Material clamping device and clamping method

Abstract

The invention discloses a material clamping device and method, a robot is internally provided with a mechanical arm, the mechanical arm is internally provided with a linear rotating motor and a collector, and the material clamping device comprises a clamping device arranged on the mechanical arm; the clamping device comprises a connecting base arranged on the mechanical arm; the moving part is arranged on the linear rotating motor, is positioned in the connecting seat and can rotate and linearly move; the driving part is arranged on the mechanical arm and is driven by the moving part; the first clamping jaw is arranged on the connecting seat and is driven by the moving part; and the second clamping jaw is arranged in the first clamping jaw and is driven by the driving piece. According to the material clamping device and method, the first clamping jaw and the second clamping jaw are integrally arranged and correspond to the heavy-weight form and the light-weight form respectively, and cooperative transmission of the moving part and the driving part driven by the linear rotating motor is combined, so that rotating and overturning actions of the clamping jaws can be synchronously realized without configuring a plurality of driving sources; the structure is effectively simplified, the load of the mechanical arm is reduced, and the movement flexibility is improved.

Description

Technical Field

[0001] This invention relates to the field of industrial robot technology, specifically to a material clamping device and clamping method. Background Technology

[0002] Material gripping devices for industrial robots are core components in automated production, widely used in scenarios such as handling and assembling various types of materials. In existing technologies, the grippers of these devices often employ a single-form design, adaptable only to materials of specific weight or size. For example, flexible grippers are designed specifically for lightweight, small materials, while heavy-duty grippers are designed for large, heavy materials. This makes it difficult to accommodate the gripping needs of materials of different specifications. In multi-category mixed-line production, frequent gripper changes or equipment adjustments are required, leading to low production efficiency. Furthermore, the drive structures of most gripping devices are complex, with multiple grippers typically requiring independent drive sources. This not only increases the load on the robotic arm and the size of the device but also reduces its mobility. Moreover, the movement of the grippers is limited to a single opening and closing motion, lacking coordinated rotational and linear motion, making it impossible to quickly adjust the gripping angle and position according to the material's posture, further affecting gripping accuracy.

[0003] Furthermore, existing gripping devices lack an effective linkage mechanism between the material information collected by the data collector and the gripper's movements, making it difficult to automatically match the corresponding gripping structure and motion mode based on the material's size, material, and other information. Simultaneously, the unreasonable transmission design between the drive unit and the gripper results in poor coordination among multiple grippers, delayed response when switching gripping modes, and a tendency for material slippage and damage. Especially in complex production scenarios, a single drive source cannot simultaneously achieve gripper posture adjustment and gripping movements, leading to insufficient adaptability and efficiency of the gripping device. This makes it difficult to meet the demands of high-precision, high-continuity production, limiting the application scope of industrial robots in multi-category material handling scenarios. Summary of the Invention

[0004] The purpose of this invention is to provide a material clamping device to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a material clamping device mounted on a robot, wherein the robot has a robotic arm, and the robotic arm has a linear rotary motor and a collector, comprising: A gripper is provided on the robotic arm; The clamp includes: A connecting seat is provided on the robotic arm; A movable component, which is mounted on the linear rotary motor and located within the connecting seat, is capable of rotation and linear motion; A driving component, which is mounted on the robotic arm and is driven by the moving component; The first gripper is disposed on the connecting seat and is driven by the moving component; The second gripper is disposed within the first gripper and is driven by the drive member.

[0006] Preferably, the movable component is provided with a snap-fit ​​block; The drive component has a snap-fit ​​slot; The size of the snap-fit ​​block and the snap-fit ​​slot are matched, and the snap-fit ​​block can drive the first gripper and drive the driving component to move simultaneously when moving in a straight line.

[0007] Preferably, the second gripper is provided with an eccentric wheel, one end of which is connected to the traction line, and the other end is provided on the driving member. When the driving member moves, it drives the second gripper to rotate.

[0008] Preferably, the connecting seat is provided with a drive gear that meshes with the moving part, and a transmission unit is connected to the drive gear; The transmission unit includes a first transmission arm disposed on the drive gear, and the output end of the first transmission arm is connected to the first gripper. The transmission unit further includes a second transmission arm disposed in the connecting seat, and a return spring is connected to one end of the second transmission arm; Both the first and second transmission arms have through holes for being threaded through by the traction line and connected to the drive component.

[0009] Preferably, the first gripper is provided with a connecting hole and a mounting groove; The connecting hole is used to connect to the second gripper, and the mounting groove is used to accommodate the second gripper.

[0010] Preferably, one end of the second gripper is provided with an adapter shaft, the adapter shaft is provided with a connecting pipe, and an air pump is connected to the connecting pipe for pumping air into the second gripper; A tension chamber is provided on one side of the second gripper, and the tension chambers are arranged in a linear array. The tension chambers are used to change the bending angle of the second gripper. The second gripper is provided with a support plate for supporting the second gripper.

[0011] Preferably, the second gripper is further provided with a connecting shaft, which is connected to the connecting hole and is used to rotate the second gripper.

[0012] A material clamping method includes the following steps: S1: Use the collector to collect information on the clamped item, evaluate it, and label it; S2: Set preset working conditions for the first gripper and the second gripper, and set basic characteristics and optional modules; S3: Evaluate the label in S1, lock the basic form in S2, trigger the optional module, and determine whether to switch the current working form; S4: After activating the module in S2, the clamping force and contact point parameters are automatically adjusted; S5: Extract and upload feedback information, evaluate the clamping information. If the feedback information is positive, continue working; if the feedback information is negative, return to step S2 and perform iterative optimization until the obtained feedback information is positive.

[0013] Preferably, in step S2, the first gripper operates in heavy-duty mode B, and the second gripper operates in lightweight mode A. The basic characteristics of form A include: gentle clamping, fine clamping, and low-pressure clamping; The optional activation modules of the form A include: an endpoint clamping module, a multi-contact clamping module, and a full-wrap clamping module; The basic characteristics of form B include: strong clamping force, planar area clamping, and highly stable clamping. The optional activation modules of the form B include: a center of gravity compensation module and an energy consumption optimization module.

[0014] Preferably, the iterative optimization in S5 is as follows: after activating the module, if the clamped item slides down, then the activatable module is replaced; If replacing the activation module does not improve the gripping effect, continue replacing the activation module in the following order: the endpoint gripping module, the multi-contact gripping module, the full-wrap gripping module, and the center of gravity compensation module. The full-wrap clamping module includes the multi-contact clamping module and the endpoint clamping module; The multi-contact clamping module includes the endpoint clamping module.

[0015] Compared with the prior art, the beneficial effects of the present invention are: This material gripping device and method integrates the first and second grippers, corresponding to heavy-duty and lightweight configurations respectively. Combined with the coordinated transmission of the moving and driving components driven by a linear rotary motor, it achieves simultaneous rotation, linear motion, and flipping of the grippers without requiring multiple additional drive sources. This simplifies the structure, reduces the load on the robotic arm, and improves movement flexibility. Furthermore, it collects material information and matches it with corresponding basic configurations and optional modules, enabling precise adaptation to materials of different weights and sizes. This avoids the hassle of frequent gripper changes and significantly improves the efficiency of multi-product mixed-line production. Simultaneously, the coordination of the eccentric wheel, traction line, and transmission unit ensures the synergy of the dual gripper movements. Modular activation design and iterative optimization mechanisms further reduce the risk of material slippage and damage, significantly improving gripping accuracy and stability. This effectively solves the problems of poor adaptability and insufficient efficiency in existing gripping devices, broadening the application scope of industrial robots in multi-scenario material handling. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the structure of state B of the present invention; Figure 3 This is a schematic diagram of the structure of state A of the present invention; Figure 4 For the present invention Figure 3 Enlarged structural diagram at point A; Figure 5 This is a schematic diagram of the structure of the first gripper of the present invention; Figure 6 This is a schematic diagram of the transmission unit structure of the present invention; Figure 7 This is a schematic diagram of the structure of the second gripper of the present invention; Figure 8 This is a schematic diagram of the internal structure of the second gripper of the present invention; Figure 9 This is a schematic diagram showing the opening state of the second gripper of the present invention; Figure 10 This is a diagram illustrating the opening and closing process of the second gripper of the present invention; Figure 11 This is a flowchart of the material clamping method of the present invention.

[0017] In the diagram: 1. Robot; 11. Robotic arm; 12. Collector; 2. Gripper; 21. Connector; 22. Drive unit; 221. Limiting bar; 222. Snap-fit ​​groove; 23. Moving part; 231. Snap-fit ​​block; 24. Drive gear; 25. Transmission unit; 251. First transmission arm; 2511. Insertion hole; 252. Second transmission arm; 2521. Return spring; 26. First gripper; 261. Connecting hole; 262. Placement groove; 27. Second gripper; 271. Tension chamber; 272. Eccentric wheel; 2721. Traction line; 273. Connecting shaft; 274. Connecting pipe; 275. Adaptor shaft; 276. Support plate. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] Please see Figure 1 , Figure 2 , Figure 5 and Figure 6 This invention provides a technical solution: a material clamping device mounted on a robot 1. The robot 1 drives a first gripper 26 and a second gripper 27, causing the first gripper 26 and the second gripper 27 to change angles. The robot 1 includes a robotic arm 11, which contains a linear rotary motor and a collector 12. The linear rotary motor drives a moving component 23 to perform linear and rotary movements. When the moving component 23 moves linearly, it drives a drive gear 24, thereby causing the first gripper 26 to open and close. When the moving component 23 rotates, it changes the angle of a locking block 231 so that it can lock onto a driving component 22. After locking onto the driving component 22, the linear movement is repeated, causing the driving component 22 to move linearly again, thereby flipping the second gripper 27 out and changing form B to form A. Gripper 2, which is mounted on robotic arm 11, includes: A connecting seat 21 is mounted on the robotic arm 11. The connecting seat 21 has a drive gear 24 that meshes with the moving part 23. A transmission unit 25 is connected to the drive gear 24. The rotation of the drive gear 24 transmits power to the first gripper 26 through the transmission unit 25, driving the first gripper 26 to perform a gripping movement. A return spring 2521 on the second transmission arm 252 assists the transmission unit 25 in resetting. The transmission unit 25 includes a first transmission arm 251 mounted on the drive gear 24. The output end of the first transmission arm 251 is connected to the first gripper 26. The transmission unit 25 also includes a second transmission arm 252 mounted in the connecting seat 21. One end of the second transmission arm 252 is connected to the return spring 2521, which is used to reset the first gripper 26. Both the first transmission arm 251 and the second transmission arm 252 have through holes 2511, which are used for the traction line 2721 to pass through and connect to the driving part 22.

[0020] After robot 1 moves robotic arm 11 to the material area, collector 12 first collects material information to match the corresponding gripping mode and optional modules. Then, the linear rotary motor in robotic arm 11 drives the moving part 23 to move. When the moving part 23 moves linearly, it meshes with the drive gear 24. The drive gear 24 transmits power to the first gripper 26 through the first transmission arm 251 and the second transmission arm 252 of the transmission unit 25, causing the first gripper 26 to open and close. At this time, the first gripper 26 completes the initial gripping of the material in heavy-load mode B. When it is necessary to switch to lightweight mode A, the linear rotary motor drives the moving part 23 to rotate to adjust the angle of the locking block 231, so that the locking block 231 is precisely engaged with the locking groove 222 of the drive part 22. The moving part 23 moves linearly again, driving the driving part 22 to move synchronously. The driving part 22 pulls the eccentric wheel 272 of the second gripper 27 through the traction line 2721 that passes through the insertion hole 2511 of the first transmission arm 251 and the second transmission arm 252, so that the second gripper 27 flips out of the mounting slot 262 of the first gripper 26. Through the integrated design of the first gripper 26 and the second gripper 27 and the coordinated transmission of the moving part 23 and the driving part 22, the two gripping modes can be quickly switched without an additional driving source. This simplifies the overall structure, reduces the load on the robotic arm 11, and, combined with the information matching of the collector 12, achieves accurate adaptation of materials of different weights and sizes, effectively improving gripping stability and production efficiency, and avoiding material slippage or damage.

[0021] Please see Figure 6The movable component 23 is mounted on a linear rotary motor and located within the connecting seat 21. It is capable of rotation and linear movement. The movable component 23 is provided with a locking block 231, and the driving component 22 is provided with a locking groove 222. There are two locking blocks 231. The size between the two locking blocks 231 is consistent with the thickness of the driving component 22, thereby ensuring that the driving component 22 can be locked by the two locking blocks 231. The sizes of the locking blocks 231 and the locking groove 222 are matched. This design ensures that when the movable component 23 rotates and moves backward in a straight line, it can pass through the driving component 22. After the locking block 231 locks the driving component 22, it can drive the first gripper 26 and drive the driving component 22 to move simultaneously during linear movement. The driving component 22 is used to flip out the second gripper 27 and change its shape.

[0022] The movable member 23, mounted on a linear rotary motor and located within the connecting seat 21, can achieve rotation and linear motion. The dimension between the two locking blocks 231 on the movable member 23 is consistent with the thickness dimension of the driving member 22, and the locking blocks 231 match the dimensions of the locking slots 222 on the driving member 22. When it is necessary to switch the clamping mode, the linear rotary motor first drives the movable member 23 to rotate to adjust the angle of the locking blocks 231. Then, the movable member 23 moves backward in a straight line and passes through the driving member 22, so that the two locking blocks 231 precisely engage with the driving member 22. Afterward, the movable member 23 continues its linear motion. While driving the first gripper 26 to move, the driving component 22 is moved simultaneously, which in turn drives the second gripper 27 to flip out, thus achieving a change in gripping mode. This design ensures the stability and accuracy of the clamping by matching the size of the locking block 231 and the driving component 22. With the coordinated rotation and linear motion of the moving component 23, the first gripper 26 can be driven and the second gripper 27 can be flipped simultaneously without the need for an additional drive source. This simplifies the transmission structure, reduces the complexity of the device, and improves the response speed and reliability of the gripping mode switching, effectively avoiding problems such as jamming or drive failure during the switching process.

[0023] Please see Figure 5 , Figure 6 The first gripper 26 is mounted on the connecting seat 21 and driven by the moving member 23. The first gripper 26 has a connecting hole 261 and a mounting groove 262. The connecting hole 261 is used to connect with the second gripper 27, and the mounting groove 262 is used to accommodate the second gripper 27. When the second gripper 27 is stored in the mounting groove 262, the first gripper 26 is in operation. When the second gripper 27 is flipped out, the second gripper 27 is in operation.

[0024] Please see Figure 3 , Figure 4 , Figures 7-10The drive component 22 is mounted on the robotic arm 11 and is driven by the moving component 23. The second gripper 27 is located in the first gripper 26 and is driven by the drive component 22. The second gripper 27 is equipped with an eccentric wheel 272. When the drive component 22 moves, the traction line 2721 connecting the drive component 22 and the second gripper 27 pulls the eccentric wheel 272 to rotate via the connecting shaft 273, thereby driving the second gripper 27 to flip out of the mounting slot 262. One end of the traction line 2721 is connected to the eccentric wheel 272, and the other end is located on the drive component 22. The drive component 22 moves... When the drive unit moves, it drives the second gripper 27 to rotate. The design of the eccentric wheel 272 is similar to that of a compound bow. After the traction line 2721 drives the eccentric wheel 272 to rotate to a certain extent, the tension of the traction line 2721 becomes constant, effectively alleviating the motion fatigue of the drive component 22. The drive component 22 is provided with a limiting strip 221 on the side near the robotic arm 11. The robotic arm 11 has a limiting hole with the same size as the limiting strip 221. When the drive component 22 moves, the limiting strip 221 moves synchronously in the limiting hole, which can limit the drive component 22 and ensure the second gripper 27 rotates. The gripper 27 is stable during operation. A torsion spring is fitted between the connecting shaft 273 and the connecting hole 261. The torsion spring allows the second gripper 27 to return to its original rotation position in the mounting slot 262. One end of the second gripper 27 is equipped with an adapter shaft 275. The adapter shaft 275 prevents compression of the connecting pipe 274 and the air pump connection pipe when the second gripper 27 rotates. Prolonged compression can easily cause irreversible damage to the air pipe. The adapter shaft 275 is equipped with a connecting pipe 274, and an air pump is connected to the connecting pipe 274 to pump air into the second gripper 27. Tension chambers 271 are provided on one side of the gripper 27. These tension chambers 271 are arranged in a linear array and are used to change the bending angle of the second gripper 27. Due to the presence of tension chambers 271, the tension of the second gripper 27 on the side connected to the tension chamber 271 is weaker than on the side not connected to the tension chamber 271. When the air pump continuously pumps air into the inside of the second gripper 27, the airflow enters the tension chamber 271, causing the tension in the tension chamber 271 to increase. At this time, the second gripper 27 will bend towards the side not connected to the tension chamber 271, i.e., towards the inside. Figure 6As shown, the current state is the clamping state. When the air pump draws air into the inside of the second gripper 27, the side connected to the tension chamber 271, i.e., the outside, retracts in advance. At this time, the inside of the second gripper 27 bends outward, i.e., the open state. The second gripper 27 is made of TPU material, which has excellent comprehensive properties such as high strength, high toughness, wear resistance, and oil resistance. The state changes from the end-point clamping module, the multi-contact clamping module, and the full-wrap clamping module by controlling the air pressure of the air pump. When the air pressure is higher, the gripper moves inward deeper until the full-wrap clamping module is completed. The second gripper 27 has a support plate 276 for supporting the second gripper 27. The support plate 276 is used to support the second gripper 27. The second gripper 27 also has a connecting shaft 273, which is connected to the connecting hole 261 and is used to rotate the second gripper 27.

[0025] The first gripper 26, located on the connecting seat 21, is connected to the second gripper 27 via the connecting hole 261. Normally, the second gripper 27 is housed in the mounting groove 262 of the first gripper 26, at which point the first gripper 26 performs the clamping operation. When it is necessary to switch to the second gripper 27, the driving component 22, driven by the moving component 23, moves. The traction line 2721 connecting the driving component 22 and the eccentric wheel 272 of the second gripper 27 pulls the eccentric wheel 272. With the cooperation of the connecting shaft 273 and the connecting hole 261, the second gripper 27 flips out of the mounting groove 262. The eccentric wheel 272 adopts a design similar to a compound bow. After the traction line 2721 pulls it to rotate to a certain extent, the tension becomes constant, effectively alleviating the fatigue of the driving component 22 and ensuring the stable working state of the second gripper 27. The torsion spring assembled between the connecting shaft 273 and the connecting hole 261 is used to reset the second gripper 27 back into the mounting groove 262. The adapter shaft 275 at one end of the second gripper 27 can prevent it from squeezing the connecting tube 274 when rotating, thus protecting the connection stability between the connecting tube 274 and the air pump. The air pump pumps or evacuates air to the second gripper 27 through the connecting tube 274. Combined with the tension chambers 271 arranged in a linear array on one side of the second gripper 27, the form can be switched. When pumping air, the tension chambers 271 expand, and the second gripper 27 bends towards the side without tension chambers 271 to clamp. When evacuating air, the tension chambers 271 retract, and the second gripper 27 bends outward to open. By controlling the air pressure of the air pump, the module can be switched from end-point clamping, multi-contact clamping to full-coverage clamping. The support plate 276 inside the second gripper 27 plays a stabilizing support role. This design, through the integrated housing structure of the first gripper 26 and the second gripper 27, combined with the transmission of the traction line 2721 and the eccentric wheel 272 and the air pump pressure control mechanism, not only achieves flexible switching between two clamping modes and modular adjustability, but also ensures transmission stability and component service life through the eccentric wheel 272, the adapter shaft 275 and other structures. The torsion spring and the support plate 276 further improve the reliability and accuracy of the clamping action, effectively meeting the clamping needs of different materials.

[0026] Please see Figures 1-11 A material clamping method includes the following steps: S1: Use collector 12 to collect information on the clamped items, evaluate them, and label them; S2: Preset working conditions for the first gripper 26 and the second gripper 27, and set basic characteristics and optional modules. In S2, the working mode of the first gripper 26 is heavy-duty mode B, and the working mode of the second gripper 27 is lightweight mode A. The basic characteristics of mode A include: gentle gripping, fine gripping, and low-pressure gripping. The optional activation modules of mode A include: end point gripping module, multi-contact gripping module, and full-wrap gripping module. The basic characteristics of mode B include: high-pressure gripping, planar area gripping, and high-stability gripping. The optional activation modules of mode B include: center of gravity compensation module and energy consumption optimization module.

[0027] S3: Evaluate the tags in S1, lock the basic form in S2, trigger the optional module, and determine whether to switch the current working form; S4: After activating the module in S2, the clamping force and contact point parameters are automatically adjusted; S5: Extract and upload feedback information, evaluate the clamping information. If the feedback information is positive, continue working. If the feedback information is negative, return to step S2 and perform iterative optimization until the feedback information is positive.

[0028] In step S5, the iterative optimization is as follows: After activating the module, if the clamped item slides down, the next time a similar scenario occurs, the activating module will be replaced. If replacing the activating module does not improve the effect, the activating module will continue to be replaced. The order of replacing the activating modules is: endpoint clamping module, multi-touch clamping module, full-wrap clamping module, and center of gravity compensation module. The full-wrap clamping module includes the multi-touch clamping module and the endpoint clamping module. The multi-touch clamping module includes the endpoint clamping module.

[0029] The data collector 12 first collects information on the clamped item and evaluates and labels it. Then, it presets the working conditions, basic characteristics, and optional modules for the first gripper 26 and the second gripper 27. The first gripper 26 corresponds to heavy-duty form B, with basic characteristics of strong clamping, planar area clamping, and highly stable clamping. Optional activation modules include a center-of-gravity compensation module and an energy consumption optimization module. The second gripper 27 corresponds to lightweight form A, with basic characteristics of gentle clamping, small clamping, and low-pressure clamping. Optional activation modules include an endpoint clamping module, a multi-contact clamping module, and a full-coverage clamping module. Next, the label is evaluated to lock the basic form, trigger the corresponding optional modules, and determine whether to switch working forms. After activating the modules, the clamping force and contact point parameters are automatically adjusted. After completing the clamping work, feedback information is extracted and uploaded. If the feedback information is positive, the process continues. If the feedback information is negative, the process returns to the preset steps for iterative optimization of the currently clamped item. During iterative optimization, if slippage occurs, the optional active modules are switched in the following order: endpoint clamping module, multi-contact clamping module, full-wrap clamping module, and center-of-gravity compensation module. The full-wrap clamping module includes both multi-contact clamping and endpoint clamping modules, and the multi-contact clamping module includes endpoint clamping modules, until positive feedback is obtained. This method, through information collection by the collector 12 and tag matching, achieves precise selection of two clamping modes and flexible module switching, adapting to material requirements of different weights and sizes. Combined with the iterative optimization mechanism, it effectively avoids material slippage and damage, improving clamping stability and reliability. Simultaneously, the modular design and automatic parameter adjustment function significantly reduce manual intervention costs and substantially improve production efficiency.

[0030] When the material gripping device is in use, robot 1 moves the robotic arm 11 to the material area, and then the collector 12 collects information on the gripped items, evaluates them, and affixes labels. Subsequently, the working conditions, basic characteristics, and optional modules of the first gripper 26 and the second gripper 27 are preset. The first gripper 26 corresponds to heavy-duty mode B, with basic characteristics of high-pressure gripping, planar area gripping, and highly stable gripping. Optional activation modules include a center-of-gravity compensation module and an energy consumption optimization module. The second gripper 27 corresponds to lightweight mode A, with basic characteristics of gentle gripping, small-scale gripping, and low-pressure gripping. Optional activation modules include an end-point gripping module, a multi-contact gripping module, and a full-coverage gripping module. Next, the labels are evaluated to lock the basic mode, trigger the corresponding optional modules, and determine whether to switch working modes. The linear rotary motor in the robotic arm 11 drives the movable component 23 within the connecting seat 21. When the movable component 23 moves linearly, it meshes with the drive gear 24. The drive gear 24 transmits power to the first gripper 26 via the first transmission arm 251 and the second transmission arm 252 of the transmission unit 25, causing the first gripper 26 to open and close. At this time, the first gripper 26 completes initial clamping in heavy-load mode B. Under normal conditions, the second gripper 27 is connected to the connecting hole 261 of the first gripper 26 via the connecting shaft 273 and is housed in the placement slot 262. When switching to lightweight mode A is required, the linear rotary motor drives the movable component 23 to rotate, adjusting the angle of the two locking blocks 231. The movable component 23 moves linearly backward, passing through the drive component 22, and the two locking blocks 231 precisely engage with the locking slots 222 of the drive component 22. The moving part 23 continues its linear motion, driving the first gripper 26 while simultaneously moving the driving part 22. The driving part 22 pulls the eccentric wheel 272 on the second gripper 27 via the traction line 2721, which passes through the insertion hole 2511 of the first transmission arm 251 and the second transmission arm 252. With the cooperation of the connecting shaft 273 and the connecting hole 261, the second gripper 27 flips out of the mounting slot 262. The torsion spring fitted between the connecting shaft 273 and the connecting hole 261 is used for the second gripper 27 to reset. The eccentric wheel 272 adopts a design similar to a compound bow; after the traction line 2721 pulls it to rotate to a certain extent, the tension becomes constant, effectively alleviating the fatigue of the driving part 22 and ensuring the stable working state of the second gripper 27. The adapter shaft 275 at one end of the second gripper 27 prevents it from squeezing the connecting tube 274 during rotation, protecting the connection stability between the connecting tube 274 and the air pump. An air pump pumps air into or out of the second gripper 27 via a connecting pipe 274, achieving configuration switching in conjunction with the tension chambers 271 arranged in a linear array on one side of the second gripper 27. When pumping air, the tension chambers 271 increase in tension, and the second gripper 27 bends towards the side without tension chambers 271, entering a clamping state. When evacuating air, the tension chambers 271 retract, and the second gripper 27 bends outwards, entering an open state. By controlling the air pump pressure, the module can be switched between an end-point clamping module, a multi-contact clamping module, and a fully enclosed clamping module.The support plate 276 inside the second gripper 27 provides stable support, and the return spring 2521 on the second transmission arm 252 assists the transmission unit 25 in resetting. After the gripping operation is completed, feedback information is extracted and uploaded. If the feedback information is positive, the operation continues; if the feedback information is negative, the currently gripped item is returned to the preset steps for iterative optimization. If slippage occurs, the optional activation modules are switched in the following order: endpoint gripping module, multi-contact gripping module, full-wrap gripping module, and center of gravity compensation module. The full-wrap gripping module includes a multi-contact gripping module and an endpoint gripping module, and the multi-contact gripping module includes an endpoint gripping module, until positive feedback information is obtained. The entire process does not require additional drive source configuration. With the coordinated rotation and linear motion of the moving part 23, the overall transmission structure is simplified, the load on the robotic arm 11 is reduced, the motion flexibility and structural reliability are improved, and the rapid and accurate switching between the two gripping modes and the flexible adjustment of the modules are realized. This effectively adapts to the material requirements of different weights and sizes, and significantly improves the efficiency of multi-category mixed-line production. Meanwhile, the structural design of eccentric wheel 272, adapter shaft 275, torsion spring, and support plate 276 ensures transmission stability and component lifespan. Iterative optimization mechanism and modular design further reduce the risk of material slippage and damage, improve clamping accuracy and working stability, and broaden the application range of robot 1 in material handling in multiple scenarios.

[0031] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A material clamping device, mounted on a robot (1), wherein the robot (1) has a robotic arm (11), and the robotic arm (11) has a linear rotary motor and a collector (12), characterized in that, include: A gripper (2) is mounted on the robotic arm (11); The clamp (2) includes: A connecting seat (21) is provided on the robotic arm (11); The movable part (23), which is mounted on the linear rotary motor and located in the connecting seat (21), is capable of rotation and linear movement; A drive unit (22) is mounted on the robotic arm (11) and is driven by the moving unit (23); The first gripper (26) is disposed on the connecting seat (21) and is driven by the moving part (23); The second gripper (27), which is disposed in the first gripper (26), is driven by the drive member (22).

2. The material clamping device according to claim 1, characterized in that: The movable part (23) is provided with a snap-fit ​​block (231); The drive component (22) has a snap-fit ​​groove (222); The size of the snap-fit ​​block (231) and the snap-fit ​​groove (222) are matched. The snap-fit ​​block (231) can drive the first gripper (26) and drive the drive member (22) to move while moving in a straight line.

3. A material clamping device according to claim 1 or 2, characterized in that: The second gripper (27) is provided with an eccentric wheel (272), one end of which is connected to the traction line (2721), and the other end is provided on the drive member (22). When the drive member (22) moves, it drives the second gripper (27) to flip.

4. A material clamping device according to claim 3, characterized in that: The connecting seat (21) is provided with a drive gear (24) that meshes with the moving part (23), and a transmission unit (25) is connected to the drive gear (24). The transmission unit (25) includes a first transmission arm (251) disposed on the drive gear (24), and the output end of the first transmission arm (251) is connected to the first gripper (26); The transmission unit (25) further includes a second transmission arm (252) disposed in the connecting seat (21), and one end of the second transmission arm (252) is connected to a return spring (2521). Both the first transmission arm (251) and the second transmission arm (252) are provided with insertion holes (2511), which are used to be inserted by the traction line (2721) and connected to the drive member (22).

5. A material clamping device according to claim 3, characterized in that: The first gripper (26) is provided with a connecting hole (261) and a mounting groove (262); The connecting hole (261) is used to connect the second gripper (27), and the mounting groove (262) is used to accommodate the second gripper (27).

6. A material clamping device according to claim 1 or 5, characterized in that: One end of the second gripper (27) is provided with an adapter shaft (275), and a connecting pipe (274) is provided on the adapter shaft (275). An air pump is connected to the connecting pipe (274) for pumping air into the second gripper (27). The second gripper (27) is provided with a tension chamber (271) on one side. The tension chambers (271) are arranged in a linear array and are used to change the bending angle of the second gripper (27). The second gripper (27) is provided with a support plate (276) for supporting the second gripper (27).

7. A material clamping device according to claim 5, characterized in that: The second gripper (27) is also provided with a connecting shaft (273), which is connected to the connecting hole (261) and is used to rotate the second gripper (27).

8. A material clamping method, characterized in that, A material clamping device applied to any one of claims 5-7 comprises the following steps: S1: Use the collector (12) to collect information on the clamped item, evaluate it, and label it; S2: Preset working conditions for the first gripper (26) and the second gripper (27), and set basic characteristics and optional modules; S3: Evaluate the label in S1, lock the basic form in S2, trigger the optional module, and determine whether to switch the current working form; S4: After activating the module in S2, the clamping force and contact point parameters are automatically adjusted; S5: Extract and upload feedback information, and evaluate the clamping information: If the feedback information is positive, then continue working; If the feedback information is negative, return to step S2 and perform iterative optimization until the feedback information is positive.

9. A material clamping method according to claim 8, characterized in that: In S2, the first gripper (26) operates in heavy-duty mode B, and the second gripper (27) operates in lightweight mode A. The basic characteristics of form A include: gentle clamping, fine clamping, and low-pressure clamping; The optional activation modules of the form A include: an endpoint clamping module, a multi-contact clamping module, and a full-wrap clamping module; The basic characteristics of form B include: strong clamping force, planar area clamping, and highly stable clamping. The optional activation modules of the form B include: a center of gravity compensation module and an energy consumption optimization module.

10. A material clamping method according to claim 9, characterized in that: The iterative optimization in S5 is as follows: after activating the module, if the clamped item slides down, then the activatable module is replaced; If replacing the activation module does not improve the gripping effect, continue replacing the activation module in the following order: the endpoint gripping module, the multi-contact gripping module, the full-wrap gripping module, and the center of gravity compensation module. The full-wrap clamping module includes the multi-contact clamping module and the endpoint clamping module; The multi-contact clamping module includes the endpoint clamping module.

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