Clamp for industrial robot

Abstract

The utility model relates to the technical field of industrial robots, in particular to a clamp for an industrial robot. The mounting part is arranged above the supporting plate and is used for mounting the clamp on the industrial robot; the clamping assemblies are arranged on the two sides of the supporting plate, connected with the supporting plate and used for clamping a workpiece; and the auxiliary clamping device is arranged below the supporting plate and used for assisting the clamping assembly to clamp the circular truncated cone workpiece. One side of the circular truncated cone workpiece can be tilted through the auxiliary clamping device, so that the clamping assembly can move to the position below the circular truncated cone workpiece, the circular truncated cone workpiece is clamped and fixed, the circular truncated cone workpiece is prevented from falling off in the moving process, carrying of the circular truncated cone workpiece is achieved, and the application range of the clamp is widened.

Description

Technical Field

[0001] This utility model relates to the field of industrial robot technology, specifically to a fixture for industrial robots. Background Technology

[0002] Industrial robots are multi-jointed manipulators or multi-degree-of-freedom machine devices widely used in the industrial field. They have a certain degree of automation and can achieve various industrial processing and manufacturing functions by relying on their own power and control capabilities. Industrial robots are distinguished by the different processing equipment installed at their front end. Among them, industrial robot grippers are needed in the process of handling.

[0003] However, existing industrial robot grippers are installed on the front end of the industrial robot with screws to clamp the workpiece and use the robot's drive to move the workpiece. However, when moving frustum workpieces, the surface of the frustum is an inclined arc, which limits the ability to fix the workpiece to the surface. After clamping, the center of gravity of the frustum is close to the bottom, which can cause the workpiece to fall off during the handling process, resulting in workpiece damage. Therefore, the grippers cannot be used to move frustum-shaped workpieces, which limits their application range. Summary of the Invention

[0004] The purpose of this invention is to solve the problem that existing industrial robot grippers cannot handle workpieces with a frustum shape, resulting in a limited range of applications for these grippers.

[0005] To achieve the above objectives, this utility model provides the following technical solution:

[0006] A gripper for an industrial robot includes:

[0007] Support plate;

[0008] The mounting component is located above the support plate and is used to mount the fixture onto the industrial robot.

[0009] A clamping assembly is disposed on both sides of the support plate and connected to the support plate for clamping the workpiece;

[0010] An auxiliary clamping device is disposed below the support plate to assist the clamping assembly in clamping the frustum workpiece.

[0011] The auxiliary clamping device includes:

[0012] The fixing ring is arranged parallel to the support plate;

[0013] A connecting rod is disposed between the fixing ring and the support plate; the bottom end of the connecting rod is fixedly connected to the fixing ring; a sliding groove is provided at the top end of the connecting rod.

[0014] A first electric push rod has a cylindrical pin at its output end, which is placed in the groove and slidably connected to the connecting rod through the groove; the end of the first electric push rod away from the output end is rotatably connected to the support plate.

[0015] A support ring is disposed below the fixed ring and is fixedly connected to the fixed ring;

[0016] A balancing device is disposed below the support ring to keep the support ring in a horizontal position.

[0017] Preferably, the balancing device includes:

[0018] The first support member has its upper end face in contact with the lower end face of the support ring; both ends of the first support member are provided with a rotating shaft.

[0019] Two sets of second support members, one end of each set of second support members being rotatably connected to the first support member via the rotating shaft;

[0020] A third motor, the output end of which is fixedly connected to the rotating shaft;

[0021] The third gear is coaxially arranged with the other end of the two sets of the second support members;

[0022] The rack meshes with the third gear;

[0023] The output end of the second electric push rod is fixedly connected to the rack.

[0024] Preferably, it further includes: an adjustment device; the adjustment device is disposed inside the fixed ring and is used to contact frustum workpieces with different outer diameters.

[0025] Preferably, the adjusting device includes:

[0026] A slide rail is coaxially positioned directly above the support ring and is fixedly connected to the support ring.

[0027] The first gear has multiple sets of first round rods at its bottom end, and the bottom ends of the first round rods are slidably connected to the slide rail; the top end of the first gear has multiple sets of second round rods.

[0028] A turntable is coaxially positioned directly above the first gear and is fixedly connected to the top ends of multiple sets of second round rods; four sets of slide tracks are provided on the upper surface of the turntable;

[0029] Four sets of limiting components, each set of limiting components consists of a slider, a crossbar and a limiting block. The lower end face of the crossbar is fixedly connected to the top end of the slider. The bottom end of the slider is set in the slide rail and is slidably connected to the turntable through the slide rail. One end of the crossbar is fixedly connected to the limiting block, and the other end passes through the corresponding position of the fixing ring and is slidably connected to the fixing ring.

[0030] The second gear is disposed on the edge of the first gear and meshes with the first gear;

[0031] The output end of the second motor is fixedly connected to the shaft of the second gear.

[0032] Preferably, the side of the limiting block away from the crossbar is an inclined arc surface.

[0033] Preferably, the clamping assembly includes:

[0034] A bevel gear set is disposed above the support plate. The bevel gear set consists of three identical bevel gears, with the edge of the middle bevel gear meshing with the bevel gears on both sides.

[0035] The first motor, the output end of which is fixedly connected to the shaft of the intermediate bevel gear;

[0036] Two sets of threaded rods, with one end of each set of threaded rods being fixedly connected to the axis of the bevel gears on both sides;

[0037] Two sets of movable parts, each set of movable parts is sleeved on the outer wall of the threaded rod and threadedly connected to the threaded rod;

[0038] Two sets of movable rods, the top of each set of movable rods being fixedly connected to the bottom of the movable component;

[0039] A fixing element is located directly below the movable rod.

[0040] Preferably, the movable component consists of a slider and a connecting block, the connecting block being threadedly connected to the threaded rod; the bottom end of the connecting block being fixedly connected to the slider; and the slider being slidably connected to the support plate.

[0041] Preferably, the clamping assembly further includes a conversion device; the conversion device is disposed inside the movable rod and connected to the movable rod, for changing the fixing method.

[0042] Preferably, the conversion device includes:

[0043] A worm gear is disposed inside the movable rod; the axis of the worm gear passes through the corresponding position of the movable rod and is rotatably connected to the movable rod; one end of the axis of the worm gear passing through the movable rod is fixedly connected to the fixing member.

[0044] A worm is disposed on the edge of the worm wheel and meshes with the worm wheel;

[0045] The knob is fixedly connected to one end of the worm gear.

[0046] The beneficial effects proposed by this utility model are as follows: by using the auxiliary clamping device, one side of the frustum workpiece can be tilted up, so that the clamping component can be moved to the bottom of the frustum workpiece, thereby clamping and fixing the frustum workpiece, preventing the frustum workpiece from falling off during the movement, realizing the handling of the frustum workpiece, and improving the application range of the fixture. Attached Figure Description

[0047] Figure 1 This is a schematic diagram of the structure of this utility model;

[0048] Figure 2 for Figure 1 A three-dimensional diagram of the central connecting structure viewed from below;

[0049] Figure 3 for Figure 2 Enlarged 3D schematic diagram of the central connecting structure;

[0050] Figure 4 for Figure 3 Top-view 3D schematic diagram of the central connection structure;

[0051] Figure 5 for Figure 4 Exploded view of the central connecting structure;

[0052] Figure 6 for Figure 3 Enlarged 3D schematic diagram of the central connecting structure;

[0053] Figure 7 for Figure 1 Enlarged 3D schematic diagram of the central connecting structure;

[0054] Figure 8 for Figure 7 A three-dimensional cross-sectional view of the internal connection structure.

[0055] Figure 9 for Figure 8 Enlarged 3D schematic diagram of the connecting structure in the middle section.

[0056] In the diagram: 1. Support plate, 2. Mounting component, 3. Bevel gear set, 4. First motor, 5. Threaded rod, 6. Moving component, 7. Moving rod, 8. Fixing component, 9. Worm gear, 10. Worm, 11. Knob, 12. Fixing ring, 13. Connecting rod, 14. First electric push rod, 15. Support ring, 16. Slide rail, 17. First gear, 18. Turntable, 19. Limiting component, 20. Second gear, 21. Second motor, 22. First support component, 23. Second support component, 24. Third motor, 25. Third gear, 26. Rack, 27. Second electric push rod. Detailed Implementation

[0057] The present invention will be further described below with reference to the accompanying drawings:

[0058] This embodiment:

[0059] Please see Figure 1-9 In this embodiment: a gripper for an industrial robot includes: a support plate 1, a mounting component 2, a gripping assembly, and an auxiliary gripping device.

[0060] In this embodiment, the mounting component 2 is disposed above the support plate 1 and is used to install the fixture onto the industrial robot.

[0061] In this embodiment, the installation method can be bolt fixing or other fixing methods. There are no restrictions here, as long as the mounting part 2 can be fixed together with the industrial robot.

[0062] The clamping components are located on both sides of the support plate 1 and are connected to the support plate 1 for clamping the workpiece.

[0063] An auxiliary clamping device is located below the support plate 1 to assist the clamping assembly in clamping the frustum workpiece.

[0064] In this embodiment, the auxiliary clamping device can tilt one side of the frustum workpiece, allowing the clamping assembly to move below the frustum workpiece, thereby clamping and fixing the frustum workpiece, preventing it from falling off during movement, realizing the handling of the frustum workpiece, and improving the application range of the fixture.

[0065] like Figure 2 and Figure 4 As shown, the auxiliary clamping device includes: a fixing ring 12, a connecting rod 13, a first electric push rod 14, a support ring 15, and a balancing device.

[0066] The fixing ring 12 is arranged parallel to the support plate 1.

[0067] In this embodiment, the inner wall of the fixing ring 12 is inclined, that is, the inner diameter of the upper opening of the fixing ring 12 is smaller than the inner diameter of the lower opening.

[0068] The connecting rod 13 is disposed between the fixing ring 12 and the support plate 1; the bottom end of the connecting rod 13 is fixedly connected to the fixing ring 12.

[0069] In this embodiment, when the connecting rod 13 is subjected to a horizontal force, it will cause the fixing ring 12 to deflect in the direction of the force.

[0070] The top end of the connecting rod 13 is provided with a sliding groove; the output end of the first electric push rod 14 is provided with a cylindrical pin, which is placed in the sliding groove and is slidably connected to the connecting rod 13 through the sliding groove; the end of the first electric push rod 14 away from the output end is rotatably connected to the support plate 1.

[0071] In this embodiment, the model of the first electric push rod 14 is selected according to actual needs, as long as it meets the working conditions; the output end of the first electric push rod 14 can push the cylindrical pin to move, and the cylindrical pin will apply force to the upper end of the connecting rod 13 through sliding with the slide groove, causing the connecting rod 13 to deflect.

[0072] The support ring 15 is located below the fixed ring 12 and is fixedly connected to the fixed ring 12; the balancing device is located below the support ring 15 and is used to keep the support ring 15 in a horizontal position.

[0073] In this embodiment, the support ring 15 is able to be fitted onto the frustum workpiece by utilizing the support of the balancing device.

[0074] When it is necessary to fix the frustum workpiece, the clamp is moved directly above the frustum workpiece and moved vertically downwards, so that the support ring 15 and the fixing ring 12 are fitted onto the surface of the frustum workpiece. At this time, the first electric push rod 14 is adjusted so that the output end of the first electric push rod 14 extends, thereby pushing the cylindrical pin to move. The cylindrical pin will apply force to the connecting rod 13 through sliding with the slide groove, causing the connecting rod 13 to deflect in the direction of force. The connecting rod 13 drives the fixing ring 12 to rotate, thereby causing the frustum workpiece to deflect along the edge of the bottom end, causing the frustum workpiece to tilt. The balancing device can ensure that the support ring 15 and the fixing ring 12 remain horizontal before fitting, so that the support ring 15 and the fixing ring 12 can be accurately placed on the frustum workpiece. After the frustum workpiece tilts, the clamping assembly can be moved below the frustum workpiece, so that the bottom end of the frustum workpiece will be caught when it moves, and it will not fall off.

[0075] like Figure 3 and Figure 6 As shown, the balancing device includes: a first support member 22, two sets of second support members 23, a third motor 24, a third gear 25, a rack 26, and a second electric push rod 27.

[0076] Specifically, the upper end face of the first support member 22 is in contact with the lower end face of the support ring 15; both ends of the first support member 22 are provided with rotating shafts; one end of each of the two sets of second support members 23 is rotatably connected to the first support member 22 through the rotating shafts; and the output end of the third motor 24 is fixedly connected to the rotating shafts.

[0077] In this embodiment, the model of the third motor 24 is selected according to actual needs, as long as it meets the working conditions; the third motor 24 can be used to fold the first support member 22, and when the first support member 22 and the second support member 23 are on the same horizontal plane, it will support the support ring 15 to ensure that the support ring 15 is in a horizontal state.

[0078] The third gear 25 is coaxially arranged with the other end of the two sets of second support members 23; the rack 26 is meshed with the third gear 25; the output end of the second electric push rod 27 is fixedly connected to the rack 26.

[0079] In this embodiment, the model of the second electric push rod 27 is selected according to actual needs, as long as it meets the working conditions; when the output end of the second electric push rod 27 extends, it will drive the rack 26 to move horizontally, and the rack 26 will simultaneously cause the third gear 25 to rotate, and the third gear 25 will simultaneously drive the second support member 23 to rotate, so that the second support member 23 no longer supports the support ring 15, thereby not hindering the tilting of the frustum workpiece.

[0080] After the support ring 15 is placed on the frustum workpiece, the third motor 24 is started. The output end of the third motor 24 drives the first support member 22 to rotate, thereby folding the first support member 22. Then, the second electric push rod 27 is adjusted so that the output end of the second electric push rod 27 extends, thereby pushing the rack 26 to move. The rack 26 causes the third gear 25 to rotate, and the third gear 25 drives the second support member 23 to rotate, thereby causing the second support member 23 to disengage from the support ring 15 and not to obstruct the tilting of the frustum workpiece.

[0081] Because the distance between the fixing ring 12 and the support plate 1 is limited, when fixing a frustum workpiece with a small outer diameter, there will be a gap between the fixing ring 12 and the frustum workpiece, which will affect the deflection and make it inconvenient to use.

[0082] To address the aforementioned issues, this embodiment proposes an implementation method in which the industrial robot fixture further includes an adjustment device; the adjustment device is disposed inside the fixed ring 12 and is used to contact frustum workpieces with different outer diameters.

[0083] like Figure 5 As shown, the adjustment device includes: slide rail 16, first gear 17, turntable 18, four sets of limiting parts 19, second gear 20, and second motor 21.

[0084] The slide rail 16 is coaxially positioned directly above the support ring 15 and is fixedly connected to the support ring 15; the bottom end of the first gear 17 is provided with multiple sets of first round rods, and the bottom ends of the first round rods are slidably connected to the slide rail 16.

[0085] In this embodiment, the slide rail 16 supports the rotation of the first gear 17 by sliding with the first round rod.

[0086] The top of the first gear 17 is provided with multiple sets of second round rods; the turntable 18 is coaxially arranged directly above the first gear 17 and is fixedly connected to the top of the multiple sets of second round rods.

[0087] In this embodiment, the first gear 17 can drive the turntable 18 to rotate synchronously.

[0088] The upper surface of the turntable 18 is provided with four sets of slides; each set of limiting members 19 consists of a slider, a crossbar and a limiting block. The lower end of the crossbar is fixedly connected to the top of the slider, and the bottom end of the slider is set in the slide and is slidably connected to the turntable 18 through the slide; one end of the crossbar is fixedly connected to the limiting block, and the other end passes through the corresponding position of the fixing ring 12 and is slidably connected to the fixing ring 12.

[0089] In this embodiment, when the turntable 18 rotates, a horizontal force is applied to the slider through the sliding between the slide rail and the slider. Since the slide rail is inclined, the slider moves to the center or to the outside simultaneously under the restriction of the fixing ring 12.

[0090] The second gear 20 is disposed on the edge of the first gear 17 and meshes with the first gear 17; the output end of the second motor 21 is fixedly connected to the shaft of the second gear 20.

[0091] In this embodiment, the model of the second motor 21 is selected according to actual needs, as long as it meets the working conditions; the output end of the second motor 21 can drive the second gear 20 to rotate, and the second gear 20 simultaneously drives the first gear 17 to rotate.

[0092] The side of the limiting block furthest from the crossbar is an inclined arc surface.

[0093] When it is necessary to fix a frustum workpiece with a small outer diameter, the second motor 21 is started. The output end of the second motor 21 drives the second gear 20 to rotate. Since the transmission ratio between the second gear 20 and the first gear 17 is 2, the first gear 17 rotates slowly. The slide rail 16 supports the rotation of the first gear 17. At the same time, the first gear 17 drives the turntable 18 to rotate. When the turntable 18 rotates, it applies a horizontal force to the slider through the sliding between the slide rail and the slider. Since the slide rail is inclined, the slider moves towards the center under the restriction of the fixing ring 12. The distance between the four sets of limiting members 19 is reduced, so that it can contact the frustum workpiece with a small outer diameter without affecting the inclination.

[0094] like Figure 1 and Figure 7 As shown, the clamping assembly includes: a bevel gear set 3, a first motor 4, two sets of threaded rods 5, two sets of moving parts 6, two sets of moving rods 7, and a fixing part 8.

[0095] Specifically, the bevel gear set 3 is located above the support plate 1. The bevel gear set 3 consists of three identical bevel gears, with the edge of the middle bevel gear meshing with the bevel gears on both sides; the output end of the first motor 4 is fixedly connected to the shaft of the middle bevel gear.

[0096] In this embodiment, the model of the first motor 4 is selected according to actual needs, as long as it meets the working conditions; the output end of the first motor 4 drives the middle bevel gear to rotate, and the middle bevel gear will cause the bevel gears on both sides to rotate in opposite directions.

[0097] One end of each of the two sets of threaded rods 5 is fixedly connected to the axis of the bevel gears on both sides; each set of moving parts 6 is sleeved on the outer wall of the threaded rod 5 and threadedly connected to the threaded rod 5.

[0098] In this embodiment, since the threaded rods 5 on both sides have the same thread direction and opposite rotation directions, the two sets of moving parts 6 can move to the middle or to the outside at the same time.

[0099] The top end of each set of moving rods 7 is fixedly connected to the bottom end of the moving part 6; the fixing part 8 is located directly below the moving rods 7.

[0100] In this embodiment, the movable component 6 can simultaneously drive the movable rod 7 and the fixed component 8 to move.

[0101] The movable component 6 consists of a slider and a connecting block. The connecting block is threadedly connected to the threaded rod 5. The bottom end of the connecting block is fixedly connected to the slider. The slider is slidably connected to the support plate 1.

[0102] When fixing the frustum workpiece, as one side of the frustum workpiece tilts up, the first motor 4 on that side is activated. The output of the first motor 4 drives the central bevel gear to rotate, which in turn causes the bevel gears on both sides to rotate in opposite directions. The bevel gears on both sides drive the two sets of threaded rods 5 to rotate. Since the threaded rods 5 on both sides have the same thread direction and rotate in opposite directions, the two sets of moving parts 6 can move towards the center simultaneously. The moving parts 6 can simultaneously drive the moving rods 7 and the fixing parts 8 to move. The fixing parts 8 stop after moving to the bottom of the frustum workpiece. Then, the other side of the frustum workpiece tilts up, and the first motor 4 on the other side is activated, thereby holding the bottom of the frustum workpiece and preventing it from falling off during the movement.

[0103] Since the shape of one side of the fastener 8 is only suitable for fixing a frustum, it is inconvenient to replace the fastener 8 when fixing other workpieces.

[0104] To address the aforementioned issues, this embodiment proposes an implementation method in which the clamping assembly further includes a conversion device. The conversion device is disposed inside the movable rod 7 and connected to the movable rod 7, and is used to change the fixing method.

[0105] like Figure 8 and Figure 9 As shown, the conversion device includes: worm gear 9, worm 10 and knob 11.

[0106] The worm gear 9 is located inside the moving rod 7; the shaft of the worm gear 9 passes through the corresponding position of the moving rod 7 and is rotatably connected to the moving rod 7; one end of the shaft of the worm gear 9 passes through the moving rod 7 and is fixedly connected to the fixing member 8.

[0107] In this embodiment, the rotation of the worm gear 9 can drive the fixing member 8 to rotate, thereby rotating the other side of the fixing member 8 to face the workpiece and fixing workpieces of other shapes.

[0108] The worm 10 is located on the edge of the worm wheel 9 and is meshed with the worm wheel 9; the knob 11 is fixedly connected to one end of the worm 10.

[0109] In this embodiment, the worm gear 10 is rotated by rotating the knob 11, and the worm gear 10 simultaneously drives the worm wheel 9 to rotate, thereby driving the fixed member 8 to rotate.

[0110] Working principle:

[0111] When using this industrial robot fixture, the second motor 21 is first started according to the outer diameter of the frustum workpiece. The output end of the second motor 21 drives the second gear 20 to rotate. Since the transmission ratio between the second gear 20 and the first gear 17 is 2, the first gear 17 rotates slowly. The slide rail 16 supports the rotation of the first gear 17, and at the same time, the first gear 17 drives the turntable 18 to rotate. When the turntable 18 rotates, it applies a horizontal force to the slider through the sliding between the slide rail and the slider. Since the slide rail is inclined, the slider moves towards the center under the restriction of the fixed ring 12. This reduces the distance between the four sets of limiting members 19, allowing it to contact the frustum workpiece with a smaller outer diameter without affecting the tilt.

[0112] Subsequently, the fixture is moved directly above the frustum workpiece and moved vertically downwards, so that the support ring 15 and the fixing ring 12 are fitted onto the surface of the frustum workpiece. At this time, the first electric push rod 14 is adjusted so that the output end of the first electric push rod 14 extends, thereby pushing the cylindrical pin to move. The cylindrical pin will apply force to the connecting rod 13 through sliding with the slide groove, causing the connecting rod 13 to deflect in the direction of force. The connecting rod 13 drives the fixing ring 12 to rotate, thereby causing the frustum workpiece to deflect along the edge of the bottom end, causing the frustum workpiece to tilt. The balancing device can ensure that the support ring 15 and the fixing ring 12 remain horizontal before fitting, so that the support ring 15 and the fixing ring 12 can be accurately placed on the frustum workpiece.

[0113] At this time, the third motor 24 is started. The output end of the third motor 24 drives the first support member 22 to rotate, thereby folding the first support member 22. Then, the second electric push rod 27 is adjusted so that the output end of the second electric push rod 27 extends, thereby pushing the rack 26 to move. The rack 26 causes the third gear 25 to rotate, and the third gear 25 drives the second support member 23 to rotate, thereby causing the second support member 23 to disengage from the support ring 15 and not to obstruct the tilting of the frustum workpiece.

[0114] After one side of the frustum workpiece is raised, the first motor 4 on that side is started. The output end of the first motor 4 drives the middle bevel gear to rotate, which causes the bevel gears on both sides to rotate in opposite directions. The bevel gears on both sides drive the two sets of threaded rods 5 to rotate. Since the threaded rods 5 on both sides have the same thread direction and rotate in opposite directions, the two sets of moving parts 6 can move towards the middle at the same time. The moving parts 6 can simultaneously drive the moving rods 7 and the fixed parts 8 to move. After the fixed parts 8 move to the bottom of the frustum workpiece, they stop. Then, the other side of the frustum workpiece is raised, and the first motor 4 on the other side is started, thereby holding the bottom of the frustum workpiece and preventing it from falling off during the movement.

[0115] When it is necessary to fix workpieces of other shapes, the worm gear 10 is rotated by turning the knob 11. The worm gear 10 drives the worm wheel 9 to rotate, thereby driving the fixing part 8 to rotate. The other side of the fixing part 8 is rotated to face the workpiece to fix the workpiece of other shapes, thus completing the use of the fixture.

[0116] Although the present invention has been illustrated and described with reference to preferred embodiments, those skilled in the art should understand that various changes in form and detail are possible within the scope of the claims.

Claims

1. A gripper for an industrial robot, characterized in that: include: Support plate (1); Mounting component (2) is disposed above the support plate (1) and is used to mount the fixture onto the industrial robot; The clamping assembly is disposed on both sides of the support plate (1) and connected to the support plate (1) for clamping the workpiece; An auxiliary clamping device is disposed below the support plate (1) to assist the clamping assembly in clamping the frustum workpiece; The auxiliary clamping device includes: A fixing ring (12) is arranged parallel to the support plate (1); A connecting rod (13) is disposed between the fixing ring (12) and the support plate (1); the bottom end of the connecting rod (13) is fixedly connected to the fixing ring (12); a sliding groove is provided at the top end of the connecting rod (13); The first electric push rod (14) has a cylindrical pin at its output end. The cylindrical pin is placed in the groove and is slidably connected to the connecting rod (13) through the groove. The end of the first electric push rod (14) away from the output end is rotatably connected to the support plate (1). A support ring (15) is disposed below the fixing ring (12) and is fixedly connected to the fixing ring (12); A balancing device is provided below the support ring (15) to keep the support ring (15) in a horizontal position.

2. The industrial robot gripper according to claim 1, characterized in that: The balancing device includes: The first support member (22) has its upper end face in contact with the lower end face of the support ring (15); both ends of the first support member (22) are provided with rotating shafts. Two sets of second support members (23), one end of each set of second support members (23) is rotatably connected to the first support member (22) via the rotating shaft; The third motor (24) is fixedly connected to the rotating shaft at its output end; The third gear (25) is coaxially arranged with the other end of the two sets of second support members (23); The rack (26) meshes with the third gear (25); The output end of the second electric push rod (27) is fixedly connected to the rack (26).

3. The industrial robot gripper according to claim 1, characterized in that: Also includes: Adjustment device; the adjustment device is located inside the fixed ring (12) and is used to contact frustum workpieces with different outer diameters.

4. The industrial robot gripper according to claim 3, characterized in that: The regulating device includes: The slide rail (16) is coaxially disposed directly above the support ring (15) and is fixedly connected to the support ring (15); The first gear (17) has multiple sets of first round rods at its bottom end, and the bottom end of the first round rods is slidably connected to the slide rail (16); the top end of the first gear (17) has multiple sets of second round rods. The turntable (18) is coaxially positioned directly above the first gear (17) and is fixedly connected to the top of multiple sets of second round rods; four sets of slides are provided on the upper surface of the turntable (18); Four sets of limiting components (19), each set of limiting components (19) consists of a slider, a crossbar and a limiting block. The lower end face of the crossbar is fixedly connected to the top end of the slider. The bottom end of the slider is set in the slide rail and is slidably connected to the turntable (18) through the slide rail. One end of the crossbar is fixedly connected to the limiting block, and the other end passes through the corresponding position of the fixing ring (12) and is slidably connected to the fixing ring (12). The second gear (20) is disposed on the edge of the first gear (17) and meshes with the first gear (17); The output end of the second motor (21) is fixedly connected to the shaft of the second gear (20).

5. The industrial robot gripper according to claim 4, characterized in that: The side of the limiting block away from the crossbar is an inclined arc surface.

6. The industrial robot gripper according to claim 1, characterized in that: The clamping assembly includes: A bevel gear set (3) is disposed above the support plate (1). The bevel gear set (3) consists of three identical bevel gears, with the edge of the middle bevel gear meshing with the bevel gears on both sides. The first motor (4) is fixedly connected to the shaft of the intermediate bevel gear at its output end. Two sets of threaded rods (5), with one end of the two sets of threaded rods (5) being fixedly connected to the axis of the bevel gears on both sides; Two sets of movable parts (6), each set of movable parts (6) is sleeved on the outer wall of the threaded rod (5) and threadedly connected to the threaded rod (5); Two sets of movable rods (7), the top end of each set of movable rods (7) is fixedly connected to the bottom end of the movable part (6); The fixing element (8) is located directly below the moving rod (7).

7. The industrial robot gripper according to claim 6, characterized in that: The moving part (6) consists of a slider and a connecting block. The connecting block is threadedly connected to the threaded rod (5). The bottom end of the connecting block is fixedly connected to the slider. The slider is slidably connected to the support plate (1).

8. The industrial robot gripper according to claim 6, characterized in that: The clamping assembly further includes a conversion device; the conversion device is disposed inside the movable rod (7) and connected to the movable rod (7) for changing the fixing method.

9. The industrial robot gripper according to claim 8, characterized in that: The conversion device includes: A worm gear (9) is disposed inside the movable rod (7); the axis of the worm gear (9) passes through the corresponding position of the movable rod (7) and is rotatably connected to the movable rod (7); one end of the axis of the worm gear (9) passing through the movable rod (7) is fixedly connected to the fixing member (8); A worm (10) is disposed on the edge of the worm wheel (9) and meshes with the worm wheel (9); The knob (11) is fixedly connected to one end of the worm gear (10).

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