Robotic work arm for handling wheel stock and method of use

Abstract

The application provides a robot working arm for carrying wheel raw materials and a use method, which comprises a mechanical arm and a grabbing device; the grabbing device comprises a base, a connecting head and a grabbing unit; the grabbing unit comprises a C-shaped frame, a motor, a guide shaft, a double-thread screw rod, a driving gear, a driven gear and two symmetrically arranged grabbing assemblies; in the application, the two sides of the raw material piece are provided with clamping force by the grabbing assemblies, so that the raw material piece is balanced in force and is convenient to grab; the double-layer suction disc can rotate on the electric cylinder within a certain angle, so that the double-layer suction disc can more fully contact the outer surface of the raw material piece and is suitable for raw material pieces of different specifications; the second suction disc in the double-layer suction disc first contacts and is adsorbed on the raw material piece, then the first suction disc contacts and is adsorbed on the raw material piece and closes the second suction disc, when the first suction disc leaks, the first suction disc can keep stable adsorption force and does not appear the situation that the raw material piece suddenly falls, and use is safer.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, specifically to a robotic arm for transporting wheel materials and its usage method. Background Technology

[0002] In the modern wheel manufacturing industry, the application of robots and automation systems has become indispensable. Material handling robots are a key component, widely used for handling raw materials and products. However, material handling robots still face a series of challenges when grasping and manipulating irregularly shaped raw materials: some raw materials are difficult to grasp directly during the manufacturing process, and conventional gripping mechanisms cannot pick them up. When using suction cup gripping mechanisms, the suction stability of the suction cups is crucial. If the suction cups leak air, the gripping force on the raw material decreases, increasing the risk of slippage, tilting, or even falling.

[0003] Chinese utility model patent CN211073633U discloses a sensing and gripping mechanism for an industrial robot arm, relating to the field of robotic arm mechanisms. In this utility model: a distance sensing probe is installed in the upper fixed base, located at the top of a groove with a lower opening; a second connecting end plate is fixedly mounted on a first end-side movable folding plate; a compressed thrust adjusting spring connects the first and second connecting end plates; an end-side fixed suction cup is fixedly connected to the lower end of the first end-side movable folding plate; second side fixed connecting plates are fixedly connected to both sides of the end-side fixed suction cup; a second movable connecting rod is vertically movably mounted on the second side fixed connecting plate; a contact sensing probe is provided at one end of the second movable connecting rod to contact the inclined surface of an irregular material. The suction cup of this gripping mechanism has a single-layer structure. When the suction cup leaks air, the suction force on the material decreases sharply, making it easy for the material to fall off. Summary of the Invention

[0004] In view of the above-mentioned technical deficiencies, the purpose of this invention is to provide a robotic arm for transporting wheel raw materials and a method of use, which can reliably grasp and manipulate raw materials of various irregular shapes.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A robotic arm for transporting wheel materials includes a robotic arm and a gripping device connected to the robotic arm. The gripping device includes a base, a connector, and a gripping unit. The connector is fixed to the upper end face of the base, and the gripping unit is fixed to the lower end face of the base.

[0007] The gripping unit includes a C-shaped frame, a motor, a guide shaft, a double-threaded screw, a drive gear, a driven gear, and two symmetrically arranged gripping components. The opening of the C-shaped frame faces downward. The motor is fixed to one side of the C-shaped frame. The guide shaft and the double-threaded screw are located inside the C-shaped frame. The axis of the guide shaft is parallel to the axis of the double-threaded screw. The end of the guide shaft is fixedly connected to the C-shaped frame. The end of the double-threaded screw is rotatably mounted on the C-shaped frame. The drive gear is fixed to the output shaft of the motor. The driven gear is fixed to the middle of the double-threaded screw and meshes with the drive gear for transmission.

[0008] The gripping assembly includes a vertical plate, a frame, an electric cylinder, a first spring, and a double-layer suction cup. The vertical plate is provided with a guide hole adapted to the guide shaft and a screw hole adapted to the double-threaded screw. The guide shaft passes through the guide hole, and the double-threaded screw passes through the screw hole and is threaded into the screw hole. The frame is hinged to the lower part of the vertical plate. The electric cylinder is fixed on the frame. One end of the first spring is fixedly connected to the vertical plate, and the other end is fixedly connected to the electric cylinder. The double-layer suction cup is connected to the electric cylinder.

[0009] Preferably, the double-layer suction cup includes a connecting seat, a first suction cup, a second spring, a guide rod, and a second suction cup; the first suction cup has a first negative pressure chamber inside; one end of the connecting seat is fixedly connected to the telescopic rod of the electric cylinder, and the other end is fixedly connected to the first suction cup; the connecting seat has a circular groove inside; the first suction cup has a circular hole communicating with the circular groove, and the other end of the circular hole communicates with the first negative pressure chamber; one end of the guide rod is slidably disposed in the circular groove, and the other end passes through the circular hole and extends into the first negative pressure chamber; the second suction cup is disposed within the first negative pressure chamber. A connecting sleeve adapted to the guide rod is fixedly installed on the second suction cup, and one end of the guide rod is inserted and fixed inside the connecting sleeve; a spring is sleeved on the guide rod; one end of the spring abuts against the connecting seat, and the other end abuts against the connecting sleeve; a second negative pressure chamber is provided inside the second spring; a sleeve is fixedly installed on the outer side of the second suction cup, and the sleeve communicates with the second negative pressure chamber; a sealing plug adapted to the sleeve is fixedly installed in the first negative pressure chamber of the first suction cup; a negative pressure pipe is fixedly installed on the outer side of the first suction cup, and the negative pressure pipe is connected to a vacuum pump through a pipeline, and a solenoid valve is connected to the pipeline.

[0010] Preferably, multiple gripping units are configured; multiple gripping devices are arranged in an array at equal intervals on the lower end surface of the base.

[0011] Preferably, multiple sleeves are provided; the multiple sleeves are arranged in a circumferential array with the axis of the connecting sleeve as the center; the number of sealing plugs corresponds to the number of sleeves.

[0012] Preferably, the sealing plug includes a cylinder, a sealing ring, and a guide post; one end of the cylinder is fixedly connected to the first suction cup, and the other end is fixedly connected to the guide post; the diameter of the guide post is smaller than the inner diameter of the sleeve; the guide post is movably inserted into the sleeve; the sealing ring is fixed on the cylinder; the outer diameter of the sealing ring is larger than the inner diameter of the sleeve.

[0013] Preferably, a bearing is fixedly provided at the end of the double-threaded screw; the C-shaped frame is provided with a mounting hole adapted to the bearing, and the bearing is fixed in the mounting hole.

[0014] Preferably, the gripping component further includes an L-shaped plate; the upper end of the L-shaped plate is fixedly connected to the C-shaped frame, and the motor is fixed to the lower end of the L-shaped plate.

[0015] A method of using a robotic arm for transporting wheel-shaped raw materials includes the following steps:

[0016] S1, Raw Material Grabbing

[0017] The handling robot controls the robotic arm to move the gripping device to directly above the raw material;

[0018] The robotic arm drives the gripping device to move downwards, with two symmetrical gripping components located on both sides of the raw material.

[0019] After the motor starts, it drives the double-threaded screw to rotate, causing the two symmetrical gripping components to move closer to each other until the second suction cups on both sides are in contact with the outer surface of the material.

[0020] After the electric cylinder is started, it pushes the first suction cup and the second suction cup together to approach the raw material; the thrust of the electric cylinder's telescopic rod is transmitted to the second suction cup through the connecting seat and spring, the second suction cup is squeezed, and the air in the second negative pressure chamber is discharged to the outside through the sleeve;

[0021] As the telescopic rod of the electric cylinder continues to advance, the connecting seat compresses the second spring, the first suction cup adheres to the material, and the gas in the first negative pressure chamber is squeezed out through the negative pressure pipe. The sealing plug is inserted into the sleeve and seals the sleeve, making the second negative pressure chamber an independent space. The telescopic rod of the electric cylinder stops moving after extending to the predetermined length. The vacuum pump connected to the negative pressure pipe extracts the gas in the first negative pressure chamber, the solenoid valve closes, the vacuum pump stops running, the double-layer suction cup is adsorbed on the material, and the position of the material is moved by the robotic arm.

[0022] S2, Placement of raw materials

[0023] The robotic arm stops moving after transporting the raw material to the predetermined position using the gripping device.

[0024] When the solenoid valve opens, outside air enters the first negative pressure chamber through the solenoid valve, the electric cylinder moves in the opposite direction, the first suction cup releases the material, and the second spring's thrust on the second suction cup keeps the second suction cup attached to the material.

[0025] The electric cylinder continues to move in the opposite direction, the sealing plug is pulled out of the sleeve, and the outside air enters the second negative pressure chamber through the sleeve. As the electric cylinder continues to move, the squeezing force on the second suction cup by the second spring decreases, and the second suction cup detaches from the adsorption of the material.

[0026] The motor rotates in the opposite direction, and the gripping component moves away from the raw material to complete the placement of the raw material.

[0027] Preferably, in step S1, when the second suction cup comes into contact with the outer surface of the material, the electric cylinder rotates relative to the upright plate on the stand, so that the second suction cup is attached to the outer surface of the material at the optimal angle.

[0028] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0029] In this invention, symmetrically arranged gripping components provide clamping force to both sides of the material, balancing the force on the material and facilitating its gripping. The double-layer suction cups can rotate within a certain angle on the electric cylinder, allowing them to make more full contact with the outer surface of the material, suitable for materials of different specifications. The second suction cup in the double-layer suction cups contacts and adheres to the material first, and then the first suction cup contacts and adheres to the material, sealing the second suction cup. When the first suction cup leaks air, it can maintain a stable adsorption force, preventing the material from suddenly falling off, making it safer to use. Attached Figure Description

[0030] Figure 1 This is a schematic diagram illustrating the usage state of the present invention;

[0031] Figure 2 This is a schematic diagram of the gripping device in this invention;

[0032] Figure 3 This is a schematic diagram of the gripping unit in this invention;

[0033] Figure 4 This is a cross-sectional structural diagram of the gripping unit in this invention;

[0034] Figure 5 for Figure 4 A magnified view of a section at point A in the middle;

[0035] Figure 6 This is a schematic diagram of the double-layer suction cup in the present invention in a non-working state;

[0036] Figure 7This is a schematic diagram of the structure of the double-layer suction cup in this invention;

[0037] Figure 8 This is a schematic diagram of the internal structure of the double-layer suction cup in this invention;

[0038] Figure 9 for Figure 8 A magnified view of a section at point B in the middle;

[0039] Figure 10 This is a structural breakdown diagram of the double-layer suction cup in this invention;

[0040] Figure 11 This is a schematic diagram of the structure of the second suction cup in this invention.

[0041] in:

[0042] 1. Robotic arm; 2. Gripping device; 21. Base; 22. Connector; 23. Gripping unit; 231. C-shaped frame; 232. Motor; 233. L-shaped plate; 234. Guide shaft; 235. Double-threaded screw; 236. Vertical plate; 237. Electric cylinder; 238. Stand; 239. Double-layer suction cup; 2391. Connecting seat; 2392. Second spring; 2393. Connecting sleeve; 23 94. First negative pressure chamber; 2395. Sleeve; 2396. Sealing plug; 23961. Guide post; 23962. Sealing ring; 23963. Cylindrical tube; 2397. Second negative pressure chamber; 2398. Second suction cup; 2399. First suction cup; 23910. Negative pressure tube; 23911. Guide rod; 2310. Driven gear; 2311. First spring; 2312. Drive gear. Detailed Implementation

[0043] The invention will now be further described with reference to the accompanying drawings.

[0044] like Figures 1 to 6 As shown, a robotic arm for transporting wheel materials includes a robotic arm 1 and a gripping device 2 connected to the robotic arm 1. The robotic arm 1 is a commonly used component installed on a transport robot. The gripping device 2 includes a base 21, a connector 22, and a gripping unit 23. The connector 22 is fixed to the upper end face of the base 21, and the gripping unit 23 is fixed to the lower end face of the base 21. The connector 22 is used for fixed connection with the robotic arm 1.

[0045] The gripping unit 23 includes a C-shaped frame 231, a motor 232, a guide shaft 234, a double-threaded screw 235, a driving gear 2312, a driven gear 2310, and two symmetrically arranged gripping components. The opening of the C-shaped frame 231 faces downward. The upper end face of the C-shaped frame 231 is fixedly connected to the base 21. The motor 232 is fixed to one side of the C-shaped frame 231. The guide shaft 234 and the double-threaded screw 235 are located inside the C-shaped frame 231. The double-threaded screw 235 is an existing product, with threads of opposite directions at both ends. The shaft of the guide shaft 234... The axis of the wire and the double-threaded screw 235 are parallel; the end of the guide shaft 234 is fixedly connected to the C-shaped frame 231; the end of the double-threaded screw 235 is rotatably mounted on the C-shaped frame 231; the driving gear 2312 is fixed on the output shaft of the motor 232; the driven gear 2310 is fixed in the middle of the double-threaded screw 235 and meshes with the driving gear 2312 for transmission; after the motor 232 starts, it drives the double-threaded screw 235 to rotate through the meshing transmission of the driving gear 2312 and the driven gear 2310; the motor 232 is driven and controlled by the handling robot.

[0046] The gripping assembly includes a vertical plate 236, a frame 238, an electric cylinder 237, a first spring 2311, and a double-layer suction cup 239. The electric cylinder 237 is driven and controlled by the handling robot. The vertical plate 236 is provided with a guide hole adapted to the guide shaft 234 and a screw hole adapted to the double-threaded screw 235. The guide shaft 234 passes through the guide hole, and the double-threaded screw 235 passes through the screw hole and is threaded into the screw hole. When the double-threaded screw 235 rotates, it can drive the two gripping assemblies to move relative to each other or in opposite directions. The frame 238 is hinged to the lower part of the vertical plate 236. The electric cylinder 237 is fixed on the frame 238. One end of the first spring 2311 is fixedly connected to the vertical plate 236, and the other end is fixedly connected to the electric cylinder 237. The first spring 2311 provides tension to the electric cylinder 237, so that the electric cylinder 237 is held at a set angle and can rotate within a certain range.

[0047] like Figures 7 to 11As shown, the double-layer suction cup 239 includes a connecting seat 2391, a first suction cup 2399, a second spring 2392, a guide rod 23911, and a second suction cup 2398. The first suction cup 2399 has a first negative pressure chamber 2394 inside. One end of the connecting seat 2391 is fixedly connected to the telescopic rod of the electric cylinder 237, and the other end is fixedly connected to the first suction cup 2399. The connecting seat 2391 has a circular groove inside. The first suction cup 2399 has a circular hole communicating with the circular groove, the diameter of which is larger than the diameter of the circular groove, and the other end of which communicates with the first negative pressure chamber 2394. One end of the guide rod 23911 is slidably disposed in the circular groove, and the other end passes through the circular hole and extends into the first negative pressure chamber 2394. The second suction cup 2398 is disposed within the first negative pressure chamber 2394, and the opening of the second suction cup 2398 faces the same direction as the first suction cup 2399. The second suction cup 2398 has a fixedly disposed with a... A connecting sleeve 2393 is adapted to the guide rod 23911. One end of the guide rod 23911 is inserted and fixed inside the connecting sleeve 2393. The guide rod 23911 moves synchronously with the second suction cup 2398. A spring is sleeved on the guide rod 23911. One end of the spring abuts against the connecting seat 2391, and the other end abuts against the connecting sleeve 2393. A second negative pressure chamber 2397 is provided inside the second spring 2392. A sleeve 2395 is fixedly provided on the outer side of the second suction cup 2398. The sleeve 2395 communicates with the second negative pressure chamber 2397. A sealing plug 2396 adapted to the sleeve 2395 is fixedly provided in the first negative pressure chamber 2394 of the first suction cup 2399. A negative pressure pipe 23910 is fixedly provided on the outer side of the first suction cup 2399. The negative pressure pipe 23910 is connected to a vacuum pump through a pipeline. A solenoid valve is connected to the pipeline. The vacuum pump and the solenoid valve are driven and controlled by the handling robot.

[0048] Furthermore, such as Figure 2 As shown, multiple gripping units 23 are configured; multiple gripping devices 2 are arranged in an array at equal intervals on the lower end surface of the base 21 to provide multi-point gripping of the raw material and disperse the gravity of the raw material transferred to the gripping device 2.

[0049] Furthermore, such as Figure 11 As shown, multiple sleeves 2395 are configured; the multiple sleeves 2395 are arranged in a circular array with the axis of the connecting sleeve 2393 as the center; the number of sealing plugs 2396 corresponds to the number of sleeves 2395, so that the air in the second suction cup 2398 can be quickly discharged, improving the gripping efficiency.

[0050] Furthermore, such as Figure 10As shown, the sealing plug 2396 includes a cylinder 23963, a sealing ring 23962, and a guide post 23961. One end of the cylinder 23963 is fixedly connected to the first suction cup 2399, and the other end is fixedly connected to the guide post 23961. The diameter of the guide post 23961 is smaller than the inner diameter of the sleeve 2395. The guide post 23961 is movably inserted into the sleeve 2395. The sealing ring 23962 is fixed on the cylinder 23963. The outer diameter of the sealing ring 23962 is larger than the inner diameter of the sleeve 2395. The guide post 23961 is always inserted into the sleeve 2395, guiding the movement of the cylinder 23963 and ensuring that the cylinder 23963 can be accurately inserted into the sleeve 2395, preventing the sealing plug 2396 from being loose and causing air leakage.

[0051] Furthermore, such as Figure 3 , Figure 4 As shown, a bearing is fixedly installed at the end of the double-threaded screw 235; the C-shaped bracket 231 is provided with a mounting hole that matches the bearing, and the bearing is fixed in the mounting hole.

[0052] Furthermore, the gripping component also includes an L-shaped plate 233; the upper end of the L-shaped plate 233 is fixedly connected to the C-shaped frame 231, and the motor 232 is fixed to the lower end of the L-shaped plate 233.

[0053] A method of using a robotic arm for transporting wheel-shaped raw materials includes the following steps:

[0054] S1, Raw Material Grabbing

[0055] The handling robot controls the robotic arm 1 to move the gripping device 2 to directly above the raw material; the robotic arm 1 moves the gripping device 2 downward, and the two symmetrical gripping components are located on both sides of the raw material; after the motor 232 starts, it drives the double threaded screw 235 to rotate, so that the two symmetrical gripping components move closer to each other until the second suction cups 2398 on both sides are in contact with the outer surface of the raw material.

[0056] After the electric cylinder 237 is started, it pushes the first suction cup 2399 and the second suction cup 2398 together to approach the raw material; the thrust of the extension rod of the electric cylinder 237 is transmitted to the second suction cup 2398 through the connecting seat 2391 and the spring, the second suction cup 2398 is squeezed, and the air in the second negative pressure chamber 2397 is discharged to the outside through the sleeve 2395.

[0057] As the telescopic rod of the electric cylinder 237 continues to advance, the connecting seat 2391 compresses the second spring 2392, the first suction cup 2399 adheres to the material, the gas in the first negative pressure chamber 2394 is compressed and discharged through the negative pressure pipe 23910, the sealing plug 2396 is inserted into the sleeve 2395 and seals the sleeve 2395, so that the second negative pressure chamber 2397 forms an independent space; the telescopic rod of the electric cylinder 237 stops moving after extending to the predetermined length; the vacuum pump connected to the negative pressure pipe 23910 extracts the gas in the first negative pressure chamber 2394, the solenoid valve closes, the vacuum pump stops running, the double-layer suction cup 239 is adsorbed on the material, and the position of the material is moved by the robotic arm;

[0058] S2, Placement of raw materials

[0059] The robotic arm 1 stops moving after transporting the raw material to the predetermined position via the gripping device 2.

[0060] When the solenoid valve is opened, outside air enters the first negative pressure chamber 2394 through the solenoid valve, the electric cylinder 237 moves in the opposite direction, the first suction cup 2399 releases the material, and the second spring 2392 exerts a thrust on the second suction cup 2398 to keep the second suction cup 2398 attached to the material.

[0061] As the electric cylinder 237 continues to move in the opposite direction, the sealing plug 2396 is pulled out from the sleeve 2395, and the outside air enters the second negative pressure chamber 2397 through the sleeve 2395. As the electric cylinder 237 continues to move, the squeezing force acting on the second suction cup 2398 through the second spring 2392 decreases, and the second suction cup 2398 detaches from the adsorption of the raw material.

[0062] Motor 232 rotates in the opposite direction, and the gripping component moves away from the raw material to complete the placement of the raw material.

[0063] Furthermore, in step S1, when the second suction cup 2398 comes into contact with the outer surface of the material, the electric cylinder 237 rotates relative to the upright plate 236 on the stand 238, so that the second suction cup 2398 fits against the outer surface of the material at the optimal angle.

[0064] Those skilled in the art will understand that although some embodiments described herein include certain features found in other embodiments but not others, combinations of features from different embodiments are also within the scope of protection of this invention and form different embodiments. For example, in the embodiments described above, those skilled in the art can use them in combination based on known technical solutions and the technical problems to be solved by this application.

Claims

1. A robot working arm for handling wheel raw material, comprising a robot arm (1) and a gripping device (2) connected to the robot arm (1), characterized in that, The gripping device (2) includes a base (21), a connector (22), and a gripping unit (23); the connector (22) is fixed on the upper end surface of the base (21), and the gripping unit (23) is fixed on the lower end surface of the base (21); The gripping unit (23) includes a C-shaped frame (231), a motor (232), a guide shaft (234), a double-threaded screw (235), a drive gear (2312), a driven gear (2310), and two symmetrically arranged gripping components; the opening of the C-shaped frame (231) is arranged facing downwards; the motor (232) is fixed on one side of the C-shaped frame (231); the guide shaft (234) and the double-threaded screw (235) are arranged inside the C-shaped frame (231). The axis of the guide shaft (234) is parallel to the axis of the double threaded screw (235); the end of the guide shaft (234) is fixedly connected to the C-shaped frame (231); the end of the double threaded screw (235) is rotatably mounted on the C-shaped frame (231); the driving gear (2312) is fixed on the output shaft of the motor (232); the driven gear (2310) is fixed in the middle of the double threaded screw (235) and meshes with the driving gear (2312) for transmission. The gripping assembly includes a vertical plate (236), a frame (238), an electric cylinder (237), a first spring (2311), and a double-layer suction cup (239). The vertical plate (236) is provided with a guide hole adapted to the guide shaft (234) and a screw hole adapted to the double-threaded screw (235). The guide shaft (234) passes through the guide hole, and the double-threaded screw (235) passes through the screw hole and is threaded into the screw hole. The frame (238) is hinged to the lower part of the vertical plate (236). The electric cylinder (237) is fixed on the frame (238). One end of the first spring (2311) is fixedly connected to the vertical plate (236), and the other end is fixedly connected to the electric cylinder (237). The double-layer suction cup (239) is connected to the electric cylinder (237). The double-layer suction cup (239) includes a connecting seat (2391), a first suction cup (2399), a second spring (2392), a guide rod (23911), and a second suction cup (2398); the first suction cup (2399) has a first negative pressure chamber (2394) inside; one end of the connecting seat (2391) is fixedly connected to the telescopic rod of the electric cylinder (237), and the other end is fixedly connected to the first suction cup (2399); the connecting seat (2391) The interior is provided with a circular groove; the first suction cup (2399) is provided with a circular hole communicating with the circular groove, and the other end of the circular hole is communicating with the first negative pressure chamber (2394); one end of the guide rod (23911) is slidably disposed in the circular groove, and the other end passes through the circular hole and extends into the first negative pressure chamber (2394); the second suction cup (2398) is disposed in the first negative pressure chamber (2394); the second suction cup (2398) is fixedly provided with a guide rod ( A connecting sleeve (2393) is adapted to the guide rod (23911), and one end of the guide rod (23911) is inserted and fixed inside the connecting sleeve (2393); a second spring (2392) is sleeved on the guide rod (23911); one end of the second spring (2392) abuts against the connecting seat (2391), and the other end abuts against the connecting sleeve (2393); a second negative pressure chamber (2397) is provided inside the second suction cup (2398); the second suction cup (23911) is fitted with a connecting sleeve (2393), and a second negative pressure chamber (2397) is provided inside the second suction cup (2398); the second suction cup (23911) is fitted with a connecting sleeve (2393), and a second negative pressure chamber (2397) is provided inside the second suction cup (2398). 8) A sleeve (2395) is fixedly installed on the outer side, and the sleeve (2395) is connected to the second negative pressure chamber (2397); a sealing plug (2396) adapted to the sleeve (2395) is fixedly installed in the first negative pressure chamber (2394) of the first suction cup (2399); a negative pressure pipe (23910) is fixedly installed on the outer side of the first suction cup (2399), and the negative pressure pipe (23910) is connected to the vacuum pump through a pipeline, and a solenoid valve is connected to the pipeline.

2. A robotic work arm for handling wheel stock as in claim 1, wherein, Multiple gripping units (23) are configured; multiple gripping units (23) are arranged in an array at equal intervals on the lower end surface of the base (21).

3. A robotic work arm for handling wheel stock as in claim 1, wherein, Multiple sleeves (2395) are provided; the multiple sleeves (2395) are arranged in a circular array with the axis of the connecting sleeve (2393) as the center; the number of sealing plugs (2396) corresponds to the number of sleeves (2395).

4. A robotic work arm for handling wheel stock as in claim 3, wherein, The sealing plug (2396) includes a cylinder (23963), a sealing ring (23962), and a guide post (23961); one end of the cylinder (23963) is fixedly connected to the first suction cup (2399), and the other end is fixedly connected to the guide post (23961); the diameter of the guide post (23961) is smaller than the inner diameter of the sleeve (2395); the guide post (23961) is movably inserted into the sleeve (2395); the sealing ring (23962) is fixed on the cylinder (23963); the outer diameter of the sealing ring (23962) is larger than the inner diameter of the sleeve (2395).

5. A robotic arm for transporting wheel raw materials as described in claim 1, characterized in that, The end of the double-threaded screw (235) is fixedly provided with a bearing; the C-shaped frame (231) is provided with a mounting hole that matches the bearing, and the bearing is fixed in the mounting hole.

6. A robotic arm for transporting wheel materials as described in claim 1, characterized in that, The gripping assembly also includes an L-shaped plate (233); the upper end of the L-shaped plate (233) is fixedly connected to the C-shaped frame (231), and the motor (232) is fixed to the lower end of the L-shaped plate (233).

7. A method of using a robotic arm for transporting wheel materials, based on the robotic arm for transporting wheel materials according to any one of claims 1 to 6, characterized in that, Includes the following steps: S1, Raw Material Grabbing The handling robot controls the robotic arm (1) to move the gripping device (2) to directly above the raw material; the robotic arm (1) moves the gripping device (2) downward, and the two symmetrical gripping components are located on both sides of the raw material; After the motor (232) starts, it drives the double threaded screw (235) to rotate, causing the two symmetrical gripping components to move closer to each other until the second suction cups (2398) on both sides are in contact with the outer surface of the material. After the electric cylinder (237) starts, it pushes the first suction cup (2399) and the second suction cup (2398) to move closer to the material. The thrust of the telescopic rod of the electric cylinder (237) is transmitted to the second suction cup (2398) through the connecting seat (2391) and the spring. The second suction cup (2398) is squeezed, and the air in the second negative pressure chamber (2397) is discharged to the outside through the sleeve (2395). As the telescopic rod of the electric cylinder (237) continues to advance, the connecting seat (2391) squeezes the second spring (2392), the first suction cup (2399) adheres to the raw material, the gas in the first negative pressure chamber (2394) is squeezed out through the negative pressure pipe (23910), the sealing plug (2396) is inserted into the sleeve (2395) and seals the sleeve (2395), so that the second negative pressure chamber (2397) forms an independent space; the telescopic rod of the electric cylinder (237) stops moving after extending to the predetermined length; the gas in the first negative pressure chamber (2394) is extracted by the vacuum pump connected to the negative pressure pipe (23910), the solenoid valve is closed, the vacuum pump stops running, the double-layer suction cup (239) is adsorbed on the raw material, and the position of the raw material is moved by the robotic arm; S2, Placement of raw materials The robotic arm (1) stops moving after transporting the raw material to the predetermined position through the gripping device (2); When the solenoid valve is opened, outside air enters the first negative pressure chamber (2394) through the solenoid valve. The electric cylinder (237) moves in the opposite direction, the first suction cup (2399) releases the material, and the second spring (2392) exerts a thrust on the second suction cup (2398) to keep the second suction cup (2398) attached to the material. The electric cylinder (237) continues to move in the opposite direction, the sealing plug (2396) is pulled out from the sleeve (2395), and the outside air enters the second negative pressure chamber (2397) through the sleeve (2395). As the electric cylinder (237) continues to move, the squeezing force acting on the second suction cup (2398) through the second spring (2392) decreases, and the second suction cup (2398) detaches from the adsorption of the material. The motor (232) rotates in the opposite direction, and the gripping component moves away from the material, completing the placement of the material.

8. A method of using a robotic arm for transporting wheel materials as described in claim 7, characterized in that, In step S1, when the second suction cup (2398) comes into contact with the outer surface of the material, the electric cylinder (237) rotates on the stand (238) relative to the stand plate (236) so that the second suction cup (2398) fits against the outer surface of the material at the optimal angle.

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