CN211466444U - Robot tail end execution paw - Google Patents

Abstract

The utility model discloses a robot end execution paw, which comprises a fixed plate, a cylinder positioned at the upper part of the fixed plate and a piston rod guide cylinder positioned at the lower part of the fixed plate, wherein a piston rod of the cylinder is positioned in the piston rod guide cylinder, a U-shaped pull rod with a downward opening is fixed at the end part of the piston rod guide cylinder, pull rod guide grooves penetrating through the piston rod guide cylinder are arranged on the left side wall and the right side wall of the piston rod guide cylinder, and the U-shaped pull rod vertically moves along the pull rod guide grooves under the driving; the front side wall and the rear side wall of each vertical rod of the U-shaped pull rod are respectively fixed with a sliding pin vertical to the U-shaped pull rod, the front side and the rear side of the piston rod guide cylinder are respectively provided with a grabbing device, each grabbing device is formed by hinging two connecting rods with adjustable lengths, and the inner side of the bottom of each connecting rod is fixed with a clamping jaw; the sliding pins and the connecting rods are arranged in a one-to-one correspondence mode, sliding grooves are formed in the connecting rods, each sliding pin is located in the corresponding sliding groove of the corresponding connecting rod, and the sliding pins can move linearly along the sliding grooves under the driving of the piston rods and the U-shaped pull rods. The grabbing speed is high, and the grabbing stability is good.

Description

A robot end-execution gripper

technical field

The utility model belongs to the technical field of robot end effectors, in particular to a robot end effector gripper.

Background technique

Robot end effector refers to any tool connected to the edge (joint) of the robot with certain functions, including robot gripper, robot tool quick changer, robot collision sensor, robot rotary connector, robot pressure tool, robot spray gun, robot Glitch cleaning tools and more. The robot gripper is an automatic operation device that can imitate some action functions of human hands and arms, grab, transport objects or operate tools according to fixed procedures, and can complete various expected operations through programming.

At present, a series of mechanical grippers are proposed for the grasping of pipe fittings in the actual production and manufacturing process. The utility model patent publication number CN208880759U discloses a robot end effector gripper structure, which has a simple structure and can flexibly grasp the pipe fittings. . However, it realizes flexible grasping through the tension spring, which can only grasp light pipe fittings, and under the action of the gravity of the pipe fittings, the tension spring is prone to fatigue and rigid deformation and fails, and the grasping stability is poor. In addition, due to the existence of liquids such as cutting fluid and lubricating oil on the surface of the pipe fittings, the pipe fittings are prone to fall off during the grasping and moving process of the manipulator claws. The utility model patent with publication number CN205674217U discloses a mechanical gripper used for changing the hob of a shield machine, which saves time and cost, but when it is used for pipe fittings, it can only grab pipe fittings of a certain diameter, and cannot Adjusting the grab spacing to grab a wide range of pipe diameters results in limited use.

SUMMARY OF THE INVENTION

The purpose of the embodiments of the present invention is to provide a robot end-executing claw, so as to solve the problems of limited use due to the inability to adjust the clamping distance of the existing manipulator claw, the problems of laborious grasping and poor stability, and the existence of cutting on the surface of the pipe fittings. Liquid, lubricating oil and other liquids make the pipe fittings easy to fall off during grabbing and moving.

The technical solution adopted in the embodiment of the present invention is that a robot end-executing gripper includes a fixed plate, a cylinder and a piston rod guide cylinder, the cylinder is installed on the top of the fixed plate, and the piston rod guide cylinder is installed at the bottom of the fixed plate; The piston rod is located in the piston rod guide cylinder, and its end is fixed with a U-shaped pull rod with an opening downward. The left and right side walls of the piston rod guide cylinder are provided with pull rod guide grooves running through it. The U-shaped pull rod is driven by the piston rod along the pull rod. The guide groove moves vertically; the front and rear side walls of the two vertical rods of the U-shaped tie rod are fixed with a sliding pin perpendicular to them, and the front and rear sides of the piston rod guide cylinder are respectively provided with grabbing devices, The grasping device is hingedly formed by two connecting rods with adjustable lengths, the connecting rods are all arranged in parallel with the U-shaped pull rods, the inner side of the bottom of each connecting rod is fixed with a clamping claw, and the clamping claws of the two hinged connecting rods are arranged opposite to each other. ; The sliding pins and the connecting rods are arranged in one-to-one correspondence, the upper part of the connecting rod is provided with a chute running through its front and rear side walls along its length direction, each sliding pin is located in the sliding groove of the corresponding connecting rod, and the sliding pin passes through the The piston rod and the U-shaped tie rod can move linearly along the chute.

Further, the length-adjustable connecting rod is composed of an upper connecting rod and a lower connecting rod, the chute is arranged in the middle of the lower connecting rod, the clamping claw is fixed on the inner side of the lower part of the lower connecting rod, and the lower connecting rod can be connected along the upper connecting rod. The rod performs a linear telescopic motion.

Further, the upper connecting rod is provided with a mounting hole, a lower connecting rod accommodating slot and a plurality of button telescopic holes, the mounting hole is located on the upper part of the upper connecting rod and runs through the upper connecting rod front and rear, and the lower connecting rod accommodating groove is located in the upper connecting rod. The lower part of the upper connecting rod penetrates vertically through its bottom, and a plurality of button telescopic holes are respectively arranged on the left and right sides of the upper connecting rod and pass through the upper connecting rod and communicate with the lower connecting rod accommodating groove in it;

The upper end of the lower connecting rod is placed in the lower connecting rod accommodating groove, which is provided with a telescopic button guide hole, a telescopic button and a spring. Each telescopic button guide hole is provided with a spring along its length direction, one end of the spring is fixedly connected to the bottom of the telescopic button guide hole, the other end of the spring is fixedly connected to the end of the telescopic button located in the telescopic button guide hole, and the other end of the telescopic button extends through the button telescopic hole. Out of the upper link, the telescopic button can perform linear telescopic motion along the guide hole of the telescopic button under the action of external pressure.

Further, the diameter of one end of the telescopic button located in the guide hole of the telescopic button is larger than the diameter of the telescopic hole of the button.

Further, the sliding pins on the two vertical rods of the U-shaped tie rod are arranged symmetrically on the left and right, and the sliding pins on each vertical rod are arranged symmetrically in the front and rear.

Further, a guide block is fixed at one end of the sliding pin passing through the chute, and the guide block is in contact with the connecting rod.

Further, the inside of the clamping jaws is hollow, and the inner walls of the clamping jaws are provided with air injection holes, and the outer walls are provided with air inlet holes.

Further, elastic material layers are provided at both ends of the chute.

Further, the elastic material layer is a rubber layer or a silica gel layer.

Further, the center of the piston rod guide cylinder is provided with a piston rod moving through hole passing through it from top to bottom, and the piston rod end of the cylinder penetrates the fixed plate and is located in the piston rod moving through hole of the piston rod guide cylinder, and the piston rod ends. The rod can perform vertical telescopic movement along the piston rod moving through hole of the piston rod guide cylinder.

The beneficial effect of the embodiment of the present utility model is that the U-shaped pull rod, four connecting rods and four sliding pins are used to drive the clamping jaws to clamp the pipe fittings, and the grabbing devices are symmetrically arranged in the front and rear of the piston rod guide cylinder, and the four symmetrically arranged The sliding pins and connecting rods are designed to ensure that the clamping jaws are evenly stressed, the force points of the pipe fittings are increased and the forces are more balanced, which effectively ensures the stability of grasping, and effectively solves the problem of laborious grasping and poor stability of the existing manipulators. The connecting rod is formed by the upper connecting rod and the lower connecting rod, and the lower connecting rod can be extended and retracted in the upper connecting rod, so that the length of the connecting rod can be adjusted, so that the distance between the sliding grooves on the two hinged connecting rods can be adjusted. The distance between the clamping jaws is adjustable, which can be used to grasp pipes of different diameters, which effectively solves the problem that the clamping distance of the existing manipulator cannot be adjusted, which leads to its limited use. Elastic material layers are arranged at both ends of the chute to realize flexible grasping and prevent the clamping jaws from being damaged due to the mechanical connection of various components when the grasping position is not accurate enough. The inside of the gripper is hollow, and the inner wall of the gripper is provided with air jet holes, and the outer wall is provided with air inlet holes, which are connected to the air source. When grasping, the air jet holes are jetted to remove the cutting fluid and lubricating oil on the surface of the pipe fittings. It can effectively prevent the pipe fittings from falling off during grasping and moving, and solve the problem that the existence of cutting fluid, lubricating oil and other liquids on the surface of the pipe fittings makes the pipe fittings easy to fall off during grasping and moving. The structure is simple, the grabbing speed is fast, and the grabbing stability is good.

Description of drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are just some embodiments of the present invention, and for those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative effort.

FIG. 1 is a schematic structural diagram of a robot end-executing gripper according to an embodiment of the present invention.

FIG. 2 is a schematic structural diagram of a grasping device of a robot end-executing gripper according to an embodiment of the present invention.

3 is a schematic structural diagram of a connecting rod of a robot end-executing gripper according to an embodiment of the present invention.

FIG. 4 is a schematic structural diagram of a gripper of a robot end-executing gripper according to an embodiment of the present invention.

FIG. 5 is a schematic diagram of a pull rod structure of a robot end-executing gripper according to an embodiment of the present invention.

6 is a schematic structural diagram of a piston rod guide cylinder of a robot end-executing gripper according to an embodiment of the present invention.

In the figure, 1. Fixed plate, 2. Air cylinder, 3. Piston rod guide cylinder, 3-1. Pull rod guide groove, 4. Piston rod, 5. U-shaped pull rod, 6. Sliding pin, 7. Guide block, 8. Connecting rod, 8-1. Upper link, 8-1-1. Mounting hole, 8-1-2. Lower link accommodating groove, 8-1-3. Button expansion hole, 8-2. Lower link, 8-2-1. Telescopic button guide hole, 8-2-2. Telescopic button, 8-2-3. Spring, 9. Chute, 10. Elastic material layer, 11. Gripper, 12. Air inlet, 13. Stud bolt, 14. Air jet hole.

Detailed ways

The technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the implementations. example. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present invention.

This embodiment provides a robot end-executing gripper for grabbing pipes, as shown in Figures 1 and 2, including a fixed plate 1, a cylinder 2 and a piston rod guide cylinder 3, the cylinder 2 is installed on the top of the fixed plate 1, The piston rod guide cylinder 3 is installed at the bottom of the fixed plate 1 . The center of the piston rod guide cylinder 3 is provided with a piston rod moving through hole which runs through it from top to bottom, the top of the piston rod 4 of the cylinder 2 penetrates the fixed plate 1 and is located in the piston rod moving through hole of the piston rod guide cylinder 3, and the piston rod 4. Vertical telescopic movement can be performed along the piston rod moving through hole of the piston rod guide cylinder 3. As shown in FIG. 5 , the bottom of the piston rod 4 is fixed with a U-shaped tie rod 5 with a downward opening through the stud bolts 13 horizontally passing through it; as shown in FIG. 6 , the left and right side walls of the piston rod guide cylinder 3 are provided with bottom penetrations Its tie rod guide groove 3-1, and the inside of the tie rod guide groove 3-1 is communicated with the piston rod moving through hole of the piston rod guide cylinder 3, and the U-shaped pull rod 5 is driven by the piston rod 4 along the pull rod guide groove 3-1 Vertically move.

A sliding pin 6 perpendicular to the front and rear side walls of the two vertical rods of the U-shaped tie rod 5 is fixed thereon, and the sliding pins 6 on the two vertical rods of the U-shaped tie rod 5 are arranged symmetrically on the left and right. The sliding pins 6 on the vertical rod are arranged symmetrically in the front and rear. The front and rear sides of the piston rod guide cylinder 3 are respectively provided with grabbing devices. The grabbing devices are hingedly formed by two connecting rods 8 with adjustable lengths. The connecting rods 8 are all arranged in parallel with the U-shaped tie rods 5. The clamping jaws 11 are fixed, and the clamping jaws 11 of the two hinged connecting rods 8 are arranged opposite to each other. The sliding pins 6 and the connecting rods 8 are arranged in a one-to-one correspondence, the upper part of the connecting rod 8 is provided with a chute 9 running through its front and rear side walls along its length direction, and each sliding pin 6 is inserted into the corresponding chute of the connecting rod 8 9 , a guide block 7 is fixed at one end of the sliding pin 6 passing through the chute 9 , and the guide block 7 is in contact with the connecting rod 8 . When the U-shaped pull rod 5 moves vertically along the pull rod guide groove 3-1, under the guiding action of the guide block 7, the sliding pin 6 is driven to move linearly along the sliding groove 9, and the two hinged connections of each grasping device are driven. The rod 8 rotates left and right in the vertical plane, so that the angle between the two hinged connecting rods 8 becomes smaller/larger, and the two opposite jaws 11 are driven to approach/separate to grasp/release the pipe. A grabbing device is installed at the front and back of the piston rod guide cylinder 3, which has a large grabbing force and can be used for grabbing a pipe with a large mass. The force points of the pipe are increased, and the force is more balanced, which effectively ensures the grabbing stability. . In addition, the provision of the guide block 7 can prevent the connecting rod 8 from being bent so that the sliding pin 6 can fly out of the chute 9 .

Specifically, as shown in FIG. 3 , the length-adjustable connecting rod 8 is composed of an upper connecting rod 8-1 and a lower connecting rod 8-2. The upper connecting rod 8-1 is provided with a mounting hole 8-1-1, a lower connecting rod 8-1, and a lower connecting rod 8-1. The connecting rod accommodating groove 8-1-2 and a plurality of button expansion holes 8-1-3, the installation hole 8-1-1 is located on the upper part of the upper connecting rod 8-1 and penetrates the upper connecting rod 8-1 front and rear, and the lower connecting rod The accommodating groove 8-1-2 is located at the lower part of the upper link 8-1 and vertically penetrates its bottom, and a plurality of button expansion holes 8-1-3 are respectively arranged on the left and right sides of the upper link 8-1 and penetrate through the upper link. The rod 8-1 communicates with the lower link accommodating groove 8-1-2. The two connecting rods 8 are hinged through bolts and mounting holes 8-1-1. The upper end of the lower connecting rod 8-2 is placed in the lower connecting rod accommodating groove 8-1-2, and there are telescopic button guide holes 8-2-1, telescopic buttons 8-2-2 and springs 8-2-3 on it. There are two telescopic button guide holes 8-2-1 located on the left and right sides of the upper part of the upper link 8-1, and each telescopic button guide hole 8-2-1 is provided with a spring 8-2- 3. One end of the spring 8-2-3 is fixedly connected to the bottom of the guide hole (8-2-1) of the telescopic button, and the other end is fixed to the end of the telescopic button 8-2-2 located in the guide hole 8-2-1 of the telescopic button Connect, the other end of the telescopic button 8-2-2 extends out of the upper link 8-1 through the button telescopic hole 8-1-3. The diameter of one end of the telescopic button 8-2-2 located in the telescopic button guide hole 8-2-1 is larger than the diameter of the button telescopic hole 8-1-3 and slightly smaller than the diameter of the telescopic button guide hole 8-2-1, which can effectively increase the diameter of the telescopic button. The action surface of the spring 8-2-3 is large, and the telescopic guide is secondly performed. The telescopic button 8-2-2 can perform linear telescopic motion along the guide hole 8-2-1 of the telescopic button under the action of external pressure. The chute 9 is arranged in the middle of the lower link 8-2, and the clamping jaw 11 is fixed on the inner side of the lower end of the lower link 8-2.

When the diameter of the grasped pipe becomes smaller and the distance between the two opposing jaws 11 needs to be reduced, the external pressure acts on the two telescopic buttons 8-2-2 at the same time, and the spring 8-2-3 compresses, when the telescopic button 8 -2-2 When fully entering the telescopic button guide hole 8-2-1, the upper link 8-1 retracts the lower link 8-2, and when it reaches the telescopic hole 8-1-3 of the previous button, the telescopic button 8 -2-2 Under the action of the elastic force of the spring 8-2-3, the upper connecting rod 8-1 is extended through the button telescopic hole 8-1-3, so that the distance between the sliding grooves 9 on the two connecting rods 8 can be reduced, and the Gradually scale down. When the diameter of the grasped pipe becomes larger and the distance between the two opposing jaws 11 needs to be increased, the external pressure acts on the telescopic button 8-2-2 and the spring 8-2-3 is compressed. When the telescopic button 8-2- 2 When fully entering the guide hole 8-2-1 of the telescopic button, the upper link 8-1 is pulled out and the lower link 8-2 is pulled out, and when it reaches the next button telescopic hole 8-1-3, the telescopic button 8-2 -2 Under the action of the elastic force of the spring 8-2-3, the upper link 8-1 is extended through the button telescopic hole 8-1-3, so that the distance between the chutes 9 on the two connecting rods 8 can be enlarged, and the steps are carried out step by step. turn up.

The inside of the clamping jaw 11 is hollow, and the inner wall of the clamping jaw 11 is evenly provided with air injection holes 14 , and the outer wall thereof is provided with air inlet holes 12 , and the air inlet holes 12 communicate with the air source. As shown in FIG. 4 , in this embodiment, three air inlet holes 12 are provided on the outer wall of each clamping jaw 11 , corresponding to the middle, upper and lower parts of the clamping jaw 11 respectively, so as to ensure the air jet effect. When the robot drives the robot end execution claw of this embodiment to approach the pipe fitting, the two opposite gripping jaws 11 both jet at the same time to remove the cutting fluid, lubricating oil and other liquids in the clamping part, and effectively prevent the cutting fluid and lubricating oil on the surface of the pipe fitting. When the liquid causes the pipe fittings to fall off during grasping and moving, the grasping quality is improved. Because the air cylinder is used as the driving mechanism in this implementation, air jet is used to remove the liquid on the surface of the pipe, and the same air source can be used for the gripper 11 and the air cylinder 2, which is convenient for operation.

Both ends of the chute 9 are provided with elastic material layers 10 . The elastic material layer 10 first plays a protective role to prevent the cylinder from driving the piston rod 4 to expand and contract too fast during the debugging process, causing the sliding pin 6 to collide with the inside of the chute 9 . Both ends of the chute 9 are provided with elastic material layers 10 to achieve flexible grasping, preventing damage to the clamping jaws 11 caused by the mechanical connection of various components when the debugging is improper or the grasping position is not accurate enough, which can not only ensure the clamping speed, but also protect the clamping jaws 11. The length of the chute 9 is designed according to the size of the pipe to be grasped, and the elastic material layer 10 is a solid material layer with elasticity such as a rubber layer, a silicone layer, and the like.

When working, first adjust the length of the connecting rod 8 according to the diameter of the pipe fitting, and then carry out the grabbing work. When grasping, after the robot drives the robot end execution claw of this embodiment to reach the grasping position, the air cylinder 2 is exhausted, the upward movement of the piston rod 4 drives the sliding pin 6 to move upward along the chute 9, and the two hinged connecting rods 8 rotate. The included angle is reduced, and the two opposite gripping jaws 11 are driven to grasp the pipe fittings. After the grasping is successful, the robot drives the end of the robot in this embodiment to execute the claw movement. After reaching the pipe fitting placement position, the air cylinder 2 is inhaled, and the downward movement of the piston rod 4 drives the sliding pin 6 to move downward along the chute 9. The two hinges are connected. The connecting rod 8 rotates to make its included angle larger, which drives the two opposite clamping jaws 11 away from each other and releases the pipe fittings.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model are all included in the protection scope of the present utility model.

Claims (10)

1. A robot end-executing gripper, characterized in that it comprises a fixed plate (1), a cylinder (2) and a piston rod guide cylinder (3), the cylinder (2) is installed on the top of the fixed plate (1), and the piston rod is guided The cylinder (3) is installed at the bottom of the fixing plate (1); the piston rod (4) of the cylinder (2) is located in the piston rod guide cylinder (3), and its end is fixed with a U-shaped tie rod (5) with an opening downward. The left and right side walls of the rod guide cylinder (3) are provided with pull rod guide grooves (3-1) passing through them, and the U-shaped pull rod (5) is driven vertically along the pull rod guide groove (3-1) by the piston rod (4). moving; a sliding pin (6) perpendicular to the front and rear side walls of the two vertical rods of the U-shaped tie rod (5) is fixed, and the front and rear sides of the piston rod guide cylinder (3) are respectively provided with There is a grasping device, the grasping device is formed by hinged connection of two connecting rods (8) with adjustable length, the connecting rods (8) are all arranged in parallel with the U-shaped tie rod (5), and the inner side of the bottom of each connecting rod (8) The clamping jaws (11) are fixed, and the clamping jaws (11) of the two hinged connecting rods (8) are arranged opposite to each other; The upper part is provided with sliding grooves (9) running through its front and rear side walls along its length direction, and each sliding pin (6) is located in the sliding groove (9) of its corresponding connecting rod (8). The piston rod (4) and the U-shaped tie rod (5) are driven to move linearly along the chute (9). 2. A robot end-executing gripper according to claim 1, wherein the length-adjustable connecting rod (8) is composed of an upper link (8-1) and a lower link (8-2) The chute (9) is arranged in the middle of the lower link (8-2), the clamping jaw (11) is fixed on the inner side of the lower part of the lower link (8-2), and the lower link (8-2) can move along the lower link (8-2). The upper link (8-1) performs linear telescopic motion. 3. A robot end-executing gripper according to claim 2, characterized in that, the upper link (8-1) is provided with a mounting hole (8-1-1), a lower link accommodating groove ( 8-1-2) and a plurality of button expansion holes (8-1-3), the mounting holes (8-1-1) are located at the upper part of the upper link (8-1) and pass through the upper link (8-1) front and rear ), the lower connecting rod accommodating groove (8-1-2) is located at the lower part of the upper connecting rod (8-1) and runs vertically through its bottom, and a plurality of button telescopic holes (8-1-3) are respectively provided in the upper connecting rod The left and right sides of (8-1) pass through the upper connecting rod (8-1) and communicate with the lower connecting rod accommodating groove (8-1-2) in it; The upper end of the lower connecting rod (8-2) is placed in the lower connecting rod accommodating groove (8-1-2), and a telescopic button guide hole (8-2-1) and a telescopic button (8-2- 2) and spring (8-2-3), there are two guide holes (8-2-1) for the telescopic button and they are located on the left and right sides of the upper link (8-1) respectively. Each telescopic button guide hole (8-2-1) A spring (8-2-3) is arranged along its length direction, one end of the spring (8-2-3) is fixedly connected with the bottom of the guide hole (8-2-1) of the telescopic button, and the other end It is fixedly connected with one end of a telescopic button (8-2-2) located in the guide hole (8-2-1) of the telescopic button, and the other end of the telescopic button (8-2-2) passes through the button telescopic hole (8-1-3). ) extends the upper link (8-1), and the telescopic button (8-2-2) can perform linear telescopic movement along the guide hole (8-2-1) of the telescopic button under the action of external pressure. 4. A robot end-executing gripper according to claim 3, characterized in that the diameter of one end of the telescopic button (8-2-2) located in the telescopic button guide hole (8-2-1) is larger than that of the button Diameter of expansion hole (8-1-3). 5 . The robot end-executing gripper according to claim 1 , wherein the sliding pins ( 6 ) on the two vertical rods of the U-shaped tie rod ( 5 ) are arranged symmetrically from left to right, and each vertical rod The sliding pins (6) on the top are symmetrically arranged front and rear. 6. A robot end-executing gripper according to any one of claims 1 to 5, wherein a guide block (7) is fixed at one end of the sliding pin (6) passing through the chute (9), And the guide block (7) is in contact with the connecting rod (8). 7. The robot end-executing gripper according to any one of claims 1 to 5, wherein the gripper (11) is hollow inside, and the inner wall of the gripper (11) is provided with air injection holes ( 14), an air inlet hole (12) is arranged on its outer wall. 8 . The robot end-executing gripper according to claim 1 , wherein elastic material layers ( 10 ) are provided at both ends of the chute ( 9 ). 9 . 9 . The robot end effector gripper according to claim 8 , wherein the elastic material layer ( 10 ) is a rubber layer or a silicone layer. 10 . 10. A robot end-executing gripper according to any one of claims 1 to 5 or 9, characterized in that, the center of the piston rod guide cylinder (3) is provided with a piston rod moving through it from top to bottom Through hole, the end of the piston rod (4) of the cylinder (2) penetrates the fixed plate (1) and is located in the piston rod moving through hole of the piston rod guide cylinder (3), and the piston rod (4) can be guided along the piston rod guide cylinder (3) The piston rod moves through the hole for vertical telescopic motion.

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