CN117657766A

CN117657766A - Electric control robot paw

Info

Publication number: CN117657766A
Application number: CN202410138741.XA
Authority: CN
Inventors: 陈丽颖
Original assignee: Harbin University
Current assignee: Harbin University
Priority date: 2024-02-01
Filing date: 2024-02-01
Publication date: 2024-03-08
Anticipated expiration: 2044-02-01
Also published as: CN117657766B

Abstract

The application discloses automatically controlled robot gripper relates to robot gripper technical field. The application comprises the following steps: the mounting bracket is used for being mounted on the mechanical arm, two movable seats are symmetrically and slidably mounted on the mounting bracket, and clamping plates are mounted on the movable seats. This application is through the distance between two guide sheet metal of drive assembly with control, then will guide the sheet metal and remove the both sides face of packing box again, because the thickness of guide sheet metal is thinner, so guide sheet metal this moment can be smooth insert establish between adjacent packing box, then through the conveying component on the guide sheet metal with the packing box that will be located between the guide face to the direction removal of splint, until the packing box that is located the guide face removes to the splint, thereby need not insert the splint and establish the centre gripping to the packing box between adjacent packing box, more convenient during the use, and can prevent that adjacent packing box from being extruded and dropping.

Description

Electric control robot paw

Technical Field

The application relates to the technical field of robot claws, in particular to an electric control robot claw.

Background

The existing warehouse logistics robot is generally used for transferring or transporting packaged objects, the objects required to be clamped by the logistics robot gripper are generally packaging boxes, so that the logistics robot gripper is designed to realize clamping and transporting of the packaging boxes through two sliding chucks, however, when the existing warehouse logistics robot is used, the packaging boxes are generally stacked together for saving space, the gap between the packaging boxes is small, the robot gripper has a certain thickness, the mechanical gripper is inconvenient when clamping and transporting some arranged compact packaging boxes, and adjacent packaging boxes are extruded and drop when the packaging boxes are clamped due to the fact that the gap between the packaging boxes is small.

Therefore, the invention provides an electric control robot paw.

Disclosure of Invention

The purpose of the present application is: in order to solve the problems in the background art, the application provides an electric control robot gripper.

The application specifically adopts the following technical scheme for realizing the purposes:

an electronically controlled robotic gripper comprising:

the device comprises a mounting frame, a mechanical arm and a clamping plate, wherein the mounting frame is used for being mounted on the mechanical arm, two moving seats are symmetrically and slidably mounted on the mounting frame, the clamping plate is mounted on the moving seats, and a driving assembly for driving the two moving seats to move is mounted on the mounting frame;

the guide mechanism comprises a guide thin plate arranged on the movable seat, a conveying assembly is arranged on the guide thin plate, opposite sides of the two guide thin plates are guide surfaces, and after the two guide surfaces are contacted with the packing box, the packing box positioned between the two guide surfaces is moved towards the direction of the clamping plate through the conveying assembly;

the limiting baffle is arranged on the movable seat and positioned below the clamping plate and is used for supporting the packing box;

wherein, the horizontal plane of the bottom end of the guide thin plate is lower than the horizontal plane of the bottom end of the limit baffle.

Further, a plurality of mounting grooves are formed in the horizontal array in the guide sheet, the conveying assembly comprises a rotating rod which is vertically and rotatably mounted in the mounting grooves, guide wheels are sleeved on the outer peripheral sides of the rotating rod, the outer peripheral side parts of the guide wheels are located outside the guide surfaces, and a transmission assembly used for driving the rotating rod to rotate is mounted on the mounting frame.

Further, two driving rods are rotatably arranged on the movable seat, synchronizing wheels are sleeved on the driving rods, a synchronous belt is arranged between the two synchronizing wheels in a transmission mode, the clamping plates are located in the synchronous belt, two sides of the length direction of the clamping plates, which are opposite, are respectively attached to the plane parts inside the synchronous belt, the opposite sides of the two synchronous belts are clamping surfaces, the clamping surfaces and the guiding surfaces are located on the same plane, the guiding wheels are made of rubber, and a motor for driving one driving rod to rotate is arranged on the movable seat.

Further, the transmission assembly comprises driven gears arranged on the rotating rod, a plurality of driving gears are rotatably arranged in the guide thin plate, the driving gears are respectively arranged between the two driven gears and are meshed with each other, and a linkage assembly for driving one of the driving gears to rotate is arranged on the movable seat.

Further, the device further comprises a separation groove for separating the synchronous belt from the synchronous wheel, the linkage assembly comprises a rotary rod rotatably arranged on the movable seat, a first belt pulley assembly is arranged between the rotary rod and the driving rod, a driving gear is arranged on the rotary rod, and an elongated gear meshed with the driving gear is concentrically arranged on one driving gear.

Further, the drive assembly includes the level and rotates and install threaded rod on the mounting bracket, horizontal sliding mounting has the sliding block on the mounting bracket, the sliding block thread bush is established on the threaded rod, it has two articulated bars to articulate on the sliding block, and the free end of two articulated bars articulates respectively on two removal seats, install on the mounting bracket and be used for driving threaded rod pivoted motor.

Further, install the installed part on the removal seat, limit baffle installs on the installed part, install the driving piece that is used for driving the installed part to remove on the removal seat, the installed part removes so that limit baffle removes to one side of removal seat and is higher than the bottom surface of removal seat.

Further, the mounting piece is a driving plate vertically and slidably mounted on the movable seat, the limit baffle is hinged to the driving plate, the driving piece comprises a movable plate vertically and slidably mounted on the movable seat, a linkage rod is hinged between the movable plate and the limit baffle, a connecting spring is mounted between the driving plate and the movable seat, and a linkage assembly for driving the movable plate to move is mounted on the movable seat.

Further, the actuating lever top is located the outside, the interlock subassembly is including vertical and rotation reciprocating screw on the movable seat, the movable plate meshing cup joints on reciprocating screw, rotate on the movable seat and install with the concentric rotary drum of actuating lever, install second belt pulley subassembly between rotary drum and the reciprocating screw, install the sleeve on the position that actuating lever one side is close to the top, the sliding insert is equipped with the wedge on the sleeve, the wedge groove that is used for the wedge to insert is seted up to rotary drum inner periphery side, installs the conflict shell fragment between wedge and the sleeve.

Further, the bottom edges of the two opposite sides of the guide sheet are provided with guide slopes.

The beneficial effects of this application are as follows:

this application is through the distance between two guide sheet metal of drive assembly with control, then will guide the sheet metal and remove the both sides face of packing box again, because the thickness of guide sheet metal is thinner, so guide sheet metal this moment can be smooth insert establish between adjacent packing box, then through the conveying component on the guide sheet metal with the packing box that will be located between the guide face to the direction removal of splint, until the packing box that is located the guide face removes to the splint, thereby need not insert the splint and establish the centre gripping to the packing box between adjacent packing box, more convenient during the use, and can prevent that adjacent packing box from being extruded and dropping.

Drawings

FIG. 1 is a schematic perspective view of the present application;

FIG. 2 is a schematic view of another view of FIG. 1 of the present application;

FIG. 3 is a schematic view of the structure of the present application after installation;

FIG. 4 is a partial perspective cross-sectional view of FIG. 1 of the present application;

FIG. 5 is an exploded view of a portion of the construction of the present application;

FIG. 6 is a schematic view of the present application from another perspective of FIG. 5;

FIG. 7 is an enlarged view of the structure of FIG. 5A of the present application;

FIG. 8 is an enlarged view of the structure of FIG. 6B of the present application;

reference numerals: 1. a mounting frame; 2. a movable seat; 3. a clamping plate; 4. a drive assembly; 401. a threaded rod; 402. a sliding block; 403. a hinge rod; 5. a guide mechanism; 501. guiding the sheet; 502. a transport assembly; 5021. a mounting groove; 5022. a rotating lever; 5023. a guide wheel; 6. a limit baffle; 7. a transmission assembly; 701. a driven gear; 702. a drive gear; 8. a driving rod; 9. a synchronizing wheel; 10. a synchronous belt; 11. a clamping surface; 12. a linkage assembly; 1201. a separation groove; 1202. a rotating rod; 1203. a first pulley assembly; 1204. a drive gear; 1205. an elongated gear; 13. a mounting member; 14. a driving member; 1401. a moving plate; 1402. a linkage rod; 1403. a connecting spring; 15. a linkage assembly; 1501. a reciprocating screw rod; 1502. a rotary drum; 1503. a second pulley assembly; 1504. a sleeve; 1505. wedge blocks; 1506. wedge-shaped grooves; 1507. a pressing spring plate; 16. and a guiding inclined plane.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application.

Example 1

As shown in fig. 1 to 8, an electronically controlled robotic gripper according to one embodiment of the present application includes:

the device comprises a mounting frame 1, a mechanical arm and a clamping plate, wherein the mounting frame 1 is used for being mounted on the mechanical arm, two movable seats 2 are symmetrically and slidably mounted on the mounting frame 1, the clamping plate 3 is mounted on the movable seats 2, and a driving assembly 4 for driving the two movable seats 2 to move is mounted on the mounting frame 1; in the embodiment, the driving assembly 4 can enable the two movable seats 2 to move, so that the two clamping plates 3 are indirectly driven to approach, and the packing box is clamped by the two clamping plates 3;

the guiding mechanism 5 comprises a guiding thin plate 501 installed on the moving seat 2, the thickness of the guiding thin plate 501 is thinner than that of a clamping plate of a packing box clamped by the existing logistics robot, when the moving seat 2 moves, the guiding thin plate 501 is indirectly driven to move, a conveying component 502 is installed on the guiding thin plate 501, opposite sides of the two guiding thin plates 501 are guiding surfaces, after the two guiding surfaces are contacted with the packing box, the packing box between the two guiding surfaces is moved towards the direction of the clamping plate 3 through the conveying component 502, namely when the distance between the packing boxes is smaller, the distance between the two guiding thin plates 501 can be controlled through the driving component 4, then the guiding thin plate 501 is moved to two side surfaces of the packing box, because the thickness of the guiding thin plate 501 is thinner, the guiding thin plate 501 can be smoothly inserted between adjacent packing boxes, and then the packing box between the guiding thin plate 501 is moved towards the direction of the clamping plate 3 through the conveying component 502 on the guiding thin plate 501 until the packing box between the guiding surfaces moves onto the clamping plate 3, so that the clamping of the packing box can be clamped between the adjacent clamping plates without inserting the packing boxes between the adjacent clamping plates;

the limit baffle 6 is arranged on the movable seat 2 and is positioned below the clamping plate 3 and is used for supporting the packing case, when the limit baffle 6 positioned between the two guide surfaces moves towards the direction of the clamping plate 3, that is, the packing case positioned between the two guide surfaces is positioned above the clamping plate 3, so when the packing case moves horizontally towards the direction of the clamping plate 3, the limit baffle 6 can effectively prevent the packing case from falling down due to the action of gravity after moving between the clamping plates 3, and because warehouse packing cases are generally piled together, when the packing case is horizontally moved by the conveying component 502 and separated from the top of the packing case below the packing case, the bottom of the packing case transported by the conveying component 502 can be moved onto the limit baffle 6, and when the packing case moves to the top of the limit baffle 6, the two movable seats 2 can be made to be close at the moment through the driving component 4, so as to match the clamping plate 3 to clamp the packing case;

wherein, the bottom level of the guiding sheet 501 is lower than the bottom level of the limit baffle 6, and because the bottom of the packaging box to be transported is located above the limit baffle 6 when the packaging box needs to be moved between the two clamping plates 3, the bottom of the guiding sheet 501 is lower than the bottom level of the limit baffle 6, so that the guiding surface of the guiding sheet 501 has a larger contact area with the packaging box to be transported when the bottom of the packaging box is located above the limit baffle 6.

As shown in fig. 1, fig. 4, fig. 5 and fig. 7, in the first embodiment, a plurality of mounting grooves 5021 are formed in the inner horizontal array of the guide sheet 501, the conveying assembly 502 includes a rotating rod 5022 vertically and rotatably mounted in the mounting groove 5021, the outer peripheral side of the rotating rod 5022 is sleeved with a guide wheel 5023, the outer peripheral side portion of the guide wheel 5023 is located outside the guide surface, a transmission assembly 7 for driving the rotating rod 5022 to rotate is mounted on the mounting frame 1, the end face of the guide wheel 5023 is rounded, the rounded corner face portion is located outside, the two end faces of the guide wheel 5023 are not outside the guide surface, the rotating rod 5022 rotates through the transmission assembly 7, the rotating rod 5022 drives the guide wheel 5023 to rotate when rotating, so when the two guide sheets 501 are in contact with the package, the guide wheel 5023 is in contact with the package, the package can be driven to move horizontally when the plurality of guide wheels 5023 rotate (because the bottom of the package moving at this time has other package supports), the thickness of the guide sheet 501 is thinner, the heavier package cannot be clamped, and the guide sheet 501 only plays a role of clamping the guide sheet 501.

Example two

As shown in fig. 1, fig. 4 and fig. 5, this embodiment further improves the present application on the basis of the first embodiment, two driving rods 8 are rotatably installed on the moving seat 2, synchronizing wheels 9 are sleeved on the driving rods 8, a synchronous belt 10 is installed between the two synchronizing wheels 9 in a transmission manner, the clamping plates 3 are located in the synchronous belt 10, two opposite sides of the length direction of the clamping plates 3 are respectively attached to the inner plane parts of the synchronous belt 10, as shown in fig. 1, opposite sides of the two synchronous belts 10 are clamping surfaces 11, the clamping surfaces 11 are located on the same plane with the guiding surfaces, the clamping plates 3 at this time are attached to the inner length direction of the synchronous belt 10, the function of supporting the synchronous belt 10 is played, when the packing box moves between the two synchronous belts 10, the two clamping plates 3 are mutually close to enable the synchronous belt 10 to be abutted against the packing box, so that friction between the synchronous belt 10 and the packing box is increased to clamp the packing box, specifically, the synchronous belt 10 is a limiting belt, the synchronous wheel 9 is a limiting belt pulley, the guide wheel 5023 is made of rubber in the embodiment, the friction between the guide wheel 5023 and the packaging box is improved, the motor for driving one driving rod 8 to rotate is arranged on the moving seat 2, when the packaging box moves towards the direction of the clamping plate 3 through the guide wheel 5023, the motor drives the driving rod 8 to move so as to drive the synchronous belt 10 to move, so that the two synchronous belts 10 move along the direction of the clamping plate 3, after the packaging box moves between the two synchronous belts 10, the packaging box can be moved to a proper position by the movement of the synchronous belt 10, and then the packaging box can be horizontally moved out by the synchronous belt 10 when the packaging box is subsequently moved to other positions, so that the packaging box is placed at the top of the other packaging box from one side, and the occupied space during transferring the packaging box is effectively reduced.

As shown in fig. 1, 4 and 5, in the second embodiment, the transmission assembly 7 includes the driven gears 701 mounted on the rotation rod 5022, the guide sheet 501 is internally rotatably mounted with a plurality of driving gears 702, the plurality of driving gears 702 are respectively located between the two driven gears 701 and are engaged with each other, the movable base 2 is mounted with the linkage assembly 12 for driving one of the driving gears 702 to rotate, that is, when one of the driving gears 702 is rotated by the linkage assembly 12, because the driving gears 702 are engaged with the two driven gears 701 close to each other, at this time, the two driven gears 701 are rotated, and the rotation directions of the two driven gears 701 are identical, that is, the rotation directions of the plurality of rotation rods 5022 are identical, and the rotation of the rotation rod 5022 rotates the guide wheels 5023 mounted thereon in the same direction, thereby ensuring the rotation synchronization rate of the guide wheels 5023.

As shown in fig. 1, 6 and 7, in the second embodiment, the partition groove 1201 for partitioning the timing belt 10 and the timing wheel 9 is further included, the linkage assembly 12 includes a rotating rod 1202 rotatably mounted on the moving base 2, a first pulley assembly 1203 is mounted between the rotating rod 1202 and the driving rod 8, the driving gears 1204 are mounted on the rotating rod 1202, and the elongated gears 1205 meshed with the driving gears 1204 are concentrically mounted on one of the driving gears 702, that is, when the driving rod 8 rotates to rotate the timing wheel 9, the rotating rod 1202 is rotated by the first pulley assembly 1203, the rotating rod 1202 rotates to rotate the driving gears 1204 mounted thereon, and because the driving gears 1204 mesh with the elongated gears 1205, the elongated gears 1205 rotate, and because the elongated gears 1205 are mounted on the driving gears 702 to rotate one of the driving gears 702, so that when the timing belt 10 is moved, the plurality of guide wheels 5023 also rotate, and additional driving force is not required to rotate the guide wheels 5023.

As shown in fig. 2 and 4, in the second embodiment, the driving component 4 includes a threaded rod 401 horizontally and rotatably mounted on the mounting frame 1, the mounting frame 1 is horizontally slidably mounted with a sliding block 402, the sliding block 402 is screwed on the threaded rod 401, two hinge rods 403 are hinged on the sliding block 402, free ends of the two hinge rods 403 are respectively hinged on the two moving bases 2, a motor for driving the threaded rod 401 to rotate is mounted on the mounting frame 1, that is, when the motor is started to rotate the threaded rod 401, because the threaded rod 401 is in threaded fit with the sliding block 402, and the sliding block 402 is horizontally slidably mounted on the mounting frame 1, so that the sliding block 402 can horizontally move, the sliding block 402 can drive the hinge rod 403 hinged on the sliding block 402 to move, because one end of the hinge rod 403 is hinged on the moving base 2, the sliding block 402 can drive the two moving bases 2 to be close to or far away from each other, thereby controlling the distance between the two synchronous belts 10 and the distance between the two guide sheets 501, and the threaded rod has self-locking property, so that the moving base 2 is not easy to move automatically due to external factors.

Example III

As shown in fig. 2 and fig. 4, this embodiment further improves the present application on the basis of the first embodiment and the second embodiment, the mounting member 13 is mounted on the moving seat 2, the limit baffle 6 is mounted on the mounting member 13, the driving member 14 for driving the movement of the mounting member 13 is mounted on the moving seat 2, the mounting member 13 moves to enable the limit baffle 6 to move to one side of the moving seat 2 and be higher than the bottom surface of the moving seat 2, when there is a sufficient space between the packing cases, the two synchronous belts 10 are prevented from being affected by the limit baffle 6 to clamp the packing cases, at this time, the mounting member 13 can be moved by the driving member 14, the mounting member 13 moves to enable the limit baffle 6 mounted on the mounting member 13 to move to one side of the moving seat 2, so that the clamping of the packing cases by the synchronous belts 10 is not hindered, and under the condition that the space between the packing cases is sufficiently large, the speed of clamping the packing cases is increased, and the clamping step is reduced.

As shown in fig. 7 and 8, in the third embodiment, the mounting member 13 is a driving plate vertically slidably mounted on the moving seat 2, the limit stop 6 is hinged on the driving plate, the driving member 14 includes a moving plate 1401 vertically slidably mounted on the moving seat 2, a linkage rod 1402 is hinged between the moving plate 1401 and the limit stop 6, a connecting spring 1403 is mounted between the driving plate and the moving seat 2, and a linkage assembly 15 for driving the moving plate 1401 to move is mounted on the moving seat 2, that is, when the moving plate 1401 moves up through the linkage assembly 15, the limit stop 6 is pulled to rotate by the linkage rod 1402, the connecting spring 1403 is not compressed, and when the limit stop 6 rotates from the horizontal direction to the vertical direction, the moving plate 1401 continues to move up because the limit stop 6 rotates to the limit position, so that the driving plate moves up, the connecting spring 1403 is compressed, thereby preventing the limit stop 6 from being located under the synchronous belt 10 and affecting the clamping of the synchronous belt 10.

As shown in fig. 4, 5 and 7, in the third embodiment, the top end of the driving rod 8 is located outside, the linkage assembly 15 includes a reciprocating screw 1501 vertically and rotatably mounted on the moving seat 2, the moving plate 1401 is engaged and sleeved on the reciprocating screw 1501, the moving seat 2 is rotatably mounted with a rotating cylinder 1502 concentric with the driving rod 8, a second pulley assembly 1503 is mounted between the rotating cylinder 1502 and the reciprocating screw 1501, a sleeve 1504 is mounted at a position of one side of the driving rod 8 near the top, a wedge block 1505 is slidably inserted on the sleeve 1504, a wedge slot 1506 for inserting the wedge block 1505 is formed on the inner circumferential side of the rotating cylinder 1502, and a collision elastic sheet 1507 is mounted between the wedge block 1505 and the sleeve 1504, specifically, as shown in fig. 1, when the synchronous belt 10 rotates clockwise, the direction of rotation of the synchronous belt 10 is the direction of the transport package, that is the direction of rotation of the synchronous belt 10 when the synchronous belt 10 rotates anticlockwise, the driving rod 8 rotates anticlockwise at this time, so that the sleeve 1504 mounted on the driving rod 8 rotates, and further drives the wedge block 1505 to rotate, when the wedge block 1505 is opposite to the wedge groove 1506, the wedge block 1505 is inserted into the wedge groove 1506 through the abutting spring piece 1507, at this time, because the driving rod 8 rotates anticlockwise, the plane of the wedge block 1505 abuts against one side plane of the wedge groove 1506, and further drives the rotating cylinder 1502 to rotate, the rotation of the rotating cylinder 1502 moves the reciprocating screw 1501 through the second belt pulley assembly 1503, so that the moving position of the moving plate 1401 is controlled, the position of the limit baffle 6 is controlled, and when the driving rod 8 rotates clockwise, the inclined plane of the wedge block 1505 abuts against the inclined plane of the wedge groove 1506 when the wedge block 1505 is inserted into the wedge groove 1506, so that the wedge block 1505 moves into the sleeve 1504, so that the rotating cylinder 1502 is not rotated, the limit baffle 6 is not accidentally moved when the synchronous belt 10 is used clockwise, and no additional driving force is needed to drive the movement of the moving plate 1401, so that the use is more convenient.

As shown in fig. 5, in the third embodiment, guide inclined planes 16 are configured at the edges of the bottoms of the two opposite sides of the guide sheet 501, and the guide inclined planes 16 are designed to make the bottoms of the guide sheet 501 easier to be inserted between adjacent packaging boxes, so as to perform a guiding function.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An electronically controlled robotic gripper, comprising:

the device comprises a mounting frame (1) which is used for being mounted on a mechanical arm, wherein two moving seats (2) are symmetrically and slidably mounted on the mounting frame (1), clamping plates (3) are mounted on the moving seats (2), and a driving assembly (4) for driving the two moving seats (2) to move is mounted on the mounting frame (1);

the guide mechanism (5) comprises a guide thin plate (501) arranged on the movable seat (2), a conveying assembly (502) is arranged on the guide thin plate (501), opposite sides of the two guide thin plates (501) are guide surfaces, and after the two guide surfaces are contacted with the packing box, the packing box positioned between the two guide surfaces is moved towards the direction of the clamping plate (3) through the conveying assembly (502);

the limiting baffle (6) is arranged on the movable seat (2) and positioned below the clamping plate (3) and is used for supporting the packing box;

wherein, the bottom level of the guiding thin plate (501) is lower than the bottom level of the limit baffle (6).

2. The electronic control robot gripper according to claim 1, wherein a plurality of mounting grooves (5021) are formed in the guide sheet (501) in a horizontal array, the conveying assembly (502) comprises a rotating rod (5022) which is vertically and rotatably mounted in the mounting groove (5021), guide wheels (5023) are sleeved on the outer periphery of the rotating rod (5022), the outer periphery of the guide wheels (5023) are located outside the guide surfaces, and a transmission assembly (7) for driving the rotating rod (5022) to rotate is mounted on the mounting frame (1).

3. The electronic control robot gripper according to claim 2, wherein two driving rods (8) are rotatably mounted on the moving seat (2), a synchronizing wheel (9) is sleeved on the driving rods (8), a synchronous belt (10) is mounted between the two synchronizing wheels (9) in a transmission mode, the clamping plates (3) are located in the synchronous belt (10), two opposite sides of the length direction of the clamping plates (3) are respectively attached to inner plane parts of the synchronous belt (10), opposite sides of the two synchronous belts (10) are clamping surfaces (11), the clamping surfaces (11) and the guiding surfaces are located on the same plane, the guiding wheels (5023) are made of rubber materials, and a motor for driving one driving rod (8) to rotate is mounted on the moving seat (2).

4. An electronically controlled robotic gripper according to claim 3, characterized in that the transmission assembly (7) comprises driven gears (701) mounted on the rotating lever (5022), a plurality of driving gears (702) are rotatably mounted inside the guiding sheet (501), the plurality of driving gears (702) are respectively located between the two driven gears (701) and are engaged with each other, and a linkage assembly (12) for driving one of the driving gears (702) to rotate is mounted on the movable base (2).

5. An electronically controlled robotic gripper according to claim 4, further comprising a separation groove (1201) separating the timing belt (10) and the timing wheel (9), the linkage assembly (12) comprising a rotary lever (1202) rotatably mounted on the moving base (2), a first pulley assembly (1203) mounted between the rotary lever (1202) and the drive lever (8), a driving gear (1204) mounted on the rotary lever (1202), and an elongated gear (1205) engaged with the driving gear (1204) mounted concentrically on one of the driving gears (702).

6. An electronically controlled robotic gripper according to claim 1, characterized in that the drive assembly (4) comprises a threaded rod (401) horizontally and rotatably mounted on the mounting frame (1), a sliding block (402) is horizontally slidably mounted on the mounting frame (1), the sliding block (402) is threadedly sleeved on the threaded rod (401), two hinge rods (403) are hinged on the sliding block (402), the free ends of the two hinge rods (403) are hinged on the two movable bases (2) respectively, and a motor for driving the threaded rod (401) to rotate is mounted on the mounting frame (1).

7. An electronically controlled robotic gripper according to claim 3, wherein the movable base (2) is provided with a mounting member (13), the limit stop (6) is mounted on the mounting member (13), the movable base (2) is provided with a driving member (14) for driving the mounting member (13) to move, and the mounting member (13) moves so that the limit stop (6) moves to one side of the movable base (2) and is higher than the bottom surface of the movable base (2).

8. The electronic control robot gripper according to claim 7, wherein the mounting member (13) is a driving plate vertically slidably mounted on the moving base (2), the limit baffle (6) is hinged on the driving plate, the driving member (14) comprises a moving plate (1401) vertically slidably mounted on the moving base (2), a linkage rod (1402) is hinged between the moving plate (1401) and the limit baffle (6), a connecting spring (1403) is mounted between the driving plate and the moving base (2), and a linkage assembly (15) for driving the moving plate (1401) to move is mounted on the moving base (2).

9. The electronic control robot gripper according to claim 8, wherein the top end of the driving rod (8) is located outside, the linkage assembly (15) comprises a reciprocating screw (1501) which is vertical and rotates on the moving seat (2), the moving plate (1401) is meshed and sleeved on the reciprocating screw (1501), a rotating cylinder (1502) concentric with the driving rod (8) is rotatably installed on the moving seat (2), a second belt pulley assembly (1503) is installed between the rotating cylinder (1502) and the reciprocating screw (1501), a sleeve (1504) is installed at a position, close to the top, on one side of the driving rod (8), a wedge block (1505) is slidably inserted on the sleeve (1504), a wedge groove (1506) for inserting the wedge block (1505) is formed in the inner circumferential side of the rotating cylinder (1502), and an abutting spring piece (1507) is installed between the wedge block (1505) and the sleeve (1504).

10. An electronically controlled robotic gripper as claimed in claim 1, characterized in that the guide sheet (501) is provided with guide bevels (16) on opposite side bottom edges.