Variable-interval non-parallel multi-material clamping composite grabbing manipulator

Abstract

The invention discloses a variable-interval non-parallel multi-material clamping composite grabbing manipulator. The variable-interval non-parallel multi-material clamping composite grabbing manipulator comprises a material conveying assembly, a material grabbing clamping jaw assembly and a clamping jaw driving assembly. The two sets of material grabbing clamping jaw assemblies are symmetrically arranged on the two sides of the material conveying assembly, each material grabbing clamping jaw assembly comprises a clamping jaw supporting frame horizontally arranged above the roller support, driving idle wheels are rotationally installed at the two ends of each clamping jaw supporting frame through rotating shafts, and the driving idle wheels are sleeved with synchronous belts. A claw telescopic driving motor is vertically installed in the middle of the clamping claw supporting frame through a support, and a steering idle wheel used for adjusting the direction of the synchronous belt is further vertically installed on the side face of the claw telescopic driving motor. The manipulator in the technical scheme is simple in structure, flexible in clamping and high in space utilization rate; the problems that a traditional clamping jaw is large in thickness, and the space between goods shelf layers cannot be compressed are solved, and the clamping jaw can be used in areas with limited storage density and has the advantages of being light in weight and high in reliability.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulators, and in particular to a non-parallel multi-material composite grasping manipulator with variable spacing. Background Art

[0002] Most existing clamping mechanisms are parallel clamping structures, which drive the jaws to open and close synchronously through fixed guide rails. Their limitations are: insufficient clamping flexibility: traditional jaws only support parallel opening and closing movements (such as the threaded shaft driven clamp of patent CN202022583458.8), and cannot adapt to the clamping requirements of irregular or spacing-changing materials. The following problems are exposed during specific use.

[0003] The structure of the robot is complex and easy to deform. Traditional robots rely on multi-stage transmission or complex connecting rod mechanisms to achieve non-parallel motion, resulting in large size, high cost, and difficult maintenance; and low reliability. Traditional gear rack transmission has processing size differences, which is prone to problems such as jamming and inaccurate fit. The clamping jaws are not rigid enough and the clamping force is unstable, which can easily cause materials to slip or be damaged.

[0004] Another problem is the low space utilization of the robot; the traditional gripper is too thick, which makes it impossible to compress the distance between shelf layers and limits the storage density; in view of the problems exposed during the use of the current material composite grasping robot, it is necessary to improve and optimize the structure of the material composite grasping robot. Summary of the Invention

[0005] In order to solve the above technical problems, the present invention provides a variable-spacing non-parallel clamping multi-material composite grasping robot, which has the characteristics of simple structure, flexible clamping, lightweight and high reliability.

[0006] To achieve the above objectives, the present invention provides the following technical solutions: a variable-spacing non-parallel clamping multi-material composite grasping robot, comprising a material conveying component, a material grasping jaw component, a jaw driving component and a jaw stabilizing component.

[0007] The material conveying assembly includes a roller bracket, and driving rollers that can rotate around their axes are installed at both ends of the roller bracket. A material conveying belt is provided on the outer wall of the driving roller, which can run synchronously with the linear speed of the driving roller and convey the material. A servo drive motor for driving the rotation of any one of the driving rollers is also provided. The servo drive motor is fixed to the roller bracket through a coupling and bolts, and the output shaft of the servo drive motor is connected to the driving roller.

[0008] The material grabbing jaw assembly is provided with two groups, and the two groups of material grabbing jaw assemblies are symmetrically arranged on both sides of the material conveying assembly. The material grabbing jaw assembly includes a jaw support frame horizontally arranged above the roller bracket, and driving idlers are rotatably installed at both ends of the jaw support frame through a rotating shaft. A synchronous belt is provided on the driving idler. A claw telescopic drive motor is vertically installed through a bracket in the middle of the jaw support frame, and a steering idler for adjusting the direction of the synchronous belt is also vertically installed on the side of the claw telescopic drive motor. The claw telescopic drive motor drives the synchronous belt to run through the active idler provided on its output shaft.

[0009] A connecting block is fixedly provided on the synchronous belt, and a clamping finger plate for clamping materials is installed on the connecting block.

[0010] As an optimal technical solution for a variable-spacing non-parallel clamping multi-material composite grasping robot of the present invention, the said jaw drive assembly and the jaw stabilization assembly are each provided with two groups, and the two groups of jaw drive assemblies and jaw stabilization assemblies are symmetrically arranged at the same height below the material grasping jaw assembly, and are respectively arranged below the feed end and the discharge end of the material conveying assembly.

[0011] The clamping jaw drive assembly includes several groups of adjusting idler wheels horizontally arranged below the material conveying assembly and an adjusting transmission belt that is sleeved on the adjusting idler wheels and displaced. A connecting block is fixedly provided on the adjusting transmission belt, and a semicircular support arm is also fixedly provided on the connecting block. The top end of the semicircular support arm is fixedly connected to the side wall of the roller bracket.

[0012] As an optimal technical solution for a variable-spacing non-parallel clamping multi-material composite grasping robot of the present invention, the clamping claw stabilization assembly includes two groups of connecting plates symmetrically fixed on the side walls of the material conveying belt, and the bottom end of the connecting plate is horizontally fixedly installed with a linear guide rail, and a connecting slider is slidably embedded on the linear guide rail. The other end of the connecting slider is installed with an L-shaped support arm, and the top end of the L-shaped support arm is connected to the clamping claw support frame.

[0013] A servo motor is further provided at one end of any of the adjusting idler wheels. The servo motor is fixed on the linear guide rail through a bracket, and the output shaft of the servo motor is connected to the adjusting idler wheel and drives the adjusting idler wheel to rotate.

[0014] As an optimal technical solution for a variable-spacing non-parallel clamping multi-material composite grasping robot of the present invention, a guide rail is horizontally fixedly provided at one end of the clamp support frame, and one end of the connecting block is embedded in the guide rail for sliding and is used to maintain the stability of the clamp finger plate during displacement.

[0015] The opposite side surfaces of the two groups of clamping jaw finger plates are also fixedly provided with anti-slip coatings.

[0016] As an optimal technical solution for a variable-spacing non-parallel clamping multi-material composite grasping robot of the present invention, the bottom ends of the two groups of driving idler wheels are fixed with clamping claw detection sensors, which are used to detect and sense the position of the clamping claw finger plates.

[0017] As an optimal technical solution for a variable-spacing non-parallel clamping multi-material composite grasping robot of the present invention, an electric control box is fixedly provided at the bottom end of the material conveying component through a bracket, and a control signal receiver is also fixedly provided on one side of the electric control box below the material conveying component.

[0018] As an optimal technical solution for a variable-spacing non-parallel clamping multi-material composite grasping robot of the present invention, monitoring cameras are provided at the feed end and the discharge end of the material conveying component. Both monitoring cameras are fixed on the material conveying belt through a bracket, and the monitoring cameras are used to photograph the materials on the material conveying component.

[0019] As an optimal technical solution for a variable-spacing non-parallel clamping multi-material composite grasping robot of the present invention, two sets of parallel slide rails can be provided on one side surface of the linear guide rail, and the connecting block and the connecting slider are respectively embedded in the two sets of parallel slide rails for sliding displacement.

[0020] As an optimal technical solution for a variable-spacing non-parallel clamping multi-material composite grasping robot of the present invention, a group of material detection and beamforming sensors are provided at both ends of the material conveying component through a bracket, and each group of the material detection and beamforming sensors is respectively arranged above the feed end or the discharge end of the material conveying belt, and the material detection and beamforming sensors detect and sense the position of the material during operation.

[0021] As an optimal technical solution for a variable-spacing non-parallel clamping multi-material composite grasping robot of the present invention, auxiliary roller groups parallel to the driving roller are provided at both ends of the material conveying component, and the auxiliary roller groups are in contact with the outer wall of the material conveying belt for auxiliary conveying of materials.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] 1. This technical solution is provided with two sets of symmetrical material grabbing jaw assemblies. The material grabbing jaw assemblies are installed and lateral displacement is completed through the jaw drive assembly and the jaw stabilization assembly, thereby realizing symmetrical displacement of the two material grabbing jaw assemblies or independent displacement of the two material grabbing jaw assemblies, which is more convenient for adjusting the spacing between the jaws and facilitating the gripping of materials in the feeding area.

[0024] 2. In this technical solution, the claw extension drive motor is used to drive the synchronous belt to run, and the synchronous belt drives the connecting block and the clamping finger plate to move, so that the clamping finger plate can complete the clamping and synchronous transportation of the material, so that the material can be quickly clamped by the clamping finger plate and placed on the material conveying belt, which is convenient for the material conveying belt to transport the material quickly.

[0025] 3. The manipulator in this technical solution has a simple structure, flexible clamping, and high space utilization. It solves the problem of large thickness of traditional grippers and the inability to compress the spacing between shelf layers. It can be used in areas with limited storage density and is lightweight and highly reliable. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to make the contents of the present invention more clearly understood, the present invention is further described in detail below based on specific embodiments in conjunction with the accompanying drawings.

[0027] Figure 1 It is a structural schematic diagram of the present invention.

[0028] Figure 2 It is a structural schematic diagram of the material conveying component in the present invention.

[0029] Figure 3 It is a structural schematic diagram of the material grabbing clamp assembly in the present invention.

[0030] Figure 4 For the present invention Figure 1 Schematic diagram of the top view structure.

[0031] Figure 5 For the present invention Figure 1 Schematic diagram of the side structure.

[0032] Figure 6 For the present invention Figure 1 Schematic diagram of the upward-looking structure.

[0033] In the figure: 1. Material conveying assembly; 101. Roller bracket; 102. Drive roller; 103. Servo drive motor; 104. Material conveying belt; 105. Auxiliary roller group; 106. Side support block; 107. Material detection beam sensor.

[0034] 2. Material grabbing jaw assembly; 201. Gripper support frame; 202. Drive idler; 203. Synchronous belt; 204. Steering idler; 205. Claw extension and retraction drive motor; 206. Guide rail; 207. Connecting block; 208. Gripper finger plate; 209. Gripper detection sensor.

[0035] 3. Gripper drive assembly; 301. Adjusting idler pulley; 302. Adjusting transmission belt; 303. Connecting block; 304. Semicircular support arm; 305. Servo motor.

[0036] 4. Gripper stabilizing assembly; 401. Connecting plate; 402. Linear guide rail; 403. Connecting slider; 404. L-shaped support arm.

[0037] 5. Electric control box; 6. Control signal receiver; 7. Surveillance camera. DETAILED DESCRIPTION

[0038] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0039] Example

[0040] like Figure 1-6 As shown, the present invention discloses a variable-spacing non-parallel clamping multi-material composite grasping manipulator, comprising a material conveying component 1, a material grasping jaw component 2, a jaw driving component 3, and a jaw stabilizing component 4;

[0041] The material conveying assembly 1 includes a roller bracket 101, and driving rollers 102 that can rotate around their axes are installed at both ends of the roller bracket 101. In the present technical solution, there are two driving rollers 102, but in fact the number of driving rollers 102 is not limited to two. On-site workers can add different numbers of driving rollers 102 according to needs. The outer wall of the driving roller 102 is provided with a material conveying belt 104 that can run synchronously with the linear speed of the driving roller 102 and convey the material. A servo drive motor 103 for driving the rotation thereof is also provided at the end of any driving roller 102. The servo drive motor 103 is fixed to the roller bracket 101 by a coupling and bolts, and the output shaft of the servo drive motor 103 is connected to the driving roller 102. In the present technical solution, the servo drive motor 103 is used as a power source to drive the driving roller 102 to rotate.

[0042] There are two groups of material grabbing jaw assemblies 2, and the two groups of material grabbing jaw assemblies 2 are symmetrically arranged on both sides of the material conveying assembly 1. The material grabbing jaw assembly 2 includes a jaw support frame 201 horizontally arranged above the roller bracket 101, and the two ends of the jaw support frame 201 are rotatably installed with drive idlers 202 through a rotating shaft. A synchronous belt 203 is sleeved on the drive idler 202. The synchronous belt 203 in this technical solution is in creeping contact with the drive idler 202. A claw telescopic drive motor 205 is vertically installed through a bracket in the middle of the jaw support frame 201. A steering idler 204 for adjusting the direction of the synchronous belt 203 is also vertically installed on the side of the claw telescopic drive motor 205. There are two steering idlers 204. The claw telescopic drive motor 205 drives the synchronous belt 203 to run through the active idler sleeved on its output shaft;

[0043] A connecting block 207 is fixedly provided on the synchronous belt 203, and a clamping finger plate 208 for clamping the material is installed on the connecting block 207. The clamping finger plate 208 disclosed in this technical solution is a plate-like component. In fact, serrations can be evenly provided on the surface of the clamping finger plate 208, or the clamping finger plate 208 can be a component with a certain flexible structure.

[0044] Specifically, there are two groups of jaw drive assemblies 3 and jaw stabilization assemblies 4. The two groups of jaw drive assemblies 3 and jaw stabilization assemblies 4 are symmetrically arranged at the same height below the material grabbing jaw assembly 2, and are respectively arranged below the feed end and the discharge end of the material conveying assembly 1. This structure can make it easier for the jaw components to operate without interference.

[0045] The clamping jaw drive assembly 3 includes several groups of adjusting idler wheels 301 horizontally arranged below the material conveying assembly 1 and an adjusting transmission belt 302 that is displaced on the adjusting idler wheels 301. A connecting block 303 is fixedly provided on the adjusting transmission belt 302. A semicircular support arm 304 is also fixedly provided on the connecting block 303. The top end of the semicircular support arm 304 is fixedly connected to the side wall of the roller bracket 101. In this embodiment, the local structure of the semicircular support arm 304 is a C-shaped structure. This structure can greatly increase the movement space of the clamping jaw finger plate 208 during the displacement process.

[0046] Specifically, the clamping jaw stabilization assembly 4 includes two groups of connecting plates 401 symmetrically fixed on the side walls of the material conveying belt 104. A linear guide rail 402 is horizontally fixedly installed at the bottom end of the connecting plate 401. A connecting slider 403 is slidably provided on the linear guide rail 402. An L-shaped support arm 404 is installed at the other end of the connecting slider 403. The top end of the L-shaped support arm 404 is connected to the clamping jaw support frame 201; the L-shaped support arm 404 is used to keep the structure of the clamping jaw support frame 201 stable during its displacement.

[0047] A servo motor 305 is also provided at one end of any adjusting idler wheel 301. The servo motor 305 is fixed to the linear guide rail 402 through a bracket, and the output shaft of the servo motor 305 is connected to the adjusting idler wheel 301 and drives the adjusting idler wheel 301 to rotate. In this embodiment, the servo motor 305 can adopt a common motor in the prior art.

[0048] Specifically, a guide rail 206 is fixedly provided horizontally at one end of the clamping jaw support frame 201, and one end of the connecting block 207 is engaged and slidably engaged with the guide rail 206 and is used to maintain the stability of the clamping jaw finger plate 208 during displacement;

[0049] The opposite side surfaces of the two sets of gripper finger plates 208 are also fixedly provided with an anti-slip coating. In this embodiment, the structure of the anti-slip coating can be serrated.

[0050] Specifically, the bottom ends of the two sets of driving idler wheels 202 are fixed with clamping claw detection sensors 209, which are used to detect and sense the position of the clamping claw finger plate 208. In this embodiment, the clamping claw detection sensor 209 can adopt a common sensor in the prior art.

[0051] Specifically, an electric control box 5 is fixed to the bottom of the material conveying component 1 through a bracket, and a control signal receiver 6 is also fixed to one side of the electric control box 5 below the material conveying component 1. In this embodiment, the electric control box 5 and the control signal receiver 6 are electrically connected to the mains.

[0052] Specifically, monitoring cameras 7 are provided at the feed end and the discharge end of the material conveying component 1. Both monitoring cameras 7 are fixed on the material conveying belt 104 through a bracket. The monitoring cameras 7 are used to photograph the material on the material conveying component 1. In this embodiment, the monitoring cameras 7 can adopt common monitoring equipment in the prior art.

[0053] Specifically, two sets of parallel slide rails can be set on one side surface of the linear guide rail 402, and the connecting block 303 and the connecting slider 403 are respectively embedded and set on the two sets of parallel slide rails for sliding displacement. In this embodiment, by setting parallel tracks on the linear guide rail 402, the adjustable movement amplitude during component displacement can be further improved.

[0054] Specifically, a group of material detection and beam sensors 107 are provided at both ends of the material conveying component 1 through a bracket. In this technical solution, side support blocks 106 are fixed at both ends of the material conveying component 1, and the material detection and beam sensors 107 are fixed to the side support blocks 106 by bolts. Each group of material detection and beam sensors 107 is respectively provided above the feed end or the discharge end of the material conveying belt 104. The material detection and beam sensors 107 detect and sense the position of the material when they are in operation.

[0055] Specifically, auxiliary roller sets 105 parallel to the driving roller 102 are provided at both ends of the material conveying assembly 1. The auxiliary roller sets 105 are in contact with the outer wall of the material conveying belt 104 to assist in conveying the material.

[0056] The working principle and usage process of the present invention: During the actual use of the technical solution in the present invention, after the staff assembles the equipment, the material is conveyed through the conveyor belt. When the material is conveyed to the end of the manipulator, the manipulator starts to operate to clamp and place the material; when the components in the material conveying assembly 1 are running, the servo drive motor 103 is energized and synchronously drives the drive roller 102 to rotate. When the drive roller 102 rotates, it will synchronously drive the material conveying belt 104 to rotate, thereby conveying the material placed above the material conveying belt 104.

[0057] During the operation of the manipulator, the servo motor 305 will be powered on and run. During the operation, the servo motor 305 will drive its own output shaft to rotate, and the rotation of the output shaft will drive the adjusting idler wheel 301 to rotate. The adjusting idler wheel 301 will drive the adjusting transmission belt 302 to transmit. During the transmission process, the adjusting transmission belt 302 will synchronously drive the connecting block 303 to move, and then the connecting block 303 will drive the semicircular support arm 304 to move with the same movement amplitude. During the displacement of the semicircular support arm 304, the material grabbing jaw assembly 2 will be synchronously driven to move. During this process, the movement direction of the connecting block 303 is in the direction of the horizontal plane and perpendicular to the material direction.

[0058] During the horizontal sliding process of the semicircular support arm 304 , the end portion of the connecting block 303 will be synchronously engaged with the linear guide rail 402 and slide along the linear guide rail 402 , further maintaining the stability of the semicircular support arm 304 during the sliding process.

[0059] The top of the L-shaped support arm 404 in this technical solution is connected to the clamp support frame 201 through a connecting bracket. During the horizontal position displacement of the material grabbing clamp assembly 2, the end of the connecting slider 403 fixed at the bottom of the L-shaped support arm 404 is also embedded in the linear guide rail 402 and slides together, further improving the structural stability of the L-shaped support arm 404 during sliding, and synchronously providing structural support to the material grabbing clamp assembly 2 through the L-shaped support arm 404, so that the structure of the material grabbing clamp assembly 2 can also remain stable during the change of the spacing.

[0060] The present technical solution discloses symmetrically arranged material grabbing jaw assemblies 2, both of which are driven by servo motors 305, so that the distance between the jaw finger plates 208 on the two material grabbing jaw assemblies 2 can be increased or decreased.

[0061] During the changing process of the distance between the two material grabbing jaw assemblies 2 , the L-shaped support arm 404 provides structural support, so that the front and rear ends of the material grabbing jaw assemblies 2 remain stable.

[0062] When the distance between the two material grabbing jaw assemblies 2 is adjusted appropriately, the material needs to be clamped and placed on the upper surface of the material conveying belt 104 through the material grabbing jaw assembly 2. The material grabbing jaw assembly 2 uses the jaw extension and retraction drive motor 205 as a power source. During the operation of the jaw extension and retraction drive motor 205, the idler wheel on its output shaft is driven to rotate, thereby driving the synchronous belt 203 to transmit. The driving idler wheel 202 and the steering idler wheel 204 are used to structurally install and tighten the synchronous belt 203. When the synchronous belt 203 is running, it drives the connecting block 207 to move. During the displacement of the connecting block 207, the clamping finger plate 208 is synchronously driven to move. In this technical solution, the two symmetrical clamping finger plates 208 extend or retract during the displacement process, and then the material to be clamped is clamped through the end of the clamping finger plate 208.

[0063] During the actual operation of the present technical solution, the operation of the clamp driving assembly 3 and the operation of the material grabbing clamp assembly 2 can be synchronous, and do not need to be operated one after another.

[0064] After the clamping finger plate 208 has clamped the material, the claw extension drive motor 205 runs in reverse and synchronously drives the synchronous belt 203 to drive in reverse. After the synchronous belt 203 drives in reverse, it drives the connecting block 207 and the clamping finger plate 208 to move in reverse, so that the material clamped in the clamping finger plate 208 is placed on the upper surface of the material conveying belt 104.

[0065] Afterwards, the material conveying belt 104 is driven by the servo drive motor 103. When the material conveying belt 104 is running, it conveys the material placed on it. In this technical solution, auxiliary roller groups 105 are also provided on both sides of the material conveying belt 104 to assist in conveying the material and further maintain the stability of the material conveying belt 104 during rotation. Material detection sensors 107 are provided above the feed end and the discharge end of the material conveying belt 104. The material detection sensors 107 detect and sense the position of the material when running.

[0066] In this technical solution, a clamp detection sensor 209 is further provided below the two sets of driving idler wheels 202 in the material grabbing clamp assembly 2 . The clamp detection sensor 209 is used to detect and sense the position of the clamp finger plate 208 .

[0067] The above description is only a preferred embodiment of the present invention and is not intended to further limit the present invention. All equivalent changes made using the contents of the present invention description and drawings are within the scope of protection of the present invention.

Claims

1. A variable-spacing non-parallel gripping multi-material composite grasping manipulator, characterized by: It comprises a material conveying assembly (1), a material grabbing clamp assembly (2), a clamp driving assembly (3) and a clamp stabilizing assembly (4); The material conveying assembly (1) comprises a roller bracket (101), a driving roller (102) rotatable about its axis is mounted on both ends of the roller bracket (101), a material conveying belt (104) is sleeved on the outer wall of the driving roller (102) and can run synchronously with the linear speed of the driving roller (102) and convey the material, and a servo drive motor (103) for driving the rotation of any driving roller (102) is also provided at the end of any driving roller (102), the servo drive motor (103) is fixed to the roller bracket (101) through a coupling and bolts, and the output shaft of the servo drive motor (103) is connected to the driving roller (102); The material grabbing jaw assembly (2) is provided with two groups, and the two groups of the material grabbing jaw assembly (2) are symmetrically arranged on both sides of the material conveying assembly (1), and the material grabbing jaw assembly (2) includes a jaw support frame (201) horizontally arranged above the roller support (101), and driving idlers (202) are rotatably installed at both ends of the jaw support frame (201) through a rotating shaft, and a synchronous belt (203) is sleeved on the driving idler wheel (202), and a jaw telescopic driving motor (205) is vertically installed in the middle of the jaw support frame (201) through a bracket, and a steering idler wheel (204) for adjusting the direction of the synchronous belt (203) is also vertically installed on the side of the jaw telescopic driving motor (205), and the jaw telescopic driving motor (205) drives the synchronous belt (203) to run through the active idler wheel sleeved on its output shaft; A connecting block (207) is fixedly provided on the synchronous belt (203), and a clamping finger plate (208) for clamping materials is installed on the connecting block (207).

2. The variable-spacing non-parallel gripping multi-material composite grasping manipulator according to claim 1, characterized in that: The clamping jaw driving assembly (3) and the clamping jaw stabilizing assembly (4) are each provided with two groups, and the two groups of clamping jaw driving assemblies (3) and clamping jaw stabilizing assemblies (4) are symmetrically arranged at the same height below the material grabbing clamping jaw assembly (2), and are respectively arranged below the feeding end and the discharging end of the material conveying assembly (1); The clamping jaw drive assembly (3) comprises a plurality of groups of adjusting idler wheels (301) arranged horizontally below the material conveying assembly (1) and an adjusting transmission belt (302) sleeved on the adjusting idler wheels (301) for displacement, a connecting block (303) being fixedly arranged on the adjusting transmission belt (302), a semicircular support arm (304) being fixedly arranged on the connecting block (303), and a top end of the semicircular support arm (304) being fixedly connected to a side wall of the roller bracket (101).

3. The variable-spacing non-parallel gripping multi-material composite grasping manipulator according to claim 2, characterized in that: The clamping claw stabilizing assembly (4) comprises two groups of connecting pieces (401) symmetrically fixed on the side walls of the material conveying belt (104), a linear guide rail (402) is fixedly installed horizontally at the bottom end of the connecting piece (401), a connecting slider (403) is slidably provided on the linear guide rail (402), an L-shaped support arm (404) is installed at the other end of the connecting slider (403), and the top end of the L-shaped support arm (404) is connected to the clamping claw support frame (201); A servo motor (305) is further provided at one end of any of the adjusting idler wheels (301). The servo motor (305) is fixed on the linear guide rail (402) via a bracket, and the output shaft of the servo motor (305) is connected to the adjusting idler wheel (301) and drives the adjusting idler wheel (301) to rotate.

4. The variable-spacing non-parallel gripping multi-material composite grasping manipulator according to claim 1, characterized in that: One end of the clamping jaw support frame (201) is fixedly provided with a guide rail (206) horizontally, and one end of the connecting block (207) is engaged with the guide rail (206) to slide and is used to maintain the stability of the clamping jaw finger plate (208) during displacement; The opposite side surfaces of the two groups of clamping jaw finger plates (208) are also fixedly provided with anti-slip coatings.

5. The variable-spacing non-parallel gripping multi-material composite grasping manipulator according to claim 1, characterized in that: The bottom ends of the two groups of driving idler wheels (202) are both fixedly provided with clamping claw detection sensors (209), and the clamping claw detection sensors (209) are used to detect and sense the position of the clamping claw finger plates (208).

6. The variable-spacing non-parallel gripping multi-material composite grasping manipulator according to claim 1, characterized in that: An electric control box (5) is fixedly provided at the bottom end of the material conveying assembly (1) via a bracket, and a control signal receiver (6) is also fixedly provided on one side of the electric control box (5) below the material conveying assembly (1).

7. The variable-spacing non-parallel gripping multi-material composite grasping manipulator according to claim 1, characterized in that: The feed end and the discharge end of the material conveying component (1) are both provided with monitoring cameras (7), and the two monitoring cameras (7) are both fixed on the material conveying belt (104) through a bracket, and the monitoring cameras (7) are used to photograph the material on the material conveying component (1).

8. The variable-spacing non-parallel gripping multi-material composite grasping manipulator according to claim 3, characterized in that: One side surface of the linear guide rail (402) may be provided with two sets of parallel slide rails, and the connecting block (303) and the connecting slider (403) are respectively engaged and provided on the two sets of parallel slide rails for sliding displacement.

9. The variable-spacing non-parallel gripping multi-material composite grasping manipulator according to claim 1, characterized in that: A set of material detection and beaming sensors (107) are provided at both ends of the material conveying assembly (1) through brackets. Each set of the material detection and beaming sensors (107) is respectively provided above the feed end or the discharge end of the material conveying belt (104). The material detection and beaming sensors (107) detect and sense the position of the material during operation.

10. The variable-spacing non-parallel gripping multi-material composite grasping manipulator according to claim 1, characterized in that: Auxiliary roller groups (105) parallel to the driving roller (102) are provided at both ends of the material conveying assembly (1); the auxiliary roller groups (105) are in contact with the outer wall of the material conveying belt (104) for assisting the conveyance of materials.

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