CN117445016A - Composite clamp for clamping industrial robot - Google Patents

Abstract

The invention belongs to the technical field of clamps and is used to solve the problem of difficulty in clamping objects of different shapes through position adjustment of components. Specifically, it is a composite clamp for industrial robot clamping, which includes a connecting frame and a fixed top of the connecting frame. There are two connecting columns connected, and an upper slide rail is provided on the outer wall below the connecting frame; in this invention, the clamping plate is pushed by the cylinder to form an angle between the two clamping plates located on the same side, which can be stably completed For clamping shaft-type objects, after the cylinder is contracted, the clamping plate is attached to the surface of the rectangular object. The holding plate and the fixed plate further limit the object and improve the stability when clamping the rectangular object. Adjust the extension of the cylinder to control the position of the clamping plate to clamp shaft-shaped objects and rectangular objects.

Description

A composite clamp used for industrial robot clamping

Technical field

The invention relates to the technical field of clamps, specifically a composite clamp used for industrial robot clamping.

Background technique

During the working process of industrial robots, clamps need to be used to fix and clamp objects. According to the patent document with patent number CN218255229U, the first slider is threadedly connected to the second threaded rod, so that the first slider drives the lower part The connection box moves horizontally, and then through the action of the second electric push rod, the connection box is pushed up and down, which facilitates the clamping effect of the composite clamp on the required objects, and can quickly move the clamp to the required working location, but the above-mentioned clamping The process is only for clamping items of a single shape. Although the clamping degree is very stable, it is difficult to achieve unified and stable clamping of items of different shapes by adjusting the clamping position of the components to improve the breadth and stability of the item clamping. degree;

In view of the above technical defects, a solution is proposed.

Contents of the invention

The object of the present invention is to provide a composite clamp for industrial robot clamping, so as to solve the technical defects proposed by the background art.

In order to achieve the above object, the present invention provides the following technical solution: a composite clamp for industrial robot clamping, including a connecting frame, the top of the connecting frame is fixedly connected with two connecting columns, and the outer wall below the connecting frame is An upper slide rail is provided, an adjustment mechanism is connected to the interior of the upper slide rail, and a fixing mechanism is provided below the adjustment mechanism;

The fixing mechanism includes two sets of clamp plates, two of each set of clamp plates are provided, the two clamp plates are arranged symmetrically with respect to the center line of the connecting frame, and there are openings on the outer walls of the opposite sides of the two clamp plates. There is a fixed groove, a blocking plate is fixedly installed in the middle of the fixed groove, and two rotating grooves are provided on the inner wall of the clamping plate close to the fixed groove. The two rotating grooves are arranged symmetrically with respect to the blocking plate. The clamping plate There are moving grooves on the inner walls near the upper and lower ends of the fixed grooves. A fixed plate and a holding plate are slidably provided inside the two moving grooves, and the holding plate is located below the fixed plate. The inner wall of the fixed groove is Two clamping plates are provided on the upper body through rotation of two first limiting axes, and the two clamping plates are respectively connected to the fixed plate and the holding plate through auxiliary components.

Further, the opposite ends of the two clamping plates are in contact with the blocking plate, and the two clamping plates are arranged symmetrically with respect to the blocking plate.

Further, the auxiliary assembly includes two first limiting plates fixedly connected to the inner wall of the fixing groove. The two first limiting plates are arranged symmetrically with respect to the blocking plate. The interior of the first limiting plate is slidably arranged. There is a transmission rod, one end of the transmission rod is provided with a roller, and the roller is driven and matched with the outer wall of the clamping plate;

The other end of the transmission rod movablely penetrates into the rotation groove and is rotationally connected to a balance plate through a latch. The middle part of the balance plate is rotationally connected to the inside of the rotation groove through a second limiting shaft. The balance plate is far away from the transmission rod. One end is rotatably connected to a push rod through a latch, and one ends of the two push rods movablely penetrate into the moving groove and are fixedly connected to the fixed plate and the supporting plate respectively.

Further, one end of the clamping plate away from the blocking plate is rotatably connected to a cylinder through a latch, and the other end of the cylinder is rotatably connected to the inner wall of the fixing groove through a latch.

Further, a fixed ring is fixedly connected to the outer wall of the transmission rod close to the first limiting plate, and a second limiting plate is slidably provided on the outer wall of one side of the driving rod close to the rotation groove. The second limiting plate Fixedly connected to the fixing groove, a thrust spring is set on the outer wall of the transmission rod between the fixing ring and the second limiting plate.

Further, the adjustment mechanism includes two first sliding plates slidingly connected to the upper slide rail. The middle portions of the two first sliding plates are threadedly connected with first bidirectional threaded screw rods. Both sides of the two first sliding plates are threadedly connected. There are two limit rods slidingly provided, and both limit rods are fixedly connected to the inner wall of the upper slide rail;

The bottom end of the first sliding plate is fixedly provided with a connecting plate, and a lower rail is provided on the inner wall of the bottom of the connecting plate. Two second sliding plates are provided slidingly inside the lower rail. A second bidirectional threaded screw is threaded between them. Both ends of the second bidirectional threaded screw are provided with mounting plates for rotation through bearings. Both of the mounting plates are fixedly connected to the connecting plate. The second bidirectional threaded screw is One end of the screw rod extends to the outside of the mounting plate and is fixedly provided with a second drive motor;

The bottom ends of the four second sliding plates are fixedly connected to the tops of the four clamp plates respectively.

Furthermore, one end of the first bidirectional threaded screw is rotatably connected to the inner wall of the upper slide rail through a bearing, and the other end of the first bidirectional threaded screw extends outside the connecting frame and is fixedly provided with a first drive motor.

A method of using a composite clamp for industrial robot clamping, including the following steps:

Step 1: Connect the composite fixture to the industrial robot through two connecting columns;

Step 2, when clamping shaft-like objects:

The industrial robot moves the composite clamp above the object, controls the first drive motor to rotate the first bidirectional threaded screw, drives the two first skateboards away from each other, expands the distance between the two first skateboards, and allows them to clamp the shaft On both sides of the shaft-shaped object, control the industrial robot again so that the four clamping plates are located outside the circumference of the shaft-shaped object, and then control the two second drive motors to rotate the two second bidirectional threaded screw rods. The screw drives the four clamping plates closer to each other. At this time, the cylinder pushes the clamping plates outward, causing the opposite end of the clamping plates to conflict with the blocking plate, so that an angle is formed between the two clamping plates located on the same side. After the clamping plates are brought together, the shaft-shaped object is fixed between the four clamping plates to complete the clamping of the shaft-shaped object;

Step three, when clamping an object with a rectangular cross-section:

Control the first drive motor to make the two first skateboards move away from each other, control the industrial robot to get closer to the rectangular object, and then control the two second drive motors to make the four clamping plates located outside the rectangular object. At this time, the cylinder is controlled to contract. Make the clamping plate fit the surface of the rectangular object, and let the four clamping plates press and fix the outer walls of both sides of the rectangular object. During this process, the clamping plate pushes the roller, and the roller pushes the transmission rod, so that the transmission rod drives the balance plate one end of the balance plate, and the other end of the balance plate pushes the push rod outward to move the holding plate to the bottom side of the rectangular object, limiting the bottom of the rectangular object to prevent the rectangular object from falling during transfer, and at the same time, the fixed plate is After the movement, the top and side walls of the rectangular object are reinforced to expand the force-bearing part of the rectangular object when it is fixed and improve the stability.

Compared with the prior art, the beneficial effects of the present invention are:

1. In the present invention, when clamping a shaft-like object, the distance between the two first sliding plates is expanded by driving the two first sliding plates away from each other, so that they can clamp both sides of the shaft-like object, and the shaft is improved. The safety and stability of shaped objects when being clamped are rotated by the two second bidirectional threaded screw rods. The second bidirectional threaded screw rod drives the four clamping plates to move closer to each other, causing the cylinder to push the clamping plate outward, making the clamp The opposite end of the holding plate conflicts with the blocking plate, so that an angle is formed between the two clamping plates on the same side. After the two sets of clamping plates are brought together, the shaft-like object is fixed between the four clamping plates forming the angle. , improve the stability and safety when clamping shaft-like objects;

2. In the present invention, when clamping an object with a rectangular cross-section, the cylinder is controlled to shrink so that the clamping plate fits the surface of the rectangular object, and the four clamping plates press and fix the outer walls of both sides of the rectangular object. During this process, the clamping plate pushes the roller, and the roller pushes the transmission rod, so that the transmission rod pushes one end of the balance plate, and the other end of the balance plate pushes the push rod outward, so that the holding plate moves to the bottom side of the rectangular object. The bottom of the object is limited to prevent the rectangular object from falling during transportation, which improves the safety of the composite clamp when used. At the same time, after the fixing plate is pushed, the top and side walls of the rectangular object are reinforced to expand the stability of the rectangular object when it is fixed. The force-bearing part further improves the stability of rectangular objects when they are fixed and transported;

3. In the present invention, when the cylinder pushes the clamping plate, an angle is formed between the two clamping plates on the same side, and the clamping of the shaft object can be completed. When the cylinder shrinks, the clamping plate It adheres to the surface of rectangular objects to achieve clamping of rectangular objects. This device adjusts the extension of the cylinder to control the position of the clamping plate to clamp shaft-shaped objects and rectangular objects, improving the performance of the device during use. functionality.

Description of the drawings

In order to facilitate understanding by those skilled in the art, the present invention will be further described below in conjunction with the accompanying drawings;

Figure 1 is a schematic diagram of the overall structure of the present invention;

Figure 2 is a front view of the fixing mechanism in the present invention;

Figure 3 is a front view of the auxiliary component of the present invention;

Figure 4 is an enlarged schematic diagram of the structure of area A in Figure 3;

Figure 5 is a front view of the adjustment mechanism in the present invention;

FIG. 6 is an enlarged schematic diagram of the structure of area B in FIG. 5 .

Reference signs: 1. Connecting frame; 2. Upper slide rail; 3. Adjustment mechanism; 4. Connecting column; 5. Clamp plate; 6. Fixing mechanism; 31. First sliding plate; 32. First bidirectional threaded screw rod; 33. First drive motor; 34. Limit rod; 35. Connecting plate; 36. Lower rail; 37. Second slide plate; 38. Second bidirectional thread screw; 39. Second drive motor; 310. Mounting plate; 61. Fixed slot; 62. Rotating slot; 63. Moving slot; 64. Auxiliary components; 65. Clamping plate; 66. Blocking plate; 67. Fixed plate; 68. Holding plate; 641. Cylinder; 642. Roller; 643. First limit plate; 644. Transmission rod; 645. Second limit shaft; 646. Balance plate; 647. Push rod; 648. Second limit plate; 649. Fixed ring.

Detailed ways

The technical solutions 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. Obviously, the described embodiments are only some of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

Example 1:

As shown in Figure 1-6, this embodiment proposes a composite clamp for industrial robot clamping, including a connecting frame 1. The top of the connecting frame 1 is fixedly connected with two connecting columns 4. The outer wall below the connecting frame 1 An upper slide rail 2 is provided on the top, and an adjustment mechanism 3 is connected to the inside of the upper slide rail 2. A fixing mechanism 6 is provided below the adjustment mechanism 3, and the composite clamp is connected to the industrial robot through two connecting columns 4;

The fixing mechanism 6 includes two sets of clamp plates 5, and each set of clamp plates 5 is provided with two sets. The two clamp plates 5 are arranged symmetrically with respect to the center line of the connecting frame 1, and the outer walls of the opposite sides of the two clamp plates 5 are provided with fixing holes. Groove 61, a blocking plate 66 is fixedly installed in the middle of the fixing groove 61, and two rotating grooves 62 are provided on the inner wall of the clamping plate 5 close to the fixing groove 61. The two rotating grooves 62 are symmetrically arranged relative to the blocking plate 66, and the clamping plate 5 is close to Moving grooves 63 are provided on the inner walls of the upper and lower ends of the fixed groove 61. A fixed plate 67 and a holding plate 68 are respectively provided slidingly inside the two moving grooves 63, and the holding plate 68 is located below the fixed plate 67;

Two clamping plates 65 are provided on the inner wall of the fixing groove 61 through two first limiting shafts. The two clamping plates 65 are respectively connected to the fixing plate 67 and the lifting plate 68 through the auxiliary components 64; the control cylinder 641 Shrink, so that the clamping plates 65 fit the surface of the rectangular object, and the four clamping plates 65 press and fix the outer walls of both sides of the rectangular object. The opposite ends of the two clamping plates 65 are in contact with the blocking plate 66, and The two clamping plates 65 are arranged symmetrically with respect to the blocking plate 66 .

The auxiliary assembly 64 includes two first limiting plates 643 fixedly connected to the inner wall of the fixing groove 61. The two first limiting plates 643 are symmetrically arranged relative to the blocking plate 66. A transmission rod is slidably provided inside the first limiting plates 643. 644, one end of the transmission rod 644 is provided with a roller 642 for rotation, and the roller 642 is driven and matched with the outer wall of the clamping plate 65;

The other end of the transmission rod 644 movably penetrates into the rotation groove 62 and is rotationally connected to a balance plate 646 through a latch. The middle part of the balance plate 646 is rotationally connected to the inside of the rotation groove 62 through the second limiting shaft 645. The balance plate 646 is away from the transmission rod. One end of 644 is connected to a push rod 647 through a latch, and one end of the two push rods 647 is movable and penetrates into the moving groove 63 and is fixedly connected to the fixed plate 67 and the holding plate 68 respectively; the clamping plate 65 pushes the roller 642, and the roller 642 pushes the transmission rod 644, so that the transmission rod 644 pushes one end of the balance plate 646, and the other end of the balance plate 646 pushes the push rod 647 outward, so that the holding plate 68 moves to the bottom side of the rectangular object, and the bottom of the rectangular object is moved. Limit the position to prevent the rectangular object from falling during transportation, and improve the safety of the composite clamp when in use. At the same time, the fixing plate 67 is pushed to reinforce the top and side walls of the rectangular object, expanding the force-bearing part of the rectangular object when it is fixed. , further improving the stability of rectangular objects when they are fixed and transported.

One end of the clamping plate 65 away from the blocking plate 66 is rotatably connected to a cylinder 641 through a latch. The other end of the cylinder 641 is rotatably connected to the inner wall of the fixing groove 61 through a latch. The transmission rod 644 is fixedly connected to an outer wall close to the first limiting plate 643. The fixed ring 649 and the transmission rod 644 are slidably provided with a second limiting plate 648 on one side of the outer wall close to the rotation groove 62. The second limiting plate 648 is fixedly connected to the fixed groove 61. The transmission rod 644 is located between the fixed ring 649 and the second limiting plate. A thrust spring is set on the outer wall between the position plates 648. By adjusting the extension of the cylinder 641 and adjusting the position of the clamping plate 65, the clamping of shaft-shaped objects and rectangular objects is achieved.

Example 2:

As shown in Figures 1 and 5-6, this embodiment proposes a composite clamp for industrial robot clamping, which is improved on the basis of Embodiment 1. The adjustment mechanism 3 includes two parts slidingly connected to the upper slide rail 2. There are two first sliding plates 31. The middle portions of the two first sliding plates 31 are threadedly connected with a first bidirectional threaded screw rod 32. Two limiting rods 34 are slidably provided on both sides of the two first sliding plates 31, and two limiting rods 34 are provided. The rods 34 are all fixedly connected to the inner wall of the upper slide rail 2, and control the first drive motor 33 to rotate the first two-way threaded screw rod 32, driving the two first sliding plates 31 away from each other, and expanding the distance between the two first sliding plates 31. distance so that it can clamp both sides of the object and improve the safety and stability of the object when it is clamped;

The bottom end of the first sliding plate 31 is fixedly provided with a connecting plate 35. A lower rail 36 is provided on the inner wall of the bottom of the connecting plate 35. Two second sliding plates 37 are slidably arranged inside the lower rail 36. Between the two second sliding plates 37 A second bidirectional threaded screw rod 38 is threadedly connected. Both ends of the second bidirectional threaded screw rod 38 are provided with mounting plates 310 for rotation through bearings. Both mounting plates 310 are fixedly connected to the connecting plate 35. The second bidirectional threaded screw rod 38 is fixedly connected to the connecting plate 35. One end of 38 extends to the outside of the mounting plate 310 and is fixed with a second drive motor 39; the two second drive motors 39 are controlled to rotate the two second bidirectional threaded screw rods 38, and the second bidirectional threaded screw rods 38 drive four The clamping plates 5 are close to each other to clamp the object;

The bottom ends of the four second sliding plates 37 are fixedly connected to the tops of the four clamping plates 5 respectively. One end of the first bidirectional threaded screw rod 32 is rotationally connected to the inner wall of the upper slide rail 2 through a bearing. The other end extends to the outside of the connecting frame 1 and is fixed with a first driving motor 33 .

The working process and principle of the present invention are as follows:

Step 1: Connect the composite fixture to the industrial robot through two connecting columns 4;

Step 2, when clamping shaft-like objects:

The industrial robot moves the composite clamp above the object, controls the first drive motor 33 to rotate the first two-way threaded screw rod 32, drives the two first skateboards 31 to move away from each other, and expands the distance between the two first skateboards 31. It clamps both sides of the shaft-like object to improve the safety and stability when the shaft-like object is clamped. The industrial robot is again controlled so that the four clamping plates 5 are located outside the circumference of the shaft-like object, and then the two clamping plates are controlled. A second drive motor 39 rotates the two second bidirectional threaded screw rods 38, and the second bidirectional threaded screw rod 38 drives the four clamping plates 5 to move closer to each other. At this time, the cylinder 641 pushes the clamping plate 65 outward, so that the clamping plate 65 is clamped. The opposite end of the plate 65 conflicts with the blocking plate 66, so that an included angle is formed between the two clamping plates 65 located on the same side. After the two sets of clamping plates 5 are brought together, the shaft-like object is fixed between the four clamping plates 65. , complete the clamping of shaft-like objects;

Step three, when clamping an object with a rectangular cross-section:

The first drive motor 33 is controlled to make the two first slide plates 31 move away from each other, the industrial robot is controlled to approach the rectangular object, and the two second drive motors 39 are controlled to make the four clamping plates 5 located outside the rectangular object. The cylinder 641 is controlled to contract, so that the clamping plate 65 fits the surface of the rectangular object, and the four clamping plates 65 press and fix the outer walls of both sides of the rectangular object. During this process, the clamping plate 65 pushes the roller 642, and the roller 642 Push the transmission rod 644 so that the transmission rod 644 pushes one end of the balance plate 646, and the other end of the balance plate 646 pushes the push rod 647 outward, so that the holding plate 68 moves to the bottom side of the rectangular object to limit the bottom of the rectangular object. position to prevent the rectangular object from falling during transportation and improve the safety of the composite clamp during use. At the same time, after the fixing plate 67 is pushed, the top and side walls of the rectangular object are reinforced to expand the force-bearing part of the rectangular object when it is fixed. To further improve the stability of rectangular objects when they are fixed and transported, this device realizes clamping of shaft-shaped objects and rectangular objects by adjusting the extension of the cylinder 641 and the position of the clamping plate 65.

The preferred embodiments of the invention disclosed above are only intended to help illustrate the invention. The preferred embodiments do not describe all details, nor do they limit the invention to specific implementations. Obviously, many modifications and variations are possible in light of the contents of this specification. These embodiments are selected and described in detail in this specification to better explain the principles and practical applications of the present invention, so that those skilled in the art can better understand and utilize the present invention. The invention is limited only by the claims and their full scope and equivalents.

Claims (8)

1. The composite clamp for clamping the industrial robot comprises a connecting frame (1) and is characterized in that two connecting columns (4) are fixedly connected to the top of the connecting frame (1), an upper sliding rail (2) is arranged on the outer wall below the connecting frame (1), an adjusting mechanism (3) is connected to the inner part of the upper sliding rail (2), and a fixing mechanism (6) is arranged below the adjusting mechanism (3);

the fixing mechanism (6) comprises two groups of clamp plates (5), each group of clamp plates (5) are provided with two clamp plates (5) which are symmetrically arranged relative to the central line of the connecting frame (1), two clamp plates (5) are respectively provided with a fixing groove (61) on the outer wall of one side opposite to the clamp plates (5), the middle part of each fixing groove (61) is fixedly provided with a blocking plate (66), two rotating grooves (62) are formed in the inner wall, close to the fixing grooves (61), of each clamp plate (5), the rotating grooves (62) are symmetrically arranged relative to the blocking plates (66), moving grooves (63) are formed in the inner wall, close to the upper end and the lower end of each clamp plate (5), the two clamp plates (67) and the supporting plates (68) are respectively and slidably arranged in the inner wall of each moving groove (63), the supporting plates (68) are located below the fixing grooves (67), two clamping plates (65) are rotatably arranged on the inner wall of each fixing groove (61) through two first limiting shafts, and the two clamping plates (65) are respectively connected with the supporting plates (64) and the supporting plates (68).

2. A compound clamp for gripping an industrial robot according to claim 1, characterized in that the opposite ends of both clamping plates (65) are in contact with a blocking plate (66), and that both clamping plates (65) are symmetrically arranged with respect to the blocking plate (66).

3. The composite clamp for clamping an industrial robot according to claim 1, wherein the auxiliary assembly (64) comprises two first limiting plates (643) fixedly connected with the inner wall of the fixed groove (61), the two first limiting plates (643) are symmetrically arranged relative to the blocking plate (66), a transmission rod (644) is slidably arranged in the first limiting plates (643), one end of the transmission rod (644) is rotatably provided with a roller (642), and the roller (642) is in transmission fit with the outer wall of the clamping plate (65);

the other end activity of transfer line (644) runs through to in rotating groove (62) and rotates through the bolt and be connected with balance board (646), the middle part of balance board (646) is connected with the inside rotation of rotating groove (62) through second spacing axle (645), the one end that transfer line (644) was kept away from to balance board (646) is connected with push rod (647) through the bolt rotation, two the one end of push rod (647) all activity run through to remove in groove (63) and respectively with fixed plate (67) and hold up board (68) fixed connection.

4. A compound clamp for clamping an industrial robot according to claim 3, wherein one end of the clamping plate (65) far away from the blocking plate (66) is rotatably connected with a cylinder (641) through a bolt, and the other end of the cylinder (641) is rotatably connected with the inner wall of the fixed groove (61) through a bolt.

5. The composite clamp for clamping an industrial robot according to claim 3, wherein a fixing ring (649) is fixedly connected to the outer wall of the transmission rod (644) close to the first limiting plate (643), a second limiting plate (648) is slidably arranged on the outer wall of one side of the transmission rod (644) close to the rotating groove (62), the second limiting plate (648) is fixedly connected with the fixing groove (61), and a thrust spring is sleeved on the outer wall of the transmission rod (644) between the fixing ring (649) and the second limiting plate (648).

6. The composite clamp for clamping an industrial robot according to claim 1, wherein the adjusting mechanism (3) comprises two first sliding plates (31) which are slidably connected with the upper sliding rail (2), a first bidirectional threaded screw rod (32) is in threaded connection with the middle of each first sliding plate (31), two limit rods (34) are slidably arranged on two sides of each first sliding plate (31), and the two limit rods (34) are fixedly connected with the inner wall of the upper sliding rail (2);

the bottom end of the first sliding plate (31) is fixedly provided with a connecting plate (35), the inner wall at the bottom of the connecting plate (35) is provided with a lower sliding rail (36), the interior of the lower sliding rail (36) is slidably provided with two second sliding plates (37), a second bidirectional screw rod (38) is connected between the two second sliding plates (37) in a threaded manner, two ends of the second bidirectional screw rod (38) are respectively provided with a mounting plate (310) through bearing rotation, the two mounting plates (310) are respectively fixedly connected with the connecting plate (35), and one end of the second bidirectional screw rod (38) extends to the outer side of the mounting plate (310) and is fixedly provided with a second driving motor (39);

the bottom ends of the four second sliding plates (37) are fixedly connected with the tops of the four clamp plates (5) respectively.

7. The composite clamp for clamping an industrial robot according to claim 6, wherein one end of the first bidirectional threaded screw rod (32) is rotatably connected with the inner wall of the upper sliding rail (2) through a bearing, and the other end of the first bidirectional threaded screw rod (32) extends out of the connecting frame (1) and is fixedly provided with a first driving motor (33).

8. A method of using a composite clamp for industrial robot gripping, applied to a composite clamp for industrial robot gripping as claimed in any one of claims 1 to 7, comprising the steps of:

step one, connecting a composite clamp with an industrial robot through two connecting columns (4);

step two, when clamping the shaft-shaped object:

the industrial robot moves the composite clamp to the upper part of the object, controls the first driving motor (33), enables the first bidirectional screw rod (32) to rotate, drives the two first sliding plates (31) to move away from each other, enlarges the distance between the two first sliding plates (31) to enable the two first sliding plates to clamp two sides of the shaft-shaped object, controls the industrial robot again, enables the four clamp plates (5) to be positioned at the outer sides of the circumference of the shaft-shaped object, then controls the two second driving motors (39), enables the two second bidirectional screw rods (38) to rotate, enables the second bidirectional screw rods (38) to drive the four clamp plates (5) to be close to each other, and at the moment, the cylinder (641) pushes the clamp plates (65) to the outer side to enable opposite ends of the clamp plates (65) to collide with the blocking plates (66), enables the two clamp plates (65) positioned at the same side to form an included angle, and enables the shaft-shaped object to be fixed between the four clamp plates (65) after the two groups of clamp plates (5) are close together, so that the clamping of the shaft-shaped object is completed;

step three, when clamping an object with a rectangular cross section:

the first driving motor (33) is controlled, the two first sliding plates (31) are far away from each other, the industrial robot is controlled to enable the industrial robot to be close to a rectangular object, the two second driving motors (39) are controlled to enable the four clamp plates (5) to be located on the outer side of the rectangular object, at the moment, the control cylinder (641) is contracted, the clamping plates (65) are attached to the surface of the rectangular object, the four clamping plates (65) are fixedly pressed on the outer walls of the two sides of the rectangular object, in the process, the clamping plates (65) push the roller (642), the roller (642) push the transmission rod (644) to enable the transmission rod (644) to push one end of the balance plate (646), the other end of the balance plate (646) pushes the push rod (647) outwards, the supporting plate (68) is enabled to move to the bottom side of the rectangular object, the bottom of the rectangular object is limited, the rectangular object is prevented from falling down when being transported, the top side wall of the rectangular object is fixedly supported after the fixing plate (67) is pushed, the stressed part of the rectangular object is enlarged, and the stability is improved.