A robotic arm end effector

Abstract

The application relates to the technical field of mechanical arms and discloses a mechanical arm end effector which comprises a mounting frame, the bottom of the mounting frame is slidably connected with load-bearing plates at both ends, the bottom of each load-bearing plate is fixedly connected with a hollow plate, the opposite sides of the two hollow plates are rotatably connected with mounting seats, a limiting hole which is in communication with the inner cavities of the hollow plates is arranged between the mounting seat and the mounting plate, a limiting rod is slidably connected in the limiting hole, the end of the limiting rod close to the hollow plate is fixedly connected with a hexagonal limiting block, a limiting frame is fixedly connected to the inner wall of the side of the hollow plate away from the mounting seat through a frame, and a hexagonal hole is arranged in the limiting frame. When the clamping plates clamp the articles, the clamping plates are subjected to pressure, at this moment, the limiting block moves out of the hexagonal hole, the articles can be rotated through the clamping plates, and the problem that the clamping plates are self-rotated due to external force factors and affect the article clamping work to a certain extent is avoided.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, specifically to a robotic arm end effector. Background Technology

[0002] A robotic arm is a high-precision, multi-degree-of-freedom mechanical device, typically used in automated production to perform various tasks. A robotic arm consists of a series of joints and actuators, which are driven by motors or other power devices to achieve movement in each degree of freedom. With its high flexibility, precision, and efficiency, the robotic arm plays an irreplaceable role in the field of automated production.

[0003] During use, robotic arms generally require an end effector, also known as an end manipulator or robotic arm. It is an important component of the robotic arm. The end effector is usually located at the end of the robotic arm and is used directly to grasp, hold, or operate special tools for work. There are many types of end effectors for robotic arms, among which the clamp-type end effector is the most commonly used. This type of end effector uses a drive mechanism to open and close the clamps (grippers) to grasp and release objects. Then, in conjunction with the robotic arm, it performs specified operations on the objects.

[0004] Existing robotic arm end effectors typically feature rotatable clamps. When an object needs to be rotated, the clamp is rotated to make the object rotate. However, the limiting effect of such rotatable clamps is poor, making them prone to rotation due to external forces. Furthermore, after the clamps have rotated, they are not easy to return to their original position, resulting in deviations in the angle of the clamps. This is especially true for clamps with polygonal structures, which can easily affect the stability of gripping objects. Therefore, we propose a robotic arm end effector. Summary of the Invention

[0005] The purpose of this invention is to provide an end effector for a robotic arm to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a robotic arm end effector, comprising a mounting frame, with load-bearing plates slidably connected to both ends of the bottom of the mounting frame, and hollow plates fixedly connected to the bottom of the load-bearing plates. Mounting seats are rotatably connected to opposite sides of the two hollow plates, and a mounting plate is fixedly connected to the end of the mounting seat away from the hollow plate. A limiting hole communicating with the inner cavity of the hollow plate is provided between the mounting seat and the mounting plate. A limiting rod is slidably connected within the limiting hole, and a hexagonal limiting block is fixedly connected to the end of the limiting rod near the hollow plate.

[0007] A limiting frame is fixedly connected to the inner wall of the hollow plate on the side away from the mounting base by a frame body. The limiting frame has a hexagonal hole, and the limiting block is located in the hexagonal hole and slidably connected to its inner wall. The distance between the limiting frame and the inner wall of the hollow plate is greater than the length of the limiting block.

[0008] Several springs are fixedly connected to the side of the mounting plate away from the mounting base, and a clamping plate is fixedly connected to the end of the springs away from the mounting plate.

[0009] Furthermore, limit strips are fixedly connected to both sides of the limiting rod, and a pulley A is rotatably connected to the inner wall of one of the hollow plates near the mounting base. The pulley A is sleeved on the limiting rod, and the inner wall of the pulley A is slidably connected to the limiting rod.

[0010] Furthermore, limit grooves are formed on both inner walls of the limiting hole, and the limit strips on both sides of the limiting rod are located in the limit grooves on the same side and are slidably connected to them.

[0011] Furthermore, a guide slope is provided on the side of the limiting block near the limiting rod, and the end of the limiting rod away from the limiting block is fixedly connected to the clamping plate on the same side.

[0012] Furthermore, a pulley B is rotatably connected to the inner wall of the hollow plate corresponding to pulley A. The pulley B is located above pulley A, and a transmission belt is provided between pulley B and pulley A.

[0013] Furthermore, a fixing ring is fixedly connected to the side of the hollow plate near the mounting base. The fixing ring is sleeved on the outside of the mounting base. A damping pad A is fixedly connected to the inner wall of the fixing ring. A damping pad B is fixedly connected to the side surface of the mounting base near the hollow plate. The damping pad A and the damping pad B are in contact with each other.

[0014] Furthermore, rails are fixedly connected to both sides of the inner wall of the mounting frame, gears are rotatably connected to the inner top wall of the mounting frame, and a drive motor is fixedly connected to the top of the mounting frame, with the output end of the drive motor fixedly connected to the gears.

[0015] Furthermore, a rack is fixedly connected to the top of the load-bearing plate, the two racks are staggered and mesh with each other, and both racks are slidably connected to the track on the same side.

[0016] Furthermore, the clamping plate has a hexagonal structure, and rubber pads are embedded on opposite sides of the two clamping plates. Each of the several springs is equipped with a telescopic rod, and the two ends of the telescopic rod are fixedly connected to the mounting plate and the clamping plate, respectively.

[0017] Furthermore, a rotary motor is fixedly connected to the hollow plate at the corresponding position of the pulley B, and the output end of the rotary motor is fixedly connected to the shaft of the pulley B.

[0018] Compared with the prior art, the beneficial effects of the present invention are:

[0019] 1. This invention uses the hexagonal hole on the limiting frame to cooperate with the limiting block to limit the limiting rod, and the limiting rod to limit the clamping plate. When the clamping plate clamps the item, the clamping plate is under pressure and compresses the spring, causing it to contract. At this time, the limiting rod moves with the clamping plate and moves the limiting block out of the hexagonal hole. Then, the rotary motor drives the pulley B to rotate, and the transmission belt and pulley A drive the limiting rod to rotate, thereby driving the clamping plate to rotate. At this time, the clamping plate can drive the clamped item to rotate, avoiding the problem that the clamping plate will rotate on its own due to external forces, causing its angle to deviate and affecting the clamping of subsequent items. This effectively improves the stability of the clamping plate of the device.

[0020] 2. When placing an item, the pressure on the clamping plate disappears, the spring rebounds, and pushes the clamping plate. The clamping plate drives the limiting rod to move, causing the limiting block to move into the hexagonal hole. At this time, the guide slope on the limiting block will first come into contact with the limiting frame. With the force of the spring rebound, the guide slope guides the limiting block to rotate, causing the limiting block to rotate to the angle corresponding to the hexagonal hole and to lock into the hexagonal hole. During this process, the limiting rod and the clamping plate will rotate together with the limiting block, ensuring that the clamping plate can rotate back to its initial state after the item is placed. This avoids the problem that the edge-shaped clamping plate is not easy to reset after rotation, and the angle of the clamping plate may deviate, which can easily affect the stability of clamping the item. This effectively improves the auxiliary function of the clamping plate in resetting the device.

[0021] 3. When clamping an item, the present invention increases the damping between the fixed ring and the mounting base by having the damping pad A on the fixed ring contact with the damping pad B on the mounting base. This allows the clamping plate to stably clamp the item even when the rotary motor is not running, preventing the clamping plate from rotating on its own due to uneven weight distribution of the item during clamping. This further improves the stability of the device when clamping items. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0023] Figure 2 This is a schematic diagram of the bottom structure of the mounting bracket of the present invention;

[0024] Figure 3 This is a schematic diagram of the gear and rack connection structure of the present invention;

[0025] Figure 4 This is a schematic diagram of the cross-sectional structure of the hollow plate of the present invention;

[0026] Figure 5 This is a schematic diagram of the cross-sectional structure of the mounting base of the present invention;

[0027] Figure 6 This is a schematic diagram of the connection structure between the limiting block and the limiting frame of the present invention;

[0028] Figure 7 This is a schematic diagram of the mounting plate structure of the present invention;

[0029] Figure 8 This is a schematic diagram of the clamping plate structure of the present invention;

[0030] Figure 9 This is a schematic diagram of the damping pad B structure of the present invention;

[0031] Figure 10 is a schematic diagram of the fixed ring structure of the present invention;

[0032] Figure 11 For the present invention Figure 5 The diagram shows an enlarged view of area A.

[0033] In the diagram: 1. Mounting bracket; 11. Track; 12. Gear; 13. Drive motor; 2. Load-bearing plate; 21. Rack; 3. Hollow plate; 31. Mounting base; 32. Mounting plate; 33. Limiting hole; 34. Limiting groove; 4. Limiting rod; 41. Limiting strip; 42. Limiting block; 43. Guide slope; 44. Pulley A; 5. Limiting frame; 51. Hexagonal hole; 6. Pulley B; 61. Transmission belt; 62. Rotary motor; 7. Fixing ring; 71. Damping pad A; 72. Damping pad B; 8. Spring; 81. Clamping plate; 82. Rubber pad; 83. Telescopic rod. Detailed Implementation

[0034] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] Please see Figure 1-11This invention provides a technical solution: a robotic arm end effector, including a mounting frame 1. Tracks 11 are fixedly connected to both sides of the inner wall of the mounting frame 1. A gear 12 is rotatably connected to the inner top wall of the mounting frame 1. A drive motor 13 is fixedly connected to the top of the mounting frame 1, and the output end of the drive motor 13 is fixedly connected to the gear 12. Load-bearing plates 2 are slidably connected to both ends of the bottom of the mounting frame 1. A rack 21 is fixedly connected to the top of the load-bearing plate 2. The two racks 21 are staggered and mesh with the gear 12. Each rack 21 is slidably connected to its corresponding track 11 on the same side. The track 11 limits the movement of the rack 21, making it more stable during movement. A hollow plate 3 is fixedly connected to the bottom of the load-bearing plate 2. The hollow plate 3 has a cavity inside, which can be used for the installation of transmission components. 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. A mounting base 31 is rotatably connected to the opposite side of each of the two hollow plates 3. The end of the mounting base 31 away from the hollow plate 3 is fixedly connected to a mounting bracket. A mounting plate 32 has several springs 8 fixedly connected to the side of the mounting plate 32 away from the mounting base 31. When the clamping plate 81 is under pressure, it can compress the springs 8. When the pressure on the clamping plate 81 is removed, the springs 8 will rebound and push the clamping plate 81 to the initial position. The end of the spring 8 away from the mounting plate 32 is fixedly connected to the clamping plate 81. The clamping plate 81 has a hexagonal structure, and rubber pads 82 are embedded on opposite sides of the two clamping plates 81. The hexagonal structure of the clamping plate 81 allows it to rotate slightly. The range of motion is adjusted to return the object to its normal state. When the clamping plate 81 clamps the object, the friction between the clamping plate 81 and the object can be increased by the rubber pad 82, making the clamping plate 81 clamp the object more stably. Each of the springs 8 is equipped with a telescopic rod 83. The telescopic rod 83 can limit the spring 8 to prevent the spring 8 from bending when the clamping plate 81 clamps the object. The two ends of the telescopic rod 83 are fixedly connected to the mounting plate 32 and the clamping plate 81, respectively. The maximum extension and retraction of the spring 8 can be limited by the telescopic rod 83.

[0036] Furthermore, the drive motor 13 is started, causing it to drive the gear 12 to rotate. During the rotation of the gear 12, it can cooperate with the racks 21 on both sides, causing 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 causing the two hollow plates 3 to close together. During the closing process, the hollow plates 3 can drive the clamping plate 81 to close together, thereby clamping the item by the two clamping plates 81 closing together. When it is necessary to place the item, the drive motor 13 is controlled to rotate in the opposite direction, so that the gear 12 rotates in the opposite direction to 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 separates from the item, thereby completing the placement of the item.

[0037] Combined with appendix Figure 4 , Figure 5 , Figure 6 , Figure 7 and Figure 11 As shown, a limiting hole 33 communicating with the inner cavity of the hollow plate 3 is provided between the mounting base 31 and the mounting plate 32. Limiting grooves 34 are provided on both sides of the inner wall of the limiting hole 33. A limiting rod 4 is slidably connected in the limiting hole 33. A hexagonal limiting block 42 is fixedly connected to one end of the limiting rod 4 near the hollow plate 3. Limiting strips 41 are fixedly connected to both sides of the limiting rod 4. The limiting strips 41 on both sides of the limiting rod 4 are located in the limiting grooves 34 on the same side and are slidably connected to them. A guide slope 43 is provided on the side of the limiting block 42 near the limiting rod 4. The end of the limiting rod 4 away from the limiting block 42 is fixedly connected to the clamping plate 81 on the same side. A limiting frame 5 is fixedly connected to the inner wall of the hollow plate 3 on the side away from the mounting base 31 through a frame body. A hexagonal hole 51 is provided on the limiting frame 5. The limiting block 42 is located inside the hexagonal hole 51 and is slidably connected to its inner wall. When the spring 8 rebounds, it pushes the clamping plate 81 to drive the limiting rod 4 to move. At this time, the guide slope 43 of the limiting block 42 will first contact the limiting frame 5. At this time, through the force of the spring 8 rebounding, in cooperation with the guide slope 43, the limiting block 42 will rotate according to the angle of the hexagonal hole 51, so that the limiting block 42 will be re-locked into the hexagonal hole 51. Since the rotation angle of the limiting block 42 is the same as the rotation angle of the clamping plate 81, 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. This ensures that when the limiting block 42 moves out of the hexagonal hole 51, the limiting block 42 will not directly abut against the inner wall of the hollow plate 3, thus affecting the rotation of the limiting rod 4.

[0038] Furthermore, in the initial state, the limiting block 42 is located in the hexagonal hole 51 of the limiting frame 5. At this time, the limiting rod 4 is limited by the hexagonal hole 51 and the limiting block 42, making it unable to rotate. At this time, the limiting rod 4 can limit the clamping plate 81, ensuring that the clamping plate 81 will not rotate on its own due to external forces. When the clamping plate 81 clamps an item, the spring 8 and the telescopic rod 83 will begin to contract under pressure. At this time, the clamping plate 81 will push the limiting rod 4, and the limiting rod 4 will drive the limiting block 42 out of the hexagonal hole 51 of the limiting frame 5. Through the limiting effect of the telescopic rod 83, the limiting block 42 will not move too far and hit the inner wall of the hollow plate 3. At this time, the limiting effect of the hexagonal hole 51 on the limiting block 42 disappears, and the limiting rod 4... Once the limit is removed, rotation is possible. When the clamp 81 separates from the item, the spring 8 rebounds as the pressure on the clamp 81 disappears, pushing the clamp 81 and using the clamp 81 to move the limit rod 4, causing the limit block 42 to move into the hexagonal hole 51. At this time, the guide slope 43 on the limit block 42 will first come into contact with the limit frame 5. With the rebound force of the spring 8, the guide slope 43 guides the limit block 42 to rotate, causing the limit block 42 to rotate to the angle corresponding to the hexagonal hole 51 and to lock into the hexagonal hole 51. During this process, the limit rod 4 and the clamp 81 will rotate together with the limit block 42, ensuring that the clamp 81 can rotate back to its initial state after the item is placed, making it convenient to continue clamping other items in subsequent work.

[0039] Combined with appendix Figure 2 and Figure 4 As shown, a pulley A44 is rotatably connected to the inner wall of one of the hollow plates 3 near the mounting base 31. The pulley A44 is sleeved on the limiting rod 4, and 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 that aligns with the limiting groove 34, and the limiting strip 41 on the limiting rod 4 is slidably connected to the groove. A pulley B6 is rotatably connected to the inner wall of the hollow plate 3 corresponding to the pulley A44. The pulley B6 is located above the pulley A44, and a transmission belt 61 is provided between the pulley B6 and the pulley A44. A rotary motor 62 is fixedly connected to the hollow plate 3 at the position corresponding to the pulley B6. The output end of the rotary motor 62 is fixedly connected to the rotating shaft of the pulley B6. By controlling the rotary motor 62 to start, the rotary motor 62 can drive the pulley B6 to rotate, and the rotating pulley B6 and the transmission belt 61 drive the pulley A44 to rotate, thereby driving the limiting rod 4 to rotate.

[0040] Furthermore, when the limiting block 42 moves out of the hexagonal hole 51 of the limiting frame 5, when it is necessary to rotate the item, the rotary motor 62 is started to drive the pulley B6 to rotate. The rotating pulley B6 will drive the pulley A44 to rotate through the transmission belt 61. The pulley A44 will cooperate with the limiting strip 41 through the groove on its inner wall, which will drive the limiting rod 4 to rotate. At this time, the limiting rod 4 will drive the mounting base 31 and the clamping plate 81 to rotate. During the rotation of the clamping plate 81, the rotation of the item can be completed.

[0041] Combined with appendix Figure 1 , Figure 2 , Figure 8 , Figure 9 and Figure 10 As shown, a fixing ring 7 is fixedly connected to the side of the hollow plate 3 near the mounting base 31. The fixing ring 7 is sleeved on the outside of the mounting base 31. A damping pad A71 is fixedly connected to the inner wall of the fixing ring 7. A damping pad B72 is fixedly connected to the side surface of the mounting base 31 near the end of the hollow plate 3. The damping pad A71 and the damping pad B72 are in contact with each other.

[0042] Furthermore, by contacting the damping pads A71 and B72, the damping between the fixing ring 7 and the mounting base 31 is increased. At this time, if the rotary motor 62 is not started during the clamping process, the stability of the clamping plate 81 can be ensured, and the clamping plate 81 can be prevented from rotating due to the weight of the item itself or other factors when clamping the item.

[0043] Working principle: First, the mounting frame 1 is installed at the end of the robotic arm. Then, the drive motor 13 and the rotary motor 62 are powered on, and the device can be used. When clamping an item, the robotic arm drives the mounting frame 1 to move, so that the clamping plates 81 are on both sides of the item. The drive motor 13 is started, which drives the gear 12 to rotate. During the rotation of the gear 12, it can cooperate with the racks 21 on both sides, driving 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 of the hollow plates 3, the clamping plates 81 can close together, thereby clamping the item by the two clamping plates 81 closing together.

[0044] In the initial state, the limiting block 42 is located in the hexagonal hole 51 of the limiting frame 5. At this time, the limiting rod 4 is limited by the hexagonal hole 51 and the limiting block 42, so that it cannot rotate. At this time, the clamping plate 81 is limited by the limiting rod 4, ensuring that the clamping plate 81 will not rotate on its own due to external forces. When the clamping plate 81 clamps an item, the spring 8 and the telescopic rod 83 will start to contract under pressure. At this time, the clamping plate 81 will push the limiting rod 4, and the limiting rod 4 will drive the limiting block 42 to move out of the hexagonal hole 51 of the limiting frame 5. At this time, the limiting effect of the hexagonal hole 51 on the limiting block 42 disappears.

[0045] After the limiting block 42 moves out of the hexagonal hole 51 of the limiting frame 5, when it is necessary to rotate the item, the rotary motor 62 is started to drive the pulley B6 to rotate. The rotating pulley B6 will drive the pulley A44 to rotate through the transmission belt 61. The pulley A44 will cooperate with the limiting strip 41 through the groove on its inner wall, which will drive the limiting rod 4 to rotate. At this time, the limiting rod 4 will drive the mounting base 31 and the clamping plate 81 to rotate. During the rotation of the clamping plate 81, the rotation of the item can be completed.

[0046] After the item has been moved and rotated, the drive motor 13 is reversed, which in turn drives the two racks 21 to move in opposite directions via the reverse-rotating gear 12. At this time, the two hollow plates 3 will cause the clamping plate 81 to separate, thus separating the clamping plate 81 from the item, thereby completing the placement of the item. During this process, as the pressure on the clamping plate 81 disappears, the spring 8 begins to rebound and pushes the clamping plate 81. The clamping plate 81 then drives the limiting rod 4 to move, causing the limiting block 42 to move into the hexagonal hole 51. At this time, the guide slope 43 on the limiting block 42 will first come into contact with the limiting frame 5. Then, with the rebound force of the spring 8, the guide slope 43 guides the limiting block 42 to rotate, so that the limiting block 42 rotates to the angle corresponding to the hexagonal hole 51 and the limiting block 42 is inserted into the hexagonal hole 51. During this process, the limiting rod 4 and the clamping plate 81 will rotate together with the limiting block 42, ensuring that the clamping plate 81 can rotate back to its initial state after the item is placed, so that it can continue to clamp other items in subsequent work.

[0047] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0048] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A robotic arm end effector, comprising a mounting frame (1), wherein load-bearing plates (2) are slidably connected to both ends of the bottom of the mounting frame (1), characterized in that: A hollow plate (3) is fixedly connected to the bottom of the load-bearing plate (2). A mounting base (31) is rotatably connected to one side of each of the two hollow plates (3). A mounting plate (32) is fixedly connected to the end of the mounting base (31) away from the hollow plate (3). A limiting hole (33) communicating with the inner cavity of the hollow plate (3) is opened between the mounting base (31) and the mounting plate (32). A limiting rod (4) is slidably connected in the limiting hole (33). A hexagonal limiting block (42) is fixedly connected to the end of the limiting rod (4) near the hollow plate (3). A guide slope (43) is provided on the side of the limiting block (42) near the limiting rod (4). A limiting frame (5) is fixedly connected to the inner wall of the hollow plate (3) away from the mounting base (31) by a frame body. The limiting frame (5) has a hexagonal hole (51). The limiting block (42) is located in the hexagonal hole (51) and is slidably connected to its inner wall. 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 number of springs (8) are fixedly connected to the side of the mounting plate (32) away from the mounting base (31). A clamping plate (81) is fixedly connected to the end of the spring (8) away from the mounting plate (32). The end of the limiting rod (4) away from the limiting block (42) is fixedly connected to the clamping plate (81) on the same side.

2. The robotic arm end effector according to claim 1, characterized in that: Limiting strips (41) are fixedly connected to both sides of the limiting rod (4). A pulley A (44) is rotatably connected to the inner wall of one of the hollow plates (3) near the mounting base (31). The pulley A (44) is sleeved on the limiting rod (4), and the inner wall of the pulley A (44) is slidably connected to the limiting rod (4).

3. The robotic arm end effector according to claim 2, characterized in that: Limiting grooves (34) are provided on both sides of the inner wall of the limiting hole (33). The limiting strips (41) on both sides of the limiting rod (4) are located in the limiting grooves (34) on the same side and are slidably connected to them.

4. The robotic arm end effector 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 the 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).

5. The robotic arm end effector according to claim 1, characterized in that: A fixing ring (7) is fixedly connected to the side of the hollow plate (3) near the mounting base (31). The fixing ring (7) is sleeved on the outside of the mounting base (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 base (31) near the end of the hollow plate (3). The damping pad A (71) and the damping pad B (72) are in contact with each other.

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

7. The robotic arm end effector according to claim 6, characterized in that: The top of the load-bearing plate (2) is fixedly connected to a rack (21), the two racks (21) are staggered and mesh with the gear (12), and the two racks (21) are slidably connected to the track (11) on the same side.

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

9. The robotic arm end effector according to claim 4, characterized in that: A rotary motor (62) is fixedly connected to the hollow plate (3) at the corresponding position of the pulley B (6), and the output end of the rotary motor (62) is fixedly connected to the shaft of the pulley B (6).

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