Mechanical arm end effector

Abstract

The invention relates to the technical field of mechanical arms, and discloses a mechanical arm end effector which comprises a mounting frame, bearing plates are slidably connected to the two ends of the bottom of the mounting frame, hollow plates are fixedly connected to the bottoms of the bearing plates, and mounting bases are rotatably connected to the opposite sides of the two hollow plates. Limiting holes communicating with an inner cavity of the hollow plate are formed between the mounting base and the mounting plate, limiting rods are slidably connected into the limiting holes, hexagonal limiting blocks are fixedly connected to the ends, close to the hollow plate, of the limiting rods, a limiting frame is fixedly connected to the inner wall of the side, away from the mounting base, of the hollow plate through a frame, and hexagonal holes are formed in the limiting frame. According to the end effector of the mechanical arm, when an object is clamped by the clamping plates, the clamping plates are pressed, the limiting blocks are moved out of the hexagonal holes at the moment, the object can be driven to rotate through the clamping plates, and the problem that the clamping plates automatically rotate due to external force factors, and the object clamping work is affected to a certain extent is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of robotic arms, and in particular to an end effector of a robotic arm. Background Art

[0002] A robotic arm is a high-precision, multi-degree-of-freedom mechanical device that is usually used to perform various tasks in automated production. The robotic arm is composed of a series of joints and actuators, which are driven by motors or other power devices to achieve movement in various degrees of freedom. The robotic arm plays an irreplaceable role in the field of automated production with its high flexibility, precision and efficiency. During the use of the robot arm, it is generally necessary to be equipped with an end effector. The end effector is also called the end manipulator or manipulator. It is an important part of the robot arm. The end effector of the robot arm is usually located at the end of the robot arm and is directly used to grasp, hold or operate the parts of the special tool for operation. There are many types of end effectors of the robot arm. Among them, the clamp-type end effector is a more commonly used end effector. This type of end effector drives the opening and closing of the splint (clamp) through the driving mechanism to achieve the clamping and releasing of the object, and then cooperates with the robot arm to perform specified operations on the object; When the existing end effector of a robotic arm is in use, a rotatable splint is usually provided. When an object needs to be rotated, the object is rotated by rotating the splint. However, the limiting effect of this rotatable splint is poor, which makes it easy for the splint to rotate due to external force, and it is not easy to reset the splint after it rotates. At this time, the angle of the splint will deviate, especially the splint with a polygonal structure, which can easily affect the stability of the object when clamped. For this reason, we propose a robotic arm end effector. Summary of the invention

[0003] The object of the present invention is to provide a robot arm end effector to solve the problems raised in the above background technology.

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a robot arm end effector, comprising a mounting frame, both ends of the bottom of the mounting frame are slidably connected to a load-bearing plate, the bottom of the load-bearing plate is fixedly connected to a hollow plate, the two opposite sides of the two hollow plates are rotatably connected to a mounting seat, the end of the mounting seat away from the hollow plate is fixedly connected to the mounting plate, a limiting hole connected to the inner cavity of the hollow plate is provided between the mounting seat and the mounting plate, a limiting rod is slidably connected in the limiting hole, and the end of the limiting rod close to the hollow plate is fixedly connected to a hexagonal limiting block; A limit frame is fixedly connected to the inner wall of the hollow plate away from the mounting seat through a frame body, the limit frame is provided with a hexagonal hole, the limit block is located in the hexagonal hole and slidably connected to the inner wall thereof, and the distance between the limit frame and the inner wall of the hollow plate is greater than the length of the limit block; A plurality of springs are fixedly connected to one side of the mounting plate away from the mounting seat, and a clamping plate is fixedly connected to one end of the spring away from the mounting plate.

[0005] Furthermore, both sides of the limit rod are fixedly connected to limit strips, and a pulley A is rotatably connected to the inner wall of one of the hollow plates close to the mounting seat. The pulley A is sleeved on the limit rod, and the inner wall of the pulley A and the limit rod are slidably connected.

[0006] Furthermore, the inner walls on both sides of the limiting hole are provided with limiting grooves, and the limiting strips on both sides of the limiting rod are respectively located in the limiting grooves on the same side and are slidably connected thereto.

[0007] Furthermore, a guiding inclined surface is provided on a side of the limit block close to the limit rod, and an end of the limit rod away from the limit block is fixedly connected to a clamping plate on the same side thereof.

[0008] Furthermore, the inner wall of the hollow plate corresponding to the pulley A is rotatably connected to a pulley B, the pulley B is located above the pulley A, and a transmission belt is arranged between the pulley B and the pulley A.

[0009] Furthermore, a fixing ring is fixedly connected to one side of the hollow plate close to the mounting seat, the fixing ring is sleeved outside the mounting seat, a damping pad A is fixedly connected to the inner wall of the fixing ring, and a damping pad B is fixedly connected to the side surface of the mounting seat close to one end of the hollow plate, and the damping pad A and the damping pad B are in contact with each other.

[0010] Furthermore, rails are fixedly connected to both sides of the inner wall of the mounting frame, a gear is rotatably connected to the inner top wall of the mounting frame, a drive motor is fixedly connected to the top of the mounting frame, and the output end of the drive motor is fixedly connected to the gear.

[0011] Furthermore, a rack is fixedly connected to the top of the load-bearing plate, the two racks are staggered and distributed, the racks and the gears are meshed with each other, and the two racks are slidably connected to the track on the same side thereof.

[0012] Furthermore, the clamping plate is a hexagonal structure, and rubber pads are embedded on opposite sides of the two clamping plates. A telescopic rod is arranged in a plurality of the springs, and both ends of the telescopic rod are fixedly connected to the mounting plate and the clamping plate respectively.

[0013] Furthermore, a rotating motor is fixedly connected to the hollow plate at the corresponding position of the pulley B, and the output end of the rotating motor is fixedly connected to the rotating shaft of the pulley B.

[0014] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention can limit the limit rod by cooperating with the limit block through the hexagonal hole on the limit frame, and use the limit rod to limit the clamping plate. When the clamping plate clamps the object, the clamping plate is subjected to pressure and squeezes the spring to shrink. At this time, the limit rod moves with the clamping plate and moves the limit block out of the hexagonal hole. At this time, the pulley B can be driven to rotate by the rotating motor, and the limit rod can be driven to rotate by the transmission belt and the pulley A, thereby driving the clamping plate to rotate. At this time, the clamping plate can be used to drive the clamped object to rotate, avoiding the problem that the clamping plate rotates by itself due to external force factors, causing its angle to deviate, and having a certain impact on the clamping work of subsequent objects, and effectively improving the stability of the device for the clamping plate; 2. When placing an object, the pressure on the clamping plate of the present invention disappears, the spring starts to rebound and pushes the clamping plate, and the clamping plate drives the limit rod to move, so that the limit block moves toward the hexagonal hole. At this time, the guide inclined surface on the limit block will first fit with the limit frame. At this time, with the force of the spring rebound, the limit block is guided and rotated by the guide inclined surface, so that the limit block is rotated to an angle corresponding to the hexagonal hole, and the limit block is stuck in the hexagonal hole. In this process, the limit rod and the clamping plate will rotate together with the limit block to ensure that the clamping plate can rotate to the initial state by itself after the object is placed, so as to avoid the clamping plate of the hexagonal structure from being difficult to reset after rotation. At this time, the angle of the clamping plate will deviate, which is easy to affect the stability of clamping the object, and effectively improves the auxiliary function of the clamping plate of the device when resetting. 3. When clamping an object, the damping pad A on the fixed ring contacts the damping pad B on the mounting seat to increase the damping between the fixed ring and the mounting seat, so that when the rotating motor is not started, the clamp can stably clamp the object, avoiding the problem of the clamp rotating by itself due to the uneven weight of the object during the clamping process, and further improving the stability of the device when clamping the object. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the bottom structure of the mounting frame of the present invention; Figure 3 This is a schematic diagram of the connection structure between the gear and the rack of the present invention; Figure 4 This is a schematic diagram of the cross-sectional structure of a hollow plate of the present invention; Figure 5It is a schematic diagram of the cross-sectional structure of the mounting seat of the present invention; Figure 6 It is a schematic diagram of the connection structure between the limit block and the limit frame of the present invention; Figure 7 This is a schematic diagram of the structure of the mounting plate of the present invention; Figure 8 It is a schematic diagram of the splint structure of the present invention; Fig. 9 It is a schematic diagram of the structure of the damping pad B of the present invention; FIG10 is a schematic diagram of the structure of a fixing ring of the present invention; Fig.11 For the present invention Figure 5 A schematic diagram of the enlarged structure of area A is shown.

[0016] In the figure: 1. mounting frame; 11. track; 12. gear; 13. driving motor; 2. load-bearing plate; 21. rack; 3. hollow plate; 31. mounting seat; 32. mounting plate; 33. limiting hole; 34. limiting groove; 4. limiting rod; 41. limiting strip; 42. limiting block; 43. guiding inclined plane; 44. pulley A; 5. limiting frame; 51. hexagonal hole; 6. pulley B; 61. driving belt; 62. rotating motor; 7. fixing ring; 71. damping pad A; 72. damping pad B; 8. spring; 81. splint; 82. rubber pad; 83. telescopic rod. DETAILED DESCRIPTION

[0017] 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.

[0018] See also Figure 1-11The present invention provides a technical solution: a robot arm end effector, comprising a mounting frame 1, both sides of the inner wall of the mounting frame 1 are fixedly connected with rails 11, the inner top wall of the mounting frame 1 is rotatably connected with a gear 12, the top of the mounting frame 1 is fixedly connected with a drive motor 13, the output end of the drive motor 13 is fixedly connected with the gear 12, both ends of the bottom of the mounting frame 1 are slidably connected with a bearing plate 2, the top of the bearing plate 2 is fixedly connected with a rack 21, the two racks 21 are staggered and distributed with each other, the racks 21 and the gear 12 are meshed with each other, and the two racks 21 are arranged on the bottom of the mounting frame 1. The racks 21 are slidably connected to the track 11 on the same side thereof, and the racks 21 are limited by the track 11, so that the racks 21 are more stable during movement. A hollow plate 3 is fixedly connected to the bottom of the load-bearing plate 2, and a cavity is provided inside the hollow plate 3, which can be used for the installation of transmission components, and a baffle fixed with bolts is provided on one side of the hollow plate 3. After the baffle is removed, the transmission components inside the hollow plate 3 can be inspected and repaired. The opposite sides of the two hollow plates 3 are rotatably connected to the mounting seats 31, and the end of the mounting seat 31 away from the hollow plate 3 is fixedly connected to the mounting seat The mounting plate 32 is fixedly connected with a plurality of springs 8 on one side of the mounting plate 32 away from the mounting seat 31. When the clamping plate 81 is subjected to pressure, the spring 8 can be squeezed. When the pressure on the clamping plate 81 disappears, the spring 8 will rebound and push the clamping plate 81 to move to the initial position. The end of the spring 8 away from the mounting plate 32 is fixedly connected with the clamping plate 81. The clamping plate 81 is a hexagonal structure. The opposite sides of the two clamping plates 81 are both embedded with rubber pads 82. After the clamping plate 81 rotates, the clamping plate 81 of the hexagonal structure can be rotated by a small amount. The amplitude is increased to return to a normal state. When the splint 81 clamps an object, the friction between the splint 81 and the object can be increased by the rubber pad 82, so that the splint 81 can clamp the object more stably. Several springs 8 are provided with telescopic rods 83, and the telescopic rods 83 can limit the spring 8 to avoid the spring 8 from bending when the splint 81 clamps the object. The two ends of the telescopic rod 83 are fixedly connected to the mounting plate 32 and the splint 81 respectively, and the maximum telescopic degree of the spring 8 can be limited by the telescopic rod 83.

[0019] Further, start the driving motor 13 to drive the gear 12 to rotate. During the rotation, the gear 12 can cooperate with the racks 21 on both sides to drive the racks 21 to move along the track 11. At this time, the load-bearing plate 2 can drive the hollow plate 3 connected to it to move together, thereby driving the two hollow plates 3 to close together. During the closing process, the hollow plates 3 can drive the splints 81 to close, and the two splints 81 are closed to clamp the objects. When it is necessary to place objects, control the driving motor 13 to rotate in the opposite direction, and the gear 12 rotating in the opposite direction can drive the two racks 21 to move in opposite directions. At this time, the two hollow plates 3 will drive the splints 81 to separate, so that the splints 81 are separated from the objects, thereby completing the placement of the objects.

[0020] Combined with Figure 4 , Figure 5 , Figure 6 , Figure 7 and Fig.11 As shown, a limiting hole 33 connected to the inner cavity of the hollow plate 3 is provided between the mounting seat 31 and the mounting plate 32, and limiting grooves 34 are provided on the inner walls on both sides of the limiting hole 33, and a limiting rod 4 is slidably connected in the limiting hole 33, and a hexagonal limiting block 42 is fixedly connected to one end of the limiting rod 4 close to the hollow plate 3, and limiting strips 41 are fixedly connected on both sides of the limiting rod 4, and the limiting strips 41 on both sides of the limiting rod 4 are respectively located in the limiting grooves 34 on the same side and are slidably connected thereto, and a guiding inclined surface 43 is provided on the side of the limiting block 42 close to the limiting rod 4, and the end of the limiting rod 4 away from the limiting block 42 is fixedly docked with the clamping plate 81 on the same side thereof, and a limiting frame 5 is fixedly connected to the inner wall of the hollow plate 3 away from the mounting seat 31 through a frame body, and a hexagonal hole 51 is provided on the limiting frame 5 The limit block 42 is located in the hexagonal hole 51 and is slidably connected to the inner wall of the hexagonal hole 51. When the spring 8 rebounds, the limit rod 4 is driven to move by pushing the clamping plate 81. At this time, the guide inclined surface 43 of the limit block 42 will first contact the limit frame 5. At this time, the force of the spring 8 when it rebounds cooperates with the guide inclined surface 43, so that the limit block 42 will rotate according to the angle of the hexagonal hole 51, so that the limit block 42 is re-stuck in the hexagonal hole 51, and because the rotation angle of the limit block 42 is consistent with the rotation angle of the clamping plate 81, the distance between the limit frame 5 and the inner wall of the hollow plate 3 is greater than the length of the limit block 42, which can ensure that when the limit block 42 moves out of the hexagonal hole 51, the limit block 42 will not directly hit the inner wall of the hollow plate 3, thereby affecting the rotation of the limit rod 4.

[0021] Furthermore, in the initial state, the limit block 42 is located in the hexagonal hole 51 of the limit frame 5. At this time, the hexagonal hole 51 cooperates with the limit block 42 to limit the limit rod 4, making it in a state where it cannot rotate. At this time, the clamping plate 81 can be limited by the limit rod 4 to ensure that the clamping plate 81 will not rotate by itself due to external factors at this time. When the clamping plate 81 clamps the object, the spring 8 and the telescopic rod 83 will begin to shrink under pressure. At this time, the clamping plate 81 will push the limit rod 4, and use the limit rod 4 to drive the limit block 42 to move out of the hexagonal hole 51 of the limit frame 5, and through the limiting effect of the telescopic rod 83, the limit block 42 will not hit the inner wall of the hollow plate 3 due to excessive moving distance. At this time, the limiting effect of the hexagonal hole 51 on the limit block 42 disappears. At this time, the limit rod 4 The limit position is lost and the clamp 81 can be rotated. When the clamp 81 is separated from the object, the pressure on the clamp 81 disappears, the spring 8 begins to rebound and pushes the clamp 81, and uses the clamp 81 to drive the limit rod 4 to move, so that the limit block 42 moves toward the hexagonal hole 51. At this time, the guide bevel 43 on the limit block 42 will first fit with the limit frame 5. At this time, with the rebound force of the spring 8, the guide bevel 43 is used to guide the limit block 42 to rotate, so that the limit block 42 is rotated to the angle corresponding to the hexagonal hole 51, and the limit block 42 is stuck in the hexagonal hole 51. In this process, the limit rod 4 and the clamp 81 will rotate together with the limit block 42 to ensure that the clamp 81 can rotate to the initial state by itself after the object is placed, so as to facilitate the clamping of other objects in subsequent work.

[0022] Combined with Figure 2 and Figure 4 As shown, a pulley A44 is rotatably connected to the inner wall of one of the hollow plates 3 close to the mounting seat 31, and the pulley A44 is sleeved on the limiting rod 4. The inner wall of the pulley A44 and the limiting rod 4 are slidably connected. The inner wall of the pulley A44 is provided with a groove aligned with the limiting groove 34, and the limiting strip 41 on the limiting rod 4 is slidably connected to the groove. The inner wall of the hollow plate 3 corresponding to the pulley A44 is rotatably connected to the pulley B6, and the pulley B6 is located above the pulley A44. A transmission belt 61 is provided between the pulley B6 and the pulley A44. A rotating motor 62 is fixedly connected to the hollow plate 3 at the corresponding position of the pulley B6, and the output end of the rotating motor 62 is fixedly connected to the rotating shaft of the pulley B6. By controlling the rotating motor 62 to start, the rotating motor 62 can drive the pulley B6 to rotate, and utilize the rotating pulley B6 and the transmission belt 61 to drive the pulley A44 to rotate, thereby driving the limiting rod 4 to rotate.

[0023] Further, after the limit block 42 is moved out of the hexagonal hole 51 of the limit frame 5, when the object needs to be rotated, the rotating motor 62 is started to drive the pulley B6 to rotate, and the rotating pulley B6 will drive the pulley A44 to rotate through the transmission belt 61, and the pulley A44 will cooperate with the limit strip 41 through the groove on its inner wall to drive the limit rod 4 to rotate. At this time, the limit rod 4 will drive the mounting seat 31 and the splint 81 to rotate. During the rotation of the splint 81, the rotation of the object can be completed.

[0024] Combined with Figure 1 , Figure 2 , Figure 8 , Fig. 9 and Fig.10 As shown, a fixing ring 7 is fixedly connected to one side of the hollow plate 3 close to the mounting seat 31, the fixing ring 7 is sleeved outside the mounting seat 31, a damping pad A71 is fixedly connected to the inner wall of the fixing ring 7, and a damping pad B72 is fixedly connected to the side surface of the mounting seat 31 close to one end of the hollow plate 3, and the damping pad A71 and the damping pad B72 are in contact with each other.

[0025] Furthermore, by the contact between the damping pad A71 and the damping pad B72, the damping between the fixing ring 7 and the mounting base 31 is increased. At this time, during the process of clamping the object, if the rotating motor 62 is not started, the stability of the splint 81 can be ensured to avoid the problem of the splint 81 rotating due to the weight of the object itself or other factors when clamping the object.

[0026] Working principle: first install the mounting frame 1 at the end of the mechanical arm, then power on the driving motor 13 and the rotating motor 62, and then it can be used. When clamping an object, the mounting frame 1 is driven to move by the mechanical arm so that the clamping plates 81 are on both sides of the object, and the driving motor 13 is started to drive the gear 12 to rotate. During the rotation process, the gear 12 can cooperate with the racks 21 on both sides thereof to drive the racks 21 to move along the track 11. At this time, the load-bearing plate 2 can drive the hollow plate 3 connected thereto to move together, thereby driving the two hollow plates 3 to close together. During the closing process, the hollow plate 3 can drive the clamping plates 81 to close, and the objects are clamped by closing the two clamping plates 81. In the initial state, the limit block 42 is located in the hexagonal hole 51 of the limit frame 5. At this time, the hexagonal hole 51 cooperates with the limit block 42 to limit the limit rod 4, so that it is in a state where it cannot rotate. At this time, the clamping plate 81 can be limited by the limit rod 4 to ensure that the clamping plate 81 will not rotate by itself due to external forces at this time. When the clamping plate 81 clamps an object, the spring 8 and the telescopic rod 83 will begin to shrink under pressure. At this time, the clamping plate 81 will push the limit rod 4 and use the limit rod 4 to drive the limit block 42 to move out of the hexagonal hole 51 of the limit frame 5. At this time, the limiting effect of the hexagonal hole 51 on the limit block 42 disappears. After the limit block 42 is moved out of the hexagonal hole 51 of the limit frame 5, when the object needs to be rotated, the rotating motor 62 is started to drive the pulley B6 to rotate, and the rotating pulley B6 drives the pulley A44 to rotate through the transmission belt 61, and the pulley A44 cooperates with the limit bar 41 through the groove on its inner wall, and drives the limit rod 4 to rotate. At this time, the limit rod 4 drives the mounting seat 31 and the clamping plate 81 to rotate. During the rotation of the clamping plate 81, the rotation of the object can be completed; After the object is moved and rotated, the driving motor 13 is controlled to rotate in the opposite direction, and the gear 12 rotating in the opposite direction can drive the two racks 21 to move in opposite directions. At this time, the two hollow plates 3 will drive the clamping plate 81 to separate, so that the clamping plate 81 is separated from the object, thereby completing the object placement work. In this process, since the pressure on the clamping plate 81 disappears, the spring 8 begins to rebound and pushes the clamping plate 81, and uses the clamping plate 81 to drive the limit rod 4 to move, so that the limit block 42 moves toward the hexagonal hole 51, and At this time, the guiding bevel 43 on the limit block 42 will first fit with the limit frame 5. At this time, with the rebound force of the spring 8, the guiding bevel 43 is used to guide the limit block 42 to rotate, so that the limit block 42 is rotated to an angle corresponding to the hexagonal hole 51, and the limit block 42 is inserted into the hexagonal hole 51. In this process, the limit rod 4 and the clamping plate 81 will rotate with the limit block 42 to ensure that the clamping plate 81 can rotate to the initial state by itself after placing the object, so as to facilitate the clamping of other objects in subsequent work.

[0027] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0028] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A robot arm end effector, comprising a mounting frame (1), wherein both ends of the bottom of the mounting frame (1) are slidably connected to a load-bearing plate (2), characterized in that: The bottom of the load-bearing plate (2) is fixedly connected to a hollow plate (3), and opposite sides of the two hollow plates (3) are rotatably connected to mounting seats (31), and one end of the mounting seat (31) away from the hollow plate (3) is fixedly connected to a mounting plate (32), and a limiting hole (33) communicating with the inner cavity of the hollow plate (3) is provided between the mounting seat (31) and the mounting plate (32), and a limiting rod (4) is slidably connected in the limiting hole (33), and one end of the limiting rod (4) close to the hollow plate (3) is fixedly connected to a hexagonal limiting block (42); A limiting frame (5) is fixedly connected to the inner wall of the hollow plate (3) on the side away from the mounting seat (31) through a frame body, the limiting frame (5) is provided with a hexagonal hole (51), the limiting block (42) is located in the hexagonal hole (51) and is slidably connected to the inner wall thereof, and the distance between the limiting frame (5) and the inner wall of the hollow plate (3) is greater than the length of the limiting block (42); A plurality of springs (8) are fixedly connected to one side of the mounting plate (32) away from the mounting seat (31), and a clamping plate (81) is fixedly connected to one end of the spring (8) away from the mounting plate (32).

2. A robot arm end effector according to claim 1, characterized in that: Both sides of the limit rod (4) are fixedly connected to the limit strips (41), and a pulley A (44) is rotatably connected to the inner wall of one of the hollow plates (3) close to the mounting seat (31), and the pulley A (44) is sleeved on the limit rod (4), and the inner wall of the pulley A (44) and the limit rod (4) are slidably connected.

3. A robot arm end effector according to claim 2, characterized in that: The inner walls on both sides of the limiting hole (33) are provided with limiting grooves (34), and the limiting strips (41) on both sides of the limiting rod (4) are respectively located in the limiting grooves (34) on the same side thereof and are slidably connected thereto.

4. The end effector of a robotic arm according to claim 1, characterized in that: A guiding inclined surface (43) is provided on one side of the limit block (42) close to the limit rod (4), and an end of the limit rod (4) away from the limit block (42) is fixedly connected to a clamping plate (81) on the same side thereof.

5. The end effector of a robot arm according to claim 2, characterized in that: The inner wall of the hollow plate (3) corresponding to the pulley A (44) is rotatably connected to a pulley B (6), the pulley B (6) is located above the pulley A (44), and a transmission belt (61) is provided between the pulley B (6) and the pulley A (44).

6. The end effector of a robot arm according to claim 1, characterized in that: A fixing ring (7) is fixedly connected to one side of the hollow plate (3) close to the mounting seat (31); the fixing ring (7) is sleeved outside the mounting seat (31); a damping pad A (71) is fixedly connected to the inner wall of the fixing ring (7); a damping pad B (72) is fixedly connected to the side surface of the mounting seat (31) close to one end of the hollow plate (3); the damping pad A (71) and the damping pad B (72) are in contact with each other.

7. The end effector of a robotic arm according to claim 1, characterized in that: Both sides of the inner wall of the mounting frame (1) are fixedly connected to rails (11), the inner top wall of the mounting frame (1) is rotatably connected to a gear (12), the top of the mounting frame (1) is fixedly connected to a drive motor (13), and the output end of the drive motor (13) is fixedly connected to the gear (12).

8. The end effector of a robot arm according to claim 7, characterized in that: A rack (21) is fixedly connected to the top of the load-bearing plate (2), the two racks (21) are staggered and distributed with respect to each other, the racks (21) and the gear (12) are meshed with each other, and the two racks (21) are slidably connected to the track (11) on the same side thereof.

9. The end effector of a robotic arm according to claim 1, characterized in that: The clamping plates (81) are of a hexagonal structure, and rubber pads (82) are embedded on opposite sides of the two clamping plates (81). A telescopic rod (83) is provided in each of the plurality of springs (8), and the two ends of the telescopic rod (83) are respectively fixedly connected to the mounting plate (32) and the clamping plates (81).

10. The end effector of a robot arm according to claim 5, characterized in that: A rotating motor (62) is fixedly connected to the hollow plate (3) at a position corresponding to the belt pulley B (6), and an output end of the rotating motor (62) is fixedly connected to the rotating shaft of the belt pulley B (6).

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