Forking and sucking combined type robot clamp mechanism

Abstract

The utility model provides a forking and sucking combined type robot clamp mechanism, belongs to the technical field of mechanical equipment, and solves the problems that most of existing robot clamp mechanisms are simple in function and only suitable for working environments with single-function tasks or actions, and the existing robot clamp mechanisms are not suitable for working environments with multiple actions and tasks needing to be completed. The technical problems that a required robot clamp is complex in structure, high in cost, poor in stability and the like are solved. Comprising a flange connecting disc, a profile frame, a sponge sucker and two interdigitals, profile connecting plates are fixed to the centers of the upper end face and the lower end face of the profile frame, a sucker connecting plate is fixed to the lower end of the lower profile connecting plate, the sponge sucker is connected with a vacuum pump through a pipeline, and a sliding assembly and a power assembly are fixed to the upper end of the profile frame. The pallet fork has the dual functions of forking empty pallets and adsorbing boxes, can complete two different actions, is matched with a robot, and can achieve the effects of being good in stability performance, high in automation degree and high in production efficiency.

Description

TECHNICAL FIELD

[0001] The utility model belongs to mechanical equipment technical field relates to a fork suction composite formula robot clamp mechanism. BACKGROUND

[0002] In modern industrial production enterprises, in order to improve work efficiency, reduce labor intensity, robot replaces people to complete some labor content single, labor intensity big work, so robot robot application is more and more widely.

[0003] The existing robot clamp mechanism mostly simple function, only applicable to single function task or action working environment. And for the working environment needing to complete multiple actions and tasks, the required robot clamp structure is complex, not only the cost is large, and the stability is poor.

[0004] Therefore, we propose a fork suction composite formula robot clamp mechanism, with the dual function of fork empty tray and suction box, can complete two different actions, cooperate with robot, can realize stable performance, high degree of automation, high production efficiency. Utility model content

[0005] The utility model aims at the above problems existing in prior art, proposes a fork suction composite formula robot clamp mechanism, and the utility model solves the technical problems: how to realize that the robot clamp mechanism has the dual function of fork empty tray and suction box, can complete two different actions, cooperate with robot, can realize stable performance, high degree of automation, high production efficiency.

[0006] The utility model can be realized by the following technical schemes:

[0007] A fork suction composite formula robot clamp mechanism, including flange connecting disc, profile frame, sponge suction cup and two symmetrical settings and mutually parallel fork fingers, the center position of the upper and lower end surfaces of profile frame is fixed with profile connecting plate, flange connecting disc is fixed in the center position of the upper end of the profile connecting plate located above, the lower end of the profile connecting plate located below is fixed with suction cup connecting plate, and the sponge suction cup is fixed in the lower end of the suction cup connecting plate, and the sponge suction cup is connected with vacuum pump through pipeline, the upper end of profile frame is fixed with two symmetrical settings sliding assembly, two sliding assemblies are located at the both sides of flange connecting disc respectively, two fork fingers are fixed on the sliding assembly of the same side respectively, the upper end of profile frame is equipped with two symmetrical settings power assembly, two power assemblies are located at the side away from flange connecting disc of two fork fingers respectively, and the rear side of two fork fingers is connected with the movement part of the power assembly of the same side respectively.

[0008] The working principle of the utility model is: when in use, the fixture mechanism is connected with the sixth axis of the robot through the flange connecting disc, the robot drives the fixture mechanism to move to the preset position, when the empty tray reaches the corresponding preset position, the power assembly drives the two prongs to move forward and extend, and then the prongs are inserted into the jack of the empty tray, then the robot drives the fixture mechanism and the empty tray to move upward, and then moves backward and downward, and the empty tray is placed in the preset stacking position, then the power assembly drives the prongs to reset and the prongs are separated from the jack of the empty tray, the dismounting and placing of the empty tray are completed, when the box is in place, the robot drives the fixture mechanism to move, so that the sponge suction cup contacts the box, the vacuum pump works, the box is adsorbed by the vacuum negative pressure principle, the robot drives the fixture mechanism and the box to move, and the box is stacked on the empty tray according to the stacking type and program, and the stacking of the box is completed.

[0009] The center position of the profile frame is a Chinese character-shaped structure, two profile connecting plates are fixed at the upper and lower ends of the Chinese character-shaped structure, the cross section of the suction cup connecting plate is a few character-shaped, the suction cup connecting plate is connected with the sponge suction cup through a plurality of screws and nuts, the upper end of the sponge suction cup is fixed with a pipe joint, and the pipe joint is communicated with the vacuum pump through a pipe.

[0010] By adopting the above structure, the profile connecting plate is used for fixing the flange connecting disc and the suction cup connecting plate at the center position of the profile frame, the suction cup connecting plate is used for fixing the sponge suction cup on the profile connecting plate, the screws and nuts are used for connecting the suction cup connecting plate and the sponge suction cup, and the pipe joint is used for connecting the pipe and the sponge suction cup.

[0011] The power assembly comprises a moving cylinder, a cylinder connecting plate and a transition plate, the moving cylinder is fixed at the upper end of the profile frame and is parallel to the sliding rail, the cylinder connecting plate is fixed at the moving end of the moving cylinder, the rear side of the prong is fixed with a prong connecting block, one end of the transition plate is fixed on the cylinder connecting plate, and the other end of the transition plate is fixed on the prong connecting block.

[0012] By adopting the above structure, the moving end of the moving cylinder moves, and the prong is driven to extend forward or reset through the cylinder connecting plate, the transition plate and the prong connecting block.

[0013] The cross section of the prong is inverted U-shaped, a plurality of weight reduction holes are formed in the upper end face of the prong, the front side lower end face of the prong is wedge-shaped, four rubber support groove blocks are fixed on the front side of the upper end of the profile frame, two rubber support groove blocks form a group, the two groups of rubber support groove blocks are symmetrically arranged, the two rubber support groove blocks in the same group are located below the front side of the corresponding prong, and the side wall of the prong is slidably in contact with the inside of the groove hole of the corresponding two rubber support groove blocks in the same group.

[0014] With the above structure, the interdigital is inverted U-shaped, which can improve the strength of the interdigital, improve the load capacity of the interdigital, open the hollow to reduce the weight of the interdigital, reduce the overall weight of the clamp mechanism, the lower end of the protruding end of the interdigital is wedge-shaped, which can facilitate the interdigital to extend into the jack of the empty tray, and the rubber support groove block can support the interdigital.

[0015] The sliding assembly comprises a sliding block connecting plate, a sliding rail, a sliding rail seat, an organ cover sealing plate, an organ cover, a buffer seat, a stopper and a dust cleaning brush, the sliding rail seat is fixed at the upper end of the profile frame, the sliding rail is fixed at the upper end of the sliding rail seat and is parallel to the interdigital, two sliding blocks are slidably arranged at the upper end of the sliding rail, the sliding block connecting plate is fixed at the upper end of the two sliding blocks and is fixedly connected with the lower end of the rear side of the interdigital on the same side, the organ cover sealing plate is fixed at the rear side of the upper end of the profile frame and is located corresponding to the sliding rail, the organ cover is fixedly connected between the sliding block connecting plate and the organ cover sealing plate, the sliding rail is located inside the organ cover, the dust cleaning brush is fixed at the front side of the sliding block connecting plate and contacts the sliding rail and the sliding rail seat, the buffer seat is fixed at the front side of the upper end of the profile frame and is located corresponding to the sliding rail, the stopper is made of rubber and is fixed at the rear side of the buffer seat, and the height of the stopper corresponds to the height of the sliding block connecting plate.

[0016] With the above structure, the sliding rail seat is used for installing the sliding rail, the sliding block and the sliding rail cooperate to realize the sliding of the interdigital on the profile frame, the two sliding blocks arranged on the sliding rail can make the movement of the interdigital more stable and increase the strength of the clamp mechanism, the sliding block connecting plate is used for connecting the two sliding blocks and the interdigital, the buffer seat is used for installing the stopper, and the stopper can slow down and block the movement of the interdigital forward. The organ cover can be telescoped with the movement of the sliding block connecting plate to prevent dust, oil stains and sundries from falling on the sliding rail, affecting the use and precision of the sliding rail, the organ cover sealing plate is used for fixing the organ cover, and the dust cleaning brush can move with the sliding block connecting plate to clean the sliding rail, avoiding the influence of dust and sundries on the movement of the sliding block.

[0017] Compared with the prior art, the present fork-suction composite robot clamp mechanism has the following advantages:

[0018] 1. The profile frame, the interdigital, the sliding assembly and the power assembly cooperate to realize the extension and retraction of the interdigital, complete the fork picking of the empty tray, the sponge suction cup cooperates with the vacuum pump to realize the adsorption of the box body by the sponge suction cup, the interdigital and the sponge suction cup are integrated together, the clamp mechanism has the dual functions of fork picking the empty tray and adsorbing the box body, and can complete two different actions on the same production line, without the need to set two mechanisms or two stations, saving cost and time and reducing labor intensity.

[0019] 2. The flange connecting disc, profile connecting plate, profile frame, sliding assembly and suction disc connecting plate cooperate to firmly connect the prongs and the sponge suction disc together, and the clamp mechanism is installed on the robot, so that the structure is simple, the connection is firm, and the connection strength is high.

[0020] 3. The sliding block connecting plate, sliding rail, sliding rail seat and two sliding blocks cooperate to make the movement of the prongs more stable and enhance the stability of the clamp mechanism.

[0021] 4. The buffer seat and the stopper cooperate to limit and block during the forward movement of the prongs, avoid impact damage to the clamp mechanism, and make the operation of the mechanism more stable.

[0022] 5. The organ cover and the sliding block connecting plate cooperate to dustproof the sliding rail, avoid dust and sundries from falling on the sliding rail, the sliding block connecting plate and the dust cleaning brush cooperate to clean the dust and sundries on the sliding rail, maintain the precision of the sliding rail and the sliding block, and prolong the service life. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 is a structural schematic view of the utility model.

[0024] Figure 2 is a structural schematic view of the sliding assembly and the power assembly in the utility model.

[0025] Figure 3 is a structural schematic view of the profile frame in the utility model.

[0026] Figure 4 is a structural schematic view of the flange connecting disc, profile connecting plate, suction disc connecting plate and sponge suction disc in the utility model.

[0027] In the figure, 1 is a flange connecting disc, 2 is a profile connecting plate, 3 is a profile frame, 4 is a suction disc connecting plate, 5 is a sponge suction disc, 6 is a moving air cylinder, 7 is an air cylinder connecting plate, 8 is a transition plate, 9 is a prong connecting block, 10 is a prong, 11 is a sliding block connecting plate, 12 is a sliding block, 13 is a sliding rail, 14 is a sliding rail seat, 15 is an organ cover sealing plate, 16 is an organ cover, 17 is a buffer seat, 18 is a stopper, 19 is a rubber support groove block, 20 is a dust cleaning brush, 21 is a screw, 22 is a nut, and 23 is a pipe joint. DETAILED DESCRIPTION

[0028] The following is a specific embodiment of the utility model and further describes the technical scheme of the utility model in combination with the drawings, but the utility model is not limited to these embodiments.

[0029] For example, Figures 1-4As shown, the fork-suction composite robot clamp mechanism comprises a flange connecting disc 1, a profile frame 3, a sponge suction disc 5 and two symmetrical and parallel forks 10. The profile connecting plates 2 are fixed at the central positions of the upper and lower end faces of the profile frame 3. The flange connecting disc 1 is fixed at the central position of the upper end of the upper profile connecting plate 2. The suction disc connecting plate 4 is fixed at the lower end of the lower profile connecting plate 2. The sponge suction disc 5 is fixed at the lower end of the suction disc connecting plate 4 and is connected with a vacuum pump through a pipeline. The profile frame 3 is provided with two symmetrical sliding assemblies fixed at the upper end thereof. The two sliding assemblies are respectively located at the two sides of the flange connecting disc 1. The two forks 10 are respectively fixed on the sliding assemblies at the same side. The profile frame 3 is provided with two symmetrical power assemblies at the upper end thereof. The two power assemblies are respectively located at the sides of the two forks 10 away from the flange connecting disc 1. The rear sides of the two forks 10 are respectively connected with the moving parts of the power assemblies at the same side.

[0030] In use, in the embodiment, the clamp mechanism is connected with the sixth axis of the robot through the flange connecting disc 1. The robot drives the clamp mechanism to move to a preset position and stop. When the empty tray reaches the corresponding preset position, the power assemblies drive the two forks 10 to move forward and extend into the insertion hole of the empty tray. Then the robot drives the clamp mechanism and the empty tray to move upward, and then moves backward and downward to place the empty tray at a preset stacking position. Then the power assemblies drive the forks 10 to reset and move out of the insertion hole of the empty tray, thereby completing the dismounting and placing of the empty tray. When the box is in place, the robot drives the clamp mechanism to move so that the sponge suction disc 5 contacts the box. The vacuum pump works to adsorb the box by using the principle of vacuum negative pressure. The robot drives the clamp mechanism and the box to move to stack the box on the empty tray, thereby completing the stacking of the box.

[0031] The central position of the profile frame 3 is in the shape of a Chinese character “zhong”. The two profile connecting plates 2 are respectively fixed at the upper and lower ends of the Chinese character “zhong”. The suction disc connecting plate 4 is in the shape of a Chinese character “xi”. The suction disc connecting plate 4 is connected with the sponge suction disc 5 through a plurality of screws 21 and nuts 22. The upper end of the sponge suction disc 5 is fixed with a pipeline joint 23. The pipeline joint 23 is communicated with the vacuum pump through a pipeline.

[0032] In the embodiment, the profile connecting plates 2 are used to fix the flange connecting disc 1 and the suction disc connecting plate 4 at the central position of the profile frame 3. The suction disc connecting plate 4 is used to fix the sponge suction disc 5 on the profile connecting plate 2. The screws 21 and the nuts 22 are used to connect the suction disc connecting plate 4 and the sponge suction disc 5. The pipeline joint 23 is used to connect the pipeline and the sponge suction disc 5.

[0033] The power assembly comprises a moving cylinder 6, a cylinder connecting plate 7 and a transition plate 8, the moving cylinder 6 is fixed on the upper end of the profile frame 3 and parallel to the slide rail 13, the cylinder connecting plate 7 is fixed on the moving end of the moving cylinder 6, the finger connecting block 9 is fixed on the rear side of the finger 10, one end of the transition plate 8 is fixed on the cylinder connecting plate 7, and the other end of the transition plate 8 is fixed on the finger connecting block 9.

[0034] In the embodiment, the moving end of the moving cylinder 6 moves, and the finger 10 is driven by the cylinder connecting plate 7, the transition plate 8 and the finger connecting block 9 to extend forward or reset.

[0035] The cross section of the finger 10 is inverted U-shaped, a plurality of lightening holes are formed on the upper end surface of the finger 10, the front lower end surface of the finger 10 is wedge-shaped, four rubber support groove blocks 19 are fixed on the front side of the upper end of the profile frame 3, two rubber support groove blocks 19 form a group, the two groups of rubber support groove blocks 19 are symmetrically arranged, the two rubber support groove blocks 19 in the same group are located below the corresponding front side of the finger 10, and the side wall of the finger 10 slides and abuts against the inside of the groove hole of the corresponding two rubber support groove blocks 19 in the same group.

[0036] In the embodiment, the finger 10 is inverted U-shaped, which can improve the strength and load capacity of the finger 10, the hollow can reduce the weight of the finger 10 and the overall weight of the clamp mechanism, the lower end of the extending end of the finger 10 is wedge-shaped, which can facilitate the finger 10 to extend into the insertion hole of the empty tray, and the rubber support groove block 19 can support the finger 10.

[0037] The sliding assembly comprises a sliding block connecting plate 11, a slide rail 13, a slide rail seat 14, an organ cover sealing plate 15, an organ cover 16, a buffer seat 17, a stop block 18 and a dust cleaning brush 20, the slide rail seat 14 is fixed on the upper end of the profile frame 3, the slide rail 13 is fixed on the upper end of the slide rail seat 14, and the slide rail 13 is parallel to the finger 10, two sliding blocks 12 are slidably arranged on the upper end of the slide rail 13, the sliding block connecting plate 11 is fixed on the upper ends of the two sliding blocks 12, and the upper end of the sliding block connecting plate 11 is fixedly connected with the lower end of the rear side of the finger 10 on the same side, the organ cover sealing plate 15 is fixed on the rear side of the upper end of the profile frame 3, and the position of the organ cover sealing plate 15 corresponds to the slide rail 13, the organ cover 16 is fixedly connected between the sliding block connecting plate 11 and the organ cover sealing plate 15, the slide rail 13 is located in the organ cover 16, the dust cleaning brush 20 is fixed on the front side of the sliding block connecting plate 11, and the lower end of the dust cleaning brush 20 is in contact with the slide rail 13 and the slide rail seat 14, the buffer seat 17 is fixed on the front side of the upper end of the profile frame 3, and the position of the buffer seat 17 corresponds to the slide rail 13, the stop block 18 is made of rubber material, and the stop block 18 is fixed on the rear side of the buffer seat 17, and the height of the stop block 18 corresponds to the height of the sliding block connecting plate 11.

[0038] In the embodiment, the slide rail seat 14 is used for mounting the slide rail 13, the slide block 12 and the slide rail 13 cooperate, the slide of the prong 10 on the profile rack 3 can be realized, two slide blocks 12 are arranged on the slide rail 13, the movement of the prong 10 is more stable, and the strength of the clamp mechanism is increased, the slide block connecting plate 11 is used for connecting the two slide blocks 12 and the prong 10, the buffer seat 17 is used for mounting the stop block 18, the stop block 18 can play a role of deceleration and blocking in the process of the forward movement of the prong 10. The organ cover 16 is telescopic with the movement of the slide block connecting plate 11, dustproof treatment can be carried out on the slide rail 13, some dust, oil stains and sundries are prevented from falling on the slide rail 13, the use and precision of the slide rail 13 are affected, the organ cover sealing plate 15 is used for fixing the organ cover 16, the dust cleaning brush 20 moves with the slide block connecting plate 11, and the slide rail 13 can be cleaned, so that the movement of the slide block 12 is not affected by dust and sundries.

[0039] The utility model discloses a working principle: when using, the fixture mechanism is connected with the sixth axis of robot through the flange connecting disc 1, and the robot drives the fixture mechanism to move to the preset position and stays, when the empty tray reaches the corresponding preset position, the moving end of moving cylinder 6 moves, and the prongs 10 are driven to stretch forward through the cylinder connecting plate 7, transition plate 8 and interdigital connecting block 9 and are inserted into the jack of empty tray, then the robot drives the fixture mechanism and empty tray to move upwards, and moves backwards and downwards again, places the empty tray in the preset stacking position, then the moving end of moving cylinder 6 moves, and the prongs 10 are reset through the cylinder connecting plate 7, transition plate 8 and interdigital connecting block 9 and are separated from the jack of empty tray, complete the disassembly and placement of empty tray, when the box is in place, the robot drives the fixture mechanism to move, makes the sponge suction cup 5 contact the box, and the vacuum pump works, utilizes the vacuum negative pressure principle to adsorb the box, and the robot drives the fixture mechanism and the box to move, and according to the type and procedure, the box is stacked on the empty tray, and the stacking of the box is completed, the slide rail seat 14 is used for installing slide rail 13, and the slide block 12 and slide rail 13 are matched, can realize the sliding of prongs 10 on the profile rack 3, and the two slide blocks 12 on slide rail 13 can make the movement of prongs 10 more stable, and increase the strength of mechanism, the slide block connecting plate 11 is used for connecting two slide blocks 12 and prongs 10, and the buffer seat 17 is used for installing the stopper 18, and the stopper 18 can play the role of deceleration blocking in the process of the forward movement of prongs 10, and the organ cover 16 telescopes along with the movement of slide block connecting plate 11, can carry out the dustproof treatment to slide rail 13, prevents some dust, oil stains and sundries from falling on slide rail 13, influences the use and precision of slide rail 13, the organ cover sealing plate 15 is used for fixing organ cover 16, and the dust brush 20 moves along with slide block connecting plate 11, can clean slide rail 13, avoids the influence of dust and sundries on the movement of slide block 12, the profile connecting plate 2 is used for fixing flange connecting disc 1 and suction disc connecting plate 4 at the central position of profile rack 3, the suction disc connecting plate 4 is used for fixing sponge suction cup 5 on profile connecting plate 2, the screw 21 and nut 22 are used for connecting suction disc connecting plate 4 and sponge suction cup 5, the pipe joint 23 is used for connecting pipeline and sponge suction cup 5, the prongs 10 are inverted U-shaped, can improve the strength of prongs 10, improve the load capacity of prongs 10, open the hollow to reduce the weight of prongs 10, reduce the overall weight of fixture mechanism, and the lower end of the stretch-out end of prongs 10 is wedge-shaped, can facilitate the insertion of prongs 10 into the jack of empty tray, and the rubber support groove block 19 can support prongs 10.

[0040] In summary, through the cooperation of the profile frame 3, the interdigital 10, the sliding assembly and the power assembly, the extension and retraction of the interdigital 10 can be realized, the empty tray is forked, through the cooperation of the sponge suction cup 5 and the vacuum pump, the sponge suction cup can be adsorbed to the box body, the interdigital 10 and the sponge suction cup 5 are integrated together, so that the clamp mechanism has the dual functions of forking the empty tray and adsorbing the box body, and two different actions can be completed on the same production line, without the need to set two mechanisms or two stations, saving cost and time, and reducing labor intensity;

[0041] Through the cooperation of the flange connecting disc 1, the profile connecting plate 2, the profile frame 3, the sliding assembly and the suction cup connecting plate 4, the interdigital 10 and the sponge suction cup 5 can be firmly connected together, and the clamp mechanism is installed on the robot, which is simple in structure, firm in connection and high in connection strength.

[0042] Through the cooperation of the sliding block connecting plate 11, the sliding rail 13, the sliding rail seat 14 and the two sliding blocks 12, the movement of the interdigital 10 can be more stable, and the stability of the clamp mechanism is enhanced.

[0043] Through the cooperation of the buffer seat 17 and the stopper 18, the limiting and blocking effect can be achieved during the forward movement of the interdigital 10, impact damage to the clamp mechanism is avoided, and the operation of the mechanism is more stable.

[0044] Through the cooperation of the organ cover 16 and the sliding block connecting plate 11, the dustproof treatment of the sliding rail 13 can be achieved, dust and sundries are prevented from falling on the sliding rail 13, through the cooperation of the sliding block connecting plate 11 and the dust cleaning brush 20, the dust and sundries on the sliding rail 13 can be cleaned, the precision of the sliding rail 13 and the sliding block 12 is maintained, and the service life is prolonged.

[0045] The specific embodiments described in the present application are only illustrative of the spirit of the present application. Those skilled in the art to which the present application belongs can make various modifications or supplements to the described specific embodiments or use similar ways to replace, but will not deviate from the spirit of the present application or exceed the scope defined by the appended claims.

Claims

1. A fork-suction combined robot gripper mechanism, a flange connection plate (1), a profile frame (3), a sponge suction cup (5) and two symmetrical and parallel forked fingers (10), characterized in that, The center position of the upper and lower end faces of the profile frame (3) is fixed with a profile connecting plate (2), the flange connecting disc (1) is fixed at the center position of the upper end of the upper profile connecting plate (2), the lower end of the lower profile connecting plate (2) is fixed with a suction disc connecting plate (4), the sponge suction disc (5) is fixed at the lower end of the suction disc connecting plate (4), and the sponge suction disc (5) is connected with the vacuum pump through the pipeline, the upper end of the profile frame (3) is fixed with two symmetrical sliding assemblies, the two sliding assemblies are located on the two sides of the flange connecting disc (1) respectively, two prongs (10) are fixed on the sliding assemblies on the same side respectively, the upper end of the profile frame (3) is provided with two symmetrical power assemblies, the two power assemblies are located on the sides away from the flange connecting disc (1) of the two prongs (10) respectively, and the rear sides of the two prongs (10) are connected with the moving parts of the power assemblies on the same side respectively.

2. The fork and suction combined robot gripper mechanism according to claim 1, wherein The center position of the profile frame (3) is a Chinese character structure, two profile connecting plates (2) are fixed at the upper and lower ends of the Chinese character structure respectively, the cross section of the suction disc connecting plate (4) is a few Chinese characters, the suction disc connecting plate (4) and the sponge suction disc (5) are connected through cooperation of a plurality of screws (21) and nuts (22), the upper end of the sponge suction disc (5) is fixed with a pipeline joint (23), and the pipeline joint (23) is communicated with the vacuum pump through the pipeline.

3. The fork and suction combined robot gripper mechanism according to claim 2, wherein The power assembly comprises a moving air cylinder (6), an air cylinder connecting plate (7) and a transition plate (8), the moving air cylinder (6) is fixed at the upper end of the profile frame (3) and parallel to the sliding rail (13), the air cylinder connecting plate (7) is fixed on the moving end of the moving air cylinder (6), the rear side of the prong (10) is fixed with a prong connecting block (9), one end of the transition plate (8) is fixed on the air cylinder connecting plate (7), and the other end of the transition plate (8) is fixed on the prong connecting block (9).

4. The fork and suction combined robot gripper mechanism according to claim 3, wherein The cross section of the prong (10) is inverted U-shaped, a plurality of weight reduction holes are formed in the upper end face of the prong (10), the front lower end face of the prong (10) is wedge-shaped, four rubber support groove blocks (19) are fixed on the front side of the upper end of the profile frame (3), two rubber support groove blocks (19) form a group, two groups of rubber support groove blocks (19) are symmetrically arranged, the two rubber support groove blocks (19) in the same group are located below the front side of the corresponding prong (10), and the side wall of the prong (10) slides and abuts in the groove hole of the corresponding two rubber support groove blocks (19) in the same group.

5. The fork and suction combined robot gripper mechanism according to claim 4, wherein, The sliding assembly comprises a slider connecting plate (11), a slide rail (13), a slide rail seat (14), an organ shroud sealing plate (15), an organ shroud (16), a buffer seat (17), a stop block (18) and a dust cleaning brush (20), the slide rail seat (14) is fixed at the upper end of the profile frame (3), the slide rail (13) is fixed at the upper end of the slide rail seat (14), the slide rail (13) is parallel to the interdigital (10), two sliders (12) are slidably arranged at the upper end of the slide rail (13), the slider connecting plate (11) is fixed at the upper end of the two sliders (12), the upper end of the slider connecting plate (11) is fixedly connected with the lower end of the rear side of the interdigital (10) on the same side, the organ shroud sealing plate (15) is fixed at the rear side of the upper end of the profile frame (3), the position of the organ shroud sealing plate (15) corresponds to the slide rail (13), the organ shroud (16) is fixedly connected between the slider connecting plate (11) and the organ shroud sealing plate (15), the slide rail (13) is located in the interior of the organ shroud (16), the dust cleaning brush (20) is fixed at the front side of the slider connecting plate (11), the lower end of the dust cleaning brush (20) is in contact with the slide rail (13) and the slide rail seat (14), the buffer seat (17) is fixed at the front side of the upper end of the profile frame (3), the position of the buffer seat (17) corresponds to the slide rail (13), the stop block (18) is made of rubber material, the stop block (18) is fixed at the rear side of the buffer seat (17), the height of the stop block (18) corresponds to the height of the slider connecting plate (11).

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