A robot gripper and robot

Abstract

The utility model discloses a kind of gripper and robot of robot, gripper includes: lifting device, the lifting device is installed at the end of the mechanical arm of robot;Clamping device, the clamping device is configured as holding cleaning device, the clamping device is detachably connected with the lifting device, and the lifting device adjusts the distance between the clamping device and the end of the mechanical arm.In the process of installing gripper, lifting device is installed at mechanical arm, clamping device is connected with lifting device, and the distance of clamping device relative to mechanical arm is lifted using lifting device, to facilitate operator to connect clamping device with mechanical arm.The gripper of the robot of the embodiment of the application in the process of installation, the distance of clamping device relative to mechanical arm is changed using lifting device, without manual lifting, also without manually carrying clamping device to mechanical arm, therefore, it is favorable to reduce the labor intensity of operator.

Description

Technical Field

[0001] This utility model relates to the technical field of photovoltaics, and in particular to a robot, and even more particularly to a gripper for the robot. Background Technology

[0002] In the photovoltaic field, robots are used to handle the handling of photovoltaic modules or the cleaning of photovoltaic panels.

[0003] Robotic arms typically have grippers at their ends to hold and hold cleaning devices, photovoltaic modules, and other objects. However, existing robotic grippers usually require manual handling to reach the robotic arm and manual lifting to connect them, resulting in high labor intensity.

[0004] Therefore, how to reduce the labor intensity during the fixture installation process of robots is a technical problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0005] In view of this, the present invention provides a gripper for a robot, reducing the labor intensity during the gripper installation process. Furthermore, the present invention also provides a robot having the aforementioned gripper.

[0006] To achieve the above objectives, this utility model provides the following technical solution:

[0007] A gripper for a robot, comprising:

[0008] A lifting device, which is mounted on the end of the robot's robotic arm;

[0009] A gripping device configured to grip a clamped part, the gripping device being detachably connected to the lifting device, and the lifting device adjusting the distance between the gripping device and the end of the robotic arm.

[0010] Preferably, in the above-mentioned robot gripper, the lifting device includes: a connector, which is detachably connected to the gripping device, and the connector is capable of extending and retracting along the line connecting the end of the robotic arm and the gripping device;

[0011] A first driving member is connected to the connecting member and is configured to drive the connecting member to extend or retract.

[0012] Preferably, in the above-mentioned robot gripper, the connecting member is a rope, one end of which is detachably connected to the gripping device; the lifting device further includes a rotating member, which is rotatably mounted on the robotic arm, and the other end of the rope is wound around the rotating member; the driving member is connected to the rotating member in a transmission manner; the first driving member is a rotating handle, and the rotating handle is fixedly connected to the rotating member.

[0013] Preferably, in the above-mentioned robot gripper, the gripping device includes: a gripper fixing bracket, which is detachably connected to the lifting device;

[0014] The gripper is rotatably connected to the gripper fixing bracket and is configured to grip the clamped part.

[0015] Preferably, in the above-mentioned robot gripper, the gripper includes a first gripping part and a second gripping part;

[0016] A clamping space is formed between the first clamping part and the second clamping part. At least one of the first clamping part and the second clamping part is hinged to the claw fixing bracket, and the rotation direction of the first clamping part and the second clamping part that is hinged to the claw fixing bracket includes directions toward and away from the other.

[0017] Preferably, in the above-described robot gripper, at least one of the first gripping part near the second gripping part and the second gripping part near the first gripping part is provided with an anti-slip component.

[0018] Preferably, in the above-mentioned robot gripper, the gripping device further includes: a second driving member, both the first gripping part and the second gripping part are hinged to the gripper fixing bracket, and at least one of the second driving members is drivenly connected to the first gripping part and at least one of the second driving members is drivenly connected to the second gripping part.

[0019] Preferably, the gripper of the robot described above further includes a first fixing plate, which is hinged to the robotic arm, and the lifting device is mounted on the first fixing plate.

[0020] Preferably, in the above-mentioned robot gripper, a second fixing plate is fixedly provided on the gripper fixing bracket, and the second fixing plate is detachably connected to the connector;

[0021] The second fixing plate can be assembled and connected with the first fixing plate, and one of the first fixing plate and the second fixing plate has a positioning shaft and the other has a shaft hole, and the positioning shaft and the shaft hole can be connected in a fitting manner.

[0022] A robot includes a robotic arm and a gripper, said gripper being a gripper as described in any of the preceding claims.

[0023] This utility model discloses a robot gripper. During the gripper installation process, a lifting device is mounted on the robotic arm, connecting the gripping device to the lifting device. The lifting device increases the distance between the gripping device and the robotic arm, facilitating the operator's connection of the gripping device to the robotic arm. In this embodiment, the robot gripper uses a lifting device to change the distance between the gripping device and the robotic arm during installation, eliminating the need for manual lifting or transporting of the gripping device to the robotic arm. Therefore, it helps reduce the operator's workload.

[0024] This utility model embodiment also discloses a robot having the above-mentioned gripper. Therefore, the robot also has all the above-mentioned technical effects, which will not be repeated here. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a schematic diagram of the structure of the robot disclosed in an embodiment of the present utility model;

[0027] Figure 2 for Figure 1 A magnified view of part A in the image;

[0028] Figure 3 This is a schematic diagram of the robot's gripper during the lifting process, as disclosed in an embodiment of this utility model.

[0029] Figure 4 This is a schematic diagram of the gripper of the robot disclosed in the embodiment of the present utility model in the connected state;

[0030] Figure 5 This is a structural diagram of the robot in use according to an embodiment of the present invention.

[0031] 1-Clamping device; 2-Robotic arm; 3-Chassis; 4-Cleaning device.

[0032] 11-Lifting device, 12-Clamping device, 13-First fixed plate, 111-Connector, 112-Mounting base, 113-Rotating component, 114-Rotating handle;

[0033] 121-Gripper fixing bracket, 1211-Connecting shaft, 122-Second driving component, 123-Second fixing plate, 124-First connecting arm, 125-Second connecting arm, 126-Gripper, 127-Anti-slip component, 1261-First clamping part, 1262-Second clamping part;

[0034] 21-First hinge frame, 22-Second hinge frame. Detailed Implementation

[0035] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0036] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0037] In the photovoltaic (PV) industry, robots are often used to handle the handling of PV modules and the cleaning of PV panels. For example, a PV power plant contains multiple PV modules. These modules are placed outdoors for extended periods, causing dust and impurities to accumulate on their panels, affecting their power generation efficiency. To ensure the proper functioning of the PV modules, their panels need to be cleaned.

[0038] The end effector of a robot's robotic arm typically needs to be equipped with a gripper to hold and fix the cleaning device or photovoltaic module. However, the gripper of existing robots usually needs to be manually moved to the robotic arm and connected to the robotic arm by manual lifting, which results in high labor intensity.

[0039] Based on the above-mentioned technical problems, this application discloses a gripper for a robot. The gripper uses a lifting device to pre-install the gripper and the robotic arm, eliminating the need for manual handling and lifting of the gripper, thereby reducing the labor intensity of the operator.

[0040] The following combination Figure 1 The structure of the robot in the diagram illustrates the connection relationship of the grippers.

[0041] like Figure 1 As shown in the embodiments of this application, the robot disclosed includes a gripper 1, a robotic arm 2, and a chassis 3.

[0042] One end of the robotic arm 2 is connected to the chassis 3, and the other end is connected to the gripper 1. The robotic arm 2 and the chassis 3 are connected by a rotatable connection, including but not limited to the chassis 3 having a tracked walking device. The robotic arm 2 is, including but not limited to, a multi-joint robotic arm.

[0043] The fixture 1 includes a lifting device 11, a gripping device 12, and a first fixing plate 13.

[0044] Combination Figure 1 and Figure 2 As shown, the lifting device 11 is installed at the end of the robot's robotic arm 2. Optionally, the lifting device 11 is installed on the first fixed plate 13, which is hinged to the end of the robotic arm 2.

[0045] In some embodiments, the end of the robotic arm 2 has a first hinge frame 21 and a second hinge frame 22. The second hinge frame 22 may include, but is not limited to, a triangular structure, with two corners of the second hinge frame 22 fixedly connected to the first fixing plate 13, and the other corner of the second hinge frame 22 hinged to the robotic arm 2.

[0046] One end of the first articulated frame 21 is hinged to the robotic arm 2, and the other end is hinged to the second articulated frame 22. The first articulated frame 21 is connected to the driver of the robotic arm 2. The driver can drive the first articulated frame 21 to rotate. The rotation of the first articulated frame 21 will drive the second articulated frame 22 to rotate, so that the first fixed plate 13 moves accordingly.

[0047] As the first fixed plate 13 rotates with the second hinge frame 22, the angle of the first fixed plate 13 relative to the robotic arm 2 can change, thereby changing the angle of the clamp 1 relative to the robotic arm 2 and enabling the clamp 1 to adapt to photovoltaic panels with different tilt angles.

[0048] The gripping device 12 is configured to grip a clamped part, which, for example, includes, but is not limited to, the cleaning device 4. Figure 5 (As shown in the image), the cleaning device 4 cleans the photovoltaic panel. It should be noted that the clamping device 12 described herein can also clamp other structures, such as photovoltaic modules, as needed. The cleaning device 4 in this application includes, but is not limited to, a roller brush. This description uses the clamped component as an example; for clamping other structures, please refer to this description.

[0049] The gripping device 12 is detachably connected to the lifting device 11, and the lifting device 11 adjusts the distance between the gripping device 12 and the end of the robotic arm 2. It can be understood that the lifting device 11 can raise the height of the gripping device 12 and change the distance between the gripping device 12 and the robotic arm 2 so as to facilitate the connection between the gripping device 12 and the robotic arm 2.

[0050] The robot gripper disclosed in this application includes a lifting device 11 and a gripping device 12. The lifting device 11 is mounted on the end of the robotic arm 2, and the lifting device 11 and the gripping device 12 are detachably connected. The lifting device 11 can lift the gripping device 12 to move it, thereby changing the distance between the gripping device 12 and the robotic arm 2. With the above structure, during the installation of the gripper, the lifting device 11 is pre-installed on the robotic arm 2, the gripping device 12 is connected to the lifting device 11, and the lifting device 11 is used to increase the distance between the gripping device 12 and the robotic arm 2, making it easier for the operator to connect the gripping device 12 to the robotic arm 2.

[0051] In the installation process of the robot's gripper in this embodiment, the lifting device 11 is used to change the distance between the gripping device 12 and the robotic arm 2, so that no manual lifting or carrying of the gripping device 12 to the robotic arm 2 is required. Therefore, it is beneficial to reduce the labor intensity of the operator.

[0052] The following combination Figure 3 The specific structure and connection relationship of the lifting device 11 and the clamping device 12 disclosed in the embodiments of this application will be described.

[0053] like Figure 3 As shown, the lifting device 11 includes: a connector 111, a mounting base 112, a rotating component 113, and a rotating handle 114.

[0054] The connector 111 is made of a flexible material with a certain degree of toughness. Optionally, the connector 111 may be, but is not limited to, a rope, and the material of the rope may be, but is not limited to, metal or nylon.

[0055] One end of the connector 111 is detachably connected to the gripping device 12, and the other end of the connector 111 is wound around the rotating member 113. The distance between the gripping device 12 and the robotic arm 2 can be adjusted according to the length of the connector 111 released.

[0056] Mounting base 112 is mounted on the first fixing plate 13. Optionally, mounting base 112 is fixed to the first fixing plate 13 by threaded connectors. There are two mounting bases 112.

[0057] The rotating component 113 is rotatably mounted on the mounting base 112. Optionally, the two ends of the rotating component 113 along the axial direction are respectively mounted on the corresponding sides of the mounting base 112. The rotating component 113 includes, but is not limited to, a rotating shaft, and one end of a rope is fixedly connected to the rotating shaft.

[0058] The rotating handle 114 is fixedly connected to the rotating component 113. The operator can rotate the rotating handle 114 to rotate the rotating component 113, thereby releasing and tightening the rope.

[0059] In this embodiment of the application, the rotating handle 114 serves as the first driving member for driving the rotating member 113 to rotate. Its shape and size can be set according to different needs, and all are within the protection range.

[0060] This application embodiment uses a rotary handle 114 as the power structure to drive the rotation of the rotating component 113. It is driven by human power and can be adapted to scenarios with limited electricity. For example, the clamp using the rotary handle 114 can be applied to scenarios such as deserts, and the installation of the clamp reduces the reliance on the power system.

[0061] In other alternative embodiments, the connecting member 111 described above may also be the cylinder rod of the cylinder, and the first driving member may be the cylinder seat of the cylinder.

[0062] The cylinder seat is mounted on the robotic arm 2, preferably on the first fixed plate 13. The cylinder rod is connected to the cylinder seat to form a cylinder structure, and the end of the cylinder rod is detachably connected to the gripping device 12.

[0063] During the extension and retraction of the cylinder rod relative to the cylinder seat, the distance between the gripping device 12 and the end of the robotic arm 2 can be adjusted. It is understood that the connector 111 in this application can extend and retract along the line connecting the end of the robotic arm 2 and the gripping device 12. Therefore, all connectors 111 that can achieve this purpose are within the scope of protection.

[0064] The gripping device 12 disclosed in this application embodiment includes: a gripper fixing bracket 121, a second driving member 122, a second fixing plate 123, a first connecting arm 124, a second connecting arm 125, a gripper 126, and an anti-slip member 127.

[0065] The gripper fixing bracket 121 is detachably connected to the lifting device 11. The gripper fixing bracket 121 in this application includes a crossbeam and a longitudinal beam, which are arranged crosswise and fixedly connected. Optionally, the number of crossbeams and longitudinal beams can be set according to different needs, and all are within the protection range. It should be noted that the gripper fixing bracket 121 is the installation base, and its specific structure and dimensions can be set according to different needs.

[0066] A second fixing plate 123 is fixed at the middle position of the gripper fixing bracket 121. Optionally, the second fixing plate 123 and the gripper fixing bracket 121 are fixedly connected by threaded parts, including but not limited to.

[0067] The shape and size of the second fixing plate 123 are not specifically limited. This application exemplarily provides that the second fixing plate 123 is a rectangular plate. In other optional embodiments, the second fixing plate 123 may also be a circular plate.

[0068] It should be noted that the plates in this application are not limited to flat plates, but can also be curved plates, etc.

[0069] The gripper 126 is configured to grip the cleaning device 4, and the gripper 126 is rotatably connected to the gripper fixing bracket 121. During the rotation of the gripper 126 relative to the gripper fixing bracket 121, the angle of the gripper 126 relative to the gripper fixing bracket 121 can be changed, thereby adjusting the position of the cleaning device 4.

[0070] In addition, the gripper 126 is rotatably connected to the gripper fixing bracket 121, and the size of the gripping space of the gripper 126 can be adjusted.

[0071] Specifically, the gripper 126 includes a first gripping part 1261 and a second gripping part 1262.

[0072] A clamping space is formed between the first clamping part 1261 and the second clamping part 1262, and both the first clamping part 1261 and the second clamping part 1262 are hinged to the gripper fixing bracket 121.

[0073] As the first clamping part 1261 and the second clamping part 1262 rotate away from each other, the clamping space between them gradually increases; as the first clamping part 1261 and the second clamping part 1262 rotate towards each other, the clamping space between them gradually decreases; the size of the clamping space between the first clamping part 1261 and the second clamping part 1262 can also be adjusted during the rotation of either the first clamping part 1261 or the second clamping part 1262. By changing the size of the clamping space, it is possible to clamp items of different sizes, and to achieve clamping and releasing of the clamped items.

[0074] Furthermore, if the first clamping part 1261 and the second clamping part 1262 rotate in the same direction, the position of the cleaning device 4 will change to adapt to different cleaning needs.

[0075] In other alternative embodiments, one of the first clamping portion 1261 and the second clamping portion 1262 may be hinged to the gripper fixing bracket 121, and the rotation direction of the one hinged to the gripper fixing bracket 121 includes directions toward and away from the other, so as to change the size of the clamping space.

[0076] The first clamping part 1261 and the second clamping part 1262 disclosed in the embodiments of this application have the same structure and are both comb tooth structures. The comb teeth of the first clamping part 1261 and the comb teeth of the second clamping part 1262 are arranged opposite to each other.

[0077] The first clamping part 1261 and the second clamping part 1262 are connected to the gripper fixing bracket 121 in the same way. The following description will focus on the connection between the second clamping part 1262 and the gripper fixing bracket 121. The connection between the first clamping part 1261 and the gripper fixing bracket 121 can be found in the following description.

[0078] Specifically, the second clamping part 1262 is fixedly connected to one end of the first connecting arm 124, the middle section of the first connecting arm 124 is connected to the clamping and fixing bracket 121, and the other end of the first connecting arm 124 is connected to the second driving member 122.

[0079] A connecting shaft 1211 is connected to the clamping and fixing bracket 121. The axis of the connecting shaft 1211 is parallel to the extension direction of the second clamping part 1262. The middle position of the second clamping part 1262 is rotatably connected to the connecting shaft 1211.

[0080] During the process of the second driving member 122 driving the first connecting arm 124 to rotate relative to the connecting shaft 1211, the second clamping part 1262 rotates relative to the first clamping part 1261, thereby adjusting the distance between the first clamping part 1261 and the second clamping part 1262.

[0081] In some embodiments, the first connecting arm 124 and the connecting shaft 1211 can be fixedly connected, and the connecting shaft 1211 is hinged to the crossbeam or longitudinal beam of the clamping and fixing bracket 121. During the process of the second driving member 122 driving the first connecting arm 124, the first connecting arm 124 drives the connecting shaft 1211 to rotate relative to the clamping and fixing bracket 121.

[0082] One end of the second connecting arm 125 is fixedly connected to the connecting shaft 1211, and the other end of the second connecting arm 125 is fixedly connected to the second clamping part 1262. The first connecting arm 124 and the second connecting arm 125 are arranged along the extending direction of the second clamping part 1262.

[0083] By adding a second connecting arm 125, the driving force of the second driving member 122 can be transmitted to the second clamping part 1262 at the second connecting arm 125, thereby improving the stability of the second clamping part 1262 in clamping the cleaning device 4 along the extension direction.

[0084] In some embodiments, the second connecting arm 125 and the second clamping part 1262 are, but are not limited to, integrally formed.

[0085] The second driving component 122 disclosed in this application embodiment is, but is not limited to, a cylinder, and may also be a handle, which can be used to rotate the first connecting arm 124 by pushing or pulling the handle.

[0086] At least one of the first clamping part 1261 near the second clamping part 1262 and the second clamping part 1262 near the first clamping part 1261 in this embodiment is provided with an anti-slip member 127. Optionally, both the first clamping part 1261 and the second clamping part 1262 are provided with anti-slip members 127, and the anti-slip members 127 of the first clamping part 1261 and the second clamping part 1262 are arranged opposite to each other.

[0087] By setting the anti-slip part 127, the friction between the gripper 126 and the cleaning device 4 can be increased, which helps to prevent the cleaning device 4 from falling off and ensures the stability of the cleaning device 4 installation.

[0088] Combination Figure 3 and Figure 4 As shown, during the assembly process of the fixture 1 disclosed in this application embodiment, the first fixing plate 13 of the fixture 1 is fixed to the robotic arm 2. The operator drives the rotating handle 114 to rotate the rotating part 113, thereby causing the connecting part 111 to wrap around the rotating part 113. During the process of the connecting part 111 wrapping around the rotating part 113, the gripper fixing bracket 121 is pulled to move closer to the first fixing plate 13 until the first fixing plate 13 and the second fixing plate 123 are opposite and fit together. The operator uses, but is not limited to, threaded connectors to realize the assembly connection between the first fixing plate 13 and the second fixing plate 123, that is, the fixed connection between the gripping device 12 and the robotic arm 2 is realized.

[0089] In some embodiments, one of the first fixing plate 13 and the second fixing plate 123 has a positioning shaft and the other has a shaft hole, and the positioning shaft and the shaft hole can be connected in a mating manner.

[0090] As the first fixing plate 13 and the second fixing plate 123 approach each other, the first fixing plate 13 and the second fixing plate 123 gradually cooperate through the positioning shaft and shaft hole to achieve the pre-positioning of the first fixing plate 13 and the second fixing plate 123, and prevent the second fixing plate 123 from shaking relative to the first fixing plate 13 during the assembly process of the first fixing plate 13 and the second fixing plate 123, that is, to ensure the stability of the clamping device 12 during the connection process with the first fixing plate 13.

[0091] In addition, the first fixing plate 13 and the second fixing plate 123 are fitted together by shaft holes, which can increase the limiting area of ​​the first fixing plate 13 and the second fixing plate 123, and further prevent the first fixing plate 13 and the second fixing plate 123 from shifting after being connected.

[0092] It should be noted that the robot disclosed in this application includes the gripper 1 disclosed in the above embodiments. Therefore, the robot with the gripper 1 also has all the above-mentioned technical effects, which will not be repeated here.

[0093] The robots disclosed in this application include, but are not limited to, photovoltaic cleaning robots. The robots include, but are not limited to, mobile robots. The specific structure and shape of the robots can be set according to different needs, and all are within the scope of protection.

[0094] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0095] The above description of the disclosed embodiments enables those skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A gripper for a robot, characterized in that, include: A lifting device (11) is installed at the end of the robot's robotic arm (2); A gripping device (12) is configured to grip a clamped part. The gripping device (12) is detachably connected to the lifting device (11), and the lifting device (11) adjusts the distance between the gripping device (12) and the end of the robotic arm (2).

2. The gripper for the robot according to claim 1, characterized in that, The lifting device (11) includes: The connector (111) is detachably connected to the gripping device (12), and the connector (111) is telescopic along the line connecting the end of the robotic arm (2) and the gripping device (12). A first drive member is connected to the connector (111) and is configured to drive the connector (111) to extend or retract.

3. The gripper for the robot according to claim 2, characterized in that, The connector (111) is a rope, and one end of the rope is detachably connected to the clamping device (12); The lifting device (11) further includes a rotating component (113), which is rotatably mounted on the robotic arm (2), and the other end of the rope is wound around the rotating component (113). The driving component is connected to the rotating component (113) in a transmission manner. The first driving component is a rotary handle (114), which is fixedly connected to the rotating component (113).

4. The gripper for the robot according to claim 2 or 3, characterized in that, The clamping device (12) includes: A gripper fixing bracket (121) is detachably connected to the lifting device (11); A gripper (126) is rotatably connected to a gripper fixing bracket (121), and the gripper (126) is configured to grip the clamped part.

5. The gripper for the robot according to claim 4, characterized in that, The gripper (126) includes a first gripping part (1261) and a second gripping part (1262); A clamping space is formed between the first clamping part (1261) and the second clamping part (1262). At least one of the first clamping part (1261) and the second clamping part (1262) is hinged to the claw fixing bracket (121). The rotation direction of the one of the first clamping part (1261) and the second clamping part (1262) that is hinged to the claw fixing bracket (121) includes directions toward and away from the other.

6. The gripper for the robot according to claim 5, characterized in that, At least one of the first clamping part (1261) near the second clamping part (1262) and the second clamping part (1262) near the first clamping part (1261) is provided with an anti-slip member (127).

7. The gripper for the robot according to claim 5, characterized in that, The clamping device (12) further includes: a second driving member (122); Both the first clamping part (1261) and the second clamping part (1262) are hinged to the gripper fixing bracket (121), and at least one of the second driving members (122) is drivenly connected to the first clamping part (1261) and at least one of the second driving members (122) is drivenly connected to the second clamping part (1262).

8. The gripper for the robot according to claim 4, characterized in that, It also includes a first fixing plate (13), which is hinged to the robotic arm (2), and the lifting device (11) is mounted on the first fixing plate (13).

9. The gripper for the robot according to claim 8, characterized in that, A second fixing plate (123) is fixedly installed on the gripper fixing bracket (121), and the second fixing plate (123) is detachably connected to the connector (111); The second fixing plate (123) can be assembled and connected with the first fixing plate (13), and one of the first fixing plate (13) and the second fixing plate (123) has a positioning shaft and the other has a shaft hole, and the positioning shaft and the shaft hole can be connected in a fitting manner.

10. A robot, characterized in that, It includes a robotic arm (2) and a clamp (1), wherein the clamp (1) is the clamp (1) as described in any one of claims 1 to 9.

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