A synergistic robotic arm adaptive grasping device

Abstract

The application provides a kind of collaborative robot arm adaptive grabbing equipment, belongs to robot grabbing equipment technical field. Including rack, the top of rack is slidably provided with multiple pedestals, the top of each pedestal is installed with mechanical arm, and the pedestal is provided with moving assembly with mechanical arm moving along the transverse direction of rack, the output end of mechanical arm is installed with grabbing device, grabbing device includes mounting plate and fixed seat fixed on its top, and fixed seat is fixedly connected with the output shaft of mechanical arm. The application is by rotating each chuck independently and setting in the assembly, the rotating angle of each chuck is only determined by the contact condition of the chuck and the surface of workpiece, the chuck that first contacts workpiece stops rotating first, the chuck that does not contact continues to rotate until it is fitted, so that each chuck can independently adjust the angle according to the actual surface shape of each contact point, effectively solve the problem that part of the jaw cannot be fitted when the surface of workpiece is uneven or the shape changes.

Description

Technical Field

[0001] This invention relates to the field of robotic grasping equipment technology, and in particular to a collaborative robotic arm adaptive grasping device. Background Technology

[0002] In robotic arm gripping operations, gripper-like devices are usually installed at the end of the robotic arm to grip and transport various workpieces. For long strips of steel, pipes, or irregularly shaped components, since a single robotic arm cannot cover the entire length of the workpiece, multiple robotic arms need to work together simultaneously to complete the gripping operation. There are two main types of existing gripping devices: one is a fixed gripper, whose opening angle and gripping surface shape are fixed and can only grip workpieces with regular shapes; the other is a gripper with multiple movable joints, where each joint is linked by a linkage or gear.

[0003] Because fixed or linkage grippers cannot independently adjust the position of each contact point when gripping a workpiece, when the workpiece surface is uneven, locally curved, or irregularly shaped, each gripper cannot fit the surface shape of its respective contact area, resulting in multi-point contact or line contact between the gripping surface and the workpiece, leading to a small contact area and unstable gripping.

[0004] While grippers with multiple movable joints can change their posture by driving the movement of each joint, the grippers are usually linked together. The posture adjustment of one gripper will affect the position and angle of the other grippers. This linkage makes it impossible for each gripper to adjust its position and angle independently according to the actual shape of each point on the workpiece surface. When the shape of the workpiece surface is inconsistent at different contact points, some grippers can fit together while others cannot, resulting in uneven distribution of clamping force. Therefore, this application provides a collaborative robotic arm adaptive gripping device to meet the requirements. Summary of the Invention

[0005] The purpose of this invention is to provide a collaborative robotic arm adaptive gripping device to solve the above-mentioned problems. Each gripper can independently adjust its angle according to the actual shape of the workpiece surface, so that each gripper can fit the surface at its respective contact point. This solves the problem that some grippers cannot fit when the workpiece surface is uneven or the cross-sectional shape is irregular, making the gripping force distribution more uniform and the gripping more stable and reliable.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution: A collaborative robotic arm adaptive grasping device includes a frame, a plurality of bases slidably disposed on the top of the frame, a robotic arm mounted on the top of each base, and a moving component on the base for the robotic arm to move laterally along the frame, and a grasping device is mounted on the output end of the robotic arm. The gripping device includes a mounting plate and a fixed base on its top, and the fixed base is fixedly connected to the output shaft of the robotic arm. Multiple mounting brackets are symmetrically slidably arranged on one side of the mounting plate. A main adjusting arm is rotatably connected to the end of each mounting bracket. A secondary adjusting arm is rotatably connected to the end of the main adjusting arm away from the mounting bracket. Both ends of the secondary adjusting arm are rotatably connected to connecting seats. An assembly is detachably connected to one side of the connecting seat. Multiple clamps are rotatably connected inside the assembly.

[0007] Optionally, the main adjusting arms are arranged in pairs on both sides of the mounting frame, with a hinge shaft fixedly connected between the two main adjusting arms, and at least one crossbeam fixedly arranged between the two main adjusting arms.

[0008] Optionally, the mounting plate has multiple guide grooves extending along the sliding direction of the mounting frame. The top of the mounting frame is fixedly connected to a hinge seat, and the top end of the hinge seat extends through the guide grooves to the top of the mounting plate. A second driving device is rotatably connected to the hinge seat, and the telescopic end of the second driving device is rotatably connected to the hinge shaft through a fisheye joint.

[0009] Optionally, a stop bar is fixedly connected between the two main adjusting arms, and a slot is provided on the side of the secondary adjusting arm away from the assembly. Under normal conditions, the inner wall of the slot abuts against the outer wall of the stop bar to limit the rotation range of the secondary adjusting arm relative to the main adjusting arm.

[0010] Optionally, the mounting plate is symmetrically fixedly connected to two sides of a fixed shaft, and a first elastic element is sleeved on the outer side of the fixed shaft, with the end of the first elastic element away from the fixed shaft hinged to the connecting seat.

[0011] Optionally, the assembly has multiple slots equidistantly spaced inside, and the chuck is rotatably disposed inside the slot. A second elastic element is symmetrically fixedly connected to the inner wall of the slot, and one end of the second elastic element presses against the outer wall of the chuck to drive the chuck to reset.

[0012] Optionally, the chuck has an opening on the side away from the assembly, and contact heads are symmetrically arranged on both sides of the opening. The contact heads have a plurality of toothed clamping parts arranged along the length direction of the contact heads on the side away from the chuck.

[0013] Optionally, the mounting bracket has a sliding groove inside, and a fixing rod is provided between two corresponding mounting brackets. The fixing rod slides through the sliding groove, and both ends of the fixing rod are fixedly connected to the mounting plate to limit the sliding direction and sliding range of the mounting bracket.

[0014] Optionally, the bottom of the mounting plate is provided with an adjustment assembly, the adjustment assembly includes a connecting plate fixed between two corresponding mounting brackets, a swing arm is rotatably connected to the bottom center of the mounting plate, a connecting shaft is fixedly connected to the side of the two connecting plates that are close to each other, and the connecting shaft is rotatably inserted into the swing arm, a third driving device is fixedly connected to the top of the mounting plate, and the output shaft of the third driving device is fixedly connected to the central axis of the swing arm.

[0015] Optionally, the moving component includes a first driving device fixedly connected to the top of the base, the output shaft of the first driving device being fixedly connected to a gear through the base, and a rack being fixedly connected to the top of the frame, with the gear meshing with the rack.

[0016] Compared with the prior art, the present invention has at least the following beneficial effects: In the above solution, the adaptive gripping device of the collaborative robotic arm provided in this application, by independently rotating and setting each gripper inside the assembly, makes the rotation angle of each gripper determined only by the contact between the gripper and the workpiece surface. The gripper that contacts the workpiece first stops rotating first, while the grippers that do not contact continue to rotate until they are in contact. This allows each gripper to independently adjust its angle according to the actual surface shape at its contact point, effectively solving the problem that some grippers cannot be in contact when the workpiece surface is uneven or its shape changes. It also increases the contact area between the gripping surface and the workpiece, making the gripping force distribution more uniform and stable. By coordinating the up-and-down swing of the chuck with the left-and-right swing of the connecting seat, each gripping point has independent adjustment capabilities in both the vertical and horizontal directions, and the movements in the two directions do not interfere with each other, allowing for adaptive adjustment based on the outer surface of the workpiece. It is worth mentioning that the gripping device at the end of each robotic arm has the above-mentioned functions. When multiple robotic arms work together, each gripping point adapts to the actual position and surface shape of its contact area, which can reduce the damage to the workpiece due to bending deformation and improve the reliability of multi-robotic arm operation. Attached Figure Description

[0017] The accompanying drawings, which are incorporated herein and form part of the specification, illustrate embodiments of the invention and, together with the specification, further serve to explain the principles of the invention and enable those skilled in the art to practice and use the invention.

[0018] Figure 1 This is a schematic diagram of the overall structure of the adaptive grasping device of the present invention; Figure 2 This is a schematic diagram of the structure of the moving component of the present invention; Figure 3 This is a three-dimensional structural diagram of the gripping device of the present invention; Figure 4This is a schematic diagram showing the connection between the mounting plate and the mounting bracket of the present invention; Figure 5 This is a schematic diagram showing the connection between the adjustable distance component of the present invention and the mounting plate and mounting bracket; Figure 6 This is a schematic diagram showing the connection between the main adjusting arm and the auxiliary adjusting arm of the present invention; Figure 7 This is a schematic diagram showing the connection between the auxiliary adjusting arm and the assembly of the present invention; Figure 8 This is a disassembly diagram of the connector and assembly of the present invention; Figure 9 This is a partial cross-sectional view of the assembly and clamp of the present invention.

[0019] Figure label: 1. Frame; 11. Base; 2. Moving component; 21. First drive unit; 22. Gear; 23. Rack; 3. Robotic arm; 4. Gripping device; 41. Mounting plate; 411. Fixed seat; 412. Fixed rod; 42. Mounting bracket; 421. Hinge seat; 422. Second drive unit; 423. Slide groove; 43. Main adjusting arm; 431. Hinge shaft; 432. Stop bar; 44. Secondary adjusting arm; 441. Connecting seat; 442. First elastic element; 443. Fixed shaft; 444. Slot; 45. Assembly part; 451. Groove; 452. Chuck; 4521. Contact head; 453. Second elastic element; 46. Adjustment assembly; 461. Connecting plate; 462. Swing arm; 463. Connecting shaft; 464. Third drive unit.

[0020] As shown in the figure, specific structures and devices are labeled in the figure to clearly illustrate the structure of the embodiments of the present invention. However, this is only for illustrative purposes and is not intended to limit the present invention to this specific structure, device and environment. Those skilled in the art can adjust or modify these devices and environments according to specific needs. Detailed Implementation

[0021] The adaptive grasping device for a collaborative robotic arm provided by the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, to make the embodiments more detailed, the following embodiments are the best and preferred embodiments, and those skilled in the art can use other alternative methods to implement some well-known technologies; moreover, the accompanying drawings are only for more specific description of the embodiments and are not intended to specifically limit the present invention.

[0022] It should be noted that the use of terms such as "an embodiment," "an embodiment," "an exemplary embodiment," and "some embodiments" in the specification indicates that the described embodiment may include a specific feature, structure, or characteristic, but not every embodiment necessarily includes that specific feature, structure, or characteristic. Furthermore, when a specific feature, structure, or characteristic is described in connection with an embodiment, implementing such a feature, structure, or characteristic in conjunction with other embodiments (whether explicitly described or not) should be within the knowledge of those skilled in the art.

[0023] Generally, terms can be understood at least partly from their use in context. For example, depending at least partly on the context, the term "one or more" as used herein can be used to describe any feature, structure, or characteristic in a singular sense, or a combination of features, structures, or characteristics in a plural sense. Additionally, the term "based on" can be understood not necessarily to convey an exclusive set of factors, but rather, alternatively, depending at least partly on the context, to allow for the presence of other factors that are not necessarily explicitly described.

[0024] It is understood that the meanings of “on”, “above”, and “above” in this invention should be interpreted in the broadest manner, such that “on” means not only “directly on” something, but also includes the meaning of being “on” something with an intervening feature or layer, and that “above” or “above” means not only “on” something, but also includes the meaning of being “on” something without an intervening feature or layer.

[0025] Furthermore, spatially related terms such as “below,” “under,” “lower,” “above,” and “upper” are used herein for convenience to describe the relationship of one element or feature to one or more other elements or features, as illustrated in the accompanying drawings. Spatially related terms are intended to cover different orientations in the use or operation of the device other than those depicted in the accompanying drawings. The device may be oriented in other ways, and the spatially related descriptive terms used herein can be interpreted similarly.

[0026] like Figure 1 and Figure 2As shown, an embodiment of the present invention provides a collaborative robotic arm adaptive gripping device, including a frame 1. At least one base 11 is slidably disposed on the top of the frame 1. A robotic arm 3 is mounted on the top of each base 11, and a moving component 2 is provided on the base 11 to enable the robotic arm 3 to move laterally along the frame 1. Each robotic arm 3 moves independently and can be arbitrarily positioned according to the center of gravity and shape of the workpiece, so that each gripping device 4 can be aligned with a suitable gripping position on the workpiece, providing a basis for subsequent multi-point adaptive gripping. The moving component 2 includes components fixedly connected to the base 1. The first drive device 21 at the top is a motor in this embodiment. The output shaft of the first drive device 21 passes through the base 11 and is fixedly connected to a gear 22. A rack 23 is fixedly connected to the top of the frame 1, and the gear 22 and the rack 23 are meshed together. With this design, each robotic arm 3 can move independently laterally along the frame 1, and the distance between each robotic arm 3 can be flexibly adjusted. When it is necessary to handle workpieces of different lengths, there is no need to change the equipment or adjust the production line. The quick adaptation can be completed by simply moving each base 11, which can improve the versatility of the equipment. like Figures 3 to 5 As shown, a gripping device 4 is installed at the output end of the robotic arm 3. The gripping device 4 includes a mounting plate 41 and a fixed seat 411 fixed on its top. The fixed seat 411 is fixedly connected to the output shaft of the robotic arm 3. Multiple mounting brackets 42 are symmetrically slidably arranged on one side of the mounting plate 41. The mounting bracket 42 has a sliding groove 423 inside. A fixed rod 412 is arranged between two mounting brackets 42. The fixed rod 412 slides through the sliding groove 423. Both ends of the fixed rod 412 are fixedly connected to the mounting plate 41 to limit the sliding direction and sliding range of the mounting bracket 42. Through the sliding cooperation between the sliding groove 423 and the fixed rod 412, the mounting bracket 42 can only slide back and forth along the width direction of the mounting plate 41. This ensures that the various accessories 45 on the same gripping device 4 remain parallel when adjusting the spacing. This ensures that when the chucks 452 on each accessory 45 contact the workpiece, the direction of the clamping force at each clamping point is consistent. This avoids uneven force on the workpiece or torsion caused by the deviation of the clamping force direction, thereby ensuring the stability of the gripping. Furthermore, such as Figure 4 and Figure 5As shown, an adjustment assembly 46 is provided at the bottom of the mounting plate 41. The adjustment assembly 46 includes a connecting plate 461 fixed between two corresponding mounting brackets 42. A swing arm 462 is rotatably connected to the bottom center of the mounting plate 41. A connecting shaft 463 is fixedly connected to the side of the two connecting plates 461 that are close to each other, and the connecting shaft 463 is rotatably inserted into the swing arm 462. A third drive device 464 is fixedly connected to the top of the mounting plate 41. The third drive device 464 is a motor, and the output shaft of the third drive device 464 is connected to the swing arm 462. The central shaft of 2 is fixedly connected. The function of the distance adjustment component 46 is to actively adjust the distance between the mounting brackets 42 on the same gripping device 4. Specifically, when the third drive device 464 drives the swing arm 462 to rotate, the swing arm 462 simultaneously pushes the two connecting shafts 463 to move, so that the two connecting plates 461 drive the corresponding mounting brackets 42 to slide towards or away from each other along the width direction of the mounting plate 41, so that the distance between the mounting parts 45 on the same gripping device 4 can be actively adjusted according to the width of the workpiece, so as to achieve the clamping of workpieces of different sizes. For example Figure 3 , Figure 5 and Figure 6 As shown, each mounting bracket 42 is rotatably connected to a main adjusting arm 43 at its end, and the main adjusting arms 43 are arranged in pairs on both sides of the mounting bracket 42. A hinge shaft 431 is fixedly connected between two corresponding main adjusting arms 43. The mounting plate 41 has multiple guide grooves extending along the sliding direction of the mounting bracket 42. A hinge seat 421 is fixedly connected to the top of the mounting bracket 42, and the top end of the hinge seat 421 extends through the guide groove to the top of the mounting plate 41. A second drive device 422 is rotatably connected to the hinge seat 421. The second drive device 422 is a hydraulic cylinder or an electric telescopic rod, and the telescopic end of the second drive device 422 is connected to the hinge through a fisheye joint. The shaft 431 is rotatably connected, and at least one crossbeam is fixedly set between the two main adjusting arms 43. The crossbeam can enhance the structural strength between the two main adjusting arms 43, ensuring that the two main adjusting arms 43 on both sides maintain synchronous movement when subjected to force, avoiding twisting deformation due to uneven force on one side. This allows the swing angle of the main adjusting arms 43 to be precisely controlled by the second drive device 422, realizing active adjustment of the clamping posture. At the same time, since the paired main adjusting arms 43 are rigidly connected by the hinge shaft 431 and the crossbeam, the clamping force on both sides is always equal, avoiding slippage or deflection of the workpiece due to uneven force during the clamping process. like Figure 6 and Figure 7As shown, a secondary adjusting arm 44 is rotatably connected to the end of the main adjusting arm 43 away from the mounting bracket 42. A stop bar 432 is fixedly connected between the two main adjusting arms 43. A slot 444 is provided on the side of the secondary adjusting arm 44 away from the mounting part 45. Under normal conditions, the inner wall of the slot 444 abuts against the outer wall of the stop bar 432 to limit the rotation range of the secondary adjusting arm 44 relative to the main adjusting arm 43. Under normal conditions without external force, the slot 444 abuts against the stop bar 432, keeping the secondary adjusting arm 44 at a preset initial angle. When the chuck 452 contacts the workpiece and the main adjusting arm 43 continues to swing, the secondary adjusting arm 44 can overcome the external force and passively deflect. The slot 444 disengages from the stop bar 432, providing a certain passive rotation space for the secondary adjusting arm 44. This allows the secondary adjusting arm 44 to maintain the stability of its initial posture while having the ability to passively swing, and can automatically adapt to the deviation of the workpiece surface shape during the clamping process. like Figure 7 and Figure 8 As shown, the secondary adjusting arm 44 has a C-shaped structure. Both ends of the secondary adjusting arm 44 are rotatably connected to the connecting seat 441. The two sides of the mounting plate 41 are symmetrically fixedly connected to the fixed shaft 443. The outer side of the fixed shaft 443 is fitted with a first elastic element 442, and the end of the first elastic element 442 away from the fixed shaft 443 is hinged to the connecting seat 441. This design ensures that when the connecting seat 441 swings around the rotation connection point with the secondary adjusting arm 44, it is always subjected to the elastic restoring force of the first elastic element 442. When the surface of the workpiece is tilted in the horizontal direction, the connecting seat 441 can be passively swung to adapt to the tilted posture of the workpiece. The elastic force provided by the first elastic element 442 can ensure that the connecting seat 441 always keeps in contact with the surface of the workpiece. At the same time, the reset function of the first elastic element 442 allows the connecting seat 441 to automatically return to the initial angle after the workpiece is released, so that it can be ready for the next gripping operation without manual intervention. like Figure 9As shown, a fitting 45 is detachably connected to one side of the connecting seat 441. Multiple chucks 452 are rotatably connected inside the fitting 45. Multiple slots 451 are equidistantly spaced inside the fitting 45, and the chucks 452 are rotatably positioned within the slots 451. This design allows the rotation angle of each chuck 452 to be determined by its contact with the workpiece surface, unaffected by other chucks 452. Second elastic elements 453 are symmetrically fixed to the inner wall of the slots 451, with one end of each elastic element 453 pressing against the chuck 452. On the outer wall, the second elastic element 453 can provide appropriate preload when the chuck 452 contacts the workpiece. Multiple chucks 452 on the same assembly 45 can independently adapt to the local undulations and shape changes of the workpiece surface, achieving multi-point contact rather than single-point contact. When the workpiece surface has local features such as unevenness, welds, and flanges, each chuck 452 fits the surface shape of its respective contact area, so that the clamping force is evenly distributed on the workpiece surface, avoiding workpiece deformation or unstable clamping caused by stress concentration. It is worth mentioning that the chuck 452 has a V-shaped opening on the side away from the assembly 45, and contact heads 4521 are symmetrically arranged on both sides of the opening. On the side of the contact head 4521 away from the chuck 452, there are multiple toothed clamping parts arranged along the length of the contact head 4521. The V-shaped opening enables the chuck 452 to form a centering and wrapping effect on workpieces with different cross-sectional shapes. When the chuck 452 contacts the workpiece, the inclined surfaces on both sides of the V-shaped opening guide the workpiece to automatically slide into the bottom of the V-shaped groove, achieving automatic centering. The toothed clamping parts on the contact head 4521 further increase the friction with the workpiece surface, preventing the workpiece from sliding or rotating along its length during transportation.

[0027] Working principle of the invention: Based on the length and shape of the workpiece to be gripped, the moving component 2 is activated first. The first driving device 21 drives the gear 22 to move along the rack 23, moving each base 11 laterally along the frame 1 to a predetermined position, so that the gripping device 4 at the end of each robotic arm 3 is aligned with each gripping point on the workpiece surface. Then, the third driving device 464 is activated to rotate the swing arm 462. During the rotation of the swing arm 462, the two mounting brackets 42 are driven to slide along the mounting plate 41 towards each other or away from each other, so that the chucks 452 on each mounting accessory 45 are aligned with each clamping position in the width direction of the workpiece. At this time, each chuck 452 and the main adjusting arm 43 are in an open posture. During operation, multiple robotic arms 3 move synchronously, moving their respective end gripping devices 4 toward the workpiece. During this process, the second drive device 422 is activated to drive the hinge shaft 431 to rotate, thereby causing the main adjusting arm 43 to swing synchronously around its rotation point to a predetermined angle, so that multiple grippers 452 move closer to the workpiece. As each robotic arm 3 continues to feed, each gripper 452 contacts the workpiece surface. When the gripper 452 contacts the workpiece, it will independently rotate according to the local shape of the workpiece surface to overcome the elastic force of the second elastic element 453 until each contact head 4521 is completely in contact with the workpiece surface. It is worth mentioning that the chuck 452 that first contacts the workpiece stops rotating first, while the ones that do not contact continue to rotate until they are in contact with the outer wall of the workpiece. At the same time, the assembly 45 automatically swings left and right according to the horizontal tilt of the workpiece surface shape by rotating the connecting seat 441. During this process, the connecting seat 441 squeezes the first elastic element 442 on one side of the auxiliary adjusting arm 44, thereby making the assembly 45 and all the chucks 452 inside it adapt to the local shape of the workpiece in the horizontal direction. The independent rotation of each chuck 452 in the vertical direction and the left and right swing of the connecting seat 441 in the horizontal direction cooperate with each other to complete the adaptive contact gripping with the workpiece surface shape. As the second drive device 422 continues to push the main adjusting arm 43 to swing in the closing direction, each chuck 452 applies clamping force to the workpiece. During this process, the chuck 452 that has already attached to the workpiece remains stationary, while the chuck 452 that has not yet fully attached continues to rotate until all are attached. The connecting seat 441 continues to passively swing following the horizontal bending of the workpiece surface, so that the entire assembly 45 clamps the workpiece at the optimal angle. At the same time, according to the force conditions during the clamping process, the auxiliary adjusting arm 44 overcomes the gravity of itself, the connecting seat 441, and the assembly 45 and adaptively deflects, so that the chucks 452 at both ends of its upper and lower ends are attached to the outer wall of the workpiece and clamped, thus completing the multi-point adaptive clamping of the entire workpiece. Subsequently, each robotic arm 3 lifts the workpiece synchronously. During the handling process, the contact head 4521 of each chuck 452 remains in contact with the workpiece surface. After reaching the target position, each robotic arm 3 lowers synchronously to place the workpiece in place. Then, the second drive device 422 reverses its action, pulling the main adjusting arm 43 to swing open in the opposite direction. Under the action of the second elastic element 453, each chuck 452 automatically rotates and resets to the open state. The connecting seat 441 automatically swings and resets under the action of the first elastic element 442. The auxiliary adjusting arm 44 automatically deflects and resets under the action of gravity. Then, each robotic arm 3 drives the gripping device 4 away from the workpiece, and the equipment returns to its initial state, ready for the next gripping.

[0028] This invention encompasses any substitutions, modifications, equivalent methods, and solutions made within the spirit and scope of this invention. To provide the public with a thorough understanding of this invention, specific details are described in detail in the following preferred embodiments; however, those skilled in the art will fully understand the invention even without these details. Furthermore, to avoid unnecessary misunderstanding of the essence of this invention, well-known methods, processes, procedures, components, and circuits are not described in detail.

[0029] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A collaborative robotic arm adaptive grasping device, comprising a frame (1), wherein a plurality of bases (11) are slidably disposed on the top of the frame (1), a robotic arm (3) is mounted on the top of each base (11), and a moving component (2) is provided on the base (11) for the robotic arm (3) to move laterally along the frame (1), characterized in that, The output end of the robotic arm (3) is equipped with a gripping device (4); The gripping device (4) includes a mounting plate (41) and a fixed seat (411) fixed on its top. The fixed seat (411) is fixedly connected to the output shaft of the robotic arm (3). A plurality of mounting brackets (42) are symmetrically slidably arranged on one side of the mounting plate (41). A main adjusting arm (43) is rotatably connected to the end of each mounting bracket (42). A secondary adjusting arm (44) is rotatably connected to the end of the main adjusting arm (43) away from the mounting bracket (42). A connecting seat (441) is rotatably connected to both ends of the secondary adjusting arm (44). A fitting (45) is detachably connected to one side of the connecting seat (441). A plurality of clamps (452) are rotatably connected inside the fitting (45).

2. The adaptive grasping device for a collaborative robotic arm according to claim 1, characterized in that, The main adjusting arms (43) are arranged in pairs on both sides of the mounting frame (42), and a hinge shaft (431) is fixedly connected between the two main adjusting arms (43), and at least one crossbeam is fixedly arranged between the two main adjusting arms (43).

3. The adaptive grasping device for a collaborative robotic arm according to claim 2, characterized in that, The mounting plate (41) has multiple guide grooves extending along the sliding direction of the mounting frame (42). The top of the mounting frame (42) is fixedly connected to a hinge seat (421), and the top of the hinge seat (421) extends through the guide groove to the top of the mounting plate (41). A second drive device (422) is rotatably connected to the hinge seat (421), and the telescopic end of the second drive device (422) is rotatably connected to the hinge shaft (431) through a fisheye joint.

4. The collaborative robotic arm adaptive grasping device according to claim 2, characterized in that, A stop bar (432) is fixedly connected between the two main adjusting arms (43). A slot (444) is provided on the side of the auxiliary adjusting arm (44) away from the assembly (45). Under normal conditions, the inner wall of the slot (444) abuts against the outer wall of the stop bar (432) to limit the rotation range of the auxiliary adjusting arm (44) relative to the main adjusting arm (43).

5. The collaborative robotic arm adaptive grasping device according to claim 1, characterized in that, The mounting plate (41) is symmetrically fixedly connected to two sides of a fixed shaft (443). A first elastic element (442) is sleeved on the outside of the fixed shaft (443), and the end of the first elastic element (442) away from the fixed shaft (443) is hinged to the connecting seat (441).

6. The collaborative robotic arm adaptive grasping device according to claim 1, characterized in that, The assembly (45) has multiple slots (451) equidistantly spaced inside, and the chuck (452) is rotatably disposed inside the slot (451). A second elastic element (453) is symmetrically fixedly connected to the inner wall of the slot (451), and one end of the second elastic element (453) presses against the outer wall of the chuck (452) to drive the chuck (452) to reset.

7. The collaborative robotic arm adaptive grasping device according to claim 1, characterized in that, The chuck (452) has an opening on the side away from the assembly (45), and contact heads (4521) are symmetrically arranged on both sides of the opening. The contact head (4521) has a plurality of toothed clamping parts arranged along the length direction of the contact head (4521) on the side away from the chuck (452).

8. The adaptive grasping device for a collaborative robotic arm according to claim 1, characterized in that, The mounting bracket (42) has a sliding groove (423) inside, and a fixing rod (412) is provided between two mounting brackets (42). The fixing rod (412) slides through the sliding groove (423), and both ends of the fixing rod (412) are fixedly connected to the mounting plate (41) to limit the sliding direction and sliding range of the mounting bracket (42).

9. The collaborative robotic arm adaptive grasping device according to claim 1, characterized in that, The bottom of the mounting plate (41) is provided with an adjustment assembly (46), the adjustment assembly (46) includes a connecting plate (461) fixed between two corresponding mounting brackets (42), a swing arm (462) is rotatably connected to the bottom center of the mounting plate (41), a connecting shaft (463) is fixedly connected to the side of the two connecting plates (461) that are close to each other, and the connecting shaft (463) is rotatably inserted into the swing arm (462). A third driving device (464) is fixedly connected to the top of the mounting plate (41), and the output shaft of the third driving device (464) is fixedly connected to the central shaft of the swing arm (462).

10. The adaptive grasping device for a collaborative robotic arm according to claim 1, characterized in that, The moving component (2) includes a first drive device (21) fixedly connected to the top of the base (11). The output shaft of the first drive device (21) passes through the base (11) and is fixedly connected to a gear (22). A rack (23) is fixedly connected to the top of the frame (1), and the gear (22) meshes with the rack (23).

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