Bag type industrial robot gripper

Abstract

The utility model discloses a bag type industrial robot gripper. The bag type industrial robot gripper comprises an assembly fixing plate, a pair of adjustable gripping mechanisms and an auxiliary limiting mechanism. The adjustable grabbing mechanism comprises a pair of swing arms, clamping limiting frames are hinged to the upper portions of the pair of swing arms, the clamping limiting frames are fixedly assembled below the assembling fixing plate, and a fixing bottom plate is fixedly connected between the pair of swing arms. The auxiliary limiting mechanism comprises a pair of control air cylinders, air cylinder piston rods are slidably assembled in the control air cylinders, and the ends, located outside the control air cylinders, of the air cylinder piston rods are fixedly connected with limiting top plates. According to the bag type industrial robot gripper, through the arrangement of corresponding mechanisms, bagged products can be grabbed and limited in an auxiliary mode, the stability of the bag type industrial robot gripper for grabbing and carrying the bagged products is improved, adaptive adjustment can be conducted according to different sizes of the bagged products, and the bag type industrial robot gripper is suitable for popularization and application. And the application range of the bag type industrial robot is widened.

Description

Technical Field

[0001] The utility model belongs to the technical field of industrial robot grippers, and particularly relates to a bag-type industrial robot gripper. Background Art

[0002] An industrial robot refers to a robot that can replace humans to perform some frequent and repetitive tasks in industrial production, such as product handling, welding, casting, painting and other processing processes, and is widely used in industrial fields such as electronics, logistics, and chemical industry. An industrial robot gripper is an execution component of an industrial robot, and mainly realizes operations such as product grasping, handling, and assembly by simulating the movement of a human hand.

[0003] A bag-type industrial robot gripper is an execution component for grasping and handling bagged products. At present, the common bag-type industrial robot grippers mainly grasp bagged products by controlling the relative movement of two claws. Although this method can grasp bagged products, the grasping function is relatively single, and it cannot perform auxiliary limiting on the bagged products after grasping, resulting in the situation that the bagged products are likely to fall during the grasping and handling process, and the actual application effect of the bag-type industrial robot gripper is poor.

[0004] Therefore, in view of the above technical problems, it is necessary to provide a bag-type industrial robot gripper.

[0005] The information disclosed in this background art section is only for enhancing the understanding of the overall background of the utility model, and should not be regarded as an admission or any form of suggestion that this information constitutes the prior art already known to those of ordinary skill in the art. Summary of the Utility Model

[0006] The purpose of the utility model is to provide a bag-type industrial robot gripper, which can improve the handling stability and actual application effect of the bag-type industrial robot gripper.

[0007] To achieve the above purpose, a specific embodiment of the utility model provides a bag-type industrial robot gripper, including: an assembly fixing plate, a pair of adjustable grasping mechanisms, and an auxiliary limiting mechanism.

[0008] A pair of the adjustable grasping mechanisms are symmetrically assembled below the assembly fixing plate. The adjustable grasping mechanism includes a pair of swing arms, and the pair of swing arms are symmetrically assembled on one side of the assembly fixing plate. Clamping and limiting frames are hinged above the pair of swing arms, and the clamping and limiting frames are fixedly assembled below the assembly fixing plate. A fixed bottom plate is fixedly connected between the pair of swing arms, and a plurality of uniformly distributed grasping connecting rods are fixedly connected below the fixed bottom plate. A plurality of uniformly distributed limiting connecting rods are assembled between the pair of swing arms, and the plurality of grasping connecting rods and the limiting connecting rods are arranged in correspondence.

[0009] The auxiliary limiting mechanism is fixedly assembled between a pair of adjustable grasping mechanisms, and the auxiliary limiting mechanism includes a pair of control cylinders. The pair of control cylinders are slidably assembled under the assembly fixing plate. The pair of control cylinders are slidably assembled with cylinder piston rods, and the ends of the cylinder piston rods located outside the control cylinders are fixedly connected to the limiting top plate.

[0010] In one or more embodiments of the utility model, a connecting piece is fixedly installed above the assembly fixing plate. The assembly fixing plate and the mechanical arm of the industrial robot are assembled and fixed by the connecting piece, so that the assembly fixing plate can be easily moved and controlled by the mechanical arm. A pair of the swing arms and the clamping limit frame are both hinged with connecting pins. The connecting pins play the role of assembly limit for the swing arms and the clamping limit frame.

[0011] In one or more embodiments of the utility model, a driving oil cylinder is fixedly installed in the clamping limit frame, and the piston rod of the driving oil cylinder is hinged to a single swing arm. The swing state of the swing arm is controlled by controlling the extension and contraction of the piston rod of the driving oil cylinder, so as to facilitate synchronous control of the process of grabbing the bagged product by multiple groups of grabbing connecting rods. The multiple groups of grabbing connecting rods are all arranged in an L shape. By arranging the multiple groups of grabbing connecting rods in an L shape, it is convenient to grab and support the bagged product by multiple groups of grabbing connecting rods.

[0012] In one or more embodiments of the utility model, the ends of the multiple groups of grabbing connecting rods away from the fixed bottom plate are all threadedly connected with threaded ends. The grabbing rod and the grabbing connecting rod are assembled and fixed by the threaded ends. At the same time, the grabbing rod can be moved by the rotation of the threaded ends under the action of the internal and external threads, so that multiple groups of grabbing connecting rods can grab and limit the bagged products of different sizes. The end of the threaded end away from the grabbing connecting rod is integrally formed with a grabbing rod, and the end of the grabbing rod away from the threaded end is rounded. The grabbed bagged products are grabbed by the grabbing rod. At the same time, by setting the end of the grabbing rod away from the threaded end to be rounded, the possibility of the grabbing rod causing damage to the bagged products during the grabbing process of the bagged products is reduced.

[0013] In one or more embodiments of the utility model, the ends of the plurality of groups of the limit connecting rods away from the swing arm are all integrally formed with a multi-directional connecting piece. The multi-directional connecting piece plays a role in assembling and fixing the limit connecting rod and a pair of side limit rods. The upper and lower ends of the multi-directional connecting piece are both threadedly connected with the side limit rods. The bagged product that is grabbed is laterally limited by the pair of side limit rods.

[0014] In one or more embodiments of the utility model, a lower clamping plate is fixedly connected to the upper part of the fixed bottom plate, an upper clamping plate is arranged above the lower clamping plate, and multiple groups of limit connecting rods are inserted between the lower clamping plate and the upper clamping plate. The multiple groups of limit connecting rods are clamped and fixed by the mutual cooperation of the lower clamping plate and the upper clamping plate, and the horizontal position of the multiple groups of limit connecting rods can be adjusted by adjusting the clamping position of the multiple groups of limit connecting rods.

[0015] In one or more embodiments of the utility model, multiple groups of assembly bolts are installed between the lower clamping plate and the upper clamping plate. The lower clamping plate and the upper clamping plate are assembled and fixed by multiple groups of assembly bolts. Multiple groups of limit connecting rods are fixedly connected to a synchronous drive plate at one end away from the multi-directional connecting member. Multiple groups of limit connecting rods are synchronously assembled and fixed by the synchronous drive plate, and the multiple groups of limit connecting rods can be synchronously moved and controlled.

[0016] In one or more embodiments of the utility model, a pair of the control cylinders are fixedly mounted with a fixed slider on the top, and the pair of the fixed sliders are slidably mounted below the assembly fixing plate. The control cylinder is provided with an assembly limit and movement control function by means of the fixed slider. An assembly screw is threadedly connected between the pair of fixed sliders. The assembly screw serves the function of assembly limit and movement control for the pair of fixed sliders. A fixed limit block is rotatably mounted on the outer side of the assembly screw, and the fixed limit block is arranged between a pair of fixed sliders, and the fixed limit block is fixedly mounted at the bottom of the assembly fixing plate. The fixed limit block serves the function of auxiliary assembly limit for the assembly screw, thereby ensuring the stability of the assembly screw in use.

[0017] In one or more embodiments of the utility model, the limit top plate is composed of a plate body, a fixed side plate and a plurality of limit side plates, and the fixed side plate is arranged on the side close to a pair of control cylinders. The top of the bagged product is clamped and limited by the cooperation between the plate body and the fixed side plate. The limit side plate is arranged on the side of the plate body away from the fixed side plate, and the plurality of limit side plates and the plurality of limit connecting rods are staggered. The bagged product is clamped and limited laterally by the cooperation between the plurality of limit side plates and the limit connecting rods.

[0018] In one or more embodiments of the utility model, a pair of buffer limit plates are evenly arranged below the limit top plates. The top of the bagged product is assisted by the buffer limit plate. Multiple groups of evenly distributed limit springs are fixedly connected between the buffer limit plate and the plate body. The limit springs play the role of connecting the plate body and the buffer limit plate, and the buffer limit plate is buffered and limited by the contraction and reset of the multiple groups of limit springs.

[0019] Compared with the prior art, a bag-type industrial robot gripper disclosed by the present utility model can grasp and assist in limiting a bagged product through the setting of corresponding mechanisms, improving the stability of the bag-type industrial robot gripper in grasping and transporting the bagged product;

[0020] Meanwhile, it can be adaptively adjusted according to the different sizes of the bagged products, improving the applicable range of the bag-type industrial robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] 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 to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments recorded in 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.

[0022] Figure 1 It is a perspective view of a bag-type industrial robot gripper in an embodiment of the present utility model;

[0023] Figure 2 It is a perspective view of a bag-type industrial robot gripper from a second angle in an embodiment of the present utility model;

[0024] Figure 3 It is a front view of a bag-type industrial robot gripper in an embodiment of the present utility model;

[0025] Figure 4 It is a perspective view of a bag-type industrial robot gripper from a third angle in an embodiment of the present utility model;

[0026] Figure 5 It is a front cross-sectional view of a bag-type industrial robot gripper in an embodiment of the present utility model;

[0027] Figure 6 It is Figure 5 a schematic diagram of the structure at A in

[0028] Figure 7 It is Figure 5 a schematic diagram of the structure at B in

[0029] Figure 8 It is a side cross-sectional view of a bag-type industrial robot gripper in an embodiment of the present utility model;

[0030] Figure 9 It is Figure 8 a schematic diagram of the structure at C in

[0031] Figure 10 It is a partial structure perspective view of a bag-type industrial robot gripper in an embodiment of the present utility model;

[0032] Figure 11 This is a partial structural schematic diagram of a bag-type industrial robot gripper in an embodiment of the present utility model.

[0033] Main reference numerals description:

[0034] 1 - Assembly fixing plate, 101 - Connecting piece, 2 - Adjustable grasping mechanism, 201 - Swing arm, 202 - Clamping limit frame, 203 - Fixed bottom plate, 204 - Grasping connecting rod, 205 - Limit connecting rod, 206 - Connecting pin shaft, 207 - Driving oil cylinder, 208 - Threaded end, 209 - Grasping rod, 210 - Multi-directional connecting piece, 211 - Side limit rod, 212 - Lower clamping plate, 213 - Upper clamping plate, 214 - Assembly bolt, 215 - Synchronous driving plate, 3 - Auxiliary limit mechanism, 301 - Control cylinder, 302 - Cylinder piston rod, 303 - Limit top plate, 3031 - Plate body, 3032 - Fixed side plate, 3033 - Limit side plate, 304 - Fixed slider, 305 - Assembly lead screw, 306 - Fixed limit block, 307 - Buffer limit plate, 308 - Limit spring. Detailed implementation manners

[0035] In order to enable those skilled in the art of the present technology to better understand the technical solutions in the present utility model, the technical solutions in the embodiments of the present utility model will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all of the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present utility model.

[0036] As Figures 1 to 11 shown, a bag-type industrial robot gripper in an embodiment of the present utility model includes: an assembly fixing plate 1, a pair of adjustable grasping mechanisms 2, and an auxiliary limit mechanism 3.

[0037] As Figures 1 to 3 shown, a connecting piece 101 is fixedly assembled above the assembly fixing plate 1. The assembly fixing plate 1 and the robotic arm of the industrial robot are assembled and fixed through the connecting piece 101, so as to facilitate the movement control of the assembly fixing plate 1 by the robotic arm.

[0038] As Figures 1 to 3 shown, a pair of adjustable grasping mechanisms 2 are symmetrically assembled below the assembly fixing plate 1. The adjustable grasping mechanism 2 includes a pair of swing arms 201, and the pair of swing arms 201 are symmetrically assembled on one side of the assembly fixing plate 1. By controlling the swing of the swing arms 201, the expansion control of multiple groups of grasping connecting rods 204 is carried out, so as to facilitate the grasping of bagged products and provide a basis for the subsequent handling of bagged products.

[0039] As Figures 1 to 3 shown, clamping and limiting frames 202 are hinged above a pair of swing arms 201, and the clamping and limiting frames 202 are fixedly assembled below the assembly fixing plate 1. The swing arms 201 are assembled and limited by the clamping and limiting frames 202.

[0040] As Figures 1 to 3 shown, connecting pin shafts 206 are hinged between a pair of swing arms 201 and the clamping and limiting frames 202. The connecting pin shafts 206 play a role in assembling and limiting the swing arms 201 and the clamping and limiting frames 202.

[0041] As Figures 1 to 3 shown, a driving oil cylinder 207 is fixedly assembled inside the clamping and limiting frame 202, and the piston rod of the driving oil cylinder 207 is hinged to a single swing arm 201. By controlling the expansion and contraction of the piston rod of the driving oil cylinder 207, the swinging state of the swing arm 201 is controlled, so as to facilitate the synchronous control of the process of grasping the bagged products by multiple groups of grasping connecting rods 204.

[0042] As Figures 8 to 9 shown, a fixed bottom plate 203 is fixedly connected between a pair of swing arms 201. The fixed bottom plate 203 plays a role in assembling and fixing a pair of swing arms 201, so that a pair of swing arms 201 can swing synchronously. At the same time, multiple groups of grasping connecting rods 204 can be assembled, fixed and driven and controlled through the fixed bottom plate 203.

[0043] As Figures 8 to 9 shown, multiple groups of uniformly distributed grasping connecting rods 204 are fixedly connected below the fixed bottom plate 203. The expansion and retraction of the multiple groups of grasping connecting rods 204 play a role in grasping and transporting control of the bagged products.

[0044] It should be noted that multiple groups of grasping connecting rods 204 are all arranged in an L shape. By arranging the multiple groups of grasping connecting rods 204 in an L shape, it is convenient to grasp and support the bagged products through the multiple groups of grasping connecting rods 204.

[0045] As Figures 3 to 6 shown, threaded ends 208 are threadedly connected to one ends of multiple groups of grasping connecting rods 204 far from the fixed bottom plate 203. The grasping rods 209 and the grasping connecting rods 204 are assembled and fixed through the threaded ends 208. At the same time, by rotating, the grasping rods 209 can move along with the rotation of the threaded ends 208 under the action of internal and external threads, so that multiple groups of grasping connecting rods 204 can grasp and limit bagged products of different sizes.

[0046] As Figures 3 to 6 shown, a grasping rod 209 is integrally formed at one end of the threaded end 208 facing away from the grasping connecting rod 204, and the grasped bagged products are grasped through the grasping rod 209.

[0047] Specifically, the end of the grasping rod 209 away from the threaded end 208 is rounded. By setting the end of the grasping rod 209 away from the threaded end 208 to be rounded, the situation of damaging the bagged product during the grasping process of the grasping rod 209 is reduced.

[0048] As Figures 3 to 6 shown, multiple groups of uniformly distributed limiting connecting rods 205 are assembled between a pair of swing arms 201, and multiple groups of grasping connecting rods 204 are correspondingly arranged with the limiting connecting rods 205. The multi-directional connecting piece 210 is assembled, limited, and controlled for movement adjustment through multiple groups of limiting connecting rods 205.

[0049] As Figures 3 to 6 shown, multi-directional connecting pieces 210 are integrally formed at the ends of multiple groups of limiting connecting rods 205 away from the swing arms 201. The multi-directional connecting pieces 210 play a role in assembling and fixing the limiting connecting rods 205 and a pair of side limiting rods 211.

[0050] As Figures 3 to 6 shown, side limiting rods 211 are threadedly connected to both the upper and lower ends of the multi-directional connecting piece 210. The bagged product grasped is laterally limited by a pair of side limiting rods 211.

[0051] As Figures 8 to 9 shown, a lower clamping plate 212 is fixedly connected above the fixed bottom plate 203, an upper clamping plate 213 is arranged above the lower clamping plate 212, and multiple groups of limiting connecting rods 205 are inserted between the lower clamping plate 212 and the upper clamping plate 213. The multiple groups of limiting connecting rods 205 are clamped and fixed through the mutual cooperation of the lower clamping plate 212 and the upper clamping plate 213. At the same time, the horizontal position of the multiple groups of limiting connecting rods 205 can be adjusted by adjusting the clamping positions of the multiple groups of limiting connecting rods 205.

[0052] As Figures 8 to 9 shown, multiple groups of assembly bolts 214 are assembled between the lower clamping plate 212 and the upper clamping plate 213. The lower clamping plate 212 and the upper clamping plate 213 are assembled and fixed through multiple groups of assembly bolts 214.

[0053] As Figures 8 to 9 shown, synchronous drive plates 215 are fixedly connected to the ends of multiple groups of limiting connecting rods 205 away from the multi-directional connecting pieces 210. The multiple groups of limiting connecting rods 205 are synchronously assembled and fixed through the synchronous drive plates 215, and synchronous movement control can be performed on the multiple groups of limiting connecting rods 205.

[0054] As Figures 10 to 11As shown in the figure, the auxiliary limit mechanism 3 is fixedly assembled between a pair of adjustable grasping mechanisms 2. The auxiliary limit mechanism 3 includes a pair of control cylinders 301, and both pairs of control cylinders 301 are slidably assembled below the assembly fixed plate 1. By controlling the intake of a pair of control cylinders 301, the movement of the cylinder piston rod 302 is controlled, so as to facilitate the drive control of the limit top plate 303.

[0055] Specifically, the control cylinder 301 is externally connected to a control air circuit during actual application.

[0056] As Figures 10 to 11 shown in the figure, fixed sliders 304 are fixedly assembled above both pairs of control cylinders 301, and both pairs of fixed sliders 304 are slidably assembled below the assembly fixed plate 1. The fixed sliders 304 play a role in assembling and limiting the control cylinder 301 and controlling its movement.

[0057] As Figures 10 to 11 shown in the figure, an assembly lead screw 305 is threadedly connected between both pairs of fixed sliders 304. The assembly lead screw 305 plays a role in assembling and limiting both pairs of fixed sliders 304 and controlling their movement.

[0058] As Figures 10 to 11 shown in the figure, a fixed limit block 306 is rotatably assembled on the outside of the assembly lead screw 305. The fixed limit block 306 is arranged between both pairs of fixed sliders 304, and the fixed limit block 306 is fixedly assembled at the bottom of the assembly fixed plate 1. The fixed limit block 306 plays an auxiliary role in assembling and limiting the assembly lead screw 305, ensuring the use stability of the assembly lead screw 305.

[0059] As Figures 10 to 11 shown in the figure, a cylinder piston rod 302 is slidably assembled in both pairs of control cylinders 301. The cylinder piston rod 302 plays a role in assembling and fixing the limit top plate 303 and controlling its movement.

[0060] As Figures 10 to 11 shown in the figure, one end of the cylinder piston rod 302 located outside the control cylinder 301 is fixedly connected to a limit top plate 303. The bagged products grabbed are assisted and limited by the limit top plate 303.

[0061] As Figures 10 to 11As shown, the limiting top plate 303 is composed of a plate body 3031, a fixed side plate 3032 and a plurality of limiting side plates 3033. The fixed side plate 3032 is arranged on the side close to a pair of control cylinders 301. The plate body 3031 and the fixed side plate 3032 cooperate with each other to clamp and limit the top of the bagged product. The limiting side plate 3033 is arranged on the side of the plate body 3031 away from the fixed side plate 3032. The plurality of limiting side plates 3033 and the plurality of limiting connecting rods 205 are staggered. The bagged product is clamped and limited laterally by the cooperation between the plurality of limiting side plates 3033 and the limiting connecting rods 205.

[0062] like Figures 10 to 11 As shown, a pair of limit top plates 303 are evenly provided with buffer limit plates 307 below. The buffer limit plates 307 are used to assist in limiting the top of the bagged product.

[0063] like Figures 10 to 11 As shown, multiple groups of uniformly distributed limit springs 308 are fixedly connected between the buffer limit plate 307 and the plate body 3031. The limit springs 308 play the role of connecting the plate body 3031 and the buffer limit plate 307, and the buffer limit plate 307 is buffered and limited by the contraction and reset of the multiple groups of limit springs 308.

[0064] During specific use, the assembly fixing plate 1 can be connected to the industrial robot arm through the connecting piece 101. When the bagged product needs to be grabbed, the assembly fixing plate 1 can be moved to the grabbing position by the industrial robot arm, and the oil supply of the driving cylinder 207 can be controlled by the external oil circuit so that the piston rod of the driving cylinder 207 drives the swing arm 201 to swing around the connecting pin shaft 206. A pair of swing arms 201 can swing synchronously under the action of the upper clamping plate 213.

[0065] The swing arms 201 are controlled to swing so that the multiple grabbing connecting rods 204 are opened, and a pair of swing arms 201 are placed on both sides of the bagged product. Subsequently, the swing arms 201 can be driven to reset by controlling the piston rod of the driving oil cylinder 207 to retract and reset, so that the multiple grabbing connecting rods 204 and the grabbing rods 209 can grab the bagged product.

[0066] After the grabbing is completed, the bagged product can be grabbed and supported at the bottom by the cooperation of multiple groups of grabbing connecting rods 204 and grabbing rods 209, and the bagged product can be laterally limited by the cooperation of multiple groups of side limiting rods 211 and multi-directional connecting members 210. The pair of limiting top plates 303 can support and limit the top of the bagged product under the action of the cylinder piston rod 302 by controlling the air intake of a pair of control cylinders 301 through an external air circuit, and the stability of grabbing and carrying the bagged product is ensured by limiting the bagged product in multiple directions.

[0067] In addition, during actual use, the position of the grasping rod 209 can be adjusted by controlling the rotation of the threaded end 208, and the position of the multiple groups of side limiting rods 211 can be adjusted by adjusting the clamping position of the limiting connecting rod 205 between the lower clamping plate 212 and the upper clamping plate 213, so that the adjustable grasping mechanism 2 can be applicable to the grasping and handling processes of bagged products of different sizes.

[0068] 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-restrictive. 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 included in the present utility model. Any reference signs in the claims should not be regarded as limiting the claimed rights.

[0069] In addition, it should be understood that although this specification is described according to 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 bag-type industrial robot gripper, characterized in that, include: Assemble the fixing plate; A pair of adjustable grabbing mechanisms are symmetrically assembled below the assembly fixing plate, the adjustable grabbing mechanisms include a pair of swing arms, the pair of swing arms are symmetrically assembled on one side of the assembly fixing plate, a clamping limit frame is hinged on the top of the pair of swing arms, the clamping limit frame is fixedly assembled below the assembly fixing plate, a fixed bottom plate is fixedly connected between the pair of swing arms, a plurality of groups of evenly distributed grabbing connecting rods are fixedly connected below the fixed bottom plate, a plurality of groups of evenly distributed limit connecting rods are assembled between the pair of swing arms, and the plurality of groups of grabbing connecting rods and the limit connecting rods are arranged correspondingly; An auxiliary limiting mechanism is fixedly assembled between a pair of the adjustable grasping mechanisms. The auxiliary limiting mechanism includes a pair of control cylinders. The pair of control cylinders are slidably assembled under the assembly fixing plate. Cylinder piston rods are slidably assembled in the pair of control cylinders. The ends of the cylinder piston rods located outside the control cylinders are fixedly connected to the limiting top plate.

2. The bag-type industrial robot gripper according to claim 1, characterized in that A connecting piece is fixedly mounted above the assembly fixing plate, and a pair of the swing arms and the clamping limit frame are both hingedly connected with connecting pins.

3. The bag-type industrial robot gripper according to claim 1, characterized in that, A driving oil cylinder is fixedly installed in the clamping limit frame, a piston rod of the driving oil cylinder is hinged to a single swing arm, and multiple groups of grabbing connecting rods are all arranged in an L shape.

4. The bag-type industrial robot gripper according to claim 3, characterized in that, The ends of the grabbing connecting rods of the multiple groups away from the fixed bottom plate are all threadedly connected with threaded ends, the ends of the threaded ends away from the grabbing connecting rods are integrally formed with grabbing rods, and the ends of the grabbing rods away from the threaded ends are rounded.

5. The bag-type industrial robot gripper according to claim 1, wherein, The ends of the plurality of groups of limit connecting rods away from the swing arm are all integrally formed with a multi-directional connecting piece, and the upper and lower ends of the multi-directional connecting piece are both threadedly connected with side limit rods.

6. The bag-type industrial robot gripper according to claim 5, wherein, A lower clamping plate is fixedly connected above the fixed bottom plate, an upper clamping plate is arranged above the lower clamping plate, and a plurality of groups of the position-limiting connecting rods are inserted between the lower clamping plate and the upper clamping plate.

7. The bag-type industrial robot gripper according to claim 6, characterized in that, A plurality of assembly bolts are mounted between the lower clamping plate and the upper clamping plate, and a plurality of groups of limit connecting rods are fixedly connected with a synchronous driving plate at one end away from the multi-directional connecting piece.

8. The bag-type industrial robot gripper according to claim 1, characterized in that, A pair of fixed sliders are fixedly installed on the top of the control cylinders, and a pair of fixed sliders are slidably installed under the assembly fixing plate. An assembly screw is threadedly connected between the pair of fixed sliders, and a fixed limit block is rotatably installed on the outer side of the assembly screw. The fixed limit block is arranged between the pair of fixed sliders, and the fixed limit block is fixedly installed at the bottom of the assembly fixing plate.

9. The bag-type industrial robot gripper according to claim 8, characterized in that, The limiting top plate is composed of a plate body, a fixed side plate and multiple limiting side plates. The fixed side plate is arranged on the side where a pair of control cylinders are close to each other, and the limiting side plate is arranged on the side of the plate body away from the fixed side plate. The multiple limiting side plates and the multiple limiting connecting rods are staggered.

10. The bag-type industrial robot gripper according to claim 9, characterized in that, Buffer limit plates are evenly arranged below a pair of limit top plates, and a plurality of groups of evenly distributed limit springs are fixedly connected between the buffer limit plates and the plate body.

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