Mechanical arm end effector and quick replacement structure thereof

Abstract

The invention relates to the field of mechanical arms, and particularly discloses a mechanical arm end effector and a quick replacement structure thereof, comprising: a fixing mechanism comprising a fixing assembly; the actuator mechanism comprises a connecting assembly connected with the fixing assembly in a clamped and embedded mode. The fixing assembly comprises a fixing arm piece, the outer side of the fixing arm piece is rotationally connected with a rotary knob piece, and a torsional spring is further arranged in the rotary knob piece; by means of the clamping and embedding connection mode between the fixing mechanism and the actuator mechanism, a user can conveniently replace the end actuator, and especially by means of the automatic reset function of a rotary knob piece and a torsional spring, the replacement process is simplified, and the replacement speed is increased; according to the clamping jaw assembly, small objects can be clamped through the jaw tips, large objects can also be clamped through the folded arc-shaped object clamping grooves, and the diversity and practicability of the clamping function are enhanced.

Description

Technical Field

[0001] The invention belongs to the field of mechanical arms, in particular to a mechanical arm end effector and a quick replacement structure thereof. Background Art

[0002] As a key component of robotics technology, the end effector of a robotic arm is the bridge between the robot and the object of operation. It undertakes key tasks such as grasping, clamping, and handling, and plays a vital role in the field of industrial automation. With the continuous advancement of technology, the end effector of a robotic arm is leading the new trend of the market with its innovative technology and excellent performance, helping the industry to achieve a new leap forward.

[0003] Existing Chinese patent CN106239558B discloses a mechanical arm, including a manipulator and a mechanical arm. The mechanical arm has six degrees of freedom, including six servos connected in sequence, the front servo is installed on the rotating end of the rear servo, and the axes of adjacent servos are perpendicular to each other; the manipulator is connected to the rotating end of the last servo of the mechanical arm, including three mechanical fingers with the same structure, and the connecting line of the roots of the three mechanical fingers forms an isosceles triangle, and the mechanical fingers located at the two bottom angles of the isosceles triangle can rotate symmetrically. The mechanical arm provided by the present invention includes a six-degree-of-freedom mechanical arm and a manipulator with three mechanical fingers. The mechanical arm can realize arbitrary positioning of the manipulator in space, and the mechanical fingers can realize actions such as grabbing, pressing, and shaking hands. Compared with traditional hotel service robots, the mechanical arm has more complete functions and better stability.

[0004] Replacing the end effector of the above-mentioned robot arm often involves the disassembly and installation of multiple fasteners, especially the process of disassembly and installation of bolts is particularly complicated and time-consuming. Summary of the invention

[0005] In order to solve the above technical problems, the present invention provides a quick replacement structure to solve the problem that the replacement of the end effector in the prior art often involves the disassembly and installation of multiple fasteners, especially the process of disassembly and installation of bolts is particularly complicated and time-consuming.

[0006] A quick replacement structure, comprising:

[0007] A fixing mechanism, including a fixing assembly;

[0008] An actuator mechanism includes a connecting component that is snap-fitted and connected to the fixing component;

[0009] The fixing assembly comprises a fixing arm, the outer side of the fixing arm is rotatably connected with a knob, and a torsion spring is also arranged inside the knob.

[0010] Preferably, the fixed arm member comprises a fixed arm body, the outer side of one end of the fixed arm body is fixedly connected with a guide block, and the outer side of the fixed arm body is also provided with a limit slot;

[0011] The knob member comprises a hollow knob, an active cavity is provided inside the hollow knob, an L-shaped positioning frame is fixedly connected to one side of the hollow knob, the hollow knob limit sleeve is arranged on the outside of the limit slot, the torsion spring is located in the active cavity, one end of the torsion spring is embedded in the hollow knob, and the other end of the torsion spring is embedded in the fixed arm body;

[0012] The connection assembly includes a connection head, a guide groove is provided inside one side of the connection head, and a positioning groove is provided inside the connection head near the guide groove;

[0013] The guide groove is slidably embedded in the guide block, and the torsion spring drives the hollow knob to rotate and causes the L-shaped positioning frame to be embedded in the positioning groove.

[0014] Preferably, the outer edge of the L-shaped positioning frame is further provided with a guiding arc surface.

[0015] A mechanical arm end effector, comprising the above-mentioned quick-change structure, wherein the actuator mechanism further comprises a driving assembly fixedly mounted on a connecting assembly, a clamping claw assembly arranged at one end of the driving assembly, and a buckle assembly mounted on one side of the connecting assembly;

[0016] The clamping claw assembly is rotatably embedded in the buckle assembly and driven by the driving assembly.

[0017] Preferably, the driving assembly comprises a cylinder, the output end of the cylinder is fixedly connected to a push frame, and the outer side of the cylinder is also fixedly connected to a mounting circular plate;

[0018] The interior of the connector is also fixedly connected with a mounting plate, and the mounting circular plate is fixedly mounted on the mounting plate after being penetrated by a screw rod.

[0019] Preferably, the fixing mechanism further comprises a positioning screw rotatably embedded in the fixing assembly;

[0020] A positioning hole is also provided on the outer side of the cylinder;

[0021] The outer side of the fixed arm body is also provided with a threaded hole, and the positioning screw is rotatably engaged in the threaded hole and embedded in the positioning hole.

[0022] Preferably, the clamping jaw assembly comprises a clamping jaw body, an arc-shaped clamping groove is arranged inside the clamping jaw body, one end of the clamping jaw body is rotatably connected to one end of a connecting plate, and the other end of the connecting plate is rotatably embedded in the push frame;

[0023] The buckle assembly comprises a buckle cover, and a connecting hole frame is fixedly connected to the outer side of the buckle cover;

[0024] The edge of the clamp body is also rotatably connected to the connecting hole frame.

[0025] Preferably, a clamping ring is fixedly connected to the outer side of one end of the connector;

[0026] A snap ring groove is also provided on one side of the snap cover, and the snap ring groove is snapped on the snap ring and fixed by bolts passing through the connecting hole frame, wherein one of the bolts passes through the connecting hole frame and at the same time passes through the clamp body and serves as the shaft rod of the clamp body.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] Through the snap-fit ​​connection between the fixing mechanism and the actuator mechanism, the user can easily replace the end effector, especially by using the automatic reset function of the knob and the torsion spring, which simplifies the replacement process and improves the replacement speed;

[0029] The clamping claw assembly can not only clamp small objects through the claw tip, but also clamp larger objects through the retracted arc-shaped clamping groove, which enhances the diversity and practicality of the clamping function. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0031] Figure 2 It is a schematic diagram of the decomposition structure of the present invention;

[0032] Figure 3 It is a schematic diagram of the structure of the fixing assembly of the present invention;

[0033] Figure 4 It is a structural schematic diagram of the fixed arm member of the present invention;

[0034] Figure 5 It is a schematic diagram of the structure of the knob member of the present invention;

[0035] Figure 6 is a cross-sectional view of a torsion spring of the present invention;

[0036] Figure 7 It is a schematic diagram of the exploded structure of the actuator mechanism of the present invention;

[0037] Figure 8 It is a structural schematic diagram of the connection assembly of the present invention;

[0038] Fig. 9 is a cross-sectional view of a connection assembly of the present invention;

[0039] Fig.10It is a cross-sectional view of the actuator mechanism of the present invention.

[0040] In the figure: 1. fixing mechanism; 11. fixing assembly; 111. fixing arm member; 1111. fixing arm body; 1112. guide block; 1113. limit slot; 1114. threaded hole; 112. knob member; 1121. hollow knob; 1122. movable cavity; 1123. L-shaped positioning frame; 1124. guiding arc surface; 113. torsion spring; 12. positioning screw; 2. actuator mechanism; 21. connecting assembly; 211. connecting head; 212. Guide groove; 213, positioning groove; 214, mounting plate; 215, snap ring; 22, drive assembly; 221, cylinder; 222, push frame; 223, mounting circular plate; 224, positioning hole; 23, clamping jaw assembly; 231, clamping jaw body; 232, arc-shaped clamping groove; 233, connecting plate; 24, buckle assembly; 241, buckle cover; 242, connecting hole frame; 243, snap ring groove; 3, mechanical arm mechanism; 31, mechanical arm body; 32, motor. DETAILED DESCRIPTION

[0041] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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 creative work are within the scope of protection of the present invention.

[0042] like Figures 1 to 6 and Figure 8 As shown:

[0043] Embodiment 1: The present invention provides a quick replacement structure, comprising:

[0044] The fixing mechanism 1 comprises a fixing assembly 11;

[0045] The actuator mechanism 2 includes a connecting component 21 that is snap-fitted and connected to the fixing component 11;

[0046] The fixing assembly 11 includes a fixing arm 111, the outer side of the fixing arm 111 is rotatably connected to a knob 112, and a torsion spring 113 is also arranged inside the knob 112;

[0047] The mechanical arm mechanism 3 includes a mechanical arm body 31 and a motor 32 disposed in the mechanical arm body 31. The fixing component 11 is rotatably embedded in one end of the mechanical arm body 31, and the driving end of the motor 32 is fixedly connected to the fixing component 11. Turning on the motor 32 can make the fixing component 11 rotate on the mechanical arm body 31.

[0048] When the end effector is replaced and docked, the actuator mechanism 2 is moved and the knob 112 is turned so that the connecting component 21 is embedded in the fixed arm 111 for fixation. When the knob 112 is turned, the torsion spring 113 will accumulate force. After being released, the knob 112 will rotate and reset to position the fixed arm 111. When the fixation needs to be released, the knob 112 can be turned to rotate the fixed arm 111 to release the fixation of the connecting component 21.

[0049] Specifically, the fixed arm member 111 includes a fixed arm body 1111, a guide block 1112 is fixedly connected to the outer side of one end of the fixed arm body 1111, and a limit slot 1113 is also provided on the outer side of the fixed arm body 1111;

[0050] The guide block 1112 ensures that the connecting assembly 21 can slide along the correct track during installation, thereby avoiding the problem of installation misalignment. The limit slot 1113 is provided on the outside of the fixed arm body 1111 to limit the rotation range of the knob 112 and provide a stable support point for it.

[0051] The knob member 112 includes a hollow knob 1121, an active cavity 1122 is formed inside the hollow knob 1121, an L-shaped positioning frame 1123 is fixedly connected to one side of the hollow knob 1121, a limiting sleeve of the hollow knob 1121 is arranged outside the limiting slot 1113, a torsion spring 113 is located in the active cavity 1122, and one end of the torsion spring 113 is embedded in the hollow knob 1121, and the other end of the torsion spring 113 is embedded in the fixed arm body 1111;

[0052] The movable cavity 1122 provides an installation space for the torsion spring 113, while ensuring the flexibility of the knob 112 during the rotation process. The L-shaped positioning frame 1123 is used to be embedded in the positioning groove 213 of the connecting component 21 after the knob is rotated to achieve a stable connection. The guide arc surface 1124 enables the L-shaped positioning frame 1123 to slide into the positioning groove 213 more easily during the embedding process, thereby improving the efficiency and stability of the connection.

[0053] The torsion spring 113 is located in the movable cavity 1122 , one end of which is embedded in the hollow knob 1121 , and the other end is embedded in the fixed arm body 1111 . When the knob 112 is rotated, the torsion spring 113 generates elastic force to drive the knob 112 to reset.

[0054] The connection assembly 21 includes a connection head 211, a guide groove 212 is formed inside one side of the connection head 211, and a positioning groove 213 is formed inside the connection head 211 near the guide groove 212;

[0055] The connecting head 211 is used as the connecting part of the end effector. A guide groove 212 and a positioning groove 213 are designed inside the connecting head 211. The guide groove 212 cooperates with the guide block 1112 to ensure the accuracy of the connecting component 21 during the installation process. The positioning groove 213 is used to receive the card embedding of the L-shaped positioning frame 1123 to achieve a stable connection.

[0056] The guide slot 212 is slidably engaged with the guide block 1112 , and the torsion spring 113 drives the hollow knob 1121 to rotate and causes the L-shaped positioning frame 1123 to be engaged with the positioning slot 213 .

[0057] Specifically, a guide arc surface 1124 is further provided on the outer edge of the L-shaped positioning frame 1123 .

[0058] As can be seen from the above, when the end effector is replaced and docked, the actuator mechanism 2 is moved so that the guide groove 212 on one side of the connector 211 is slidably engaged with the guide block 1112;

[0059] When the connector 211 moves against the guide arc surface 1124, the L-shaped positioning frame 1123 drives the hollow knob 1121 to rotate, and the rotation of the hollow knob 1121 causes the torsion spring 113 to twist and store force in the active cavity 1122;

[0060] When the guide slot 212 is completely slid and engaged with the guide block 1112 , the torsion spring 113 is reset to make the L-shaped positioning frame 1123 rotate and be engaged with the positioning slot 213 , thereby achieving a connection and fixing effect.

[0061] like Figures 7 to 10 As shown:

[0062] Embodiment 2: A robot arm end effector includes the quick-change structure as described above, wherein the actuator mechanism 2 further includes a driving assembly 22 fixedly mounted on the connecting assembly 21, a clamping claw assembly 23 disposed at one end of the driving assembly 22, and a buckle assembly 24 mounted on one side of the connecting assembly 21;

[0063] The clamping jaw assembly 23 is rotatably engaged with the buckle assembly 24 and is driven by the driving assembly 22 .

[0064] Specifically, the driving assembly 22 includes a cylinder 221, the output end of the cylinder 221 is fixedly connected to a push frame 222, and the outer side of the cylinder 221 is also fixedly connected to a mounting circular plate 223;

[0065] Among them, the cylinder 221 is the core component of the driving assembly. The cylinder 221 is responsible for providing the driving force required by the clamping jaw assembly 23. When the cylinder 221 receives a control signal, its internal piston will reciprocate, thereby pushing the push frame 222 to move.

[0066] The push frame 222 is fixedly connected to the output end of the cylinder 221 and moves with the movement of the cylinder piston. The push frame 222 can effectively transmit the driving force of the cylinder to the clamping jaw assembly 23, thereby realizing the opening and closing of the clamping jaw.

[0067] The mounting circular plate 223 is fixedly connected to the outer side of the cylinder 221 and is used to stably mount the cylinder on the connecting assembly 21. The mounting circular plate 223 is penetrated by a screw and fixed to the mounting plate 214, thereby achieving a firm connection between the cylinder and the connecting assembly.

[0068] The interior of the connector 211 is also fixedly connected to a mounting plate 214, and the mounting circular plate 223 is fixedly mounted on the mounting plate 214 after being penetrated by a screw rod;

[0069] Among them, the connecting head 211 is the core part of the connecting assembly. The connecting head 211 not only undertakes the task of connecting with the fixed arm member, but also provides a platform for installing the driving assembly, the clamping claw assembly and the buckle assembly.

[0070] The mounting plate 214 is fixedly connected to the inside of the connecting head 211 and is used to install and support the mounting circular plate 223 in the driving assembly 22. The mounting plate 214 is connected by screws to ensure the stability and reliability between the driving assembly and the connecting assembly.

[0071] As can be seen from the above, the mounting circular plate 223 is fixedly mounted on the mounting plate 214 after being penetrated by a screw, so that the cylinder 221 is fixed on the connecting assembly 21 .

[0072] Embodiment 3: This embodiment is basically the same as the previous embodiment, except that the fixing mechanism 1 further includes a positioning screw 12 rotatably embedded in the fixing assembly 11;

[0073] A positioning hole 224 is also provided on the outer side of the cylinder 221;

[0074] Among them, the positioning hole 224 is opened on the outside of the cylinder 221, and cooperates with the positioning screw 12 to achieve accurate fixation of the cylinder 221;

[0075] A threaded hole 1114 is further provided on the outer side of the fixed arm body 1111 , and the positioning screw 12 is rotatably engaged in the threaded hole 1114 and embedded in the positioning hole 224 .

[0076] Specifically, the clamping jaw assembly 23 includes a clamping jaw body 231, an arc-shaped clamping groove 232 is provided inside the clamping jaw body 231, one end of the clamping jaw body 231 is rotatably connected to one end of a connecting plate 233, and the other end of the connecting plate 233 is rotatably embedded in the push frame 222;

[0077] The clamp body 231 is the core component of the clamp assembly 23. An arc-shaped clamping groove 232 is provided inside the clamp body 231 for clamping and fixing the object to be grasped. The arc-shaped clamping groove 232 enables the clamp body 231 to adapt to objects of different shapes and sizes, thereby improving the flexibility and adaptability of the grasping operation.

[0078] One end of the connecting plate 233 is rotatably connected to the clamp body 231 , and the other end is rotatably engaged with the push frame 222 , so that the clamp body 231 can be opened and closed under the drive of the cylinder 221 , thereby achieving the grasping and releasing of the object.

[0079] The buckle assembly 24 includes a buckle cover 241, and a connection hole frame 242 is fixedly connected to the outer side of the buckle cover 241;

[0080] The buckle cover 241 is the main body of the buckle assembly, and a connecting hole frame 242 is fixedly connected to the outer side of the buckle cover 241 for connecting with the connecting head 211 .

[0081] The connection hole frame 242 is provided with holes for installing bolts. These holes are not only used to fix the buckle cover 241, but also used as the shaft rod of the clamp body 231, so as to realize the rotation connection of the clamp body 231;

[0082] The edge of the clamp body 231 is also rotatably connected to the connecting hole frame 242 .

[0083] Specifically, a clamping ring 215 is fixedly connected to the outer side of one end of the connector 211;

[0084] A snap ring groove 243 is also provided on one side of the snap cover 241. The snap ring groove 243 is snapped onto the snap ring 215 and fixed by bolts passing through the connecting hole frame 242. One of the bolts passes through the connecting hole frame 242 and at the same time passes through the clamp body 231 and serves as the shaft rod of the clamp body 231.

[0085] As can be seen from the above, the positioning screw 12 is rotated and embedded in the threaded hole 1114 and embedded in the positioning hole 224, which can further fix the cylinder 221, thereby improving the stability of the device;

[0086] The snap ring groove 243 is snapped onto the snap ring 215 and fixed by passing bolts through the connecting hole frame 242, so that the snap cover 241 can be stably fixed to one end of the connecting head 211, thereby protecting the internal parts of the clamping jaw assembly 23. At the same time, one of the bolts passes through the connecting hole frame 242 and serves as the shaft of the clamping jaw body 231, providing an axis point for the rotation of the clamping jaw body 231.

[0087] Controlling the operation of the air cylinder 221 can cause the push frame 222 to drive the connecting plate 233 to move, and the movement of the connecting plate 233 can cause the clamp body 231 to rotate, thereby opening the clamp body 231. When the clamp body 231 is opened, the claw tip can be used to clamp objects normally. When encountering larger objects, the retracted arc-shaped clamping groove 232 can be used to clamp them.

[0088] The standard parts used in the present invention can all be purchased from the market, and the special-shaped parts can be customized according to the description and the drawings. The specific connection methods of each part adopt conventional means such as mature bolts, rivets, welding, etc. in the prior art. The machinery, parts and equipment all adopt conventional models in the prior art, and the circuit connection adopts the conventional connection method in the prior art, which will not be described in detail here. The contents not described in detail in this specification belong to the prior art known to professional and technical personnel in this field.

[0089] In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. "Multiple" means two or more, unless otherwise clearly and specifically defined.

[0090] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0091] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0092] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0093] In the drawings of the embodiments disclosed in the present invention, only the structures related to the embodiments disclosed in the present invention are involved, and other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of the present invention can be combined with each other.

[0094] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A quick replacement structure, characterized in that: include: A fixing mechanism (1), comprising a fixing assembly (11); An actuator mechanism (2) comprises a connecting component (21) which is snap-fitted and connected to the fixing component (11); The fixing assembly (11) comprises a fixing arm (111), the outer side of the fixing arm (111) is rotatably connected to a knob (112), and a torsion spring (113) is also arranged inside the knob (112).

2. A quick-change structure as claimed in claim 1, characterized in that: The fixed arm member (111) comprises a fixed arm body (1111), the outer side of one end of the fixed arm body (1111) is fixedly connected to a guide block (1112), and a limiting slot (1113) is also provided on the outer side of the fixed arm body (1111); The knob member (112) comprises a hollow knob (1121), an active cavity (1122) is provided inside the hollow knob (1121), an L-shaped positioning frame (1123) is fixedly connected to one side of the hollow knob (1121), the hollow knob (1121) is limitedly sleeved on the outside of the limit slot (1113), the torsion spring (113) is located in the active cavity (1122), one end of the torsion spring (113) is embedded in the hollow knob (1121), and the other end of the torsion spring (113) is embedded in the fixed arm body (1111); The connection assembly (21) comprises a connection head (211), a guide groove (212) is provided inside one side of the connection head (211), and a positioning groove (213) is also provided inside the connection head (211) at a position close to the guide groove (212); The guide groove (212) is slidably engaged with the guide block (1112), and the torsion spring (113) drives the hollow knob (1121) to rotate and causes the L-shaped positioning frame (1123) to be engaged with the positioning groove (213).

3. A quick-change structure as claimed in claim 2, characterized in that: The outer edge of the L-shaped positioning frame (1123) is also provided with a guiding arc surface (1124).

4. A robot arm end effector, characterized in that: Comprising the quick-change structure as claimed in claim 2 or 3, the actuator mechanism (2) further comprises a driving assembly (22) fixedly mounted on the connecting assembly (21), a clamping claw assembly (23) arranged at one end of the driving assembly (22), and a buckle assembly (24) mounted on one side of the connecting assembly (21); The clamping claw assembly (23) is rotatably engaged with the buckle assembly (24) and is driven by the driving assembly (22).

5. A robot arm end effector as claimed in claim 4, characterized in that: The driving assembly (22) comprises a cylinder (221), the output end of the cylinder (221) is fixedly connected to a push frame (222), and the outer side of the cylinder (221) is also fixedly connected to a mounting circular plate (223); The interior of the connecting head (211) is also fixedly connected to a mounting plate (214), and the mounting circular plate (223) is fixedly mounted on the mounting plate (214) after being penetrated by a screw rod.

6. A robot arm end effector as claimed in claim 5, characterized in that: The fixing mechanism (1) also includes a positioning screw (12) rotatably engaged with the fixing component (11); The outer side of the cylinder (221) is also provided with a positioning hole (224); The outer side of the fixed arm body (1111) is also provided with a threaded hole (1114), and the positioning screw (12) is rotatably engaged in the threaded hole (1114) and embedded in the positioning hole (224).

7. A robot arm end effector as claimed in claim 6, characterized in that: The clamping jaw assembly (23) comprises a clamping jaw body (231), an arc-shaped clamping groove (232) is arranged inside the clamping jaw body (231), one end of the clamping jaw body (231) is rotatably connected to one end of a connecting plate (233), and the other end of the connecting plate (233) is rotatably engaged with the push frame (222); The buckle assembly (24) comprises a buckle cover (241), and a connection hole frame (242) is fixedly connected to the outer side of the buckle cover (241); The edge of the clamp body (231) is also rotatably connected to the connection hole frame (242).

8. A robot arm end effector as claimed in claim 7, characterized in that: A clamping ring (215) is also fixedly connected to the outer side of one end of the connector (211); A snap ring groove (243) is also provided on one side of the snap cover (241), and the snap ring groove (243) is snapped onto the snap ring (215) and fixed by bolts penetrating the connecting hole frame (242), wherein one of the bolts penetrates the connecting hole frame (242) and at the same time penetrates the clamping jaw body (231) and serves as the shaft rod of the clamping jaw body (231).

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