CN217801785U - Many function combination formula robot tongs - Google Patents

Abstract

The utility model relates to a robot tongs technical field, concretely relates to many function combination formula robot tongs. The robot gripper comprises a gripper component, a hook component and a sucker component, wherein the gripper component, the hook component and the sucker component are fixedly arranged together, and three grabbing components are combined into a combined robot gripper comprising three grabbing modes to grab different targets. The tongs part snatchs the kraft paper package through cylinder pulling cusp finger, collude the claw part and pass through cylinder pulling swing arm, control 4 only colludes the claw and snatch the tray, when not using colluding the claw, the cylinder colludes the claw through the swing arm drive and packs up, prevent to disturb other grabbing part work, the sucking disc part is drawn the flute baffle through the sucking disc, absorb and accomplish the back, the cylinder is ejecting to fold the sucking disc through the swing arm, prevent that the sucking disc from snatching the kraft paper package interference occasionally to the tongs part. Many function combination formula robot tongs snatchs different materials under the different demands and puts, functional unit mutually noninterfere simultaneously.

Description

Many function combination formula robot tongs

Technical Field

The utility model relates to a robot gripper technical field, concretely relates to many function combination formula robot gripper.

Background

Carrying and stacking vacuum-packaged rice produced by a rice manufacturer, wherein the same stack of rice comprises three materials in different forms, namely a rice bag, a partition plate and a tray, which need to be grabbed and stacked, the rice bag is placed on the tray, and the partition plate is directly needed to be placed on the rice bag and the rice bag; the current transport mode of snatching adopts industrial robot to drive the tongs of single fixed function and snatchs the target, but when the material of the multiple different forms of rice package, baffle and tray need snatch, need switch over different tongs or increase the hardware through the quick change mode, causes the wasting of resources, and the increase cost reduces production efficiency moreover by a wide margin, can't release rice production productivity.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model is, to the above-mentioned defect that prior art exists, provide a many function combination formula robot tongs, realize mixing rice package, baffle and tray and snatch, need not to switch anchor clamps, through the different function plates of one set of anchor clamps control, carry the material that corresponds respectively, be particularly useful for same buttress material that contains multiple different forms and need snatch, can improve and snatch efficiency and production efficiency.

In order to solve the technical problem, the utility model adopts the technical scheme that:

the utility model provides a many function combination formula robot tongs, includes the frame and arranges tongs part 1, colludes claw part 2 and sucking disc part 3 in the frame, tongs part 1 is located the frame middle part, collude claw part 2 and collude the claw device by two sets and constitute, two sets collude the claw device and locate the both sides of tongs part 1 respectively, and arrange in inside the frame both sides, sucking disc part 3 comprises two sets of sucking disc devices, two sets of sucking disc devices locate the both sides that the claw device was colluded to two sets respectively, and arrange in the frame both sides are outside.

Further, the rack comprises two groups of claw-hooking cross beams 2-1 and two groups of claw-hooking longitudinal beams 2-2 which are fixed into a rectangular structure, two groups of gripper cross beams 1-2 which are arranged in parallel are fixed in the middle of the two groups of claw-hooking cross beams 2-1, gripper fixing plates 1-14 are fixed on the upper portions of the two groups of gripper cross beams 1-2, and the gripper fixing plates 1-14 are connected and fixed with a robot execution end through flange plates 1-15;

the gripper component is mounted on the lower portions of the two sets of gripper cross beams 1-2, the two sets of claw hooking devices are mounted on the inner sides of the two sets of claw hooking longitudinal beams 2-2 respectively, and the two sets of sucker devices are mounted on the outer sides of the two sets of claw hooking longitudinal beams 2-2 respectively.

Further, the gripper component 1 comprises a frame plate and support mounting plates 1-8, the frame plate is arranged on the rack, linear slide rails 1-5 are arranged on the frame plate, slide blocks are arranged on the linear slide rails 1-5, the frame plate is connected with the slide blocks and moves back and forth along the linear slide rails 1-5 through the slide blocks, and gripper fingers 1-9 are arranged on the support mounting plates 1-8;

the frame plate is provided with gripper cylinders 1-6, the output ends of the gripper cylinders 1-6 are connected with support mounting plates 1-8, gripper baffles 1-3 are arranged on the paths of the support mounting plates 1-8 moving along linear slide rails 1-5, the gripper baffles 1-3 are arranged on one sides of gripper fingers 1-9, and the gripper cylinders 1-6 drive the support mounting plates 1-8 to move back and forth along the linear slide rails 1-5 relative to the gripper baffles 1-3 through the extension and contraction of the output ends of the gripper cylinders.

Further, the frame plate comprises a base plate 1-1 and two groups of parallel gripper beams 1-2, the gripper beams 1-2 are arranged on the frame, the base plate 1-1 is fixed at the bottoms of the two groups of gripper beams 1-2, linear slide rails 1-5 are arranged at the bottoms of the base plate 1-1, the support mounting plate 1-8 is clamped on the linear slide rails 1-5 through slide blocks arranged on the support mounting plate and can move along the linear slide rails 1-5, and gripper fingers 1-9 are arranged on the support mounting plate 1-8;

the gripper cylinder 1-6 is arranged at the bottom of the base plate 1-1, the output end of the gripper cylinder 1-6 is connected with the support mounting plate 1-8 through the cylinder pin seat 1-7, and the gripper baffle plate 1-3 is fixed at the bottom of the base plate 1-1 through the baffle plate angle support 1-4.

Further, the gripper component 1 further comprises two pressing air cylinders 1-10, the two pressing air cylinders 1-10 are respectively vertically and downwards fixed on the side portions of the two groups of gripper beams 1-2 through air cylinder corner seats 1-11, and output ends of the pressing air cylinders 1-10 are connected with pressing steel pipes through floating connectors 1-12 and arranged above the gripper fingers 1-9.

Furthermore, the claw hooking device comprises a claw hooking cylinder 2-3, a claw swinging arm I2-5 and a claw swinging arm II 2-10, the claw swinging arm I2-5 and the claw swinging arm II 2-10 are respectively and movably connected to two ends of the inner side of the same group of claw longitudinal beams 2-2, and claw hooking fingers I2-6 and claw hooking fingers II 2-11 are respectively arranged at the bottoms of the claw swinging arm I2-5 and the claw swinging arm II 2-10;

one end, close to the claw swing arm I2-5, of the inner side of the claw longitudinal beam 2-2 is movably connected with the tail end of a claw hooking cylinder 2-3 through a right-angle accessory 2-4, the output end of the claw hooking cylinder 2-3 is connected with the claw swing arm I2-5, and the claw cylinder 1-6 drives the claw swing arm I2-5 to rotate by an angle relative to the claw longitudinal beam 2-2 through the expansion and contraction of the output end of the claw cylinder;

the gripper swing arm I2-5 is connected with the gripper swing arm II 2-10 through a connecting rod 2-8, fisheye joints 2-7 are arranged at the joints of the connecting rod 2-8, the gripper swing arm I2-5 and the gripper swing arm II 2-10, and when the gripper swing arm I2-5 rotates, the connecting rod 2-8 is matched with the fisheye joints 2-7 to drive the gripper swing arm II 2-10 to rotate by a corresponding angle relative to the claw longitudinal beam 2-2.

Furthermore, the gripper swing arm I2-5 and the gripper swing arm II 2-10 are respectively provided with a posture sensor 2-9 for identifying the rotation angle of the gripper swing arm I2-5 and the gripper swing arm II 2-10.

Further, each sucker device comprises two actuating cylinders 3-2 which are symmetrically arranged, the two actuating cylinders 3-2 are fixed to the same right-angle flange 3-3 through right-angle components, the right-angle flange 3-3 is fixed to the middle of the outer side of the corresponding hook longitudinal beam 2-2, the output end of each actuating cylinder 3-2 is connected with a sucker swing arm 3-4, each sucker swing arm 3-4 is connected with a sucker fixing foot seat 3-7 through a rotating shaft 3-5, two suckers 3-1 are arranged at the bottom of each sucker fixing foot seat 3-7, the rotating shafts 3-5 are rotatably connected with connecting plates 3-6, and the connecting plates 3-6 are fixed to the outer sides of the corresponding hook longitudinal beams 2-2.

Furthermore, a contact sensor 3-8 is arranged on the side portion of the sucker fixing foot seat 3-7, an ejector pin 3-9 is arranged at the bottom of the contact sensor 3-8, and the bottom end of the ejector pin 3-9 is lower than the bottom end of the sucker 3-7.

Compared with the prior art, the utility model following main advantage has:

1. the gripper component can grab and carry the stacked rice bales, the toothed fingers are driven by the air cylinder to do linear motion along the direction of the linear guide rail, and the rice bales are shoveled transversely by matching with the gripper baffle; meanwhile, the gripper cross beam is provided with a hook claw component, when a pile of materials is piled or the material is taken, the next pile of materials needs to be piled, the cylinder pushes the hook claw component to grab or place a tray, and clamps do not need to be switched or equipment does not need to be added; the corrugated paper partition board is arranged or taken away when stacked rice bags are stacked or grabbed, the system automatically controls the sucker to suck and carry the corrugated paper partition boards after the rice bags with fixed number are grabbed, and clamps do not need to be switched or equipment does not need to be added.

2. When one of the hand grip component, the hook claw component and the sucker component is in a working state, the other two components are automatically retracted to avoid interference.

3. The gripper component, the claw hooking component and the sucker component are intensively arranged and fixed on one set of clamp, so that mutual switching is avoided, the production efficiency can be improved, and the time cost is saved.

Drawings

Fig. 1 is an elevation view of a multifunctional combined robot gripper according to an embodiment of the present invention;

fig. 2 is a front view of a multifunctional combined robot gripper in an embodiment of the present invention;

fig. 3 is a top view of a multi-functional combined robot gripper according to an embodiment of the present invention;

FIG. 4 is an elevational view of the finger grip member;

FIG. 5 is a front view of the gripper member;

FIG. 6 is a top view of the gripper member;

FIG. 7 is an elevational view of the pawl member;

FIG. 8 is a front view of the pawl member;

FIG. 9 is a top view of the pawl member;

FIG. 10 is an elevational view of the suction cup member;

FIG. 11 is a front view of the suction cup member;

fig. 12 is a top view of the suction cup member.

In the figure: 1-gripper component, 1-1-substrate, 1-2-gripper beam, 1-3-gripper baffle, 1-4-baffle angle brace, 1-5-linear slide rail, 1-6-gripper cylinder, 1-7-cylinder pin seat, 1-8-bracket mounting plate, 1-9-gripper finger, 1-10-bale-pressing cylinder, 1-11-cylinder angle seat, 1-12-floating joint, 1-13-bale-pressing steel pipe, 1-14-gripper fixing plate and 1-15-flange plate;

2-claw hooking component, 2-1-claw hooking beam, 2-2-claw hooking longitudinal beam, 2-3-claw hooking cylinder, 2-4-right angle accessory, 2-5-gripper swing arm, 2-6-claw hooking finger, 2-7-fisheye joint, 2-8-connecting rod, 2-9-attitude sensor, 2-10-gripper swing arm II and 2-11-claw hooking finger II;

3-sucker component, 3-1-sucker, 3-2-actuating cylinder, 3-3-right angle flange, 3-4-sucker swing arm, 3-5-rotating shaft, 3-6-connecting plate, 3-7-sucker fixing foot seat, 3-8-contact sensor and 3-9-thimble.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. Furthermore, the technical features mentioned in the embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

It should be noted that, according to the implementation requirement, each step/component described in the present application can be divided into more steps/components, and two or more steps/components or partial operations of the steps/components can be combined into new steps/components to achieve the purpose of the present invention.

1. Multifunctional combined robot gripper structure

The utility model provides a many function combination formula robot tongs concentrates the setting with tongs part, collude claw part and sucking disc part and fixes on one set of anchor clamps, realizes mixing rice package, baffle and tray and snatchs, need not to switch anchor clamps.

As shown in fig. 1 to 3, the multifunctional combined robot gripper comprises a gripper component 1, a hook component 2 and a sucker component 3, wherein the gripper component 1, the hook component 2 and the sucker component 3 are arranged on a rack, the gripper component 1 is arranged in the middle of the rack, the hook component 2 is arranged inside two sides of the rack, and the sucker component 3 is arranged outside two sides of the rack;

the three grabbing parts are combined into a combined robot gripper comprising three grabbing modes to grab different targets; when one part is in a working state, the other two parts are automatically retracted to avoid interference.

Specifically, the rack comprises two groups of hook cross beams 2-1 and two groups of hook longitudinal beams 2-2 which are fixed into a rectangular structure, two groups of gripper cross beams 1-2 which are arranged in parallel are fixed in the middle of the two groups of hook cross beams 2-1, gripper fixing plates 1-14 are fixed on the upper portions of the two groups of gripper cross beams 1-2, and the gripper fixing plates 1-14 are fixedly connected with a robot execution end through flange plates 1-15;

the gripping parts 1 are used for transversely shoveling and vertically pressing rice bales (kraft paper bales) through a bale pressing cylinder, and the gripping parts 1 are arranged at the lower parts of the two groups of gripping cross beams 1-2;

the hook claw component 2 consists of two sets of hook claw devices and is used for grabbing the tray, and the two sets of hook claw devices are respectively arranged on the inner sides of the two sets of hook claw longitudinal beams 2-2;

the sucker component 3 is composed of two sets of sucker devices and is used for sucking a partition board (corrugated partition board), and the two sets of sucker devices are respectively arranged on the outer sides of the two sets of hook claw longitudinal beams 2-2.

As shown in fig. 4 to 6, the gripper component 1 comprises a frame plate and a support mounting plate 1-8, the frame plate is arranged on the rack, a linear slide rail 1-5 is arranged on the frame plate, a slide block is arranged on the linear slide rail 1-5, the frame plate is connected with the slide block and moves back and forth along the linear slide rail 1-5 through the slide block, and gripper fingers 1-9 are arranged on the support mounting plate 1-8;

the frame plate is provided with gripper cylinders 1-6, the output ends of the gripper cylinders 1-6 are connected with the support mounting plates 1-8, the support mounting plates 1-8 are provided with gripper baffles 1-3 along the moving path of the linear slide rails 1-5, and the gripper cylinders 1-6 drive the support mounting plates 1-8 to move back and forth along the linear slide rails 1-5 relative to the gripper baffles 1-3 through the expansion of the output ends of the gripper cylinders; and after the gripper receives the execution signal, the gripper cylinder admits air and pushes out the cylinder execution terminal, so that the cylinder pin seat and the support mounting plate are driven to transversely move along the linear slide rail, and the gripper fingers can transversely scoop up the goods.

Further, the frame plate comprises a base plate 1-1 and two groups of parallel gripper beams 1-2, the gripper beams 1-2 are arranged on the frame, the base plate 1-1 is fixed at the bottoms of the two groups of gripper beams 1-2, linear slide rails 1-5 are arranged at the bottoms of the base plate 1-1, the support mounting plate 1-8 is clamped on the linear slide rails 1-5 through slide blocks arranged on the support mounting plate and can move along the linear slide rails 1-5, and gripper fingers 1-9 are arranged on the support mounting plate 1-8;

the gripper cylinder 1-6 is arranged at the bottom of the base plate 1-1, the output end of the gripper cylinder 1-6 is connected with the support mounting plate 1-8 through the cylinder pin seat 1-7, and the gripper baffle plate 1-3 is fixed at the bottom of the base plate 1-1 through the baffle plate angle support 1-4.

When goods are stacked on the gripper components, the gripper air cylinder 1-6 drives the support mounting plates 1-8 and the gripper fingers 1-9 to move outwards, the gripper baffle plate performs limiting blocking on the materials on a gripper finger moving path, adhesion of the stacked materials and the gripper fingers is prevented, and the materials are smoothly separated from the gripper fingers.

Furthermore, the gripper component also comprises two pressing air cylinders 1-10, the two pressing air cylinders 1-10 are respectively fixed at the outer sides of the two groups of gripper beams 1-2 through air cylinder corner seats 1-11 and matched connecting pieces, and the output ends of the pressing air cylinders 1-10 are connected with pressing steel pipes through floating joints 1-12 and arranged above the gripper fingers 1-9.

The pressing and wrapping steel pipe is used for vertically pressing and fixing the goods after the goods are transversely shoveled by fingers of the hand grab, so that the goods are prevented from sliding off in the movement process; after the system sends a signal, the air inlet of the pressing bag air cylinder is ejected out, and the pressing bag steel pipe is driven to vertically compress the material, so that the material is prevented from falling off in the moving process, and stable transplanting is realized.

As shown in fig. 7-9, each set of claw hooking device is provided with a claw hooking cylinder 2-3, a gripper swing arm i 2-5 and a gripper swing arm ii 2-10, the gripper swing arm i 2-5 and the gripper swing arm ii 2-10 are respectively movably connected to two ends of the inner side of the same set of claw longitudinal beams 2-2, and claw hooking fingers i 2-6 and claw hooking fingers ii 2-11 are respectively arranged at the bottoms of the gripper swing arm i 2-5 and the gripper swing arm ii 2-10;

one end of the inner side of the hook longitudinal beam 2-2, close to the gripper swing arm I2-5, is movably connected with the tail end of a hook cylinder 2-3 through a right-angle accessory 2-4, the tail end of the cylinder is not completely fixed, the angle of the cylinder can be adjusted along with a track in the operation process, and the tail end of the cylinder can rotate around the right-angle accessory for a corresponding angle when the cylinder moves, so that different postures of the cylinder in the movement process are met; the output end of the claw hooking cylinder 2-3 is connected with the gripper swing arm I2-5, and the gripper cylinder 1-6 drives the gripper swing arm I2-5 to hook the claw longitudinal beam 2-2 in a relative manner through the output end stretching, so that the claw hooking finger I2-6 can rotate together to open and close.

Furthermore, the gripper swing arm I2-5 is connected with the gripper swing arm II 2-10 through a connecting rod 2-8, fisheye joints 2-7 are arranged at the joints of the connecting rod 2-8, the gripper swing arm I2-5 and the gripper swing arm II 2-10, when the gripper swing arm I2-5 rotates, the connecting rod 2-8 is matched with the fisheye joint 2-7 to drive the gripper swing arm II 2-10 to rotate by a corresponding angle relative to the claw longitudinal beam 2-2, so that the rotary opening and closing corresponding to claw fingers at two ends are controlled simultaneously through the matching of an air cylinder and a swing arm to realize the grabbing and placing actions, and the two sets of claw devices have 4 claw fingers in total to grab or place corresponding positions of four corners of a tray;

and the gripper swing arm I2-5 and the gripper swing arm II 2-10 are respectively provided with a posture sensor 2-9 for identifying the rotating angles of the gripper swing arm I2-5 and the gripper swing arm II 2-10 and sending signals to a control system, and the auxiliary control system guides the next step of action.

As shown in fig. 10 to 12, each of the two sets of chuck devices comprises two actuating cylinders 3-2 which are symmetrically arranged, the two actuating cylinders 3-2 are fixed with the same right-angle flange 3-3 through a right-angle component, the right-angle flange 3-3 is fixed in the middle of the outer side of the corresponding hook claw longitudinal beam 2-2 of the belonging chuck device, the tail part of the cylinder is incompletely fixed, and when the cylinder moves, a right-angle accessory at the tail part of the cylinder can form a corresponding angle to meet different postures in the moving process of the cylinder;

the output end of each execution cylinder 3-2 is connected with a sucker swing arm 3-4, each sucker swing arm 3-4 is connected with a sucker fixing foot base 3-7 through a rotating shaft 3-5, the bottom of each sucker fixing foot base 3-7 is provided with two suckers 3-1, the rotating shaft 3-5 is rotatably connected with a connecting plate 3-6, and the connecting plate 3-6 is fixed on the outer side of the corresponding claw longitudinal beam 2-2; when the control system gives a signal and needs to grab the corrugated partition, the execution cylinder is used for performing air inlet ejection and pushing the sucker to a specified position through the swing arm, sucking is performed, and after sucking is completed, the execution cylinder is retracted to fold the suckers on two sides for not influencing other actions of subsequent grabbing hands.

Further, a contact sensor 3-8 is arranged on the side portion of the sucker fixing foot seat 3-7, an ejector pin 3-9 and a matched spring are arranged at the bottom of the contact sensor 3-8, the bottom end of the ejector pin 3-9 is lower than the bottom end of the sucker 3-7, and when a gripper downward probes the suction clamping plate, the ejector pin lower than the sucker contacts the partition plate; when the robot drives the tongs to absorb the corrugated partition plate, the ejector pin is in contact with the partition plate before the sucking disc, so that the trigger sensor gives a signal to the control system, the robot controls the sucking disc to descend and fix the height to absorb the corrugated partition plate through a preset program, and the sucking disc is prevented from being in hard contact with a product, and production accidents such as damage of the tongs are avoided.

In conclusion, the gripper component, the hook component and the sucker component are mutually fixed on the same frame carrier to form the multifunctional combined robot gripper, when a rice bag, a tray or a corrugated board needs to be grabbed or placed, clamps do not need to be switched or hardware does not need to be added, corresponding materials are acted through different components according to different requirements, meanwhile, the three components do not interfere with each other, the gripper can be used independently, the structure is simple, efficient and reliable, and the whole process of grabbing and placing the tray, grabbing and placing the rice bag, grabbing and placing the corrugated partition board and grabbing and placing the rice bag can be achieved in one time without interruption.

2. Principle of operation

1. The gripper component can grab and carry the stacked rice bales, the toothed fingers are driven by the air cylinder to do linear motion along the direction of the linear guide rail, and the gripper baffle plate is matched to grab the rice bales; meanwhile, the claw hook component is arranged on the gripper cross beam, when a stack of materials is stacked or taken, the next stack of materials needs to be stacked, the air cylinder pushes the claw hook component to grab or place a tray, and clamps do not need to be switched or equipment does not need to be added; the corrugated paper partition board is arranged on the gripper beam, the sucker component is fixed on the gripper beam, when the stacked rice bags are stacked or grabbed, the corrugated paper partition board needs to be placed or taken away, when the rice bags with fixed number are grabbed, the system automatically controls the sucker to carry the corrugated paper partition board, and clamps do not need to be switched or equipment does not need to be added.

2. When one of the hand grip component, the hook claw component and the sucker component is in a working state, the other two components are automatically retracted to avoid interference.

3. The gripper component, the claw hooking component and the sucker component are intensively arranged and fixed on one set of clamp, so that mutual switching is avoided, the production efficiency can be improved, and the time cost is saved.

It will be understood by those skilled in the art that the foregoing is merely exemplary of the present invention, and is not intended to limit the invention to the particular forms disclosed, and all changes, equivalents and modifications that fall within the spirit and scope of the invention are intended to be embraced thereby.

Claims (10)

1. The utility model provides a many function combination formula robot tongs which characterized in that: including the frame and arrange tongs part (1), collude claw part (2) and sucking disc part (3) in the frame, tongs part (1) is located the middle part of frame, collude claw part (2) and collude the claw device by two sets and constitute, the both sides of tongs part (1) are located respectively to two sets of claw devices that collude, sucking disc part (3) comprises two sets of sucking disc devices, the outside that two sets of claw devices were colluded respectively to two sets of sucking disc devices.

2. The multifunctional combined robot gripper as claimed in claim 1, wherein: the machine frame comprises two groups of claw-hooking cross beams (2-1) and two groups of claw-hooking longitudinal beams (2-2) which are fixed into a rectangular structure, two groups of gripper cross beams (1-2) which are arranged in parallel are fixed in the middle of the two groups of claw-hooking cross beams (2-1), gripper fixing plates (1-14) are fixed on the upper portions of the two groups of gripper cross beams (1-2), and the gripper fixing plates (1-14) are connected and fixed with a robot execution end through flange plates (1-15);

the gripper components are mounted on the lower portions of the two groups of gripper cross beams (1-2), the two sets of claw hooking devices are mounted on the inner sides of the two groups of claw hooking longitudinal beams (2-2) respectively, and the two sets of sucker devices are mounted on the outer sides of the two groups of claw hooking longitudinal beams (2-2) respectively.

3. A multi-functional combined robot gripper as claimed in claim 1 or 2, characterized in that: the gripper component (1) comprises a frame plate and a support mounting plate (1-8), the frame plate is arranged on the rack, a linear slide rail (1-5) is arranged on the frame plate, a slide block is arranged on the linear slide rail (1-5), the frame plate is connected with the slide block and moves back and forth along the linear slide rail (1-5) through the slide block, and gripper fingers (1-9) are arranged on the support mounting plate (1-8);

the frame plate is provided with a gripper cylinder (1-6), the output end of the gripper cylinder (1-6) is connected with a support mounting plate (1-8), the support mounting plate (1-8) is provided with a gripper baffle (1-3) along the moving path of the linear slide rail (1-5), the gripper baffle (1-3) is arranged on one side of a gripper finger (1-9), and the gripper cylinder (1-6) drives the support mounting plate (1-8) to move back and forth along the linear slide rail (1-5) relative to the gripper baffle (1-3) through the extension and contraction of the output end of the gripper cylinder.

4. The multifunctional combined robot gripper as claimed in claim 3, wherein: the frame plate comprises a base plate (1-1) and two groups of parallel gripper cross beams (1-2), the gripper cross beams (1-2) are arranged on the frame, the base plate (1-1) is fixed at the bottoms of the two groups of gripper cross beams (1-2), linear slide rails (1-5) are arranged at the bottom of the base plate (1-1), the support mounting plate (1-8) is clamped on the linear slide rails (1-5) through slide blocks arranged on the support mounting plate and can move along the linear slide rails (1-5), and gripper fingers (1-9) are arranged on the support mounting plate (1-8);

the gripper cylinder (1-6) is arranged at the bottom of the base plate (1-1), the output end of the gripper cylinder (1-6) is connected with the support mounting plate (1-8) through a cylinder pin seat (1-7), and the gripper baffle plate (1-3) is fixed at the bottom of the base plate (1-1) through a baffle plate angle support (1-4).

5. The multi-functional combined robot gripper of claim 4, wherein: the gripper component (1) further comprises two pressing air cylinders (1-10), the two pressing air cylinders (1-10) are respectively vertically and downwards fixed on the side portions of the two groups of gripper cross beams (1-2) through air cylinder corner seats (1-11), and output ends of the pressing air cylinders (1-10) are connected with pressing steel pipes through floating connectors (1-12) and arranged above the gripper fingers (1-9).

6. A multi-functional combined robot gripper as claimed in claim 1 or 2, characterized in that: the claw hooking device comprises a claw hooking cylinder (2-3), a gripper swing arm I (2-5) and a gripper swing arm II (2-10), one end of the gripper swing arm I (2-5) and one end of the gripper swing arm II (2-10) are respectively hinged to two ends of the same side of the rack through hinge pins, and a claw hooking finger I (2-6) and a claw hooking finger II (2-11) are respectively arranged at the other end of the gripper swing arm I (2-5) and the other end of the gripper swing arm II (2-10);

the claw hooking cylinder (2-3) is arranged on the rack, the output end of the claw hooking cylinder (2-3) is connected with the gripper swing arm I (2-5), and the claw hooking cylinder (2-3) stretches and retracts through the output end to drive the gripper swing arm I (2-5) to rotate relative to the pin shaft and drive the claw hooking finger I (2-6) to move;

the gripper swing arm I (2-5) is connected with the gripper swing arm II (2-10) through a connecting rod (2-8), and when the gripper swing arm I (2-5) rotates, the gripper swing arm II (2-10) is driven to rotate relative to the corresponding pin shaft through the connecting rod (2-8) and drives the claw hooking finger II (2-11) to move.

7. The multi-functional combined robot gripper of claim 6, wherein: and the gripper swing arm I (2-5) and the gripper swing arm II (2-10) are respectively provided with a posture sensor (2-9) for identifying the rotating angles of the gripper swing arm I (2-5) and the gripper swing arm II (2-10).

8. A multi-functional combined robot gripper as claimed in claim 1 or 2, characterized in that: the sucker devices respectively comprise two execution cylinders (3-2) symmetrically arranged at two ends of the same side of the rack, the output ends of the execution cylinders (3-2) are respectively connected with a sucker swing arm (3-4), the sucker swing arms (3-4) are connected with sucker fixing foot seats (3-7) through rotating shafts (3-5), the bottom of each sucker fixing foot seat (3-7) is provided with a sucker (3-1), and the rotating shafts (3-5) are arranged on connecting plates (3-6); the connecting plates (3-6) are fixed on the frame; the execution cylinder (3-2) stretches out and draws back and drives the corresponding sucker fixing foot seats (3-7) and the suckers to rotate around the rotating shafts (3-5) through the sucker swing arms (3-4).

9. The multi-functional combined robot gripper of claim 8, wherein: the side part of the sucker fixing foot seat (3-7) is provided with a contact sensor (3-8), the bottom of the contact sensor (3-8) is provided with an ejector pin (3-9), and the bottom end of the ejector pin (3-9) is lower than that of the sucker (3-1).

10. The multi-functional combined robot gripper of claim 8, wherein: the sucker device further comprises a right-angle assembly and right-angle flanges (3-3), the two actuating cylinders (3-2) are fixed with the same right-angle flange (3-3) through the right-angle assembly, the right-angle flanges (3-3) are fixed on the rack, and the output ends of the actuating cylinders (3-2) are connected with sucker swing arms (3-4).

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