A jaw for pushing a small bend

Abstract

The utility model discloses a kind of clamping jaw for pushing small elbow, belong to clamping transfer equipment technical field.Jaw includes pressing plate, fixed fork assembly, swing fork assembly and multistage buffer assembly, fixed fork assembly and swing fork assembly are separately arranged at the both ends of pressing plate, swing fork assembly can swing adjustment push containment space opening degree.During clamping jaw pressing process, swing fork assembly self-adapting open and cooperate fixed fork assembly to adhere to the both sides of small elbow outer wall, combined with top multistage buffer assembly to realize workpiece all-around limiting, can be coherent to complete pressing clamping, horizontal push, lifting release operation.The utility model is adapted to different outer diameter small elbow by swingable fork body structure self-adapting, effectively improve tool versatility;By double-side fork body cooperation multistage buffer limiting structure, effectively reduce workpiece push deviation and shaking, buffer weakens operation impact load, avoid workpiece damage under pressure, stably guarantee clamping push precision and workpiece processing yield, adapt to automatic continuous production operation.

Description

Technical Field

[0001] This utility model relates to the field of clamping and transferring equipment technology, and in particular to a gripper for pushing small elbows. Background Technology

[0002] In automated production lines for plumbing fittings and precision pipe bends, small elbow fittings require sequential processing including positioning, clamping, lateral pushing, and docking at workstations. This is a core pre-processing transfer step in fitting assembly. To meet the high-speed, continuous, and automated production demands of assembly lines, the industry commonly uses clamping and transfer fixtures (grippers) to move small elbow workpieces. These fixtures are indispensable for achieving automated mass production of fittings.

[0003] However, existing clamping and transfer fixtures have fixed clamping constraint openings and limited structural adaptability, making them difficult to accommodate the clamping and pushing of small elbow workpieces with different outer diameters, resulting in poor versatility. In addition, the fixtures have strong clamping contact rigidity and concentrated operating loads, which limits the vibration resistance and limiting effect during dynamic pushing. Workpieces are prone to problems such as displacement, movement, and unstable posture, which can easily lead to workpiece damage and detachment. Moreover, the friction between the fixture and the workpiece during movement is large, which can easily cause scratches on the outer wall of the pipe, resulting in a low workpiece yield. Utility Model Content

[0004] This invention provides a gripper for pushing small elbows to overcome the above-mentioned problems.

[0005] To achieve the above objectives, the technical solution of this utility model is as follows: A gripper for pushing a small elbow includes a pressure plate, a fixed fork assembly, a swing fork assembly, and a multi-stage buffer assembly; The fixed fork assembly is fixed to one end of the pressure plate, the swing fork assembly is disposed at the other end of the pressure plate, and the swing fork assembly can swing away from or towards the fixed fork assembly to adjust the opening of the push-accommodating space between it and the fixed fork assembly. During the synchronous downward pressing of the fixed fork assembly and the swing fork assembly with the pressure plate, the swing fork assembly swings and opens away from the fixed fork assembly, and the sides of the fixed fork assembly and the swing fork assembly facing the push receiving space respectively fit against the outer walls of the two sides of the small elbow; after being pressed into place, the small elbow can be confined within the push receiving space; after the fixed fork assembly and the swing fork assembly cooperate to push the small elbow laterally to the target position, the fixed fork assembly and the swing fork assembly can be lifted synchronously and disengaged from the small elbow; after disengagement, the swing fork assembly can be reset by the reset structure, and the fixed fork assembly and the swing fork assembly can return to the push starting position with the pressure plate; The multi-level buffer assembly is located at the top of the push-in receiving space and is used to apply buffer constraints and perform vertical limiting on the top of the small bend during the pressing operation.

[0006] Furthermore, the swing fork assembly includes a swing fork and a first axle wheel; the reset structure is a torsion spring, and the first axle wheel is rotatably provided at the bottom of the swing fork and on the side facing the push receiving space. During the pressing operation, the first axle wheel can roll and fit against the outer wall of the small elbow. The top of the swing fork is hinged to one end of the bottom of the pressure plate. The torsion spring is installed at the hinge position between the swing fork and the pressure plate, and one end of the torsion spring abuts against the swing fork, and the other end of the torsion spring abuts against the pressure plate.

[0007] Furthermore, the fixed fork assembly includes a fixed fork and a second axle wheel; the bottom of the fixed fork is rotatably provided with the second axle wheel facing the side of the push receiving space, and the top of the fixed fork is fixedly connected to the bottom of the pressure plate at the end away from the swing fork.

[0008] Furthermore, the multi-stage buffer assembly includes a primary pressure dispersion and absorption pad, a secondary elastic slow-release interlayer plate, and a tertiary top anti-float restriction block; the tertiary top anti-float restriction block is fixed to the bottom of the pressure plate, and the secondary elastic slow-release interlayer plate and the primary pressure dispersion and absorption pad are arranged sequentially from top to bottom at the bottom of the tertiary top anti-float restriction block; The bottom of the primary pressure dispersion and absorption pad can contact the top end face of the elbow during the downward pressing operation, and disperse the downward pressure contact stress on the elbow through its own elasticity; the secondary elastic relief sandwich plate is elastic and can generate upward elastic deformation when subjected to load from below; the tertiary top anti-floating limiting block is used to vertically limit the elbow.

[0009] Furthermore, the bottom of the third-level top anti-floating limiting block is provided with an arched groove, the opening of which faces the upper surface of the second-level elastic release sandwich plate.

[0010] Furthermore, a buffer gap is left between the secondary elastic sustained-release sandwich panel and the primary pressure dispersion and absorption pad.

[0011] Furthermore, the bottom of the pressure plate is provided with a hinge portion for hinged engagement of the swing fork.

[0012] Furthermore, the bottom of the pressure plate is provided with a first slot for the torsion spring to abut; the top of the swing fork is provided with a second slot for the torsion spring to abut.

[0013] The beneficial effects of this utility model are: This utility model discloses a gripper for pushing small elbows. Through the adaptive swing of a swing fork assembly, the opening of the pushing and accommodating space is adjusted. The swing fork assembly automatically opens outwards to adapt to the shape of the small elbow, enabling it to grip and push small elbow workpieces of different outer diameters, demonstrating good versatility. During the pressing process, the fixed fork assembly, the swing fork assembly, and the multi-stage buffer assembly cooperate to achieve stable positioning of the small elbow, facilitating subsequent pressing, lateral pushing, and lifting release processes, ensuring automated continuous operation. The multi-stage buffer assembly applies buffer constraints to the top of the small elbow and completes vertical positioning, reducing the impact load during pressing and pushing, lowering the risk of pressure damage to the workpiece surface, and ensuring improved processing yield. Attached Figure Description

[0014] 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 some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 This is a schematic diagram of a gripper structure for pushing a small elbow, disclosed in an embodiment of the present invention. Figure 1 ; Figure 2 This is a schematic diagram of a gripper structure for pushing a small elbow, disclosed in an embodiment of the present invention. Figure 2 ; Figure 3 This is a front sectional view of a gripper for pushing a small elbow, as disclosed in an embodiment of this utility model; Figure 4 This is a schematic diagram of the structure of a gripper for pushing a small elbow and engaging with the small elbow, as disclosed in an embodiment of the present utility model; Figure 5 This is a schematic diagram of the structure of a pressure plate for pushing a small elbow, as disclosed in an embodiment of the present utility model; Figure 6 This is a schematic diagram of a swing fork for pushing a small bend, as disclosed in an embodiment of the present invention.

[0016] In the picture: 1. Pressure plate; 11. Hinge joint; 12. First slot; 2. Fixed fork assembly; 21. Fixed fork; 22. Second axle wheel; 3. Swing fork assembly; 31. Swing fork; 311. Second slot; 32. First axle wheel; 33. Torsion spring; 4. Multi-stage buffer assembly; 41. Primary pressure dispersion and absorption pad; 42. Secondary elastic slow-release sandwich panel; 43. Tertiary top anti-floating restraint block; 431. Arched groove; 44. Buffer gap; 5. Push out the available space; 6. Small bend. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0018] like Figures 1-2 The image shows a gripper for pushing a small elbow provided in this embodiment, including a pressure plate 1, a fixed fork assembly 2, a swing fork assembly 3, and a multi-stage buffer assembly 4; The fixed fork assembly 2 is fixed to one end of the pressure plate 1, and the swing fork assembly is disposed at the other end of the pressure plate 1. The swing fork assembly can swing away from or towards the fixed fork assembly to adjust the opening of the push receiving space 5 between it and the fixed fork assembly. During the synchronous pressing down of the fixed fork assembly 2 and the swing fork assembly 3 with the pressure plate 1, the swing fork assembly 3 gradually swings and opens away from the fixed fork assembly 2. The sides of the fixed fork assembly 2 and the swing fork assembly 3 facing the push receiving space 5 respectively fit against the outer walls of the two sides of the small elbow 6. After pressing down to the end, the small elbow 6 can be limited within the push receiving space 5 by the fixed fork assembly 2, the swing fork assembly 3 and the multi-stage buffer assembly 4. After the fixed fork assembly 2 and the swing fork assembly 3 cooperate to push the small elbow 6 laterally to the target position (the insertion station), the fixed fork assembly 2 and the swing fork assembly 3 can be lifted synchronously and disengaged from the small elbow 6, completing the push and release. After the gripper disengages from the small elbow 6, the swing fork assembly 3 can be reset by the reset structure. The fixed fork assembly 2 and the swing fork assembly 3 can be driven by the moving device to return to the push starting station with the pressure plate 1, ready for the next operation. The multi-level buffer assembly 4 is disposed at the top of the push-in receiving space 5, and is used to apply buffer constraints to the top of the small elbow 6 and to achieve vertical limiting during the pressing operation.

[0019] The moving device matched with the clamping jaw can adopt existing conventional cylinder assemblies and motor transmission assemblies, as long as it can drive the entire clamping jaw to complete horizontal translation and vertical lifting movements. The moving device is not an improved structure of the present application, and thus will not be repeated herein.

[0020] The utility model discloses a clamping jaw for pushing small elbows. Through the arranged swing fork assembly, the opening degree of the pushing accommodating space can be adjusted through adaptive swing. During the pressing-down process, the swing fork assembly automatically opens along with the shape to adapt to the contour of the small elbow, which can be compatible with the clamping and pushing operation of small elbow workpieces with different outer diameter specifications, and has good versatility; the fixed fork assembly and the swing fork assembly are attached to the outer wall of the small elbow on both sides, realizing the lateral limiting constraint of the small elbow; through the enclosed limiting structure of the pushing accommodating space cooperating with the vertical constraint of the multi-stage buffer assembly at the top, the up-down and left-right limiting of the small elbow is realized, effectively reducing the offset and shaking of the small elbow during the pushing process; the pressing plate drives the swing fork assembly and the fixed fork assembly to act cooperatively, which can continuously complete the procedures of pressing-down clamping, lateral pushing, lifting and releasing, realizing continuous operation; the multi-stage buffer assembly can apply buffer constraint and vertical limiting to the top of the small elbow, weaken the impact load under the pressing-down and pushing working conditions, prevent the small elbow from floating and coming off, avoid the workpiece from being damaged by pressure, and effectively improve the yield of workpiece processing and the operation stability.

[0021] In a specific embodiment, as shown in Figure 3 , Figure 4 , the swing fork assembly 3 includes a swing fork 31 and a first shaft wheel 32; the reset structure is a torsion spring 33, the first shaft wheel 32 is rotatably provided at the bottom of the swing fork 31 and on a side facing the pushing accommodating space 5, during the pressing-down operation, the first shaft wheel 32 can be in rolling fit with the outer wall of the small elbow 6, the top of the swing fork 31 is hinged to one end of the bottom of the pressing plate 1, the torsion spring 33 is installed at the hinged position of the swing fork and the pressing plate 1, one end of the torsion spring 33 abuts against the swing fork 31, and the other end of the torsion spring 33 abuts against the pressing plate 1. By arranging the rotatable first shaft wheel 32 at the bottom of the swing fork 31, the first shaft wheel 32 is in rolling fit with the outer wall of the small elbow 6 during the pressing-down clamping operation of the clamping jaw, and performs adaptive rolling along with the pressing-down feed stroke of the clamping jaw, realizing stable pressing-down of the clamping jaw without rigid jamming; through rolling contact instead of sliding contact, the opening resistance during pressing-down can be reduced, and scratching of the outer wall of the small elbow 6 can be avoided at the same time; when the clamping jaw is lifted to separate from the small elbow 6, the first shaft wheel 32 rolls synchronously, reducing the frictional resistance between the clamping jaw and the small elbow 6, facilitating smooth separation of the clamping jaw and the small elbow 6; by assembling the torsion spring 33 at the hinged position of the swing fork 31 and the pressing plate 1, the two ends of the torsion spring 33 abut against the swing fork 31 and the pressing plate 1 respectively, after the clamping jaw is lifted and separated, the torsion spring 33 relies on torsion to drive the swing fork 31 to automatically fold and reset, no additional driving parts are required, the structure is compact and reliable, and the initial opening degree of the pushing accommodating space 5 before each clamping operation is stably maintained.

[0022] In a specific embodiment, such as Figure 3 As shown, the fixed fork assembly 2 includes a fixed fork 21 and a second axle wheel 22; the bottom of the fixed fork 21 is rotatably provided with the second axle wheel 22 facing the side of the push receiving space 5, and the top of the fixed fork 21 is fixedly connected to the bottom of the pressure plate 1 at the end away from the swing fork.

[0023] The top of the fixed fork 21 is rigidly fixed to the bottom of the pressure plate 1 to ensure stable transmission of the pushing action; the cooperation between the second axle wheel 22 and the first axle wheel 32 at the bottom of the fixed fork 21 enables synchronous rolling on both sides to fit against the outer wall of the small elbow 6, ensuring symmetrical and uniform clamping force and further avoiding the problems of workpiece displacement, shaking, and tipping during the pushing process; when the gripper lifts up to release the workpiece, the second axle wheel 22 can roll along the outer wall of the small elbow 6 to reduce separation friction and facilitate smooth disengagement of the fixed fork assembly 2 from the small elbow 6.

[0024] In a specific embodiment, the multi-stage buffer assembly 4 includes a primary pressure dispersion and absorption pad 41, a secondary elastic slow-release interlayer plate 42, and a tertiary top anti-float restriction block 43. The tertiary top anti-float restriction block is fixed to the bottom of the pressure plate. The secondary elastic slow-release interlayer plate 42 and the primary pressure dispersion and absorption pad 41 are arranged sequentially from top to bottom at the bottom of the tertiary top anti-float restriction block 43. The two ends of the secondary elastic slow-release interlayer plate 42 and the two ends of the primary pressure dispersion and absorption pad 41 are fixedly connected to the tertiary top anti-float restriction block 43. The top of the tertiary top anti-float restriction block 43 is fixedly connected to the bottom of the pressure plate 1, and the side of the tertiary top anti-float restriction block 43 away from the swing fork is fixedly connected to the side wall of the fixed fork 21.

[0025] The bottom of the primary pressure dispersion and absorption pad 41 can contact the top end face of the elbow during the pressing operation. Through its elasticity, it disperses the pressing contact stress on the elbow, absorbing the impact load during the initial pressing stage. This prevents damage such as indentations and deformation on the top surface of the elbow caused by rigid contact, while simultaneously distributing the concentrated downward pressure evenly to the top end face of the elbow. The secondary elastic release sandwich plate 42 is elastic and can produce upward elastic deformation when subjected to loads from below, thus mitigating the vertical impact acting on the elbow. This means that the load during the downward pressing process is further mitigated by its own elastic deformation, while the vertical vibration and impact generated during the lateral pushing of the small elbow are reduced, thereby improving the stability of the clamping and pushing process; the three-level upper anti-floating limiting block is used to rigidly limit the small elbow vertically, restricting the maximum upward displacement of the small elbow, ensuring the position of the small elbow, and preventing the small elbow from falling out of the pushing and receiving space during the pushing process; at the same time, the three-level upper anti-floating limiting block serves as the installation base, providing fixed support for the first-level pressure dispersion and absorption pad and the second-level elastic slow-release sandwich plate.

[0026] The multi-level buffer assembly 4 employs a three-layer structure consisting of a primary pressure dispersion and absorption pad 41, a secondary elastic release sandwich panel 42, and a tertiary upper anti-floating limiting block 43. This structure achieves a composite protection effect combining graded release of downward pressure load, flexible buffering, and rigid limiting. The elastic deformation of the primary pressure dispersion and absorption pad 41 disperses the initial downward pressure stress, ensuring uniform distribution of contact load and preventing surface damage to the workpiece caused by direct rigid contact. The secondary elastic release sandwich panel 42 adapts to load deformation, achieving secondary release of vertical impact and pushing vibration, thus improving operational stability. The tertiary upper anti-floating limiting block 43 achieves vertical limit limiting of the workpiece, effectively preventing the small elbow 6 from slipping out. It also provides a stable mounting base for the two-level elastic buffer structure, ensuring a firm assembly and reliable operation of the buffer structure, thereby improving the stability of the gripper's holding and pushing mechanism and the workpiece processing yield.

[0027] In a specific embodiment, the bottom of the third-level top anti-floating limiting block 43 is provided with an arched groove 431, and the opening of the arched groove 431 faces the upper surface of the second-level elastic slow-release sandwich plate 42.

[0028] The two sides of the secondary elastic release sandwich panel 42 are fixed to the bottom surfaces of the arched grooves 431. The openings of the arched grooves face the upper surface of the secondary elastic release sandwich panel 42. This orientation directly provides a pre-reserved area for the upward deformation of the sandwich panel. The arched grooves 431 create a deformation space between the middle section of the secondary elastic release sandwich panel 42 and the tertiary upper anti-lifting limiting block 43. During the downward pressing operation of the gripper, the arched grooves 431 provide clearance space for the upward elastic deformation of the secondary elastic release sandwich panel 42 after being lifted by the small bend, thus ensuring the proper functioning of the secondary elastic release sandwich panel 42. The part can undergo elastic deformation into the arched groove 431. The secondary elastic release sandwich plate 42 and the arched groove 431 of the tertiary upper anti-float limiting block 43 cooperate to form the effective stroke of the second-level buffer, so that the downward pressure load on the small elbow is released smoothly. When the secondary elastic release sandwich plate 42 deforms to the point that the edge of its upper surface abuts against the top surface of the arched groove 431, the second-level buffer stroke reaches the upper limit. The tertiary upper anti-float limiting block 43 forms a rigid vertical stop on the small elbow 6, limiting the maximum upward displacement of the small elbow, while avoiding direct pressure damage to the top surface of the small elbow by the rigid structure.

[0029] In a specific embodiment, a buffer gap 44 is left between the secondary elastic slow-release sandwich panel 42 and the primary pressure dispersion absorption pad 41.

[0030] The buffer gap 44 provides space for the compression deformation of the primary pressure dispersion and absorption pad 41, and also serves as a step-by-step trigger interval for the two-stage buffering, achieving a progressive buffering effect. The first-stage buffering is provided by the compressive elastic deformation of the primary pressure dispersion and absorption pad 41, and the second-stage buffering is provided by the flexural elastic deformation of the secondary elastic release sandwich plate 42. When the compressive load is small, the primary pressure dispersion and absorption pad 41 undergoes compression deformation, and the width of the buffer gap 44 gradually decreases as the primary pressure dispersion and absorption pad 41 is compressed. At this time, the secondary elastic release sandwich plate 42 is not under load, and only the primary pressure dispersion and absorption pad 41 plays a buffering role. When the compressive load increases and the compression of the primary pressure dispersion and absorption pad 41 reaches the width of the buffer gap, the buffer gap 44 is completely eliminated, the top of the primary pressure dispersion and absorption pad abuts against the lower surface of the secondary elastic release sandwich plate 42, the secondary elastic release sandwich plate 42 begins to bear the load and undergoes elastic deformation, and the second-stage buffering takes effect. The two-stage buffering and step-by-step triggering structure formed by the buffer gap 44 can improve the smoothness of the buffering process, adapt to different sizes of vertical loads, and avoid rigid contact damage to the top surface of the small elbow.

[0031] In a specific embodiment, such as Figure 5 As shown, the bottom of the pressure plate 1 is provided with a hinge part 11 for hinged to the swing fork 31.

[0032] The hinge portion 11 provides an installation position for the swing fork. In this embodiment, the hinge portion 11 is a double-ear plate formed by extending downward from the bottom surface of the pressure plate 1. The double-ear plate has a hinge mounting hole. The top of the swing fork extends between the double-ear plates and passes through the hinge mounting hole and the shaft hole at the top of the swing fork 31 through the hinge mounting shaft to achieve the hinge between the swing fork 31 and the hinge portion.

[0033] In a specific embodiment, such as Figure 5 , Figure 6 As shown, the bottom of the pressure plate 1 is provided with a first slot 12 for the torsion spring 33 to abut; the top of the swing fork 31 is provided with a second slot 311 for the torsion spring 33 to abut.

[0034] The torsion spring 33 is sleeved on the hinged mounting shaft and accommodated between the double ear plates. The two ends of the torsion spring 33 are respectively inserted into the first slot 12 and the second slot 311, and rely on its own torque to provide a reset force for the swing fork.

[0035] In this embodiment, the primary pressure dispersion absorption pad has a Shore hardness of approximately 40° and is made of an existing composite elastic material, which is prepared by mixing nitrile, acrylonitrile, polyurethane, and silicone rubber. In practical applications, materials with corresponding elasticity and hardness can be selected to fabricate the primary pressure dispersion absorption pad according to specific processing conditions and workpiece parameters. The secondary elastic slow-release sandwich panel absorbs a buoyancy pressure of approximately 45N; the secondary elastic slow-release sandwich panel can withstand an absorption buoyancy pressure of approximately 45N, possessing stable elastic deformation capability and fatigue resistance.

[0036] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. A gripper for pushing a small curved head, characterized in that, It includes a pressure plate (1), a fixed fork assembly (2), a swing fork assembly (3), and a multi-stage buffer assembly (4); The fixed fork assembly (2) is fixed to one end of the pressure plate (1), the swing fork assembly is disposed at the other end of the pressure plate (1), and the swing fork assembly can swing away from or towards the fixed fork assembly to adjust the opening of the push receiving space (5) between it and the fixed fork assembly. During the synchronous pressing down of the fixed fork assembly (2) and the swing fork assembly (3) with the pressure plate (1), the swing fork assembly (3) swings and opens away from the fixed fork assembly (2). The fixed fork assembly (2) and the swing fork assembly (3) are respectively attached to the outer walls of the two sides of the small elbow (6) on the side facing the push receiving space. After pressing down to the position, the small elbow (6) can be limited in the push receiving space (5). After the fixed fork assembly (2) and the swing fork assembly (3) cooperate to push the small elbow (6) to the target position laterally, the fixed fork assembly (2) and the swing fork assembly (3) can be lifted synchronously and disengaged from the small elbow (6). After disengagement, the swing fork assembly (3) can be reset by the reset structure, and the fixed fork assembly (2) and the swing fork assembly can return to the push starting position with the pressure plate (1). The multi-level buffer assembly (4) is located at the top of the push-in receiving space and is used to apply buffer constraints and perform vertical limiting on the top of the small elbow (6) during the pressing operation.

2. The gripper for pushing a small elbow according to claim 1, characterized in that, The swing fork assembly includes a swing fork (31) and a first axle wheel (32); the reset structure is a torsion spring (33). The first axle wheel (32) is rotatably provided on the bottom of the swing fork (31) and on the side facing the push receiving space (5). During the pressing operation, the first axle wheel (32) can roll and fit against the outer wall of the small elbow (6). The top of the swing fork (31) is hinged to one end of the bottom of the pressure plate (1). The torsion spring (33) is installed at the hinge position between the swing fork and the pressure plate (1), and one end of the torsion spring (33) abuts against the swing fork (31), and the other end of the torsion spring (33) abuts against the pressure plate (1).

3. The gripper for pushing a small elbow according to claim 1, characterized in that, The fixed fork assembly (2) includes a fixed fork (21) and a second axle wheel (22); the bottom of the fixed fork (21) is rotatably provided with the second axle wheel (22) facing the push receiving space (5), and the top of the fixed fork (21) is fixedly connected to the bottom of the pressure plate (1) away from the swing fork.

4. The gripper for pushing a small elbow according to claim 1, characterized in that, The multi-stage buffer assembly (4) includes a primary pressure dispersion and absorption pad (41), a secondary elastic slow-release interlayer plate (42), and a tertiary top anti-float restriction block (43); the tertiary top anti-float restriction block is fixed to the bottom of the pressure plate, and the secondary elastic slow-release interlayer plate (42) and the primary pressure dispersion and absorption pad (41) are arranged from top to bottom at the bottom of the tertiary top anti-float restriction block (43); The bottom of the primary pressure dispersion and absorption pad (41) can contact the top end face of the small elbow during the pressing operation, and disperse the pressing contact stress on the small elbow through its own elasticity. The secondary elastic release sandwich panel (42) is elastic and can produce upward elastic deformation when subjected to load from below; the tertiary top anti-floating limiting block is used to vertically limit the small bend.

5. The gripper for pushing a small elbow according to claim 4, characterized in that, The bottom of the third-level top anti-floating limiting block (43) is provided with an arched groove (431), and the opening of the arched groove (431) faces the upper surface of the second-level elastic slow-release sandwich plate (42).

6. The gripper for pushing a small elbow according to claim 4, characterized in that, A buffer gap (44) is left between the secondary elastic slow-release sandwich panel (42) and the primary pressure dispersion absorption pad (41).

7. The gripper for pushing a small elbow according to claim 2, characterized in that, The bottom of the pressure plate (1) is provided with a hinge part (11) for hinged to the swing fork (31).

8. The gripper for pushing a small elbow according to claim 7, characterized in that, The bottom of the pressure plate (1) is provided with a first slot (12) for the torsion spring (33) to abut; the top of the swing fork (31) is provided with a second slot (311) for the torsion spring (33) to abut.

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