WO2022041868A1 - Industrial robotic clamping component - Google Patents

Abstract

Disclosed is an industrial robotic clamping component, comprising two clamping plates (1); cross grooves (12) are respectively provided on the ends, close to each other, of the two clamping plates, clamping mechanisms are arranged in both the two cross grooves, a first fixing plate (29) is fixedly connected to an upper end of the clamping plate located at the left, a turnover mechanism is arranged at a lower side of the clamping plate located at the left, two first fixing blocks (21) are fixedly connected to an upper end of the clamping plate located at the right, racks (22) are fixedly connected to upper ends of both the two first fixing blocks, both the two racks penetrate through the first fixing plate, a driving mechanism and a limiting mechanism are arranged at a left side of the first fixing plate, and L-shaped connecting rods (24) are fixedly connected to lower ends of the two racks. Such a clamping component can enable a robot to clamp irregularly shaped articles, and can prevent the clamped articles from falling off during transport, and the practicability is high.

Description

An industrial robot gripping part technical field

The present invention relates to the technical field of robot equipment, and more particularly, to an industrial robot clamping component.

Background technique

A robot is an intelligent machine that can work semi-autonomously or fully autonomously. The earliest robots in history were found in puppet robots created by craftsmen ordered by Emperor Yang of the Sui Dynasty. Robots have basic characteristics such as perception, decision-making, and execution. They can assist or even replace humans in completing dangerous, heavy and complex work, improve work efficiency and quality, serve human life, and expand or extend the scope of human activities and capabilities. With the deepening of the understanding of the nature of technological intelligence, robotics technology has begun to penetrate into all fields of human activities. Combining the application characteristics of these fields, people have developed a variety of special robots and various intelligent robots with perception, decision-making, action and interaction capabilities. Although there is no strict and accurate definition of a robot, we hope to have some grasp of the essence of a robot: a robot is a mechanical device that performs work automatically. It can accept human command, run pre-programmed programs, or act according to principles and programs formulated with artificial intelligence technology. Its mission is to assist or replace human work. It is the product of advanced integrated cybernetics, mechatronics, computers, materials, and bionics, and has important uses in industry, medicine, agriculture, services, construction, and even the military.

The holding effect of the hand gripping parts of the existing robot is not good, the items are easy to fall off during the moving process after gripping the items, and it is extremely inconvenient to grip irregularly shaped items.

technical problem

In view of the problems existing in the prior art, the purpose of the present invention is to provide an industrial robot clamping component, which can facilitate the robot to clamp irregularly shaped items, and prevent the items from falling off during transportation, which is extremely practical. powerful.

technical solutions

A clamping part for an industrial robot, comprising two plywoods, two cross-slots are drilled at the close ends of the two plywoods; The upper end is fixedly connected with a first fixing plate, the lower side of the splint on the left is provided with a turning mechanism, and the upper end of the splint on the right is fixedly connected with two first fixing blocks, two of the first fixing blocks. The upper ends of the blocks are fixedly connected with racks, the two racks pass through the first fixing plate, the left side of the first fixing plate is provided with a driving mechanism and a limit mechanism, and the lower ends of the two racks are A triangular connecting rod is fixedly connected, a pulling mechanism is provided at the ends of the two triangular connecting rods away from each other, and a connecting mechanism is provided on the upper side of the first fixing plate, which can finally be convenient for the robot to grip irregularly shaped items. , and it is clamped to prevent items from falling off during transportation, which is extremely practical.

As a preferred solution of the present invention, the locking mechanism includes a second pressing plate, four first pressing plates, four second insertion rods, four installation grooves, a first insertion rod, four first insertion rods, and four first insertion rods. The sleeve, the four first plug boards and the five jacks, the four installation slots are all cut out on the right end of the left splint, and the four installation slots and the cross slot are connected in a cross shape, and one of the jacks is Drilled on the left inner wall of the cross slot, the remaining four sockets are drilled on the left inner wall of the four installation slots respectively, and the five sockets are distributed in a cross shape, and the first insertion rod is movably inserted in the middle of the In the jacks, the four second insertion rods are respectively movably inserted into the remaining four jacks, and the four first springs are respectively sleeved on the circumferential surfaces of the four second insertion rods, and the second springs Sleeve on the circumferential surface of the first insertion rod, the second pressing plate is fixedly connected to the right end of the first insertion rod, and the second spring is located between the second pressing plate and the cross groove, four of the second The right end of the insertion rod is fixedly connected with a first squeeze plate, and the first spring is located between the first squeeze plate and the installation groove, and the four first sleeves are respectively hinged to the four first squeeze plates through the first hinge shaft. At one end of the pressing plate, the four first inserting plates are respectively movably inserted into the four first sleeves, and the other ends of the four first inserting plates are all movably hinged to the second pressing plate through the second hinge shaft. The front, rear, left, right, and four ends of the pressing plate can change the positions of the eight first pressing plates and the two second pressing plates according to the shape of the clamped object under the pressure of the two clamping plates, so that the device can better fit the clamped object. Hold the object, increase the friction between the device and the object to be held, and prevent the object from falling during the movement.

As a preferred solution of the present invention, the turning mechanism includes a third hinge shaft, a second sleeve and a second insert plate, and the second sleeve is hinged to the lower end of the left splint through the third hinge shaft, so The second plug board is movably inserted into the second sleeve, the left end of the second plug board is fixedly connected to a limit plate, the limit plate and the second sleeve are matched, and the two plywood can be close to one end. When moving, it can be folded upwards to close the lower space of the two plywoods, preventing items from slipping off between the two plywoods during the movement.

As a preferred solution of the present invention, the drive mechanism includes a servo motor, a worm, a turbine, a rotating roller and two first gears, the servo motor is fixedly connected to the middle of the left end of the first fixing plate, and the worm is fixedly connected At the output end of the servo motor, the turbine is fixedly connected to the circumferential surface of the rotating roller, the turbine is meshed and connected to the worm, the rotating roller is arranged on the upper part of the worm, and the two first gears are respectively fixed to the rotating roller. The two first gears are meshed and connected to the two racks respectively, which can drive the two racks to move to realize the clamping of the two splints, and the movement of the racks drives the two traction ropes to achieve tension. , and fold the second insert plate upwards to clamp the article to prevent it from falling off during transportation.

As a preferred solution of the present invention, the limit mechanism includes two limit support plates, both of which are fixedly connected to the left end of the first fixing plate, and the two limit support plates are located at the respective The front and rear parts of the servo motor, the rotating roller is rotatably connected to the two limit support plates, and the turbine is located between the two limit support plates, which can effectively limit the position of the turbine and prevent the turbine from shaking up and down to cause the first The tooth slip phenomenon occurs between the gear and the rack, which ensures that the turbine and the worm are closely meshed to improve the clamping force between the two splints.

As a preferred solution of the present invention, the pulling mechanism includes a second fixing block, a traction rope, a support pipe and a connecting plate, the second fixing block is fixedly connected to the front end of the front triangular connecting rod, and the support pipe It is fixedly connected to the front end of the left splint, the connecting plate is fixedly connected to the right part of the front end of the second inserting plate, the left end of the traction rope is fixedly connected to the right end of the second fixing block, and the right end of the traction rope is movably inserted. Connected to the support tube and fixedly connected to the upper end of the connecting plate, it can drive the two traction ropes through the movement of the two racks to achieve tension, and drive the second insert plate to fold upwards to seal the lower space of the two splints and prevent items Slipped from between the two splints.

As a preferred solution of the present invention, the connecting mechanism includes a second fixing plate and a screw rod, the second fixing plate is fixedly connected to the upper end of the first fixing plate, and the screw rod is fixedly connected to the center of the upper end of the second fixing plate It can ensure that the device is connected to the arm of the robot, which facilitates the installation and disassembly of the device and the robot arm.

As a preferred solution of the present invention, the left end of the first fixing plate is fixedly connected with two limit sleeves, the two limit sleeves are respectively sleeved on the two racks, and the two limit sleeves are The length of the sleeve is one-eighth of the rack, which can ensure the linear movement of the rack, prevent the rotation of the rack, and prevent the two splints from being able to clamp the item firmly, and also prevent the first gear and the rack from occurring. The tooth slip phenomenon reduces the holding force of the two splints.

As a preferred solution of the present invention, a baffle is fixedly connected to the lower end of the splint on the left, the baffle is located on the left of the third hinge shaft, and the height of the baffle is greater than the height of the third hinge shaft , which can prevent the second sleeve from being folded to the left, and prevent the second insert plate and the second sleeve from being located below the two clamping plates after being folded.

As a preferred solution of the present invention, the remote ends of the eight second insertion rods located on the left and right parts are fixedly connected to the limiting caps with the ends of the two first insertion rods that are remote from each other, and the limiting caps are limited. The height of the bit cap is greater than the height of the jack, which can prevent the second insertion rod and the first insertion rod from detaching from the splint, and has a limiting effect on the first insertion rod and the second insertion rod.

beneficial effect

(1) In this scheme, the servo motor receives the pulse signal to realize the forward and reverse rotation of the worm, and the worm rotates to drive the turbine to rotate to change the direction of rotation. The turbine drives the two first gears to rotate, and the first gear drives the rack to move to realize the first gear. The circular motion of a gear is transformed into the left and right linear motion of the rack, and the left and right movement of the rack drives the two clamps to clamp the item. When the item is located between the two clamps, under the action of the clamping force of the two clamps The object to be clamped pushes the second pressing plate and the first pressing plate outward, and the second pressing plate and the first pressing plate will be inserted into the depression of the article to increase the clamping effect of the device. The surface of the article is flat, the second pressing plate and the first pressing plate will be pushed into the cross groove and the installation groove, so that the surface of the splint will be flat and will not affect the clamping effect of the flat article.

( 2 ) This scheme realizes the movement of the two triangular connecting rods while the two plywoods clamp the objects through the movement of the installation slot. The movement of the two triangular connecting rods drives the two traction ropes to be tightened and acts on the fulcrum of the support tube Fold the second insert plate upwards, when the two splints clamp the article, the second sleeve and the second insert plate can seal the lower space of the two splint plates, preventing the article from passing between the two splint plates during transportation. Damage caused by falling off.

Description of drawings

Fig. 1 is a first perspective view of an industrial robot clamping part according to the present invention;

2 is a second perspective view of an industrial robot clamping component of the present invention;

FIG. 3 is a third perspective view of an industrial robot clamping component of the present invention;

4 is a fourth perspective view of an industrial robot clamping component of the present invention;

FIG. 5 is a plan view of an industrial robot gripping component of the present invention.

Description of the labels in the figure:

1 splint, 2 first plunger, 3 second plunger, 4 limit cap, 5 jack, 6 first squeeze plate, 7 second squeeze plate, 8 first sleeve, 9 first insert plate, 10 first spring, 11 installation slot, 12 cross slot, 13 second spring, 14 support tube, 15 traction rope, 16 third hinge shaft, 17 baffle plate, 18 second sleeve, 19 second plug board, 20 connection Plate, 21 first fixed block, 22 rack, 23 second fixed block, 24 triangle connecting rod, 25 limit sleeve, 26 first gear, 27 limit support plate, 28 turbine, 29 first fixed plate, 30 The second fixed plate, 31 screws, 32 worms, 33 servo motors, 34 rollers.

Embodiments of the present invention

Example:

Please refer to Figures 1-5, an industrial robot clamping component, including two clamping plates 1, two cross-slots 12 are cut out on the adjacent ends of the two clamping plates 1, and two cross-slots 12 are provided with a clamping mechanism, located in the The upper end of the left splint 1 is fixedly connected with a first fixing plate 29, the lower side of the left splint 1 is provided with a turning mechanism, and the upper end of the right splint 1 is fixedly connected with two first fixing blocks 21, two The upper ends of the first fixing blocks 21 are fixedly connected with racks 22, the two racks 22 both penetrate the first fixing plate 29, the left side of the first fixing plate 29 is provided with a driving mechanism and a limiting mechanism, and the two racks The lower ends of the 22 are fixedly connected with a triangular connecting rod 24 , the ends of the two triangular connecting rods 24 away from each other are provided with a pulling mechanism, and the upper side of the first fixing plate 29 is provided with a connecting mechanism.

In this embodiment, the driving mechanism drives the two racks 22 to move and also drives the two traction ropes 15 to tighten the overturning mechanism. The lower space of the splint 1 prevents the items from falling between the two splints 1 during the moving process, which improves the efficiency of the device for clamping the items, and realizes the first pressing plate 6 and the second pressing plate 7 through the clamping mechanism. Insert the uneven object into the depression, and firmly clamp the object between the two splints 1 to prevent the object from falling off.

Specifically, please refer to Figures 1-5, the clamping mechanism includes a second pressing plate 7, four first pressing plates 6, four second insertion rods 3, four installation grooves 11, a first insertion rod 2, Four first bushings 8, four first plug boards 9 and five jacks 5, four installation grooves 11 are drilled on the right end of the left clamp plate 1, and the four installation grooves 11 and the cross groove 12 are connected to form a shape. Cross-shaped, one socket 5 is drilled on the left inner wall of the cross slot 12, and the remaining four sockets 5 are drilled on the left inner wall of the four installation slots 11, and the five sockets 5 are distributed in a cross shape. 2. It is movably inserted into the jack 5 in the middle, the four second insertion rods 3 are respectively movably inserted into the remaining four jacks 5, and the four first springs 10 are respectively sleeved on the four second insertion rods 3. Circumferential surface, the second spring 13 is sleeved on the circumferential surface of the first insertion rod 2, the second pressing plate 7 is fixedly connected to the right end of the first insertion rod 2, and the second spring 13 is located between the second pressing plate 7 and the cross Between the grooves 12, the right ends of the four second insertion rods 3 are fixedly connected with the first pressing plate 6, and the first spring 10 is located between the first pressing plate 6 and the installation groove 11, and the four first sleeves are 8 are respectively movably hinged to one end of the four first extruding plates 6 through the first hinge shaft, and the four first inserting plates 9 are respectively movably inserted into the four first sleeves 8, and the four first inserting plates The other end of the 9 is hinged to the front, rear, left and right ends of the second pressing plate 7 through the second hinge shaft.

In this embodiment, the second pressing plate 7 and the first pressing plate 6 are inserted into the depressions of the uneven articles. The second pressing plate 7 and the first pressing plate 6 can be linked together to realize left and right movement, or Through the elongation and shortening of the first insert plate 9 and the first sleeve 8, the independent left and right movement can be realized, and the insertion card can be inserted into the depression of the article to the maximum extent. The shapes of the second pressing plate 7 and the first pressing plate 6 can be spherical. Or square, the edges and corners of the second pressing plate 7 and the first pressing plate 6 are smooth and polished to prevent scratches and damage to the articles during the blessing process. When clamping flat articles, the second pressing plate 7 and the first pressing plate 6 can be pressurized into the cross groove 12 and the installation groove 11 to achieve a smooth surface of the splint 1 and improve the friction of the contact surface during clamping.

Specifically, please refer to FIGS. 1-5 , the flipping mechanism includes a third hinge shaft 16 , a second sleeve 18 and a second insert plate 19 , and the second sleeve 18 is hinged to the left side of the left splint 1 through the third hinge shaft 16 . At the lower end, the second plug-in board 19 is movably inserted into the second sleeve 18 , the left end of the second plug-in board 19 is fixedly connected to a limit plate, and the limit board matches the second sleeve 18 .

In this embodiment, the baffle plate 17 facilitates the rotation of the second sleeve 18, the second inserting plate 19 is inserted into the second sleeve 18, and the second inserting plate 19 is restricted from protruding out of the second sleeve by the limiting plate The distance of 18 prevents the second inserting plate 19 from separating from the second sleeve 18. When the two splinting plates 1 are close to each other, the second inserting plate 19 is pulled by the traction rope 15 and folded upwards to seal the lower space of the two splinting plates 1 to prevent The article slides down from between the two plywoods 1 to improve the clamping effect of the device.

1-5, the driving mechanism includes a servo motor 33, a worm 32, a turbine 28, a rotating roller 34 and two first gears 26. The servo motor 33 is fixedly connected to the middle of the left end of the first fixing plate 29, and the worm 32 is fixedly connected to the output end of the servo motor 33, the turbine 28 is fixedly connected to the circumferential surface of the rotating roller 34, the turbine 28 is meshed and connected to the worm 32, the rotating roller 34 is arranged on the upper part of the worm 32, and the two first gears 26 are fixedly connected respectively. At the front and rear ends of the rotating roller 34 , the two first gears 26 are meshed and connected to the two racks 22 respectively.

In this embodiment, the servo motor 33 is the driving power source. The servo motor 33 can be selected from different models according to actual needs. For example, the servo motor 33 with the model TCHV32-1500-3-10S is selected. The servo motor 33 is electrically connected to the external power supply. , for those skilled in the art, the servo motor 33 is the prior art, without repeating too much, the servo motor 33 can realize forward and reverse bidirectional rotation according to the pulse signal, and drive the turbine 28 to rotate through the rotation of the worm 32, so as to change the direction of rotation, and the turbine 28 drives the two first gears 26 to rotate, the first gear 26 drives the rack 22 to move, realizes that the circular motion of the first gear 26 is converted into the left and right linear motion of the rack 22, and drives the two splints 1 through the left and right movement of the rack 22. The object is clamped, and the traction rope 15 is tightened by the movement of the rack 22 to drive the second insert plate 19 to fold upward to prevent the object from falling. A servo motor 33 is used as a power source to realize the simultaneous clamping of the object by the two clamping plates 1. The folding of the second inserting plate 19 prevents items from falling.

Specifically, please refer to FIGS. 1-5 , the limit mechanism includes two limit support plates 27 , both of which are fixedly connected to the left end of the first fixing plate 29 , and the two limit support plates 27 are located at the left end of the first fixing plate 29 . The front and rear parts of the servo motor 33 are respectively connected, the rotating roller 34 is rotatably connected to the two limit support plates 27 , and the turbine wheel 28 is located between the two limit support plates 27 .

In this embodiment, the limiting support plate 27 can effectively limit the position of the turbine 28, prevent the first gear 26 and the rack 22 from slipping due to the vibration of the turbine 28 up and down, and ensure that the turbine 28 and the worm 32 are closely meshed to improve the two clamping plates. 1 clamping force.

1-5, the pulling mechanism includes a second fixing block 23, a traction rope 15, a support tube 14 and a connecting plate 20. The second fixing block 23 is fixedly connected to the front end of the front triangular connecting rod 24, supporting The tube 14 is fixedly connected to the front end of the left splint 1, the connecting plate 20 is fixedly connected to the right front end of the second insert plate 19, the left end of the traction rope 15 is fixedly connected to the right end of the second fixing block 23, and the right end of the traction rope 15 It is movably inserted into the support tube 14 and fixedly connected to the upper end of the connecting plate 20 .

In this embodiment, the movement of the two racks 22 can drive the two traction ropes 15 to achieve tension, and drive the second insert plate 19 to fold upward, so as to seal the lower space of the two splints 1 and prevent items from passing through the two splints. 1 slides down, and a servo motor 33 is used as a power source to realize that the two clamping plates 1 clamp the article and at the same time realize the folding of the second inserting plate 19 to prevent the article from falling.

Specifically, please refer to FIGS. 1-5 , the connecting mechanism includes a second fixing plate 30 and a screw rod 31 , the second fixing plate 30 is fixedly connected to the upper end of the first fixing plate 29 , and the screw rod 31 is fixedly connected to the upper end of the second fixing plate 30 at the center.

In this embodiment, the arrangement of the second fixing plate 30 and the screw 31 can ensure that the device is connected to the robot arm, which is convenient for the installation and disassembly of the device and the robot arm, and facilitates the disassembly of the device for maintenance.

Specifically, please refer to FIGS. 1-5 , the left end of the first fixing plate 29 is fixedly connected with two limit sleeves 25 , the two limit sleeves 25 are respectively sleeved on the two racks 22 , and the two limit sleeves The lengths of the tubes 25 are all one-eighth the length of the racks 22 .

In this embodiment, the setting of the limiting sleeve 25 can ensure the linear movement of the rack 22 to the left and right, prevent the rotation of the rack 22 and prevent the two clamping plates 1 from clamping the article firmly, and also prevent the first gear 26 and the teeth The tooth-slip phenomenon of the strips 22 reduces the holding force of the two splints 1 .

Specifically, please refer to FIGS. 1-5 , a baffle 17 is fixedly connected to the lower end of the splint 1 on the left. The baffle 17 is located on the left of the third hinge shaft 16 , and the height of the baffle 17 is greater than that of the third hinge shaft 16 . high.

In this embodiment, the setting of the baffle 17 can prevent the second sleeve 18 from being folded to the left, preventing the second insertion plate 19 and the second sleeve 18 from being located below the two clamping plates 1 after being folded. The baffle 17 It plays the role of restricting the folding direction of the second sleeve 18 .

Specifically, please refer to FIGS. 1-5 , the remote ends of the eight second insertion rods 3 located on the left and the right are fixedly connected to the limiting caps 4 with the ends of the two first insertion rods 2 away from each other. The height of the bit cap 4 is greater than the height of the socket 5 .

In this embodiment, the setting of the limiting cap 4 can prevent the second insertion rod 3 and the first insertion rod 2 from being separated from the splint 1 , and has a limiting effect on the first insertion rod 2 and the second insertion rod 3 .

Working principle: The servo motor 33 receives the pulse signal to realize the forward and reverse rotation of the worm 32, and the worm 32 rotates to drive the turbine 28 to rotate, so as to change the rotation direction. The turbine 28 drives the two first gears 26 to rotate, and the first gear 26 drives the rack. 22 moves to realize that the circular motion of the first gear 26 is transformed into the left and right linear motion of the rack 22, and the left and right movement of the rack 22 drives the two clamping plates 1 to clamp the article. When the article is located between the two clamping plates 1, it is The object to be clamped under the action of the clamping force of the two clamping plates 1 pushes the second pressing plate 7 and the first pressing plate 6 outward, and the second pressing plate 7 and the first pressing plate 6 will be inserted into the The depression of the article can increase the clamping effect of the device. If the surface of the article is flat, the second pressing plate 7 and the first pressing plate 6 will be pushed into the cross groove 12 and the installation groove 11, so that the surface of the splint 1 is flat. , will not affect the clamping effect of clamping flat items; the movement of the installation slot 11 realizes the movement of the two triangular connecting rods 24 while the two clamping plates 1 clamp the items, and the movement of the two triangular connecting rods 24 drives the two traction rods. The rope 15 is tensioned, and the second inserting plate 19 is folded upwards under the action of the fulcrum of the support tube 14. When the two clamping plates 1 hold the article, the second sleeve 18 and the second inserting plate 19 can seal the two plates. The lower space of the two plywoods 1 prevents damages caused by the falling off of items between the two plywoods 1 during transportation.

The above description is only a preferred embodiment of the present invention, but the protection scope of the present invention is not limited to this. The equivalent replacement or change of the improved concept thereof shall be included within the protection scope of the present invention.

Claims (10)

A clamping part for an industrial robot, comprising two clamping plates (1), characterized in that: a cross groove (12) is drilled at the adjacent ends of the two clamping plates (1), and the two cross grooves (12) are inside the two clamping plates (12). A latching mechanism is provided. The upper end of the splint (1) on the left is fixedly connected with a first fixing plate (29), and the splint (1) on the left is provided with a turning mechanism on the lower side. Two first fixing blocks (21) are fixedly connected to the upper end of the splint (1) on the right, and racks (22) are fixedly connected to the upper ends of the two first fixing blocks (21). The racks (22) all pass through the first fixing plate (29), the left side of the first fixing plate (29) is provided with a driving mechanism and a limiting mechanism, and the lower ends of the two racks (22) are both fixed A triangular connecting rod (24) is connected, and a pulling mechanism is provided at the far ends of the two triangular connecting rods (24), and a connecting mechanism is provided on the upper side of the first fixing plate (29). An industrial robot clamping component according to claim 1, characterized in that: the clamping mechanism comprises a second pressing plate (7), four first pressing plates (6), four second inserting plates Rod (3), four mounting slots (11), first insertion rod (2), four first sleeves (8), four first insertion plates (9) and five sockets (5), four Each of the installation slots (11) is cut out on the right end of the left splint (1), and the four installation slots (11) are connected with the cross slot (12) in a cross shape, and one of the insertion holes (5) is cut out On the left inner wall of the cross slot (12), the remaining four sockets (5) are drilled into the left inner wall of the four installation slots (11) respectively, and the five sockets (5) are distributed in a cross shape. One insertion rod (2) is movably inserted into the socket (5) in the middle, and the four second insertion rods (3) are respectively movably inserted into the remaining four sockets (5). The first springs (10) are respectively sleeved on the circumferential surfaces of the four second insertion rods (3), and the second springs (13) are sleeved on the circumferential surfaces of the first insertion rods (2). The pressing plate (7) is fixedly connected to the right end of the first insertion rod (2), and the second spring (13) is located between the second pressing plate (7) and the cross groove (12), and four of the second A first pressing plate (6) is fixedly connected to the right end of the insertion rod (3), and the first spring (10) is located between the first pressing plate (6) and the installation groove (11), and four first sets of The pipes (8) are respectively hinged to the adjacent ends of the four first pressing plates (6) through the first hinge shafts, and the four first inserting plates (9) are respectively movably inserted into the four first sleeves In (8), the other ends of the four first insert plates (9) are all hingedly connected to the front, rear, left, right, and right ends of the second pressing plate (7) through the second hinge shaft. An industrial robot clamping component according to claim 2, characterized in that: the turning mechanism comprises a third hinge shaft (16), a second sleeve (18) and a second insert plate (19), the The second sleeve (18) is movably hinged to the lower end of the left splint (1) through the third hinge shaft (16), and the second insert plate (19) is movably inserted into the second sleeve (18), so The left end of the second plug-in board (19) is fixedly connected with a limit plate, and the limit plate is matched with the second sleeve (18). An industrial robot clamping part according to claim 3, characterized in that: the drive mechanism comprises a servo motor (33), a worm (32), a turbine (28), a rotating roller (34) and two first Gear (26), the servo motor (33) is fixedly connected to the middle of the left end of the first fixing plate (29), the worm (32) is fixedly connected to the output end of the servo motor (33), the turbine (28) Fixedly connected to the circumferential surface of the rotating roller (34), the turbine (28) is meshed and connected to the worm (32), the rotating roller (34) is arranged on the upper part of the worm (32), and the two first gears ( 26) are fixedly connected to the front and rear ends of the rotating roller (34) respectively, and the two first gears (26) are meshed and connected to the two racks (22) respectively. An industrial robot clamping component according to claim 4, characterized in that: the limit mechanism comprises two limit support plates (27), and the two limit support plates (27) are both fixedly connected to The left end of the first fixing plate (29), and the two limit support plates (27) are located at the front and rear of the servo motor (33) respectively, and the rotating roller (34) is rotatably connected to the two limit support plates (27) ), the turbine (28) is located between the two limiting support plates (27). An industrial robot clamping part according to claim 5, characterized in that: the pulling mechanism comprises a second fixing block (23), a pulling rope (15), a support pipe (14) and a connecting plate (20), The second fixing block (23) is fixedly connected to the front end of the front triangular connecting rod (24), the support tube (14) is fixedly connected to the front end of the left splint (1), the connecting plate (20) ) is fixedly connected to the right end of the front end of the second insert plate (19), the left end of the traction rope (15) is fixedly connected to the right end of the second fixing block (23), and the right end of the traction rope (15) is movably plugged in the support tube (14) and fixedly connected to the upper end of the connecting plate (20). An industrial robot clamping component according to claim 6, characterized in that: the connecting mechanism comprises a second fixing plate (30) and a screw (31), and the second fixing plate (30) is fixedly connected to the first fixing plate (30). The upper end of a fixing plate (29), the screw rod (31) is fixedly connected to the center of the upper end of the second fixing plate (30). An industrial robot clamping component according to claim 7, characterized in that: the left end of the first fixing plate (29) is fixedly connected with two limit sleeves (25), and the two limit sleeves The tubes (25) are respectively sleeved on the two racks (22), and the lengths of the two limiting sleeves (25) are both one-eighth of the racks (22). An industrial robot clamping component according to claim 8, characterized in that a baffle plate (17) is fixedly connected to the lower end of the clamping plate (1) located at the left part, and the baffle plate (17) is located at the third On the left part of the hinge shaft (16), the height of the baffle plate (17) is greater than the height of the third hinge shaft (16). An industrial robot clamping component according to claim 9, characterized in that: the opposite ends of the eight second insertion rods (3) located on the left and right parts are separated from the two first insertion rods. (2) The ends that are far away from each other are fixedly connected to the limiting cap (4), and the height of the limiting cap (4) is greater than the height of the socket (5).