Robot material grabbing equipment

Abstract

The invention relates to the field of robot carrying, in particular to robot material grabbing equipment. Comprising a mechanical arm and a middle base which is fixedly connected with the output end of the mechanical arm and loads an air source, main discs are arranged on the two sides of the middle base, penetrating grooves are formed in the main discs in the circumferential direction, tripods are elastically arranged in the middles of the main discs, and grabbing mechanisms are arranged in the penetrating grooves and comprise cylinder bodies arranged in the penetrating grooves; the end, away from the main disc, of the middle shaft is connected with a push shaft in a sliding mode, and four auxiliary wedge blocks are arranged on the middle shaft in the circumferential direction in an array mode. In the working process, the tripod positions materials initially, the middle shaft is driven through the air source, flexible-to-rigid or direct-rigid clamping is achieved in combination with control of the auxiliary wedge block, the problems that traditional positioning is not accurate, the clamping mode is single and adaptability is low are solved, and the device has the advantages of being high in positioning precision, flexible in clamping mode, stable in power and suitable for various materials. The device can be widely applied to automatic production lines.

Description

Technical Field

[0001] This invention relates to the field of robotic handling, specifically to robotic material handling equipment. Background Technology

[0002] Current robotic material handling equipment faces numerous technical bottlenecks in industrial applications. Firstly, traditional gripping methods have limitations. Existing equipment generally employs a single gripping mode: purely flexible gripping (such as silicone suction cups) relies on atmospheric pressure differences to generate gripping force. When the material surface has minor scratches, pores, or curvature, the sealing performance drops sharply, leading to a significant decrease in gripping force. This not only makes it impossible to grip heavy materials but may even cause lightweight materials to fall off during transfer. On the other hand, purely rigid gripping (such as mechanical claws) experiences a sudden peak impact force at the moment of closure due to the lack of a buffer structure. For fragile items such as ceramic insulators and glassware, this instantaneous impact directly increases the breakage rate. In mixed production lines simultaneously handling plastic, metal, and glass products, traditional robotic material handling equipment cannot effectively cope with materials of different materials.

[0003] Furthermore, the clamping components of existing gripping mechanisms have fixed angles and contact areas. When dealing with materials with slight differences in shape (such as irregularly shaped plastic parts with protrusions or castings with irregular edges), the clamping components cannot adjust the contact angle and can only form localized point contact with the material. This not only leads to decreased clamping stability but also requires frequent replacement of specialized fixtures for different material models. Each replacement requires machine downtime for debugging, which increases fixture procurement costs and extends production line changeover time, severely restricting the efficiency of flexible production.

[0004] Finally, the mode switching response is slow. Although some high-end devices attempt to integrate flexible and rigid clamping functions, the hydraulic system requires step-by-step regulation through multiple sets of valves, and the multi-stage transmission structure suffers from gear meshing gaps that cause motion delays, making the switching process between the two modes too time-consuming. Therefore, it is necessary to design a robotic material handling device to solve these problems. Summary of the Invention

[0005] Therefore, it is necessary to provide a robotic material grasping device to address the problems of existing technologies.

[0006] To address the problems in the existing technology, the technical solution adopted by this invention is as follows:

[0007] The robotic material handling equipment includes a robotic arm and a central base fixed to the output end of the robotic arm and carrying an air source, and also includes:

[0008] The main plate is fixed to both sides of the middle seat. The main plate has three through slots arranged at equal angles along the circumference. A tripod for auxiliary positioning of the material is elastically set at the center of the main plate. A gripping mechanism for gripping the material is set in the through slot.

[0009] The gripping mechanism includes a cylinder body set in the slot. One end of the cylinder body is connected to an air source, and the other end is dynamically sealed to a central shaft. A cavity is formed inside the central shaft. Four secondary wedges are arranged at equal angles along the circumference of the central shaft. The secondary wedges are slidably connected to the central shaft.

[0010] The end of the central axis away from the central seat is elastically connected to a push shaft. One end of the push shaft is fixedly connected to a push plate, and the other end is hinged to a swing arm. The push plate is slidably connected to the cavity, and a flexible pad is fixedly connected to the end of the swing arm.

[0011] Furthermore, the side of the flexible pad closer to the center of the main disk is narrower than the side farther from the center of the main disk.

[0012] Furthermore, a support arm is fixed to the main plate on the side of the swing arm near the main plate, and the end of the swing arm near the center of the main plate is rotatably connected to the support arm.

[0013] The cylinder body has flanges formed on both sides, and the flanges are rotatably connected to the inner wall of the groove by short pins. The end of the cylinder body near the middle seat is connected to the air source through a hose.

[0014] Furthermore, a bushing is coaxially fixed to the outside of the push shaft, and a pad is coaxially fixed to the end of the central shaft near the swing arm.

[0015] A buffer spring is fitted around the outside of the push shaft. One end of the buffer spring is fixed to the pad, and the other end is fixed to the bushing.

[0016] Furthermore, four pins are screwed onto the end of the central shaft near the swing arm in a circumferential direction, and the ends of the pins away from the swing arm abut against the push plate when the push plate is close to the end of the central shaft.

[0017] Each pin has a limiting pin on the side closest to the center of the central axis. One end of the limiting pin is fixed to the end of the central axis, and the other end is fixed to the end of the cavity away from the pin. The limiting pin is slidably connected to the push plate.

[0018] Furthermore, two sealing rings are coaxially fitted at the end of the central shaft away from the push shaft;

[0019] The two ends of the central shaft are formed with vent holes at equal angles along the circumference, and the vent holes are connected to the cavity.

[0020] Furthermore, four clamping seats are fixed at equal intervals on the outer wall of the central shaft. Each clamping seat is fixed with an electric actuator. The output end of the electric actuator is fixed with a main wedge block. The end of the main wedge block near the secondary wedge block abuts against the secondary wedge block through an inclined surface.

[0021] Furthermore, a collar is fixedly connected to the outer coaxial line of the central shaft, and a pad is fixedly connected to the end of the secondary wedge block near the push shaft. A return spring is provided at the end of the pad block near the collar, with one end of the return spring fixedly connected to the pad block and the other end fixedly connected to the collar.

[0022] A guide pin is fixed to the middle of the pad, and a guide sleeve is keyed to the guide pin. The guide sleeve is fixed to the collar.

[0023] Furthermore, the outer surface of the secondary wedge is fitted with a rubber sleeve.

[0024] Furthermore, a center pin is fixed to the middle of the tripod, the center pin is connected to the main key, and a positioning spring is sleeved on the outside of the center pin;

[0025] One end of the positioning spring is fixed to the tripod, and the other end is fixed to the main plate.

[0026] The beneficial effects of this invention compared to the prior art are:

[0027] Firstly, this device can switch between flexible and rigid gripping, overcoming the limitations of a single clamping mode. The flexible-to-rigid gripping method uses a buffer spring to achieve a linear increase in clamping force from small to large, which is suitable for gripping fragile items. The direct rigid gripping mode uses a secondary wedge block to rigidly press against the push plate, quickly completing the gripping task. It takes into account both protection and efficiency requirements, adapts to multi-category mixed production scenarios, and reduces fixture replacement.

[0028] Secondly, the flexible pad of this device adopts a special gradient deformation design: in the initial contact stage, the narrow edge of the flexible pad first forms point contact with the material surface, and uses the material's own flexible properties to adapt to the curvature changes of the material surface (such as arc surfaces and irregular protrusions). As the clamping force gradually increases, the wide edge of the flexible pad will gradually expand and form a full-area fit with the material surface. This change in contact form from point to surface can automatically adjust the effective contact area according to the shape of the material. Even for materials that are difficult to handle by traditional equipment, such as irregular plastic parts and irregular castings, it can maintain stable clamping, completely get rid of the dependence on special fixtures, and greatly reduce equipment costs and changeover time.

[0029] Thirdly, this device abandons the traditional hydraulic and multi-stage transmission structure and adopts a purely mechanical linkage wedge block transmission. Through the inclined surface cooperation of the main wedge block and the auxiliary wedge block, the two clamping modes can be quickly switched. During the switching process, the clamping force is precisely controlled by the linear displacement of the inclined surface of the wedge block, avoiding the problem of sudden force values ​​in traditional equipment. Whether it is flexible to rigid or rigid to flexible, the force value can maintain a smooth transition, which not only meets the cycle requirements of high-speed production lines, but also ensures the stability of materials during the switching process, taking into account both production efficiency and product protection. Attached Figure Description

[0030] Figure 1This is a three-dimensional structural diagram of an embodiment;

[0031] Figure 2 This is a front view of an embodiment;

[0032] Figure 3 This is a three-dimensional structural diagram of the main seat, main disk, and gripping mechanism in the embodiment;

[0033] Figure 4 This is a three-dimensional half-sectional view of the main disk and tripod in the embodiment;

[0034] Figure 5 This is a three-dimensional structural diagram of the cylinder block, central shaft, and push shaft in the embodiment;

[0035] Figure 6 This is a three-dimensional half-slope diagram of the cylinder block, central shaft, and push shaft in the embodiment;

[0036] Figure 7 yes Figure 6 Enlarged view of the structure at point A in the middle;

[0037] Figure 8 yes Figure 6 Enlarged view of the structure at point B in the middle;

[0038] Figure 9 This is a half-sectional view of the cylinder block, central shaft, and push shaft in the embodiment.

[0039] The numbers on the map are:

[0040] 1. Robotic arm; 2. Center seat; 3. Main plate; 4. Through slot; 5. Gripping mechanism; 6. Swing arm; 7. Flexible pad; 8. Push shaft; 9. Arm seat; 10. Pad; 11. Buffer spring; 12. Bushing; 13. Central shaft; 14. Cavity; 15. Vent hole; 16. Collar; 17. Secondary wedge; 18. Return spring; 19. Pad; 20. Guide pin; 21. Guide sleeve; 22. Rubber sleeve; 23. Main wedge; 24. Clamping seat; 25. Electric actuator; 26. Push plate; 27. Pin; 28. Limit pin; 29. ​​Sealing ring; 30. Cylinder body; 31. Flange; 32. Hose; 33. Tripod; 34. Center pin; 35. Positioning spring. Detailed Implementation

[0041] To further understand the features, technical means, and specific objectives and functions achieved by the present invention, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.

[0042] refer to Figures 1 to 9 The robotic material handling device includes a robotic arm 1 and a central base 2 fixedly connected to the output end of the robotic arm 1 and loaded with an air source, and also includes:

[0043] The main plate 3 is fixedly connected to both sides of the middle seat 2. The main plate 3 has three through slots 4 arranged at equal angles along the circumference. A tripod 33 is elastically set at the center of the main plate 3 to assist in positioning the material when gripping it. A gripping mechanism 5 for gripping the material is set in the through slot 4.

[0044] The gripping mechanism 5 includes a cylinder 30 disposed in the slot 4. One end of the cylinder 30 is connected to an air source, and the other end is dynamically sealed to a central shaft 13. The central shaft 13 has a cavity 14 formed inside (e.g., Figure 6 As shown), the central axis 13 has four secondary wedges 17 arranged at equal angles along the circumference, and the secondary wedges 17 are slidably connected to the central axis 13.

[0045] The central shaft 13 is elastically connected to a push shaft 8 at the end away from the central seat 2. One end of the push shaft 8 is fixedly connected to a push plate 26, and the other end is hinged to a swing arm 6. The push plate 26 is slidably connected to the cavity 14, and a flexible pad 7 is fixedly connected to the end of the swing arm 6.

[0046] When the device is in operation, the robotic arm 1 moves the middle seat 2 to the side of the material. Before gripping, the main plate 3 approaches the material and the tripod 33 presses against the upper end of the material. At this time, the material is initially positioned. Then, the air source in the middle seat 2 provides gas to the cylinder 30. The gas pushes the central shaft 13 to move. After the central shaft 13 moves, it will move through the push shaft 8. The three push shafts 8 will drive the swing arm 6 that is hinged to them to deflect. Finally, the three flexible pads 7 cooperate to grip the material.

[0047] When it is necessary to first make flexible contact with the material and then switch to rigid contact, the four auxiliary wedges 17 do not extend into the cavity 14. At this time, the push shaft 8 and the central shaft 13 form an elastic connection. When clamping the material, the material is first subjected to non-rigid pressure from the flexible pad 7. Then, as the central shaft 13 continues to move, the flexible contact gradually becomes rigid contact, thereby achieving clamping of the material.

[0048] When a rigid contact with the material is required, the four secondary wedges 17 extend into the cavity 14. At this time, the end of the push plate 26 near the middle seat 2 abuts against the secondary wedges 17, and the push shaft 8 and the middle shaft 13 form a rigid connection. When the material is clamped, the material only forms a buffer with the flexible pad 7, thereby realizing the rapid gripping of the material.

[0049] To facilitate the clamping of materials by the flexible pad 7, the following features are specifically provided:

[0050] The side of the flexible pad 7 closest to the center of the main disk 3 is narrower than the side furthest from the center of the main disk 3.

[0051] like Figure 4As shown, the side of the flexible pad 7 closest to the center of the main disk 3 is narrower than the side furthest from the center. During the material contact stage, this wedge-shaped structure allows the flexible pad 7 to initially achieve point contact with its narrow edge. Through flexible deformation, it adapts to the curvature of the material surface, and as the clamping force increases, the wide edge gradually expands to form surface contact. Compared to a uniform width design, this design reduces the impact on fragile materials during initial contact and increases friction by increasing the contact area during the clamping stage. This solves the contradiction of traditional flexible pads 7 either having insufficient contact area leading to slippage or excessive initial contact force leading to breakage.

[0052] In order to enable the central shaft 13 to move when the gas inside the cylinder 30 drives it, the central shaft 13 can ultimately drive the flexible pad 7 to deflect via the rocker arm 6, the following features are specifically provided:

[0053] The side of the swing arm 6 closest to the main plate 3 is provided with an arm seat 9 (e.g., ...) that is fixedly connected to the main plate 3. Figure 4 As shown), the end of the swing arm 6 closest to the center of the main disk 3 is rotatably connected to the arm seat 9;

[0054] The cylinder block 30 has flanges 31 formed on both sides (e.g. Figure 5 As shown), the flange 31 is rotatably connected to the inner wall of the groove 4 by a short pin, and the end of the cylinder body 30 near the middle seat 2 is connected to the air source through the hose 32.

[0055] When the gas inside the cylinder 30 pushes the central shaft 13 to move, the central shaft 13 will drive the push shaft 8 to move, and the push shaft 8 will drive the swing arm 6 to swing along the arm seat 9, so that the flexible pad 7 is pressed tightly against the material.

[0056] In the above process, the cylinder body 30, the central shaft 13, the push shaft 8, and the swing arm 6 are each regarded as three moving components. The flange 31 of the cylinder body 30 forms a revolute joint with the through groove 4 through the short pin. The central shaft 13 and the cylinder body 30 form a sliding joint. The push shaft 8 and the swing arm 6 form a revolute joint. The swing arm 6 and the arm seat 9 form a revolute joint. According to the formula for calculating the degree of freedom, the degree of freedom F = 3n - 2PL - PH. In this linkage mechanism, PH is regarded as 0, n = 3, and PL = 4. Therefore, the degree of freedom is 1, that is, this linkage mechanism has a definite motion trajectory. The hose 32 allows the cylinder body 30 to be connected to the air source when it deflects along the flange 31.

[0057] In order to enable the flexible pad 7 to first make flexible contact with the material and then become rigid when it comes into contact with the material, the following features are specifically provided:

[0058] like Figure 5 As shown, a bushing 12 is coaxially fixed to the outside of the push shaft 8, and a pad 10 is coaxially fixed to one end of the central shaft 13 near the swing arm 6.

[0059] A buffer spring 11 is fitted on the outside of the push shaft 8. One end of the buffer spring 11 is fixedly connected to the pad 10, and the other end is fixedly connected to the bushing 12.

[0060] During the flexible clamping stage, the buffer spring 11 achieves linear force transmission through changes in compression. When there are slight protrusions or deformation on the material surface, the difference in compression of the buffer spring 11 can compensate for dimensional errors, so as to better grasp and protect the material.

[0061] In order to limit the movement range of the push plate 26 when it moves, the following features are specifically set:

[0062] like Figure 6 , Figure 8 and Figure 9 As shown, four pins 27 are screwed onto the end of the central shaft 13 near the swing arm 6 in the circumferential direction. The end of the pins 27 away from the swing arm 6 abuts against the push plate 26 when the push plate 26 is close to the end of the central shaft 13.

[0063] Each pin 27 is provided with a limiting pin 28 on the side near the center of the central shaft 13. One end of the limiting pin 28 is fixedly connected to the end of the central shaft 13, and the other end is fixedly connected to the end of the cavity 14 away from the pin 27. The limiting pin 28 is slidably connected to the push plate 26.

[0064] During the material grabbing process, the push plate 26 slides along the limit pin 28 to ensure axial movement accuracy. When the push plate 26 touches the pin 27, the screwed pin 27 can precisely control the stroke of the push shaft 8 to prevent the push plate 26 from colliding with the end of the central shaft 13.

[0065] To improve the sealing between the central shaft 13 and the cylinder block 30, and to reduce the resistance encountered by the push plate 26 during movement, the following features are specifically provided:

[0066] like Figure 9 As shown, two sealing rings 29 are coaxially fitted at the end of the central shaft 13 away from the push shaft 8;

[0067] The two ends of the central shaft 13 are formed with vent holes 15 at equal angles along the circumference, and the vent holes 15 are connected to the cavity 14.

[0068] During the air-driven process, the double sealing rings 29 form a stepped sealing structure, reducing gas leakage and improving sealing efficiency. When the push plate 26 moves, the gas in the cavity 14 is discharged through the vent hole 15, avoiding the formation of air resistance that affects the smoothness of movement. At the same time, the symmetrical distribution of the vent holes 15 ensures uniform air pressure release, preventing the push plate 26 from radially shifting due to uneven force.

[0069] In order to move the secondary wedge block 17 towards the side closer to the center of the central axis 13, the following features are also provided:

[0070] like Figure 7 As shown, four clamping seats 24 are fixed at equal intervals on the outer wall of the central shaft 13. Each clamping seat 24 is fixed with an electric push rod 25. The output end of the electric push rod 25 is fixed with a main wedge block 23. The end of the main wedge block 23 near the secondary wedge block 17 abuts against the secondary wedge block 17 through an inclined surface.

[0071] When switching between clamping modes, the electric actuator 25 pushes the main wedge 23 to move linearly. The inclined plane formed by the main wedge 23 and the secondary wedge 17 converts the axial force into a radial force, driving the secondary wedge 17 to quickly complete the extension and retraction action. Compared with the direct drive method, the inclined plane transmission can achieve a large thrust action of the secondary wedge 17 in a limited space, ensuring the locking reliability when rigidly connected.

[0072] To limit the movement of the secondary wedge 17 and ensure that it abuts against the end of the push plate 26 near the cylinder 30 after movement, thereby forming a rigid connection between the push shaft 8 and the central shaft 13 to ensure rapid clamping of materials requiring rigid clamping, the following features are specifically provided:

[0073] like Figure 7 and Figure 9 As shown, a collar 16 is fixedly connected to the outer coaxial line of the central shaft 13. A pad 19 is fixedly connected to one end of the secondary wedge block 17 near the push shaft 8. A return spring 18 is provided at one end of the pad 19 near the collar 16. One end of the return spring 18 is fixedly connected to the pad 19, and the other end is fixedly connected to the collar 16.

[0074] A guide pin 20 is fixedly connected to the middle of the pad 19, and a guide sleeve 21 is keyed to the guide pin 20. The guide sleeve 21 is fixedly connected to the collar 16.

[0075] When switching to flexible mode, the reset spring 18 pulls the pad 19 to make the secondary wedge block 17 retract quickly. The key connection between the guide pin 20 and the guide sleeve 21 restricts the rotational freedom of the secondary wedge block 17, ensuring that it always moves radially. In conjunction with the preload of the reset spring 18, it prevents the secondary wedge block 17 from getting stuck when it moves.

[0076] To ensure that the secondary wedge 17 can be tightly abutted against the pusher plate 26 after it extends into the cavity 14, the following features are specifically provided:

[0077] The auxiliary wedge 17 is fitted with a rubber sleeve 22. As the auxiliary wedge 17 extends radially into the cavity 14, the rubber sleeve 22 is compressed by the push plate 26 and undergoes elastic deformation, forming an annular sealing band around the auxiliary wedge 17. Subsequently, the rubber sleeve 22 and the push plate 26 are interference-fitted to ensure that the push plate 26 can remain fixed after the device switches to rigid gripping, preventing the gripping effect from being affected by the movement of the push plate 26 during the gripping process.

[0078] To achieve a flexible connection between the tripod 33 and the main plate 3, the following features are specifically designed:

[0079] like Figure 4 As shown, a center pin 34 is fixedly connected to the middle of the tripod 33. The center pin 34 is connected to the main plate 3 by a key. A positioning spring 35 is sleeved on the outside of the center pin 34.

[0080] One end of the positioning spring 35 is fixedly connected to the tripod 33, and the other end is fixedly connected to the main plate 3.

[0081] During the initial positioning stage, the positioning spring 35 provides preload, causing the tripod 33 to abut against the material surface. The keyed connection between the center pin 34 and the main plate 3 ensures that the tripod 33 can only move axially and cannot rotate. When there is a small error in the material height, the extension and retraction of the positioning spring 35 can automatically compensate, preventing material tipping due to over-positioning.

[0082] The detailed working principle of this device is as follows: After the equipment is started, the robotic arm 1 moves the middle seat 2 according to the preset path. After the material position is located by the vision system, the main plate 3 moves closer to the material. At this time, the tripod 33 contacts the upper end of the material first under the action of the positioning spring 35. The elastic deformation of the positioning spring 35 absorbs the height error of the material, completes the initial positioning, and generates a pre-tightening force to prevent the material from moving.

[0083] Upon entering the gripping stage, the control system selects the clamping mode based on the material characteristics: for fragile materials (such as glass and ceramics), a flexible-to-rigid mode is activated: the electric push rod 25 remains in a retracted state, the secondary wedge block 17 is in a retracted position under the action of the return spring 18, and the cavity 14 is connected to the outside through the vent hole 15. Compressed air is input into the cylinder 30 by the air source, pushing the central shaft 13 to move axially. The central shaft 13 drives the push shaft 8 to move synchronously through the buffer spring 11, and the push shaft 8 drives the swing arm 6 to rotate around the arm seat 9, so that the flexible pad 7 gradually approaches the material. At the initial contact, the narrow edge of the flexible pad 7 contacts the material first, adapting to the material contour through its own deformation. At this time, the buffer spring 11 is in a slightly compressed state, and the clamping force is elastically transmitted through the buffer spring 11 to achieve flexible contact. As the central shaft 13 continues to move, the compression of the buffer spring 11 increases, and the clamping force increases linearly. When the distance between the push plate 26 and the end of the central shaft 13 shrinks to the limit position, rigid contact begins to form until the maximum clamping force is reached, completing a smooth transition from flexible to rigid.

[0084] If the material is hard (such as metal), the device will activate the direct rigid mode: the electric push rod 25 is energized and extends, the main wedge 23 pushes the secondary wedge 17 to overcome the force of the return spring 18 and extend radially into the cavity 14 until the pad 19 contacts the push plate 26. At this time, the push shaft 8 and the central shaft 13 are rigidly connected through the secondary wedge 17. High-pressure gas is input from the air source, and the central shaft 13 directly drives the push shaft 8 to move rapidly. The swing arm 6 drives the flexible pad 7 to contact the material in a rigid manner. In this mode, the flexible pad 7 only plays a buffering role. When gripping, the flexible pad 7 can reach the maximum clamping force in a short period of time to achieve rapid gripping.

[0085] Throughout the process, the rotating connection between the cylinder 30 and the through slot 4, and the hinged structure between the swing arm 6 and the arm seat 9, enable the flexible pad 7 to adapt to the irregular shape of the material, thereby compensating for the angular deviation of irregularly shaped materials during the gripping process and improving the gripping fault tolerance rate.

[0086] After the gripping is completed, the air supply stops and switches to negative pressure. The central shaft 13 returns to its initial position under the action of the return spring 18, and the push shaft 8 returns to its original position. The swing arm 6 drives the flexible pad 7 to detach from the material. In rigid mode, the electric push rod 25 retracts first, the main wedge 23 disengages from the secondary wedge 17, and the secondary wedge 17 retracts under the action of the return spring 18, preparing for the next gripping.

[0087] The above embodiments only illustrate one or more implementations of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this patent should be determined by the appended claims.

Claims

1. A robotic material handling device, comprising a robotic arm (1) and a central support (2) fixedly connected to the output end of the robotic arm (1) and carrying an air source, characterized in that, Also includes: The main plate (3) is fixedly connected to both sides of the middle seat (2). The main plate (3) has three through slots (4) arranged at equal angles along the circumference. A tripod (33) for auxiliary positioning of the material is elastically set at the center of the main plate (3). A gripping mechanism (5) for gripping the material is set in the through slot (4). The gripping mechanism (5) includes a cylinder (30) set in the slot (4). One end of the cylinder (30) is connected to the air source, and the other end is dynamically sealed to the central shaft (13). The central shaft (13) has a cavity (14) formed inside. The central shaft (13) has four secondary wedges (17) arranged at equal angles along the circumferential direction. The secondary wedges (17) are slidably connected to the central shaft (13). The central shaft (13) is elastically connected to a push shaft (8) at one end away from the central seat (2). One end of the push shaft (8) is fixedly connected to a push plate (26), and the other end is hinged to a swing arm (6). The push plate (26) is slidably connected to the cavity (14), and a flexible pad (7) is fixedly connected to the end of the swing arm (6).

2. The robotic material gripping device according to claim 1, characterized in that, The side of the flexible pad (7) closer to the center of the main disk (3) is narrower than the side farther from the center of the main disk (3).

3. The robotic material gripping device according to claim 1, characterized in that, The side of the swing arm (6) near the main plate (3) is provided with an arm seat (9) that is fixed to the main plate (3), and the end of the swing arm (6) near the center of the main plate (3) is rotatably connected to the arm seat (9). The cylinder body (30) has flanges (31) formed on both sides. The flanges (31) are rotatably connected to the inner wall of the through groove (4) by a short pin. The end of the cylinder body (30) near the middle seat (2) is connected to the air source through a hose (32).

4. The robotic material gripping device according to claim 1, characterized in that, A bushing (12) is fixedly connected to the outside of the push shaft (8) along the coaxial line, and a pad (10) is fixedly connected to the end of the central shaft (13) near the swing arm (6) along the coaxial line; A buffer spring (11) is fitted on the outside of the push shaft (8). One end of the buffer spring (11) is fixed to the pad (10), and the other end is fixed to the bushing (12).

5. The robotic material gripping device according to claim 1, characterized in that, Four pins (27) are screwed onto the end of the central shaft (13) near the swing arm (6) in the circumferential direction. The end of the pins (27) away from the swing arm (6) abuts against the push plate (26) when the push plate (26) is close to the end of the central shaft (13). Each pin (27) is provided with a limiting pin (28) on the side near the center of the central shaft (13). One end of the limiting pin (28) is fixedly connected to the end of the central shaft (13), and the other end is fixedly connected to the end of the cavity (14) away from the pin (27). The limiting pin (28) is slidably connected to the push plate (26).

6. The robotic material gripping device according to claim 5, characterized in that, Two sealing rings (29) are coaxially fitted at the end of the central shaft (13) away from the push shaft (8); The two ends of the central shaft (13) are formed with vent holes (15) at equal angles along the circumference, and the vent holes (15) are connected to the cavity (14).

7. The robotic material gripping device according to claim 1, characterized in that, Four clamping seats (24) are fixed at equal intervals on the outer wall of the central shaft (13). Each clamping seat (24) is fixed with an electric push rod (25). The output end of the electric push rod (25) is fixed with a main wedge (23). The end of the main wedge (23) near the secondary wedge (17) abuts against the secondary wedge (17) through an inclined surface.

8. The robotic material gripping device according to claim 7, characterized in that, A collar (16) is fixedly connected to the outer coaxial line of the central shaft (13). A pad (19) is fixedly connected to one end of the secondary wedge block (17) near the push shaft (8). A return spring (18) is provided at one end of the pad (19) near the collar (16). One end of the return spring (18) is fixedly connected to the pad (19), and the other end is fixedly connected to the collar (16). A guide pin (20) is fixedly connected to the middle of the pad (19), and a guide sleeve (21) is keyed to the guide pin (20). The guide sleeve (21) is fixedly connected to the collar (16).

9. The robotic material gripping device according to claim 8, characterized in that, The outer side of the secondary wedge (17) is fitted with a rubber sleeve (22).

10. The robotic material gripping device according to claim 1, characterized in that, A center pin (34) is fixed in the middle of the tripod (33), and the center pin (34) is keyed to the main plate (3). A positioning spring (35) is sleeved on the outside of the center pin (34). One end of the positioning spring (35) is fixed to the tripod (33), and the other end is fixed to the main plate (3).

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