Robot grabbing device and industrial robot

Abstract

The utility model relates to the technical field of robot grabbing devices, and particularly discloses a robot grabbing device and an industrial robot, which comprise a first rotating shaft, a second rotating shaft, a mounting seat and a grabbing mechanism, the first rotating shaft is connected with the second rotating shaft; the lower end of the second rotating shaft is connected with the mounting seat; a recoil ring is arranged between the lower end of the second rotating shaft and the mounting seat, and the recoil ring has elasticity; the upper portion of the grabbing mechanism is connected to the mounting base, and the lower portion of the grabbing mechanism is used for grabbing products. The first rotating shaft is matched with the second rotating shaft, and the second rotating shaft is matched with the mounting seat, so that synchronous rotation is kept. The recoil ring is arranged between the second rotating shaft and the mounting seat, so that residual stress accumulation of the rotating mechanism and the grabbing mechanism can be avoided, the damage probability of the device is reduced, and the service life of the device is prolonged.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field, especially a kind of robot grabbing device and industrial robot. BACKGROUND

[0002] The current robot grabbing device, the pushing action of non-axial direction is generated to rotating mechanism before and after the grabbing mechanism grabs product, rigid connection is usually adopted, mechanical stress is generated to rotating mechanism due to the non-axial action of grabbing mechanism when using, damage and deviation are prone to appear after long-term operation, the motion of grabbing mechanism and rotating transmission mechanism is often different shaft, the problems such as product is easy to slip or unstable are grabbed.If the mismatched grabbing tool is used for a long time, the problem that the residual stress is accumulated in rotating mechanism and the robot is damaged. SUMMARY

[0003] The utility model is to provide a kind of robot grabbing device and industrial robot to solve the above technical problems.

[0004] One scheme of the utility model:

[0005] A kind of robot grabbing device, comprising: first rotating shaft, second rotating shaft, mounting seat and grabbing mechanism;The first rotating shaft and second rotating shaft are connected;The lower end of second rotating shaft and mounting seat are connected, and there is a recoil ring between the lower end of second rotating shaft and mounting seat, and the recoil ring has elasticity;The upper portion of the grabbing mechanism is connected to the mounting seat, and the lower portion of the grabbing mechanism is used to grab product;The first rotating shaft is matched with the second rotating shaft, and the second rotating shaft is matched with the mounting seat, and synchronous rotation is maintained.

[0006] The scheme of the utility model, by being equipped with recoil ring between the outer side wall of second rotating shaft and the inner side wall of mounting seat, since the recoil ring has elasticity, when the grabbing mechanism in the lower portion of mounting seat grabs product, especially when the grabbing mechanism has multiple grabbing sites along shaft, it moves and positions in the direction of opening angle, the radial component of the pushing force to mounting seat generated can be offset by the elastic action of recoil ring, avoid rigid action to rotating shaft, so that rotating shaft can ensure long-term axial synchronous rotation, thereby avoiding the motion of grabbing mechanism and rotating transmission mechanism different shaft, eliminate the positioning error generated due to different shaft, reduce the number of robot alarms caused by motion different shaft, improve the accuracy and stability of grabbing positioning;And, by offsetting residual stress of recoil ring, the residual stress accumulation of rotating mechanism and grabbing mechanism can be avoided, thereby reducing the probability of device damage, prolonging the service life of device.

[0007] Preferably, the robot grabbing device, the second rotating shaft is movably connected with the mounting seat through the connecting part; the mounting seat is provided with a groove and a cover plate; the connecting part is a radially outward convex boss; the connecting part is embedded in the groove; the cover plate is provided with a through hole through which the upper part of the second rotating shaft passes, so that the boss abuts against the cover plate in the axial direction; and the cover plate is detachably fixed to the mounting seat.

[0008] As a scheme of the utility model, the connecting part in the boss structure is matched with the groove and the cover plate of the mounting seat, the connecting part is embedded in the groove, and the cover plate fixed to the mounting seat can have downward abutting force on the connecting part; in the axial upward or downward movement of the second rotating shaft, the mounting seat and the grabbing mechanism can be stably driven to move in the axial direction, the influence on the grabbing positioning movement of the grabbing mechanism in other directions is reduced, the rigid mechanical stress is further reduced, and the coaxiality and stability of the grabbing positioning movement are improved.

[0009] Preferably, the robot grabbing device, the connecting part is movably arranged in the groove in at least the upward and downward directions; or the connecting part is covered by the backflush ring, and the connecting part can have a movement allowance in the groove.

[0010] Preferably, the robot grabbing device, the bottom surface of the connecting part is movably and limitingly connected with the groove, and the connecting part and the groove are kept synchronous rotation; the bottom surface of the connecting part is key-connected with the groove, such as a spline structure; or the cross section of the connecting part and the outer section of the groove are non-circular, so as to keep synchronous rotation by using the rotation interference of the two. Specifically, the bottom surface of the connecting part and the bottom surface of the groove are key-connected to form a rotation interference mechanism, so as to further ensure the safety and reliability of the movement of the second rotating shaft and the mounting seat.

[0011] Preferably, the robot grabbing device, the upper part of the second rotating shaft is axially sleeved in the first rotating shaft; the outer wall of the second rotating shaft is sleeved with an elastic member; the upper end of the elastic member abuts against the first rotating shaft in the axial direction, and the lower end of the elastic member abuts against the second rotating shaft in the axial direction; the second rotating shaft abuts against the first rotating shaft; and the second rotating shaft has a movement stroke relative to the first rotating shaft.

[0012] As a scheme of the utility model, through setting elastic member on the outer wall of the second rotating shaft, and the elastic member two ends can be respectively axially abut on the first rotating shaft and the second rotating shaft, can buffer the acting force generated by the first rotating shaft and the second rotating shaft in axial sliding, improve the stability of grabbing. Especially for the grabbing working condition that the larger reaction force is generated in the axial direction, by increasing the axial impact resistance elastic member, better safety can be improved, and a flexible positioning and grabbing is also provided, can be adjusted in the up and down stroke, facilitate realizing the purpose of finding the positioning point etc.

[0013] Preferably, the robot grabbing device of the utility model provides a scheme of internally provided mechanism, the upper end of the second rotating shaft is provided with a first limiting boss, the inner wall of the first rotating shaft is provided with a radially inward second limiting boss;The first limiting boss can be axially abut on the second limiting boss;Another overall setting scheme, the upper end of the second rotating shaft is provided with a first limiting boss, the upper part of the first rotating shaft is provided with a stop, and the first limiting boss is abutted with the stop.

[0014] As a scheme of the utility model, by setting the first limiting boss and the second limiting boss, the second rotating shaft is sleeved into the first rotating shaft, and the two are kept connected, an alternative way is in sliding connection state, the first limiting boss is downwardly abutted on the second limiting boss, to avoid the second rotating shaft from being downwardly separated and to bear the weight of the lower tool;Another embodiment, the upper part of the first rotating shaft is provided with a stop, and the center hole diameter of the stop is less than the diameter of the first limiting boss, and the outer diameter of the stop is greater than the diameter of the first limiting boss.

[0015] Preferably, the robot grabbing device of the utility model, the inner side wall of the first rotating shaft is provided with a spline, and the outer side wall of the second rotating shaft is provided with a spline groove;Or the inner side wall of the first rotating shaft is provided with a spline groove, and the outer side wall of the second rotating shaft is provided with a spline;The spline and the spline groove are matched with each other, which can limit the relative rotation of the first rotating shaft and the second rotating shaft;The spline groove has a movement allowance for the spline to move from a first position to a second position.

[0016] As a scheme of the utility model, through the setting of the spline and the spline groove, the spline groove provides the space for the axial movement of the spline, does not interfere with the axial movement of the spline, and facilitates the compression of the elastic member, and the second rotating shaft has the movement space of up and down. At the same time, the cooperation of the spline makes the second rotating shaft and the first rotating shaft produce rotation interference, so that the second rotating shaft and the first rotating shaft produce rotation interference.

[0017] Preferably, the robot grabbing device, the inner section of the first rotating shaft and the outer section of the second rotating shaft are non-circular, which can limit the relative rotation of the first rotating shaft and the second rotating shaft. Both are non-circular, such as triangular, square or other polygonal non-circular cross-section, so that when they are connected, the rotating interference structure is generated.

[0018] Preferably, the robot grabbing device, the outer side of the first rotating shaft is sleeved with a pneumatic slip ring, and the inner wall of the pneumatic slip ring and the inner wall of the first rotating shaft are provided with a gap; the upper end of the pneumatic slip ring is fixedly connected to the connecting seat.

[0019] As a scheme of the utility model, compared with directly connecting the air pipe to the grabbing tool, the pneumatic slip ring is provided, due to its specific structure, the length of the air pipe can be reduced, the air pipe can be prevented from winding, the failure rate of the device in use can be reduced, and the use performance is improved.

[0020] Preferably, the robot positioning and grabbing device, in one way, the grabbing mechanism is selected from a suction cup, the suction cup is provided with an air pipe connected with a suction device; the suction cup includes a complete set of structures matched therewith, which can adopt a commercially available product and is fixed through any existing connectable mode. The suction cup can achieve the purpose of adsorption and grabbing.

[0021] In another way, the grabbing mechanism comprises a material taking cylinder, a material taking mandrel and a clamping cylinder; the material taking cylinder is drivingly connected to the upper portion of the material taking mandrel, and drives the material taking mandrel to reciprocate between a first position and a second position; the clamping cylinder is connected with the material taking cylinder and is sleeved outside the material taking mandrel; the end of the clamping cylinder is provided with a plurality of elastic clamps capable of expanding outward; the radius of the lower portion (i.e. the distal end) of the material taking mandrel is greater than the radius of the end of the clamping cylinder in a non-clamping state, and the elastic clamps at the end of the clamping cylinder expand and become larger when the material taking cylinder drives the material taking mandrel to move from the first position to the second position.

[0022] As a scheme of the utility model, the material taking mandrel is arranged inside the clamping cylinder, the material taking cylinder is drivingly connected to the material taking mandrel, and then the material taking mandrel can be driven to extend out of and retract into the clamping cylinder, at least the diameter of the distal end of the material taking mandrel is greater than the diameter of the end of the clamping cylinder, and the larger outer diameter can expand the elastic clamps of the clamping cylinder outward. In the material taking stage, the clamping cylinder extends into the inner hole of the product, the product with the inner hole and high positioning requirement is subjected to the radial pressing force and friction force of the expanded elastic clamps, and can be grabbed more stably and less likely to be deviated, in the material discharging stage, the material taking mandrel retracts inward under the action of the cylinder, and gradually restores the elastic clamps to retract inward, so as to realize loosening and discharging without pressing and friction with the inner hole of the product.

[0023] The elastic clip is externally provided with an anti-skid layer, which plays a role of increasing friction and flexible contact, and the anti-skid layer can be made of flexible materials such as rubber and can be bonded with the elastic clip by using glue.

[0024] Another scheme of the utility model discloses a kind of robot, including robot body, and the body end flange connects the robot gripping device.

[0025] Another scheme of the utility model discloses a kind of robot, including robot body, and the body end flange connects the robot gripping device.

[0026] As described above, the utility model has the beneficial effects that:

[0027] By setting the recoil ring between the outer side wall of the second rotating shaft and the inner side wall of the mounting seat, the recoil ring can increase the radial direction buffer, avoid the residual stress accumulation of the whole rotating mechanism and the gripping mechanism, reduce the device damage probability, and prolong the device service life. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 is the external three-dimensional structure schematic diagram of the utility model;

[0029] Figure 2 is Figure 1 the cross-sectional view schematic diagram of A-A line in;

[0030] Figure 3 is Figure 2 the local enlarged schematic diagram of B coil in;

[0031] Figure 4 is the three-dimensional structure schematic diagram of the gripping mechanism of the utility model;

[0032] Figure 5 is the connection schematic diagram of the first rotating shaft and the second rotating shaft of the utility model;

[0033] Figure: 1, the first rotating shaft; 11, the second limiting boss; 2, the second rotating shaft; 21, the connecting part; 22, the first limiting boss; 3, the mounting seat; 31, the recess; 32, the cover plate; 321, the through hole; 4, the gripping mechanism; 41, the material taking cylinder; 42, the material taking mandrel; 43, the clamping cylinder; 431, the elastic clip; 5, the recoil ring; 6, the elastic member; 7, the pneumatic slip ring; 8, the connecting seat. DETAILED DESCRIPTION

[0034] The utility model will be described in detail in combination with the drawings.

[0035] In order to make the purpose, technical scheme and advantage of the utility model more clear and obvious, the utility model will be described in further detail in combination with the drawings and examples. It should be understood that the specific examples described here are only used to explain the utility model, and are not used to limit the utility model.

[0036] Embodiment 1:

[0037] As Figure 1 shown, the embodiment discloses a robot grabbing device, comprising: a first rotating shaft 1, a second rotating shaft 2, a mounting seat 3 and a grabbing mechanism 4.

[0038] The first rotating shaft 1 and the second rotating shaft 2 are connected; a recoil ring 5 is arranged between the lower end of the second rotating shaft 2 and the mounting seat 3, and the recoil ring 5 has elasticity; and the lower end of the second rotating shaft 2 is connected with the mounting seat 3.

[0039] The upper part of the grabbing mechanism 4 is connected with the mounting seat 3, and the lower part of the grabbing mechanism 4 is used for grabbing products; the first rotating shaft 1 cooperates with the second rotating shaft 2, the second rotating shaft 2 cooperates with the mounting seat 3, and synchronous rotation is maintained.

[0040] It should be noted that the axial direction in the utility model is understood as the axial direction of the first rotating shaft 1 and the second rotating shaft 2, the recoil ring 5 in the utility model is understood as a component with elasticity, which can play a buffering role on the reverse force of the grabbing mechanism 4, for example, an elastic ring or an elastic ring, specifically, the recoil ring 5 can be made of materials with elasticity such as rubber, polyurethane and polyimide, or other metal materials with the same effect.

[0041] In the utility model, the lower part of the second rotating shaft 2 is movably connected with the mounting seat 3, and the two have non-rigid connection and mutual activity. Specifically, referring to Figure 1 and Figure 2 shown, the second rotating shaft 2 is movably connected with the mounting seat 3 through a connecting part 21; the mounting seat 3 is provided with a groove 31 and a cover plate 32; the connecting part 21 is a radial outward convex boss; the connecting part 21 is embedded in the groove 31; the cover plate 32 is provided with a through hole 321, the through hole 321 is used for the upper part of the second rotating shaft 2 to pass through, so that the boss abuts against the cover plate 32 along the axial direction; and the cover plate 32 can be detachably fixed on the mounting seat 3.

[0042] It should be noted that the upper part of the first rotating shaft 1 and the second rotating shaft 2 of this utility model are connected, optionally by an axial sliding connection. In one specific embodiment, the first rotating shaft 1 has an internal hollow tube section, and the second rotating shaft 2 is fitted inside the hollow tube section of the first rotating shaft 1. By setting a limiting structure, the second rotating shaft 2 can slide axially relative to the first rotating shaft 1 within the hollow tube section, thus enabling the second rotating shaft 2 to rise and fall. This limiting structure is not limited to a fixed form; it can be achieved using other structures to assist in the limiting, or a specific limiting structure combined with other structures to assist in the limiting. For example, in the implementation embodiment, the elastic element 6 and the robot's spatial stroke also serve as upper and lower limiting elements; or the spline groove in the spline structure has ample space for movement, which can also serve as a limiting element.

[0043] Specifically, the recoil ring 5 is disposed on the outer periphery of the connecting part 21, and the connecting part 21 has a movable allowance within the groove 31; or the recoil ring 5 covers the connecting part 21, and the connecting part 21 has a movable allowance within the groove 31.

[0044] The bottom surface of the connecting part 21 and the groove 31 are movably limited and connected, and the connecting part 21 and the groove 31 rotate synchronously. The bottom surface of the connecting part 21 and the groove 31 are connected by a key, and / or the cross-section of the connecting part 21 and the outer cross-section of the groove 31 are non-circular. The key connection can be a spline connection, and the two maintain synchronous rotational connection. At the same time, this connection needs to provide a certain amount of room for movement to facilitate the function of the recoil ring 5.

[0045] For details, please refer to Figure 2 and Figure 5 As shown, the upper part of the second rotating shaft 2 is axially sleeved inside the first rotating shaft 1; an elastic element 6 is sleeved on the outer wall of the second rotating shaft 2; the upper end of the elastic element 6 axially abuts against the first rotating shaft 1, and the lower end of the elastic element 6 axially abuts against the second rotating shaft 2; the second rotating shaft 2 abuts against the first rotating shaft 1; the second rotating shaft 2 has a movable stroke relative to the first rotating shaft 1. It should be noted that the elastic element 6 is understood as an elastic component with axial extension and contraction, such as a spring.

[0046] Specifically, in one embodiment, the upper end of the second rotating shaft 2 is provided with a first limiting boss 22, and the inner wall of the first rotating shaft 1 is provided with a radially inwardly protruding second limiting boss 11; the second rotating shaft 2 abuts against the second limiting boss 11; the second rotating shaft 2 abuts against the second limiting boss 11.

[0047] In another embodiment, the upper end of the second rotating shaft 2 is provided with a first limiting boss 22, and the upper part of the first rotating shaft 1 is provided with a stop, and the first limiting boss 22 abuts against the stop.

[0048] Specifically, the first rotating shaft 1 is provided with a spline on the inner side wall, and the second rotating shaft 2 is provided with a spline groove on the outer side wall; or the first rotating shaft 1 is provided with a spline groove on the inner side wall, and the second rotating shaft 2 is provided with a spline on the outer side wall; the spline and the spline groove are matched with each other to limit the relative rotation of the first rotating shaft 1 and the second rotating shaft 2; the spline groove has a movement allowance for the spline to move from a first position to a second position, and is matched with the stroke compression of the elastic member 6.

[0049] In another aspect, the inner cross section of the first rotating shaft 1 and the outer cross section of the second rotating shaft 2 are non-circular, which can limit the relative rotation of the first rotating shaft 1 and the second rotating shaft 2.

[0050] Specifically, the first rotating shaft 1 is provided with a pneumatic slip ring 7 on the outer side, and the inner wall of the pneumatic slip ring 7 and the inner wall of the first rotating shaft 1 are provided with a gap; the upper end of the pneumatic slip ring 7 is fixedly connected to the connecting seat 8.

[0051] The grasping mechanism 4 is understood as a robot component capable of grasping products, such as a clamping member or a pneumatic suction grasping mechanism 4. The present application provides a specific example of pneumatic, which can realize grasping products by gas supply and grasping tools, and can stably clamp or suction to transport products and discharge materials. Specifically, referring to Figure 3 and Figure 4 As shown in the drawings, the grasping mechanism 4 comprises: a material taking cylinder 41, a material taking mandrel 42 and a clamping cylinder 43; the material taking cylinder 41 is drivingly connected to the upper part of the material taking mandrel 42, and drives the material taking mandrel 42 to reciprocate between a first position and a second position; the clamping cylinder 43 is connected with the material taking cylinder 41 and is sleeved outside the material taking mandrel 42; the end of the clamping cylinder 43 is provided with a plurality of elastic clamps 431 capable of expanding outward;

[0052] The radius of the lower part, i.e. the distal end, of the material taking mandrel 42 is greater than the radius of the end of the clamping cylinder 43 in a non-clamping state, and when the material taking cylinder 41 drives the material taking mandrel 42 from the first position to the second position, the elastic clamps 431 at the end of the clamping cylinder 43 expand and become larger.

[0053] Another scheme adopts a suction structure, and the grasping mechanism 4 is selected from a suction cup, and the suction cup is provided with a gas pipe connected with an external gas suction device;

[0054] It should be noted that the outer surface of the material taking chuck end elastic clamp 431 is provided with an elastic component, such as a rubber layer, etc., which is to prevent slipping, flexible contact to prevent damage, etc.

[0055] Embodiment 2:

[0056] On the basis of embodiment 1, the embodiment discloses a robot, adopts the robot grabbing device described in embodiment 1, and connects the robot grabbing device to a flange at the end of the robot.

[0057] When the robot performs the grabbing operation, the grabbing device is aligned with the product to be grabbed through the end thereof, and the design of the recoil ring 5 can play a role in correcting the alignment degree, for example, if there is a slight deviation in the absolute center of the two, the mounting seat 3 as a whole can be deviated and moved due to the presence of the recoil ring 5, and when the grabbing is performed, the product is moved out when being grabbed, and due to the action of the recoil ring 5 itself, the whole mounting seat 3 returns to the original position state. Meanwhile, this mode also plays a buffering role, after all, the direct transmission of force when rigidly connected may cause damage to the robot. In addition, the elastic component further improves the above-mentioned role. The recoil ring 5 is movable in the inner space of the mounting seat 3, and as a specific implementation scheme, the recoil ring 5 and the groove 31 can be provided with a certain movable gap space, and the existence of the space needs to meet the requirements of precision and control when the robot performs the grabbing operation.

[0058] The above only describes the preferred embodiments of the utility model and does not limit the utility model, and any modification, equivalent replacement and improvement made within the spirit and principle of the utility model should be included in the protection scope of the utility model.

Claims

1. A robotic gripping device, characterized in that, The utility model relates to a kind of rotary mechanism, including: First rotary shaft (1), second rotary shaft (2), mounting seat (3) and grabbing mechanism (4); The first rotary shaft (1) and second rotary shaft (2) are connected;The lower end of the second rotary shaft (2) is connected with the mounting seat (3), and a recoil ring (5) is arranged between the lower end of the second rotary shaft (2) and the mounting seat (3), and the recoil ring (5) has elasticity; The upper part of the grabbing mechanism (4) is connected to the mounting seat (3), and the lower part of the grabbing mechanism (4) is used for grabbing products;The first rotary shaft (1) cooperates with the second rotary shaft (2), and the second rotary shaft (2) cooperates with the mounting seat (3) to keep synchronous rotation.

2. The robotic grasping device of claim 1, wherein, The second rotary shaft (2) is movably connected with the mounting seat (3) through a connecting part (21);The mounting seat (3) is provided with a groove (31) and a cover plate (32);The connecting part (21) is a radially outwardly convex boss;The connecting part (21) is embedded in the groove (31);The cover plate (32) is provided with a through hole (321), and the upper part of the second rotary shaft (2) passes through the through hole (321), so that the boss abuts against the cover plate (32) in the axial direction;The cover plate (32) can be detachably fixed to the mounting seat (3).

3. The robotic grasping device of claim 2, wherein, The recoil ring (5) is arranged on the outer periphery of the connecting part (21), or the recoil ring (5) covers the connecting part (21).

4. The robotic grasping device of claim 2, wherein, The connecting part (21) and the groove (31) are movably limited in position, and the connecting part (21) and the groove (31) keep synchronous rotation;The bottom surface of the connecting part (21) and the groove (31) are connected by a key, and / or the cross section of the connecting part (21) and the outer cross section of the groove (31) are non-circular.

5. The robotic grasping device of claim 1, wherein, The upper part of the second rotary shaft (2) is sleeved in the first rotary shaft (1);The outer wall of the second rotary shaft (2) is sleeved with an elastic member (6);The upper end of the elastic member (6) abuts against the first rotary shaft (1) in the axial direction, and the lower end of the elastic member (6) abuts against the second rotary shaft (2) in the axial direction;The second rotary shaft (2) abuts against the first rotary shaft (1);The second rotary shaft (2) has a movable stroke relative to the first rotary shaft (1).

6. The robotic grasping device of claim 5, wherein, The upper end of the second rotary shaft (2) is provided with a first limiting boss (22), and the inner wall of the first rotary shaft (1) is provided with a second limiting boss (11) that is radially inwardly convex;The first limiting boss (22) can abut against the second limiting boss (11) in the axial direction; Or the upper end of the second rotary shaft (2) is provided with a first limiting boss (22), and the upper part of the first rotary shaft (1) is provided with a stop opening, and the first limiting boss (22) abuts against the stop opening.

7. The robotic grasping device of claim 1, wherein, The inner side wall of the first rotary shaft (1) is provided with a spline, and the outer side wall of the second rotary shaft (2) is provided with a spline groove; Or the inner side wall of the first rotary shaft (1) is provided with a spline groove, and the outer side wall of the second rotary shaft (2) is provided with a spline;The spline and the spline groove cooperate with each other to limit the relative rotation of the first rotary shaft (1) and the second rotary shaft (2);The spline groove has a movable allowance for the spline to move from a first position to a second position. And / or, the inner section of the first rotating shaft (1) and the outer section of the second rotating shaft (2) are non-circular, which can limit the relative rotation of the first rotating shaft (1) and the second rotating shaft (2).

8. The robotic grasping device of claim 1, wherein, The outer side of the first rotating shaft (1) is sleeved with a pneumatic slip ring (7), the inner wall of the pneumatic slip ring (7) and the inner wall of the first rotating shaft (1) are provided with a gap; the upper end of the pneumatic slip ring (7) is fixedly connected to a connecting seat (8).

9. The robotic gripping device of any one of claims 1, 2, or 5, wherein, The grabbing mechanism (4) is selected from a suction cup, and the suction cup is provided with an air pipe connected with an external air extraction device; Or the grabbing mechanism (4) comprises a material taking cylinder (41), a material taking mandrel (42) and a clamping cylinder (43); the material taking cylinder (41) is drivingly connected to the upper portion of the material taking mandrel (42) to drive the material taking mandrel (42) to reciprocate between a first position and a second position; the clamping cylinder (43) is connected with the material taking cylinder (41) and is sleeved outside the material taking mandrel (42); the distal end of the clamping cylinder (43) is provided with a plurality of elastic clamps (431) capable of expanding outward; The radius of the lower portion of the material taking mandrel (42) is greater than the radius of the distal end of the clamping cylinder (43) in a non-clamping state; when the material taking cylinder (41) drives the material taking mandrel (42) to move from the first position to the second position, the elastic clamps (431) at the distal end of the clamping cylinder (43) expand and become larger.

10. An industrial robot, characterized by The robot comprises a robot body, and the robot body is connected with the robot grabbing device according to any one of claims 1-9.

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