CN110293580B

CN110293580B - Robot manipulator clamping structure and clamping method

Info

Publication number: CN110293580B
Application number: CN201910685782.XA
Authority: CN
Inventors: 沈虹; 袁凯
Original assignee: Nanjing Yusheng Robot Technology Co Ltd
Current assignee: Shandong Huarui Intelligent Technology Co ltd
Priority date: 2019-07-28
Filing date: 2019-07-28
Publication date: 2021-05-28
Anticipated expiration: 2039-07-28
Also published as: CN110293580A; WO2021017336A1

Abstract

The invention discloses a robot manipulator clamping structure and a clamping method, which comprises a shell and a gripper arranged on the shell, wherein the top of the shell is fixedly provided with a motor, a chuck, a turntable and a chuck seat are arranged in the shell, a clamping block capable of sliding outwards is slidably arranged on the chuck, a sliding block is slidably arranged on the clamping block, a first rotating shaft is rotatably arranged on the sliding block, the top end of the gripper is rotatably arranged with the first rotating shaft, the center of the chuck is fixedly provided with a bracket, a sliding disc is slidably arranged on the outer side of the bracket, a supporting bar is rotatably arranged on the outer side of the sliding disc, one end of the supporting bar far away from the sliding disc is rotatably arranged with the inner side of the gripper, the invention is convenient to adjust the gripper, and simultaneously, the opening angle of the gripper can be always in a triangular pyramid structure with a large upper opening and a small lower opening, the workpiece can be grasped more stably and firmly.

Description

Robot manipulator clamping structure and clamping method

Technical Field

The invention relates to the technical field of robots, in particular to a robot manipulator clamping structure.

Background

Along with the development of industrialization and intellectuality, the manipulator has obtained more and more application in production, and the size of current manipulator is all often fixed, can't carry out position control to the gripper of manipulator, can only press from both sides the work piece of a certain size, and when meetting bigger work piece, the gripper need open very big angle and can snatch the work piece, because the gripper opens the problem that the angle is too big just easy centre gripping is unstable.

Disclosure of Invention

The invention aims to provide a robot manipulator clamping structure, which solves the problems that the size of the existing manipulator proposed in the background technology is often fixed, the position of a mechanical claw of the manipulator cannot be adjusted, the manipulator can only clamp a workpiece with a certain size, when a larger workpiece is encountered, the mechanical claw needs to be opened at a large angle to clamp the workpiece, and the clamping is unstable due to the overlarge opening angle of the mechanical claw.

In order to achieve the purpose, the invention provides the following technical scheme: a robot manipulator clamping structure comprises a shell, a mounting seat fixedly arranged on the shell and a mechanical claw arranged on the shell, the top of the shell is fixedly provided with a motor, the inside of the shell is provided with a chuck, a turntable and a chuck seat, the turntable is rotatably arranged between the chuck and the chuck seat, the chuck is provided with a clamping block which can slide outwards in a sliding way, a slide block is arranged on the clamping block in a sliding manner, a first rotating shaft is arranged on the slide block in a rotating manner, the top end of the mechanical claw is arranged with the first rotating shaft in a rotating manner, a bracket is fixedly arranged at the center of the chuck, a sliding disc is arranged at the outer side of the bracket in a sliding way, the outside of sliding plate rotates installs the support bar, the one end that sliding plate was kept away from to the support bar rotates the installation with the inboard of gripper, the part fixed mounting that the gripper is located the support bar below has cyclic annular shelves strip.

Preferably, set up the three fixture block groove that runs through the chuck on the chuck, fixture block inslot portion slidable mounting has the fixture block, the fixed card strip that is provided with of inside wall in fixture block groove, first mounting hole has been seted up at the middle part of chuck, one side middle part that the chuck is close to the carousel is provided with hollow installation axle with the body.

Preferably, one side of the turntable, which is close to the chuck, is provided with an archimedes spiral groove, the other side of the turntable is provided with a first bevel gear, the center of the turntable is provided with a second mounting hole, the outer side of the turntable is provided with a semi-cylindrical adjusting hole which is radially arranged, an adjusting shaft is rotatably mounted in the adjusting hole, and the adjusting shaft is provided with a second bevel gear matched with the first bevel gear.

Preferably, a third mounting hole is formed in the center of the chuck base, and semi-cylindrical adjusting holes which are radially distributed are formed in one side, in contact with the turntable, of the chuck.

Preferably, installation axle inside fixed mounting has hollow structure's support, and the support extends to the outside of chuck, evenly distributed's draw-in groove is seted up to the lateral wall of support, the internal rotation of support installs first lead screw, the outside of first lead screw is rotated and is installed the slip dish, just the outside of slip dish is provided with draw-in groove assorted stopper with the body, the output shaft fixed connection of first lead screw and motor.

Preferably, a gear groove is formed in the rear side of the clamping block, clamping strip sliding grooves matched with the clamping strips are formed in the two side faces of the clamping block, a T-shaped slide parallel to the clamping strip sliding grooves is formed in one side far away from the gear groove, and a second screw rod is rotatably mounted inside the T-shaped slide.

Preferably, one side of the sliding block, which is close to the clamping block, is integrally provided with a T-shaped sliding block, and the second screw rod penetrates through the T-shaped sliding block and is rotatably connected with the T-shaped sliding block.

Preferably, the support bar downward sloping is placed, the half support bar including two joint of each other of support bar, two of half support bar has cup jointed and has supported the cover, the rotation of the middle part of supporting the cover installs the pivot, two the terminal surface one side that the half support bar is relative is provided with the supporting shoe, two the inboard of supporting shoe and the outside of pivot are all fixed and are provided with the gear, and the tip of supporting shoe is provided with the dog with the body.

Preferably, a placing groove is formed in a contact surface of the support sleeve and the rotating shaft, a fixing groove is formed in the outer side of the rotating shaft, the L-shaped clamping block is placed in the placing groove in a sliding mode, and a spring is fixedly installed between the bottom of the L-shaped clamping block and the bottom of an inner cavity of the placing groove.

A robot manipulator clamping structure comprises a use method as follows:

s1, mounting a mounting seat on a corresponding robot arm, and enabling a second bevel gear to drive a first bevel gear by rotating an adjusting shaft so as to enable a turntable to rotate;

s2, the Archimedes spiral groove on the rotary table drives the fixture block to slide along the fixture block groove, so that the radius of a circle formed by the fixture block is changed, and then the position of the upper slide block is further changed, so that the distance between the tops of the mechanical claws can be changed;

s3, the second screw rod can drive the T-shaped sliding block to move along the T-shaped slide way by adjusting the second screw rod, so that the position of a single sliding block can be adjusted, and the position of the top of a single mechanical claw is adjusted;

s4, by rotating the rotating shaft, the gear of the rotating shaft drives the supporting block to be in the distance between the lower ends of the supporting sleeves;

s5, after the distance between the mechanical claws is adjusted, the mechanical claws can be placed above a workpiece to be grabbed, the motor can drive the first screw rod to rotate by controlling the forward and reverse rotation of the motor, and the first screw rod can enable the sliding disc to move up and down, so that the workpiece can be grabbed and placed; when the sliding disc moves downwards, the mechanical claws are opened, and when the sliding disc moves upwards, the mechanical claws are closed, so that the workpieces are grabbed;

s6, when the workpiece is grabbed to the preset position, the motor drives the first screw rod to enable the sliding disc to move downwards, the mechanical claw is opened to loosen the workpiece, and therefore the grabbing process is completed

Compared with the prior art, the invention has the beneficial effects that:

1. according to the invention, the turntable can move the clamping block to slide along the clamping block groove, so that the radius of a circle formed by the clamping block is changed, and then the position of the upper sliding block is further changed, so that the distance between the tops of the mechanical claws can be changed, and the radius of the circle formed by the three clamping blocks 14 is adjusted.

2. The second lead screw can take T type slider to remove along T type slide to can adjust the position of single slider, thereby just adjusted the position at single gripper top, through rotating the pivot, the gear of pivot can take the supporting shoe to slide in supporting the cover is inside, thereby changes the length of supporting strip, thereby just changed the distance between the gripper lower extreme.

3. In the adjustment process, make the angle of opening of gripper be in the big below opening of top opening triangular pyramid structure that is little all the time to in getting the clamp of work piece, because the triangular pyramid that the gripper formed is that the big below opening of top opening is little, it is more firm to snatch, and a slant ascending power is exerted to the work piece to the inboard of the gripper of slope simultaneously, has certain lifting effect to the work piece, makes to snatch more firmly.

Drawings

FIG. 1 is a schematic view of the external structure of the present invention;

FIG. 2 is a schematic view of the internal structure of the present invention;

FIG. 3 is a bottom view of the chuck of the present invention;

FIG. 4 is an exploded view of the chuck, turntable and chuck base of the present invention;

FIG. 5 is a schematic view of the turntable structure of the present invention;

FIG. 6 is an enlarged view of the structure of FIG. 4 at A in accordance with the present invention;

FIG. 7 is a cross-sectional view of the housing of the present invention;

FIG. 8 is a cross-sectional view of a stent according to the present invention;

FIG. 9 is a diagram illustrating a fixture block structure according to the present invention;

FIG. 10 is a cross-sectional view of a cartridge of the present invention;

FIG. 11 is a schematic view of a support bar construction of the present invention;

FIG. 12 is a cross-sectional view of the front support bar of the present invention;

FIG. 13 is a side cross-sectional view of the present invention.

In the figure: 1. a housing; 2. a mounting seat; 3. a motor; 4. A support; 5. A supporting strip; 51. a support sleeve; 52. fixing grooves; 53. a placement groove; 531. an L-shaped fixture block; 532. a spring; 54. half supporting bars; 541. a stopper; 542. a gear; 543. a support block; 55. a rotating shaft; 6. a card slot; 7. a stop bar; 8. A gripper; 9. a chuck; 91. a block slot; 92. a first mounting hole; 93. clamping the strip; 94. installing a shaft; 10. a turntable; 101. an Archimedes spiral groove; 102. a second mounting hole; 103. an adjustment hole; 104. an adjustment shaft; 105. a first bevel gear; 106. a second bevel gear; 11. a chuck base; 111. three mounting holes; 12. a sliding disk; 121. a limiting block; 13. a first lead screw; 14. a clamping block; 141. a T-shaped slideway; 142. a second lead screw; 143. a clamping strip sliding groove; 144. a gear groove; 15. A slider; 151. a first rotating shaft; 152. t-shaped sliding blocks.

Detailed Description

The invention provides a robot manipulator clamping structure, which aims to solve the problems that the size of the existing manipulator is always fixed, the position of a mechanical claw of the manipulator cannot be adjusted, only a workpiece with a certain size can be clamped, when a larger workpiece is encountered, the mechanical claw needs to be opened at a large angle to clamp the workpiece, and unstable clamping is easy to occur due to the fact that the opening angle of the mechanical claw is too large. The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Example 1

Referring to fig. 1-7, the present embodiment provides a robot manipulator clamping structure, including a housing 1, a mounting base 2 fixedly mounted on the housing 1, and a gripper 8 mounted on the housing 1, wherein the mounting base 2 is provided with a threading hole and a bolt hole for mounting, a motor 3 is fixedly mounted at the top of the housing 1, the motor 3 is a servo motor, a chuck 9, a turntable 10, and a chuck base 11 are mounted inside the housing 1, the turntable 10 is rotatably mounted between the chuck 9 and the chuck base 11, wherein the chuck 9 is fixedly mounted with the housing 1, the turntable 10 is rotatably mounted with the housing 1, so that the turntable 10 can rotate inside the housing 1, the chuck base 11 is fixedly connected with the housing 1 through a bolt, a clamping block 14 capable of sliding to the outside is slidably mounted on the chuck 9, a sliding block 15 is slidably mounted on the clamping block 14, rotate on the slider 15 and install first pivot 151, the top of gripper 8 rotates the installation with first pivot 151, the center fixed mounting of chuck 9 has support 4, the outside slidable mounting of support 4 has sliding tray 12, the outside of sliding tray 12 is rotated and is installed support bar 5, the one end that sliding tray 12 was kept away from to support bar 5 rotates the installation with gripper 8's inboard, part fixed mounting that gripper 8 is located support bar 5 below has cyclic annular upper stop bar 7, and stop bar 7 plays to shelter from and spacing effect the work piece, and the work piece that the clamp was prevented to get causes influence and interference to support 4.

Set up three fixture block groove 91 that runs through chuck 9 on the chuck 9, fixture block 14 is installed to fixture block groove 91 inside slidable, the fixed card strip 93 that is provided with of inside wall of fixture block groove 91, first mounting hole 92 has been seted up at the middle part of chuck 9, one side middle part that chuck 9 is close to carousel 10 is provided with hollow installation axle 94 with the body.

An archimedes spiral groove 101 is formed in one side, close to the chuck 9, of the rotary disc 10, a first bevel gear 105 is formed in the other side of the rotary disc 10, a second mounting hole 102 is formed in the center of the rotary disc 10, semi-cylindrical adjusting holes 103 which are radially arranged are formed in the outer side of the rotary disc 10, an adjusting shaft 104 is rotatably mounted in the adjusting holes 103, inner four-corner adjusting grooves are formed in the end face of the outer side of the adjusting shaft 104, tools can be conveniently used for rotating the adjusting shaft 104, and a second bevel gear 106 matched with the first bevel gear 105 is formed in the adjusting shaft 104.

The center of the chuck base 11 is provided with a third mounting hole 111, and one side of the chuck base 11 contacting the turntable 10 is provided with semi-cylindrical adjusting holes 103 distributed radially.

Second mounting hole 102 and third mounting hole 111 all match with installation axle 94, second mounting hole 102 and third mounting hole 111 are installed in the outside of installation axle 94, second mounting hole 102 rotates the installation with installation axle 94, the one end that installation axle 94 kept away from chuck 9 is seted up threaded hole, be provided with the baffle the same with the wall thickness of installation axle 94 in the third mounting hole 111 of chuck seat 11, and be provided with the bolt hole on the baffle, install the terminal surface of axle 94, pass through bolt fastening between baffle and the casing 1 inside third mounting hole 111.

The inside fixed mounting of installation axle 94 has hollow structure's support 4, and support 4 extends to the outside of chuck 9, evenly distributed's draw-in groove 6 is seted up to the lateral wall of support 4, first lead screw 13 is installed in the inside rotation of support 4, the outside of first lead screw 13 is rotated and is installed sliding disk 12, just sliding disk 12's the outside is provided with draw-in groove 6 assorted stopper 121 with the body, stopper 121 and draw-in groove 6's cooperation is used, can prevent that sliding disk from following first lead screw 13 and rotating, sliding disk 12 can be along first lead screw 13 axial motion under the drive of first lead screw 13, first lead screw 13 and motor 3's output shaft fixed connection, gear groove 144 and archimedes helicla flute 101 phase-match are opened to the rear side of fixture block 14.

When in use, the mounting base 2 is firstly mounted on a corresponding robot arm, and the second bevel gear 106 drives the first bevel gear 105 by rotating the adjusting shaft 104 for workpieces with different sizes, so that the turntable 10 rotates; the Archimedes spiral groove 101 on the turntable 10 can drive the fixture block 14 to slide along the fixture block groove 91, so that the radius of a circle formed by the fixture block 14 is changed, then the position of the slide block 15 on the fixture block 14 is further changed, the distance between the tops of the mechanical claws 8 can be changed, the radius of the circle formed between the three fixture blocks 14 is adjusted, and then the size of a workpiece is combined, so that the opening angle of the mechanical claw 8 is always in a triangular pyramid structure with a large upper opening and a small lower opening, the workpiece is convenient to hold, the problem of unstable grabbing caused by the fact that the lower end opening of the mechanical claw 8 is too large can be prevented, and the grabbing is more stable; after the distance between the mechanical claws 8 is adjusted, the mechanical claws can be placed above a workpiece to be grabbed, the motor 3 can drive the first screw rod 13 to rotate by controlling the forward and reverse rotation of the motor 3, and the sliding disc 12 can be moved up and down by the first screw rod 13, so that the workpiece can be grabbed and placed; when the sliding disc 12 moves downwards, the mechanical claw 8 is opened, and when the sliding disc 12 moves upwards, the mechanical claw 8 is closed, so that the workpiece is grabbed; when a workpiece is grabbed to a preset position, the motor 3 drives the first screw rod 13 to enable the sliding disc 12 to move downwards, the mechanical claw 8 is opened, the workpiece can be loosened, and therefore the grabbing process is completed.

Example 2

Referring to fig. 7-13, a further improvement is made on the basis of embodiment 1: two side surfaces of the clamping block 14 are provided with clamping bar sliding grooves 143 matched with the clamping bars 93, one side of the clamping block away from the gear groove 144 is provided with a T-shaped slide rail 141 parallel to the clamping bar sliding grooves 143, a second screw rod 142 is rotatably mounted inside the T-shaped slide rail 141, and the top of the second screw rod 142 is provided with an inner hexagon bolt hole for adjustment; one side of the sliding block 15 close to the clamping block 14 is integrally provided with a T-shaped sliding block 152, the T-shaped sliding block 152 is matched with the T-shaped slide rail 141, the T-shaped sliding block 152 and the T-shaped slide rail 141 can prevent the sliding block 15 from rotating along with the second lead screw 142, so that the sliding block 15 is limited, the second lead screw 142 penetrates through the T-shaped sliding block 152 and is rotatably connected with the T-shaped sliding block 152, the sliding block 15 can be driven to move up and down by the rotation of the second lead screw 142, and therefore the position of the single sliding block 15 can be adjusted.

Support bar 5 downward sloping is placed, support bar 5 including two half support bars 54 of joint each other, two of half support bar 4 has cup jointed and has supported cover 51, the rotation of the middle part of supporting cover 51 installs pivot 55, and the outside of pivot 55 is offered and is used for the pivoted rotating groove, two half support bar 54 relative terminal surface one side is provided with supporting shoe 543 with the body, two the inboard of supporting shoe 543 and the outside of pivot 55 are all fixed and are provided with gear 542, and the tip of supporting shoe 543 is provided with dog 541 with the body, and dog 541 plays spacing effect, can prevent that half support bar 54 from taking place to drop at the in-process that removes with pivot 55.

The contact surface of the support sleeve 51 and the rotating shaft 55 is provided with a placing groove 53, the outer side of the rotating shaft 55 is provided with a fixing groove 52, the fixing grooves 52 are uniformly distributed on the outer edge of the rotating shaft 55, an L-shaped fixture block 531 is placed in the placing groove 53 in a sliding mode, the L-shaped fixture block 531 plays a fixing role in the rotating shaft 55 to prevent the rotating shaft 55 from rotating, a spring 532 is fixedly installed between the bottom of the L-shaped fixture block 531 and the bottom of the inner cavity of the placing groove 53, when the rotating shaft 55 needs to be rotated, the L-shaped fixture block 531 needs to be separated from the fixing groove 52, the fixing of the rotating shaft 55 can be released, and the rotating shaft.

When clamping a workpiece with an irregular shape, the opening size of the mechanical claw 8 can be integrally adjusted, and the second bevel gear 106 drives the first bevel gear 105 by rotating the adjusting shaft 104, so that the turntable 10 rotates; the archimedes spiral groove 101 on the rotary table 10 can bring the fixture block 14 to slide along the fixture block groove 91, so as to change the radius of the circle formed by the fixture block 14, then the position of the slide block 15 on the fixture block 14 can be further changed, so as to change the distance between the tops of the mechanical claws 8, so as to adjust the radius of the circle formed between the three fixture blocks 14, then the size of the workpiece is combined, so that the opening angle of the mechanical claw 8 is always in a triangular pyramid structure with a large upper opening and a small lower opening, after the initial adjustment is finished, according to the shape of the workpiece, the second screw 142 can bring the T-shaped slide block 152 to move along the T-shaped slide way 141 by adjusting the second screw 142, so as to adjust the position of the single slide block 15, so as to adjust the position of the top of the single mechanical claw 8, and by rotating the rotating shaft 55, the gear 542 of the rotating shaft, therefore, the length of the supporting bars 5 is changed, the distance between the lower ends of the mechanical claws 8 is changed, the size of the mechanical claws 8 is adjusted, the workpiece is convenient to hold, the problem of unstable grabbing caused by overlarge lower end openings of the mechanical claws 8 can be prevented, and the grabbing is more stable; after the distance between the mechanical claws 8 is adjusted, the mechanical claws can be placed above a workpiece to be grabbed, the motor 3 can drive the first screw rod 13 to rotate by controlling the forward and reverse rotation of the motor 3, and the sliding disc 12 can be moved up and down by the first screw rod 13, so that the workpiece can be grabbed and placed; when the sliding disk 12 moves downwards, the mechanical claw 8 is opened, and when the sliding disk 12 moves upwards, the mechanical claw 8 is closed, so that the workpiece is grabbed.

Wherein, the upper end and the lower extreme of gripper 8 can be adjusted respectively, when pressing from both sides the work piece of getting the anomalous shape, can be so that gripper 8's terminal surface is in the coplanar to the convenient clamp of getting irregular work piece prevents to appear because gripper 8 one end is adjusted and is made gripper 8's terminal surface not influence the clamp of getting the work piece in the coplanar.

In the description of the present invention, it should be noted that the terms "vertical", "upper", "lower", "horizontal", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be further noted that, unless otherwise specifically stated or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, integrally connected, mechanically connected, electrically connected, directly connected, connected through an intermediate medium, or connected through the insides of two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a structure is got to robot manipulator clamp, includes casing (1), mount pad (2) of fixed mounting on casing (1) and installs gripper (8) on casing (1), its characterized in that: the top fixed mounting of casing (1) has motor (3), the internally mounted of casing (1) has chuck (9), carousel (10) and chuck seat (11), carousel (10) rotate to be installed between chuck (9) and chuck seat (11), slidable mounting has outside gliding fixture block (14) on chuck (9), slidable mounting has slider (15) on fixture block (14), slidable mounting has first pivot (151) on slider (15), the top of gripper (8) rotates with first pivot (151) to be installed, the center fixed mounting of chuck (9) has support (4), the outside slidable mounting of support (4) has sliding disc (12), the outside of sliding disc (12) rotates installs support bar (5), the one end of sliding disc (12) is kept away from to support bar (5) and the inboard rotation installation of gripper (8), and the part of the mechanical claw (8) below the support bar (5) is fixedly provided with an annular upper stop bar (7).

2. The robot manipulator gripping structure according to claim 1, wherein: offer three fixture block groove (91) that run through chuck (9) on chuck (9), fixture block groove (91) inside slidable mounting has fixture block (14), the fixed card strip (93) that is provided with of inside wall in fixture block groove (91), first mounting hole (92) have been seted up at the middle part of chuck (9), one side middle part that chuck (9) are close to carousel (10) is provided with hollow installation axle (94) with the body.

3. The robot manipulator gripping structure according to claim 2, wherein: an Archimedes spiral groove (101) is formed in one side, close to the chuck (9), of the rotary disc (10), a first bevel gear (105) is formed in the other side of the rotary disc (10), a second mounting hole (102) is formed in the center of the rotary disc (10), semi-cylindrical adjusting holes (103) which are radially arranged are formed in the outer side of the rotary disc (10), an adjusting shaft (104) is rotatably mounted in the adjusting holes (103), and a second bevel gear (106) matched with the first bevel gear (105) is formed in the adjusting shaft (104).

4. The robot manipulator gripping structure according to claim 1, wherein: the center of the chuck seat (11) is provided with a third mounting hole (111), and one side of the chuck (11) contacting with the turntable (10) is provided with semi-cylindrical adjusting holes (103) which are distributed in the radial direction.

5. The robot manipulator gripping structure according to claim 3, wherein: the utility model discloses a chuck, including installation axle (94), inside fixed mounting have hollow structure's support (4), and support (4) extend to the outside of chuck (9), evenly distributed's draw-in groove (6) are seted up to the lateral wall of support (4), first lead screw (13) are installed in the internal rotation of support (4), the outside of first lead screw (13) is rotated and is installed slip dish (12), just the outside of slip dish (12) is provided with draw-in groove (6) assorted stopper (121) with the body, the output shaft fixed connection of first lead screw (13) and motor (3).

6. The robot manipulator gripping structure according to claim 5, wherein: a gear groove (144) is formed in the rear side of the clamping block (14), clamping strip sliding grooves (143) matched with the clamping strips (93) are formed in two side faces of the clamping block (14), a T-shaped slide way (141) parallel to the clamping strip sliding grooves (143) is formed in one side far away from the gear groove (144), and a second screw rod (142) is rotatably mounted inside the T-shaped slide way (141).

7. The robot manipulator gripping structure according to claim 6, wherein: one side of the sliding block (15) close to the clamping block (14) is integrally provided with a T-shaped sliding block (152), and the second screw rod (142) penetrates through the T-shaped sliding block (152) and is rotatably connected with the T-shaped sliding block (152).

8. The robot manipulator gripping structure according to claim 6, wherein: support bar (5) downward sloping is placed, half support bar (54) including two joint of each other of support bar (5), two of half support bar (4) has been cup jointed and has been supported cover (51), the rotation of the middle part of supporting cover (51) installs pivot (55), two half support bar (54) relative terminal surface one side is provided with supporting shoe (543), two the inboard of supporting shoe (543) and the outside of pivot (55) are all fixed and are provided with gear (542), and the tip of supporting shoe (543) is provided with dog (541) with the body.

9. The robot manipulator gripping structure according to claim 8, wherein: a placing groove (53) is formed in the contact surface of the support sleeve (51) and the rotating shaft (55), a fixing groove (52) is formed in the outer side of the rotating shaft (55), an L-shaped clamping block (531) is placed in the placing groove (53) in a sliding mode, and a spring (532) is fixedly installed between the bottom of the L-shaped clamping block (531) and the bottom of the inner cavity of the placing groove (53).

10. The robot manipulator gripping structure according to claim 8, wherein the use method comprises:

s1, mounting a mounting seat (2) on a corresponding robot arm, and enabling a second bevel gear (106) to drive a first bevel gear (105) by rotating an adjusting shaft (104), so that a rotary table (10) rotates;

s2, the Archimedes spiral groove (101) on the rotary disc (10) can drive the fixture block (14) to slide along the fixture block groove (91), so that the radius of a circle formed by the fixture block (14) is changed, and then the position of the slide block (15) on the fixture block (14) is further changed, so that the distance between the tops of the mechanical claws (8) can be changed;

s3, by adjusting the second screw rod (142), the second screw rod (142) can drive the T-shaped slide block (152) to move along the T-shaped slide way (141), so that the position of a single slide block (15) can be adjusted, and the position of the top of a single mechanical claw (8) is adjusted;

s4, by rotating the rotating shaft (55), the gear (542) of the rotating shaft (55) can drive the supporting block (543) to slide in the supporting sleeve (51), so that the length of the supporting strip (5) is changed, and the distance between the lower ends of the mechanical claws (8) is changed;

s5, after the distance between the mechanical claws (8) is adjusted, the mechanical claws can be placed above a workpiece to be grabbed, the motor (3) can drive the first screw rod (13) to rotate by controlling the forward and reverse rotation of the motor (3), and the first screw rod (13) can enable the sliding disc (12) to move up and down, so that the grabbing and placing of the workpiece are realized; when the sliding disc (12) moves downwards, the mechanical claw (8) is opened, and when the sliding disc (12) moves upwards, the mechanical claw (8) is closed to realize the grabbing of the workpiece;

s6, when the workpiece is grabbed to the preset position, the motor (3) drives the first screw rod (13) to enable the sliding disc (12) to move downwards, the mechanical claw (8) is opened, the workpiece can be loosened, and therefore the grabbing process is completed.