Clamp device of numerical control equipment

Abstract

The clamp device of the numerical control equipment comprises a gripper support, an upper gripper and a lower gripper which are arranged in parallel up and down are arranged on one side of the gripper support, a first air cylinder is fixedly installed in the middle of the lower surface of the lower gripper, and a piston rod of the first air cylinder penetrates through the lower gripper and is fixedly connected with the upper gripper. Two reinforcing plates are fixedly connected to the lower portion of the side, close to the lower gripper, of the gripper support, the bottom ends of the two reinforcing plates are fixedly connected with a limiting plate, one end of the upper surface of the limiting plate is fixedly connected with the bottom end of the gripper support, a driving mechanism for driving the gripper support to move is arranged on the gripper support, and a positioning block is arranged on one side of the lower gripper. And a lifting mechanism for lifting the positioning block is arranged below the positioning block. The device has the advantages that the upper gripper and the lower gripper can move up and down, and friction between a plate and a workbench in the translation process is avoided; and a positioning block can move up and down, and the situation that the positioning block scratches the plate when the plate moves is avoided.

Description

Technical Field

[0001] The utility model relates to the technical field of sheet processing equipment, in particular to a clamp device for a numerical control device. Background Technique

[0002] With the emergence of microprocessors, the world has entered a brand-new era of numerical control equipment. Machine tools with multi-axis motion that can only be achieved by computers have rapidly emerged, enabling the wood processing industry to enter an automated and intelligent era. In the field of woodworking machinery technology, operations such as grooving and drilling of wood boards are often involved. In the prior art, the use of clamp devices to hold and transport wood boards is widely applied.

[0003] In existing sheet processing equipment, a through-type drilling and cutting center is a composite processing equipment that integrates a drilling unit and a cutting unit on one machine. The processing technology of the through-type drilling and cutting center is to first perform drilling and grooving on both sides of the whole board on the workbench of the drilling unit, and the board is held and transported to the workbench of the cutting unit by a clamp device for cutting processing.

[0004] Since the two working units are on different workbenches, after the board is sent to the workbench of the cutting unit, the clamp device needs to move back to the drilling unit again. During the moving-back process, the positioning block will rub against the edge of the board, affecting the positioning of the board and resulting in processing errors. Content of the Utility Model

[0005] The purpose of the utility model is to provide a clamp device for a numerical control device, which solves the technical problems in the prior art that the board rubs against the workbench during the translation process, and the positioning block rubs against the edge of the board during the moving process, affecting the positioning of the board and resulting in processing errors.

[0006] To achieve the above purpose, the utility model is realized by adopting the following technical solutions:

[0007] A clamping device for a numerical control device, comprising a gripper bracket. At the four corners of the lower surface of the gripper bracket, there are fixedly connected bracket sliders. On one side of two bracket sliders located on the same slide rail, there is a slider adjustment structure. On one side of the gripper bracket, there are an upper gripper and a lower gripper arranged parallel up and down. In the middle of the lower surface of the lower gripper, there is fixedly installed a first cylinder. The piston rod of the first cylinder penetrates through the lower gripper and is fixedly connected to the upper gripper. At the lower part of one side of the gripper bracket close to the lower gripper, there are fixedly connected two reinforcing plates. At the bottom ends of the two reinforcing plates, there is fixedly connected a limiting plate. One end of the upper surface of the limiting plate is fixedly connected to the bottom end of the gripper bracket. At one end of the upper gripper close to the gripper bracket, there are fixedly connected two first linear guide rails perpendicular to it. On the first linear guide rails, there is a first slider slidably connected. The first slider is fixedly connected to the gripper bracket. At one end of the lower gripper close to the gripper bracket, there are installed two second sliders. On the second sliders, there is a second linear guide rail slidably connected. The second linear guide rail is fixedly connected to the gripper bracket. On the gripper bracket, there is a driving mechanism for driving its movement. On one side of the lower gripper, there is a positioning block. Below the positioning block, there is a lifting mechanism for lifting it.

[0008] Further, the slider adjustment structure includes a locking adjustment block, an adjustment seat, and a first cylindrical compression spring. The mating surfaces of the locking adjustment block and the adjustment seat present complementary inclined angles. The top end of the first cylindrical compression spring abuts against the gripper bracket, and the bottom end of the first cylindrical compression spring abuts against the adjustment seat. The adjustment seat is locked to the gripper bracket by screws. The two ends of the locking adjustment block respectively abut against the bracket slider and the adjustment seat.

[0009] Further, at the ends of the upper gripper and the lower gripper far from the gripper bracket, there are fixedly connected opposite clamping blocks. On the opposite side surfaces of the two clamping blocks, there are tooth grooves opened.

[0010] Further, on both sides of the piston rod, there are guide columns. The top ends of the guide columns are fixedly connected to the upper gripper, and the bottom ends of the guide columns pass through the round holes on the lower gripper adapted to them.

[0011] Further, at one end of the lower surface of the upper gripper close to the first linear guide rails, there are fixedly connected two vertical support plates. The two support plates are respectively fixedly connected to the two first linear guide rails. At the bottom of the side surfaces of the two support plates away from each other, there are fixedly connected bumps. On the reinforcing plate, there are limiting grooves for the vertical movement of the bumps.

[0012] Further, one end of the lower surface of the lower gripper close to the second slider is fixedly connected with a vertical plate, one side surface of the vertical plate close to the two second sliders is fixedly connected thereto, two connecting plates are fixedly connected to the side surface of the vertical plate facing away from the two second sliders, the tops of the two connecting plates are fixedly connected to the lower surface of the lower gripper, mounting holes are formed at both ends of the lower surface of the vertical plate, and second cylindrical compression springs are installed in the mounting holes, and the bottom ends of the second cylindrical compression springs abut against the limiting plate.

[0013] Further, the driving mechanism includes a mounting plate, a reduction gear, a servo motor, a gear and a gland. The mounting plate is fixedly connected to the upper surface of the gripper bracket, the reduction gear is fixedly connected to the upper surface of the mounting plate, the output shaft of the servo motor is fixedly installed at the input end of the reduction gear, the gear is fixedly connected to the output end of the reduction gear, the output end of the reduction gear passes through the through hole on the gripper bracket and is located on the lower surface of the gripper bracket, and the gland is installed on the lower surface of the gear and is fixedly connected to the output end of the reduction gear by screw threads.

[0014] Further, a top block is arranged on one side of the mounting plate, the top block is fixedly connected to the gripper bracket, a flat-end set screw of the top block is threadedly connected to the middle of the top block, and one end of the flat-end set screw of the top block abuts against the mounting plate.

[0015] Further, the lifting mechanism includes a second air cylinder, a first adjusting block and a second adjusting block. The second air cylinder is fixedly connected to the connecting plate, the lower surface of the positioning block is fixedly connected to the power output plate of the second air cylinder, the first adjusting block is fixedly connected to the end of the positioning block away from the gripper bracket, the second adjusting block is fixedly connected to the end of the positioning block close to the gripper bracket, a second flat-end set screw is threadedly connected to the bottom of the second adjusting block, and one end of the second flat-end set screw abuts against the power output plate of the second air cylinder. The first adjusting block is located on the lower surface of the positioning block, a first flat-end set screw is threadedly connected to the middle of the first adjusting block, and one end of the first flat-end set screw abuts against the power output plate of the second air cylinder.

[0016] The beneficial effects of the present utility model are as follows:

[0017] 1. By the combined use of the gripper bracket, the upper gripper, the lower gripper, the first air cylinder, the reinforcing plate, the limiting plate, the first linear guide rail, the first slider, the second slider, the second linear guide rail, the driving mechanism, the positioning block and the lifting mechanism, the present utility model can move the upper gripper and the lower gripper up and down to avoid mutual friction between the plate and the workbench during the translation process of the plate; and can move the positioning block up and down to avoid the positioning block rubbing against the plate when the plate moves.

[0018] 2. The utility model realizes the fine adjustment of the position of the bracket slider through the combined use of the locking adjustment block, the adjustment seat and the first cylindrical compression spring, facilitating the achievement of the best sliding state in cooperation with the slide rail; realizes the fine movement of the gear position through the combined use of the top block and the flat-end set screw of the top block, achieving the best state of meshing between the gear and the rack; realizes the horizontal fine movement of the positioning block through the combined use of the first adjustment block, the second adjustment block, the first flat-end set screw and the second flat-end set screw. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is the front view of the utility model.

[0020] Figure 2 is the top view of the utility model.

[0021] Figure 3 is the bottom view of the utility model.

[0022] Figure 4 is the right view of the utility model.

[0023] Figure 5 is the rear view of the utility model.

[0024] Figure 6 is the perspective view of the utility model.

[0025] Figure 7 is the schematic diagram of the upper gripper and the lower gripper of the utility model.

[0026] Description of the reference numerals in the drawings: 101, gripper bracket; 102, bracket slider; 103, locking adjustment block; 104, adjustment seat; 105, first cylindrical compression spring; 201, upper gripper; 2011, support plate; 2012, convex block; 202, clamping block; 203, lower gripper; 2031, vertical plate; 2032, connecting plate; 204, first cylinder; 205, guide post; 206, second cylindrical compression spring; 207, reinforcing plate; 208, limiting plate; 209, first slider; 210, first linear guide rail; 211, second slider; 212, second linear guide rail; 301, mounting plate; 302, reducer; 303, servo motor; 304, gear; 305, gland; 306, top block; 307, flat-end set screw of the top block; 401, second cylinder; 402, positioning block; 403, first adjustment block; 404, second adjustment block; 405, second flat-end set screw; 406, first flat-end set screw. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0027] To make the above objects, features, and advantages of the present utility model more understandable, the following provides a detailed description of the specific embodiments of the present utility model with reference to the accompanying drawings. Many specific details are set forth in the following description to facilitate a full understanding of the present utility model. However, the present utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the connotation of the present utility model. Therefore, the present utility model is not limited by the specific embodiments disclosed below.

[0028] In the description of the present utility model, it should be understood that the orientation or positional relationships indicated by the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present utility model.

[0029] The embodiments are as follows:

[0030] Please refer to Figure 1-7, A clamping device for a numerical control device, including a gripper bracket 101. At the four corners of the lower surface of the gripper bracket 101, there are fixedly connected with bracket sliders 102. The bracket sliders 102 are slidably connected to the slide rails on the numerical control device. On one side of two bracket sliders 102 located on the same slide rail, there is provided a slider adjustment structure. On one side of the gripper bracket 101, there are an upper gripper 201 and a lower gripper 203 arranged parallel up and down. At the ends of the upper gripper 201 and the lower gripper 203 far from the gripper bracket 101, there are fixedly connected with oppositely arranged clamping blocks 202. On the opposite side surfaces of the two clamping blocks 202, there are provided tooth grooves to improve the clamping firmness. In the middle of the lower surface of the lower gripper 203, there is fixedly installed a first cylinder 204. The piston rod of the first cylinder 204 penetrates through the lower gripper 203 and is fixedly connected with the upper gripper 201, which can provide power for the up and down movement of the upper gripper 201 and the lower gripper 203. On both sides of the piston rod, there are provided guide posts 205. The top ends of the guide posts 205 are fixedly connected with the upper gripper 201. The bottom ends of the guide posts 205 pass through the round holes on the lower gripper 203 adapted to them, which can guide the movement of the upper gripper 201 and the lower gripper 203. At the lower part of one side of the gripper bracket 101 close to the lower gripper 203, there are fixedly connected with two reinforcing plates 207. The bottom ends of the two reinforcing plates 207 are fixedly connected with a limiting plate 208. One end of the upper surface of the limiting plate 208 is fixedly connected with the bottom end of the gripper bracket 101. At one end of the upper gripper 201 close to the gripper bracket 101, there are fixedly connected with two first linear guide rails 210 perpendicular to it. A first slider 209 is slidably connected to the first linear guide rails 210. The first slider 209 is fixedly connected with the gripper bracket 101. At one end of the lower surface of the upper gripper 201 close to the first linear guide rails 210, there are fixedly connected with two vertical support plates 2011. The two support plates 2011 are respectively fixedly connected with the two first linear guide rails 210. At the bottom of the side surfaces of the two support plates 2011 away from each other, there are fixedly connected with bumps 2012. On the reinforcing plate 207, there is provided a limiting groove for the vertical movement of the bumps 2012, which can limit the up and down movement of the upper gripper 201; At one end of the lower gripper 203 close to the gripper bracket 101, there are installed two second sliders 211. A second linear guide rail 212 is slidably connected to the second sliders 211. The second linear guide rail 212 is fixedly connected with the gripper bracket 101. At one end of the lower surface of the lower gripper 203 close to the second sliders 211, there is fixedly connected with a vertical plate 2031. One side surface of the vertical plate 2031 close to the two second sliders 211 is fixedly connected with them. On the side surface of the vertical plate 2031 facing away from the two second sliders 211, there are fixedly connected with two connecting plates 2032. The top ends of the two connecting plates 2032 are fixedly connected with the lower surface of the lower gripper 203. At both ends of the lower surface of the vertical plate 2031, there are provided mounting holes, and a second cylindrical compression spring 206 is installed in the mounting holes. The bottom end of the second cylindrical compression spring 206 abuts against the limiting plate 208, which can provide an elastic force for the lower gripper 203;A driving mechanism for driving the movement is provided on the gripper support 101, a positioning block 402 is provided on one side of the lower gripper 203, and a lifting mechanism for lifting the positioning block 402 is provided below the positioning block 402;

[0031] During operation, when the piston rod of the first cylinder 204 extends, it pushes the upper gripper 201 to move upward. When the convex block 2012 touches the top of the reinforcing plate 207, it is the upper limit position of the upper gripper 201. At the same time, since the upward movement distance of the upper gripper 201 is less than the stroke of the first cylinder 204, the first cylinder 204 then drives the lower gripper 203 to move downward, and the second cylindrical compression spring 206 is in a compressed state. When the bottom of the vertical plate 2031 touches the limit plate 208, it is the lower limit position of the lower gripper 203; when the piston rod of the first cylinder 204 retracts, it pulls the upper gripper 201 to move downward. At the same time, due to the existence of the second cylindrical compression spring 206, the second cylindrical compression spring 206 returns to its natural state and pushes the lower gripper 203 to move upward until the upper gripper 201 and the lower gripper 203 reach a gravity balance state. By moving the upper gripper 201 and the lower gripper 203 up and down, the mutual friction between the plate and the workbench during the translation process of the plate is avoided.

[0032] As an alternative technical solution of the present invention: The slider adjustment structure includes a locking adjustment block 103, an adjustment seat 104, and a first cylindrical compression spring 105. The mating surfaces of the locking adjustment block 103 and the adjustment seat 104 present complementary inclined angles. The top end of the first cylindrical compression spring 105 abuts against the gripper support 101, and the bottom end of the first cylindrical compression spring 105 abuts against the adjustment seat 104. The adjustment seat 104 is locked to the gripper support 101 by screws, and the screws pass through the first cylindrical compression spring 105. Both ends of the locking adjustment block 103 abut against the support slider 102 and the adjustment seat 104 respectively, realizing the fine adjustment of the position of the support slider 102, so as to cooperate with the slide rail to achieve the best sliding state; when it is necessary to finely adjust the position of the support slider 102, the support slider 102 is first pre-installed on the gripper support 101 by screws. By adjusting the screws on the adjustment seat 104, the locking adjustment block 103 and the adjustment seat 104 slide relative to each other on the complementary inclined angles, achieving the effect that the locking adjustment block 103 presses tightly against the support slider 102, and then the screws on the support slider 102 are tightened to fix the support slider 102; preferably, a positioning groove is provided in the middle of one side surface of the locking adjustment block 103 close to the adjustment seat 104, and a positioning protrusion adapted to the positioning groove is integrally formed in the middle of one side surface of the adjustment seat 104 close to the locking adjustment block 103.

[0033] As an alternative technical solution of the present utility model: The driving mechanism includes a mounting plate 301, a speed reducer 302, a servo motor 303, a gear 304 and a gland 305. The mounting plate 301 is fixedly connected to the upper surface of the gripper bracket 101. The speed reducer 302 is fixedly connected to the upper surface of the mounting plate 301. The output shaft of the servo motor 303 is fixedly installed at the input end of the speed reducer 302. The gear 304 is fixedly connected to the output end of the speed reducer 302. The output end of the speed reducer 302 passes through a through hole on the gripper bracket 101 and is located on the lower surface of the gripper bracket 101. The gland 305 is installed on the lower surface of the gear 304 and is fixed to the output end of the speed reducer 302 by screw threads; A top block 306 is provided on one side of the mounting plate 301. The top block 306 is fixedly connected to the gripper bracket 101. A flat-end set screw 307 of the top block is threadedly connected to the middle of the top block 306. One end of the flat-end set screw 307 of the top block abuts against the mounting plate 301, realizing a micro-movement of the position of the gear 304, achieving the best state of meshing between the gear 304 and the rack on the numerical control equipment, and facilitating the stable movement of the gripper bracket 101 on the numerical control equipment;

[0034] When it is necessary to move the gripper bracket 101, the servo motor 303 drives the gear 304 to rotate through the speed reducer 302. The gear 304 is meshed and connected with the rack on the numerical control equipment, thereby driving the gripper bracket 101 to move on the numerical control equipment.

[0035] As an alternative technical solution of the present utility model: The lifting mechanism includes a second cylinder 401, a first adjustment block 403 and a second adjustment block 404. The second cylinder 401 is fixedly connected to the connecting plate 2032. The second cylinder 401 is a multi-axis cylinder. The lower surface of the positioning block 402 is fixedly connected to the power output plate of the second cylinder 401. By adjusting the solenoid valve, the telescoping of the second cylinder 401 is controlled to lift and lower the positioning block 402, avoiding the positioning block 402 from rubbing against the plate when the plate moves; The first adjustment block 403 is fixedly connected to one end of the positioning block 402 away from the gripper bracket 101. The second adjustment block 404 is fixedly connected to one end of the positioning block 402 close to the gripper bracket 101. A second flat-end set screw 405 is threadedly connected to the bottom of the second adjustment block 404. One end of the second flat-end set screw 405 abuts against the power output plate of the second cylinder 401. The first adjustment block 403 is located on the lower surface of the positioning block 402. A first flat-end set screw 406 is threadedly connected to the middle of the first adjustment block 403. One end of the first flat-end set screw 406 abuts against the power output plate of the second cylinder 401. When the positioning block 402 is installed on the power output plate of the second cylinder 401, the screw first pre-tightens the positioning block 402. By adjusting the second flat-end set screw 405 and the first flat-end set screw 406, the position of the positioning block 402 is adjusted. After adjusting the position of the positioning block 402, the locking screw fixes the positioning block 402.

[0036] All electrical components appearing in the present utility model are connected to their adapted power sources through wires and are automatically controlled by a controller. The control circuit of the controller can be realized by simple programming by those skilled in the art, which belongs to the common general knowledge in the art. Therefore, the control method and circuit connection will not be described in detail.

[0037] The foregoing has shown and described the basic principles, main features and advantages of the present utility model. For those skilled in the art, it is obvious that the present utility model is not limited to the details of the above-described exemplary embodiments, and without departing from the spirit or basic characteristics of the present utility model, the present utility model can be implemented in other specific forms. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present utility model is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be embraced within the present utility model, and any reference signs in the claims should not be regarded as limiting the claimed rights.

[0038] In addition, it should be understood that although this specification is described in terms of embodiments, not every embodiment only contains an independent technical solution. This narrative manner of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A clamping device for a numerical control device, comprising a gripper bracket, characterized in that: The four corners of the lower surface of the gripper bracket are fixedly connected with bracket sliders, wherein one side of the two bracket sliders located on the same slide rail is provided with a slider adjustment structure, one side of the gripper bracket is provided with an upper gripper and a lower gripper arranged in parallel up and down, a first cylinder is fixedly installed in the middle of the lower surface of the lower gripper, the piston rod of the first cylinder passes through the lower gripper and is fixedly connected to the upper gripper, and two reinforcing plates are fixedly connected to the lower part of one side of the gripper bracket close to the lower gripper, the bottom ends of the two reinforcing plates are fixedly connected to a limiting plate, and one end of the upper surface of the limiting plate is connected to the bottom end of the gripper bracket The upper gripper is fixedly connected, and one end of the upper gripper close to the gripper bracket is fixedly connected to two first linear guide rails perpendicular to the upper gripper, and a first slider is slidably connected to the first linear guide rail, and the first slider is fixedly connected to the gripper bracket. Two second sliders are installed on one end of the lower gripper close to the gripper bracket, and a second linear guide is slidably connected to the second slider, and the second linear guide is fixedly connected to the gripper bracket. A driving mechanism for driving the gripper to move is provided on the gripper bracket, and a positioning block is provided on one side of the lower gripper, and a lifting mechanism for lifting and lowering the lower gripper is provided below the positioning block.

2. The clamping device of a numerical control device according to claim 1, characterized in that: The slider adjustment structure includes a locking adjustment block, an adjustment seat and a first cylindrical compression spring. The fitting surfaces of the locking adjustment block and the adjustment seat present complementary inclination angles. The top end of the first cylindrical compression spring abuts against the gripper bracket, and the bottom end of the first cylindrical compression spring abuts against the adjustment seat. The adjustment seat is locked with the gripper bracket by screws, and the two ends of the locking adjustment block abut against the bracket slider and the adjustment seat respectively.

3. The clamping device of a numerical control device according to claim 1, characterized in that: The ends of the upper gripper and the lower gripper away from the gripper bracket are fixedly connected with clamping blocks arranged opposite to each other, and tooth grooves are provided on the opposite side surfaces of the two clamping blocks.

4. The clamping device of a numerical control device according to claim 1, characterized in that: Guide columns are arranged on both sides of the piston rod, the top ends of the guide columns are fixedly connected to the upper gripper, and the bottom ends of the guide columns pass through the circular holes on the lower gripper that are adapted thereto.

5. The clamping device of a numerical control device according to claim 1, characterized in that: The lower surface of the upper gripper is fixedly connected to one end near the first linear guide rail with two vertical support plates, the two support plates are respectively fixedly connected to the two first linear guide rails, the bottom of the side surfaces of the two support plates away from each other are fixedly connected with protrusions, and the reinforcing plate is provided with limiting grooves for the vertical movement of the protrusions.

6. The clamping device of a numerical control device according to claim 1, characterized in that: The lower surface of the lower gripper is fixedly connected to a vertical plate at one end close to the second slider, and the side of the vertical plate close to the two second sliders is fixedly connected thereto, and the side of the vertical plate facing away from the two second sliders is fixedly connected to two connecting plates, and the top ends of the two connecting plates are fixedly connected to the lower surface of the lower gripper, and mounting holes are provided at both ends of the lower surface of the vertical plate, and second cylindrical compression springs are installed in the mounting holes, and the bottom end of the second cylindrical compression spring is against the limit plate.

7. The clamping device of a numerical control device according to claim 1, characterized in that: The driving mechanism includes a mounting plate, a reducer, a servo motor, a gear and a pressure cover. The mounting plate is fixedly connected to the upper surface of the gripper bracket, the reducer is fixedly connected to the upper surface of the mounting plate, the output shaft of the servo motor is fixedly installed on the input end of the reducer, the gear is fixedly connected to the output end of the reducer, the output end of the reducer passes through the through hole on the gripper bracket and is located on the lower surface of the gripper bracket, and the pressure cover is installed on the lower surface of the gear and fixed to the output end screw thread of the reducer.

8. The clamping device of a numerical control device according to claim 7, characterized in that: A top block is arranged on one side of the mounting plate, the top block is fixedly connected to the gripper bracket, a top block flat end set screw is threadedly connected to the middle part of the top block, and one end of the top block flat end set screw abuts against the mounting plate.

9. The clamping device of a numerical control device according to claim 6, characterized in that: The lifting mechanism includes a second cylinder, a first adjusting block and a second adjusting block, the second cylinder is fixedly connected to the connecting plate, the lower surface of the positioning block is fixedly connected to the power output plate of the second cylinder, the first adjusting block is fixedly connected to an end of the positioning block away from the gripper bracket, the second adjusting block is fixedly connected to an end of the positioning block close to the gripper bracket, the bottom of the second adjusting block is threadedly connected with a second flat-end fastening screw, one end of the second flat-end fastening screw is abutted against the power output plate of the second cylinder, the first adjusting block is located on the lower surface of the positioning block, the middle part of the first adjusting block is threadedly connected with a first flat-end fastening screw, one end of the first flat-end fastening screw is abutted against the power output plate of the second cylinder.

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