylinder can extend the piston rod to drive at least one stop bolt on the reverse pressure plate to press the top plate of the carrier.

12. The carrier loading and unloading robot gripper according to any one of claims 1 to 5, characterized in that: It also includes a distance measuring sensor, which is arranged on the clamp of the loading and unloading robot for the carrier. When the clamping mechanism moves to the position of grabbing the carrier, the distance measuring sensor can identify the loading condition of the product in the carrier based on a preset measuring distance.

13. A robot gripper for loading and unloading a carrier, characterized in that: It includes a carrier grasping device and an adaptive clamping device, which are installed on the same platform. The adaptive clamping device at least includes a first cylinder and a product press block. The piston rod output end of the first cylinder is connected to the product press block. A force detection mechanism is provided in the product press block. When the carrier grasping device grasps the carrier and moves in the water, the first cylinder can extend the piston rod to drive the product press block to move in the direction of clamping the product in the carrier to apply pressure to the product, and stop and maintain when the force detection mechanism detects that the pressure offsets the buoyancy and causes the product to rise.

14. A robot gripper for loading and unloading a carrier, characterized in that: It includes a carrier grabbing device and a carrier horizontal stabilizing device, which are installed on the same platform, and the carrier horizontal stabilizing device at least includes a second cylinder and a top-pressing balancing mechanism, and the second cylinder is fixedly arranged relative to the linear slide, and the top-pressing balancing mechanism is arranged relative to the top of the two side positions of the clamping mechanism grabbing the carrier, and is connected to the moving end of at least one second cylinder. When the clamping mechanism is connected to the carrier grabbing, the second cylinder extends the moving end to drive the top-pressing balancing mechanism to press the top of the two side positions of the clamping mechanism grabbing the carrier, so that the carrier remains in a horizontal state.

15. A truss robot, characterized in that: A loading and unloading robot gripper for a carrier comprising any one of claims 1-14.

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