Auxiliary grabbing device and mechanical arm

Abstract

The utility model provides an auxiliary gripping device and a mechanical arm, which comprise a clamping sleeve sleeved on the wrist part of the mechanical arm; each clamping assembly comprises a first rotating shaft, a clamping arm, a second rotating shaft and a clamping end, one end of each clamping arm is rotationally connected with the outer side of the clamping sleeve through the corresponding first rotating shaft, and the ends of the clamping arms of the at least two clamping assemblies are located at the same horizontal position; the other end of the clamping arm is rotationally connected with the clamping end through the second rotating shaft, and the clamping ends of the at least two clamping assemblies are located at the same horizontal position. Compared with a mechanical arm in the prior art, the mechanical arm provided by the embodiment of the utility model has the advantages that the burden of the wrist of the mechanical arm is reduced, the possibility of obstruction caused by relative movement of all joints is avoided, and faults are not easy to occur.

Description

TECHNICAL FIELD

[0001] The utility model relates to mechanical field especially is a kind of auxiliary grabbing device and mechanical arm. BACKGROUND

[0002] Multi-joint type mechanical arm can replace artificial, complete some tedious, dangerous and repetitive work. In the prior art, when using multi-joint type mechanical arm, in order to improve the clamping capacity of the end effector of the mechanical arm, the wrist structure of the mechanical arm is usually designed to be relatively compact and locally accumulated, which may cause mechanical failure. SUMMARY

[0003] The utility model embodiment is to provide a kind of auxiliary grabbing device and mechanical arm, to solve the problem that the wrist structure of mechanical arm is usually designed to be relatively compact and locally accumulated, which may cause mechanical failure.

[0004] In order to achieve the above purpose, the utility model embodiment provides an auxiliary grabbing device, comprising:

[0005] A sleeve, the sleeve is sleeved on the wrist of the mechanical arm;

[0006] At least two clamping assemblies, the clamping assembly includes a first pivot, a clamping arm, a second pivot and a clamping end head, one end of the clamping arm is rotatably connected to the outside of the sleeve through the first pivot, and one end of the clamping arm of the at least two clamping assemblies is located at the same horizontal position, the other end of the clamping arm is rotatably connected to the clamping end head through the second pivot, and the clamping end heads of the at least two clamping assemblies are located at the same horizontal position.

[0007] The utility model embodiment further provides a kind of mechanical arm, comprising the auxiliary grabbing device provided by the utility model embodiment.

[0008] One of the above technical solutions has the following advantages or beneficial effects:

[0009] In the utility model embodiment, the auxiliary grabbing device comprises:

[0010] A sleeve, the sleeve is sleeved on the wrist of the mechanical arm;

[0011] At least two clamping assemblies, the clamping assembly includes a first pivot, a clamping arm, a second pivot and a clamping end head, one end of the clamping arm is rotatably connected to the outside of the sleeve through the first pivot, and one end of the clamping arm of the at least two clamping assemblies is located at the same horizontal position, the other end of the clamping arm is rotatably connected to the clamping end head through the second pivot, and the clamping end heads of the at least two clamping assemblies are located at the same horizontal position.

[0012] By the sleeve set in the mechanical arm wrist, the clamping assembly on the sleeve assists the mechanical arm to perform the end to carry out the grabbing, and the grabbing of different types of target objects can be realized, so compared with the mechanical arm in the prior art, the utility model embodiment reduces the burden of the mechanical arm wrist, avoids the possibility of hindering caused by the relative movement of each joint, and is not prone to failure. BRIEF DESCRIPTION OF DRAWINGS

[0013] Figure 1 The auxiliary grabbing device provided by the utility model embodiment is a whole structure schematic view.

[0014] Figure 2 The auxiliary grabbing device provided by the utility model embodiment is a part structure schematic view.

[0015] Figure 3 The auxiliary grabbing device provided by the utility model embodiment is a part structure schematic view.

[0016] Figure 4 The auxiliary grabbing device provided by the utility model embodiment is a part structure schematic view.

[0017] Figure 5 The auxiliary grabbing device provided by the utility model embodiment is a part structure schematic view. DETAILED DESCRIPTION

[0018] The technical scheme of the utility model will be described clearly and completely in combination with the drawings, obviously, the described embodiments are a part of the embodiments of the utility model, rather than all the embodiments.

[0019] The components of the utility model embodiments usually described and displayed in the drawings can be arranged and designed in various different configurations.

[0020] Based on the embodiments in the utility model, all other embodiments obtained by the ordinary skilled person in the art without creative labor belong to the scope of protection of the utility model.

[0021] In the description of the utility model, it needs to explain, the term "center", "upper", "lower", "left", "right", "vertical", "horizontal", "internal", "external" and so on indicate the orientation or position relation is based on the orientation or position relation shown in the drawing, only for the convenience of describing the utility model and simplifying the description, and not indicate or imply that the device or element indicated must have a particular orientation, construct and operate in a particular orientation, therefore, it cannot be understood as the limitation of the utility model. In addition, the term "first", "second", "third" is only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0022] In the description of the utility model, it needs to explain, unless otherwise specified and limited, the term "installation", "connection", "connection" should be broad sense, for example, it can be fixed connection, can be detachable connection, or integrally connected, can be mechanical connection, can be electrical connection, can be directly connected, can be indirectly connected through intermediate medium, can be the communication inside two elements. For ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0023] It needs to be explained that the embodiments in the application and the features in the embodiments can be combined with each other without conflict. In addition, it also needs to be explained that only the parts related to the utility model are shown in the drawing for the convenience of description.

[0024] As Figure 1 shown, the utility model embodiment provides a kind of structural diagram of auxiliary grabbing device, as Figure 1 shown, comprising:

[0025] Jacket 11, the jacket 11 is set in the wrist of mechanical arm;

[0026] At least two clamping assemblies, the clamping assembly includes first pivot 12, clamping arm 10, second pivot and clamping end head 15, one end of the clamping arm 10 is rotatably connected with the outside of jacket 11 by first pivot 12, and one end of the clamping arm 10 of at least two clamping assemblies is located in the same horizontal position, the other end of the clamping arm 10 is rotatably connected with the clamping end head 15 by the second pivot, and the clamping end head 15 of at least two clamping assemblies is located in the same horizontal position.

[0027] Wherein, with the auxiliary grabbing device in Figure 1 is exemplified.

[0028] In the embodiment of the utility model, the sleeve 11 can be of any shape, i.e. in the embodiment of the utility model, the sleeve 11 is not limited in shape, as long as it can be sleeved on the wrist area of the mechanical arm. In addition, the specific material of the auxiliary grabbing device is not limited, such as metal material or carbon fiber composite material, and any material that can be used as a grabbing device is not limited in the embodiment of the utility model.

[0029] The above-mentioned clamping assembly can be understood as an assembly capable of being contracted around the sleeve 11, thereby realizing the clamping effect on the target object, wherein the number of clamping assemblies on the sleeve 11 is not limited. The one end of the above-mentioned clamping arm 10 is rotatably connected to the outside of the sleeve 11 through the first rotating shaft 12, which can be understood as that each clamping arm 10 is connected to the sleeve 11 through a rotating shaft at a corresponding first position of each clamping arm 10. In addition, the above-mentioned rotating shaft can be understood as a connecting piece capable of rotating the clamping arm 10 around the first position to achieve the clamping effect, such as Figure 1 In some optional embodiments, hollow rotating shafts, folding shafts and other connecting pieces capable of rotating the clamping arm 10 to achieve the clamping effect can also be used, and the embodiment of the utility model is not limited. Similarly, the other end of the above-mentioned clamping arm 10 is rotatably connected to the clamping end head 15 through the second rotating shaft, which can be understood as that the corresponding second position of each clamping arm 10 is connected to the clamping end head 15 through a rotating shaft, and the clamping end head 15 can rotate around the second position as the center point, thereby realizing the accurate clamping of the target object. In addition, the above-mentioned positions located at the same horizontal position can be any horizontal position on the sleeve 11, and the embodiment of the utility model is not limited.

[0030] When the auxiliary grabbing device in the embodiment of the utility model is used to assist the multi-joint type mechanical arm end effector in picking and placing articles, first, the sleeve 11 is installed on the outside of the wrist of the multi-joint type mechanical arm, so that the sleeve 11 moves together with the mechanical arm end effector to the vicinity of the article to be grabbed; then, the clamping arm 10 is controlled to rotate, thereby enabling the plurality of clamping assemblies to be stably opened or folded, and assisting the multi-joint type mechanical arm end effector in clamping and grabbing the article.

[0031] When the clamping assembly is idle, the clamping arm 10 can be controlled to rotate and move, so that the clamping arm 10 on the clamping assembly is in a folded state and attached to the outside of the wrist of the multi-joint type mechanical arm, and the plurality of clamping assemblies can be dispersedly installed on the periphery of the sleeve 11.

[0032] In addition, in the embodiment of the utility model, the above-mentioned first position and second position are not limited, i.e. the first position and the second position can be any two different positions on the clamping arm 10. In some optional embodiments, for example Figure 1The two groups of clamping arms 10 are connected with the clamping end head 15 and the first rotating shaft 12 to form a parallelogram mechanism, so that the grabbing end head can be stably opened or closed.

[0033] In the embodiment of the utility model, the sleeve 11 can be installed on the wrist of the multi-joint type mechanical arm, so that the sleeve 11 moves to the vicinity of the required grabbing object together with the end effector of the mechanical arm, then the clamping arm 10 is controlled to rotate, thereby the plurality of grabbing end heads can be stably opened or closed, and the end effector of the multi-joint type mechanical arm can assist in clamping and grabbing the object.

[0034] When the clamping arms 10 on the clamping assembly are in the closed state and attached to the wrist of the multi-joint type mechanical arm, the plurality of clamping assemblies are dispersedly installed on the circumferential side of the sleeve 11, so that the sleeve 11 does not accumulate at the local position of the side portion, avoids hindering the relative movement of the joints of the mechanical arm, reduces the possibility of failure, and increases the function and operation efficiency of the mechanical arm.

[0035] As an optional embodiment, as shown in Figure 1 The clamping arm 10 includes a fixed rod group 13 and a sliding rod, the fixed rod group 13 is rotationally connected with the first rotating shaft 12, the sliding rod is rotationally connected with the clamping end head 15, the sliding rod is embedded in the middle of the fixed rod group 13 and vertically slides between the fixed rod group 13, and the fixed rod group 13 and the sliding rod are positionally locked by a fastener.

[0036] In the embodiment, the fixed rod group 13 and the sliding rod are arranged on the clamping arm 10, so that the sliding rod 14 can slide in the fixed rod group 13 during the auxiliary grabbing of the device, thereby the length of the clamping arm can be adjusted according to the actual situation.

[0037] The fixed rod group 13 and the sliding rod are positionally locked by the fastener, which can be understood as that the current relative position of the fixed rod group 13 and the sliding rod 14 can be fixed by the fastener, thereby the length of the clamping arm 10 is limited. In addition, the fastener can be a bolt, a pin or other components that can realize the fixing effect, and the type of the fastener is not limited in the embodiment of the utility model. In addition, in the embodiment, the specific shape of the fixed rod group 13 and the sliding rod 14 is not limited, which can be a square rod as shown in Figure 1 In addition, the fixed rod group 13 can be a cylindrical rod, and the sliding rod 14 can be a cylindrical rod, which can slide up and down in the fixed rod group 13, thereby the telescopic effect of the clamping arm 10 can be realized.

[0038] Of course, in some optional embodiments, the fixed rod group 13 and the sliding rod 14 are not used, and the folding clamping arm, the spring pull rod clamping arm and the like can be used to realize the telescopic effect of the clamping arm 10.

[0039] In the embodiment, by adjusting the relative positions of the fixed rod group 13 and the sliding rod 14 on the clamping arm 10, the moving range of the corresponding clamping end 15 can be changed, and different shapes of articles can be gripped.

[0040] As an optional implementation, as shown in Figure 5 The inner side of the fixed rod group 13 is detachably fixedly installed with a limiting block 132 capable of being inserted and slidably connected with the sliding groove 141.

[0041] In the embodiment, through the cooperation of the sliding groove 141 and the detachable limiting block 132, the telescoping of the clamping arm 10 is more flexible, so that the positioning of the clamping end 15 is more accurate when gripping, and the auxiliary effect of the auxiliary gripping device is enhanced.

[0042] Of course, in some optional embodiments, bolts, nuts or latches can be used to realize the supporting and limiting effect of the clamping arm 10.

[0043] As an optional implementation, the auxiliary gripping device further comprises a driving assembly, the driving assembly is fixed outside the clamping sleeve 11, the clamping arm 10 is fixedly installed with a short shaft 131 on both sides, the driving assembly is connected with the short shaft 131 through a fastener, and the driving assembly can drive the short shaft 131 to move outward or inward, so as to drive the clamping arm 10 to expand or shrink.

[0044] In the embodiment, the driving assembly can be understood as a device for driving the clamping arm 10 to shrink and clamp, and the driving assembly is fixed outside the clamping sleeve 11. The fixed position can be any position outside the clamping sleeve 11, as long as the short shaft 131 on the clamping arm 10 can be connected through the fastener, and then the short shaft 131 is driven to move outward or inward.

[0045] Among them, the type of driving assembly is exemplified, in the embodiment of the utility model, the driving assembly can be spring driven, pneumatic or hydraulic driven, connecting rod driven and the like.

[0046] In addition, in this embodiment, the type of fastener can be changed according to the type of drive component, so that it can cooperate with the drive component to drive the clamping arm 10 to expand or contract. For example, taking the drive component as a spring, the fastener can be a guide post. The tension of the spring realizes the contraction of the clamping arm 10. When the spring is open, it pushes the short shaft 131 to move outward, realizing the opening of the clamping arm 10; when the spring is contracted, it pushes the short shaft 131 to move inward, realizing the contraction of the clamping arm 10. The drive component can also be a pneumatic cylinder. In this case, the fastener is a vertical groove fixed to one end of the pneumatic lever. The short shaft 131 is embedded in the groove and can slide vertically. By controlling the inlet and outlet of gas, the cylinder can push or pull the fastener on the clamping arm 10, thereby driving the short shaft 131 to move outward or inward, so as to drive the clamping arm 10 to expand or contract.

[0047] Furthermore, even without adding a drive component, the basic functions of the auxiliary gripping device can be achieved by cooperating with a motor, servo motor, etc., using the gripping arm 10. For example, a motor can be installed on the gripping end 15, and the output shaft of motor I can be connected to the rotating shaft of the gripping arm 10. By starting the motor, the gripping arm 10 can be rotated. Therefore, whether or not a drive component is added does not affect the realization of the basic functions of the auxiliary gripping device.

[0048] In this embodiment, the addition of a drive component enables more precise position and speed control. This is particularly important for applications requiring high-precision operation (such as precision assembly or grasping small objects). With the assistance of the auxiliary grasping device in this embodiment, the robotic arm can be more widely used and its operation more accurate.

[0049] In some alternative embodiments, reference may be made to Figure 3 and Figure 4 The driving assembly includes an attachment arm 21, which is arc-shaped and attached to the outside of the clamping arm 11 and can move vertically; at least one pair of grooved arms 23 are provided on the attachment arm 21, and the pair of grooved arms 23 are fixedly installed on both sides of the clamping arm 10. The short shaft 131 is embedded in the grooved arm 23 and can slide in the grooved arm 23 along the direction of the groove.

[0050] An internal threaded block is fixedly installed on the attachment arm 21. The internal threaded block 24 is internally threadedly connected to a lead screw 25. A motor 26 for driving the lead screw 25 to rotate is fixedly installed on the outside of the sleeve 11.

[0051] The motor 26 rotates to drive the attachment arm 21 and the groove arm 23 to move up or down, thereby causing the short shaft 131 to slide outward or inward, so as to cause the clamping arm 10 to expand or retract.

[0052] In this embodiment, to increase the rotational stability of the clamping arm 10, such as... Figure 3 As shown, the side surfaces of the groove arm 23 and the clamping arm 10 can also abut against each other to clamp both sides of the clamping arm 10, increasing the rotational stability of the clamping arm 10. However, the relative position of the groove arm 23 and the clamping arm 10 does not affect the realization of the basic function of this embodiment. Therefore, in this embodiment of the present invention, the specific relative position of the groove arm 23 and the clamping arm 10 is not limited.

[0053] In this embodiment, the cooperation of the attachment arm 21, the groove wall 23 and the short shaft 131 makes the auxiliary gripping device more synchronized when gripping, while dispersing the motor load, reducing the motor's workload, reducing energy consumption, and extending the service life of the motor and other components.

[0054] Of course, the type of drive component is not limited to the forms exemplified above. The drive component can also be spring-driven, pneumatic or hydraulic-driven, linkage-driven, etc. Using other forms of drive components does not affect the realization of the specific functions of this utility model embodiment.

[0055] As an optional implementation, an annular seat 111 is fixedly installed on the side of the sleeve 11, and a sliding post 22 is fixedly installed on the attachment arm 21. A limiting end is fixedly provided at the top of the sliding post 22, and the sliding post 22 is slidably embedded in the annular seat.

[0056] In this embodiment, the aforementioned annular seat 111 can serve as a guide for the sliding column 22, ensuring that the sliding component moves along a predetermined path and reducing deviation during movement. By setting the annular seat, the sliding column 22, and the limiting end at the top of the sliding column 22, support and limiting are provided for the up-and-down sliding of the attachment arm 21, thereby enabling the gripping arm 10 of the auxiliary gripping device to move more stably and smoothly during gripping, thus improving the performance and reliability of the device.

[0057] Of course, in some alternative implementations, a linear guide rail combined with a slider or a combination of gears and racks can also be used to achieve smooth movement and limiting of the attachment arm 21. Using different limiting structures and components does not affect the realization of the basic functions of this utility model embodiment.

[0058] As an optional implementation, the side of the clamping end 15 is provided with an air extraction pipe 16, which is connected to an air extraction device through a flexible hose. The bottom of the clamping end 15 is provided with multiple air suction holes, and the air extraction pipe 16 and the multiple air suction holes are connected through a pipe built into the clamping end 15.

[0059] In this implementation, reference can be made to Figure 2The size, shape and number of the plurality of suction holes arranged on the bottom of the clamping end head 15 are not limited; in the embodiment, the multi-joint type mechanical arm end effector is assisted to adsorb and pick up the object by using the multi-point adsorption mode, and the assisting effect of the assisting grabbing device is improved.

[0060] Of course, in other embodiments of the present application, other ways can also be used to enhance the adsorption of the clamping end head 15 to the object, for example: an adhesive material (such as glue, double-sided tape) can be coated on the clamping end head 15 to generate adhesion when contacting the object; a suction cup can be additionally arranged on the clamping end head 15, which can be adsorbed on a smooth surface by negative pressure principle; a high-friction material (rubber, silicone, etc.) can also be used.

[0061] As an optional embodiment, a flexible pad 17 is arranged on the bottom of the clamping end head 15, and a plurality of adsorption ports corresponding to the suction holes are arranged on the flexible pad 17.

[0062] In this embodiment, the adsorption ports on the flexible pad 17 and the suction holes are combined, and the multi-joint type mechanical arm end effector is assisted to adsorb and pick up the object by using the multi-point adsorption mode, thereby increasing the contact effect between the device and the object to be grabbed.

[0063] Of course, in other embodiments of the present application, the flexible pad 17 can be replaced by a foam material, a hard rubber or a polyurethane pad, which can also provide a certain flexibility and good contact effect; different types of contact materials are additionally arranged below the clamping end head 15 to be suitable for various grabbing application scenarios, and the realization of the basic functions of the embodiments of the present application is not affected.

[0064] As an optional embodiment, the clamping sleeve 11 is composed of two symmetrical semicircular pieces and is fixedly connected by at least one fastener.

[0065] In this embodiment, the symmetrical semicircular design can make the assembly process of the device more intuitive and convenient, and reduce the requirement for the process; at the same time, the load is uniformly distributed, the stress concentration is reduced, and the stability of the overall structure of the assisting grabbing device is enhanced.

[0066] Of course, in other embodiments of the present application, the clamping sleeve 11 can also adopt a three-segment or multi-end splicing arc structure, or other shape structures, which do not affect the realization of the basic functions of the embodiments of the present application.

[0067] In summary, in the embodiments of the present application, the assisting grabbing device comprises:

[0068] The clamping sleeve 11 is arranged on the wrist of the mechanical arm;

[0069] At least two clamping assemblies, the clamping assembly comprises a first rotating shaft 12, a clamping arm 10, a second rotating shaft and a clamping end head 15, one end of the clamping arm 10 is rotatably connected with the outside of the clamping sleeve 11 through the first rotating shaft 12, and one end of the clamping arm 10 of the at least two clamping assemblies is located at the same horizontal position, the other end of the clamping arm 10 is rotatably connected with the clamping end head 15 through the second rotating shaft, and the clamping end head 15 of the at least two clamping assemblies is located at the same horizontal position.

[0070] By sleeving the clamping sleeve 11 on the wrist of the mechanical arm, the clamping assembly on the clamping sleeve 11 is used to assist the mechanical arm to perform end gripping, so that different types of target objects can be gripped, and compared with the mechanical arm in the prior art, the utility model embodiment reduces the burden of the wrist of the mechanical arm, avoids the possibility of hindering caused by the relative movement of each joint, and is not prone to failure.

[0071] In addition, the utility model embodiment further provides a mechanical arm comprising the auxiliary gripping device of any of the embodiments of the utility model.

[0072] The above description is only the preferred embodiment of the application and the explanation of the applied technical principles. It should be understood by those skilled in the art that the utility model range involved in the present application is not limited to the technical solutions formed by the specific combination of the above technical features, and should also cover other technical solutions formed by any combination of the above technical features or equivalent features without departing from the utility model concept. For example, the above features are replaced with the technical features disclosed in the present application (but not limited to) having similar functions to form a technical solution.

[0073] In addition to the technical features described in the specification, the remaining technical features are known to those skilled in the art, and in order to highlight the innovative features of the utility model, the remaining technical features will not be described here.

Claims

1. An auxiliary grasping device, characterized in that, include: A clip, which is fitted onto the wrist of the robotic arm; At least two clamping assemblies, each clamping assembly including a first rotating shaft, a clamping arm, a second rotating shaft, and a clamping end, wherein one end of the clamping arm is rotatably connected to the outside of the clamping sleeve via the first rotating shaft, and one end of the clamping arm of the at least two clamping assemblies is located at the same horizontal position, and the other end of the clamping arm is rotatably connected to the clamping end via the second rotating shaft, and the clamping ends of the at least two clamping assemblies are located at the same horizontal position; The clamping arm includes a fixed rod assembly and a sliding rod. The fixed rod assembly is rotatably connected to the first rotating shaft, and the sliding rod is rotatably connected to the clamping end. The sliding rod is embedded in the middle of the fixed rod assembly and slides vertically between the fixed rod assemblies. The fixed rod assembly and the sliding rod are locked in position by fasteners.

2. The auxiliary gripping device according to claim 1, characterized in that, The sliding rod has sliding grooves on both sides of its middle section, and the inner side of the fixed rod assembly is detachably and fixedly fitted with a limiting block that can be inserted into and slidably connected with the sliding groove.

3. The auxiliary gripping device according to claim 2, characterized in that, It also includes driver components, The drive assembly is fixed to the outside of the clamp; short shafts are fixedly installed on both sides of the clamping arm; the drive assembly is connected to the short shafts by fasteners, and the drive assembly can drive the short shafts to move outward or inward to drive the clamping arm to unfold or retract.

4. The auxiliary gripping device according to claim 3, characterized in that, The drive assembly includes an attachment arm, which is arc-shaped and attached to the outside of the clamping sleeve and can move vertically; the attachment arm is provided with at least a pair of slotted arms, which are fixedly installed on both sides of the clamping arm, and the short shaft is embedded in the slotted arm and can slide in the slotted arm along the direction of the slot; An internal threaded block is fixedly installed on the attachment arm, and the internal threaded block is internally threadedly connected to a lead screw. A motor for driving the lead screw to rotate is fixedly installed on the outside of the sleeve. The motor rotates to drive the attachment arm and the groove arm to move up or down, thereby causing the short axis to slide outward or inward, so as to cause the clamping arm to expand or retract.

5. The auxiliary gripping device according to claim 4, characterized in that, An annular seat is fixedly installed on the side of the sleeve, and a sliding post is fixedly installed on the attachment arm. A limiting end is fixedly provided at the top of the sliding post, and the sliding post is slidably embedded inside the annular seat.

6. The auxiliary gripping device according to claim 1, characterized in that, The side of the clamping end is connected to an air extraction pipe, which is connected to an air extraction device via a flexible hose. The bottom of the clamping end is provided with multiple air suction holes, and the air extraction pipe and the multiple air suction holes are connected through a pipe built into the clamping end.

7. The auxiliary gripping device according to claim 6, characterized in that, A flexible pad is installed at the bottom of the clamping end, and the flexible pad is provided with a plurality of adsorption ports corresponding to the air suction holes.

8. The auxiliary grasping device according to claim 1, characterized in that, The sleeve is composed of two symmetrical semi-circular pieces joined together and fixedly connected by at least one fastener.

9. A robotic arm, characterized in that, The robotic arm has an auxiliary gripping device as described in any one of claims 1 to 8.

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