Multifunctional clamping jaw, double clamping jaw comprising multifunctional clamping jaw and mechanical arm

Abstract

The multifunctional clamping jaw is installed at the tail end of the mechanical arm through a rotary connecting plate and comprises a clamping jaw body, a first clamping jaw body and a second clamping jaw body, and the clamping jaw body is fixedly connected with the rotary connecting plate and can rotate in the Z-axis direction; the first clamping jaw is arranged on the clamping jaw body and is used for clamping a kit; the second clamping jaw is arranged on the clamping jaw body and used for clamping a magnetic bar sleeve. The utility model provides the multifunctional clamping jaw which is designed according to the magnetic bead purification requirement and can be used for compatibly clamping a kit and a magnetic bar sleeve material, the automatic carrying of the magnetic bead purification material can be realized by mounting the multifunctional clamping jaw at the tail end of a mechanical arm, the automatic carrying and placing of the kit and the magnetic bar sleeve required by the magnetic bead purification can be realized by the multifunctional clamping jaw, and the synchronous carrying can be realized; and meanwhile, materials of multiple specifications are compatible with the same set of robot, and the cost is greatly saved.

Description

TECHNICAL FIELD

[0001] The utility model relates to mechanical clamp technical field, especially in a multifunctional clamping jaw, including its double clamping jaw and mechanical arm. BACKGROUND

[0002] The feeding and discharging mechanical arm can meet the requirements of rapid mass processing, save labor cost, improve production efficiency and the like, and becomes an ideal choice of more and more factories.

[0003] However, in the conventional clamping jaw clamping, the corresponding material of the clamping jaw needs to be changed when the material is changed; in automation, for multi-material handling, the clamping jaw needs to be changed when the material characteristics change greatly, which increases the difficulty of structure and control, especially in the current biological industry, the automatic magnetic bead purification equipment is mainly used for carrying and placing reagent boxes, and there is no automatic facility designed for magnetic bead purification requirements that can clamp reagent boxes and magnetic rod sleeve materials, which cannot complete the synchronous carrying of different materials required for magnetic bead purification, and still needs manual cooperation for feeding, which is difficult to adapt to complete automation; there is no double clamping jaw to realize different carrying of multiple quantities and multiple specifications of materials, which greatly improves the carrying efficiency. UTILITY MODEL CONTENTS

[0004] To solve the above technical problems, the utility model provides a multifunctional clamping jaw in the first aspect, which is installed at the end of a mechanical arm through a rotating connecting plate, comprising: a clamping jaw body, a first clamping jaw and a second clamping jaw, wherein,

[0005] The clamping jaw body is fixedly connected with the rotating connecting plate and can rotate around the Z-axis direction;

[0006] The first clamping jaw is arranged on the clamping jaw body for clamping reagent boxes;

[0007] The second clamping jaw is arranged on the clamping jaw body for clamping magnetic rod sleeves.

[0008] In one embodiment, the clamping jaw body can rotate 360° around the Z-axis direction, and / or

[0009] The clamping jaw body has two moving parts that can move along the X-axis direction to realize the opening and closing of the first clamping jaw and the second clamping jaw, and two connecting parts symmetrically arranged on the outer ends of the two moving parts respectively, and two clamping parts of the first clamping jaw and the second clamping jaw are symmetrically arranged on the two connecting parts respectively,

[0010] More preferably, the clamping jaw body realizes the opening and closing of the two moving parts through hydraulic drive, pneumatic clamping jaw drive or electric drive.

[0011] In one embodiment, the connecting piece is composed of an adjoining first side plate and a second side plate, the first side plate is used to fix on the moving piece, the second side plate is used to fix the clamping piece of the corresponding first clamping jaw, the top of the connecting piece is used to fix the clamping piece of the corresponding second clamping jaw,

[0012] Preferably, the connecting piece has any one or more of the following features:

[0013] (1) The second side plate is arranged at the outer end of the first side plate;

[0014] (2) The first side plate and the second side plate are integrally formed;

[0015] (3) The connecting piece is L-shaped in the horizontal section formed by the X and Y axes, the straight angle side of the L-shaped along the X axis direction is at the first side plate, and the straight angle side of the L-shaped along the Y axis direction is at the second side plate;

[0016] (4) The second side plate is provided with a fixing groove for fixing the clamping piece of the first clamping jaw, the fixing groove extends along the Y axis direction and is open at both ends;

[0017] (5) The top of the connecting piece is provided with a positioning part for positioning the clamping piece of the second clamping jaw.

[0018] In one embodiment, the two clamping pieces of the first clamping jaw each have at least one clamping part protruding along the X axis direction,

[0019] Preferably, the clamping part is further covered with a buffer layer,

[0020] More preferably, the material of the buffer layer is silicone rubber.

[0021] In one embodiment, the two clamping pieces of the second clamping jaw are respectively provided with a clamping groove for clamping the magnetic rod sleeve along the Y axis direction, the clamping groove is open at the end away from the clamping jaw body to allow the magnetic rod sleeve to be clamped to enter from the opening,

[0022] Preferably, a sensor is further arranged in the clamping groove to feedback whether the magnetic rod sleeve is clamped in place.

[0023] In one embodiment, the two clamping pieces of the second clamping jaw are a first clamping piece and a second clamping piece, the connecting piece fixing the first clamping piece is a first connecting piece, the connecting piece fixing the second clamping piece is a second connecting piece, the first clamping piece and the second clamping piece are both L-shaped in the horizontal section formed by the X and Y axes, the side surface where the straight angle side of the L-shaped along the Y axis direction is located is a first side surface, the side surface where the straight angle side of the L-shaped along the X axis direction is located is a second side surface, and the clamping groove is arranged on the first side surface to clamp the magnetic rod sleeve.

[0024] Preferably, the length of the second side of the second clamping member in the X-axis direction is greater than the length of the second side of the first clamping member in the X-axis direction, so that the position of the two first sides when approaching in the X-axis direction is deviated in the X-axis direction to the first connecting member.

[0025] In one embodiment, the top of the first connecting member is provided with a reserved space in the X-axis direction, which is at least partially lower than the top of the second connecting member, so that when the two first sides approach, the second clamping member can smoothly approach the first clamping member in the X-axis direction to clamp the magnetic rod sleeve.

[0026] Preferably, the first clamping member and the second clamping member have downward extensions in the Y-axis direction, which are used to cooperate with the reserved space to position the first clamping member and the second clamping member.

[0027] The second aspect of the utility model provides a double clamping jaw, which is installed at the end of a mechanical arm through a rotating connecting plate, comprising: two symmetrical multifunctional clamping jaws as described in the first aspect above,

[0028] Preferably, the clamping directions of the two multifunctional clamping jaws are 180 degrees to each other.

[0029] The third aspect of the utility model provides a mechanical arm, comprising: a controller and at least one movable joint assembly electrically connected thereto, and the end of the movable joint assembly is connected with a multifunctional clamping jaw as described in the first aspect above or a double clamping jaw as described in the second aspect above through a rotating connecting plate,

[0030] Preferably, the controller is electrically connected with the multifunctional clamping jaw or the double clamping jaw.

[0031] In one embodiment, the movable joint assembly comprises a fixed seat for support, a plurality of connecting arms connected in sequence through movable joints, and the connecting arm at the end of the mechanical arm is connected with the rotating connecting plate through a movable joint;

[0032] Preferably, the rotation axes of two adjacent movable joints are perpendicular, and the rotation axes of the movable joints at the two ends of the connecting arm are perpendicular to the connecting arm,

[0033] More preferably, the connecting arm is four or six.

[0034] The utility model has the beneficial effects as follows:

[0035] 1. A multi-functional gripper designed for magnetic bead purification needs is provided, which is compatible with holding reagent kits and magnetic rod sleeves. It can be installed at the end of a robotic arm to realize the automated handling of magnetic bead purification materials. This multi-functional gripper can realize the automated handling and placement of reagent kits and magnetic rod sleeves required for magnetic bead purification, and can handle them synchronously, which improves the degree of automation and handling efficiency. It also solves the problem of compatibility of multiple specifications of materials with the same robot, which greatly saves costs.

[0036] 2. The multi-functional gripper has 360° rotation, which can be adjusted to grip the reagent kit and magnetic rod sleeve material at different angles; whether the magnetic rod sleeve is gripped in place can be monitored by a sensor.

[0037] 3. A dual-gripper design for magnetic bead purification is provided. The two multi-functional grippers are 180° apart and are mounted on the end of a robotic arm via a rotating connecting plate. After one gripper picks up the corresponding material, it reverses direction via a movable joint at the end of the robotic arm, and the other gripper picks up the corresponding material. Once completed, the robotic arm places the material picked up by the two multi-functional grippers into the designated position at once, greatly improving handling efficiency. It also solves the problem of compatibility of multiple material specifications with the same robot, significantly saving costs.

[0038] 4. A robotic arm for magnetic bead purification is provided, which can be used in conjunction with automated magnetic bead purification equipment to form a magnetic bead purification production line, meeting the requirements of rapid mass production, saving labor costs, and improving production efficiency. Attached Figure Description

[0039] To more clearly illustrate the technical solution of this utility model, the drawings used in this utility model will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0040] Figure 1 This is a schematic diagram of the multi-functional gripper in a closed state.

[0041] Figure 2 This is a schematic diagram of the multi-functional gripper in the open state.

[0042] Figure 3 This is a schematic diagram of a multi-functional gripper holding reagent kit.

[0043] Figure 4 This is a schematic diagram of a multi-functional gripper magnetic rod sleeve.

[0044] Figure 5 This is a schematic diagram of the gripper body.

[0045] Figure 6 This is a structural diagram of the connector.

[0046] Figure 7 This is a schematic diagram of a double gripper.

[0047] Figure 8 This is a schematic diagram of a magnetic rod sleeve held by two grippers.

[0048] Figure 9 This is a schematic diagram of a robotic arm with a multi-functional gripper.

[0049] Figure 10 This is a schematic diagram of a robotic arm with dual grippers.

[0050] Figure reference numerals:

[0051] 1. Multifunctional gripper, 11. Gripper body, 111. Moving part, 112 / 113. Connector, 112. First connector, 113. Second connector, 1121 / 1131. First side plate, 1122 / 1132. Second side plate, 1123 / 1133. Top, 1124 / 1134. Fixing groove, 1125. Positioning part / reserved space, 12. First gripper, 121. Clamping part, 1211. Clamping part, 1212. Buffer layer, 13. Second gripper, 131. First clamping part, 132. Second clamping part, 1311 / 1321. First side, 1312 / 1322. Second side, 1313 / 1323. Slot, 2. Rotating connecting plate, 3. Robotic arm, 4. Reagent kit, 5. Magnetic rod sleeve. Detailed Implementation

[0052] The technical solutions of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without creative effort are within the scope of protection of this utility model.

[0053] The first aspect of this utility model provides a multifunctional gripper 1, which is mounted on the end of a robotic arm 3 via a rotating connecting plate 2. It includes a gripper body 11, a first gripper 12, and a second gripper 13. The gripper body 11 is fixedly connected to the rotating connecting plate 2 and can rotate around the Z-axis. The first gripper 12 is mounted on the gripper body 11 for holding a reagent kit 4; the second gripper 13 is mounted on the gripper body 11 for holding a magnetic rod sleeve 5. Figures 1-6 and Figure 9As shown, this utility model provides a multi-functional gripper 1 designed for magnetic bead purification needs, which is compatible with holding reagent kit 4 and magnetic rod sleeve 5 materials. When installed at the end of the robotic arm 3, it can realize the automated handling of magnetic bead purification materials. This multi-functional gripper 1 can realize the synchronous handling of different materials required for magnetic bead purification using the same multi-functional gripper 1, which greatly improves the handling efficiency and also solves the problem of multiple specifications of materials being compatible with the same set of robots, thus greatly saving costs.

[0054] In one embodiment, the gripper body 11 can rotate 360° around the Z-axis, that is, the gripper body 11 can rotate 360° around the Z-axis in the horizontal section formed by the X and Y axes, thereby facilitating the adjustment of the angle of the robotic arm 3 in gripping the reagent kit 4 and the magnetic rod sleeve 5.

[0055] In one embodiment, the gripper body 11 has two movable members 111 that can move along the X-axis to open and close the first gripper 12 and the second gripper 13, and two connecting members 112 / 113 that are symmetrically arranged at the outer ends of the two movable members 111 respectively. The first gripper 12 and the second gripper 13 each have two clamping members (a total of 4, the two clamping members 121 and the first clamping member 131 and the second clamping member 132) that are symmetrically arranged on the two connecting members 112 / 113 respectively. Specifically, the two movable parts 111 of the gripper body 11, which move relative to each other along the X-axis, drive the two connecting parts 112 / 113, which are symmetrically arranged at the outer ends of the movable parts 111, to move relative to each other. The two clamping parts 121 of the first gripper 12 are fixed on the two connecting parts 112 / 113 respectively, and the two clamping parts of the second gripper 13 are also fixed on the two connecting parts 112 / 113 respectively. Each of the two connecting parts 112 / 113 has a clamping part 121 of the first gripper 12 and a clamping part of the second gripper 13 fixed relative to each other. When the two connecting parts 112 / 113 move relative to each other along the X-axis, the first gripper 12 used to hold the reagent kit 4 and the second gripper 13 used to hold the magnetic rod sleeve 5 can also move relative to each other along the X-axis, thereby realizing the clamping function of the first gripper 12 and the second gripper 13.

[0056] In one embodiment, the gripper body 11 opens and closes its two moving parts 111 via hydraulic, pneumatic, or electric drive. Hydraulically driven grippers offer convenient speed adjustment, but their system cost is higher than other types of grippers, and maintenance is more complicated. Pneumatic grippers are relatively inexpensive and available in many models, making them the most widely used type in industrial production. However, the air pressure from their source is not stable enough, easily leading to insufficient gripping force and affecting production efficiency and quality. Electric grippers offer better performance and structure than the other two types because they possess the common characteristics of the former two, making them likely to be the most popular type of gripper in the future end effector market. A more preferred option is a servo electric gripper, which is an electric gripper based on a servo motor. It is widely used in machining, electronics manufacturing, 3D printing, and other fields, and is an important component of modern industrial automation.

[0057] In one embodiment, such as Figure 6 As shown, the connecting member 112 / 113 is composed of adjacent first side plates 1121 / 1131 and second side plates 1122 / 1132. The first side plates 1121 / 1131 are used to fix the moving member 111, and the second side plates 1122 / 1132 are used to fix the clamping member 121 of the corresponding first gripper 12. The top 1123 / 1133 of the connecting member 112 / 113 is used to fix the clamping member of the corresponding second gripper 13. In this way, the clamping members of the first gripper 12 and the second gripper 13 can be staggered in the Z-axis direction, so that the clamping direction of the clamping members can be set in the same direction. That is, the clamping members of the first gripper 12 and the second gripper 13 can be staggered in the Z-axis direction (vertical direction), so that two grippers with the same clamping direction are set by vertical misalignment.

[0058] In one embodiment, the second side plate 1122 / 1132 is disposed at the outer end of the first side plate 1121 / 1131, specifically, as shown in the example below. Figure 6 As shown, the clamping distance required for the first gripper 12 to clamp the reagent kit 4 in the X-axis direction is greater than the clamping distance required for the second gripper 13 to clamp the magnetic rod sleeve 5. Therefore, the two clamping parts 121 of the first gripper 12 are installed on the outside of the two clamping parts of the second gripper 13. Correspondingly, the second side plate 1122 / 1132 is set at the outer end of the first side plate 1121 / 1131.

[0059] In one embodiment, the first side plate 1121 / 1131 and the second side plate 1122 / 1132 are integrally formed, specifically, as shown in the figure. Figure 6 As shown, connectors 112 / 113 are a single, integrally formed piece.

[0060] In one embodiment, the connectors 112 / 113 are both L-shaped in the horizontal cross-section formed by the X and Y axes. The right-angled side of the L-shape along the X-axis is on the first side plate 1121 / 1131, and the right-angled side of the L-shape along the Y-axis is on the second side plate 1122 / 1132. Specifically, as shown... Figure 6 As shown, the first side plate 1121 / 1131 and the second side plate 1122 / 1132 are perpendicular to each other, and the two second side plates 1122 / 1132 are parallel to each other.

[0061] In one embodiment, the second side plate 1122 / 1132 has a fixing groove 1124 / 1134 for fixing the clamping member 121 of the first gripper 12. The fixing groove 1124 / 1134 extends along the Y-axis direction and is open at both ends. Specifically, as shown in... Figures 1-4 and Figure 6 As shown, one end of the clamping member 121 of the first gripper 12 is accommodated and fixed on the second side plate 1122 / 1132 by the fixing groove 1124 / 1134, and the other end extends along the Y-axis direction to clamp the reagent kit 4.

[0062] In one embodiment, the top 1123 / 1133 of the connector 112 / 113 is provided with a positioning portion 1125 for positioning the clamping member of the second gripper 13, specifically, as shown in the figure. Figure 6 As shown, the positioning part 1125 is a reserved space 1125 formed by the downward recess of the top 1123 / 1133 planar portion of the connector 112 / 113, which is used to assist the clamping members of the second gripper 13 to approach each other and complete the function of clamping the magnetic rod sleeve 5.

[0063] In one embodiment, the two clamping members 121 of the first gripper 12 each have at least one clamping portion 1211 protruding along the X-axis direction, specifically, as shown in... Figures 1-3 As shown, the two clamping members 121 of the first gripper 12 have two parallel clamping portions 1211 protruding along the X-axis direction, which are used to assist in clamping the reagent kit 4.

[0064] In one embodiment, the clamping portion 1211 is further covered with a buffer layer 1212, specifically as follows: Figures 1-3 As shown, the clamping part 1211 is also covered with a buffer layer 1212 that protrudes in the same direction as the clamping part 1211 for precise adjustment of the clamping of the reagent kit 4.

[0065] In one embodiment, the buffer layer 1212 is made of silicone rubber.

[0066] In one embodiment, the two clamping members of the second gripper 13 are respectively provided with positioning grooves 1313 / 1323 for clamping the magnetic rod sleeve 5 along the Y-axis direction. The end of the positioning groove 1313 / 1323 away from the gripper body 11 is open so that the magnetic rod sleeve 5 to be clamped can enter through the opening. Specifically, as shown in the figure... Figures 1-4 As shown, the two clamping members of the second gripper 13 have a locking groove 1313 / 1323 along the Y-axis direction, and one end away from the gripper body is open to allow the magnetic rod sleeve 5 to be clamped to enter through the opening. The length of the magnetic rod sleeve 5 in the Y-axis direction is greater than the length of the locking groove 1313 / 1323, so a part of the magnetic rod sleeve 5 is accommodated in the locking groove 1313 / 1323 and clamped, while the unclamped part extends out from the opening of the locking groove 1313 / 1323 in the Y-axis direction.

[0067] In one embodiment, a sensor is also provided in the slot 1313 / 1323 to provide feedback on whether the magnetic rod sleeve is clamped in place. Specifically, whether the magnetic rod sleeve 5 is clamped in place includes whether the magnetic rod sleeve 5 is clamped, whether the position of the magnetic rod sleeve 5 is correct, and whether the clamped length of the magnetic rod sleeve 5 meets the standard.

[0068] In one embodiment, the two clamping members of the second gripper 13 are a first clamping member 131 and a second clamping member 132, respectively. The connecting member that fixes the first clamping member 131 is a first connecting member 112, and the connecting member that fixes the second clamping member 132 is a second connecting member 113. Both the first clamping member 131 and the second clamping member 132 are L-shaped in the horizontal cross-section formed by the X and Y axes. The side of the L-shape with the right angle along the Y-axis is the first side surface 1311 / 1321, and the side of the L-shape with the right angle along the X-axis is the second side surface 1312 / 1322. The slots 1313 / 1323 are formed on the first side surface 1311 / 1321 to clamp the magnetic rod sleeve 5. Specifically, as shown... Figures 1-4 As shown, the first clamping member 131 and the second clamping member 132 each have symmetrically provided slots 1313 / 1323 on their first side surfaces 1311 / 1321. When the two first side surfaces 1311 / 1321 are close to each other, they can clamp the magnetic rod sleeve 5. The second side surfaces 1312 / 1322 of the first clamping member 131 and the second clamping member 132 are on the same plane as the first side plates 1121 / 1131 of the connecting member 112 / 113.

[0069] In one embodiment, the length of the second side 1322 of the second clamping member 132 in the X-axis direction is greater than the length of the second side 1312 of the first clamping member 131 in the X-axis direction, such that when the two first sides 1311 / 1321 are close together in the X-axis direction, their positions are biased towards the first connecting member 112 in the X-axis direction. Specifically, this design serves to avoid collisions, because the magnetic rod sleeves 5 of the magnetic bead purification device are designed with multiple rows of spacing, and the spacing between adjacent rows is relatively short. If the two clamping members of the second gripper 13 and the two clamping members 121 of the first gripper 12 share a point of symmetry in the X-axis direction, then when the two clamping members of the second gripper 13 move away from the point of symmetry due to clamping the magnetic rod sleeves 5, the clamping members 121 of the first gripper 12 outside it also move away from the point of symmetry and are likely to collide with other magnetic rod sleeves 5 on the magnetic bead purification device. With the current design, because the positions of the two first sides 1311 / 1321 when they are close together are biased towards the first connector 112 in the X-axis direction, when the two clamping members of the second gripper 13 move away from each other due to clamping the magnetic rod sleeve 5, the clamping member 121 of the first gripper 12 located at the outer end of the first connector 112 also moves away, but its movement distance is small and it will not hit other magnetic rod sleeves 5 on the magnetic bead purification device, thus making the clamping of the magnetic rod sleeve smoother.

[0070] In one embodiment, the top 1123 of the first connector 112 has a reserved space 1125 in the X-axis direction, at least partially lower than the top 1133 of the second connector 113. This allows the second clamping member 132 to smoothly approach the first clamping member 131 in the X-axis direction to clamp the magnetic rod sleeve 5 when the two first sides 1311 / 1321 are close together. Specifically, the reserved space 1125 is a positioning part 1125 that assists the second clamping member 132 in smoothly approaching the first clamping member 131 in the X-axis direction to clamp the magnetic rod sleeve 5.

[0071] In one embodiment, the first clamping member 131 and the second clamping member 132 have downward extensions along the Y-axis direction. These downward extensions cooperate with a reserved space 1125 to position the first clamping member 131 and the second clamping member 132. Specifically, the reserved space 1125 can accommodate at least the downward extension of the second clamping member 132 in the X-axis direction, and the downward extensions serve a positioning function during installation.

[0072] The second aspect of this utility model provides a double gripper, mounted at the end of a robotic arm via a rotating connecting plate, comprising: two multifunctional grippers symmetrically mounted on the rotating connecting plate as described in the aforementioned technical solution, specifically as follows... Figure 7 , 8 As shown in Figure 10.

[0073] In one embodiment, the clamping directions of the two multi-functional grippers are 180° to each other.

[0074] The third aspect of this utility model provides a robotic arm 3, comprising: a controller and at least one movable joint assembly electrically connected thereto, wherein the end of the movable joint assembly is connected via a rotating connecting plate 2 to a multifunctional gripper 1 or a double gripper as described in the aforementioned technical solutions, specifically as follows: Figure 9 , 10 As shown.

[0075] In one embodiment, the controller is electrically connected to a multi-functional gripper or a dual gripper.

[0076] In one embodiment, the movable joint assembly includes a fixed base for support and a plurality of connecting arms connected sequentially via movable joints, wherein the connecting arm located at the end of the robotic arm is connected to a rotating connecting plate via a movable joint.

[0077] In one embodiment, the rotation axes of two adjacent movable joints are perpendicular, and the connecting arm is perpendicular to the rotation axes of the movable joints at its two ends.

[0078] In one embodiment, there are four or six connecting arms, such as Figure 9 , 10 As shown.

[0079] The above description is only a preferred embodiment of the present utility model and is not intended to limit the scope of protection of the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the scope of protection of the present utility model.

Claims

1. A multifunctional gripper, characterized in that, Mounted at the end of the robotic arm via a rotating connecting plate, the assembly includes: a gripper body, a first gripper, and a second gripper. The gripper body is fixedly connected to the rotating connecting plate and can rotate around the Z-axis. The first gripper is disposed on the gripper body for holding the reagent kit; The second gripper is disposed on the gripper body for gripping the magnetic rod sleeve.

2. The multifunctional gripper according to claim 1, characterized in that, The gripper body can rotate 360° around the Z-axis, and / or The gripper body has two movable members that can move along the X-axis to open and close the first gripper and the second gripper, and two connecting members that are symmetrically arranged at the outer ends of the two movable members respectively. The two clamping members of the first gripper and the second gripper are symmetrically arranged on the two connecting members respectively.

3. The multifunctional gripper according to claim 2, characterized in that, The connector is composed of an adjacent first side plate and a second side plate. The first side plate is used to fix the movable member, and the second side plate is used to fix the clamping member of the corresponding first jaw. The top of the connector is used to fix the clamping member of the corresponding second jaw.

4. The multifunctional gripper according to claim 1, characterized in that, The two gripping members of the first gripper each have at least one gripping portion protruding along the X-axis direction.

5. The multifunctional gripper according to claim 3, characterized in that, The two clamping members of the second gripper are respectively provided with locking grooves for clamping the magnetic rod sleeve along the Y-axis direction. The locking groove is open at one end away from the gripper body so that the magnetic rod sleeve to be clamped can enter from the opening.

6. The multifunctional gripper according to claim 5, characterized in that, The second gripper has two clamping components, namely a first clamping component and a second clamping component. The connector that fixes the first clamping component is called the first connector, and the connector that fixes the second clamping component is called the second connector. Both the first clamping component and the second clamping component are L-shaped in the horizontal cross-section formed by the X and Y axes. The side of the L-shape with the right angle along the Y axis is the first side, and the side of the L-shape with the right angle along the X axis is the second side. The slot is formed on the first side to clamp the magnetic rod sleeve.

7. The multifunctional gripper according to claim 6, characterized in that, The top of the first connector has a reserved space in the X-axis direction that is at least partially lower than the top of the second connector, so that when the two first sides are close together, the second clamping member can smoothly approach the first clamping member in the X-axis direction to clamp the magnetic rod sleeve.

8. The multifunctional gripper according to claim 2, characterized in that, The gripper body achieves the opening and closing of the two moving parts through hydraulic drive, pneumatic gripper drive, or electric drive.

9. The multifunctional gripper according to claim 3, characterized in that, It also has any one or more of the following characteristics: (1) The second side plate is disposed at the outer end of the first side plate; (2) The first side plate and the second side plate are integrally formed; (3) The connector is L-shaped in the horizontal cross section formed by the X and Y axes. The right-angled side of the L-shape along the X axis is on the first side plate, and the right-angled side of the L-shape along the Y axis is on the second side plate. (4) The second side plate is provided with a fixing groove for fixing the clamping member of the first claw, the fixing groove extends along the Y-axis and is open at both ends; (5) The top of the connector is provided with a positioning part for positioning the clamping part of the second gripper.

10. The multifunctional gripper according to claim 4, characterized in that, The clamping part is also covered with a buffer layer.

11. The multifunctional gripper according to claim 10, characterized in that, The buffer layer is made of silicone rubber.

12. The multifunctional gripper according to claim 5, characterized in that, The slot is also equipped with a sensor to provide feedback on whether the magnetic rod sleeve is clamped in place.

13. The multifunctional gripper according to claim 6, characterized in that, The length of the second side of the second clamping member in the X-axis direction is greater than the length of the second side of the first clamping member in the X-axis direction, so that when the two first sides are close together in the X-axis direction, their positions are biased towards the first connecting member in the X-axis direction.

14. The multifunctional gripper according to claim 7, characterized in that, The first clamping member and the second clamping member have downward extensions along the Y-axis direction, which are used to cooperate with the reserved space to position the first clamping member and the second clamping member.

15. A double gripper, characterized in that, Mounted at the end of a robotic arm via a rotating connecting plate, comprising: two multifunctional grippers as described in any one of claims 1-7 symmetrically mounted on the rotating connecting plate.

16. The dual grippers according to claim 15, characterized in that, The clamping directions of the two multifunctional grippers are 180° to each other.

17. A robotic arm, characterized in that, include: A controller and at least one movable joint assembly electrically connected thereto, the end of which is connected via a rotating connecting plate to a multifunctional gripper as described in any one of claims 1-14 or a dual gripper as described in claim 15 or 16.

18. The robotic arm according to claim 17, characterized in that, The controller is electrically connected to the multi-functional gripper or the dual gripper.

19. The robotic arm according to claim 17 or 18, characterized in that, The movable joint assembly includes a fixed base for support and a plurality of connecting arms connected sequentially via movable joints, wherein the connecting arm located at the end of the robotic arm is connected to the rotating connecting plate via a movable joint.

20. The robotic arm according to claim 19, characterized in that, The rotation axes of two adjacent movable joints are perpendicular, and the connecting arm is perpendicular to the rotation axes of the movable joints at both ends.

21. The robotic arm according to claim 20, characterized in that, The connecting arms are four or six.

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