CN112157665A

CN112157665A - A grabbing device for industrial robot

Info

Publication number: CN112157665A
Application number: CN202010873900.2A
Authority: CN
Inventors: 杨凯
Original assignee: Anhui Shengdong Technology Co Ltd
Current assignee: Anhui Shengdong Technology Co Ltd
Priority date: 2020-08-26
Filing date: 2020-08-26
Publication date: 2021-01-01

Abstract

The invention discloses a gripping device for an industrial robot, which comprises a base plate, wherein guide shafts are symmetrically arranged on the front side and the rear side of the base plate, linear bearings are arranged at two ends of each guide shaft, movable plates are symmetrically arranged on the left side and the right side of the base plate, the inner sides of the movable plates are fixedly connected with the linear bearings close to the movable plates, toothed bars are fixedly connected to the opposite sides of the two groups of movable plates, the two groups of toothed bars extend into the base plate and are symmetrically distributed, and a worm is arranged on the upper end surface of the base plate through a bearing with a seat. The clamping device is high in clamping speed of the power assembly, stable in structure, easy to maintain and repair, detachable in overall structure and low in manufacturing cost, the clamping blocks with adjustable intervals are arranged, clamping of workpieces of various specifications can be adapted during batch production, adaptability of the clamping device is improved, and the angle of the clamp is adjustable, so that the clamping angle can be switched to adapt to different workpieces.

Description

A grabbing device for industrial robot

Technical Field

The invention relates to a gripping device, in particular to a gripping device for an industrial robot, and belongs to the technical field of gripping device application.

Background

Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices widely used in the industrial field, have a certain degree of automation, and can realize various industrial processing and manufacturing functions depending on the power energy and control capability of the industrial robots. Industrial robots are widely used in various industrial fields such as electronics, logistics, and chemical industry.

Most simple structure of current industrial robot grabbing device exists certain use drawback, for example most structures all drive anchor clamps for power component and press from both sides tightly then snatch the work piece, power component is like swing cylinder or motor, the direct interval of anchor clamps of design like this is not adjustable, the device suitability has been restricted, secondly press from both sides and get the angle and be unadjustable, when meetting different work pieces again, unable adjustment is got the angle and is made the device can be more firm press from both sides and get the work piece, for this reason, we propose a grabbing device for industrial robot.

Disclosure of Invention

The invention aims to solve the problems that most of the existing industrial robot gripping devices are simple in structure and have certain use defects, for example, most of the existing industrial robot gripping devices are formed by driving a clamp to clamp and then grip a workpiece through a power component, such as a swing cylinder or a motor, the direct distance between the designed clamps is not adjustable, the applicability of the device is limited, the gripping angle is not adjustable, and the gripping angle cannot be adjusted when different workpieces are encountered, so that the device can grip the workpiece more firmly, and the gripping device for the industrial robot is provided.

The purpose of the invention can be realized by the following technical scheme: a gripping device for an industrial robot comprises a substrate, guide shafts are symmetrically arranged on the front side and the rear side of the substrate, linear bearings are arranged at two ends of each guide shaft, movable plates are symmetrically arranged on the left side and the right side of the substrate, the inner sides of the movable plates are fixedly connected with the linear bearings close to the movable plates, two groups of tooth bars are fixedly connected on one opposite sides of the movable plates and extend into the substrate and are symmetrically distributed, a worm is arranged on the upper end face of the substrate through a bearing with a seat, a driven wheel is fixedly connected with one end of the worm, a power box is arranged outside the worm, the power box is fixedly connected with the upper end face of the substrate, a motor mounting plate is fixedly connected onto the inner wall of the top end of the power box, a motor is arranged at the bottom end of the motor mounting plate, and a transmission shaft is fixedly connected with the tail end of, and install the action wheel on the transmission shaft, the action wheel with from carrying out the transmission through the belt between the driving wheel and connecting, dorsal base plate up end fixed connection of worm has the gear shaft mounting panel, and also rotates through the rolling bearing on the gear shaft mounting panel and be connected with first gear shaft, fixedly connected with and worm intermeshing's turbine on the axle head outer wall of first gear shaft, the equal fixedly connected with installation piece in the outside of fly leaf, and the installation piece is close to one side of fly leaf and all rotates through ball bearing and be connected with second gear shaft, the other end fixedly connected with returning face plate of second gear shaft, and the symmetrical fixedly connected with anchor clamps subassembly in one side of the board that is close to of returning face plate.

The invention has further technical improvements that: the base plate is provided with two guide shaft mounting holes and two toothed bar mounting holes which are symmetrically distributed about the center line of the base plate, the two toothed bar mounting holes are located on the inner side of the guide shaft mounting holes, the guide shaft is mounted in the guide shaft mounting holes, the toothed bars are mounted in the toothed bar mounting holes, and the toothed bars and the toothed bar mounting holes are in sliding connection through bushings.

The invention has further technical improvements that: the front and the back of base plate have all been seted up the fluting, and the vertical distance of axis to base plate avris that the grooved degree of depth equals the guiding axle mounting hole, grooved width is 0.5mm, the center department of base plate has still been seted up and has been placed the hole, the gear end of first gear shaft is located places downtheholely.

The invention has further technical improvements that: the guide shaft, the movable plate and the turnover plate are respectively provided with two parts and are symmetrically distributed about the central line of the substrate, and the linear bearings and the clamp assemblies are respectively provided with four parts and are symmetrically distributed about the central line of the substrate.

The invention has further technical improvements that: the anchor clamps subassembly is including rectangular board, connecting block, two clamp splices and four guide blocks, two the clamp splice symmetry fixed mounting respectively in one side of rectangular board, the connecting block is installed in two between the clamp splice, and two all begin to have the guiding hole on the clamp splice, the connecting block slides in the guiding hole, two the both sides of clamp splice all begin to have the spout, four the guide block is fixed respectively the both sides of rectangular board are symmetric distribution, four the guide block respectively with four the spout cooperation is used.

The invention has further technical improvements that: the front and the back of headstock have all to install the shrouding, and pass through screw fixed connection between shrouding and the headstock, the top fixedly connected with flange head of headstock.

The invention has further technical improvements that: two bearings with seats are installed at two ends of the transmission shaft, one bearing with seat is fixed at the bottom end of the motor installation plate, and the other bearing with seat is fixed on the side wall of the power box.

The invention has further technical improvements that: the device comprises a mounting block, a connecting plate, a rack, a guide block, a guide groove and a connecting plate, wherein the cylinder is fixedly connected to one side of the mounting block, the connecting plate is fixedly connected to the tail end of a piston rod of the cylinder, the rack is fixedly connected to the connecting plate through screws, the guide block is fixedly connected to the turnover plate, and the guide groove matched with the guide block is formed in the rack.

The invention has further technical improvements that: the using method of the device specifically comprises the following steps:

the method comprises the following steps: the flange head in the device is connected with the flange end of an industrial robot, then the angle of the clamp assembly is adjusted so as to obtain a clamping angle more suitable for a workpiece, a piston rod of the cylinder extends outwards to drive the connecting plate and the rack to move simultaneously, so that the rack is meshed with the second gear shaft to rotate for 90 degrees, then the turnover plate fixed on the second gear shaft is driven to rotate for 90 degrees, and further the clamp assembly fixed on the turnover plate rotates for 90 degrees along with the turnover plate, so that the clamp can rotate for 90 degrees, and the device can switch the clamping angle to adapt to different types of workpieces;

step two: the distance between the clamping blocks is adjusted to adapt to the size of the current workpiece, the clamping blocks can freely slide under the action of the guide blocks and the sliding grooves, the clamping blocks can be abutted under the action of the guide blocks and the strip plates through the hexagon socket head cap screws, and the adjustable distance between the two clamping blocks is realized;

step three: the motor rotates and can drive the transmission shaft and rotate, the transmission shaft rotates the back action wheel and follows its rotation, under belt and the transmission relation from the driving wheel, and then drive from the driving wheel rotation, make the worm follow from the driving wheel rotation, worm meshing turbine rotates, make gear meshing rack bar on the first gear shaft, two rack bar are the both sides of symmetric distribution at the turbine, so realize the not equidirectional motion of two rack bars, make fixed fly leaf be close to each other or part on two rack bars, when the fly leaf is close to, four anchor clamps subassemblies are close to each other promptly, the realization is got the clamp of work piece, otherwise separately get for releasing the clamp of getting the work piece.

Compared with the prior art, the invention has the beneficial effects that:

1. the device is provided with a power assembly, a transmission shaft can be driven to rotate through the rotation of a motor, a driving wheel rotates along with the rotation of the transmission shaft, a driven wheel is driven to rotate under the transmission relationship between a belt and the driven wheel, a worm rotates along with the driven wheel, the worm is meshed with a turbine to rotate, a gear on a first gear shaft is meshed with toothed bars, the two toothed bars are symmetrically distributed on two sides of the turbine, so that the two toothed bars move in different directions, movable plates fixed on the two toothed bars are close to or separate from each other, when the movable plates are close to each other, four clamp assemblies are close to each other, the workpiece is clamped, otherwise, the workpiece is clamped by separating, the diameter of the driving wheel is larger than that of the driven wheel, when the motor rotates for one circle, the driven wheel can be rapidly driven to rotate for multiple circles, the clamping speed of the device is high, the manufacturing cost is low.

2. The device sets up to the clamp splice of adjustable interval, and the clamp splice can freely slide under the effect of guide block and spout, can make the clamp splice by the tight under the effect of guide block and rectangular board through hexagon socket head cap screw, has realized that the interval between two clamp splices is adjustable, and when batch production, the clamp that can adapt to the work piece of multiple specification size gets, has improved the adaptability of device.

3. The device sets up the adjustable of anchor clamps angle, and the piston rod through the cylinder outwards stretches out, drives connecting plate and rack and removes simultaneously for rack toothing second gear shaft rotates 90, drives the last fixed returning face plate rotation 90 of second gear shaft then, and then makes the last fixed anchor clamps subassembly of returning face plate follow its rotation 90, makes anchor clamps can rotate 90, thereby makes the device can switch to press from both sides to get the angle in order to adapt to different kinds of work pieces.

Drawings

In order to facilitate understanding for those skilled in the art, the present invention will be further described with reference to the accompanying drawings.

Fig. 1 is a schematic view of the overall structure of the present invention.

Fig. 2 is a second schematic view of the overall structure of the present invention.

Fig. 3 is a third schematic view of the overall structure of the present invention.

FIG. 4 is a schematic view of a substrate structure according to the present invention.

FIG. 5 is a schematic view of the connection relationship of the internal structures of the substrate according to the present invention.

Fig. 6 is a schematic structural view of the first gear shaft and the worm wheel in the present invention.

Fig. 7 is a schematic structural view of a portion where the cylinder and the rack are located in the present invention.

Fig. 8 is a partially exploded view of the present invention.

FIG. 9 is an exploded view of the portion of the clamp assembly of the present invention.

FIG. 10 is an exploded view of the clamp assembly of the present invention.

FIG. 11 is a schematic view illustrating a state of the present invention after adjusting the angle of the clamping block.

In the figure: 1. a substrate; 101. placing holes; 102. a guide shaft mounting hole; 103. a rack bar mounting hole; 104. grooving; 2. a guide shaft; 3. a linear bearing; 4. a movable plate; 5. a rack bar; 6. a worm; 7. a driven wheel; 8. a driving wheel; 9. a belt; 10. a power box; 11. a motor mounting plate; 12. a motor; 13. a drive shaft; 14. a gear shaft mounting plate; 15. a first gear shaft; 16. a turbine; 17. mounting blocks; 18. a second gear shaft; 19. a turnover plate; 20. a clamp assembly; 2001. a strip plate; 2002. connecting blocks; 2003. a clamping block; 2004. a guide block; 2005. a guide hole; 2006. a chute; 21. closing the plate; 22. a flange head; 23. a cylinder; 24. a connecting plate; 25. a rack; 26. a guide block; 27. a guide groove; 28. a bushing.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Example 1

Referring to fig. 1-11, a gripping device for an industrial robot includes a base plate 1, guide shafts 2 are symmetrically installed on the front and rear sides of the base plate 1, linear bearings 3 are installed on both ends of the guide shafts 2, movable plates 4 are symmetrically installed on the left and right sides of the base plate 1, the inner sides of the movable plates 4 are fixedly connected with the linear bearings 3 adjacent thereto, i.e., the movable plates 4 are slidably connected with the guide shafts 2 through the linear bearings 3, toothed bars 5 are fixedly connected to opposite sides of two groups of movable plates 4, the two groups of toothed bars 5 extend into the base plate 1 and are symmetrically distributed, a worm 6 is installed on the upper end surface of the base plate 1 through a bearing with a seat, a driven wheel 7 is fixedly connected to one end of the worm 6, a power box 10 is installed outside the worm 6, the power box 10 is fixedly connected with the upper end surface of the base plate 1, a motor mounting plate 11 is fixedly connected to the inner wall of, and the bottom end of the motor mounting plate 11 is provided with a motor 12, the tail end of the output shaft of the motor 12 is fixedly connected with a transmission shaft 13 through a coupling, a driving wheel 8 is arranged on the transmission shaft 13, the driving wheel 8 is in transmission connection with the driven wheel 7 through a belt 9, a gear shaft mounting plate 14 is fixedly connected with the upper end surface of the base plate 1 at the back side of the worm 6, a first gear shaft 15 is also rotatably connected on the gear shaft mounting plate 14 through a bearing with a seat, a turbine 16 which is meshed with the worm 6 is fixedly connected on the outer wall of the shaft end of the first gear shaft 15, mounting blocks 17 are fixedly connected on the outer sides of the movable plates 4, and one side of the mounting block 17 close to the movable plate 4 is rotatably connected with a second gear shaft 18 through a ball bearing, the other end of the second gear shaft 18 is fixedly connected with a turnover plate 19, and one side of the turnover plate 19 close to the base plate 1 is symmetrically and fixedly connected with a clamp assembly 20.

Two guide shaft mounting holes 102 and two rack mounting holes 103 are formed in the substrate 1 and are symmetrically distributed about the center line of the substrate 1, the two rack mounting holes 103 are located on the inner side of the guide shaft mounting holes 102, the guide shaft 2 is mounted in the guide shaft mounting holes 102, the rack 5 is mounted in the rack mounting holes 103, and the rack 5 and the rack mounting holes 103 are connected in a sliding mode through the bushings 28. The liner 28 may be a self-lubricating liner.

The front and the back of the base plate 1 are both provided with a slot 104, the depth of the slot 104 is equal to the vertical distance from the axis of the guide shaft mounting hole 102 to the side of the base plate 1, the width of the slot 104 is 0.5mm, the center of the base plate 1 is also provided with a placing hole 101, and the gear end of the first gear shaft 15 is positioned in the placing hole 101. The socket cap head screws are screwed into the four countersunk holes in the top end of the substrate 1, and the bottom ends of the screws can compress the guide shaft 2 through the grooves 104, so that the guide shaft 2 is fixed and is convenient to disassemble.

The guide shaft 2, the movable plate 4 and the turnover plate 19 are respectively provided with two and are symmetrically distributed about the central line of the substrate 1, and the linear bearings 3 and the clamp assemblies 20 are respectively provided with four and are symmetrically distributed about the central line of the substrate 1.

The front and the back of the power box 10 are both provided with a sealing plate 21, the sealing plate 21 and the power box 10 are fixedly connected through screws, and the top end of the power box 10 is fixedly connected with a flange head 22. The flange head 22 is convenient to be connected with the flange end of the industrial robot, and the sealing plate 21 is arranged to be convenient to open and overhaul parts inside the power box 10.

Two bearings with seats are arranged at two ends of the transmission shaft 13, one of the bearings with seats is fixed at the bottom end of the motor mounting plate 11, and the other bearing with seats is fixed on the side wall of the power box 10. Two seated bearings enable rotation of the drive shaft 13.

By adopting the technical scheme: the device is provided with a power assembly, a transmission shaft 13 can be driven to rotate through the rotation of a motor 12, a driving wheel 8 rotates along with the rotation of the transmission shaft 13 after the rotation of the transmission shaft 13, a driven wheel 7 is driven to rotate under the transmission relation between a belt 9 and the driven wheel 7, a worm 6 rotates along with the driven wheel 7, the worm 6 is meshed with a turbine 16 to rotate, gear meshed toothed bars 5 on a first gear shaft 15 are enabled to be symmetrically distributed on two sides of the turbine 16, the two toothed bars 5 move in different directions, movable plates 4 fixed on the two toothed bars 5 are enabled to be close to or separated from each other, when the movable plates 4 are close to each other, four clamp assemblies 20 are enabled to be close to each other, the clamping of a workpiece is achieved, otherwise, the clamping of the workpiece is released, because the diameter of the driving wheel 8 is larger than that of the driven wheel 7, when the motor 12 rotates for one circle, the structure is stable, the maintenance is easy, the whole structure is detachable, and the manufacturing cost is low.

Example 2

The clamp assembly 20 comprises a long strip plate 2001, a connecting block 2002, two clamping blocks 2003 and four guide blocks 2004, wherein the two clamping blocks 2003 are symmetrically and fixedly installed on one side of the long strip plate 2001 respectively, the connecting block 2002 is installed between the two clamping blocks 2003, anti-skid threads are arranged on the outer surfaces, in contact with a workpiece, of the connecting block 2002 and the clamping blocks 2003, guide holes 2005 are formed in the two clamping blocks 2003, the connecting block 2002 slides in the guide holes 2005, sliding grooves 2006 are formed in two sides of the two clamping blocks 2003, the four guide blocks 2004 are fixed on two sides of the long strip plate 2001 respectively and are symmetrically distributed, and the four guide blocks 2004 are matched with the four sliding grooves 2006 respectively for use.

By adopting the technical scheme: the device is provided with the clamping blocks 2003 with adjustable intervals, the clamping blocks 2003 can freely slide under the action of the guide blocks 2004 and the sliding grooves 2006, the clamping blocks 2003 can be tightly pressed under the action of the guide blocks 2004 and the long strip plates 2001 through the hexagon socket head cap screws, the adjustable interval between the two clamping blocks 2003 is realized, the clamping device can be suitable for clamping workpieces with various specifications and sizes during batch production, and the adaptability of the device is improved.

Example 3

One side fixedly connected with cylinder 23 of installation piece 17, and the terminal fixedly connected with connecting plate 24 of piston rod of cylinder 23, through screw fixedly connected with rack 25 on connecting plate 24, fixedly connected with guide block 26 on returning face plate 19 to set up on the rack 25 and lead guide way 27 that guide block 26 cooperation was used

The using method of the device specifically comprises the following steps:

the method comprises the following steps: the flange head 22 in the device is connected with the flange end of an industrial robot, then the angle of the clamp assembly 20 is adjusted so as to obtain a clamping angle more suitable for a workpiece, a piston rod of the cylinder 23 extends outwards to drive the connecting plate 24 and the rack 25 to move simultaneously, so that the rack 25 is meshed with the second gear shaft 18 and rotates 90 degrees, then the overturning plate 19 fixed on the second gear shaft 18 is driven to rotate 90 degrees, further the clamp assembly 20 fixed on the overturning plate 19 rotates 90 degrees along with the overturning plate, and therefore the clamp can rotate 90 degrees, and the device can switch the clamping angle to adapt to different kinds of workpieces;

step two: the distance between the clamping blocks 2003 is adjusted to adapt to the size of the current workpiece, the clamping blocks 2003 can freely slide under the action of the guide blocks 2004 and the sliding grooves 2006, the clamping blocks 2003 can be tightly abutted under the action of the guide blocks 2004 and the long strip plates 2001 through the hexagon socket head cap screws, the distance between the two clamping blocks 2003 can be adjusted, the clamping device can adapt to clamping of workpieces of various specifications during batch production, and the adaptability is improved;

step three: the motor 12 rotates and can drive the transmission shaft 13 to rotate, the transmission shaft 13 rotates and then the driving wheel 8 rotates along with the rotation of the driving wheel, under the transmission relation of the belt 9 and the driven wheel 7, the driven wheel 7 is driven to rotate, the worm 6 rotates along with the driven wheel 7, the worm 6 is meshed with the turbine 16 to rotate, the gear meshed with the toothed bars 5 on the first gear shaft 15 is enabled to be symmetrically distributed on two sides of the turbine 16, the two toothed bars 5 do not move towards each other, the movable plates 4 fixed on the two toothed bars 5 are enabled to be close to or separated from each other, when the movable plates 4 are close to each other, namely, the four clamp assemblies 20 are close to each other, the workpiece is clamped, otherwise, the clamping of the workpiece is.

By adopting the technical scheme: the device sets up the adjustable of anchor clamps angle, and the piston rod through cylinder 23 outwards stretches out, drives connecting plate 24 and rack 25 and removes simultaneously for rack 25 meshes second gear shaft 18 and rotates 90, drives the returning face plate 19 of fixing on the second gear shaft 18 then and rotates 90, and then makes the anchor clamps subassembly 20 of fixing on the returning face plate 19 follow it and rotate 90, makes anchor clamps can rotate 90, thereby makes the device can switch to press from both sides to get the angle in order to adapt to different kinds of work pieces.

When the device is used, a flange head 22 in the device is connected with a flange end of an industrial robot, then the angle of a clamp assembly 20 is adjusted so as to obtain a clamping angle more suitable for a workpiece, a piston rod of a cylinder 23 extends outwards to drive a connecting plate 24 and a rack 25 to move simultaneously, so that the rack 25 is meshed with a second gear shaft 18 and rotates for 90 degrees, a turnover plate 19 fixed on the second gear shaft 18 is driven to rotate for 90 degrees, and the clamp assembly 20 fixed on the turnover plate 19 rotates for 90 degrees along with the turnover plate, so that the clamp can rotate for 90 degrees, and the device can switch the clamping angle to adapt to different workpieces; the distance between the clamping blocks 2003 is adjusted to adapt to the size of the current workpiece, the clamping blocks 2003 can freely slide under the action of the guide blocks 2004 and the sliding grooves 2006, the clamping blocks 2003 can be tightly abutted under the action of the guide blocks 2004 and the long strip plates 2001 through the hexagon socket head cap screws, the distance between the two clamping blocks 2003 can be adjusted, the clamping device can adapt to clamping of workpieces of various specifications during batch production, and the adaptability is improved; the rotation of the motor 12 can drive the transmission shaft 13 to rotate, the driving wheel 8 rotates along with the transmission shaft 13 after the transmission shaft 13 rotates, under the transmission relationship of the belt 9 and the driven wheel 7, the driven wheel 7 is driven to rotate, so that the worm 6 rotates along with the driven wheel 7, the worm 6 is meshed with the turbine 16 to rotate, so that the gear on the first gear shaft 15 is engaged with the gear rods 5, the two gear rods 5 are symmetrically distributed on two sides of the turbine 16, the two toothed bars 5 move in different directions, so that the movable plates 4 fixed on the two toothed bars 5 are close to or separate from each other, when the movable plates 4 are close to each other, the four clamp assemblies 20 are close to each other, the workpiece is clamped, otherwise, the separation is the releasing of the clamping of the workpiece, because the diameter of the driving wheel 8 is larger than that of the driven wheel 7, when the motor 12 rotates for a circle, the driven wheel 7 can be rapidly driven to rotate for a plurality of circles, so that the clamping speed of the device is high, the structure is stable, and the maintenance is easy.

The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise forms disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. A gripping device for an industrial robot, comprising a base plate (1), characterized in that: the guide shaft (2) is symmetrically installed on the front side and the rear side of the base plate (1), the linear bearings (3) are installed at the two ends of the guide shaft (2), the movable plates (4) are symmetrically arranged on the left side and the right side of the base plate (1), the inner sides of the movable plates (4) are fixedly connected with the linear bearings (3) close to the movable plates, the movable plates (4) are fixedly connected with toothed bars (5) on one opposite side, the toothed bars (5) extend to the inside of the base plate (1) and are symmetrically distributed, the worm (6) is installed on the upper end face of the base plate (1) through a bearing with a seat, the driven wheel (7) is fixedly connected with one end of the worm (6), the power box (10) is arranged outside the worm (6), the power box (10) is fixedly connected with the upper end face of the base plate (1), and a motor installation plate (11) is fixedly connected with the inner wall of the top end of, and the bottom of the motor mounting plate (11) is provided with a motor (12), the tail end of an output shaft of the motor (12) is fixedly connected with a transmission shaft (13) through a shaft coupling, the transmission shaft (13) is provided with a driving wheel (8), the driving wheel (8) and a driven wheel (7) are in transmission connection through a belt (9), the upper end surface of the base plate (1) at the back side of the worm (6) is fixedly connected with a gear shaft mounting plate (14), the gear shaft mounting plate (14) is also rotatably connected with a first gear shaft (15) through a bearing with a base, the outer wall of the shaft end of the first gear shaft (15) is fixedly connected with a turbine (16) which is mutually meshed with the worm (6), the outer side of the movable plate (4) is fixedly connected with a mounting block (17), and one side of the mounting block (17) close to the movable plate (4), the other end of the second gear shaft (18) is fixedly connected with a turnover plate (19), and one side of the turnover plate (19) close to the substrate (1) is symmetrically and fixedly connected with a clamp assembly (20).

2. A gripping device for an industrial robot according to claim 1, characterized in that: the base plate (1) is provided with two guide shaft mounting holes (102) and two toothed bar mounting holes (103) which are symmetrically distributed about the center line of the base plate (1), the two toothed bar mounting holes (103) are located on the inner side of the guide shaft mounting holes (102), the guide shafts (2) are mounted in the guide shaft mounting holes (102), the toothed bars (5) are mounted in the toothed bar mounting holes (103), and the toothed bars (5) are connected with the toothed bar mounting holes (103) in a sliding mode through bushings (28).

3. A gripping device for an industrial robot according to claim 2, characterized in that: the front and the back of base plate (1) have all been seted up fluting (104), and the degree of depth of fluting (104) equals the axis of guiding axle mounting hole (102) to the perpendicular distance of base plate (1) avris, the width of fluting (104) is 0.5mm, the center department of base plate (1) has still been seted up and has been placed hole (101), the gear end of first gear shaft (15) is located places hole (101).

4. A gripping device for an industrial robot according to claim 1, characterized in that: the guide shaft (2), the movable plate (4) and the turnover plate (19) are respectively provided with two parts and are symmetrically distributed about the central line of the substrate (1), and the linear bearings (3) and the clamp assemblies (20) are respectively provided with four parts and are symmetrically distributed about the central line of the substrate (1).

5. A gripping device for an industrial robot according to claim 1, characterized in that: the clamp assembly (20) comprises a long strip plate (2001), a connecting block (2002), two clamping blocks (2003) and four guide blocks (2004), wherein the two clamping blocks (2003) are respectively and symmetrically fixedly installed on one side of the long strip plate (2001), the connecting block (2002) is installed between the two clamping blocks (2003), guide holes (2005) are formed in the two clamping blocks (2003), the connecting block (2002) slides in the guide holes (2005), sliding grooves (2006) are formed in the two sides of the two clamping blocks (2003), the four guide blocks (2004) are respectively and symmetrically fixed on the two sides of the long strip plate (2001), and the four guide blocks (2004) are respectively matched with the four sliding grooves (2006).

6. A gripping device for an industrial robot according to claim 1, characterized in that: the front and the back of headstock (10) have all to install shrouding (21), and pass through screw fixed connection between shrouding (21) and headstock (10), the top fixedly connected with flange head (22) of headstock (10).

7. A gripping device for an industrial robot according to claim 1, characterized in that: two bearings with seats are installed at two ends of the transmission shaft (13), one bearing with seat is fixed at the bottom end of the motor installation plate (11), and the other bearing with seat is fixed on the side wall of the power box (10).

8. A gripping device for an industrial robot according to claim 1, characterized in that: one side fixedly connected with cylinder (23) of installation piece (17), and the terminal fixedly connected with connecting plate (24) of piston rod of cylinder (23), through screw fixedly connected with rack (25) on connecting plate (24), fixedly connected with guide block (26) on returning face plate (19), and set up guide way (27) with guide block (26) cooperation use on rack (25).

9. A gripping device for an industrial robot according to any of the claims 1-8, characterized in that: the using method of the device specifically comprises the following steps:

the method comprises the following steps: the flange head (22) in the device is connected with the flange end of an industrial robot, then the angle of the clamp assembly (20) is adjusted so as to obtain a clamping angle more suitable for a workpiece, a piston rod of the cylinder (23) extends outwards to drive the connecting plate (24) and the rack (25) to move simultaneously, so that the rack (25) is meshed with the second gear shaft (18) and rotates for 90 degrees, then the overturning plate (19) fixed on the second gear shaft (18) is driven to rotate for 90 degrees, further the clamp assembly (20) fixed on the overturning plate (19) rotates for 90 degrees along with the overturning plate, and therefore the clamp can rotate for 90 degrees, and the device can switch the clamping angle to adapt to different types of workpieces;

step two: the distance between the clamping blocks (2003) is adjusted to adapt to the size of the volume of the current workpiece, the clamping blocks (2003) can freely slide under the action of the guide blocks (2004) and the sliding grooves (2006), the clamping blocks (2003) can be abutted under the action of the guide blocks (2004) and the long strip plates (2001) through the hexagon socket head cap screws, and the distance between the two clamping blocks (2003) can be adjusted;

step three: motor (12) rotate and to drive transmission shaft (13) and rotate, transmission shaft (13) rotate back action wheel (8) and follow its rotation, under the transmission relation of belt (9) and follow driving wheel (7), and then drive and rotate from driving wheel (7), make worm (6) follow and rotate from driving wheel (7), worm (6) meshing turbine (16) rotate, make gear meshing rack bar (5) on first gear shaft (15), two rack bar (5) are the both sides of symmetric distribution at turbine (16), so realize the not equidirectional motion of two rack bar (5), make fixed fly leaf (4) be close to each other or part on two rack bar (5), when fly leaf (4) are close to promptly four anchor clamps subassembly (20) each other, realize pressing from both sides the work piece and get, otherwise divide to press from both sides the clamp of releasing the work piece and get.