Composite robot clamping jaw and robot

Abstract

The utility model belongs to the technical field of robot clamping jaws, and relates to a combined type robot clamping jaw and a robot. The combined type robot clamping jaw comprises a shell, an adsorption mechanism, a claw body and a clamping jaw driving mechanism. An opening is formed in the shell, the adsorption mechanism is arranged in the shell, and one end of the adsorption mechanism penetrates through the opening and extends out of the shell to suck an object; the multiple claws are connected with the shell and arranged on the periphery of the opening, and each claw is connected with one clamping jaw driving mechanism. One end of the clamping jaw driving mechanism is connected with the shell, the other end of the clamping jaw driving mechanism is connected with the claw, and the claw is driven by the clamping jaw driving mechanism to swing inwards or outwards relative to the shell so as to clamp and loosen an object. According to the robot clamping jaw, the combined type design is adopted, the advantages of the clamping jaw and the suction cup are combined, objects can be independently sucked through the suction mechanism, the objects can be independently grabbed through the claw, the objects can be sucked firstly and then fixed through the claw, and the robot clamping jaw has high adaptability.

Description

Technical Field

[0001] The utility model belongs to the technical field of robot grippers, and relates to a composite robot gripper and a robot. Background Technique

[0002] With the rapid development of the artificial intelligence industry, a large number of robots are widely used in the fields of manufacturing production, medical treatment, service, education, transportation, communication, etc. When a robot performs tasks such as object handling and placement, it mainly clamps, fixes, and moves an object by means of gripping with a gripper or sucking with a suction cup.

[0003] However, traditional robot grippers have many problems: First, most traditional robot grippers are two-finger grippers, and the grasping success rate is not high; Second, traditional robot grippers often adopt a link structure, and each claw of the gripper opens and closes synchronously and the opening amplitude is limited, and it can only grasp standard objects, and it is impossible to grasp objects larger than the standard size, and it is difficult to adapt to different working scenarios, and the adaptability is poor; Third, traditional robot grippers often adopt electric grippers, and are limited by power in terms of the size and weight of the grasped object. In addition, the method of gripping an object with a gripper alone also has deficiencies. For example, it is impossible to grasp a document bag, impossible to grasp an object placed at the edge, and it is easy to touch other objects when grasping and placing dense objects; Although using a suction cup to suck an object can overcome some of the above problems, a traditional suction cup cannot suck an object with an irregular shape, and the suction force is low. During the movement process of the suction cup after sucking an object, due to the shaking of the object, it is easy to cause air leakage of the suction cup and unstable suction, resulting in the object falling and being damaged.

[0004] Based on this, there is an urgent need to propose a new type of composite robot gripper to solve the above technical problems existing in the prior art. Content of the Utility Model

[0005] The purpose of the utility model is to propose a composite robot gripper and a robot. The robot gripper adopts a composite design, can suck an object alone, grasp an object alone, or first suck an object and then fix the object with claws, and has strong adaptability.

[0006] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0007] A composite robot gripper includes a housing, a suction mechanism, claws, and a gripper driving mechanism;

[0008] An opening is provided on the housing, the suction mechanism is arranged inside the housing, and one end of the suction mechanism passes through the opening and extends to the outside of the housing to suck an object;

[0009] There are multiple claws, and the multiple claws are respectively connected to the housing and arranged around the opening. Each claw is connected to a jaw driving mechanism;

[0010] One end of the jaw driving mechanism is connected to the housing, and the other end of the jaw driving mechanism is connected to the claw. The claw is driven by the jaw driving mechanism to swing inwards or outwards relative to the housing to clamp or release an object.

[0011] Preferably, the adsorption mechanism includes a telescopic mechanism and a suction cup;

[0012] The telescopic mechanism is arranged inside the housing. The telescopic end of the telescopic mechanism passes through the opening and extends to the outside of the housing. The suction cup is arranged on the telescopic end, and the suction cup is connected to a vacuum pumping device for generating a vacuum suction force on the suction cup.

[0013] Preferably, the telescopic mechanism adopts a cylinder, and the cylinder includes a cylinder barrel and a cylinder piston;

[0014] The cylinder barrel is a hollow structure. The cylinder barrel is fixedly connected to the housing. At least part of the cylinder piston is arranged inside the cylinder barrel, and the cylinder piston is slidably matched with the cylinder barrel; the lower end of the cylinder piston passes through the opening and extends to the outside of the housing, and the suction cup is arranged at the lower end of the cylinder piston;

[0015] The cylinder barrel is connected to a high-pressure gas supply terminal, and the high-pressure gas supply terminal drives the cylinder piston to reciprocate along the cylinder barrel.

[0016] Preferably, the cylinder further includes a cylinder rod, and at least part of the cylinder rod is arranged inside the cylinder barrel, and the cylinder piston is slidably matched with the cylinder rod.

[0017] Preferably, the cylinder piston and the cylinder rod are hollow structures;

[0018] The suction port of the suction cup is communicated with the inner cavity of the cylinder piston. The inner cavity of the cylinder piston is communicated with the inner cavity of the cylinder rod. The inner cavity of the cylinder rod is connected to the vacuum pumping device through a conduit.

[0019] Preferably, the jaw driving mechanism adopts an electric cylinder;

[0020] An electric cylinder clip is arranged inside the housing. The tail of the electric cylinder is provided with an electric cylinder bearing, and the electric cylinder clip is connected to the electric cylinder bearing;

[0021] The push rod at the head of the electric cylinder is connected to the claw, and the claw is driven to swing inwards or outwards relative to the housing by the extension and contraction of the push rod at the head.

[0022] Preferably, the tail of the electric cylinder is spherical, and the electric cylinder bearing adopts an annular spherical bearing.

[0023] Preferably, a force control sensor for detecting the force condition of the electric cylinder is arranged at the tail of the electric cylinder.

[0024] Preferably, the composite robot gripper further includes a control circuit board, and the control circuit board is respectively connected to the control ends of each gripper driving mechanism through signal cables.

[0025] A robot is provided with the above-mentioned composite robot gripper.

[0026] Compared with the prior art, the present utility model has the following beneficial effects:

[0027] As described above, the present utility model relates to a composite robot gripper and a robot. It adopts a composite design, can separately pick up objects through the adsorption mechanism, can also separately grab objects through the claws, and can also first pick up an object and then fix the object with the claws, having strong adaptability; this composite robot gripper combines the advantages of the gripper and the suction cup, solves the problems that traditional grippers cannot grab document bags, cannot grab objects placed at the edge, and touch other objects when grabbing densely placed objects, and at the same time solves the problem that traditional suction cups cannot pick up irregular objects; in addition, in view of the problem that traditional grippers cannot grip heavy objects, the present utility model adopts a pneumatic plus electric method, sucks the object by a pneumatic suction cup, and then fixes the object by the gripper. Pneumatic control can generate a large gripping force, and because of the presence of the suction cup, it can cooperate with the gripper to grip heavy objects; in addition, the claws of the present utility model are independently controlled and can be fully opened, and each claw can open at different angles to better adapt to different environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art.

[0029] Figure 1 It is a cross-sectional view of the composite robot gripper according to the embodiment of the present utility model;

[0030] Figure 2 It is a schematic structural view of the composite robot gripper according to the embodiment of the present utility model Figure 1 ;

[0031] Figure 3 It is a schematic structural view of the composite robot gripper according to the embodiment of the present utility model Figure 2 ;

[0032] Figure 4 It is an exploded assembly schematic view of the composite robot gripper according to the embodiment of the present utility model;

[0033] Figure 5 It is Figure 4 a partial enlarged view of part A in

[0034] Among them, 1 - top cover plate, 2 - control circuit board, 3 - housing, 4 - cylinder clip, 5 - cylinder, 51 - cylinder bearing, 52 - force control sensor;

[0035] 6 - claw, 71 - upper cover plate of cylinder, 72 - lower cover plate of cylinder, 73 - cylinder rod, 74 - cylinder piston, 75 - cylinder barrel, 76 - upper flange of cylinder, 77 - lower flange of cylinder, 8 - suction cup. Specific embodiments

[0036] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments.

[0037] Based on the embodiments in the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0038] It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0039] In addition, the descriptions such as "first" and "second" in the present invention are only for descriptive purposes, and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present invention, "a plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0040] In the present invention, unless otherwise clearly defined and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two components or the interaction relationship between two components, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0041] In addition, the technical solutions between various embodiments of the present utility model can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or is unable to be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present utility model.

[0042] Embodiment 1

[0043] As Figures 1 to 4 shown, in this embodiment, the composite robot gripper includes a housing 3, a suction mechanism, claws 6 and a gripper driving mechanism. In addition, a top cover plate 1 is further provided on the housing 3 of this embodiment, and the top cover plate 1 is connected to the housing 3 by screws.

[0044] An opening is provided on the housing 3, the suction mechanism is arranged inside the housing 3, and one end of the suction mechanism passes through the opening and extends to the outside of the housing 3 to suck an object. The suction mechanism includes a telescopic mechanism and a suction cup 8. The telescopic mechanism is arranged inside the housing 3, the telescopic end of the telescopic mechanism passes through the opening and extends to the outside of the housing 3, the suction cup 8 is arranged on the telescopic end, and the suction cup 8 is connected with a vacuum pumping device (not shown) for generating vacuum suction force for the suction cup 8. In this embodiment, the vacuum pumping device preferably uses a vacuum generator. It should be noted that the above-mentioned vacuum pumping device is not limited to a vacuum generator, and other vacuum pumping devices or negative pressure adsorption devices can also be used.

[0045] In this embodiment, the telescopic mechanism preferably uses a cylinder, and the cylinder includes a cylinder barrel 75, a cylinder piston 74 and a cylinder rod 73. The cylinder barrel 75, the cylinder piston 74 and the cylinder rod 73 preferably adopt a hollow structure. The cylinder barrel 75 is fixedly connected to the inner side surface of the housing 3. The cylinder piston 74 and the cylinder rod 73 are at least partially arranged inside the cylinder barrel 75, and the cylinder piston 74 is slidably matched with the cylinder rod 73. The lower end of the cylinder piston 74 passes through the opening and extends to the outside of the housing 3, the suction cup 8 is arranged at the lower end of the cylinder piston 74, and the suction cup 8 and the lower end of the cylinder piston 74 are preferably connected by threads so as to replace other suction cups with the same threads. The suction port of the suction cup 8 is communicated with the inner cavity of the cylinder piston 74, the inner cavity of the cylinder piston 74 is communicated with the inner cavity of the cylinder rod 73, and the inner cavity of the cylinder rod 73 is connected to the vacuum pumping device through a conduit. When the vacuum pumping device is turned on, the suction cup 8 generates vacuum suction force. The cylinder barrel 75 is connected with a high-pressure gas supply terminal (not shown), and the high-pressure gas supply terminal drives the cylinder piston 74 to reciprocate along the cylinder barrel 75 through high-pressure gas. In this embodiment, the high-pressure gas supply terminal preferably uses an air compressor. Of course, the above-mentioned high-pressure gas supply terminal is not limited to an air compressor, and other air compression driving devices can also be used.

[0046] The cylinder of this embodiment further includes a cylinder upper cover plate 71, a cylinder lower cover plate 72, a cylinder upper flange 76 and a cylinder lower flange 77. Specifically, the cylinder upper cover plate 71 and the cylinder rod 73 are placed together (not fixed). The cylinder rod 73 is at least partially disposed in the cylinder piston 74, and the cylinder rod 73 and the cylinder piston 74 are at least partially disposed inside the cylinder barrel 75. The outer wall of the head of the cylinder piston 74 is in frictional contact with the inner wall of the cylinder barrel 75, and measures such as anti-slip pads, wear-resistant pads, and sealing pads are provided to increase the sealing performance and friction. The cylinder barrel 75 is disposed between the cylinder upper cover plate 71 and the cylinder lower cover plate 72. The cylinder upper cover plate 71 and the cylinder lower cover plate 72 are connected by long screws. The cylinder upper cover plate 71, the cylinder lower cover plate 72, the cylinder rod 73, the cylinder piston 74, and the cylinder barrel 75 are integrally connected in this way. Among them, the long screws pass through the cylinder upper flange 76 and the cylinder lower flange 77. The cylinder upper flange 76, the cylinder lower flange 77 and the housing 3 are connected by screws. The cylinder is connected to the housing 3 through the cylinder upper flange 76 and the cylinder lower flange 77.

[0047] There are multiple claws 6. The multiple claws 6 are respectively connected to the housing 3 and disposed around the opening. Each claw 6 is connected to a jaw driving mechanism. In this embodiment, the number of claws 6 is preferably three, and the three claws 6 are evenly distributed around the opening. Compared with the traditional two-finger jaw of a robot gripper, the three-finger jaw adopted by the present utility model has good stability.

[0048] One end of the jaw driving mechanism is connected to the housing 3, and the other end of the jaw driving mechanism is connected to the claw 6. The claw 6 is driven by the jaw driving mechanism to swing inwards or outwards relative to the housing to clamp or release an object. In this embodiment, the jaw driving mechanism preferably adopts an electric cylinder 5. An electric cylinder clip 4 is disposed inside the housing 3. An electric cylinder bearing 51 is provided at the tail of the electric cylinder 5. The electric cylinder clip 4 is connected to the electric cylinder bearing 51. The electric cylinder bearing 51 is connected through the electric cylinder clip 4, and the electric cylinder bearing 51 is placed in the electric cylinder clip 4. The electric cylinder clip 4 is then fixed to the housing 3 by screws. The head of the electric cylinder 5 is a push rod, and the head push rod makes a linear reciprocating motion. The head push rod of the electric cylinder 5 is connected to the claw 6, and the claw 6 is driven to swing inwards or outwards relative to the housing by the extension and contraction of the head push rod. Specifically, the head push rod of the electric cylinder 5 and the claw 6 are connected to the housing 3 by screws and bearings. When the head push rod of the electric cylinder 5 extends, the claw 6 will swing outwards; when the head push rod of the electric cylinder 5 retracts, the claw 6 will also swing inwards.

[0049] The tail of the electric cylinder 5 is spherical, and the electric cylinder bearing 51 is preferably an annular spherical plain bearing. The electric cylinder bearing 51 is connected to the tail of the electric cylinder 5 and can move. Therefore, when the electric cylinder 5 is connected to the housing 3 through the electric cylinder bearing 51 and the electric cylinder clip 4, the electric cylinder 5 itself can move. The purpose is to prevent jamming caused by uneven force when a force is applied externally at the head of the electric cylinder 5. (If both the head and the tail of a linear motor are completely fixed, then the linear motor can only move in a straight line and cannot have any deflecting force. Once there is a deflecting force, the linear motor will be jammed. If the tail is movable, when there is a deflecting force, since the linear motor itself can move and the force can be balanced, it will not be jammed.) In addition, a force control sensor 52 for detecting the force condition (detecting the reaction force) of the electric cylinder is provided at the tail of the electric cylinder 5. Force feedback data is obtained through the force control sensor 52, and when the force feedback data reaches a preset threshold, the claw 6 stops the action of swinging inward.

[0050] In addition, the composite robot gripper of this embodiment further includes a control circuit board 2. The control circuit board 2 is respectively connected to the control ends of each gripper driving mechanism through signal cables. The control circuit board 2 is fixed to the housing 3 by screws. The control circuit board 2 is preferably annular and has a circular hole in the middle to facilitate the passing of lead wires and air ducts.

[0051] The composite robot gripper of this embodiment needs to be externally connected to three air ducts. The first air duct extends into the housing 3 through the through hole in the upper part of the housing 3 and passes through the through hole in the middle of the control circuit board 2 to be connected to the through hole above the cylinder upper cover 71. The first air duct is externally connected to a vacuum pumping device for generating a vacuum environment. The vacuum suction force passes through the cylinder upper cover 71, the cylinder air rod 73, the cylinder piston 74 in sequence and then reaches the suction cup 8, thereby realizing the suction of an object by the suction cup 8.

[0052] The second air duct extends into the housing 3 through the through hole on the side of the housing 3 and is then connected to the through hole on the side of the cylinder upper cover 71. The second air duct is externally connected to a high-pressure gas supply terminal for generating gas pressure above the head of the cylinder piston 74. When the gas pressure is generated, the air flow will flow into the cylinder barrel 75 and squeeze the cylinder piston 74 to move downward. The cylinder piston 74 drives the connected suction cup 8 to move downward together, thereby realizing the outward extension of the suction cup 8.

[0053] The third air duct extends into the housing 3 through the through hole on the side of the housing 3 and is then connected to the through hole on the side of the cylinder lower cover 72. The third air duct is externally connected to a high-pressure gas supply terminal for generating gas pressure below the head of the cylinder piston 74. When the gas pressure is generated, the air flow will flow into the cylinder barrel 75 and squeeze the cylinder piston 74 to move upward. The cylinder piston 74 simultaneously drives the suction cup 8 to move upward together, thereby realizing the inward retraction of the suction cup 8.

[0054] In this embodiment, the number of electric cylinders 5 is preferably three, and each electric cylinder 5 can be independently controlled and moved. The control ends of the three electric cylinders 5 are connected to the control circuit board 2 through electronic wires. The control circuit board 2 extends four electronic wires outwards through the through holes above the housing 3, and their functions are power supply positive, power supply negative, communication A, and communication B respectively, thereby realizing the opening and closing of the claw 6 from the outside.

[0055] It should be noted that the air duct and the electronic wires are not limited to the above arrangement. The position where they pass through the through hole is only preferred in this embodiment, and other arrangements can also be selected.

[0056] Compared with the traditional gripper using a link structure, the claws open or close together, and the opening amplitude is limited, and an object slightly larger cannot be grasped. The gripper of the present utility model can be fully opened. When the suction cup 8 sucks an object, the claws 6 will close according to the shape of the object, and the function of force feedback is realized through the force control sensor 52. After the claws 6 grasp the edge of the object, they will stop moving, and the opening amplitude of the claws 6 adapts to the edge of the object. The claws 6 are independently controlled, and each claw can open at different angles to adapt to different environments.

[0057] The use process of the composite robot gripper in this embodiment is as follows:

[0058] First, control the claws 6 to open through external electronic communication, then connect the first duct through an external vacuum device to make the suction cup 8 start to generate suction, connect the second air duct through an external high-pressure gas supply terminal to generate gas pressure to make the suction cup 8 extend, the suction cup 8 contacts and sucks the object, close the gas compressor connected to the second air duct, connect the third air duct through an external gas compressor to generate gas pressure to make the suction cup retract; control the claws 6 to contract through external electronic communication to grasp and fix the object, continue the action of the claws 6 swinging inwards and read the force feedback data in real time until the force feedback reaches the threshold value and then stop the action of the claws 6 swinging inwards; when the object is transported to the designated position, control the claws 6 to open through external electronic communication, close the vacuum device and the suction disappears, the object is separated from the suction cup, and finally control the claws 6 to close through external electronic communication.

[0059] Embodiment 2

[0060] A robot is provided with the composite robot gripper as described in Embodiment 1.

[0061] Compared with robots with traditional grippers, the grippers of which are prone to touch the storage edge of the placed object or other adjacent objects, so they cannot grasp the objects at the edge position, nor can they grasp the densely placed objects; for robots with traditional single-suction cup structures, after the suction cup sucks the object, air leakage is likely to occur due to the shaking of the object during the movement process, causing the object to fall; the robot provided with the composite robot gripper in the present utility model combines the functions of the gripper and the suction cup. When moving the object, the suction cup can be first extended outwards to directly suck out the object without touching the storage edge or the adjacent object. After sucking the object, it is fixed by the gripper to ensure that the object does not shake, having strong stability.

[0062] The robot equipped with the traditional gripper cannot grasp the file bag, and the robot with the traditional suction cup cannot suck the object with an irregular surface. However, the robot in this embodiment combines the suction function of the suction cup and the grasping function of the gripper. It can either use the suction cup alone, or use the gripper independently, or use both in cooperation. By combining the advantages of the suction cup and the gripper, it is not restricted by the shape of the object and can perform different function controls according to different objects, so as to effectively grasp the object, having strong adaptability. It solves both the problems that the traditional gripper cannot grasp the file bag, cannot grasp the object placed at the edge, and touches other objects when grasping the densely placed objects, and the problem that the traditional suction cup cannot suck the irregular object.

[0063] In addition, traditional robots often use electric grippers, which are limited by power in terms of the size and weight of the grasped object. The composite robot gripper adopted in the present utility model is pneumatic plus electric. The object is sucked by the pneumatic suction cup and then fixed by the claws, having strong adaptability. Due to the existence of the suction cup, the pneumatic control generates a large grasping force, capable of grasping heavier objects, solving the problem that the traditional gripper cannot grasp heavier objects.

[0064] So far, this embodiment has been described in detail with reference to the accompanying drawings. Based on the above description, those skilled in the art should have a clear understanding of the composite robot gripper and the robot of the present utility model. Of course, the above are only the preferred embodiments of the present utility model, and do not limit the patent scope of the present utility model accordingly. Any equivalent structural transformation made under the inventive concept of the present utility model by using the content of the specification and drawings of the present utility model, or any direct / indirect application in other related technical fields is included in the patent protection scope of the present utility model and should be protected by the present utility model.

Claims

1. A composite robot gripper, characterized in that: It includes a shell, an adsorption mechanism, claws and a clamping claw driving mechanism; The shell is provided with an opening, the adsorption mechanism is arranged in the shell, and one end of the adsorption mechanism extends through the opening to the outside of the shell to absorb the object; There are multiple claws, each of which is connected to the housing and arranged around the opening, and each claw is connected to a clamping claw driving mechanism; One end of the clamping jaw driving mechanism is connected to the shell, and the other end of the clamping jaw driving mechanism is connected to the claw. The clamping jaw driving mechanism drives the claw to swing inward or outward relative to the shell to clamp or release the object.

2. The composite robot gripper according to claim 1, characterized in that: The adsorption mechanism includes a telescopic mechanism and a suction cup; The telescopic mechanism is arranged in the shell, and the telescopic end of the telescopic mechanism extends to the outside of the shell through the opening. The suction cup is arranged on the telescopic end, and the suction cup is connected to a vacuum pumping device for generating vacuum suction force for the suction cup.

3. The composite robot gripper according to claim 2, characterized in that: The telescopic mechanism adopts a cylinder, and the cylinder includes a cylinder cylinder and a cylinder piston; The cylinder is a hollow structure, the cylinder is fixedly connected to the shell, the cylinder piston is at least partially arranged in the cylinder, and the cylinder piston is slidably matched with the cylinder; the lower end of the cylinder piston extends through the opening to the outside of the shell, and the suction cup is arranged at the lower end of the cylinder piston; The cylinder barrel is connected to a high-pressure gas supply terminal, and the high-pressure gas supply terminal drives the cylinder piston to reciprocate along the cylinder barrel.

4. The composite robot gripper according to claim 3, characterized in that: The cylinder also includes a cylinder rod, which is at least partially arranged in the cylinder barrel, and the cylinder piston is slidably matched with the cylinder rod.

5. The composite robot gripper according to claim 4, characterized in that: The cylinder piston and the cylinder rod are hollow structures; The air suction port of the suction cup is communicated with the inner cavity of the cylinder piston, the inner cavity of the cylinder piston is communicated with the inner cavity of the cylinder rod, and the inner cavity of the cylinder rod is connected to the vacuum pumping device through an air guide tube.

6. The composite robot gripper according to claim 1, characterized in that: The clamping jaw driving mechanism adopts an electric cylinder; An electric cylinder clip is arranged in the housing, an electric cylinder bearing is arranged at the tail of the electric cylinder, and the electric cylinder clip is connected to the electric cylinder bearing; The head push rod of the electric cylinder is connected to the claw, and the claw is driven to swing inward or outward relative to the shell body through the extension and contraction of the head push rod.

7. The composite robot gripper according to claim 6, characterized in that: The tail of the electric cylinder is spherical, and the electric cylinder bearing adopts an annular spherical bearing.

8. The composite robot gripper according to claim 6, characterized in that: A force control sensor for detecting the force condition of the electric cylinder is arranged at the tail of the electric cylinder.

9. The composite robot gripper according to claim 1, characterized in that: The composite robot gripper also includes a control circuit board, which is connected to the control end of each gripper drive mechanism through a signal cable.

10. A robot, characterized in that: The robot is provided with a composite robot gripper as described in any one of claims 1 to 9.

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