Robot arm with flexible clamping function

Abstract

The invention relates to the technical field of machine arms, and discloses a machine arm with a flexible clamping function, which comprises a machine arm, a gripper is arranged at the end part of the machine arm, a clamping part is arranged on the surface of the gripper, extrusion parts are arranged at the upper end and the lower end of the clamping part, and a stabilizing part is arranged at one end, far away from the gripper, of the clamping part; the clamping component comprises a fixing block, the fixing block is fixedly connected with the inner wall of the gripper, the surface of the fixing block is fixedly connected with a positioning block, and the end of the positioning block is fixedly connected with a bent rod. When the gripper clamps and fixes goods, the fixing block drives the bent rod to move through the positioning block along with movement of the gripper, the bent rod pushes the elastic rod to move towards the surface of the goods through the base when moving, the elastic rod clamps and fixes the goods through the contact plates, and the contact plates are arranged at the upper end and the lower end of the gripper. And the contact plate can clamp and fix the upper point, the middle point and the lower point of the goods by taking the gripper as the center, so that the convenience of carrying the goods is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robot arms, in particular to a robot arm with a flexible clamping function. Background Art

[0002] In the modern automation industry, the application of robotic arms has become a key technology to achieve high efficiency, precise control and reduce labor costs. Robotic arms are widely used in manufacturing, warehousing and logistics, medical operations, and hazardous environment operations. With the development of technology, the functional requirements for robotic arms are also increasing, especially in handling, assembly or fine operations. Although traditional robotic arms can complete basic grasping and moving tasks, they often lack sufficient flexibility and precise control when handling objects of different sizes, shapes and fragility. Especially in operations that need to adapt to complex or irregular object surfaces, the functions of conventional robotic arms are not perfect.

[0003] The limitations of traditional robotic arms are mainly reflected in the following aspects:

[0004] Clamping force control: When conventional robotic arms clamp objects of different materials or shapes, it is difficult to automatically adjust the clamping force, which can easily cause damage to the objects or loose clamping.

[0005] Poor adaptability: For objects with irregular shapes or rough surfaces, it is difficult for conventional robot arms to achieve effective and stable clamping, especially in scenarios requiring high-precision operations.

[0006] Insufficient operational flexibility: Most robot arms have limited degrees of freedom, which greatly reduces operational efficiency and success rate when multi-angle or complex spatial operations are required.

[0007] Therefore, developing a robot arm with high adaptability, multiple degrees of freedom and precise control capabilities has become an important research direction in the field of automation technology. Especially today, with the continuous improvement of automation, the requirements for the functionality and intelligence of robot arms are also increasing. Summary of the invention

[0008] The purpose of the present invention is to provide a robot arm with a flexible clamping function to solve the problems raised in the above background technology.

[0009] In order to solve the above technical problems, the present invention is achieved through the following technical solutions:

[0010] The present invention is a robot arm with a flexible clamping function, comprising a robot arm, a gripper is arranged at the end of the robot arm, a clamping component is arranged on the surface of the gripper, a pressing component is arranged at the upper and lower ends of the clamping component, and a stabilizing component is arranged at one end of the clamping component away from the gripper;

[0011] The clamping component includes a fixing block, which is fixedly connected to the inner wall of the gripper. When the gripper clamps the cargo, the fixing block drives the bent rod to move through the positioning block as the gripper moves. When the bent rod moves, it pushes the elastic rod to move toward the surface of the cargo through the base, and the elastic rod clamps the cargo through the contact plate. The surface of the fixing block is fixedly connected to the positioning block, the end of the positioning block is fixedly connected to the bent rod, the surface of the bent rod is fixedly connected to the base, the end of the base away from the bent rod is fixedly connected to the elastic rod, and the end of the elastic rod away from the base is fixedly connected to the contact plate.

[0012] Among them, the positioning block is arranged at the outer end of the gripper, and two bent rods are arranged on the surface of the positioning block. The two bent rods are symmetrically arranged with the positioning block as the center. Contact plates are arranged at the upper and lower ends of the gripper. The contact plates will clamp and fix the upper, middle and lower points of the goods with the gripper as the center, thereby improving the convenience of carrying the goods. The elastic rod extends from the end away from the base to the center of the gripper.

[0013] Wherein, the extrusion component includes a positioning rod, the positioning rod is fixedly connected to the contact plate, the end of the positioning rod away from the contact plate is fixedly connected to a moving frame, the top of the moving frame is fixedly connected to an extrusion frame, the upper surface of the bent rod is fixedly connected to a round frame, the inner wall of the round frame is fixedly connected to an axle rod, the surface of the axle rod is sleeved with a telescopic frame, the surface of the telescopic frame is fixedly connected to the telescopic rod, the end of the telescopic frame away from the telescopic rod is fixedly connected to a clamping block, the end of the telescopic rod away from the telescopic frame is fixedly connected to an inclined block, and the surface of the inclined block is fixedly connected to a spring.

[0014] The spring is arranged at one end of the inclined plane block close to the telescopic rod, the end of the spring away from the inclined plane block is fixedly connected to the surface of the telescopic rod, and the extrusion frame is arranged at one end of the mobile frame away from the positioning rod.

[0015] Among them, the end of the telescopic rod away from the telescopic frame passes through the circular frame and extends to the outer end of the circular frame, the end of the telescopic frame away from the shaft rod passes through the circular frame and extends to the outer end of the circular frame, and the block is arranged at one end of the extrusion frame close to the elastic rod.

[0016] Among them, the stabilizing component includes a positioning plate, the positioning plate is fixedly connected to the surface of the positioning block, the surface of the positioning plate is fixedly connected to a connecting rod, the surface of the connecting rod is fixedly connected to a telescopic push rod, the end of the telescopic push rod away from the connecting rod is fixedly connected to a pressure plate, and the surface of the pressure plate is fixedly connected to a synchronization plate.

[0017] Among them, one end of the synchronization plate away from the pressure plate is fixedly connected to the contact plate, the positioning plate is arranged at one end of the positioning block away from the fixed block, the telescopic push rod is arranged at one end of the connecting rod away from the positioning plate, and two connecting rods are arranged on the surface of the positioning plate, and the two connecting rods are symmetrically arranged with the positioning plate as the center.

[0018] The position of the cargo is represented by coordinates (x, y, z), and the robot arm control method is:

[0019] Step 1: Initialization

[0020] Initialize the various components of the robot arm to their initial positions:

[0021] '1 0 '=Initialize('1');

[0022] Calibrate the sensor S to ensure that the status of the gripper and the clamped part is read correctly:

[0023] Calibrate(S);

[0024] Step 2: Target positioning

[0025] Determine the position P(x,y,z) and size D of the cargo:

[0026] (P,D)=GetTargetPositionAndSize();

[0027] Adjust the position of the gripper to align it with the cargo position P(x,y,z):

[0028] '1' = MoveTo(x,y,z);

[0029] Step 3: Prepare for crawling

[0030] Start the gripper and move the fixed block to the top of the cargo (x,y,z):

[0031] '10'=MoveFixedBlock(x,y,z);

[0032] The fixed block drives the bending rod to move through the positioning block, and the base pushes the elastic rod to move toward the surface of the cargo:

[0033] '15'=MoveBendingRod('11','12');

[0034] '13' = MoveSpringRod('15');

[0035] Step 4: Clamping process

[0036] The elastic rod clamps the cargo through the contact plate:

[0037] '14'=ActivateContactPlates('13');

[0038] The contact plates at the upper and lower ends move simultaneously, clamping the upper, middle and lower points of the cargo respectively (x, y, z ± d z ):

[0039] '14' top = Clamp(x,y,z+d z );

[0040] '14' middle = Clamp(x,y,z);

[0041] '14' bottom = Clamp(x,y,zd z );

[0042] Step 5: Squeeze and fix

[0043] When squeezing the elastic rod to contract:

[0044] '13' = CompressSpringRod();

[0045] The positioning rod pushes the moving frame to move toward the surface of the bending rod:

[0046] '20'=MoveMovingFrame('29','15');

[0047] When the extrusion frame moves, it contacts the telescopic frame and pushes the telescopic frame to rotate on the surface of the shaft: '22' = RotateTelescopicFrame('21', '23');

[0048] The telescopic frame pushes the telescopic rod to tilt when it rotates:

[0049] '25'=TiltTelescopicRod('22');

[0050] The inclined block of the telescopic rod contacts the surface of the cargo and is clamped in place:

[0051] '27'=ContactAndClamp('25',P(x,y,z));

[0052] Step 6: Stabilize the cargo When the contact plate is in contact with the cargo surface:

[0053] If '14' contacts surface:

[0054] The synchro plate pushes the pressure plate into contact with the cargo surface:

[0055] '34'=PushPressurePlate('33',P(x,y,z));

[0056] Step 7: Transporting goods

[0057] After ensuring that the cargo is firmly clamped, start the robot's handling function:

[0058] '1' = StartTransport();

[0059] Transport the goods to the target location P according to the predetermined path R target (x t ,y t ,z t ):

[0060] '1'=MoveTo(x t ,y t ,z t );

[0061] Step 8: Release the goods

[0062] Arrival at target position P target (x t ,y t ,z t ), gradually release the clamping parts and the extruding parts: '13', '25' = ReleaseClamps();

[0063] Make sure the cargo is firmly placed in the target location. After confirming that it is correct, release the gripper completely: ConfirmPlacement(x t ,y t ,z t );

[0064] '2' = ReleaseGripper();

[0065] Step 9: Reset

[0066] Reset the gripper and all components to their initial state, ready for the next operating cycle:

[0067] '2','1'=ResetAllComponents().

[0068] The present invention has the following beneficial effects:

[0069] 1. Multi-point clamping system:

[0070] The design of the clamping components (including the fixed block, positioning block, bent rod, base, and elastic rod) enables the robot arm to achieve uniform clamping of the cargo at the top, middle, and bottom points with the help of the contact plate. The fixed block is fixed to the inner wall of the gripper, and the force is transmitted to the base and elastic rod through the positioning block and bent rod, which then directly acts on the cargo through the contact plate. This ensures the stability of the cargo during the clamping process and reduces the risk of instability and cargo damage caused by single-point clamping.

[0071] 2. Adaptive clamping mechanism:

[0072] The combination of the contact plate and the ramp block can adapt to different shapes and sizes of goods through the dynamic adjustment of the telescopic rod and the telescopic frame. The telescopic rod can be tilted with the help of the telescopic frame, and the ramp block at the end moves accordingly, so that the contact plate can automatically adjust the clamping force according to the different surfaces of the goods. The necessary elasticity and buffer are provided by the use of springs, thereby protecting the goods from excessive pressure.

[0073] 3. The role of stabilizing components:

[0074] The setting of the positioning plate and the pressure plate further increases the clamping points and improves the gripper's ability to control the cargo. The positioning plate is fixed to the positioning block, and the power is transmitted to the pressure plate through the linkage rod and the telescopic push rod. The latter is in direct contact with the surface of the cargo to provide additional support. Not only does it make the position of the cargo more stable during handling, but it also prevents the cargo from slipping due to vibration or rapid movement of the gripper.

[0075] 4. Enhance operational flexibility:

[0076] The multi-degree-of-freedom motion capability allows the robot arm to operate flexibly in complex working environments, and can adjust its gripper position in different directions and angles to adapt to different work tasks. The gripper design and the flexibility of the telescopic frame allow it to make fine adjustments while clamping the goods, ensuring more precise cargo positioning.

[0077] 5. Design to simplify operation and maintenance:

[0078] The modular components and simplicity of the overall design make the robot arm not only easy to operate, but also more efficient during maintenance and parts replacement. For example, the quick access and release mechanism of the spring bar, contact plate and ramp block reduces maintenance time and improves the reliability and availability of the equipment.

[0079] 6. The joint action of the above components is based on precise mechanical design and engineering, and the position and function of each component are carefully considered to maximize the overall efficiency. Through this organic combination and synergy, the robot arm can achieve efficient, stable and safe cargo handling operations while maintaining operational flexibility and high adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0080] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0081] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0082] Figure 2 It is a schematic diagram of the structure of the present invention;

[0083] Figure 3 It is a schematic diagram of the overall structure of the clamping component of the present invention;

[0084] Figure 4 It is a schematic diagram of the overall structure of the extruded component of the present invention;

[0085] Figure 5 Another schematic diagram of the structure of the extruded component of the present invention;

[0086] Figure 6 It is a schematic diagram of the overall structure of the stabilizing component of the present invention.

[0087] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0088] In the figure: 1. Robot arm; 2. Gripper; 3. Clamping component; 4. Extrusion component; 5. Stabilizing component; 10. Fixed block; 11. Positioning block; 12. Base; 13. Elastic rod; 14. Contact plate; 15. Bending rod; 20. Moving frame; 21. Extrusion frame; 22. Telescopic frame; 23. Axle rod; 24. Round frame; 25. Telescopic rod; 26. Spring; 27. Inclined block; 28. Card block; 29. ​​Positioning rod; 30. Positioning plate; 31. Linking rod; 32. Telescopic push rod; 33. Synchronous plate; 34. Pressure plate. DETAILED DESCRIPTION

[0089] 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.

[0090] See also Figure 1-Figure 6As shown, the present invention is a robot arm with a flexible clamping function, comprising a robot arm 1, a gripper 2 is provided at the end of the robot arm 1, a clamping component 3 is provided on the surface of the gripper 2, a pressing component 4 is provided at the upper and lower ends of the clamping component 3, and a stabilizing component 5 is provided at one end of the clamping component 3 away from the gripper 2;

[0091] The clamping component 3 includes a fixed block 10, which is fixedly connected to the inner wall of the gripper 2. A positioning block 11 is fixedly connected to the surface of the fixed block 10. A bent rod 15 is fixedly connected to the end of the positioning block 11. A base 12 is fixedly connected to the surface of the bent rod 15. An elastic rod 13 is fixedly connected to the end of the base 12 away from the bent rod 15. When the gripper 2 of the present invention clamps and fixes the goods, the fixed block 10 drives the bent rod 15 to move through the positioning block 11 as the gripper 2 moves. When the bent rod 15 moves, it pushes the elastic rod 13 to move toward the surface of the goods through the base 12. The elastic rod 13 clamps and fixes the article through the contact plate 14. Contact plates 14 are provided at the upper and lower ends of the gripper 2. The contact plate 14 will clamp and fix the goods at the upper, middle and lower points with the gripper 2 as the center, thereby improving the convenience of carrying the goods. The end of the elastic rod 13 away from the base 12 is fixedly connected to the contact plate 14.

[0092] The positioning block 11 is arranged at the outer end of the gripper 2 , and two bent rods 15 are arranged on the surface of the positioning block 11 , and the two bent rods 15 are symmetrically arranged with the positioning block 11 as the center. The end of the elastic rod 13 away from the base 12 extends to the center of the gripper 2 .

[0093] The extrusion component 4 includes a positioning rod 29, which is fixedly connected to the contact plate 14. The end of the positioning rod 29 away from the contact plate 14 is fixedly connected to the moving frame 20, and the top of the moving frame 20 is fixedly connected to the extrusion frame 21. The upper surface of the bent rod 15 is fixedly connected to the round frame 24, and the inner wall of the round frame 24 is fixedly connected to the shaft rod 23. The surface of the shaft rod 23 is sleeved with a telescopic frame 22, and the surface of the telescopic frame 22 is fixedly connected to the telescopic rod 25. The end of the telescopic frame 22 away from the telescopic rod 25 is fixedly connected to the block 28. When the contact plate 14 of the present invention squeezes the elastic rod 13 to shrink, the contact plate 14 pushes the moving frame 20 to the position through the positioning rod 29. The surface of the bending rod 15 moves, and the extrusion frame 21 contacts the telescopic frame 22 when moving and pushes the telescopic frame 22 to rotate on the surface of the shaft rod 23. The telescopic frame 22 pushes the telescopic rod 25 to tilt when rotating. The telescopic rod 25 contacts the surface of the goods through the inclined block 27 when tilting, further improving the convenience of carrying the goods. The end of the telescopic rod 25 away from the telescopic frame 22 is fixedly connected to the inclined block 27. The inclined block 27 at the end of the telescopic rod 25 will move toward the surface of the contact plate 14 as the telescopic frame 22 rotates. At this time, the inclined block 27 uses the spring 26 to clamp and fix the goods, and the surface of the inclined block 27 is fixedly connected to the spring 26.

[0094] The spring 26 is arranged at one end of the inclined block 27 close to the telescopic rod 25 , and the end of the spring 26 away from the inclined block 27 is fixedly connected to the surface of the telescopic rod 25 . The extrusion frame 21 is arranged at one end of the mobile frame 20 away from the positioning rod 29 .

[0095] One end of the telescopic rod 25 away from the telescopic frame 22 passes through the round frame 24 and extends to the outer end of the round frame 24 . One end of the telescopic frame 22 away from the shaft rod 23 passes through the round frame 24 and extends to the outer end of the round frame 24 . The block 28 is disposed at one end of the extrusion frame 21 close to the elastic rod 13 .

[0096] The stabilizing component 5 includes a positioning plate 30, which is fixedly connected to the surface of the positioning block 11, and a connecting rod 31 is fixedly connected to the surface of the positioning plate 30, and a telescopic push rod 32 is fixedly connected to the surface of the connecting rod 31, and a pressure plate 34 is fixedly connected to the end of the telescopic push rod 32 away from the connecting rod 31. When the contact plate 14 of the present invention contacts the surface of the cargo, the contact plate 14 will push the pressure plate 34 to contact the surface of the cargo through the synchronous plate 33, and the pressure plate 34 uses the pressure of the contact plate 14 to squeeze and fix the cargo, and uses the pressure plate 34 to increase the clamping fulcrum of the contact plate 14, thereby further stabilizing the gripper 2 when clamping the cargo, and the surface of the pressure plate 34 is fixedly connected to the synchronous plate 33.

[0097] One end of the synchronization plate 33 away from the pressure plate 34 is fixedly connected to the contact plate 14, the positioning plate 30 is arranged at the end of the positioning block 11 away from the fixed block 10, the telescopic push rod 32 is arranged at the end of the connecting rod 31 away from the positioning plate 30, and two connecting rods 31 are arranged on the surface of the positioning plate 30, and the two connecting rods 31 are symmetrically arranged with the positioning plate 30 as the center.

[0098] When in use, when the gripper 2 clamps and fixes the goods, the fixing block 10 drives the bent rod 15 to move through the positioning block 11 as the gripper 2 moves. When the bent rod 15 moves, it pushes the elastic rod 13 to move toward the surface of the goods through the base 12. The elastic rod 13 clamps and fixes the items through the contact plate 14. Contact plates 14 are provided at the upper and lower ends of the gripper 2. The contact plate 14 will clamp and fix the goods at the upper, middle and lower points with the gripper 2 as the center, thereby improving the convenience of carrying the goods. When the contact plate 14 squeezes the elastic rod 13 to shrink, the contact plate 14 pushes the moving frame 20 to move toward the surface of the bent rod 15 through the positioning rod 29. When the squeezing frame 21 moves, it contacts with the telescopic frame 22 and pushes the telescopic frame 2 2 rotates on the surface of the shaft 23, and the telescopic frame 22 pushes the telescopic rod 25 to tilt when rotating. When the telescopic rod 25 tilts, it contacts the surface of the goods through the inclined block 27, which further improves the convenience of carrying the goods. The inclined block 27 at the end of the telescopic rod 25 will move toward the surface of the contact plate 14 as the telescopic frame 22 rotates. At this time, the inclined block 27 clamps and fixes the goods using the spring 26. When the contact plate 14 contacts the surface of the goods, the contact plate 14 pushes the pressure plate 34 to contact the surface of the goods through the synchronous plate 33. The pressure plate 34 squeezes and fixes the goods using the pressure of the contact plate 14. The clamping fulcrum of the contact plate 14 is increased by the pressure plate 34, which further improves the stability of the gripper 2 when clamping the goods.

[0099] Specifically, the location of the cargo is represented by coordinates (x, y, z), and the robot arm control method is:

[0100] Step 1: Initialization

[0101] Initialize the various components of robot arm 1 to their initial positions:

[0102] '1 0 = Initialize(M);

[0103] Calibrate the sensor S to ensure that the status of the gripper 2 and the clamping part 3 are read correctly:

[0104] Calibrate(S);

[0105] Step 2: Target positioning

[0106] Determine the position P(x,y,z) and size D of the cargo:

[0107] (P,D)=GetTargetPositionAndSize();

[0108] Adjust the position of gripper 2 to align it with the cargo position P(x,y,z):

[0109] '2' = MoveTo(x,y,z);

[0110] Step 3: Prepare for crawling

[0111] Start the gripper 2 to move the fixed block 10 to the top of the cargo (x, y, z):

[0112] '10'=MoveFixedBlock(x,y,z);

[0113] The fixed block 10 drives the bent rod 15 to move through the positioning block 11, and the base 12 pushes the elastic rod 13 to move toward the surface of the cargo:

[0114] '15'=MoveBendingRod('11','12');

[0115] '13' = MoveSpringRod('15');

[0116] Step 4: Clamping process

[0117] The elastic rod 13 clamps and fixes the goods through the contact plate 14:

[0118] '14'=ActivateContactPlates('13');

[0119] The contact plates 14 at the upper and lower ends act simultaneously to clamp the upper, middle and lower points (x, y, z ± d z ):

[0120] '14' top = Clamp(x,y,z+d z );

[0121] '14' middle = Clamp(x,y,z);

[0122] '14' bottom = Clamp(x,y,zd z );

[0123] Step 5: Squeeze and fix

[0124] When the elastic rod 13 is squeezed to shrink:

[0125] '13' = CompressSpringRod();

[0126] The positioning rod 29 pushes the moving frame 20 to move toward the surface of the bent rod 15:

[0127] '20'=MoveMovingFrame('29','15');

[0128] When the extrusion frame 21 moves, it contacts with the telescopic frame 22 and pushes the telescopic frame 22 to rotate on the surface of the shaft 23:

[0129] '22'=RotateTelescopicFrame('21','23');

[0130] The telescopic frame 22 pushes the telescopic rod 25 to tilt when rotating:

[0131] '25'=TiltTelescopicRod('22');

[0132] The inclined surface block 27 of the telescopic rod 25 contacts the surface of the cargo and is clamped and fixed:

[0133] '27'=ContactAndClamp('25',P(x,y,z));

[0134] Step 6: Secure the cargo

[0135] When the contact plate 14 contacts the surface of the cargo:

[0136] If '14' contacts surface:

[0137] The synchronous plate 33 pushes the pressure plate 34 to contact the surface of the cargo:

[0138] '34'=PushPressurePlate('33',P(x,y,z));

[0139] Step 7: Transporting goods

[0140] After ensuring that the cargo is firmly clamped, start the handling function of robot arm 1:

[0141] '1' = StartTransport();

[0142] Transport the goods to the target location P according to the predetermined path R target (x t ,y t ,z t ):

[0143] '1'=MoveTo(x t ,y t ,z t );

[0144] Step 8: Release the goods

[0145] Arrival at target position P target (x t ,y t ,z t ), gradually loosen the clamping member 13 and the extruding member 25:

[0146] '13','25'=ReleaseClamps();

[0147] Make sure the cargo is firmly placed in the target location. After confirming that it is correct, completely release the gripper 2:

[0148] ConfirmPlacement(x t ,y t ,z t );

[0149] '2' = ReleaseGripper();

[0150] Step 9: Reset

[0151] Reset gripper 2 and all components to the initial state and prepare for the next operation cycle:

[0152] '2','1'=ResetAllComponents().

[0153] The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A robot arm with flexible gripping function, comprising a robot arm (1), characterized in that: The end of the robot arm (1) is provided with a gripper (2), the surface of the gripper (2) is provided with a clamping component (3), the upper and lower ends of the clamping component (3) are provided with extrusion components (4), and the end of the clamping component (3) away from the gripper (2) is provided with a stabilizing component (5); The clamping component (3) comprises a fixed block (10), the fixed block (10) is fixedly connected to the inner wall of the gripper (2), the surface of the fixed block (10) is fixedly connected to a positioning block (11), the end of the positioning block (11) is fixedly connected to a bent rod (15), the surface of the bent rod (15) is fixedly connected to a base (12), the end of the base (12) away from the bent rod (15) is fixedly connected to an elastic rod (13), and the end of the elastic rod (13) away from the base (12) is fixedly connected to a contact plate (14).

2. The robot arm with flexible clamping function according to claim 1, characterized in that: The positioning block (11) is arranged at the outer end of the gripper (2), and two bent rods (15) are arranged on the surface of the positioning block (11). The two bent rods (15) are symmetrically arranged with the positioning block (11) as the center, and the end of the elastic rod (13) away from the base (12) extends to the center of the gripper (2).

3. The robot arm with flexible clamping function according to claim 2, characterized in that: The extrusion component (4) comprises a positioning rod (29), wherein the positioning rod (29) is fixedly connected to the contact plate (14), the end of the positioning rod (29) away from the contact plate (14) is fixedly connected to a moving frame (20), the top of the moving frame (20) is fixedly connected to an extrusion frame (21), the upper surface of the bending rod (15) is fixedly connected to a round frame (24), the inner wall of the round frame (24) is fixedly connected to an axle rod (23), the surface of the axle rod (23) is sleeved with a telescopic frame (22), the surface of the telescopic frame (22) is fixedly connected to a telescopic rod (25), the end of the telescopic frame (22) away from the telescopic rod (25) is fixedly connected to a clamping block (28), the end of the telescopic rod (25) away from the telescopic frame (22) is fixedly connected to an inclined surface block (27), and the surface of the inclined surface block (27) is fixedly connected to a spring (26).

4. The robot arm with flexible clamping function according to claim 3, characterized in that: The spring (26) is arranged at one end of the inclined surface block (27) close to the telescopic rod (25), and one end of the spring (26) away from the inclined surface block (27) is fixedly connected to the surface of the telescopic rod (25). The extrusion frame (21) is arranged at one end of the mobile frame (20) away from the positioning rod (29).

5. The robot arm with flexible clamping function according to claim 4, characterized in that: One end of the telescopic rod (25) away from the telescopic frame (22) passes through the round frame (24) and extends to the outer end of the round frame (24); one end of the telescopic frame (22) away from the shaft rod (23) passes through the round frame (24) and extends to the outer end of the round frame (24); and the clamping block (28) is arranged at one end of the extrusion frame (21) close to the elastic rod (13).

6. The robot arm with flexible clamping function according to claim 5, characterized in that: The stabilizing component (5) comprises a positioning plate (30), the positioning plate (30) is fixedly connected to the surface of the positioning block (11), the surface of the positioning plate (30) is fixedly connected to a connecting rod (31), the surface of the connecting rod (31) is fixedly connected to a telescopic push rod (32), one end of the telescopic push rod (32) away from the connecting rod (31) is fixedly connected to a pressure plate (34), and the surface of the pressure plate (34) is fixedly connected to a synchronization plate (33).

7. The robot arm with flexible clamping function according to claim 6, characterized in that: One end of the synchronization plate (33) away from the pressure plate (34) is fixedly connected to the contact plate (14); the positioning plate (30) is arranged at one end of the positioning block (11) away from the fixed block (10); the telescopic push rod (32) is arranged at one end of the connecting rod (31) away from the positioning plate (30); two connecting rods (31) are arranged on the surface of the positioning plate (30); and the two connecting rods (31) are symmetrically arranged with the positioning plate (30) as the center.

8. The robot arm with flexible clamping function according to claim 7, characterized in that: The position of the cargo is represented by coordinates (x, y, z), and the robot arm control method is: Step 1: Initialization Initialize the various components of the robot arm (1) to their initial positions: '10' = Initialize('1'); Calibrate the sensor S to ensure that the status of the gripper (2) and the clamping element (3) are read correctly: Calibrate(S); Step 2: Target positioning Determine the position P(x,y,z) and size D of the cargo: (P,D)=GetTargetPositionAndSize(); Adjust the position of the gripper (2) so that it is aligned with the cargo position P (x, y, z): '2' = MoveTo(x,y,z); Step 3: Prepare for crawling Start the gripper (2) to move the fixed block (10) to the top of the cargo (x, y, z): '10'=MoveFixedBlock(x,y,z); The fixed block (10) drives the bent rod (15) to move through the positioning block (11), and the base (12) pushes the elastic rod (13) to move toward the surface of the goods: '15'=MoveBendingRod('11','12'); '13' = MoveSpringRod('15'); Step 4: Clamping process The elastic rod (13) clamps and fixes the goods through the contact plate (14): '14'=ActivateContactPlates('13'); The contact plates (14) at the upper and lower ends move simultaneously to clamp the upper, middle and lower points (x, y, z ± d z ): ‘14’top=Clamp(x,y,z+d z ); '14' middle = Clamp(x,y,z); ‘14’bottom=Clamp(x,y,z-d z ); Step 5: Squeeze and fix When the elastic rod (13) is squeezed to shrink: '13' = CompressSpringRod(); The positioning rod (29) pushes the moving frame (20) to move toward the surface of the bending rod (15): '20'=MoveMovingFrame('29','15'); When the extrusion frame (21) moves, it contacts with the telescopic frame (22) and pushes the telescopic frame (22) to rotate on the surface of the shaft (23): '22'=RotateTelescopicFrame('21','23'); The telescopic frame (22) pushes the telescopic rod (25) to tilt when rotating: '25'=TiltTelescopicRod('22'); The inclined surface block (27) of the telescopic rod (25) contacts the surface of the cargo and is clamped and fixed: '27'=ContactAndClamp('25',P(x,y,z)); Step 6: Secure the cargo When the contact plate (14) comes into contact with the surface of the cargo: If '14' contacts surface: The synchronizing plate (33) pushes the pressure plate (34) to contact the surface of the cargo: '34'=PushPressurePlate('33',P(x,y,z)); Step 7: Transporting goods After ensuring that the cargo is firmly clamped, start the handling function of the robot arm (1): '1' = StartTransport(); Transport the goods to the target location P according to the predetermined path R target (x t ,y t ,z t ): ‘1’=MoveTo(x t ,y t ,z t ); Step 8: Release the goods Arrival at target position P target (x t ,y t ,z t ), gradually release the clamping component (13) and the extruding component (25): '13', '25' = ReleaseClamps(); Make sure the cargo is firmly placed in the target location and release the gripper completely (2): ConfirmPlacement(x t ,y t ,z t ); '2' = ReleaseGripper(); Step 9: Reset Reset the gripper (2) and all components to their initial state, ready for the next operation cycle: '2','1'=ResetAllComponents().

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