CN212553909U

CN212553909U - Robot clamp

Info

Publication number: CN212553909U
Application number: CN202020915238.8U
Authority: CN
Inventors: 董强; 祝新荣; 赵亚光; 轩林辉
Original assignee: Hangzhou Dc Energy Equipment Co ltd
Current assignee: Hangzhou Dc Energy Equipment Co ltd
Priority date: 2020-05-26
Filing date: 2020-05-26
Publication date: 2021-02-19
Anticipated expiration: 2030-05-26

Abstract

The utility model discloses a robot clamp, relating to the technical field of mechanical arms; the automatic clamping device comprises a bracket, a clamping plate, an opening and closing mechanism, a supporting mechanism and a picking mechanism, wherein the clamping plate is positioned below the bracket and used for clamping a workpiece, the opening and closing mechanism is used for driving the clamping plate to operate, the supporting mechanism is positioned at the lower end of the clamping plate and used for supporting the bottom of the workpiece, and the picking mechanism is positioned below the bracket and used for lifting the workpiece upwards away from a workbench and enabling the supporting mechanism; the lower end of the clamping plate is provided with a supporting block, the supporting mechanism is positioned on the supporting block, and the workbench is provided with a notch for accommodating the supporting block. The utility model provides a robot clamp is difficult to extrude the work piece and warp. The stability is good.

Description

Robot clamp

Technical Field

The utility model belongs to the technical field of the manipulator, in particular to robot clamp.

Background

In the machining industry, a mechanical arm is often used for carrying a machined workpiece to another place, an existing mechanical arm clamp usually adopts two clamping plates to clamp the side face of the workpiece, in order to guarantee a sufficient fixing effect, the clamping force is often large, and the workpiece is easily extruded and deformed.

Chinese patent application No.: CN 2017217256090; the invention name is as follows: a manipulator clamp; the manipulator clamp comprises a main body, wherein the main body comprises a connecting plate, two mounting plates and two guide pillars, the two mounting plates are arranged oppositely, two ends of each guide pillar are arranged on the two mounting plates in a penetrating mode respectively, the connecting plate is arranged on the two guide pillars in a penetrating mode, two ends of each guide pillar are respectively sleeved with a conical jacket, the conical jackets are arranged on the corresponding guide pillars in a penetrating mode in a sliding mode to adjust the distance between the two mounting plates, two connecting pieces and two clamping pieces are arranged on each mounting plate, the two connecting pieces are arranged on two ends of each mounting plate in a penetrating mode respectively and are fixedly connected with the corresponding clamping pieces to fix the clamping pieces on the mounting plates, and the clamping pieces are used for clamping workpieces. The invention has simple structure, but is easy to extrude and deform the workpiece.

Disclosure of Invention

The utility model aims at overcoming prior art and being easy with the shortcoming of work piece extrusion deformation, providing a robot clamp, be difficult to with work piece extrusion deformation.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

a robot clamp comprises a bracket, a clamping plate, an opening and closing mechanism, a supporting mechanism and a picking mechanism, wherein the clamping plate is positioned below the bracket and used for clamping a workpiece, the opening and closing mechanism is used for driving the clamping plate to run, the supporting mechanism is positioned at the lower end of the clamping plate and used for supporting the bottom of the workpiece, and the picking mechanism is positioned below the bracket and used for lifting the workpiece upwards away from a workbench and enabling the supporting mechanism to support the workpiece; the lower end of the clamping plate is provided with a supporting block, the supporting mechanism is positioned on the supporting block, and the workbench is provided with a notch for accommodating the supporting block. At first the support descends, then draw mechanism and work piece upside and connect, the supporting shoe is inserted in the notch, mechanism drive splint open and shut, splint draw close back and work piece clearance fit, support upward movement one section distance triggers the supporting mechanism operation, the supporting mechanism extension, along with the support continues upward movement, the supporting mechanism holds the work piece downside, then move the work piece to other places, at this in-process, work piece side and splint clearance fit, in support upward movement, there is not frictional force between splint and the work piece, the work piece has been protected, in addition, when the work piece is held by supporting mechanism, the work piece has fine stability.

Preferably, the opening and closing mechanism comprises an upper arm, the upper end of which is inserted into the support and is in sliding connection with the support, a lower arm, the upper end of which is inserted into the lower end of the upper arm and is in sliding connection with the upper arm, a locking mechanism which is positioned between the upper arm and the support and is used for locking the upper arm, and a locking mechanism which is positioned between the upper arm and the lower arm and is used for locking the lower arm, and the clamping plate is positioned at the lower end of the lower. In the carrying process, the upper arm and the lower arm are fixed by the locking mechanism, so that the carrying stability is ensured.

Preferably, the extraction mechanism comprises a piston cavity in the bracket, a piston slidably connected in the piston cavity, an ascending spring positioned in the piston cavity and used for driving the piston to reset, a piston rod with the upper end connected to the piston, an air suction cavity positioned in the piston rod, an air suction sleeve sleeved at the lower end of the piston rod, a rubber sucker positioned at the lower end of the air suction sleeve and used for adsorbing a workpiece, a first spring used for driving the air suction sleeve to move towards the piston rod, an air suction hole positioned on the piston rod, a back pressure hole positioned on the piston rod, an electromagnetic valve positioned on the back pressure hole, and an air pipe connected with the air suction hole and the support; a locking mechanism for locking the piston rod is arranged between the support and the piston rod; the supporting mechanism comprises a second piston cavity positioned at the lower end of the clamping plate, a second piston connected in the second piston cavity in a sliding mode, a second piston rod connected with the second piston and used for supporting the workpiece, a second air suction hole positioned on the second piston cavity, and a second spring used for driving the second piston to move towards one side far away from the second piston rod, and the air pipe is connected to the second air suction hole. The work piece is lifted upwards by utilizing the absorption of the rubber sucker, and meanwhile, the supporting mechanism automatically runs.

Preferably, the opening and closing mechanism further comprises an upper cavity in the bracket, an upper piston slidably connected in the upper cavity, an air guide groove in the inner wall of the upper cavity, a first air passage on one side of the air guide groove, a second air passage on the other side of the air guide groove, an air blocking block slidably connected in the air guide groove and used for blocking the first air passage and the second air passage, an air guide block for connecting the first air passage and the second air passage after extruding the air blocking block, a return spring for returning the air blocking block, a communicating air passage in the bracket and used for communicating the piston cavity and the upper cavity, a third air passage in the upper arm, a lower cavity at the lower end of the upper arm, and a lower piston slidably connected in the lower cavity; the air guide block comprises a main body and a through hole positioned on the main body; the air guide groove is positioned on one side of the upper piston, which is far away from the upper arm, and the upper arm is connected with the upper piston; the lower end of the third air passage is communicated with the lower cavity; when the first air passage and the second air passage are communicated, the upper end of the third air passage is communicated with one end, far away from the air blocking block, of the second air passage. The design of the upper arm and the lower arm is adopted, the size range of a workpiece capable of being clamped is enlarged, the upper arm is firstly folded when the clamping plates are folded, then the lower arm is folded, and the operation is more orderly.

Preferably, a support rod penetrates through the clamping plate, a damping wheel used for buffering a falling workpiece is rotatably connected to the support rod, an extrusion spring used for driving the support rod to move towards the workpiece is arranged on the support rod, a support plate is fixedly connected to one side, far away from the workpiece, of the clamping plate, a transmitting end capable of emitting light waves is arranged on the support plate, and a receiving end used for receiving the light waves is arranged on the support rod; the receiving end is connected with the locking mechanism; when the transmitting end and the receiving end correspond in position, the clamping plate is in clearance fit with the workpiece, and the locking mechanism fixes the corresponding upper arm, lower arm and piston rod respectively.

Preferably, the distance between the clamping plate and the workpiece is 2-5mm when the transmitting end and the receiving end correspond in position.

Preferably, the number of the chucking plates is two, and the number of the supporting blocks at the lower end of each chucking plate is two. The supporting mechanism supports four points at the lower side of the workpiece, and the supporting effect is good.

Preferably, the notches are in an elongated structure, and the number of the notches is two. The device is suitable for workpieces with different sizes.

The utility model has the advantages that: the utility model provides a robot clamp is difficult to extrude the work piece and warp. The stability is good.

Drawings

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

fig. 2 is a cross-sectional view of the present invention;

FIG. 3 is an enlarged view of FIG. 2 at A;

FIG. 4 is a top view of the table;

FIG. 5 is a schematic view of the bracket moving downward to cause the rubber suction cup and the workpiece to be sucked together;

FIG. 6 is an enlarged view of FIG. 5 at B;

FIG. 7 is a schematic view of the carriage moving upward to trigger the support mechanism;

FIG. 8 is an enlarged view at C of FIG. 7;

FIG. 9 is a schematic view of the solenoid valve opened and the workpiece lowered;

fig. 10 is a schematic view of the deadlocking mechanism.

In the figure: the workpiece 1, the clamp plate 2, the bracket 3, the workbench 4, the upper arm 6, the lower arm 8, the piston cavity 9, the piston 10, the ascending spring 11, the piston rod 12, the air-extracting sleeve 13, the first spring 14, the air-extracting hole 15, the back-pressure hole 16, the electromagnetic valve 17, the rubber suction cup 18, the air tube 19, the second piston cavity 20, the second piston 21, the second piston rod 22, the second air-extracting hole 23, the second spring 24, the supporting block 25, the notch 26, the upper cavity 27, the upper piston 28, the air guide block 29, the air guide groove 30, the first air passage 31, the second air passage 32, the air blocking block 33, the return spring 34, the third air passage 35, the lower cavity 36, the lower piston 37, the communicating air passage 38, the main body 39, the through hole 40, the supporting rod 41, the damping wheel 42, the pressing spring 43, the supporting plate 44, the emitting end 45, the receiving end 46, the clamping rod 47, the guide ring 48, the guide groove 49, the friction layer 50, the driving ring, The driving gear 54, the second return spring 55, the suction chamber 56, the first locking mechanism 57, the second locking mechanism 58 and the third locking mechanism 59.

Detailed Description

The invention will be further explained in detail with reference to the drawings and the following detailed description:

example (b):

referring to fig. 1 to 10, a robot clamp includes a bracket 3, a clamping plate 2 located below the bracket 3 for clamping a workpiece 1, an opening and closing mechanism for driving the clamping plate 2 to operate, a supporting mechanism located at the lower end of the clamping plate 2 for supporting the bottom of the workpiece 1, and a lifting mechanism located below the bracket 3 for lifting the workpiece 1 upward off a worktable 4 and enabling the supporting mechanism to support the workpiece 1; the lower end of the clamping plate 2 is provided with a supporting block 25, the supporting mechanism is positioned on the supporting block 25, and the workbench 4 is provided with a notch 26 for accommodating the supporting block 25; the number of the chucking plates 2 is two, and the number of the supporting blocks 25 at the lower end of each chucking plate 2 is two. The notches 26 are in a strip-shaped structure, and the number of the notches 26 is two.

The opening and closing mechanism comprises an upper arm 6, an upper end of which is inserted into the support 3 and is in sliding connection with the support 3, a lower arm 8, an upper end of which is inserted into the lower end of the upper arm 6 and is in sliding connection with the upper arm 6, a locking mechanism, located between the upper arm 6 and the support 3, for locking the upper arm 6, and a locking mechanism, located between the upper arm 6 and the lower arm 8, for locking the lower arm 8, wherein the clamping plate 2 is located at the lower end of the lower arm 8.

The extraction mechanism comprises a piston cavity 9 positioned in the bracket 3, a piston 10 connected in the piston cavity 9 in a sliding manner, an ascending spring 11 positioned in the piston cavity 9 and used for driving the piston 10 to reset, a piston rod 12 with the upper end connected to the piston 10, an air suction cavity 56 positioned in the piston rod 12, an air suction sleeve 13 sleeved at the lower end of the piston rod 12, a rubber suction cup 18 positioned at the lower end of the air suction sleeve 13 and used for adsorbing the workpiece 1, a first spring 14 used for driving the air suction sleeve 13 to move towards the piston rod 12, an air suction hole 15 positioned on the piston rod 12, a back pressure hole 16 positioned on the piston rod 12, an electromagnetic valve 17 positioned on the back pressure hole 16, and an air pipe 19 connected with the air suction hole 15 and; a locking mechanism for locking the piston rod 12 is arranged between the bracket 3 and the piston rod 12.

The supporting mechanism comprises a second piston cavity 20 positioned at the lower end of the clamping plate 2, a second piston 21 connected in the second piston cavity 20 in a sliding mode, a second piston rod 22 connected with the second piston 21 and used for supporting the workpiece 1, a second suction hole 23 positioned on the second piston cavity 20, and a second spring 24 used for driving the second piston 21 to move towards the side far away from the second piston rod 22, wherein the air pipe 19 is connected to the second suction hole 23.

The opening and closing mechanism further comprises an upper cavity 27 located in the support 3, an upper piston 28 slidably connected in the upper cavity 27, an air guide groove 30 located on the inner wall of the upper cavity 27, a first air passage 31 located on one side of the air guide groove 30, a second air passage 32 located on the other side of the air guide groove 30, an air blocking block 33 slidably connected in the air guide groove 30 and used for blocking the first air passage 31 and the second air passage 32, an air guide block 29 for connecting the first air passage 31 and the second air passage 32 after the air blocking block 33 is pressed, a return spring 34 for returning the air blocking block 33, a communication air passage 38 located in the support 3 and used for communicating the piston cavity 9 and the upper cavity 27, a third air passage 35 located in the upper arm 6, a lower cavity 36 located at the lower end of the upper arm 6, and a lower piston 37 slidably connected in the lower cavity 36.

The air guide block 29 includes a main body 39, and a through hole 40 formed in the main body 39. The air guide groove 30 is located on the side of the upper piston 28 remote from the upper arm 6, said upper arm 6 being connected to the upper piston 28. The lower end of the third air passage 35 is communicated with the lower cavity 36.

And when the first air passage 31 and the second air passage 32 are communicated, the upper end of the third air passage 35 is communicated with one end of the second air passage 32, which is far away from the air blocking block 33.

A supporting rod 41 penetrates through the clamping plate 2, a damping wheel 42 used for buffering a falling workpiece 1 is rotatably connected to the supporting rod 41, an extrusion spring 43 used for driving the supporting rod 41 to move towards the workpiece 1 is arranged on the supporting rod 41, a supporting plate 44 is fixedly connected to one side, away from the workpiece 1, of the clamping plate 2, a transmitting end 45 capable of emitting light waves is arranged on the supporting plate 44, and a receiving end 46 used for receiving the light waves is arranged on the supporting rod 41; the receiving end 46 is connected to a locking mechanism.

When the transmitting end 45 and the receiving end 46 correspond in position, the clamping plate 2 and the workpiece 1 are in clearance fit, and the locking mechanisms fix the corresponding upper arm 6 and the lower arm 8 respectively. When the transmitting end 45 and the receiving end 46 correspond in position, the distance between the clamping plate 2 and the workpiece 1 is 2-5 mm.

The locking mechanism comprises a guide ring 48, a guide groove 49 positioned in the guide ring 48, a clamping rod 47 connected in the guide groove 49 in a sliding manner, a friction layer 50 positioned at the end part of the clamping rod 47, a guide slope 52 positioned at one end of the clamping rod 47 far away from the friction layer 50, a drive ring 51 sleeved outside the guide ring 48, a second guide slope 53 positioned in the drive ring 51 and used for driving the clamping rod 47 to move into the guide ring 48 after rotation, a drive gear 54 meshed with the drive ring 51, and a motor used for rotating the drive gear 54.

Principle of embodiment:

referring to fig. 2 to 3, the workpiece 1 is placed on the table 4.

Referring to fig. 5-6, firstly, the support 3 moves downwards under the action of external force (such as air cylinder, mechanical arm, etc.), the rubber suction cup 18 abuts against the upper side of the workpiece, the piston 10 moves upwards, the ascending spring 11 shortens, air in the rubber suction cup 18 is squeezed out, air pressure in the piston cavity 9 is reduced after the piston 10 moves, air pressure in the upper cavity 27 is reduced under the action of the communicating air channel 38, the upper piston 28 moves towards the piston cavity 9, the upper arm 6 and the lower arm 8 are two in number, the upper arm 6 is closed, after the air guide block 29 is embedded into the air guide groove 30, the upper piston 28 moves to the end of the upper cavity 27, the air blocking block 33 compresses the return spring 34, the through hole 40 communicates the first air channel 31 with the second air channel 32, and air in the lower cavity 36 passes through the third air channel 35, the second air channel 32, the through hole 40, the air pressure in the lower cavity 36 is reduced under the action of the communicating air, The first air passage 31 then enters the piston chamber 9, and the lower arms 8 and the jaws are brought together due to the reduced air pressure in the lower chamber 36. At this point, the support block 25 is located within the slot 26 and the second piston rod 22 is located below the workpiece.

Along with the closing of the clamping plate, the damping wheel 42 on the clamping plate abuts against the side face of the workpiece, then the length of the side of the spring 43 is extruded (initially, see fig. 2, the transmitting end 45 and the receiving end 46 are staggered, the transmitting end 45 and the receiving end 46 are prior art-correlation sensors), when the transmitting end 45 corresponds to the receiving end 46, at this time, the receiving end 46 sends a signal to the locking mechanism, the locking mechanism operates to lock and fix the lower arm 8, the lower arm 8 cannot move relative to the upper arm 6, the upper arm 6 cannot move relative to the support 3, the piston rod 12 is locked, the piston rod 12 cannot move relative to the support 3, and at this time, the distance between the clamping plate and the workpiece is 3 mm.

Referring to fig. 7 and 8, the support 3 moves upward for a certain distance under the action of the robot arm, because the rubber suction cup 18 is adsorbed on the upper surface of the workpiece 1, the workpiece 1 initially abuts against the worktable 4, because the clamping plate and the workpiece are in clearance fit, the clamping plate moves upward along with the support 3, then the first spring 14 extends, the piston rod 12 moves upward along with the support 3, because the air suction sleeve 13 and the piston rod 12 move relatively, the air pressure in the air suction cavity 56 in the piston rod 12 decreases, the air pressure in the rubber suction cup 18 also decreases, the adsorption effect of the rubber suction cup 18 is better, the rubber suction cup 18 and the workpiece cannot be separated, the air in the second piston cavity 20 passes through the air pipe 19 to the air suction cavity 56, the air pressure in the second piston cavity 20 decreases, the second spring 24 extends, the second piston rod 22 moves toward the side away from the second spring 24, and the end of the second piston rod 22 is located below the workpiece 1, as the support 3 continues to move upwards, the end of the second piston rod 22 will abut against the underside of the workpiece 1 to provide an upward supporting force for the workpiece 1, preventing the workpiece 1 from falling off, and then the support 3 will carry the workpiece to another place under the action of the robot arm.

Referring to fig. 9, when the workpiece needs to be lowered, the electromagnetic valve 17 is opened, gas enters the pumping cavity 56, the normal pressure in the pumping cavity 56 is restored, the normal pressure in the rubber suction cup 18 is restored, the rubber suction cup 18 is separated from the workpiece 1, then the second piston rod 22 moves towards the second spring 24, the second piston rod 22 and the lower side surface of the workpiece slide relatively, the second spring 24 is shortened, and lubricating oil can be coated on the second piston rod 22 in order to reduce the friction force between the second piston rod 22 and the lower side surface of the workpiece. When the second piston rod 22 is disengaged from the workpiece, the workpiece moves downwards under the action of gravity, at the moment, the damping wheel 42 always abuts against the side face of the workpiece under the action of the extrusion spring 43, so that the damping wheel 42 can rotate in a damping mode when the workpiece moves downwards, and the downward movement speed of the workpiece is controlled within a certain range due to the existence of the damping wheel 42, so that the workpiece cannot be broken.

Finally, the electromagnetic valve 17 is closed, the locking mechanism is unlocked, then the ascending spring 11 is reset, gas enters the upper cavity 27, the upper piston 28 moves, the gas guide block 29 is separated from the guide groove 49, the first gas channel 31 is disconnected from the second gas channel 32, the gas blocking block 33 is reset under the action of the reset spring 34, one end, far away from the lower cavity 36, of the third gas channel 35 is separated from the second gas channel 32, outside gas enters the lower cavity 36 through the third gas channel 35, a second reset spring 55 for resetting the lower piston 37 is arranged in the lower cavity 36, the lower piston 37 is reset under the action of the second reset spring 55, the transmitting end 45 is staggered with the receiving end 46, and the piston rod 12 and the air suction sleeve 13 are also reset under the action of the first spring 14.

The utility model discloses the side of the work piece of power centre gripping work piece need not be done when carrying the work piece, adopts second piston rod 22 to hold work piece 1, can play fine guard action to the work piece.

The operation principle of the locking mechanism is explained below, and in this embodiment, the locking mechanism is divided into a first locking mechanism 57, a second locking mechanism 58, and a third locking mechanism 59, where the first locking mechanism is used to lock the upper arm 6, the second locking mechanism is used to lock the lower arm 8, and the third locking mechanism is used to lock the piston rod 12.

The guide ring 48 of the first locking mechanism is fixedly connected to the bracket 3, the drive ring 51 is rotatably connected to the bracket 3, the corresponding drive gear 54 runs, the clamping rod 47 is arranged around the upper arm 6, the drive gear 54 drives the drive ring 51 to rotate, the clamping rod 47 moves in the guide groove 49 under the action of the second guide slope 53 and the guide slope 52, and the friction layer 50 at the end of the clamping rod 47 is pressed against the upper arm 6 so as to lock the upper arm 6.

The second and third deadlocking mechanisms operate in the same manner as the first deadlocking mechanism.

The guide ring 48 of the second locking mechanism is fixed to the lower end of the upper arm 6, and the corresponding drive ring 51 is rotatably connected to the lower end of the upper arm 6.

The guide ring 48 of the third locking mechanism is fixed to the underside of the bracket 3, and the corresponding drive ring 51 is rotatably connected to the underside of the bracket 3.

Claims

1. A robot clamp is characterized by comprising a bracket, a clamping plate, an opening and closing mechanism, a supporting mechanism and an extracting mechanism, wherein the clamping plate is positioned below the bracket and used for clamping a workpiece, the opening and closing mechanism is used for driving the clamping plate to run, the supporting mechanism is positioned at the lower end of the clamping plate and used for supporting the bottom of the workpiece, and the extracting mechanism is positioned below the bracket and used for upwards lifting the workpiece away from a workbench and enabling the supporting mechanism to support the workpiece;

the lower end of the clamping plate is provided with a supporting block, the supporting mechanism is located on the supporting block, and the workbench is provided with a notch for accommodating the supporting block.

2. A robot clamp according to claim 1, wherein the opening and closing mechanism comprises an upper arm having an upper end inserted into and slidably connected to the support, a lower arm having an upper end inserted into and slidably connected to a lower end of the upper arm, a locking mechanism between the upper arm and the support for locking the upper arm, and a locking mechanism between the upper arm and the lower arm for locking the lower arm, and the clamp plate is located at the lower end of the lower arm.

3. The robot clamp according to claim 1, wherein the extraction mechanism comprises a piston cavity in the support, a piston slidably connected in the piston cavity, an ascending spring in the piston cavity for driving the piston to return, a piston rod with an upper end connected to the piston, an air suction cavity in the piston rod, an air suction sleeve sleeved at the lower end of the piston rod, a rubber suction cup at the lower end of the air suction sleeve for adsorbing a workpiece, a first spring for driving the air suction sleeve to move towards the piston rod, an air suction hole in the piston rod, a back pressure hole in the piston rod, an electromagnetic valve in the back pressure hole, and an air pipe connecting the air suction hole and the support mechanism; a locking mechanism for locking the piston rod is arranged between the support and the piston rod;

the supporting mechanism comprises a second piston cavity positioned at the lower end of the clamping plate, a second piston connected in the second piston cavity in a sliding mode, a second piston rod connected with the second piston and used for supporting the workpiece, a second air suction hole positioned on the second piston cavity, and a second spring used for driving the second piston to move towards one side far away from the second piston rod, and the air pipe is connected to the second air suction hole.

4. The robot clamp of claim 3, wherein the opening and closing mechanism further comprises an upper cavity in the bracket, an upper piston slidably connected in the upper cavity, an air guide groove in the inner wall of the upper cavity, a first air passage on one side of the air guide groove, a second air passage on the other side of the air guide groove, an air blocking block slidably connected in the air guide groove and used for blocking the first air passage and the second air passage, an air guide block for connecting the first air passage and the second air passage after squeezing the air blocking block, a return spring for returning the air blocking block, a communication air passage in the bracket and used for communicating the piston cavity and the upper cavity, a third air passage in the upper arm, a lower cavity at the lower end of the upper arm, and a lower piston slidably connected in the lower cavity;

the air guide block comprises a main body and a through hole positioned on the main body;

the air guide groove is positioned on one side of the upper piston, which is far away from the upper arm, and the upper arm is connected with the upper piston;

the lower end of the third air passage is communicated with the lower cavity;

one end of the first air passage, which is far away from the air blocking block, is communicated with the piston cavity, and when the first air passage and the second air passage are communicated, the upper end of the third air passage and one end of the second air passage, which is far away from the air blocking block, are communicated.

5. The robot clamp according to claim 3, wherein a support rod is inserted through the clamping plate, a damping wheel for buffering a falling workpiece is rotatably connected to the support rod, an extrusion spring for driving the support rod to move towards the workpiece is arranged on the support rod, a support plate is fixedly connected to one side of the clamping plate away from the workpiece, a transmitting end capable of emitting light waves is arranged on the support plate, and a receiving end for receiving the light waves is arranged on the support rod; the receiving end is connected with the locking mechanism;

when the transmitting end and the receiving end correspond in position, the clamping plate is in clearance fit with the workpiece, and the locking mechanism fixes the corresponding upper arm, lower arm and piston rod respectively.

6. A robotic gripper according to claim 5, wherein the clamping plate is spaced from the workpiece by 2-5mm when the emitting and receiving ends are in corresponding positions.

7. A robot clamp according to claim 1, wherein said clamping plates are two in number and the supporting blocks at the lower end of each clamping plate are two in number.

8. A robot clamp according to any of claims 1-7, characterized in that said notches are of elongated configuration, said number of notches being two.