Self-adaptive intelligent mechanical arm clamping device

Abstract

The invention discloses a self-adaptive intelligent mechanical arm clamping device, and relates to the field of manipulators, the self-adaptive intelligent mechanical arm clamping device comprises a driving seat, a mounting plate is fixedly arranged at the top of the driving seat, a driving piece is fixedly arranged at the bottom of the driving seat, a fixing plate covers the bottom of the driving piece, and a clamping mechanism A and a clamping mechanism B are separately mounted on the fixing plate; a pressing mechanism is installed between the clamping mechanism A and the clamping mechanism B. The clamping mechanism A is arranged on one side of the driving piece, the clamping mechanism B is arranged on the other side of the driving piece, and installation hole positions are formed in the two sides of the driving piece. According to the self-adaptive intelligent mechanical arm clamping device, the downward movement of the lower pressing piece does not need to be externally provided with an electric telescopic rod; the electric telescopic rod which is a complex part and related driving devices, control systems and the like are reduced, so that the overall structure is simpler and more compact, the complexity and the cost of equipment are reduced, the miniaturization design of the equipment is facilitated, and the installation space is saved.

Description

Technical Field

[0001] The present invention relates to the field of manipulators, and in particular to a self-adaptive intelligent manipulator arm clamping device. Background Art

[0002] A robotic arm refers to a complex system with high precision, multiple inputs and outputs, high nonlinearity, and strong coupling. Due to its unique operational flexibility, it has been widely used in industrial assembly, safety and explosion protection, and other fields. There is also uncertainty in the modeling model of the robotic arm. For different tasks, it is necessary to plan the motion trajectory of the robotic arm joint space, so as to cascade and form the end posture. The robotic arm assists industrial production to clamp and fix processed objects or inspected objects, and then transfers the position and releases it after reaching the target position. The current clamping devices are roughly divided into two types. For small objects, a linkage structure of an electric telescopic rod and a rod body is generally used to clamp the objects. For large objects, a motor is generally used to drive the lead screw to rotate, thereby driving the clamping structure to move and clamp the objects. When the clamping device for small objects uses a linkage structure of an electric telescopic rod and a rod body to clamp the objects, the extension of the electric telescopic rod is difficult to control and the clamping may be excessive or insufficient, affecting the clamping and fixation of the robotic arm to the objects.

[0003] To address the above-mentioned problem, a search revealed a Chinese patent application with publication number CN216138950U, which discloses a robotic arm clamping device. The device comprises an external connecting shell, wherein the upper end of the internal portion of the external connecting shell is fixedly connected to an electric telescopic rod via bolts, the output rod end of the electric telescopic rod being fixedly connected to a connecting plate, the end of the connecting plate away from the output rod of the electric telescopic rod being rotatably connected to a worm via a bearing, a worm wheel being rotatably connected to the internal portion of the external connecting shell along both sides of the worm wheel, the worm wheel meshing with the worm wheel, and a second rotating rod being provided inside the external connecting shell along the front and rear ends of the worm wheel, the second rotating rod being fixedly connected to the worm wheel via a connecting shaft;

[0004] Although the above-mentioned device can push the plate toward the object when the output rod of the electric telescopic rod is extended, thereby pushing the object out of the clamping device, in actual use, the driving work of the pushing plate needs to be driven by the electric telescopic rod externally mounted on the clamping device. In actual use, the telescopic rod needs to be purchased and installed separately, and customized accessories such as special brackets may be required, which increases the overall cost. Summary of the Invention

[0005] The purpose of the present invention is to provide an adaptive intelligent robotic arm clamping device to solve the defects mentioned in the above background technology.

[0006] To achieve the above-mentioned purpose, an adaptive intelligent robotic arm clamping device is provided, including a driving seat, a mounting plate fixedly provided on the top of the driving seat, an active plate fixedly provided on the bottom of the driving seat, the bottom of the active plate is covered with a fixed plate, a clamping mechanism A and a clamping mechanism B are respectively installed on the fixed plate, a clamping mechanism is installed between the clamping mechanism A and the clamping mechanism B, a clamping mechanism A is provided on one side of the active plate, and a clamping mechanism B is provided on the other side of the active plate, mounting holes are opened on both sides of the active plate, a transmission arm is movably installed inside the mounting hole at the end of the active plate through a pin shaft, a connecting arm is movably installed on the end of the transmission arm away from the active plate through a pin shaft, a transmission gear is fixedly installed on the bottom of the connecting arm, a connecting shaft is installed on the transmission gear, and the end of the connecting shaft is movably installed on the fixed plate through a bearing seat.

[0007] Furthermore, two sets of guide seats are fixedly installed on the bottom of the fixed plate, and guide strips are installed at both ends of the driving seat. The guide strips are adapted to the size of the guide seats, and the guide strips are slidably connected to the inside of the guide seats. Two sets of driving cylinder positioning installation holes are opened on the mounting plate on the top of the driving seat.

[0008] Furthermore, the clamping mechanism A includes a transmission arm, a connecting arm, a connecting shaft, a transmission gear, a linear rack, a transmission seat, a clamping arm, a side friction plate, a guide block and a guide groove; the active plate drives the linear rack to perform linear motion through the transmission arm, the connecting arm and the transmission gear, and the transmission gear is a fan gear.

[0009] Furthermore, the sizes of the transmission gear and the linear rack are adapted to each other, the transmission gear and the linear rack are meshed and connected, and the transmission gear rotates with the connecting shaft as the center; the structures of the clamping mechanism A and the clamping mechanism B are consistent; the clamping mechanism A and the clamping mechanism B are synchronously driven by the active plate.

[0010] Furthermore, a transmission seat is fixedly installed on the bottom of the linear rack, and a clamping arm is fixedly installed on the bottom of the transmission seat. The clamping arm is a "V"-shaped structure, and the surface of the clamping arm is covered with a side friction plate; the surface of the side friction plate is evenly provided with multiple groups of anti-slip strips; a guide block is fixedly installed on the side wall of the linear rack, and the guide block is slidably set in a guide groove opened on the fixed plate, and the cross-sections of the guide groove and the guide block are both dovetail-shaped.

[0011] Furthermore, three groups of docking grooves are evenly opened on the inner wall of the clamp arm, the side friction plate is a "V"-shaped structure made of rubber material, and three groups of docking strips are fixed on the back of the side friction plate, and the three groups of docking strips are respectively inserted into the inside of the three groups of docking grooves.

[0012] Furthermore, the clamping mechanism includes a guide plate, a lower pressure plate, a bottom friction plate, a connecting seat, a guide plate, a rack A, a limiting column, a limiting rail, a center gear and a rack B; a limiting plate is installed at the end of the rotating shaft of the center gear, and the limiting plate is inserted into the limiting space opened in the middle of the active plate; a bottom friction plate is fixedly provided at the bottom of the lower pressure plate, and a plurality of anti-slip strips are evenly provided on the surface of the bottom friction plate.

[0013] Furthermore, a receiving groove is provided on the surface of the active piece, and a guide piece and a limiting track are installed on both sides of the receiving groove respectively. The guide piece is an "L"-shaped structure made of metal material, and a rack B is fixedly installed on the inner wall of the guide piece.

[0014] Furthermore, a limiting groove is provided inside the limiting track, a limiting column is movably inserted inside the limiting groove, a connecting seat is fixedly connected to the bottom of the limiting column, a guide plate is fixedly provided at one end of the connecting seat away from the limiting column, and the top of the guide plate is inserted into the guide channel provided inside the guide plate.

[0015] Furthermore, the connecting seat, guide plate and limit column are combined together in a "U" shape, a rack A is fixedly installed on the inner wall of the limit column, a rack B is fixedly installed on the inner wall of the guide plate, and a center gear is movably arranged between the rack B and the rack A, one side of the center gear is meshed with the rack B, and the other side of the center gear is meshed with the rack A.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. The present invention enables the two sets of clamping arms to move inward synchronously through the lifting and lowering of the movable plate to complete the clamping or releasing of the object. At the same time, the lower pressure plate and the bottom friction plate move downward synchronously to clamp the top of the object, forming a three-point clamping operation for the object. The three-point clamping forms a stable triangular structure, which can provide more balanced support and clamping force. The downward movement of the lower pressure plate does not require an external electric telescopic rod. The reduction of the complex component of the electric telescopic rod and its related drive device, control system, etc. makes the overall structure simpler and more compact, reduces the complexity and cost of the equipment, and is also conducive to the miniaturization design of the equipment, saving installation space.

[0018] 2. The present invention flexibly adjusts the positions of the clamping arm, lower pressure plate, and bottom friction plate by raising and lowering the active plate, adapting to the clamping requirements of objects of various specifications and improving the versatility and applicability of the device. The integrated transmission structure is relatively compact, eliminating the need for separate drive devices and complex transmission mechanisms for each action, effectively saving installation space and making the device more concise and compact, facilitating layout and operation. The single raising and lowering action of the active plate is converted into the coordinated motion of multiple components through the transmission mechanical structure, resulting in a smooth and continuous movement throughout the process, reducing energy loss and mechanical wear in intermediate links, and improving the working efficiency and service life of the device.

[0019] 3. The present invention is relatively compact by adopting an integrated transmission structure. There is no need to set up a separate drive device and a complex transmission mechanism for each action, which effectively saves the installation space of the equipment and makes the overall equipment more simple and compact, convenient for layout and operation; the single lifting action of the active plate is converted into the coordinated movement of multiple components through the transmission mechanical structure. The whole process is smooth and coherent, reducing the energy loss and mechanical wear in the intermediate links, and improving the working efficiency and service life of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a front view schematic diagram of the structure of the present invention;

[0021] Figure 2 A bottom view of the structure of the present invention;

[0022] Figure 3 A top view of the structure of the present invention;

[0023] Figure 4 It is a rear view of the structure of the present invention;

[0024] Figure 5 This is a schematic diagram of the structure of the clamping mechanism and the pressing mechanism of the present invention;

[0025] Figure 6 The structure of the present invention Figure 5 Bottom view of

[0026] Figure 7 This is a schematic diagram of the central gear and its connection structure of the present invention;

[0027] Figure 8 The structure of the present invention Figure 7 Top view of .

[0028] [reference numerals]

[0029] 1. Driving seat; 11. Guide bar; 2. Mounting plate; 3. Guide seat; 4. Fixed plate; 5. Active plate; 6. Clamping mechanism A; 61. Transmission arm; 62. Connecting arm; 63. Connecting shaft; 64. Transmission gear; 65. Linear rack; 66. Transmission seat; 67. Clamping arm; 68. Side friction plate; 69. Guide block; 690. Guide groove; 600. Clamping mechanism B; 7. Pressing mechanism; 70. Guide plate; 71. Lower pressure plate; 72. Bottom friction plate; 73. Connecting seat; 74. Guide plate; 75. Rack A; 76. Limiting column; 77. Limiting track; 78. Center gear; 79. Rack B. DETAILED DESCRIPTION

[0030] Specific implementation method 1: Please refer to Figures 1-8The present invention provides a technical solution: an adaptive intelligent robotic arm clamping device, comprising a driving seat 1, a mounting plate 2 fixedly provided on the top of the driving seat 1, an active plate 5 fixedly provided on the bottom of the driving seat 1, and a fixed plate 4 covering the bottom of the active plate 5, a clamping mechanism A6 and a clamping mechanism B600 are respectively installed on the fixed plate 4, a clamping mechanism 7 is installed between the clamping mechanism A6 and the clamping mechanism B600, a clamping mechanism A6 is provided on one side of the active plate 5, and a clamping mechanism B600 is provided on the other side of the active plate 5, mounting holes are opened inside both sides of the active plate 5, a transmission arm 61 is movably installed inside the mounting hole at the end of the active plate 5 through a pin shaft, a connecting arm 62 is movably installed at the end of the transmission arm 61 away from the active plate 5 through a pin shaft, a transmission gear 64 is fixedly installed on the bottom of the connecting arm 62, a connecting shaft 63 is installed on the transmission gear 64, and the end of the connecting shaft 63 is movably installed on the fixed plate 4 through a bearing seat.

[0031] Working principle: During actual use, when an object needs to be clamped, the driving seat 1 moves upward under the action of the cylinder. The cylinder is not shown in the figure. When the driving seat 1 moves upward, the guide strips 11 on both sides are slidably connected to the inside of the guide seat 3, which can limit and guide the driving seat 1 during lifting and lowering, and prevent the driving seat 1 and the active plate 5 from tilting during lifting and lowering. Through the lifting and lowering of the active plate 5, the two sets of clamping arms 67 can be moved inward synchronously to complete the clamping of the object. At the same time, the lower pressure plate 71 and the bottom friction plate 72 move downward synchronously to clamp the top of the object. , forming a three-point clamping work for the object, the downward movement of the lower pressing piece 71 does not require an external electric telescopic rod; reducing the complex component of the electric telescopic rod and its related drive device, control system, etc., makes the overall structure simpler and more compact, reduces the complexity and cost of the equipment, and is also conducive to the miniaturization design of the equipment and saves installation space; due to the reduction of the electric telescopic rod, a component prone to failure, the failure points of the equipment are correspondingly reduced, thereby improving the overall reliability and stability, reducing maintenance costs and downtime; without the electric telescopic rod, there will be no electrical failure, mechanical jamming and other problems that may occur with the electric telescopic rod, so that the movement of the lower pressing piece 71 It is more flexible and can better adapt to the clamping needs of objects of different shapes, sizes and materials, and has stronger adaptability in some complex working environments; the lifting and lowering of the active plate 5 can simultaneously drive the two sets of clamping arms 67 to move inward and the lower pressure plate 71 and the bottom friction plate 72 to move downward, achieving accurate synchronization of the movements, ensuring stable clamping of the object, and avoiding uneven force, position offset or even damage to the object due to asynchrony; the three-point clamping forms a stable triangular structure, which can provide more balanced support and clamping force, making the object more stable during the clamping process, not easy to shake or rotate, and is conducive to the smooth progress of subsequent processing, transportation and other operations The positions of the clamping arm 67, the lower pressure plate 71 and the bottom friction plate 72 can be flexibly adjusted by lifting and lowering the active plate 5 to meet the clamping requirements of objects of various specifications, thereby improving the versatility and applicability of the equipment. The integrated transmission structure is relatively compact and does not require a separate drive device and a complex transmission mechanism for each action, effectively saving the installation space of the equipment and making the equipment as a whole more simple and compact, and convenient for layout and operation. The single lifting action of the active plate 5 is converted into the coordinated movement of multiple components through the transmission mechanical structure. The entire process is smooth and coherent, reducing energy loss and mechanical wear in the intermediate links, thereby improving the working efficiency and service life of the equipment.

[0032] Transmission arms 61 are movably installed on both sides of the active plate 5. When the active plate 5 is lifted or lowered, the transmission arms 61 on both sides drive the linear rack 65 to move laterally through the connecting arm 62 and the transmission gear 64. When the linear rack 65 moves laterally, in order to ensure its stability during operation, a guide block 69 is fixedly installed on the side wall of the linear rack 65. The guide block 69 is slidably set in the inside of the guide groove 690, which can limit and guide the laterally moving linear rack 65, the transmission seat 66 and the clamping arm 67 to ensure stability. The linear rack 65, the transmission seat 66 and the clamping arm 67 do not tilt when they move laterally, and the linear rack 65 and the transmission gear 64 are prevented from disengaging, thereby ensuring the reliability of the clamping arm 67 when working. The clamping arm 67 and the lower pressing plate 71 are respectively provided with a side friction plate 68 and a bottom friction plate 72. The side friction plate 68 and the bottom friction plate 72 are made of rubber, and multiple groups of anti-slip strips are evenly arranged on the side friction plate 68 and the bottom friction plate 72 to increase the friction force when clamping the object, making the clamping more stable.

[0033] The transmission mechanical structure mentioned above includes a guide plate 74, a rack A75, a limiting post 76, a limiting rail 77, a central gear 78 and a rack B79; the specific method is: when the active plate 5 moves upward, the rack B79 moves upward at this time, and the central gear 78 meshing with the rack B79 rotates counterclockwise, while driving the rack A75 meshing with it to move downward, thereby realizing the downward movement of the lower pressure plate 71 and the bottom friction plate 72; when the rack A75 and the rack B79 are moving, the guide plate 74 is inserted into the guide plate 70; the limiting post 76 is inserted into the limiting rail 77, which can limit and guide the rack A75 and the rack B79 when they are lifting, thereby preventing the rack A75 and the rack B79 from disengaging from the central gear 78, and realizing the vertical lifting of the lower pressure plate 71 and the bottom friction plate 72;

[0034] The specific driving method of the active plate 5 on the clamping arm 67 is: the active plate 5 moves upward, and drives the transmission gear 64 to rotate around the connecting shaft 63 through the transmission arm 61 and the connecting arm 62. The bottom of the transmission gear 64 is engaged with a linear rack 65, so that the linear rack 65 moves from the outside to the inside, and the clamping work of the object is completed by reducing the distance between the two sets of clamping arms 67; the active plate 5 moves downward, and the two sets of clamping arms 67 can release the object, and the object falls under the action of gravity; the active plate 5 moves upward, and the two sets of clamping arms 67 can clamp the object, and through the manipulator fixedly connected to the fixed plate 4, the purpose of clamping and moving the object is completed.

[0035] Specific embodiment 2: This embodiment is a further limitation of specific embodiment 1. Two groups of guide seats 3 are fixedly installed on the bottom of the fixed plate 4, and guide bars 11 are installed at both ends of the driving seat 1. The guide bars 11 are adapted to the size of the guide seats 3. The guide bars 11 are slidably connected to the inside of the guide seats 3, and two groups of driving cylinder positioning and mounting holes are opened on the mounting plate 2 on the top of the driving seat 1.

[0036] Specific embodiment three: This embodiment is a further limitation of specific embodiment one. The clamping mechanism A6 includes a transmission arm 61, a connecting arm 62, a connecting shaft 63, a transmission gear 64, a linear rack 65, a transmission seat 66, a clamping arm 67, a side friction plate 68, a guide block 69 and a guide groove 690; the active plate 5 drives the linear rack 65 to perform linear motion through the transmission arm 61, the connecting arm 62 and the transmission gear 64, and the transmission gear 64 is a fan-shaped gear.

[0037] Specific embodiment four: This embodiment is a further limitation of specific embodiment three. The sizes of the transmission gear 64 and the linear rack 65 are adapted to each other, the transmission gear 64 and the linear rack 65 are meshed and connected, and the transmission gear 64 rotates with the connecting shaft 63 as the center; the structures of the clamping mechanism A6 and the clamping mechanism B600 are consistent; the clamping mechanism A6 and the clamping mechanism B600 are synchronously driven by the active plate 5.

[0038] Specific embodiment five: This embodiment is a further limitation of specific embodiment four. A transmission seat 66 is fixedly installed on the bottom of the linear rack 65, and a clamping arm 67 is fixedly installed on the bottom of the transmission seat 66. The clamping arm 67 is a "V"-shaped structure, and the surface of the clamping arm 67 is covered with a side friction plate 68; a plurality of groups of anti-slip strips are evenly arranged on the surface of the side friction plate 68; a guide block 69 is fixedly installed on the side wall of the linear rack 65, and the guide block 69 is slidably set in a guide groove 690 opened on the fixed plate 4, and the cross-sections of the guide groove 690 and the guide block 69 are both dovetail-shaped.

[0039] Specific embodiment six: This embodiment is a further limitation of specific embodiment five. Three groups of docking grooves are evenly opened on the inner wall of the clamping arm 67. The side friction plate 68 is a "V"-shaped structure made of rubber material. Three groups of docking strips are fixedly set on the back of the side friction plate 68. The three groups of docking strips are respectively inserted into the inside of the three groups of docking grooves.

[0040] Specific embodiment seven: This embodiment is a further limitation of specific embodiment one. The clamping mechanism 7 includes a guide plate 70, a lower pressure plate 71, a bottom friction plate 72, a connecting seat 73, a guide plate 74, a rack A75, a limiting column 76, a limiting rail 77, a center gear 78 and a rack B79; a limiting plate is installed at the end of the rotating shaft of the center gear 78, and the limiting plate is inserted into the limiting space opened in the middle of the active plate 5; a bottom friction plate 72 is fixedly provided at the bottom of the lower pressure plate 71, and a plurality of groups of anti-slip strips are evenly provided on the surface of the bottom friction plate 72.

[0041] Specific embodiment eight: This embodiment is a further limitation of specific embodiment seven. A receiving groove is provided on the surface of the active plate 5, and a guide plate 70 and a limiting rail 77 are installed on both sides of the receiving groove. The guide plate 70 is an "L"-shaped structure made of metal material, and a rack B79 is fixedly installed on the inner wall of the guide plate 70.

[0042] Specific embodiment nine: This embodiment is a further limitation of specific embodiment eight. A limiting groove is provided inside the limiting track 77, and a limiting column 76 is movably inserted inside the limiting groove. The bottom of the limiting column 76 is fixedly connected to a connecting seat 73, and a guide plate 74 is fixedly provided at one end of the connecting seat 73 away from the limiting column 76. The top of the guide plate 74 is inserted into the guide channel provided inside the guide piece 70.

[0043] Specific embodiment ten: This embodiment is a further limitation of specific embodiment nine. The connecting seat 73, the guide plate 74 and the limiting column 76 are combined together in a "U" shape. A rack A75 is fixedly installed on the inner wall of the limiting column 76, and a rack B79 is fixedly installed on the inner wall of the guide plate 70. A center gear 78 is movably arranged between the rack B79 and the rack A75. One side of the center gear 78 is meshed with the rack B79, and the other side of the center gear 78 is meshed with the rack A75.

Claims

1. An adaptive intelligent robotic arm clamping device, comprising a drive seat (1), characterized in that: The top of the driving seat (1) is fixedly provided with a mounting plate (2), the bottom of the driving seat (1) is fixedly provided with an active plate (5), the bottom of the active plate (5) is covered with a fixed plate (4), a clamping mechanism A (6) and a clamping mechanism B (600) are respectively installed on the fixed plate (4), a pressing mechanism (7) is installed between the clamping mechanism A (6) and the clamping mechanism B (600), one side of the active plate (5) is provided with the clamping mechanism A (6), and the other side of the active plate (5) is provided with the clamping mechanism B ( 600), mounting holes are provided inside both sides of the active plate (5), a transmission arm (61) is movably mounted inside the mounting hole at the end of the active plate (5) through a pin shaft, a connecting arm (62) is movably mounted on the end of the transmission arm (61) away from the active plate (5) through a pin shaft, a transmission gear (64) is fixedly mounted on the bottom of the connecting arm (62), a connecting shaft (63) is mounted on the transmission gear (64), and the end of the connecting shaft (63) is movably mounted on the fixed plate (4) through a bearing seat.

2. The adaptive intelligent robotic arm gripping device according to claim 1, characterized in that: Two groups of guide seats (3) are fixedly installed at the bottom of the fixed plate (4), and guide bars (11) are installed at both ends of the driving seat (1). The guide bars (11) are adapted to the size of the guide seats (3), and the guide bars (11) are slidably connected to the inside of the guide seats (3). Two groups of driving cylinder positioning installation holes are opened on the installation plate (2) at the top of the driving seat (1).

3. The adaptive intelligent robotic arm gripping device according to claim 1, characterized in that: The clamping mechanism A (6) comprises a transmission arm (61), a connecting arm (62), a connecting shaft (63), a transmission gear (64), a linear rack (65), a transmission seat (66), a clamping arm (67), a side friction plate (68), a guide block (69) and a guide groove (690); the active plate (5) drives the linear rack (65) to perform linear motion through the transmission arm (61), the connecting arm (62) and the transmission gear (64), and the transmission gear (64) is a sector gear.

4. The adaptive intelligent robotic arm gripping device according to claim 3, characterized in that: The transmission gear (64) and the linear rack (65) are of compatible sizes, the transmission gear (64) and the linear rack (65) are meshed and connected, and the transmission gear (64) rotates with the connecting shaft (63) as the center of the circle; the structures of the clamping mechanism A (6) and the clamping mechanism B (600) are consistent; the clamping mechanism A (6) and the clamping mechanism B (600) are synchronously driven by the active plate (5).

5. The adaptive intelligent robotic arm gripping device according to claim 4, characterized in that: The bottom of the linear rack (65) is fixedly mounted with a transmission seat (66), and the bottom of the transmission seat (66) is fixedly mounted with a clamping arm (67), which is a "V"-shaped structure. The surface of the clamping arm (67) is covered with a side friction plate (68); the surface of the side friction plate (68) is evenly provided with multiple groups of anti-slip strips; a guide block (69) is fixedly mounted on the side wall of the linear rack (65), and the guide block (69) is slidably set in a guide groove (690) opened on the fixed plate (4), and the cross-sections of the guide groove (690) and the guide block (69) are both dovetail-shaped.

6. The adaptive intelligent robotic arm gripping device according to claim 5, characterized in that: Three groups of docking grooves are evenly arranged on the inner wall of the clamping arm (67). The side friction plate (68) is a "V"-shaped structure made of rubber material. Three groups of docking strips are fixedly arranged on the back of the side friction plate (68). The three groups of docking strips are respectively inserted into the inside of the three groups of docking grooves.

7. The adaptive intelligent robotic arm gripping device according to claim 1, characterized in that: The clamping mechanism (7) comprises a guide plate (70), a lower pressing plate (71), a bottom friction plate (72), a connecting seat (73), a guide plate (74), a rack A (75), a limiting column (76), a limiting track (77), a central gear (78) and a rack B (79); a limiting plate is installed at the end of the rotating shaft of the central gear (78), and the limiting plate is inserted into the limiting space opened in the middle of the active plate (5); a bottom friction plate (72) is fixedly arranged at the bottom of the lower pressing plate (71), and a plurality of anti-slip strips are evenly arranged on the surface of the bottom friction plate (72).

8. The adaptive intelligent robotic arm gripping device according to claim 7, characterized in that: The surface of the active plate (5) is provided with a receiving groove, and a guide plate (70) and a limiting track (77) are respectively installed on both sides of the receiving groove. The guide plate (70) is an "L"-shaped structure made of metal material, and a rack B (79) is fixedly installed on the inner wall of the guide plate (70).

9. The adaptive intelligent robotic arm gripping device according to claim 8, characterized in that: A limiting groove is provided inside the limiting track (77), a limiting column (76) is movably inserted inside the limiting groove, a connecting seat (73) is fixedly connected to the bottom of the limiting column (76), a guide plate (74) is fixedly provided at one end of the connecting seat (73) away from the limiting column (76), and the top of the guide plate (74) is inserted into a guide channel provided inside the guide piece (70).

10. The adaptive intelligent robotic arm gripping device according to claim 9, characterized in that: The connecting seat (73), the guide plate (74) and the limiting column (76) are combined into a "U" shape. A rack A (75) is fixedly installed on the inner wall of the limiting column (76), and a rack B (79) is fixedly installed on the inner wall of the guide plate (70). A central gear (78) is movably arranged between the rack B (79) and the rack A (75). One side of the central gear (78) is meshed with the rack B (79), and the other side of the central gear (78) is meshed with the rack A (75).

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