Manipulator grabbing device based on multiple sensors

Abstract

The invention discloses a manipulator grabbing device based on multiple sensors, and relates to the technical field of manipulators, the manipulator grabbing device comprises a main grabbing device, an auxiliary grabbing device is rotatably mounted at the lower end of the main grabbing device, and clamping claws are fixedly mounted at the two ends of the bottom of the main grabbing device and the two ends of the bottom of the auxiliary grabbing device. According to the mechanical arm grabbing device based on the multiple sensors, the main grabbing device and the auxiliary grabbing device are matched with each other, objects are grabbed, objects with irregular shapes can be grabbed conveniently, and the grabbing effect of a mechanical arm is improved; the air bag expands to support the multiple ejector rods, so that the multiple ejector rods change according to pits, protrusions or holes in the surface of the special-shaped object, then the clamping claws are attached to the surface of the object, the special-shaped object can be grabbed conveniently, and falling of the object is avoided. The extrusion force of the ejector rod is sensed through the pressure sensor, control over the object clamping force is achieved, and damage to objects which are fragile in surface and prone to deformation is avoided when the objects are grabbed.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, and more specifically, to a robotic arm grasping device based on multiple sensors. Background Technology

[0002] With the rapid development of modern industrial automation and intelligent robot technology, robotic arms, as key execution components, are finding increasingly diverse applications, encompassing industrial production, logistics and warehousing, medical assistance, aerospace exploration, and agricultural harvesting. In industrial production, robotic arms are required to precisely grasp, transport, and assemble various parts; in logistics and warehousing, they must quickly and accurately grasp goods of different shapes, sizes, and weights; in medical assistance, they must gently and stably grasp medical instruments or assist in surgical procedures; in aerospace exploration, they must reliably grasp target objects in complex space environments; and in agricultural harvesting, they must efficiently complete harvesting tasks without damaging the fruit. Currently, most robotic gripper devices have relatively limited sensing capabilities, primarily relying on visual sensors for target object identification and positioning. For objects with fragile or easily deformable surfaces, it's difficult to control the appropriate gripping force. Excessive force can damage the object, while insufficient force can lead to a weak grip and slippage. Furthermore, traditional robotic grippers lack effective adaptability. Their gripping strategies are often planned based on pre-defined object shapes and sizes. When encountering objects that differ significantly from the pre-defined model, it's difficult to quickly adjust the gripping method. Some irregularly shaped objects may have special structures such as depressions, protrusions, or holes, making it difficult for ordinary robotic arms to accurately conform to the object's surface for gripping, or problems such as jamming or detachment may occur during the gripping process. Summary of the Invention

[0003] The main objective of this invention is to provide a robotic gripping device based on multiple sensors, which can effectively solve the problems in the background art.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A multi-sensor-based robotic gripping device includes a main gripping device, a secondary gripping device rotatably mounted at the lower end of the main gripping device, and gripping claws fixedly mounted at both ends of the bottom of the main gripping device and the secondary gripping device. The gripper includes a fixed plate, a connecting frame fixedly installed on the right side of the fixed plate, a push cylinder fixedly installed on the upper end of the right side of the fixed plate, an air storage box fixedly installed on the lower end of the right side of the fixed plate, a rubber piston fixedly installed at the output end of the push cylinder, the rubber piston being movably sleeved inside the air storage box, a vent pipe fixedly connected to the bottom of the air storage box, an airbag fixedly installed on the right side inside the fixed plate, the left end of the vent pipe being connected to the airbag, a distance sensor fixedly installed on the top of the fixed plate, a rubber pad fixedly installed on the left side of the fixed plate, multiple moving grooves being opened inside the rubber pad, multiple push rods being movably sleeved on the left side of the rubber pad, a limit plate fixedly sleeved on the outer surface of the push rod, the limit plate being movably sleeved inside the moving groove, a return spring being movably sleeved on the outer surface of the right end of the push rod, the return spring being located between the limit plate and the inner wall of the moving groove.

[0005] Preferably, the ventilation tube is equipped with a solenoid valve, and a pressure sensor is fixedly connected to the left side of the airbag. The pressure sensor is electrically connected to the solenoid valve.

[0006] Preferably, the main gripping device includes a fixed column, with sliding grooves on both sides of the fixed column, a connecting shaft fixedly installed on the top of the fixed column, a lifting cylinder fixedly installed on the top of the fixed column, the lifting cylinder being located inside the connecting shaft, a lifting block fixedly installed at the output end of the lifting cylinder, the lifting block being movably sleeved inside the fixed column, a first connecting block fixedly installed on both sides of the lifting block, a first rotating rod rotatably installed inside the first connecting block, and the first connecting block being slidably installed inside the sliding groove.

[0007] Preferably, a connecting column is fixedly installed at the bottom of the fixed column, and a rotating groove is provided on both sides of the connecting column. The rotating groove is perpendicular to the orientation of the first rotating rod. A limit frame is fixedly installed on both sides of the connecting column, and a support rod is fixedly installed on the side of the limit frame. A support sleeve is fixedly installed at the bottom of the connecting column.

[0008] Preferably, a first clamping arm is rotatably mounted on the lower end of the first rotating rod, a first movable groove is provided in the middle of the first clamping arm, one end of the support rod is rotatably mounted inside the first clamping arm and movably mounted inside the first movable groove, and the bottom of the first clamping arm is fixedly connected to the top of the clamping claw.

[0009] Preferably, a rotating ring is rotatably mounted inside the connecting column, and a transmission rack is fixedly mounted on the inner wall of the rotating ring.

[0010] Preferably, the auxiliary gripping device includes a lifting sleeve, a vision sensor is fixedly connected to the bottom of the lifting sleeve, and a second connecting block is fixedly connected to both sides of the upper end of the lifting sleeve. A second rotating rod is rotatably mounted on the outer surface of the second connecting block, and a second clamping arm is rotatably mounted on the other end of the second rotating rod. A second movable groove is opened in the middle of the second clamping arm, and the second rotating rod is movably sleeved inside the second movable groove. The bottom of the second clamping arm is fixedly connected to the clamping claw, and a rotating rod is rotatably mounted on the top of both ends of the second clamping arm.

[0011] Preferably, the rotating rods at both ends are fixedly installed on both sides of the rotating ring, the rotating rods are slidably installed inside the rotating groove, a clamping motor is fixedly installed on one side of the top of the support sleeve, a drive gear is fixedly installed at the output end of the clamping motor, the drive gear is rotatably installed inside the connecting column, and the outer surface of the drive gear meshes with the transmission rack.

[0012] Preferably, a clamping cylinder is fixedly installed inside the support sleeve, the output end of the clamping cylinder is rotatably connected to the bottom wall of the lifting sleeve, and the lifting sleeve is movably sleeved on the outer surface of the support sleeve.

[0013] Compared with the prior art, the present invention has the following beneficial effects: 1. The target object is located and identified by a vision sensor, and the gripping position of the object is determined. The first gripping arms at both ends rotate to the best gripping position of the object. The rotating rod rotates inside the rotating groove, so that the gripping claws at the bottom of the second gripping arms at both ends rotate to other suitable gripping positions of the object. The main gripping device and the auxiliary gripping device work together to grip the object, which is convenient for gripping objects with irregular shapes and improves the gripping effect of the robot arm. 2. Multiple push rods are squeezed by the shape of the object. The gas inside the air tank enters the air bladder through the vent pipe, causing the air bladder to expand and support the multiple push rods. The multiple push rods change according to the concavity, convexity or hole of the surface of the irregular object, so that the gripper claws fit into the surface of the object, making it easier to grasp the irregular object and preventing the object from falling. 3. The pressure sensor senses the squeezing force of the top rod. When the pressure sensor senses that the squeezing force of the object reaches the set value, the solenoid valve is controlled by an electrical signal to close the air pipe, so that the airbag stops inflating. This controls the clamping force of the object and avoids damage when grasping fragile or easily deformable objects. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the main gripping device of the present invention; Figure 3 For the present invention Figure 2 Schematic diagram of the structure at point A in the middle; Figure 4 This is a schematic diagram of the secondary gripping device of the present invention; Figure 5 This is a schematic diagram of the bottom structure of the auxiliary gripping device of the present invention; Figure 6 This is a schematic diagram of the clamping claw structure of the present invention.

[0015] The attached figures are labeled as follows: 1. Main gripping device; 2. Secondary gripping device; 3. Clamping claw; 11. Fixed column; 12. Sliding groove; 13. Connecting shaft; 14. Lifting cylinder; 15. Lifting block; 16. First connecting block; 17. First rotating rod; 18. First clamping arm; 19. First movable groove; 110. Connecting column; 111. Rotating groove; 112. Limiting frame; 113. Support sleeve; 114. Support rod; 115. Clamping cylinder; 116. Clamping motor; 117. Drive gear; 21. Lifting sleeve; 22. Visual inspection. 23. Sensor; 24. Second connecting block; 25. Second rotating rod; 26. Second clamping arm; 27. Second movable groove; 28. Rotating rod; 29. ​​Rotating ring; 30. Transmission rack; 31. Fixed plate; 32. Connecting frame; 33. Air tank; 34. Push cylinder; 35. Rubber piston; 36. Vent pipe; 37. Solenoid valve; 38. Distance sensor; 39. Airbag; 310. Rubber pad; 311. Moving groove; 312. Push rod; 313. Limiting plate; 314. Return spring; 315. Pressure sensor. Detailed Implementation

[0016] To make the technical problems, technical solutions and advantages of the present invention clearer, a detailed description will be given below in conjunction with the accompanying drawings and specific embodiments.

[0017] Example 1, as shown in the appendix Figure 1 To be continued Figure 5 As shown, an embodiment of the present invention provides a multi-sensor-based robotic gripping device, including a main gripping device 1 and a secondary gripping device 2. The secondary gripping device 2 is rotatably mounted on the lower end of the main gripping device 1, and gripping claws 3 are fixedly mounted on both ends of the bottom of the main gripping device 1 and the secondary gripping device 2. like Figure 2As shown, the main gripping device 1 includes a fixed column 11, with sliding grooves 12 on both sides of the fixed column 11. A connecting shaft 13 is fixedly installed on the top of the fixed column 11, and a lifting cylinder 14 is fixedly installed on the top of the fixed column 11. The lifting cylinder 14 is located inside the connecting shaft 13, and a lifting block 15 is fixedly installed at the output end of the lifting cylinder 14. The lifting block 15 is movably sleeved inside the fixed column 11, and a first connecting block 16 is fixedly installed on both sides of the lifting block 15. A first rotating rod 17 is rotatably installed inside the first connecting block 16, and the first connecting block 16 is slidably installed inside the sliding groove 12.

[0018] like Figure 3 As shown, a connecting column 110 is fixedly installed at the bottom of the fixed column 11. Rotating grooves 111 are provided on both sides of the connecting column 110. The rotating grooves 111 are perpendicular to the orientation of the first rotating rod 17. Limiting frames 112 are fixedly installed on both sides of the connecting column 110. Support rods 114 are fixedly installed on the side of the limiting frames 112. A support sleeve 113 is fixedly installed at the bottom of the connecting column 110.

[0019] The lower end of the first rotating rod 17 is rotatably mounted with a first clamping arm 18. The middle part of the first clamping arm 18 is provided with a first movable groove 19. One end of the support rod 114 is rotatably mounted inside the first clamping arm 18 and movably mounted inside the first movable groove 19. The bottom of the first clamping arm 18 is fixedly connected to the top of the clamping claw 3.

[0020] Specifically, the lifting cylinder 14 controls the lifting block 15 to descend inside the fixed column 11, causing the lifting block 15 to push one end of the first rotating rod 17 to descend, causing the first rotating rod 17 to push the top of the first clamping arm 18, causing the first clamping arm 18 to rotate around one end of the support rod 114, and causing the clamping claws 3 at the bottom of the two ends of the first clamping arms 18 to rotate, thereby achieving the grasping of the object.

[0021] like Figure 4 As shown, a rotating ring 28 is rotatably mounted inside the connecting column 110, and a transmission rack 29 is fixedly mounted on the inner wall of the rotating ring 28.

[0022] like Figure 5 As shown, the auxiliary gripping device 2 includes a lifting sleeve 21 and a vision sensor 22. The bottom of the lifting sleeve 21 is fixedly connected to the vision sensor 22. The upper ends of the lifting sleeve 21 are fixedly connected to both sides of a second connecting block 23. A second rotating rod 24 is rotatably mounted on the outer surface of the second connecting block 23. A second clamping arm 25 is rotatably mounted on the other end of the second rotating rod 24. A second movable groove 26 is opened in the middle of the second clamping arm 25. The second rotating rod 24 is movably sleeved inside the second movable groove 26. The bottom of the second clamping arm 25 is fixedly connected to the gripping claw 3. Rotating rods 27 are rotatably mounted on the top of both ends of the second clamping arm 25.

[0023] Specifically, during the object grasping process, the main gripping device 1 and the auxiliary gripping device 2 use the vision sensor 22 to locate and identify the target object, determine the gripping position of the object, and control the mechanical claw to rotate through the robotic arm, so that the first gripping arms 18 at both ends rotate to the optimal gripping position of the object, thereby improving the gripping effect of the robotic arm.

[0024] Among them, the two rotating rods 27 are fixedly installed on both sides of the rotating ring 28, and the rotating rods 27 are slidably installed inside the rotating groove 111. A clamping motor 116 is fixedly installed on one side of the top of the support sleeve 113. A drive gear 117 is fixedly installed at the output end of the clamping motor 116. The drive gear 117 is rotatably installed inside the connecting column 110. The outer surface of the drive gear 117 meshes with the transmission rack 29.

[0025] The clamping motor 116 controls the drive gear 117 to rotate. Through the meshing action of the drive gear 117 and the transmission rack 29, the rotating ring 28 rotates inside the connecting column 110, causing the rotating rod 27 to rotate inside the rotating groove 111. This causes the clamping claws 3 at the bottom of the second clamping arms 25 at both ends to rotate to other suitable gripping positions of the object. Through the cooperation of the main gripping device 1 and the auxiliary gripping device 2, the object is gripped, which is convenient for gripping objects with irregular shapes and improves the gripping effect of the robot arm.

[0026] like Figure 4 As shown, a clamping cylinder 115 is fixedly installed inside the support sleeve 113. The output end of the clamping cylinder 115 is rotatably connected to the bottom wall of the lifting sleeve 21, and the lifting sleeve 21 is movably sleeved on the outer surface of the support sleeve 113.

[0027] The clamping cylinder 115 controls the lifting sleeve 21 to rise and fall on the outer surface of the support sleeve 113. When the lifting sleeve 21 rises on the outer surface of the support sleeve 113, the second connecting block 23 pulls the second rotating rod 24 to rise, causing the second clamping arm 25 to rotate around the rotating rod 27. The clamping claws 3 at the bottom of the two ends of the second clamping arm 25 move closer to each other, thereby grasping the object.

[0028] Example 2, as Figures 1-6As shown, an embodiment of the present invention provides a multi-sensor-based robotic gripping device. The gripper 3 includes a fixed plate 31, a rubber pad 310, and multiple push rods 312. A connecting frame 32 is fixedly installed on the right side of the fixed plate 31. A push cylinder 34 is fixedly installed on the upper end of the right side of the fixed plate 31, and an air storage tank 33 is fixedly installed on the lower end of the right side of the fixed plate 31. A rubber piston 35 is fixedly installed on the output end of the push cylinder 34. The rubber piston 35 is movably sleeved inside the air storage tank 33. A vent pipe 36 is fixedly connected to the bottom of the air storage tank 33. An air bladder 3 is fixedly installed on the right side inside the fixed plate 31. 9. The left end of the ventilator 36 is connected to the airbag 39. A distance sensor 38 is fixedly installed on the top of the fixing plate 31. A rubber pad 310 is fixedly installed on the left side of the fixing plate 31. Multiple moving grooves 311 are opened inside the rubber pad 310. Multiple push rods 312 are movably sleeved on the left side of the rubber pad 310. A limit plate 313 is fixedly sleeved on the outer surface of the push rod 312. The limit plate 313 is movably sleeved inside the moving groove 311. A return spring 314 is movably sleeved on the outer surface of the right end of the push rod 312. The return spring 314 is located between the limit plate 313 and the inner wall of the moving groove 311.

[0029] In this example, when the gripper 3 grasps the object, the multiple push rods 312 are squeezed by the shape of the object, pushing the push rods 312 to retract into the moving groove 311. The return spring 314 is compressed, and then the cylinder 34 pushes the rubber piston 35 to descend inside the air tank 33, so that the gas inside the air tank 33 enters the air bag 39 through the vent pipe 36, causing the air bag 39 to expand and support the multiple push rods 312. The multiple push rods 312 change according to the concavity, convexity or hole of the surface of the irregular object, so that the gripper 3 fits against the surface of the object, which is convenient for grasping the irregular object and prevents the object from falling.

[0030] Example 3, as Figures 1-6 As shown, an embodiment of the present invention provides a robotic gripping device based on multiple sensors. An electromagnetic valve 37 is installed inside the air pipe 36, and a pressure sensor 315 is fixedly connected to the left side of the airbag 39. The pressure sensor 315 is electrically connected to the electromagnetic valve 37.

[0031] When the airbag 39 inflates, it supports multiple push rods 312 and senses the squeezing force of the push rods 312 through the pressure sensor 315. When the pressure sensor 315 senses that the squeezing force of the object reaches the set value, it controls the solenoid valve 37 to close the air pipe 36 through an electrical signal, so that the airbag 39 stops inflating, thereby realizing the control of the clamping force of the object and avoiding damage when grasping objects with fragile or easily deformable surfaces.

[0032] The working process of this invention is as follows: During the object grasping process, the main gripping device 1 and the auxiliary gripping device 2 use a vision sensor 22 to locate and identify the target object, determine the grasping position, and control the mechanical claws to rotate via a robotic arm. This causes the first gripping arms 18 at both ends to rotate to the optimal gripping position. The lifting cylinder 14 controls the lifting block 15 to descend inside the fixed column 11, causing the lifting block 15 to push one end of the first rotating rod 17 downwards. This causes the first rotating rod 17 to push the top of the first gripping arm 18, causing the first gripping arm 18 to rotate around one end of the support rod 114. This also causes the gripping claws 3 at the bottom of the first gripping arms 18 to rotate, thus achieving the grasping of the object. The object is grasped, and then the clamping motor 116 controls the drive gear 117 to rotate. Through the meshing action of the drive gear 117 and the transmission rack 29, the rotating ring 28 rotates inside the connecting column 110, causing the rotating rod 27 to rotate inside the rotating groove 111. This causes the clamping claws 3 at the bottom of the second clamping arms 25 at both ends to rotate to other suitable positions for grasping the object. The clamping cylinder 115 controls the lifting sleeve 21 to rise on the outer surface of the support sleeve 113. The second connecting block 23 pulls the second rotating rod 24 to rise, causing the second clamping arm 25 to rotate around the rotating rod 27. The clamping claws 3 at the bottom of the second clamping arms 25 at both ends move closer to each other, thus achieving auxiliary grasping of the object. When the gripper 3 grasps the object, the multiple push rods 312 are squeezed by the shape of the object, pushing the push rods 312 to retract into the moving groove 311. The return spring 314 is compressed, and then the cylinder 34 pushes the rubber piston 35 to descend inside the air tank 33, so that the gas inside the air tank 33 enters the air bag 39 through the vent pipe 36, causing the air bag 39 to inflate and support the multiple push rods 312. The multiple push rods 312 change according to the concavity, convexity or hole of the surface of the irregular object, and the gripper 3 fits against the surface of the object to realize the grasping of the object. When the airbag 39 inflates, it supports multiple push rods 312 and senses the squeezing force of the push rods 312 through the pressure sensor 315. When the pressure sensor 315 senses that the squeezing force of the object reaches the set value, it controls the solenoid valve 37 to close the air pipe 36 through an electrical signal, so that the airbag 39 stops inflating, thereby realizing the control of the clamping force of the object and avoiding damage when grasping objects with fragile or easily deformable surfaces.

[0033] Finally, it should be noted that: the accompanying drawings of the embodiments disclosed in this invention only involve structures related to the embodiments disclosed in this invention; other structures can refer to general designs. In the absence of conflict, the same embodiment and different embodiments of this invention can be combined with each other. The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A multi-sensor-based robotic gripping device, comprising a main gripping device (1), characterized in that: The main gripping device (1) is rotatably mounted with a secondary gripping device (2), and both ends of the bottom of the main gripping device (1) and the secondary gripping device (2) are fixedly mounted with gripping claws (3). The clamping claw (3) includes a fixed plate (31), a connecting frame (32) is fixedly installed on the right side of the fixed plate (31), a push cylinder (34) is fixedly installed on the upper end of the right side of the fixed plate (31), and an air storage box (33) is fixedly installed on the lower end of the right side of the fixed plate (31). A rubber piston (35) is fixedly installed at the output end of the push cylinder (34). The rubber piston (35) is movably sleeved inside the air storage box (33). A vent pipe (36) is fixedly connected to the bottom of the air storage box (33). An airbag (39) is fixedly installed on the right side inside the fixed plate (31). The left end of the vent pipe (36) is connected to the airbag (39). A ranging sensor (38) is fixedly installed on the top of the fixed plate (31). A rubber pad (310) is fixedly installed on the left side of the fixed plate (31). Multiple moving grooves (311) are opened inside the rubber pad (310). Multiple push rods (312) are movably sleeved on the left side of the rubber pad (310). A limiting plate (313) is fixedly sleeved on the outer surface of the push rod (312). The limiting plate (313) is movably sleeved inside the moving groove (311). A return spring (314) is movably sleeved on the outer surface of the right end of the push rod (312). The return spring (314) is located between the limiting plate (313) and the inner wall of the moving groove (311).

2. The robotic gripper based on multiple sensors according to claim 1, characterized in that: The ventilation tube (36) is equipped with a solenoid valve (37), and a pressure sensor (315) is fixedly connected to the left side of the airbag (39). The pressure sensor (315) is electrically connected to the solenoid valve (37).

3. The robotic gripping device based on multiple sensors according to claim 1, characterized in that: The main gripping device (1) includes a fixed column (11), and sliding grooves (12) are provided on both sides of the fixed column (11). A connecting shaft (13) is fixedly installed on the top of the fixed column (11). A lifting cylinder (14) is fixedly installed on the top of the fixed column (11). The lifting cylinder (14) is located inside the connecting shaft (13). A lifting block (15) is fixedly installed at the output end of the lifting cylinder (14). The lifting block (15) is movably sleeved inside the fixed column (11). A first connecting block (16) is fixedly installed on both sides of the lifting block (15). A first rotating rod (17) is rotatably installed inside the first connecting block (16). The first connecting block (16) is slidably installed inside the sliding groove (12).

4. The robotic gripper based on multiple sensors according to claim 3, characterized in that: A connecting column (110) is fixedly installed at the bottom of the fixed column (11). A rotating groove (111) is provided on both sides of the connecting column (110). The rotating groove (111) is perpendicular to the first rotating rod (17). A limit frame (112) is fixedly installed on both sides of the connecting column (110). A support rod (114) is fixedly installed on the side of the limit frame (112). A support sleeve (113) is fixedly installed at the bottom of the connecting column (110).

5. A robotic gripping device based on multiple sensors according to claim 4, characterized in that: The lower end of the first rotating rod (17) is rotatably mounted with a first clamping arm (18), and the middle part of the first clamping arm (18) is provided with a first movable groove (19). One end of the support rod (114) is rotatably mounted inside the first clamping arm (18) and movably mounted inside the first movable groove (19). The bottom of the first clamping arm (18) is fixedly connected to the top of the clamping claw (3).

6. A robotic gripping device based on multiple sensors according to claim 5, characterized in that: A rotating ring (28) is rotatably mounted inside the connecting column (110), and a transmission rack (29) is fixedly mounted on the inner wall of the rotating ring (28).

7. A robotic gripping device based on multiple sensors according to claim 6, characterized in that: The auxiliary gripping device (2) includes a lifting sleeve (21). A vision sensor (22) is fixedly connected to the bottom of the lifting sleeve (21). A second connecting block (23) is fixedly connected to both sides of the upper end of the lifting sleeve (21). A second rotating rod (24) is rotatably installed on the outer surface of the second connecting block (23). A second clamping arm (25) is rotatably installed at the other end of the second rotating rod (24). A second movable groove (26) is opened in the middle of the second clamping arm (25). The second rotating rod (24) is movably sleeved inside the second movable groove (26). The bottom of the second clamping arm (25) is fixedly connected to the clamping claw (3). Rotating rods (27) are rotatably installed on the top of the second clamping arms (25) at both ends.

8. A robotic gripping device based on multiple sensors according to claim 7, characterized in that: The rotating rods (27) at both ends are fixedly installed on both sides of the rotating ring (28). The rotating rods (27) are slidably installed inside the rotating groove (111). A clamping motor (116) is fixedly installed on one side of the top of the support sleeve (113). A drive gear (117) is fixedly installed at the output end of the clamping motor (116). The drive gear (117) is rotatably installed inside the connecting column (110). The outer surface of the drive gear (117) meshes with the transmission rack (29).

9. A robotic gripping device based on multiple sensors according to claim 8, characterized in that: A clamping cylinder (115) is fixedly installed inside the support sleeve (113). The output end of the clamping cylinder (115) is rotatably connected to the bottom wall of the lifting sleeve (21). The lifting sleeve (21) is movably sleeved on the outer surface of the support sleeve (113).

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