Anti-falling clamping type mechanical arm gripper assembly

Abstract

The application provides a kind of anti-falling clamping type mechanical arm gripper assembly, relating to workpiece handling technical field, comprising: vertical stand, the front side of vertical stand is slidably provided with lifting seat, the front side of lifting seat is fixedly provided with main arm, the front side below of main arm is rotatably provided with auxiliary arm, the bottom of auxiliary arm is rotatably provided with mechanical wrist, the bottom of mechanical wrist is fixedly provided with gripper support;The bottom of gripper support is square frame, the right rear side of the bottom of gripper support is fixedly provided with fixed mold frame, the right front side of the bottom of gripper support is slidably provided with sliding mold frame;The conveying interval of two groups of workpieces can be flexibly adjusted, the sliding mold frame is driven to displace along slide strip by horizontal moving electric cylinder, corresponding side bottom gripper is driven to move synchronously with workpiece, and closed loop calibration is formed by cooperating with visual sensor to feed back interval data in real time, the stacking interval requirement of downstream work station and tray can be accurately matched, multiple specifications of workpieces and different work station layouts can be adapted without replacing gripper module, and production change efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of workpiece handling technology, and in particular to a gripper assembly for an anti-drop clamping robotic arm. Background Technology

[0002] The robotic gripper is a core actuator in industrial automation production systems. It is mainly used to complete workpiece handling operations, and can also undertake material loading and unloading tasks on the production line. At the same time, it can realize the transfer of workpieces between different processes. The device is widely used in the machining production process, and is also suitable for the transfer of workpieces for surface spraying. It also has a large number of applications in the sorting and handling of goods in warehousing and logistics.

[0003] Disc welding wire is a product made by winding welding wire into a disc shape using a winding machine.

[0004] When conveying two sets of workpieces simultaneously, existing grippers are mostly inconvenient to flexibly adjust the interval between the two sets of workpieces, and lack corresponding position detection and control mechanisms, making it difficult to identify and correct deviations in a timely manner. At the same time, existing grippers generally lack the function of centering and fixing the position of the workpiece. During the clamping operation, it is impossible to actively calibrate the disc welding wire to the center position of the gripper, thereby achieving precise position control. It is necessary to set up additional manual calibration or auxiliary positioning mechanisms, which reduces the turnover efficiency of the entire production line. Summary of the Invention

[0005] In view of the above-mentioned shortcomings of the prior art, the present invention provides an anti-drop clamping robotic arm gripper assembly to solve the problems mentioned in the background art, such as the difficulty of flexibly adjusting the workpiece spacing of existing grippers when simultaneously conveying two sets of workpieces, the lack of corresponding position detection and control mechanisms, the inability to timely identify and correct alignment deviations, and the general lack of workpiece centering and fixing functions, which cannot actively calibrate the workpiece to the center of the gripper to achieve precise position control, requiring additional manual calibration or auxiliary positioning mechanisms, thus reducing the turnover efficiency of the entire production line.

[0006] This invention provides an anti-drop clamping gripper assembly for a robotic arm, specifically comprising: a vertical arm; a lifting seat slidably disposed on the front side of the vertical arm; a main arm fixedly disposed on the front side of the lifting seat; a secondary arm rotatably disposed below the front side of the main arm; a robotic wrist rotatably disposed at the bottom of the secondary arm; and a gripper bracket fixedly disposed at the bottom of the robotic wrist. The bottom of the gripper bracket is a square frame; a fixed mold frame is fixedly disposed on the rear right side of the bottom of the gripper bracket; and a sliding mold frame is slidably disposed on the front right side of the bottom of the gripper bracket. Extension electric cylinders are fixedly disposed on the left sides of both the fixed mold frame and the sliding mold frame. The telescopic end of the extension cylinder passes through the fixed mold frame and the sliding mold frame and is fixedly equipped with a grid frame; two sets of inner sliders are slidably arranged on the bottom inner side of the grid frame, and bottom claws extending to the right are fixedly arranged at the bottom of the inner sliders; a row of vertical electric cylinders is fixedly arranged on the top of both sides of the gripper bracket, and the telescopic end of the vertical electric cylinder passes through the gripper bracket and is fixedly equipped with a buckle; four pairs of clamping arms are hinged at the bottom sides and middle of the buckle, and rubber pads are attached to the outside of the clamping arms; a linkage gear is set at the bottom of the hinge shaft of two adjacent sets of clamping arms; control electric cylinders are fixedly arranged at the bottom sides and middle of the buckle.

[0007] Optionally, a lower support platform is rotatably mounted at the bottom of the vertical arm, and a motor is installed inside the lower support platform to drive the vertical arm to rotate; a lifting motor is fixedly mounted on the lower exterior of the lifting seat, and a lifting nut is rotatably mounted on the upper rear side of the lifting seat, with the shaft end of the lifting motor and the lifting nut connected by a bevel gear transmission; a lifting screw is fixedly mounted on the front side of the vertical arm, and the lifting nut is threadedly connected to the outside of the lifting screw; corrugated rubber covers are fixedly mounted between the upper and lower sides of the lifting seat and the upper and lower sides of the vertical arm; a controller is installed inside the vertical arm.

[0008] Optionally, a motor is provided above the main arm to drive the secondary arm to rotate; a motor is provided at the top of the secondary arm to drive the mechanical wrist to rotate.

[0009] Optionally, a slide bar is fixedly installed on the upper right front side of the bottom of the gripper bracket, and the top structure of the sliding mold frame matches the shape of the slide bar; a transverse electric cylinder is fixedly installed on the front side of the fixed mold frame, and the front end of the transverse electric cylinder is fixedly connected to a circular groove opened on the rear side of the sliding mold frame.

[0010] Optionally, guide rods are fixedly installed on both sides of the upper left of the grid frame, and the guide rods on both sides are slidably connected to the fixed mold frame and the sliding mold frame, respectively; the inner slider and the bottom claw are connected by bolts; a control motor is fixedly installed in the lower middle of the grid frame, and two sets of side screws are rotatably installed on both sides of the bottom of the grid frame, and the side screws are connected to the shaft end of the control motor through bevel gear transmission; a nut is provided in the middle of the inner slider and is threadedly connected to the side screws.

[0011] Optionally, a vision sensor is fixedly installed at the lower center of the left side of the grid frame, and an infrared ranging sensor is fixedly installed at both ends of the lower left side of the grid frame.

[0012] Optionally, each of the telescopic ends of the control electric cylinder is fixedly provided with a control rack, and the control rack outside the middle set of control electric cylinders is a double-sided rack; a control gear is fixedly provided at the top of one set of hinge shafts of each pair of clamping arms, and the control rack meshes with the control gear.

[0013] Optionally, both the vision sensor and the infrared ranging sensor are connected to the controller signal. After the vision sensor collects the outline and placement posture data of the workpiece to be clamped, the controller synchronously controls the extension cylinder to extend and retract to adjust the lateral extension position of the grid frame, and at the same time controls the motor to drive the side screw to rotate, adjusting the lateral distance between the two sets of inner sliders and the bottom claw. The infrared ranging sensor detects the distance between the bottom claw and the side wall of the workpiece in real time and feeds it back to the controller to form a position closed-loop calibration.

[0014] Optionally, the rubber pad attached to the outside of the clamping arm is made of wear-resistant nitrile rubber, and the surface of the rubber pad is a non-slip frosted surface. Both the control electric cylinder and the vertical electric cylinder have built-in thrust feedback control programs. When the clamping force of the clamping arm on the workpiece and the downward pressure of the buckle on the workpiece reach preset thresholds, the control electric cylinder and the vertical electric cylinder automatically stop feeding and remain locked. Together with the bottom jaws, they support the workpiece from the bottom, achieving multi-directional anti-drop clamping. The clamping arm forms a lateral clamping on the workpiece, the bottom jaws form a bottom support on the workpiece, and the buckle forms a top limit on the workpiece. The lateral clamping, bottom support, and top limit act simultaneously in three directions, forming a spatial closed constraint around the workpiece to prevent the workpiece from falling off due to vibration or acceleration during transportation. The vision sensor positions and guides the jaws to the target position, and the infrared ranging sensor monitors the workpiece clamping status in real time. The detection data is fed back to the controller to realize real-time thrust adjustment, forming a closed-loop linkage between the detection signal and the electric cylinder thrust feedback locking.

[0015] The beneficial effects are as follows: The conveying interval between the two sets of workpieces can be flexibly adjusted. The sliding mold frame is driven to move along the slide bar by the transverse electric cylinder, which drives the corresponding side bottom claw to move synchronously with the workpiece. With the real-time feedback of the spacing data by the vision sensor, a closed-loop calibration is formed, which can accurately match the palletizing spacing requirements of the downstream station and the pallet. It can adapt to multiple specifications of workpieces and different station layouts without changing the gripper module, improve production changeover efficiency, and reduce equipment matching costs.

[0016] It provides workpiece centering and precise alignment capabilities. By coordinating the collection of workpiece position information through vision sensors and infrared ranging sensors, and combining the controller to correct alignment deviations, the synchronously driven clamping arm pushes the workpiece to the reference position of the clamping jaws. It can actively achieve workpiece centering and fixing without the need for additional manual calibration or auxiliary positioning mechanisms, ensuring the docking accuracy of the workpiece with subsequent workstations and improving the overall flow efficiency of the production line.

[0017] It achieves multi-directional anti-slip clamping by supporting the workpiece from the bottom with the bottom claw, clamping from the side with the clamping arm, and limiting from the top with the buckle to form a three-dimensional constraint. Combined with the built-in thrust feedback control program of the electric cylinder, it adaptively adjusts the clamping and downward pressure, which can not only prevent the workpiece from slipping during the start and stop of handling and improve the safety of operation, but also prevent excessive pressure from causing damage to the surface of the workpiece, thus balancing clamping reliability and workpiece protection effect. Attached Figure Description

[0018] Figure 1 A three-dimensional structural schematic diagram of an embodiment of the present invention is shown; Figure 2 A schematic diagram of the working process structure of an embodiment of the present invention is shown; Figure 3 A schematic diagram of the transmission structure of the lifting screw nut in an embodiment of the present invention is shown; Figure 4 A three-dimensional structural schematic diagram of the gripper bracket in an embodiment of the present invention is shown; Figure 5 A side-view structural schematic diagram of the gripper bracket in an embodiment of the present invention is shown; Figure 6 A schematic diagram of the axial structure of the gripper bracket in an embodiment of the present invention is shown; Figure 7 A three-dimensional structural schematic diagram of the grid frame in an embodiment of the present invention is shown; Figure 8 A side-view structural schematic diagram of the grid frame in an embodiment of the present invention is shown; Figure 9 A schematic diagram of the bottom structure of the buckle in an embodiment of the present invention is shown; Figure 10 A schematic diagram of the transmission structure for controlling the rack in an embodiment of the present invention is shown.

[0019] List of reference numerals in the attached diagram: 1. Vertical boom; 101. Lower support platform; 102. Lifting seat; 103. Lifting motor; 104. Lifting nut; 105. Lifting screw; 106. Corrugated rubber cover; 2. Main boom; 3. Auxiliary boom; 301. Mechanical wrist; 4. Gripper bracket; 401. Fixed mold frame; 402. Sliding bar; 403. Sliding mold frame; 404. Lateral electric cylinder; 405. Extension electric cylinder; 406. Vertical electric cylinder; 5. Grid frame; 501. Guide rod; 502. Inner slider; 503. Bottom claw; 504. Control motor; 505. Side screw; 6. Vision sensor; 7. Infrared ranging sensor; 8. Buckle; 801. Clamping arm; 802. Control gear; 803. Linkage gear; 9. Control electric cylinder; 901. Control rack. Detailed Implementation

[0020] To make the objectives, solutions, and advantages of the technical solutions of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of specific embodiments of the present invention.

[0021] Example 1: Please refer to the accompanying drawings in the instruction manual, such as... Figures 1 to 10 As shown: This invention proposes an anti-drop clamping gripper assembly for a robotic arm, comprising: a vertical arm 1, a lifting seat 102 slidably mounted on the front side of the vertical arm 1, a main arm 2 fixedly mounted on the front side of the lifting seat 102, a secondary arm 3 rotatably mounted below the front side of the main arm 2, a robotic wrist 301 rotatably mounted on the bottom of the secondary arm 3, and a gripper bracket 4 fixedly mounted on the bottom of the robotic wrist 301; the bottom of the gripper bracket 4 is a square frame, a fixed mold frame 401 is fixedly mounted on the right rear side of the bottom of the gripper bracket 4, and a sliding mold frame 403 is slidably mounted on the right front side of the bottom of the gripper bracket 4; extension cylinders 405 are fixedly mounted on the left sides of both the fixed mold frame 401 and the sliding mold frame 403. The telescopic end of 5 is fixedly provided with a grid frame 5 through the fixed mold frame 401 and the sliding mold frame 403; two sets of inner sliders 502 are slidably provided on the bottom inner side of the grid frame 5, and bottom claws 503 extending to the right are fixedly provided at the bottom of the inner sliders 502; a row of vertical electric cylinders 406 are fixedly provided on the top of both sides of the gripper bracket 4, and the telescopic end of the vertical electric cylinder 406 is fixedly provided with a buckle 8 through the gripper bracket 4; four pairs of clamping arms 801 are hinged at the bottom sides and middle of the buckle 8, and rubber pads are attached to the outside of the clamping arms 801; a linkage gear 803 is provided at the bottom of the hinge shaft of two adjacent sets of clamping arms 801 for meshing; control electric cylinders 9 are fixedly provided at the bottom sides and middle of the buckle 8.

[0022] The vertical arm 1 has a lower support platform 101 rotatably mounted at its bottom, and a motor inside the lower support platform 101 drives the vertical arm 1 to rotate. A lifting motor 103 is fixedly mounted on the lower exterior of the lifting seat 102, and a lifting nut 104 is rotatably mounted on the upper rear side of the lifting seat 102. The shaft end of the lifting motor 103 is connected to the lifting nut 104 via a bevel gear transmission. A lifting screw 105 is fixedly mounted on the front side of the vertical arm 1, and the lifting nut 104 is threadedly connected to the outside of the lifting screw 105. Corrugated rubber covers 106 are fixedly mounted between the upper and lower sides of the lifting seat 102 and the upper and lower sides of the vertical arm 1. A controller is installed inside the vertical arm 1. A motor above the main arm 2 drives the auxiliary arm 3 to rotate. A motor at the top of the auxiliary arm 3 drives the mechanical wrist 301 to rotate. The combination of the lifting seat 102, the main arm 2, the auxiliary arm 3, and the mechanical wrist 301 can execute multi-angle adjustment commands.

[0023] Among them, a slide bar 402 is fixedly installed on the upper right front side of the bottom of the gripper bracket 4, and the top structure of the sliding mold frame 403 matches the shape of the slide bar 402; a transverse electric cylinder 404 is fixedly installed on the front side of the fixed mold frame 401, and the front end of the transverse electric cylinder 404 is fixedly connected to a circular groove opened on the rear side of the sliding mold frame 403. The circular groove can accommodate the entire transverse electric cylinder 404, ensuring that it does not affect the movement of the sliding mold frame 403.

[0024] The grid frame 5 has guide rods 501 fixedly installed on both sides of its upper left side. The guide rods 501 are slidably connected to the fixed mold frame 401 and the sliding mold frame 403, respectively. The inner slider 502 and the bottom claw 503 are connected by bolts. The control motor 504 is fixedly installed in the lower middle of the grid frame 5. Two sets of side screws 505 are rotatably installed on both sides of the bottom of the grid frame 5. The side screws 505 are connected to the shaft end of the control motor 504 through bevel gear transmission. The inner slider 502 has a nut in the middle that is threadedly connected to the side screws 505 to achieve threaded transmission. The external holes of the grid frame 5 can be sealed with plastic film to achieve dust prevention and observation effect.

[0025] A vision sensor 6 is fixedly installed in the middle of the lower left side of the grid frame 5, and an infrared ranging sensor 7 is fixedly installed at both ends of the lower left side of the grid frame 5 to detect the position of the workpiece.

[0026] Among them, the telescopic ends of the control electric cylinder 9 are all fixedly equipped with control racks 901, and the control racks 901 outside the middle set of control electric cylinders 9 are double-sided racks; the top of one set of hinge shafts of each pair of clamping arms 801 is fixedly equipped with a control gear 802, and the control rack 901 meshes with the control gear 802 to provide swing arm drive.

[0027] Both the vision sensor 6 and the infrared ranging sensor 7 are connected to the controller signal. After the vision sensor 6 collects the outline and orientation data of the workpiece to be clamped, the controller synchronously controls the extension cylinder 405 to extend and retract to adjust the lateral extension position of the grid frame 5. At the same time, the controller controls the motor 504 to drive the side screw 505 to rotate, adjusting the lateral distance between the two sets of inner sliders 502 and the bottom jaws 503. The infrared ranging sensor 7 detects the distance between the bottom jaws 503 and the side wall of the workpiece in real time and feeds it back to the controller to form a closed-loop position calibration. The rubber pad attached to the outside of the clamping arm 801 is made of wear-resistant nitrile rubber, and the surface of the rubber pad is a non-slip frosted surface. Both the control cylinder 9 and the vertical cylinder 406 have built-in thrust feedback control programs. When the clamping force of the clamping arm 801 on the workpiece and the force of the latch 8 on the workpiece are adjusted, the control system will adjust the lateral distance between the two sets of inner sliders 502 and the bottom jaws 503. When the pressure reaches the preset threshold, the control cylinder 9 and the vertical cylinder 406 automatically stop feeding and remain locked. Together with the bottom jaw 503, they support the workpiece from the bottom, achieving multi-directional anti-drop clamping. The clamping arm 801 forms a lateral clamping on the workpiece, the bottom jaw 503 forms a bottom support on the workpiece, and the latch 8 forms a top limit on the workpiece. The lateral clamping, bottom support, and top limit work simultaneously to form a spatial closed constraint around the workpiece, preventing the workpiece from falling off due to vibration or acceleration during handling. The vision sensor 6 positions and guides the jaw to the target position, and the infrared distance sensor 7 monitors the workpiece clamping status in real time. The detection data is fed back to the controller to realize real-time adjustment of the thrust, forming a closed-loop linkage between the detection signal and the electric cylinder thrust feedback locking. After the action is completed, all components are reset.

[0028] Example 2: Based on Example 1, during the gripping process, a vision sensor 6 can be used to detect the alignment of the workpiece, and an infrared range sensor 7 can be used to assist in detecting the positional deviation between the two sets of workpieces. The results are then fed back to the controller, and the gripping action is executed through the program.

[0029] Example 3: Based on Example 1, the buckle 8 can be modified into two separate units. One buckle 8 remains stationary with the fixed mold frame 401, while the other buckle 8 and its associated components are mounted on guide rails and connected to a bracket to move with the sliding mold frame 403. The specific structure can be adjusted to adapt to different needs. In this way, the interval between the two sets of workpieces can be directly adjusted during the transfer process to achieve precise control. However, the cost will increase. The choice of which to use can be made according to actual needs.

[0030] The specific usage and function of this embodiment: In this invention, before operation, the controller outputs a command to control the motor 504 to drive the side screw 505 to rotate according to the size and specifications of the workpiece to be gripped, thereby driving the inner slider 502 to slide along the inner side of the grid frame 5, thereby adjusting the lateral spacing of the two sets of bottom claws 503 in the same group and pre-adapting to workpieces of different widths. like Figure 2After the conveyor, which uses a chain to drive the rotation of each roller, transports the workpiece to the gripping position, the vision sensor 6 on the grid frame 5 collects the outline, placement posture, and relative distance data of the two sets of workpieces. The infrared ranging sensor 7 simultaneously detects the lateral distance between the workpiece and the gripper. The two sets of sensors transmit the collected information to the controller, which calculates the alignment deviation value between the gripper and the workpiece. The controller controls each actuator to complete the alignment adjustment according to the deviation value. The overall position and angle of the gripper bracket 4 are adjusted by the linkage of the main arm 2, the auxiliary arm 3 and the mechanical wrist 301. At the same time, the transverse electric cylinder 404 drives the sliding mold frame 403 to move along the slide bar 402, adjusting the front and rear distance between the fixed mold frame 401 and the sliding mold frame 403, so that the two sets of bottom claws 503 are aligned with the bottom support positions of the two sets of workpieces, eliminating the alignment deviation. The extension electric cylinder 405 retracts first, then the gripper bracket 4 moves to the gripping position, and the bottom jaw 503 inserts into the workpiece below the roller gap; then the extension vertical electric cylinder 406 contacts the top of the workpiece, the control electric cylinder 9 drives the control rack 901 to move, the control rack 901 drives the control gear 802 to rotate, and then the two sets of linkage gears 803 rotate synchronously, driving the clamping arm 801 to rotate, fitting the workpiece and fixing the workpiece in the center, so that the workpiece moves to the reference position. When the gripper moves the workpiece to near the placement position, the electric cylinder 9 is controlled to reverse and release the gripping arm 801. After the buckle 8 is raised, the transverse electric cylinder 404 drives the sliding mold frame 403 to move along the slide bar 402, thereby moving the bottom claw 503 to adjust the interval between the two sets of workpieces. During the adjustment process, the vision sensor 6 collects the distance data between the two sets of workpieces in real time and feeds it back to the controller to form a closed-loop calibration, ensuring that the workpiece distance reaches the preset value; then the workpieces are placed on the workpiece tray at a specified interval to complete the palletizing. When the bottom jaw 503 is pulled out, the latch 8 can be lowered to block the upper edge of the workpiece, causing it to disengage from the bottom jaw 503; each actuator then resets to its initial state, waiting for the next gripping operation.

Claims

1. A gripper assembly for an anti-drop clamping robotic arm, characterized in that, include: A vertical boom (1) is provided with a lifting seat (102) slidably mounted on the front side of the vertical boom (1). A main boom (2) is fixedly mounted on the front side of the lifting seat (102). A secondary boom (3) is rotatably mounted below the front side of the main boom (2). A mechanical wrist (301) is rotatably mounted on the bottom of the secondary boom (3). A gripper bracket (4) is fixedly mounted on the bottom of the mechanical wrist (301). The bottom of the gripper bracket (4) is a square frame. A fixed mold frame (401) is fixedly mounted on the right rear side of the bottom of the gripper bracket (4). A sliding mold frame (403) is slidably mounted on the right front side of the bottom of the gripper bracket (4). An extension electric cylinder (405) is fixedly mounted on the left side of both the fixed mold frame (401) and the sliding mold frame (403). The extension end of the extension electric cylinder (405) passes through the fixed mold frame. (401) and sliding mold frame (403) are fixedly provided with grid frame (5); two sets of inner sliders (502) are slidably provided on the bottom inner side of the grid frame (5), and bottom claws (503) extending to the right are fixedly provided on the bottom of the inner sliders (502); a row of vertical electric cylinders (406) are fixedly provided on the top of both sides of the gripper bracket (4), and the telescopic end of the vertical electric cylinder (406) passes through the gripper bracket (4) and is fixedly provided with buckle (8); four pairs of clamping arms (801) are hinged on the bottom sides and middle of the buckle (8), and rubber pads are attached to the outside of the clamping arms (801); the bottom of the hinge shaft of the two adjacent sets of clamping arms (801) is provided with linkage gears (803) meshing; control electric cylinders (9) are fixedly provided on the bottom sides and middle of the buckle (8).

2. The anti-drop clamping gripper assembly for a robotic arm as described in claim 1, characterized in that, The bottom of the vertical arm (1) is rotatably provided with a lower support platform (101), and a motor is installed inside the lower support platform (101) to drive the vertical arm (1) to rotate; a lifting motor (103) is fixedly provided on the lower outside of the lifting seat (102), and a lifting screw nut (104) is rotatably provided on the upper rear side of the lifting seat (102). The shaft end of the lifting motor (103) is connected to the lifting screw nut (104) through bevel gear transmission; a lifting screw (105) is fixedly provided on the front side of the vertical arm (1), and the lifting screw nut (104) is threadedly connected to the outside of the lifting screw (105); corrugated rubber covers (106) are fixedly provided between the upper and lower sides of the lifting seat (102) and the upper and lower sides of the vertical arm (1); a controller is provided inside the vertical arm (1).

3. The anti-drop clamping gripper assembly for a robotic arm as described in claim 1, characterized in that, A motor is provided above the main arm (2) to drive the auxiliary arm (3) to rotate; a motor is provided at the top of the auxiliary arm (3) to drive the mechanical wrist (301) to rotate.

4. The anti-drop clamping gripper assembly for a robotic arm as described in claim 1, characterized in that, A slide bar (402) is fixedly installed on the upper right front side of the bottom of the gripper bracket (4), and the top structure of the sliding mold frame (403) matches the shape of the slide bar (402); a transverse electric cylinder (404) is fixedly installed on the front side of the fixed mold frame (401), and the front end of the transverse electric cylinder (404) is fixedly connected in the circular groove opened on the rear side of the sliding mold frame (403).

5. The anti-drop clamping gripper assembly for a robotic arm as described in claim 2, characterized in that, Guide rods (501) are fixedly installed on both sides of the upper left of the grid frame (5). The guide rods (501) on both sides are slidably connected to the fixed mold frame (401) and the sliding mold frame (403) respectively. The inner slider (502) and the bottom claw (503) are connected by bolts. A control motor (504) is fixedly installed in the lower middle of the grid frame (5). Two sets of side screws (505) are rotatably installed on both sides of the bottom of the grid frame (5). The side screws (505) are connected to the shaft end of the control motor (504) through bevel gear transmission. A nut is provided in the middle of the inner slider (502) and threadedly connected to the side screws (505).

6. The anti-drop clamping gripper assembly for a robotic arm as described in claim 5, characterized in that, A visual sensor (6) is fixedly installed in the middle of the lower left side of the grid frame (5), and an infrared ranging sensor (7) is fixedly installed at both ends of the lower left side of the grid frame (5).

7. The anti-drop clamping gripper assembly for a robotic arm as described in claim 6, characterized in that, The telescopic ends of the control electric cylinders (9) are all fixedly equipped with control racks (901), and the control racks (901) outside the middle set of control electric cylinders (9) are double-sided racks; the top of one set of hinge shafts of each pair of clamping arms (801) is fixedly equipped with a control gear (802), and the control rack (901) meshes with the control gear (802).

8. The anti-drop clamping gripper assembly for a robotic arm as described in claim 7, characterized in that, Both the vision sensor (6) and the infrared ranging sensor (7) are connected to the controller signal. After the vision sensor (6) collects the outline and placement posture data of the workpiece to be clamped, the controller synchronously controls the extension cylinder (405) to extend and retract to adjust the lateral extension position of the grid frame (5). At the same time, the controller controls the motor (504) to drive the side screw (505) to rotate, adjusting the lateral distance between the two sets of inner sliders (502) and the bottom claw (503). The infrared ranging sensor (7) detects the distance between the bottom claw (503) and the side wall of the workpiece in real time and feeds it back to the controller to form a closed-loop calibration of the position.

9. The anti-drop clamping gripper assembly for a robotic arm as described in claim 8, characterized in that, The rubber pad attached to the outside of the clamping arm (801) is made of wear-resistant nitrile rubber, and the surface of the rubber pad is a non-slip frosted surface; both the control electric cylinder (9) and the vertical electric cylinder (406) have built-in thrust feedback control programs. When the clamping force of the clamping arm (801) on the workpiece and the downward pressure of the buckle (8) on the workpiece reach the preset threshold, the control electric cylinder (9) and the vertical electric cylinder (406) automatically stop feeding and remain locked, and cooperate with the bottom jaw (503) to support the workpiece from the bottom, so as to achieve multi-directional anti-drop clamping; the clamping arm (801) on the workpiece The workpiece is laterally clamped, the bottom jaw (503) provides bottom support for the workpiece, and the buckle (8) provides top limit for the workpiece. The lateral clamping, bottom support and top limit work simultaneously in three directions, forming a spatial closed constraint around the workpiece to prevent the workpiece from falling off due to vibration or acceleration during handling. The vision sensor (6) positions and guides the jaw to the target position, and the infrared distance sensor (7) monitors the workpiece clamping status in real time. The detection data is fed back to the controller to realize real-time adjustment of the thrust, forming a closed-loop linkage between the detection signal and the electric cylinder thrust feedback lock.

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