CN111546381A

CN111546381A - Industrial robot anticollision gripping apparatus device

Info

Publication number: CN111546381A
Application number: CN202010376623.4A
Authority: CN
Inventors: 孙立民
Original assignee: Individual
Current assignee: Individual
Priority date: 2017-10-24
Filing date: 2017-10-24
Publication date: 2020-08-18
Also published as: CN111546382A; CN107598972A; CN107598972B

Abstract

The invention discloses an anti-collision gripping apparatus device of an industrial robot, and belongs to the technical field of industrial robots. The industrial robot anti-collision gripping apparatus device comprises a mechanical arm and at least two anti-collision devices, wherein the at least two anti-collision devices are distributed on two sides of the mechanical arm, each anti-collision device comprises a base, a support, a buffering component and a fixing part, and the buffering component comprises a buffering pipe, a buffering block, a buffering rod, a buffering piston, a buffering head and a buffering spring. According to the anti-collision gripping apparatus device for the industrial robot, provided by the invention, in the rotation process of the manipulator, when the manipulator encounters an obstacle, the anti-collision device firstly contacts the obstacle and buffers the collision, when the manipulator slightly collides, one of the two buffer springs is compressed to buffer, when the manipulator seriously collides, one of the two buffer springs firstly buffers, then the buffer rod is broken, and then the other buffer spring continues to buffer, so that the stable transition of the collision is realized, the impact of the collision on the manipulator is reduced as much as possible, the manipulator is effectively protected, and the service life of the manipulator is prolonged.

Description

Industrial robot anticollision gripping apparatus device

The application is a divisional application, and the application name of the parent application is as follows: the utility model provides an industrial robot anticollision gripping apparatus device, its application number is: 201710999898.1, filing date: 24/10/2017.

Technical Field

The invention relates to the technical field of industrial robots, in particular to an anti-collision gripping apparatus device of an industrial robot.

Background

The industrial robot is an electromechanical integrated automatic production equipment which is humanoid in operation, automatically controlled, can be repeatedly programmed and can complete various operations in a three-dimensional space. It plays an important role in stabilizing, improving the product quality, improving the production efficiency, improving the labor condition and rapidly updating and upgrading the product. The robot application condition is an important mark of the national industrial automation level.

When an industrial robot uses a mechanical arm to grab an object, the direction needs to be changed frequently, the mechanical arm collides with other machines or parts easily in the process of changing the direction, the damage of electronic elements inside the mechanical arm and the looseness of a connecting mechanism are easily caused, great potential safety hazards exist, and the service life of the mechanical arm is greatly shortened.

Disclosure of Invention

The invention aims to provide an anti-collision gripping apparatus device for an industrial robot, which can realize stable transition of impact, reduce impact of the impact on a manipulator as much as possible, effectively protect the manipulator and prolong the service life of the manipulator.

In order to solve the technical problems, the invention provides the following technical scheme:

an industrial robot anti-collision gripper device comprises a manipulator and at least two anti-collision devices, wherein the at least two anti-collision devices are distributed on two sides of the manipulator, the manipulator comprises a fixed seat, a middle rotating arm and a working arm, the fixed seat is fixed on a rack, one end of the middle rotating arm is hinged with the rack, the other end of the middle rotating arm is hinged with one end of the working arm, and one end of the working arm, which is far away from the middle rotating arm, is provided with a clamping jaw; the bumper comprises a base, a support, a buffering assembly and a fixing piece, wherein the support is fixed on the base and is arc-shaped, the buffering assembly is at least three in number and distributed along the length direction of the support, and the base is detachably connected with the fixing base through the fixing piece.

Furthermore, the buffer component comprises a buffer tube, a buffer block, a buffer rod, a buffer piston, a buffer head and buffer springs, the buffer tube is connected with the support, the buffer tube is tubular and is provided with a buffer cavity, the buffer block is arranged in the buffer cavity and divides the buffer cavity into two independent cavities, the buffer rod penetrates through the side wall of the buffer tube and the buffer block and fixes the buffer block on the buffer tube, the buffer piston is slidably arranged in one cavity of the buffer tube and extends out of one end of the buffer tube, the buffer head is connected with the buffer piston, and the number of the buffer springs is two and are respectively located in the two cavities of the same buffer tube; the buffer head can drive when receiving the striking the buffering piston is followed the buffer tube slides and right the buffer block applys pressure, the buffer block with the buffer tube is right the shearing force is applyed to the buffer bar, works as the buffer block with the buffer tube is right when the shearing force that the buffer bar was applyed is less than preset shearing force threshold value, the buffer bar keeps motionless, works as the buffer block with the buffer tube is right when the shearing force that the buffer bar was applyed is greater than preset shearing force threshold value, the buffer bar is cut off just the buffer block can be followed the buffer tube slides.

Furthermore, the fixing part comprises at least two magnets and at least two groups of vacuum adsorption components, an embedded blind hole and a through hole are formed in the base, the magnets are embedded in the embedded blind hole and adsorbed on the fixing base, the through hole comprises a first section of hole, a second section of hole and a third section of hole which are sequentially arranged, the axes of the first section of hole, the second section of hole and the third section of hole are overlapped, the diameter of the first section of hole is larger than that of the second section of hole, the diameter of the third section of hole is larger than that of the second section of hole, and the diameter of the third section of hole is gradually increased from one end close to the second section of hole to the other end; the vacuum adsorption component comprises a slide bar, a pressure head, a vacuum sucker and a return spring, the slide bar is provided with a first thread through hole, a first internal thread is arranged on the inner surface of the first threaded through hole, a first external thread matched with the first internal thread is arranged at one end of the sliding rod close to the pressure head, the pressure head is detachably connected with the slide bar, one end of the slide bar, which is far away from the pressure head, is fixedly connected with the vacuum chuck, the reset spring is sleeved on the sliding rod, the pressure head and the reset spring are both positioned in the first section hole, the return spring is respectively propped against the pressure head and the base, the vacuum chuck is positioned in the third section hole, the sliding rod is slidably arranged in the second section hole in a penetrating mode, and when the pressure head is separated from the sliding rod, the sliding rod can be separated from the penetrating through hole.

Further, the magnet is detachably connected with the base.

Further, the base is in a strip shape, and the magnets and the vacuum adsorption components are alternately arranged along the length direction of the base.

Furthermore, the buffer spring comprises a first part and a second part, one end of the first part and one end of the second part are integrally formed, the first part and the second part are spirally arranged to form a circular truncated cone shape, the diameter of the first portion gradually increases in a direction from an end of the first portion near the second portion to an end away from the second portion, in a direction from an end of the second portion proximal to the first portion to an end distal to the first portion, the diameter of the second part is gradually increased, the first part and the second part can be compressed to be in a plane, a gap is reserved between two adjacent circles, the buffer spring has a first state that the first part and the second part are unfolded, and a second state in which the first portion and the second portion are compressed and located in the same plane.

Further, the both ends opening of buffer tube, be provided with a plurality of second screw thread through-holes on the support, second screw thread through-hole is provided with the second internal thread, being close to of buffer tube the one end surface of support be provided with the second external screw thread that the second internal thread matches, the quantity of second screw thread through-hole is more than or equal to buffering subassembly's quantity, the buffer tube with support detachable connects, be provided with first through-hole on the lateral wall of buffer tube, the buffer block has the second through-hole, the buffer bar includes pole portion, first fixed part and second fixed part, first fixed part rigid connection in the one end of pole portion, second fixed part detachable connect in the other end of pole portion, pole portion passes respectively first through-hole with the second through-hole.

Further, the surface of buffering head is the sphere form, the surface of buffering head is provided with the silica gel layer.

Further, the anti-collision gripping apparatus device further comprises a controller and a distance sensor, the controller is used for receiving a distance signal of the distance sensor and controlling the manipulator to move or stop, the distance sensor is arranged on the manipulator and used for detecting the distance between the manipulator and an obstacle, and when the distance detected by the distance sensor is smaller than a preset distance threshold value, the controller controls the manipulator to decelerate.

The invention has the following beneficial effects:

the invention discloses an industrial robot anti-collision gripper device which comprises a manipulator and at least two anti-collision devices, wherein the at least two anti-collision devices are distributed on two sides of the manipulator, each anti-collision device comprises a base, a support, a buffer assembly and a fixing piece, each buffer assembly comprises a buffer tube, a buffer block, a buffer rod, a buffer piston, a buffer head and a buffer spring, the buffer head can drive the buffer piston to slide along the buffer tube and apply pressure to the buffer block when being impacted, the buffer block and the buffer tube apply shearing force to the buffer rod, when the shearing force applied to the buffer rod by the buffer block and the buffer tube is smaller than a preset shearing force threshold value, the buffer rod is kept still, and when the shearing force applied to the buffer rod by the buffer block and the buffer tube is larger than the preset shearing force threshold value, the buffer rod is cut off.

According to the anti-collision gripping apparatus device for the industrial robot, provided by the invention, in the rotation process of the manipulator, when an obstacle is encountered, the anti-collision device firstly contacts the obstacle and buffers the collision, the collision buffering is divided into two types, one type is slight collision, one of the two buffering springs is compressed for buffering, the other type is serious collision, at the moment, one buffering spring firstly buffers, when the buffering reaches a certain degree, the buffering rod is broken to absorb the collision energy, and then the other buffering spring continues to buffer, so that the stable transition of the collision is realized, the impact of the collision on the manipulator is reduced as much as possible, the manipulator is effectively protected, and the service life of the manipulator is prolonged.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments are briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic structural diagram of an industrial robot anti-collision gripper device provided by an embodiment of the invention;

FIG. 2 is a schematic structural view of the bumper of FIG. 1;

FIG. 3 is a schematic structural view of the cushioning assembly of FIG. 2;

fig. 4 is a partially enlarged schematic view of fig. 2.

The reference numerals correspond to the following:

10-anti-collision gripper means;

11-a manipulator; 12-a bumper;

110-a fixed seat; 111-a middle tumbler; 112-a working arm; 113-a jaw; 120-a base; 121-a scaffold; 122-a buffer component; 123-a fixing piece; 124-a buffer tube; 125-buffer block; 126-a buffer rod; 127-a damping piston; 128-a buffer head; 129-a buffer spring; 130-a magnet; 131-a vacuum adsorption component; 132-through the through hole; 133-a slide bar; 134-pressure head; 135-vacuum chuck; 136-return spring.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

Fig. 1 is a schematic structural diagram of an industrial robot anti-collision gripper device provided by an embodiment of the invention; FIG. 2 is a schematic structural view of the bumper of FIG. 1; FIG. 3 is a schematic structural view of the cushioning assembly of FIG. 2; fig. 4 is a partially enlarged schematic view of fig. 2.

Referring to fig. 1, an embodiment of the present invention provides an industrial robot crash-proof gripper device 10, where the crash-proof gripper device 10 includes a manipulator 11 and at least two bumpers 12.

In the present embodiment, the number of the bumpers 12 is two, and the two bumpers 12 are distributed on both sides of the robot 11.

The structure of the manipulator 11 can refer to the prior art, wherein the manipulator 11 includes a fixing base 110, a transfer arm 111 and a working arm 112, the fixing base 110 is used for being fixed on a rack, one end of the transfer arm 111 is hinged to the rack, the other end of the transfer arm 111 is hinged to one end of the working arm 112, and one end of the working arm 112, which is far away from the transfer arm 111, is provided with a clamping jaw 113.

Referring to fig. 2, the concrete structure of the bumper 12 can adopt the following scheme: the bumper 12 includes a base 120, a bracket 121, a bumper assembly 122, and a fastener 123.

The bracket 121 is fixed on the base 120, the bracket 121 is arc-shaped, the number of the buffer components 122 is at least three and distributed along the length direction of the bracket 121, and the base 120 is detachably connected with the fixing seat 110 through the fixing member 123.

Referring to fig. 3, the specific structure of the buffer assembly 122 may adopt the following scheme: cushioning assembly 122 includes a buffer tube 124, a buffer block 125, a buffer rod 126, a buffer piston 127, a buffer head 128, and a buffer spring 129.

Wherein, buffer tube 124 is connected with bracket 121, buffer tube 124 is tubular and has a buffer cavity, buffer block 125 is disposed in the buffer cavity and divides the buffer cavity into two independent cavities, buffer rod 126 passes through the sidewall of buffer tube 124 and buffer block 125 and fixes buffer block 125 to buffer tube 124, buffer piston 127 is slidably disposed in one of the cavities of buffer tube 124 and extends out from one end of buffer tube 124, buffer head 128 is connected to buffer piston 127, and the number of buffer springs 129 is two and is respectively located in two cavities of the same buffer tube 124.

Buffer head 128 can drive buffer piston 127 when receiving the striking and slide and exert pressure to buffer block 125 along buffer tube 124, buffer block 125 and buffer tube 124 exert the shearing force to buffer rod 126, when the shearing force that buffer block 125 and buffer tube 124 applyed buffer rod 126 was less than predetermineeing the shearing force threshold value, buffer rod 126 keeps motionless, when buffer block 125 and buffer tube 124 applyed the shearing force to buffer rod 126 was greater than when predetermineeing the shearing force threshold value, buffer rod 126 was cut off and buffer block 125 can be followed buffer tube 124 and slided.

The specific structure of the fixing member 123 may adopt the following scheme: the fixing member 123 includes at least two magnets 130 and at least two sets of vacuum adsorption members 131.

The magnet 130 and the base 120 may be detachably connected, the base 120 is a bar, and the magnet 130 and the vacuum adsorption component 131 are alternately arranged along the length direction of the base 120.

The base 120 is provided with an embedding blind hole and a through hole 132, and the magnet 130 is embedded in the embedding blind hole and attached to the fixing base 110.

Wear to establish through-hole 132 including the first section hole, second section hole and the third section hole that set gradually, the axis coincidence in first section hole, second section hole and third section hole, the diameter in first section hole is greater than the diameter in second section hole, and the diameter in third section hole is from the one end that is close to second section hole to other one end crescent.

Referring to fig. 4, the vacuum suction assembly 131 includes a slide rod 133, a ram 134, a vacuum chuck 135 and a return spring 136.

The sliding rod 133 is provided with a first threaded through hole, a first internal thread is arranged on the inner surface of the first threaded through hole, a first external thread matched with the first internal thread is arranged at one end, close to the pressure head 134, of the sliding rod 133, and the pressure head 134 is detachably connected with the sliding rod 133.

The end of the sliding rod 133 far away from the pressure head 134 is fixedly connected with the vacuum chuck 135, the sliding rod 133 is sleeved with the return spring 136, the pressure head 134 and the return spring 136 are both located in the first section hole, and the return spring 136 respectively supports against the pressure head 134 and the base 120.

The vacuum chuck 135 is located in the third section hole, the sliding rod 133 is slidably inserted into the second section hole, and when the pressing head 134 is separated from the sliding rod 133, the sliding rod 133 can be separated from the insertion through hole 132.

The buffer spring 129 may be of an existing spring structure, or may be of the following structure: the buffer spring 129 includes a first portion and a second portion.

One end of the first part and one end of the second part are integrally formed, and the first part and the second part are spirally arranged to form a circular truncated cone shape.

The diameter of the first portion gradually increases in a direction from an end of the first portion near the second portion to an end away from the second portion.

The diameter of the second part is gradually increased in the direction from one end of the second part close to the first part to one end far away from the first part, and the first part and the second part can be compressed into one plane and have a gap between two adjacent circles.

The buffer spring 129 has a first state in which the first and second portions are expanded, and a second state in which the first and second portions are compressed and located in the same plane. It should be noted that the buffer spring 129 is similar to a mosquito coil and is not shown in the drawings.

As an alternative to the above solution, both ends of the buffer tube 124 are open, the bracket 121 is provided with a plurality of second threaded through holes, the second threaded through holes are provided with second internal threads, the outer surface of one end of the buffer tube 124 close to the bracket 121 is provided with second external threads matched with the second internal threads, the number of the second threaded through holes is greater than or equal to the number of the buffer components 122, and the buffer tube 124 is detachably connected with the bracket 121.

Be provided with first through-hole on the lateral wall of buffer tube 124, buffer block 125 has the second through-hole, and buffer rod 126 includes pole portion, first fixed part and second fixed part, and first fixed part rigid connection is in the one end of pole portion, and second fixed part detachable connects in the other end of pole portion, and first through-hole and second through-hole are passed respectively to pole portion.

The outer surface of the buffer head 128 may be spherical, and the outer surface of the buffer head 128 is provided with a silicone layer.

In addition, the anti-collision gripper device 10 may further include a controller and a distance sensor, the controller is configured to receive a distance signal from the distance sensor and control the manipulator 11 to move or stop, the distance sensor is disposed on the manipulator 11, the distance sensor is configured to detect a distance between the manipulator 11 and an obstacle, and when the distance detected by the distance sensor is smaller than a preset distance threshold, the controller controls the manipulator 11 to decelerate.

The invention discloses an industrial robot anti-collision gripper device 10, which comprises a manipulator 11 and at least two anti-collision devices 12, wherein the at least two anti-collision devices 12 are distributed on two sides of the manipulator 11, each anti-collision device 12 comprises a base 120, a bracket 121, a buffering component 122 and a fixing part 123, the buffering component 122 comprises a buffering pipe 124, a buffering block 125, a buffering rod 126, a buffering piston 127, a buffering head 128 and a buffering spring 129, the buffering piston 127 can be driven to slide along the buffering pipe 124 and exert pressure on the buffering block 125 when the buffering head 128 is impacted, the buffering block 125 and the buffering pipe 124 exert shearing force on the buffering rod 126, when the shear force applied by the buffer block 125 and the buffer tube 124 to the buffer rod 126 is less than the preset shear force threshold, the buffer rod 126 remains stationary, when the shear force exerted by buffer block 125 and buffer tube 124 on buffer rod 126 is greater than a predetermined shear force threshold, buffer rod 126 is sheared and buffer block 125 is able to slide along buffer tube 124.

According to the anti-collision gripping apparatus device 10 for the industrial robot, provided by the invention, in the rotation process of the manipulator 11, when an obstacle is encountered, the anti-collision device 12 firstly contacts the obstacle and buffers the collision, the collision buffering is divided into two types, one type is slight collision, one of the two buffering springs 129 is compressed to buffer, the other type is severe collision, at this time, one buffering spring 129 firstly buffers, when the buffering reaches a certain degree, the buffering rod 126 is broken to absorb the collision energy, and then the other buffering spring 129 continues to buffer, so that the stable transition of the collision is realized, the impact of the collision on the manipulator 11 is reduced as much as possible, the manipulator 11 is effectively protected, and the service life of the manipulator 11 is prolonged.

The above-mentioned embodiments are merely descriptions of the preferred embodiments of the present invention, and do not limit the concept and scope of the present invention, and various modifications and improvements made to the technical solutions of the present invention by those skilled in the art should fall into the protection scope of the present invention without departing from the design concept of the present invention, and the technical contents of the present invention as claimed are all described in the technical claims.

Claims

1. The utility model provides an industrial robot anticollision gripping apparatus device which characterized in that: the anti-collision gripping apparatus comprises a manipulator (11) and at least two anti-collision devices (12), wherein the at least two anti-collision devices (12) are distributed on two sides of the manipulator (11), the manipulator (11) comprises a fixed seat (110), a transfer arm (111) and a working arm (112), the fixed seat (110) is used for being fixed on a rack, one end of the middle rotating arm (111) is hinged with the rack, the other end of the middle rotating arm (111) is hinged with one end of the working arm (112), and one end of the working arm (112) far away from the middle rotating arm (111) is provided with a clamping jaw (113); the anti-collision device (12) comprises a base (120), a support (121), buffer assemblies (122) and fixing pieces (123), wherein the support (121) is fixed on the base (120), the support (121) is arc-shaped rod-shaped, the number of the buffer assemblies (122) is at least three, the buffer assemblies are distributed along the length direction of the support (121), and the base (120) is detachably connected with the fixing seat (110) through the fixing pieces (123);

the buffer component (122) comprises a buffer tube (124), a buffer block (125), a buffer rod (126), a buffer piston (127), a buffer head (128) and a buffer spring (129), the buffer tube (124) is connected to the bracket (121), the buffer tube (124) is tubular and has a buffer cavity, the buffer block (125) is arranged in the buffer cavity and divides the buffer cavity into two independent cavities, the buffer rod (126) penetrates through the side wall of the buffer tube (124) and the buffer block (125) and fixes the buffer block (125) to the buffer tube (124), the buffer piston (127) is slidably disposed within one of the chambers of the buffer tube (124) and extends out from one end of the buffer tube (124), the buffer head (128) is connected to the buffer piston (127), the number of the buffer springs (129) is two and the two buffer springs are respectively positioned in the two cavities of the same buffer tube (124); the buffer head (128) can drive the buffer piston (127) to slide along the buffer tube (124) and apply pressure to the buffer block (125) when being impacted, the buffer block (125) and the buffer tube (124) apply shearing force to the buffer rod (126), when the shearing force applied to the buffer rod (126) by the buffer block (125) and the buffer tube (124) is smaller than a preset shearing force threshold value, the buffer rod (126) is kept still, and when the shearing force applied to the buffer rod (126) by the buffer block (125) and the buffer tube (124) is larger than the preset shearing force threshold value, the buffer rod (126) is sheared and the buffer block (125) can slide along the buffer tube (124);

the buffer spring (129) comprises a first part and a second part, one end of the first part and one end of the second part are integrally formed, the first part and the second part are spirally arranged to form a circular truncated cone shape, the diameter of the first portion gradually increases in a direction from an end of the first portion near the second portion to an end away from the second portion, in a direction from an end of the second portion proximal to the first portion to an end distal to the first portion, the diameter of the second part is gradually increased, the first part and the second part can be compressed into a plane, and a gap is formed between two adjacent circles, the buffer spring (129) has a first state in which the first portion and the second portion are expanded, and the first and second portions are compressed and in a second state in the same plane;

the two ends of the buffer tube (124) are open, a plurality of second threaded through holes are arranged on the bracket (121), the second threaded through hole is provided with a second internal thread, the outer surface of one end of the buffer tube (124) close to the bracket (121) is provided with a second external thread matched with the second internal thread, the number of second threaded through holes is greater than or equal to the number of cushioning components (122), the buffer tube (124) is detachably connected with the bracket (121), a first through hole is arranged on the side wall of the buffer tube (124), the buffer block (125) is provided with a second through hole, the buffer rod (126) comprises a rod part, a first fixing part and a second fixing part, the first fixing part is rigidly connected to one end of the rod part, the second fixing part is detachably connected to the other end of the rod part, and the rod part penetrates through the first through hole and the second through hole respectively.

2. An industrial robot crash gripper unit according to claim 1, characterized in that: the fixing piece (123) comprises at least two magnets (130) and at least two groups of vacuum adsorption components (131), an embedded blind hole and a through hole (132) are formed in the base (120), the magnets (130) are embedded in the embedded blind hole and adsorbed to the fixing base (110), the through hole (132) comprises a first section of hole, a second section of hole and a third section of hole which are sequentially arranged, the axes of the first section of hole, the second section of hole and the third section of hole are overlapped, the diameter of the first section of hole is larger than that of the second section of hole, the diameter of the third section of hole is larger than that of the second section of hole, and the diameter of the third section of hole is gradually increased from one end close to the second section of hole to the other end; vacuum adsorption component (131) includes slide bar (133), pressure head (134), vacuum chuck (135) and reset spring (136), slide bar (133) has first screw through-hole, the internal surface of first screw through-hole is provided with first internal thread, slide bar (133) be close to the one end of pressure head (134) be provided with first internal thread complex first external screw thread, pressure head (134) with detachable connection between slide bar (133), the one end of keeping away from of slide bar (133) pressure head (134) with vacuum chuck (135) fixed connection, reset spring (136) cover is located slide bar (133), pressure head (134) with reset spring (136) all are located first section is downthehole, reset spring (136) support respectively pressure head (134) with base (120), vacuum chuck (135) are located in the third section is downthehole, the sliding rod (133) is slidably arranged in the second section hole in a penetrating mode, and when the pressure head (134) is separated from the sliding rod (133), the sliding rod (133) can be separated from the penetrating through hole (132).

3. An industrial robot crash gripper unit according to claim 2, characterized in that: the magnet (130) is detachably connected with the base (120).

4. An industrial robot crash gripper unit according to claim 2, characterized in that: the base (120) is in a strip shape, and the magnets (130) and the vacuum adsorption components (131) are alternately arranged along the length direction of the base (120).

5. An industrial robot crash gripper unit according to claim 2, characterized in that: the outer surface of the buffering head (128) is spherical, and a silica gel layer is arranged on the outer surface of the buffering head (128).

6. An industrial robot crash gripper unit according to claim 2, characterized in that: the anti-collision gripping apparatus further comprises a controller and a distance sensor, the controller is used for receiving a distance signal of the distance sensor and controlling the manipulator (11) to move or stop, the distance sensor is arranged on the manipulator (11), the distance sensor is used for detecting the distance between the manipulator (11) and an obstacle, and when the distance detected by the distance sensor is smaller than a preset distance threshold value, the controller controls the manipulator (11) to decelerate.