CN217195403U - Robot tong - Google Patents

Abstract

The utility model discloses a robot tong. The robot gripper of the utility model comprises a main bracket; the upper surface and the lower surface of the left end and the right end of the main support are both provided with clamping components; an adsorption component is arranged on the main support, and a blowing nozzle is arranged on the outer side of an adsorption part of the adsorption component; and the main support is provided with a hammering assembly. The robot gripper of the utility model can realize double-station bidirectional gripping action, has good gripping stability, high use flexibility and good universality; moreover, the integrated device has multiple functions, can well meet different production working condition requirements, reduces equipment cost and effectively improves production efficiency.

Description

Robot tong

Technical Field

The utility model relates to a robot centre gripping equipment technical field, concretely relates to robot tong.

Background

The robot automated production has production efficiency height, reduces advantages such as cost of labor. With the wider application of the robot automation industry, the robot replaces the manual production to become an indispensable element in the automatic production. In the robot automatic production, the robot clamping equipment is the most applied equipment, and comprises loading and unloading, carrying and transferring and the like of various production raw materials in the industry, and the robot clamping equipment is involved.

However, in the automated industrial production, the robots adopted have high specificity so as to well match the corresponding production requirements. However, the application range of the robot is limited, the limitation is high, the robot cannot be used universally, and the robot fails under different working conditions. For example, in the cast light alloy building formwork industry, existing robot grippers cannot be well used for transporting and transferring finished building formworks. In addition, current robot tong is being used for building templates's transport transfer process, to building templates's different operating mode, needs to switch different robot tongs, leads to the robot tong that sets up to be numerous, and work efficiency is low, and the cost of equipment is high.

SUMMERY OF THE UTILITY MODEL

For solving current robot centre gripping equipment when production, especially in the transport transfer operation of building templates, there is the suitability low to and the function singleness leads to the problem that production efficiency is low, equipment cost is high, the utility model provides a robot tong.

The purpose of the utility model is realized through the following technical scheme.

A robot gripper comprises a main bracket; the main support has a first end and a second end in a first direction, and a first face and a second face in a second direction;

the first surface and the second surface of the first end of the main support are both provided with a clamping assembly, and the first surface and the second surface of the second end of the main support are both provided with a clamping assembly; the main support is provided with an adsorption piece, and the adsorption piece can move in the second direction.

As a preferred embodiment, the clamping assembly comprises a clamping driving member, and a first clamping finger and a second clamping finger which are oppositely arranged; the clamping driving piece can drive the first clamping finger and the second clamping finger to move close to or away from each other.

As a more preferable embodiment, a sliding rail is arranged on the main bracket, and the first clamping finger and the second clamping finger are arranged on the sliding rail and can slide along the sliding rail to move close to or away from each other;

a rotating shaft is arranged on the main support and between the first clamping finger and the second clamping finger, a rotating arm is connected to the rotating shaft, and two ends of the rotating arm are movably connected with the first clamping finger and the second clamping finger through a first connecting rod and a second connecting rod respectively; the output end of the clamping driving piece is in transmission connection with the first clamping finger and can drive the first clamping finger to slide on the sliding rail.

As a further preferred embodiment, the clamping drive is connected to the first clamping finger by a drive push plate.

As a more preferable embodiment, the first clamping finger is provided on a clamping finger adjusting plate, and the position of the first clamping finger on the clamping finger adjusting plate is adjustable along the direction of approaching to or separating from each other;

and/or the second clamping fingers are arranged on the clamping finger adjusting plate, and the positions of the second clamping fingers on the clamping finger adjusting plate can be adjusted along the directions of mutually approaching or separating.

As a preferred embodiment, a fixing plate is arranged on the main bracket; the fixed plate is provided with an adsorption driving piece, and the adsorption driving piece is in transmission connection with the adsorption piece and can drive the adsorption piece to move in the second direction.

As a more preferred embodiment, the adsorption member is mounted on the movable plate; the movable plate is mounted on the fixed plate through a guide shaft and can move in a guide manner in a second direction; the adsorption driving part is in transmission connection with the movable plate.

As a preferred embodiment, an air blowing nozzle is arranged on the outer side of the adsorption piece; the blowing nozzle is movable in a second direction.

As a preferred embodiment, a hammering assembly is arranged on the main bracket;

the hammer assembly includes a hammer and a hammer driver, the hammer driver being drivingly connected to the hammer and being operable to drive the hammer in a second direction.

In a preferred embodiment, the robot gripper of any one of the above, the main support has a third end and a fourth end in the second direction; and the main bracket can rotate around the shaft by taking the central connecting line of the third end and the fourth end as the shaft.

Compared with the prior art, the utility model has the advantages of as follows and beneficial effect:

the utility model discloses an among the robot tong, the upper and lower two sides at both ends all are provided with the centre gripping subassembly about the main support, can realize the two-way centre gripping action in duplex position, use the flexibility ratio height, the commonality is good, especially in the centre gripping transport of building templates, can realize that building templates's high-efficient transport shifts. And, still be provided with adsorption component on the main support, the piece that adsorbs in the accessible adsorption component adsorbs the object in the centre gripping subassembly carries out the centre gripping process to the object, further improves the stability of centre gripping.

Furthermore, the utility model discloses an among the robot tong, still be provided with the blowing nozzle, before adsorbing the piece and adsorbing the object, the blowing nozzle can blow to the surface of object, ensures that the piece that adsorbs carries out high-efficient absorption to the object. And moreover, the hammering assembly is arranged, and when hammering action is needed in the clamping, conveying and transferring process, a hammer in the hammering assembly can be driven by the hammering driving piece to perform hammering action.

The utility model discloses a robot tong, integrated setting have multiple functions, and the different production operating mode demands of satisfying that can be fine have reduced the setting of each functional robot, have reduced equipment cost, can effectively improve production efficiency.

Drawings

Fig. 1, 2 and 3 are schematic axial side structural views of a robot gripper of the present invention along different directions according to an embodiment;

FIG. 4 is a schematic view of the mounting arrangement of the clamping assembly on the main support;

FIG. 5 is a schematic structural view of the robot gripper of the present invention for carrying building forms in an exemplary embodiment;

FIG. 6 is a schematic view of the clamping assembly clamping the building panel from the inside;

FIG. 7 is a schematic structural diagram of the adsorption assembly for separately performing adsorption operation on the building template;

the attached drawings are marked as follows: 1-main support, 101-sliding rail, 2-flange, 3-clamping component, 31-first clamping finger, 32-second clamping finger, 33-clamping finger adjusting plate, 34-clamping driving piece, 35-sliding block, 36-sliding plate, 37-clamping finger installing plate, 38-side connecting plate, 39-driving push plate, 310-rotating shaft, 311-rotating arm, 312-first connecting rod, 313-second connecting rod, 4-adsorption component, 41-adsorption driving piece, 42-adsorption piece, 43-movable plate, 44-guiding shaft, 5-fixing plate, 6-hammering component, 61-hammering driving piece, 62-hammer, 7-air blowing nozzle, 8-air blowing nozzle installing plate and 9-building template.

Detailed Description

The technical solution of the present invention will be described in further detail with reference to the following specific embodiments and accompanying drawings, but the scope of protection and the implementation of the present invention are not limited thereto.

In the description of the specific embodiments, it should be noted that the terms "upper", "lower", "left", "right", "front", "back", etc. indicate the orientation or position relationship based on the orientation or position relationship shown in the drawings or the orientation or position relationship that the product of the invention is usually placed when in use, and the terms "first", "second", etc. are used for convenience of distinction and are only used for convenience of description of the invention and simplification of description, but do not indicate or imply that the structure or element that is referred to must have a specific orientation, be constructed in a specific orientation and be operated, and therefore should not be construed as limiting the invention, nor should it be construed as indicating or implying relative importance.

Unless expressly stated or limited otherwise, the terms "mounted," "disposed," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral connections; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate. In addition, as used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

The utility model discloses a robot tong can be used to the centre gripping transport of the material among the industrial automation production and shifts, especially shifts to the centre gripping transport of light alloy building templates in the industry of casting light alloy building templates.

Example one

The robot gripper of the present invention is shown in fig. 1 to 3, and includes a main support 1. The main support 1 may be a regular shape support or an irregular shape support, and has front, rear, left, right, and upper and lower end surfaces. In the illustrated embodiment, the main support 1 is a rectangular frame formed by welding and enclosing steel materials, and is composed of two beams located on the left and right sides and two beams located on the front and back sides, an inner cavity capable of accommodating components is formed in each beam, and a middle space is formed in the enclosed middle of the main support 1.

Wherein, all be provided with centre gripping subassembly 3 on the upper and lower face of the left end crossbeam of main support 1, all be provided with centre gripping subassembly 3 on the upper and lower face of right end crossbeam, each centre gripping subassembly 3 can independently move. Optionally, the clamping assemblies 3 may be the same or different from each other, or the upper two groups of clamping assemblies 3 arranged left and right are the same, while the lower two groups of clamping assemblies 3 arranged left and right are the same, and the upper and lower two groups of clamping assemblies 3 are different. In a preferred embodiment, two groups of clamping assemblies 3 which are arranged on the upper side left and right are set as a group which is matched with each other, and the two groups of clamping assemblies 3 can respectively clamp two ends of a material with a length along the length direction, so that the material is clamped and lifted; the two groups of clamping components 3 which are arranged left and right below are set as a group which is matched with each other, and can respectively clamp two ends of a material with length along the length direction; thereby, a double-station bidirectional clamping function is formed.

In addition, be provided with adsorption component 4 on main support 1, can adsorb the material of centre gripping simultaneously, improve centre gripping stability. Optionally, the arrangement of the adsorption components 4 may be arranged as required, for example, in the two groups of the clamping components 3 matched with each other at the upper part and in the two groups of the clamping components 3 matched with each other at the lower part, one group of the adsorption components 4 may be respectively and correspondingly arranged to perform adsorption assistance on the materials clamped at each station; alternatively, only one corresponding set of adsorption modules 4 is provided in the upper two sets of mated clamping modules 3 or in the lower two sets of mated clamping modules 3. In the specific embodiment shown in fig. 1 to 3, only one set of adsorption assembly 4 is correspondingly disposed in the two sets of lower clamping assemblies 3, so that the materials clamped by the two sets of lower clamping assemblies 3 can be correspondingly adsorbed and assisted, and the clamping stability of the materials clamped by the lower clamping assemblies is improved.

Specifically, the suction assembly 4 includes a suction member 42, and the suction member 42 may be a suction cup or a suction nozzle having a corresponding suction function for the material, such as a vacuum suction cup. Further, the suction member 42 can be moved up and down by the suction driving member 41. When the two sets of clamping assemblies 3 are matched to clamp the material, the adsorption driving member 41 can drive the adsorption member 42 to move downwards to adsorb the material; after the clamping and conveying of the materials are completed, the adsorption piece 42 can be retracted and reset under the driving of the adsorption driving piece 41.

In other preferred embodiments, the adsorption assembly 4 can be independent of the clamping assembly 3, can be used for independently adsorbing materials, and can realize the transfer and handling of the materials through stable adsorption of the materials.

Example two

The present embodiment is the same as the first embodiment. Further, referring to fig. 4, in the robot gripper of the present embodiment, each of the clamping components 3 disposed on the main support 1 is configured to have the same structure.

The clamping assembly 3 comprises a first clamping finger 31 and a second clamping finger 32, and the first clamping finger 31 and the second clamping finger 32 are arranged oppositely along the front and back. Moreover, the first clamping finger 31 and the second clamping finger 32 can move close to each other or move away from each other along the forward and backward movement driven by the clamping driving member 34, so that the clamping action can be realized when the first clamping finger 31 and the second clamping finger 32 move close to each other, and the clamping is released when the first clamping finger 31 and the second clamping finger 32 move away from each other.

In a preferred embodiment, the upper and lower surfaces of the left and right beams of the main support 1 are both provided with a slide rail 101, the slide rail 101 has a length along the front and back, and the slide rail 101 is specifically arranged on the main support 1 through a slide rail bottom plate; the first clamping finger 31 and the second clamping finger 32 are oppositely arranged on the slide rail 101 and can slide along the slide rail 101 to move close to or away from each other. Optionally, a sliding block 35 is disposed on the sliding rail 101, the first clamping finger 31 and the second clamping finger 32 are both connected to the sliding block 35 through a clamping finger mounting plate 37, specifically, the clamping finger is mounted on the clamping finger mounting plate 37, the clamping finger mounting plate 37 is connected to a sliding plate 36 through a side connecting plate 38, and the sliding plate 36 is connected to the sliding block 35, so that the first clamping finger 31 and the second clamping finger 32 can slide along the sliding rail 101.

Further, the first gripping finger 31 and/or the second gripping finger 32 are mounted on the gripping finger mounting plate 37 by means of a gripping finger adjustment plate 33, and in the preferred embodiment shown, both the first gripping finger 31 and the second gripping finger 32 are mounted on the gripping finger mounting plate 37 by means of the gripping finger adjustment plate 33. Specifically, the finger adjustment plate 33 is mounted on the finger mounting plate 37, and the fingers are mounted on the finger mounting plate 37. The finger adjusting plate 33 has a length along the front and back direction, the finger adjusting plate 33 has a plurality of finger mounting positions in the length direction, and the fingers are mounted on the finger adjusting plate 33 by means of locking with screws. The clamping width of the first clamping finger 31 and the second clamping finger 32 can be adjusted by adjusting the mounting position of the clamping fingers on the clamping finger adjusting plate 33, so that the clamping applicability of the clamping assembly 3 is improved, and the application range of the robot clamping hand is expanded.

In another preferred embodiment, referring again to fig. 4, the clamp driving member 34 drives the first clamp finger 31 and the second clamp finger 32 to move toward or away from each other via the connecting rod assembly. Specifically, the connecting rod assembly includes a first connecting rod 312 and a second connecting rod 313; a rotating shaft 310 is arranged on the main bracket 1 between the first clamping finger 31 and the second clamping finger 32, and the rotating shaft 310 is arranged on the main bracket 1 through a rotating seat and can freely rotate relative to the main bracket 1; a rotating arm 311 is connected to the rotating shaft 310, the rotating arm 311 has a length, the rotating shaft 310 is specifically connected to a middle position of the rotating arm 311, and two ends of the rotating arm 311 in the length direction are respectively movably connected to the first clamping finger 31 and the second clamping finger 32 through a first connecting rod 312 and a second connecting rod 313; while the output end of the clamping driving member 34 is in transmission connection with the first clamping finger 31 and/or the second clamping finger 32, in the preferred embodiment shown, the output end of the clamping driving member 34 is in transmission connection with the first clamping finger 31 and can drive the first clamping finger 31 to slide back and forth on the slide rail 101. Optionally, the clamping driving member 34 can be, but is not limited to, an air cylinder, and a push rod of the air cylinder is in transmission connection with the first clamping finger 31.

Furthermore, the clamping driving member 34 is connected with the first clamping finger 31 through the driving push plate 39, so that the clamping driving member 34 can be arranged in the inner cavity of the main bracket 1 in an avoiding manner, interference on the clamping action of the first clamping finger 31 and the second clamping finger 32 is avoided, and the overall structure is simpler.

Therefore, when the clamping driving member 34 is started, the output end of the clamping driving member 34 acts to push the first clamping finger 31 to slide back and forth on the slide rail 101. In the moving process of the first clamping finger 31, the first clamping finger 31 drives the rotating arm 311 to rotate synchronously around the rotating shaft 310 through the first connecting rod 312, and then the second connecting rod 313 is driven in a linkage manner to pull the second clamping finger 32 to slide and move along the direction opposite to the moving direction of the first clamping finger 31, so that the first clamping finger 31 and the second clamping finger 32 move close to or away from each other.

Referring to fig. 5, the robot gripper of the present embodiment is used to grip the light alloy building template 9. Wherein, two sets of centre gripping subassemblies 3 cooperation centre gripping building templates 9 that are located the top, two sets of centre gripping subassemblies 3 cooperation centre gripping another building templates 9 that are located the below and adsorb the bottom surface of building templates 9 by adsorption component 4 with supplementary cooperation centre gripping, and in the centre gripping process, the first clamp finger 31 and the second clamp finger 32 of centre gripping subassembly 3 press from the front and back direction and press from both sides tightly two lateral surfaces of the width direction of building templates 9. Alternatively, as shown in fig. 6, during the clamping operation of the building formwork 9, the first clamping finger 31 and the second clamping finger 32 of the clamping assembly 3 can also clamp the building formwork from the front to the back from the inner side of the building formwork 9.

Further, in another preferred embodiment, the front and rear surfaces of the first clamping finger 31 and the second clamping finger 32 may be provided with clamping protrusions, and when the building template 9 is clamped, the clamping protrusions may extend into the hem grooves of the building template 9, so as to fasten the hem grooves of the building template 9 in a fitting manner, thereby improving the clamping stability.

EXAMPLE III

The present embodiment is the same as the first or second embodiment. Further, referring to fig. 1 to 3, in the robot gripper of the present embodiment, the adsorption member 42 is disposed on the movable plate 43, and a plurality of adsorption members 42 can be simultaneously mounted on the movable plate 43, in the specific embodiment shown, two adsorption members 42 are disposed along the front and back of the left and right ends of the movable plate 43. Wherein, the movable plate 43 can be driven by the adsorption driving member 41 to move up and down, thereby driving the plurality of adsorption members 42 to move up and down synchronously, so that the plurality of adsorption members 42 can perform adsorption operation synchronously, thereby improving the adsorption force on materials, especially heavy materials such as building templates.

In the preferred embodiment, the main support 1 is provided with a fixed plate 5, and the fixed plate 5 is transversely arranged on the hollow space of the main support 1 and is fixedly arranged relative to the movable plate 43. The suction driving member 41 is mounted on the fixed plate 5, the movable plate 43 is connected to a guide shaft 44, the guide shaft 44 has an axial direction along the vertical direction, and the guide shaft 44 is mounted on the fixed plate 5 through a guide sleeve and can be directionally moved up and down relative to the fixed plate 5. The adsorption driving member 41 may be, but not limited to, a cylinder, and the adsorption driving member 41 is in transmission connection with the movable plate 43. When the suction driving member 41 is actuated, the movable plate 43 is driven to move up and down along the axial direction of the guiding shaft 44, so as to perform a suction action precisely.

In another preferred embodiment, please refer to fig. 7, the suction assembly 4 can independently suck the building template 9 from the clamping assembly 3, wherein the plurality of suction members 42 jointly suck on the bottom surface of the building template 9 to stably suck the building template 9, and the transfer and transportation of the building template 9 are realized by stably sucking materials.

Example four

The present embodiment is the same as any one of the first to third embodiments. Further, referring to fig. 1 to 3, in the robot gripper of the present embodiment, an air blowing nozzle 7 is correspondingly disposed outside the suction member 42. When a plurality of adsorption pieces 42 are arranged, each adsorption piece 42 is correspondingly provided with at least one blowing nozzle 7, the air outlet of the blowing nozzle 7 faces the adsorption working position of the adsorption piece 42, and the blowing nozzle 7 and the adsorption piece 42 are relatively fixedly arranged and can synchronously move up and down along with the adsorption piece 42.

Before the adsorption piece 42 adsorbs the clamped materials, air can be blown to the surfaces of the materials by the air blowing nozzle 7, so that the surfaces of the materials are blown clean, and the adsorption effect of the adsorption piece 42 on the materials is favorably enhanced.

In the illustrated embodiment, the blowing nozzle 7 is mounted on the movable plate 43 through the blowing nozzle mounting plate 8, and when the suction driving member 41 drives the movable plate 43 to move up and down, the blowing nozzle 7 moves up and down synchronously with the movable plate 43 to move up and down synchronously with the suction member 42.

EXAMPLE five

The present embodiment is the same as any one of the first to fourth embodiments. Further, referring to fig. 1 to 3, in the robot gripper of the present embodiment, the main support 1 is provided with a hammering assembly 6. When the material is transferred in-process in the centre gripping transport need carry out the hammering action, can carry out corresponding hammering action in hammering subassembly 6, satisfy the production demand.

In the preferred embodiment, hammer assembly 6 includes a hammer 62 and a hammer drive 61. Wherein, the casing of hammering driving piece 61 is relatively fixed and installed on main support 1, and hammering driving piece 61's output can reciprocate. The hammer 62 is connected to the output end of the hammering drive 61 and can move up and down under the driving of the hammering drive 61.

Optionally, the hammering assemblies 6 may be arranged as required, for example, in the two groups of upper clamping assemblies 3 and the two groups of lower clamping assemblies 3, one group of hammering assemblies 6 may be respectively and correspondingly arranged to hammer the material clamped at each station; alternatively, only in the upper or lower cooperating sets of clamping assemblies 3, a corresponding set of peening assemblies 6 is provided. In the embodiment shown in fig. 1 to 3, only one hammering assembly 6 is correspondingly arranged in the lower two sets of matched clamping assemblies 3, so that the materials clamped by the lower two sets of matched hammering assemblies 6 can be correspondingly hammered and assisted.

Furthermore, the hammering position of hammering component 6 can be according to the position of the required hammering of actual material and carry out the corresponding setting. As shown in fig. 1 to 3, in the embodiment, one set of hammering assemblies 6 is disposed between two adsorption members 42 disposed in front and back at the left end of the movable plate 43, and another set of hammering assemblies 6 is disposed between two adsorption members 42 disposed in front and back at the right end of the movable plate 43, and the two sets of hammering assemblies 6 are independent of each other, and can perform independent hammering operation respectively to hammer both left and right ends of the material near the middle.

EXAMPLE six

The present embodiment is the same as any one of the first to fifth embodiments. Further, referring to fig. 1 to 3, in the robot gripper of the present embodiment, the main support 1 may be turned up and down around an axis in a front-back direction.

In a preferred embodiment, a flange 2 is provided at an intermediate position of the front end and/or the rear end of the main stand 1. This flange 2 can external rotation drive's main shaft, and the main shaft can external rotation drive device, passes through main shaft and flange 2's drive at rotation drive device under, can order about main support 1 and overturn from top to bottom, and the centre gripping station about making carries out the position change to the different release or the centre gripping demand of better realization material.

The above embodiments are merely preferred embodiments of the present invention, and are only intended to describe the technical solutions of the present invention in further detail, but the above descriptions are exemplary, not exhaustive, and not limited to the disclosed embodiments, the protection scope and implementation manner of the present invention are not limited thereto, and any changes, combinations, deletions, substitutions or modifications that do not depart from the spirit and principle of the present invention are all included in the protection scope of the present invention.

Claims (10)

1. A robot gripper is characterized by comprising a main bracket; the main support has a first end and a second end in a first direction, and a first face and a second face in a second direction;

the first surface and the second surface of the first end of the main bracket are both provided with clamping components, and the first surface and the second surface of the second end of the main bracket are both provided with clamping components; the main support is provided with an adsorption piece, and the adsorption piece can move in the second direction.

2. A robot gripper according to claim 1, wherein said gripping assembly comprises a gripping drive, and first and second opposed gripping fingers; the clamping driving piece can drive the first clamping finger and the second clamping finger to move close to or away from each other.

3. A robot gripper according to claim 2, wherein said main support is provided with a slide rail, and said first gripping finger and said second gripping finger are provided on said slide rail and slidably movable along said slide rail toward and away from each other;

a rotating shaft is arranged on the main support and between the first clamping finger and the second clamping finger, a rotating arm is connected to the rotating shaft, and two ends of the rotating arm are movably connected with the first clamping finger and the second clamping finger through a first connecting rod and a second connecting rod respectively; the output end of the clamping driving piece is in transmission connection with the first clamping finger and can drive the first clamping finger to slide on the sliding rail.

4. A robot gripper according to claim 3, wherein said gripping drive member is coupled to said first gripping finger by a drive pusher.

5. A robot gripper according to claim 2, wherein said first gripping finger is provided on a gripping finger adjustment plate, the position of said first gripping finger on said gripping finger adjustment plate being adjustable in a direction of moving closer to or away from each other;

and/or the second clamping finger is arranged on the clamping finger adjusting plate, and the positions of the second clamping finger on the clamping finger adjusting plate can be adjusted along the direction of approaching or separating from each other.

6. A robot gripper according to claim 1, wherein said main support is provided with a fixing plate; the fixed plate is provided with an adsorption driving piece, and the adsorption driving piece is in transmission connection with the adsorption piece and can drive the adsorption piece to move in the second direction.

7. A robot gripper according to claim 6, wherein said suction member is mounted on a movable plate; the movable plate is mounted on the fixed plate through a guide shaft and can move in a guide manner in a second direction; the adsorption driving part is in transmission connection with the movable plate.

8. A robot gripper according to claim 1, wherein an air blowing nozzle is provided on the outer side of the suction member; the blow nozzle is movable in a second direction.

9. A robot gripper according to claim 1, wherein said main support is provided with a hammering assembly;

the hammer assembly includes a hammer and a hammer driver, the hammer driver being drivingly connected to the hammer and being operable to drive the hammer in a second direction.

10. A robot gripper according to any one of claims 1 to 9, wherein said primary support has a third end and a fourth end in a second direction; and the main bracket can rotate around the shaft by taking the central connecting line of the third end and the fourth end as the shaft.

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